void ChLinkDistance::Update (double mytime)
{
// Inherit time changes of parent class (ChLink), basically doing nothing :)
ChLink::UpdateTime(mytime);
// compute jacobians
ChVector<> AbsDist = Body1->Point_Body2World(&pos1)-Body2->Point_Body2World(&pos2);
curr_dist = AbsDist.Length();
ChVector<> D2abs = Vnorm(AbsDist);
ChVector<> D2relB = Body2->Dir_World2Body(&D2abs);
ChVector<> D2relA = Body1->Dir_World2Body(&D2abs);
ChVector<> CqAx = D2abs;
ChVector<> CqBx = -D2abs;
ChVector<> CqAr = -Vcross(D2relA,pos1);
ChVector<> CqBr = Vcross(D2relB,pos2);
Cx.Get_Cq_a()->ElementN(0)=(float)CqAx.x;
Cx.Get_Cq_a()->ElementN(1)=(float)CqAx.y;
Cx.Get_Cq_a()->ElementN(2)=(float)CqAx.z;
Cx.Get_Cq_a()->ElementN(3)=(float)CqAr.x;
Cx.Get_Cq_a()->ElementN(4)=(float)CqAr.y;
Cx.Get_Cq_a()->ElementN(5)=(float)CqAr.z;
Cx.Get_Cq_b()->ElementN(0)=(float)CqBx.x;
Cx.Get_Cq_b()->ElementN(1)=(float)CqBx.y;
Cx.Get_Cq_b()->ElementN(2)=(float)CqBx.z;
Cx.Get_Cq_b()->ElementN(3)=(float)CqBr.x;
Cx.Get_Cq_b()->ElementN(4)=(float)CqBr.y;
Cx.Get_Cq_b()->ElementN(5)=(float)CqBr.z;
//***TO DO*** C_dt? C_dtdt? (may be never used..)
}
vector inoutattractor(vector v,vector a,float strength,int period)
{
if (Vequal(v,a))
return V(0,0);
else
return Vmult(strength*(1-radius(Vsub(v,a)))*sin(frame*2*pi/period),Vnorm(Vsub(v,a)));
}
void ChLinkDistance::Update(double mytime, bool update_assets) {
// Inherit time changes of parent class (ChLink), basically doing nothing :)
ChLink::Update(mytime, update_assets);
// compute jacobians
ChVector<> AbsDist = Body1->TransformPointLocalToParent(pos1) - Body2->TransformPointLocalToParent(pos2);
curr_dist = AbsDist.Length();
ChVector<> D2abs = Vnorm(AbsDist);
ChVector<> D2relB = Body2->TransformDirectionParentToLocal(D2abs);
ChVector<> D2relA = Body1->TransformDirectionParentToLocal(D2abs);
ChVector<> CqAx = D2abs;
ChVector<> CqBx = -D2abs;
ChVector<> CqAr = -Vcross(D2relA, pos1);
ChVector<> CqBr = Vcross(D2relB, pos2);
Cx.Get_Cq_a()->ElementN(0) = CqAx.x();
Cx.Get_Cq_a()->ElementN(1) = CqAx.y();
Cx.Get_Cq_a()->ElementN(2) = CqAx.z();
Cx.Get_Cq_a()->ElementN(3) = CqAr.x();
Cx.Get_Cq_a()->ElementN(4) = CqAr.y();
Cx.Get_Cq_a()->ElementN(5) = CqAr.z();
Cx.Get_Cq_b()->ElementN(0) = CqBx.x();
Cx.Get_Cq_b()->ElementN(1) = CqBx.y();
Cx.Get_Cq_b()->ElementN(2) = CqBx.z();
Cx.Get_Cq_b()->ElementN(3) = CqBr.x();
Cx.Get_Cq_b()->ElementN(4) = CqBr.y();
Cx.Get_Cq_b()->ElementN(5) = CqBr.z();
//***TO DO*** C_dt? C_dtdt? (may be never used..)
