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MdtBcl.h File Reference

Mdt constraints header File. More...

#include "MePrecision.h"
#include "MdtKea.h"
#include "MdtBclLimit.h"
#include "MdtBclContactParams.h"

Go to the source code of this file.

Compounds
struct	MdtBclBSJoint
struct	MdtBclCarWheel
struct	MdtBclConstraintHeader
struct	MdtBclContact
struct	MdtBclFixedPath
struct	MdtBclFPFOJoint
struct	MdtBclHinge
struct	MdtBclLinear1
struct	MdtBclLinear2
struct	MdtBclPrismatic
struct	MdtBclSolverParameters
struct	MdtBclUniversal
Defines
#define	MdtBclNO_BODY   -1
	Flag used to indicate the absence of an attached body. More...
#define	MdtBclGETMAXROWSBSJOINT   (6)
	Maximum rows added by a Ball And Socket Joint constraint. More...
#define	MdtBclGETMAXROWSHINGE   (6)
	Maximum rows added by a Hinge constraint. More...
#define	MdtBclGETMAXROWSPRISMATIC   (6)
	Maximum rows added by a Prismatic constraint. More...
#define	MdtBclGETMAXROWSCARWHEEL   (6)
	Maximum rows added by a Car Wheel constraint. More...
#define	MdtBclGETMAXROWSCONTACT   (3)
	Maximum rows added by a Contact constraint. More...
#define	MdtBclGETMAXROWSFIXEDPATH   (3)
	Maximum rows added by a Fixed Path constraint. More...
#define	MdtBclGETMAXROWSFPFOJOINT   (6)
	Maximum rows added by a Fixed Path Fixed Orientation constraint. More...
#define	MdtBclGETMAXROWSUNIVERSAL   (4)
	Maximum rows added by a Universal Joint constraint. More...
#define	MdtBclGETMAXROWSLINEAR1   (1)
	Maximum rows added by a Linear1 constraint. More...
#define	MdtBclGETMAXROWSLINEAR2   (2)
	Maximum rows added by a Linear2 constraint. More...
Enumerations
enum	MdtBclJointType {   MdtBclBSJOINT = 0,   MdtBclHINGE,   MdtBclPRISMATIC,   MdtBclCARWHEEL,   MdtBclCONTACT,   MdtBclFIXEDPATH,   MdtBclFPFOJOINT,   MdtBclUNIVERSAL,   MdtBclLINEAR1,   MdtBclLINEAR2 }
	The enumeration of joint types supported by the MdtBcl module.
Functions
void	MdtBclAddBSJoint (MdtKeaConstraints *const clist, void *const constraint, const MdtKeaTransformation *const tlist, MdtKeaBody *const blist, const MdtBclSolverParameters *const params)
	Add a Ball And Socket Joint constraint to a MdtKeaConstraints struct. More...
void	MdtBclAddHinge (MdtKeaConstraints *const clist, void *const constraint, const MdtKeaTransformation *const tlist, MdtKeaBody *const blist, const MdtBclSolverParameters *const params)
	Add a Hinge constraint to a MdtKeaConstraints struct. More...
void	MdtBclAddPrismatic (MdtKeaConstraints *const clist, void *const constraint, const MdtKeaTransformation *const tlist, MdtKeaBody *const blist, const MdtBclSolverParameters *const params)
	Add a Prismatic constraint to a MdtKeaConstraints 'struct'. More...
void	MdtBclAddCarWheel (MdtKeaConstraints *const clist, void *const constraint, const MdtKeaTransformation *const tlist, MdtKeaBody *const blist, const MdtBclSolverParameters *const params)
	Add a Car Wheel constraint to a MdtKeaConstraints struct. More...
void	MdtBclAddContact (MdtKeaConstraints *const clist, void *const constraint, const MdtKeaTransformation *const tlist, MdtKeaBody *const blist, const MdtBclSolverParameters *const params)
	Add a Contact constraint to a MdtKeaConstraints struct. More...
void	MdtBclAddFixedPath (MdtKeaConstraints *const clist, void *const constraint, const MdtKeaTransformation *const tlist, MdtKeaBody *const blist, const MdtBclSolverParameters *const params)
	Add a Fixed Path constraint to a MdtKeaConstraints struct. More...
void	MdtBclAddFPFOJoint (MdtKeaConstraints *const clist, void *const constraint, const MdtKeaTransformation *const tlist, MdtKeaBody *const blist, const MdtBclSolverParameters *const params)
	Add a Fixed Path Fixed Orientation constraint to a MdtKeaConstraints struct. More...
void	MdtBclAddUniversal (MdtKeaConstraints *const clist, void *const constraint, const MdtKeaTransformation *const tlist, MdtKeaBody *const blist, const MdtBclSolverParameters *const params)
	Add a Universal Joint constraint to a MdtKeaConstraints struct. More...
void	MdtBclAddLinear1 (MdtKeaConstraints *const clist, void *const constraint, const MdtKeaTransformation *const tlist, MdtKeaBody *const blist, const MdtBclSolverParameters *const params)
	Add a Linear1 constraint to a MdtKeaConstraints struct. More...
void	MdtBclAddLinear2 (MdtKeaConstraints *const clist, void *const constraint, const MdtKeaTransformation *const tlist, MdtKeaBody *const blist, const MdtBclSolverParameters *const params)
	Add a Linear2 constraint to a MdtKeaConstraints struct. More...
void	MdtBclInitConstraintRowList (MdtKeaConstraints *const clist)
	Initialises the MdtKeaConstraints struct. More...
void	MdtBclEndPartition (MdtKeaConstraints *const clist)
	Ends a partition in the MdtKeaConstraints struct. More...
void	MdtBclStartPartition (MdtKeaConstraints *const clist)
	Starts a partition in the MdtKeaConstraints struct. More...
void	MdtBclEndConstraint (MdtKeaConstraints *const clist, const unsigned rows_added)
	MdtBclEndConstraint is used internally by MdtBcl. More...

