38 lines
1.5 KiB
Python
38 lines
1.5 KiB
Python
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import sympy.physics.mechanics as _me
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import sympy as _sm
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import math as m
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import numpy as _np
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frame_a = _me.ReferenceFrame('a')
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frame_b = _me.ReferenceFrame('b')
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frame_n = _me.ReferenceFrame('n')
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x1, x2, x3 = _me.dynamicsymbols('x1 x2 x3')
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l = _sm.symbols('l', real=True)
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v1 = x1*frame_a.x+x2*frame_a.y+x3*frame_a.z
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v2 = x1*frame_b.x+x2*frame_b.y+x3*frame_b.z
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v3 = x1*frame_n.x+x2*frame_n.y+x3*frame_n.z
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v = v1+v2+v3
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point_c = _me.Point('c')
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point_d = _me.Point('d')
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point_po1 = _me.Point('po1')
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point_po2 = _me.Point('po2')
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point_po3 = _me.Point('po3')
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particle_l = _me.Particle('l', _me.Point('l_pt'), _sm.Symbol('m'))
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particle_p1 = _me.Particle('p1', _me.Point('p1_pt'), _sm.Symbol('m'))
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particle_p2 = _me.Particle('p2', _me.Point('p2_pt'), _sm.Symbol('m'))
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particle_p3 = _me.Particle('p3', _me.Point('p3_pt'), _sm.Symbol('m'))
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body_s_cm = _me.Point('s_cm')
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body_s_cm.set_vel(frame_n, 0)
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body_s_f = _me.ReferenceFrame('s_f')
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body_s = _me.RigidBody('s', body_s_cm, body_s_f, _sm.symbols('m'), (_me.outer(body_s_f.x,body_s_f.x),body_s_cm))
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body_r1_cm = _me.Point('r1_cm')
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body_r1_cm.set_vel(frame_n, 0)
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body_r1_f = _me.ReferenceFrame('r1_f')
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body_r1 = _me.RigidBody('r1', body_r1_cm, body_r1_f, _sm.symbols('m'), (_me.outer(body_r1_f.x,body_r1_f.x),body_r1_cm))
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body_r2_cm = _me.Point('r2_cm')
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body_r2_cm.set_vel(frame_n, 0)
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body_r2_f = _me.ReferenceFrame('r2_f')
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body_r2 = _me.RigidBody('r2', body_r2_cm, body_r2_f, _sm.symbols('m'), (_me.outer(body_r2_f.x,body_r2_f.x),body_r2_cm))
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v4 = x1*body_s_f.x+x2*body_s_f.y+x3*body_s_f.z
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body_s_cm.set_pos(point_c, l*frame_n.x)
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