#include"udf.h"#defineMASS0.0061/*massofobject,kg*/#defineIXX9.5486e-7/*momentofintertia,Nms^2*/#defineIYY1.90625e-6/*momentofintertia,Nms^2*/#defineIZZ9.5486e-7/*momentofintertia,Nms^2*/#defineIXZ0.0/*momentofintertia,Nms^2*/#defineIXY0.0/*momentofintertia,Nms^2*/#defineIYZ0.0/*momentofintertia,Nms^2*/#defineLF0.75/*distancefrontejectorfootinfrontofcg,m*/#defineLR0.75/*distancerearejectorfootbehindcg,m*/#defineF_EJECT_PEAK/*peakejectorforce*/#defineCGY00/*ycoordinateofcgatt=0,m*/#defineNUM_CALLS1/*numberoftimesroutinecalled*/#defineR2D180./M_PI#defineN3V_ROTP_X(x,r)N3V_DOT(x,r[0])#defineN3V_ROTP_Y(x,r)N3V_DOT(x,r[1])#defineN3V_ROTP_Z(x,r)N3V_DOT(x,r[2])#defineN3VD_DOT(x,y0,y1,y2)N3D_OP(,(x)[0]*(y0),(x)[1]*(y1),(x)[2]*(y2))#defineN3V_ROTN_X(x,r)N3VD_DOT(x,r[0][0],r[1][0],r[2][0])#defineN3V_ROTN_Y(x,r)N3VD_DOT(x,r[0][1],r[1][1],r[2][1])#defineN3V_ROTN_Z(x,r)N3VD_DOT(x,r[0][2],r[1][2],r[2][2])#defineN3V_ROTN_V(y,op,x,r)N3D_D((y)[0],(y)[1],(y)[2],op,N3V_ROTN_X(x,r),N3V_ROTN_Y(x,r),N3V_ROTN_Z(x,r))#defineN3V_ROTP_V(y,op,x,r)N3D_D((y)[0],(y)[1],(y)[2],op,N3V_ROTP_X(x,r),N3V_ROTP_Y(x,r),N3V_ROTP_Z(x,r))staticintcalls=0,last_call=0,first_time=1;