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AllowRotation and size_t

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This commit is contained in:
Aik-Siong Koh
2024-01-14 21:40:33 -07:00
committed by PaddleStroke
parent fe99ad2593
commit 85557e1fa4
285 changed files with 1854 additions and 1116 deletions
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16
OndselSolver/Part.cpp
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@@ -218,22 +218,22 @@ void Part::prePosKine()
partFrame->prePosKine();
}
int MbD::Part::iqX()
size_t MbD::Part::iqX()
{
return partFrame->iqX;
}
int MbD::Part::iqE()
size_t MbD::Part::iqE()
{
return partFrame->iqE;
}
void Part::iqX(int eqnNo)
void Part::iqX(size_t eqnNo)
{
partFrame->iqX = eqnNo;
}
void Part::iqE(int eqnNo)
void Part::iqE(size_t eqnNo)
{
partFrame->iqE = eqnNo;
@@ -274,12 +274,12 @@ void Part::fillqsuWeights(DiagMatDsptr diagMat)
auto wqX = std::make_shared<DiagonalMatrix<double>>(3);
auto wqE = std::make_shared<DiagonalMatrix<double>>(4);
if (mMax == 0) { mMax = 1.0; }
for (int i = 0; i < 3; i++)
for (size_t i = 0; i < 3; i++)
{
wqX->at(i) = (maxw * m / mMax) + minw;
}
if (aJiMax == 0) { aJiMax = 1.0; }
for (int i = 0; i < 3; i++)
for (size_t i = 0; i < 3; i++)
{
auto aJi = aJ->at(i);
wqE->at(i) = (maxw * aJi / aJiMax) + minw;
@@ -321,7 +321,7 @@ void Part::fillqsudotWeights(DiagMatDsptr diagMat)
double maxw = maxInertia;
auto wqXdot = std::make_shared<DiagonalMatrix<double>>(3);
auto wqEdot = std::make_shared<DiagonalMatrix<double>>(4);
for (int i = 0; i < 3; i++)
for (size_t i = 0; i < 3; i++)
{
wqXdot->at(i) = (maxw * m / maxInertia) + minw;
auto aJi = aJ->at(i);
@@ -373,7 +373,7 @@ void Part::fillPosICJacob(SpMatDsptr mat)
partFrame->fillPosICJacob(mat);
}
void Part::removeRedundantConstraints(std::shared_ptr<std::vector<int>> redundantEqnNos)
void Part::removeRedundantConstraints(std::shared_ptr<std::vector<size_t>> redundantEqnNos)
{
partFrame->removeRedundantConstraints(redundantEqnNos);
}