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MbDCode repo renamed to OndselSolver. Several *.asmt files working.

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This commit is contained in:
Aik-Siong Koh
2023-08-07 08:21:33 -06:00
parent 6ef4789eca
commit e58446b9e2
287 changed files with 13387 additions and 778 deletions
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36
MbDCode/ASMTAssembly.cpp
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@@ -12,6 +12,13 @@
#include "ASMTTranslationalMotion.h"
#include "ASMTMarker.h"
#include "Part.h"
#include "ASMTTranslationalJoint.h"
#include "ASMTSphericalJoint.h"
#include "ASMTFixedJoint.h"
#include "ASMTGeneralMotion.h"
#include "ASMTUniversalJoint.h"
#include "ExternalSystem.h"
#include "ASMTPointInPlaneJoint.h"
using namespace MbD;
@@ -141,6 +148,21 @@ void MbD::ASMTAssembly::readJoints(std::vector<std::string>& lines)
else if (jointsLines[0] == "\t\t\tCylindricalJoint") {
joint = CREATE<ASMTCylindricalJoint>::With();
}
else if (jointsLines[0] == "\t\t\tTranslationalJoint") {
joint = CREATE<ASMTTranslationalJoint>::With();
}
else if (jointsLines[0] == "\t\t\tSphericalJoint") {
joint = CREATE<ASMTSphericalJoint>::With();
}
else if (jointsLines[0] == "\t\t\tFixedJoint") {
joint = CREATE<ASMTFixedJoint>::With();
}
else if (jointsLines[0] == "\t\t\tUniversalJoint") {
joint = CREATE<ASMTUniversalJoint>::With();
}
else if (jointsLines[0] == "\t\t\tPointInPlaneJoint") {
joint = CREATE<ASMTPointInPlaneJoint>::With();
}
else {
assert(false);
}
@@ -168,6 +190,9 @@ void MbD::ASMTAssembly::readMotions(std::vector<std::string>& lines)
else if (motionsLines[0] == "\t\t\tTranslationalMotion") {
motion = CREATE<ASMTTranslationalMotion>::With();
}
else if (motionsLines[0] == "\t\t\tGeneralMotion") {
motion = CREATE<ASMTGeneralMotion>::With();
}
else {
assert(false);
}
@@ -353,8 +378,8 @@ void MbD::ASMTAssembly::readJointSeries(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readMotionSeriesMany(std::vector<std::string>& lines)
{
assert(lines[0].find("MotionSeries") != std::string::npos);
while (!lines.empty()) {
assert(lines[0].find("MotionSeries") != std::string::npos);
readMotionSeries(lines);
}
}
@@ -494,9 +519,14 @@ void MbD::ASMTAssembly::createMbD(std::shared_ptr<System> mbdSys, std::shared_pt
ASMTSpatialContainer::createMbD(mbdSys, mbdUnits);
constantGravity->createMbD(mbdSys, mbdUnits);
asmtTime->createMbD(mbdSys, mbdUnits);
std::sort(parts->begin(), parts->end(), [](std::shared_ptr<ASMTPart> a, std::shared_ptr<ASMTPart> b) { return a->name < b->name; });
auto jointsMotions = std::make_shared<std::vector<std::shared_ptr<ASMTConstraintSet>>>();
jointsMotions->insert(jointsMotions->end(), joints->begin(), joints->end());
jointsMotions->insert(jointsMotions->end(), motions->begin(), motions->end());
std::sort(jointsMotions->begin(), jointsMotions->end(), [](std::shared_ptr<ASMTConstraintSet> a, std::shared_ptr<ASMTConstraintSet> b) { return a->name < b->name; });
std::sort(forcesTorques->begin(), forcesTorques->end(), [](std::shared_ptr<ASMTForceTorque> a, std::shared_ptr<ASMTForceTorque> b) { return a->name < b->name; });
for (auto& part : *parts) { part->createMbD(mbdSys, mbdUnits); }
for (auto& joint : *joints) { joint->createMbD(mbdSys, mbdUnits); }
for (auto& motion : *motions) { motion->createMbD(mbdSys, mbdUnits); }
for (auto& joint : *jointsMotions) { joint->createMbD(mbdSys, mbdUnits); }
for (auto& forceTorque : *forcesTorques) { forceTorque->createMbD(mbdSys, mbdUnits); }
auto mbdSysSolver = mbdSys->systemSolver;