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CompoundJoints debugged

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Aik-Siong Koh
2023-12-12 14:49:58 -07:00
parent 56bba4e921
commit 2bb83b82c0
32 changed files with 1078 additions and 311 deletions
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5
OndselSolver/ConstVelConstraintIJ.cpp
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@@ -21,7 +21,10 @@ std::shared_ptr<ConstVelConstraintIJ> MbD::ConstVelConstraintIJ::With(EndFrmsptr
{
assert(frmi->isEndFrameqc());
assert(frmj->isEndFrameqc());
return std::make_shared<ConstVelConstraintIqcJqc>(frmi, frmj);
auto constVelCon = std::make_shared<ConstVelConstraintIqcJqc>(frmi, frmj);
constVelCon->initA01IeJe();
constVelCon->initA10IeJe();
return constVelCon;
}
void ConstVelConstraintIJ::calcPostDynCorrectorIteration()