# No. 172 (Brown 1868): "A mode of obtaining an egg-shaped elliptical movement."
#
# Reading of the figure (cm, no gravity; a plan): a crank (radius 4 cm) turns on its shaft; its pin carries one end of a long bar, which slides through a swivel block pinned to the frame 18.5 cm away. A point 5.5 cm along the bar from the crank-pin (the ring in the figure) traces the egg (dashed, 8.0 x 5.7 cm).
# The bar rides between the two walls of the swivel block (real contact; the block turns on its pin only because the bar pushes it) and swings 21 deg each way. Generator: opencode-runs/batch11/gen172.py.
number: 172
slug: egg-shaped-elliptical-movement
name: A mode of obtaining an egg-shaped elliptical movement
brown: "A mode of obtaining an egg-shaped elliptical movement."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: PGS
  multiccd: true
  duration_s: 9.0
  floor: false
  gravity: 0
bodies:
  - id: crank
    shape: part
    pos: [8.0, 0, -0.15]
    mass: 0.3
    color: "#cfc6b4"
    pieces:
      - {kind: rod, from: [8.0, -1.2, -0.15], to: [8.0, 1.0, -0.15], radius: 0.9, collide: 0, color: "#8f8a80"}
      - {kind: disc, center: [8.0, -0.15], radius: 1.7, y: [-1.6, -0.8], collide: 0, color: "#d9cfb6"}
      - {kind: poly, points: [[8.4505, 0.1655], [10.7448, -3.1111], [9.8438, -3.7421], [7.5495, -0.4655]], y: [-1.6, -0.8], collide: 0, color: "#d9cfb6"}
      - {kind: disc, center: [10.2943, -3.4266], radius: 1.5, y: [-1.6, -0.8], collide: 0, color: "#d9cfb6"}
  - id: bar
    shape: part
    pos: [10.2943, 0, -3.4266]
    mount: crank
    mass: 0.2
    color: "#a89a7e"
    pieces:
      - {kind: poly, points: [[11.8458, -3.8659], [-14.9786, 0.2318], [-14.9182, 0.6273], [11.9062, -3.4705]], y: [-2.3, -2.2], collide: 0, color: "#a89a7e"}
      - {kind: rod, from: [11.876, -2.25, -3.6682], to: [-14.9484, -2.25, 0.4296], radius: 0.35, collide: 1, capsule: true, color: "#a89a7e"}
      - {kind: rod, from: [10.2943, -2.9, -3.4266], to: [10.2943, -0.8, -3.4266], radius: 0.5, collide: 0, color: "#8f8a80"}
      - {kind: disc, center: [4.8574, -2.596], radius: 0.7, inner: 0.25, y: [-3.4, -2.9], collide: 0, color: "#6b4f3a"}
  - id: block
    shape: part
    pos: [-10.5, 0, -0.25]
    mass: 0.3
    friction: 0.02
    color: "#d9cfb6"
    pieces:
      - {kind: poly, points: [[-7.4785, -0.3373], [-13.4097, 0.5688], [-13.3493, 0.9642], [-7.4181, 0.0581]], y: [-2.8, -1.7], collide: 2, color: "#d9cfb6"}
      - {kind: poly, points: [[-7.5903, -1.0688], [-13.5215, -0.1627], [-13.5819, -0.5581], [-7.6507, -1.4642]], y: [-2.8, -1.7], collide: 2, color: "#d9cfb6"}
      - {kind: disc, center: [-10.5, -0.25], radius: 1.4, y: [-1.5, -0.6], collide: 0, color: "#d9cfb6"}
      - {kind: rod, from: [-10.5, -3.0, -0.25], to: [-10.5, 0.4, -0.25], radius: 0.5, collide: 0, color: "#8f8a80"}
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: poly, points: [[6.8, -9.5], [9.2, -9.5], [8.9, -0.15], [7.1, -0.15]], y: [0.8, 1.8], collide: 0}
      - {kind: poly, points: [[-11.5, -9.5], [-9.5, -9.5], [-9.8, -0.25], [-11.2, -0.25]], y: [0.2, 1.2], collide: 0}
      - {kind: poly, points: [[-16, -10.5], [16, -10.5], [16, -9.5], [-16, -9.5]], y: [-3, 2], collide: 0, color: "#b9b09c"}
      - {kind: poly, points: [[4.8245, -2.5342], [4.9872, -2.4478], [5.0529, -2.5714], [4.8902, -2.6579]], y: [0.4, 0.8], collide: 0, color: "#6b4f3a"}
      - {kind: poly, points: [[5.1368, -2.358], [5.2857, -2.2575], [5.3641, -2.3735], [5.2152, -2.474]], y: [0.4, 0.8], collide: 0, color: "#6b4f3a"}
      - {kind: poly, points: [[5.421, -2.155], [5.5546, -2.0416], [5.6452, -2.1483], [5.5116, -2.2618]], y: [0.4, 0.8], collide: 0, color: "#6b4f3a"}
      - {kind: poly, points: [[5.6743, -1.9278], [5.7912, -1.8028], [5.8935, -1.8985], [5.7765, -2.0234]], y: [0.4, 0.8], collide: 0, color: "#6b4f3a"}
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joints:
  - {id: j_c, type: hinge, body: crank, axis: [0, -1, 0], damping: 0.002}   # the one driven joint: the crank
  - {id: j_b, type: hinge, body: bar, axis: [0, -1, 0], damping: 0.002}   # the bar on the crank-pin
  - {id: j_k, type: hinge, body: block, axis: [0, -1, 0], damping: 0.002}   # the swivel block on the frame
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_c, kind: velocity, rpm: 20, kv: 2.0, max_torque: 20}
checks:
  - {type: follow, out: j_k, in: j_c, expect: 0.1769, tol: 0.0142, min_r2: 0.99, settle_s: 0.375, window_s: 0.25}
  - {type: follow, out: j_k, in: j_c, expect: 0.1224, tol: 0.0098, min_r2: 0.99, settle_s: 0.8333, window_s: 0.25}
  - {type: follow, out: j_k, in: j_c, expect: -0.2718, tol: 0.0217, min_r2: 0.99, settle_s: 1.8333, window_s: 0.25}
  - {type: follow, out: j_b, in: j_c, expect: -1.0944, tol: 0.0876, min_r2: 0.99, settle_s: 1.375, window_s: 0.25}
  - {type: follow, out: j_b, in: j_c, expect: -1.2711, tol: 0.1017, min_r2: 0.99, settle_s: 1.8333, window_s: 0.25}
  - {type: follow, out: j_b, in: j_c, expect: -1.0972, tol: 0.0878, min_r2: 0.99, settle_s: 2.2917, window_s: 0.25}
  - {type: position, joint: j_k, min: -0.0909, max: 0.4049, settle_s: 0.0, window_s: 8.5}
  - {type: penetration, max: 0.003, settle_s: 0.5}
camera: {target: [0.0, 0, -3.0], position: [0.0, -46.0, -3.0], fov: 34}
display:
  output: j_k
  labels: {j_c: "Crank (driver)", j_k: "Swivel block", j_b: "Bar"}