# -*- encoding=utf-8 -*-
#
# script for testing ScGeom shear computation
# Runs the same 2-sphere setup for useShear=False and for useShear=True
#

O.bodies.append([sphere([0, 0, 0], .5000001, fixed=True, color=(1, 0, 0)), sphere([0, 0, 1], .5000001, fixed=False, color=(0, 0, 1))])
O.engines = [
        ForceResetter(),
        InsertionSortCollider([Bo1_Sphere_Aabb(), Bo1_Facet_Aabb()]),
        IGeomDispatcher([Ig2_Sphere_Sphere_ScGeom()]),
        IPhysDispatcher([Ip2_FrictMat_FrictMat_FrictPhys()]),
        RotationEngine(rotationAxis=[1, 1, 0], angularVelocity=.001, ids=[1]),
        ElasticContactLaw(label='elasticLaw'),
        PyRunner(iterPeriod=10000, command='interInfo()'),
        NewtonIntegrator()
]

O.dt = 1e-8
O.saveTmp('init')


def interInfo():
	i = O.interactions[0, 1]
	if 1:
		print(O.time, i.phys.shearForce)
	else:
		r1, r2 = O.bodies[0].shape.radius, O.bodies[1].shape.radius
		theta = [e['angularVelocity'] for e in O.engines if e.name == 'RotationEngine'][0]
		f = .5 * (r1 + r2) * theta * O.time * i.phys['ks']
		print(O.time, i.phys.shearForce, f, i.phys.shearForce[0] / f)


print('=========== no shear ============')
O.run(100000, True)
nIter = O.iter
print('============= shear =============')
O.loadTmp('init')
#elasticLaw['useShear']=True
O.run(nIter, True)
quit()
