C++ SiconosMatrix::getValue方法代码示例

// ================= Creation of the model =======================
void Spheres::init()
{

  SP::TimeDiscretisation timedisc_;
  SP::Simulation simulation_;
  SP::FrictionContact osnspb_;


  // User-defined main parameters

  double t0 = 0;                   // initial computation time

  double T = std::numeric_limits<double>::infinity();

  double h = 0.01;                // time step
  double g = 9.81;

  double theta = 0.5;              // theta for MoreauJeanOSI integrator

  std::string solverName = "NSGS";

  // -----------------------------------------
  // --- Dynamical systems && interactions ---
  // -----------------------------------------


  double R;
  double m;

  try
  {

    // ------------
    // --- Init ---
    // ------------

    std::cout << "====> Model loading ..." << std::endl << std::endl;

    _plans.reset(new SimpleMatrix("plans.dat", true));

    SP::SiconosMatrix Spheres;
    Spheres.reset(new SimpleMatrix("spheres.dat", true));

    // -- OneStepIntegrators --
    SP::OneStepIntegrator osi;
    osi.reset(new MoreauJeanOSI(theta));

    // -- Model --
    _model.reset(new Model(t0, T));

    for (unsigned int i = 0; i < Spheres->size(0); i++)
    {
      R = Spheres->getValue(i, 3);
      m = Spheres->getValue(i, 4);

      SP::SiconosVector qTmp;
      SP::SiconosVector vTmp;

      qTmp.reset(new SiconosVector(NDOF));
      vTmp.reset(new SiconosVector(NDOF));
      vTmp->zero();
      (*qTmp)(0) = (*Spheres)(i, 0);
      (*qTmp)(1) = (*Spheres)(i, 1);
      (*qTmp)(2) = (*Spheres)(i, 2);

      (*qTmp)(3) = M_PI / 2;
      (*qTmp)(4) = M_PI / 4;
      (*qTmp)(5) = M_PI / 2;

      (*vTmp)(0) = 0;
      (*vTmp)(1) = 0;
      (*vTmp)(2) = 0;


      (*vTmp)(3) = 0;
      (*vTmp)(4) = 0;
      (*vTmp)(5) = 0;


      SP::LagrangianDS body;
      body.reset(new SphereLDS(R, m, std11::shared_ptr<SiconosVector>(qTmp), std11::shared_ptr<SiconosVector>(vTmp)));

      // -- Set external forces (weight) --
      SP::SiconosVector FExt;
      FExt.reset(new SiconosVector(NDOF));
      FExt->zero();
      FExt->setValue(2, -m * g);
      body->setFExtPtr(FExt);

      // add the dynamical system to the one step integrator
      osi->insertDynamicalSystem(body);

      // add the dynamical system in the non smooth dynamical system
      _model->nonSmoothDynamicalSystem()->insertDynamicalSystem(body);

    }

    // ------------------
    // --- Simulation ---
//.........这里部分代码省略.........

//.........这里部分代码省略.........

        /* set center positions */
        for (unsigned int i = 0 ; i < _plans->size(0); ++i)
        {
            SP::DiskPlanR tmpr;
            tmpr.reset(new DiskPlanR(1, (*_plans)(i, 0), (*_plans)(i, 1), (*_plans)(i, 2),
                                     (*_plans)(i, 3), (*_plans)(i, 4), (*_plans)(i, 5)));
            (*_plans)(i, 3) = tmpr->getXCenter();
            (*_plans)(i, 4) = tmpr->getYCenter();
        }

        /*    _moving_plans.reset(new FMatrix(1,6));
            (*_moving_plans)(0,0) = &A;
            (*_moving_plans)(0,1) = &B;
            (*_moving_plans)(0,2) = &C;
            (*_moving_plans)(0,3) = &DA;
            (*_moving_plans)(0,4) = &DB;
            (*_moving_plans)(0,5) = &DC;*/



        SP::SiconosMatrix Disks;
        Disks.reset(new SimpleMatrix("disks.dat", true));

        // -- OneStepIntegrators --
        SP::OneStepIntegrator osi;
        osi.reset(new MoreauJeanOSI(theta));