}
vector wibblyrepulsor(vector v,vector r,float str,float dstr,float off,float fre)
{
if (Vequal(v,r))
return V(0,0);
else {
return Vmult((str+dstr*sin(off+frame*fre))/radius(Vsub(v,r)),Vnorm(Vsub(v,r)));
}
}
vector forceat(vector v)
{
vector vminusp,vminusq;
if (Vequal(v,V(0,0)))
return V(0,0);
else
return Vmult(0.001,Vadd(Vrotate(Vnorm(v),pi/2+pi/32+0*sin(frame*2*pi/10)),
Vadd(inoutattractor(v,p,3,85),inoutattractor(v,q,2,381))));
}
vector massivebody(vector v)
{
float tmp;
tmp=radius(v);
if (tmp>0.1 && tmp<100)
return Vmult(strength/square(tmp),Vnorm(V(2*v.x*v.y,square(v.y)-square(v.x))));
else
return V(0,0);
}
ChCoordsys<> ChLinkDistance::GetLinkRelativeCoords() {
ChVector<> D2local;
ChVector<> D2temp = (Vnorm(Body1->TransformPointLocalToParent(pos1) - Body2->TransformPointLocalToParent(pos2)));
ChVector<> D2rel = Body2->TransformDirectionParentToLocal(D2temp);
ChVector<> Vx, Vy, Vz;
ChMatrix33<> rel_matrix;
XdirToDxDyDz(D2rel, VECT_Y, Vx, Vy, Vz);
rel_matrix.Set_A_axis(Vx, Vy, Vz);
Quaternion Ql2 = rel_matrix.Get_A_quaternion();
return ChCoordsys<>(pos2, Ql2);
}
ChCoordsys<> ChLinkDistance::GetLinkRelativeCoords()
{
ChVector<> D2local;
ChVector<> D2temp=(Vnorm(Body1->Point_Body2World(&pos1)-Body2->Point_Body2World(&pos2)));
ChVector<> D2rel = Body2->Dir_World2Body(&D2temp);
ChVector<> Vx, Vy, Vz;
ChVector<> Vsingul(VECT_Y);
ChMatrix33<> rel_matrix;
XdirToDxDyDz(&D2rel, &Vsingul, &Vx, &Vy, &Vz);
rel_matrix.Set_A_axis(Vx,Vy,Vz);
Quaternion Ql2 = rel_matrix.Get_A_quaternion();
return ChCoordsys<>(pos2, Ql2);
}
void ChLinkSpring::UpdateForces(double mytime) {
// Inherit force computation:
// also base class can add its own forces.
ChLinkMarkers::UpdateForces(mytime);
spr_react = 0.0;
Vector m_force;
double deform = Get_SpringDeform();
spr_react = spr_f * mod_f_time->Get_y(ChTime);
spr_react -= (spr_k * mod_k_d->Get_y(deform) * mod_k_speed->Get_y(dist_dt)) * (deform);
spr_react -= (spr_r * mod_r_d->Get_y(deform) * mod_r_speed->Get_y(dist_dt)) * (dist_dt);
m_force = Vmul(Vnorm(relM.pos), spr_react);
C_force = Vadd(C_force, m_force);
}
double ChCollisionUtils::PointLineDistance(Vector p, Vector dA, Vector dB, double& mu, int& is_insegment) {
mu = -1.0;
is_insegment = 0;
double mdist = 10e34;
Vector vseg = Vsub(dB, dA);
Vector vdir = Vnorm(vseg);
Vector vray = Vsub(p, dA);
mdist = Vlength(Vcross(vray, vdir));
mu = Vdot(vray, vdir) / Vlength(vseg);
if ((mu >= 0) && (mu <= 1.0))
is_insegment = 1;
return mdist;
}
void Q_to_AngAxis(const ChQuaternion<double>& quat, double& angle, ChVector<double>& axis) {
if (fabs(quat.e0()) < 0.99999999) {
double arg = acos(quat.e0());
double invsine = 1 / sin(arg);
ChVector<double> vtemp;
vtemp.x() = invsine * quat.e1();
vtemp.y() = invsine * quat.e2();
vtemp.z() = invsine * quat.e3();
angle = 2 * arg;
axis = Vnorm(vtemp);
} else {
axis.x() = 1;
axis.y() = 0;
axis.z() = 0;
angle = 0;
}
}
void Viewer::computeExtrusion(int nOrientation,
float *orientation,
int nScale,
float *scale,
int nCrossSection,
float *crossSection,
int nSpine,
float *spine,
float *c, // OUT: coordinates
float *tc, // OUT: texture coords
int *faces) // OUT: face list
{
int i, j, ci;
// Xscp, Yscp, Zscp- columns of xform matrix to align cross section
// with spine segments.
