public override void InjectConstraints(ref ChSystemDescriptor mdescriptor)
{
// base behaviour too
base.InjectConstraints(ref mdescriptor);
mdescriptor.InsertConstraint(Rx);
mdescriptor.InsertConstraint(Ru);
mdescriptor.InsertConstraint(Rv);
}
//
// SOLVER INTERFACE
//
public override void InjectConstraints(ref ChSystemDescriptor descriptor)
{
if (!IsActive())
{
return;
}
descriptor.InsertConstraint(m_cnstr_dist);
descriptor.InsertConstraint(m_cnstr_dot);
}
// Override/implement system functions of ChPhysicsItem
// (to assemble/manage data for system solver)
public override void InjectConstraints(ref ChSystemDescriptor mdescriptor)
{
// if (!IsActive())
// return;
mdescriptor.InsertConstraint(constraint);
}
//
// SOLVER INTERFACE
//
public override void InjectConstraints(ref ChSystemDescriptor mdescriptor)
{
if (!IsActive())
{
return;
}
mdescriptor.InsertConstraint(Cx);
}
//
// SOLVER INTERFACE
//
public override void InjectConstraints(ref ChSystemDescriptor mdescriptor)
{
if (!this.IsActive())
{
return;
}
for (int i = 0; i < mask.nconstr; i++)
{
if (mask.Constr_N(i).IsActive())
{
mdescriptor.InsertConstraint(mask.Constr_N(i));
}
}
}
// Old...
public override void InjectConstraints(ref ChSystemDescriptor mdescriptor)
{
mdescriptor.InsertConstraint(constraint);
}
