C++ Array_::getElt方法代码示例

//.........这里部分代码省略.........
    // Check for a Run->Quit menu pick every <x> second.
	system.addEventHandler(new UserInputHandler(*silo, 0.001));

	system.realizeTopology();

	//Show ContactSurfaceIndex for each contact surface
  //  for (int i=0; i < matter.getNumBodies(); ++i) {
		//MobilizedBodyIndex mbx(i);
  //      const MobilizedBody& mobod = matter.getMobilizedBody(mbx);
  //      const int nsurfs = mobod.getBody().getNumContactSurfaces();
        //printf("mobod %d has %d contact surfaces\n", (int)mbx, nsurfs);
		////cout << "mobod with mass: " << (float)mobod.getBodyMass(si) << " has " << nsurfs << " contact surfaces" << endl;
		// //for (int i=0; i<nsurfs; ++i) {
  //          //printf("%2d: index %d\n", i, 
  //                 //(int)tracker.getContactSurfaceIndex(mbx,i)); 
  //      //}
  //  }

	//cout << "tracker num of surfaces: " << tracker.getNumSurfaces() << endl;

	//State state = system.getDefaultState();
	//viz.report(state);
	State& state = model.initializeState();
	viz.updSimbodyVisualizer().report(state);

	// Add reporters
    ForceReporter* forceReporter = new ForceReporter(&model);
    model.addAnalysis(forceReporter);

	CustomAnalysis* customReporter = new CustomAnalysis(&model, "r");
	model.addAnalysis(customReporter);

	// Create the integrator and manager for the simulation.
	SimTK::RungeKuttaMersonIntegrator integrator(model.getMultibodySystem());
	//SimTK::CPodesIntegrator integrator(model.getMultibodySystem());
	//integrator.setAccuracy(.01);
	//integrator.setAccuracy(1e-3);
	//integrator.setFixedStepSize(0.001);
	Manager manager(model, integrator);

	// Define the initial and final simulation times
	double initialTime = 0.0;
	double finalTime = 0.2;

	// Integrate from initial time to final time
	manager.setInitialTime(initialTime);
	manager.setFinalTime(finalTime);
	std::cout<<"\n\nIntegrating from "<<initialTime<<" to " <<finalTime<<std::endl;

	result = std::time(nullptr);
	std::cout << "\nBefore integrate(si) " << std::asctime(std::localtime(&result)) << endl;

	manager.integrate(state);

	result = std::time(nullptr);
	std::cout << "\nAfter integrate(si) " << std::asctime(std::localtime(&result)) << endl;

	// Save the simulation results
	Storage statesDegrees(manager.getStateStorage());
	statesDegrees.print("../outputs/states_flex.sto");
	model.updSimbodyEngine().convertRadiansToDegrees(statesDegrees);
	statesDegrees.setWriteSIMMHeader(true);
	statesDegrees.print("../outputs/states_degrees_flex.mot");
	// force reporter results
	forceReporter->getForceStorage().print("../outputs/force_reporter_flex.mot");
	//customReporter->print( "../outputs/custom_reporter_flex.mot");

	//cout << "You can choose 'Replay'" << endl;
	int menuId, item;
	unsigned int frameRate = 5;
	do { 
		cout << "Please choose 'Replay' or 'Quit'" << endl;
		viz.updInputSilo().waitForMenuPick(menuId, item);

        if (item != ReplayItem && item != QuitItem) 
            cout << "\aDude... follow instructions!\n";
		if (item == ReplayItem)
		{
			cout << "Type desired frame rate (integer) for playback and press Enter (default = 1) : ";
			//frameRate = cin.get();		
			cin >> frameRate;
			if (cin.fail()) 
			{
				cout << "Not an int. Setting default frame rate." << endl;
				cin.clear();
				cin.ignore(std::numeric_limits<int>::max(),'\n');
				frameRate = 1;
			}

			//cout << "saveEm size: " << saveEm.size() << endl;
			for (unsigned int i=0; i<saveEm.size(); i++)
			{
				viz.updSimbodyVisualizer().drawFrameNow(saveEm.getElt(i));
				if (frameRate == 0)
					frameRate = 1;
				usleep(1000000/frameRate);
			}
		}
	} while (menuId != RunMenuId || item != QuitItem);
}