mbs_lmgc.h

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#include <stdio.h>
//#include "mbs_xml_reader.h"
#include "mbs_part.h"
#include "mbs_dirdyn.h"
#include "mbs_buffer.h"
#include "mbs_data.h"
#include "mbs_aux.h"
 
 
 
typedef struct MbsLmgcNode{
  
  int sensorId;
  MbsSensor* sensor;
  
  double *JRed[6];
  double *JRedBeg[6];
  double *JRedQm[6];
  
} MbsLmgcNode;
 
 
typedef struct MbsLmgcData{
  
  int nb_nodes;
  
  MbsData* mbs_data;
  
  int mbs_data_loaded;
  
  MbsAux* lds;
  
  MbsLmgcNode* nodes;
  
  double* qm;
 
  double* vFree;
 
  double* vBeg;
 
  double* vAux;
  
  double* reac;
  
  double* rAux;
  
  double* impQc;
  
 
  char* mbsFile;
 
  char* resqFile;
 
  char* resqdFile;
 
  char* resQqFile;
  
  char* resImpQcFile;
  
  char* animFile;
  
 
  MbsBuffer **buffers;
 
  double** savedArrays;
 
  int bufferNb;
 
  int saveperiod;
 
  int buffersize;
 
} MbsLmgcData;
 
typedef struct MbsLmgcSystem{
  
  int nb_mbs;
  
 
  MbsLmgcData* mbs_lmgc_s;
  
}MbsLmgcSystem;
 
 
 
 
extern MbsLmgcSystem* globalSystem;
 
 
 
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
/*                   PRE-INITIALIZATION FUNCTIONS                      */ 
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 
 
void mbs_lmgc_set_nb_mbs(int nb);
 
#ifdef __cplusplus
extern "C" {
#endif
void mbs_lmgc_set_mbsdata(int iMbs, MbsData* mbs_data);
#ifdef __cplusplus
}
#endif
 
void mbs_lmgc_set_mbs_file(int iMbs, char* filename);
 
void mbs_lmgc_set_res_file(int iMbs, char* filename);
 
void mbs_lmgc_set_anim_file(int iMbs, char* filename);
 
void mbs_lmgc_set_node_sensor_ids(int iMbs, int nbNodes, int* sensorIds);
 
int mbs_lmgc_get_node_nb(int iMbs);
 
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
/*                         BINDING FUNCTIONS                           */ 
/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 
 
void mbs_lmgc_initialize();
 
void mbs_lmgc_finalize();
 
 
void mbs_lmgc_increment(double tsim);
 
void mbs_lmgc_compute_free_vlocy(double h, double theta);
 
void mbs_lmgc_update_nodes_3D(int i_mbs, double* coorTT, double* localFrameTT, int storage);
 
void mbs_lmgc_update_nodes_2D(int i_mbs, double* coorTT, int storage);
 
void mbs_lmgc_nullify_reac(int i_mbs);
 
void mbs_lmgc_nullify_rAux(int i_mbs);
 
 
void mbs_lmgc_add_reac(int i_mbs, int i_node, double* reacNode);
 
void mbs_lmgc_add_rAux(int i_mbs, int i_node, double* reacNode);
 
 
void mbs_lmgc_nullify_vFree(int i_mbs);
 
void mbs_lmgc_nullify_vAux(int i_mbs);
 
void mbs_lmgc_comp_vAux_Iaux(int i_mbs);
 
void mbs_lmgc_comp_vAux_Ireac(int i_mbs);
 
void mbs_lmgc_get_vBeg(int i_mbs, int i_node, double* vlocyNode);
 
void mbs_lmgc_get_vFree(int i_mbs, int i_node, double* vlocyNode);
 
void mbs_lmgc_get_vAux(int i_mbs, int i_node, double* vlocyNode);
 
void mbs_lmgc_compute_dof(double h, double theta);
 
 
void mbs_lmgc_update_dof();