70 lines
1.5 KiB
C++
70 lines
1.5 KiB
C++
#include "AbsConstraint.h"
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#include "PartFrame.h"
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using namespace MbD;
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//
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//AbsConstraint::AbsConstraint() {}
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//
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//AbsConstraint::AbsConstraint(const char* str) : Constraint(str) {}
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AbsConstraint::AbsConstraint(int i)
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{
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axis = i;
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}
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void AbsConstraint::initialize()
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{
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Constraint::initialize();
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}
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void AbsConstraint::calcPostDynCorrectorIteration()
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{
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if (axis < 3) {
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aG = static_cast<PartFrame*>(owner)->qX->at(axis);
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}
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else {
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aG = static_cast<PartFrame*>(owner)->qE->at(axis - 3);
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}
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}
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void AbsConstraint::useEquationNumbers()
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{
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iqXminusOnePlusAxis = static_cast<PartFrame*>(owner)->iqX + axis;
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}
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void AbsConstraint::fillPosICJacob(SpMatDsptr mat)
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{
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mat->atijplusNumber(iG, iqXminusOnePlusAxis, 1.0);
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mat->atijplusNumber(iqXminusOnePlusAxis, iG, 1.0);
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}
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void AbsConstraint::fillPosICError(FColDsptr col)
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{
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Constraint::fillPosICError(col);
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col->at(iqXminusOnePlusAxis) += lam;
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}
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void AbsConstraint::fillPosKineJacob(SpMatDsptr mat)
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{
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mat->atijplusNumber(iG, iqXminusOnePlusAxis, 1.0);
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}
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void AbsConstraint::fillVelICJacob(SpMatDsptr mat)
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{
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this->fillPosICJacob(mat);
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}
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void AbsConstraint::fillAccICIterError(FColDsptr col)
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{
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col->atiplusNumber(iqXminusOnePlusAxis, lam);
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auto partFrame = static_cast<PartFrame*>(owner);
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double sum;
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if (axis < 3) {
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sum = partFrame->qXddot->at(axis);
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}
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else {
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sum = partFrame->qEddot->at(axis - 3);
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}
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col->atiplusNumber(iG, sum);
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}
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