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CompoundJoints debugged

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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
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22
OndselSolver/RackPinJoint.cpp
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@@ -20,17 +20,17 @@ MbD::RackPinJoint::RackPinJoint()
MbD::RackPinJoint::RackPinJoint(const char* str) : Joint(str)
{
}
void MbD::RackPinJoint::initializeLocally()
{
if (!constraints->empty())
{
auto constraint = std::static_pointer_cast<RackPinConstraintIJ>(constraints->front());
constraint->initxIeJeIe();
constraint->initthezIeJe();
}
Joint::initializeLocally();
}
//
//void MbD::RackPinJoint::initializeLocally()
//{
// if (!constraints->empty())
// {
// auto constraint = std::static_pointer_cast<RackPinConstraintIJ>(constraints->front());
// constraint->initxIeJeIe();
// constraint->initthezIeJe();
// }
// Joint::initializeLocally();
//}
void MbD::RackPinJoint::initializeGlobally()
{