Hi All,
I'm working on a simulation where I need to prescribe the kinematics
(position, velocity, and acceleration) of a ChBody one timestep ahead,
rather than at the current time. I understand that SetPos(), SetVel(), and
related methods can be used to prescribe the *current *position and
velocity of a body. However, I'm looking for functionality more similar to
the rheonomic constraints like ChLinkMotor classes that use time-dependent
functions to define motion.
My questions are the following:
1.
Is there currently a way to specify kinematics of a ChBody at the next
time step? I have been unable to find it thus far.
2.
If this functionality doesn’t exist, do you have any recommendations
for how to implement it? Would extending an existing ChLinkMotor or using a
custom constraint be appropriate?
Thanks!
Matt
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