------------------------------------------------------------
revno: 2877
committer: Anton Gladky <gladky.an...@gmail.com>
branch nick: yade
timestamp: Thu 2011-06-16 10:54:59 +0200
message:
Skip empty ids in KinematicEngine
modified:
pkg/common/KinematicEngines.cpp
--
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=== modified file 'pkg/common/KinematicEngines.cpp'
--- pkg/common/KinematicEngines.cpp 2011-01-14 09:31:17 +0000
+++ pkg/common/KinematicEngines.cpp 2011-06-16 08:54:59 +0000
@@ -9,24 +9,32 @@
CREATE_LOGGER(KinematicEngine);
void KinematicEngine::action(){
- FOREACH(Body::id_t id,ids){
- assert(id<(Body::id_t)scene->bodies->size());
- Body* b=Body::byId(id,scene).get();
- if(b) b->state->vel=b->state->angVel=Vector3r::Zero();
+ if (ids.size()>0) {
+ FOREACH(Body::id_t id,ids){
+ assert(id<(Body::id_t)scene->bodies->size());
+ Body* b=Body::byId(id,scene).get();
+ if(b) b->state->vel=b->state->angVel=Vector3r::Zero();
+ }
+ apply(ids);
+ } else {
+ LOG_WARN("The list of ids is empty! Can't move any body.");
}
- apply(ids);
}
void CombinedKinematicEngine::action(){
- // reset first
- FOREACH(Body::id_t id,ids){
- assert(id<(Body::id_t)scene->bodies->size());
- Body* b=Body::byId(id,scene).get();
- if(b) b->state->vel=b->state->angVel=Vector3r::Zero();
- }
- // apply one engine after another
- FOREACH(const shared_ptr<KinematicEngine>& e, comb){
- e->scene=scene; e->apply(ids);
+ if (ids.size()>0) {
+ // reset first
+ FOREACH(Body::id_t id,ids){
+ assert(id<(Body::id_t)scene->bodies->size());
+ Body* b=Body::byId(id,scene).get();
+ if(b) b->state->vel=b->state->angVel=Vector3r::Zero();
+ }
+ // apply one engine after another
+ FOREACH(const shared_ptr<KinematicEngine>& e, comb){
+ e->scene=scene; e->apply(ids);
+ }
+ } else {
+ LOG_WARN("The list of ids is empty! Can't move any body.");
}
}
@@ -38,29 +46,37 @@
void TranslationEngine::apply(const vector<Body::id_t>& ids){
- #ifdef YADE_OPENMP
- const long size=ids.size();
- #pragma omp parallel for schedule(static)
- for(long i=0; i<size; i++){
- const Body::id_t& id=ids[i];
- #else
- FOREACH(Body::id_t id,ids){
- #endif
- assert(id<(Body::id_t)scene->bodies->size());
- Body* b=Body::byId(id,scene).get();
- if(!b) continue;
- b->state->vel+=velocity*translationAxis;
+ if (ids.size()>0) {
+ #ifdef YADE_OPENMP
+ const long size=ids.size();
+ #pragma omp parallel for schedule(static)
+ for(long i=0; i<size; i++){
+ const Body::id_t& id=ids[i];
+ #else
+ FOREACH(Body::id_t id,ids){
+ #endif
+ assert(id<(Body::id_t)scene->bodies->size());
+ Body* b=Body::byId(id,scene).get();
+ if(!b) continue;
+ b->state->vel+=velocity*translationAxis;
+ }
+ } else {
+ LOG_WARN("The list of ids is empty! Can't move any body.");
}
}
void HarmonicMotionEngine::apply(const vector<Body::id_t>& ids){
- Vector3r w = f*2.0*Mathr::PI; //Angular frequency
- Vector3r velocity = ((((w*scene->time + fi).cwise().sin())*(-1.0)).cwise()*A).cwise()*w; //Linear velocity at current time
