public ChLinkEngine()
{
mot_rot = 0;
mot_rot_dt = 0;
mot_rot_dtdt = 0;
mot_rerot = 0;
mot_rerot_dt = 0;
mot_rerot_dtdt = 0;
mot_torque = 0;
mot_retorque = 0;
last_r3mot_rot = 0;
last_r3mot_rot_dt = 0;
last_r3relm_rot = ChQuaternion.QUNIT;
last_r3relm_rot_dt = ChQuaternion.QNULL;
last_r3time = 0;
keyed_polar_rotation = ChQuaternion.QNULL;
impose_reducer = false;
mot_tau = 1;
mot_eta = 1;
mot_inertia = 0;
torque_react2 = 0;
eng_mode = eCh_eng_mode.ENG_MODE_ROTATION;
learn = false;
rot_funct = new ChFunction_Const(0);
spe_funct = new ChFunction_Const(0);
tor_funct = new ChFunction_Const(0);
torque_w = new ChFunction_Const(1);
rot_funct_x = new ChFunction_Const(0);
rot_funct_y = new ChFunction_Const(0);
// Mask: initialize our LinkMaskLF (lock formulation mask)
// to E3 only.
ChLinkMaskLF masklf = new ChLinkMaskLF();
mask = masklf;
((ChLinkMaskLF)mask).SetLockMask(true, false, false, false, false, false, true);
ChangedLinkMask();
// Mask: initialize remaining LinkMaskLF (lock formulation mask) for the engine.
// All shaft modes at least are setting the lock on E3 (z-rotation) coordinate.
Set_shaft_mode(eCh_shaft_mode.ENG_SHAFT_LOCK);
}
public ChLinkMaskLF(ChLinkMaskLF other) : base(other)
{
}
