71 lines
2.2 KiB
C++
71 lines
2.2 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 "AtPointConstraintIqctJqc.h"
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#include "DispCompIeqctJeqcO.h"
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#include "CREATE.h"
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using namespace MbD;
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AtPointConstraintIqctJqc::AtPointConstraintIqctJqc(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi) :
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AtPointConstraintIqcJqc(frmi, frmj, axisi)
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{
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}
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void AtPointConstraintIqctJqc::initializeGlobally()
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{
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riIeJeO->initializeGlobally();
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ppGpEJpEJ = std::static_pointer_cast<DispCompIeqctJeqcO>(riIeJeO)->ppriIeJeOpEJpEJ;
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}
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void AtPointConstraintIqctJqc::initriIeJeO()
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{
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riIeJeO = CREATE<DispCompIeqctJeqcO>::With(frmI, frmJ, axis);
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}
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void AtPointConstraintIqctJqc::calcPostDynCorrectorIteration()
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{
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//"ppGpEIpEI is no longer constant."
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ppGpEIpEI = std::static_pointer_cast<DispCompIeqctJeqcO>(riIeJeO)->ppriIeJeOpEIpEI;
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AtPointConstraintIqcJqc::calcPostDynCorrectorIteration();
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}
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ConstraintType AtPointConstraintIqctJqc::type()
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{
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return essential;
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}
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void AtPointConstraintIqctJqc::preVelIC()
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{
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AtPointConstraintIqcJqc::preVelIC();
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pGpt = std::static_pointer_cast<DispCompIeqctJeqcO>(riIeJeO)->priIeJeOpt;
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}
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void AtPointConstraintIqctJqc::fillVelICError(FColDsptr col)
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{
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col->atiminusNumber(iG, pGpt);
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}
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void AtPointConstraintIqctJqc::fillAccICIterError(FColDsptr col)
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{
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AtPointConstraintIqcJqc::fillAccICIterError(col);
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auto efrmIqc = std::static_pointer_cast<EndFrameqc>(frmI);
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auto qEdotI = efrmIqc->qEdot();
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double sum = (ppGpEIpt->timesFullColumn(qEdotI)) * 2.0;
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sum += ppGptpt;
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col->atiplusNumber(iG, sum);
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}
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void AtPointConstraintIqctJqc::preAccIC()
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{
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AtPointConstraintIqcJqc::preAccIC();
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ppGpEIpt = std::static_pointer_cast<DispCompIeqctJeqcO>(riIeJeO)->ppriIeJeOpEIpt;
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ppGptpt = std::static_pointer_cast<DispCompIeqctJeqcO>(riIeJeO)->ppriIeJeOptpt;
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}
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