// virtual void ContIntLoadResidual_F(ChVectorDynamic<>& R, const double c) {
// no force to add - this is NSC, not SMC
//};
public override void ContIntToDescriptor(int off_L,
ChVectorDynamic <double> L,
ChVectorDynamic <double> Qc)
{
// base behaviour too
base.ContIntToDescriptor(off_L, L, Qc);
Rx.Set_l_i(L.matrix[off_L + 3]);
Ru.Set_l_i(L.matrix[off_L + 4]);
Rv.Set_l_i(L.matrix[off_L + 5]);
Rx.Set_b_i(Qc.matrix[off_L + 3]);
Ru.Set_b_i(Qc.matrix[off_L + 4]);
Rv.Set_b_i(Qc.matrix[off_L + 5]);
}
