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runPosIC, VelIC, AccIC numerically correct

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This commit is contained in:
Aik-Siong Koh
2023-06-24 23:08:29 -06:00
parent 371b13a9e0
commit c30ee64b89
110 changed files with 2171 additions and 129 deletions
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6
MbDCode/Constraint.h
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@@ -11,7 +11,7 @@ namespace MbD {
public:
Constraint();
Constraint(const char* str);
void initialize();
void initialize() override;
void postInput() override;
void setOwner(Item* x);
Item* getOwner();
@@ -25,6 +25,7 @@ namespace MbD {
virtual MbD::ConstraintType type();
void fillqsulam(FColDsptr col) override;
void setqsulam(FColDsptr col) override;
void setqsudotlam(FColDsptr col) override;
void fillPosICError(FColDsptr col) override;
void removeRedundantConstraints(std::shared_ptr<std::vector<int>> redundantEqnNos) override;
void reactivateRedundantConstraints() override;
@@ -32,6 +33,9 @@ namespace MbD {
void outputStates() override;
void preDyn() override;
void fillPosKineError(FColDsptr col) override;
void preAccIC() override;
void fillAccICIterJacob(SpMatDsptr mat) override;
void setqsuddotlam(FColDsptr qsudotlam) override;
int iG = -1;
double aG = 0.0; //Constraint function