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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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61
MbDCode/Constraint.cpp
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@@ -1,4 +1,8 @@
#include <functional>
#include <chrono>
#include "Constraint.h"
#include "FullColumn.h"
#include "enum.h"
using namespace MbD;
@@ -13,9 +17,9 @@ Constraint::Constraint(const char* str) : Item(str)
void Constraint::initialize()
{
iG = -1;
aG = 0.0;
lam = 0.0;
auto now = std::chrono::high_resolution_clock::now();
auto nanoseconds = now.time_since_epoch().count();
name = std::to_string(nanoseconds);
}
void MbD::Constraint::postInput()
@@ -41,25 +45,32 @@ void MbD::Constraint::prePosIC()
Item::prePosIC();
}
void MbD::Constraint::fillEssenConstraints(std::shared_ptr<Constraint>sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints)
void MbD::Constraint::fillEssenConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints)
{
if (this->type() == MbD::essential) {
essenConstraints->push_back(sptr);
}
}
void MbD::Constraint::fillDispConstraints(std::shared_ptr<Constraint>sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints)
void MbD::Constraint::fillDispConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints)
{
if (this->type() == MbD::displacement) {
dispConstraints->push_back(sptr);
}
}
void MbD::Constraint::fillPerpenConstraints(std::shared_ptr<Constraint>sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints)
void MbD::Constraint::fillPerpenConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints)
{
if (this->type() == MbD::perpendicular) {
perpenConstraints->push_back(sptr);
}
}
void MbD::Constraint::fillRedundantConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints)
{
if (this->type() == MbD::redundant) {
redunConstraints->push_back(sptr);
}
}
MbD::ConstraintType MbD::Constraint::type()
{
return MbD::essential;
@@ -74,3 +85,41 @@ void MbD::Constraint::setqsulam(FColDsptr col)
{
lam = col->at(iG);
}
void MbD::Constraint::fillPosICError(FColDsptr col)
{
col->at(iG) += aG;
}
void MbD::Constraint::removeRedundantConstraints(std::shared_ptr<std::vector<int>> redundantEqnNos)
{
//My owner should handle this.
assert(false);
}
void MbD::Constraint::reactivateRedundantConstraints()
{
//My owner should handle this.
assert(false);
}
bool MbD::Constraint::isRedundant()
{
return false;
}
void MbD::Constraint::outputStates()
{
Item::outputStates();
std::stringstream ss;
ss << "iG = " << iG << std::endl;
ss << "aG = " << aG << std::endl;
ss << "lam = " << lam << std::endl;
auto str = ss.str();
this->logString(str);
}
void MbD::Constraint::preDyn()
{
mu = 0.0;
}