- FOREACH(Body::id_t id,ids){
- assert(id<(Body::id_t)scene->bodies->size());
- Body* b=Body::byId(id,scene).get();
- if(!b) continue;
- b->state->vel+=velocity;
+ if (ids.size()>0) {
+ Vector3r w = f*2.0*Mathr::PI; //Angular frequency
+ Vector3r velocity = ((((w*scene->time + fi).cwise().sin())*(-1.0)).cwise()*A).cwise()*w; //Linear velocity at current time
+ FOREACH(Body::id_t id,ids){
+ assert(id<(Body::id_t)scene->bodies->size());
+ Body* b=Body::byId(id,scene).get();
+ if(!b) continue;
+ b->state->vel+=velocity;
+ }
+ } else {
+ LOG_WARN("The list of ids is empty! Can't move any body.");
}
}
@@ -73,39 +89,47 @@
}
void HelixEngine::apply(const vector<Body::id_t>& ids){
- const Real& dt=scene->dt;
- angleTurned+=angularVelocity*dt;
- shared_ptr<BodyContainer> bodies = scene->bodies;
- FOREACH(Body::id_t id,ids){
- assert(id<(Body::id_t)bodies->size());
- Body* b=Body::byId(id,scene).get();
- if(!b) continue;
- b->state->vel+=linearVelocity*rotationAxis;
+ if (ids.size()>0) {
+ const Real& dt=scene->dt;
+ angleTurned+=angularVelocity*dt;
+ shared_ptr<BodyContainer> bodies = scene->bodies;
+ FOREACH(Body::id_t id,ids){
+ assert(id<(Body::id_t)bodies->size());
+ Body* b=Body::byId(id,scene).get();
+ if(!b) continue;
+ b->state->vel+=linearVelocity*rotationAxis;
+ }
+ rotateAroundZero=true;
+ RotationEngine::apply(ids);
+ } else {
+ LOG_WARN("The list of ids is empty! Can't move any body.");
}
- rotateAroundZero=true;
- RotationEngine::apply(ids);
}
void RotationEngine::apply(const vector<Body::id_t>& ids){
- #ifdef YADE_OPENMP
- const long size=ids.size();
- #pragma omp parallel for schedule(static)
- for(long i=0; i<size; i++){
- const Body::id_t& id=ids[i];
- #else
- FOREACH(Body::id_t id,ids){
- #endif
- assert(id<(Body::id_t)scene->bodies->size());
- Body* b=Body::byId(id,scene).get();
- if(!b) continue;
- b->state->angVel+=rotationAxis*angularVelocity;
- if(rotateAroundZero){
- const Vector3r l=b->state->pos-zeroPoint;
- Quaternionr q(AngleAxisr(angularVelocity*scene->dt,rotationAxis));
- Vector3r newPos=q*l+zeroPoint;
- b->state->vel+=Vector3r(newPos-b->state->pos)/scene->dt;
+ if (ids.size()>0) {
+ #ifdef YADE_OPENMP
+ const long size=ids.size();
+ #pragma omp parallel for schedule(static)
+ for(long i=0; i<size; i++){
+ const Body::id_t& id=ids[i];
+ #else
+ FOREACH(Body::id_t id,ids){
+ #endif
+ assert(id<(Body::id_t)scene->bodies->size());
+ Body* b=Body::byId(id,scene).get();
+ if(!b) continue;
+ b->state->angVel+=rotationAxis*angularVelocity;
+ if(rotateAroundZero){
+ const Vector3r l=b->state->pos-zeroPoint;
+ Quaternionr q(AngleAxisr(angularVelocity*scene->dt,rotationAxis));
+ Vector3r newPos=q*l+zeroPoint;
+ b->state->vel+=Vector3r(newPos-b->state->pos)/scene->dt;
+ }
}
+ } else {
+ LOG_WARN("The list of ids is empty! Can't move any body.");
}
}
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