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runOndselPiston, runPiston execute correctly

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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
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14
MbDCode/EulerConstraint.cpp
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@@ -19,7 +19,7 @@ void EulerConstraint::initialize()
pGpE = std::make_shared<FullRow<double>>(4);
}
void MbD::EulerConstraint::calcPostDynCorrectorIteration()
void EulerConstraint::calcPostDynCorrectorIteration()
{
auto& qE = static_cast<PartFrame*>(owner)->qE;
aG = qE->sumOfSquares() - 1.0;
@@ -29,18 +29,18 @@ void MbD::EulerConstraint::calcPostDynCorrectorIteration()
}
}
void MbD::EulerConstraint::useEquationNumbers()
void EulerConstraint::useEquationNumbers()
{
iqE = static_cast<PartFrame*>(owner)->iqE;
}
void MbD::EulerConstraint::fillPosICError(FColDsptr col)
void EulerConstraint::fillPosICError(FColDsptr col)
{
Constraint::fillPosICError(col);
col->atiplusFullVectortimes(iqE, pGpE, lam);
}
void MbD::EulerConstraint::fillPosICJacob(SpMatDsptr mat)
void EulerConstraint::fillPosICJacob(SpMatDsptr mat)
{
//"ppGpEpE is a diag(2,2,2,2)."
mat->atijplusFullRow(iG, iqE, pGpE);
@@ -53,18 +53,18 @@ void MbD::EulerConstraint::fillPosICJacob(SpMatDsptr mat)
}
}
void MbD::EulerConstraint::fillPosKineJacob(SpMatDsptr mat)
void EulerConstraint::fillPosKineJacob(SpMatDsptr mat)
{
mat->atijplusFullRow(iG, iqE, pGpE);
}
void MbD::EulerConstraint::fillVelICJacob(SpMatDsptr mat)
void EulerConstraint::fillVelICJacob(SpMatDsptr mat)
{
mat->atijplusFullRow(iG, iqE, pGpE);
mat->atijplusFullColumn(iqE, iG, pGpE->transpose());
}
void MbD::EulerConstraint::fillAccICIterError(FColDsptr col)
void EulerConstraint::fillAccICIterError(FColDsptr col)
{
//"qdotT[ppGpqpq]*qdot."
//"qdotT[2 2 2 2 diag]*qdot."