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 <[email protected]> Co-authored-by: mosfet80 <[email protected]> Co-authored-by: PaddleStroke <[email protected]> Co-authored-by: Jed Brown <[email protected]> Co-authored-by: sliptonic <[email protected]> Co-authored-by: Chris Hennes <[email protected]>
Ondsel-Development · Jun 26, 2024 · 7ad4dd7 · 7ad4dd7
1 parent 233eb56
commit 7ad4dd7
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diff --git a/.github/workflows/push-freecad.yml b/.github/workflows/push-freecad.yml
@@ -6,7 +6,7 @@ jobs:
   push-submodule:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         repository: Ondsel-Development/FreeCAD
         ref: OndselSolver-testing
@@ -22,4 +22,4 @@ jobs:
         git config --global user.name 'github-actions[bot]'
         git config --global user.email '41898282+github-actions[bot]@users.noreply.github.com'
         git commit -am "Update OndselSolver submodule to $GITHUB_SHA"
-        git push
+        git push
diff --git a/.gitignore b/.gitignore
@@ -39,3 +39,4 @@ assembly.asmt
 build
 cmake-build-debug
 .idea
+temp/
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -25,21 +25,14 @@ endif()
 
 
 set(ONDSELSOLVER_SRC
-        OndselSolver/AllowZRotation.cpp
-        OndselSolver/AllowZRotationConstraintIqctJqc.cpp
-        OndselSolver/ASMTAllowRotation.cpp
-        OndselSolver/Array.cpp
-        OndselSolver/FullVector.cpp
-        OndselSolver/RowTypeMatrix.cpp
-        OndselSolver/FullColumn.cpp
-        OndselSolver/FullMatrix.cpp
-        OndselSolver/FullRow.cpp
         OndselSolver/Abs.cpp
         OndselSolver/AbsConstraint.cpp
         OndselSolver/AccICKineNewtonRaphson.cpp
         OndselSolver/AccICNewtonRaphson.cpp
         OndselSolver/AccKineNewtonRaphson.cpp
         OndselSolver/AccNewtonRaphson.cpp
+        OndselSolver/AllowZRotation.cpp
+        OndselSolver/AllowZRotationConstraintIqctJqc.cpp
         OndselSolver/AngleJoint.cpp
         OndselSolver/AngleZConstraintIJ.cpp
         OndselSolver/AngleZConstraintIqcJc.cpp
@@ -53,9 +46,15 @@ set(ONDSELSOLVER_SRC
         OndselSolver/ArcTan.cpp
         OndselSolver/ArcTan2.cpp
         OndselSolver/Arguments.cpp
+        OndselSolver/Array.cpp
+        OndselSolver/ASMTAllowRotation.cpp
         OndselSolver/ASMTAngleJoint.cpp
         OndselSolver/ASMTAnimationParameters.cpp
         OndselSolver/ASMTAssembly.cpp
+        OndselSolver/ASMTConeConeContact.cpp
+        OndselSolver/ASMTContact.cpp
+        OndselSolver/ASMTCylConeContact.cpp
+        OndselSolver/ASMTCylCylContact.cpp
         OndselSolver/ASMTCompoundJoint.cpp
         OndselSolver/ASMTConstantGravity.cpp
         OndselSolver/ASMTConstantVelocityJoint.cpp
@@ -192,7 +191,11 @@ set(ONDSELSOLVER_SRC
         OndselSolver/FixedJoint.cpp
         OndselSolver/ForceTorqueData.cpp
         OndselSolver/ForceTorqueItem.cpp
+        OndselSolver/FullColumn.cpp
+        OndselSolver/FullMatrix.cpp
         OndselSolver/FullMotion.cpp
+        OndselSolver/FullRow.cpp
+        OndselSolver/FullVector.cpp
         OndselSolver/Function.cpp
         OndselSolver/FunctionFromData.cpp
         OndselSolver/FunctionWithManyArgs.cpp
@@ -245,31 +248,6 @@ set(ONDSELSOLVER_SRC
         OndselSolver/MatrixSolver.cpp
         OndselSolver/MaximumIterationError.cpp
         OndselSolver/MbDMath.cpp
-        OndselSolver/MBDynAxialRotationJoint.cpp
-        OndselSolver/MBDynClampJoint.cpp
-        OndselSolver/MBDynDriveHingeJoint.cpp
-        OndselSolver/MBDynInLineJoint.cpp
-        OndselSolver/MBDynInPlaneJoint.cpp
-        OndselSolver/MBDynPrismaticJoint.cpp
-        OndselSolver/MBDynRevoluteHingeJoint.cpp
-        OndselSolver/MBDynRevolutePinJoint.cpp
-        OndselSolver/MBDynSphericalHingeJoint.cpp
-        OndselSolver/MBDynTotalJoint.cpp
-        OndselSolver/MBDynBlock.cpp
-        OndselSolver/MBDynBody.cpp
-        OndselSolver/MBDynControlData.cpp
-        OndselSolver/MBDynData.cpp
-        OndselSolver/MBDynDrive.cpp
-        OndselSolver/MBDynElement.cpp
-        OndselSolver/MBDynGravity.cpp
-        OndselSolver/MBDynInitialValue.cpp
-        OndselSolver/MBDynItem.cpp
-        OndselSolver/MBDynJoint.cpp
-        OndselSolver/MBDynMarker.cpp
-        OndselSolver/MBDynNode.cpp
-        OndselSolver/MBDynReference.cpp
-        OndselSolver/MBDynStructural.cpp
-        OndselSolver/MBDynSystem.cpp
         OndselSolver/MomentOfInertiaSolver.cpp
         OndselSolver/Negative.cpp
         OndselSolver/NewtonRaphson.cpp
@@ -312,6 +290,7 @@ set(ONDSELSOLVER_SRC
         OndselSolver/RevoluteJoint.cpp
         OndselSolver/RevRevJoint.cpp
         OndselSolver/RotationLimitIJ.cpp
+        OndselSolver/RowTypeMatrix.cpp
         OndselSolver/ScalarNewtonRaphson.cpp
         OndselSolver/ScrewConstraintIJ.cpp
         OndselSolver/ScrewConstraintIqcJc.cpp
@@ -360,21 +339,14 @@ set(ONDSELSOLVER_SRC
 )
 
