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#include <GProp_VelGProps.ixx>
#include <Standard_NotImplemented.hxx>
#include <gp.hxx>
#include <GProp.hxx>
#include <math_Matrix.hxx>
#include <math_Vector.hxx>
#include <math_Jacobi.hxx>
GProp_VelGProps::GProp_VelGProps(){}
void GProp_VelGProps::SetLocation(const gp_Pnt& VLocation)
{
loc =VLocation;
}
GProp_VelGProps::GProp_VelGProps(const gp_Cylinder& S,
const Standard_Real Alpha1,
const Standard_Real Alpha2,
const Standard_Real Z1,
const Standard_Real Z2,
const gp_Pnt& VLocation)
{
SetLocation(VLocation);
Perform(S,Alpha1,Alpha2,Z1,Z2);
}
GProp_VelGProps::GProp_VelGProps(const gp_Cone& S,
const Standard_Real Alpha1,
const Standard_Real Alpha2,
const Standard_Real Z1,
const Standard_Real Z2,
const gp_Pnt& VLocation)
{
SetLocation(VLocation);
Perform(S,Alpha1,Alpha2,Z1,Z2);
}
GProp_VelGProps::GProp_VelGProps(const gp_Sphere& S,
const Standard_Real Teta1,
const Standard_Real Teta2,
const Standard_Real Alpha1,
const Standard_Real Alpha2,
const gp_Pnt& VLocation)
{
SetLocation(VLocation);
Perform(S,Teta1,Teta2,Alpha1,Alpha2);
}
GProp_VelGProps::GProp_VelGProps(const gp_Torus& S,
const Standard_Real Teta1,
const Standard_Real Teta2,
const Standard_Real Alpha1,
const Standard_Real Alpha2,
const gp_Pnt& VLocation)
{
SetLocation(VLocation);
Perform(S,Teta1,Teta2,Alpha1,Alpha2);
}
void GProp_VelGProps::Perform(const gp_Cylinder& S,
const Standard_Real Alpha1,
const Standard_Real Alpha2,
const Standard_Real Z1,
const Standard_Real Z2)
{
Standard_Real X0,Y0,Z0,Xa1,Ya1,Za1,Xa2,Ya2,Za2,Xa3,Ya3,Za3;
S.Location().Coord(X0,Y0,Z0);
Standard_Real Rayon = S.Radius();
S.Position().XDirection().Coord(Xa1,Ya1,Za1);
S.Position().YDirection().Coord(Xa2,Ya2,Za2);
S.Position().Direction().Coord(Xa3,Ya3,Za3);
dim = Rayon*Rayon*(Z2-Z1)/2.;
Standard_Real SA2 = Sin(Alpha2);
Standard_Real SA1 = Sin(Alpha1);
Standard_Real CA2 = Cos(Alpha2);
Standard_Real CA1 = Cos(Alpha1);
Standard_Real Dsin = SA2-SA1;
Standard_Real Dcos = CA1-CA2;
Standard_Real Coef = Rayon/(Alpha2-Alpha1);
g.SetCoord(X0+(Coef*(Xa1*Dsin+Xa2*Dcos) ) + (Xa3*(Z2+Z1)/2.),
Y0+(Coef*(Ya1*Dsin+Ya2*Dcos) ) + (Ya3*(Z2+Z1)/2.),
Z0+(Coef*(Za1*Dsin+Za2*Dcos) ) + (Za3*(Z2+Z1)/2.) );
Standard_Real ICn2 = dim/2. *( Alpha2-Alpha1 + SA2*CA2 - SA1*CA1 );
