82 lines
2.6 KiB
C++
82 lines
2.6 KiB
C++
#include "AtPointConstraintIqcJqc.h"
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#include "DispCompIeqcJeqcO.h"
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#include "CREATE.h"
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#include "EndFrameqc.h"
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using namespace MbD;
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AtPointConstraintIqcJqc::AtPointConstraintIqcJqc(EndFrmcptr frmi, EndFrmcptr frmj, int axisi) :
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AtPointConstraintIqcJc(frmi, frmj, axisi)
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{
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}
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void AtPointConstraintIqcJqc::initializeGlobally()
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{
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AtPointConstraintIqcJc::initializeGlobally();
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ppGpEJpEJ = (std::static_pointer_cast<DispCompIeqcJeqcO>(riIeJeO))->ppriIeJeOpEJpEJ;
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}
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void AtPointConstraintIqcJqc::initriIeJeO()
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{
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riIeJeO = CREATE<DispCompIeqcJeqcO>::With(frmI, frmJ, axis);
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}
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void AtPointConstraintIqcJqc::calcPostDynCorrectorIteration()
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{
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AtPointConstraintIqcJc::calcPostDynCorrectorIteration();
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pGpEJ = std::static_pointer_cast<DispCompIeqcJeqcO>(riIeJeO)->priIeJeOpEJ;
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}
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void AtPointConstraintIqcJqc::useEquationNumbers()
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{
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AtPointConstraintIqcJc::useEquationNumbers();
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iqXJminusOnePlusAxis = std::static_pointer_cast<EndFrameqc>(frmJ)->iqX() + axis;
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iqEJ = std::static_pointer_cast<EndFrameqc>(frmJ)->iqE();
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}
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void AtPointConstraintIqcJqc::fillPosICError(FColDsptr col)
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{
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AtPointConstraintIqcJc::fillPosICError(col);
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col->at(iqXJminusOnePlusAxis) += lam;
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col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
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}
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void AtPointConstraintIqcJqc::fillPosICJacob(SpMatDsptr mat)
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{
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AtPointConstraintIqcJc::fillPosICJacob(mat);
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mat->atijplusNumber(iG, iqXJminusOnePlusAxis, 1.0);
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mat->atijplusNumber(iqXJminusOnePlusAxis, iG, 1.0);
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
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mat->atijplusFullMatrixtimes(iqEJ, iqEJ, ppGpEJpEJ, lam);
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}
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void AtPointConstraintIqcJqc::fillPosKineJacob(SpMatDsptr mat)
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{
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AtPointConstraintIqcJc::fillPosKineJacob(mat);
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mat->atijplusNumber(iG, iqXJminusOnePlusAxis, 1.0);
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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}
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void AtPointConstraintIqcJqc::fillVelICJacob(SpMatDsptr mat)
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{
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AtPointConstraintIqcJc::fillVelICJacob(mat);
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mat->atijplusNumber(iG, iqXJminusOnePlusAxis, 1.0);
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mat->atijplusNumber(iqXJminusOnePlusAxis, iG, 1.0);
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mat->atijplusFullRow(iG, iqEJ, pGpEJ);
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mat->atijplusFullColumn(iqEJ, iG, pGpEJ->transpose());
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}
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void AtPointConstraintIqcJqc::fillAccICIterError(FColDsptr col)
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{
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AtPointConstraintIqcJc::fillAccICIterError(col);
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col->atiplusNumber(iqXJminusOnePlusAxis, lam);
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col->atiplusFullVectortimes(iqEJ, pGpEJ, lam);
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auto efrmJqc = std::static_pointer_cast<EndFrameqc>(frmJ);
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auto qEdotJ = efrmJqc->qEdot();
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auto sum = efrmJqc->qXddot()->at(axis);
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sum += pGpEJ->timesFullColumn(efrmJqc->qEddot());
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sum += qEdotJ->transposeTimesFullColumn(ppGpEJpEJ->timesFullColumn(qEdotJ));
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col->atiplusNumber(iG, sum);
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}
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