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Detailed Description

Mdt constraints header File.

All angles are specified in radians.

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Define Documentation

#define MdtBclGETMAXROWSBSJOINT   (6)

Maximum rows added by a Ball And Socket Joint constraint.

#define MdtBclGETMAXROWSCARWHEEL   (6)

Maximum rows added by a Car Wheel constraint.

#define MdtBclGETMAXROWSCONTACT   (3)

Maximum rows added by a Contact constraint.

#define MdtBclGETMAXROWSFIXEDPATH   (3)

Maximum rows added by a Fixed Path constraint.

#define MdtBclGETMAXROWSFPFOJOINT   (6)

Maximum rows added by a Fixed Path Fixed Orientation constraint.

#define MdtBclGETMAXROWSHINGE   (6)

Maximum rows added by a Hinge constraint.

#define MdtBclGETMAXROWSLINEAR1   (1)

Maximum rows added by a Linear1 constraint.

#define MdtBclGETMAXROWSLINEAR2   (2)

Maximum rows added by a Linear2 constraint.

#define MdtBclGETMAXROWSPRISMATIC   (6)

Maximum rows added by a Prismatic constraint.

#define MdtBclGETMAXROWSUNIVERSAL   (4)

Maximum rows added by a Universal Joint constraint.

#define MdtBclNO_BODY   -1

Flag used to indicate the absence of an attached body.

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Enumeration Type Documentation

enum MdtBclJointType

The enumeration of joint types supported by the MdtBcl module.

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Function Documentation

void MdtBclAddBSJoint ( MdtKeaConstraints * const clist, void * const constraint, const MdtKeaTransformation * const tlist, MdtKeaBody * const blist, const MdtBclSolverParameters * const params )

Add a Ball And Socket Joint constraint to a MdtKeaConstraints struct.

Parameters:

clist	The MdtKeaConstraints struct to add constraint to.
constraint	Pointer to a MdtBclBSJoint struct.
tlist	Array of MdtKeaTransformation structs for the array of bodies.
blist	Array of MdtKeaBody struct that are reference by the constraint.
stepsize	Time step that the system is going to be evolved by.

void MdtBclAddCarWheel ( MdtKeaConstraints * const clist, void * const constraint, const MdtKeaTransformation * const tlist, MdtKeaBody * const blist, const MdtBclSolverParameters * const params )

Add a Car Wheel constraint to a MdtKeaConstraints struct.

Parameters:

clist	The MdtKeaConstraints struct to add constraint to.
constraint	Pointer to a MdtBclCarWheel struct.
tlist	Array of MdtKeaTransformation structs for the array of bodies.
blist	Array of MdtKeaBody struct that are reference by the constraint.
stepsize	Time step that the system is going to be evolved by.

void MdtBclAddContact ( MdtKeaConstraints * const clist, void * const constraint, const MdtKeaTransformation * const tlist, MdtKeaBody * const blist, const MdtBclSolverParameters * const params )

Add a Contact constraint to a MdtKeaConstraints struct.

Parameters:

clist	The MdtKeaConstraints struct to add constraint to.
constraint	Pointer to a MdtBclContact struct.
tlist	Array of MdtKeaTransformation structs for the array of bodies.
blist	Array of MdtKeaBody struct that are reference by the constraint.
stepsize	Time step that the system is going to be evolved by.

void MdtBclAddFPFOJoint ( MdtKeaConstraints * const clist, void * const constraint, const MdtKeaTransformation * const tlist, MdtKeaBody * const blist, const MdtBclSolverParameters * const params )

Add a Fixed Path Fixed Orientation constraint to a MdtKeaConstraints struct.