Standard_Real ISn2 = dim/2. *( Alpha2-Alpha1 - SA2*CA2 + SA1*CA1 );
Standard_Real IZ2 = dim * (Alpha2-Alpha1)*(Z2*Z2+Z1*Z2+Z1*Z1);
Standard_Real ICnSn = dim *(CA2*CA2-CA1*CA1)/2.;
Standard_Real ICnz = dim *(Z2+Z1)/2.*Dsin;
Standard_Real ISnz = dim *(Z2+Z1)/2.*Dcos;
dim =(Alpha2-Alpha1)*dim;
math_Matrix Dm(1,3,1,3);
Dm(1,1) = Rayon*Rayon*ISn2 + IZ2;
Dm(2,2) = Rayon*Rayon*ICn2 + IZ2;
Dm(3,3) = Rayon*Rayon*dim;
Dm(1,2) = Dm(2,1) = -Rayon*Rayon*ICnSn;
Dm(1,3) = Dm(3,1) = -Rayon*ICnz;
Dm(3,2) = Dm(2,3) = -Rayon*ISnz;
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_VelGProps::Perform(const gp_Cone& S,
const Standard_Real Alpha1,
const Standard_Real Alpha2,
const Standard_Real Z1,
const Standard_Real Z2)
{
Standard_Real X0,Y0,Z0,Xa1,Ya1,Za1,Xa2,Ya2,Za2,Xa3,Ya3,Za3;
S.Location().Coord(X0,Y0,Z0);
S.Position().XDirection().Coord(Xa1,Ya1,Za1);
S.Position().YDirection().Coord(Xa2,Ya2,Za2);
S.Position().Direction().Coord(Xa3,Ya3,Za3);
Standard_Real t =S.SemiAngle();
Standard_Real Cnt = Cos(t);
Standard_Real Snt = Sin(t);
Standard_Real R = S.RefRadius();
Standard_Real Sn2 = Sin(Alpha2);
Standard_Real Sn1 = Sin(Alpha1);
Standard_Real Cn2 = Cos(Alpha2);
Standard_Real Cn1 = Cos(Alpha1);
Standard_Real ZZ = (Z2-Z1)*(Z2-Z1)*Cnt*Snt;
Standard_Real Auxi1= 2*R +(Z2+Z1)*Snt;
dim = ZZ*(Alpha2-Alpha1)*Auxi1/2.;
Standard_Real R1 = R + Z1*Snt;
Standard_Real R2 = R + Z2*Snt;
Standard_Real Coef0 = (R1*R1+R1*R2+R2*R2);
Standard_Real Iz = Cnt*(R*(Z2+Z1) + 2*Snt*(Z1*Z1+Z1*Z2+Z2*Z2)/3.)/Auxi1;
Standard_Real Ix = Coef0*(Sn2-Sn1)/(Alpha2-Alpha1)/Auxi1;
Standard_Real Iy = Coef0*(Cn1-Cn2)/(Alpha2-Alpha1)/Auxi1;
g.SetCoord(X0 + Xa1*Ix + Xa2*Iy + Xa3*Iz,
Y0 + Ya1*Ix + Ya2*Iy + Ya3*Iz,
Z0 + Za1*Ix + Za2*Iy + Za3*Iz);
Standard_Real IR2 = ZZ*(R2*R2*R2+R2*R2*R1+R1*R1*R2+R1*R1*R1)/4.;
Standard_Real ICn2 = IR2*(Alpha2-Alpha1+Cn2*Sn2-Cn1*Sn1)/2.;
Standard_Real ISn2 = IR2*(Alpha2-Alpha1+Cn2*Sn2-Cn1*Sn1)/2.;
Standard_Real IZ2 = ZZ*Cnt*Cnt*(Alpha2-Alpha1)*
(Z1*Z1*(R/3 + Z1*Snt/4) +
Z2*Z2*(R/3 + Z2*Snt/4) +
Z1*Z2*(R/3 +Z1*Snt/4 +Z2*Snt/4));
Standard_Real ICnSn = IR2*(Cn2*Cn2-Cn1*Cn1);
Standard_Real ICnz = (Z1+Z2)*ZZ*Coef0*(Sn2-Sn1)/3;
Standard_Real ISnz = (Z1+Z2)*ZZ*Coef0*(Cn1-Cn2)/3;
math_Matrix Dm(1,3,1,3);
Dm(1,1) = ISn2 + IZ2;
