yade-users team mailing list archive

[yang yi <question686076@xxxxxxxxxxxxxxxxxxxxx>]

Question #686076 on Yade changed:
https://answers.launchpad.net/yade/+question/686076

yang yi posted a new comment:
Thank you very much!! Jan Stránský
Now  I  have two problem

(1) for  using RotationEngine,   I hope the following code can change
the direction of the plane by  the PyRunner function ChangeVelocity, but
it cannot, the value of Velocity can be changed, but the plane still
Rotation as the initial speed and direction.

velocity = 10 
def ChangeVelocity():
    global velocity
    velocity = -1 * velocity    
    

O.engines = [
    ForceResetter(),
    InsertionSortCollider([Bo1_Sphere_Aabb(), Bo1_Facet_Aabb()]),
    InteractionLoop(
        # handle sphere+sphere and facet+sphere collisions
        [Ig2_Sphere_Sphere_ScGeom(), Ig2_Facet_Sphere_ScGeom()],
        [Ip2_FrictMat_FrictMat_FrictPhys()],
        [Law2_ScGeom_FrictPhys_CundallStrack()]),
        # [Ip2_ViscElMat_ViscElMat_ViscElPhys()],
        # [Law2_ScGeom_ViscElPhys_Basic()]),
    NewtonIntegrator(gravity=(-9.8, 0, 0), damping=0.001, label='down'),
    RotationEngine(rotationAxis=(0, 0, 1), angularVelocity=velocity, rotateAroundZero=True, zeroPoint=(0, 0, 0)),
    PyRunner(command="ChangeVelocity()", iterPeriod=100000)

    ]

(2)  The problem of transform the C++ code  of RotationEngine to python,
I hope I can control the rotation velocity of the plane.

def myRotation():
    ZeroPos = Vector3(1, 1, 0)
    rotationAxis = Vector3(0, 0, 1)
    angVel = 10
    for i in IDGround:
        O.bodies[i].state.angVel += rotationAxis * angVel
        l = O.bodies[i].state.pos - ZeroPos
        q = Quaternion(AngleAxis(rotationAxis, angVel* O.dt))
        # q = Quaternion(rotationAxis, angVel * O.dt)
        newp = q*l + ZeroPos
        O.bodies[i].state.vel += (newp - O.bodies[i].state.pos)/O.dt

O.engines = [
    ForceResetter(),
    InsertionSortCollider([Bo1_Sphere_Aabb(), Bo1_Facet_Aabb()]),
    InteractionLoop(
        # handle sphere+sphere and facet+sphere collisions
        [Ig2_Sphere_Sphere_ScGeom(), Ig2_Facet_Sphere_ScGeom()],
        [Ip2_FrictMat_FrictMat_FrictPhys()],
        [Law2_ScGeom_FrictPhys_CundallStrack()]),
        # [Ip2_ViscElMat_ViscElMat_ViscElPhys()],
        # [Law2_ScGeom_ViscElPhys_Basic()]),
    NewtonIntegrator(gravity=(-9.8, 0, 0), damping=0.001, label='down'),
    PyRunner(command="myRotation()",iterPeriod=400000)
    # RotationEngine(rotationAxis=(0, 0, 1), angularVelocity=velocity, rotateAroundZero=True, zeroPoint=(0, 0, 0)),
    # PyRunner(command="ChangeVelocity()", iterPeriod=100000)
    ]

    I  can find the "AngleAxis", and the error is "name 'AngleAxis' is
not defined".  The above code is follow the C++ in the
KinematicEngines.cpp.   I don't know if the  transform is correct or
not.

 Please help me,Thank you very much,

-- 
You received this question notification because your team yade-users is
an answer contact for Yade.