00001
00002 [CONSTANTS]
00003
00004 % length of the bar connecting two consecutive triangles
00005 l_in:=4.944272
00006 l_out:=2.004842
00007
00008 % length of the bar connecting odd triangles spared by one triangle
00009 l_nc:=7.310016
00010
00011 % length of the bar added to make the linkage rigic
00012 l_f:=9.404564
00013
00014 % radius of the cylinders representing the bars
00015 rc:=0.05
00016 % radius of the spheres used to decor the extremes of the bars
00017 rs:=0.1
00018
00019 [LINKS]
00020
00021 % Eight triangles
00022 t1: body "bodies/triangle.off" yellow
00023
00024 t2: body "bodies/triangle.off" yellow
00025
00026 t3: body "bodies/triangle.off" yellow
00027
00028 t4: body "bodies/triangle.off" yellow
00029
00030 t5: body "bodies/triangle.off" yellow
00031
00032 t6: body "bodies/triangle.off" yellow
00033
00034 t7: body "bodies/triangle.off" yellow
00035
00036 t8: body "bodies/triangle.off" yellow
00037
00038 t9: body "bodies/triangle.off" yellow
00039
00040 t10: body "bodies/triangle.off" yellow
00041
00042 % Two bars between adjacent triangles
00043 b_1_2_out: cylinder rc (0,0,0) (l_out,0,0) black
00044 sphere rs (0, 0,0) red
00045 sphere rs (l_out,0,0) red
00046
00047 b_1_2_in: cylinder rc (0,0,0) (l_in,0,0) black
00048 sphere rs (0, 0,0) red
00049 sphere rs (l_in,0,0) red
00050
00051 b_2_3_out: cylinder rc (0,0,0) (l_out,0,0) black
00052 sphere rs (0, 0,0) red
00053 sphere rs (l_out,0,0) red
00054
00055 b_2_3_in: cylinder rc (0,0,0) (l_in,0,0) black
00056 sphere rs (0, 0,0) red
00057 sphere rs (l_in,0,0) red
00058
00059 b_3_4_out: cylinder rc (0,0,0) (l_out,0,0) black
00060 sphere rs (0, 0,0) red
00061 sphere rs (l_out,0,0) red
00062
00063 b_3_4_in: cylinder rc (0,0,0) (l_in,0,0) black
00064 sphere rs (0, 0,0) red
00065 sphere rs (l_in,0,0) red
00066
00067 b_4_5_out: cylinder rc (0,0,0) (l_out,0,0) black
00068 sphere rs (0, 0,0) red
00069 sphere rs (l_out,0,0) red
00070
00071 b_4_5_in: cylinder rc (0,0,0) (l_in,0,0) black
00072 sphere rs (0, 0,0) red
00073 sphere rs (l_in,0,0) red
00074
00075 b_5_6_out: cylinder rc (0,0,0) (l_out,0,0) black
00076 sphere rs (0, 0,0) red
00077 sphere rs (l_out,0,0) red
00078
00079 b_5_6_in: cylinder rc (0,0,0) (l_in,0,0) black
00080 sphere rs (0, 0,0) red
00081 sphere rs (l_in,0,0) red
00082
00083 b_6_7_out: cylinder rc (0,0,0) (l_out,0,0) black
00084 sphere rs (0, 0,0) red
00085 sphere rs (l_out,0,0) red
00086
00087 b_6_7_in: cylinder rc (0,0,0) (l_in,0,0) black
