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Added many Joints. Parse asmt file.

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This commit is contained in:
Aik-Siong Koh
2023-07-16 22:00:07 -06:00
parent 718b17a2cf
commit 80bb812075
220 changed files with 5845 additions and 189 deletions
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30
MbDCode/RevCylJoint.cpp Normal file
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#include "RevCylJoint.h"
#include "CREATE.h"
#include "DistancexyConstraintIJ.h"
#include "System.h"
using namespace MbD;
MbD::RevCylJoint::RevCylJoint()
{
}
MbD::RevCylJoint::RevCylJoint(const char* str) : CompoundJoint(str)
{
}
void MbD::RevCylJoint::initializeGlobally()
{
if (constraints->empty())
{
auto distxyIJ = CREATE<DistancexyConstraintIJ>::With(frmI, frmJ);
distxyIJ->setConstant(distanceIJ);
addConstraint(distxyIJ);
addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
this->root()->hasChanged = true;
}
else {
CompoundJoint::initializeGlobally();
}
}