new branch: working

MbDCode/ZRotation.cpp

@@ -1,4 +1,8 @@
 #include "ZRotation.h"
+#include "FullColumn.h"
+#include "DirectionCosineConstraintIJ.h"
+#include "EndFrameqc.h"
+#include "EndFrameqct.h"
 
 using namespace MbD;
 
@@ -13,3 +17,34 @@ ZRotation::ZRotation(const char* str) : PrescribedMotion(str) {
 void ZRotation::initialize()
 {
 }
+
+void MbD::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);
+		addConstraint(dirCosCon);
+		System::getInstance().hasChanged = true;
+	}
+	else {
+		Joint::initializeGlobally();
+	}
+}
+
+void MbD::ZRotation::initMotions()
+{
+	auto xyzBlks = std::initializer_list<std::shared_ptr<Variable>>{ xBlk, yBlk, zBlk };
+	std::static_pointer_cast<EndFrameqct>(frmI)->rmemBlks = std::make_shared<FullColumn<std::shared_ptr<Variable>>>(xyzBlks);
+	auto xyzRotBlks = std::initializer_list<std::shared_ptr<Variable>>{ xBlk, yBlk, zBlk };
+	std::static_pointer_cast<EndFrameqct>(frmI)->phiThePsiBlks = std::make_shared<FullColumn<std::shared_ptr<Variable>>>(xyzRotBlks);
+}
+
+void MbD::ZRotation::addConstraint(std::shared_ptr<Constraint> con)
+{
+}