        // -- Model --
        _model.reset(new Model(t0, T));

        for (unsigned int i = 0; i < Disks->size(0); i++)
        {
            R = Disks->getValue(i, 2);
            m = Disks->getValue(i, 3);

            SP::SiconosVector qTmp;
            SP::SiconosVector vTmp;

            qTmp.reset(new SiconosVector(NDOF));
            vTmp.reset(new SiconosVector(NDOF));
            vTmp->zero();
            (*qTmp)(0) = (*Disks)(i, 0);
            (*qTmp)(1) = (*Disks)(i, 1);

            SP::LagrangianDS body;
            if (R > 0)
                body.reset(new Disk(R, m, qTmp, vTmp));
            else
                body.reset(new Circle(-R, m, qTmp, vTmp));

            // -- Set external forces (weight) --
            SP::SiconosVector FExt;
            FExt.reset(new SiconosVector(NDOF));
            FExt->zero();
            FExt->setValue(1, -m * g);
            body->setFExtPtr(FExt);

            // add the dynamical system to the one step integrator
            osi->insertDynamicalSystem(body);

            // add the dynamical system in the non smooth dynamical system
            _model->nonSmoothDynamicalSystem()->insertDynamicalSystem(body);

        }

void DisksViewer::draw()
{

  int i;

  char qs[6];

  float lbd, w;

  float lbdmax = 0.;

  DSIterator itDS;
  SP::DynamicalSystemsSet involvedDS;
  SP::InteractionsGraph I1;
  SP::Interaction interaction;
  SP::Relation relation;

  if (Siconos_->model()->nonSmoothDynamicalSystem()->topology()->numberOfIndexSet() > 1)
  {
    I1 = Siconos_->model()->simulation()->indexSet(1);

    // calibration
    InteractionsGraph::VIterator ui, uiend;
    for (boost::tie(ui, uiend) = I1->vertices(); ui != uiend; ++ui)
    {
      lbdmax = fmax(I1->bundle(*ui)->lambdaOld(1)->getValue(0), lbdmax);
    }

    for (boost::tie(ui, uiend) = I1->vertices(); ui != uiend; ++ui)
    {
      interaction = I1->bundle(*ui);
      relation = interaction->relation();
      
      lbd = interaction->lambdaOld(1)->getValue(0);

      // screen width of interaction
      w = lbd / (2 * fmax(lbdmax, 1.)) + .03;
   
      // disk/disk
      
      SP::DynamicalSystem d1 = I1->properties(*ui).source;
      SP::DynamicalSystem d2 = I1->properties(*ui).target;

      SP::SiconosVector q1 = ask<ForPosition>(*d1);

      float x1 = (*q1)(0);
      float y1 = (*q1)(1);
      float r1 = ask<ForRadius>(*d1);


      if (d1 != d2)
      {
        SP::SiconosVector q2 = ask<ForPosition>(*d2);
        float x2 = (*q2)(0);
        float y2 = (*q2)(1);
        float r2 = ask<ForRadius>(*d2);

        float d = hypotf(x1 - x2, y1 - y2);

        glPushMatrix();

        glColor3f(.0f, .0f, .0f);
        drawRec(x1, y1, x1 + (x2 - x1)*r1 / d, y1 + (y2 - y1)*r1 / d, w);
        drawRec(x2, y2, x2 + (x1 - x2)*r2 / d, y2 + (y1 - y2)*r2 / d, w);

        glPopMatrix();
      }

      else
      {
        SP::SiconosMatrix jachq = ask<ForJachq>(*relation);
        double jx = jachq->getValue(0, 0);
        double jy = jachq->getValue(0, 1);
        double dj = hypot(jx, jy);

        glPushMatrix();

        glColor3f(.0f, .0f, .0f);
        drawRec(x1, y1, x1 - r1 * jx / dj, y1 - r1 * jy / dj, w);
        glPopMatrix();
      }
    }
  }


  for (unsigned int i = 0; i < GETNDS(Siconos_); i++)
  {
    if (shapes_[i]->selected())
    {
      drawSelectedQGLShape(*shapes_[i]);
    }
    else
    {
      drawQGLShape(*shapes_[i]);
    }
  }

  glColor3f(.45, .45, .45);
  glLineWidth(1.);
  drawGrid(100, 200);
//.........这里部分代码省略.........