public override void ContIntToDescriptor(int off_L,
ChVectorDynamic <double> L,
ChVectorDynamic <double> Qc
)
{
// only for solver warm start
Nx.Set_l_i(L.matrix[off_L]);
Tu.Set_l_i(L.matrix[off_L + 1]);
Tv.Set_l_i(L.matrix[off_L + 2]);
// solver known terms
Nx.Set_b_i(Qc.matrix[off_L]);
Tu.Set_b_i(Qc.matrix[off_L + 1]);
Tv.Set_b_i(Qc.matrix[off_L + 2]);
}