a
    kh,                     @   s   d dl mZmZmZmZ d dl mZmZmZmZ d dl m	Z	 d dl
mZmZmZmZ d dlmZmZ dd Zdd	 Zd
d Zdd Zdd Zdd Zdd Zdd ZdS )    )PointReferenceFrameDyadic	RigidBody)dynamicsymbolsouterinertiaInertia)inertia_of_point_mass)expandzerossimplifysymbols)raiseswarns_deprecated_sympyc                  C   s   t d} t| jgtdR  }| jdks,J | jtdks>J | jjdksNJ | j|| jfksbJ | j|kspJ | jjdksJ |  dksJ | 	 dksJ d S )NBz#B_ixx B_iyy B_izz B_ixy B_iyz B_izxZB_massZB_masscenterZB_framea|  RigidBody('B', masscenter=B_masscenter, frame=B_frame, mass=B_mass, inertia=Inertia(dyadic=B_ixx*(B_frame.x|B_frame.x) + B_ixy*(B_frame.x|B_frame.y) + B_izx*(B_frame.x|B_frame.z) + B_ixy*(B_frame.y|B_frame.x) + B_iyy*(B_frame.y|B_frame.y) + B_iyz*(B_frame.y|B_frame.z) + B_izx*(B_frame.z|B_frame.x) + B_iyz*(B_frame.z|B_frame.y) + B_izz*(B_frame.z|B_frame.z), point=B_masscenter)))
r   r   framer   namemass
masscentercentral_inertia__str____repr__)bI r   Z/var/www/auris/lib/python3.9/site-packages/sympy/physics/mechanics/tests/test_rigidbody.pytest_rigidbody_default   s    r   c            
         s  t d\} }}}}td td}tdtd}tdtd}td f}|jksfJ |j kstJ |jksJ |j|jfksJ | |_||_||_||jf|_t	t
 fdd	 t	t
fd
d	 t	t
 fdd	 t	t
 fdd	 | dks"J |j| ks2J |j|ksBJ |j|ksRJ |j||jfkshJ t|jtszJ td}	||	||	j ||	j  ||	j   ||	| ||	j ||	j  ||	j   ksJ d S )Nzm m2 v1 v2 v3 omegaAA2PP2r   r   c                      s   t  fS )Nr   r   r   r   r    mr   r   <lambda>/       z test_rigidbody.<locals>.<lambda>c                      s   t d fS Nr   r"   r   )r   r    r$   r   r   r%   0   r&   c                      s   t d fS r'   r"   r   )r   r    r$   r   r   r%   1   r&   c                      s   t d fS r'   r"   r   r#   r   r   r%   2   r&   N)r   r   r   r   r   r   r   r   r   r   	TypeErrorr   
isinstancer	   set_velxyzZlinear_momentum)
m2Zv1Zv2Zv3omegar   r!   ZI2r   r(   r   r#   r   test_rigidbody   s:    &r1   c                  C   s>  t d\} }}}}}td}td}||||j  td}t|j|j}	|	|f}
td||| |
}||||j  |||||j ksJ td}||||j  |	|||j
  |||||j | | | |j  ksJ | | | |_|j| | | ksJ td|| |d | |d   ks:J d S )NzM v r omega g hr(   r   r    r   O   )r   r   set_ang_velr,   r   r   r   r+   angular_momentumZset_posr-   r.   Zpotential_energyr   Zkinetic_energy)Mvrr0   ghr(   r   r    r   ZInertia_tupler   r2   r   r   r   test_rigidbody2@   s"    ,r;   c                  C   s  t d\} }}}td\}}}td}td}|dd| |jg}	td}
|
|||j ||j  ||j   |
	d||	j ||	j  ||	j  }|
|
||	 t|	j|	j}td	||	|||f}td
||	||t|||
|	 |
f}|j|jksJ ||
|||
|ksJ d S )Nzq1:5zp1:4r$   r   r   Zaxisr2   r    rb1rb2)r   r   r   	orientnewr,   r   r+   r-   r.   	locatenewv2pt_theoryr   r   r
   Zpos_fromr   r5   )Zq1Zq2Zq3Zq4p1p2Zp3r$   r   r   r2   r    r   r<   r=   r   r   r   test_rigidbody3T   s     &&
rC   c            
      C   s  t d\} }td}td}|dd||jg}||| |j  t|d| |d  d | |d  d }td	}|	d
d| |j
 }|	d||j
 }td||| ||f}	||d |||| |||| d|  |d  d |  |j |	||| dksJ dS )zConsider a pendulum of length OA = 2a, of mass m as a rigid body of
    center of mass G (OG = a) which turn around (O,z). The angle between the
    reference frame R and the rod is q.  The inertia of the body is I =
    (G,0,ma^2/3,ma^2/3). zm, aqRR1ZAxisr   r3      r2   r   GS   N)r   r   r   r>   r.   r4   diffr   r   r?   r,   r   r+   r@   r5   Zexpress)
r$   arD   rE   rF   r   r2   r   rH   rI   r   r   r   test_pendulum_angular_momentumj   s$    & rM   c               	   C   sN  t d} td\}}}}}}t| |||}td}|d|| j || j  }	td|| |||	f}
t| ||d |  ||d |  |||d |d    || | }t|
jt	sJ |
j||	fksJ |
j
|ksJ ||
_
|
j||fksJ |
j
|ksJ ||	f|
_|
j||	fksJ |
j
|ks*J t	|||
_|
j||fksJJ d S )Nr(   m, I_x, I_y, I_z, a, boprE   r3   )r   r   r   r   r?   r,   r-   r   r*   r	   r   )r(   r$   IxIyIzrL   r   IorO   rP   rE   ZI_checkr   r   r   test_rigidbody_inertia   s(      
rU   c               	   C   s  t d} td\}}}}}}t| |||}td}|d|| j || j  }	td|| |||f}
|
|	}t| |||d   |||d   |||d |d    | | | d}||ksJ t d}|	| | j
d	 t|
|	|| |td
d
ksJ d S )Nr(   rN   rO   rP   rE   r3   )Zixyr      rG   )r   r   r   r   r?   r,   r-   r   Zparallel_axisZorient_axisr.   r   Z	to_matrixr   )r(   r$   rQ   rR   rS   rL   r   rT   rO   rP   rE   ZIpZIp_expectedr   r   r   r   test_parallel_axis   s$    
 "rW   c                  C   sv   t d\} }}td}td}td}td||| ||f}t " || | |  W d    n1 sh0    Y  d S )Nzm g hr   r    r   r   )r   r   r   r   r   r   Zset_potential_energy)r$   r9   r:   r   r    r   r   r   r   r   $test_deprecated_set_potential_energy   s    rX   N)Zsympy.physics.mechanicsr   r   r   r   r   r   r   r	   r
   Zsympyr   r   r   r   Zsympy.testing.pytestr   r   r   r1   r;   rC   rM   rU   rW   rX   r   r   r   r   <module>   s   #