def reduce(self, dst, t, dt):
xs_dash = declare('object')
ys_dash = declare('object')
fx = declare('object')
fy = declare('object')
torque = declare('object')
force = declare('object')
body_id = declare('object')
i = declare('int')
bid = declare('int')
torque = dst.torque
force = dst.force
xs_dash = dst.xs_dash
ys_dash = dst.ys_dash
fx = dst.fx
fy = dst.fy
body_id = dst.body_id
for i in range(len(fx)):
bid = body_id[i]
bid2 = bid * 2
force[bid2] += fx[i]
force[bid2 + 1] += fy[i]
torque[bid] += xs_dash[i] * fy[i] - ys_dash[i] * fx[i]
def initialize(self, d_idx, d_pos_cm, d_pos_cm0, d_vel_cm, d_vel_cm0,
d_theta0, d_theta, d_force, d_torque, d_omega, d_omega0,
d_num_body):
_i = declare('int')
_j = declare('int')
if d_idx == 0:
for _i in range(d_num_body[0]):
d_theta0[_i] = d_theta[_i]
d_omega0[_i] = d_omega[_i]
d_torque[_i] = 0.
for _j in range(2):
d_force[2 * _i + _j] = 0.
d_pos_cm0[2 * _i + _j] = d_pos_cm[2 * _i + _j]
d_vel_cm0[2 * _i + _j] = d_vel_cm[2 * _i + _j]
def stage2(self, d_idx, d_indices, d_xb_dash, d_yb_dash, d_xs_dash,
d_ys_dash, d_x, d_y, d_u, d_v, d_vel_cm, d_pos_cm, d_omega,
d_theta, d_body_id):
i2 = declare('int')
bid = declare('int')
bid = d_body_id[d_idx]
i2 = 2 * bid
d_xs_dash[d_idx] = (d_xb_dash[d_idx] * cos(d_theta[bid]) -
d_yb_dash[d_idx] * sin(d_theta[bid]))
d_ys_dash[d_idx] = (d_xb_dash[d_idx] * sin(d_theta[bid]) +
d_yb_dash[d_idx] * cos(d_theta[bid]))
d_x[d_idx] = d_pos_cm[i2] + d_xs_dash[d_idx]
d_y[d_idx] = d_pos_cm[i2 + 1] + d_ys_dash[d_idx]
d_u[d_idx] = d_vel_cm[i2] - d_omega[bid] * d_ys_dash[d_idx]
d_v[d_idx] = d_vel_cm[i2 + 1] + d_omega[bid] * d_xs_dash[d_idx]
def py3_f(x: int_) -> int_:
y = declare('int')
y = x + 1
return x * y