Question #707278 on Yade changed:
https://answers.launchpad.net/yade/+question/707278
Status: Open => Answered
Jan Stránský proposed the following answer:
> for the 'axis' mentioned in PIDController, should it be defined
individually for each node
yes
> like this?
in general yes, with a few problems:
> axis = vector(x-cen_x, y-cen_y, z)
z should be 0
> area = 2* pi*r_cyl*h_cyl/len(nodes) # cylinder surface / number of
nodes ?
The question mark in my comment is meant seriously.
For regular grid it is probably OK.
Also consider that the "boundary" nodes (bottom and top) maybe should have half
force then "inner" nodes?
2) ...
the main idea sounds OK.
stress is backward what is used
stress = forceMagnitude / area
forceMagnitude = forceVector.dot(directionUnitVector)
forceVector = O.forces.f(body.id)
the direction vector may be as first iteration equal to axis from servo
controller
x,y,z = node.state.pos
directionUnitVector = Vector3(x,y,0).normalized()
Cheers
Jan
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