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d5f74e42d6
License statement text corrected; compiler warnings caused by Bison 2.41 disabled for MSVC; a few other compiler warnings on 54-bit Windows eliminated by appropriate type cast Wrong license statements corrected in several files. Copyright and license statements added in XSD and GLSL files. Copyright year updated in some files. Obsolete documentation files removed from DrawResources.
384 lines
12 KiB
C++
384 lines
12 KiB
C++
// Copyright (c) 1995-1999 Matra Datavision
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// Copyright (c) 1999-2014 OPEN CASCADE SAS
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//
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// This file is part of Open CASCADE Technology software library.
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//
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// This library is free software; you can redistribute it and/or modify it under
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// the terms of the GNU Lesser General Public License version 2.1 as published
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// by the Free Software Foundation, with special exception defined in the file
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// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
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// distribution for complete text of the license and disclaimer of any warranty.
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//
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// Alternatively, this file may be used under the terms of Open CASCADE
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// commercial license or contractual agreement.
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#include <GProp_VelGProps.ixx>
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#include <Standard_NotImplemented.hxx>
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#include <gp.hxx>
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#include <GProp.hxx>
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#include <math_Matrix.hxx>
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#include <math_Vector.hxx>
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#include <math_Jacobi.hxx>
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GProp_VelGProps::GProp_VelGProps(){}
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void GProp_VelGProps::SetLocation(const gp_Pnt& VLocation)
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{
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loc =VLocation;
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}
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GProp_VelGProps::GProp_VelGProps(const gp_Cylinder& S,
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const Standard_Real Alpha1,
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const Standard_Real Alpha2,
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const Standard_Real Z1,
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const Standard_Real Z2,
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const gp_Pnt& VLocation)
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{
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SetLocation(VLocation);
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Perform(S,Alpha1,Alpha2,Z1,Z2);
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}
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GProp_VelGProps::GProp_VelGProps(const gp_Cone& S,
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const Standard_Real Alpha1,
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const Standard_Real Alpha2,
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const Standard_Real Z1,
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const Standard_Real Z2,
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const gp_Pnt& VLocation)
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{
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SetLocation(VLocation);
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Perform(S,Alpha1,Alpha2,Z1,Z2);
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}
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GProp_VelGProps::GProp_VelGProps(const gp_Sphere& S,
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const Standard_Real Teta1,
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const Standard_Real Teta2,
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const Standard_Real Alpha1,
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const Standard_Real Alpha2,
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const gp_Pnt& VLocation)
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{
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SetLocation(VLocation);
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Perform(S,Teta1,Teta2,Alpha1,Alpha2);
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}
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GProp_VelGProps::GProp_VelGProps(const gp_Torus& S,
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const Standard_Real Teta1,
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const Standard_Real Teta2,
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const Standard_Real Alpha1,
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const Standard_Real Alpha2,
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const gp_Pnt& VLocation)
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{
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SetLocation(VLocation);
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Perform(S,Teta1,Teta2,Alpha1,Alpha2);
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}
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void GProp_VelGProps::Perform(const gp_Cylinder& S,
