varnames.h
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1 #ifndef VARNAMESH
2 #define VARNAMESH
3 
4 #include <stdio.h>
5 
37 #define IN_PATCH_DOF_VAR(vname,id,ln1,ln2,i) sprintf(vname,"_n_%s_%s_%s_%u",ln1,ln2,(i==0?"x":"y"),id)
38 
52 #define DOF_VAR(vname,id,ln1,ln2,i) sprintf(vname,"_d_%s_%s_%u_%u",ln1,ln2,i,id)
53 
68 #define LINK_ROT(vname,linkName,vn,cn) sprintf(vname,"_%s_%s_%s",linkName,(vn==0?"u":(vn==1?"v":"w")),(cn==0?"x":(cn==1?"y":"z")))
69 
86 #define LINK_ROT2(vname,linkName,vn,cn) (vn<3?LINK_ROT(vname,linkName,vn,cn):sprintf(vname,"_%s_wp_%s",linkName,(cn==0?"x":(cn==1?"y":"z"))))
87 
88 
106 #define LINK_ROT3_E(vname,linkName,rn,cn) (rn==cn?sprintf(vname,"_%s_qq_%u",linkName,rn):sprintf(vname,"_%s_qq_%u_%u",linkName,rn,cn))
107 
121 #define LINK_ROT3_Q(vname,linkName,j) sprintf(vname,"_%s_q_%u",linkName,j)
122 
136 #define LINK_TRANS(vname,linkName,cn) sprintf(vname,"_%s_r_%s",linkName,(cn==0?"x":(cn==1?"y":"z")))
137 
155 #define FREE_JOINT_VAR(vname,id,id1,ln1,id2,ln2,k) (id1==0?LINK_TRANS(vname,ln2,k):(id2==0?LINK_TRANS(vname,ln1,k):sprintf(vname,"_%s_%s_%s_%u",ln1,ln2,(k==0?"x":(k==1?"y":"z")),id)))
156 
168 #define PRS_JOINT_VAR(vname,id,ln1,ln2) sprintf(vname,"_d_%s_%s_%u",ln1,ln2,id)
169 
180 #define PRS_JOINT_VAR_SING_SIN(vname,id,ln1,ln2) sprintf(vname,"_d_sing_sin_%s_%s_%u",ln1,ln2,id)
181 
192 #define PRS_JOINT_VAR_SING_COS(vname,id,ln1,ln2) sprintf(vname,"_d_sing_cos_%s_%s_%u",ln1,ln2,id)
193 
207 #define UNV_JOINT_VAR(vname,id,ln1,ln2,i,k) sprintf(vname,"_uni_%s_%s_%s_%s_%u",(i==0?"u":"v"),ln1,ln2,(k==0?"x":(k==1?"y":"z")),id)
208 
220 #define SPH_SPH_JOINT_VAR(vname,id,ln1,ln2,i) sprintf(vname,"_sph_sph_%s_%s_%s_%u",ln1,ln2,(i==0?"x":(i==1?"y":"z")),id)
221 
235 #define IN_PATCH_JOINT_CTRL_VAR(vname,id,ln1,ln2,i) sprintf(vname,"_in_patch_%s_%s_%s_%u",ln1,ln2,(i==0?"u":(i==1?"v":"w")),id)
236 
248 #define IN_PATCH_JOINT_CTRL_VAR_SING_SIN(vname,id,ln1,ln2,i) sprintf(vname,"_in_patch_sing_sin_%s_%s_%s_%u",ln1,ln2,(i==0?"u":(i==1?"v":"w")),id)
249 
261 #define IN_PATCH_JOINT_CTRL_VAR_SING_COS(vname,id,ln1,ln2,i) sprintf(vname,"_in_patch_sing_cos_%s_%s_%s_%u",ln1,ln2,(i==0?"u":(i==1?"v":"w")),id)
262 
263 
277 #define IN_PATCH_JOINT_SCALE_VAR(vname,id,ln1,ln2) sprintf(vname,"_in_patch_%s_%s_l_%u",ln1,ln2,id)
278 
279 
295 #define IN_CYLINDER_JOINT_VAR(vname,id,ln1,ln2,i) sprintf(vname,"_in_cylinder_%s_%s_%s_%u",(i==0?"l":(i==1?"r":"w")),ln1,ln2,id)
296 
