Author: eudoxos
Date: 2009-01-12 19:17:06 +0100 (Mon, 12 Jan 2009)
New Revision: 1622
Added:
trunk/scripts/test-spiral.py
Modified:
trunk/pkg/common/Engine/DeusExMachina/RotationEngine.cpp
trunk/pkg/common/Engine/DeusExMachina/RotationEngine.hpp
trunk/pkg/common/SConscript
Log:
1. SpiralEngine that does both rotation and translation along the same axis
2. InterpolatingSpiralEngine for variable rotation+translation speed (replaces
InterpolationgRotationEngine)
3. scripts/test-spiral.py for rudimentary functionality testing.
Modified: trunk/pkg/common/Engine/DeusExMachina/RotationEngine.cpp
===================================================================
--- trunk/pkg/common/Engine/DeusExMachina/RotationEngine.cpp 2009-01-10
10:42:40 UTC (rev 1621)
+++ trunk/pkg/common/Engine/DeusExMachina/RotationEngine.cpp 2009-01-12
18:17:06 UTC (rev 1622)
@@ -13,16 +13,39 @@
#include<yade/pkg-common/RigidBodyParameters.hpp>
#include<yade/core/MetaBody.hpp>
#include<yade/lib-base/yadeWm3Extra.hpp>
+#include<yade/extra/Shop.hpp>
#include<yade/pkg-common/LinearInterpolate.hpp>
-YADE_PLUGIN("RotationEngine","InterpolatingRotationEngine");
+YADE_PLUGIN("RotationEngine","SpiralEngine","InterpolatingSpiralEngine");
-void InterpolatingRotationEngine::applyCondition(MetaBody* rb){
-
angularVelocity=linearInterpolate<Real>(rb->simulationTime,times,velocities,pos);
- RotationEngine::applyCondition(rb);
+
+void InterpolatingSpiralEngine::applyCondition(MetaBody* rb){
+ Real virtTime=period>0 ?
Shop::periodicWrap(rb->simulationTime,0,period) : rb->simulationTime;
+
angularVelocity=linearInterpolate<Real>(virtTime,times,angularVelocities,pos);
+ linearVelocity=angularVelocity*slope;
+ SpiralEngine::applyCondition(rb);
}
+void SpiralEngine::applyCondition(MetaBody* rb){
+ Real dt=Omega::instance().getTimeStep();
+ axis.Normalize();
+ Quaternionr q;
+ q.FromAxisAngle(axis,angularVelocity*dt);
+ FOREACH(body_id_t id,subscribedBodies){
+ assert(id<bodies->size());
+ Body* b=Body::byId(id,rb).get();
+ ParticleParameters*
rbp=YADE_CAST<RigidBodyParameters*>(b->physicalParameters.get());
+ assert(rbp);
+ // translation
+ rbp->se3.position+=dt*linearVelocity*axis;
+ // rotation
+ rbp->se3.position=q*(rbp->se3.position-axisPt)+axisPt;
+ rbp->se3.orientation=q*rbp->se3.orientation;
+ rbp->se3.orientation.Normalize(); // to make sure
+ }
+}
+
RotationEngine::RotationEngine()
{
rotateAroundZero = false;
Modified: trunk/pkg/common/Engine/DeusExMachina/RotationEngine.hpp
===================================================================
--- trunk/pkg/common/Engine/DeusExMachina/RotationEngine.hpp 2009-01-10
10:42:40 UTC (rev 1621)
+++ trunk/pkg/common/Engine/DeusExMachina/RotationEngine.hpp 2009-01-12
18:17:06 UTC (rev 1622)
@@ -29,21 +29,49 @@
};
REGISTER_SERIALIZABLE(RotationEngine);
-/*! Engine applying rotation, finding current angular velocity by
interpolating in times and velocities */
-class InterpolatingRotationEngine: public RotationEngine{
+/* Engine applying both rotation and translation, along the same axis, whence
the name SpiralEngine
+ */
+class SpiralEngine:public DeusExMachina{
public:
+
SpiralEngine():angularVelocity(0.),linearVelocity(0.),axis(Vector3r::UNIT_X),axisPt(0,0,0){}
+ Real angularVelocity;
+ Real linearVelocity;
+ //! axis of translation and rotation (direction); will be
normalized by the engine
+ Vector3r axis;
+ //! a point on the axis, to position it in space properly
+ Vector3r axisPt;
+ virtual void applyCondition(MetaBody*);
+ REGISTER_CLASS_AND_BASE(SpiralEngine,DeusExMachina);
+
REGISTER_ATTRIBUTES(DeusExMachina,(angularVelocity)(linearVelocity)(axis)(axisPt));
+};
+REGISTER_SERIALIZABLE(SpiralEngine);
+
+/*! Engine applying spiral motion, finding current angular velocity by
linearly interpolating in
+ * times and velocities and translation by using slope parameter.
