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,
}
/// 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 override void IntLoadResidual_CqL(int off_L,
ref ChVectorDynamic <double> R,
ChVectorDynamic <double> L,
double c)
{
int cnt = 0;
for (int i = 0; i < mask.nconstr; i++)
{
if (mask.Constr_N(i).IsActive())
{
mask.Constr_N(i).MultiplyTandAdd(R.matrix, L.matrix[off_L + cnt] * c);
cnt++;
}
}
}
//
// STATE FUNCTIONS
//
// (override/implement interfaces for global state vectors, see ChPhysicsItem for comments.)
public override void IntStateGatherReactions(int off_L, ref ChVectorDynamic <double> L)
{
if (!this.IsActive())
{
return;
}
int nc = 0;
if (c_x)
{
if (mask.Constr_N(nc).IsActive())
{
L.matrix[off_L + nc] = -react_force.x;
}
nc++;
}
if (c_y)
{
if (mask.Constr_N(nc).IsActive())
{
L.matrix[off_L + nc] = -react_force.y;
}
nc++;
}
if (c_z)
{
if (mask.Constr_N(nc).IsActive())
{
L.matrix[off_L + nc] = -react_force.z;
}
nc++;
}
if (c_rx)
{
if (mask.Constr_N(nc).IsActive())
{
L.matrix[off_L + nc] = -2.0 * react_torque.x;
}
nc++;
}
if (c_ry)
{
if (mask.Constr_N(nc).IsActive())
{
L.matrix[off_L + nc] = -2.0 * react_torque.y;
}
nc++;
}
if (c_rz)
{
if (mask.Constr_N(nc).IsActive())
{
L.matrix[off_L + nc] = -2.0 * react_torque.z;
}
nc++;
}
}