39 lines
1007 B
C++
39 lines
1007 B
C++
#include "System.h"
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#include "ZRotation.h"
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#include "FullColumn.h"
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#include "DirectionCosineConstraintIJ.h"
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#include "EndFrameqc.h"
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#include "EndFrameqct.h"
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#include "CREATE.h"
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using namespace MbD;
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ZRotation::ZRotation() {
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}
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ZRotation::ZRotation(const char* str) : PrescribedMotion(str) {
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}
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void ZRotation::initializeGlobally()
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{
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if (constraints->empty()) {
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initMotions();
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auto dirCosCon = CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 1, 0);
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addConstraint(dirCosCon);
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this->root()->hasChanged = true;
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}
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else {
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PrescribedMotion::initializeGlobally();
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}
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}
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void ZRotation::initMotions()
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{
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auto xyzBlkList = std::initializer_list<Symsptr>{ xBlk, yBlk, zBlk };
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std::static_pointer_cast<EndFrameqct>(frmI)->rmemBlks = (std::make_shared<FullColumn<Symsptr>>(xyzBlkList));
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auto xyzRotBlkList = std::initializer_list<Symsptr>{ phiBlk, theBlk, psiBlk };
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std::static_pointer_cast<EndFrameqct>(frmI)->phiThePsiBlks = (std::make_shared<FullColumn<Symsptr>>(xyzRotBlkList));
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}
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