public ChMarker(string name,
ChBody body,
ChCoordsys rel_pos,
ChCoordsys rel_pos_dt,
ChCoordsys rel_pos_dtdt)
{
// SetNameString(name);
Body = body;
motion_X = new ChFunction_Const(0); // default: no motion
motion_Y = new ChFunction_Const(0);
motion_Z = new ChFunction_Const(0);
motion_ang = new ChFunction_Const(0);
motion_axis = ChVector.VECT_Z;
rest_coord = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));//ChCoordsys.CSYSNORM;
motion_type = eChMarkerMotion.M_MOTION_FUNCTIONS;
FrameMoving.SetCoord(rel_pos);
FrameMoving.SetCoord_dt(rel_pos_dt);
FrameMoving.SetCoord_dtdt(rel_pos_dtdt);
last_rel_coord = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0)); //ChCoordsys.CSYSNORM;
last_rel_coord_dt = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(0, 0, 0, 0)); // ChCoordsys.CSYSNULL;
last_time = 0;
UpdateState();
}
/// Someone (ex. an ChExternalObject() ) may send this message to
/// the marker to tell that time has changed (even if simulation is
/// not running! - so it is different from the usual UpdateTime() -)
public void UpdatedExternalTime(double prevtime, double mtime)
{
double mstep = mtime - prevtime;
ChCoordsys m_rel_pos_dt = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));
ChCoordsys m_rel_pos_dtdt = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));
// do not try to switch on the M_MOTION_KEYFRAMED mode if
// we are already in the M_MOTION_EXTERNAL mode, maybe because
// a link point-surface is already moving the marker and
// it will handle the accelerations by itself
if (this.motion_type == eChMarkerMotion.M_MOTION_EXTERNAL)
{
return;
}
// otherwise see if a BDF is needed, cause an external 3rd party is moving the marker
this.motion_type = eChMarkerMotion.M_MOTION_FUNCTIONS;
// if POSITION or ROTATION ("rel_pos") has been changed in acceptable time step...
if ((!(ChVector.Vequal(FrameMoving.coord.pos, last_rel_coord.pos)) || !(ChQuaternion.Qequal(FrameMoving.coord.rot, last_rel_coord.rot))) && (Math.Abs(mstep) < 0.1) &&
(mstep != 0))
{
// ... and if motion wasn't caused by motion laws, then it was a keyframed movement!
if ((motion_X.Get_y(mtime) == 0) && (motion_Y.Get_y(mtime) == 0) && (motion_Z.Get_y(mtime) == 0) &&
(motion_ang.Get_y(mtime) == 0) && (motion_X.Get_Type() == ChFunction.FunctionType.FUNCT_CONST) &&
(motion_Y.Get_Type() == ChFunction.FunctionType.FUNCT_CONST) && (motion_Z.Get_Type() == ChFunction.FunctionType.FUNCT_CONST) &&
(motion_ang.Get_Type() == ChFunction.FunctionType.FUNCT_CONST))
{
// compute the relative speed by BDF !
m_rel_pos_dt.pos = ChVector.Vmul(ChVector.Vsub(FrameMoving.coord.pos, last_rel_coord.pos), 1 / mstep);
m_rel_pos_dt.rot = ChQuaternion.Qscale(ChQuaternion.Qsub(FrameMoving.coord.rot, last_rel_coord.rot), 1 / mstep);
// compute the relative acceleration by BDF !
m_rel_pos_dtdt.pos = ChVector.Vmul(ChVector.Vsub(m_rel_pos_dt.pos, last_rel_coord_dt.pos), 1 / mstep);
m_rel_pos_dtdt.rot = ChQuaternion.Qscale(ChQuaternion.Qsub(m_rel_pos_dt.rot, last_rel_coord_dt.rot), 1 / mstep);
// Set the position, speed and acceleration in relative space,
// automatically getting also the absolute values,
FrameMoving.SetCoord_dt(m_rel_pos_dt);
FrameMoving.SetCoord_dtdt(m_rel_pos_dtdt);
// update the remaining state variables
this.UpdateState();
// remember that the movement of this guy won't need further update
// of speed and acc. via motion laws!
this.motion_type = eChMarkerMotion.M_MOTION_KEYFRAMED;
}
}
// restore state buffers and that's all.
last_time = ChTime;
last_rel_coord = (ChCoordsys)FrameMoving.coord;
last_rel_coord_dt = (ChCoordsys)FrameMoving.coord_dt;
}
private ChFrameMoving <double> abs_frame = new ChFrameMoving <double>(); //< absolute frame position
/* public void Start()
* {
* FrameMoving = new ChFrameMoving<double>();
* Body = null;
* rest_coord = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));//ChCoordsys.CSYSNORM;
* motion_type = eChMarkerMotion.M_MOTION_FUNCTIONS;
* motion_axis = ChVector.VECT_Z;
* last_rel_coord = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));//ChCoordsys.CSYSNORM;
* last_rel_coord_dt = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(0, 0, 0, 0));// ChCoordsys.CSYSNULL;
* last_time = 0;
* motion_X = new ChFunction_Const(0); // default: no motion
* motion_Y = new ChFunction_Const(0);
* motion_Z = new ChFunction_Const(0);
* motion_ang = new ChFunction_Const(0);
*
* UpdateState();
* }*/
public ChMarker()
{
FrameMoving = new ChFrameMoving <double>();
Body = null;
rest_coord = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));//ChCoordsys.CSYSNORM;
motion_type = eChMarkerMotion.M_MOTION_FUNCTIONS;
motion_axis = ChVector.VECT_Z;
last_rel_coord = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0)); //ChCoordsys.CSYSNORM;
last_rel_coord_dt = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(0, 0, 0, 0)); // ChCoordsys.CSYSNULL;
last_time = 0;
motion_X = new ChFunction_Const(0); // default: no motion
motion_Y = new ChFunction_Const(0);
motion_Z = new ChFunction_Const(0);
motion_ang = new ChFunction_Const(0);
UpdateState();
}
public ChMarker(ChMarker other) : base(other)
{
FrameMoving = new ChFrameMoving <double>(other.FrameMoving);
Body = null;
motion_X = new ChFunction(other.motion_X.Clone());
motion_Y = new ChFunction(other.motion_Y.Clone());
motion_Z = new ChFunction(other.motion_Z.Clone());
motion_ang = new ChFunction(other.motion_ang.Clone());
motion_axis = other.motion_axis;
rest_coord = other.rest_coord;
motion_type = other.motion_type;
abs_frame = other.abs_frame;
last_rel_coord = other.last_rel_coord;
last_rel_coord_dt = other.last_rel_coord_dt;
last_time = other.last_time;
}
/// Sets the way the motion of this marker (if any) is handled (see
/// the eChMarkerMotion enum options).
public void SetMotionType(eChMarkerMotion m_motion)
{
motion_type = m_motion;
}
