def startOfStep():
assert rigidbody3d.numStaticPlanes() == 1
t0 = 5.0;
t = rigidbody3d.nextIteration() * rigidbody3d.timestep()
if t >= t0:
rigidbody3d.setStaticPlanePosition( 0, 0.0, math.sin( 2.0 * math.pi * ( t - t0 ) ), 0.0 )
rigidbody3d.setStaticPlaneVelocity( 0, 0.0, 2.0 * math.pi * math.cos( 2.0 * math.pi * ( t - t0 ) ), 0.0 )
def startOfStep():
assert rigidbody3d.numStaticCylinders() == 1
t0 = 5.0
omega = 2.0 * math.pi
t = rigidbody3d.nextIteration() * rigidbody3d.timestep()
if t >= t0:
theta = omega * ( t - t0 )
rigidbody3d.setStaticCylinderOrientation( 0, 0.0, 0.0, 1.0, theta )
rigidbody3d.setStaticCylinderAngularVelocity( 0, 0.0, 0.0, omega )
def startOfStep():
assert rigidbody3d.numStaticPlanes() == 1
t0 = 5.0
t = rigidbody3d.nextIteration() * rigidbody3d.timestep()
if t >= t0:
rigidbody3d.setStaticPlanePosition(0, 0.0,
math.sin(2.0 * math.pi * (t - t0)),
0.0)
rigidbody3d.setStaticPlaneVelocity(
0, 0.0, 2.0 * math.pi * math.cos(2.0 * math.pi * (t - t0)), 0.0)
def startOfStep():
assert rigidbody3d.numStaticCylinders() == 1
t0 = 5.0
omega = 2.0 * math.pi
t = rigidbody3d.nextIteration() * rigidbody3d.timestep()
if t >= t0:
theta = omega * ( t - t0 )
rotation0 = quaternion_about_axis( theta, numpy.array([0.0,0.0,1.0]) )
rotation1 = quaternion_from_two_vectors( numpy.array([0.0,1.0,0.0]), numpy.array([0.0,0.0,1.0]) )
rotation2 = quaternion_multiply( rotation0, rotation1 )
rigidbody3d.setStaticCylinderOrientation( 0, rotation2[0], rotation2[1], rotation2[2], rotation2[3] )
rigidbody3d.setStaticCylinderAngularVelocity( 0, 0.0, 0.0, omega )
def startOfStep():
assert rigidbody3d.numStaticCylinders() == 1
t0 = 5.0
omega = 2.0 * math.pi
t = rigidbody3d.nextIteration() * rigidbody3d.timestep()
if t >= t0:
theta = omega * (t - t0)
rotation0 = quaternion_about_axis(theta, numpy.array([0.0, 0.0, 1.0]))
rotation1 = quaternion_from_two_vectors(numpy.array([0.0, 1.0, 0.0]),
numpy.array([0.0, 0.0, 1.0]))
rotation2 = quaternion_multiply(rotation0, rotation1)
rigidbody3d.setStaticCylinderOrientation(0, rotation2[0], rotation2[1],
rotation2[2], rotation2[3])
rigidbody3d.setStaticCylinderAngularVelocity(0, 0.0, 0.0, omega)
def startOfStep():
assert rigidbody3d.numStaticPlanes() == 1
t0 = 5.0
t1 = 20.0
t = rigidbody3d.nextIteration() * rigidbody3d.timestep()
if t >= t0 and t < t1:
xpos = 1.0 - math.cos(math.pi * (t - t0))
ypos = 0.0
zpos = math.sin(2.0 * math.pi * (t - t0))
rigidbody3d.setStaticPlanePosition(0, xpos, ypos, zpos)
vx = math.pi * math.sin(math.pi * (t - t0))
vy = 0.0
vz = 2.0 * math.pi * math.cos(2.0 * math.pi * (t - t0))
rigidbody3d.setStaticPlaneVelocity(0, vx, vy, vz)
elif t >= t1:
xpos = 1.0 - math.cos(math.pi * (t - t0))
ypos = math.sin(math.pi * (t - t1))
zpos = math.sin(2.0 * math.pi * (t - t0))
rigidbody3d.setStaticPlanePosition(0, xpos, ypos, zpos)
vx = math.pi * math.sin(math.pi * (t - t0))
vy = math.pi * math.cos(math.pi * (t - t1))
vz = 2.0 * math.pi * math.cos(2.0 * math.pi * (t - t0))
rigidbody3d.setStaticPlaneVelocity(0, vx, vy, vz)
def startOfStep():
assert rigidbody3d.numStaticPlanes() == 1
t0 = 5.0
t1 = 20.0
t = rigidbody3d.nextIteration() * rigidbody3d.timestep()
if t >= t0 and t < t1:
xpos = 1.0 - math.cos( math.pi * ( t - t0 ) )
ypos = 0.0
zpos = math.sin( 2.0 * math.pi * ( t - t0 ) )
rigidbody3d.setStaticPlanePosition( 0, xpos, ypos, zpos )
vx = math.pi * math.sin( math.pi * ( t - t0 ) )
vy = 0.0
vz = 2.0 * math.pi * math.cos( 2.0 * math.pi * ( t - t0 ) )
rigidbody3d.setStaticPlaneVelocity( 0, vx, vy, vz )
elif t >= t1:
xpos = 1.0 - math.cos( math.pi * ( t - t0 ) )
ypos = math.sin( math.pi * ( t - t1 ) )
zpos = math.sin( 2.0 * math.pi * ( t - t0 ) )
rigidbody3d.setStaticPlanePosition( 0, xpos, ypos, zpos )
vx = math.pi * math.sin( math.pi * ( t - t0 ) )
vy = math.pi * math.cos( math.pi * ( t - t1 ) )
vz = 2.0 * math.pi * math.cos( 2.0 * math.pi * ( t - t0 ) )
rigidbody3d.setStaticPlaneVelocity( 0, vx, vy, vz )
