85 lines
3.2 KiB
C++
85 lines
3.2 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
#include <vector>
|
|
#include <functional>
|
|
|
|
#include "Item.h"
|
|
|
|
namespace MbD {
|
|
class Constraint;
|
|
class EndFramec;
|
|
using EndFrmsptr = std::shared_ptr<EndFramec>;
|
|
|
|
class Joint : public Item
|
|
{
|
|
//frmI frmJ constraints friction
|
|
public:
|
|
Joint();
|
|
Joint(const char* str);
|
|
|
|
void addConstraint(std::shared_ptr<Constraint> con);
|
|
FColDsptr aFIeJtIe();
|
|
FColDsptr aFIeJtO();
|
|
FColDsptr aFX();
|
|
FColDsptr aTIeJtIe();
|
|
FColDsptr aTIeJtO();
|
|
FColDsptr aTX();
|
|
virtual void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ);
|
|
void constraintsDo(const std::function <void(std::shared_ptr<Constraint>)>& f);
|
|
void constraintsReport() override;
|
|
void fillAccICIterError(FColDsptr col) override;
|
|
void fillAccICIterJacob(SpMatDsptr mat) override;
|
|
void fillConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> allConstraints) override;
|
|
void fillDispConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints) override;
|
|
void fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints) override;
|
|
void fillPerpenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints) override;
|
|
void fillPosICError(FColDsptr col) override;
|
|
void fillPosICJacob(SpMatDsptr mat) override;
|
|
void fillPosKineError(FColDsptr col) override;
|
|
void fillPosKineJacob(SpMatDsptr mat) override;
|
|
void fillqsuddotlam(FColDsptr col) override;
|
|
void fillqsulam(FColDsptr col) override;
|
|
void fillqsudot(FColDsptr col) override;
|
|
void fillqsudotWeights(DiagMatDsptr diagMat) override;
|
|
void fillRedundantConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints) override;
|
|
void fillVelICError(FColDsptr col) override;
|
|
void fillVelICJacob(SpMatDsptr mat) override;
|
|
void initialize() override;
|
|
void initializeGlobally() override;
|
|
void initializeLocally() override;
|
|
FColDsptr jointForceI();
|
|
FColDsptr jointTorqueI();
|
|
void postDynStep() override;
|
|
void postInput() override;
|
|
void postPosIC() override;
|
|
void postPosICIteration() override;
|
|
void preAccIC() override;
|
|
void preDyn() override;
|
|
void prePosIC() override;
|
|
void prePosKine() override;
|
|
void preVelIC() override;
|
|
void reactivateRedundantConstraints() override;
|
|
void removeRedundantConstraints(std::shared_ptr<std::vector<int>> redundantEqnNos) override;
|
|
void setqsuddotlam(FColDsptr col) override;
|
|
void setqsudotlam(FColDsptr col) override;
|
|
void setqsulam(FColDsptr col) override;
|
|
std::shared_ptr<StateData> stateData() override;
|
|
void useEquationNumbers() override;
|
|
|
|
EndFrmsptr frmI;
|
|
EndFrmsptr frmJ;
|
|
std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> constraints;
|
|
|
|
};
|
|
}
|
|
|