/// Updates auxiliary forces caused by springs/dampers/etc. which may
/// be connected between the two bodies of the link.
/// By default, it adds the forces which might have been added by the
/// user using Set_Scr_force() and Set_Scr_torque(). Note, these forces
/// are considered in the reference coordsystem of marker2 (the MAIN marker),
/// and their application point is the origin of marker1 (the SLAVE marker).
public virtual void UpdateForces(double mytime)
{
C_force = ChVector.VNULL; // initialize int.forces accumulators
C_torque = ChVector.VNULL;
// First and only operation: add the 'externally set' script forces (torques)
C_force = ChVector.Vadd(C_force, Scr_force);
C_torque = ChVector.Vadd(C_torque, Scr_torque);
}
/// Updates torque for the impose torque mode
public override void UpdateForces(double mytime)
{
// First, inherit to parent class
base.UpdateForces(mytime);
if (!IsActive())
{
return;
}
// DEFAULTS set null torques
mot_torque = 0;
mot_retorque = 0;
if (eng_mode == eCh_eng_mode.ENG_MODE_TORQUE)
{
// in torque mode, apply the torque vector to both m1 and m2
// - M= f(t)
double my_torque = Get_tor_funct().Get_y(ChTime);
if (impose_reducer)
{
my_torque = my_torque * Get_torque_w_funct().Get_y(mot_rerot_dt);
mot_retorque = my_torque;
mot_torque = mot_retorque * (mot_eta / mot_tau);
}
else
{
my_torque = my_torque * Get_torque_w_funct().Get_y(mot_rot_dt);
mot_torque = my_torque;
mot_retorque = mot_retorque * (mot_tau / mot_eta);
}
ChVector mv_torque = ChVector.Vmul(motion_axis, mot_torque);
// +++ADD TO LINK TORQUE VECTOR
C_torque = ChVector.Vadd(C_torque, mv_torque);
}
if ((eng_mode == eCh_eng_mode.ENG_MODE_ROTATION) || (eng_mode == eCh_eng_mode.ENG_MODE_SPEED) || (eng_mode == eCh_eng_mode.ENG_MODE_KEY_ROTATION))
{
mot_torque = react_torque.z;
mot_retorque = mot_torque * (mot_tau / mot_eta) + mot_rerot_dtdt * mot_inertia;
}
if (eng_mode == eCh_eng_mode.ENG_MODE_SPEED)
{
// trick: zeroes Z rotat. violation to tell that rot.position is always ok
if (C.matrix.GetRows() != 0)
{
C.matrix.SetElement(C.matrix.GetRows() - 1, 0, 0.0);
}
}
}
/// Inherits, then also adds the spring custom forces to the C_force and C_torque.
public override void UpdateForces(double mytime)
{
// Inherit force computation:
// also base class can add its own forces.
base.UpdateForces(mytime);
spr_react = 0.0;
ChVector m_force;
double deform = Get_SpringDeform();
spr_react = spr_f * mod_f_time.Get_y(ChTime);
spr_react -= (spr_k * mod_k_d.Get_y(deform) * mod_k_speed.Get_y(dist_dt)) * (deform);
spr_react -= (spr_r * mod_r_d.Get_y(deform) * mod_r_speed.Get_y(dist_dt)) * (dist_dt);
m_force = ChVector.Vmul(ChVector.Vnorm(relM.pos), spr_react);
C_force = ChVector.Vadd(C_force, m_force);
}
/// Inherits, and updates the C_force and C_torque 'intuitive' forces,
/// adding the effects of the contained ChLinkForce objects.
/// (Default: inherits parent UpdateForces(), then C_force and C_torque are
/// incremented with the Link::ChLinkForces objects)
public override void UpdateForces(double mytime)
{
base.UpdateForces(mytime);
// ** Child class can inherit this method. The parent implementation must
// be called _before_ adding further custom forces.
