Box with Ball

3D box to contain a ball

Collaboration diagram for Box with Ball:

Uses CBox class for its implementation. This SimObject is meant for showcasing the SimObject interfaces and interconnection with other SimObjects.

Author

Therese Frostad

Date

12.06.2014 TF: Initial version.

Example configuration excerpt

<Lib
  LibName       = "fhsim_base"
  SimObject     = "Ballbox/Box"
  Name          = "B"
  BoxDimensions = "1,1,1"
  Scale         = "1"
/>
...
<InitialCondition
  S.Pos="0,0,-2.5"
  S.Vel="0.1,-0.2,0.5"
  S.Rot="0,0,0"
/>

Input Ports

This SimObject does not contain any inputs.

Output Ports

Name	Width	Description
Pos	3	The box centroid position.
Vel	3	The box centroid velocity.
Rot	3	The box orientation in Euler angles.

Configuration parameters

Name	Width	Description
BoxDimensions	3	Box length, width, height, in meters along axes x, y, , z, respectively.
Scale	1	Scale of rendered body objects, typically 1. (Visualization only)

Initial conditions

Name	Width	Description
Pos	3	North, East, Down, position.
Vel	3	North, East, Down, velocity.
Rot	3	Euler angles of axes North, East, Down, (x,y,z) in radians.

Full example file

Note

Try to press x while running the simulation to look inside the box.

<Contents>
  <OBJECTS>
 
  <Lib
    LibName="fhsim_base"
    SimObject="Ballbox/Box"
    Name="S"
    BoxDimensions="5,5,5"
  />
 
  <Lib
    LibName="fhsim_base"
    SimObject="Ballbox/Ball"
    Name="B"
    Count="1"
    Stiffnesses="1e7"
    Radii="1"
    Masses="1"
    Gravity="9.81"
    BoxDimensions="5,5,5"
   />
 
  </OBJECTS>
  <INTERCONNECTIONS>
  <Connection
    B.BoxPos = "S.Pos"
    B.BoxRot = "S.Rot"
  />
  </INTERCONNECTIONS>
  <INITIALIZATION>
     <InitialCondition
           B.Pos="0,0,-2"
           B.Vel="0,0,2"
           S.Pos="0,0,-2.5"
           S.Vel="0.1,-0.2,0.5"
           S.Rot="0,0,0"
  />
  </INITIALIZATION>
 
 
  <INTEGRATION>
    <Engine
    IntegratorMethod="2"
    NumCores="1"
    TOutput="0, 10"
    LogStates ="0"
    stepsize ="0.0006"
    HMax="0.002"
    HMin="0.0000001"
    AbsTol="1e-3" RelTol="1e-3"
    UseRSSNormInsteadOfInfNorm="0"
    FileOutput="union(objects:ports,objects:states)"
  />
 
  </INTEGRATION>
</Contents>

This SimObject is referred to as Ballbox/Box