本文整理汇总了C++中opensim::Body::addWrapObject方法的典型用法代码示例。如果您正苦于以下问题：C++ Body::addWrapObject方法的具体用法？C++ Body::addWrapObject怎么用？C++ Body::addWrapObject使用的例子？那么恭喜您, 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opensim::Body的用法示例。
在下文中一共展示了Body::addWrapObject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: testClutchedPathSpring
void testClutchedPathSpring()
{
using namespace SimTK;
// start timing
std::clock_t startTime = std::clock();
double mass = 1;
double stiffness = 100;
double dissipation = 0.3;
double start_h = 0.5;
//double ball_radius = 0.25;
//double omega = sqrt(stiffness/mass);
// Setup OpenSim model
Model* model = new Model;
model->setName("ClutchedPathSpringModel");
model->setGravity(gravity_vec);
//OpenSim bodies
const Ground* ground = &model->getGround();
// body that acts as the pulley that the path wraps over
OpenSim::Body* pulleyBody =
new OpenSim::Body("PulleyBody", mass ,Vec3(0), mass*Inertia::brick(0.1, 0.1, 0.1));
// body the path spring is connected to at both ends
OpenSim::Body* block =
new OpenSim::Body("block", mass ,Vec3(0), mass*Inertia::brick(0.2, 0.1, 0.1));
block->attachGeometry(new Brick(Vec3(0.2, 0.1, 0.1)));
block->scale(Vec3(0.2, 0.1, 0.1), false);
//double dh = mass*gravity_vec(1)/stiffness;
WrapCylinder* pulley = new WrapCylinder();
pulley->set_radius(0.1);
pulley->set_length(0.05);
// Add the wrap object to the body, which takes ownership of it
pulleyBody->addWrapObject(pulley);
// Add joints
WeldJoint* weld =
new WeldJoint("weld", *ground, Vec3(0, 1.0, 0), Vec3(0), *pulleyBody, Vec3(0), Vec3(0));
SliderJoint* slider =
new SliderJoint("slider", *ground, Vec3(0), Vec3(0,0,Pi/2),*block, Vec3(0), Vec3(0,0,Pi/2));
double positionRange[2] = {-10, 10};
// Rename coordinates for a slider joint
slider->updCoordinate().setName("block_h");
slider->updCoordinate().setRange(positionRange);
model->addBody(pulleyBody);
model->addJoint(weld);
model->addBody(block);
model->addJoint(slider);
ClutchedPathSpring* spring =
new ClutchedPathSpring("clutch_spring", stiffness, dissipation, 0.01);
spring->updGeometryPath().appendNewPathPoint("origin", *block, Vec3(-0.1, 0.0 ,0.0));
int N = 10;
for(int i=1; i<N; ++i){
double angle = i*Pi/N;
double x = 0.1*cos(angle);
double y = 0.1*sin(angle);
spring->updGeometryPath().appendNewPathPoint("", *pulleyBody, Vec3(-x, y ,0.0));
}
spring->updGeometryPath().appendNewPathPoint("insertion", *block, Vec3(0.1, 0.0 ,0.0));
// BUG in defining wrapping API requires that the Force containing the GeometryPath be
// connected to the model before the wrap can be added
model->addForce(spring);
PrescribedController* controller = new PrescribedController();
controller->addActuator(*spring);
// Control greater than 1 or less than 0 should be treated as 1 and 0 respectively.
double timePts[4] = {0.0, 5.0, 6.0, 10.0};
double clutchOnPts[4] = {1.5, -2.0, 0.5, 0.5};
PiecewiseConstantFunction* controlfunc =
new PiecewiseConstantFunction(4, timePts, clutchOnPts);
controller->prescribeControlForActuator("clutch_spring", controlfunc);
model->addController(controller);
model->print("ClutchedPathSpringModel.osim");
//Test deserialization
delete model;
model = new Model("ClutchedPathSpringModel.osim");
// Create the force reporter
ForceReporter* reporter = new ForceReporter(model);
//.........这里部分代码省略.........