87ed8700e2
* first fix to start branch PR * explicit conversion from sizet to int * Array.h and DiagonalMatrix.h * many sizet to int conversions * removed some unused variables and added expl overrides * removed many unused parameters * more typing * even more * last of the easy changes
49 lines
1.3 KiB
C++
49 lines
1.3 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 "GearJoint.h"
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#include "CREATE.h"
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#include "GearConstraintIJ.h"
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#include "System.h"
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using namespace MbD;
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MbD::GearJoint::GearJoint()
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{
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}
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MbD::GearJoint::GearJoint(const char*)
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{
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}
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void MbD::GearJoint::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<GearConstraintIJ>(constraints->back());
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constraint->initorbitsIJ();
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}
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Joint::initializeLocally();
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}
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void MbD::GearJoint::initializeGlobally()
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{
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if (constraints->empty())
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{
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auto gearIJ = GearConstraintIJ::With(frmI, frmJ);
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gearIJ->radiusI = radiusI;
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gearIJ->radiusJ = radiusJ;
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gearIJ->setConstant(std::numeric_limits<double>::min());
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addConstraint(gearIJ);
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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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