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onfunctions.cpp
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Thu, Jul 4, 19:38
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rLAMMPS lammps
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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