3d6a23a678
* Check rackpin and gear for zero radii * rebase zero-radii-check (#69) * contributing * Update push-freecad.yml updated actions/checkout to v4 * dragging log for debugging * fix calcdxNorm crash * setDebug and remove MBDyn* * Update cmakelists.txt * fix includes for gcc-14 gcc-14 is more disciplined about not including <algorithm> transitively. * fix runDragStep * backhoe files (#65) * Mark unused variables to silence compiler warnings. (#64) * Backhoe issues (#67) * backhoe issues * runDragStep edit * backhoe issues * runDragStep edit * Reduce large drag step progressively until convergence. * Switch to using built-in M_PI, even on MSVC (#68) --------- Co-authored-by: Brad Collette <bradcollette@pop-os.localdomain> Co-authored-by: mosfet80 <realeandrea@yahoo.it> Co-authored-by: PaddleStroke <pierrelouis.boyer@gmail.com> Co-authored-by: Jed Brown <jed@jedbrown.org> Co-authored-by: sliptonic <shopinthewoods@gmail.com> Co-authored-by: Chris Hennes <chennes@pioneerlibrarysystem.org> * in progress * Gtest added --------- Co-authored-by: Brad Collette <bradcollette@pop-os.localdomain> Co-authored-by: mosfet80 <realeandrea@yahoo.it> Co-authored-by: PaddleStroke <pierrelouis.boyer@gmail.com> Co-authored-by: Jed Brown <jed@jedbrown.org> Co-authored-by: sliptonic <shopinthewoods@gmail.com> Co-authored-by: Chris Hennes <chennes@pioneerlibrarysystem.org>
48 lines
1.4 KiB
C++
48 lines
1.4 KiB
C++
/***************************************************************************
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* Copyright (c) 2023 Ondsel, Inc. *
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* *
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* This file is part of OndselSolver. *
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* *
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* See LICENSE file for details about copyright. *
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***************************************************************************/
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#pragma once
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#include <memory>
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#include <vector>
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#include <functional>
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#include "ConstraintSet.h"
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namespace MbD {
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class Constraint;
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class EndFramec;
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using EndFrmsptr = std::shared_ptr<EndFramec>;
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class Joint : public ConstraintSet
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{
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//frmI frmJ constraints friction
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public:
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Joint();
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Joint(const std::string& str);
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virtual ~Joint() {}
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void initializeLocally() override;
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FColDsptr aFIeJtIe();
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FColDsptr aFIeJtO();
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FColDsptr aFX();
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FColDsptr aTIeJtIe();
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FColDsptr aTIeJtO();
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FColDsptr aTX();
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void constraintsReport() override;
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void fillRedundantConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints) override;
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FColDsptr jointForceI();
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FColDsptr jointTorqueI();
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void reactivateRedundantConstraints() override;
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void removeRedundantConstraints(std::shared_ptr<std::vector<size_t>> redundantEqnNos) override;
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std::shared_ptr<StateData> stateData() override;
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};
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}
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