# No. 97 (Brown 1868): "This is a heart-cam, similar to 96, except that it is grooved."
#
# Model (cm): as No. 96, but the heart is a groove: two walls (1.06 cm apart, the pin 1.0 cm) are struck out about the same
# curve (its centre line: radius 4 cm growing 1.273 cm to the radian to 8 cm, and falling as fast; the cusps rounded over
# 0.06 rad). The bar's pin is held in the groove by real contact, so the groove drives it both ways and no spring is wanted.
# Generator: opencode-runs/batch9/gen097.py.
number: 97
slug: grooved-heart-cam
name: A grooved heart-cam driving the bar both ways
brown: "This is a heart-cam, similar to 96, except that it is grooved."
units: cm
sim:
  timestep: 0.0005
  integrator: implicitfast
  iterations: 50
  solver: PGS
  duration_s: 12
  floor: false
bodies:
  - id: cam
    shape: part
    pos: [0, 0, 0]
    mass: 1.0
    friction: 0.05
    color: "#d9cfb6"
    pieces:
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      - {kind: disc, center: [0, 0], radius: 9.63, y: [0.4, 0.8]}   # the plate the groove is cut in
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      - {kind: poly, points: [[-7.345, 0.5578], [-7.4276, 0.0], [-6.9276, 0.0], [-6.8602, 0.4354]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-7.4276, 0.0], [-7.345, -0.5578], [-6.8602, -0.4354], [-6.9276, 0.0]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-7.345, -0.5578], [-7.1594, -1.1755], [-6.6875, -1.0102], [-6.8602, -0.4354]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-7.1594, -1.1755], [-6.9229, -1.7651], [-6.4676, -1.5583], [-6.6875, -1.0102]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-6.9229, -1.7651], [-6.6389, -2.3226], [-6.204, -2.0759], [-6.4676, -1.5583]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-6.6389, -2.3226], [-6.3113, -2.8444], [-5.9002, -2.5597], [-6.204, -2.0759]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-6.3113, -2.8444], [-5.944, -3.3271], [-5.5601, -3.0067], [-5.9002, -2.5597]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-5.944, -3.3271], [-5.5413, -3.7677], [-5.1878, -3.4142], [-5.5601, -3.0067]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-5.5413, -3.7677], [-5.1078, -4.164], [-4.7874, -3.7802], [-5.1878, -3.4142]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-5.1078, -4.164], [-4.6481, -4.514], [-4.3635, -4.1028], [-4.7874, -3.7802]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-4.6481, -4.514], [-4.1669, -4.816], [-3.9205, -4.381], [-4.3635, -4.1028]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-4.1669, -4.816], [-3.669, -5.0692], [-3.4627, -4.6137], [-3.9205, -4.381]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-3.669, -5.0692], [-3.1591, -5.2729], [-2.9948, -4.8007], [-3.4627, -4.6137]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-3.1591, -5.2729], [-2.6422, -5.4271], [-2.5212, -4.942], [-2.9948, -4.8007]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-2.6422, -5.4271], [-2.1228, -5.5321], [-2.0461, -5.038], [-2.5212, -4.942]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-2.1228, -5.5321], [-1.6056, -5.5886], [-1.5739, -5.0896], [-2.0461, -5.038]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-1.6056, -5.5886], [-1.0949, -5.5979], [-1.1086, -5.0981], [-1.5739, -5.0896]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-1.0949, -5.5979], [-0.5951, -5.5616], [-0.654, -5.065], [-1.1086, -5.0981]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-0.5951, -5.5616], [-0.11, -5.4815], [-0.2138, -4.9924], [-0.654, -5.065]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[-0.11, -5.4815], [0.3565, -5.3602], [0.2087, -4.8825], [-0.2138, -4.9924]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[0.3565, -5.3602], [0.8011, -5.2001], [0.6103, -4.7379], [0.2087, -4.8825]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[0.8011, -5.2001], [1.2206, -5.0042], [0.9884, -4.5613], [0.6103, -4.7379]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[1.2206, -5.0042], [1.6122, -4.7756], [1.3405, -4.3558], [0.9884, -4.5613]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[1.6122, -4.7756], [1.9734, -4.5176], [1.6645, -4.1245], [1.3405, -4.3558]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[1.9734, -4.5176], [2.3023, -4.2339], [1.9586, -3.8708], [1.6645, -4.1245]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[2.3023, -4.2339], [2.5972, -3.928], [2.2215, -3.598], [1.9586, -3.8708]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[2.5972, -3.928], [2.8566, -3.6037], [2.4522, -3.3098], [2.2215, -3.598]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[2.8566, -3.6037], [3.0799, -3.2648], [2.65, -3.0095], [2.4522, -3.3098]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[3.0799, -3.2648], [3.2663, -2.9152], [2.8147, -2.7007], [2.65, -3.0095]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[3.2663, -2.9152], [3.4159, -2.5585], [2.9463, -2.3868], [2.8147, -2.7007]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[3.4159, -2.5585], [3.5289, -2.1985], [3.0453, -2.0713], [2.9463, -2.3868]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[3.5289, -2.1985], [3.6058, -1.8388], [3.1125, -1.7573], [3.0453, -2.0713]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[3.6058, -1.8388], [3.6477, -1.483], [3.1489, -1.448], [3.1125, -1.7573]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[3.6477, -1.483], [3.6558, -1.1343], [3.156, -1.1462], [3.1489, -1.448]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[3.6558, -1.1343], [3.6318, -0.7958], [3.1353, -0.8548], [3.156, -1.1462]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[3.6318, -0.7958], [3.5775, -0.4704], [3.0888, -0.5761], [3.1353, -0.8548]], y: [-0.4, 0.4], collide: 1}
      - {kind: poly, points: [[3.5775, -0.4704], [3.5124, -0.0], [3.0124, -0.0], [3.0888, -0.5761]], y: [-0.4, 0.4], collide: 1}
  - id: bar
    shape: part
    pos: [4.0, 0, 0]
    mass: 0.2
    friction: 0.05
    color: "#b8ad97"
    pieces:
      - {kind: rod, from: [4.0, -0.3, 0], to: [4.0, 0.3, 0], radius: 0.5, collide: 2, capsule: true, color: "#8f8a80"}   # the pin
      - {kind: poly, points: [[4.5, -0.5], [24.0, -0.5], [24.0, 0.5], [4.5, 0.5]], y: [-0.4, 0.4]}   # the horizontal bar
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: poly, points: [[-1.4, -13], [1.4, -13], [1.0, 0], [-1.0, 0]], y: [1.8, 2.8]}   # the cam's standard, behind
      - {kind: poly, points: [[9.0, -1.6], [26.0, -1.6], [26.0, -0.7], [9.0, -0.7]], y: [-0.8, 1.2]}   # the bar's lower guide
      - {kind: poly, points: [[9.0, 0.7], [26.0, 0.7], [26.0, 1.6], [9.0, 1.6]], y: [-0.8, 1.2]}   # the upper guide
      - {kind: poly, points: [[9.0, -1.6], [26.0, -1.6], [26.0, 1.6], [9.0, 1.6]], y: [1.2, 2.2]}   # their back plate
      - {kind: poly, points: [[21.0, -13], [23.0, -13], [23.0, -1.6], [21.0, -1.6]], y: [1.2, 2.2]}   # their post
      - {kind: poly, points: [[-12, -14], [30.0, -14], [30.0, -13], [-12, -13]], y: [-3, 3], color: "#b9b09c"}
joints:
  - {id: j_c, type: hinge, body: cam, axis: [0, 1, 0], damping: 0.002}   # the one driven joint; + : clockwise
  - {id: j_x, type: slide, body: bar, axis: [1, 0, 0], range: [-1.0, 5.0], damping: 1.0}   # the bar in its guides, held by the groove; + : out
driver: {joint: j_c, kind: velocity, rpm: 10.0, kv: 20.0, max_torque: 20}
checks:
  - {type: follow, out: j_x, in: j_c, expect: 0.01273, tol: 0.00038, min_r2: 0.995, settle_s: 0.8333, window_s: 1.6667}   # out: K a radian
  - {type: follow, out: j_x, in: j_c, expect: -0.01273, tol: 0.00038, min_r2: 0.995, settle_s: 3.8333, window_s: 1.3333}   # and back
  - {type: follow, out: j_x, in: j_c, expect: 0.01273, tol: 0.00038, min_r2: 0.995, settle_s: 6.8333, window_s: 1.6667}   # and again
  - {type: position, joint: j_x, min: -0.05, max: 4.05, settle_s: 0.5, window_s: 11}
camera: {target: [11.0, 0, -2.5], position: [11.0, -85, 0], fov: 34}
display:
  output: j_x
  labels: {j_c: "Grooved heart-cam (driver)", j_x: "Bar"}
  proof: {label: "Groove walls out of contact", sub: "the cam turns but the bar stands"}