Griffis-Duffy.world
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1 
2 [CONSTANTS]
3 
4 
5 % Leg lenghts
6 rho1:= 1.519640
7 rho2:= 1.922131
8 rho3:= 1.812880
9 rho4:= 1.380117
10 rho5:= 1.715536
11 rho6:= 1.714524
12 
13 % Now we define the base and the platforma as equilater triangles
14 % with the given parameters
15 
16 % Size of the base and platform sides
17 
18 lb:=2
19 lp:=2
20 
21 a := pi/3
22 s:=sin(a)
23 c:=cos(a)
24 
25 % Base Points (wrt the base reference frame)
26 
27 a1x := 0
28 a1y := 0
29 a1z := 0
30 
31 a2x := lb*c/2
32 a2y := lb*s/2
33 a2z := 0
34 
35 a3x := lb*c
36 a3y := lb*s
37 a3z := 0
38 
39 a4x := lb/2+lb*c/2
40 a4y := lb*s/2
41 a4z := 0
42 
43 a5x := lb
44 a5y := 0
45 a5z := 0
46 
47 a6x := lb/2
48 a6y := 0
49 a6z := 0
50 
51 % Platform Points (wrt the platform reference frame)
52 
53 b1x := 0
54 b1y := 0
55 b1z := 0
56 
57 b2x := -lp*c/2
58 b2y := lp*s/2
59 b2z := 0
60 
61 b3x := lp*c/2
62 b3y := lp*s/2
63 b3z := 0
64 
65 b4x := lp*c+lp*c/2
66 b4y := lp*s/2
67 b4z := 0
68 
69 b5x := lp*c
70 b5y := 0
71 b5z := 0
72 
73 b6x := lp*c/2
74 b6y := - lp*s/2
75 b6z := 0
76 
77 sx := (b1x+b2x+b3x+b4x+b5x+b6x)/6
78 sy := (b1y+b2y+b3y+b4y+b5y+b6y)/6
79 sz := (b1z+b2z+b3z+b4z+b5z+b6z)/6+1
80 
81 rl := 0.03
82 
83 [LINKS]
84 
85 base : body "bodies/triangle1" color (0.1,0.1,0.1)
86 
87 platform: body "bodies/triangle2" color (0.1,0.1,0.1)
88  sphere 1.5*rl (sx,sy,sz) red
89  cylinder rl*0.8 (b2x,b2y,b2z) (sx,sy,sz) color (0.1,0.1,0.1)
90  cylinder rl*0.8 (b4x,b4y,b4z) (sx,sy,sz) color (0.1,0.1,0.1)
91  cylinder rl*0.8 (b6x,b6y,b6z) (sx,sy,sz) color (0.1,0.1,0.1)
92 
93 [JOINTS]
94 
95 SPH_SPH leg1 : base (a1x,a1y,a1z)
96  platform (b1x,b1y,b1z)
97  length rho1
98  radius rl
99  color (0.9,0.9,0.9)
100 
101 SPH_SPH leg2 : base (a2x,a2y,a2z)
102  platform (b2x,b2y,b2z)
103  length rho2
104  radius rl
105  color (0.9,0.9,0.9)
106 
107 SPH_SPH leg3 : base (a3x,a3y,a3z)
108  platform (b3x,b3y,b3z)
109  length rho3
110  radius rl
111  color (0.9,0.9,0.9)
112 
113 SPH_SPH leg4 : base (a4x,a4y,a4z)
114  platform (b4x,b4y,b4z)
115  length rho4
116  radius rl
117  color (0.9,0.9,0.9)
118 
119 SPH_SPH leg5 : base (a5x,a5y,a5z)
120  platform (b5x,b5y,b5z)
121  length rho5
122  radius rl
123  color (0.9,0.9,0.9)
124 
125 SPH_SPH leg6 : base (a6x,a6y,a6z)
126  platform (b6x,b6y,b6z)
127  length rho6
128  radius rl
129  color (0.9,0.9,0.9)
130