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

add DistanceConstraintIJ and AngleConstraintIJ

Browse Source
This commit is contained in:
Aik-Siong Koh
2023-07-08 23:20:27 -06:00
parent cb27f2344b
commit 718b17a2cf
134 changed files with 4218 additions and 556 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
MbDCode/Constraint.cpp
View File

@@ -28,16 +28,6 @@ void Constraint::postInput()
Item::postInput();
}
void Constraint::setOwner(Item* x)
{
owner = x;
}
Item* Constraint::getOwner()
{
return owner;
}
void Constraint::prePosIC()
{
lam = 0.0;
@@ -91,7 +81,7 @@ ConstraintType Constraint::type()
void Constraint::fillqsulam(FColDsptr col)
{
col->at(iG) = lam;
col->atiput(iG, lam);
}
void Constraint::setqsulam(FColDsptr col)
@@ -126,17 +116,6 @@ bool Constraint::isRedundant()
return false;
}
void 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 Constraint::preDyn()
{
mu = 0.0;
@@ -147,6 +126,11 @@ void Constraint::fillPosKineError(FColDsptr col)
col->atiplusNumber(iG, aG);
}
void Constraint::fillqsuddotlam(FColDsptr col)
{
col->atiput(iG, lam);
}
void Constraint::preAccIC()
{
lam = 0.0;