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Backhoe issues (#67)

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* backhoe issues

* runDragStep edit

* backhoe issues

* runDragStep edit

* Reduce large drag step progressively until convergence.
This commit is contained in:
aiksiongkoh
2024-06-24 22:24:38 -06:00
committed by GitHub
parent 79a1e4ed4c
commit 9058e0849d
20 changed files with 2224 additions and 1505 deletions
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2
OndselSolver/ASMTSpatialContainer.cpp
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@@ -376,9 +376,11 @@ void MbD::ASMTSpatialContainer::updateFromMbD()
auto& aAPp = principalMassMarker->rotationMatrix;
auto aAOP = aAOp->timesTransposeFullMatrix(aAPp);
rotationMatrix = aAOP;
oldRotMat = rotationMatrix;
auto rPcmO = aAOP->timesFullColumn(rPcmP);
auto rOPO = rOcmO->minusFullColumn(rPcmO);
position3D = rOPO;
oldPos3D = position3D;
auto vOPO = vOcmO->minusFullColumn(omeOPO->cross(rPcmO));
velocity3D = vOPO;
auto aOPO = aOcmO->minusFullColumn(alpOPO->cross(rPcmO))->minusFullColumn(omeOPO->cross(omeOPO->cross(rPcmO)));