/// Initialize again this constraint.
public override void Reset(Ta mobjA,
Tb mobjB,
collision.ChCollisionInfo cinfo)
{
// Base method call:
base.Reset(mobjA, mobjB, cinfo);
ChBody oA = (this.objA as ChBody);
ChBody oB = (this.objB as ChBody);
Rx.Get_tuple_a().SetVariables(ref this.objA);
Rx.Get_tuple_b().SetVariables(ref this.objB);
Ru.Get_tuple_a().SetVariables(ref this.objA);
Ru.Get_tuple_b().SetVariables(ref this.objB);
Rv.Get_tuple_a().SetVariables(ref this.objA);
Rv.Get_tuple_b().SetVariables(ref this.objB);
// Calculate composite material properties
ChMaterialCompositeNSC mat = new ChMaterialCompositeNSC(
this.container.GetSystem().composition_strategy,
(ChMaterialSurfaceNSC)oA.GetMaterialSurfaceBase(),
(ChMaterialSurfaceNSC)oB.GetMaterialSurfaceBase());
Rx.SetRollingFrictionCoefficient(mat.rolling_friction);
Rx.SetSpinningFrictionCoefficient(mat.spinning_friction);
this.complianceRoll = mat.complianceRoll;
this.complianceSpin = mat.complianceSpin;
// COMPUTE JACOBIANS
// delegate objA to compute its half of jacobian
oA.ComputeJacobianForRollingContactPart(this.p1, ref this.contact_plane, ref Rx.Get_tuple_a(),
ref Ru.Get_tuple_a(), ref Rv.Get_tuple_a(), false);
// delegate objB to compute its half of jacobian
oB.ComputeJacobianForRollingContactPart(this.p2, ref this.contact_plane, ref Rx.Get_tuple_b(),
ref Ru.Get_tuple_b(), ref Rv.Get_tuple_b(), true);
this.react_torque = ChVector.VNULL;
}
/// Initialize again this constraint.
public override void Reset(Ta mobjA, //< collidable object A
Tb mobjB, //< collidable object B
collision.ChCollisionInfo cinfo //< data for the contact pair
) //where T1: IntInterface.IBase
{
// inherit base class:
base.Reset(mobjA, mobjB, cinfo);
ChBody oA = (this.objA as ChBody);
ChBody oB = (this.objB as ChBody);
Nx.Get_tuple_a().SetVariables(ref this.objA);
Nx.Get_tuple_b().SetVariables(ref this.objB);
Tu.Get_tuple_a().SetVariables(ref this.objA);
Tu.Get_tuple_b().SetVariables(ref this.objB);
Tv.Get_tuple_a().SetVariables(ref this.objA);
Tv.Get_tuple_b().SetVariables(ref this.objB);
// Calculate composite material properties
ChMaterialCompositeNSC mat = new ChMaterialCompositeNSC(
this.container.GetSystem().composition_strategy,
(ChMaterialSurfaceNSC)(oA.GetMaterialSurfaceBase()),
(ChMaterialSurfaceNSC)(oB.GetMaterialSurfaceBase()));
// Check for a user-provided callback to modify the material
if (this.container.GetAddContactCallback() != null)
{
this.container.GetAddContactCallback().OnAddContact(cinfo, mat);
}
Nx.Constraint2TuplesNall.SetFrictionCoefficient(mat.static_friction);
Nx.Constraint2TuplesNall.SetCohesion(mat.cohesion);
this.restitution = mat.restitution;
this.dampingf = mat.dampingf;
this.compliance = mat.compliance;
this.complianceT = mat.complianceT;
this.reactions_cache = cinfo.reaction_cache;
// COMPUTE JACOBIANS
// delegate objA to compute its half of jacobian
oA.ComputeJacobianForContactPart(this.p1, ref this.contact_plane, ref Nx.Get_tuple_a(), ref Tu.Get_tuple_a(),
ref Tv.Get_tuple_a(), false);
// delegate objB to compute its half of jacobian
oB.ComputeJacobianForContactPart(this.p2, ref this.contact_plane, ref Nx.Get_tuple_b(), ref Tu.Get_tuple_b(),
ref Tv.Get_tuple_b(), true);
if (reactions_cache != null)
{
react_force.x = reactions_cache[0];
react_force.y = reactions_cache[1];
react_force.z = reactions_cache[2];
//GetLog() << "Reset Fn=" << (double)reactions_cache[0] << " at cache address:" << (int)this->reactions_cache << "\n";
}
else
{
react_force = new ChVector(0, 0, 0);
}
}