37 lines
1.1 KiB
C++
37 lines
1.1 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 "AngleJoint.h"
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#include "CREATE.h"
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#include "System.h"
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#include "DirectionCosineConstraintIJ.h"
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using namespace MbD;
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MbD::AngleJoint::AngleJoint()
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{
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}
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MbD::AngleJoint::AngleJoint(const char* str) : Joint(str)
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{
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}
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void MbD::AngleJoint::initializeGlobally()
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{
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if (constraints->empty())
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{
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auto dirCosIzJz = CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 2);
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dirCosIzJz->setConstant(std::cos(theIzJz));
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addConstraint(dirCosIzJz);
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this->root()->hasChanged = true;
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}
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else {
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Joint::initializeGlobally();
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}
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}
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