float Xscp[3] = { 1.0, 0.0, 0.0};
float Yscp[3] = { 0.0, 1.0, 0.0};
float Zscp[3] = { 0.0, 0.0, 1.0};
float lastZ[3];
// Is the spine a closed curve (last pt == first pt)?
bool spineClosed = (FPZERO(spine[ 3*(nSpine-1)+0 ] - spine[0]) &&
FPZERO(spine[ 3*(nSpine-1)+1 ] - spine[1]) &&
FPZERO(spine[ 3*(nSpine-1)+2 ] - spine[2]));
// Is the spine a straight line?
bool spineStraight = true;
for (i = 1; i < nSpine-1; ++i)
{
float v1[3], v2[3];
v1[0] = spine[3*(i-1)+0] - spine[3*(i)+0];
v1[1] = spine[3*(i-1)+1] - spine[3*(i)+1];
v1[2] = spine[3*(i-1)+2] - spine[3*(i)+2];
v2[0] = spine[3*(i+1)+0] - spine[3*(i)+0];
v2[1] = spine[3*(i+1)+1] - spine[3*(i)+1];
v2[2] = spine[3*(i+1)+2] - spine[3*(i)+2];
Vcross(v1, v2, v1);
if (Vlength(v1) != 0.0)
{
spineStraight = false;
Vnorm( v1 );
Vset( lastZ, v1 );
break;
}
}
// If the spine is a straight line, compute a constant SCP xform
if (spineStraight)
{
float V1[3] = { 0.0, 1.0, 0.0}, V2[3], V3[3];
V2[0] = spine[3*(nSpine-1)+0] - spine[0];
V2[1] = spine[3*(nSpine-1)+1] - spine[1];
V2[2] = spine[3*(nSpine-1)+2] - spine[2];
Vcross( V3, V2, V1 );
float len = (float)Vlength(V3);
if (len != 0.0) // Not aligned with Y axis
{
Vscale(V3, 1.0f/len);
float orient[4]; // Axis/angle
Vset(orient, V3);
orient[3] = acos(Vdot(V1,V2));
double scp[4][4]; // xform matrix
Mrotation( scp, orient );
for (int k=0; k<3; ++k) {
Xscp[k] = (float)scp[0][k];
Yscp[k] = (float)scp[1][k];
Zscp[k] = (float)scp[2][k];
}
}
}
// Orientation matrix
double om[4][4];
if (nOrientation == 1 && ! FPZERO(orientation[3]) )
Mrotation( om, orientation );
// Compute coordinates, texture coordinates:
for (i = 0, ci = 0; i < nSpine; ++i, ci+=nCrossSection) {
// Scale cross section
for (j = 0; j < nCrossSection; ++j) {
c[3*(ci+j)+0] = scale[0] * crossSection[ 2*j ];
c[3*(ci+j)+1] = 0.0;
c[3*(ci+j)+2] = scale[1] * crossSection[ 2*j+1 ];
}
// Compute Spine-aligned Cross-section Plane (SCP)
if (! spineStraight)
{
float S1[3], S2[3]; // Spine vectors [i,i-1] and [i,i+1]
int yi1, yi2, si1, s1i2, s2i2;
if (spineClosed && (i == 0 || i == nSpine-1))
{
yi1 = 3*(nSpine-2);
yi2 = 3;
si1 = 0;
s1i2 = 3*(nSpine-2);
s2i2 = 3;
}
else if (i == 0)
{
yi1 = 0;
yi2 = 3;
si1 = 3;
s1i2 = 0;
s2i2 = 6;
}
else if (i == nSpine-1)
{
yi1 = 3*(nSpine-2);
yi2 = 3*(nSpine-1);
si1 = 3*(nSpine-2);
s1i2 = 3*(nSpine-3);
s2i2 = 3*(nSpine-1);
}
else
{
yi1 = 3*(i-1);
yi2 = 3*(i+1);
si1 = 3*i;
s1i2 = 3*(i-1);
s2i2 = 3*(i+1);
}
Vdiff( Yscp, &spine[yi2], &spine[yi1] );