 set(ONDSELSOLVER_HEADERS
-        OndselSolver/AllowZRotation.h
-        OndselSolver/AllowZRotationConstraintIqctJqc.h
-        OndselSolver/ASMTAllowRotation.h
-        OndselSolver/Array.h
-        OndselSolver/FullVector.h
-        OndselSolver/RowTypeMatrix.h
-        OndselSolver/FullRow.h
-        OndselSolver/FullColumn.h
-        OndselSolver/FullMatrix.h
         OndselSolver/Abs.h
         OndselSolver/AbsConstraint.h
         OndselSolver/AccICKineNewtonRaphson.h
         OndselSolver/AccICNewtonRaphson.h
         OndselSolver/AccKineNewtonRaphson.h
         OndselSolver/AccNewtonRaphson.h
+        OndselSolver/AllowZRotation.h
+        OndselSolver/AllowZRotationConstraintIqctJqc.h
         OndselSolver/AngleJoint.h
         OndselSolver/AngleZConstraintIJ.h
         OndselSolver/AngleZConstraintIqcJc.h
@@ -388,15 +360,17 @@ set(ONDSELSOLVER_HEADERS
         OndselSolver/ArcTan.h
         OndselSolver/ArcTan2.h
         OndselSolver/Arguments.h
+        OndselSolver/Array.h
+        OndselSolver/ASMTAllowRotation.h
         OndselSolver/ASMTAngleJoint.h
         OndselSolver/ASMTAnimationParameters.h
         OndselSolver/ASMTAssembly.h
-        OndselSolver/ASMTCylSphJoint.h
         OndselSolver/ASMTCompoundJoint.h
         OndselSolver/ASMTConstantGravity.h
         OndselSolver/ASMTConstantVelocityJoint.h
         OndselSolver/ASMTConstraintSet.h
         OndselSolver/ASMTCylindricalJoint.h
+        OndselSolver/ASMTCylSphJoint.h
         OndselSolver/ASMTExtrusion.h
         OndselSolver/ASMTFixedJoint.h
         OndselSolver/ASMTForceTorque.h
@@ -451,6 +425,10 @@ set(ONDSELSOLVER_HEADERS
         OndselSolver/CADSystem.h
         OndselSolver/CartesianFrame.h
         OndselSolver/CompoundJoint.h
+        OndselSolver/ASMTConeConeContact.h
+        OndselSolver/ASMTContact.h
+        OndselSolver/ASMTCylConeContact.h
+        OndselSolver/ASMTCylCylContact.h
         OndselSolver/Constant.h
         OndselSolver/ConstantGravity.h
         OndselSolver/ConstantVelocityJoint.h
@@ -460,7 +438,6 @@ set(ONDSELSOLVER_HEADERS
         OndselSolver/ConstVelConstraintIJ.h
         OndselSolver/ConstVelConstraintIqcJc.h
         OndselSolver/ConstVelConstraintIqcJqc.h
-        OndselSolver/corecrt_math_defines.h
         OndselSolver/Cosine.h
         OndselSolver/CREATE.h
         OndselSolver/CylindricalJoint.h
@@ -529,8 +506,12 @@ set(ONDSELSOLVER_HEADERS
         OndselSolver/FixedJoint.h
         OndselSolver/ForceTorqueData.h
         OndselSolver/ForceTorqueItem.h
+        OndselSolver/FullColumn.h
+        OndselSolver/FullMatrix.h
         OndselSolver/FullMotion.h
         OndselSolver/FullRow.h
+        OndselSolver/FullRow.h
+        OndselSolver/FullVector.h
         OndselSolver/Function.h
         OndselSolver/FunctionFromData.h
         OndselSolver/FunctionWithManyArgs.h
@@ -582,30 +563,6 @@ set(ONDSELSOLVER_HEADERS
         OndselSolver/MatrixSolver.h
         OndselSolver/MaximumIterationError.h
         OndselSolver/MbDMath.h
-        OndselSolver/MBDynAxialRotationJoint.h
-        OndselSolver/MBDynClampJoint.h
-        OndselSolver/MBDynDriveHingeJoint.h
-        OndselSolver/MBDynInLineJoint.h
-        OndselSolver/MBDynInPlaneJoint.h
-        OndselSolver/MBDynPrismaticJoint.h
-        OndselSolver/MBDynRevoluteHingeJoint.h
-        OndselSolver/MBDynRevolutePinJoint.h
-        OndselSolver/MBDynSphericalHingeJoint.h
-        OndselSolver/MBDynTotalJoint.h
-        OndselSolver/MBDynBlock.h
-        OndselSolver/MBDynBody.h
-        OndselSolver/MBDynControlData.h
-        OndselSolver/MBDynData.h
-        OndselSolver/MBDynElement.h
-        OndselSolver/MBDynGravity.h
-        OndselSolver/MBDynInitialValue.h
-        OndselSolver/MBDynItem.h
-        OndselSolver/MBDynJoint.h
-        OndselSolver/MBDynMarker.h
-        OndselSolver/MBDynNode.h
-        OndselSolver/MBDynReference.h
-        OndselSolver/MBDynStructural.h
-        OndselSolver/MBDynSystem.h
         OndselSolver/MomentOfInertiaSolver.h
         OndselSolver/Negative.h
         OndselSolver/NewtonRaphson.h
@@ -646,6 +603,7 @@ set(ONDSELSOLVER_HEADERS
         OndselSolver/RevoluteJoint.h
         OndselSolver/RevRevJoint.h
         OndselSolver/RotationLimitIJ.h
+        OndselSolver/RowTypeMatrix.h
         OndselSolver/ScalarNewtonRaphson.h
         OndselSolver/ScrewConstraintIJ.h
         OndselSolver/ScrewConstraintIqcJc.h
@@ -703,6 +661,10 @@ set_target_properties(OndselSolver
         PUBLIC_HEADER "${ONDSELSOLVER_HEADERS}"
 )
 
