diff --git a/examples/NeedleInsertion.py b/examples/NeedleInsertion.py index f0dfc158..70c94653 100644 --- a/examples/NeedleInsertion.py +++ b/examples/NeedleInsertion.py @@ -1,15 +1,19 @@ +import math import Sofa g_needleLength=0.100 #(m) g_needleNumberOfElems=20 #(# of edges) -g_needleBaseOffset=[0.04,0.04,0] +g_needleBaseOffset=[0.04,0.04,0.05] +g_needleBaseOrientation=[0, 0.706825, 0, 0.707388] +g_needleDirection=[0.000796202173, 0, -0.999999683] g_needleRadius = 0.001 #(m) g_needleMechanicalParameters = { "radius":g_needleRadius, - "youngModulus":1e12, + "youngModulus":2e11, "poissonRatio":0.3 } -g_needleTotalMass=0.01 +g_needleDensity = 785 #(kg/m^3) +g_needleTotalMass = g_needleDensity * math.pi * g_needleRadius**2 * g_needleLength g_gelRegularGridParameters = { "n":[6, 6, 6], @@ -17,17 +21,18 @@ "max":[0.125, 0.125, -0.100] } #Again all in mm g_gelMechanicalParameters = { - "youngModulus":1e6, - "poissonRatio":0.45, + "youngModulus":1e4, + "poissonRatio":0.3, "method":"large" } -g_gelTotalMass = 1 +g_gelDensity = 1000 #(kg/m^3, soft tissue) g_cubeColor=[0.8, 0.34, 0.34, 0.3] g_gelFixedBoxROI=[-0.130, -0.130, -0.360, 0.130, 0.130, -0.300 ] + # Function called when the scene graph is being created def createScene(root): - root.gravity=[0,0,-9.81] + root.gravity=[0,0,0] root.dt = 0.01 root.addObject("RequiredPlugin",pluginName=['Sofa.Component.AnimationLoop', @@ -79,26 +84,30 @@ def createScene(root): needle = root.addChild("Needle") - needle.addObject("EulerImplicitIntegrationScheme", firstOrder=True) + needle.addObject("EulerImplicitIntegrationScheme") needle.addObject("EigenSparseLU", name="LinearSolver", template="CompressedRowSparseMatrixd") - needle.addObject("EdgeSetTopologyContainer", name="Container", position=[[i * g_needleLength/(g_needleNumberOfElems) + g_needleBaseOffset[0], g_needleBaseOffset[1], g_needleBaseOffset[2]] for i in range(g_needleNumberOfElems + 1)] + needle.addObject("EdgeSetTopologyContainer", name="Container", position=[[g_needleBaseOffset[k] + i * g_needleLength/g_needleNumberOfElems * g_needleDirection[k] for k in range(3)] for i in range(g_needleNumberOfElems + 1)] , edges=[[i, i+1] for i in range(g_needleNumberOfElems)]) needle.addObject("EdgeSetTopologyModifier", name="modifier") needle.addObject("PointSetTopologyModifier", name="modifier2") - needle.addObject("MechanicalObject", name="mstate", template="Rigid3d", showObjectScale=0.0002, showObject=False, drawMode=1) + needle.addObject("MechanicalObject", name="mstate", template="Rigid3d", position=[[g_needleBaseOffset[k] + i * g_needleLength/g_needleNumberOfElems * g_needleDirection[k] for k in range(3)] + g_needleBaseOrientation for i in range(g_needleNumberOfElems + 1)], showObjectScale=0.0002, showObject=False, drawMode=1) - needle.addObject("UniformMass", totalMass=g_needleTotalMass) + # Per-unit-mass inertia of a cylindrical beam segment; the RigidMass default (identity) is ~1e5 too large + segmentLength = g_needleLength / g_needleNumberOfElems + axialInertia = g_needleRadius**2 / 2 + bendingInertia = g_needleRadius**2 / 4 + segmentLength**2 / 12 + nodeMass = g_needleTotalMass / (g_needleNumberOfElems + 1) + Ixx, Iyy, Izz = axialInertia, bendingInertia, bendingInertia + needle.addObject("UniformMass", vertexMass=f"{nodeMass} 1 {Ixx} 0 0 0 {Iyy} 0 0 0 {Izz}") needle.addObject("BeamFEMForceField", name="FEM", **g_needleMechanicalParameters) needle.addObject("LinearSolverConstraintCorrection", printLog=False, linearSolver="@LinearSolver") needleBase = needle.addChild("needleBase") - needleBase.addObject("PointSetTopologyContainer", name="Container_base", position=[0, 0, 0]) - needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d",) - needleBase.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e8, angularStiffness=1e8,external_points=[0],external_rest_shape="@/NeedleBaseMaster/mstate_baseMaster") - - needleBase.addObject("SubsetMapping", indices="0") + needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d", position=[g_needleBaseOffset + g_needleBaseOrientation]) + needleBase.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e9, angularStiffness=1e4,external_points=[0],external_rest_shape="@/NeedleBaseMaster/mstate_baseMaster") + needleBase.addObject("RigidMapping", index=0, globalToLocalCoords=True) needleBodyCollision = needle.addChild("bodyCollision") needleBodyCollision.addObject("EdgeSetTopologyContainer", name="Container_body", src="@../Container") @@ -110,7 +119,7 @@ def createScene(root): needleTipCollision = needle.addChild("tipCollision") - needleTipCollision.addObject("MechanicalObject",name="mstate_tip",position=[g_needleLength+g_needleBaseOffset[0], g_needleBaseOffset[1], g_needleBaseOffset[2]],template="Vec3d",) + needleTipCollision.addObject("MechanicalObject",name="mstate_tip",position=[g_needleBaseOffset[k] + g_needleLength * g_needleDirection[k] for k in range(3)],template="Vec3d",) needleTipCollision.addObject("PointGeometry",name="geom_tip",mstate="@mstate_tip") needleTipCollision.addObject("RigidMapping",globalToLocalCoords=True,index=g_needleNumberOfElems) @@ -140,7 +149,7 @@ def createScene(root): volume = root.addChild("Volume") - volume.addObject("EulerImplicitIntegrationScheme", impulseBased=True) + volume.addObject("EulerImplicitIntegrationScheme") volume.addObject("EigenSimplicialLDLT", name="LinearSolver", template='CompressedRowSparseMatrixMat3x3d') volume.addObject("TetrahedronSetTopologyContainer", name="TetraContainer", position="@../GelGridTopo/HexaTop.position") volume.addObject("TetrahedronSetTopologyModifier", name="TetraModifier") @@ -149,10 +158,10 @@ def createScene(root): volume.addObject("MechanicalObject", name="mstate_gel", template="Vec3d") volume.addObject("TetrahedronGeometry", name="geom_tetra", mstate="@mstate_gel", topology="@TetraContainer", draw=False) volume.addObject("FastTetrahedralCorotationalForceField", name="FF",**g_gelMechanicalParameters) - volume.addObject("MeshMatrixMass", name="Mass",totalMass=g_gelTotalMass) + volume.addObject("MeshMatrixMass", name="Mass", massDensity=g_gelDensity) volume.addObject("BoxROI",name="BoxROI",box=g_gelFixedBoxROI) - volume.addObject("RestShapeSpringsForceField", stiffness=1e6,points="@BoxROI.indices" ) + volume.addObject("RestShapeSpringsForceField", stiffness=1e3, points="@BoxROI.indices") volume.addObject("LinearSolverConstraintCorrection", printLog=False, linearSolver="@LinearSolver") @@ -187,7 +196,7 @@ def createScene(root): surfGeom="@Volume/collision/geom_tri", shaftGeom="@Needle/bodyCollision/geom_body", volGeom="@Volume/geom_tetra", - punctureForceThreshold=1600, + punctureForceThreshold=5, tipDistThreshold=0.003, drawcollision=True, drawPointsScale=0.0001 diff --git a/examples/NeedleInsertionCycles.py b/examples/NeedleInsertionCycles.py index ce3cae0b..5202ff81 100644 --- a/examples/NeedleInsertionCycles.py +++ b/examples/NeedleInsertionCycles.py @@ -1,15 +1,19 @@ +import math import Sofa g_needleLength=0.100 #(m) g_needleNumberOfElems=20 #(# of edges) -g_needleBaseOffset=[0.04,0.04,0] +g_needleBaseOffset=[0.04,0.04,0.02] +g_needleBaseOrientation=[0, 0.706825, 0, 0.707388] +g_needleDirection=[0.000796202173, 0, -0.999999683] g_needleRadius = 0.001 #(m) g_needleMechanicalParameters = { "radius":g_needleRadius, - "youngModulus":1e11, + "youngModulus":2e11, "poissonRatio":0.3 } -g_needleTotalMass=0.01 +g_needleDensity = 785 #(kg/m^3) +g_needleTotalMass = g_needleDensity * math.pi * g_needleRadius**2 * g_needleLength g_gelRegularGridParameters = { "n":[8, 8, 8], @@ -17,17 +21,18 @@ "max":[0.125, 0.125, -0.100] } #Again all in mm g_gelMechanicalParameters = { - "youngModulus":8e5, - "poissonRatio":0.45, + "youngModulus":1e4, + "poissonRatio":0.3, "method":"large" } -g_gelTotalMass = 1 +g_gelDensity = 1000 #(kg/m^3, soft tissue) g_cubeColor=[0.8, 0.34, 0.34, 0.3] g_gelFixedBoxROI=[-0.130, -0.130, -0.360, 0.130, 0.130, -0.300 ] + # Function called when the scene graph is being created def createScene(root): - root.gravity=[0,0,-9.81] + root.gravity=[0,0,0] root.dt = 0.01 root.addObject("RequiredPlugin",pluginName=['Sofa.Component.AnimationLoop', @@ -95,26 +100,30 @@ def createScene(root): needle = root.addChild("Needle") - needle.addObject("EulerImplicitIntegrationScheme", firstOrder=True) + needle.addObject("EulerImplicitIntegrationScheme") needle.addObject("EigenSparseLU", name="LinearSolver", template="CompressedRowSparseMatrixd") - needle.addObject("EdgeSetTopologyContainer", name="Container", position=[[i * g_needleLength/(g_needleNumberOfElems) + g_needleBaseOffset[0], g_needleBaseOffset[1], g_needleBaseOffset[2]] for i in range(g_needleNumberOfElems + 1)] + needle.addObject("EdgeSetTopologyContainer", name="Container", position=[[g_needleBaseOffset[k] + i * g_needleLength/g_needleNumberOfElems * g_needleDirection[k] for k in range(3)] for i in range(g_needleNumberOfElems + 1)] , edges=[[i, i+1] for i in range(g_needleNumberOfElems)]) needle.addObject("EdgeSetTopologyModifier", name="modifier") needle.addObject("PointSetTopologyModifier", name="modifier2") - needle.addObject("MechanicalObject", name="mstate", template="Rigid3d", showObjectScale=0.0002, showObject=True, drawMode=1) + needle.addObject("MechanicalObject", name="mstate", template="Rigid3d", position=[[g_needleBaseOffset[k] + i * g_needleLength/g_needleNumberOfElems * g_needleDirection[k] for k in range(3)] + g_needleBaseOrientation for i in range(g_needleNumberOfElems + 1)], showObjectScale=0.0002, showObject=True, drawMode=1) - needle.addObject("UniformMass", totalMass=g_needleTotalMass) + # Per-unit-mass inertia of a cylindrical beam segment; the RigidMass default (identity) is ~1e5 too large + segmentLength = g_needleLength / g_needleNumberOfElems + axialInertia = g_needleRadius**2 / 2 + bendingInertia = g_needleRadius**2 / 4 + segmentLength**2 / 12 + nodeMass = g_needleTotalMass / (g_needleNumberOfElems + 1) + Ixx, Iyy, Izz = axialInertia, bendingInertia, bendingInertia + needle.addObject("UniformMass", vertexMass=f"{nodeMass} 1 {Ixx} 0 0 0 {Iyy} 0 0 0 {Izz}") needle.addObject("BeamFEMForceField", name="FEM", **g_needleMechanicalParameters) needle.addObject("LinearSolverConstraintCorrection", printLog=False, linearSolver="@LinearSolver") needleBase = needle.addChild("needleBase") - needleBase.addObject("PointSetTopologyContainer", name="Container_base", position=[0, 0, 0]) - needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d",) - needleBase.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e8, angularStiffness=1e8,external_points=[0],external_rest_shape="@/NeedleBaseMaster/mstate_baseMaster") - - needleBase.addObject("SubsetMapping", indices="0") + needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d", position=[g_needleBaseOffset + g_needleBaseOrientation]) + needleBase.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e9, angularStiffness=1e4,external_points=[0],external_rest_shape="@/NeedleBaseMaster/mstate_baseMaster") + needleBase.addObject("RigidMapping", index=0, globalToLocalCoords=True) needleBodyCollision = needle.addChild("bodyCollision") needleBodyCollision.addObject("EdgeSetTopologyContainer", name="Container_body", src="@../Container") @@ -126,7 +135,7 @@ def createScene(root): needleTipCollision = needle.addChild("tipCollision") - needleTipCollision.addObject("MechanicalObject",name="mstate_tip",position=[g_needleLength+g_needleBaseOffset[0], g_needleBaseOffset[1], g_needleBaseOffset[2]],template="Vec3d",) + needleTipCollision.addObject("MechanicalObject",name="mstate_tip",position=[g_needleBaseOffset[k] + g_needleLength * g_needleDirection[k] for k in range(3)],template="Vec3d",) needleTipCollision.addObject("PointGeometry",name="geom_tip",mstate="@mstate_tip") needleTipCollision.addObject("RigidMapping",globalToLocalCoords=True,index=g_needleNumberOfElems) @@ -156,7 +165,7 @@ def createScene(root): volume = root.addChild("Volume") - volume.addObject("EulerImplicitIntegrationScheme", impulseBased=True) + volume.addObject("EulerImplicitIntegrationScheme") volume.addObject("EigenSimplicialLDLT", name="LinearSolver", template='CompressedRowSparseMatrixMat3x3d') volume.addObject("TetrahedronSetTopologyContainer", name="TetraContainer", position="@../GelGridTopo/HexaTop.position") volume.addObject("TetrahedronSetTopologyModifier", name="TetraModifier") @@ -166,10 +175,10 @@ def createScene(root): volume.addObject("TetrahedronGeometry", name="geom_tetra", mstate="@mstate_gel", topology="@TetraContainer", draw=False) volume.addObject("PhongTriangleNormalHandler", name="InternalTriangles", geometry="@geom_tetra") volume.addObject("FastTetrahedralCorotationalForceField", name="FF",**g_gelMechanicalParameters) - volume.addObject("MeshMatrixMass", name="Mass",totalMass=g_gelTotalMass) + volume.addObject("MeshMatrixMass", name="Mass", massDensity=g_gelDensity) volume.addObject("BoxROI",name="BoxROI",box=g_gelFixedBoxROI) - volume.addObject("RestShapeSpringsForceField", stiffness=1e6,points="@BoxROI.indices" ) + volume.addObject("RestShapeSpringsForceField", stiffness=1e3, points="@BoxROI.indices") volume.addObject("LinearSolverConstraintCorrection", printLog=False, linearSolver="@LinearSolver") @@ -204,7 +213,7 @@ def createScene(root): surfGeom="@Volume/collision/geom_tri", shaftGeom="@Needle/bodyCollision/geom_body", volGeom="@Volume/geom_tetra", - punctureForceThreshold=200, + punctureForceThreshold=5, tipDistThreshold=0.003, drawcollision=True, drawPointsScale=0.0001 diff --git a/examples/NeedleInsertionHaptics.py b/examples/NeedleInsertionHaptics.py index 7842cf89..e4a67714 100644 --- a/examples/NeedleInsertionHaptics.py +++ b/examples/NeedleInsertionHaptics.py @@ -1,17 +1,23 @@ +import math import Sofa GeomagicActive = False -g_needleLength=0.200 #(m) -g_needleNumberOfElems=40 #(# of edges) -g_needleBaseOffset=[0.15,0.04,0.04] +g_needleLength=0.100 #(m) +g_needleNumberOfElems=20 #(# of edges) +g_needleBaseOffset=[0.2117698,-0.169455906,-0.252385541] +g_needleBaseOrientation=[0.196364774, 0.165221581, 