How to use the zencad.libs function in zencad

def __init__(self, l, N, ax):
		self.els = []
		for i in range(N):
			a = finite_element(l/N, i==N-1, ax)
			if i != 0:
				self.els[-1].connector.link(a)
			self.els.append(a)

		#self.els[-1].link(zencad.assemble.unit(shape = cylinder(r=5, h=20).rotate(rvec/nrvec, nrvec)))

		self.force_model = zencad.libs.rigidity.force_model_mass_point(self, 0.5, vec=(0,0,-9.81))
		self.rotator = kinematic.rotator(parent=self.els[-1].connector, ax=ax)

		self.input = self.els[0]
		self.output = self.rotator

self.set_shape(box(12, center=True))
		self.force_model = zencad.libs.rigidity.force_model_mass_point(self, 20, vec=(-1,0,1))

r0 = rod(200, 20)
mass = mass()
r0.output.link(mass)

base = zencad.assemble.unit()
base.link(r0.input)

base.relocate(rotateZ(deg(90)))
base.location_update()



fmodel = zencad.libs.rigidity.force_model_algorithm(r0.input)
fmodel.attach()

t = time.time()

for i in range(5):
	fmodel.force_evaluation()
	fmodel.deformation_evaluation()
	fmodel.apply_deformation()

r0.input.location_update()

print(mass.global_location)

def __init__(self):
		super().__init__()
		self.add_shape(box(self.x, self.y, self.z, center=True).fillet(3))
		
		self.arm_00 = self.arm()
		self.arm_01 = self.arm()
		self.arm_02 = self.arm()
		self.arm_03 = self.arm()
		self.arm_10 = self.arm()
		self.arm_11 = self.arm()
		self.arm_12 = self.arm()
		self.arm_13 = self.arm()



		self.brot_00 = zencad.libs.kinematic.rotator(location=move( self.x/4,self.y/2,0), ax=(0,0,1))
		self.brot_01 = zencad.libs.kinematic.rotator(location=move(        0,self.y/2,0), ax=(0,0,1))
		self.brot_02 = zencad.libs.kinematic.rotator(location=move(-self.x/4,self.y/2,0), ax=(0,0,1))
		self.brot_03 = zencad.libs.kinematic.rotator(location=move(-self.x/4*2,self.y/2,0), ax=(0,0,1))
		self.brot_10 = zencad.libs.kinematic.rotator(location=move( self.x/4,-self.y/2,0), ax=(0,0,1))
		self.brot_11 = zencad.libs.kinematic.rotator(location=move(        0,-self.y/2,0), ax=(0,0,1))
		self.brot_12 = zencad.libs.kinematic.rotator(location=move(-self.x/4,-self.y/2,0), ax=(0,0,1))
		self.brot_13 = zencad.libs.kinematic.rotator(location=move(-self.x/4*2,-self.y/2,0), ax=(0,0,1))

		self.rot_00 = zencad.libs.kinematic.rotator(ax=(1,0,0))
		self.rot_01 = zencad.libs.kinematic.rotator(ax=(1,0,0))
		self.rot_02 = zencad.libs.kinematic.rotator(ax=(1,0,0))
		self.rot_03 = zencad.libs.kinematic.rotator(ax=(1,0,0))
		self.rot_10 = zencad.libs.kinematic.rotator(ax=(-1,0,0))
		self.rot_11 = zencad.libs.kinematic.rotator(ax=(-1,0,0))
		self.rot_12 = zencad.libs.kinematic.rotator(ax=(-1,0,0))
		self.rot_13 = zencad.libs.kinematic.rotator(ax=(-1,0,0))

def __init__(self):
		super().__init__(inertia=inertia(mass=2))
		self.add_shape(sphere(10))
		self.add_force_source(zencad.libs.forces.gravity(unit=self))

def __init__(self, 
			parent=None, 
			location=zencad.transform.nulltrans(), 
			inertia=zencad.libs.inertia.inertia()):
		super().__init__(parent, location)
		self.inertia = inertia
		self.force_srcs = []		
		self.cm_absframe_speed = screw()
		self.cm_absframe_accel = screw()

def __init__(self):
		super().__init__()
		self.set_shape(box(12, center=True))
		self.force_model = zencad.libs.rigidity.force_model_mass_point(self, 20, vec=(0,0,-9.81))

def evaluate_complex_inertia(self):
		for u in self.childs:
			u.evaluate_complex_inertia()

		lst = [ u.complex_inertia for u in self.childs ]
		lst.append(self.inertia)
		self.complex_inertia = zencad.libs.inertia.complex_inertia(lst)

#!/usr/bin/env python3

from zencad import *
import zencad.libs.physics
import zencad.mbody.kinematic
import zencad.libs.forces
from zencad.libs.inertia import inertia

class body(zencad.libs.physics.physunit):
	def __init__(self):
		super().__init__(inertia=inertia(mass=2))
		self.add_shape(sphere(10))
		self.add_force_source(zencad.libs.forces.gravity(unit=self))

b_dof = zencad.mbody.kinematic.free()
b = body()

b_dof.link(b)

root = b_dof
root.reduce_forces()
root.evaluate_complex_inertia()
root.evaluate_accelerations()

print(b_dof.prereaction)

def accfunc(unit, prev):
		if isinstance(unit.parent, kinematic_frame):
			unit.global_frame_acceleration = unit.parent.global_accscr

		if prev:
			reference = prev.global_frame_acceleration_reference
			spdref = prev.global_frame_speed_reference
			radius = (prev.global_pose.inverse() * unit.global_pose).translation()
			arm = prev.global_pose(radius)
		else:
			reference = screw()
			spdref = screw()
			arm = pyservoce.vector3()

		unit.global_frame_acceleration_reference = (
			zencad.libs.screw.second_kinematic_carry(reference, spdref, arm) + unit.global_frame_acceleration
		)

		for u in unit.childs:
			accfunc(u, unit)

r = zencad.assemble.rotator(axis=(0,0,1))
a = link(axis=(0,1,0))
b = link(axis=(1,0,0))
c = link(axis=(0,1,0))
d = link(axis=(1,0,0))
e = link(axis=(0,1,0))

r.link(a)
a.rotator.link(b)
b.rotator.link(c)
c.rotator.link(d)
d.rotator.link(e)

LINKS = [a,b,c,d,e]

chain = zencad.libs.kinematic.kinematic_chain(LINKS[-1].rotator.output)

disp(a)

def preanimate(widget, animate_thread):
	global CTRWIDGET, XSLD, YSLD, ZSLD
	CTRWIDGET = QWidget()
	layout = QVBoxLayout()
	XSLD = Slider()
	YSLD = Slider()
	ZSLD = Slider()

	layout.addWidget(XSLD)
	layout.addWidget(YSLD)
	layout.addWidget(ZSLD)

	CTRWIDGET.setLayout(layout)