joint()

provide general information of a given rigid body being in joint/link-contact with other bodies

begin_equation{$EqunName$} ... joint( iJNT, iItem, iMOVE ) ... end_equation

iJNT : then index of the joint/link between the rigid body and another body. There might be several, the number of which should be known to the user.
iItem : what item to provide by this function; it can be on of the following
- %EQN_JOINT_x(1)% : x-position of the joint/link
- %EQN_JOINT_x(2)% : y-position of the joint/link
- %EQN_JOINT_x(3)% : z-position of the joint/link
- %EQN_JOINT_F(1)% : x-component of force acting on the joint
- %EQN_JOINT_F(2)% : y-component of force acting on the joint
- %EQN_JOINT_F(3)% : z-component of force acting on the joint
- %EQN_JOINT_M(1)% : x-component of moment acting on the joint
- %EQN_JOINT_M(2)% : y-component of moment acting on the joint
- %EQN_JOINT_M(3)% : z-component of moment acting on the joint
iMOVE : move flag of the rigid body, i.e. the $moveName$ given in the MOVE($moveName$) = ( %MOVE_rigid%, ... ) statement

Example

begin_timestepfile{"myfile.timestep"} INTEGRATION(1) = (%PUBLICVALUE%, [real(%RealTimeSimulation%)], %INTEGRATION_Header%, "time" ) INTEGRATION(2) = (%PUBLICVALUE%, [joint(1, %EQN_JOINT_x(1)%, $MOVE_RB1$)], %INTEGRATION_Header%, "location of joint" ) INTEGRATION(3) = (%PUBLICVALUE%, [joint(1, %EQN_JOINT_F(1)%, $MOVE_RB1$)], %INTEGRATION_Header%, "force at of joint" ) end_timestepfile