0.0145711472, -0.966400738] +g_needleDirection=[0.313617996, -0.384349061, -0.868285409] +# BeamFEMForceField needs the needle along the local x axis of its nodes; the tool holds it along its -z +g_needleOrientation=[0.128547506, -0.566519215, 0.14915422, -0.800177816] g_needleRadius = 0.001 #(m) g_needleMechanicalParameters = { "radius":g_needleRadius, - "youngModulus":2e13, - "poissonRatio":0.45 + "youngModulus":2e11, + "poissonRatio":0.3 } -g_needleTotalMass=0.01 +g_needleDensity = 785 #(kg/m^3) +g_needleTotalMass = g_needleDensity * math.pi * g_needleRadius**2 * g_needleLength g_gelRegularGridParameters = { "n":[8, 8, 8], @@ -19,14 +25,15 @@ "max":[0.125, 0.125, -0.100] } #Again all in mm g_gelMechanicalParameters = { - "youngModulus":4e4, + "youngModulus":1e4, "poissonRatio":0.3, "method":"large" } -g_gelTotalMass = 1 +g_gelDensity = 1000 #(kg/m^3, soft tissue) g_cubeColor=[0.8, 0.34, 0.34, 0.3] g_gelFixedBoxROI=[-0.350, -0.280, -0.360, 0.130, 0.130, -0.200 ] + # Function called when the scene graph is being created def createScene(root): root.gravity=[0,0,0] @@ -98,26 +105,31 @@ def createScene(root): toolController.addObject("ReadState", name="reader", filename="RecordState/NeedleInsertionHaptics.txt") needle = root.addChild("Needle") - needle.addObject("EulerImplicitIntegrationScheme", firstOrder=True) + needle.addObject("EulerImplicitIntegrationScheme") needle.addObject("EigenSparseLU", name="LinearSolver", template="CompressedRowSparseMatrixd") needle.addObject("EdgeSetTopologyContainer", name="Container" - , position=[[g_needleBaseOffset[0], g_needleBaseOffset[1], -(i * g_needleLength/(g_needleNumberOfElems) + g_needleBaseOffset[2])] for i in range(g_needleNumberOfElems + 1)] + , position=[[g_needleBaseOffset[k] + i * g_needleLength/g_needleNumberOfElems * g_needleDirection[k] for k in range(3)] for i in range(g_needleNumberOfElems + 1)] , edges=[[i, i+1] for i in range(g_needleNumberOfElems)] ) needle.addObject("EdgeSetTopologyModifier", name="modifier") needle.addObject("PointSetTopologyModifier", name="modifier2") - needle.addObject("MechanicalObject", name="mstate", template="Rigid3d" + needle.addObject("MechanicalObject", name="mstate", template="Rigid3d", position=[[g_needleBaseOffset[k] + i * g_needleLength/g_needleNumberOfElems * g_needleDirection[k] for k in range(3)] + g_needleOrientation for i in range(g_needleNumberOfElems + 1)] , showObjectScale=0.002, showObject=False, drawMode=1) - needle.addObject("UniformMass", totalMass=g_needleTotalMass) + # Per-unit-mass inertia of a cylindrical beam segment; the RigidMass default (identity) is ~1e5 too large + segmentLength = g_needleLength / g_needleNumberOfElems + axialInertia = g_needleRadius**2 / 2 + bendingInertia = g_needleRadius**2 / 4 + segmentLength**2 / 12 + nodeMass = g_needleTotalMass / (g_needleNumberOfElems + 1) + Ixx, Iyy, Izz = axialInertia, bendingInertia, bendingInertia + needle.addObject("UniformMass", vertexMass=f"{nodeMass} 1 {Ixx} 0 0 0 {Iyy} 0 0 0 {Izz}") needle.addObject("BeamFEMForceField", name="FEM", **g_needleMechanicalParameters) needle.addObject("LinearSolverConstraintCorrection", linearSolver="@LinearSolver") - needle.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e9, angularStiffness=1e11,external_points=[0],external_rest_shape="@/ToolController/mstate_baseMaster") needleBase = needle.addChild("needleBase") - needleBase.addObject("PointSetTopologyContainer", name="Container_base", position="@../mstate.position") - needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d") - needleBase.addObject("SubsetMapping", indices=0) + needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d", position=[g_needleBaseOffset + g_needleBaseOrientation]) + needleBase.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e9, angularStiffness=1e4,external_points=[0],external_rest_shape="@/ToolController/mstate_baseMaster") + needleBase.addObject("RigidMapping", index=0, globalToLocalCoords=True) needleBodyCollision = needle.addChild("bodyCollision") needleBodyCollision.addObject("EdgeSetTopologyContainer", name="Container_body", src="@../Container") @@ -128,7 +140,7 @@ def createScene(root): needleTipCollision = needle.addChild("tipCollision") needleTipCollision.addObject("PointSetTopologyContainer", name="Container_tip" - , position=[g_needleBaseOffset[0], g_needleBaseOffset[1], -(g_needleLength+g_needleBaseOffset[2])]) + , position=[g_needleBaseOffset[k] + g_needleLength * g_needleDirection[k] for k in range(3)]) needleTipCollision.addObject("MechanicalObject",name="mstate_tip",template="Vec3d", showObject=False, showObjectScale=20) needleTipCollision.addObject("PointGeometry",name="geom_tip",mstate="@mstate_tip") needleTipCollision.addObject("RigidMapping",globalToLocalCoords=True,index=g_needleNumberOfElems) @@ -153,7 +165,7 @@ def createScene(root): FF = root.addChild("ForceFeedback") FF.addObject("MechanicalObject", name="mstate_lcp", template="Rigid3d" , showObject=False, src="@../Needle/needleBase/mstate_base") - FF.addObject("LCPForceFeedback", name="lcp_ff", activate=1, forceCoef=1) + FF.addObject("LCPForceFeedback", name="lcp_ff", activate=1, forceCoef=0.1) FFCollision = FF.addChild("Collision") FFCollision.addObject("EdgeSetTopologyContainer", name="Container", src="@../../Needle/bodyCollision/Container_body") FFCollision.addObject("MechanicalObject", name="mstate_coli", constraint="@../../Needle/bodyCollision/mstate_body.constraint") @@ -164,7 +176,7 @@ def createScene(root): FFTip.addObject("RigidMapping", globalToLocalCoords=True) volume = root.addChild("Volume") - volume.addObject("EulerImplicitIntegrationScheme", impulseBased=True) + volume.addObject("EulerImplicitIntegrationScheme") volume.addObject("EigenSimplicialLDLT", name="LinearSolver", template='CompressedRowSparseMatrixMat3x3d') volume.addObject("MeshGmshLoader", name="meshLoader", filename="mesh/liver.msh", scale3d=[0.08, 0.08, 0.08], translation=[0, -0.3, -0.2]) volume.addObject("TetrahedronSetTopologyContainer", name="TetraContainer", position="@meshLoader.position", tetrahedra="@meshLoader.tetrahedra") @@ -174,10 +186,10 @@ def createScene(root): volume.addObject("TetrahedronGeometry", name="geom_tetra", mstate="@mstate_gel", topology="@TetraContainer", draw=False) volume.addObject("PhongTriangleNormalHandler", name="InternalTriangles", geometry="@geom_tetra") volume.addObject("FastTetrahedralCorotationalForceField", name="FF",**g_gelMechanicalParameters) - volume.addObject("MeshMatrixMass", name="Mass",totalMass=g_gelTotalMass) + volume.addObject("MeshMatrixMass", name="Mass", massDensity=g_gelDensity) volume.addObject("BoxROI",name="BoxROI",box=g_gelFixedBoxROI) - volume.addObject("RestShapeSpringsForceField", stiffness=1e3, angularStiffness=1e3, points="@BoxROI.indices" ) + volume.addObject("RestShapeSpringsForceField", stiffness=1e3, points="@BoxROI.indices") volume.addObject("LinearSolverConstraintCorrection", printLog=False, linearSolver="@LinearSolver") @@ -212,7 +224,7 @@ def createScene(root): surfGeom="@Volume/collision/geom_tri", shaftGeom="@Needle/bodyCollision/geom_body", volGeom="@Volume/geom_tetra", - punctureForceThreshold=100, + punctureForceThreshold=5, tipDistThreshold=0.01, drawcollision=True, drawPointsScale=0.0001 diff --git a/examples/RecordState/NeedleInsertion.txt b/examples/RecordState/NeedleInsertion.txt index 9c694ea4..7b3a5c60 100644 --- a/examples/RecordState/NeedleInsertion.txt +++ b/examples/RecordState/NeedleInsertion.txt @@ -1,453 +1,453 @@ T= 0 - X= 0.04 0.04 0.05 0 0.706825 0 0.707388 - V= 0 0 -0.09 0 0 0 + X= 0.04 0.04 0.05 0 0.706825225 0 0.707388225 + V= 0 0 0 0 0 0 T= 0.01 - X= 0.04 0.04 0.05 0 0.706825 0 0.707388 - V= 0 0 -0.09 0 0 0 + X= 0.04 0.04 0.05 0 0.706825225 0 0.707388225 + V= 0 0 0 0 0 0 T= 0.02 - X= 0.04 0.04 0.0491 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0491 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.03 - X= 0.04 0.04 0.0482 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0482 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.04 - X= 0.04 0.04 0.0473 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0473 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.05 - X= 0.04 0.04 0.0464 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0464 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.06 - X= 0.04 0.04 0.0455 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0455 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.07 - X= 0.04 0.04 0.0446 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0446 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.08 - X= 0.04 0.04 0.0437 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0437 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.09 - X= 0.04 0.04 0.0428 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0428 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.1 - X= 0.04 0.04 0.0419 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0419 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.11 - X= 0.04 0.04 0.041 0 0.706825 0 0.707388 + X= 0.04 0.04 0.041 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.12 - X= 0.04 0.04 0.0401 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0401 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.13 - X= 0.04 0.04 0.0392 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0392 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.14 - X= 0.04 0.04 0.0383 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0383 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.15 - X= 0.04 0.04 0.0374 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0374 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.16 - X= 0.04 0.04 0.0365 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0365 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.17 - X= 0.04 0.04 0.0356 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0356 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.18 - X= 0.04 0.04 0.0347 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0347 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.19 - X= 0.04 0.04 0.0338 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0338 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.2 - X= 0.04 0.04 0.0329 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0329 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.21 - X= 0.04 0.04 0.032 0 0.706825 0 0.707388 + X= 0.04 0.04 0.032 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.22 - X= 0.04 0.04 0.0311 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0311 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.23 - X= 0.04 0.04 0.0302 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0302 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.24 - X= 0.04 0.04 0.0293 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0293 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.25 - X= 0.04 0.04 0.0284 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0284 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.26 - X= 0.04 0.04 0.0275 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0275 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.27 - X= 0.04 0.04 0.0266 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0266 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.28 - X= 0.04 0.04 0.0257 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0257 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.29 - X= 0.04 0.04 0.0248 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0248 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.3 - X= 0.04 0.04 0.0239 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0239 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.31 - X= 0.04 0.04 0.023 0 0.706825 0 0.707388 + X= 0.04 0.04 0.023 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.32 - X= 0.04 0.04 0.0221 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0221 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.33 - X= 0.04 0.04 0.0212 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0212 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.34 - X= 0.04 0.04 0.0203 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0203 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.35 - X= 0.04 0.04 0.0194 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0194 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.36 - X= 0.04 0.04 0.0185 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0185 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.37 - X= 0.04 0.04 0.0176 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0176 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.38 - X= 0.04 0.04 0.0167 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0167 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.39 - X= 0.04 0.04 0.0158 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0158 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.4 - X= 0.04 0.04 0.0149 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0149 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.41 - X= 0.04 0.04 0.014 0 0.706825 0 0.707388 + X= 0.04 0.04 0.014 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.42 - X= 0.04 0.04 0.0131 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0131 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.43 - X= 0.04 0.04 0.0122 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0122 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.44 - X= 0.04 0.04 0.0113 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0113 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.45 - X= 0.04 0.04 0.0104 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0104 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.46 - X= 0.04 0.04 0.0095 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0095 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.47 - X= 0.04 0.04 0.0086 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0086 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.48 - X= 0.04 0.04 0.0077 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0077 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.49 - X= 0.04 0.04 0.0068 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0068 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.5 - X= 0.04 0.04 0.0059 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0059 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.51 - X= 0.04 0.04 0.005 0 0.706825 0 0.707388 + X= 0.04 0.04 0.005 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.52 - X= 0.04 0.04 0.0041 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0041 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.53 - X= 0.04 0.04 0.0032 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0032 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.54 - X= 0.04 0.04 0.0023 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0023 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.55 - X= 0.04 0.04 0.0014 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0014 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.56 - X= 0.04 0.04 0.0005 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0005 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.57 - X= 0.04 0.04 -0.0004 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0004 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.58 - X= 0.04 0.04 -0.0013 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0013 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.59 - X= 0.04 0.04 -0.0022 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0022 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.6 - X= 0.04 0.04 -0.0031 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0031 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.61 - X= 0.04 0.04 -0.004 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.004 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.62 - X= 0.04 0.04 -0.0049 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0049 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.63 - X= 0.04 0.04 -0.0058 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0058 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.64 - X= 0.04 0.04 -0.0067 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0067 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.65 - X= 0.04 0.04 -0.0076 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0076 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.66 - X= 0.04 0.04 -0.0085 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0085 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.67 - X= 0.04 0.04 -0.0094 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0094 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.68 - X= 0.04 0.04 -0.0103 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0103 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.69 - X= 0.04 0.04 -0.0112 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0112 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.7 - X= 0.04 0.04 -0.0121 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0121 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.71 - X= 0.04 0.04 -0.013 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.013 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.72 - X= 0.04 0.04 -0.0139 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0139 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.73 - X= 0.04 0.04 -0.0148 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0148 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.74 - X= 0.04 0.04 -0.0157 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0157 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.75 - X= 0.04 0.04 -0.0166 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0166 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.76 - X= 0.04 0.04 -0.0175 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0175 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.77 - X= 0.04 0.04 -0.0184 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0184 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.78 - X= 0.04 0.04 -0.0193 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0193 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.79 - X= 0.04 0.04 -0.0202 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0202 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.8 - X= 0.04 0.04 -0.0211 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0211 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.81 - X= 0.04 0.04 -0.022 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.022 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.82 - X= 0.04 0.04 -0.0229 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0229 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.83 - X= 0.04 0.04 -0.0238 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0238 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.84 - X= 0.04 0.04 -0.0247 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0247 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.85 - X= 0.04 0.04 -0.0256 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0256 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.86 - X= 0.04 0.04 -0.0265 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0265 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.87 - X= 0.04 0.04 -0.0274 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0274 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.88 - X= 0.04 0.04 -0.0283 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0283 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.89 - X= 0.04 0.04 -0.0292 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0292 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.9 - X= 0.04 0.04 -0.0301 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0301 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.91 - X= 0.04 0.04 -0.031 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.031 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.92 - X= 0.04 0.04 -0.0319 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0319 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.93 - X= 0.04 0.04 -0.0328 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0328 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.94 - X= 0.04 0.04 -0.0337 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0337 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.95 - X= 0.04 0.04 -0.0346 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0346 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.96 - X= 0.04 0.04 -0.0355 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0355 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.97 - X= 0.04 0.04 -0.0364 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0364 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.98 - X= 0.04 0.04 -0.0373 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0373 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 0.99 - X= 0.04 0.04 -0.0382 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0382 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 1 - X= 0.04 0.04 -0.0391 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0391 0 0.706825225 0 0.707388225 V= 0 0 -0.09 0 0 0 T= 1.01 - X= 0.04 0.04 -0.04 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.04 0 0.706825225 0 0.707388225 V= 0.02 0 0 0 0.3925 0 T= 1.02 - X= 0.0402 0.04 -0.04 0 0.708212 0 0.706 + X= 0.0402 0.04 -0.04 0 0.708211916 0 0.705999916 V= 0.02 0 0 0 0.3925 0 T= 1.03 - X= 0.0404 0.04 -0.04 0 0.709596 0 0.704609 + X= 0.0404 0.04 -0.04 0 0.709595884 0 0.704608885 V= 0.02 0 0 0 0.3925 0 T= 1.04 - X= 0.0406 0.04 -0.04 0 0.710978 0 0.703215 + X= 0.0406 0.04 -0.04 0 0.710977626 0 0.70321463 V= 0.02 0 0 0 0.3925 0 T= 1.05 - X= 0.0408 0.04 -0.04 0 0.712356 0 0.701818 + X= 0.0408 0.04 -0.04 0 0.712356151 0 0.701818149 V= 0.02 0 0 0 0.3925 0 T= 1.06 - X= 0.041 0.04 -0.04 0 0.713732 0 0.700419 + X= 0.041 0.04 -0.04 0 0.713731949 0 0.70041895 V= 0.02 0 0 0 0.3925 0 T= 1.07 - X= 0.0412 0.04 -0.04 0 0.715105 0 0.699017 + X= 0.0412 0.04 -0.04 0 0.715105026 0 0.699017025 V= 0.02 0 0 0 0.3925 0 T= 1.08 - X= 0.0414 0.04 -0.04 0 0.716476 0 0.697612 + X= 0.0414 0.04 -0.04 0 0.716475871 0 0.697611874 V= 0.02 0 0 0 0.3925 0 T= 1.09 - X= 0.0416 0.04 -0.04 0 0.717844 0 0.696204 + X= 0.0416 0.04 -0.04 0 0.717843994 0 0.696203994 V= 0.02 0 0 0 0.3925 0 T= 1.1 - X= 0.0418 0.04 -0.04 0 0.719209 0 0.694794 + X= 0.0418 0.04 -0.04 0 0.719208896 0 0.6947939 V= 0.02 0 0 0 0.3925 0 T= 1.11 - X= 0.042 0.04 -0.04 0 0.720571 0 0.693381 + X= 0.042 0.04 -0.04 0 0.72057108 0 0.693381077 V= 0.02 0 0 0 0.3925 0 T= 1.12 - X= 0.0422 0.04 -0.04 0 0.72193 0 0.691966 + X= 0.0422 0.04 -0.04 0 0.721930047 0 0.691966045 V= 0.02 0 0 0 0.3925 0 T= 1.13 - X= 0.0424 0.04 -0.04 0 0.723287 0 0.690548 + X= 0.0424 0.04 -0.04 0 0.723286774 0 0.690547784 V= 0.02 0 0 0 0.3925 0 T= 1.14 - X= 0.0426 0.04 -0.04 0 0.72464 0 0.689127 + X= 0.0426 0.04 -0.04 0 0.724640307 0 0.689127292 V= 0.02 0 0 0 0.3925 0 T= 1.15 - X= 0.0428 0.04 -0.04 0 0.725991 0 0.687704 + X= 0.0428 0.04 -0.04 0 0.7259911 0 0.687704095 V= 0.02 0 0 0 0.3925 0 T= 1.16 - X= 0.043 0.04 -0.04 0 0.72734 0 0.686278 + X= 0.043 0.04 -0.04 0 0.727339648 0 0.686277668 V= 0.02 0 0 0 0.3925 0 T= 1.17 - X= 0.0432 0.04 -0.04 0 0.728685 0 0.684849 + X= 0.0432 0.04 -0.04 0 0.728685007 0 0.684849006 V= 0.02 0 0 0 0.3925 0 T= 1.18 - X= 0.0434 0.04 -0.04 0 0.730028 0 0.683418 + X= 0.0434 0.04 -0.04 0 0.730027619 0 0.683417643 V= 0.02 0 0 0 0.3925 0 T= 1.19 - X= 0.0436 0.04 -0.04 0 0.731368 0 0.681984 + X= 0.0436 0.04 -0.04 0 0.731367514 0 0.681983547 V= 0.02 0 0 0 0.3925 0 T= 1.2 - X= 0.0438 0.04 -0.04 0 0.732704 0 0.680547 + X= 0.0438 0.04 -0.04 0 0.73270423 0 0.680547214 V= 0.02 0 0 0 0.3925 0 T= 1.21 - X= 0.044 0.04 -0.04 0 0.734039 0 0.679108 + X= 0.044 0.04 -0.04 0 0.734038659 0 0.679107684 V= 0.02 0 0 0 0.3925 0 T= 1.22 - X= 0.0442 0.04 -0.04 0 0.73537 0 0.677666 + X= 0.0442 0.04 -0.04 0 0.73536991 0 0.677665917 V= 0.02 0 0 0 0.3925 0 T= 1.23 - X= 0.0444 0.04 -0.04 0 0.736698 0 0.676221 + X= 0.0444 0.04 -0.04 0 0.736698448 0 0.676221411 V= 0.02 0 0 0 0.3925 0 T= 1.24 - X= 0.0446 0.04 -0.04 0 0.738024 0 0.674774 + X= 0.0446 0.04 -0.04 0 0.73802423 0 0.674774211 V= 0.02 0 0 0 0.3925 0 T= 1.25 - X= 0.0448 0.04 -0.04 0 0.739347 0 0.673325 + X= 0.0448 0.04 -0.04 0 0.7393468 0 0.673324818 V= 0.02 0 0 0 0.3925 0 T= 1.26 - X= 0.045 0.04 -0.04 0 0.740667 0 0.671872 + X= 0.045 0.04 -0.04 0 0.740667152 0 0.671872138 V= 0.02 0 0 0 0.3925 0 T= 1.27 - X= 0.0452 0.04 -0.04 0 0.741984 0 0.670418 + X= 0.0452 0.04 -0.04 0 0.741983796 0 0.670417815 V= 0.02 0 0 0 0.3925 0 T= 1.28 - X= 0.0454 0.04 -0.04 0 0.743298 0 0.66896 + X= 0.0454 0.04 -0.04 0 0.743298224 0 0.668960201 V= 0.02 0 0 0 0.3925 0 T= 1.29 - X= 0.0456 0.04 -0.04 0 0.74461 0 0.6675 + X= 0.0456 0.04 -0.04 0 0.744609888 0 0.667499899 V= 0.02 0 0 0 0.3925 0 T= 1.3 - X= 0.0458 0.04 -0.04 0 0.745918 0 0.666037 + X= 0.0458 0.04 -0.04 0 0.745918392 0 0.66603735 V= 0.02 0 0 0 0.3925 0 T= 1.31 - X= 0.046 0.04 -0.04 0 0.747224 0 0.664572 + X= 0.046 0.04 -0.04 0 0.747224131 0 0.664572117 V= 0.02 0 0 0 0.3925 0 T= 1.32 - X= 0.0462 0.04 -0.04 0 0.748527 0 0.663105 + X= 0.0462 0.04 -0.04 0 0.748526659 0 0.663104698 V= 0.02 0 0 0 0.3925 0 T= 1.33 - X= 0.0464 0.04 -0.04 0 0.749827 0 0.661634 + X= 0.0464 0.04 -0.04 0 0.74982697 0 0.661633974 V= 0.02 0 0 0 0.3925 0 T= 1.34 - X= 0.0466 0.04 -0.04 0 0.751124 0 0.660162 + X= 0.0466 0.04 -0.04 0 0.751123576 0 0.660161627 V= 0.02 0 0 0 0.3925 0 T= 1.35 - X= 0.0468 0.04 -0.04 0 0.752418 0 0.658686 + X= 0.0468 0.04 -0.04 0 0.752417965 0 0.658685969 V= 0.02 0 0 0 0.3925 0 T= 1.36 - X= 0.047 0.04 -0.04 0 0.753709 0 0.657208 + X= 0.047 0.04 -0.04 0 0.753709146 0 0.657208128 V= 0.02 0 0 0 0.3925 0 T= 1.37 - X= 0.0472 0.04 -0.04 0 0.754997 0 0.655728 + X= 0.0472 0.04 -0.04 0 0.754997121 0 0.655728105 V= 0.02 0 0 0 0.3925 0 T= 1.38 - X= 0.0474 0.04 -0.04 0 0.756283 0 0.654245 + X= 0.0474 0.04 -0.04 0 0.756282812 0 0.654244838 V= 0.02 0 0 0 0.3925 0 T= 1.39 - X= 0.0476 0.04 -0.04 0 0.757565 0 0.652759 + X= 0.0476 0.04 -0.04 0 0.757565363 0 0.652759313 V= 0.02 0 0 0 0.3925 0 T= 1.4 - X= 0.0478 0.04 -0.04 0 0.758845 0 0.651272 + X= 0.0478 0.04 -0.04 0 0.758844639 0 0.65127169 V= 0.02 0 0 0 0.3925 0 T= 1.41 - X= 0.048 0.04 -0.04 0 0.760121 0 0.649781 + X= 0.048 0.04 -0.04 0 0.760121273 0 0.649781233 V= 0.02 0 0 0 0.3925 0 T= 1.42 - X= 0.0482 0.04 -0.04 0 0.761395 0 0.648288 + X= 0.0482 0.04 -0.04 0 0.761395123 0 0.648288105 V= 0.02 0 0 0 0.3925 0 T= 1.43 - X= 0.0484 0.04 -0.04 0 0.762666 0 0.646793 + X= 0.0484 0.04 -0.04 0 0.762665766 0 0.646792802 V= 0.02 0 0 0 0.3925 0 T= 1.44 - X= 0.0486 0.04 -0.04 0 0.763934 0 0.645295 + X= 0.0486 0.04 -0.04 0 0.763933697 0 0.645294744 V= 0.02 0 0 0 0.3925 0 T= 1.45 - X= 0.0488 0.04 -0.04 0 0.765199 0 0.643794 + X= 0.0488 0.04 -0.04 0 0.765198914 0 0.643793928 V= 0.02 0 0 0 0.3925 0 T= 1.46 - X= 0.049 0.04 -0.04 0 0.766461 0 0.642291 + X= 0.049 0.04 -0.04 0 0.766460926 0 0.642290938 V= 0.02 0 0 0 0.3925 0 T= 1.47 - X= 0.0492 0.04 -0.04 0 0.76772 0 0.640786 + X= 0.0492 0.04 -0.04 0 0.767719733 0 0.640785777 V= 0.02 0 0 0 0.3925 0 T= 1.48 - X= 0.0494 0.04 -0.04 0 0.768976 0 0.639278 + X= 0.0494 0.04 -0.04 0 0.768975827 0 0.639277856 V= 0.02 0 0 0 0.3925 0 T= 1.49 - X= 0.0496 0.04 -0.04 0 0.770229 0 0.637768 + X= 0.0496 0.04 -0.04 0 0.770228717 0 0.637767766 V= 0.02 0 0 0 0.3925 0 T= 1.5 - X= 0.0498 0.04 -0.04 0 0.771479 0 0.636255 + X= 0.0498 0.04 -0.04 0 0.771478895 0 0.636254913 V= 0.02 0 0 0 0.3925 0 diff --git a/examples/RecordState/NeedleInsertionCycles.txt b/examples/RecordState/NeedleInsertionCycles.txt index b7f08725..72c35c37 100644 --- a/examples/RecordState/NeedleInsertionCycles.txt +++ b/examples/RecordState/NeedleInsertionCycles.txt @@ -1,348 +1,348 @@ T= 0 - X= 0.04 0.04 0 0 0 0 1 - V= 0 0 0.5 0 39.25 0 + X= 0.04 0.04 0.02 0 0.706825225 0 0.707388225 + V= 0 0 0 0 0 0 T= 0.01 - X= 0.04 0.04 0 0 0 0 1 - V= 0 0 0.5 0 39.25 0 + X= 0.04 0.04 0.02 0 0.706825225 0 0.707388225 + V= 0 0 0 0 0 0 T= 0.02 - X= 0.04 0.04 0.005 0 0.194993 0 0.980805 - V= 0 0 0.5 0 39.25 0 + X= 0.04 0.04 0.02 0 0.706825225 0 0.707388225 + V= 0 0 0 0 0 0 T= 0.03 - X= 0.04 0.04 0.01 0 0.382499 0 0.923956 - V= 0 0 0.5 0 39.25 0 + X= 0.04 0.04 0.02 0 0.706825225 0 0.707388225 + V= 0 0 0 0 0 0 T= 0.04 - X= 0.04 0.04 0.015 0 0.555322 0 0.831635 - V= 0 0 0.5 0 39.25 0 + X= 0.04 0.04 0.02 0 0.706825225 0 0.707388225 + V= 0 0 0 0 0 0 T= 0.05 - X= 0.04 0.04 0.02 0 0.706825 0 0.707388 + X= 0.04 0.04 0.02 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.06 - X= 0.04 0.04 0.0157143 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0157143 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.07 - X= 0.04 0.04 0.0114286 0 0.706825 0 0.707388 + X= 0.04 0.04 0.0114286 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.08 - X= 0.04 0.04 0.00714286 0 0.706825 0 0.707388 + X= 0.04 0.04 0.00714286 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.09 - X= 0.04 0.04 0.00285714 0 0.706825 0 0.707388 + X= 0.04 0.04 0.00285714 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.1 - X= 0.04 0.04 -0.00142857 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.00142857 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.11 - X= 0.04 0.04 -0.00571429 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.00571429 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.12 - X= 0.04 0.04 -0.01 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.01 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.13 - X= 0.04 0.04 -0.0142857 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0142857 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.14 - X= 0.04 0.04 -0.0185714 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0185714 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.15 - X= 0.04 0.04 -0.0228571 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0228571 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.16 - X= 0.04 0.04 -0.0271429 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0271429 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.17 - X= 0.04 0.04 -0.0314286 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0314286 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.18 - X= 0.04 0.04 -0.0357143 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0357143 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.19 - X= 0.04 0.04 -0.04 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.04 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.2 - X= 0.04 0.04 -0.0442857 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0442857 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.21 - X= 0.04 0.04 -0.0485714 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0485714 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.22 - X= 0.04 0.04 -0.0528571 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0528571 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.23 - X= 0.04 0.04 -0.0571429 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0571429 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.24 - X= 0.04 0.04 -0.0614286 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0614286 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.25 - X= 0.04 0.04 -0.0657143 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0657143 0 0.706825225 0 0.707388225 V= 0 0 -0.428571 0 0 0 T= 0.26 - X= 0.04 0.04 -0.07 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.07 0 0.706825225 0 0.707388225 V= 0.2 0 0 0 3.925 0 T= 0.27 - X= 0.042 0.04 -0.07 0 0.720571 0 0.693381 + X= 0.042 0.04 -0.07 0 0.72057108 0 0.693381077 V= 0.2 0 0 0 3.925 0 T= 0.28 - X= 0.044 0.04 -0.07 0 0.734039 0 0.679108 + X= 0.044 0.04 -0.07 0 0.734038659 0 0.679107684 V= 0.2 0 0 0 3.925 0 T= 0.29 - X= 0.046 0.04 -0.07 0 0.747224 0 0.664572 + X= 0.046 0.04 -0.07 0 0.747224131 0 0.664572117 V= 0.2 0 0 0 3.925 0 T= 0.3 - X= 0.048 0.04 -0.07 0 0.760121 0 0.649781 + X= 0.048 0.04 -0.07 0 0.760121273 0 0.649781233 V= 0.2 0 0 0 3.925 0 T= 0.31 - X= 0.05 0.04 -0.07 0 0.772726 0 0.634739 + X= 0.05 0.04 -0.07 0 0.77272636 0 0.634739295 V= -0.2 0 0 0 -3.925 0 T= 0.32 - X= 0.048 0.04 -0.07 0 0.760121 0 0.649781 + X= 0.048 0.04 -0.07 0 0.760121273 0 0.649781233 V= -0.2 0 0 0 -3.925 0 T= 0.33 - X= 0.046 0.04 -0.07 0 0.747224 0 0.664572 + X= 0.046 0.04 -0.07 0 0.747224131 0 0.664572117 V= -0.2 0 0 0 -3.925 0 T= 0.34 - X= 0.044 0.04 -0.07 0 0.734039 0 0.679108 + X= 0.044 0.04 -0.07 0 0.734038659 0 0.679107684 V= -0.2 0 0 0 -3.925 0 T= 0.35 - X= 0.042 0.04 -0.07 0 0.720571 0 0.693381 + X= 0.042 0.04 -0.07 0 0.72057108 0 0.693381077 V= -0.2 0 0 0 -3.925 0 T= 0.36 - X= 0.04 0.04 -0.07 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.07 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.37 - X= 0.04 0.04 -0.06625 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.06625 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.38 - X= 0.04 0.04 -0.0625 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0625 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.39 - X= 0.04 0.04 -0.05875 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.05875 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.4 - X= 0.04 0.04 -0.055 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.055 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.41 - X= 0.04 0.04 -0.05125 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.05125 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.42 - X= 0.04 0.04 -0.0475 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0475 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.43 - X= 0.04 0.04 -0.04375 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.04375 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.44 - X= 0.04 0.04 -0.04 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.04 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.45 - X= 0.04 0.04 -0.03625 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.03625 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.46 - X= 0.04 0.04 -0.0325 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0325 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.47 - X= 0.04 0.04 -0.02875 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.02875 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.48 - X= 0.04 0.04 -0.025 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.025 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.49 - X= 0.04 0.04 -0.02125 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.02125 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.5 - X= 0.04 0.04 -0.0175 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0175 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.51 - X= 0.04 0.04 -0.01375 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.01375 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.52 - X= 0.04 0.04 -0.01 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.01 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.53 - X= 0.04 0.04 -0.00625 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.00625 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.54 - X= 0.04 0.04 -0.0025 0 0.706825 0 0.707388 + X= 0.04 0.04 -0.0025 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.55 - X= 0.04 0.04 0.00125 0 0.706825 0 0.707388 + X= 0.04 0.04 0.00125 0 0.706825225 0 0.707388225 V= 0 0 0.375 0 0 0 T= 0.56 - X= 0.04 0.04 0.005 0 0.706825 0 0.707388 + X= 0.04 0.04 0.005 0 0.706825225 0 0.707388225 V= 0.4 0 0 0 0 0 T= 0.57 - X= 0.044 0.04 0.005 0 0.706825 0 0.707388 + X= 0.044 0.04 0.005 0 0.706825225 0 0.707388225 V= 0.4 0 0 0 0 0 T= 0.58 - X= 0.048 0.04 0.005 0 0.706825 0 0.707388 + X= 0.048 0.04 0.005 0 0.706825225 0 0.707388225 V= 0.4 0 0 0 0 0 T= 0.59 - X= 0.052 0.04 0.005 0 0.706825 0 0.707388 + X= 0.052 0.04 0.005 0 0.706825225 0 0.707388225 V= 0.4 0 0 0 0 0 T= 0.6 - X= 0.056 0.04 0.005 0 0.706825 0 0.707388 + X= 0.056 0.04 0.005 0 0.706825225 0 0.707388225 V= 0.4 0 0 0 0 0 T= 0.61 - X= 0.06 0.04 0.005 0 0.706825 0 0.707388 + X= 0.06 0.04 0.005 0 0.706825225 0 0.707388225 V= 0 0 0 0 7.85 0 T= 0.62 - X= 0.06 0.04 0.005 0 0.734039 0 0.679108 + X= 0.06 0.04 0.005 0 0.734038659 0 0.679107684 V= 0 0 0 0 7.85 0 T= 0.63 - X= 0.06 0.04 0.005 0 0.760121 0 0.649781 + X= 0.06 0.04 0.005 0 0.760121273 0 0.649781233 V= 0 0 0 0 7.85 0 T= 0.64 - X= 0.06 0.04 0.005 0 0.785033 0 0.619453 + X= 0.06 0.04 0.005 0 0.785033459 0 0.619453362 V= 0 0 0 0 7.85 0 T= 0.65 - X= 0.06 0.04 0.005 0 0.808736 0 0.588172 + X= 0.06 0.04 0.005 0 0.808735911 0 0.588171936 V= 0 0 0 0 7.85 0 T= 0.66 - X= 0.06 0.04 0.005 0 0.831193 0 0.555984 + X= 0.06 0.04 0.005 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.67 - X= 0.0585433 0.04 0.0026905 0 0.831193 0 0.555984 + X= 0.0585433 0.04 0.0026905 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.68 - X= 0.0570866 0.04 0.000381 0 0.831193 0 0.555984 + X= 0.0570866 0.04 0.000381 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.69 - X= 0.0556299 0.04 -0.0019285 0 0.831193 0 0.555984 + X= 0.0556299 0.04 -0.0019285 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.7 - X= 0.0541732 0.04 -0.004238 0 0.831193 0 0.555984 + X= 0.0541732 0.04 -0.004238 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.71 - X= 0.0527165 0.04 -0.0065475 0 0.831193 0 0.555984 + X= 0.0527165 0.04 -0.0065475 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.72 - X= 0.0512598 0.04 -0.008857 0 0.831193 0 0.555984 + X= 0.0512598 0.04 -0.008857 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.73 - X= 0.0498031 0.04 -0.0111665 0 0.831193 0 0.555984 + X= 0.0498031 0.04 -0.0111665 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.74 - X= 0.0483464 0.04 -0.013476 0 0.831193 0 0.555984 + X= 0.0483464 0.04 -0.013476 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.75 - X= 0.0468897 0.04 -0.0157855 0 0.831193 0 0.555984 + X= 0.0468897 0.04 -0.0157855 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.76 - X= 0.045433 0.04 -0.018095 0 0.831193 0 0.555984 + X= 0.045433 0.04 -0.018095 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.77 - X= 0.0439763 0.04 -0.0204045 0 0.831193 0 0.555984 + X= 0.0439763 0.04 -0.0204045 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.78 - X= 0.0425196 0.04 -0.022714 0 0.831193 0 0.555984 + X= 0.0425196 0.04 -0.022714 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.79 - X= 0.0410629 0.04 -0.0250235 0 0.831193 0 0.555984 + X= 0.0410629 0.04 -0.0250235 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.8 - X= 0.0396062 0.04 -0.027333 0 0.831193 0 0.555984 + X= 0.0396062 0.04 -0.027333 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.81 - X= 0.0381495 0.04 -0.0296425 0 0.831193 0 0.555984 + X= 0.0381495 0.04 -0.0296425 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.82 - X= 0.0366928 0.04 -0.031952 0 0.831193 0 0.555984 + X= 0.0366928 0.04 -0.031952 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.83 - X= 0.0352361 0.04 -0.0342615 0 0.831193 0 0.555984 + X= 0.0352361 0.04 -0.0342615 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.84 - X= 0.0337794 0.04 -0.036571 0 0.831193 0 0.555984 + X= 0.0337794 0.04 -0.036571 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.85 - X= 0.0323227 0.04 -0.0388805 0 0.831193 0 0.555984 + X= 0.0323227 0.04 -0.0388805 0 0.831192995 0 0.555983997 V= -0.14567 0 -0.23095 0 0 0 T= 0.86 - X= 0.030866 0.04 -0.04119 0 0.831193 0 0.555984 + X= 0.030866 0.04 -0.04119 0 0.831192995 0 0.555983997 V= 0 0 0 0 -3.925 0 T= 0.87 - X= 0.030866 0.04 -0.04119 0 0.820122 0 0.572188 + X= 0.030866 0.04 -0.04119 0 0.820122327 0 0.572188228 V= 0 0 0 0 -3.925 0 T= 0.88 - X= 0.030866 0.04 -0.04119 0 0.808736 0 0.588172 + X= 0.030866 0.04 -0.04119 0 0.808735911 0 0.588171936 V= 0 0 0 0 -3.925 0 T= 0.89 - X= 0.030866 0.04 -0.04119 0 0.797038 0 0.603929 + X= 0.030866 0.04 -0.04119 0 0.797038076 0 0.603929057 V= 0 0 0 0 -3.925 0 T= 0.9 - X= 0.030866 0.04 -0.04119 0 0.785033 0 0.619453 + X= 0.030866 0.04 -0.04119 0 0.785033459 0 0.619453362 V= 0 0 0 0 -3.925 0 T= 0.91 - X= 0.030866 0.04 -0.04119 0 0.772726 0 0.634739 + X= 0.030866 0.04 -0.04119 0 0.77272636 0 0.634739295 V= 0 0 0 0 -3.925 0 T= 0.92 - X= 0.030866 0.04 -0.04119 0 0.760121 0 0.649781 + X= 0.030866 0.04 -0.04119 0 0.760121273 0 0.649781233 V= 0 0 0 0 -3.925 0 T= 0.93 - X= 0.030866 0.04 -0.04119 0 0.747224 0 0.664572 + X= 0.030866 0.04 -0.04119 0 0.747224131 0 0.664572117 V= 0 0 0 0 -3.925 0 T= 0.94 - X= 0.030866 0.04 -0.04119 0 0.734039 0 0.679108 + X= 0.030866 0.04 -0.04119 0 0.734038659 0 0.679107684 V= 0 0 0 0 -3.925 0 T= 0.95 - X= 0.030866 0.04 -0.04119 0 0.720571 0 0.693381 + X= 0.030866 0.04 -0.04119 0 0.72057108 0 0.693381077 V= 0 0 0 0 -3.925 0 T= 0.96 - X= 0.030866 0.04 -0.04119 0 0.706825 0 0.707388 + X= 0.030866 0.04 -0.04119 0 0.706825225 0 0.707388225 V= 0 0 0 0 3.925 0 T= 0.97 - X= 0.030866 0.04 -0.04119 0 0.720571 0 0.693381 + X= 0.030866 0.04 -0.04119 0 0.72057108 0 0.693381077 V= 0 0 0 0 3.925 0 T= 0.98 - X= 0.030866 0.04 -0.04119 0 0.734039 0 0.679108 + X= 0.030866 0.04 -0.04119 0 0.734038659 0 0.679107684 V= 0 0 0 0 3.925 0 T= 0.99 - X= 0.030866 0.04 -0.04119 0 0.747224 0 0.664572 + X= 0.030866 0.04 -0.04119 0 0.747224131 0 0.664572117 V= 0 0 0 0 3.925 0 T= 1 - X= 0.030866 0.04 -0.04119 0 0.760121 0 0.649781 + X= 0.030866 0.04 -0.04119 0 0.760121273 0 0.649781233 V= 0 0 0 0 3.925 0 T= 1.01 - X= 0.030866 0.04 -0.04119 0 0.772726 0 0.634739 + X= 0.030866 0.04 -0.04119 0 0.77272636 0 0.634739295 V= 0 0 0 0 3.925 0 T= 1.02 - X= 0.030866 0.04 -0.04119 0 0.785033 0 0.619453 + X= 0.030866 0.04 -0.04119 0 0.785033459 0 0.619453362 V= 0 0 0 0 3.925 0 T= 1.03 - X= 0.030866 0.04 -0.04119 0 0.797038 0 0.603929 + X= 0.030866 0.04 -0.04119 0 0.797038076 0 0.603929057 V= 0 0 0 0 3.925 0 T= 1.04 - X= 0.030866 0.04 -0.04119 0 0.808736 0 0.588172 + X= 0.030866 0.04 -0.04119 0 0.808735911 0 0.588171936 