Backport of 2905: SD: Fix a bug where interface DoF loads are incomplete if the interface joint is part of a rigid assembly #2934
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…ce joint is part of a rigid assembly
luwang00
approved these changes
Jul 29, 2025
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Ready to merge
Feature or improvement description
This is a backport of #2905
Copy of #2905 description:
Feature or improvement description
This PR fixes a bug where the external loads on SubDyn interface degrees of freedom are incomplete if the interface joint is part of a rigid assembly. Previously, only the loads on the interface joint itself are computed. This is incomplete. We instead need to include the external loads on all nodes belonging to the same rigid assembly due to DoF reduction.
Related issue, if one exists
Addresses both Issue #854 and Issue #1081 (verified by @RBergua below). Both issues can now be closed. The corresponding warning message in SubDyn is also deleted.
Additional information
This appears to be a very old bug present since rigid links were first added to SubDyn. We can consider backporting to v4.x.
Impacted areas of the software
SubDyn
Test results, if applicable
No change to existing test results.