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#include <GProp_CelGProps.ixx>
#include <GProp.hxx>
#include <gp.hxx>
#include <gp_Vec.hxx>
#include <gp.hxx>
#include <ElCLib.hxx>
#include <Standard_NotImplemented.hxx>
#include <math_Matrix.hxx>
#include <math_Vector.hxx>
#include <math_Jacobi.hxx>
GProp_CelGProps::GProp_CelGProps(){}
void GProp_CelGProps::SetLocation(const gp_Pnt& CLocation)
{
loc = CLocation;
}
void GProp_CelGProps::Perform(const gp_Circ& C,
const Standard_Real U1,
const Standard_Real U2)
{
Standard_Real X0,Y0,Z0,Xa1,Ya1,Za1,Xa2,Ya2,Za2,Xa3,Ya3,Za3;
C.Location().Coord(X0,Y0,Z0);
C.XAxis().Direction().Coord(Xa1,Ya1,Za1);
C.YAxis().Direction().Coord(Xa2,Ya2,Za2);
C.Axis().Direction().Coord(Xa3,Ya3,Za3);
Standard_Real Ray = C.Radius();
dim = Ray*Abs(U2-U1);
Standard_Real xloc =Ray*(Sin(U2)-Sin(U1))/(U2-U1);
Standard_Real yloc =Ray*(Cos(U1)-Cos(U2))/(U2-U1);
g.SetCoord(xloc*Xa1+yloc*Xa2+X0,xloc*Ya1+yloc*Ya2+Y0,Z0);
math_Matrix Dm(1,3,1,3);
Dm(1,1)= Ray*Ray*Ray*(U2/2-U1/2-Sin(2*U2)/4+Sin(2*U1)/4);
Dm(2,2)= Ray*Ray*Ray*(U2/2-U1/2+Sin(2*U2)/4-Sin(2*U1)/4);
Dm(3,3)= Ray*Ray*dim;
Dm(2,1)= Dm(1,2) = - Ray*Ray*Ray*(Cos(2*U1)/4-Cos(2*U2)/4);
Dm(3,1) = Dm(1,3) = 0.;
Dm(3,2) = Dm(2,3) = 0.;
math_Matrix Passage (1,3,1,3);
Passage(1,1) = Xa1; Passage(1,2) = Xa2 ;Passage(1,3) = Xa3;
Passage(2,1) = Ya1; Passage(2,2) = Ya2 ;Passage(2,3) = Ya3;
Passage(3,1) = Za1; Passage(3,2) = Za2 ;Passage(3,3) = Za3;
math_Jacobi J(Dm);
math_Vector V1(1,3),V2(1,3),V3(1,3);
J.Vector(1,V1);
V1.Multiply(Passage,V1);
V1.Multiply(J.Value(1));
J.Vector(2,V2);
V2.Multiply(Passage,V2);
V2.Multiply(J.Value(2));
J.Vector(3,V3);
V3.Multiply(Passage,V3);
V3.Multiply(J.Value(3));
inertia = gp_Mat (gp_XYZ(V1(1),V2(1),V3(1)),
gp_XYZ(V1(2),V2(2),V3(2)),
gp_XYZ(V1(3),V2(3),V3(3)));
gp_Mat Hop;
GProp::HOperator(g,loc,dim,Hop);
inertia = inertia+Hop;
}
void GProp_CelGProps::Perform(const gp_Lin& C,
const Standard_Real U1,
const Standard_Real U2)
{
gp_Ax1 Pos = C.Position();
gp_Pnt P1 = ElCLib::LineValue(U1,Pos);
dim =Abs(U2-U1);
gp_Pnt P2 = ElCLib::LineValue(U2,Pos);
g.SetCoord((P1.X()+P2.X())/2.,(P1.Y()+P2.Y())/2.,(P1.Z()+P2.Z())/2.);
Standard_Real Vx,Vy,Vz,X0,Y0,Z0;
Pos.Direction().Coord(Vx,Vy,Vz);
Pos.Location().Coord(X0,Y0,Z0);
Standard_Real alfa1 = (Vz*Vz+Vy*Vy)/3.;
Standard_Real alfa2 = Vy*Y0+Vz*Z0;
Standard_Real alfa3 = Y0*Y0+Z0*Z0;
Standard_Real Ixx = (U2*(U2*(U2*alfa1+alfa2)+alfa3)) -
(U1*(U1*(U1*alfa1+alfa2)+alfa3));
alfa1 = (Vz*Vz+Vx*Vx)/3.;
alfa2 = Vx*X0+Vz*Z0;
alfa3 = X0*X0+Z0*Z0;
Standard_Real Iyy = (U2*(U2*(U2*alfa1+alfa2)+alfa3)) -
(U1*(U1*(U1*alfa1+alfa2)+alfa3));
alfa1 = (Vy*Vy+Vx*Vx)/3.;
alfa2 = Vy*Y0+Vz*Z0;
alfa3 = Y0*Y0+Z0*Z0;
Standard_Real Izz = (U2*(U2*(U2*alfa1+alfa2)+alfa3)) -
(U1*(U1*(U1*alfa1+alfa2)+alfa3));
alfa1 = (Vy*Vx)/3.;
alfa2 = (Vy*X0+Vx*Y0)/2.;
alfa3 = Y0*X0;
Standard_Real Ixy = (U2*(U2*(U2*alfa1+alfa2)+alfa3)) -
(U1*(U1*(U1*alfa1+alfa2)+alfa3));
alfa1 = (Vz*Vx)/3.;
alfa2 = (Vz*X0+Vx*Z0)/2;
alfa3 = Z0*X0;
Standard_Real Ixz = (U2*(U2*(U2*alfa1+alfa2)+alfa3)) -
(U1*(U1*(U1*alfa1+alfa2)+alfa3));
alfa1 = (Vy*Vz)/3.;
alfa2 = (Vy*Z0+Vz*Y0)/2.;
alfa3 = Y0*Z0;
Standard_Real Iyz = (U2*(U2*(U2*alfa1+alfa2)+alfa3)) -
(U1*(U1*(U1*alfa1+alfa2)+alfa3));
inertia = gp_Mat (gp_XYZ (Ixx, -Ixy,-Ixz),
gp_XYZ (-Ixy, Iyy,-Iyz),
gp_XYZ (-Ixz,-Iyz, Izz));
}
GProp_CelGProps::GProp_CelGProps (const gp_Circ& C, const gp_Pnt& CLocation)
{
SetLocation(CLocation);
Perform(C,0.,2.*PI);
}
GProp_CelGProps::GProp_CelGProps (const gp_Circ& C,
const Standard_Real U1,
const Standard_Real U2,
const gp_Pnt& CLocation)
{
SetLocation(CLocation);
Perform(C,U1,U2);
}
GProp_CelGProps::GProp_CelGProps (const gp_Lin& C,
const Standard_Real U1,
const Standard_Real U2,
const gp_Pnt& CLocation)
{
SetLocation(CLocation);
Perform(C,U1,U2);
}
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