+ *
+ * The interpolation assumes the margin value before the first time point and
last value
+ * after the last time point. If period is specified, time will wrap around,
but no interpolation
+ * between last and first values is done!
+ * */
+class InterpolatingSpiralEngine: public SpiralEngine{
+ public:
//! list of times at which velocities are given; must be
increasing
vector<Real> times;
- //! list of angular velocities
- vector<Real> velocities;
+ //! list of angular velocities; manadatorily of same length as
times
+ vector<Real> angularVelocities;
+ //! period after which we will wrap time to zero (no wrapping
if period<=0)
+ Real period;
+ //! axial translation per radian turn (can be negative)
+ Real slope;
//! holder of interpolation state, should not be touched by the
user.
size_t pos;
- InterpolatingRotationEngine(){pos=0;}
- void registerAttributes(){
RotationEngine::registerAttributes(); REGISTER_ATTRIBUTE(times);
REGISTER_ATTRIBUTE(velocities); REGISTER_ATTRIBUTE(pos); }
- void applyCondition(MetaBody* rb);
- REGISTER_CLASS_NAME(InterpolatingRotationEngine);
- REGISTER_BASE_CLASS_NAME(RotationEngine);
+ InterpolatingSpiralEngine(): period(-1), slope(0), pos(0){}
+ virtual void applyCondition(MetaBody* rb);
+ REGISTER_CLASS_AND_BASE(InterpolatingSpiralEngine,SpiralEngine);
+
REGISTER_ATTRIBUTES(SpiralEngine,(times)(angularVelocities)(period)(slope)(pos));
};
-REGISTER_SERIALIZABLE(InterpolatingRotationEngine);
+REGISTER_SERIALIZABLE(InterpolatingSpiralEngine);
+
+
Modified: trunk/pkg/common/SConscript
===================================================================
--- trunk/pkg/common/SConscript 2009-01-10 10:42:40 UTC (rev 1621)
+++ trunk/pkg/common/SConscript 2009-01-12 18:17:06 UTC (rev 1622)
@@ -58,7 +58,7 @@
env.SharedLibrary('JumpChangeSe3',['Engine/DeusExMachina/JumpChangeSe3.cpp'],
LIBS=env['LIBS']+['RigidBodyParameters']),
env.SharedLibrary('Se3Interpolator',['Engine/DeusExMachina/Se3Interpolator.cpp'],
LIBS=env['LIBS']+['RigidBodyParameters']),
env.SharedLibrary('RotationEngine',['Engine/DeusExMachina/RotationEngine.cpp'],
- LIBS=env['LIBS']+['ParticleParameters','RigidBodyParameters']),
+
LIBS=env['LIBS']+['ParticleParameters','RigidBodyParameters','Shop']),
env.SharedLibrary('TranslationEngine',['Engine/DeusExMachina/TranslationEngine.cpp'],
LIBS=env['LIBS']+['ParticleParameters']),
env.SharedLibrary('CinemDNCEngine',['Engine/DeusExMachina/CinemDNCEngine.cpp'],
Added: trunk/scripts/test-spiral.py
===================================================================
--- trunk/scripts/test-spiral.py 2009-01-10 10:42:40 UTC (rev 1621)
+++ trunk/scripts/test-spiral.py 2009-01-12 18:17:06 UTC (rev 1622)
@@ -0,0 +1,9 @@
+# script for testing InterpolatingSpiralEngine: sphere going in a sphere-like
motion around bar
+O.bodies.append([utils.box([0,0,0],[.005,.005,1],dynamic=False),utils.sphere([0,.1,-1],.04,dynamic=False)])
+O.engines=[
+
DeusExMachina('InterpolatingSpiralEngine',{'subscribedBodies':[1],'times':[10,20,30,40,50,60,70,80,90,100],'angularVelocities':[1,2,3,4,5,3,1,-1,-3,0],'axis':[0,0,1],'axisPt':[0,0,0],'period':-1,'slope':.003,'label':'spiral'}),
+]
+O.dt=5e-4
+O.saveTmp('initial')
+from yade import qt
+qt.Controller()
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