de8759384c
* (int) added * size_t count * add files * MBDyn new joints, sine, cosine * CompoundJoints debugged
59 lines
1.7 KiB
C++
59 lines
1.7 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 "ConstantVelocityJoint.h"
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#include "System.h"
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#include "AtPointConstraintIJ.h"
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#include "CREATE.h"
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#include "ConstVelConstraintIJ.h"
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using namespace MbD;
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MbD::ConstantVelocityJoint::ConstantVelocityJoint()
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{
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}
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MbD::ConstantVelocityJoint::ConstantVelocityJoint(const char* str) : AtPointJoint(str)
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{
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}
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//
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//void MbD::ConstantVelocityJoint::initializeLocally()
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//{
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// if (!constraints->empty())
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// {
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// auto constraint = std::static_pointer_cast<ConstVelConstraintIJ>(constraints->back());
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// constraint->initA01IeJe();
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// constraint->initA10IeJe();
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// }
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// Joint::initializeLocally();
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//}
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void MbD::ConstantVelocityJoint::initializeGlobally()
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{
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if (constraints->empty())
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{
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createAtPointConstraints();
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auto constVelIJ = ConstVelConstraintIJ::With(frmI, frmJ);
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constVelIJ->setConstant(0.0);
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addConstraint(constVelIJ);
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this->root()->hasChanged = true;
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}
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else {
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Joint::initializeGlobally();
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}
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}
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void MbD::ConstantVelocityJoint::connectsItoJ(EndFrmsptr frmIe, EndFrmsptr frmJe)
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{
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//"Subsequent prescribed motions may make frmIe, frmJe become prescribed end frames."
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//"Use newCopyEndFrameqc to prevent efrms from becoming EndFrameqct."
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frmI = frmIe->newCopyEndFrameqc();
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frmJ = frmJe->newCopyEndFrameqc();
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}
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