ChVector m_force; // = new ChVector(0, 0, 0); // initialize to zero the m1-m2 force/torque
ChVector m_torque; // = new ChVector(0, 0, 0); // 'intuitive' vectors (can be transformed&added later into Qf)
// COMPUTE THE FORCES IN THE LINK, FOR EXAMPLE
// CAUSED BY SPRINGS
// NOTE!!!!! C_force and C_torque are considered in the reference coordsystem
// of marker2 (the MAIN marker), and their application point is considered the
// origin of marker1 (the SLAVE marker)
// 1)========== the generic spring-damper
if (force_D != null && force_D.Get_active())
{
double dfor;
dfor = force_D.Get_Force((dist - d_restlength), dist_dt, ChTime);
m_force = ChVector.Vmul(ChVector.Vnorm(relM.pos), dfor);
C_force = ChVector.Vadd(C_force, m_force);
}
// 2)========== the generic torsional spring / torsional damper
if (force_R != null && force_R.Get_active())
{
double tor;
// 1) the tors. spring
tor = force_R.Get_Force(relAngle, 0, ChTime);
m_torque = ChVector.Vmul(relAxis, tor);
C_torque = ChVector.Vadd(C_torque, m_torque);
// 2) the tors. damper
double angle_dt = ChVector.Vlength(relWvel);
tor = force_R.Get_Force(0, angle_dt, ChTime);
m_torque = ChVector.Vmul(ChVector.Vnorm(relWvel), tor);
C_torque = ChVector.Vadd(C_torque, m_torque);
}
// 3)========== the XYZ forces
m_force = ChVector.VNULL;
if (force_X != null && force_X.Get_active())
{
m_force.x = force_X.Get_Force(relM.pos.x, relM_dt.pos.x, ChTime);
}
if (force_Y != null && force_Y.Get_active())
{
m_force.y = force_Y.Get_Force(relM.pos.y, relM_dt.pos.y, ChTime);
}
if (force_Z != null && force_Z.Get_active())
{
m_force.z = force_Z.Get_Force(relM.pos.z, relM_dt.pos.z, ChTime);
}
C_force = ChVector.Vadd(C_force, m_force);
// 4)========== the RxRyRz forces (torques)
m_torque = new ChVector(0, 0, 0);
if (force_Rx != null && force_Rx.Get_active())
{
m_torque.x = force_Rx.Get_Force(relRotaxis.x, relWvel.x, ChTime);
}
if (force_Ry != null && force_Ry.Get_active())
{
m_torque.y = force_Ry.Get_Force(relRotaxis.y, relWvel.y, ChTime);
}
if (force_Rz != null && force_Rz.Get_active())
{
m_torque.z = force_Rz.Get_Force(relRotaxis.z, relWvel.z, ChTime);
}
C_torque = ChVector.Vadd(C_torque, m_torque);
}
public override void UpdateForces(double mytime)
{
// First, inherit to parent class
base.UpdateForces(mytime);
if (this.IsDisabled())
{
return;
}
// then, if not sticking,
if (this.brake_torque != 0)
{
if (brake_mode == eChBrmode.BRAKE_ROTATION)
{
if (((ChLinkMaskLF)mask).Constr_E3().IsActive() == false)
{
int mdir;
ChVector mv_torque = ChVector.Vmul(ChVector.VECT_Z, this.brake_torque);
mdir = 0; // clockwise torque
if (ChVector.Vdot(this.relWvel, mv_torque) > 0.0)
{
mv_torque = ChVector.Vmul(mv_torque, -1.0); // keep torque always opposed to ang speed.