Dm(2,2) = ICn2 + IZ2;
Dm(3,3) = IR2*(Alpha2-Alpha1);
Dm(1,2) = Dm(2,1) = -ICnSn;
Dm(1,3) = Dm(3,1) = -ICnz;
Dm(3,2) = Dm(2,3) = -ISnz;
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_VelGProps::Perform(const gp_Sphere& S,
const Standard_Real Teta1,
const Standard_Real Teta2,
const Standard_Real Alpha1,
const Standard_Real Alpha2)
{
Standard_Real X0,Y0,Z0,Xa1,Ya1,Za1,Xa2,Ya2,Za2,Xa3,Ya3,Za3;
S.Location().Coord(X0,Y0,Z0);
S.Position().XDirection().Coord(Xa1,Ya1,Za1);
S.Position().YDirection().Coord(Xa2,Ya2,Za2);
S.Position().Direction().Coord(Xa3,Ya3,Za3);
Standard_Real R = S.Radius();
Standard_Real Cnt1 = Cos(Teta1);
Standard_Real Snt1 = Sin(Teta1);
Standard_Real Cnt2 = Cos(Teta2);
Standard_Real Snt2 = Sin(Teta2);
Standard_Real Cnf1 = Cos(Alpha1);
Standard_Real Snf1 = Sin(Alpha1);
Standard_Real Cnf2 = Cos(Alpha2);
Standard_Real Snf2 = Sin(Alpha2);
dim = (Teta2-Teta1)*R*R*R*(Snf2-Snf1)/3.;
Standard_Real Ix =
R*(Snt2-Snt1)/(Teta2-Teta1)*
(Alpha2-Alpha1+Snf2*Cnf2-Snf1*Cnf1)/(Snf2-Snf1)/2.;
Standard_Real Iy =
R*(Cnt1-Cnt2)/(Teta2-Teta1)*
(Alpha2-Alpha1+Snf2*Cnf2-Snf1*Cnf1)/(Snf2-Snf1)/2.;
Standard_Real Iz = R*(Snf2+Snf1)/2.;
g.SetCoord(
X0 + Ix*Xa1 + Iy*Xa2 + Iz*Xa3,
Y0 + Ix*Ya1 + Iy*Ya2 + Iz*Ya3,
Z0 + Ix*Za1 + Iy*Za2 + Iz*Za3);
Standard_Real IR2 = ( Cnf2*Snf2*(Cnf2+1.)- Cnf1*Snf1*(Cnf1+1.) +
Alpha2-Alpha1 )/9.;
Standard_Real ICn2 = (Teta2-Teta1+ Cnt2*Snt2-Cnt1*Snt1)*IR2/2.;
Standard_Real ISn2 = (Teta2-Teta1-Cnt2*Snt2+Cnt1*Snt1)*IR2/2.;
Standard_Real ICnSn = ( Snt2*Snt2-Snt1*Snt1)*IR2/2.;
Standard_Real IZ2 = (Teta2-Teta1)*(Snf2*Snf2*Snf2-Snf1*Snf1*Snf1)/9.;
Standard_Real ICnz =(Snt2-Snt1)*(Cnf1*Cnf1*Cnf1-Cnf2*Cnf2*Cnf2)/9.;
Standard_Real ISnz =(Cnt1-Cnt2)*(Cnf1*Cnf1*Cnf1-Cnf2*Cnf2*Cnf2)/9.;
math_Matrix Dm(1,3,1,3);
Dm(1,1) = ISn2 +IZ2;
Dm(2,2) = ICn2 +IZ2;
Dm(3,3) = IR2*(Teta2-Teta1);
Dm(1,2) = Dm(2,1) = -ICnSn;
Dm(1,3) = Dm(3,1) = -ICnz;
Dm(3,2) = Dm(2,3) = -ISnz;
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);
R = R*R*R*R*R;
math_Vector V1(1,3), V2(1,3), V3(1,3);
J.Vector(1,V1);
V1.Multiply(Passage,V1);
V1.Multiply(R*J.Value(1));
J.Vector(2,V2);
V2.Multiply(Passage,V2);
V2.Multiply(R*J.Value(2));
J.Vector(3,V3);
V3.Multiply(Passage,V3);
V3.Multiply(R*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_VelGProps::Perform(const gp_Torus& S,
