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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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3
OndselSolver/System.cpp
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@@ -125,8 +125,9 @@ void MbD::System::runPreDrag(std::shared_ptr<System> self)
externalSystem->updateFromMbD();
}
void MbD::System::runDragStep(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts)
void MbD::System::runDragStep(std::shared_ptr<System> self, std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts)
{
externalSystem->preMbDrunDragStep(self, dragParts);
partsJointsMotionsLimitsForcesTorquesDo([](std::shared_ptr<Item> item) { item->postInput(); });
systemSolver->runDragStep(dragParts);
externalSystem->updateFromMbD();