V= 0 0 0 0 3.925 0 T= 1.05 - X= 0.030866 0.04 -0.04119 0 0.820122 0 0.572188 + X= 0.030866 0.04 -0.04119 0 0.820122327 0 0.572188228 V= 0 0 0 0 3.925 0 T= 1.06 - X= 0.030866 0.04 -0.04119 0 0.831193 0 0.555984 + X= 0.030866 0.04 -0.04119 0 0.831192995 0 0.555983997 V= 0.29134 0 0.4619 0 0 0 T= 1.07 - X= 0.0337794 0.04 -0.036571 0 0.831193 0 0.555984 + X= 0.0337794 0.04 -0.036571 0 0.831192995 0 0.555983997 V= 0.29134 0 0.4619 0 0 0 T= 1.08 - X= 0.0366928 0.04 -0.031952 0 0.831193 0 0.555984 + X= 0.0366928 0.04 -0.031952 0 0.831192995 0 0.555983997 V= 0.29134 0 0.4619 0 0 0 T= 1.09 - X= 0.0396062 0.04 -0.027333 0 0.831193 0 0.555984 + X= 0.0396062 0.04 -0.027333 0 0.831192995 0 0.555983997 V= 0.29134 0 0.4619 0 0 0 T= 1.1 - X= 0.0425196 0.04 -0.022714 0 0.831193 0 0.555984 + X= 0.0425196 0.04 -0.022714 0 0.831192995 0 0.555983997 V= 0.29134 0 0.4619 0 0 0 T= 1.11 - X= 0.045433 0.04 -0.018095 0 0.831193 0 0.555984 + X= 0.045433 0.04 -0.018095 0 0.831192995 0 0.555983997 V= 0.29134 0 0.4619 0 0 0 T= 1.12 - X= 0.0483464 0.04 -0.013476 0 0.831193 0 0.555984 + X= 0.0483464 0.04 -0.013476 0 0.831192995 0 0.555983997 V= 0.29134 0 0.4619 0 0 0 T= 1.13 - X= 0.0512598 0.04 -0.008857 0 0.831193 0 0.555984 + X= 0.0512598 0.04 -0.008857 0 0.831192995 0 0.555983997 V= 0.29134 0 0.4619 0 0 0 T= 1.14 - X= 0.0541732 0.04 -0.004238 0 0.831193 0 0.555984 + X= 0.0541732 0.04 -0.004238 0 0.831192995 0 0.555983997 V= 0.29134 0 0.4619 0 0 0 T= 1.15 - X= 0.0570866 0.04 0.000381 0 0.831193 0 0.555984 + X= 0.0570866 0.04 0.000381 0 0.831192995 0 0.555983997 V= 0.29134 0 0.4619 0 0 0 diff --git a/examples/RecordState/NeedleInsertionHaptics.txt b/examples/RecordState/NeedleInsertionHaptics.txt index 41fe10ad..42478896 100644 --- a/examples/RecordState/NeedleInsertionHaptics.txt +++ b/examples/RecordState/NeedleInsertionHaptics.txt @@ -1,1503 +1,1503 @@ T= 0 - X= 0.180408 -0.131021 -0.165557 0.196414 0.165263 0.0145748 -0.966643 + X= 0.2117698 -0.169455906 -0.252385541 0.196364774 0.165221581 0.0145711472 -0.966400738 V= 0 0 0 0 0 0 T= 0.01 - X= 0.180408 -0.131021 -0.165557 0.196203 0.165514 0.0158105 -0.966623 + X= 0.211769818 -0.169456002 -0.252385492 0.196153919 0.165472596 0.0158065449 -0.966381195 V= 0 0 0 0 0 0 T= 0.02 - X= 0.180408 -0.131021 -0.165557 0.196982 0.165762 0.015026 -0.966435 + X= 0.211839911 -0.16957388 -0.252307853 0.196932641 0.165720464 0.0150222349 -0.966192835 V= 0 0 0 0 0 0 T= 0.03 - X= 0.180408 -0.131021 -0.165557 0.196309 0.165389 0.0151927 -0.966633 + X= 0.21176989 -0.16945604 -0.252385449 0.196259851 0.165347592 0.0151888963 -0.966390988 V= 0 0 0 0 0 0 T= 0.04 - X= 0.180408 -0.131021 -0.165557 0.196315 0.166327 0.0152557 -0.96647 + X= 0.21194322 -0.169455733 -0.252322784 0.196265817 0.16628533 0.015251878 -0.966227871 V= 0 0 0 0 0 0 T= 0.05 - X= 0.180408 -0.131021 -0.165557 0.196309 0.165389 0.0151927 -0.966633 + X= 0.21176989 -0.16945604 -0.252385449 0.196259851 0.165347592 0.0151888963 -0.966390988 V= 0 0 0 0 0 0 T= 0.06 - X= 0.180408 -0.131021 -0.165557 0.195741 0.164889 0.0147423 -0.966841 + X= 0.211699453 -0.169338027 -0.252462986 0.195691909 0.164847647 0.0147386027 -0.966598522 V= 0 0 0 0 0 0 T= 0.07 - X= 0.180408 -0.131021 -0.165557 0.196365 0.165795 0.0149153 -0.966556 + X= 0.211856532 -0.169455906 -0.252354165 0.196315911 0.165753553 0.0149115714 -0.966314373 V= 0 0 0 0 0 0 T= 0.08 - X= 0.180408 -0.131021 -0.165557 0.196471 0.16567 0.0142975 -0.966566 + X= 0.211856613 -0.16945589 -0.252354143 0.196421738 0.165628461 0.0142939152 -0.966323651 V= 0 0 0 0 0 0 T= 0.09 - X= 0.180408 -0.131021 -0.165557 0.196309 0.165389 0.0151927 -0.966633 + X= 0.21176989 -0.16945604 -0.252385449 0.196259851 0.165347592 0.0151888963 -0.966390988 V= 0 0 0 0 0 0 T= 0.1 - X= 0.180408 -0.131021 -0.165557 0.196414 0.165263 0.0145748 -0.966643 + X= 0.2117698 -0.169455906 -0.252385541 0.196364774 0.165221581 0.0145711472 -0.966400738 V= 0 0 0 0 0 0 T= 0.11 - X= 0.180408 -0.131021 -0.165557 0.196982 0.165762 0.015026 -0.966435 + X= 0.211839911 -0.16957388 -0.252307853 0.196932641 0.165720464 0.0150222349 -0.966192835 V= 0 0 0 0 0 0 T= 0.12 - X= 0.180408 -0.131021 -0.165557 0.212946 0.166317 0.0183348 -0.96289 + X= 0.211640494 -0.172618766 -0.250962838 0.212892713 0.166275381 0.018330212 -0.96264905 V= 0 0 0 0 0 0 T= 0.13 - X= 0.180408 -0.131021 -0.165557 0.211153 0.165898 0.0176514 -0.96337 + X= 0.211611167 -0.172269691 -0.251142675 0.211100119 0.165856453 0.0176469794 -0.963128735 V= 0 0 0 0 0 0 T= 0.14 - X= 0.180408 -0.131021 -0.165557 0.211153 0.165898 0.0176514 -0.96337 + X= 0.211611167 -0.172269691 -0.251142675 0.211100119 0.165856453 0.0176469794 -0.963128735 V= 0 0 0 0 0 0 T= 0.15 - X= 0.180408 -0.131021 -0.165557 0.211259 0.165763 0.0170356 -0.963381 + X= 0.21161117 -0.172269694 -0.251142673 0.21120611 0.1657215 0.017031335 -0.963139812 V= 0 0 0 0 0 0 T= 0.16 - X= 0.180408 -0.131021 -0.165557 0.211365 0.165628 0.0164198 -0.963392 + X= 0.211611174 -0.172269697 -0.25114267 0.211312015 0.16558648 0.0164156838 -0.963150495 V= 0 0 0 0 0 0 T= 0.17 - X= 0.180408 -0.131021 -0.165557 0.211365 0.165628 0.0164198 -0.963392 + X= 0.211611174 -0.172269697 -0.25114267 0.211312015 0.16558648 0.0164156838 -0.963150495 V= 0 0 0 0 0 0 T= 0.18 - X= 0.180165 -0.13064 -0.164891 0.213333 0.164333 0.0154286 -0.963196 + X= 0.211148173 -0.172222556 -0.250395 0.213279593 0.16429186 0.0154247375 -0.962954868 V= 0 0 0 0 0 0 T= 0.19 - X= 0.179287 -0.129125 -0.162093 0.221484 0.160273 0.0147065 -0.962051 + X= 0.209458593 -0.172190616 -0.247151966 0.221428539 0.160232866 0.0147028174 -0.961810095 V= 0 0 0 0 0 0 T= 0.2 - X= 0.178387 -0.12725 -0.159418 0.229744 0.154772 0.0130452 -0.961038 + X= 0.20752135 -0.171790039 -0.244078348 0.229686483 0.154733253 0.0130419341 -0.960797402 V= 0 0 0 0 0 0 T= 0.21 - X= 0.176904 -0.125496 -0.155545 0.239115 0.148628 0.0139359 -0.959709 + X= 0.204751494 -0.171783188 -0.239699699 0.239055024 0.14859072 0.0139324045 -0.959468281 V= 0 0 0 0 0 0 T= 0.22 - X= 0.175526 -0.123617 -0.151759 0.247113 0.143229 0.0184502 -0.958426 + X= 0.202055753 -0.17148948 -0.235451281 0.247051222 0.143193193 0.0184455874 -0.958186393 V= 0 0 0 0 0 0 T= 0.23 - X= 0.174272 -0.121736 -0.148313 0.252224 0.138055 0.0247899 -0.957711 + X= 0.199452221 -0.170707478 -0.231786055 0.252160838 0.138020428 0.0247836921 -0.95747117 V= 0 0 0 0 0 0 T= 0.24 - X= 0.17324 -0.119389 -0.14526 0.257095 0.133362 0.0336452 -0.95681 + X= 0.197018512 -0.169459544 -0.228491742 0.257030668 0.13332863 0.0336367811 -0.956570582 V= 0 0 0 0 0 0 T= 0.25 - X= 0.172118 -0.116729 -0.142171 0.263044 0.128882 0.0428493 -0.955438 + X= 0.194480308 -0.168072247 -0.225019042 0.262978191 0.128849756 0.0428385799 -0.955198967 V= 0 0 0 0 0 0 T= 0.26 - X= 0.170888 -0.113441 -0.138788 0.268889 0.123797 0.0535296 -0.953944 + X= 0.19161798 -0.166040988 -0.221271387 0.268821593 0.123765966 0.0535161808 -0.953704858 V= 0 0 0 0 0 0 T= 0.27 - X= 0.169635 -0.109461 -0.135342 0.276067 0.119114 0.0658441 -0.951717 + X= 0.188662539 -0.163549979 -0.217270842 0.275997757 0.119084124 0.065827585 -0.951478291 V= 0 0 0 0 0 0 T= 0.28 - X= 0.168452 -0.10492 -0.132085 0.282186 0.115608 0.0788329 -0.949364 + X= 0.185944946 -0.160294458 -0.21349548 0.28211537 0.115579064 0.0788131685 -0.949126379 V= 0 0 0 0 0 0 T= 0.29 - X= 0.167285 -0.100222 -0.128874 0.288675 0.111245 0.0920862 -0.946738 + X= 0.183024485 -0.156902324 -0.209741852 0.288602654 0.111217121 0.092063122 -0.946500735 V= 0 0 0 0 0 0 T= 0.3 - X= 0.166094 -0.0950187 -0.125597 0.294809 0.107264 0.105306 -0.943925 + X= 0.180127763 -0.152904286 -0.205923287 0.294735079 0.107237104 0.105279595 -0.943688319 V= 0 0 0 0 0 0 T= 0.31 - X= 0.164692 -0.0887531 -0.121491 0.30227 0.101478 0.11915 -0.940553 + X= 0.176572034 -0.148001792 -0.201168207 0.302194218 0.101452559 0.119120128 -0.940317195 V= 0 0 0 0 0 0 T= 0.32 - X= 0.163535 -0.0820676 -0.117795 0.308152 0.096812 0.135842 -0.936866 + X= 0.173298084 -0.142407013 -0.196939408 0.308074811 0.0967877495 0.135807973 -0.936631324 V= 0 0 0 0 0 0 T= 0.33 - X= 0.162706 -0.0742903 -0.114209 0.314251 0.0913516 0.152363 -0.932838 + X= 0.170169472 -0.135672383 -0.192799944 0.314172463 0.0913287696 0.152324922 -0.932604867 V= 0 0 0 0 0 0 T= 0.34 - X= 0.162348 -0.0657031 -0.110831 0.318839 0.0858922 0.169053 -0.928917 + X= 0.167522612 -0.127811014 -0.189034775 0.318759083 0.0858706712 0.169010627 -0.928684167 V= 0 0 0 0 0 0 T= 0.35 - X= 0.162405 -0.0574921 -0.108011 0.321406 0.080039 0.183178 -0.925872 + X= 0.165449746 -0.119909257 -0.18608038 0.321325486 0.0800189498 0.183132113 -0.925640064 V= 0 0 0 0 0 0 T= 0.36 - X= 0.162979 -0.0480571 -0.104926 0.322799 0.0736585 0.197789 -0.922906 + X= 0.163805342 -0.110522216 -0.183012019 0.322718211 0.073640065 0.197739498 -0.922675018 V= 0 0 0 0 0 0 T= 0.37 - X= 0.16407 -0.0391 -0.102094 0.324942 0.0669545 0.209607 -0.920052 + X= 0.162768953 -0.101668188 -0.180090982 0.324860635 0.0669377347 0.209554515 -0.91982162 V= 0 0 0 0 0 0 T= 0.38 - X= 0.165567 -0.0302727 -0.0994761 0.32521 0.0602613 0.220701 -0.917823 + X= 0.162275656 -0.0925984667 -0.177608461 0.325128572 0.0602462114 0.22064574 -0.91759319 V= 0 0 0 0 0 0 T= 0.39 - X= 0.16712 -0.0213926 -0.0965813 0.325275 0.0568237 0.230068 -0.915717 + X= 0.162562098 -0.0835480511 -0.174785682 0.325193441 0.0568094521 0.230010313 -0.915487394 V= 0 0 0 0 0 0 T= 0.4 - X= 0.168638 -0.0127355 -0.0937396 0.32428 0.0529451 0.239507 -0.91388 + X= 0.16278456 -0.0745112986 -0.172158271 0.324198805 0.0529318433 0.239447031 -0.913651178 V= 0 0 0 0 0 0 T= 0.41 - X= 0.169908 -0.00506953 -0.0912628 0.323129 0.0507496 0.24703 -0.912409 + X= 0.16320773 -0.0665111902 -0.169875959 0.323047945 0.0507368698 0.246968034 -0.912180128 V= 0 0 0 0 0 0 T= 0.42 - X= 0.171269 0.0060061 -0.0879105 0.319909 0.0489155 0.256868 -0.910926 + X= 0.163749577 -0.0547590559 -0.166974108 0.319828758 0.0489032307 0.256803571 -0.910697516 V= 0 0 0 0 0 0 T= 0.43 - X= 0.1719 0.013722 -0.0857937 0.317569 0.0483092 0.264341 -0.909638 + X= 0.163903484 -0.0465763587 -0.16516727 0.317489431 0.0482970958 0.264274767 -0.909410083 V= 0 0 0 0 0 0 T= 0.44 - X= 0.172488 0.0235023 -0.0834491 0.313677 0.0485277 0.271966 -0.908728 + X= 0.164249922 -0.0361168651 -0.163309536 0.313598566 0.0485155658 0.271897996 -0.908500776 V= 0 0 0 0 0 0 T= 0.45 - X= 0.172552 0.0328168 -0.0809977 0.309429 0.0482174 0.280328 -0.90766 + X= 0.163960989 -0.0260282809 -0.161393291 0.309351411 0.0482053095 0.280257708 -0.907432405 V= 0 0 0 0 0 0 T= 0.46 - X= 0.172723 0.0420792 -0.0789008 0.304234 0.0476094 0.287429 -0.907227 + X= 0.163876806 -0.0158304975 -0.159945305 0.304157781 0.0475974726 0.287356991 -0.906999716 V= 0 0 0 0 0 0 T= 0.47 - X= 0.173066 0.0505165 -0.0770127 0.29805 0.0466321 0.293391 -0.907422 + X= 0.164044484 -0.00628273853 -0.158820149 0.297975319 0.0466204156 0.293317486 -0.907194631 V= 0 0 0 0 0 0 T= 0.48 - X= 0.173829 0.0598429 -0.0750682 0.290165 0.0445098 0.300429 -0.907781 + X= 0.164479916 0.00451494534 -0.157841457 0.290092373 0.0444986594 0.300353804 -0.907553787 V= 0 0 0 0 0 0 T= 0.49 - X= 0.174496 0.0678442 -0.0730934 0.28282 0.0427854 0.306678 -0.908092 + X= 0.164924469 0.0138816089 -0.156738033 0.282749291 0.042774703 0.306601326 -0.907864963 V= 0 0 0 0 0 0 T= 0.5 - X= 0.175147 0.076692 -0.070993 0.275813 0.0417821 0.311964 -0.908494 + X= 0.165534832 0.0239966303 -0.155437089 0.275743874 0.0417716283 0.311885814 -0.908266308 V= 0 0 0 0 0 0 T= 0.51 - X= 0.17541 0.0854745 -0.0689932 0.267714 0.0416552 0.31735 -0.909056 + X= 0.165996279 0.0341828751 -0.154319345 0.267647127 0.0416447948 0.317270728 -0.908828923 V= 0 0 0 0 0 0 T= 0.52 - X= 0.175284 0.0934364 -0.0671313 0.260012 0.0430368 0.322012 -0.909588 + X= 0.166372215 0.0433890147 -0.153246568 0.259946961 0.0430260349 0.321931452 -0.909360477 V= 0 0 0 0 0 0 T= 0.53 - X= 0.174824 0.102648 -0.0647728 0.249969 0.0438598 0.327983 -0.910231 + X= 0.16641561 0.0542892919 -0.15189762 0.249906343 0.0438488062 0.327900788 -0.910002843 V= 0 0 0 0 0 0 T= 0.54 - X= 0.174313 0.110739 -0.0626503 0.23991 0.0444231 0.334043 -0.910706 + X= 0.166380195 0.0640969976 -0.15075021 0.239850001 0.0444119903 0.33395946 -0.910478243 V= 0 0 0 0 0 0 T= 0.55 - X= 0.173712 0.12196 -0.0596934 0.224908 0.0445789 0.341005 -0.911946 + X= 0.166507367 0.0779209391 -0.149184486 0.224851704 0.0445677416 0.340919644 -0.911717733 V= 0 0 0 0 0 0 T= 0.56 - X= 0.173107 0.130753 -0.0571741 0.213435 0.0448828 0.345709 -0.912917 + X= 0.166547861 0.0887011078 -0.147665072 0.213381541 0.0448715582 0.345622411 -0.912688342 V= 0 0 0 0 0 0 T= 0.57 - X= 0.172575 0.138023 -0.0549608 0.203298 0.0436718 0.348406 -0.914263 + X= 0.166397548 0.0978264623 -0.146317669 0.203247105 0.043660867 0.348318779 -0.914034119 V= 0 0 0 0 0 0 T= 0.58 - X= 0.17184 0.145794 -0.0528597 0.192463 0.0430699 0.350179 -0.915958 + X= 0.166253545 0.107539142 -0.145084194 0.192414766 0.0430591062 0.350091241 -0.91572845 V= 0 0 0 0 0 0 T= 0.59 - X= 0.171183 0.152703 -0.0510934 0.181659 0.0417763 0.350666 -0.918036 + X= 0.166115646 0.116437399 -0.144147836 0.181613421 0.0417658183 0.350578017 -0.917805663 V= 0 0 0 0 0 0 T= 0.6 - X= 0.170224 0.160328 -0.0490553 0.171297 0.0415777 0.350866 -0.919958 + X= 0.165855678 0.125910395 -0.142844139 0.171254103 0.0415672879 0.350778134 -0.919727619 V= 0 0 0 0 0 0 T= 0.61 - X= 0.168904 0.168222 -0.0470116 0.160539 0.0396708 0.352632 -0.921306 + X= 0.164893559 0.135859254 -0.141545028 0.160498831 0.0396608738 0.352543767 -0.921075476 V= 0 0 0 0 0 0 T= 0.62 - X= 0.167456 0.175676 -0.044989 0.150628 0.037936 0.35073 -0.923776 + X= 0.163900705 0.14520092 -0.140165832 0.150590239 0.0379264899 0.350642076 -0.92354442 V= 0 0 0 0 0 0 T= 0.63 - X= 0.165887 0.182345 -0.0434893 0.139984 0.0344233 0.351358 -0.925347 + X= 0.162422532 0.154033421 -0.13933528 0.139949017 0.0344146974 0.351270194 -0.925115751 V= 0 0 0 0 0 0 T= 0.64 - X= 0.164018 0.189235 -0.0418213 0.130031 0.0296999 0.349344 -0.927723 + X= 0.160445337 0.163046483 -0.138265054 0.129998417 0.0296924579 0.349256463 -0.927490535 V= 0 0 0 0 0 0 T= 0.65 - X= 0.16198 0.195201 -0.0400565 0.119818 0.0245326 0.347459 -0.929955 + X= 0.158218364 0.171223159 -0.137066362 0.119787921 0.0245264414 0.347371775 -0.929721548 V= 0 0 0 0 0 0 T= 0.66 - X= 0.160327 0.200963 -0.0379923 0.11035 0.0187618 0.344833 -0.932235 + X= 0.156216676 0.179105587 -0.135487729 0.110322367 0.0187571017 0.344746648 -0.932001553 V= 0 0 0 0 0 0 T= 0.67 - X= 0.158441 0.206449 -0.0360455 0.0988649 0.0124448 0.344225 -0.933853 + X= 0.153961215 0.187136864 -0.134060667 0.098840123 0.0124416812 0.344138732 -0.933618963 V= 0 0 0 0 0 0 T= 0.68 - X= 0.15668 0.211444 -0.0341821 0.0879323 0.00637561 0.34116 -0.936129 + X= 0.151876286 0.194554236 -0.13262833 0.0879103081 0.00637401546 0.341074676 -0.935894874 V= 0 0 0 0 0 0 T= 0.69 - X= 0.154208 0.216609 -0.0321084 0.0757644 -0.000649363 0.340701 -0.937381 + X= 0.148926305 0.202456316 -0.130960842 0.075745429 -0.000649200403 0.34061569 -0.937146285 V= 0 0 0 0 0 0 T= 0.7 - X= 0.151172 0.22161 -0.0304037 0.0642939 -0.00715285 0.338972 -0.938837 + X= 0.145473021 0.210028436 -0.129567146 0.0642777748 -0.00715105603 0.338886984 -0.938601535 V= 0 0 0 0 0 0 T= 0.71 - X= 0.147732 0.225742 -0.0287871 0.052256 -0.0159842 0.335752 -0.94063 + X= 0.141219204 0.216989013 -0.128190162 0.0522429308 -0.0159802024 0.335668029 -0.940394749 V= 0 0 0 0 0 0 T= 0.72 - X= 0.144307 0.228669 -0.0277929 0.0403075 -0.0251759 0.334296 -0.941535 + X= 0.136874994 0.222765011 -0.127341422 0.040297417 -0.0251696022 0.334212375 -0.941299473 V= 0 0 0 0 0 0 T= 0.73 - X= 0.140703 0.230589 -0.0267785 0.0277104 -0.0346322 0.334636 -0.941569 + X= 0.132330891 0.227690037 -0.126385246 0.0277034654 -0.0346235333 0.334552257 -0.941333371 V= 0 0 0 0 0 0 T= 0.74 - X= 0.136663 0.231924 -0.025792 0.0172948 -0.0451177 0.335117 -0.941203 + X= 0.127015696 0.231692474 -0.125325291 0.0172904675 -0.0451063976 0.33503305 -0.940967219 V= 0 0 0 0 0 0 T= 0.75 - X= 0.132348 0.232916 -0.0249434 0.00890976 -0.0537721 0.338806 -0.939543 + X= 0.12164539 0.234884455 -0.124349533 0.00890752726 -0.053758625 0.338721097 -0.939307556 V= 0 0 0 0 0 0 T= 0.76 - X= 0.126666 0.234075 -0.0238829 0.00405651 -0.06243 0.341986 -0.937887 + X= 0.114684085 0.237582372 -0.123100499 0.00405549542 -0.0624143856 0.341900466 -0.937652424 V= 0 0 0 0 0 0 T= 0.77 - X= 0.120302 0.235015 -0.0227656 0.000145472 -0.0725944 0.350019 -0.934194 + X= 0.106735172 0.240067169 -0.121712135 0.000145435522 -0.0725761966 0.349931231 -0.933959746 V= 0 0 0 0 0 0 T= 0.78 - X= 0.114302 0.235222 -0.0214647 -0.00299054 -0.0850557 0.359077 -0.929689 + X= 0.0987095143 0.241883024 -0.120016743 -0.00298979064 -0.0850343869 0.358987023 -0.929456041 V= 0 0 0 0 0 0 T= 0.79 - X= 0.108208 0.234815 -0.0202308 -0.00480916 -0.0984476 0.366406 -0.925491 + X= 0.0903469138 0.242915459 -0.118288763 -0.00480795334 -0.0984228987 0.366314066 -0.925258786 V= 0 0 0 0 0 0 T= 0.8 - X= 0.101802 0.233831 -0.0189039 -0.00608138 -0.112857 0.373603 -0.92095 + X= 0.0814794713 0.243379081 -0.116350444 -0.00607985479 -0.112828695 0.3735093 -0.920719025 V= 0 0 0 0 0 0 T= 0.81 - X= 0.0958595 0.232822 -0.0175868 -0.00645124 -0.127973 0.380567 -0.916107 + X= 0.0729146515 0.243738985 -0.114304706 -0.0064496214 -0.127940892 0.380471517 -0.915877151 V= 0 0 0 0 0 0 T= 0.82 - X= 0.0902258 0.231761 -0.0162152 -0.00571181 -0.144288 0.387144 -0.910916 + X= 0.0643941272 0.243967538 -0.112046954 -0.00571038233 -0.144251935 0.387047233 -0.910688317 V= 0 0 0 0 0 0 T= 0.83 - X= 0.0845365 0.230647 -0.0149559 -0.0033683 -0.160178 0.394824 -0.904957 + X= 0.0558260351 0.243898411 -0.109824806 -0.00336745572 -0.16013785 0.394725035 -0.904730167 V= 0 0 0 0 0 0 T= 0.84 - X= 0.0787677 0.229691 -0.0137599 0.000268478 -0.176943 0.404421 -0.897572 + X= 0.0469980761 0.243947559 -0.107501254 0.000268410807 -0.176898716 0.404319784 -0.89734736 V= 0 0 0 0 0 0 T= 0.85 - X= 0.073467 0.22879 -0.0127528 0.00482672 -0.19471 0.415151 -0.888941 + X= 0.038466657 0.244090999 -0.105169549 0.00482550959 -0.194661172 0.415046891 -0.888718077 V= 0 0 0 0 0 0 T= 0.86 - X= 0.0684385 0.227778 -0.0118214 0.00742241 -0.212653 0.429893 -0.877734 + X= 0.0304888042 0.244750118 -0.102770659 0.00742055006 -0.212599713 0.429785276 -0.877514054 V= 0 0 0 0 0 0 T= 0.87 - X= 0.0636026 0.226667 -0.0113837 0.00926013 -0.23042 0.444231 -0.866014 + X= 0.0228908619 0.245525621 -0.100753196 0.00925781326 -0.230362353 0.44411986 -0.865797337 V= 0 0 0 0 0 0 T= 0.88 - X= 0.0593301 0.225709 -0.0108882 0.0118016 -0.244434 0.455863 -0.856039 + X= 0.0164266091 0.245964008 -0.0989167473 0.0117986442 -0.24437278 0.455748826 -0.855824599 V= 0 0 0 0 0 0 T= 0.89 - X= 0.0553912 0.224475 -0.0101959 0.0137872 -0.258997 0.467707 -0.84527 + X= 0.0103396064 0.246360202 -0.096748727 0.0137837494 -0.258932179 0.467589943 -0.845058448 V= 0 0 0 0 0 0 T= 0.9 - X= 0.0511884 0.222753 -0.00972244 0.0159752 -0.274607 0.47862 -0.834122 + X= 0.00387173933 0.246362603 -0.0945971728 0.0159712011 -0.274538261 0.478500192 -0.833913203 V= 0 0 0 0 0 0 T= 0.91 - X= 0.0471124 0.220416 -0.00954832 0.0170269 -0.287088 0.487489 -0.82471 + X= -0.00187598425 0.245585374 -0.0930147254 0.0170226317 -0.287016033 0.487366797 -0.824503263 V= 0 0 0 0 0 0 T= 0.92 - X= 0.0425471 0.217149 -0.00951678 0.0164428 -0.299033 0.496576 -0.814999 + X= -0.00780295366 0.244153787 -0.0915875638 0.0164386728 -0.298957942 0.496451358 -0.814794433 V= 0 0 0 0 0 0 T= 0.93 - X= 0.0385151 0.213641 -0.00930233 0.0178924 -0.309497 0.503112 -0.807013 + X= -0.0132130224 0.241881325 -0.0900902337 0.0178879268 -0.309419624 0.502986219 -0.806811243 V= 0 0 0 0 0 0 T= 0.94 - X= 0.034412 0.210173 -0.00878123 0.0204203 -0.319622 0.509737 -0.798808 + X= -0.0187064934 0.239480562 -0.0882764656 0.0204151842 -0.319541926 0.509609297 -0.798607877 V= 0 0 0 0 0 0 T= 0.95 - X= 0.0303415 0.207184 -0.00811782 0.0249544 -0.328931 0.515137 -0.791402 + X= -0.0242654276 0.237108104 -0.0863650657 0.024948144 -0.328848539 0.515007858 -0.791203599 V= 0 0 0 0 0 0 T= 0.96 - X= 0.0263899 0.204154 -0.00743896 0.0278332 -0.3365 0.520033 -0.784895 + X= -0.0293004458 0.234767643 -0.0846489999 0.0278262246 -0.336415668 0.519902672 -0.784698293 V= 0 0 0 0 0 0 T= 0.97 - X= 0.0227431 0.201129 -0.00700722 0.0304585 -0.343672 0.521515 -0.780695 + X= -0.0340659687 0.232203701 -0.0832115027 0.0304508769 -0.343585987 0.521384477 -0.78049961 V= 0 0 0 0 0 0 T= 0.98 - X= 0.0189584 0.197454 -0.006983 0.0317267 -0.350878 0.522417 -0.776826 + X= -0.0388418376 0.22916984 -0.0821710179 0.0317187695 -0.350790294 0.522286416 -0.776631823 V= 0 0 0 0 0 0 T= 0.99 - X= 0.0150784 0.192671 -0.00742477 0.0315485 -0.357789 0.520615 -0.774889 + X= -0.0436264527 0.225019533 -0.0816360404 0.0315405966 -0.357699369 0.520484579 -0.774694879 V= 0 0 0 0 0 0 T= 1 - X= 0.0116452 0.188024 -0.00800671 0.0309598 -0.364079 0.51906 -0.773024 + X= -0.0478273393 0.221016692 -0.0813176868 0.0309520411 -0.363987757 0.518929917 -0.77283027 V= 0 0 0 0 0 0 T= 1.01 - X= 0.00884633 0.183829 -0.00843202 0.0311345 -0.368625 0.518978 -0.770915 + X= -0.0511908729 0.217273458 -0.0810749995 0.0311266905 -0.368532538 0.518847825 -0.770721631 V= 0 0 0 0 0 0 T= 1.02 - X= 0.00582373 0.179254 -0.00885026 0.0329075 -0.373342 0.516145 -0.770473 + X= -0.0550727275 0.212706078 -0.08077091 0.0328992522 -0.373248428 0.516015636 -0.770279893 V= 0 0 0 0 0 0 T= 1.03 - X= 0.00247524 0.174564 -0.00965913 0.0353878 -0.37747 0.515067 -0.769072 + X= -0.0591995598 0.207988547 -0.0809263644 0.0353789271 -0.377375356 0.514937856 -0.768879169 V= 0 0 0 0 0 0 T= 1.04 - X= -0.000444978 0.170131 -0.01054 0.0373231 -0.380538 0.513326 -0.768632 + X= -0.0627442916 0.203444777 -0.081314203 0.0373137556 -0.380442727 0.513197481 -0.768439562 V= 0 0 0 0 0 0 T= 1.05 - X= -0.00329123 0.165732 -0.0112831 0.0389797 -0.383922 0.513316 -0.766871 + X= -0.0661453154 0.199151472 -0.0815148793 0.0389699594 -0.383826062 0.513187728 -0.766679367 V= 0 0 0 0 0 0 T= 1.06 - X= -0.00599521 0.161183 -0.0122317 0.0413656 -0.387389 0.512481 -0.76556 + X= -0.0695171552 0.194538645 -0.0818906077 0.0413552575 -0.387292143 0.512352867 -0.76536859 V= 0 0 0 0 0 0 T= 1.07 - X= -0.00848223 0.156689 -0.0132155 0.0445612 -0.39054 0.509971 -0.765456 + X= -0.0727832685 0.189683374 -0.08232952 0.0445500527 -0.390442304 0.509843427 -0.765264516 V= 0 0 0 0 0 0 T= 1.08 - X= -0.0111146 0.15213 -0.0142913 0.0475247 -0.393362 0.508841 -0.764584 + X= -0.076070276 0.18487804 -0.0829085431 0.0475128205 -0.393263673 0.508713808 -0.764392881 V= 0 0 0 0 0 0 T= 1.09 - X= -0.0131437 0.148557 -0.0151068 0.0500585 -0.395871 0.508941 -0.76306 + X= -0.0786209121 0.18119611 -0.0832788119 0.0500459599 -0.395771831 0.508813505 -0.762868846 V= 0 0 0 0 0 0 T= 1.1 - X= -0.0152421 0.144885 -0.0161012 0.0530666 -0.397763 0.509164 -0.761723 + X= -0.0812099909 0.177289663 -0.0839110457 0.0530533018 -0.397663323 0.509036407 -0.761532117 V= 0 0 0 0 0 0 T= 1.11 - X= -0.0172501 0.141017 -0.017213 0.0560254 -0.399711 0.509036 -0.760576 + X= -0.0837226898 0.173172026 -0.0846477769 0.0560113645 -0.399610864 0.508908476 -0.76038546 V= 0 0 0 0 0 0 T= 1.12 - X= -0.0191047 0.137021 -0.0185123 0.0591983 -0.40167 0.50904 -0.759299 + X= -0.0860955963 0.168908436 -0.085560128 0.0591835083 -0.401569636 0.508912808 -0.759109277 V= 0 0 0 0 0 0 T= 1.13 - X= -0.0208564 0.13284 -0.0199343 0.0618726 -0.403315 0.508943 -0.758279 + X= -0.088285587 0.164493665 -0.08665274 0.0618570997 -0.403213962 0.5088155 -0.758089036 V= 0 0 0 0 0 0 T= 1.14 - X= -0.0227613 0.128856 -0.0214273 0.0641539 -0.404638 0.51005 -0.756639 + X= -0.0905046638 0.160409039 -0.0878745903 0.0641378287 -0.404536633 0.509922226 -0.756449453 V= 0 0 0 0 0 0 T= 1.15 - X= -0.0244516 0.124943 -0.0229219 0.065887 -0.405753 0.510885 -0.755328 + X= -0.0924450281 0.156432606 -0.0891434861 0.0658705191 -0.405651506 0.510757208 -0.755139063 V= 0 0 0 0 0 0 T= 1.16 - X= -0.0260263 0.120717 -0.0243039 0.0681963 -0.407022 0.512315 -0.753469 + X= -0.094315456 0.152129235 -0.0902573889 0.0681792629 -0.406920316 0.512187011 -0.753280765 V= 0 0 0 0 0 0 T= 1.17 - X= -0.0276858 0.116222 -0.0260727 0.0704531 -0.408502 0.51434 -0.751078 + X= -0.0962621637 0.147644876 -0.0917224159 0.0704354468 -0.408399643 0.514211124 -0.750889805 V= 0 0 0 0 0 0 T= 1.18 - X= -0.0289833 0.112243 -0.0275181 0.073118 -0.4089 0.516467 -0.749144 + X= -0.0977664876 0.143508845 -0.0930262676 0.0730997147 -0.408797742 0.516337842 -0.748956654 V= 0 0 0 0 0 0 T= 1.19 - X= -0.0303819 0.108387 -0.0288513 0.0764548 -0.408574 0.519264 -0.747053 + X= -0.099332664 0.139379859 -0.0943130053 0.0764356424 -0.408471622 0.519133886 -0.746865808 V= 0 0 0 0 0 0 T= 1.2 - X= -0.0315308 0.104516 -0.0302157 0.0791234 -0.409411 0.521622 -0.74467 + X= -0.100725866 0.135427912 -0.095457531 0.079103595 -0.409308522 0.521491435 -0.744483605 V= 0 0 0 0 0 0 T= 1.21 - X= -0.0328046 0.100745 -0.0316793 0.0810805 -0.410614 0.525086 -0.741356 + X= -0.102166863 0.131829027 -0.0966612957 0.0810601593 -0.410510989 0.524954271 -0.741170015 V= 0 0 0 0 0 0 T= 1.22 - X= -0.0337273 0.0969453 -0.0332761 0.0838248 -0.411422 0.527211 -0.739091 + X= -0.103346709 0.127920173 -0.0980348454 0.0838037845 -0.411318853 0.527078824 -0.738905704 V= 0 0 0 0 0 0 T= 1.23 - X= -0.0345285 0.0934068 -0.0347611 0.0853259 -0.412205 0.529783 -0.736639 + X= -0.104263695 0.124496202 -0.0993401345 0.0853045546 -0.412101881 0.529650468 -0.73645472 V= 0 0 0 0 0 0 T= 1.24 - X= -0.035158 0.0901987 -0.0361871 0.087819 -0.412753 0.532274 -0.734239 + X= -0.10508368 0.121226705 -0.100589446 0.0877970651 -0.412649905 0.532141052 -0.734055606 V= 0 0 0 0 0 0 T= 1.25 - X= -0.0356459 0.0870026 -0.0375232 0.0897369 -0.413663 0.535081 -0.731451 + X= -0.105728861 0.118127987 -0.101707223 0.0897143831 -0.413559203 0.534946737 -0.731267464 V= 0 0 0 0 0 0 T= 1.26 - X= -0.0361216 0.0842357 -0.0386375 0.0920737 -0.413036 0.537315 -0.729874 + X= -0.106273904 0.11516589 -0.10284013 0.0920507008 -0.412932827 0.537180784 -0.729691684 V= 0 0 0 0 0 0 T= 1.27 - X= -0.0366822 0.0814903 -0.0396618 0.0945295 -0.412762 0.540256 -0.727541 + X= -0.106921309 0.112319474 -0.10381809 0.0945058412 -0.412658694 0.540120785 -0.727358911 V= 0 0 0 0 0 0 T= 1.28 - X= -0.0374146 0.079092 -0.0405096 0.0964646 -0.41248 0.544183 -0.724514 + X= -0.10764781 0.109991454 -0.104638532 0.0964404523 -0.412376745 0.544046776 -0.724332634 V= 0 0 0 0 0 0 T= 1.29 - X= -0.0381424 0.0765379 -0.0413613 0.0986313 -0.41219 0.548387 -0.721211 + X= -0.108379934 0.107503477 -0.105453592 0.0986065362 -0.41208651 0.548249314 -0.721029922 V= 0 0 0 0 0 0 T= 1.3 - X= -0.0387349 0.0741445 -0.0421221 0.100361 -0.41307 0.55238 -0.717411 + X= -0.109055318 0.105363152 -0.106000379 0.100335851 -0.41296649 0.552241581 -0.717231226 V= 0 0 0 0 0 0 T= 1.31 - X= -0.0393706 0.0718279 -0.0430639 0.101725 -0.412435 0.554797 -0.715717 + X= -0.109660068 0.103014549 -0.106991856 0.10169952 -0.412331695 0.554658037 -0.71553773 V= 0 0 0 0 0 0 T= 1.32 - X= -0.0399434 0.0694314 -0.0440661 0.102888 -0.412378 0.557105 -0.713788 + X= -0.110242169 0.100675277 -0.107955875 0.102862244 -0.41227477 0.556965541 -0.713609318 V= 0 0 0 0 0 0 T= 1.33 - X= -0.0406694 0.0669646 -0.0451385 0.103688 -0.412236 0.558967 -0.712297 + X= -0.110952726 0.0982628583 -0.109018646 0.103662044 -0.412132806 0.558827075 -0.712118692 V= 0 0 0 0 0 0 T= 1.34 - X= -0.0413143 0.0647415 -0.0460656 0.103892 -0.411976 0.560939 -0.710866 + X= -0.111506509 0.0961737816 -0.109980117 0.103865995 -0.411872879 0.560798593 -0.710688065 V= 0 0 0 0 0 0 T= 1.35 - X= -0.0418266 0.0628365 -0.0468985 0.104994 -0.411405 0.562883 -0.709497 + X= -0.111989433 0.0942367566 -0.110860995 0.104967705 -0.411301966 0.562742029 -0.70931931 V= 0 0 0 0 0 0 T= 1.36 - X= -0.0425362 0.0612602 -0.0475391 0.106379 -0.41103 0.565972 -0.707046 + X= -0.11266603 0.0927277754 -0.111504705 0.106352388 -0.410927178 0.565830418 -0.706869127 V= 0 0 0 0 0 0 T= 1.37 - X= -0.0431813 0.0597649 -0.0480215 0.108226 -0.409991 0.567922 -0.705805 + X= -0.113313648 0.091040504 -0.112078431 0.108198868 -0.409888216 0.567779623 -0.705628057 V= 0 0 0 0 0 0 T= 1.38 - X= -0.0437564 0.0586654 -0.0483513 0.108271 -0.410263 0.570108 -0.703875 + X= -0.11382127 0.0901865862 -0.112361681 0.108243862 -0.410160168 0.569965103 -0.703698575 V= 0 0 0 0 0 0 T= 1.39 - X= -0.044379 0.0576501 -0.0484159 0.110153 -0.408784 0.571869 -0.703014 + X= -0.114418711 0.0889008064 -0.112586238 0.110125424 -0.408681663 0.571725835 -0.702838003 V= 0 0 0 0 0 0 T= 1.4 - X= -0.0447209 0.056868 -0.0483093 0.111645 -0.409188 0.573427 -0.701272 + X= -0.114880263 0.0881215487 -0.112347409 0.111617079 -0.409085666 0.573283592 -0.701096619 V= 0 0 0 0 0 0 T= 1.41 - X= -0.0451141 0.0561655 -0.048154 0.112787 -0.409132 0.574203 -0.700487 + X= -0.115349766 0.087333683 -0.112150059 0.112758756 -0.409029546 0.57405921 -0.700311586 V= 0 0 0 0 0 0 T= 1.42 - X= -0.0457243 0.0554648 -0.0480129 0.113425 -0.408157 0.57539 -0.699978 + X= -0.115882112 0.0865401458 -0.112139371 0.113396642 -0.408054954 0.575246143 -0.699802994 V= 0 0 0 0 0 0 T= 1.43 - X= -0.0461204 0.0545977 -0.0480769 0.113982 -0.408687 0.575461 -0.69952 + X= -0.116380616 0.0856722938 -0.11209152 0.113953484 -0.408584754 0.57531703 -0.699344992 V= 0 0 0 0 0 0 T= 1.44 - X= -0.0467327 0.0535759 -0.0479358 0.114281 -0.407911 0.57588 -0.699579 + X= -0.116933216 0.0845522491 -0.112063433 0.114252436 -0.407809044 0.57573606 -0.699404142 V= 0 0 0 0 0 0 T= 1.45 - X= -0.0471748 0.0526318 -0.0475153 0.115154 -0.408598 0.576223 -0.698753 + X= -0.11751222 0.0836121368 -0.111490811 0.115125138 -0.408495589 0.576078575 -0.698577864 V= 0 0 0 0 0 0 T= 1.46 - X= -0.0478871 0.0519246 -0.0472812 0.116151 -0.408113 0.575693 -0.699307 + X= -0.118304611 0.0826537539 -0.11128974 0.116121974 -0.408011013 0.575549135 -0.699132244 V= 0 0 0 0 0 0 T= 1.47 - X= -0.0484901 0.0508958 -0.0469305 0.117326 -0.408359 0.575304 -0.699288 + X= -0.119066484 0.0814576732 -0.110844082 0.117296629 -0.408256773 0.57515998 -0.699112942 V= 0 0 0 0 0 0 T= 1.48 - X= -0.0491483 0.049783 -0.0467504 0.118219 -0.409057 0.574814 -0.699133 + X= -0.119900658 0.0802638927 -0.110507902 0.118189371 -0.408954478 0.574669935 -0.698957777 V= 0 0 0 0 0 0 T= 1.49 - X= -0.0497413 0.0489079 -0.0461886 0.119453 -0.408854 0.574237 -0.699516 + X= -0.12062461 0.0791367058 -0.109920661 0.119423066 -0.408751543 0.574093099 -0.699340705 V= 0 0 0 0 0 0 T= 1.5 - X= -0.0501172 0.0483492 -0.0458326 0.120268 -0.408944 0.574413 -0.699179 + X= -0.121083347 0.0784968693 -0.109510885 0.120237875 -0.408841566 0.574269119 -0.699003867 V= 0 0 0 0 0 0 T= 1.51 - X= -0.0502779 0.0481093 -0.0456803 0.12121 -0.408496 0.574554 -0.699163 + X= -0.121291644 0.0780857432 -0.109386352 0.121179585 -0.408393497 0.574409828 -0.69898756 V= 0 0 0 0 0 0 T= 1.52 - X= -0.0501666 0.0481093 -0.0455628 0.122008 -0.408267 0.574223 -0.699429 + X= -0.12125371 0.077914445 -0.1092674 0.121977456 -0.408164793 0.574079247 -0.699253902 V= 0 0 0 0 0 0 T= 1.53 - X= -0.0499968 0.0481897 -0.0452778 0.122963 -0.40812 0.574027 -0.699508 + X= -0.121174649 0.077826533 -0.108959602 0.122932254 -0.408017953 0.573883469 -0.699333093 V= 0 0 0 0 0 0 T= 1.54 - X= -0.0498701 0.0493149 -0.044728 0.123105 -0.407823 0.575666 -0.698309 + X= -0.120965231 0.0790608911 -0.108451295 0.123074159 -0.407720829 0.57552178 -0.698134054 V= 0 0 0 0 0 0 T= 1.55 - X= -0.049726 0.0514076 -0.0439698 0.125423 -0.407189 0.577549 -0.69671 + X= -0.120916415 0.080950413 -0.107681236 0.125391563 -0.407086939 0.577404239 -0.696535372 V= 0 0 0 0 0 0 T= 1.56 - X= -0.0492935 0.0540641 -0.0432613 0.126704 -0.40677 0.580294 -0.694438 + X= -0.12045827 0.0836608956 -0.106976331 0.126672273 -0.406668143 0.580148691 -0.694264109 V= 0 0 0 0 0 0 T= 1.57 - X= -0.0487409 0.0567197 -0.0426674 0.127951 -0.406405 0.58287 -0.692262 + X= -0.119888791 0.0863659927 -0.10637827 0.127918986 -0.406303316 0.582724164 -0.692088793 V= 0 0 0 0 0 0 T= 1.58 - X= -0.0479876 0.0599411 -0.0418163 0.12946 -0.406592 0.586056 -0.689175 + X= -0.119168725 0.0897391953 -0.105419137 0.129427598 -0.406490235 0.585909318 -0.689002509 V= 0 0 0 0 0 0 T= 1.59 - X= -0.047231 0.0628364 -0.0411943 0.130596 -0.407348 0.588821 -0.686151 + X= -0.118475282 0.0928706468 -0.104615087 0.130563293 -0.407245983 0.588673534 -0.685979159 V= 0 0 0 0 0 0 T= 1.6 - X= -0.0465274 0.0654862 -0.0407481 0.131982 -0.406831 0.590025 -0.685157 + X= -0.11781489 0.0953936505 -0.104180254 0.131948995 -0.406729264 0.589877453 -0.684985663 V= 0 0 0 0 0 0 T= 1.61 - X= -0.0458443 0.0674838 -0.0405097 0.132056 -0.407561 0.592001 -0.683001 + X= -0.117117013 0.0976851181 -0.103819105 0.132022978 -0.407459086 0.591852965 -0.682830209 V= 0 0 0 0 0 0 T= 1.62 - X= -0.0453093 0.0686682 -0.0405811 0.133038 -0.407697 0.592461 -0.68233 + X= -0.116674346 0.0988068749 -0.1038163 0.133004738 -0.407595069 0.592312876 -0.682159407 V= 0 0 0 0 0 0 T= 1.63 - X= -0.044912 0.069209 -0.0407448 0.133055 -0.408303 0.59263 -0.681818 + X= -0.116324361 0.0994445124 -0.103880277 0.133021677 -0.408200743 0.59248158 -0.681647243 V= 0 0 0 0 0 0 T= 1.64 - X= -0.0446896 0.0695127 -0.0409634 0.133198 -0.407772 0.592591 -0.682142 + X= -0.11607187 0.0996539972 -0.104177906 0.133164612 -0.407669787 0.59244246 -0.681971013 V= 0 0 0 0 0 0 T= 1.65 - X= -0.0446896 0.0695127 -0.0409634 0.133055 -0.408303 0.59263 -0.681818 + X= -0.116101961 0.0997482124 -0.104098877 0.133021677 -0.408200743 0.59248158 -0.681647243 V= 0 0 0 0 0 0 T= 1.66 - X= -0.0445984 0.0691841 -0.0410531 0.133632 -0.408149 0.591845 -0.682478 + X= -0.116091094 0.0992410852 -0.104182906 0.133598615 -0.408047033 0.591697141 -0.682307498 V= 0 0 0 0 0 0 T= 1.67 - X= -0.0443595 0.0686035 -0.0412879 0.133117 -0.409602 0.590977 -0.682461 + X= -0.115964938 0.0988320027 -0.104207682 0.133083682 -0.409499481 0.590829085 -0.682290188 V= 0 0 0 0 0 0 T= 1.68 - X= -0.0443007 0.0676282 -0.0415718 0.133262 -0.409184 0.588954 -0.684429 + X= -0.115973368 0.0975696592 -0.104552255 0.133228685 -0.409081706 0.588806765 -0.684257896 V= 0 0 0 0 0 0 T= 1.69 - X= -0.0443564 0.066342 -0.041743 0.132369 -0.409893 0.58831 -0.684732 + X= -0.116028708 0.0964283173 -0.104654794 0.132335894 -0.409790485 0.588162863 -0.684560747 V= 0 0 0 0 0 0 T= 1.7 - X= -0.0445249 0.0647435 -0.0418035 0.132433 -0.409596 0.585966 -0.686904 + X= -0.11627985 0.0945366987 -0.104760569 0.132399862 -0.409493508 0.585819376 -0.686732118 V= 0 0 0 0 0 0 T= 1.71 - X= -0.0446557 0.0627361 -0.0421267 0.13123 -0.410485 0.584553 -0.687808 + X= -0.116428871 0.0926589385 -0.105001461 0.131197119 -0.41038215 0.584406536 -0.687635665 V= 0 0 0 0 0 0 T= 1.72 - X= -0.0449076 0.0600916 -0.0425565 0.130451 -0.410146 0.5817 -0.690571 + X= -0.116695333 0.0897759961 -0.105527588 0.130418373 -0.41004342 0.581554513 -0.690398284 V= 0 0 0 0 0 0 T= 1.73 - X= -0.0453095 0.0575312 -0.0430646 0.129324 -0.409672 0.578583 -0.693677 + X= -0.117074423 0.0869804531 -0.106171948 0.129291558 -0.409569229 0.578437856 -0.693502983 V= 0 0 0 0 0 0 T= 1.74 - X= -0.0459128 0.0548184 -0.0433771 0.128912 -0.409746 0.575823 -0.696002 + X= -0.117759711 0.0840473885 -0.106493561 0.12887972 -0.409643397 0.575678811 -0.695827717 V= 0 0 0 0 0 0 T= 1.75 - X= -0.04645 0.0520223 -0.0437545 0.127909 -0.409702 0.57317 -0.698398 + X= -0.118303801 0.081107257 -0.106929626 0.127877031 -0.409599601 0.573026745 -0.698223446 V= 0 0 0 0 0 0 T= 1.76 - X= -0.0469648 0.0495457 -0.0439299 0.12672 -0.409896 0.571723 -0.699686 + X= -0.118778312 0.0786676802 -0.107133774 0.126688308 -0.409793487 0.571580015 -0.699511012 V= 0 0 0 0 0 0 T= 1.77 - X= -0.0472498 0.0473861 -0.0441035 0.12666 -0.410042 0.569377 -0.701523 + X= -0.119167942 0.0762943075 -0.107286538 0.126628228 -0.409939142 0.569234173 -0.701347024 V= 0 0 0 0 0 0 T= 1.78 - X= -0.0474152 0.0458658 -0.0441682 0.126441 -0.409378 0.567883 -0.703159 + X= -0.119311458 0.0745655472 -0.107471064 0.126409316 -0.409275417 0.567740698 -0.7029828 V= 0 0 0 0 0 0 T= 1.79 - X= -0.0475738 0.0454648 -0.0440156 0.126402 -0.40944 0.567722 -0.70326 + X= -0.119478536 0.0741613344 -0.107310291 0.126370318 -0.409337376 0.567579704 -0.703083732 V= 0 0 0 0 0 0 T= 1.8 - X= -0.0473497 0.0454648 -0.043783 0.126605 -0.409406 0.568841 -0.702339 + X= -0.119225583 0.0742438036 -0.107073018 0.126573218 -0.409303226 0.568698203 -0.70216269 V= 0 0 0 0 0 0 T= 1.81 - X= -0.0470012 0.0464252 -0.0429967 0.128308 -0.408717 0.569652 -0.701773 + X= -0.118948627 0.0749675658 -0.106312583 0.128275853 -0.408614599 0.569509278 -0.701597176 V= 0 0 0 0 0 0 T= 1.82 - X= -0.0466201 0.0491534 -0.0415631 0.130121 -0.4085 0.572967 -0.69886 + X= -0.118591969 0.0777632208 -0.104820734 0.130088468 -0.408397871 0.572823753 -0.698685278 V= 0 0 0 0 0 0 T= 1.83 - X= -0.0458609 0.0533391 -0.039812 0.132236 -0.40841 0.578374 -0.694046 + X= -0.11781226 0.0822117944 -0.102973454 0.132202859 -0.408307646 0.57822905 -0.693872061 V= 0 0 0 0 0 0 T= 1.84 - X= -0.0444515 0.0577712 -0.0380114 0.134421 -0.408849 0.583065 -0.689427 + X= -0.116464973 0.0868990252 -0.100984644 0.134387347 -0.408746644 0.582919028 -0.6892544 V= 0 0 0 0 0 0 T= 1.85 - X= -0.0423766 0.0648762 -0.0354935 0.138092 -0.40793 0.589868 -0.683433 + X= -0.114390281 0.0941111917 -0.0984168261 0.138057407 -0.407827809 0.589720232 -0.683261793 V= 0 0 0 0 0 0 T= 1.86 - X= -0.0399731 0.0724129 -0.0326061 0.141587 -0.406012 0.596446 -0.67813 + X= -0.11189267 0.101628239 -0.0956460832 0.141551563 -0.405910383 0.596296721 -0.677960277 V= 0 0 0 0 0 0 T= 1.87 - X= -0.0368811 0.0814219 -0.0294875 0.143092 -0.405851 0.598373 -0.67621 + X= -0.10885765 0.11062529 -0.0924679597 0.1430562 -0.405749461 0.598223294 -0.67604082 V= 0 0 0 0 0 0 T= 1.88 - X= -0.0329886 0.0910774 -0.0262714 0.14164 -0.406636 0.601292 -0.67345 + X= -0.104755797 0.120886348 -0.0892070499 0.141604483 -0.406534034 0.601141223 -0.673281129 V= 0 0 0 0 0 0 T= 1.89 - X= -0.0289108 0.100036 -0.0237558 0.139679 -0.407383 0.601556 -0.673172 + X= -0.100527613 0.130228004 -0.0866801595 0.139644003 -0.407280929 0.601405278 -0.673003335 V= 0 0 0 0 0 0 T= 1.9 - X= -0.024787 0.108153 -0.0215678 0.136643 -0.40809 0.600761 -0.674076 + X= -0.0961859219 0.13874903 -0.0845445968 0.136608784 -0.407987814 0.600610569 -0.673907211 V= 0 0 0 0 0 0 T= 1.91 - X= -0.0202097 0.116752 -0.0192039 0.132999 -0.408292 0.600597 -0.674828 + X= -0.091255264 0.14782994 -0.0823441366 0.132965718 -0.408189827 0.600446704 -0.674659128 V= 0 0 0 0 0 0 T= 1.92 - X= -0.0160583 0.124024 -0.0173793 0.130105 -0.408742 0.599461 -0.676129 + X= -0.0868938324 0.155419688 -0.0805982697 0.130072405 -0.408639598 0.599310817 -0.675959609 V= 0 0 0 0 0 0 T= 1.93 - X= -0.0116564 0.131843 -0.015652 0.126539 -0.407539 0.596664 -0.679994 + X= -0.0821462286 0.163250916 -0.0792501671 0.126507382 -0.407437169 0.596514913 -0.679824091 V= 0 0 0 0 0 0 T= 1.94 - X= -0.00690158 0.139633 -0.013909 0.123657 -0.40559 0.593029 -0.684853 + X= -0.0770867372 0.170785335 -0.0779681579 0.123626015 -0.405488371 0.592880405 -0.684681396 V= 0 0 0 0 0 0 T= 1.95 - X= -0.00210748 0.146798 -0.0120231 0.119756 -0.403737 0.589413 -0.689745 + X= -0.0718847916 0.177855789 -0.0765718451 0.119726018 -0.403635919 0.589265433 -0.689572313 V= 0 0 0 0 0 0 T= 1.96 - X= 0.00300838 0.15302 -0.0100997 0.117394 -0.402687 0.584306 -0.69509 + X= -0.0666562087 0.183743191 -0.0749297133 0.117364558 -0.402586008 0.584159458 -0.694915674 V= 0 0 0 0 0 0 T= 1.97 - X= 0.00808323 0.158593 -0.00819199 0.116819 -0.399269 0.57617 -0.703894 + X= -0.061552011 0.18814192 -0.0735968411 0.116789745 -0.399169012 0.576025711 -0.703717725 V= 0 0 0 0 0 0 T= 1.98 - X= 0.0128271 0.163381 -0.00669886 0.11758 -0.394728 0.568784 -0.712285 + X= -0.0567453764 0.191519819 -0.0727887789 0.117550592 -0.394629274 0.568641741 -0.712106849 V= 0 0 0 0 0 0 T= 1.99 - X= 0.0172352 0.167273 -0.00533779 0.122105 -0.387564 0.558261 -0.723692 + X= -0.0524585727 0.192859274 -0.0723312273 0.122074428 -0.387466963 0.558121225 -0.723510805 V= 0 0 0 0 0 0 T= 2 - X= 0.0206981 0.170311 -0.00403302 0.127669 -0.380495 0.549519 -0.733113 + X= -0.0490873686 0.193398105 -0.071834008 0.127636991 -0.380399604 0.549381227 -0.732929197 V= 0 0 0 0 0 0 T= 2.01 - X= 0.0235529 0.172971 -0.00269136 0.136614 -0.372079 0.538145 -0.744173 + X= -0.0464939575 0.192674755 -0.0712858187 0.136579882 -0.371986078 0.538010605 -0.743987152 V= 0 0 0 0 0 0 T= 2.02 - X= 0.0258562 0.176419 -0.00081483 0.14759 -0.364292 0.529241 -0.752272 + X= -0.0445400251 0.192764904 -0.0699319981 0.147553067 -0.36420084 0.529108563 -0.752083752 V= 0 0 0 0 0 0 T= 2.03 - X= 0.0275439 0.180213 0.00144159 0.159516 -0.355238 0.519986 -0.760576 + X= -0.0430470732 0.192885604 -0.0682457088 0.159476082 -0.355149103 0.519855875 -0.760385668 V= 0 0 0 0 0 0 T= 2.04 - X= 0.0288037 0.185488 0.00467689 0.17267 -0.348769 0.507949 -0.768787 + X= -0.0423280324 0.19436564 -0.0650473106 0.172626816 -0.348681774 0.507821963 -0.768594728 V= 0 0 0 0 0 0 T= 2.05 - X= 0.0295957 0.190648 0.00752763 0.18381 -0.344916 0.493803 -0.777114 + X= -0.0421293811 0.196141096 -0.0619370275 0.183763997 -0.344829677 0.493679414 -0.776919509 V= 0 0 0 0 0 0 T= 2.06 - X= 0.0305218 0.1959 0.0102076 0.194288 -0.342888 0.480093 -0.784022 + X= -0.0418636311 0.198357184 -0.0587439163 0.194239466 -0.342802346 0.479973071 -0.783826149 V= 0 0 0 0 0 0 T= 2.07 - X= 0.0316943 0.200413 0.0122269 0.206789 -0.340837 0.465737 -0.790354 + X= -0.0414072418 0.199474249 -0.0560027368 0.206737121 -0.340751491 0.465620156 -0.790155716 V= 0 0 0 0 0 0 T= 2.08 - X= 0.0325277 0.203336 0.0129956 0.217197 -0.336564 0.453791 -0.79632 + X= -0.0407504757 0.199292309 -0.0549305181 0.217142539 -0.336479609 0.453677215 -0.796120327 V= 0 0 0 0 0 0 T= 2.09 - X= 0.033318 0.206006 0.013228 0.227508 -0.330647 0.443327 -0.801795 + X= -0.0398396303 0.198843584 -0.0545706794 0.227450987 -0.330564141 0.443215904 -0.801594074 V= 0 0 0 0 0 0 T= 2.1 - X= 0.0337222 0.208471 0.0128727 0.237908 -0.32393 0.434024 -0.806593 + X= -0.0391488577 0.198215821 -0.0548372715 0.23784855 -0.323849054 0.433915543 -0.806391443 V= 0 0 0 0 0 0 T= 2.11 - X= 0.0339991 0.211196 0.0121174 