Mechanism operator#

Every delivery into a target of this kind is summed.

Interfaces#

Name	Kind	Units	Frame	Shape	Sign	Typical magnitude	Description
`apparatus.link_inertia`	operator	kg m^2	world	-1 x 2 x 3 x 3	added to the inertia of the body each frame is fixed to, about its centre of mass, at the step’s start and at its end	1e-05	the inertia each of a chain segment’s frames carries beyond its own inertial, one row per frame in the order the segment lists them, at the step’s start and at its end, summed over every delivery: what a rotor unequal across its spin axis hands the frame it is mounted on, its half difference across the axis, which turns with it. A dynamic segment takes it, a kinematic one does not
`apparatus.link_momentum`	operator	N m s	world	-1 x 3	the gyroscopic torque on the body each frame is fixed to is h x omega, omega the frame’s angular velocity	0.001	the angular momentum about its spin axis of each rotor a chain segment’s frame carries, one row per frame in the order the segment lists them, summed over every delivery: what a spinner hands the frame it is mounted on, whose gyroscopic torque the segment applies at its own velocity. A dynamic segment takes it, a kinematic one does not
`body.resistance`	operator	N s/m; N s; N m s	world	6 x 6	the load on the body is -R [velocity; angular velocity] + the background load; v.Rv >= 0	1e-06	the resistance to the body’s motion, integrated implicitly by an inertial body

No hand-written part: the cross-node algorithm of this mechanism is not written yet.