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setmotionJoint and TranslationLimit

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This commit is contained in:
Aik-Siong Koh
2024-04-03 13:56:16 -06:00
committed by PaddleStroke
parent bc16f218da
commit 994f90d7ae
8 changed files with 50 additions and 1 deletions
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37
OndselSolver/ASMTAssembly.cpp
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@@ -480,6 +480,43 @@ void MbD::ASMTAssembly::runDraggingTest()
assembly->runPostDrag(); //Do this after last drag
}
void MbD::ASMTAssembly::runDraggingTest2()
{
//auto assembly = ASMTAssembly::assemblyFromFile("../testapp/pistonWithLimits.asmt");
auto assembly = ASMTAssembly::assemblyFromFile("../testapp/dragCrankSlider.asmt");
auto limit1 = ASMTRotationLimit::With();
limit1->setName("Limit1");
limit1->setmotionJoint("/Assembly1/Joint1");
limit1->settype("=>");
limit1->setlimit("0.0*pi/180.0");
limit1->settol("1.0e-9");
assembly->addLimit(limit1);
auto limit2 = ASMTTranslationLimit::With();
limit2->setName("Limit2");
limit2->setmotionJoint("/Assembly1/Joint4");
limit2->settype("=<");
limit2->setlimit("0.0");
limit2->settol("1.0e-9");
assembly->addLimit(limit2);
auto& dragPart = assembly->parts->at(0);
auto dragParts = std::make_shared<std::vector<std::shared_ptr<ASMTPart>>>();
dragParts->push_back(dragPart);
assembly->runPreDrag(); //Do this before first drag
FColDsptr pos3D, delta;
pos3D = dragPart->position3D;
delta = std::make_shared<FullColumn<double>>(ListD{ 0.1, 0.2, 0.3 });
dragPart->updateMbDFromPosition3D(pos3D->plusFullColumn(delta));
assembly->runDragStep(dragParts);
pos3D = dragPart->position3D;
delta = std::make_shared<FullColumn<double>>(ListD{ 0.3, 0.2, 0.1 });
dragPart->updateMbDFromPosition3D(pos3D->plusFullColumn(delta));
assembly->runDragStep(dragParts);
assembly->runPostDrag(); //Do this after last drag
}
void MbD::ASMTAssembly::readWriteFile(const char* fileName)
{
std::ifstream stream(fileName);