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constraintSpecs and constraintSpec and clean up.

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This commit is contained in:
Aik-Siong Koh
2025-08-12 18:06:00 -06:00
committed by Chris Hennes
parent 1a8fdc32d3
commit d9ad3290c0
73 changed files with 256 additions and 74 deletions
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6
OndselSolver/ParallelAxesJoint.cpp
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@@ -16,7 +16,7 @@ MbD::ParallelAxesJoint::ParallelAxesJoint()
{
}
MbD::ParallelAxesJoint::ParallelAxesJoint(const std::string&)
MbD::ParallelAxesJoint::ParallelAxesJoint(const std::string& str) : Joint(str)
{
}
@@ -24,8 +24,8 @@ void MbD::ParallelAxesJoint::initializeGlobally()
{
if (constraints->empty())
{
addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 0));
addConstraint(CREATE<DirectionCosineConstraintIqcJqc>::ConstraintWith(frmI, frmJ, 2, 1));
this->root()->hasChanged = true;
}
else {