mdir = 1; // counterclockwise torque
}
if (mdir != this.last_dir)
{
this.must_stick = true;
}
this.last_dir = mdir;
// +++ADD TO LINK TORQUE VECTOR
C_torque = ChVector.Vadd(C_torque, mv_torque);
}
}
if (brake_mode == eChBrmode.BRAKE_TRANSLATEX)
{
if (((ChLinkMaskLF)mask).Constr_X().IsActive() == false)
{
int mdir;
ChVector mv_force = ChVector.Vmul(ChVector.VECT_X, this.brake_torque);
mdir = 0; // F-. rear motion: frontfacing break force
if (this.relM_dt.pos.x > 0.0)
{
mv_force = ChVector.Vmul(mv_force, -1.0); // break force always opposed to speed
mdir = 1; // F<-- backfacing breakforce for front motion
}
if (mdir != this.last_dir)
{
this.must_stick = true;
}
this.last_dir = mdir;
// +++ADD TO LINK TORQUE VECTOR
C_force = ChVector.Vadd(C_force, mv_force);
}
}
}
// turn off sticking feature if stick ration not > 1.0
if (this.stick_ratio <= 1.0)
{
must_stick = false;
}
}
/// Get the master coordinate system for the assets (this will return the
/// absolute coordinate system of the 'master' marker2)
// public override ChFrame<double> GetAssetsFrame(int nclone = 0) { return marker2.GetAbsFrame(); }
//
// UPDATING FUNCTIONS
//
/// Updates auxiliary vars relM, relM_dt, relM_dtdt,
/// dist, dist_dt et simila.
public virtual void UpdateRelMarkerCoords()
{
// FOR ALL THE 6(or3) COORDINATES OF RELATIVE MOTION OF THE TWO MARKERS:
// COMPUTE THE relM, relM_dt relM_dtdt COORDINATES, AND AUXILIARY DATA (distance,etc.)
ChVector PQw = ChVector.Vsub(marker1.GetAbsCoord().pos, marker2.GetAbsCoord().pos);
ChVector PQw_dt = ChVector.Vsub(marker1.GetAbsCoord_dt().pos, marker2.GetAbsCoord_dt().pos);
ChVector PQw_dtdt = ChVector.Vsub(marker1.GetAbsCoord_dtdt().pos, marker2.GetAbsCoord_dtdt().pos);
dist = ChVector.Vlength(PQw); // distance between origins, modulus
dist_dt = ChVector.Vdot(ChVector.Vnorm(PQw), PQw_dt); // speed between origins, modulus.
ChVector vtemp1; // for intermediate calculus
ChVector vtemp2;
ChQuaternion qtemp1;
// ChMatrixNM<IntInterface.Three, IntInterface.Four> relGw = new ChMatrixNM<IntInterface.Three, IntInterface.Four>(0);
/* ChQuaternion q_AD;
* ChQuaternion q_BC;
* ChQuaternion q_8;
* ChVector q_4;*/
ChQuaternion temp1 = marker1.FrameMoving.GetCoord_dt().rot;
ChQuaternion temp2 = marker2.FrameMoving.GetCoord_dt().rot;
if (ChQuaternion.Qnotnull(temp1) || ChQuaternion.Qnotnull(temp2))
{
q_AD = // q'qqq + qqqq'
ChQuaternion.Qadd(ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord_dt().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.GetBody().BodyFrame.GetCoord().rot),
ChQuaternion.Qcross((marker1.GetBody().BodyFrame.GetCoord().rot), (marker1.FrameMoving.GetCoord().rot)))),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.GetBody().BodyFrame.GetCoord().rot),
ChQuaternion.Qcross((marker1.GetBody().BodyFrame.GetCoord().rot), (marker1.FrameMoving.GetCoord_dt().rot)))));