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const Standard_Real Alpha1,
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const Standard_Real Alpha2,
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const Standard_Real Z1,
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const Standard_Real Z2)
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{
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Standard_Real X0,Y0,Z0,Xa1,Ya1,Za1,Xa2,Ya2,Za2,Xa3,Ya3,Za3;
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S.Location().Coord(X0,Y0,Z0);
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Standard_Real Rayon = S.Radius();
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S.Position().XDirection().Coord(Xa1,Ya1,Za1);
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S.Position().YDirection().Coord(Xa2,Ya2,Za2);
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S.Position().Direction().Coord(Xa3,Ya3,Za3);
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dim = Rayon*Rayon*(Z2-Z1)/2.;
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Standard_Real SA2 = Sin(Alpha2);
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Standard_Real SA1 = Sin(Alpha1);
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Standard_Real CA2 = Cos(Alpha2);
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Standard_Real CA1 = Cos(Alpha1);
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Standard_Real Dsin = SA2-SA1;
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Standard_Real Dcos = CA1-CA2;
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Standard_Real Coef = Rayon/(Alpha2-Alpha1);
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g.SetCoord(X0+(Coef*(Xa1*Dsin+Xa2*Dcos) ) + (Xa3*(Z2+Z1)/2.),
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Y0+(Coef*(Ya1*Dsin+Ya2*Dcos) ) + (Ya3*(Z2+Z1)/2.),
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Z0+(Coef*(Za1*Dsin+Za2*Dcos) ) + (Za3*(Z2+Z1)/2.) );
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Standard_Real ICn2 = dim/2. *( Alpha2-Alpha1 + SA2*CA2 - SA1*CA1 );
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Standard_Real ISn2 = dim/2. *( Alpha2-Alpha1 - SA2*CA2 + SA1*CA1 );
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Standard_Real IZ2 = dim * (Alpha2-Alpha1)*(Z2*Z2+Z1*Z2+Z1*Z1);
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Standard_Real ICnSn = dim *(CA2*CA2-CA1*CA1)/2.;
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Standard_Real ICnz = dim *(Z2+Z1)/2.*Dsin;
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Standard_Real ISnz = dim *(Z2+Z1)/2.*Dcos;
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dim =(Alpha2-Alpha1)*dim;
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math_Matrix Dm(1,3,1,3);
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Dm(1,1) = Rayon*Rayon*ISn2 + IZ2;
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Dm(2,2) = Rayon*Rayon*ICn2 + IZ2;
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Dm(3,3) = Rayon*Rayon*dim;
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Dm(1,2) = Dm(2,1) = -Rayon*Rayon*ICnSn;
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Dm(1,3) = Dm(3,1) = -Rayon*ICnz;
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Dm(3,2) = Dm(2,3) = -Rayon*ISnz;
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math_Matrix Passage (1,3,1,3);
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Passage(1,1) = Xa1; Passage(1,2) = Xa2 ;Passage(1,3) = Xa3;
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Passage(2,1) = Ya1; Passage(2,2) = Ya2 ;Passage(2,3) = Ya3;
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Passage(3,1) = Za1; Passage(3,2) = Za2 ;Passage(3,3) = Za3;
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math_Jacobi J(Dm);
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math_Vector V1(1,3),V2(1,3),V3(1,3);
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J.Vector(1,V1);
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V1.Multiply(Passage,V1);
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V1.Multiply(J.Value(1));
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J.Vector(2,V2);
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V2.Multiply(Passage,V2);
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V2.Multiply(J.Value(2));
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J.Vector(3,V3);
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V3.Multiply(Passage,V3);
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V3.Multiply(J.Value(3));
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inertia = gp_Mat (gp_XYZ(V1(1),V2(1),V3(1)),
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gp_XYZ(V1(2),V2(2),V3(2)),
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gp_XYZ(V1(3),V2(3),V3(3)));
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gp_Mat Hop;
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GProp::HOperator(g,loc,dim,Hop);
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inertia = inertia+Hop;
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}
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void GProp_VelGProps::Perform(const gp_Cone& S,
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const Standard_Real Alpha1,
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const Standard_Real Alpha2,
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const Standard_Real Z1,
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const Standard_Real Z2)
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{
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Standard_Real X0,Y0,Z0,Xa1,Ya1,Za1,Xa2,Ya2,Za2,Xa3,Ya3,Za3;
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S.Location().Coord(X0,Y0,Z0);
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S.Position().XDirection().Coord(Xa1,Ya1,Za1);
