58 lines
1.6 KiB
C++
58 lines
1.6 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 "System.h"
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#include "AllowZRotation.h"
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#include "FullColumn.h"
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#include "AllowZRotationConstraintIqctJqc.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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#include "RedundantConstraint.h"
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using namespace MbD;
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MbD::AllowZRotation::AllowZRotation()
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{
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}
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MbD::AllowZRotation::AllowZRotation(const char* str) : PrescribedMotion(str)
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{
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}
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std::shared_ptr<AllowZRotation> MbD::AllowZRotation::With()
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{
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auto allowZRotation = std::make_shared<AllowZRotation>();
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allowZRotation->initialize();
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return allowZRotation;
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}
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void MbD::AllowZRotation::initializeGlobally()
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{
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if (constraints->empty()) {
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initMotions();
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auto dirCosCon = AllowZRotationConstraintIqctJqc::With(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 MbD::AllowZRotation::postPosIC()
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{
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for (size_t i = 0; i < constraints->size(); i++)
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{
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auto& constraint = constraints->at(i);
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auto redunCon = CREATE<RedundantConstraint>::With();
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redunCon->constraint = constraint;
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constraints->at(i) = redunCon;
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}
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}
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