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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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20
MbDCode/RevoluteJoint.cpp
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@@ -1,4 +1,8 @@
#include "RevoluteJoint.h"
#include "System.h"
#include "AtPointConstraintIJ.h"
#include "DirectionCosineConstraintIJ.h"
#include "CREATE.h"
using namespace MbD;
@@ -9,3 +13,19 @@ RevoluteJoint::RevoluteJoint() {
RevoluteJoint::RevoluteJoint(const char* str) : Joint(str) {
}
void MbD::RevoluteJoint::initializeGlobally()
{
if (constraints->empty())
{
addConstraint(CREATE<AtPointConstraintIJ>::ConstraintWith(frmI, frmJ, 0));
addConstraint(CREATE<AtPointConstraintIJ>::ConstraintWith(frmI, frmJ, 1));
addConstraint(CREATE<AtPointConstraintIJ>::ConstraintWith(frmI, frmJ, 2));
addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
System::getInstance().hasChanged = true;
}
else {
Joint::initializeGlobally();
}
}