118 lines
2.8 KiB
C++
118 lines
2.8 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "corecrt_math_defines.h"
|
|
|
|
#include "AngleZIecJec.h"
|
|
#include "Numeric.h"
|
|
#include <iostream>
|
|
|
|
using namespace MbD;
|
|
|
|
MbD::AngleZIecJec::AngleZIecJec()
|
|
{
|
|
}
|
|
|
|
MbD::AngleZIecJec::AngleZIecJec(EndFrmsptr frmi, EndFrmsptr frmj) : KinematicIeJe(frmi, frmj)
|
|
{
|
|
}
|
|
|
|
void MbD::AngleZIecJec::calcPostDynCorrectorIteration()
|
|
{
|
|
auto cthez = aA00IeJe->value();
|
|
auto sthez = aA10IeJe->value();
|
|
auto sumOfSquares = cthez * cthez + (sthez * sthez);
|
|
auto diffOfSquares = sthez * sthez - (cthez * cthez);
|
|
auto sumOfSquaresSquared = sumOfSquares * sumOfSquares;
|
|
auto thez0to2pi = Numeric::arcTan0to2piYoverX(sthez, cthez);
|
|
thez = std::round((thez - thez0to2pi) / (2.0 * OS_M_PI)) * (2.0 * OS_M_PI) + thez0to2pi;
|
|
//std::cout << "AngleZIecJec thez = " << thez << std::endl;
|
|
|
|
cosOverSSq = cthez / sumOfSquares;
|
|
sinOverSSq = sthez / sumOfSquares;
|
|
twoCosSinOverSSqSq = 2.0 * cthez * sthez / sumOfSquaresSquared;
|
|
dSqOverSSqSq = diffOfSquares / sumOfSquaresSquared;
|
|
}
|
|
|
|
void MbD::AngleZIecJec::initialize()
|
|
{
|
|
KinematicIeJe::initialize();
|
|
this->init_aAijIeJe();
|
|
|
|
}
|
|
|
|
void MbD::AngleZIecJec::initializeGlobally()
|
|
{
|
|
aA00IeJe->initializeGlobally();
|
|
aA10IeJe->initializeGlobally();
|
|
}
|
|
|
|
void MbD::AngleZIecJec::initializeLocally()
|
|
{
|
|
if (!aA00IeJe) init_aAijIeJe();
|
|
aA00IeJe->initializeLocally();
|
|
aA10IeJe->initializeLocally();
|
|
}
|
|
|
|
void MbD::AngleZIecJec::postInput()
|
|
{
|
|
aA00IeJe->postInput();
|
|
aA10IeJe->postInput();
|
|
if (thez == std::numeric_limits<double>::min()) {
|
|
auto cthez = aA00IeJe->value();
|
|
auto sthez = aA10IeJe->value();
|
|
if (cthez > 0.0) {
|
|
thez = std::atan2(sthez, cthez);
|
|
}
|
|
else {
|
|
thez = Numeric::arcTan0to2piYoverX(sthez, cthez);
|
|
}
|
|
}
|
|
KinematicIeJe::postInput();
|
|
}
|
|
|
|
void MbD::AngleZIecJec::postPosICIteration()
|
|
{
|
|
aA00IeJe->postPosICIteration();
|
|
aA10IeJe->postPosICIteration();
|
|
KinematicIeJe::postPosICIteration();
|
|
}
|
|
|
|
void MbD::AngleZIecJec::preAccIC()
|
|
{
|
|
aA00IeJe->preAccIC();
|
|
aA10IeJe->preAccIC();
|
|
KinematicIeJe::preAccIC();
|
|
}
|
|
|
|
void MbD::AngleZIecJec::prePosIC()
|
|
{
|
|
aA00IeJe->prePosIC();
|
|
aA10IeJe->prePosIC();
|
|
KinematicIeJe::prePosIC();
|
|
}
|
|
|
|
void MbD::AngleZIecJec::preVelIC()
|
|
{
|
|
aA00IeJe->preVelIC();
|
|
aA10IeJe->preVelIC();
|
|
KinematicIeJe::preVelIC();
|
|
}
|
|
|
|
void MbD::AngleZIecJec::simUpdateAll()
|
|
{
|
|
aA00IeJe->simUpdateAll();
|
|
aA10IeJe->simUpdateAll();
|
|
KinematicIeJe::simUpdateAll();
|
|
}
|
|
|
|
double MbD::AngleZIecJec::value()
|
|
{
|
|
return thez;
|
|
}
|