U
    9%e                     @   s   d dl mZ d dlmZmZmZmZ d dlmZmZm	Z	 d dlm
Z
 d dl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S )    )symbols)PointReferenceFrameDyadic	RigidBody)dynamicsymbolsouterinertia)inertia_of_point_mass)expandzeros_simplify_matrix)raiseswarns_deprecated_sympyc            
         s  t d\} }}}}td td}tdtd}tdtd}td f}|jksft|j kstt|jkst|j	|jfkst| |_||_||_||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"t|j| ks2t|j|ksBt|j|ksRt|j	||jfksht|j|ksxt|j	||jfksttd}	||	||	j ||	j  ||	j   ||	| ||	j ||	j  ||	j   kstd S )Nzm m2 v1 v2 v3 omegaAA2PP2r   Bc                      s   t  fS )Nr    r   Ir   mr   k/var/www/html/Darija-Ai-API/env/lib/python3.8/site-packages/sympy/physics/mechanics/tests/test_rigidbody.py<lambda>       z test_rigidbody.<locals>.<lambda>c                      s   t d fS Nr   r   r   )r   r   r   r   r   r      r   c                      s   t d fS r   r   r   )r   r   r   r   r   r      r   c                      s   t d fS r   r   r   r   r   r   r      r   N)r   r   r   r   r   ZmassAssertionErrorframeZ
masscenterr	   r   	TypeError__str__set_velxyzZlinear_momentum)
m2Zv1Zv2Zv3omegar   r   ZI2r   r   r   r   r   test_rigidbody
   s<    &r)   c                  C   s>  t d\} }}}}}td}td}||||j  td}t|j|j}	|	|f}
td||| |
}||||j  |||||j kst	td}||||j  |
|||j  |||||j | | | |j  kst	| | | |_|j| | | kst	td|| |d | |d   ks:t	d S )NzM v r omega g hr   br   r   O   )r   r   set_ang_velr$   r   r   r   r#   angular_momentumr   Zset_posr%   r&   Zpotential_energyr   Zkinetic_energy)Mvrr(   ghr   r*   r   r   ZInertia_tupler   r+   r   r   r   test_rigidbody2.   s"    ,r4   c                  C   s  t d\} }}}td\}}}td}td}|dd| |jg}	td}
|
|||j ||j  ||j   |
	d||	j ||	j  ||	j  }|
|
||	 t|	j|	j}td	||	|||f}td
||	||t|||
|	 |
f}|j|jkst||
|||
|kstd S )Nzq1:5zp1:4r   r   r   Zaxisr+   r   rb1rb2)r   r   r   	orientnewr$   r   r#   r%   r&   	locatenewv2pt_theoryr   r   r
   Zpos_fromcentral_inertiar   r.   )q1q2Zq3Zq4p1p2Zp3r   r   r   r+   r   r   r5   r6   r   r   r   test_rigidbody3A   s     &&
r?   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t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   r,      r+   r   GS   N)r   r   r   r7   r&   r-   diffr	   r   r8   r$   r   r#   r9   r.   Zexpressr   )
r   ar@   rA   rB   r   r+   r   rD   rE   r   r   r   test_pendulum_angular_momentumW   s$    & rI   c               	   C   s  t d} td\}}}}}}t| |||}td}|d|| j || j  }	td|| |||	f}
t| ||d |  ||d |  |||d |d    || | }|
j||	fkst|
j	|kst||
_	|
j||fkst|
j	|kst||	f|
_|
j||	fks
t|
j	|kstd S )Nr   m, I_x, I_y, I_z, a, boprA   r,   )
r   r   r	   r   r8   r$   r%   r   r   r:   )r   r   IxIyIzrH   r*   IorK   rL   rA   ZI_checkr   r   r   test_rigidbody_inertiau   s$      

rQ   c               	   C   s  t d} td\}}}}}}t| |||}td}|d|| j || j  }	td|| |||f}
|
|	}t| |||d   |||d   |||d |d    | | | d}||kst	t d}|
| | jd	 t|
|	|| |td
d
kst	d S )Nr   rJ   rK   rL   rA   r,   )Zixyr      rC   )r   r   r	   r   r8   r$   r%   r   Zparallel_axisr   Zorient_axisr&   r   Z	to_matrixr   )r   r   rM   rN   rO   rH   r*   rP   rK   rL   rA   ZIpZIp_expectedr   r   r   r   test_parallel_axis   s&    
  rS   c               	   C   sb   t d\} }}td}td}td}td||| ||f}t  || | |  W 5 Q R X d S )Nzm g hr   r   r   r   )r   r   r   r   r   r   Zset_potential_energy)r   r2   r3   r   r   r   r   r   r   r   $test_deprecated_set_potential_energy   s    rT   N)Zsympy.core.symbolr   Zsympy.physics.mechanicsr   r   r   r   r   r   r	   r
   Zsympy.core.backendr   r   r   Zsympy.testing.pytestr   r   r)   r4   r?   rI   rQ   rS   rT   r   r   r   r   <module>   s   $