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New joints for ASMT and MBDyn

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GearJoint, RackPinion, Screw, Planar and MBDynCase3orig.mbd
MBDyn Sperical Hinge
This commit is contained in:
Aik-Siong Koh
2023-11-15 22:03:31 -07:00
parent 810c8d2f0e
commit e0241dd6d2
242 changed files with 44337 additions and 2618 deletions
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4
OndselSolver/DifferenceOperator.cpp
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@@ -18,7 +18,7 @@ using namespace MbD;
FRowDsptr DifferenceOperator::OneOverFactorials = []() {
auto oneOverFactorials = std::make_shared<FullRow<double>>(10);
for (size_t i = 0; i < oneOverFactorials->size(); i++)
for (int i = 0; i < oneOverFactorials->size(); i++)
{
oneOverFactorials->at(i) = 1.0 / std::tgamma(i + 1);
}
@@ -81,7 +81,7 @@ void DifferenceOperator::formTaylorRowwithTimeNodederivative(int i, int ii, int
for (int j = k + 1; j < order + 1; j++)
{
hipower = hipower * hi;
auto aij = hipower * OneOverFactorials->at((size_t)j - k);
auto aij = hipower * OneOverFactorials->at((int)j - k);
rowi->atiput(j, aij);
}
}