de8759384c
* (int) added * size_t count * add files * MBDyn new joints, sine, cosine * CompoundJoints debugged
60 lines
1.8 KiB
C++
60 lines
1.8 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "RackPinJoint.h"
|
|
#include "CREATE.h"
|
|
#include "System.h"
|
|
#include "RackPinConstraintIJ.h"
|
|
|
|
using namespace MbD;
|
|
|
|
MbD::RackPinJoint::RackPinJoint()
|
|
{
|
|
}
|
|
|
|
MbD::RackPinJoint::RackPinJoint(const char* str) : Joint(str)
|
|
{
|
|
}
|
|
//
|
|
//void MbD::RackPinJoint::initializeLocally()
|
|
//{
|
|
// if (!constraints->empty())
|
|
// {
|
|
// auto constraint = std::static_pointer_cast<RackPinConstraintIJ>(constraints->front());
|
|
// constraint->initxIeJeIe();
|
|
// constraint->initthezIeJe();
|
|
// }
|
|
// Joint::initializeLocally();
|
|
//}
|
|
|
|
void MbD::RackPinJoint::initializeGlobally()
|
|
{
|
|
if (constraints->empty())
|
|
{
|
|
auto rackPinIJ = RackPinConstraintIJ::With(frmI, frmJ);
|
|
rackPinIJ->setConstant(std::numeric_limits<double>::min());
|
|
rackPinIJ->pitchRadius = pitchRadius;
|
|
addConstraint(rackPinIJ);
|
|
this->root()->hasChanged = true;
|
|
}
|
|
else {
|
|
Joint::initializeGlobally();
|
|
}
|
|
}
|
|
|
|
void MbD::RackPinJoint::connectsItoJ(EndFrmsptr frmIe, EndFrmsptr frmJe)
|
|
{
|
|
//"OODS J is on pinion. z axis is axis of pinion."
|
|
//"OODS I is on rack. x axis is axis of rack. z axis is parallel to axis of pinion."
|
|
//"Subsequent prescribed motions may make frmIe, frmJe become prescribed end frames."
|
|
//"Use newCopyEndFrameqc to prevent efrms from becoming EndFrameqct."
|
|
|
|
frmI = frmIe->newCopyEndFrameqc();
|
|
frmJ = frmJe->newCopyEndFrameqc();
|
|
}
|