kindred/solver
1
0
Fork 0
Code Issues 10 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

runOndselPiston, runPiston execute correctly

Browse Source
This commit is contained in:
Aik-Siong Koh
2023-06-30 19:48:30 -06:00
parent c30ee64b89
commit cb27f2344b
154 changed files with 2786 additions and 1605 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
MbDCode/AbsConstraint.cpp
View File

@@ -17,7 +17,7 @@ void AbsConstraint::initialize()
Constraint::initialize();
}
void MbD::AbsConstraint::calcPostDynCorrectorIteration()
void AbsConstraint::calcPostDynCorrectorIteration()
{
if (axis < 3) {
aG = static_cast<PartFrame*>(owner)->qX->at(axis);
@@ -27,34 +27,34 @@ void MbD::AbsConstraint::calcPostDynCorrectorIteration()
}
}
void MbD::AbsConstraint::useEquationNumbers()
void AbsConstraint::useEquationNumbers()
{
iqXminusOnePlusAxis = static_cast<PartFrame*>(owner)->iqX + axis;
}
void MbD::AbsConstraint::fillPosICJacob(SpMatDsptr mat)
void AbsConstraint::fillPosICJacob(SpMatDsptr mat)
{
mat->atijplusNumber(iG, iqXminusOnePlusAxis, 1.0);
mat->atijplusNumber(iqXminusOnePlusAxis, iG, 1.0);
}
void MbD::AbsConstraint::fillPosICError(FColDsptr col)
void AbsConstraint::fillPosICError(FColDsptr col)
{
Constraint::fillPosICError(col);
col->at(iqXminusOnePlusAxis) += lam;
}
void MbD::AbsConstraint::fillPosKineJacob(SpMatDsptr mat)
void AbsConstraint::fillPosKineJacob(SpMatDsptr mat)
{
mat->atijplusNumber(iG, iqXminusOnePlusAxis, 1.0);
}
void MbD::AbsConstraint::fillVelICJacob(SpMatDsptr mat)
void AbsConstraint::fillVelICJacob(SpMatDsptr mat)
{
this->fillPosICJacob(mat);
}
void MbD::AbsConstraint::fillAccICIterError(FColDsptr col)
void AbsConstraint::fillAccICIterError(FColDsptr col)
{
col->atiplusNumber(iqXminusOnePlusAxis, lam);
auto partFrame = static_cast<PartFrame*>(owner);