2D Dynamics Compiler

Tar file

Directory structure:
/src    source code for the dynamics compiler
/run    contains descriptions of articulated figures
/sim    simulator source code

The dynamics compiler generates the equations of motion for 2D articulated figures, producing efficient 'C' procedures. The input is a description file that looks like the following example, which is that of a 2 link pendulum:

filename: pend2.desc

# description file for a 4-link pendulum
# description given as:
# link link_num parent_num attach_x attach_y mass inertia
#       mass_x mass_y
# fix  link_num fix_x fix_y
# monitor link mon_num x y

link 1 0 0.0 0.0  10.0 0.8333 0.5 0
link 2 1 1.0 0.0  10.0 0.8333 0.5 0

fix 1 0.0 0.0

set rootmon t
set dirname c:/proj/research_old/dyncomp/run
set debug t
set procname pend2
compile
quit

Last modified: Wed Mar 19 01:37:34 Pacific Standard Time 2003