example2d.world
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1 
3 % Atom radius: max 21mm (better 20 or even 19 mm)
4 % Distance between atoms in the 8-atom rings: 100mm
5 % Distance between atoms connecting the rings: 123.60679774997898 mm (10/cos(36))
6 % Bond radius: max 7.5mm (better 6mm or even 5 mm)
7 % Angles
8 % Atoms with 2 connections: v1-v2 109.5 deg
9 % Atoms with 3 connections: v1-v2 109.5 deg
10 % v2-v3 142.0197287078074 deg
11 % v1-v3 36 deg
12 % Vectors v1:[1 0 0]
13 % v2:[-0.333806859233771 0.942641491092178 0]
14 % v3:[0.809016994374948 -0.549697081128290 -0.208145674496407]
15 
16 [LINKS]
17 
18  link_0 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
19  cylinder 0.75 (0,0,0) (5.0000000000000000,0,0) color (0.79,0.79,0.79)
20  cylinder 0.75 (0,0,0) (-1.6690342961688556,4.7132074554608918,0) color (0.79,0.79,0.79)
21 
22  link_1 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
23  cylinder 0.75 (0,0,0) (5.0000000000000009,0,0) color (0.79,0.79,0.79)
24  cylinder 0.75 (0,0,0) (-1.6690342961688556,4.7132074554608927,0) color (0.79,0.79,0.79)
25 
26  link_2 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
27  cylinder 0.75 (0,0,0) (5.0000000000000009,0,0) color (0.79,0.79,0.79)
28  cylinder 0.75 (0,0,0) (-1.6690342961688547,4.7132074554608918,0) color (0.79,0.79,0.79)
29  cylinder 0.75 (0,0,0) (5.0000000000000018,-3.3973147965389163,-1.2864110145005161) color (0.79,0.79,0.79)
30 
31  link_3 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
32  cylinder 0.75 (0,0,0) (4.9999999999999991,0,0) color (0.79,0.79,0.79)
33  cylinder 0.75 (0,0,0) (-1.6690342961688556,4.7132074554608918,0) color (0.79,0.79,0.79)
34 
35  link_4 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
36  cylinder 0.75 (0,0,0) (5.0000000000000000,0,0) color (0.79,0.79,0.79)
37  cylinder 0.75 (0,0,0) (-1.6690342961688556,4.7132074554608927,0) color (0.79,0.79,0.79)
38 
39  link_5 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
40  cylinder 0.75 (0,0,0) (5.0000000000000000,0,0) color (0.79,0.79,0.79)
41  cylinder 0.75 (0,0,0) (-1.6690342961688556,4.7132074554608945,0) color (0.79,0.79,0.79)
42 
43  link_6 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
44  cylinder 0.75 (0,0,0) (5.0000000000000009,0,0) color (0.79,0.79,0.79)
45  cylinder 0.75 (0,0,0) (-1.6690342961688549,4.7132074554608909,0) color (0.79,0.79,0.79)
46  cylinder 0.75 (0,0,0) (5.0000000000000018,-3.3973147965389181,-1.2864110145005161) color (0.79,0.79,0.79)
47 
48  link_7 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
49  cylinder 0.75 (0,0,0) (5.0000000000000000,0,0) color (0.79,0.79,0.79)
50  cylinder 0.75 (0,0,0) (-1.6690342961688556,4.7132074554608918,0) color (0.79,0.79,0.79)
51 
52  link_8 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
53  cylinder 0.75 (0,0,0) (5.0000000000000009,0,0) color (0.79,0.79,0.79)
54  cylinder 0.75 (0,0,0) (-1.6690342961688547,4.7132074554608918,0) color (0.79,0.79,0.79)
55 
56  link_9 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
57  cylinder 0.75 (0,0,0) (5.0000000000000000,0,0) color (0.79,0.79,0.79)
58  cylinder 0.75 (0,0,0) (-1.6690342961688556,4.7132074554608918,0) color (0.79,0.79,0.79)
59  cylinder 0.75 (0,0,0) (-4.8714841816878209,3.5791604733998201,1.2864110145005165) color (0.79,0.79,0.79)
60 
61  link_10 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
62  cylinder 0.75 (0,0,0) (5.0000000000000009,0,0) color (0.79,0.79,0.79)
63  cylinder 0.75 (0,0,0) (-1.6690342961688556,4.7132074554608918,0) color (0.79,0.79,0.79)
64 
65  link_11 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
66  cylinder 0.75 (0,0,0) (5.0000000000000009,0,0) color (0.79,0.79,0.79)
67  cylinder 0.75 (0,0,0) (-1.6690342961688547,4.7132074554608918,0) color (0.79,0.79,0.79)
68 
69  link_12 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
70  cylinder 0.75 (0,0,0) (5.0000000000000000,0,0) color (0.79,0.79,0.79)
71  cylinder 0.75 (0,0,0) (-1.6690342961688556,4.7132074554608927,0) color (0.79,0.79,0.79)
72 
73  link_13 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
