60 lines
1.7 KiB
C++
60 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 "PosICKineNewtonRaphson.h"
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#include "SystemSolver.h"
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#include "Part.h"
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#include "Constraint.h"
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using namespace MbD;
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void PosICKineNewtonRaphson::initializeGlobally()
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{
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AnyPosICNewtonRaphson::initializeGlobally();
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iterMax = system->iterMaxPosKine;
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dxTol = system->errorTolPosKine;
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}
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void PosICKineNewtonRaphson::assignEquationNumbers()
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{
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auto parts = system->parts();
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//auto contactEndFrames = system->contactEndFrames();
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//auto uHolders = system->uHolders();
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auto constraints = system->allConstraints();
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int eqnNo = 0;
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for (auto& part : *parts) {
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part->iqX(eqnNo);
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eqnNo = eqnNo + 3;
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part->iqE(eqnNo);
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eqnNo = eqnNo + 4;
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}
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//for (auto& endFrm : *contactEndFrames) {
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// endFrm->is(eqnNo);
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// eqnNo = eqnNo + endFrm->sSize();
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//}
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//for (auto& uHolder : *uHolders) {
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// uHolder->iu(eqnNo);
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// eqnNo += 1;
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//}
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auto nEqns = eqnNo; //C++ uses index 0.
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nqsu = nEqns;
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for (auto& con : *constraints) {
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con->iG = eqnNo;
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eqnNo += 1;
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}
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auto lastEqnNo = eqnNo - 1;
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nEqns = eqnNo; //C++ uses index 0.
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n = nEqns;
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}
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void MbD::PosICKineNewtonRaphson::preRun()
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{
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system->Solver::logString("MbD: Solving for quasi kinematic position.");
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PosNewtonRaphson::preRun();
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}
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