87ed8700e2
* first fix to start branch PR * explicit conversion from sizet to int * Array.h and DiagonalMatrix.h * many sizet to int conversions * removed some unused variables and added expl overrides * removed many unused parameters * more typing * even more * last of the easy changes
52 lines
1.7 KiB
C++
52 lines
1.7 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 "FullMotion.h"
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#include "CREATE.h"
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#include "System.h"
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using namespace MbD;
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MbD::FullMotion::FullMotion()
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{
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}
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MbD::FullMotion::FullMotion(const char*)
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{
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}
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void MbD::FullMotion::connectsItoJ(EndFrmsptr frmi, EndFrmsptr frmj)
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{
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Joint::connectsItoJ(frmi, frmj);
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std::static_pointer_cast<EndFrameqc>(frmI)->initEndFrameqct2();
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}
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void MbD::FullMotion::initializeGlobally()
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{
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if (constraints->empty()) {
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initMotions();
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addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 0));
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addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 1));
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addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 2));
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addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 1, 0));
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addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
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addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
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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::FullMotion::initMotions()
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{
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auto efrmI = std::static_pointer_cast<EndFrameqct>(frmI);
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efrmI->rmemBlks = frIJI;
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efrmI->phiThePsiBlks = fangIJJ;
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}
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