/// <summary>
/// Initializes a new instance of the <see cref="Joint" /> class.
/// </summary>
/// <param name="isGround">if set to <c>true</c> [is ground].</param>
/// <param name="jointType">Type of the joint.</param>
/// <param name="currentJointPosition">The current joint position.</param>
/// <param name="specifiedAs">The specified as.</param>
/// <exception cref="System.Exception">Values for x and y must be provided for joint.</exception>
internal Joint(bool isGround, JointType jointType, double[] currentJointPosition = null,
JointSpecifiedAs specifiedAs = JointSpecifiedAs.Design)
{
IsGround = isGround;
TypeOfJoint = jointType;
jointSpecifiedAs = specifiedAs;
if (currentJointPosition == null)
{
return;
}
if (currentJointPosition.GetLength(0) < 2)
{
throw new Exception("Values for x and y must be provided for joint.");
}
x = xInitial = xLast = xNumerical = currentJointPosition[0];
y = yInitial = yLast = yNumerical = currentJointPosition[1];
if (currentJointPosition.GetLength(0) >= 3 && jointType != JointType.R)
{
OffsetSlideAngle = currentJointPosition[2];
}
else if (jointType == JointType.P || jointType == JointType.RP)
{
OffsetSlideAngle = 0.0;
}
while (OffsetSlideAngle > Math.PI / 2)
{
OffsetSlideAngle -= Math.PI;
}
while (OffsetSlideAngle < -Math.PI / 2)
{
OffsetSlideAngle += Math.PI;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Joint" /> class.
/// </summary>
/// <param name="isGround">if set to <c>true</c> [is ground].</param>
/// <param name="jointType">Type of the joint.</param>
/// <param name="currentJointPosition">The current joint position.</param>
/// <param name="specifiedAs">The specified as.</param>
/// <exception cref="System.Exception">Values for x and y must be provided for joint.</exception>
internal Joint(bool isGround, JointType jointType, double[] currentJointPosition = null,
JointSpecifiedAs specifiedAs = JointSpecifiedAs.Design)
{
IsGround = isGround;
TypeOfJoint = jointType;
JointSpecifiedAs = specifiedAs;
if (currentJointPosition == null)
{
return;
}
if (currentJointPosition.GetLength(0) < 2)
{
throw new Exception("Values for x and y must be provided for joint.");
}
X = XInitial = XLast = XNumerical = currentJointPosition[0];
Y = YInitial = YLast = YNumerical = currentJointPosition[1];
if (currentJointPosition.GetLength(0) >= 3 && jointType != JointType.R)
{
OffsetSlideAngle = currentJointPosition[2];
}
else if (jointType == JointType.P || jointType == JointType.RP)
{
OffsetSlideAngle = 0.0;
}
while (OffsetSlideAngle > Constants.QuarterCircle)
{
OffsetSlideAngle -= Math.PI;
}
while (OffsetSlideAngle < -Constants.QuarterCircle)
{
OffsetSlideAngle += Math.PI;
}
}
