37 lines
1.0 KiB
C++
37 lines
1.0 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 "SphSphJoint.h"
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#include "CREATE.h"
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#include "DistanceConstraintIJ.h"
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#include "System.h"
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using namespace MbD;
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MbD::SphSphJoint::SphSphJoint()
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{
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}
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MbD::SphSphJoint::SphSphJoint(const char* str) : CompoundJoint(str)
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{
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}
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void MbD::SphSphJoint::initializeGlobally()
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{
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if (constraints->empty())
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{
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auto distxyIJ = CREATE<DistanceConstraintIJ>::With(frmI, frmJ);
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distxyIJ->setConstant(distanceIJ);
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addConstraint(distxyIJ);
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this->root()->hasChanged = true;
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}
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else {
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CompoundJoint::initializeGlobally();
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}
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}
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