Parameters:

clist	The MdtKeaConstraints struct to add constraint to.
constraint	Pointer to a MdtBclFPFOJoint struct.
tlist	Array of MdtKeaTransformation structs for the array of bodies.
blist	Array of MdtKeaBody struct that are reference by the constraint.
stepsize	Time step that the system is going to be evolved by.

void MdtBclAddFixedPath ( MdtKeaConstraints * const clist, void * const constraint, const MdtKeaTransformation * const tlist, MdtKeaBody * const blist, const MdtBclSolverParameters * const params )

Add a Fixed Path constraint to a MdtKeaConstraints struct.

Parameters:

clist	The MdtKeaConstraints struct to add constraint to.
constraint	Pointer to a MdtBclFixedPath struct.
tlist	Array of MdtKeaTransformation structs for the array of bodies.
blist	Array of MdtKeaBody struct that are reference by the constraint.
stepsize	Time step that the system is going to be evolved by.

void MdtBclAddHinge ( MdtKeaConstraints * const clist, void * const constraint, const MdtKeaTransformation * const tlist, MdtKeaBody * const blist, const MdtBclSolverParameters * const params )

Add a Hinge constraint to a MdtKeaConstraints struct.

Parameters:

clist	The MdtKeaConstraints struct to add constraint to.
constraint	Pointer to a MdtBclHinge struct.
tlist	Array of MdtKeaTransformation structs for the array of bodies.
blist	Array of MdtKeaBody struct that are reference by the constraint.
stepsize	Time step that the system is going to be evolved by.

void MdtBclAddLinear1 ( MdtKeaConstraints * const clist, void * const constraint, const MdtKeaTransformation * const tlist, MdtKeaBody * const blist, const MdtBclSolverParameters * const params )

Add a Linear1 constraint to a MdtKeaConstraints struct.

Parameters:

clist	The MdtKeaConstraints struct to add constraint to.
constraint	Pointer to a MdtBclLinear1 struct.
tlist	Array of MdtKeaTransformation structs for the array of bodies.
blist	Array of MdtKeaBody struct that are reference by the constraint.
stepsize	Time step that the system is going to be evolved by.

void MdtBclAddLinear2 ( MdtKeaConstraints * const clist, void * const constraint, const MdtKeaTransformation * const tlist, MdtKeaBody * const blist, const MdtBclSolverParameters * const params )

Add a Linear2 constraint to a MdtKeaConstraints struct.

Parameters:

clist	The MdtKeaConstraints struct to add constraint to.
constraint	Pointer to a MdtBclLinear2 struct.
tlist	Array of MdtKeaTransformation structs for the array of bodies.
blist	Array of MdtKeaBody struct that are reference by the constraint.
stepsize	Time step that the system is going to be evolved by.

void MdtBclAddPrismatic ( MdtKeaConstraints * const clist, void * const constraint, const MdtKeaTransformation * const tlist, MdtKeaBody * const blist, const MdtBclSolverParameters * const params )

Add a Prismatic constraint to a MdtKeaConstraints 'struct'.

Parameters:

clist	The MdtKeaConstraints struct to add constraint to.
constraint	Pointer to a MdtBclPrismatic struct.
tlist	Array of MdtKeaTransformation structs for the array of bodies.
blist	Array of MdtKeaBody struct that are reference by the constraint.
params	Evolution parameters specific to the numerical solver.

void MdtBclAddUniversal ( MdtKeaConstraints * const clist, void * const constraint, const MdtKeaTransformation * const tlist, MdtKeaBody * const blist, const MdtBclSolverParameters * const params )

Add a Universal Joint constraint to a MdtKeaConstraints struct.

Parameters:

clist	The MdtKeaConstraints struct to add constraint to.
constraint	Pointer to a MdtBclUniversal struct.
tlist	Array of MdtKeaTransformation structs for the array of bodies.
blist	Array of MdtKeaBody struct that are reference by the constraint.
stepsize	Time step that the system is going to be evolved by.

void MdtBclEndConstraint ( MdtKeaConstraints * const clist, unsigned rows_added )

MdtBclEndConstraint is used internally by MdtBcl.

It is the last thing called by MdtBclAddBSJoint etc, so you don't need it unless you are writing your own constraints.

void MdtBclEndPartition ( MdtKeaConstraints * const clist )

Ends a partition in the MdtKeaConstraints struct.

Call this after adding all constraints, or starting a new partition.

void MdtBclInitConstraintRowList ( MdtKeaConstraints * const clist )

Initialises the MdtKeaConstraints struct.

Call this before starting a partition and adding any constraints.

void MdtBclStartPartition ( MdtKeaConstraints * const clist )

Starts a partition in the MdtKeaConstraints struct.

Call this before adding any constraints..

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