/***************************************************************************
 *   Copyright (c) 2023 Ondsel, Inc.                                       *
 *                                                                         *
 *   This file is part of OndselSolver.                                    *
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/

#include "MBDynDriveHingeJoint.h"
#include "ASMTMarker.h"
#include "ASMTJoint.h"
#include "ASMTRotationalMotion.h"
#include "ASMTAssembly.h"

using namespace MbD;

void MbD::MBDynDriveHingeJoint::parseMBDyn(std::string line)
{
	MBDynJoint::parseMBDyn(line);
	readFunction(arguments);
}

void MbD::MBDynDriveHingeJoint::createASMT()
{
	mkr1->createASMT();
	if (mkr2) mkr2->createASMT();
	auto asmtAsm = asmtAssembly();
	auto asmtMotion = ASMTRotationalMotion::With();
	asmtItem = asmtMotion;
	asmtMotion->setName(name);
	asmtMotion->setMarkerI(mkr1->asmtItem->fullName(""));
	asmtMotion->setMarkerJ(mkr2->asmtItem->fullName(""));
	asmtMotion->setRotationZ(formula);
	asmtAsm->addMotion(asmtMotion);
	return;
}

std::shared_ptr<ASMTJoint> MbD::MBDynDriveHingeJoint::asmtClassNew()
{
	assert(false);
	return ASMTJoint::With();
}