def createScene(root):
root.createObject('RequiredPlugin', pluginName = 'Compliant')
root.createObject('VisualStyle', displayFlags="showBehavior" )
root.dt = 0.001
root.gravity = [0, -9.8, 0]
ode = root.createObject('AssembledSolver')
ode.stabilization = True
num = root.createObject('MinresSolver')
num.iterations = 500
scene = root.createChild('scene')
base = Rigid.Body('base')
moving = Rigid.Body('moving')
moving.inertia_forces = True
moving.dofs.translation = [0, 2, 0]
base_node = base.insert( scene );
base_node.createObject('FixedConstraint', indices = '0')
moving_node = moving.insert( scene );
base_offset = Rigid.Frame()
base_offset.translation = [0, 1, 0]
moving_offset = Rigid.Frame()
moving_offset.translation = [0, -1, 0]
joint = Rigid.SphericalJoint()
# only rotation dofs
joint.append(base_node, base_offset)
joint.append(moving_node, moving_offset)
node = joint.insert(scene)
node.createObject('UniformCompliance',
template = 'Vec6d',
compliance = 1e-3 )
def createScene(root):
# root node setup
root.createObject('RequiredPlugin', pluginName='Compliant')
root.createObject('VisualStyle', displayFlags="showBehavior")
# simuation parameters
root.dt = 1e-2
root.gravity = [0, -9.8, 0]
# ode solver
ode = root.createObject('CompliantImplicitSolver')
ode.stabilization = "pre-stabilization"
# numerical solver
num = root.createObject('MinresSolver')
num.iterations = 500
# scene node
scene = root.createChild('scene')
# script variables
n = 10
length = 2
# objects creation
obj = []
for i in xrange(n):
# rigid bodies
body = Rigid.Body()
body.name = 'link-' + str(i)
body.dofs.translation = [0, length * i, 0]
body.inertia_forces = 'true'
obj.append(body)
# insert the object into the scene node, saves the created
# node in body_node
body.node = body.insert(scene)
body.node.getObject("dofs").showObject = True
# joints creation
for i in xrange(n - 1):
# the joint
j = Rigid.SphericalJoint()
# joint offset definitions
up = Rigid.Frame.Frame()
up.translation = [0, length / 2, 0]
down = Rigid.Frame.Frame()
down.translation = [0, -length / 2, 0]
# append node/offset to the joint
j.append(obj[i].node, up) # parent
j.append(obj[i + 1].node, down) # child
j.insert(scene)
# attach first node
obj[0].node.createObject('FixedConstraint', indices='0')
