C# (CSharp) chrono ChConstraintTwoGeneric.Get_Cq_b Examples

Example #1

        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;
        }

Example #2

 public override void ConstraintsLoadJacobians()
 {
     constraint.Get_Cq_a().SetElement(0, 0, 1);
     constraint.Get_Cq_b().SetElement(0, 0, -1);
 }