308 #define IN_CYLINDER_JOINT_POINT(vname,id,ln1,ln2,i) sprintf(vname,"_in_cylinder_p_%s_%s_%s_%u",ln1,ln2,(i==0?"x":(i==1?"y":"z")),id)
309 
322 #define IN_CYLINDER_JOINT_VECTOR(vname,id,ln1,ln2,i) sprintf(vname,"_in_cylinder_v_%s_%s_%s_%u",ln1,ln2,(i==0?"x":(i==1?"y":"z")),id)
323 
338 #define IN_CYLINDER_JOINT_VAR_REF(vname,id,k,ln1,ln2,i) sprintf(vname,"_in_cylinder_%s_%s_%s_%s_%u",(k==0?"w1":"w2"),ln1,ln2,(i==0?"x":(i==1?"y":"z")),id)
339 
354 #define IN_CYLINDER_JOINT_VAR_SING_COS(vname,id,ln1,ln2,i) sprintf(vname,"_in_cylincer_sing_cos_%s_%s_%s_%u",ln1,ln2,(i==0?"l":"r"),id)
355 
367 #define IN_CYLINDER_JOINT_VAR_SING_SIN(vname,id,ln1,ln2) sprintf(vname,"_in_cylincer_sing_cos_%s_%s_l_%u",ln1,ln2,id)
368 
387 #define ROT_JOINT_VAR_REF(vname,id,k,ln1,ln2,i) sprintf(vname,"_%s_%s_%s_%s_%u",(k==0?"w1":"w2"),ln1,ln2,(i==0?"x":(i==1?"y":"z")),id)
388 
389 
408 #define UNV_JOINT_VAR_REF(vname,id,k,ln1,ln2,i) sprintf(vname,"_%s_%s_%s_%s_%u",(k==0?"w1":"w2"),ln1,ln2,(i==0?"x":(i==1?"y":"z")),id)
409 
425 #define COS_VAR(vname,id,ln1,ln2) sprintf(vname,"_cos_%s_%s_%u",ln1,ln2,id)
426 
438 #define COS_VAR_SING(vname,id,ln1,ln2) sprintf(vname,"_cos_sing_%s_%s_%u",ln1,ln2,id)
439 
455 #define COS_VAR_UNI(vname,id,ln1,ln2,k) sprintf(vname,"_cos_%u_%s_%s_%u",k,ln1,ln2,id)
456 
469 #define COS_VAR_UNI_SING(vname,id,ln1,ln2,k) sprintf(vname,"_cos_sing_%u_%s_%s_%u",k,ln1,ln2,id)
470 
484 #define SPH_JOINT_VAR_REF(vname,id,v,ln1,ln2,k) sprintf(vname,"_sph_%s_%s_%s_%s_%u",(v==0?"w1":"w2"),ln1,ln2,(k==0?"x":(k==1?"y":"z")),id)
485 
486 
498 #define BODY_VERTEX(vname,linkName,bID,vID,k) sprintf(vname,"_%s_b%u_v%u_%s",linkName,bID,vID,(k==0?"x":(k==1?"y":"z")))
499 
512 #define SPHERE_CENTER(vname,linkName,bID,k) sprintf(vname,"_center_%s_b%u_%s",linkName,bID,(k==0?"x":(k==1?"y":"z")))
513 
527 #define DIF_CENTERS_LL(vname,linkName1,bID1,linkName2,bID2,k) sprintf(vname,"_diff_%s_b%u_%s_b%u_%s",linkName1,bID1,linkName2,bID2,(k==0?"x":(k==1?"y":"z")))
528 
541 #define DIF_CENTERS_LO(vname,linkName1,bID1,oID,k) sprintf(vname,"_diff_%s_b%u_o%u_%s",linkName1,bID1,oID,(k==0?"x":(k==1?"y":"z")))
542 
560 #define SP_BB_PREFIX(prefix,ln1,b1,ln2,b2) sprintf(prefix,"spbb_%s_b%u_%s_b%u",ln1,b1,ln2,b2)
561 
562 
578 #define SP_BO_PREFIX(prefix,ln1,b1,on) sprintf(prefix,"spbo_%s_b%u_%s",ln1,b1,on)
579 
589 #define SP_VAR(vname,prefix,k) sprintf(vname,"_%s_%s",prefix,(k==0?"a":(k==1?"b":(k==2?"c":(k==3?"g1":"g2")))))
590 
591 #endif