dataPlot[0, 1] = q[2]
dataPlot[0, 2] = v[2]
k = 1
# time loop
while(simulation.hasNextEvent()):
# Add a second box dynamically to the simulation
if k == 100:
broadphase.addDynamicObject(makeBox(pos=3), simulation)
broadphase.buildInteractions(bouncingBox.currentTime())
simulation.computeOneStep()
dataPlot[k, 0] = simulation.nextTime()
dataPlot[k, 1] = q[2]
dataPlot[k, 2] = v[2]
if (broadphase.collisionWorld().getDispatcher().getNumManifolds() > 0):
if bouncingBox.nonSmoothDynamicalSystem().topology().\
numberOfIndexSet() > 1:
index1 = sk.interactions(simulation.indexSet(1))
if (len(index1) == 4):
dataPlot[k, 3] = norm(index1[0].lambda_(1)) + \
norm(index1[1].lambda_(1)) + norm(index1[2].lambda_(1)) + \
norm(index1[3].lambda_(1))
k += 1
simulation.nextStep()