00088 sphere rs (0, 0,0) red
00089 sphere rs (l_in,0,0) red
00090
00091 b_7_8_out: cylinder rc (0,0,0) (l_out,0,0) black
00092 sphere rs (0, 0,0) red
00093 sphere rs (l_out,0,0) red
00094
00095 b_7_8_in: cylinder rc (0,0,0) (l_in,0,0) black
00096 sphere rs (0, 0,0) red
00097 sphere rs (l_in,0,0) red
00098
00099 b_8_9_out: cylinder rc (0,0,0) (l_out,0,0) black
00100 sphere rs (0, 0,0) red
00101 sphere rs (l_out,0,0) red
00102
00103 b_8_9_in: cylinder rc (0,0,0) (l_in,0,0) black
00104 sphere rs (0, 0,0) red
00105 sphere rs (l_in,0,0) red
00106
00107 b_9_10_out: cylinder rc (0,0,0) (l_out,0,0) black
00108 sphere rs (0, 0,0) red
00109 sphere rs (l_out,0,0) red
00110
00111 b_9_10_in: cylinder rc (0,0,0) (l_in,0,0) black
00112 sphere rs (0, 0,0) red
00113 sphere rs (l_in,0,0) red
00114
00115 b_10_1_out: cylinder rc (0,0,0) (l_out,0,0) black
00116 sphere rs (0, 0,0) red
00117 sphere rs (l_out,0,0) red
00118
00119 b_10_1_in: cylinder rc (0,0,0) (l_in,0,0) black
00120 sphere rs (0, 0,0) red
00121 sphere rs (l_in,0,0) red
00122
00123 % Bars connecting non-adjacent triangles.
00124 % These bars do not include spheres since they would overlap with
00125 % the spheres of other bars.
00126 b_1_3: cylinder rc (0,0,0) (l_nc,0,0) black
00127 b_3_5: cylinder rc (0,0,0) (l_nc,0,0) black
00128 b_5_7: cylinder rc (0,0,0) (l_nc,0,0) black
00129 b_7_9: cylinder rc (0,0,0) (l_nc,0,0) black
00130 b_9_1: cylinder rc (0,0,0) (l_nc,0,0) black
00131
00132 % One additional bar to make the think rigid.
00133 b_10_2: cylinder rc (0,0,0) (l_f,0,0) black
00134 b_2_4: cylinder rc (0,0,0) (l_f,0,0) black
00135
00136 [JOINTS]
00137
00138 % Two bars between adjacent triangles
00139 revolute: t1 1+(0,1,0)
00140 b_1_2_out 0+(0,1,0)
00141 revolute: b_1_2_out 1+(0,1,0)
00142 t2 0+(0,1,0)
00143
00144 revolute: t1 2+(0,1,0)
00145 b_1_2_in 0+(0,1,0)
00146 revolute: b_1_2_in 1+(0,1,0)
00147 t2 2+(0,1,0)
00148
00149 revolute: t2 1+(0,1,0)
00150 b_2_3_out 0+(0,1,0)
00151 revolute: b_2_3_out 1+(0,1,0)
00152 t3 0+(0,1,0)
00153
00154 revolute: t2 2+(0,1,0)
00155 b_2_3_in 0+(0,1,0)
00156 revolute: b_2_3_in 1+(0,1,0)
00157 t3 2+(0,1,0)
00158
00159 revolute: t3 1+(0,1,0)
00160 b_3_4_out 0+(0,1,0)
00161 revolute: b_3_4_out 1+(0,1,0)
00162 t4 0+(0,1,0)
00163
00164 revolute: t3 2+(0,1,0)
00165 b_3_4_in 0+(0,1,0)
00166 revolute: b_3_4_in 1+(0,1,0)
00167 t4 2+(0,1,0)
00168
00169 revolute: t4 1+(0,1,0)
00170 b_4_5_out 0+(0,1,0)
