U Zʹj@sddlmZddlmZddlmZddlmZmZm Z dddgZ Gdddeedd d gZ Gd dde Z Gd dde Z d dZddZdS))ABC) namedtuple)BodyBase)VectorReferenceFramePointLoadBaseForceTorquec@s(eZdZdZddZddZeZeZdS)rz2Abstract base class for the various loading types.cCs"td|jjd|jjddS)Nz$unsupported operand type(s) for +: '' and '' TypeError __class____name__selfotherr\/var/www/html/bwave/python/venv/lib/python3.8/site-packages/sympy/physics/mechanics/loads.py__add__ szLoadBase.__add__cCs"td|jjd|jjddS)Nz$unsupported operand type(s) for *: 'r r r rrrr__mul__szLoadBase.__mul__N)r __module__ __qualname____doc__rr__radd____rmul__rrrrr s locationvectorcs@eZdZdZfddZddZeddZedd ZZ S) r a+Force acting upon a point. Explanation =========== A force is a vector that is bound to a line of action. This class stores both a point, which lies on the line of action, and the vector. A tuple can also be used, with the location as the first entry and the vector as second entry. Examples ======== A force of magnitude 2 along N.x acting on a point Po can be created as follows: >>> from sympy.physics.mechanics import Point, ReferenceFrame, Force >>> N = ReferenceFrame('N') >>> Po = Point('Po') >>> Force(Po, 2 * N.x) (Po, 2*N.x) If a body is supplied, then the center of mass of that body is used. >>> from sympy.physics.mechanics import Particle >>> P = Particle('P', point=Po) >>> Force(P, 2 * N.x) (Po, 2*N.x) csDt|tr|j}t|ts"tdt|ts4tdt|||S)Nz!Force location should be a Point.z Force vector should be a Vector.) isinstancer masscenterrrrsuper__new__)clspointforcerrrr":s   z Force.__new__cCs|jjd|jd|jdS)Nz(point=z, force=))rrr$r%rrrr__repr__CszForce.__repr__cCs|jSNrr(rrrr$Gsz Force.pointcCs|jSr*rr(rrrr%Ksz Force.force) rrrrr"r)propertyr$r% __classcell__rrr&rr s  cs@eZdZdZfddZddZeddZedd ZZ S) r aTorque acting upon a frame. Explanation =========== A torque is a free vector that is acting on a reference frame, which is associated with a rigid body. This class stores both the frame and the vector. A tuple can also be used, with the location as the first item and the vector as second item. Examples ======== A torque of magnitude 2 about N.x acting on a frame N can be created as follows: >>> from sympy.physics.mechanics import ReferenceFrame, Torque >>> N = ReferenceFrame('N') >>> Torque(N, 2 * N.x) (N, 2*N.x) If a body is supplied, then the frame fixed to that body is used. >>> from sympy.physics.mechanics import RigidBody >>> rb = RigidBody('rb', frame=N) >>> Torque(rb, 2 * N.x) (N, 2*N.x) csDt|tr|j}t|ts"tdt|ts4tdt|||S)Nz+Torque location should be a ReferenceFrame.z!Torque vector should be a Vector.)rrframerrrr!r")r#r/torquer&rrr"os   zTorque.__new__cCs|jjd|jd|jdS)Nz(frame=z , torque=r')rrr/r0r(rrrr)xszTorque.__repr__cCs|jSr*r+r(rrrr/|sz Torque.framecCs|jSr*r,r(rrrr0sz Torque.torque) rrrrr"r)r-r/r0r.rrr&rr Ps  cGsFg}|D]8}t|ts(tt|d|t|j|j|q|S)a Returns a list of gravity forces given the acceleration due to gravity and any number of particles or rigidbodies. Example ======= >>> from sympy.physics.mechanics import ReferenceFrame, Particle, RigidBody >>> from sympy.physics.mechanics.loads import gravity >>> from sympy import symbols >>> N = ReferenceFrame('N') >>> g = symbols('g') >>> P = Particle('P') >>> B = RigidBody('B') >>> gravity(g*N.y, P, B) [(P_masscenter, P_mass*g*N.y), (B_masscenter, B_mass*g*N.y)] z is not a body type)rrrtypeappendr r Zmass)Z accelerationZbodiesZ gravity_forcebodyrrrgravitys  r4cCst|tr|St|trt|dkr4td|dt|dtrTt|d|dSt|dtrtt|d|dStd|ddt dt |d d S) zBHelper function to parse loads and convert tuples to load objects.zLoad z should have a length of 2.rz'Load not recognized. The load location z. should either be a Point or a ReferenceFrame.z Load type zA not recognized as a load. It should be a Force, Torque or tuple.N) rrtuplelen ValueErrorrr rr rr1)loadrrr _parse_loads   r;N)abcr collectionsrZ!sympy.physics.mechanics.body_baserZsympy.physics.vectorrrr__all__rr r r4r;rrrrs    65