52 lines
1.4 KiB
C++
52 lines
1.4 KiB
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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using namespace MbD;
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ZRotation::ZRotation() {
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initialize();
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}
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ZRotation::ZRotation(const char* str) : PrescribedMotion(str) {
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initialize();
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}
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void ZRotation::initialize()
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{
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}
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void MbD::ZRotation::initializeGlobally()
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{
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//constraints isEmpty
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// ifTrue :
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//[self initMotions.
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// self owns : (MbDDirectionCosineConstraintIJ withFrmI : frmI frmJ : frmJ axisI : 2 axisJ : 1).
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// TheMbDSystem hasChanged : true]
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//ifFalse : [super initializeGlobally]
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if (constraints->empty()) {
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initMotions();
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auto dirCosCon = std::make_shared<DirectionCosineConstraintIJ>(frmI, frmJ, 2, 1);
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addConstraint(dirCosCon);
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System::getInstance().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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void MbD::ZRotation::initMotions()
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{
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auto xyzBlks = std::initializer_list<std::shared_ptr<Symbolic>>{ xBlk, yBlk, zBlk };
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std::static_pointer_cast<EndFrameqc>(frmI)->setrmemBlks(std::make_shared<FullColumn<std::shared_ptr<Symbolic>>>(xyzBlks));
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auto xyzRotBlks = std::initializer_list<std::shared_ptr<Symbolic>>{ phiBlk, theBlk, psiBlk };
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std::static_pointer_cast<EndFrameqc>(frmI)->setphiThePsiBlks(std::make_shared<FullColumn<std::shared_ptr<Symbolic>>>(xyzRotBlks));
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}
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void MbD::ZRotation::addConstraint(std::shared_ptr<Constraint> con)
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{
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}
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