[Ctypes] fix sensor, and data SWr

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_data.py

@@ -349,7 +349,7 @@ class MbsData(object):
         self.__xfidpt = self.__SWr = None
         if self.Nxfrc:
             self.__xfidpt = np.ctypeslib.as_array(self.mbs_data_ptr.contents.xfidpt, (self.Nxfrc+1,))
-            self.__SWr = np.ctypeslib.as_array(self.mbs_data_ptr.contents.SWr, (self.Nxfrc+1, 9+1))
+            self.__SWr = np.ctypeslib.as_array(self.mbs_data_ptr.contents.SWr[0], (self.Nxfrc+1, 9+1))
         
         # User State
         self.__ux = self.__ux0 = self.__uxd = None

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_dirdyn.py

@@ -72,7 +72,7 @@ class MbsDirdyn(object):
                   self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[1][2], 
                   self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[2][1], 
                   self.mbs_dirdyn_ptr.contents.mbs_aux.contents.M[2][2])
-        # Path to user function used by partitionning modue
+        # Path to user function used by partitionning module
         self.user_path = self.mbs.user_path
         if not (user_path==None):
             project_path  = (self.mbs.project_path).decode("utf-8")
@@ -190,7 +190,7 @@ class MbsDirdyn(object):
             path = os.path.abspath(os.path.join(template_path, user_file))
         module = imp.load_source(user_file[:-3], path)
         self.user_cons_jdqd = module.user_cons_jdqd
-        self.ptrs_to_user_fcts["user_cons_jdqd"] = user_cons_jdqd_wrap(lambda h,Jac,mbs,tsim : self.user_cons_jdqd(self._jdqduserc, self.mbs, tsim))
+        self.ptrs_to_user_fcts["user_cons_jdqd"] = user_cons_jdqd_wrap(lambda h,Jac,mbs,tsim : self.user_cons_jdqd(self._jdqduserc, self.mbs))
 
         # user_dirdyn
         user_file = "user_dirdyn.py"
@@ -235,7 +235,7 @@ class MbsDirdyn(object):
             path = os.path.abspath(os.path.join(template_path, symb_file))
         module = imp.load_source(symb_file[:-3], path)
         self.mbs_cons_hJ = module.cons_hJ
-        self.ptrs_to_symb_fcts["mbs_cons_hJ"] = mbs_cons_hJ_wrap(lambda h,Jac,mbs,tsim : self.__callback_mbs_cons_hJ(self.mbs_cons_hJ,h,Jac))
+        self.ptrs_to_symb_fcts["mbs_cons_hJ"] = mbs_cons_hJ_wrap(lambda h,Jac,mbs,tsim : self.mbs_cons_hJ(self._h,self._Jac, self.mbs))
         
         
         # mbs_cons_jdqd
@@ -274,11 +274,6 @@ class MbsDirdyn(object):
         return
     
      # Callback function for function with advanced arguments
-    def __callback_user_cons_hJ(self, fun, h, Jac, tsim):
-        __h = np.ctypeslib.as_array(h, (self.mbs.Nuserc+1,))
-        __Jac = np.ctypeslib.as_array(Jac[0], (self.mbs.Nuserc+1,self.mbs.njoint+1))
-        fun(__h,__Jac,self.mbs,tsim)
-        
     def __callback_mbs_cons_hJ(self, fun, h, Jac):
         if __DEBUG__ : print( "DEBUG>>  callback_mbs_cons_hJ")
         __h = np.ctypeslib.as_array(h, (self.mbs.Ncons+1,))

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_sensor.py

@@ -163,7 +163,7 @@ class MbsSensor(object):
             else:
                 id_ = self.id
             
-        self.mbs.sensor(self, self.mbs, id_)
+        self.__mbs_data.mbs_sensor(self, self.__mbs_data, id_)
         
     def gensensor(self, id_=None):
         """
@@ -193,7 +193,7 @@ class MbsSensor(object):
             else:
                 id_ = self.id
             
-        self.mbs.gensensor(self, self.mbs, id_)
+        self.__mbs_data.mbs_gensensor(self, self.__mbs_data, id_)
         
     
     @property