| import sympy.physics.mechanics as _me | |
| import sympy as _sm | |
| import math as m | |
| import numpy as _np | |
| frame_a = _me.ReferenceFrame('a') | |
| c1, c2, c3 = _sm.symbols('c1 c2 c3', real=True) | |
| a = _me.inertia(frame_a, 1, 1, 1) | |
| particle_p1 = _me.Particle('p1', _me.Point('p1_pt'), _sm.Symbol('m')) | |
| particle_p2 = _me.Particle('p2', _me.Point('p2_pt'), _sm.Symbol('m')) | |
| body_r_cm = _me.Point('r_cm') | |
| body_r_f = _me.ReferenceFrame('r_f') | |
| body_r = _me.RigidBody('r', body_r_cm, body_r_f, _sm.symbols('m'), (_me.outer(body_r_f.x,body_r_f.x),body_r_cm)) | |
| frame_a.orient(body_r_f, 'DCM', _sm.Matrix([1,1,1,1,1,0,0,0,1]).reshape(3, 3)) | |
| point_o = _me.Point('o') | |
| m1 = _sm.symbols('m1') | |
| particle_p1.mass = m1 | |
| m2 = _sm.symbols('m2') | |
| particle_p2.mass = m2 | |
| mr = _sm.symbols('mr') | |
| body_r.mass = mr | |
| i1 = _sm.symbols('i1') | |
| i2 = _sm.symbols('i2') | |
| i3 = _sm.symbols('i3') | |
| body_r.inertia = (_me.inertia(body_r_f, i1, i2, i3, 0, 0, 0), body_r_cm) | |
| point_o.set_pos(particle_p1.point, c1*frame_a.x) | |
| point_o.set_pos(particle_p2.point, c2*frame_a.y) | |
| point_o.set_pos(body_r_cm, c3*frame_a.z) | |
| a = _me.inertia_of_point_mass(particle_p1.mass, particle_p1.point.pos_from(point_o), frame_a) | |
| a = _me.inertia_of_point_mass(particle_p2.mass, particle_p2.point.pos_from(point_o), frame_a) | |
| a = body_r.inertia[0] + _me.inertia_of_point_mass(body_r.mass, body_r.masscenter.pos_from(point_o), frame_a) | |
| a = _me.inertia_of_point_mass(particle_p1.mass, particle_p1.point.pos_from(point_o), frame_a) + _me.inertia_of_point_mass(particle_p2.mass, particle_p2.point.pos_from(point_o), frame_a) + body_r.inertia[0] + _me.inertia_of_point_mass(body_r.mass, body_r.masscenter.pos_from(point_o), frame_a) | |
| a = _me.inertia_of_point_mass(particle_p1.mass, particle_p1.point.pos_from(point_o), frame_a) + body_r.inertia[0] + _me.inertia_of_point_mass(body_r.mass, body_r.masscenter.pos_from(point_o), frame_a) | |
| a = body_r.inertia[0] + _me.inertia_of_point_mass(body_r.mass, body_r.masscenter.pos_from(point_o), frame_a) | |
| a = body_r.inertia[0] | |
| particle_p2.point.set_pos(particle_p1.point, c1*frame_a.x+c2*frame_a.y) | |
| body_r_cm.set_pos(particle_p1.point, c3*frame_a.x) | |
| body_r_cm.set_pos(particle_p2.point, c3*frame_a.y) | |
| b = _me.functions.center_of_mass(point_o,particle_p1, particle_p2, body_r) | |
| b = _me.functions.center_of_mass(point_o,particle_p1, body_r) | |
| b = _me.functions.center_of_mass(particle_p1.point,particle_p1, particle_p2, body_r) | |
| u1, u2, u3 = _me.dynamicsymbols('u1 u2 u3') | |
| v = u1*frame_a.x+u2*frame_a.y+u3*frame_a.z | |
| u = (v+c1*frame_a.x).normalize() | |
| particle_p1.point.set_vel(frame_a, u1*frame_a.x) | |
| a = particle_p1.point.partial_velocity(frame_a, u1) | |
| m = particle_p1.mass+body_r.mass | |
| m = particle_p2.mass | |
| m = particle_p1.mass+particle_p2.mass+body_r.mass | |