}
else
{
//q_AD = ChQuaternion.QNULL;
q_BC = // qq'qq + qqq'q
ChQuaternion.Qadd(ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.GetBody().BodyFrame.GetCoord_dt().rot),
ChQuaternion.Qcross((marker1.GetBody().BodyFrame.GetCoord().rot), (marker1.FrameMoving.GetCoord().rot)))),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.GetBody().BodyFrame.GetCoord().rot),
ChQuaternion.Qcross((marker1.GetBody().BodyFrame.GetCoord_dt().rot), (marker1.FrameMoving.GetCoord().rot)))));
}
// q_8 = q''qqq + 2q'q'qq + 2q'qq'q + 2q'qqq'
// + 2qq'q'q + 2qq'qq' + 2qqq'q' + qqqq''
temp2 = marker2.FrameMoving.GetCoord_dtdt().rot;
if (ChQuaternion.Qnotnull(temp2))
{
q_8 = ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord_dtdt().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(Body2.GetCoord().rot),
ChQuaternion.Qcross(Body1.GetCoord().rot,
marker1.FrameMoving.GetCoord().rot))); // q_dtdt'm2 * q'o2 * q,o1 * q,m1
}
else
{
//q_8 = ChQuaternion.QNULL;
temp1 = marker1.FrameMoving.GetCoord_dtdt().rot;
}
if (ChQuaternion.Qnotnull(temp1))
{
qtemp1 = ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(Body2.GetCoord().rot),
ChQuaternion.Qcross(Body1.GetCoord().rot,
marker1.FrameMoving.GetCoord_dtdt().rot))); // q'm2 * q'o2 * q,o1 * q_dtdt,m1
q_8 = ChQuaternion.Qadd(q_8, qtemp1);
}
temp2 = marker2.FrameMoving.GetCoord_dt().rot;
if (ChQuaternion.Qnotnull(temp2))
{
qtemp1 = ChQuaternion.Qcross(
ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord_dt().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(Body2.GetCoord_dt().rot), ChQuaternion.Qcross(Body1.GetCoord().rot, marker1.FrameMoving.GetCoord().rot)));
qtemp1 = ChQuaternion.Qscale(qtemp1, 2); // 2( q_dt'm2 * q_dt'o2 * q,o1 * q,m1)
q_8 = ChQuaternion.Qadd(q_8, qtemp1);
}
temp2 = marker2.FrameMoving.GetCoord_dt().rot;
if (ChQuaternion.Qnotnull(temp2))
{
qtemp1 = ChQuaternion.Qcross(
ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord_dt().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(Body2.GetCoord().rot), ChQuaternion.Qcross(Body1.GetCoord_dt().rot, marker1.FrameMoving.GetCoord().rot)));
qtemp1 = ChQuaternion.Qscale(qtemp1, 2); // 2( q_dt'm2 * q'o2 * q_dt,o1 * q,m1)
q_8 = ChQuaternion.Qadd(q_8, qtemp1);
}
temp1 = marker1.FrameMoving.GetCoord_dt().rot;
temp2 = marker2.FrameMoving.GetCoord_dt().rot;
if (ChQuaternion.Qnotnull(temp2) && ChQuaternion.Qnotnull(temp1))
{
qtemp1 = ChQuaternion.Qcross(
ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord_dt().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(Body2.GetCoord().rot), ChQuaternion.Qcross(Body1.GetCoord().rot, marker1.FrameMoving.GetCoord_dt().rot)));
qtemp1 = ChQuaternion.Qscale(qtemp1, 2); // 2( q_dt'm2 * q'o2 * q,o1 * q_dt,m1)
q_8 = ChQuaternion.Qadd(q_8, qtemp1);
