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

64
MbDCode/Constraint.cpp
View File

@@ -22,7 +22,7 @@ void Constraint::initialize()
name = std::to_string(nanoseconds);
}
void MbD::Constraint::postInput()
void Constraint::postInput()
{
lam = 0.0;
Item::postInput();
@@ -38,14 +38,14 @@ Item* Constraint::getOwner()
return owner;
}
void MbD::Constraint::prePosIC()
void Constraint::prePosIC()
{
lam = 0.0;
iG = -1;
Item::prePosIC();
}
void MbD::Constraint::prePosKine()
void Constraint::prePosKine()
{
//"Preserve lam calculated from AccIC for possible use by DynIntegrator if system is not kinematic."
auto lamOld = lam;
@@ -53,80 +53,80 @@ void MbD::Constraint::prePosKine()
lam = lamOld;
}
void MbD::Constraint::fillEssenConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints)
void Constraint::fillEssenConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints)
{
if (this->type() == MbD::essential) {
if (this->type() == essential) {
essenConstraints->push_back(sptr);
}
}
void MbD::Constraint::fillDispConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints)
void Constraint::fillDispConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints)
{
if (this->type() == MbD::displacement) {
if (this->type() == displacement) {
dispConstraints->push_back(sptr);
}
}
void MbD::Constraint::fillPerpenConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints)
void Constraint::fillPerpenConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints)
{
if (this->type() == MbD::perpendicular) {
if (this->type() == perpendicular) {
perpenConstraints->push_back(sptr);
}
}
void MbD::Constraint::fillRedundantConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints)
void Constraint::fillRedundantConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints)
{
if (this->type() == MbD::redundant) {
if (this->type() == redundant) {
redunConstraints->push_back(sptr);
}
}
void MbD::Constraint::fillConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allConstraints)
void Constraint::fillConstraints(std::shared_ptr<Constraint> sptr, std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allConstraints)
{
allConstraints->push_back(sptr);
}
MbD::ConstraintType MbD::Constraint::type()
ConstraintType Constraint::type()
{
return MbD::essential;
return essential;
}
void MbD::Constraint::fillqsulam(FColDsptr col)
void Constraint::fillqsulam(FColDsptr col)
{
col->at(iG) = lam;
}
void MbD::Constraint::setqsulam(FColDsptr col)
void Constraint::setqsulam(FColDsptr col)
{
lam = col->at(iG);
}
void MbD::Constraint::setqsudotlam(FColDsptr col)
void Constraint::setqsudotlam(FColDsptr col)
{
lam = col->at(iG);
}
void MbD::Constraint::fillPosICError(FColDsptr col)
void Constraint::fillPosICError(FColDsptr col)
{
col->at(iG) += aG;
}
void MbD::Constraint::removeRedundantConstraints(std::shared_ptr<std::vector<int>> redundantEqnNos)
void Constraint::removeRedundantConstraints(std::shared_ptr<std::vector<int>> redundantEqnNos)
{
//My owner should handle this.
assert(false);
}
void MbD::Constraint::reactivateRedundantConstraints()
void Constraint::reactivateRedundantConstraints()
{
//My owner should handle this.
assert(false);
}
bool MbD::Constraint::isRedundant()
bool Constraint::isRedundant()
{
return false;
}
void MbD::Constraint::outputStates()
void Constraint::outputStates()
{
Item::outputStates();
std::stringstream ss;
@@ -137,29 +137,37 @@ void MbD::Constraint::outputStates()
this->logString(str);
}
void MbD::Constraint::preDyn()
void Constraint::preDyn()
{
mu = 0.0;
}
void MbD::Constraint::fillPosKineError(FColDsptr col)
void Constraint::fillPosKineError(FColDsptr col)
{
col->atiplusNumber(iG, aG);
}
void MbD::Constraint::preAccIC()
void Constraint::preAccIC()
{
lam = 0.0;
Item::preAccIC();
}
void MbD::Constraint::fillAccICIterJacob(SpMatDsptr mat)
void Constraint::fillAccICIterJacob(SpMatDsptr mat)
{
//"Same as velIC."
this->fillVelICJacob(mat);
}
void MbD::Constraint::setqsuddotlam(FColDsptr qsudotlam)
void Constraint::setqsuddotlam(FColDsptr col)
{
lam = col->at(iG);
}
void Constraint::addToJointForceI(FColDsptr col)
{
}
void Constraint::addToJointTorqueI(FColDsptr col)
{
lam = qsudotlam->at(iG);
}