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Merged
beutlich merged 1 commit into from
May 2, 2021
Merged

Simplify selection of constraint equations to be used #3725

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34 changes: 11 additions & 23 deletions Modelica/Mechanics/MultiBody/Joints/Constraints/Prismatic.mo
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Original file line number Diff line number Diff line change
Expand Up @@ -55,34 +55,22 @@ equation
zeros(3)=Modelica.Mechanics.MultiBody.Frames.Orientation.equalityConstraint(frame_a.R, frame_b.R);

// Constraint equations concerning translations
if x_locked and y_locked and z_locked then
r_rel_a=zeros(3);
elseif x_locked and y_locked and not z_locked then
if x_locked then
r_rel_a[1]=0;
r_rel_a[2]=0;
frame_a.f[3]=0;
elseif x_locked and not y_locked and z_locked then
r_rel_a[1]=0;
r_rel_a[3]=0;
frame_a.f[2]=0;
elseif x_locked and not y_locked and not z_locked then
r_rel_a[1]=0;
frame_a.f[2]=0;
frame_a.f[3]=0;
elseif not x_locked and y_locked and z_locked then
r_rel_a[2]=0;
r_rel_a[3]=0;
else
frame_a.f[1]=0;
elseif not x_locked and y_locked and not z_locked then
end if;

if y_locked then
r_rel_a[2]=0;
frame_a.f[1]=0;
frame_a.f[3]=0;
elseif not x_locked and not y_locked and z_locked then
r_rel_a[3]=0;
frame_a.f[1]=0;
else
frame_a.f[2]=0;
end if;

if z_locked then
r_rel_a[3]=0;
else
frame_a.f=zeros(3);
frame_a.f[3]=0;
end if;

zeros(3) = frame_a.t + Frames.resolve1(R_rel, frame_b.t) + cross(r_rel_a,
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34 changes: 11 additions & 23 deletions Modelica/Mechanics/MultiBody/Joints/Constraints/Revolute.mo
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Expand Up @@ -70,34 +70,22 @@ equation
r_rel_a = Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);

// Constraint equations concerning translations
if x_locked and y_locked and z_locked then
r_rel_a=zeros(3);
elseif x_locked and y_locked and not z_locked then
if x_locked then
r_rel_a[1]=0;
r_rel_a[2]=0;
frame_a.f[3]=0;
elseif x_locked and not y_locked and z_locked then
r_rel_a[1]=0;
r_rel_a[3]=0;
frame_a.f[2]=0;
elseif x_locked and not y_locked and not z_locked then
r_rel_a[1]=0;
frame_a.f[2]=0;
frame_a.f[3]=0;
elseif not x_locked and y_locked and z_locked then
r_rel_a[2]=0;
r_rel_a[3]=0;
else
frame_a.f[1]=0;
elseif not x_locked and y_locked and not z_locked then
end if;

if y_locked then
r_rel_a[2]=0;
frame_a.f[1]=0;
frame_a.f[3]=0;
elseif not x_locked and not y_locked and z_locked then
r_rel_a[3]=0;
frame_a.f[1]=0;
else
frame_a.f[2]=0;
end if;

if z_locked then
r_rel_a[3]=0;
else
frame_a.f=zeros(3);
frame_a.f[3]=0;
end if;

// Constraint equations concerning rotations
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34 changes: 11 additions & 23 deletions Modelica/Mechanics/MultiBody/Joints/Constraints/Spherical.mo
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Original file line number Diff line number Diff line change
Expand Up @@ -52,34 +52,22 @@ equation
r_rel_a = MBS.Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);

// Constraint equations concerning translation
if x_locked and y_locked and z_locked then
r_rel_a=zeros(3);
elseif x_locked and y_locked and not z_locked then
if x_locked then
r_rel_a[1]=0;
r_rel_a[2]=0;
frame_a.f[3]=0;
elseif x_locked and not y_locked and z_locked then
r_rel_a[1]=0;
r_rel_a[3]=0;
frame_a.f[2]=0;
elseif x_locked and not y_locked and not z_locked then
r_rel_a[1]=0;
frame_a.f[2]=0;
frame_a.f[3]=0;
elseif not x_locked and y_locked and z_locked then
r_rel_a[2]=0;
r_rel_a[3]=0;
else
frame_a.f[1]=0;
elseif not x_locked and y_locked and not z_locked then
end if;

if y_locked then
r_rel_a[2]=0;
frame_a.f[1]=0;
frame_a.f[3]=0;
elseif not x_locked and not y_locked and z_locked then
r_rel_a[3]=0;
frame_a.f[1]=0;
else
frame_a.f[2]=0;
end if;

if z_locked then
r_rel_a[3]=0;
else
frame_a.f=zeros(3);
frame_a.f[3]=0;
end if;

//frame_a.t = zeros(3);
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35 changes: 12 additions & 23 deletions Modelica/Mechanics/MultiBody/Joints/Constraints/Universal.mo
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Original file line number Diff line number Diff line change
Expand Up @@ -46,35 +46,24 @@ equation
r_rel_a = MBS.Frames.resolve2(frame_a.R, frame_b.r_0 - frame_a.r_0);

// Constraint equations concerning translations
if x_locked and y_locked and z_locked then
r_rel_a=zeros(3);
elseif x_locked and y_locked and not z_locked then
if x_locked then
r_rel_a[1]=0;
r_rel_a[2]=0;
frame_a.f[3]=0;
elseif x_locked and not y_locked and z_locked then
r_rel_a[1]=0;
r_rel_a[3]=0;
frame_a.f[2]=0;
elseif x_locked and not y_locked and not z_locked then
r_rel_a[1]=0;
frame_a.f[2]=0;
frame_a.f[3]=0;
elseif not x_locked and y_locked and z_locked then
r_rel_a[2]=0;
r_rel_a[3]=0;
else
frame_a.f[1]=0;
elseif not x_locked and y_locked and not z_locked then
end if;

if y_locked then
r_rel_a[2]=0;
frame_a.f[1]=0;
frame_a.f[3]=0;
elseif not x_locked and not y_locked and z_locked then
r_rel_a[3]=0;
frame_a.f[1]=0;
else
frame_a.f[2]=0;
end if;

if z_locked then
r_rel_a[3]=0;
else
frame_a.f=zeros(3);
frame_a.f[3]=0;
end if;

// Constraint equations concerning rotations
frame_a.t*n_a=0;
frame_b.t*n_b=0;
Expand Down