}
qtemp1 =
ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(Body2.GetCoord_dt().rot), ChQuaternion.Qcross(Body1.GetCoord_dt().rot, marker1.FrameMoving.GetCoord().rot)));
qtemp1 = ChQuaternion.Qscale(qtemp1, 2); // 2( q'm2 * q_dt'o2 * q_dt,o1 * q,m1)
q_8 = ChQuaternion.Qadd(q_8, qtemp1);
temp1 = marker1.FrameMoving.GetCoord_dt().rot;
if (ChQuaternion.Qnotnull(temp1))
{
qtemp1 = ChQuaternion.Qcross(
ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(Body2.GetCoord_dt().rot), ChQuaternion.Qcross(Body1.GetCoord().rot, marker1.FrameMoving.GetCoord_dt().rot)));
qtemp1 = ChQuaternion.Qscale(qtemp1, 2); // 2( q'm2 * q_dt'o2 * q,o1 * q_dt,m1)
q_8 = ChQuaternion.Qadd(q_8, qtemp1);
}
temp1 = marker1.FrameMoving.GetCoord_dt().rot;
if (ChQuaternion.Qnotnull(temp1))
{
qtemp1 = ChQuaternion.Qcross(
ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(Body2.GetCoord().rot), ChQuaternion.Qcross(Body1.GetCoord_dt().rot, marker1.FrameMoving.GetCoord_dt().rot)));
qtemp1 = ChQuaternion.Qscale(qtemp1, 2); // 2( q'm2 * q'o2 * q_dt,o1 * q_dt,m1)
q_8 = ChQuaternion.Qadd(q_8, qtemp1);
}
// q_4 = [Adtdt]'[A]'q + 2[Adt]'[Adt]'q
// + 2[Adt]'[A]'qdt + 2[A]'[Adt]'qdt
// ChMatrix33<double> m2_Rel_A_dt = new ChMatrix33<double>(0);
marker2.FrameMoving.Compute_Adt(ref m2_Rel_A_dt);
// ChMatrix33<double> m2_Rel_A_dtdt = new ChMatrix33<double>(0);
marker2.FrameMoving.Compute_Adtdt(ref m2_Rel_A_dtdt);
vtemp1 = Body2.GetA_dt().MatrT_x_Vect(PQw);
vtemp2 = m2_Rel_A_dt.MatrT_x_Vect(vtemp1);
q_4 = ChVector.Vmul(vtemp2, 2); // 2[Aq_dt]'[Ao2_dt]'*Qpq,w
vtemp1 = Body2.GetA().MatrT_x_Vect(PQw_dt);
vtemp2 = m2_Rel_A_dt.MatrT_x_Vect(vtemp1);
vtemp2 = ChVector.Vmul(vtemp2, 2); // 2[Aq_dt]'[Ao2]'*Qpq,w_dt
q_4 = ChVector.Vadd(q_4, vtemp2);
vtemp1 = Body2.GetA_dt().MatrT_x_Vect(PQw_dt);
vtemp2 = marker2.FrameMoving.GetA().MatrT_x_Vect(vtemp1);
vtemp2 = ChVector.Vmul(vtemp2, 2); // 2[Aq]'[Ao2_dt]'*Qpq,w_dt
q_4 = ChVector.Vadd(q_4, vtemp2);
vtemp1 = Body2.GetA().MatrT_x_Vect(PQw);
vtemp2 = m2_Rel_A_dtdt.MatrT_x_Vect(vtemp1);
q_4 = ChVector.Vadd(q_4, vtemp2); // [Aq_dtdt]'[Ao2]'*Qpq,w
// ----------- RELATIVE MARKER COORDINATES
// relM.pos
relM.pos = marker2.FrameMoving.GetA().MatrT_x_Vect(Body2.GetA().MatrT_x_Vect(PQw));
// relM.rot
relM.rot = ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.GetBody().BodyFrame.GetCoord().rot),
ChQuaternion.Qcross((marker1.GetBody().BodyFrame.GetCoord().rot), (marker1.FrameMoving.GetCoord().rot))));
// relM_dt.pos
relM_dt.pos = ChVector.Vadd(ChVector.Vadd(m2_Rel_A_dt.MatrT_x_Vect(Body2.GetA().MatrT_x_Vect(PQw)),
marker2.FrameMoving.GetA().MatrT_x_Vect(Body2.GetA_dt().MatrT_x_Vect(PQw))),
marker2.FrameMoving.GetA().MatrT_x_Vect(Body2.GetA().MatrT_x_Vect(PQw_dt)));
// relM_dt.rot
relM_dt.rot = ChQuaternion.Qadd(q_AD, q_BC);
