blender/intern/itasc/UncontrolledObject.cpp

47 lines
843 B
C++
Raw Normal View History

2011-02-25 11:45:16 +00:00
/** \file itasc/UncontrolledObject.cpp
* \ingroup itasc
*/
/*
* UncontrolledObject.cpp
*
* Created on: Jan 5, 2009
* Author: rubensmits
*/
#include "UncontrolledObject.hpp"
namespace iTaSC{
UncontrolledObject::UncontrolledObject():Object(UnControlled),
m_nu(0), m_nf(0), m_xudot()
{
}
UncontrolledObject::~UncontrolledObject()
{
}
void UncontrolledObject::initialize(unsigned int _nu, unsigned int _nf)
{
assert (_nf >= 1);
m_nu = _nu;
m_nf = _nf;
if (_nu > 0)
m_xudot = e_zero_vector(_nu);
// clear all Jacobian if any
m_JuArray.clear();
// reserve one more to have an zero matrix handy
if (m_nu > 0)
m_JuArray.resize(m_nf+1, e_zero_matrix(6,m_nu));
}
const e_matrix& UncontrolledObject::getJu(unsigned int frameIndex) const
{
assert (m_nu > 0);
return m_JuArray[(frameIndex>m_nf)?m_nf:frameIndex];
}
}