free_flying.tens
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1 
2 [CONSTANTS]
3 
4  % Length of struts
5  l1:=1
6  l2:=1
7 
8  % Max force for struts
9  fs:=-4
10 
11  % Max length and rest for cables (and spring)
12  lc:=3
13  rc:=2
14 
15  % Stiffness for cables
16  sc:=1
17 
18  % Size of the gap between walls
19  gap := 0.3
20 
21  % Size of the area (in +/-X and +/-Y) where the tensegrity moves
22  rangeX:=3
23  rangeY:=3
24 
25  % Size of the wall in Y (block the Y transltation, but on the gap)
26  wallY:=rangeY+0.25
27 
28 [FREE FLYING PLANAR STRUCTURE rangeX,rangeY]
29 
30  strut s1 : n1 n2
31  length l1
32  force [fs,0]
33  white
34 
35  strut s2 : n3 n4
36  length l2
37  force [fs,0]
38 
39  cable c1 : n1 n3
40  length [0,lc]
41  stiffness sc
42  rest [0,rc]
43  red
44 
45  cable c2 : n2 n3
46  length [0,lc]
47  stiffness sc
48  rest [0,rc]
49  green
50 
51  cable c3 : n1 n4
52  length [0,lc]
53  stiffness sc
54  rest [0,rc]
55  yellow
56 
57  cable c4 : n2 n4
58  length [0,lc]
59  stiffness sc
60  rest [0,rc]
61  cyan
62 
63 [OBSTACLES]
64  box1 : box (0.75, gap/2,-0.1)+(0.5,wallY,0.2) red
65  box2 : box (0.75,-wallY-gap/2,-0.1)+(0.5,wallY,0.2) red
66 
67 [COLLISIONS]
68  check : box1
69  check : box2
70 
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