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Implement Limits

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This commit is contained in:
Aik-Siong Koh
2024-04-02 14:30:25 -06:00
committed by PaddleStroke
parent 3a9e7cecab
commit ad4a563b42
184 changed files with 7716 additions and 6083 deletions
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35
OndselSolver/SystemSolver.cpp
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@@ -29,6 +29,7 @@
#include "VelICKineSolver.h"
#include "AccICKineNewtonRaphson.h"
#include "PosICDragNewtonRaphson.h"
#include "PosICDragLimitNewtonRaphson.h"
using namespace MbD;
@@ -175,6 +176,7 @@ void SystemSolver::runPreDrag()
void MbD::SystemSolver::runDragStep(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts)
{
runPosICDrag(dragParts);
runPosICDragLimit();
}
void SystemSolver::runQuasiKinematic()
@@ -219,6 +221,14 @@ void MbD::SystemSolver::runPosICDrag(std::shared_ptr<std::vector<std::shared_ptr
icTypeSolver->run();
}
void MbD::SystemSolver::runPosICDragLimit()
{
auto newtonRaphson = PosICDragLimitNewtonRaphson::With();
icTypeSolver = newtonRaphson;
icTypeSolver->setSystem(this);
icTypeSolver->run();
}
void SystemSolver::runPosICKine()
{
icTypeSolver = CREATE<PosICKineNewtonRaphson>::With();
@@ -255,6 +265,11 @@ std::shared_ptr<std::vector<std::shared_ptr<Part>>> SystemSolver::parts()
return system->parts;
}
std::shared_ptr<std::vector<std::shared_ptr<LimitIJ>>> MbD::SystemSolver::limits()
{
return system->limits;
}
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> SystemSolver::essentialConstraints()
{
return system->essentialConstraints();
@@ -290,6 +305,16 @@ void SystemSolver::partsJointsMotionsForcesTorquesDo(const std::function<void(st
system->partsJointsMotionsForcesTorquesDo(f);
}
void MbD::SystemSolver::partsJointsMotionsLimitsDo(const std::function<void(std::shared_ptr<Item>)>& f)
{
system->partsJointsMotionsLimitsDo(f);
}
void MbD::SystemSolver::partsJointsMotionsLimitsForcesTorquesDo(const std::function<void(std::shared_ptr<Item>)>& f)
{
system->partsJointsMotionsLimitsForcesTorquesDo(f);
}
void SystemSolver::discontinuityBlock()
{
assert(false);
@@ -344,3 +369,13 @@ void SystemSolver::time(double t)
{
system->mbdTimeValue(t);
}
bool MbD::SystemSolver::limitsSatisfied()
{
return system->limitsSatisfied();
}
void MbD::SystemSolver::deactivateLimits()
{
system->deactivateLimits();
}