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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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21
MbDCode/ZRotation.cpp
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@@ -4,6 +4,7 @@
#include "DirectionCosineConstraintIJ.h"
#include "EndFrameqc.h"
#include "EndFrameqct.h"
#include "CREATE.h"
using namespace MbD;
@@ -17,15 +18,9 @@ ZRotation::ZRotation(const char* str) : PrescribedMotion(str) {
void ZRotation::initializeGlobally()
{
//constraints isEmpty
// ifTrue :
//[self initMotions.
// self owns : (MbDDirectionCosineConstraintIJ withFrmI : frmI frmJ : frmJ axisI : 2 axisJ : 1).
// TheMbDSystem hasChanged : true]
//ifFalse : [super initializeGlobally]
if (constraints->empty()) {
initMotions();
auto dirCosCon = std::make_shared<DirectionCosineConstraintIJ>(frmI, frmJ, 2, 1);
auto dirCosCon = CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 1, 0);
addConstraint(dirCosCon);
System::getInstance().hasChanged = true;
}
@@ -36,12 +31,8 @@ void ZRotation::initializeGlobally()
void ZRotation::initMotions()
{
auto xyzBlks = std::initializer_list<std::shared_ptr<Symbolic>>{ xBlk, yBlk, zBlk };
std::static_pointer_cast<EndFrameqc>(frmI)->setrmemBlks(std::make_shared<FullColumn<std::shared_ptr<Symbolic>>>(xyzBlks));
auto xyzRotBlks = std::initializer_list<std::shared_ptr<Symbolic>>{ phiBlk, theBlk, psiBlk };
std::static_pointer_cast<EndFrameqc>(frmI)->setphiThePsiBlks(std::make_shared<FullColumn<std::shared_ptr<Symbolic>>>(xyzRotBlks));
}
void ZRotation::addConstraint(std::shared_ptr<Constraint> con)
{
auto xyzBlkList = std::initializer_list<Symsptr>{ xBlk, yBlk, zBlk };
std::static_pointer_cast<EndFrameqct>(frmI)->rmemBlks = (std::make_shared<FullColumn<Symsptr>>(xyzBlkList));
auto xyzRotBlkList = std::initializer_list<Symsptr>{ phiBlk, theBlk, psiBlk };
std::static_pointer_cast<EndFrameqct>(frmI)->phiThePsiBlks = (std::make_shared<FullColumn<Symsptr>>(xyzRotBlkList));
}