/// Use this function after gear creation, to initialize it, given two shafts to join.
/// Each shaft must belong to the same ChSystem.
/// Derived classes might overload this (here, basically it only sets the two pointers)
public virtual bool Initialize(ChShaft mshaft1, //< first shaft to join
ChShaft mshaft2 //< second shaft to join
)
{
ChShaft mm1 = mshaft1;
ChShaft mm2 = mshaft2;
// assert(mm1 && mm2);
// assert(mm1 != mm2);
// assert(mm1->GetSystem() == mm2->GetSystem());
shaft1 = mm1;
shaft2 = mm2;
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);
}
