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Remove erroneous code from mechanic interface component #2313

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Merged
robbr48 merged 1 commit into from
Apr 10, 2026
Merged

Remove erroneous code from mechanic interface component #2313

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60 changes: 3 additions & 57 deletions componentLibraries/defaultLibrary/Connectivity/MechanicInterfaceC.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,14 +40,10 @@ namespace hopsan {

//!
//! @brief
//! @ingroup MechanicalComponents
//! @ingroup InterfaceComponents
//!
class MechanicInterfaceC : public ComponentC
{
double Zc, dT;
double *mpv2, *mpf2, *mpP1_c, *mpP1_Zc;

double f0, f1, f2, v0, v1, v2, t0, t1, t2, fi, vi, fi0, vi0;

private:
Port *mpP1;
Expand All @@ -61,68 +57,18 @@ namespace hopsan {
void configure()
{
mpP1 = addPowerPort("P1", "NodeMechanic");
addInputVariable("v2", "received (delayed) velocity", "m/s", 0, &mpv2);
addInputVariable("f2", "receive (delayed) force", "N", 0, &mpf2);
addConstant("Zc", "Characteristic Impedance", "Ns/m", Zc);
addConstant("Td", "Time delay", "s", dT);
}

void initialize()
{
mpP1_c = getSafeNodeDataPtr(mpP1, NodeMechanic::WaveVariable);
mpP1_Zc = getSafeNodeDataPtr(mpP1, NodeMechanic::CharImpedance);
f0 = 0;
f1 = 0;
f2 = 0;
v0 = 0;
v1 = 0;
v2 = 0;
t0 = mTime-2*mTimestep;
t1 = mTime-mTimestep;
t2 = mTime;
fi0 = fi;
vi0 = v0;
//Interfacing is handled through readnode/writenode from the RT wrapper file
}

void simulateOneTimestep()
{
if(dT < 1.01*mTimestep && dT > 0.99*mTimestep) {
fi = (*mpf2);
vi = (*mpv2);
}
else {
if(f2 != (*mpf2) || v2 != (*mpv2)) {
f0 = f1;
f1 = f2;
f2 = (*mpf2);
v0 = v1;
v1 = v2;
v2 = (*mpv2);
t0 = t1;
t1 = t2;
t2 = mTime;
}

double t = mTime-dT;
//fi = interpolateLinear(f1, f2, t1, t2, t);
//vi = interpolateLinear(v1, v2, t1, t2, t);

fi = interpolateQuadratic(f0, f1, f2, t0, t1, t2, t);
vi = interpolateQuadratic(v0, v1, v2, t0, t1, t2, t);
}

(*mpP1_c) = fi + Zc*vi;
(*mpP1_Zc) = Zc;
}

double interpolateLinear(double x1, double x2, double t1, double t2, double t) {
return x1+(x2-x1)/(t2-t1)*(t-t1);
//Interfacing is handled through readnode/writenode from the RT wrapper file
}

double interpolateQuadratic(double x0, double x1, double x2, double t0, double t1, double t2, double t) {
double theta = (t-t1)/(t2-t1);
return x0*(theta*(theta-1.0))/2.0 + x1*(1.0-theta*theta) + x2*(theta*(theta+1))/2.0;
}
};
}

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