prismatic_ground_slider.Initialize(
ground, slider, chrono.ChCoordsysD(chrono.ChVectorD(2, 0, 0), z2x))
system.AddLink(prismatic_ground_slider)
## Distance constraint between crank and slider.
## We provide the points on the two bodies in the global reference frame.
## By default the imposed distance is calculated automatically as the distance
## between these two points in the initial configuration.
dist_crank_slider = chrono.ChLinkDistance()
dist_crank_slider.SetName("dist_crank_slider")
dist_crank_slider.Initialize(crank, slider, False, chrono.ChVectorD(-2, 0, 0),
chrono.ChVectorD(2, 0, 0))
system.AddLink(dist_crank_slider)
## 4. Write the system hierarchy to the console (default log output destination)
system.ShowHierarchy(chrono.GetLog())
## 5. Prepare visualization with Irrlicht
## Note that Irrlicht uses left-handed frames with Y up.
## Create the Irrlicht application and set-up the camera.
application = chronoirr.ChIrrApp(
system, ## pointer to the mechanical system
"Slider-Crank Demo 0", ## title of the Irrlicht window
chronoirr.dimension2du(800, 600), ## window dimension (width x height)
False, ## use full screen?
True) ## enable shadows?
application.AddTypicalLogo()
application.AddTypicalSky()
application.AddTypicalLights()
application.AddTypicalCamera(
# Created: 1/01/2019
# Copyright: (c) ProjectChrono 2019
#------------------------------------------------------------------------------
print("First tutorial for PyChrono: vectors, matrices etc.")
# Load the Chrono::Engine core module!
import pychrono as chrono
try:
import numpy as np
from numpy import linalg as LA
except ImportError:
print("You need NumPyto run this demo!")
# Test logging
chrono.GetLog().Bar()
chrono.GetLog() << "result is: " << 11 + 1.5 << "\n"
chrono.GetLog().Bar()
# Test vectors
my_vect1 = chrono.ChVectorD()
my_vect1.x = 5
my_vect1.y = 2
my_vect1.z = 3
my_vect2 = chrono.ChVectorD(3, 4, 5)
my_vect4 = my_vect1 * 10 + my_vect2
my_len = my_vect4.Length()
print('vect sum =', my_vect1 + my_vect2)
print('vect cross =', my_vect1 % my_vect2)
print('vect dot =', my_vect1 ^ my_vect2)