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.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)