Vdiff( S1, &spine[s1i2], &spine[si1] );
Vdiff( S2, &spine[s2i2], &spine[si1] );
Vnorm( Yscp );
Vset(lastZ, Zscp); // Save last Zscp
Vcross( Zscp, S2, S1 );
float VlenZ = (float)Vlength(Zscp);
if ( VlenZ == 0.0 )
Vset(Zscp, lastZ);
else
Vscale( Zscp, 1.0f/VlenZ );
if ((i > 0) && (Vdot( Zscp, lastZ ) < 0.0))
Vscale( Zscp, -1.0 );
Vcross( Xscp, Yscp, Zscp );
}
// Rotate cross section into SCP
for (j = 0; j < nCrossSection; ++j) {
float cx, cy, cz;
cx = c[3*(ci+j)+0]*Xscp[0]+c[3*(ci+j)+1]*Yscp[0]+c[3*(ci+j)+2]*Zscp[0];
cy = c[3*(ci+j)+0]*Xscp[1]+c[3*(ci+j)+1]*Yscp[1]+c[3*(ci+j)+2]*Zscp[1];
cz = c[3*(ci+j)+0]*Xscp[2]+c[3*(ci+j)+1]*Yscp[2]+c[3*(ci+j)+2]*Zscp[2];
c[3*(ci+j)+0] = cx;
c[3*(ci+j)+1] = cy;
c[3*(ci+j)+2] = cz;
}
// Apply orientation
if (! FPZERO(orientation[3]) )
{
if (nOrientation > 1)
Mrotation( om, orientation );
for (j = 0; j < nCrossSection; ++j) {
float cx, cy, cz;
cx = (float)(c[3*(ci+j)+0]*om[0][0]+c[3*(ci+j)+1]*om[1][0]+c[3*(ci+j)+2]*om[2][0]);
cy = (float)(c[3*(ci+j)+0]*om[0][1]+c[3*(ci+j)+1]*om[1][1]+c[3*(ci+j)+2]*om[2][1]);
cz = (float)(c[3*(ci+j)+0]*om[0][2]+c[3*(ci+j)+1]*om[1][2]+c[3*(ci+j)+2]*om[2][2]);
c[3*(ci+j)+0] = cx;
c[3*(ci+j)+1] = cy;
c[3*(ci+j)+2] = cz;
}
}
// Translate cross section
for (j = 0; j < nCrossSection; ++j) {
c[3*(ci+j)+0] += spine[3*i+0];
c[3*(ci+j)+1] += spine[3*i+1];
c[3*(ci+j)+2] += spine[3*i+2];
// Texture coords
tc[3*(ci+j)+0] = ((float) j) / (nCrossSection-1);
tc[3*(ci+j)+1] = 1.0f - ((float) i) / (nSpine-1);
tc[3*(ci+j)+2] = 0.0f;
}
if (nScale > 1) scale += 2;
if (nOrientation > 1) orientation += 4;
}
// And compute face indices:
if (faces)
{
int polyIndex = 0;
for (i = 0, ci = 0; i < nSpine-1; ++i, ci+=nCrossSection) {
for (j = 0; j < nCrossSection-1; ++j) {
faces[polyIndex + 0] = ci+j;
faces[polyIndex + 1] = ci+j+1;
faces[polyIndex + 2] = ci+j+1 + nCrossSection;
faces[polyIndex + 3] = ci+j + nCrossSection;
faces[polyIndex + 4] = -1;
polyIndex += 5;
}
}
}
}
vector holder(vector v, float strength)
{
return Vmult(strength*square(radius(v)),Vnorm(Vneg(v)));
}
void ChLinkPulley::UpdateTime (double mytime)
{
// First, inherit to parent class
ChLinkLock::UpdateTime(mytime);
ChFrame<double> abs_shaft1;
ChFrame<double> abs_shaft2;
((ChFrame<double>*)Body1)->TrasformLocalToParent(local_shaft1, abs_shaft1);
((ChFrame<double>*)Body2)->TrasformLocalToParent(local_shaft2, abs_shaft2);
ChVector<> dcc_w = Vsub(Get_shaft_pos2(),
Get_shaft_pos1());
// compute actual rotation of the two wheels (relative to truss).
