second good build. Joints

MbDCode/PartFrame.cpp

@@ -1,5 +1,6 @@
 #include "Part.h"
 #include "PartFrame.h"
+#include "EulerConstraint.h"
 #include "AbsConstraint.h"
 #include "MarkerFrame.h"
 
@@ -7,9 +8,16 @@ using namespace MbD;
 
 PartFrame::PartFrame()
 {
-	aGeu = std::make_shared<EulerConstraint>();
-	aGabs = std::vector<std::shared_ptr<AbsConstraint>>();
-	markerFrames = std::vector<std::shared_ptr<MarkerFrame>>();
+	aGeu = std::make_shared<EulerConstraint>("EulerCon");
+	aGeu->setOwner(this);
+	aGabs = std::make_unique<std::vector<std::shared_ptr<AbsConstraint>>>();
+	markerFrames = std::make_unique<std::vector<std::shared_ptr<MarkerFrame>>>();
+}
+MbD::PartFrame::PartFrame(const char* str) : CartesianFrame(str)
+{
+}
+void MbD::PartFrame::initialize()
+{
 }
 void PartFrame::setqX(FullColDptr x) {
 	qX->copy(x);
@@ -23,15 +31,21 @@ void PartFrame::setqE(FullColDptr x) {
 FullColDptr PartFrame::getqE() {
 	return qE;
 }
-void PartFrame::setPart(std::shared_ptr<Part> x) {
+void PartFrame::setPart(Part* x) {
 	part = x;
 }
-std::shared_ptr<Part> PartFrame::getPart() {
-	return part.lock();
+Part* PartFrame::getPart() {
+	return part;
 }
 
-void MbD::PartFrame::addMarkerFrame(std::shared_ptr<MarkerFrame> markerFrame)
+void PartFrame::addMarkerFrame(std::shared_ptr<MarkerFrame> markerFrame)
 {
 	markerFrame->setPartFrame(this);
-	markerFrames.push_back(markerFrame);
+	markerFrames->push_back(markerFrame);
+}
+
+std::shared_ptr<EndFramec> PartFrame::endFrame(std::string name)
+{
+	auto match = std::find_if(markerFrames->begin(), markerFrames->end(), [&](auto mkr) {return mkr->getName() == name; });
+	return (*match)->endFrames->at(0);
 }