C++ tgStructure::addNode方法代码示例

void BigPuppySymmetricArching::addNodesVertebra(tgStructure& s, double r) {
    s.addNode(0,0,0); //Node 0
    s.addNode(r,0,r); //Node 1
    s.addNode(r,0,-r); //Node 2
    s.addNode(-r,0,-r); //Node 3
    s.addNode(-r,0,r); //Node 4
}

void BigDoxieNoFeet::addNodesVertebra(tgStructure& s, double r){
    s.addNode(0,0,0); //Node 0 
    s.addNode(r,0,r); //Node 1 
    s.addNode(r,0,-r); //Node 2
    s.addNode(-r,0,-r); //Node 3
    s.addNode(-r,0,r); //Node 4
}

void BigDoxieNoFeet::addNodesLeg(tgStructure& s, double r){ 
    s.addNode(0,0,0); //0: Bottom Center of lower leg segment
    s.addNode(0,r,0);  //1: Center of lower leg segment
    s.addNode(r,r,0); //2: Right of lower leg segment
    s.addNode(-r,r,0);  //3: Left of lower leg segment
    s.addNode(0,2*r,0);  //4: Top of lower leg segment
    s.addNode(0,-r/2,0);  //5: Leg segment extension for connections to foot.
}

void DuCTTTestModel::addNodes(tgStructure& tetra, double edge, double height)
{
    // right
    tetra.addNode(-edge / 2.0, 0, tgUtil::round(std::sqrt(3.0) / 2.0 * height));
    // left
    tetra.addNode( edge / 2.0, 0, tgUtil::round(std::sqrt(3.0) / 2.0 * height));
    // front
    tetra.addNode(0, edge/2.0, 0);
    // back
    tetra.addNode(0, -edge/2.0, 0);
}

void VerticalSpineModel::addNodes(tgStructure& tetra, double edge, double height)
{
    // right
    tetra.addNode( c.edge / 2.0, 0, 0); // node 0
    // left
    tetra.addNode( -c.edge / 2.0, 0, 0); // node 1
    // top
    tetra.addNode(0, c.height, -edge / 2.0); // node 2
    // front
    tetra.addNode(0, c.height, edge / 2.0); // node 3
    // middle
    tetra.addNode(0, c.height/2, 0); // node 4

}

void TensegrityModel::addNodes(tgStructure& structure, const Yam& nodes) {
    if (!nodes) return;
    for (YAML::const_iterator node = nodes.begin(); node != nodes.end(); ++node) {
        std::string name = node->first.as<std::string>();
        Yam xyz = node->second;
        double x = xyz[0].as<double>();
        double y = xyz[1].as<double>();
        double z = xyz[2].as<double>();
        structure.addNode(x, y, z, name);
    }
}

void BigDoxieNoFeet::addNodesFoot(tgStructure& s, double r1, double r2){
    s.addNode(r2,0,r2);//0 
    s.addNode(r2,0,-r2);//1
    s.addNode(-r2,0,-r2);//2 
    s.addNode(-r2,0,r2);//3 
    s.addNode(r2/2,r1/2,0);//4
    s.addNode(0,r1/2,-r2/2);//5
    s.addNode(-r2/2,r1/2,0);//6
    s.addNode(0,r1/2,r2/2);//7        
}

void BigPuppySymmetricArching::addNodesFoot(tgStructure& s, double r1, double r2) {
    s.addNode(r2,0,r2);//0
    s.addNode(r2,0,-r2);//1
    s.addNode(-r2,0,-r2);//2
    s.addNode(-r2,0,r2);//3
    s.addNode(r2/2,r1/2,0);//4
    s.addNode(0,r1/2,-r2/2);//5
    s.addNode(-r2/2,r1/2,0);//6
    s.addNode(0,r1/2,r2/2);//7
}

// Nodes: center points of opposing faces of rectangles
void CraterDeep::addNodes(tgStructure& s) {
    const int nBoxes = 4; 

    // Accumulating rotation on boxes
    btVector3 rotationPoint = origin;
    btVector3 rotationAxis = btVector3(0, 1, 0);  // y-axis
    double rotationAngle = M_PI/2;

    addBoxNodes();
    addBoxNodes();
    addBoxNodes();
    addBoxNodes();
    
    for(int i=0;i<nodes.size();i+=2) {
        s.addNode(nodes[i]);
        s.addNode(nodes[i+1]);
        s.addRotation(rotationPoint, rotationAxis, rotationAngle);
        s.addPair(i, i+1, "box");
    }
    s.move(btVector3(0, -5, 0)); // Sink boxes into the ground
}

// Nodes: center points of opposing faces of rectangles
void tgCraterDeep::addNodes(tgStructure& s) {
#if (0)
    const int nBoxes = 4; 
#endif // Suppress compiler warning unused variable
    // Accumulating rotation on boxes
    btVector3 rotationPoint = origin;
    btVector3 rotationAxis = btVector3(0, 1, 0);  // y-axis
    double rotationAngle = M_PI/2;

    addBoxNodes();
    addBoxNodes();
    addBoxNodes();
    addBoxNodes();
    
    for(std::size_t i=0;i<nodes.size();i+=2) {
        s.addNode(nodes[i]);
        s.addNode(nodes[i+1]);
        s.addRotation(rotationPoint, rotationAxis, rotationAngle);
        s.addPair(i, i+1, "box");
    }
    s.move(btVector3(0, -5, 0)); // Sink boxes into the ground
}

void ScarrArmModel::addNodes(tgStructure& s) {
    const double scale = 0.5;
    const double bone_scale = 0.3;
    const size_t nNodes = 15 + 2; //2 for massless rod
    
