Griffis-Duffy.world
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00002 [CONSTANTS]
00003
00004
00005 % Leg lenghts
00006 rho1:= 1.519640
00007 rho2:= 1.922131
00008 rho3:= 1.812880
00009 rho4:= 1.380117
00010 rho5:= 1.715536
00011 rho6:= 1.714524
00012
00013 % Now we define the base and the platforma as equilater triangles
00014 % with the given parameters
00015
00016 % Size of the base and platform sides
00017
00018 lb:=2
00019 lp:=2
00020
00021 a := pi/3
00022 s:=sin(a)
00023 c:=cos(a)
00024
00025 % Base Points (wrt the base reference frame)
00026
00027 a1x := 0
00028 a1y := 0
00029 a1z := 0
00030
00031 a2x := lb*c/2
00032 a2y := lb*s/2
00033 a2z := 0
00034
00035 a3x := lb*c
00036 a3y := lb*s
00037 a3z := 0
00038
00039 a4x := lb/2+lb*c/2
00040 a4y := lb*s/2
00041 a4z := 0
00042
00043 a5x := lb
00044 a5y := 0
00045 a5z := 0
00046
00047 a6x := lb/2
00048 a6y := 0
00049 a6z := 0
00050
00051 % Platform Points (wrt the platform reference frame)
00052
00053 b1x := 0
00054 b1y := 0
00055 b1z := 0
00056
00057 b2x := -lp*c/2
00058 b2y := lp*s/2
00059 b2z := 0
00060
00061 b3x := lp*c/2
00062 b3y := lp*s/2
00063 b3z := 0
00064
00065 b4x := lp*c+lp*c/2
00066 b4y := lp*s/2
00067 b4z := 0
00068
00069 b5x := lp*c
00070 b5y := 0
00071 b5z := 0
00072
00073 b6x := lp*c/2
00074 b6y := - lp*s/2
00075 b6z := 0
00076
00077
00078 [LINKS]
00079
00080 base : body "bodies/triangle1" color (0.1,0.1,0.1)
00081 platform: body "bodies/triangle2" color (0.1,0.1,0.1)
00082
00083 [JOINTS]
00084
00085 SPH_SPH: base (a1x,a1y,a1z)
00086 platform (b1x,b1y,b1z)
00087 length rho1
00088 radius 0.05
00089 color (0.9,0.9,0.9)
00090
00091 SPH_SPH: base (a2x,a2y,a2z)
00092 platform (b2x,b2y,b2z)
00093 length rho2
00094 radius 0.05
00095 color (0.9,0.9,0.9)
00096
00097 SPH_SPH: base (a3x,a3y,a3z)
00098 platform (b3x,b3y,b3z)
00099 length rho3
00100 radius 0.05
00101 color (0.9,0.9,0.9)
00102
00103 SPH_SPH: base (a4x,a4y,a4z)
00104 platform (b4x,b4y,b4z)
00105 length rho4
00106 radius 0.05
00107 color (0.9,0.9,0.9)
00108
00109 SPH_SPH: base (a5x,a5y,a5z)
00110 platform (b5x,b5y,b5z)
00111 length rho5
00112 radius 0.05
00113 color (0.9,0.9,0.9)
00114
00115 SPH_SPH: base (a6x,a6y,a6z)
00116 platform (b6x,b6y,b6z)
00117 length rho6
00118 radius 0.06
00119 color (0.9,0.9,0.9)
00120