Added many Joints. Parse asmt file.

MbDCode/ScrewJoint.cpp

@@ -0,0 +1,38 @@
+#include "ScrewJoint.h"
+#include "CREATE.h"
+#include "System.h"
+#include "ScrewConstraintIJ.h"
+
+using namespace MbD;
+
+MbD::ScrewJoint::ScrewJoint()
+{
+}
+
+MbD::ScrewJoint::ScrewJoint(const char* str) : Joint(str)
+{
+}
+
+void MbD::ScrewJoint::initializeGlobally()
+{
+	if (constraints->empty())
+	{
+		auto screwIJ = CREATE<ScrewConstraintIJ>::With(frmI, frmJ);
+		screwIJ->setConstant(aConstant);
+		screwIJ->pitch = pitch;
+		addConstraint(screwIJ);
+		this->root()->hasChanged = true;
+	}
+	else {
+		Joint::initializeGlobally();
+	}
+}
+
+void MbD::ScrewJoint::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();
+}