/// 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);
}
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,
}
/// 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();
}
}
// [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();
}
/// 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);
}
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;
}
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();
}
/// 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);
}