Vector md1 = abs_shaft1.GetA()->MatrT_x_Vect(dcc_w);
md1.z = 0; md1 = Vnorm (md1);
Vector md2 = abs_shaft2.GetA()->MatrT_x_Vect(dcc_w);
md2.z = 0; md2 = Vnorm (md2);
double periodic_a1 = ChAtan2(md1.x, md1.y);
double periodic_a2 = ChAtan2(md2.x, md2.y);
double old_a1 = a1;
double old_a2 = a2;
double turns_a1 = floor (old_a1 / CH_C_2PI);
double turns_a2 = floor (old_a2 / CH_C_2PI);
double a1U = turns_a1 * CH_C_2PI + periodic_a1 + CH_C_2PI;
double a1M = turns_a1 * CH_C_2PI + periodic_a1;
double a1L = turns_a1 * CH_C_2PI + periodic_a1 - CH_C_2PI;
a1 = a1M;
if (fabs(a1U - old_a1) < fabs(a1M - old_a1))
a1 = a1U;
if (fabs(a1L - a1) < fabs(a1M - a1))
a1 = a1L;
double a2U = turns_a2 * CH_C_2PI + periodic_a2 + CH_C_2PI;
double a2M = turns_a2 * CH_C_2PI + periodic_a2;
double a2L = turns_a2 * CH_C_2PI + periodic_a2 - CH_C_2PI;
a2 = a2M;
if (fabs(a2U - old_a2) < fabs(a2M - old_a2))
a2 = a2U;
if (fabs(a2L - a2) < fabs(a2M - a2))
a2 = a2L;
// correct marker positions if phasing is not correct
double m_delta =0;
if (this->checkphase)
{
double realtau = tau;
//if (this->epicyclic)
// realtau = -tau;
m_delta = a1 - phase - (a2/realtau);
if (m_delta> CH_C_PI) m_delta -= (CH_C_2PI); // range -180..+180 is better than 0...360
if (m_delta> (CH_C_PI/4.0)) m_delta = (CH_C_PI/4.0); // phase correction only in +/- 45°
if (m_delta<-(CH_C_PI/4.0)) m_delta =-(CH_C_PI/4.0);
//***TODO***
}
// Move markers 1 and 2 to align them as pulley ends
ChVector<> d21_w = dcc_w - Get_shaft_dir1()* Vdot (Get_shaft_dir1(), dcc_w);
ChVector<> D21_w = Vnorm(d21_w);
this->shaft_dist = d21_w.Length();
ChVector<> U1_w = Vcross(Get_shaft_dir1(), D21_w);
double gamma1 = acos( (r1-r2) / shaft_dist);
ChVector<> Ru_w = D21_w*cos(gamma1) + U1_w*sin(gamma1);
ChVector<> Rl_w = D21_w*cos(gamma1) - U1_w*sin(gamma1);
this->belt_up1 = Get_shaft_pos1()+ Ru_w*r1;
this->belt_low1 = Get_shaft_pos1()+ Rl_w*r1;
this->belt_up2 = Get_shaft_pos1()+ d21_w + Ru_w*r2;
this->belt_low2 = Get_shaft_pos1()+ d21_w + Rl_w*r2;
// marker alignment
ChMatrix33<> maU;
ChMatrix33<> maL;
ChVector<> Dxu = Vnorm(belt_up2 - belt_up1);
ChVector<> Dyu = Ru_w;
ChVector<> Dzu = Vnorm (Vcross(Dxu, Dyu));
Dyu = Vnorm (Vcross(Dzu, Dxu));
maU.Set_A_axis(Dxu,Dyu,Dzu);
// ! Require that the BDF routine of marker won't handle speed and acc.calculus of the moved marker 2!
marker2->SetMotionType(ChMarker::M_MOTION_EXTERNAL);
marker1->SetMotionType(ChMarker::M_MOTION_EXTERNAL);
ChCoordsys<> newmarkpos;
// move marker1 in proper positions
newmarkpos.pos = this->belt_up1;
newmarkpos.rot = maU.Get_A_quaternion();
marker1->Impose_Abs_Coord(newmarkpos); //move marker1 into teeth position
// move marker2 in proper positions
newmarkpos.pos = this->belt_up2;
newmarkpos.rot = maU.Get_A_quaternion();
marker2->Impose_Abs_Coord(newmarkpos); //move marker2 into teeth position
double phase_correction_up = m_delta*r1;
double phase_correction_low = - phase_correction_up;
double hU = Vlenght(belt_up2- belt_up1) + phase_correction_up;
double hL = Vlenght(belt_low2- belt_low1) + phase_correction_low;
// imposed relative positions/speeds
deltaC.pos = ChVector<>(-hU, 0, 0);
deltaC_dt.pos = VNULL;
deltaC_dtdt.pos = VNULL;
deltaC.rot = QUNIT; // no relative rotations imposed!
