3d6a23a678
* Check rackpin and gear for zero radii * rebase zero-radii-check (#69) * contributing * Update push-freecad.yml updated actions/checkout to v4 * dragging log for debugging * fix calcdxNorm crash * setDebug and remove MBDyn* * Update cmakelists.txt * fix includes for gcc-14 gcc-14 is more disciplined about not including <algorithm> transitively. * fix runDragStep * backhoe files (#65) * Mark unused variables to silence compiler warnings. (#64) * Backhoe issues (#67) * backhoe issues * runDragStep edit * backhoe issues * runDragStep edit * Reduce large drag step progressively until convergence. * Switch to using built-in M_PI, even on MSVC (#68) --------- Co-authored-by: Brad Collette <bradcollette@pop-os.localdomain> Co-authored-by: mosfet80 <realeandrea@yahoo.it> Co-authored-by: PaddleStroke <pierrelouis.boyer@gmail.com> Co-authored-by: Jed Brown <jed@jedbrown.org> Co-authored-by: sliptonic <shopinthewoods@gmail.com> Co-authored-by: Chris Hennes <chennes@pioneerlibrarysystem.org> * in progress * Gtest added --------- Co-authored-by: Brad Collette <bradcollette@pop-os.localdomain> Co-authored-by: mosfet80 <realeandrea@yahoo.it> Co-authored-by: PaddleStroke <pierrelouis.boyer@gmail.com> Co-authored-by: Jed Brown <jed@jedbrown.org> Co-authored-by: sliptonic <shopinthewoods@gmail.com> Co-authored-by: Chris Hennes <chennes@pioneerlibrarysystem.org>
60 lines
1.6 KiB
C++
60 lines
1.6 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 "System.h"
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#include "AllowZRotation.h"
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#include "FullColumn.h"
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#include "AllowZRotationConstraintIqctJqc.h"
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#include "EndFrameqc.h"
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#include "EndFrameqct.h"
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#include "CREATE.h"
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#include "RedundantConstraint.h"
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using namespace MbD;
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MbD::AllowZRotation::AllowZRotation()
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{
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//Do nothing.
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}
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MbD::AllowZRotation::AllowZRotation(const std::string& str) : PrescribedMotion(str)
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{
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//Do nothing.
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}
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std::shared_ptr<AllowZRotation> MbD::AllowZRotation::With()
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{
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auto allowZRotation = std::make_shared<AllowZRotation>();
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allowZRotation->initialize();
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return allowZRotation;
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}
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void MbD::AllowZRotation::initializeGlobally()
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{
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if (constraints->empty()) {
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initMotions();
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auto dirCosCon = AllowZRotationConstraintIqctJqc::With(frmI, frmJ, 1, 0);
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addConstraint(dirCosCon);
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this->root()->hasChanged = true;
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}
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else {
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PrescribedMotion::initializeGlobally();
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}
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}
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void MbD::AllowZRotation::postPosIC()
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{
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for (size_t i = 0; i < constraints->size(); i++)
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{
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auto& constraint = constraints->at(i);
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auto redunCon = CREATE<RedundantConstraint>::With();
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redunCon->constraint = constraint;
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constraints->at(i) = redunCon;
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}
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}
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