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7bc6ab74a8
* added SIM_singlerigidbody * Removed a few sections in the README file * Removed the sims directory * Added shutdown job and made minor changes to body.cpp --------- Co-authored-by: Wallace <bnwalla1@scooby.trick.gov>
82 lines
3.7 KiB
Python
82 lines
3.7 KiB
Python
################################################################################
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# _ ___ _ #
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# / |___| _ ) ___ __| |_ _ #
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# | |___| _ \/ _ \/ _` | || | #
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# |_| |___/\___/\__,_|\_, | #
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# __ ___ ___ __|__/ #
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# / / ___| \ / _ \| __| #
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# / _ \___| |) | (_) | _| #
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# \___/ |___/ \___/|_| #
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# #
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# This input creates a simple body with 6 DOF: #
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# -Creates 1 body #
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# -Initializes 6 DOF #
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################################################################################
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# ============================================================================ -
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# This file is used to store several quality of life python functions.
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# ============================================================================ -
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exec(open("Modified_data/state_data.dr").read())
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exec(open("Modified_data/realtime.py").read())
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################################################################################
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# dyn DATA #
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# (NOTE: dyn is our instance of BodySimObject) #
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# This builds our objects, and defines their physical properties. #
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################################################################################
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# ============================================================================ -
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# Establish the physical properties of the body...CONSTANTS!
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# ============================================================================ -
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dyn.body.mass = 20.0
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dyn.body.radius = 2.0
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# ============================================================================ -
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# Initialize system
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# ============================================================================ -
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M_PI = 3.141592653589793238460
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#dyn.body.POS_INIT[0] = 0.0
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#dyn.body.POS_INIT[1] = 0.0
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#dyn.body.POS_INIT[2] = 0.0
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#dyn.body.ANGLE_INIT[0] = 0.0
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#dyn.body.ANGLE_INIT[1] = 0.0
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#dyn.body.ANGLE_INIT[2] = 0.0
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#dyn.body.OMEGA_INIT[0] = 0.0
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#dyn.body.OMEGA_INIT[1] = 0.0
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#dyn.body.OMEGA_INIT[2] = 0.0
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#dyn.body.FORCE_INIT[0] = 0.0
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#dyn.body.FORCE_INIT[1] = 0.0
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#dyn.body.FORCE_INIT[2] = 10.0
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#dyn.body.TORQUE_INIT[0] = 0.0
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#dyn.body.TORQUE_INIT[1] = 0.0
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#dyn.body.TORQUE_INIT[2] = 0.0
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#dyn.body.VEL_INIT[0] = 0.0
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#dyn.body.VEL_INIT[1] = 0.0
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#dyn.body.VEL_INIT[2] = 0.0
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#dyn.body.POS_FORCE[0] = 2.0
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#dyn.body.POS_FORCE[1] = 0.0
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#dyn.body.POS_FORCE[2] = 0.0
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################################################################################
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# SIMULATION SET UP #
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# This is where we set up the remaining inputs to create a working sim. #
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################################################################################
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# ============================================================================ -
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# getintegrator(integration method, number of variables to be integrated)
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# This sets up the integration scheme we use to analyze this system.
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# ============================================================================ -
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dyn_integloop.getIntegrator(trick.Runge_Kutta_4, 12)
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# ============================================================================ -
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# This tells the sim to stop after a few seconds
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# ============================================================================ -
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trick.stop(10.0)
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