mbs_calc_force.c File Reference

#include "mbs_data.h"
#include "mbs_project_interface.h"
#include "mbs_message.h"
#include "mbs_errors_names.h"

Functions
int	mbs_calc_force (MbsData *s)
	compute the force and torques applied on the multibody system. More...

Detailed Description

author Nicolas Docquier

Function Documentation

mbs_calc_force()

int mbs_calc_force

(

MbsData *

s

)

compute the force and torques applied on the multibody system.

Set the matrices MbsData::frc and MbsData::trq at zero, then compute the contribution of:

• Links forces
• Links 3D forces
• External forces
• Joints forces

Parameters

[in,out]

s

the MbsData structure.

Returns

0 if everything went well, <0 if an error has occured