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S.Position().YDirection().Coord(Xa2,Ya2,Za2);
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S.Position().Direction().Coord(Xa3,Ya3,Za3);
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Standard_Real t =S.SemiAngle();
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Standard_Real Cnt = Cos(t);
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Standard_Real Snt = Sin(t);
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Standard_Real R = S.RefRadius();
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Standard_Real Sn2 = Sin(Alpha2);
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Standard_Real Sn1 = Sin(Alpha1);
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Standard_Real Cn2 = Cos(Alpha2);
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Standard_Real Cn1 = Cos(Alpha1);
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Standard_Real ZZ = (Z2-Z1)*(Z2-Z1)*Cnt*Snt;
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Standard_Real Auxi1= 2*R +(Z2+Z1)*Snt;
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dim = ZZ*(Alpha2-Alpha1)*Auxi1/2.;
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Standard_Real R1 = R + Z1*Snt;
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Standard_Real R2 = R + Z2*Snt;
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Standard_Real Coef0 = (R1*R1+R1*R2+R2*R2);
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Standard_Real Iz = Cnt*(R*(Z2+Z1) + 2*Snt*(Z1*Z1+Z1*Z2+Z2*Z2)/3.)/Auxi1;
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Standard_Real Ix = Coef0*(Sn2-Sn1)/(Alpha2-Alpha1)/Auxi1;
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Standard_Real Iy = Coef0*(Cn1-Cn2)/(Alpha2-Alpha1)/Auxi1;
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g.SetCoord(X0 + Xa1*Ix + Xa2*Iy + Xa3*Iz,
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Y0 + Ya1*Ix + Ya2*Iy + Ya3*Iz,
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Z0 + Za1*Ix + Za2*Iy + Za3*Iz);
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Standard_Real IR2 = ZZ*(R2*R2*R2+R2*R2*R1+R1*R1*R2+R1*R1*R1)/4.;
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Standard_Real ICn2 = IR2*(Alpha2-Alpha1+Cn2*Sn2-Cn1*Sn1)/2.;
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Standard_Real ISn2 = IR2*(Alpha2-Alpha1+Cn2*Sn2-Cn1*Sn1)/2.;
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Standard_Real IZ2 = ZZ*Cnt*Cnt*(Alpha2-Alpha1)*
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(Z1*Z1*(R/3 + Z1*Snt/4) +
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Z2*Z2*(R/3 + Z2*Snt/4) +
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Z1*Z2*(R/3 +Z1*Snt/4 +Z2*Snt/4));
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Standard_Real ICnSn = IR2*(Cn2*Cn2-Cn1*Cn1);
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Standard_Real ICnz = (Z1+Z2)*ZZ*Coef0*(Sn2-Sn1)/3;
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Standard_Real ISnz = (Z1+Z2)*ZZ*Coef0*(Cn1-Cn2)/3;
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math_Matrix Dm(1,3,1,3);
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Dm(1,1) = ISn2 + IZ2;
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Dm(2,2) = ICn2 + IZ2;
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Dm(3,3) = IR2*(Alpha2-Alpha1);
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Dm(1,2) = Dm(2,1) = -ICnSn;
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Dm(1,3) = Dm(3,1) = -ICnz;
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Dm(3,2) = Dm(2,3) = -ISnz;
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math_Matrix Passage (1,3,1,3);
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Passage(1,1) = Xa1; Passage(1,2) = Xa2 ;Passage(1,3) = Xa3;
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Passage(2,1) = Ya1; Passage(2,2) = Ya2 ;Passage(2,3) = Ya3;
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Passage(3,1) = Za1; Passage(3,2) = Za2 ;Passage(3,3) = Za3;
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math_Jacobi J(Dm);
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math_Vector V1(1,3),V2(1,3),V3(1,3);
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J.Vector(1,V1);
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V1.Multiply(Passage,V1);
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V1.Multiply(J.Value(1));
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J.Vector(2,V2);
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V2.Multiply(Passage,V2);
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V2.Multiply(J.Value(2));
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J.Vector(3,V3);
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V3.Multiply(Passage,V3);
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V3.Multiply(J.Value(3));
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inertia = gp_Mat (gp_XYZ(V1(1),V2(1),V3(1)),
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gp_XYZ(V1(2),V2(2),V3(2)),
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gp_XYZ(V1(3),V2(3),V3(3)));
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gp_Mat Hop;
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GProp::HOperator(g,loc,dim,Hop);
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inertia = inertia+Hop;
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}
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void GProp_VelGProps::Perform(const gp_Sphere& S,
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const Standard_Real Teta1,
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const Standard_Real Teta2,
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const Standard_Real Alpha1,
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const Standard_Real Alpha2)
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{
