/// Use this function after gear creation, to initialize it, given
/// two shafts to join. The first shaft is the 'output' shaft of the motor,
/// the second is the 'truss', often fixed and not rotating.
/// The torque is applied to the output shaft, while the truss shafts
/// gets the same torque but with opposite sign.
/// Each shaft must belong to the same ChSystem.
public override bool Initialize(ChShaft mshaft1, //< first shaft to join (motor output shaft)
ChShaft mshaft2 //< second shaft to join (motor truss)
)
{
// Parent class initialize
if (!base.Initialize(mshaft1, mshaft2))
{
return(false);
}
ChShaft mm1 = mshaft1;
ChShaft mm2 = mshaft2;
constraint.SetVariables(mm1.Variables(), mm2.Variables());
SetSystem(shaft1.GetSystem());
return(true);
}
/// Use this function after object creation, to initialize it, given
/// the 1D shaft and 3D body to join.
/// Each item must belong to the same ChSystem.
/// Direction is expressed in the local coordinates of the body.
public bool Initialize(ChShaft mshaft, //< shaft to join
ChBodyFrame mbody, //< body to join
ChVector mdir //< the direction of the shaft on 3D body (applied on COG: pure torque)
)
{
ChShaft mm1 = mshaft;
ChBodyFrame mm2 = mbody;
//Debug.Assert(mm1 == null && mm2 == null);
shaft = mm1;
body.BodyFrame = mm2;
shaft_dir = ChVector.Vnorm(mdir);
constraint.SetVariables(mm1.Variables(), mm2.Variables());
SetSystem(shaft.GetSystem());
return(true);
}
