Cyclooctane_ras.world
1 
3 [CONSTANTS]
4 
5 % We define a reference frame attache to each C atom with the
6 % X axis along one of the C-C bonds and with the X-Y plane in
7 % the planed defined by the two bonds coincident in the C.
8 
9 % All distances are in Amstrongs and all angles are in radiants
10 
11 % H-C bond length
12 HCb:=1.09
13 
14 % H-C distance for C the neighbouring C of the C to which H
15 % is connected
16 HCb2:=2.151077
17 
18 % C-C bond length
19 CCb:=1.526
20 
21 % Bond bending angle
22 BBa:=1.9111
23 
24 % The firts CC bond is aligned with the X axis and has lenght CCb
25 % The second is in the XY plane at position:
26 CC2x:=CCb*cos(BBa)
27 CC2y:=CCb*sin(BBa)
28 
29 % x-y-z position of one of the H w.r.t. a frame attached to the C
30 % The second H is symmetrically placed (w.r.t. the X-Y plane).
31 % This H is at (Hx,Hy,Hz) that is at the intersection of three circunferences
32 % Hx^2+Hy^2+Hz^2=HCb^2
33 % (Hx-CCb)^2+Hy^2+Hz^2=HCb2^2
34 % (Hx-CC2x)^2+(Hy-CC2y)^2+Hz^2=HCb2^2
35 %
36 Hx:=(HCb^2-HCb2^2+CCb^2)/(2*CCb)
37 Hy:=((Hx-CC2x)^2-(Hx-CCb)^2+CC2y^2)/(2*CC2y)
38 Hz:=sqrt(Hx^2+Hy^2)
39 
40 % Radious of the spheres representing atoms (25% Van der Waals radii)
41 rC:=1.7*0.5
42 
43 % super simplest (RRT*)
44 rH:=1.2*0.50
45 
46 % Radious of the cylinders representing bonds
47 rCC:=0.15
48 rCH:=0.15
49 
50 % Colors for the atoms
51 Cr:=0.2
52 Cg:=0.6
53 Cb:=0.6
54 
55 Hr:=1
56 Hg:=1
57 Hb:=1
58 
59 [LINKS]
60 
61 C1 : sphere rC (0,0,0) color (Cr,Cg,Cb) decoration
62  cylinder rCC (0,0,0) (CCb/2,0,0) color (Cr,Cg,Cb) decoration
63  cylinder rCC (0,0,0) (CC2x/2,CC2y/2,0) color (Cr,Cg,Cb) decoration
64  cylinder rCH (0,0,0) (Hx/2,Hy/2,Hz/2) color (Cr,Cg,Cb) decoration
65  cylinder rCH (Hx/2,Hy/2,Hz/2) (Hx,Hy,Hz) color (Hr,Hg,Hb) decoration
66  sphere rH (Hx,Hy,Hz) color (Hr,Hg,Hb)
67  cylinder rCH (0,0,0) (Hx/2,Hy/2,-Hz/2) color (Cr,Cg,Cb) decoration
68  cylinder rCH (Hx/2,Hy/2,-Hz/2) (Hx,Hy,-Hz) color (Hr,Hg,Hb) decoration
69  sphere rH (Hx,Hy,-Hz) color (Hr,Hg,Hb)
70 
71 C2 : sphere rC (0,0,0) color (Cr,Cg,Cb) decoration
72  cylinder rCC (0,0,0) (CCb/2,0,0) color (Cr,Cg,Cb) decoration
73  cylinder rCC (0,0,0) (CC2x/2,CC2y/2,0) color (Cr,Cg,Cb) decoration
74  cylinder rCH (0,0,0) (Hx/2,Hy/2,Hz/2) color (Cr,Cg,Cb) decoration
75  cylinder rCH (Hx/2,Hy/2,Hz/2) (Hx,Hy,Hz) color (Hr,Hg,Hb) decoration
