/dports/science/simbody/simbody-Simbody-3.7/Simbody/src/ |
H A D | Constraint_LineOnLineContact.cpp | 237 const Transform& X_GA = mobod_A.getBodyTransform(s); in findContactFrameInG() local 238 return X_GA * pc.X_AC; // 63 flops in findContactFrameInG() 253 const Transform& X_GA = mobod_A.getBodyTransform(s); in findClosestPointsInG() local 254 Qf_G = X_GA * pc.p_AQf; // 18 flops in findClosestPointsInG() 255 Qb_G = X_GA * pc.p_AQb; // 18 flops in findClosestPointsInG() 535 const Transform& X_GA = mobod_A.getBodyTransform(s); in calcDecorativeGeometryAndAppendVirtual() local 536 const Rotation& R_GA = X_GA.R(); in calcDecorativeGeometryAndAppendVirtual() 538 const Transform X_GC = X_GA * X_AC; in calcDecorativeGeometryAndAppendVirtual() 543 const Vec3 p_GQf = X_GA * pc.p_AQf; in calcDecorativeGeometryAndAppendVirtual() 544 const Vec3 p_GQb = X_GA * pc.p_AQb; in calcDecorativeGeometryAndAppendVirtual()
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H A D | SimbodyMatterSubtree.cpp | 1099 const Transform& X_GA = matter.getBodyTransform(s,getAncestorMobilizedBodyIndex()); in copyPositionsFromState() local 1103 sr.setSubtreeBodyTransform(sb, ~X_GA * X_GB); // X_AB in copyPositionsFromState() 1178 const Transform& X_GA = matter.getBodyTransform(s,getAncestorMobilizedBodyIndex()); in copyVelocitiesFromState() local 1185 const Vec3 p_AB_G = X_GB.p() - X_GA.p(); in copyVelocitiesFromState() 1190 const SpatialVec V_AB = ~X_GA.R() * SpatialVec(w_AB_G, v_AB_G); // re-express in A in copyVelocitiesFromState() 1253 const Transform& X_GA = matter.getBodyTransform(s,getAncestorMobilizedBodyIndex()); in copyAccelerationsFromState() local 1262 const Vec3 p_AB_G = X_GB.p() - X_GA.p(); in copyAccelerationsFromState() 1269 const SpatialVec A_AB = ~X_GA.R() * SpatialVec(b_AB_G, a_AB_G); // re-express in A in copyAccelerationsFromState()
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H A D | Constraint_Rod.cpp | 209 const Transform& X_GA = mobod_A.getBodyTransform(s); in findRodOrientationInG() local 211 return X_GA.R() * pc.Cz_A; // 15 flops in findRodOrientationInG()
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H A D | Constraint_SphereOnSphereContact.cpp | 252 const Transform& X_GA = mobod_A.getBodyTransform(s); in findContactFrameInG() local 254 return X_GA * pc.X_AC; // 63 flops in findContactFrameInG()
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H A D | Constraint.cpp | 3154 const Transform& X_GA = tpc.getX_GB(ancestorA); in calcConstrainedBodyTransformInAncestor() local 3163 tpc.updX_AB(px) = ~X_GA*X_GB; // 63 flops in calcConstrainedBodyTransformInAncestor() 3184 const Transform& X_GA = tpc.getX_GB(ancestorA); in calcConstrainedBodyVelocityInAncestor() local 3197 const Vec3 p_AB_G = X_GB.p() - X_GA.p(); in calcConstrainedBodyVelocityInAncestor() 3209 tvc.updV_AB(px) = ~X_GA.R() * SpatialVec(w_AB_G, v_AB_G); // re-express in A in calcConstrainedBodyVelocityInAncestor() 3533 const Transform& X_GA = ancestor.getBodyTransform(s); in convertBodyAccelToConstrainedBodyAccel() local 3548 A_AB[cbx] = findRelativeAcceleration(X_GA, V_GA, A_GA, in convertBodyAccelToConstrainedBodyAccel() 3585 const Transform& X_GA = ancestor.getBodyTransform(s); in convertBodyVelocityToConstrainedBodyVelocity() local 3598 V_AB[cbx] = findRelativeVelocity(X_GA, V_GA, // 51 flops in convertBodyVelocityToConstrainedBodyVelocity()
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/dports/science/simbody/simbody-Simbody-3.7/Simbody/include/simbody/internal/ |
H A D | MobilizedBody.h | 720 const Transform& X_GA = inBodyA.getBodyTransform(state); in findBodyTransformInAnotherBody() local 723 return ~X_GA*X_GB; // X_AB=X_AG*X_GB in findBodyTransformInAnotherBody() 768 const Transform& X_GA = inBodyA.getBodyTransform(state); in findBodyVelocityInAnotherBody() local 770 const Vec3 p_AB_G = X_GB.p() - X_GA.p(); // 3 flops in findBodyVelocityInAnotherBody() 778 return ~X_GA.R()*SpatialVec(w_AB_G, v_AB_G); // 30 flops in findBodyVelocityInAnotherBody() 819 const Transform& X_GA = inBodyA.getBodyTransform(state); in findBodyAccelerationInAnotherBody() local 826 return findRelativeAcceleration(X_GA, V_GA, A_GA, in findBodyAccelerationInAnotherBody()
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/dports/science/opensim-core/opensim-core-4.1/OpenSim/Simulation/Model/ |
H A D | Frame.cpp | 219 const SimTK::Transform& X_GA = otherFrame.getTransformInGround(state); in findTransformBetween() local 221 return ~X_GA*X_GF; in findTransformBetween()
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/dports/science/simbody/simbody-Simbody-3.7/SimTKmath/Geometry/src/ |
H A D | ContactTracker.cpp | 1271 const Transform& X_GA, in trackContact() argument 1284 const Transform X_AB = ~X_GA*X_GB; // 63 flops in trackContact() 1297 std::cout << " P=" << X_GA*pointP_A << " Q=" << X_GB*pointQ_B << std::endl; in trackContact() 1298 std::cout << " N=" << X_GA.R()*norm_A << std::endl; in trackContact() 1370 const Transform& X_GA, in trackContact() argument 1383 .trackContact(priorStatus, X_GA, shapeA, X_GB, shapeB, in trackContact()
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/dports/science/simbody/simbody-Simbody-3.7/Simbody/tests/ |
H A D | TestLinearBushing.cpp | 153 const Transform X_GA( in testKinematicsAndEnergyConservation() local 156 MobilizedBody::Free body1(matter.Ground(), X_GA, in testKinematicsAndEnergyConservation() 329 const Transform X_GA( in testKinematicsAndEnergyConservationUsingBushingMobilizer() local 332 MobilizedBody::Free body1(matter.Ground(), X_GA, in testKinematicsAndEnergyConservationUsingBushingMobilizer()
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