static void Main(string[] args)
{
Console.WriteLine("Hello World!");
ElementFactory.Instance.LoadFolderDefinition(@".\Definitions\Elements");
JointFactory.Instance.LoadFolderDefinition(@".\Definitions\Joints");
MultibodySystem MBS = MultibodySystem.LoadFromFile(@".\Definitions\Systems\SimplePendulum.xml");
double[] vec = new double[MBS.Elements.Count * 6 * 2];
StateVector SV = new StateVector(vec, MBS.GenerateMappings());
MBS.GetGlobalKeepMatrix();
MBS.SetupElements();
MBS.UpdateElements(SV);
Matrix <double> GlobalMassMatrix = CreateMatrix.Dense <double>(MBS.Elements.Count * 6, MBS.Elements.Count * 6);
GlobalMassMatrix = MBS.GetGlobalMassMatrix(GlobalMassMatrix);
Matrix <double> GlobalJacobian = CreateMatrix.Dense <double>(MBS.Elements.Count * 6, MBS.Elements.Count * 6);
Vector <double> GlobalAngularVelocity = CreateVector.Dense <double>(6);
GlobalJacobian = MBS.GetGlobalJacobian(GlobalJacobian);
}
