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runPosIC, initializeGlobally

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This commit is contained in:
Aik-Siong Koh
2023-05-27 21:43:09 -06:00
parent 6a577c052c
commit 9ddbdca742
139 changed files with 2401 additions and 431 deletions
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11
MbDCode/CylindricalJoint.cpp
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@@ -2,6 +2,7 @@
#include "System.h"
#include "DirectionCosineConstraintIJ.h"
#include "TranslationConstraintIJ.h"
#include "CREATE.h"
using namespace MbD;
@@ -13,12 +14,12 @@ CylindricalJoint::CylindricalJoint(const char* str) : Joint(str) {
void MbD::CylindricalJoint::initializeGlobally()
{
if (!constraints)
if (constraints->empty())
{
addConstraint(std::make_shared <TranslationConstraintIJ>(frmI, frmJ, 1));
addConstraint(std::make_shared <TranslationConstraintIJ>(frmI, frmJ, 2));
addConstraint(std::make_shared<DirectionCosineConstraintIJ>(frmI, frmJ, 3, 1));
addConstraint(std::make_shared<DirectionCosineConstraintIJ>(frmI, frmJ, 3, 2));
addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 0));
addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 1));
addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
System::getInstance().hasChanged = true;
}
else {