// relM_dtdt.pos
relM_dtdt.pos = ChVector.Vadd(ChVector.Vadd(marker2.FrameMoving.GetA().MatrT_x_Vect(Body2.GetA_dtdt().MatrT_x_Vect(PQw)),
marker2.FrameMoving.GetA().MatrT_x_Vect(Body2.GetA().MatrT_x_Vect(PQw_dtdt))),
q_4);
// relM_dtdt.rot
qtemp1 = ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(Body2.GetCoord_dtdt().rot),
ChQuaternion.Qcross(Body1.GetCoord().rot,
marker1.FrameMoving.GetCoord().rot))); // ( q'm2 * q_dtdt'o2 * q,o1 * q,m1)
relM_dtdt.rot = ChQuaternion.Qadd(q_8, qtemp1);
qtemp1 = ChQuaternion.Qcross(ChQuaternion.Qconjugate(marker2.FrameMoving.GetCoord().rot),
ChQuaternion.Qcross(ChQuaternion.Qconjugate(Body2.GetCoord().rot),
ChQuaternion.Qcross(Body1.GetCoord_dtdt().rot,
marker1.FrameMoving.GetCoord().rot))); // ( q'm2 * q'o2 * q_dtdt,o1 * q,m1)
relM_dtdt.rot = ChQuaternion.Qadd(relM_dtdt.rot, qtemp1); // = q_8 + qq''qq + qqq''q
// ... and also "user-friendly" relative coordinates:
// relAngle and relAxis
ChQuaternion.Q_to_AngAxis(relM.rot, ref relAngle, ref relAxis);
// flip rel rotation axis if jerky sign
if (relAxis.z < 0)
{
relAxis = ChVector.Vmul(relAxis, -1);
relAngle = -relAngle;
}
// rotation axis
relRotaxis = ChVector.Vmul(relAxis, relAngle);
// relWvel
ChFrame <double> .SetMatrix_Gw(ref relGw, relM.rot); // relGw.Set_Gw_matrix(relM.rot);
relWvel = relGw.matrix.Matr34_x_Quat(relM_dt.rot);
// relWacc
relWacc = relGw.matrix.Matr34_x_Quat(relM_dtdt.rot);
}
// Updates motion laws, marker positions, etc.
public override void UpdateTime(double mytime)
{
// First, inherit to parent class
base.UpdateTime(mytime);
// Move markers 1 and 2 to align them as gear teeth
ChMatrix33 <double> ma1 = new ChMatrix33 <double>(0);
ChMatrix33 <double> ma2 = new ChMatrix33 <double>(0);
ChMatrix33 <double> mrotma = new ChMatrix33 <double>(0);
ChMatrix33 <double> marot_beta = new ChMatrix33 <double>(0);
ChVector mx;
ChVector my;
ChVector mz;
ChVector mr;
ChVector mmark1;
ChVector mmark2;
ChVector lastX;
ChVector vrota;
ChCoordsys newmarkpos = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));
ChFrame <double> abs_shaft1 = ChFrame <double> .FNULL; // new ChFrame<double>();
ChFrame <double> abs_shaft2 = ChFrame <double> .FNULL; //new ChFrame<double>();
((ChFrame <double>)Body1).TransformLocalToParent(local_shaft1, abs_shaft1);
((ChFrame <double>)Body2).TransformLocalToParent(local_shaft2, abs_shaft2);
ChVector vbdist = ChVector.Vsub(Get_shaft_pos1(), Get_shaft_pos2());
// ChVector Trad1 = ChVector.Vnorm(ChVector.Vcross(Get_shaft_dir1(), ChVector.Vnorm(ChVector.Vcross(Get_shaft_dir1(), vbdist))));
// ChVector Trad2 = ChVector.Vnorm(ChVector.Vcross(ChVector.Vnorm(ChVector.Vcross(Get_shaft_dir2(), vbdist)), Get_shaft_dir2()));
double dist = ChVector.Vlength(vbdist);
// compute actual rotation of the two wheels (relative to truss).
