public void Set_shaft_mode(eCh_shaft_mode mset)
{
shaft_mode = mset;
eChConstraintMode curr_mode_z = ((ChLinkMaskLF)mask).Constr_E3().GetMode();
switch (shaft_mode)
{
case eCh_shaft_mode.ENG_SHAFT_PRISM:
((ChLinkMaskLF)mask).SetLockMask(true, true, false, false, true, true, true);
break;
case eCh_shaft_mode.ENG_SHAFT_UNIVERSAL:
((ChLinkMaskLF)mask).SetLockMask(true, true, true, false, false, false, true);
break;
case eCh_shaft_mode.ENG_SHAFT_CARDANO:
((ChLinkMaskLF)mask).SetLockMask(false, false, false, false, false, false, true);
break;
case eCh_shaft_mode.ENG_SHAFT_OLDHAM:
((ChLinkMaskLF)mask).SetLockMask(false, false, false, false, true, true, true);
break;
case eCh_shaft_mode.ENG_SHAFT_LOCK:
default:
((ChLinkMaskLF)mask).SetLockMask(true, true, true, false, true, true, true);
break;
}
((ChLinkMaskLF)mask).Constr_E3().SetMode(curr_mode_z);
// change data
ChangedLinkMask();
}
/// Copy ructor
public ChConstraint(ChConstraint other)
{
c_i = other.c_i;
g_i = other.g_i;
b_i = other.b_i;
l_i = other.l_i;
cfm_i = other.cfm_i;
valid = other.valid;
disabled = other.disabled;
redundant = other.redundant;
broken = other.broken;
mode = other.mode;
}
protected int offset; //< offset in global "l" state vector (needed by some solvers)
/// Default ructor
public ChConstraint()
{
c_i = 0;
g_i = 0;
b_i = 0;
l_i = 0;
cfm_i = 0;
valid = false;
disabled = false;
redundant = false;
broken = false;
_active = true;
mode = eChConstraintMode.CONSTRAINT_LOCK;
}
/// Sets the mode of the raint: free / lock / complementary
public void SetMode(eChConstraintMode mmode)
{
mode = mmode;
UpdateActiveFlag();
}