00171 revolute: b_4_5_out 1+(0,1,0)
00172 t5 0+(0,1,0)
00173
00174 revolute: t4 2+(0,1,0)
00175 b_4_5_in 0+(0,1,0)
00176 revolute: b_4_5_in 1+(0,1,0)
00177 t5 2+(0,1,0)
00178
00179 revolute: t5 1+(0,1,0)
00180 b_5_6_out 0+(0,1,0)
00181 revolute: b_5_6_out 1+(0,1,0)
00182 t6 0+(0,1,0)
00183
00184 revolute: t5 2+(0,1,0)
00185 b_5_6_in 0+(0,1,0)
00186 revolute: b_5_6_in 1+(0,1,0)
00187 t6 2+(0,1,0)
00188
00189 revolute: t6 1+(0,1,0)
00190 b_6_7_out 0+(0,1,0)
00191 revolute: b_6_7_out 1+(0,1,0)
00192 t7 0+(0,1,0)
00193
00194 revolute: t6 2+(0,1,0)
00195 b_6_7_in 0+(0,1,0)
00196 revolute: b_6_7_in 1+(0,1,0)
00197 t7 2+(0,1,0)
00198
00199 revolute: t7 1+(0,1,0)
00200 b_7_8_out 0+(0,1,0)
00201 revolute: b_7_8_out 1+(0,1,0)
00202 t8 0+(0,1,0)
00203
00204 revolute: t7 2+(0,1,0)
00205 b_7_8_in 0+(0,1,0)
00206 revolute: b_7_8_in 1+(0,1,0)
00207 t8 2+(0,1,0)
00208
00209 revolute: t8 1+(0,1,0)
00210 b_8_9_out 0+(0,1,0)
00211 revolute: b_8_9_out 1+(0,1,0)
00212 t9 0+(0,1,0)
00213
00214 revolute: t8 2+(0,1,0)
00215 b_8_9_in 0+(0,1,0)
00216 revolute: b_8_9_in 1+(0,1,0)
00217 t9 2+(0,1,0)
00218
00219 revolute: t9 1+(0,1,0)
00220 b_9_10_out 0+(0,1,0)
00221 revolute: b_9_10_out 1+(0,1,0)
00222 t10 0+(0,1,0)
00223
00224 revolute: t9 2+(0,1,0)
00225 b_9_10_in 0+(0,1,0)
00226 revolute: b_9_10_in 1+(0,1,0)
00227 t10 2+(0,1,0)
00228
00229 revolute: t10 1+(0,1,0)
00230 b_10_1_out 0+(0,1,0)
00231 revolute: b_10_1_out 1+(0,1,0)
00232 t1 0+(0,1,0)
00233
00234 revolute: t10 2+(0,1,0)
00235 b_10_1_in 0+(0,1,0)
00236 revolute: b_10_1_in 1+(0,1,0)
00237 t1 2+(0,1,0)
00238
00239
00240 % The bars between non-adjacent triangles
00241 revolute: t1 1+(0,1,0)
00242 b_1_3 0+(0,1,0)
00243 revolute: b_1_3 1+(0,1,0)
00244 t3 0+(0,1,0)
00245
00246 revolute: t3 1+(0,1,0)
00247 b_3_5 0+(0,1,0)
00248 revolute: b_3_5 1+(0,1,0)
00249 t5 0+(0,1,0)
00250
00251 revolute: t5 1+(0,1,0)
00252 b_5_7 0+(0,1,0)
00253 revolute: b_5_7 1+(0,1,0)
00254 t7 0+(0,1,0)
00255
00256 revolute: t7 1+(0,1,0)
00257 b_7_9 0+(0,1,0)
00258 revolute: b_7_9 1+(0,1,0)
00259 t9 0+(0,1,0)
00260
00261 revolute: t9 1+(0,1,0)
00262 b_9_1 0+(0,1,0)
00263 revolute: b_9_1 1+(0,1,0)
00264 t1 0+(0,1,0)
00265
00266 % A couple of bars fixing the mobility
00267 revolute: t10 2+(0,1,0)
00268 b_10_2 0+(0,1,0)
00269 revolute: b_10_2 1+(0,1,0)
00270 t2 2+(0,1,0)
00271
00272 revolute: t2 2+(0,1,0)
00273 b_2_4 0+(0,1,0)
00274 revolute: b_2_4 1+(0,1,0)
00275 t4 2+(0,1,0)
00276
00277
