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systemSolver->runBasicKinematic();

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This commit is contained in:
Aik-Siong Koh
2023-06-11 07:15:20 -06:00
parent d848450907
commit 3b08cd72df
182 changed files with 2789 additions and 535 deletions
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25
MbDCode/AbsConstraint.cpp
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@@ -2,20 +2,19 @@
#include "PartFrame.h"
using namespace MbD;
//
//AbsConstraint::AbsConstraint() {}
//
//AbsConstraint::AbsConstraint(const char* str) : Constraint(str) {}
AbsConstraint::AbsConstraint() {}
AbsConstraint::AbsConstraint(const char* str) : Constraint(str) {}
AbsConstraint::AbsConstraint(size_t i)
AbsConstraint::AbsConstraint(int i)
{
axis = i;
}
void AbsConstraint::initialize()
{
axis = 0;
iqXminusOnePlusAxis = 0;
Constraint::initialize();
}
void MbD::AbsConstraint::calcPostDynCorrectorIteration()
@@ -30,11 +29,17 @@ void MbD::AbsConstraint::calcPostDynCorrectorIteration()
void MbD::AbsConstraint::useEquationNumbers()
{
iqXminusOnePlusAxis = static_cast<PartFrame*>(owner)->iqX - 1 + axis;
iqXminusOnePlusAxis = static_cast<PartFrame*>(owner)->iqX + axis;
}
void MbD::AbsConstraint::fillPosICJacob(SpMatDsptr mat)
{
mat->atijplusNumber(iG, iqXminusOnePlusAxis, 1.0);
mat->atijplusNumber(iqXminusOnePlusAxis, iG, 1.0);
(*(mat->at(iG)))[iqXminusOnePlusAxis] += 1.0;
(*(mat->at(iqXminusOnePlusAxis)))[iG] += 1.0;
}
void MbD::AbsConstraint::fillPosICError(FColDsptr col)
{
Constraint::fillPosICError(col);
col->at(iqXminusOnePlusAxis) += lam;
}