ChVector md1 = abs_shaft1.GetA().MatrT_x_Vect(-vbdist);
md1.z = 0;
md1 = ChVector.Vnorm(md1);
ChVector md2 = abs_shaft2.GetA().MatrT_x_Vect(-vbdist);
md2.z = 0;
md2 = ChVector.Vnorm(md2);
double periodic_a1 = ChMaths.ChAtan2(md1.x, md1.y);
double periodic_a2 = ChMaths.ChAtan2(md2.x, md2.y);
double old_a1 = a1;
double old_a2 = a2;
double turns_a1 = Math.Floor(old_a1 / ChMaths.CH_C_2PI);
double turns_a2 = Math.Floor(old_a2 / ChMaths.CH_C_2PI);
double a1U = turns_a1 * ChMaths.CH_C_2PI + periodic_a1 + ChMaths.CH_C_2PI;
double a1M = turns_a1 * ChMaths.CH_C_2PI + periodic_a1;
double a1L = turns_a1 * ChMaths.CH_C_2PI + periodic_a1 - ChMaths.CH_C_2PI;
a1 = a1M;
if (Math.Abs(a1U - old_a1) < Math.Abs(a1M - old_a1))
{
a1 = a1U;
}
if (Math.Abs(a1L - a1) < Math.Abs(a1M - a1))
{
a1 = a1L;
}
double a2U = turns_a2 * ChMaths.CH_C_2PI + periodic_a2 + ChMaths.CH_C_2PI;
double a2M = turns_a2 * ChMaths.CH_C_2PI + periodic_a2;
double a2L = turns_a2 * ChMaths.CH_C_2PI + periodic_a2 - ChMaths.CH_C_2PI;
a2 = a2M;
if (Math.Abs(a2U - old_a2) < Math.Abs(a2M - old_a2))
{
a2 = a2U;
}
if (Math.Abs(a2L - a2) < Math.Abs(a2M - a2))
{
a2 = a2L;
}
// compute new markers coordsystem alignment
my = ChVector.Vnorm(vbdist);
mz = Get_shaft_dir1();
mx = ChVector.Vnorm(ChVector.Vcross(my, mz));
mr = ChVector.Vnorm(ChVector.Vcross(mz, mx));
mz = ChVector.Vnorm(ChVector.Vcross(mx, my));
ChVector mz2, mx2, mr2, my2;
my2 = my;
mz2 = Get_shaft_dir2();
mx2 = ChVector.Vnorm(ChVector.Vcross(my2, mz2));
mr2 = ChVector.Vnorm(ChVector.Vcross(mz2, mx2));
ma1.Set_A_axis(mx, my, mz);
// rotate csys because of beta
vrota.x = 0.0;
vrota.y = beta;
vrota.z = 0.0;
mrotma.Set_A_Rxyz(vrota);
marot_beta.nm.matrix.MatrMultiply(ma1.nm.matrix, mrotma.nm.matrix);
// rotate csys because of alpha
vrota.x = 0.0;
vrota.y = 0.0;
vrota.z = alpha;
if (react_force.x < 0)
{
vrota.z = alpha;
}
else
{
vrota.z = -alpha;
}
mrotma.Set_A_Rxyz(vrota);
ma1.nm.matrix.MatrMultiply(marot_beta.nm.matrix, mrotma.nm.matrix);
ma2.nm.matrix.CopyFromMatrix(ma1.nm.matrix);
// is a bevel gear?
