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Message #06715
[Branch ~yade-dev/yade/trunk] Rev 2654: 1. HelixEngine updated, dublicated code deleted.
------------------------------------------------------------
revno: 2654
committer: Anton Gladky <gladky.anton@xxxxxxxxx>
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
--
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=== 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):
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