Exemple #1
0
        /// Sets some active constraints as redundant.
        public int SetActiveRedundantByArray(int[] mvector, int mcount)
        {
            int cnt;

            ChLinkMask newmask = Clone();

            for (int elem = 0; elem < mcount; elem++)
            {
                cnt = 0;
                for (int i = 0; i < nconstr; i++)
                {
                    if (constraints[i].IsActive())
                    {
                        if (cnt == mvector[elem])
                        {
                            newmask.constraints[i].SetRedundant(true);
                        }
                        cnt++;
                    }
                }
            }

            // Replace the mask with updated one.
            for (int i = 0; i < nconstr; i++)
            {
                constraints[i] = null;
                constraints[i] = (ChConstraintTwoBodies)newmask.constraints[i].Clone();
            }

            return(mcount);
        }
Exemple #2
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        public ChLinkMasked()
        {
            mask = new ChLinkMask(1);                                    // create the mask;
            mask.Constr_N(0).SetMode(eChConstraintMode.CONSTRAINT_FREE); // default: one constr.eq. but not working

            BuildLink();                                                 // setup all matrices - if any (i.e. none in this base link)-
                                                                         // setting automatically  n. of DOC and DOF,
        }
Exemple #3
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 /// Copy constructor
 public ChLinkMask(ChLinkMask other)
 {
     nconstr = other.nconstr;
     constraints.Resize(other.nconstr);
     for (int i = 0; i < nconstr; i++)
     {
         constraints[i] = (ChConstraintTwoBodies)other.constraints[i].Clone();
     }
 }
Exemple #4
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        // [mostly internal], allocates matrices and, in general, initializes all stuff
        // which is mask-dependant.  Sets n. DOF and n .DOC.
        // Copies the mask from new_mask.
        protected void BuildLink(ChLinkMask new_mask)
        {
            // set mask
            mask = null;
            mask = new_mask.Clone();

            // setup matrices;
            BuildLink();
        }
Exemple #5
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 /// To compare two masks, return true if equal
 public bool IsEqual(ChLinkMask mask2)
 {
     if (nconstr != mask2.nconstr)
     {
         return(false);
     }
     for (int j = 0; j < nconstr; j++)
     {
         if (!(Constr_N(j) == mask2.Constr_N(j)))
         {
             return(false);
         }
     }
     return(true);
 }
Exemple #6
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        public ChLinkMasked(ChLinkMasked other) : base(other)
        {
            mask = other.mask.Clone();

            // setup -alloc all needed matrices!!
            ChangedLinkMask();

            force_D  = other.force_D.Clone();
            force_R  = other.force_R.Clone();
            force_X  = other.force_X.Clone();
            force_Y  = other.force_Y.Clone();
            force_Z  = other.force_Z.Clone();
            force_Rx = other.force_Rx.Clone();
            force_Ry = other.force_Ry.Clone();
            force_Rz = other.force_Rz.Clone();

            d_restlength = other.d_restlength;
        }
Exemple #7
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        protected ChMatrixDynamic <double> C;  ///< residuals


        public ChLinkMateGeneric(bool mc_x  = true,
                                 bool mc_y  = true,
                                 bool mc_z  = true,
                                 bool mc_rx = true,
                                 bool mc_ry = true,
                                 bool mc_rz = true)
        {
            c_x  = mc_x;
            c_y  = mc_y;
            c_z  = mc_z;
            c_rx = mc_rx;
            c_ry = mc_ry;
            c_rz = mc_rz;

            // C = null;

            mask = new ChLinkMask();

            SetupLinkMask();
        }
Exemple #8
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 /// Must be called after whatever change the mask of the link,
 /// in order to update auxiliary matrices sizes...
 public void ChangeLinkMask(ChLinkMask new_mask)
 {
     DestroyLink();
     BuildLink(new_mask);
 }