double be = Math.Acos(ChVector.Vdot(Get_shaft_dir1(), Get_shaft_dir2()));
bool is_bevel = true;
if (Math.Abs(ChVector.Vdot(Get_shaft_dir1(), Get_shaft_dir2())) > 0.96)
{
is_bevel = false;
}
// compute wheel radii so that:
// w2 = - tau * w1
if (!is_bevel)
{
double pardist = ChVector.Vdot(mr, vbdist);
double inv_tau = 1.0 / tau;
if (!epicyclic)
{
r2 = pardist - pardist / (inv_tau + 1.0);
}
else
{
r2 = pardist - (tau * pardist) / (tau - 1.0);
}
r1 = r2 * tau;
}
else
{
double gamma2;
if (!epicyclic)
{
gamma2 = be / (tau + 1.0);
}
else
{
gamma2 = be / (-tau + 1.0);
}
double al = ChMaths.CH_C_PI - Math.Acos(ChVector.Vdot(Get_shaft_dir2(), my));
double te = ChMaths.CH_C_PI - al - be;
double fd = Math.Sin(te) * (dist / Math.Sin(be));
r2 = fd * Math.Tan(gamma2);
r1 = r2 * tau;
}
// compute markers positions, supposing they
// stay on the ideal wheel contact point
mmark1 = ChVector.Vadd(Get_shaft_pos2(), ChVector.Vmul(mr2, r2));
mmark2 = mmark1;
contact_pt = mmark1;
// correct marker 1 position if phasing is not correct
if (checkphase)
{
double realtau = tau;
if (epicyclic)
{
realtau = -tau;
}
double m_delta;
m_delta = -(a2 / realtau) - a1 - phase;
if (m_delta > ChMaths.CH_C_PI)
{
m_delta -= (ChMaths.CH_C_2PI); // range -180..+180 is better than 0...360
}
if (m_delta > (ChMaths.CH_C_PI / 4.0))
{
m_delta = (ChMaths.CH_C_PI / 4.0); // phase correction only in +/- 45°
}
if (m_delta < -(ChMaths.CH_C_PI / 4.0))
{
m_delta = -(ChMaths.CH_C_PI / 4.0);
}
vrota.x = vrota.y = 0.0;
vrota.z = -m_delta;
mrotma.Set_A_Rxyz(vrota); // rotate about Z of shaft to correct
mmark1 = abs_shaft1.GetA().MatrT_x_Vect(ChVector.Vsub(mmark1, Get_shaft_pos1()));
mmark1 = mrotma.Matr_x_Vect(mmark1);
mmark1 = ChVector.Vadd(abs_shaft1.GetA().Matr_x_Vect(mmark1), Get_shaft_pos1());
}
// Move Shaft 1 along its direction if not aligned to wheel
double offset = ChVector.Vdot(Get_shaft_dir1(), (contact_pt - Get_shaft_pos1()));
ChVector moff = Get_shaft_dir1() * offset;
if (Math.Abs(offset) > 0.0001)
{
local_shaft1.SetPos(local_shaft1.GetPos() + Body1.TransformDirectionParentToLocal(moff));
}
// ! Require that the BDF routine of marker won't handle speed and acc.calculus of the moved marker 2!
marker2.SetMotionType(ChMarker.eChMarkerMotion.M_MOTION_EXTERNAL);
marker1.SetMotionType(ChMarker.eChMarkerMotion.M_MOTION_EXTERNAL);
// move marker1 in proper positions
newmarkpos.pos = mmark1;
newmarkpos.rot = ma1.Get_A_quaternion();
marker1.Impose_Abs_Coord(newmarkpos); // move marker1 into teeth position
// move marker2 in proper positions
newmarkpos.pos = mmark2;
newmarkpos.rot = ma2.Get_A_quaternion();
marker2.Impose_Abs_Coord(newmarkpos); // move marker2 into teeth position
// imposed relative positions/speeds
deltaC.pos = ChVector.VNULL;
deltaC_dt.pos = ChVector.VNULL;
deltaC_dtdt.pos = ChVector.VNULL;
deltaC.rot = ChQuaternion.QUNIT; // no relative rotations imposed!
deltaC_dt.rot = ChQuaternion.QNULL;
deltaC_dtdt.rot = ChQuaternion.QNULL;
}
