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onfunctions.cpp
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Fri, Nov 8, 06:18

onfunctions.cpp
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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: onfunction.cpp *
* AUTHORS: See Author List *
* GRANTS: See Grants List *
* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
* LICENSE: Please see License Agreement *
* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
* ADMINISTRATOR: Prof. Kurt Anderson *
* Computational Dynamics Lab *
* Rensselaer Polytechnic Institute *
* 110 8th St. Troy NY 12180 *
* CONTACT: anderk5@rpi.edu *
*_________________________________________________________________________*/
#include "onfunctions.h"
#include "matrixfun.h"
#include <iostream>
using namespace std;
// friend of Vect3 & Vect6
void OnPopulateSVect(Vect3& angular, Vect3& linear, Vect6& sV){
sV.elements[0] = angular.elements[0];
sV.elements[1] = angular.elements[1];
sV.elements[2] = angular.elements[2];
sV.elements[3] = linear.elements[0];
sV.elements[4] = linear.elements[1];
sV.elements[5] = linear.elements[2];
}
// friend of Vect3, Mat3x3, & Mat6x6
void OnPopulateSC(Vect3& gamma, Mat3x3& C, Mat6x6& SC){
// the block diagonals
// the gamma cross with transform
Mat3x3 temp; Mat3x3 temp2;
SC.Zeros();
temp.Zeros();
temp2.Zeros();
//FastTMult(C,gamma,temp);
temp(1,2)= -gamma(3); temp(1,3)= gamma(2); temp(2,1)= gamma(3);
temp(2,3)= -gamma(1); temp(3,1)= -gamma(2); temp(3,2)= gamma(1);
FastMult(temp,C,temp2);
SC(1,4)=temp2(1,1); SC(2,4)=temp2(2,1); SC(3,4)=temp2(3,1);
SC(1,5)=temp2(1,2); SC(2,5)=temp2(2,2); SC(3,5)=temp2(3,2);
SC(1,6)=temp2(1,3); SC(2,6)=temp2(2,3); SC(3,6)=temp2(3,3);
SC(1,1)=C(1,1); SC(2,1)=C(2,1); SC(3,1)=C(3,1);
SC(1,2)=C(1,2); SC(2,2)=C(2,2); SC(3,2)=C(3,2);
SC(1,3)=C(1,3); SC(2,3)=C(2,3); SC(3,3)=C(3,3);
SC(4,4)=C(1,1); SC(5,4)=C(2,1); SC(6,4)=C(3,1);
SC(4,5)=C(1,2); SC(5,5)=C(2,2); SC(6,5)=C(3,2);
SC(4,6)=C(1,3); SC(5,6)=C(2,3); SC(6,6)=C(3,3);
}
// friend of Mat3x3 & Mat6x6
void OnPopulateSI(Mat3x3& inertia, double mass, Mat6x6& sI){
sI(4,4)=mass; sI(5,5)=mass; sI(6,6)=mass;
sI(1,1)=inertia(1,1); sI(1,2)=inertia(1,2); sI(1,3)=inertia(1,3);
sI(2,1)=inertia(2,1); sI(2,2)=inertia(2,2); sI(2,3)=inertia(2,3);
sI(3,1)=inertia(3,1); sI(3,2)=inertia(3,2); sI(3,3)=inertia(3,3);
}

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