mbsysc/MBsysC/mbs__saver_8h_source.html

#ifndef MBS_SAVER_h

#define MBS_SAVER_h


#include "mbs_data.h"


enum {

    SHAPE_NONE,

    SHAPE_BOX,

    SHAPE_CYLINDER,

    SHAPE_CONE,

    SHAPE_SPHERE

};


typedef struct UpdateInline

{

    int on_base;

    char *body_name;

    char *shape_name;

    char *shape_url;

    double *position;

    double *scale;

    double *rotation;

    double transparency;

    int prj_relative_url;

    int visible;

    struct UpdateInline *next;

}UpdateInline;


typedef struct UpdateShape

{

    int on_base;

    char *body_name;

    char *shape_name;

    int shape_nature;

    double *size;

    double *radius;

    double *height;

    double *position;

    double *scale;

    double *rotation;

    double transparency;

    int visible;

    struct UpdateShape *next;

} UpdateShape;


typedef struct ExtForces_3D

{

    int show;

    int show_x;

    int show_y;

    int show_z;

    int show_resultant;

    int position_at_end;

    int *color_x;

    int *color_y;

    int *color_z;

    int *color_resultant;

    double diameter;

    double scale;


} ExtForces_3D;


typedef struct UpdateExtForces

{

    int on_base;

    char *body_name;

    char *point_name;

    char *name;

    int *comp_position, *comp_rotation, *comp_velocity, *comp_acceleration, *comp_jacobian;

    ExtForces_3D *force_3d;

    ExtForces_3D *torque_3d;

    struct UpdateExtForces *next;

} UpdateExtForces;


typedef struct UpdateLinkForces

{

    char *name;

    char *first_body, *first_point;

    char *second_body, *second_point;

    int visible;

    struct UpdateLinkForces *next;

} UpdateLinkForces;


typedef struct UserUpdates

{

    UpdateInline *inlines;

    UpdateShape *shapes;

    int allow_new;

    UpdateExtForces *extforces;

    UpdateLinkForces *linkforces;

} UserUpdates;


int mbs_update(MbsData *mbs_data, UserUpdates *user_update, const char *filename_in,

               const char *filename_out, int verbose);


int mbs_synchronize(MbsData *mbs_data, MbsLoader *mbs_loader);


int mbs_update_user(UserUpdates *user_update, MbsLoader *mbs_loader);


int mbs_save(const char *filename, MbsLoader *mbs_loader);


int mbs_data_to_info(MbsData *mbs_data, MbsLoader *mbs_loader);


UserUpdates *mbs_update_new_user();


void mbs_update_free_user(UserUpdates *uu);


UpdateInline *mbs_update_new_inline();


void mbs_update_free_inline(UpdateInline *ui);


int mbs_update_insert_inline(UserUpdates *user_update, int on_base,

                             const char *body_name, const char *shape_name,

                             const char *shape_url, double position[3],

                             double scale[3], double rotation[3],

                             double transparency, int prj_relative_url,

                             int visible);


UpdateShape *mbs_update_new_shape();


void mbs_update_free_shape(UpdateShape *ui);


int mbs_update_insert_shape(UserUpdates *user_update, int on_base,

                            const char *body_name, const char *shape_name,

                            int shape_nature, double size[3],

                            double *radius, double *height, double position[3],

                            double scale[3], double rotation[3],

                            double transparency, int visible);


ExtForces_3D *mbs_update_new_extforce_3d(int show, int show_x, int show_y, int show_z,

                                         int show_resultant, int position_at_end,

                                         int color_x[3], int color_y[3], int color_z[3],

                                         int color_resultant[3], double diameter, double scale);


void mbs_update_free_link(UpdateLinkForces *link);


int mbs_update_insert_link(UserUpdates *user_update, const char *name,

                           const char *first_body, const char *first_point,

                           const char *second_body, const char *second_point,

                           int visible);


ExtForces_3D *mbs_update_dup_extforce_3d(ExtForces_3D *orig, int new_col_x[3],

                                         int new_col_y[3], int new_col_z[3],

                                         int new_col_res[3]);


void mbs_update_free_extforce_3d(ExtForces_3D *force_3d);


UpdateExtForces *mbs_update_new_extforce();


void mbs_update_free_extforce(UpdateExtForces *force);


int mbs_update_insert_extforce(UserUpdates *user_update, int on_base, const char *body_name,

                               const char *point_name, char *name, int comp_position,

                               int comp_rotation, int comp_velocity, int comp_acceleration,

                               int comp_jacobian, ExtForces_3D *force_3d, ExtForces_3D *torque_3d);


#endif