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Standard_Real X0,Y0,Z0,Xa1,Ya1,Za1,Xa2,Ya2,Za2,Xa3,Ya3,Za3;
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S.Location().Coord(X0,Y0,Z0);
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S.Position().XDirection().Coord(Xa1,Ya1,Za1);
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S.Position().YDirection().Coord(Xa2,Ya2,Za2);
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S.Position().Direction().Coord(Xa3,Ya3,Za3);
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Standard_Real R = S.Radius();
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Standard_Real Cnt1 = Cos(Teta1);
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Standard_Real Snt1 = Sin(Teta1);
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Standard_Real Cnt2 = Cos(Teta2);
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Standard_Real Snt2 = Sin(Teta2);
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Standard_Real Cnf1 = Cos(Alpha1);
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Standard_Real Snf1 = Sin(Alpha1);
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Standard_Real Cnf2 = Cos(Alpha2);
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Standard_Real Snf2 = Sin(Alpha2);
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dim = (Teta2-Teta1)*R*R*R*(Snf2-Snf1)/3.;
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Standard_Real Ix =
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R*(Snt2-Snt1)/(Teta2-Teta1)*
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(Alpha2-Alpha1+Snf2*Cnf2-Snf1*Cnf1)/(Snf2-Snf1)/2.;
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Standard_Real Iy =
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R*(Cnt1-Cnt2)/(Teta2-Teta1)*
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(Alpha2-Alpha1+Snf2*Cnf2-Snf1*Cnf1)/(Snf2-Snf1)/2.;
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Standard_Real Iz = R*(Snf2+Snf1)/2.;
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g.SetCoord(
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X0 + Ix*Xa1 + Iy*Xa2 + Iz*Xa3,
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Y0 + Ix*Ya1 + Iy*Ya2 + Iz*Ya3,
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Z0 + Ix*Za1 + Iy*Za2 + Iz*Za3);
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Standard_Real IR2 = ( Cnf2*Snf2*(Cnf2+1.)- Cnf1*Snf1*(Cnf1+1.) +
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Alpha2-Alpha1 )/9.;
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Standard_Real ICn2 = (Teta2-Teta1+ Cnt2*Snt2-Cnt1*Snt1)*IR2/2.;
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Standard_Real ISn2 = (Teta2-Teta1-Cnt2*Snt2+Cnt1*Snt1)*IR2/2.;
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Standard_Real ICnSn = ( Snt2*Snt2-Snt1*Snt1)*IR2/2.;
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Standard_Real IZ2 = (Teta2-Teta1)*(Snf2*Snf2*Snf2-Snf1*Snf1*Snf1)/9.;
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Standard_Real ICnz =(Snt2-Snt1)*(Cnf1*Cnf1*Cnf1-Cnf2*Cnf2*Cnf2)/9.;
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Standard_Real ISnz =(Cnt1-Cnt2)*(Cnf1*Cnf1*Cnf1-Cnf2*Cnf2*Cnf2)/9.;
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math_Matrix Dm(1,3,1,3);
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Dm(1,1) = ISn2 +IZ2;
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Dm(2,2) = ICn2 +IZ2;
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Dm(3,3) = IR2*(Teta2-Teta1);
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Dm(1,2) = Dm(2,1) = -ICnSn;
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Dm(1,3) = Dm(3,1) = -ICnz;
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Dm(3,2) = Dm(2,3) = -ISnz;
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math_Matrix Passage (1,3,1,3);
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Passage(1,1) = Xa1; Passage(1,2) = Xa2 ;Passage(1,3) = Xa3;
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Passage(2,1) = Ya1; Passage(2,2) = Ya2 ;Passage(2,3) = Ya3;
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Passage(3,1) = Za1; Passage(3,2) = Za2 ;Passage(3,3) = Za3;
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math_Jacobi J(Dm);
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R = R*R*R*R*R;
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math_Vector V1(1,3), V2(1,3), V3(1,3);
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J.Vector(1,V1);
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V1.Multiply(Passage,V1);
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V1.Multiply(R*J.Value(1));
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J.Vector(2,V2);
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V2.Multiply(Passage,V2);
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V2.Multiply(R*J.Value(2));
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J.Vector(3,V3);
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V3.Multiply(Passage,V3);
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V3.Multiply(R*J.Value(3));
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inertia = gp_Mat (gp_XYZ(V1(1),V2(1),V3(1)),
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gp_XYZ(V1(2),V2(2),V3(2)),
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gp_XYZ(V1(3),V2(3),V3(3)));
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gp_Mat Hop;
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GProp::HOperator(g,loc,dim,Hop);
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inertia = inertia+Hop;
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}
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void GProp_VelGProps::Perform(const gp_Torus& S,
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const Standard_Real Teta1,
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const Standard_Real Teta2,
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const Standard_Real Alpha1,