    // Average Adult Male Measurements with scale
    // Lengths are in mm
    const double a = 22 * scale; //ulnta distal width
    const double b = 334 * scale * bone_scale; //ulna length
    const double c = 265 * scale * bone_scale; //humerus length //NB: in model, c==b
    //const double d = 66 * scale; // humerus epicondylar width
    //const double e = 246 * scale * bone_scale; //radius length
    const double f = 25 * scale; // humerus head radius
    const double g = 17 * scale; //ulna proximal width
    const double x = a/2;
    const double z = c/2;

    //Format: (x, z, y)
    nodePositions.push_back(btVector3(g, 0, 0));
    nodePositions.push_back(btVector3(0, -g, 0));
    nodePositions.push_back(btVector3(-a/2, 0, 0));
    nodePositions.push_back(btVector3(0, 0, g));
    nodePositions.push_back(btVector3(0, 0, -g));
    nodePositions.push_back(btVector3(0, g, 0));
    nodePositions.push_back(btVector3(0, c, 0));
    nodePositions.push_back(btVector3(x, z, 0));
    nodePositions.push_back(btVector3(b+a/2, -g, 0));
    nodePositions.push_back(btVector3(0, c+2, f));
    nodePositions.push_back(btVector3(0, c+2, -f));

    //Added 6/17/15
    nodePositions.push_back(btVector3(a/2, -2*g, 0));

    //ulna and radius
    nodePositions.push_back(btVector3(3*a/2, -g, 0));
    nodePositions.push_back(btVector3(3*a/4, -g, g));
    nodePositions.push_back(btVector3(3*a/4, -g, -g));

    nodePositions.push_back(btVector3(f, c+2, 0));
    nodePositions.push_back(btVector3(-f, c+2, 0));

    for(size_t i=0;i<nNodes;i++) {
		s.addNode(nodePositions[i][0],nodePositions[i][1],nodePositions[i][2]);
    }
}

void T12SuperBallPayload::addNodes(tgStructure& s)
{
    const double half_length = c.rod_length / 2;

    nodePositions.push_back(btVector3(-half_length,   c.rod_space, 0));            // 0
    nodePositions.push_back(btVector3( half_length,   c.rod_space, 0));            // 1
    nodePositions.push_back(btVector3(0,            half_length,   -c.rod_space)); // 2
    nodePositions.push_back(btVector3(-c.rod_space, 0,           -half_length));   // 3
    nodePositions.push_back(btVector3( c.rod_space, 0,           -half_length));   // 4
    nodePositions.push_back(btVector3(0,           -half_length,   -c.rod_space)); // 5
    nodePositions.push_back(btVector3(-half_length,  -c.rod_space, 0));            // 6
    nodePositions.push_back(btVector3( half_length,  -c.rod_space, 0));            // 7
    nodePositions.push_back(btVector3(0,            half_length,    c.rod_space)); // 8
    nodePositions.push_back(btVector3(-c.rod_space, 0,            half_length));   // 9
    nodePositions.push_back(btVector3( c.rod_space, 0,            half_length));   // 10
    nodePositions.push_back(btVector3(0,           -half_length,    c.rod_space)); // 11

    for(int i=0;i<12;i++)
    {
		s.addNode(nodePositions[i][0],nodePositions[i][1],nodePositions[i][2]);
    }
}

void T6Model::addNodes(tgStructure& s)
{
    const double half_length = c.rod_length / 2;

    s.addNode(-c.rod_space,  -half_length, 0);            // 0
    s.addNode(-c.rod_space,   half_length, 0);            // 1
    s.addNode( c.rod_space,  -half_length, 0);            // 2
    s.addNode( c.rod_space,   half_length, 0);            // 3
    s.addNode(0,           -c.rod_space,   -half_length); // 4
    s.addNode(0,           -c.rod_space,    half_length); // 5
    s.addNode(0,            c.rod_space,   -half_length); // 6
    s.addNode(0,            c.rod_space,    half_length); // 7
    s.addNode(-half_length, 0,            c.rod_space);   // 8
    s.addNode( half_length, 0,            c.rod_space);   // 9
    s.addNode(-half_length, 0,           -c.rod_space);   // 10
    s.addNode( half_length, 0,           -c.rod_space);   // 11
}

void BigDoxieNoFeet::addNodesHip(tgStructure& s, double r){
    s.addNode(0,0,0); //Node 0 
    s.addNode(0,r,r); //Node 1 
    s.addNode(0,-r,-r); //Node 2
    s.addNode(0,-r,r); //Node 3
}

void BigPuppySymmetricArching::addNodesHip(tgStructure& s, double r) {
    s.addNode(0,0,0); //Node 0
    s.addNode(0,r,r); //Node 1
    s.addNode(0,-r,-r); //Node 2
    s.addNode(0,-r,r); //Node 3
}