/// Set absolute coordinates and update auxiliary variables
/// Also, current position becomes the 'resting position' coordinates
/// for the current time.
public void Impose_Abs_Coord(ChCoordsys m_coord)
{
ChBody my_body;
my_body = GetBody();
ChCoordsys csys;// = new ChCoordsys(new ChVector(0, 0, 0), new ChQuaternion(1, 0, 0, 0));//ChCoordsys.CSYSNULL;
// coordsys: transform the representation from the parent reference frame
// to the local reference frame.
csys.pos = ChTransform <double> .TransformParentToLocal(m_coord.pos, my_body.BodyFrame.GetCoord().pos, my_body.BodyFrame.GetA());
csys.rot = ChQuaternion.Qcross(ChQuaternion.Qconjugate(my_body.BodyFrame.GetCoord().rot), m_coord.rot);
// apply the imposition on local coordinate and resting coordinate:
Impose_Rel_Coord(csys);
}
public ChVector TransformPointParentToLocal(ChVector parent)
{
return(ChTransform <Real> .TransformParentToLocal(parent, coord.pos, Amatrix));
}
public virtual ChVector TransformPointLocalToParent(ChVector local)
{
return(ChTransform <Real> .TransformLocalToParent(local, coord.pos, Amatrix));
}