本文整理汇总了C++中MultibodySystem::getSubsystem方法的典型用法代码示例。如果您正苦于以下问题：C++ MultibodySystem::getSubsystem方法的具体用法？C++ MultibodySystem::getSubsystem怎么用？C++ MultibodySystem::getSubsystem使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类MultibodySystem的用法示例。
在下文中一共展示了MultibodySystem::getSubsystem方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
int main() {
try
{ // Create the system.
MultibodySystem system;
SimbodyMatterSubsystem matter(system);
GeneralForceSubsystem forces(system);
/// uncoment gravity to get some sort of collision interaction
/// for cylinder mesh
// Force::UniformGravity gravity(forces, matter,Vec3(0,0.001,0), 2);
ContactTrackerSubsystem tracker(system);
//GeneralContactSubsystem contactsys(system);
CompliantContactSubsystem contactForces(system, tracker);
contactForces.setTrackDissipatedEnergy(true);
for(SubsystemIndex i(0); i<system.getNumSubsystems(); ++i)
{
fprintf(stderr,"subsytem name %d %s\n", (int)i,
system.getSubsystem((SubsystemIndex)i).getName().c_str());
}
const Real rad = .4;
PolygonalMesh pyramidMesh1,pyramidMesh2;
/// load cylinder forces drawn, but interaction depends on gravity???
const Real fFac =1; // to turn off friction
const Real fDis = .5*0.2; // to turn off dissipation
const Real fVis = .1*.1; // to turn off viscous friction
const Real fK = 100*1e6; // pascals
Body::Rigid pendulumBody3(MassProperties(100.0, Vec3(0), 100*Inertia(1)));
PolygonalMesh body3contact = PolygonalMesh::createSphereMesh(rad, 2);
ContactGeometry::TriangleMesh geo3(body3contact);
const DecorativeMesh mesh3(geo3.createPolygonalMesh());
pendulumBody3.addDecoration(Transform(),
DecorativeMesh(mesh3).setOpacity(.2));
pendulumBody3.addDecoration(Transform(),
DecorativeMesh(mesh3).setColor(Gray)
.setRepresentation(DecorativeGeometry::DrawWireframe)
.setOpacity(.1));
ContactSurface s1(geo3,
ContactMaterial(fK*.1,fDis*.9,fFac*.8,fFac*.7,fVis*10));
s1.setThickness(1);
s1.setShape(geo3);
//ContactGeometry::Sphere geo3(rad);
pendulumBody3.addContactSurface(Transform(),s1);
/*
std::ifstream meshFile1,meshFile2;
meshFile1.open("cyl3.obj");
pyramidMesh1.loadObjFile(meshFile1); meshFile1.close();
*/
pyramidMesh1 = PolygonalMesh::createSphereMesh(rad, 2);
ContactGeometry::TriangleMesh pyramid1(pyramidMesh1);
DecorativeMesh showPyramid1(pyramid1.createPolygonalMesh());
const Real ballMass = 200;
Body::Rigid ballBody(MassProperties(ballMass, Vec3(0),
ballMass*UnitInertia::sphere(1)));
ballBody.addDecoration(Transform(),
showPyramid1.setColor(Cyan).setOpacity(.2));
ballBody.addDecoration(Transform(),
showPyramid1.setColor(Gray)
.setRepresentation(DecorativeGeometry::DrawWireframe));
ContactSurface s2(pyramid1,
ContactMaterial(fK*.1,fDis*.9,
.1*fFac*.8,.1*fFac*.7,fVis*1));
s2.setThickness(1);
s2.setShape(pyramid1);
ballBody.addContactSurface(Transform(),/*ContactSurface(ContactGeometry::Sphere(rad),ContactMaterial(fK*.1,fDis*.9,
.1*fFac*.8,.1*fFac*.7,fVis*1))*/ s2/*.joinClique(clique1)*/);
/* Body::Rigid d(MassProperties(1.0, Vec3(0),Inertia(1)));
MobilizedBody::Pin dud(matter.Ground(),Transform(),d,Transform());
*/
MobilizedBody::Free ball(matter.Ground(), Transform(Vec3(-2,-2,0)),
ballBody, Transform(Vec3(0)));
MobilizedBody::Free ball1(matter.Ground(), Transform(Vec3(0,0,0)),
ballBody, Transform(Vec3(0)));
/*
MobilizedBody::Free ball2(matter.Ground(), Transform(Vec3(-4,0,0)),
ballBody, Transform(Vec3(0)));
*/
MobilizedBody::Free ball3(matter.Ground(), Transform(Vec3(-1,-2,0)),
ballBody, Transform(Vec3(0)));
MobilizedBody::Pin pendulum3(matter.Ground(), Transform(Vec3(-2,0,0)),
pendulumBody3, Transform(Vec3(0, 2, 0)));
//.........这里部分代码省略.........