public override void ConstraintsLoadJacobians()
{
// compute jacobians
// ChVector<> jacw = body.TransformDirectionParentToLocal(shaft_dir);
ChVector jacw = shaft_dir;
constraint.Get_Cq_a().ElementN(0) = -1;
constraint.Get_Cq_b().ElementN(0) = 0;
constraint.Get_Cq_b().ElementN(1) = 0;
constraint.Get_Cq_b().ElementN(2) = 0;
constraint.Get_Cq_b().ElementN(3) = jacw.x;
constraint.Get_Cq_b().ElementN(4) = jacw.y;
constraint.Get_Cq_b().ElementN(5) = jacw.z;
}
public override void ConstraintsLoadJacobians()
{
constraint.Get_Cq_a().SetElement(0, 0, 1);
constraint.Get_Cq_b().SetElement(0, 0, -1);
}