MakeMovieFrame.cpp

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// file MakeMovieFrame.cpp

#include "Dynamics.h"
#include <QTextStream>
#include <iomanip>

void initialize();
void slowband_in();
void fastband_in();
void check();
void integration();
void adjustLinks();
void floorSupport();
void linkControl();
void resistTurning();
void report();
void update_floor_force_inputs();


inline QTextStream& qStdout()
{
    static QTextStream stathandle {stdout};
    return stathandle;
}

void motion()
{
    // This calls routines in Dynamics.cpp.
    // For a timestep of 0.001 second, 20 timesteps occupies
    // an interval of 1/50 second, resulting in a 50 frames/sec movie.
    // Setting timeSteps = 1 outputs values every deltat
    int timeSteps = 20; // 1000 frames a second
    for(int iteration = 1; iteration <= timeSteps ; iteration++)
    {
        SimTime += deltat;
        floorSupport(); // This computes the upward forces exerted by the floor
        // fEproximal[r] and fEdistal[r] acting on the links which have penetrated.
        // The floor has to be soft and elastic because the recursive method
        // can't handle constraints like loops of rigid materials

        //if(iteration%10 == 0) // we have no idea how often to do slowband-in, so for now we always do it
        slowband_in();
        fastband_in();
        integration();
        if(iteration == timeSteps) // possibly check the solution of the equations and/or make a report
        {
            // We check the solution of the dynamic equations
            // by viewing the check routine with the debugger.
            // If all three Diff's of all links are very close to zero, the solution is ok.
            // When not needed, check() can be commented out.
            // check();
            // The report shows details of the simulation, but can be commented out too.
            //report();
        }
        // After running the simulation for several time steps, we re-normalize the link quaternions
        // Rotation matrices are re-derived from normalized link quaternions
        // and hinge positions are recalculated
        adjustLinks();
        // The following controls joint torques at the hinges of the linkage, now it is possible to try to hold a position
        linkControl();
    }
}

void report() // currently not used because a different file is output
{
    qStdout() << SimTime << "\t height:" << (RI[0] * p[0])(1) << "     Proximal and distal forces on links are"
    << "\t" << fEproximal[0](1) << "\t" << fEdistal[0](1)
    << "\t" << fEproximal[1](1) << "\t" << fEdistal[1](1)
    << "\t" << fEproximal[2](1) << "\t" << fEdistal[2](1)
    << "\t" << fEproximal[3](1) << "\t" << fEdistal[3](1)
    << "\t" << fEproximal[4](1) << "\t" << fEdistal[4](1) << endl
    << endl;
}