world.h

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#ifndef WORLDH
#define WORLDH

#include "vector.h"
#include "mechanism.h"
#include "cuiksystem.h"
#include "equations.h"
#include "plot3d.h"
#include "box.h"
#include "csmapping.h"
#include "parameters.h"
#include "filename.h"

#include <stdlib.h>

/************************************************************************************/
#define INITIAL_FRAME_DELAY 5.0

#define FRAME_RATE (1.0/10) 

#define FINAL_FRAME_DELAY 500.0
/************************************************************************************/
/************************************************************************************/
#define EMPTY_WORLD 0

#define WORLD_WITH_GEOMETRY 1

#define WORLD_WITH_EQUATIONS 2
/************************************************************************************/

typedef struct {
  unsigned int stage; 
  Tmechanism m;   
  unsigned int nl; 
  unsigned int nb; 
  unsigned int nj; 
  double maxCoord; 
  TCuikSystem kinCS; 
  boolean *systemVars; 
  Tequation **refEqs; 
} Tworld;


void InitWorld(Tworld *w);

void InitWorldFromFile(Tparameters *p,Tfilename *f,Tworld *w);

unsigned int AddLink2World(Tlink *l,Tworld *w);


unsigned int AddJoint2World(Tjoint *j,Tworld *w);

unsigned int GetWorldDOF(Tworld *w);

unsigned int GetWorldLinkID(char *linkName,Tworld *w);

Tlink *GetWorldLink(unsigned int linkID,Tworld *w);

unsigned int GetWorldNLinks(Tworld *w);

unsigned int GetWorldNJoints(Tworld *w);

unsigned int GetWorldNConvexBodiesInLinks(Tworld *w);

unsigned int GetWorldSystemVars(boolean **sv,Tworld *w);

void GenerateWorldEquationSystems(Tparameters *p,Tworld *w);

void GetGlobalInitialBox(Tbox *b,Tworld *w);

unsigned int MaxKinematicReduction(Tparameters *p,Tbox *b,
                                   double *reduction,Tworld *w);

unsigned int SplitGlobalBox(Tparameters *p,Tbox *box,Tbox **b1,Tbox **b2,Tworld *w);

void PlotWorld(Tplot3d *pt,double axesLength,Tworld *w);

void MoveWorld(Tplot3d *pt,Tbox *b,Tworld *w);

void AnimateWorld(char *pname,double axesLength,double frameDelay,Tlist *p,Tworld *w);

void PrintWorldCS(Tparameters *p,Tfilename *fname,Tworld *w);

void DeleteWorld(Tworld *w);

#endif