kindred/solver
1
0
Fork 0
Code Issues 10 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

CompoundJoints debugged

Browse Source
This commit is contained in:
Aik-Siong Koh
2023-12-12 14:49:58 -07:00
parent 56bba4e921
commit 2bb83b82c0
32 changed files with 1078 additions and 311 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
OndselSolver/ConstantVelocityJoint.cpp
View File

@@ -21,17 +21,17 @@ MbD::ConstantVelocityJoint::ConstantVelocityJoint()
MbD::ConstantVelocityJoint::ConstantVelocityJoint(const char* str) : AtPointJoint(str)
{
}
void MbD::ConstantVelocityJoint::initializeLocally()
{
if (!constraints->empty())
{
auto constraint = std::static_pointer_cast<ConstVelConstraintIJ>(constraints->back());
constraint->initA01IeJe();
constraint->initA10IeJe();
}
Joint::initializeLocally();
}
//
//void MbD::ConstantVelocityJoint::initializeLocally()
//{
// if (!constraints->empty())
// {
// auto constraint = std::static_pointer_cast<ConstVelConstraintIJ>(constraints->back());
// constraint->initA01IeJe();
// constraint->initA10IeJe();
// }
// Joint::initializeLocally();
//}
void MbD::ConstantVelocityJoint::initializeGlobally()
{