Added many Joints. Parse asmt file.

MbDCode/ConstantVelocityJoint.cpp

@@ -0,0 +1,37 @@
+#include "ConstantVelocityJoint.h"
+#include "System.h"
+#include "AtPointConstraintIJ.h"
+#include "CREATE.h"
+#include "ConstVelConstraintIJ.h"
+
+using namespace MbD;
+
+MbD::ConstantVelocityJoint::ConstantVelocityJoint()
+{
+}
+
+MbD::ConstantVelocityJoint::ConstantVelocityJoint(const char* str) : AtPointJoint(str)
+{
+}
+
+void MbD::ConstantVelocityJoint::initializeGlobally()
+{
+	if (constraints->empty())
+	{
+		createAtPointConstraints();
+		addConstraint(CREATE<ConstVelConstraintIJ>::With(frmI, frmJ));
+		this->root()->hasChanged = true;
+	}
+	else {
+		Joint::initializeGlobally();
+	}
+}
+
+void MbD::ConstantVelocityJoint::connectsItoJ(EndFrmcptr frmIe, EndFrmcptr frmJe)
+{
+	//"Subsequent prescribed motions may make frmIe, frmJe become prescribed end frames."
+	//"Use newCopyEndFrameqc to prevent efrms from becoming EndFrameqct."
+
+	frmI = frmIe->newCopyEndFrameqc();
+	frmJ = frmJe->newCopyEndFrameqc();
+}