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add DistanceConstraintIJ and AngleConstraintIJ

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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
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MbDCode/QuasiIntegrator.cpp
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@@ -102,7 +102,7 @@ void QuasiIntegrator::checkForDiscontinuity()
epsilon = std::abs(t) * epsilon;
tstartNew = ((direction * t) + epsilon) / direction;
}
system->partsJointsMotionsForcesTorquesDo([&](std::shared_ptr<Item> item) { tstartNew = item->checkForDynDiscontinuityBetween(tprevious, tstartNew); });
system->partsJointsMotionsForcesTorquesDo([&](std::shared_ptr<Item> item) { tstartNew = item->checkForDynDiscontinuityBetweenand(tprevious, tstartNew); });
if ((direction * tstartNew) > (direction * t)) {
//"No discontinuity in step"
return;