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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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26
MbDCode/DirectionCosineConstraintIqctJqc.cpp
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@@ -24,3 +24,29 @@ void MbD::DirectionCosineConstraintIqctJqc::preVelIC()
DirectionCosineConstraintIJ::preVelIC();
pGpt = std::static_pointer_cast<DirectionCosineIeqctJeqc>(aAijIeJe)->pAijIeJept;
}
void MbD::DirectionCosineConstraintIqctJqc::fillVelICError(FColDsptr col)
{
col->atiminusNumber(iG, pGpt);
}
void MbD::DirectionCosineConstraintIqctJqc::preAccIC()
{
DirectionCosineConstraintIJ::preAccIC();
ppGpEIpt = std::static_pointer_cast<DirectionCosineIeqctJeqc>(aAijIeJe)->ppAijIeJepEIpt;
ppGpEJpt = std::static_pointer_cast<DirectionCosineIeqctJeqc>(aAijIeJe)->ppAijIeJepEJpt;
ppGptpt = std::static_pointer_cast<DirectionCosineIeqctJeqc>(aAijIeJe)->ppAijIeJeptpt;
}
void MbD::DirectionCosineConstraintIqctJqc::fillAccICIterError(FColDsptr col)
{
DirectionCosineConstraintIqcJqc::fillAccICIterError(col);
auto efrmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
auto efrmJqc = std::static_pointer_cast<EndFrameqc>(frmJ);
auto qEdotI = efrmIqc->qEdot();
auto qEdotJ = efrmJqc->qEdot();
double sum = (ppGpEIpt->timesFullColumn(qEdotI)) * 2.0;
sum += (ppGpEJpt->timesFullColumn(qEdotJ)) * 2.0;
sum += ppGptpt;
col->atiplusNumber(iG, sum);
}