58 lines
1.6 KiB
C++
58 lines
1.6 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "ScrewJoint.h"
|
|
#include "CREATE.h"
|
|
#include "System.h"
|
|
#include "ScrewConstraintIJ.h"
|
|
|
|
using namespace MbD;
|
|
|
|
MbD::ScrewJoint::ScrewJoint()
|
|
{
|
|
}
|
|
|
|
MbD::ScrewJoint::ScrewJoint(const char* str) : Joint(str)
|
|
{
|
|
}
|
|
|
|
void MbD::ScrewJoint::initializeLocally()
|
|
{
|
|
if (!constraints->empty())
|
|
{
|
|
auto constraint = std::static_pointer_cast<ScrewConstraintIJ>(constraints->front());
|
|
constraint->initzIeJeIe();
|
|
constraint->initthezIeJe();
|
|
}
|
|
Joint::initializeLocally();
|
|
}
|
|
|
|
void MbD::ScrewJoint::initializeGlobally()
|
|
{
|
|
if (constraints->empty())
|
|
{
|
|
auto screwIJ = ScrewConstraintIJ::With(frmI, frmJ);
|
|
screwIJ->setConstant(std::numeric_limits<double>::min());
|
|
screwIJ->pitch = pitch;
|
|
addConstraint(screwIJ);
|
|
this->root()->hasChanged = true;
|
|
}
|
|
else {
|
|
Joint::initializeGlobally();
|
|
}
|
|
}
|
|
|
|
void MbD::ScrewJoint::connectsItoJ(EndFrmsptr frmIe, EndFrmsptr frmJe)
|
|
{
|
|
//"Subsequent prescribed motions may make frmIe, frmJe become prescribed end frames."
|
|
//"Use newCopyEndFrameqc to prevent efrms from becoming EndFrameqct."
|
|
|
|
frmI = frmIe->newCopyEndFrameqc();
|
|
frmJ = frmJe->newCopyEndFrameqc();
|
|
}
|