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); }