prism.tens

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[CONSTANTS]

  % length, stiffness, and force of the struts (stiffness is negative for struts)
  ls :=  sqrt(2)
  ss := -0.303965613370022
  min_ls := 0.7*ls
  max_ls := 1.3*ls

  % nominal length, maximal length, stiffness, and rest of the cables in the base and in the platform
  lc1 := 0.896575472168053
  sc1 := 0.175494628703572
  fc1 := lc1*sc1
  min_fc1 := 0
  max_fc1 := 3*fc1
  max_cl1 := 2*lc1
  
  % nominal length, maximal length, stiffness and rest of the cables connecting the base and the platform
  lc2 := 1.035276180410085
  max_cl2 := 3*lc2 
  sc2 := 0.303965613370022

  % min cable length
  min_cl := 0.01
  
[STRUCTURE]

  prismatic s1 : n1 n2
                 length [min_ls,max_ls]
                 stiffness ss 
          
  prismatic s2 : n3 n4
                 length [min_ls,max_ls]
                 stiffness ss 
          
  prismatic s3 : n5 n6
                 length [min_ls,max_ls]
                 stiffness ss 
          
  spring c1: n2 n4
             length [min_cl,max_cl1]
             stiffness sc1
          
  spring c2: n4 n6
             length [min_cl,max_cl1]
             stiffness sc1
          
  spring c3: n2 n6
             length [min_cl,max_cl1]
             stiffness sc1

  spring c4: n1 n6
             length [min_cl,max_cl2]
             stiffness sc2
          
  spring c5: n2 n3
             length [min_cl,max_cl2]
             stiffness sc2
          
  spring c6: n4 n5
             length [min_cl,max_cl2]
             stiffness sc2

[FIXED POINTS]
  % Fix the position of the bottom nodes
  n1=(0,0,0)
  n3=(lc1,0,0)
  n5=(lc1*cos(pi/3),lc1*sin(pi/3),0)
  
[FORCES]
   /* remove the bottom nodes from force equilibrium equations */
   no null force: n1,n3,n5
   
[OBSTACLES]

  plane: box (-1,-1,-0.05)+(3,3,0.025) green
  anchor1: sphere 0.025 (0,0,-0.025) red
  anchor2: sphere 0.025 (lc1,0,-0.025) red
  anchor3: sphere 0.025 (lc1*cos(pi/3),lc1*sin(pi/3),-0.025) red
  obs1:  box (0.75,0.25,0.5)+(0.25,0.15,0.25) red

[COLLISIONS]

  do not check: all

  % check the possible collision of 'obs1' with any
  % part of the structure
  % Comment this line to skip collision detection 
  check: obs1