00001
00002 [CONSTANTS]
00003
00004 % length of the bar connecting two consecutive triangles
00005 l_in:=6.122935
00006 l_out:=3.370553
00007
00008 % length of the bar connecting odd triangles spared by one triangle
00009 l_nc:=9.724551
00010
00011 % length of the bar added to make the linkage rigic
00012 l_f:=11.313708
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 % Two bars between adjacent triangles
00039 b_1_2_out: cylinder rc (0,0,0) (l_out,0,0) black
00040 sphere rs (0, 0,0) red
00041 sphere rs (l_out,0,0) red
00042
00043 b_1_2_in: cylinder rc (0,0,0) (l_in,0,0) black
00044 sphere rs (0, 0,0) red
00045 sphere rs (l_in,0,0) red
00046
00047 b_2_3_out: cylinder rc (0,0,0) (l_out,0,0) black
00048 sphere rs (0, 0,0) red
00049 sphere rs (l_out,0,0) red
00050
00051 b_2_3_in: cylinder rc (0,0,0) (l_in,0,0) black
00052 sphere rs (0, 0,0) red
00053 sphere rs (l_in,0,0) red
00054
00055 b_3_4_out: cylinder rc (0,0,0) (l_out,0,0) black
00056 sphere rs (0, 0,0) red
00057 sphere rs (l_out,0,0) red
00058
00059 b_3_4_in: cylinder rc (0,0,0) (l_in,0,0) black
00060 sphere rs (0, 0,0) red
00061 sphere rs (l_in,0,0) red
00062
00063 b_4_5_out: cylinder rc (0,0,0) (l_out,0,0) black
00064 sphere rs (0, 0,0) red
00065 sphere rs (l_out,0,0) red
00066
00067 b_4_5_in: cylinder rc (0,0,0) (l_in,0,0) black
00068 sphere rs (0, 0,0) red
00069 sphere rs (l_in,0,0) red
00070
00071 b_5_6_out: cylinder rc (0,0,0) (l_out,0,0) black
00072 sphere rs (0, 0,0) red
00073 sphere rs (l_out,0,0) red
00074
00075 b_5_6_in: cylinder rc (0,0,0) (l_in,0,0) black
00076 sphere rs (0, 0,0) red
00077 sphere rs (l_in,0,0) red
00078
00079 b_6_7_out: cylinder rc (0,0,0) (l_out,0,0) black
00080 sphere rs (0, 0,0) red
00081 sphere rs (l_out,0,0) red
00082
00083 b_6_7_in: cylinder rc (0,0,0) (l_in,0,0) black
00084 sphere rs (0, 0,0) red
00085 sphere rs (l_in,0,0) red
00086
00087 b_7_8_out: cylinder rc (0,0,0) (l_out,0,0) black
00088 sphere rs (0, 0,0) red
00089 sphere rs (l_out,0,0) red
00090
00091 b_7_8_in: cylinder rc (0,0,0) (l_in,0,0) black
00092 sphere rs (0, 0,0) red
00093 sphere rs (l_in,0,0) red
00094
00095 b_8_1_out: cylinder rc (0,0,0) (l_out,0,0) black
00096 sphere rs (0, 0,0) red
00097 sphere rs (l_out,0,0) red
00098
00099 b_8_1_in: cylinder rc (0,0,0) (l_in,0,0) black
00100 sphere rs (0, 0,0) red
00101 sphere rs (l_in,0,0) red
00102
00103 % Bars connecting non-adjacent triangles.
00104 % These bars do not include spheres since they would overlap with
00105 % the spheres of other bars.
00106 b_1_3: cylinder rc (0,0,0) (l_nc,0,0) black
00107 b_3_5: cylinder rc (0,0,0) (l_nc,0,0) black
00108 b_5_7: cylinder rc (0,0,0) (l_nc,0,0) black
00109 b_7_1: cylinder rc (0,0,0) (l_nc,0,0) black
00110
00111 % One additional bar to make the think rigid.
