File indexing completed on 2024-04-21 03:51:22

 /*
     SPDX-FileCopyrightText: 2007 Vladimir Kuznetsov <ks.vladimir@gmail.com>
     SPDX-FileCopyrightText: 2014 Inge Wallin <inge@lysator.liu.se>
 
     SPDX-License-Identifier: GPL-2.0-or-later
 */
 
 #include "joint.h"
 
 
 namespace StepCore
 {
 
 STEPCORE_META_OBJECT(Joint, QT_TRANSLATE_NOOP("ObjectClass", "Joint"), QT_TRANSLATE_NOOP("ObjectDescription", "Joint"),
              MetaObject::ABSTRACT,,)
 
 
 void ConstraintsInfo::setDimension(int newVariablesCount, int newConstraintsCount, int newContactsCount)
 {
 //     std::cerr << "   ConstraintsInfo::setDimension("
 //       << newVariablesCount <<","<< newConstraintsCount <<"," << newContactsCount << ")\n";
     
     int totalConstraintsCount = newConstraintsCount+newContactsCount;
 
     jacobian.resize(totalConstraintsCount, newVariablesCount);
     jacobianDerivative.resize(totalConstraintsCount, newVariablesCount);
     inverseMass.resize(newVariablesCount);
     force.resize(newVariablesCount);
     value.resize(totalConstraintsCount);
     derivative.resize(totalConstraintsCount);
     if (totalConstraintsCount>0)
     {
       derivative.setZero();
       value.setZero();
     }
     forceMin.resize(totalConstraintsCount);
     forceMax.resize(totalConstraintsCount);
     
     contactsCount = newContactsCount;
     constraintsCount = newConstraintsCount;
     variablesCount = newVariablesCount;
 }
 
 void ConstraintsInfo::clear()
 {
     jacobian.setZero();
     jacobianDerivative.setZero();
     if(inverseMass.size()>0)
     {
       inverseMass.setZero();
     }
     if(forceMin.size()>0)
     {
       forceMin.fill(-HUGE_VAL);
       forceMax.fill(HUGE_VAL);
     }
 
     collisionFlag = false;
 }
 
 } // namespace StepCore