+if(MSVC)
+    target_compile_definitions(OndselSolver PRIVATE _USE_MATH_DEFINES)
+endif(MSVC)
+
 configure_file(OndselSolver.pc.in ${CMAKE_BINARY_DIR}/OndselSolver.pc @ONLY)
 install(TARGETS OndselSolver
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -0,0 +1,16 @@
+## Contributing to Ondsel Solver
+
+Contributions are welcome!
+
+The official repository for this project is on [GitHub.com](https://github.com/Ondsel-Development/OndselSolver).
+
+* [Development](docs/development/README.md)
+* [Issues](https://github.com/Ondsel-Development/OndselSolver/issues)
+* [Pull Requests](https://github.com/Ondsel-Development/OndselSolver/pulls)
+
+## Contributor license agreement
+
+By submitting code as an individual you agree to the
+[individual contributor license agreement](individual_contributor_license_agreement.md).
+By submitting code as an entity you agree to the
+[corporate contributor license agreement](corporate_contributor_license_agreement.md).
diff --git a/OndselSolver/ASMTAllowRotation.cpp b/OndselSolver/ASMTAllowRotation.cpp
@@ -57,6 +57,7 @@ std::shared_ptr<ItemIJ> MbD::ASMTAllowRotation::mbdClassNew()
 
 void MbD::ASMTAllowRotation::setMotionJoint(std::string motionJoint)
 {
+    (void) motionJoint;
 }
 
 void MbD::ASMTAllowRotation::storeOnLevel(std::ofstream& os, size_t level)
-Original file line number
+Diff line change
@@ Expand Up / @@ -39,3 +39,4 @@ assembly.asmt @@
     build
     cmake-build-debug
     .idea
+    temp/