de8759384c
* (int) added * size_t count * add files * MBDyn new joints, sine, cosine * CompoundJoints debugged
37 lines
1.0 KiB
C++
37 lines
1.0 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "CylSphJoint.h"
|
|
#include "CREATE.h"
|
|
#include "DistancexyConstraintIJ.h"
|
|
#include "System.h"
|
|
|
|
using namespace MbD;
|
|
|
|
MbD::CylSphJoint::CylSphJoint()
|
|
{
|
|
}
|
|
|
|
MbD::CylSphJoint::CylSphJoint(const char* str) : CompoundJoint(str)
|
|
{
|
|
}
|
|
|
|
void MbD::CylSphJoint::initializeGlobally()
|
|
{
|
|
if (constraints->empty())
|
|
{
|
|
auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ);
|
|
distxyIJ->setConstant(distanceIJ);
|
|
addConstraint(distxyIJ);
|
|
this->root()->hasChanged = true;
|
|
}
|
|
else {
|
|
CompoundJoint::initializeGlobally();
|
|
}
|
|
}
|