def update(self):
value = rigid.id()
value[3:] = quat.exp( self.dofs.position[0][0] * self.axis )
self.value = value
jacobian = np.zeros( self.size )
jacobian[3:, :] = self.axis.reshape( (3, 1) )
self.jacobian = jacobian
def update(self):
value = rigid.id()
value[3:] = quat.exp(self.dofs.position[0][0] * self.axis)
self.value = value
jacobian = np.zeros(self.size)
jacobian[3:, :] = self.axis.reshape((3, 1))
self.jacobian = jacobian
def createScene(node):
node.createObject('RequiredPlugin',
pluginName = 'Compliant')
ode = node.createObject('CompliantImplicitSolver')
num = node.createObject('SequentialSolver')
# ode.debug = 1
node.dt = 0.01
pos = np.zeros(7)
vel = np.zeros(6)
force = np.zeros(6)
alpha = math.pi / 4.0
q = quat.exp([0, 0, alpha])
pos[:3] = [-0.5, 0, 0]
pos[3:] = q
mass = 1.0
# change this for more fun
dim = np.array([1, 2, 1])
dim2 = dim * dim
inertia = mass / 12.0 * (dim2[ [1, 2, 0] ] + dim2[ [2, 0, 1] ])
volume = 1.0
force[3:] = quat.rotate(q, [0, 1, 0])
scene = node.createChild('scene')
good = scene.createChild('good')
dofs = good.createObject('MechanicalObject',
template = 'Rigid',
name = 'dofs',
position = pos,
velocity = vel,
showObject = 1)
good.createObject('RigidMass',
template = 'Rigid',
name = 'mass',
mass = mass,
inertia = inertia)
good.createObject('ConstantForceField',
template = 'Rigid',
name = 'ff',
forces = force)
bad = scene.createChild('bad')
pos[:3] = [0.5, 0, 0]
dofs = bad.createObject('MechanicalObject',
template = 'Rigid',
name = 'dofs',
position = pos,
velocity = vel,
showObject = 1)
inertia_matrix = np.diag(inertia)
def cat(x): return ' '.join( map(str, x))
def print_matrix(x):
return '[' + ','.join(map(str, x)) + ']'
bad.createObject('UniformMass',
template = 'Rigid',
name = 'mass',
mass = cat([mass, volume, print_matrix(inertia_matrix / mass)]))
bad.createObject('ConstantForceField',
template = 'Rigid',
name = 'ff',
forces = force)
node.gravity = '0 0 0'
