return zero in multibody resultants
@@ -250,9 +250,9 @@ class NonLinearDynamicMultibody(_BaseStructural):
else:
MB_tstep[ibody].for_pos[0:3] += dt*np.dot(MB_tstep[ibody].cga(),MB_tstep[ibody].for_vel[0:3])
- def extract_resultants(self):
+ def extract_resultants(self, tstep):
# TODO: code
- pass
+ return np.zeros((3)), np.zeros((3))
def compute_forces_constraints(self, MB_beam, MB_tstep, ts, dt, Lambda, Lambda_dot):
"""
@@ -347,6 +347,7 @@ class NonLinearDynamicMultibody(_BaseStructural):
dqdt = np.zeros((self.sys_size + num_LM_eq,), dtype=ct.c_double, order='F')
dqddt = np.zeros((self.sys_size + num_LM_eq,), dtype=ct.c_double, order='F')
+ # TODO: i belive this can move into disp_and_accel2 state as self.Lambda, self.Lambda_dot
if not num_LM_eq == 0:
Lambda = self.Lambda.astype(dtype=ct.c_double, copy=True, order='F')
Lambda_dot = self.Lambda_dot.astype(dtype=ct.c_double, copy=True, order='F')
