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>
73 lines
2.0 KiB
C++
73 lines
2.0 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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#include "AbsConstraint.h"
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#include "PartFrame.h"
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using namespace MbD;
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//
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//AbsConstraint::AbsConstraint() {}
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//
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//AbsConstraint::AbsConstraint(const std::string& str) : Constraint(str) {}
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AbsConstraint::AbsConstraint(size_t i)
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{
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axis = i;
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}
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void AbsConstraint::calcPostDynCorrectorIteration()
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{
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if (axis < 3) {
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aG = static_cast<PartFrame*>(owner)->qX->at(axis);
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}
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else {
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aG = static_cast<PartFrame*>(owner)->qE->at(axis - 3);
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}
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}
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void AbsConstraint::useEquationNumbers()
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{
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iqXminusOnePlusAxis = static_cast<PartFrame*>(owner)->iqX + axis;
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}
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void AbsConstraint::fillPosICJacob(SpMatDsptr mat)
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{
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mat->atijplusNumber(iG, iqXminusOnePlusAxis, 1.0);
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mat->atijplusNumber(iqXminusOnePlusAxis, iG, 1.0);
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}
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void AbsConstraint::fillPosICError(FColDsptr col)
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{
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Constraint::fillPosICError(col);
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col->at(iqXminusOnePlusAxis) += lam;
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}
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void AbsConstraint::fillPosKineJacob(SpMatDsptr mat)
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{
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mat->atijplusNumber(iG, iqXminusOnePlusAxis, 1.0);
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}
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void AbsConstraint::fillVelICJacob(SpMatDsptr mat)
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{
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this->fillPosICJacob(mat);
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}
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void AbsConstraint::fillAccICIterError(FColDsptr col)
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{
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col->atiplusNumber(iqXminusOnePlusAxis, lam);
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auto partFrame = static_cast<PartFrame*>(owner);
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double sum;
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if (axis < 3) {
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sum = partFrame->qXddot->at(axis);
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}
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else {
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sum = partFrame->qEddot->at(axis - 3);
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}
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col->atiplusNumber(iG, sum);
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}
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