Commit 4bdd4b0a authored by Timothee Habra's avatar Timothee Habra

update simbody Readme. Small Markdown adaptation

parent 1faf70ad
......@@ -56,7 +56,6 @@ E.g. `#define NB_CONTACT_BODIES 4`
So the algorithm considers that first members of these arrays are attached to the first body in Simbody world, second members to the second body and so on.
```
#define S_SENSORS_ARRAY {1, 5, 4, 9}
#define F_SENSORS_ARRAY {4, 7, 6, 5}
```
......@@ -67,10 +66,9 @@ the second one 'fill_bodies_contact_properties' is used for bodies (you should f
You need to fill the following fields:
1. Mechanical parameters of the contact (link to the description of this parameters is in the "Comments" paragraph below):
A. Mechanical parameters of the contact (link to the description of this parameters is in the "Comments" paragraph below):
```
BodyContProp->ud = 0.9; // dynamic dry friction coefficient
BodyContProp->us = 1.1; // static; it is required ud < us
BodyContProp->uv = 0; // viscous (force/velocity)
......@@ -79,7 +77,7 @@ You need to fill the following fields:
BodyContProp->thickness = 0.01;
```
2. Type of geometry.
B. Type of geometry.
To run faster, some primitive geometries can be used.
* For ground '0' here means OneHalfSpace z+ (e.g. flat horizontal ground);
......@@ -93,15 +91,13 @@ Note : the contact between all geometries might not be available (refer to Simbo
for bodies we can specify different primitives such as sphere, box, etc.)
```
BodyContProp->Geometry = 1; // 0 means OneHalfSpace z+; 1 means a mesh
```
3. Transformation of geometry - you should use the same numbers as in MBSysPad for vrml meshes.
C. Transformation of geometry - you should use the same numbers as in MBSysPad for vrml meshes.
These fields are only applicable for mesh ground only (TODO! to add possibility to have inclined or shifted ground)
```
BodyContProp->ScaleFactor = 0.5; // scaling factor. Applicable only for mesh
BodyContProp->Transform[0] = -2.5; // translation in X, (TODO! to change name of the field from transform to translate? )
BodyContProp->Transform[1] = -2; // ... Y,
......@@ -111,17 +107,15 @@ These fields are only applicable for mesh ground only (TODO! to add possibility
BodyContProp->Rotation[2] = 0; // Z axis.
```
4. Geometry details
D. Geometry details
* For a mesh specify the mesh file
```
sprintf(BodyContProp->FileName, "ground_mine.obj"); // file should be in the folder \Standalone\src\project\simbody` (TODO! Where?)
```
* For a box, specify the half-length
```
CurBodyContProp->box_dim[0] = 0.075;
CurBodyContProp->box_dim[1] = 0.075;
CurBodyContProp->box_dim[2] = 0.075;
......@@ -129,7 +123,6 @@ These fields are only applicable for mesh ground only (TODO! to add possibility
* For a sphere, specify the radius
```
CurBodyContProp->radius = 0.02;
```
......
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