48 lines
1.4 KiB
C++
48 lines
1.4 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
#include <vector>
|
|
#include <functional>
|
|
|
|
#include "ConstraintSet.h"
|
|
|
|
namespace MbD {
|
|
class Constraint;
|
|
class EndFramec;
|
|
using EndFrmsptr = std::shared_ptr<EndFramec>;
|
|
|
|
class Joint : public ConstraintSet
|
|
{
|
|
//frmI frmJ constraints friction
|
|
public:
|
|
Joint();
|
|
Joint(const char* str);
|
|
virtual ~Joint() {}
|
|
|
|
void initializeLocally() override;
|
|
FColDsptr aFIeJtIe();
|
|
FColDsptr aFIeJtO();
|
|
FColDsptr aFX();
|
|
FColDsptr aTIeJtIe();
|
|
FColDsptr aTIeJtO();
|
|
FColDsptr aTX();
|
|
void constraintsReport() override;
|
|
void fillRedundantConstraints(std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> redunConstraints) override;
|
|
FColDsptr jointForceI();
|
|
FColDsptr jointTorqueI();
|
|
void reactivateRedundantConstraints() override;
|
|
void removeRedundantConstraints(std::shared_ptr<std::vector<size_t>> redundantEqnNos) override;
|
|
std::shared_ptr<StateData> stateData() override;
|
|
|
|
};
|
|
}
|
|
|