00112 b_8_2: cylinder rc (0,0,0) (l_f,0,0) black
00113
00114 [JOINTS]
00115
00116 % Two bars between adjacent triangles
00117 revolute: t1 1+(0,1,0)
00118 b_1_2_out 0+(0,1,0)
00119 revolute: b_1_2_out 1+(0,1,0)
00120 t2 0+(0,1,0)
00121
00122 revolute: t1 2+(0,1,0)
00123 b_1_2_in 0+(0,1,0)
00124 revolute: b_1_2_in 1+(0,1,0)
00125 t2 2+(0,1,0)
00126
00127 revolute: t2 1+(0,1,0)
00128 b_2_3_out 0+(0,1,0)
00129 revolute: b_2_3_out 1+(0,1,0)
00130 t3 0+(0,1,0)
00131
00132 revolute: t2 2+(0,1,0)
00133 b_2_3_in 0+(0,1,0)
00134 revolute: b_2_3_in 1+(0,1,0)
00135 t3 2+(0,1,0)
00136
00137 revolute: t3 1+(0,1,0)
00138 b_3_4_out 0+(0,1,0)
00139 revolute: b_3_4_out 1+(0,1,0)
00140 t4 0+(0,1,0)
00141
00142 revolute: t3 2+(0,1,0)
00143 b_3_4_in 0+(0,1,0)
00144 revolute: b_3_4_in 1+(0,1,0)
00145 t4 2+(0,1,0)
00146
00147 revolute: t4 1+(0,1,0)
00148 b_4_5_out 0+(0,1,0)
00149 revolute: b_4_5_out 1+(0,1,0)
00150 t5 0+(0,1,0)
00151
00152 revolute: t4 2+(0,1,0)
00153 b_4_5_in 0+(0,1,0)
00154 revolute: b_4_5_in 1+(0,1,0)
00155 t5 2+(0,1,0)
00156
00157 revolute: t5 1+(0,1,0)
00158 b_5_6_out 0+(0,1,0)
00159 revolute: b_5_6_out 1+(0,1,0)
00160 t6 0+(0,1,0)
00161
00162 revolute: t5 2+(0,1,0)
00163 b_5_6_in 0+(0,1,0)
00164 revolute: b_5_6_in 1+(0,1,0)
00165 t6 2+(0,1,0)
00166
00167 revolute: t6 1+(0,1,0)
00168 b_6_7_out 0+(0,1,0)
00169 revolute: b_6_7_out 1+(0,1,0)
00170 t7 0+(0,1,0)
00171
00172 revolute: t6 2+(0,1,0)
00173 b_6_7_in 0+(0,1,0)
00174 revolute: b_6_7_in 1+(0,1,0)
00175 t7 2+(0,1,0)
00176
00177 revolute: t7 1+(0,1,0)
00178 b_7_8_out 0+(0,1,0)
00179 revolute: b_7_8_out 1+(0,1,0)
00180 t8 0+(0,1,0)
00181
00182 revolute: t7 2+(0,1,0)
00183 b_7_8_in 0+(0,1,0)
00184 revolute: b_7_8_in 1+(0,1,0)
00185 t8 2+(0,1,0)
00186
00187 revolute: t8 1+(0,1,0)
00188 b_8_1_out 0+(0,1,0)
00189 revolute: b_8_1_out 1+(0,1,0)
00190 t1 0+(0,1,0)
00191
00192 revolute: t8 2+(0,1,0)
00193 b_8_1_in 0+(0,1,0)
00194 revolute: b_8_1_in 1+(0,1,0)
00195 t1 2+(0,1,0)
00196
00197 % The bars between non-adjacent triangles
00198 revolute: t1 1+(0,1,0)
00199 b_1_3 0+(0,1,0)
00200 revolute: b_1_3 1+(0,1,0)
00201 t3 0+(0,1,0)
00202
00203 revolute: t3 1+(0,1,0)
00204 b_3_5 0+(0,1,0)
00205 revolute: b_3_5 1+(0,1,0)
00206 t5 0+(0,1,0)
00207
00208 revolute: t5 1+(0,1,0)
00209 b_5_7 0+(0,1,0)
00210 revolute: b_5_7 1+(0,1,0)
00211 t7 0+(0,1,0)
00212
00213 revolute: t7 1+(0,1,0)
00214 b_7_1 0+(0,1,0)
00215 revolute: b_7_1 1+(0,1,0)
00216 t1 0+(0,1,0)
00217
00218 % A bar fixing the mobility
00219 revolute: t8 2+(0,1,0)
00220 b_8_2 0+(0,1,0)
00221 revolute: b_8_2 1+(0,1,0)
00222 t2 2+(0,1,0)
00223
00224