76  sphere rH (Hx,Hy,Hz) color (Hr,Hg,Hb)
77  cylinder rCH (0,0,0) (Hx/2,Hy/2,-Hz/2) color (Cr,Cg,Cb) decoration
78  cylinder rCH (Hx/2,Hy/2,-Hz/2) (Hx,Hy,-Hz) color (Hr,Hg,Hb) decoration
79  sphere rH (Hx,Hy,-Hz) color (Hr,Hg,Hb)
80 
81 C3 : sphere rC (0,0,0) color (Cr,Cg,Cb) decoration
82  cylinder rCC (0,0,0) (CCb/2,0,0) color (Cr,Cg,Cb) decoration
83  cylinder rCC (0,0,0) (CC2x/2,CC2y/2,0) color (Cr,Cg,Cb) decoration
84  cylinder rCH (0,0,0) (Hx/2,Hy/2,Hz/2) color (Cr,Cg,Cb) decoration
85  cylinder rCH (Hx/2,Hy/2,Hz/2) (Hx,Hy,Hz) color (Hr,Hg,Hb) decoration
86  sphere rH (Hx,Hy,Hz) color (Hr,Hg,Hb)
87  cylinder rCH (0,0,0) (Hx/2,Hy/2,-Hz/2) color (Cr,Cg,Cb) decoration
88  cylinder rCH (Hx/2,Hy/2,-Hz/2) (Hx,Hy,-Hz) color (Hr,Hg,Hb) decoration
89  sphere rH (Hx,Hy,-Hz) color (Hr,Hg,Hb)
90 
91 C4 : sphere rC (0,0,0) color (Cr,Cg,Cb) decoration
92  cylinder rCC (0,0,0) (CCb/2,0,0) color (Cr,Cg,Cb) decoration
93  cylinder rCC (0,0,0) (CC2x/2,CC2y/2,0) color (Cr,Cg,Cb) decoration
94  cylinder rCH (0,0,0) (Hx/2,Hy/2,Hz/2) color (Cr,Cg,Cb) decoration
95  cylinder rCH (Hx/2,Hy/2,Hz/2) (Hx,Hy,Hz) color (Hr,Hg,Hb) decoration
96  sphere rH (Hx,Hy,Hz) color (Hr,Hg,Hb)
97  cylinder rCH (0,0,0) (Hx/2,Hy/2,-Hz/2) color (Cr,Cg,Cb) decoration
98  cylinder rCH (Hx/2,Hy/2,-Hz/2) (Hx,Hy,-Hz) color (Hr,Hg,Hb) decoration
99  sphere rH (Hx,Hy,-Hz) color (Hr,Hg,Hb)
100 
101 C5 : sphere rC (0,0,0) color (Cr,Cg,Cb) decoration
102  cylinder rCC (0,0,0) (CCb/2,0,0) color (Cr,Cg,Cb) decoration
103  cylinder rCC (0,0,0) (CC2x/2,CC2y/2,0) color (Cr,Cg,Cb) decoration
104  cylinder rCH (0,0,0) (Hx/2,Hy/2,Hz/2) color (Cr,Cg,Cb) decoration
105  cylinder rCH (Hx/2,Hy/2,Hz/2) (Hx,Hy,Hz) color (Hr,Hg,Hb) decoration
106  sphere rH (Hx,Hy,Hz) color (Hr,Hg,Hb)
107  cylinder rCH (0,0,0) (Hx/2,Hy/2,-Hz/2) color (Cr,Cg,Cb) decoration
108  cylinder rCH (Hx/2,Hy/2,-Hz/2) (Hx,Hy,-Hz) color (Hr,Hg,Hb) decoration
109  sphere rH (Hx,Hy,-Hz) color (Hr,Hg,Hb)
110 
111 C6 : sphere rC (0,0,0) color (Cr,Cg,Cb) decoration
112  cylinder rCC (0,0,0) (CCb/2,0,0) color (Cr,Cg,Cb) decoration
113  cylinder rCC (0,0,0) (CC2x/2,CC2y/2,0) color (Cr,Cg,Cb) decoration
114  cylinder rCH (0,0,0) (Hx/2,Hy/2,Hz/2) color (Cr,Cg,Cb) decoration
115  cylinder rCH (Hx/2,Hy/2,Hz/2) (Hx,Hy,Hz) color (Hr,Hg,Hb) decoration
116  sphere rH (Hx,Hy,Hz) color (Hr,Hg,Hb)
117  cylinder rCH (0,0,0) (Hx/2,Hy/2,-Hz/2) color (Cr,Cg,Cb) decoration
