Hi, I have updated HelixEngine. Now it is the child class from RotationEngine. Therefore I deleted the duplicated code. AxisPt is now zeroPoint axis is now rotationAxis
Now, seems, kinematic engines are working correctly. Discussions are welcome. Anton On Fri, Jan 14, 2011 at 9:03 AM, <[email protected]> wrote: > ------------------------------------------------------------ > revno: 2654 > committer: Anton Gladky <[email protected]> > branch nick: yade > timestamp: Fri 2011-01-14 09:01:33 +0100 > message: > 1. HelixEngine updated, dublicated code deleted. > 2. HelixEngine is added to regression tests. > modified: > pkg/common/KinematicEngines.cpp > pkg/common/KinematicEngines.hpp > py/tests/omega.py > > > -- > lp:yade > https://code.launchpad.net/~yade-dev/yade/trunk > > Your team Yade developers is subscribed to branch lp:yade. > To unsubscribe from this branch go to > https://code.launchpad.net/~yade-dev/yade/trunk/+edit-subscription > > === modified file 'pkg/common/KinematicEngines.cpp' > --- pkg/common/KinematicEngines.cpp 2011-01-13 13:22:41 +0000 > +++ pkg/common/KinematicEngines.cpp 2011-01-14 08:01:33 +0000 > @@ -74,16 +74,16 @@ > > void HelixEngine::apply(const vector<Body::id_t>& ids){ > const Real& dt=scene->dt; > - Quaternionr q(AngleAxisr(angularVelocity*dt,axis)); > angleTurned+=angularVelocity*dt; > shared_ptr<BodyContainer> bodies = scene->bodies; > FOREACH(Body::id_t id,ids){ > assert(id<(Body::id_t)bodies->size()); > Body* b=Body::byId(id,scene).get(); > if(!b) continue; > - > b->state->vel+=linearVelocity*axis+angularVelocity*axis.cross(b->state->pos-axisPt); > - b->state->angVel+=angularVelocity*axis; > + b->state->vel+=linearVelocity*rotationAxis; > } > + rotateAroundZero=true; > + RotationEngine::apply(ids); > } > > > > === modified file 'pkg/common/KinematicEngines.hpp' > --- pkg/common/KinematicEngines.hpp 2010-12-21 12:36:14 +0000 > +++ pkg/common/KinematicEngines.hpp 2011-01-14 08:01:33 +0000 > @@ -62,14 +62,10 @@ > }; > REGISTER_SERIALIZABLE(RotationEngine); > > -struct HelixEngine:public KinematicEngine{ > +struct HelixEngine:public RotationEngine{ > virtual void apply(const vector<Body::id_t>& ids); > - void postLoad(HelixEngine&){ axis.normalize(); } > - YADE_CLASS_BASE_DOC_ATTRS(HelixEngine,KinematicEngine,"Engine > applying both rotation and translation, along the same axis, whence the name > HelixEngine", > - ((Real,angularVelocity,0,,"Angular velocity [rad/s]")) > + YADE_CLASS_BASE_DOC_ATTRS(HelixEngine,RotationEngine,"Engine applying > both rotation and translation, along the same axis, whence the name > HelixEngine", > ((Real,linearVelocity,0,,"Linear velocity [m/s]")) > - ((Vector3r,axis,Vector3r::UnitX(),Attr::triggerPostLoad,"Axis > of translation and rotation; will be normalized by the engine.")) > - ((Vector3r,axisPt,Vector3r::Zero(),,"A point on the axis, to > position it in space properly.")) > ((Real,angleTurned,0,,"How much have we turned so far. > |yupdate| [rad]")) > ); > }; > > === modified file 'py/tests/omega.py' > --- py/tests/omega.py 2011-01-13 15:24:47 +0000 > +++ py/tests/omega.py 2011-01-14 08:01:33 +0000 > @@ -67,29 +67,44 @@ > O.reset() > id_fixed_transl = > O.bodies.append(utils.sphere((0.0,0.0,0.0),1.0,fixed=True)) > id_nonfixed_transl = > O.bodies.append(utils.sphere((0.0,5.0,0.0),1.0,fixed=False)) > - id_fixed_rot = > O.bodies.append(utils.sphere((0.0,0.0,10.0),1.0,fixed=False)) > - id_nonfixed_rot = > O.bodies.append(utils.sphere((0.0,5.0,10.0),1.0,fixed=False)) > + id_fixed_rot = > O.bodies.append(utils.sphere((0.0,10.0,10.0),1.0,fixed=True)) > + id_nonfixed_rot = > O.bodies.append(utils.sphere((0.0,15.0,10.0),1.0,fixed=False)) > + id_fixed_helix = > O.bodies.append(utils.sphere((0.0,20.0,10.0),1.0,fixed=True)) > + id_nonfixed_helix = > O.bodies.append(utils.sphere((0.0,25.0,10.0),1.0,fixed=False)) > O.engines=[ > > TranslationEngine(velocity = 1.0, translationAxis = > [1.0,0,0], ids = [id_fixed_transl]), > TranslationEngine(velocity = 1.0, translationAxis = > [1.0,0,0], ids = [id_nonfixed_transl]), > RotationEngine(angularVelocity = pi/angVelTemp, > rotationAxis = [0.0,1.0,0.0], rotateAroundZero = True, zeroPoint = > [0.0,0.0,0.0], ids = [id_fixed_rot]), > RotationEngine(angularVelocity = pi/angVelTemp, > rotationAxis = [0.0,1.0,0.0], rotateAroundZero = True, zeroPoint = > [0.0,5.0,0.0], ids = [id_nonfixed_rot]), > + HelixEngine(angularVelocity = pi/angVelTemp, > rotationAxis = [0.0,1.0,0.0], linearVelocity = 1.0, zeroPoint = > [0.0,0.0,0.0], ids = [id_fixed_helix]), > + HelixEngine(angularVelocity = pi/angVelTemp, > rotationAxis = [0.0,1.0,0.0], linearVelocity = 1.0, zeroPoint = > [0.0,5.0,0.0], ids = [id_nonfixed_helix]), > ForceResetter(), > NewtonIntegrator() > ] > O.dt = 1.0 > for i in range(0,25): > O.step() > - > self.assertTrue(abs(O.bodies[id_fixed_transl].state.pos[0] - O.iter) < > tolerance) > #Check translation of fixed bodies > - > self.assertTrue(abs(O.bodies[id_nonfixed_transl].state.pos[0] - O.iter) < > tolerance) #Check > translation of nonfixed bodies > - > self.assertTrue(abs(O.bodies[id_fixed_rot].state.pos[0]-10.0*sin(pi/angVelTemp*O.iter))<tolerance) > #Check rotation of fixed bodies X > - > self.assertTrue(abs(O.bodies[id_fixed_rot].state.pos[2]-10.0*cos(pi/angVelTemp*O.iter))<tolerance) > #Check rotation of fixed bodies Y > + > self.assertTrue(abs(O.bodies[id_fixed_transl].state.pos[0] - O.iter) < > tolerance) > #Check translation of fixed bodies > + > self.assertTrue(abs(O.bodies[id_nonfixed_transl].state.pos[0] - O.iter) < > tolerance) > #Check translation of nonfixed bodies > + > + > self.assertTrue(abs(O.bodies[id_fixed_rot].state.pos[0]-10.0*sin(pi/angVelTemp*O.iter))<tolerance) > #Check rotation of fixed bodies X > + > self.assertTrue(abs(O.bodies[id_fixed_rot].state.pos[2]-10.0*cos(pi/angVelTemp*O.iter))<tolerance) > #Check rotation of fixed bodies Y > > self.assertTrue(abs(O.bodies[id_fixed_rot].state.ori.toAxisAngle()[1]-Quaternion(Vector3(0.0,1.0,0.0),pi/angVelTemp*O.iter).toAxisAngle()[1])<tolerance) > #Check rotation of fixed bodies, angle > > > self.assertTrue(abs(O.bodies[id_nonfixed_rot].state.pos[0] - > 10*sin(pi/angVelTemp*O.iter))<tolerance) #Check rotation of > nonfixed bodies X > > self.assertTrue(abs(O.bodies[id_nonfixed_rot].state.pos[2] - > 10*cos(pi/angVelTemp*O.iter))<tolerance) #Check rotation of > nonfixed bodies Y > > self.assertTrue(abs(O.bodies[id_nonfixed_rot].state.ori.toAxisAngle()[1]-Quaternion(Vector3(0.0,1.0,0.0),pi/angVelTemp*O.iter).toAxisAngle()[1])<tolerance) > #Check rotation of nonfixed bodies, angle > + > + > self.assertTrue(abs(O.bodies[id_fixed_helix].state.pos[0] - > 10*sin(pi/angVelTemp*O.iter))<tolerance) #Check helixEngine of > fixed bodies X > + > self.assertTrue(abs(O.bodies[id_fixed_helix].state.pos[2] - > 10*cos(pi/angVelTemp*O.iter))<tolerance) #Check helixEngine of > fixed bodies Y > + > self.assertTrue(abs(O.bodies[id_fixed_helix].state.pos[1]-20.0 - > O.iter)<tolerance) #Check helixEngine of fixed bodies Z > + > + > self.assertTrue(abs(O.bodies[id_nonfixed_helix].state.pos[0] - > 10*sin(pi/angVelTemp*O.iter))<tolerance) #Check helixEngine of > nonfixed bodies X > + > self.assertTrue(abs(O.bodies[id_nonfixed_helix].state.pos[2] - > 10*cos(pi/angVelTemp*O.iter))<tolerance) #Check helixEngine of > nonfixed bodies Y > + > self.assertTrue(abs(O.bodies[id_nonfixed_helix].state.pos[1]-25.0 - > O.iter)<tolerance) #Check helixEngine of nonfixed bodies Z > + > + > > > class TestIO(unittest.TestCase): > > > _______________________________________________ > Mailing list: https://launchpad.net/~yade-dev > Post to : [email protected] > Unsubscribe : https://launchpad.net/~yade-dev > More help : https://help.launchpad.net/ListHelp > > _______________________________________________ Mailing list: https://launchpad.net/~yade-dev Post to : [email protected] Unsubscribe : https://launchpad.net/~yade-dev More help : https://help.launchpad.net/ListHelp