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const Standard_Real Alpha2)
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{
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Standard_Real X0,Y0,Z0,Xa1,Ya1,Za1,Xa2,Ya2,Za2,Xa3,Ya3,Za3;
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S.Location().Coord(X0,Y0,Z0);
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S.Position().XDirection().Coord(Xa1,Ya1,Za1);
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S.Position().YDirection().Coord(Xa2,Ya2,Za2);
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S.Position().Direction().Coord(Xa3,Ya3,Za3);
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Standard_Real RMax = S.MajorRadius();
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Standard_Real Rmin = S.MinorRadius();
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Standard_Real Cnt1 = Cos(Teta1);
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Standard_Real Snt1 = Sin(Teta1);
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Standard_Real Cnt2 = Cos(Alpha2);
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Standard_Real Snt2 = Sin(Alpha2);
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Standard_Real Cnf1 = Cos(Alpha1);
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Standard_Real Snf1 = Sin(Alpha1);
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Standard_Real Cnf2 = Cos(Alpha2);
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Standard_Real Snf2 = Sin(Alpha2);
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dim = RMax*Rmin*Rmin*(Teta2-Teta1)*(Alpha2-Alpha1)/2.;
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Standard_Real Ix =
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(Snt2-Snt1)/(Teta2-Teta1)*(Rmin*(Snf2-Snf1)/(Alpha2-Alpha1) + RMax);
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Standard_Real Iy =
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(Cnt1-Cnt2)/(Teta2-Teta1)*(Rmin*(Snf2-Snf1)/(Alpha2-Alpha1) + RMax);
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Standard_Real Iz = Rmin*(Cnf1-Cnf2)/(Alpha2-Alpha1);
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g.SetCoord(
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X0+Ix*Xa1+Iy*Xa2+Iz*Xa3,
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Y0+Ix*Ya1+Iy*Ya2+Iz*Ya3,
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Z0+Ix*Za1+Iy*Za2+Iz*Za3);
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Standard_Real IR2 = RMax*RMax+Rmin*Rmin/2. +2.*RMax*Rmin*(Snf2-Snf1) +
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Rmin*Rmin/2.*(Snf2*Cnf2-Snf1*Cnf1);
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Standard_Real ICn2 = IR2*(Teta2-Teta1 +Snt2*Cnt2-Snt1*Cnt1)/2.;
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Standard_Real ISn2 = IR2*(Teta2-Teta1 -Snt2*Cnt2+Snt1*Cnt1)/2.;
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Standard_Real ICnSn = IR2*(Snt2*Snt2-Snt1*Snt1)/2.;
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Standard_Real IZ2 =
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(Teta2-Teta1)*Rmin*Rmin*(Alpha2-Alpha1-Snf2*Cnf2+Snf1*Cnf1)/2.;
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Standard_Real ICnz = Rmin*(Snt2-Snt1)*(Cnf1-Cnf2)*(RMax+Rmin*(Cnf1+Cnf2)/2.);
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Standard_Real ISnz = Rmin*(Cnt2-Cnt1)*(Cnf1-Cnf2)*(RMax+Rmin*(Cnf1+Cnf2)/2.);
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math_Matrix Dm(1,3,1,3);
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Dm(1,1) = ISn2 + IZ2;
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Dm(2,2) = ICn2 + IZ2;
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Dm(3,3) = IR2*(Teta2-Teta1);
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Dm(1,2) = Dm(2,1) = -ICnSn;
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Dm(1,3) = Dm(3,1) = -ICnz;
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Dm(3,2) = Dm(2,3) = -ISnz;
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math_Matrix Passage (1,3,1,3);
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Passage(1,1) = Xa1; Passage(1,2) = Xa2 ;Passage(1,3) = Xa3;
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Passage(2,1) = Ya1; Passage(2,2) = Ya2 ;Passage(2,3) = Ya3;
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Passage(3,1) = Za1; Passage(3,2) = Za2 ;Passage(3,3) = Za3;
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math_Jacobi J(Dm);
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RMax = RMax*Rmin*Rmin/2.;
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math_Vector V1(1,3), V2(1,3), V3(1,3);
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J.Vector(1,V1);
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V1.Multiply(Passage,V1);
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V1.Multiply(RMax*J.Value(1));
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J.Vector(2,V2);
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V2.Multiply(Passage,V2);
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V2.Multiply(RMax*J.Value(2));
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J.Vector(3,V3);
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V3.Multiply(Passage,V3);
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V3.Multiply(RMax*J.Value(3));
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inertia = gp_Mat (gp_XYZ(V1(1),V2(1),V3(1)),
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gp_XYZ(V1(2),V2(2),V3(2)),
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gp_XYZ(V1(3),V2(3),V3(3)));
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gp_Mat Hop;
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GProp::HOperator(g,loc,dim,Hop);
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inertia = inertia+Hop;
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}
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