deltaC_dt.rot = QNULL;
deltaC_dtdt.rot = QNULL;
}
void ChLinkGear::UpdateTime (double mytime)
{
// First, inherit to parent class
ChLinkLock::UpdateTime(mytime);
// Move markers 1 and 2 to align them as gear teeth
ChMatrix33<> ma1;
ChMatrix33<> ma2;
ChMatrix33<> mrotma;
ChMatrix33<> marot_beta;
Vector mx;
Vector my;
Vector mz;
Vector mr;
Vector mmark1;
Vector mmark2;
Vector lastX;
Vector vrota;
Coordsys newmarkpos;
ChFrame<double> abs_shaft1;
ChFrame<double> abs_shaft2;
((ChFrame<double>*)Body1)->TrasformLocalToParent(local_shaft1, abs_shaft1);
((ChFrame<double>*)Body2)->TrasformLocalToParent(local_shaft2, abs_shaft2);
Vector vbdist = Vsub(Get_shaft_pos1(),
Get_shaft_pos2());
Vector Trad1 = Vnorm(Vcross(Get_shaft_dir1(), Vnorm(Vcross(Get_shaft_dir1(),vbdist))));
Vector Trad2 = Vnorm(Vcross(Vnorm(Vcross(Get_shaft_dir2(),vbdist)), Get_shaft_dir2()));
double dist = Vlenght(vbdist);
// compute actual rotation of the two wheels (relative to truss).
Vector md1 = abs_shaft1.GetA()->MatrT_x_Vect(-vbdist);
md1.z = 0; md1 = Vnorm (md1);
Vector md2 = abs_shaft2.GetA()->MatrT_x_Vect(-vbdist);
md2.z = 0; md2 = Vnorm (md2);
double periodic_a1 = ChAtan2(md1.x, md1.y);
double periodic_a2 = ChAtan2(md2.x, md2.y);
double old_a1 = a1;
double old_a2 = a2;
double turns_a1 = floor (old_a1 / CH_C_2PI);
double turns_a2 = floor (old_a2 / CH_C_2PI);
double a1U = turns_a1 * CH_C_2PI + periodic_a1 + CH_C_2PI;
double a1M = turns_a1 * CH_C_2PI + periodic_a1;
double a1L = turns_a1 * CH_C_2PI + periodic_a1 - CH_C_2PI;
a1 = a1M;
if (fabs(a1U - old_a1) < fabs(a1M - old_a1))
a1 = a1U;
if (fabs(a1L - a1) < fabs(a1M - a1))
a1 = a1L;
double a2U = turns_a2 * CH_C_2PI + periodic_a2 + CH_C_2PI;
double a2M = turns_a2 * CH_C_2PI + periodic_a2;
double a2L = turns_a2 * CH_C_2PI + periodic_a2 - CH_C_2PI;
a2 = a2M;
if (fabs(a2U - old_a2) < fabs(a2M - old_a2))
a2 = a2U;
if (fabs(a2L - a2) < fabs(a2M - a2))
a2 = a2L;
// compute new markers coordsystem alignment
my = Vnorm (vbdist);
mz = Get_shaft_dir1();
mx = Vnorm(Vcross (my, mz));
mr = Vnorm(Vcross (mz, mx));
mz = Vnorm(Vcross (mx, my));
ChVector<> mz2, mx2, mr2, my2;
my2 = my;
mz2 = Get_shaft_dir2();
mx2 = Vnorm(Vcross (my2, mz2));
mr2 = Vnorm(Vcross (mz2, mx2));
ma1.Set_A_axis(mx,my,mz);
// rotate csys because of beta
vrota.x = 0.0; vrota.y = this->beta; vrota.z = 0.0;
mrotma.Set_A_Rxyz(vrota);
marot_beta.MatrMultiply(ma1, mrotma);
// rotate csys because of alpha
vrota.x = 0.0; vrota.y = 0.0; vrota.z = this->alpha;
if (react_force.x < 0) vrota.z = this->alpha;
else vrota.z = -this->alpha;
mrotma.Set_A_Rxyz(vrota);
ma1.MatrMultiply(marot_beta, mrotma);
ma2.CopyFromMatrix(ma1);
// is a bevel gear?
