#include "TranslationConstraintIqcJc.h"
#include "DispCompIeqcJecKeqc.h"
#include "EndFrameqc.h"
#include "CREATE.h"

using namespace MbD;

TranslationConstraintIqcJc::TranslationConstraintIqcJc(EndFrmcptr frmi, EndFrmcptr frmj, int axisi) :
	TranslationConstraintIJ(frmi, frmj, axisi)
{
}

void MbD::TranslationConstraintIqcJc::initriIeJeIe()
{
    riIeJeIe = CREATE<DispCompIeqcJecKeqc>::With(frmI, frmJ, frmI, axisI);
}

void MbD::TranslationConstraintIqcJc::calcPostDynCorrectorIteration()
{
	TranslationConstraintIJ::calcPostDynCorrectorIteration();
	auto riIeqJeIeq = std::static_pointer_cast<DispCompIeqcJecKeqc>(riIeJeIe);
	pGpXI = riIeqJeIeq->pvaluepXI();
	pGpEI = (riIeqJeIeq->pvaluepEI())->plusFullRow(riIeqJeIeq->pvaluepEK());
	ppGpXIpEI = riIeqJeIeq->ppvaluepXIpEK();
	ppGpEIpEI = riIeqJeIeq->ppvaluepEIpEI()->plusFullMatrix(riIeqJeIeq->ppvaluepEIpEK())
		->plusFullMatrix((riIeqJeIeq->ppvaluepEIpEK()->transpose()->plusFullMatrix(riIeqJeIeq->ppvaluepEKpEK())));
}

void MbD::TranslationConstraintIqcJc::useEquationNumbers()
{
	iqEI = std::static_pointer_cast<EndFrameqc>(frmI)->iqE();
}