const Standard_Real Teta1,
const Standard_Real Teta2,
const Standard_Real Alpha1,
const Standard_Real Alpha2)
{
Standard_Real X0,Y0,Z0,Xa1,Ya1,Za1,Xa2,Ya2,Za2,Xa3,Ya3,Za3;
S.Location().Coord(X0,Y0,Z0);
S.Position().XDirection().Coord(Xa1,Ya1,Za1);
S.Position().YDirection().Coord(Xa2,Ya2,Za2);
S.Position().Direction().Coord(Xa3,Ya3,Za3);
Standard_Real RMax = S.MajorRadius();
Standard_Real Rmin = S.MinorRadius();
Standard_Real Cnt1 = Cos(Teta1);
Standard_Real Snt1 = Sin(Teta1);
Standard_Real Cnt2 = Cos(Alpha2);
Standard_Real Snt2 = Sin(Alpha2);
Standard_Real Cnf1 = Cos(Alpha1);
Standard_Real Snf1 = Sin(Alpha1);
Standard_Real Cnf2 = Cos(Alpha2);
Standard_Real Snf2 = Sin(Alpha2);
dim = RMax*Rmin*Rmin*(Teta2-Teta1)*(Alpha2-Alpha1)/2.;
Standard_Real Ix =
(Snt2-Snt1)/(Teta2-Teta1)*(Rmin*(Snf2-Snf1)/(Alpha2-Alpha1) + RMax);
Standard_Real Iy =
(Cnt1-Cnt2)/(Teta2-Teta1)*(Rmin*(Snf2-Snf1)/(Alpha2-Alpha1) + RMax);
Standard_Real Iz = Rmin*(Cnf1-Cnf2)/(Alpha2-Alpha1);
g.SetCoord(
X0+Ix*Xa1+Iy*Xa2+Iz*Xa3,
Y0+Ix*Ya1+Iy*Ya2+Iz*Ya3,
Z0+Ix*Za1+Iy*Za2+Iz*Za3);
Standard_Real IR2 = RMax*RMax+Rmin*Rmin/2. +2.*RMax*Rmin*(Snf2-Snf1) +
Rmin*Rmin/2.*(Snf2*Cnf2-Snf1*Cnf1);
Standard_Real ICn2 = IR2*(Teta2-Teta1 +Snt2*Cnt2-Snt1*Cnt1)/2.;
Standard_Real ISn2 = IR2*(Teta2-Teta1 -Snt2*Cnt2+Snt1*Cnt1)/2.;
Standard_Real ICnSn = IR2*(Snt2*Snt2-Snt1*Snt1)/2.;
Standard_Real IZ2 =
(Teta2-Teta1)*Rmin*Rmin*(Alpha2-Alpha1-Snf2*Cnf2+Snf1*Cnf1)/2.;
Standard_Real ICnz = Rmin*(Snt2-Snt1)*(Cnf1-Cnf2)*(RMax+Rmin*(Cnf1+Cnf2)/2.);
Standard_Real ISnz = Rmin*(Cnt2-Cnt1)*(Cnf1-Cnf2)*(RMax+Rmin*(Cnf1+Cnf2)/2.);
math_Matrix Dm(1,3,1,3);
Dm(1,1) = ISn2 + IZ2;
Dm(2,2) = ICn2 + IZ2;
Dm(3,3) = IR2*(Teta2-Teta1);
Dm(1,2) = Dm(2,1) = -ICnSn;
Dm(1,3) = Dm(3,1) = -ICnz;
Dm(3,2) = Dm(2,3) = -ISnz;
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);
RMax = RMax*Rmin*Rmin/2.;
math_Vector V1(1,3), V2(1,3), V3(1,3);
J.Vector(1,V1);
V1.Multiply(Passage,V1);
V1.Multiply(RMax*J.Value(1));
J.Vector(2,V2);
V2.Multiply(Passage,V2);
V2.Multiply(RMax*J.Value(2));
J.Vector(3,V3);
V3.Multiply(Passage,V3);
V3.Multiply(RMax*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;
}
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