65 lines
1.4 KiB
C++
65 lines
1.4 KiB
C++
#include "AbsConstraint.h"
|
|
#include "PartFrame.h"
|
|
|
|
using namespace MbD;
|
|
//
|
|
//AbsConstraint::AbsConstraint() {}
|
|
//
|
|
//AbsConstraint::AbsConstraint(const char* str) : Constraint(str) {}
|
|
|
|
AbsConstraint::AbsConstraint(int i)
|
|
{
|
|
axis = i;
|
|
}
|
|
|
|
void AbsConstraint::calcPostDynCorrectorIteration()
|
|
{
|
|
if (axis < 3) {
|
|
aG = static_cast<PartFrame*>(owner)->qX->at((size_t)axis);
|
|
}
|
|
else {
|
|
aG = static_cast<PartFrame*>(owner)->qE->at((size_t)axis - 3);
|
|
}
|
|
}
|
|
|
|
void AbsConstraint::useEquationNumbers()
|
|
{
|
|
iqXminusOnePlusAxis = static_cast<PartFrame*>(owner)->iqX + axis;
|
|
}
|
|
|
|
void AbsConstraint::fillPosICJacob(SpMatDsptr mat)
|
|
{
|
|
mat->atijplusNumber(iG, iqXminusOnePlusAxis, 1.0);
|
|
mat->atijplusNumber(iqXminusOnePlusAxis, iG, 1.0);
|
|
}
|
|
|
|
void AbsConstraint::fillPosICError(FColDsptr col)
|
|
{
|
|
Constraint::fillPosICError(col);
|
|
col->at(iqXminusOnePlusAxis) += lam;
|
|
}
|
|
|
|
void AbsConstraint::fillPosKineJacob(SpMatDsptr mat)
|
|
{
|
|
mat->atijplusNumber(iG, iqXminusOnePlusAxis, 1.0);
|
|
}
|
|
|
|
void AbsConstraint::fillVelICJacob(SpMatDsptr mat)
|
|
{
|
|
this->fillPosICJacob(mat);
|
|
}
|
|
|
|
void AbsConstraint::fillAccICIterError(FColDsptr col)
|
|
{
|
|
col->atiplusNumber(iqXminusOnePlusAxis, lam);
|
|
auto partFrame = static_cast<PartFrame*>(owner);
|
|
double sum;
|
|
if (axis < 3) {
|
|
sum = partFrame->qXddot->at((size_t)axis);
|
|
}
|
|
else {
|
|
sum = partFrame->qEddot->at((size_t)axis - 3);
|
|
}
|
|
col->atiplusNumber(iG, sum);
|
|
}
|