/// Copy constructor
public ChConstraintTwo(ChConstraintTwo other) : base(other)
{
variables_a = other.variables_a;
variables_b = other.variables_b;
}
/// Construct and immediately set references to variables
public ChConstraintThreeGeneric(ChVariables mvariables_a, ChVariables mvariables_b, ChVariables mvariables_c)
{
// Cq_a = null; Cq_b = null; Cq_c = null; Eq_a = null; Eq_b = null; Eq_c = null;
SetVariables(mvariables_a, mvariables_b, mvariables_c);
}
protected ChVariables variables_b; //< The second constrained object
/// Default constructor
public ChConstraintTwo()
{
variables_a = null;
variables_b = null;
}
/// Set references to the constrained objects, each of ChVariables type, /// automatically creating/resizing jacobians if needed. public abstract void SetVariables(ChVariables mvariables_a, ChVariables mvariables_b, ChVariables mvariables_c);
/// Set references to the constrained objects, each of ChVariables type,
/// automatically creating/resizing jacobians if needed.
public override void SetVariables(ChVariables mvariables_a, ChVariables mvariables_b, ChVariables mvariables_c)
{
if (mvariables_a == null || mvariables_b == null || mvariables_c == null)
{
SetValid(false);
return;
}
SetValid(true);
variables_a = mvariables_a;
variables_b = mvariables_b;
variables_c = mvariables_c;
if (variables_a.Get_ndof() != 0)
{
//if (Cq_a == null)
// Cq_a = new ChMatrixDynamic<double>(1, variables_a.Get_ndof());
// else
Cq_a.Resize(1, variables_a.Get_ndof());
//if (Eq_a == null)
// Eq_a = new ChMatrixDynamic<double>(variables_a.Get_ndof(), 1);
//else
Eq_a.Resize(variables_a.Get_ndof(), 1);
}
else
{
/* if (Cq_a != null)
* Cq_a = null;
* Cq_a = null;
* if (Eq_a != null)
* Eq_a = null;
* Eq_a = null;*/
}
if (variables_b.Get_ndof() != 0)
{
// if (Cq_b == null)
// Cq_b = new ChMatrixDynamic<double>(1, variables_b.Get_ndof());
// else
Cq_b.Resize(1, variables_b.Get_ndof());
// if (Eq_b != null)
// Eq_b = new ChMatrixDynamic<double>(variables_b.Get_ndof(), 1);
// else
Eq_b.Resize(variables_b.Get_ndof(), 1);
}
else
{
/* if (Cq_b != null)
* Cq_b = null;
* Cq_b = null;
* if (Eq_b == null)
* Eq_b = null;
* Eq_b = null;*/
}
if (variables_c.Get_ndof() != 0)
{
//if (Cq_c == null)
// Cq_c = new ChMatrixDynamic<double>(1, variables_c.Get_ndof());
// else
Cq_c.Resize(1, variables_c.Get_ndof());
//if (Eq_c == null)
// Eq_c = new ChMatrixDynamic<double>(variables_c.Get_ndof(), 1);
// else
Eq_c.Resize(variables_c.Get_ndof(), 1);
}
else
{
/* if (Cq_c != null)
* Cq_c = null;
* Cq_c = null;
* if (Eq_c == null)
* Eq_c = null;
* Eq_c = null;*/
}
}
/// Copy constructor
public ChConstraintThree(ChConstraintThree other)
{
variables_a = other.variables_a;
variables_b = other.variables_b;
variables_c = other.variables_c;
}
protected ChVariables variables_c; //< The third constrained object
/// Default constructor
public ChConstraintThree()
{
variables_a = null;
variables_b = null;
variables_c = null;
}
/// Copy constructor
public ChConstraintTuple_1vars(ChConstraintTuple_1vars <T> other)
{
variables = other.variables;
Cq = other.Cq;
Eq = other.Eq;
}
/// Default constructor
public ChConstraintTuple_1vars()
{
variables = null;
}
/// Default constructor
public ChConstraintTuple_3vars()
{
variables_1 = null;
variables_2 = null;
variables_3 = null;
}