double be = acos(Vdot(Get_shaft_dir1(), Get_shaft_dir2()));
bool is_bevel= true;
if (fabs( Vdot(Get_shaft_dir1(), Get_shaft_dir2()) )>0.96)
is_bevel = false;
// compute wheel radii
// so that:
// w2 = - tau * w1
if (!is_bevel)
{
double pardist = Vdot(mr, vbdist);
double inv_tau = 1.0/tau;
if (!this->epicyclic)
{
r2 = pardist - pardist / (inv_tau + 1.0);
}
else
{
r2 = pardist - (tau * pardist)/(tau-1.0);
}
r1 = r2*tau; }
else
{
double gamma2;
if (!this->epicyclic)
{
gamma2 = be/(tau + 1.0);
}
else
{
gamma2 = be/(-tau + 1.0);
}
double al = CH_C_PI - acos (Vdot(Get_shaft_dir2(), my));
double te = CH_C_PI - al - be;
double fd = sin(te) * (dist/sin(be));
r2 = fd * tan(gamma2);
r1 = r2*tau;
}
// compute markers positions, supposing they
// stay on the ideal wheel contact point
mmark1 = Vadd(Get_shaft_pos2(), Vmul(mr2, r2));
mmark2 = mmark1;
contact_pt = mmark1;
// correct marker 1 position if phasing is not correct
if (this->checkphase)
{
double realtau = tau;
if (this->epicyclic)
realtau = -tau;
double m_delta;
m_delta = - (a2/realtau) - a1 - phase;
if (m_delta> CH_C_PI) m_delta -= (CH_C_2PI); // range -180..+180 is better than 0...360
if (m_delta> (CH_C_PI/4.0)) m_delta = (CH_C_PI/4.0); // phase correction only in +/- 45°
if (m_delta<-(CH_C_PI/4.0)) m_delta =-(CH_C_PI/4.0);
vrota.x = vrota.y = 0.0; vrota.z = - m_delta;
mrotma.Set_A_Rxyz(vrota); // rotate about Z of shaft to correct
mmark1 = abs_shaft1.GetA()->MatrT_x_Vect(Vsub(mmark1, Get_shaft_pos1() ));
mmark1 = mrotma.Matr_x_Vect(mmark1);
mmark1 = Vadd (abs_shaft1.GetA()->Matr_x_Vect(mmark1), Get_shaft_pos1() );
}
// Move Shaft 1 along its direction if not aligned to wheel
double offset = Vdot (this->Get_shaft_dir1(), (contact_pt - this->Get_shaft_pos1()) );
ChVector<> moff = this->Get_shaft_dir1() * offset;
if (fabs (offset) > 0.0001)
this->local_shaft1.SetPos( local_shaft1.GetPos() + Body1->Dir_World2Body(&moff) );
// ! Require that the BDF routine of marker won't handle speed and acc.calculus of the moved marker 2!
marker2->SetMotionType(ChMarker::M_MOTION_EXTERNAL);
marker1->SetMotionType(ChMarker::M_MOTION_EXTERNAL);
// move marker1 in proper positions
newmarkpos.pos = mmark1;
newmarkpos.rot = ma1.Get_A_quaternion();
marker1->Impose_Abs_Coord(newmarkpos); //move marker1 into teeth position
// move marker2 in proper positions
newmarkpos.pos = mmark2;
newmarkpos.rot = ma2.Get_A_quaternion();
marker2->Impose_Abs_Coord(newmarkpos); //move marker2 into teeth position
// imposed relative positions/speeds
deltaC.pos = VNULL;
deltaC_dt.pos = VNULL;
deltaC_dtdt.pos = VNULL;
deltaC.rot = QUNIT; // no relative rotations imposed!
deltaC_dt.rot = QNULL;
deltaC_dtdt.rot = QNULL;
}
