MBSfun.h

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//---------------------------
// UCL-CEREM-MBS
//
// @version MBsysLab_s 1.7.a
//
// Creation : 2006
// Last update : 01/10/2008
//---------------------------
 
#ifndef MBSfun_h
#define MBSfun_h
/*--------------------*/
 
 
#include "mbs_data.h"
#include "mbs_aux.h"
#include "mbs_sensor_struct.h"
 
 
 
//void checkMBSdata(MbsData *MBSdata);
 
//void storeMBSdata(MbsData *s, char *s_name);
 
 
int dirdynared(MbsAux *mbs_aux,MbsData *s);
 
int invdynared(MbsAux *mbs_aux, MbsData *s);
 
int mbs_Mred(MbsAux *mbs_aux, MbsData *s);
 
int mbs_Rred(MbsAux *mbs_aux, MbsData *s);
 
int mbs_Rred_core(MbsAux *mbs_aux, MbsData *s);
 
int mbs_comp_LUdcmp_mJv(MbsData* s, MbsAux* mbs_aux);
 
int mbs_close_geo(MbsData *s, MbsAux *mbs_aux);
 
int mbs_step_close_geo(MbsData *s, MbsAux *mbs_aux);
 
int mbs_anim_close_geo(MbsData *mbs_data, MbsAux *mbs_aux);
 
void mbs_close_kin(MbsData *s, MbsAux *mbs_aux);
 
int mbs_calc_hJ(MbsData *s, MbsAux *mbs_aux);
 
int mbs_calc_jdqd(MbsData *s, MbsAux *mbs_aux);
 
int mbs_calc_force(MbsData *s);
 
double *get_ball_force(MbsData *mbs_data, MbsSensor *sens, int ancestor,
                       int ball_id, double forces_I[3]);
 
 
double *get_rod_force(MbsData *mbs_data, MbsSensor *sens, int rod_id,
                      int body_1_id, int pt_1_id, int body_2_id, int pt_2_id,
                      double forces_I[3]);
 
double *get_link_force(MbsData *mbs_data, MbsSensor *sens, int link_id,
                       int body_1_id, int pt_1_id, int body_2_id, int pt_2_id,
                       double *trsh, double forces_I[3]);
 
#endif