Griffis-Duffy.world

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00001 
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