Added many Joints. Parse asmt file.

MbDCode/RackPinJoint.cpp

@@ -0,0 +1,40 @@
+#include "RackPinJoint.h"
+#include "CREATE.h"
+#include "System.h"
+#include "RackPinConstraintIJ.h"
+
+using namespace MbD;
+
+MbD::RackPinJoint::RackPinJoint()
+{
+}
+
+MbD::RackPinJoint::RackPinJoint(const char* str) : Joint(str)
+{
+}
+
+void MbD::RackPinJoint::initializeGlobally()
+{
+	if (constraints->empty())
+	{
+		auto rackPinIJ = CREATE<RackPinConstraintIJ>::With(frmI, frmJ);
+		rackPinIJ->setConstant(aConstant);
+		rackPinIJ->pitchRadius = pitchRadius;
+		addConstraint(rackPinIJ);
+		this->root()->hasChanged = true;
+	}
+	else {
+		Joint::initializeGlobally();
+	}
+}
+
+void MbD::RackPinJoint::connectsItoJ(EndFrmcptr frmIe, EndFrmcptr frmJe)
+{
+	//"OODS J is on pinion. z axis is axis of pinion."
+	//"OODS I is on rack. x axis is axis of rack. z axis is parallel to axis of pinion."
+	//"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();
+}