void Foam::RBD::joints::Rz::jcalc ( joint::XSvc& J, const rigidBodyModelState& state ) const { J.X = Xrz(state.q()[qIndex_]); J.S1 = S_[0]; J.v = Zero; J.v.wz() = state.qDot()[qIndex_]; J.c = Zero; }
void Foam::RBD::joints::Rz::jcalc ( joint::XSvc& J, const scalarField& q, const scalarField& qDot ) const { J.X = Xrz(q[qIndex_]); J.S1 = S_[0]; J.v = Zero; J.v.wz() = qDot[qIndex_]; J.c = Zero; }