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[Jan Stránský <question403708@xxxxxxxxxxxxxxxxxxxxx>]

Question #403708 on Yade changed:
https://answers.launchpad.net/yade/+question/403708

    Status: Open => Answered

Jan Stránský proposed the following answer:
Hello,
the problem is with fixed zeroPoint. You have to update is each iteration
by PyRunner (at least if I guessed the intended behavior):

O.engines = [
   ...
   CombinedKinematicEngine(...,label='combEngine'),

 PyRunner(iterPeriod=1,command="rotEngine.zeroPoint=O.bodies[0].state.pos"),
]
rotEngine = combEngine.comb[1]

cheers
Jan


2016-11-01 17:18 GMT+01:00 xjin <question403708@xxxxxxxxxxxxxxxxxxxxx>:

> Question #403708 on Yade changed:
> https://answers.launchpad.net/yade/+question/403708
>
> Description changed to:
> I am trying to model a rigid body like this:
>
> O.reset()
> bo=[]
> bo.append(O.bodies.append(sphere([0,0,0],1)))
> bo.append(O.bodies.append(sphere([2,0,0],1)))
> bo.append(O.bodies.append(sphere([4,0,0],1)))
> bo.append(O.bodies.append(sphere([6,0,0],1)))
> bo.append(O.bodies.append(sphere([8,0,0],1)))
> bo.append(O.bodies.append(sphere([8,2,0],1)))
> idclump=O.bodies.clump(bo)
> s=O.bodies[-1]
> s.state.blockedDOFs='xyzXYZ'
>
> O.engines=[
>    ForceResetter(),
>    InsertionSortCollider([Bo1_Sphere_Aabb(),Bo1_Facet_Aabb()]),
>    InteractionLoop(
>       [Ig2_Sphere_Sphere_L3Geom()],
>       [Ip2_FrictMat_FrictMat_FrictPhys()],
>       [Law2_L3Geom_FrictPhys_ElPerfPl()]
>    ),
>    NewtonIntegrator(gravity=(0,0,0),damping=0.4),
>    CombinedKinematicEngine(ids=[s.id],comb=[TranslationEngine(
> translationAxis=Vector3(0,0,1),velocity=1),
>    RotationEngine(angularVelocity=1,rotateAroundZero=1,
> rotationAxis=(0,1,0),zeroPoint=O.bodies[0].state.pos)])
> ]
> O.dt=0.0005*PWaveTimeStep()
>
>
> I try to make the rigid body rotate on the rotationaxis=(0,1,0)，and the
> zeroPoint=O.bodies[0].state.pos. Meanwhile I need it to translate in the
> direction of z-coordinate. when I run the script, I find that it only
> rotates  in a fixed situation.Can you give me some suggestion?
> Thanks a lot!
> xjin
>
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