Change the project name from MbDCode to OndselSolver.

2023-10-04 18:35:36 +02:00
parent 02e77eb6cc
commit 9fd22a5504
592 changed files with 277 additions and 276 deletions
--- a/OndselSolver/FullMotion.cpp
+++ b/OndselSolver/FullMotion.cpp
@@ -0,0 +1,51 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+ 
+#include "FullMotion.h"
+#include "CREATE.h"
+#include "System.h"
+
+using namespace MbD;
+
+MbD::FullMotion::FullMotion()
+{
+}
+
+MbD::FullMotion::FullMotion(const char* str)
+{
+}
+
+void MbD::FullMotion::connectsItoJ(EndFrmsptr frmi, EndFrmsptr frmj)
+{
+	Joint::connectsItoJ(frmi, frmj);
+	std::static_pointer_cast<EndFrameqc>(frmI)->initEndFrameqct2();
+}
+
+void MbD::FullMotion::initializeGlobally()
+{
+	if (constraints->empty()) {
+		initMotions();
+		addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 0));
+		addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 1));
+		addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 2));
+		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 1, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
+		addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
+		this->root()->hasChanged = true;
+	}
+	else {
+		PrescribedMotion::initializeGlobally();
+	}
+}
+
+void MbD::FullMotion::initMotions()
+{
+	auto efrmI = std::static_pointer_cast<EndFrameqct>(frmI);
+	efrmI->rmemBlks = frIJI;
+	efrmI->phiThePsiBlks = fangIJJ;
+}