/// Initialization based on passing two vectors (point + dir) on the
/// two bodies, they will represent the X axes of the two frames (Y and Z will
/// be built from the X vector via Gram Schmidt orthonormalization).
/// Use the other ChLinkMateGeneric::Initialize() if you want to set the two frames directly.
public virtual void Initialize(ChBodyFrame mbody1, //< first body to link
ChBodyFrame mbody2, //< second body to link
bool pos_are_relative, //< true: following pos. are relative to bodies.
ChVector mpt1, //< origin of slave frame 1, for 1st body (rel. or abs., see flag above)
ChVector mpt2, //< origin of master frame 2, for 2nd body (rel. or abs., see flag above)
ChVector mnorm1, //< X axis of slave plane, for 1st body (rel. or abs., see flag above)
ChVector mnorm2 //< X axis of master plane, for 2nd body (rel. or abs., see flag above)
)
{
Debug.Assert(mbody1 != mbody2);
this.Body1 = mbody1;
this.Body2 = mbody2;
// this.SetSystem(mbody1.GetSystem());
this.mask.SetTwoBodiesVariables(Body1.Variables(), Body2.Variables());
ChVector mx = new ChVector(0, 0, 0);
ChVector my = new ChVector(0, 0, 0);
ChVector mz = new ChVector(0, 0, 0);
ChVector mN = new ChVector(0, 0, 0);
ChMatrix33 <double> mrot = new ChMatrix33 <double>();
ChFrame <double> mfr1 = new ChFrame <double>();
ChFrame <double> mfr2 = new ChFrame <double>();
if (pos_are_relative)
{
mN = mnorm1;
mN.DirToDxDyDz(ref mx, ref my, ref mz, new ChVector(0, 1, 0));
mrot.Set_A_axis(mx, my, mz);
mfr1.SetRot(mrot);
mfr1.SetPos(mpt1);
mN = mnorm2;
mN.DirToDxDyDz(ref mx, ref my, ref mz, new ChVector(0, 1, 0));
mrot.Set_A_axis(mx, my, mz);
mfr2.SetRot(mrot);
mfr2.SetPos(mpt2);
}
else
{
ChVector temp = ChVector.VECT_Z;
// from abs to body-rel
mN = this.Body1.TransformDirectionParentToLocal(mnorm1);
mN.DirToDxDyDz(ref mx, ref my, ref mz, temp);
mrot.Set_A_axis(mx, my, mz);
mfr1.SetRot(mrot);
mfr1.SetPos(this.Body1.TransformPointParentToLocal(mpt1));
mN = this.Body2.TransformDirectionParentToLocal(mnorm2);
mN.DirToDxDyDz(ref mx, ref my, ref mz, temp);
mrot.Set_A_axis(mx, my, mz);
mfr2.SetRot(mrot);
mfr2.SetPos(this.Body2.TransformPointParentToLocal(mpt2));
}
this.frame1 = mfr1;
this.frame2 = mfr2;
}