118  cylinder rCH (Hx/2,Hy/2,-Hz/2) (Hx,Hy,-Hz) color (Hr,Hg,Hb) decoration
119  sphere rH (Hx,Hy,-Hz) color (Hr,Hg,Hb)
120 
121 C7 : sphere rC (0,0,0) color (Cr,Cg,Cb) decoration
122  cylinder rCC (0,0,0) (CCb/2,0,0) color (Cr,Cg,Cb) decoration
123  cylinder rCC (0,0,0) (CC2x/2,CC2y/2,0) color (Cr,Cg,Cb) decoration
124  cylinder rCH (0,0,0) (Hx/2,Hy/2,Hz/2) color (Cr,Cg,Cb) decoration
125  cylinder rCH (Hx/2,Hy/2,Hz/2) (Hx,Hy,Hz) color (Hr,Hg,Hb) decoration
126  sphere rH (Hx,Hy,Hz) color (Hr,Hg,Hb)
127  cylinder rCH (0,0,0) (Hx/2,Hy/2,-Hz/2) color (Cr,Cg,Cb) decoration
128  cylinder rCH (Hx/2,Hy/2,-Hz/2) (Hx,Hy,-Hz) color (Hr,Hg,Hb) decoration
129  sphere rH (Hx,Hy,-Hz) color (Hr,Hg,Hb)
130 
131 C8 : sphere rC (0,0,0) color (Cr,Cg,Cb) decoration
132  cylinder rCC (0,0,0) (CCb/2,0,0) color (Cr,Cg,Cb) decoration
133  cylinder rCC (0,0,0) (CC2x/2,CC2y/2,0) color (Cr,Cg,Cb) decoration
134  cylinder rCH (0,0,0) (Hx/2,Hy/2,Hz/2) color (Cr,Cg,Cb) decoration
135  cylinder rCH (Hx/2,Hy/2,Hz/2) (Hx,Hy,Hz) color (Hr,Hg,Hb) decoration
136  sphere rH (Hx,Hy,Hz) color (Hr,Hg,Hb)
137  cylinder rCH (0,0,0) (Hx/2,Hy/2,-Hz/2) color (Cr,Cg,Cb) decoration
138  cylinder rCH (Hx/2,Hy/2,-Hz/2) (Hx,Hy,-Hz) color (Hr,Hg,Hb) decoration
139  sphere rH (Hx,Hy,-Hz) color (Hr,Hg,Hb)
140 
141 [JOINTS]
142 
143 % We define the revolute joints trying to use as much zeros as possible
144 % in the two first points of the two axes in local coordinates. This produces
145 % simpler equation sets.
146 revolute: C1 (CCb,0,0) (0,0,0)
147  C2 (0,0,0) (CC2x,CC2y,0)
148 
149 revolute: C2 (CCb,0,0) (0,0,0)
150  C3 (0,0,0) (CC2x,CC2y,0)
151 
152 revolute: C3 (CCb,0,0) (0,0,0)
153  C4 (0,0,0) (CC2x,CC2y,0)
154 
155 revolute: C4 (CCb,0,0) (0,0,0)
156  C5 (0,0,0) (CC2x,CC2y,0)
157 
158 revolute: C5 (CCb,0,0) (0,0,0)
159  C6 (0,0,0) (CC2x,CC2y,0)
160 
161 revolute: C6 (CCb,0,0) (0,0,0)
162  C7 (0,0,0) (CC2x,CC2y,0)
163 
164 revolute: C7 (CCb,0,0) (0,0,0)
165  C8 (0,0,0) (CC2x,CC2y,0)
166 
167 revolute: C8 (CCb,0,0) (0,0,0)
168  C1 (0,0,0) (CC2x,CC2y,0)
169 
170 
171 [COLLISIONS]
172 
173 do not check: all
174 
175 check : C1,C4
176 check : C1,C5
177 check : C1,C6
178 
179 check : C2,C5
180 check : C2,C6
181 check : C2,C7
182 
183 check : C3,C6
184 check : C3,C7
185 check : C3,C8
186 
187 check : C4,C7
188 check : C4,C8
189 
190 check : C5,C8
191