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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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40
OndselSolver/FullColumn.cpp
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@@ -16,7 +16,7 @@ namespace MbD {
template<typename T>
FColsptr<T> FullColumn<T>::plusFullColumn(FColsptr<T> fullCol)
{
int n = (int) this->size();
int n = (int)this->size();
auto answer = std::make_shared<FullColumn<T>>(n);
for (int i = 0; i < n; i++) {
answer->at(i) = this->at(i) + fullCol->at(i);
@@ -24,9 +24,15 @@ namespace MbD {
return answer;
}
template<typename T>
FColsptr<T> FullColumn<T>::plusFullColumntimes(FColsptr<T> fullCol, double factor)
{
assert(false);
return FColsptr<T>();
}
template<typename T>
FColsptr<T> FullColumn<T>::minusFullColumn(FColsptr<T> fullCol)
{
int n = (int) this->size();
int n = (int)this->size();
auto answer = std::make_shared<FullColumn<T>>(n);
for (int i = 0; i < n; i++) {
answer->at(i) = this->at(i) - fullCol->at(i);
@@ -53,12 +59,12 @@ namespace MbD {
template<typename T>
FColsptr<T> FullColumn<T>::negated()
{
return this->times(-1.0);
return this->times((T) - 1.0);
}
template<typename T>
void FullColumn<T>::atiputFullColumn(int i, FColsptr<T> fullCol)
{
for (size_t ii = 0; ii < fullCol->size(); ii++)
for (int ii = 0; ii < fullCol->size(); ii++)
{
this->at(i + ii) = fullCol->at(ii);
}
@@ -66,7 +72,7 @@ namespace MbD {
template<typename T>
void FullColumn<T>::atiplusFullColumn(int i, FColsptr<T> fullCol)
{
for (size_t ii = 0; ii < fullCol->size(); ii++)
for (int ii = 0; ii < fullCol->size(); ii++)
{
this->at(i + ii) += fullCol->at(ii);
}
@@ -75,7 +81,7 @@ namespace MbD {
void FullColumn<T>::equalSelfPlusFullColumnAt(FColsptr<T> fullCol, int ii)
{
//self is subcolumn of fullCol
for (size_t i = 0; i < this->size(); i++)
for (int i = 0; i < this->size(); i++)
{
this->at(i) += fullCol->at(ii + i);
}
@@ -83,7 +89,7 @@ namespace MbD {
template<typename T>
void FullColumn<T>::atiminusFullColumn(int i1, FColsptr<T> fullCol)
{
for (size_t ii = 0; ii < fullCol->size(); ii++)
for (int ii = 0; ii < fullCol->size(); ii++)
{
int i = i1 + ii;
this->at(i) -= fullCol->at(ii);
@@ -93,7 +99,7 @@ namespace MbD {
void FullColumn<T>::equalFullColumnAt(FColsptr<T> fullCol, int i)
{
this->equalArrayAt(fullCol, i);
//for (size_t ii = 0; ii < this->size(); ii++)
//for (int ii = 0; ii < this->size(); ii++)
//{
// this->at(ii) = fullCol->at(i + ii);
//}
@@ -101,7 +107,7 @@ namespace MbD {
template<>
FColDsptr FullColumn<double>::copy()
{
auto n = (int) this->size();
auto n = (int)this->size();
auto answer = std::make_shared<FullColumn<double>>(n);
for (int i = 0; i < n; i++)
{
@@ -117,7 +123,7 @@ namespace MbD {
template<typename T>
void FullColumn<T>::atiplusFullColumntimes(int i1, FColsptr<T> fullCol, T factor)
{
for (size_t ii = 0; ii < fullCol->size(); ii++)
for (int ii = 0; ii < fullCol->size(); ii++)
{
int i = i1 + ii;
this->at(i) += fullCol->at(ii) * factor;
@@ -151,7 +157,7 @@ namespace MbD {
//template<>
//inline std::shared_ptr<FullColumn<Symsptr>> FullColumn<Symsptr>::simplified()
//{
// auto n = this->size();
// auto n = (int)this->size();
// auto answer = std::make_shared<FullColumn<Symsptr>>(n);
// for (int i = 0; i < n; i++)
// {
@@ -170,13 +176,23 @@ namespace MbD {
template class FullColumn<double>;
template class FullColumn<int>;
template<typename T>
double FullColumn<T>::dot(std::shared_ptr<FullVector<T>> vec)
{
int n = (int)this->size();
double answer = 0.0;
for (int i = 0; i < n; i++) {
answer += this->at(i) * vec->at(i);
}
return answer;
}
template<typename T>
std::shared_ptr<FullVector<T>> FullColumn<T>::dot(std::shared_ptr<std::vector<std::shared_ptr<FullColumn<T>>>> vecvec)
{
int ncol = (int)this->size();
auto nelem = vecvec->at(0)->size();
auto answer = std::make_shared<FullVector<T>>(nelem);
for (int k = 0; k < nelem; k++) {
auto sum = 0.0;
auto sum = (T)0;
for (int i = 0; i < ncol; i++)
{
sum += this->at(i) * vecvec->at(i)->at(k);