74  cylinder 0.75 (0,0,0) (5.0000000000000009,0,0) color (0.79,0.79,0.79)
75  cylinder 0.75 (0,0,0) (-1.6690342961688538,4.7132074554608918,0) color (0.79,0.79,0.79)
76  cylinder 0.75 (0,0,0) (-4.8714841816878192,3.5791604733998197,1.2864110145005148) color (0.79,0.79,0.79)
77 
78  link_14 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
79  cylinder 0.75 (0,0,0) (5.0000000000000009,0,0) color (0.79,0.79,0.79)
80  cylinder 0.75 (0,0,0) (-1.6690342961688556,4.7132074554608936,0) color (0.79,0.79,0.79)
81 
82  link_15 : sphere 2.1 (0,0,0) color (0.156,0.415,0.890)
83  cylinder 0.75 (0,0,0) (5.0000000000000009,0,0) color (0.79,0.79,0.79)
84  cylinder 0.75 (0,0,0) (-1.6690342961688547,4.7132074554608918,0) color (0.79,0.79,0.79)
85 
86 [JOINTS]
87 
88  revolute: link_0 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (10.0000000000000000,0.0000000000000000,0.0000000000000000)
89  link_1 (10.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
90 
91  revolute: link_0 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377111,9.4264149109217836,0.0000000000000000)
92  link_7 (-3.3380685923377111,9.4264149109217836,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
93 
94  revolute: link_1 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377120,9.4264149109217854,0.0000000000000000)
95  link_2 (10.0000000000000018,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
96 
97  revolute: link_2 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377094,9.4264149109217836,0.0000000000000000)
98  link_3 (9.9999999999999982,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
99 
100  revolute: link_2 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (10.0000000000000036,-6.7946295930778327,-2.5728220290010322)
101  link_9 (-9.7429683633756419,7.1583209467996411,2.5728220290010322) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
102 
103  revolute: link_3 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377111,9.4264149109217836,0.0000000000000000)
104  link_4 (10.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
105 
106  revolute: link_4 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377111,9.4264149109217854,0.0000000000000000)
107  link_5 (10.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
108 
109  revolute: link_5 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377111,9.4264149109217872,0.0000000000000000)
110  link_6 (10.0000000000000018,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
111 
112  revolute: link_6 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377098,9.4264149109217836,0.0000000000000000)
113  link_7 (10.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
114 
115  revolute: link_6 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (10.0000000000000036,-6.7946295930778344,-2.5728220290010322)
116  link_13 (-9.7429683633756383,7.1583209467996403,2.5728220290010304) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
117 
118  revolute: link_8 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (10.0000000000000018,0.0000000000000000,0.0000000000000000)
119  link_9 (10.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
120 
121  revolute: link_8 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377094,9.4264149109217836,0.0000000000000000)
122  link_15 (-3.3380685923377094,9.4264149109217836,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
123 
124  revolute: link_9 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377111,9.4264149109217854,0.0000000000000000)
125  link_10 (10.0000000000000018,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
126 
127  revolute: link_10 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377111,9.4264149109217836,0.0000000000000000)
128  link_11 (10.0000000000000018,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
129 
130  revolute: link_11 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377094,9.4264149109217836,0.0000000000000000)
131  link_12 (10.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
132 
