81 lines
1.9 KiB
C++
81 lines
1.9 KiB
C++
#include<algorithm>
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#include "Joint.h"
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#include "Constraint.h"
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#include "EndFrameqc.h"
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#include "EndFrameqct.h"
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using namespace MbD;
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Joint::Joint() {
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}
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Joint::Joint(const char* str) : Item(str) {
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}
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void Joint::initialize()
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{
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constraints = std::make_shared<std::vector<std::shared_ptr<Constraint>>>();
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}
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void Joint::connectsItoJ(EndFrmcptr frmi, EndFrmcptr frmj)
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{
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frmI = frmi;
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frmJ = frmj;
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}
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void Joint::initializeLocally()
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{
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auto frmIqc = std::dynamic_pointer_cast<EndFrameqc>(frmI);
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if (frmIqc) {
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if (frmIqc->endFrameqct) {
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frmI = frmIqc->endFrameqct;
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}
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}
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constraintsDo([](const auto& constraint) { constraint->initializeLocally(); });
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}
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void Joint::initializeGlobally()
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{
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constraintsDo([](const auto& constraint) { constraint->initializeGlobally(); });
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}
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void MbD::Joint::constraintsDo(const std::function<void(std::shared_ptr<Constraint>)>& f)
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{
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std::for_each(constraints->begin(), constraints->end(), f);
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}
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void MbD::Joint::postInput()
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{
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constraintsDo([](const auto& constraint) { constraint->postInput(); });
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}
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void MbD::Joint::addConstraint(std::shared_ptr<Constraint> con)
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{
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con->setOwner(this);
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constraints->push_back(con);
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}
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void MbD::Joint::prePosIC()
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{
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constraintsDo([](const auto& constraint) { constraint->prePosIC(); });
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}
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void MbD::Joint::fillEssenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essenConstraints)
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{
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constraintsDo([&](const auto& con) { con->fillEssenConstraints(con, essenConstraints); });
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}
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void MbD::Joint::fillDispConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> dispConstraints)
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{
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constraintsDo([&](const auto& con) { con->fillDispConstraints(con, dispConstraints); });
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}
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void MbD::Joint::fillPerpenConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> perpenConstraints)
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{
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constraintsDo([&](const auto& con) { con->fillPerpenConstraints(con, perpenConstraints); });
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}
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