Changeset 915 for cpp/frams/model

Timestamp:

04/20/20 23:33:31 (5 years ago)

Author:

Maciej Komosinski

Message:

Added fields to characterize hinges in "solid shape"-type Models

Location:

cpp/frams/model

Files:

• defassign-f0-SDK.h (modified) (2 diffs)
• f0-SDK-classes.h (modified) (4 diffs)
• model.cpp (modified) (1 diff)
• modelparts.cpp (modified) (1 diff)
• modelparts.h (modified) (1 diff)

cpp/frams/model/defassign-f0-SDK.h

@@ -1 +1 @@
 // This file is a part of Framsticks SDK.  http://www.framsticks.com/
-// Copyright (C) 1999-2018  Maciej Komosinski and Szymon Ulatowski.
+// Copyright (C) 1999-2020  Maciej Komosinski and Szymon Ulatowski.
 // See LICENSE.txt for details.
 
@@ -66 +66 @@
 d.z=0;
 shape=0;
+hinge_pos.x=0;
+hinge_pos.y=0;
+hinge_pos.z=0;
+hinge_rot.x=0;
+hinge_rot.y=0;
+hinge_rot.z=0;
+hinge_limit_x[0]=-1.5708;
+hinge_limit_x[1]=1.5708;
+hinge_limit_y[0]=-1.5708;
+hinge_limit_y[1]=1.5708;
 stif=1.0;
 rotstif=1.0;

cpp/frams/model/f0-SDK-classes.h

@@ -71 +71 @@
 ParamEntry f0_joint_paramtab[]=
 {
- {"Connections",4,17,"j" },
+ {"Connections",4,27,"j" },
  {"Geometry",},
  {"Other properties",},
@@ -84 +84 @@
  {"dz",1,1024,"delta.z","f -2 2 0",FIELD(d.z),},
  {"sh",1,0,"shape","d 0 1 0",FIELD(shape),},
+ {"hx",1,0,"hinge position.x","f",FIELD(hinge_pos.x),},
+ {"hy",1,1024,"hinge position.y","f",FIELD(hinge_pos.y),},
+ {"hz",1,1024,"hinge position.z","f",FIELD(hinge_pos.z),},
+ {"hrx",1,0,"hinge rotation.x","f",FIELD(hinge_rot.x),},
+ {"hry",1,1024,"hinge rotation.y","f",FIELD(hinge_rot.y),},
+ {"hrz",1,1024,"hinge rotation.z","f",FIELD(hinge_rot.z),},
+ {"hxn",1,0,"hinge x negative limit","f -6.2832 0 -1.5708",FIELD(hinge_limit_x[0]),},
+ {"hxp",1,1024,"hinge x positive limit","f 0 6.2832 1.5708",FIELD(hinge_limit_x[1]),},
+ {"hyn",1,0,"hinge y negative limit","f -6.2832 0 -1.5708",FIELD(hinge_limit_y[0]),},
+ {"hyp",1,1024,"hinge y positive limit","f 0 6.2832 1.5708",FIELD(hinge_limit_y[1]),},
  {"stif",2,0,"stiffness","f 0.0 1.0 1.0",FIELD(stif),},
  {"rotstif",2,0,"rotation stiffness","f 0.0 1.0 1.0",FIELD(rotstif),},
@@ -110 +120 @@
 ParamEntry f0_nodeltajoint_paramtab[]=
 {
- {"Connections",4,11,"j" },
+ {"Connections",4,21,"j" },
  {"Geometry",},
  {"Other properties",},
@@ -117 +127 @@
  {"p2",0,1024,"part2 ref#","d -1 999999 -1",FIELD(p2_refno),},
  {"sh",1,0,"shape","d 0 1 0",FIELD(shape),},
+ {"hx",1,0,"hinge position.x","f",FIELD(hinge_pos.x),},
+ {"hy",1,1024,"hinge position.y","f",FIELD(hinge_pos.y),},
+ {"hz",1,1024,"hinge position.z","f",FIELD(hinge_pos.z),},
+ {"hrx",1,0,"hinge rotation.x","f",FIELD(hinge_rot.x),},
+ {"hry",1,1024,"hinge rotation.y","f",FIELD(hinge_rot.y),},
+ {"hrz",1,1024,"hinge rotation.z","f",FIELD(hinge_rot.z),},
+ {"hxn",1,0,"hinge x negative limit","f -6.2832 0 -1.5708",FIELD(hinge_limit_x[0]),},
+ {"hxp",1,1024,"hinge x positive limit","f 0 6.2832 1.5708",FIELD(hinge_limit_x[1]),},
+ {"hyn",1,0,"hinge y negative limit","f -6.2832 0 -1.5708",FIELD(hinge_limit_y[0]),},
+ {"hyp",1,1024,"hinge y positive limit","f 0 6.2832 1.5708",FIELD(hinge_limit_y[1]),},
  {"stif",2,0,"stiffness","f 0.0 1.0 1.0",FIELD(stif),},
  {"rotstif",2,0,"rotation stiffness","f 0.0 1.0 1.0",FIELD(rotstif),},

cpp/frams/model/model.cpp

@@ -50 +50 @@
         geno = mod.geno;
         f0genoknown = 0;
+        shape = mod.shape;
         startenergy = mod.startenergy;
         modelfromgenotype = mod.modelfromgenotype;

cpp/frams/model/modelparts.cpp

@@ -642 +642 @@
         d = src.d;
         shape = src.shape;
+        hinge_pos = src.hinge_pos;
+        hinge_rot = src.hinge_rot;
         stamina = src.stamina;
         stif = src.stif; rotstif = src.rotstif;

cpp/frams/model/modelparts.h

@@ -124 +124 @@
         class Pt3D d;           ///< position delta between parts
         class Pt3D rot; ///< orientation delta between parts expressed as 3 angles
-        enum Shape { SHAPE_BALL_AND_STICK = 0, SHAPE_FIXED = 1 };
-        paInt shape;///< ball-and-stick=old Framsticks compatible, creates a physical rod between parts (cylinder or cuboid), do not mix with shape>0,  fixed=merge parts into one physical entity
+        enum Shape { SHAPE_BALL_AND_STICK = 0, ///<  old Framsticks compatible, creates a physical rod between parts (cylinder or cuboid), do not mix with part.shape>0
+                     SHAPE_FIXED = 1, ///< merge parts into one physical entity
+                     SHAPE_HINGE_X = 2, ///< hinge connection, revolving around X axis defined by hinge_pos and hinge_rot
+                     SHAPE_HINGE_XY = 3 }; ///< double hinge connection, revolving around X and Y axes defined by hinge_pos and hinge_rot
+        paInt shape;///< values of type Shape (paInt for integration with Param)
+        class Pt3D hinge_pos; ///< hinge position (relative to part1) for HINGE_X and HINGE_XY
+        class Pt3D hinge_rot; ///< hinge orientation (relative to part1) for HINGE_X and HINGE_XY
+        double hinge_limit_x[2], hinge_limit_y[2]; ///< hinge movement range - i.e., extreme allowed values of a state. A state can be an angle or other physical property. limit[0] <= 0 <= limit[1]. Relative Part position and orientation as set in the Model define the initial state 0.
 
         Joint();