133  revolute: link_12 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377111,9.4264149109217854,0.0000000000000000)
134  link_13 (10.0000000000000018,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
135 
136  revolute: link_13 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377076,9.4264149109217854,0.0000000000000000)
137  link_14 (10.0000000000000018,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
138 
139  revolute: link_14 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-3.3380685923377111,9.4264149109217854,0.0000000000000000)
140  link_15 (10.0000000000000018,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
141 
142 
143 
144 [COLLISIONS]
145 
146  do not check: all
147 % check: link_0,link_1
148  check: link_0,link_2
149  check: link_0,link_3
150  check: link_0,link_4
151  check: link_0,link_5
152  check: link_0,link_6
153 % check: link_0,link_7
154  check: link_0,link_8
155  check: link_0,link_9
156  check: link_0,link_10
157  check: link_0,link_11
158  check: link_0,link_12
159  check: link_0,link_13
160  check: link_0,link_14
161  check: link_0,link_15
162 % check: link_1,link_2
163  check: link_1,link_3
164  check: link_1,link_4
165  check: link_1,link_5
166  check: link_1,link_6
167  check: link_1,link_7
168  check: link_1,link_8
169  check: link_1,link_9
170  check: link_1,link_10
171  check: link_1,link_11
172  check: link_1,link_12
173  check: link_1,link_13
174  check: link_1,link_14
175  check: link_1,link_15
176 % check: link_2,link_3
177  check: link_2,link_4
178  check: link_2,link_5
179  check: link_2,link_6
180  check: link_2,link_7
181  check: link_2,link_8
182 % check: link_2,link_9
183  check: link_2,link_10
184  check: link_2,link_11
185  check: link_2,link_12
186  check: link_2,link_13
187  check: link_2,link_14
188  check: link_2,link_15
189 % check: link_3,link_4
190  check: link_3,link_5
191  check: link_3,link_6
192  check: link_3,link_7
193  check: link_3,link_8
194  check: link_3,link_9
195  check: link_3,link_10
196  check: link_3,link_11
197  check: link_3,link_12
198  check: link_3,link_13
199  check: link_3,link_14
200  check: link_3,link_15
201 % check: link_4,link_5
202  check: link_4,link_6
203  check: link_4,link_7
204  check: link_4,link_8
205  check: link_4,link_9
206  check: link_4,link_10
207  check: link_4,link_11
208  check: link_4,link_12
209  check: link_4,link_13
210  check: link_4,link_14
211  check: link_4,link_15
212 % check: link_5,link_6
213  check: link_5,link_7
214  check: link_5,link_8
215  check: link_5,link_9
216  check: link_5,link_10
217  check: link_5,link_11
218  check: link_5,link_12
219  check: link_5,link_13
220  check: link_5,link_14
221  check: link_5,link_15
222 % check: link_6,link_7
223  check: link_6,link_8
224  check: link_6,link_9
225  check: link_6,link_10
226  check: link_6,link_11
227  check: link_6,link_12
228 % check: link_6,link_13
229  check: link_6,link_14
230  check: link_6,link_15
231  check: link_7,link_8
232  check: link_7,link_9
233  check: link_7,link_10
234  check: link_7,link_11
235  check: link_7,link_12
236  check: link_7,link_13
237  check: link_7,link_14
238  check: link_7,link_15
239 % check: link_8,link_9
240  check: link_8,link_10
241  check: link_8,link_11
242  check: link_8,link_12
243  check: link_8,link_13
244  check: link_8,link_14
245 % check: link_8,link_15
246 % check: link_9,link_10
247  check: link_9,link_11
248  check: link_9,link_12
249  check: link_9,link_13
250  check: link_9,link_14
251  check: link_9,link_15
252 % check: link_10,link_11
253  check: link_10,link_12
254  check: link_10,link_13
255  check: link_10,link_14
256  check: link_10,link_15
257 % check: link_11,link_12
258  check: link_11,link_13
259  check: link_11,link_14
260  check: link_11,link_15
261 % check: link_12,link_13
262  check: link_12,link_14
263  check: link_12,link_15
264 % check: link_13,link_14
265  check: link_13,link_15
266 % check: link_14,link_15
267 
268 
Distance
double Distance(unsigned int s, double *v1, double *v2)
Computes the distance of two points.
Definition: basic_algebra.c:438