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

8
MbDCode/VelICSolver.cpp
View File

@@ -5,7 +5,7 @@
using namespace MbD;
void MbD::VelICSolver::assignEquationNumbers()
void VelICSolver::assignEquationNumbers()
{
auto parts = system->parts();
//auto contactEndFrames = system->contactEndFrames();
@@ -37,14 +37,14 @@ void MbD::VelICSolver::assignEquationNumbers()
n = nEqns;
}
void MbD::VelICSolver::run()
void VelICSolver::run()
{
std::string str = "MbD: Solving for velocity initial conditions.";
system->logString(str);
this->runBasic();
}
void MbD::VelICSolver::runBasic()
void VelICSolver::runBasic()
{
//| qsudotOld qsudotWeights qsudotlam |
system->partsJointsMotionsDo([](std::shared_ptr<Item> item) { item->preVelIC(); });
@@ -64,7 +64,7 @@ void MbD::VelICSolver::runBasic()
system->partsJointsMotionsDo([&](std::shared_ptr<Item> item) { item->fillVelICJacob(jacobian); });
matrixSolver = this->matrixSolverClassNew();
this->solveEquations();
auto qsudotlam = this->x;
auto& qsudotlam = this->x;
system->partsJointsMotionsDo([&](std::shared_ptr<Item> item) { item->setqsudotlam(qsudotlam); });
system->partsJointsMotionsDo([](std::shared_ptr<Item> item) { item->postVelIC(); });
}