From 61943686c4b6296ab9a377377211674037a34121 Mon Sep 17 00:00:00 2001
From: Paddle <PaddleStroke@users.noreply.github.com>
Date: Mon, 9 Oct 2023 16:56:43 +0200
Subject: [PATCH] Adds 'solve' function to ASMTAssembly. Simplify
 runSinglePendulumSuperSimplified() more

---
 OndselSolver/ASMTAssembly.cpp | 22 +++++++++++++++-------
 OndselSolver/ASMTAssembly.h   |  4 ++++
 2 files changed, 19 insertions(+), 7 deletions(-)

diff --git a/OndselSolver/ASMTAssembly.cpp b/OndselSolver/ASMTAssembly.cpp
index f8703f6..8b1eed9 100644
--- a/OndselSolver/ASMTAssembly.cpp
+++ b/OndselSolver/ASMTAssembly.cpp
@@ -64,18 +64,12 @@ void MbD::ASMTAssembly::runSinglePendulumSuperSimplified()
 	mkr->setPosition3D(0.1, 0.1, 0.1);
 	part->addMarker(mkr);
 
-	auto joint = CREATE<ASMTRevoluteJoint>::With();
+	auto joint = CREATE<ASMTFixedJoint>::With();
 	joint->setName("Joint1");
 	joint->setMarkerI("/Assembly1/Marker1");
 	joint->setMarkerJ("/Assembly1/Part1/Marker1");
 	assembly->addJoint(joint);
 
-	auto motion = CREATE<ASMTRotationalMotion>::With();
-	motion->setName("Motion1");
-	motion->setMotionJoint("/Assembly1/Joint1");
-	motion->setRotationZ("0.0");
-	assembly->addMotion(motion);
-
 	auto simulationParameters = CREATE<ASMTSimulationParameters>::With();
 	simulationParameters->settstart(0.0);
 	simulationParameters->settend(0.0);	//tstart == tend Initial Conditions only.
@@ -851,6 +845,20 @@ void MbD::ASMTAssembly::createMbD(std::shared_ptr<System> mbdSys, std::shared_pt
 	animationParameters = nullptr;
 }
 
+void MbD::ASMTAssembly::solve()
+{
+	auto simulationParameters = CREATE<ASMTSimulationParameters>::With();
+	simulationParameters->settstart(0.0);
+	simulationParameters->settend(0.0);	//tstart == tend Initial Conditions only.
+	simulationParameters->sethmin(1.0e-9);
+	simulationParameters->sethmax(1.0);
+	simulationParameters->sethout(0.04);
+	simulationParameters->seterrorTol(1.0e-6);
+	setSimulationParameters(simulationParameters);
+
+	runKINEMATIC();
+}
+
 void MbD::ASMTAssembly::runKINEMATIC()
 {
 	auto mbdSystem = CREATE<System>::With();
diff --git a/OndselSolver/ASMTAssembly.h b/OndselSolver/ASMTAssembly.h
index cab0ab5..1351147 100644
--- a/OndselSolver/ASMTAssembly.h
+++ b/OndselSolver/ASMTAssembly.h
@@ -79,6 +79,10 @@ namespace MbD {
 		std::shared_ptr<std::map<std::string, std::shared_ptr<ASMTMarker>>>markerMap();
 		void deleteMbD();
 		void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+
+		/* This function performs a one shot solve of the assembly.*/
+		void solve();
+
 		void runKINEMATIC();
 		void initprincipalMassMarker();
 		std::shared_ptr<ASMTSpatialContainer> spatialContainerAt(std::shared_ptr<ASMTAssembly> self, std::string& longname);