0.248454 -0.315272 0.42644 -0.810879 + X= -0.0382842727 0.197798413 -0.0556735928 0.248391705 -0.315192952 0.426333078 -0.810675688 V= 0 0 0 0 0 0 T= 2.12 - X= 0.0337716 0.214439 0.0106754 0.260419 -0.304097 0.418264 -0.815637 + X= -0.0375839446 0.197404634 -0.057282062 0.260353721 -0.304020772 0.418159153 -0.815432544 V= 0 0 0 0 0 0 T= 2.13 - X= 0.0330427 0.218151 0.00915525 0.27371 -0.291301 0.410741 -0.819768 + X= -0.0371667439 0.197215605 -0.0589060697 0.273641437 -0.29122803 0.410638111 -0.819562652 V= 0 0 0 0 0 0 T= 2.14 - X= 0.0324778 0.222444 0.00797836 0.287446 -0.277556 0.405068 -0.822653 + X= -0.0364411911 0.19764856 -0.0601051095 0.287374082 -0.277486557 0.404966654 -0.822447176 V= 0 0 0 0 0 0 T= 2.15 - X= 0.03214 0.225231 0.00762891 0.297598 -0.268207 0.400024 -0.82461 + X= -0.0358684706 0.197622206 -0.0602872325 0.297523566 -0.268139917 0.399923948 -0.824403753 V= 0 0 0 0 0 0 T= 2.16 - X= 0.0319881 0.22734 0.00757505 0.307032 -0.256283 0.39461 -0.827547 + X= -0.0346273698 0.196764994 -0.0604510348 0.306955161 -0.256218862 0.394511244 -0.827339895 V= 0 0 0 0 0 0 T= 2.17 - X= 0.031927 0.227871 0.00767226 0.315562 -0.244386 0.386039 -0.831968 + X= -0.0330685672 0.194248845 -0.0604829079 0.31548302 -0.244324834 0.385942381 -0.831759772 V= 0 0 0 0 0 0 T= 2.18 - X= 0.0318756 0.227821 0.00775423 0.325081 -0.229805 0.37477 -0.837592 + X= -0.0309556146 0.190607396 -0.0605640407 0.324999613 -0.229747466 0.374676173 -0.837382301 V= 0 0 0 0 0 0 T= 2.19 - X= 0.0315061 0.227722 0.00775053 0.333548 -0.215651 0.365438 -0.842138 + X= -0.0291633098 0.187324962 -0.0607133442 0.333464483 -0.215597003 0.365346499 -0.841927138 V= 0 0 0 0 0 0 T= 2.2 - X= 0.0304219 0.228047 0.00740262 0.342551 -0.199884 0.35555 -0.846635 + X= -0.0277534889 0.184279564 -0.0611541863 0.34246515 -0.199833905 0.355460892 -0.846422817 V= 0 0 0 0 0 0 T= 2.21 - X= 0.0291694 0.228691 0.00702248 0.352088 -0.183451 0.34554 -0.850578 + X= -0.0263427598 0.181496917 -0.0614692616 0.351999825 -0.183405058 0.345453465 -0.850364987 V= 0 0 0 0 0 0 T= 2.22 - X= 0.0281035 0.229023 0.00693169 0.360308 -0.169617 0.337131 -0.853377 + X= -0.0251134657 0.178989005 -0.0613658493 0.360217705 -0.169574493 0.337046514 -0.85316314 V= 0 0 0 0 0 0 T= 2.23 - X= 0.027166 0.228878 0.00692912 0.36812 -0.156788 0.32832 -0.855928 + X= -0.0238205059 0.176182915 -0.0610679696 0.368027715 -0.156748694 0.328237692 -0.855713425 V= 0 0 0 0 0 0 T= 2.24 - X= 0.0261875 0.228575 0.00698595 0.376028 -0.143529 0.318916 -0.858368 + X= -0.0224125767 0.173203381 -0.0606307371 0.375933903 -0.143493083 0.318836194 -0.858153201 V= 0 0 0 0 0 0 T= 2.25 - X= 0.0249751 0.227476 0.00681654 0.383311 -0.131311 0.308506 -0.860904 + X= -0.0212616916 0.169608275 -0.0603659394 0.383214911 -0.131278083 0.308428663 -0.860688188 V= 0 0 0 0 0 0 T= 2.26 - X= 0.0236861 0.226536 0.00675847 0.390609 -0.120187 0.298994 -0.862603 + X= -0.0203844747 0.166365124 -0.0598542176 0.390511062 -0.120156865 0.298919033 -0.862386717 V= 0 0 0 0 0 0 T= 2.27 - X= 0.02252 0.226177 0.00679608 0.397541 -0.111351 0.292308 -0.862913 + X= -0.0199168798 0.164109176 -0.0591334009 0.397441512 -0.111323134 0.292234848 -0.862697049 V= 0 0 0 0 0 0 T= 2.28 - X= 0.0210646 0.226137 0.00697573 0.405705 -0.102195 0.285806 -0.862424 + X= -0.0197326461 0.162032733 -0.0580337129 0.405603492 -0.102169431 0.285734491 -0.86220822 V= 0 0 0 0 0 0 T= 2.29 - X= 0.0200487 0.226623 0.00706239 0.413 -0.0940497 0.281094 -0.861436 + X= -0.0193535163 0.160788676 -0.0570726791 0.412896755 -0.0940261886 0.28102373 -0.861220651 V= 0 0 0 0 0 0 T= 2.3 - X= 0.0188712 0.226842 0.00709797 0.418466 -0.0869362 0.276745 -0.860954 + X= -0.0192409836 0.159631528 -0.0563859956 0.418361155 -0.0869144184 0.276675663 -0.860738291 V= 0 0 0 0 0 0 T= 2.31 - X= 0.0177035 0.226846 0.00682624 0.423312 -0.0808136 0.272892 -0.860411 + X= -0.0192882402 0.158446486 -0.0560475835 0.423205996 -0.080793363 0.272823664 -0.860195539 V= 0 0 0 0 0 0 T= 2.32 - X= 0.0164933 0.226582 0.00632693 0.425495 -0.075561 0.270199 -0.860661 + X= -0.0194888434 0.157458495 -0.056340656 0.425388599 -0.0755421049 0.270131433 -0.860445779 V= 0 0 0 0 0 0 T= 2.33 - X= 0.0152429 0.226159 0.00588347 0.428191 -0.0713628 0.267827 -0.860424 + X= -0.0199561427 0.156331394 -0.0564473637 0.428083791 -0.0713449324 0.267759942 -0.860208569 V= 0 0 0 0 0 0 T= 2.34 - X= 0.013819 0.225683 0.00568808 0.430367 -0.068289 0.265757 -0.86023 + X= -0.0207871002 0.155305035 -0.0563551299 0.430259109 -0.0682718803 0.265690376 -0.860014345 V= 0 0 0 0 0 0 T= 2.35 - X= 0.0127134 0.225258 0.00559112 0.432087 -0.0661453 0.264797 -0.859831 + X= -0.0215272636 0.154492122 -0.0562131475 0.431978765 -0.066128731 0.26473067 -0.859615618 V= 0 0 0 0 0 0 T= 2.36 - X= 0.0116857 0.224779 0.00565985 0.4322 -0.0652965 0.265717 -0.859555 + X= -0.0224909486 0.153984597 -0.0561471822 0.432091819 -0.0652801561 0.26565049 -0.85933985 V= 0 0 0 0 0 0 T= 2.37 - X= 0.0110801 0.224085 0.00596537 0.434087 -0.0661651 0.263342 -0.859269 + X= -0.0231361299 0.15300596 -0.0554920929 0.433978179 -0.0661485131 0.263275983 -0.85905359 V= 0 0 0 0 0 0 T= 2.38 - X= 0.0105829 0.223497 0.00611385 0.434093 -0.0676891 0.261976 -0.859565 + X= -0.0237808765 0.152453015 -0.0553018085 0.433984092 -0.0676721178 0.261910274 -0.859349347 V= 0 0 0 0 0 0 T= 2.39 - X= 0.0104464 0.223122 0.00630965 0.434337 -0.0695748 0.26054 -0.859727 + X= -0.0241317794 0.152100728 -0.0550118671 0.434228264 -0.0695573819 0.260474774 -0.859511767 V= 0 0 0 0 0 0 T= 2.4 - X= 0.0101516 0.22296 0.00644945 0.434172 -0.0721591 0.260131 -0.859721 + X= -0.0248265481 0.152096281 -0.0548274824 0.434063368 -0.0721410455 0.260065914 -0.859505894 V= 0 0 0 0 0 0 T= 2.41 - X= 0.00998954 0.222797 0.00668163 0.433147 -0.0740008 0.260105 -0.86009 + X= -0.0252549818 0.152172958 -0.054719253 0.433038351 -0.0739822379 0.260039756 -0.859874258 V= 0 0 0 0 0 0 T= 2.42 - X= 0.00964074 0.22258 0.00689814 0.432801 -0.0758342 0.259296 -0.860349 + X= -0.0258349281 0.152076137 -0.0545077415 0.432692332 -0.0758151596 0.259230896 -0.860132984 V= 0 0 0 0 0 0 T= 2.43 - X= 0.00910271 0.221828 0.00710149 0.431068 -0.0775645 0.258439 -0.861321 + X= -0.0265220046 0.151614693 -0.0545505269 0.430960176 -0.0775450985 0.258374356 -0.861105555 V= 0 0 0 0 0 0 T= 2.44 - X= 0.0088706 0.220756 0.00743318 0.429292 -0.0798287 0.258549 -0.861968 + X= -0.0270719654 0.150911701 -0.0544530536 0.429184575 -0.0798087239 0.258484302 -0.861752304 V= 0 0 0 0 0 0 T= 2.45 - X= 0.00833383 0.220001 0.0076328 0.42844 -0.080904 0.258462 -0.862318 + X= -0.0277481716 0.150327739 -0.0543649897 0.428332667 -0.0808837319 0.25839725 -0.862101972 V= 0 0 0 0 0 0 T= 2.46 - X= 0.00773022 0.219296 0.00792625 0.427669 -0.0822604 0.257933 -0.862731 + X= -0.0285073066 0.149781753 -0.0541592645 0.427561747 -0.0822397704 0.257868314 -0.86251464 V= 0 0 0 0 0 0 T= 2.47 - X= 0.00716722 0.218751 0.00816028 0.427398 -0.0829213 0.257715 -0.862867 + X= -0.0291539517 0.149302313 -0.0539497223 0.427290876 -0.0829005164 0.257650406 -0.862650729 V= 0 0 0 0 0 0 T= 2.48 - X= 0.00649779 0.217992 0.00826035 0.427017 -0.083507 0.255897 -0.86354 + X= -0.0297608255 0.148551414 -0.0538952432 0.426909956 -0.0834860667 0.255832852 -0.86332353 V= 0 0 0 0 0 0 T= 2.49 - X= 0.00593571 0.216964 0.00848984 0.425683 -0.0840804 0.254626 -0.864518 + X= -0.0302619398 0.147678421 -0.0538739211 0.425576342 -0.0840593331 0.254562202 -0.864301389 V= 0 0 0 0 0 0 T= 2.5 - X= 0.00521502 0.215666 0.00865853 0.424873 -0.0840859 0.253445 -0.865262 + X= -0.0308545922 0.146437566 -0.053842726 0.424766779 -0.0840648779 0.253381637 -0.865045679 V= 0 0 0 0 0 0 T= 2.51 - X= 0.00460148 0.214578 0.00895721 0.424968 -0.0836932 0.251155 -0.865921 + X= -0.0312215029 0.145218955 -0.053541084 0.42486172 -0.0836722693 0.251092189 -0.865704443 V= 0 0 0 0 0 0 T= 2.52 - X= 0.00416239 0.213651 0.00929222 0.424247 -0.0834732 0.250662 -0.866439 + X= -0.0315531144 0.144353619 -0.053335855 0.424140709 -0.0834522865 0.250599199 -0.866221921 V= 0 0 0 0 0 0 T= 2.53 - X= 0.00338824 0.212771 0.00953004 0.423821 -0.0827445 0.249557 -0.867036 + X= -0.0320959735 0.143442016 -0.053194457 0.42371487 -0.0827237797 0.249494508 -0.866818883 V= 0 0 0 0 0 0 T= 2.54 - X= 0.00258768 0.211716 0.0100858 0.423974 -0.0822504 0.248956 -0.867181 + X= -0.0327699748 0.142313681 -0.0526290658 0.423867822 -0.0822298016 0.248893653 -0.866963828 V= 0 0 0 0 0 0 T= 2.55 - X= 0.00208305 0.21083 0.0105089 0.424445 -0.0817717 0.247367 -0.867451 + X= -0.0330846274 0.141273382 -0.0521418095 0.424338539 -0.0817511896 0.247304954 -0.867233422 V= 0 0 0 0 0 0 T= 2.56 - X= 0.00151666 0.209509 0.0110176 0.42409 -0.0806627 0.245948 -0.868131 + X= -0.0333318686 0.139878491 -0.051729291 0.423983879 -0.0806425156 0.245886456 -0.867913766 V= 0 0 0 0 0 0 T= 2.57 - X= 0.00110401 0.207985 0.0113102 0.424121 -0.0794141 0.243874 -0.868816 + X= -0.0333643867 0.138196748 -0.0514714018 0.424014799 -0.0793942146 0.243812934 -0.868598447 V= 0 0 0 0 0 0 T= 2.58 - X= 0.000717209 0.206729 0.011566 0.424419 -0.0781771 0.242036 -0.869296 + X= -0.033402471 0.136759179 -0.0512039897 0.424312912 -0.0781575589 0.241975501 -0.869078711 V= 0 0 0 0 0 0 T= 2.59 - X= 0.000197542 0.205472 0.0117217 0.425771 -0.0762054 0.239643 -0.869473 + X= -0.0334439436 0.135120335 -0.0508793682 0.425664539 -0.0761863454 0.239583079 -0.869255595 V= 0 0 0 0 0 0 T= 2.6 - X= -0.000335903 0.20432 0.0118953 0.427732 -0.0745534 0.237418 -0.869265 + X= -0.0335908025 0.133533095 -0.0504210358 0.427624718 -0.0745347008 0.237358452 -0.869046975 V= 0 0 0 0 0 0 T= 2.61 - X= -0.000732824 0.203166 0.0121627 0.427678 -0.0729773 0.235668 -0.869901 + X= -0.0335709708 0.132233738 -0.0502093318 0.42757084 -0.0729590146 0.23560895 -0.869683035 V= 0 0 0 0 0 0 T= 2.62 - X= -0.00114408 0.202116 0.0124495 0.428548 -0.0712902 0.233738 -0.870133 + X= -0.0335678312 0.13090554 -0.0498222495 0.428440781 -0.0712723638 0.233679521 -0.8699153 V= 0 0 0 0 0 0 T= 2.63 - X= -0.00167313 0.20096 0.0126138 0.429976 -0.0695574 0.230935 -0.870317 + X= -0.0336238458 0.129365378 -0.0494616532 0.429868493 -0.0695400086 0.230877259 -0.870099395 V= 0 0 0 0 0 0 T= 2.64 - X= -0.00214769 0.199862 0.0127014 0.430699 -0.0673856 0.229547 -0.870498 + X= -0.0336368513 0.128007111 -0.0493091447 0.430591142 -0.0673687249 0.229489515 -0.870280004 V= 0 0 0 0 0 0 T= 2.65 - X= -0.00265718 0.198599 0.0128364 0.430758 -0.0651491 0.227443 -0.871191 + X= -0.033587726 0.126544138 -0.0492232338 0.430650149 -0.0651327883 0.227386054 -0.870972876 V= 0 0 0 0 0 0 T= 2.66 - X= -0.00321762 0.197273 0.0130405 0.431294 -0.0632214 0.225392 -0.871601 + X= -0.0336651667 0.124975907 -0.0489762497 0.431185933 -0.063205559 0.225335525 -0.871382608 V= 0 0 0 0 0 0 T= 2.67 - X= -0.00372319 0.196007 0.0131676 0.432788 -0.0619143 0.223451 -0.871454 + X= -0.0338405686 0.123379401 -0.0486237856 0.432679572 -0.0618987883 0.223395018 -0.871235671 V= 0 0 0 0 0 0 T= 2.68 - X= -0.00438513 0.194555 0.0135087 0.434894 -0.0596996 0.220847 -0.871224 + X= -0.0339816396 0.121450539 -0.0479712506 0.434784994 -0.0596846363 0.220791645 -0.871005627 V= 0 0 0 0 0 0 T= 2.69 - X= -0.0049041 0.193391 0.0136516 0.436389 -0.0595864 0.219769 -0.870757 + X= -0.0344472772 0.120049116 -0.0475706893 0.436279493 -0.0595714475 0.219713852 -0.870538494 V= 0 0 0 0 0 0 T= 2.7 - X= -0.00535139 0.192559 0.0136951 0.438286 -0.0582868 0.218203 -0.870285 + X= -0.0346090361 0.118852815 -0.0472260652 0.43817636 -0.0582722192 0.218148415 -0.870067293 V= 0 0 0 0 0 0 T= 2.71 - X= -0.00585058 0.191664 0.0138088 0.439535 -0.0581589 0.216756 -0.870026 + X= -0.0350102661 0.117740983 -0.0468962265 0.439424745 -0.0581443112 0.216701628 -0.869807759 V= 0 0 0 0 0 0 T= 2.72 - X= -0.00625921 0.190246 0.0137977 0.43939 -0.0575179 0.216131 -0.870297 + X= -0.0352493667 0.116289399 -0.0469476046 0.439279895 -0.0575034869 0.216076841 -0.870078917 V= 0 0 0 0 0 0 T= 2.73 - X= -0.0066306 0.188995 0.0137352 0.439345 -0.0571701 0.215065 -0.870607 + X= -0.0354682092 0.114991837 -0.0470260062 0.439234776 -0.0571557571 0.215011044 -0.870388581 V= 0 0 0 0 0 0 T= 2.74 - X= -0.00689485 0.187201 0.0138108 0.4388 -0.0569253 0.213452 -0.871294 + X= -0.0355327866 0.113203469 -0.0470516189 0.438690139 -0.0569110478 0.213398559 -0.871075857 V= 0 0 0 0 0 0 T= 2.75 - X= -0.00732781 0.185617 0.0138311 0.438967 -0.056839 0.212215 -0.871518 + X= -0.0358518231 0.111553035 -0.0470040025 0.438856964 -0.0568247521 0.212161804 -0.871299536 V= 0 0 0 0 0 0 T= 2.76 - X= -0.00791211 0.184135 0.0137718 0.439713 -0.0568922 0.21124 -0.871375 + X= -0.0363897264 0.109944766 -0.0469310379 0.439602899 -0.0568779546 0.211187107 -0.871156814 V= 0 0 0 0 0 0 T= 2.77 - X= -0.00849538 0.182359 0.013994 0.440369 -0.0570978 0.210061 -0.871315 + X= -0.0369320528 0.108054968 -0.0465887241 0.440258846 -0.0570835176 0.210008455 -0.871097049 V= 0 0 0 0 0 0 T= 2.78 - X= -0.00895022 0.180605 0.0140411 0.440104 -0.0574313 0.209032 -0.871675 + X= -0.0373474265 0.106317725 -0.0465806738 0.439993671 -0.0574169026 0.208979598 -0.87145648 V= 0 0 0 0 0 0 T= 2.79 - X= -0.0093491 0.178619 0.0142959 0.440719 -0.0585315 0.207904 -0.871561 + X= -0.0378629942 0.1042674 -0.0461920934 0.44060846 -0.0585168193 0.207851854 -0.871342397 V= 0 0 0 0 0 0 T= 2.8 - X= -0.00971083 0.176799 0.0144999 0.440987 -0.059339 0.206832 -0.871625 + X= -0.0382828522 0.102415793 -0.0459217695 0.440876736 -0.0593241629 0.206780284 -0.871407059 V= 0 0 0 0 0 0 T= 2.81 - X= -0.010152 0.175044 0.0145261 0.441702 -0.0602661 0.205901 -0.87142 + X= -0.0388304344 0.100581462 -0.0457472591 0.441591462 -0.0602510181 0.205849472 -0.871201923 V= 0 0 0 0 0 0 T= 2.82 - X= -0.0105564 0.173157 0.0147865 0.443548 -0.0607293 0.204312 -0.870824 + X= -0.0392433784 0.0984255149 -0.0451489853 0.443436998 -0.0607141019 0.204260869 -0.870606067 V= 0 0 0 0 0 0 T= 2.83 - X= -0.0109073 0.17198 0.0149741 0.44416 -0.0623732 0.203561 -0.870572 + X= -0.0398356039 0.0972221677 -0.0448123511 0.444048733 -0.0623575749 0.203510006 -0.870353912 V= 0 0 0 0 0 0 T= 2.84 - X= -0.0113926 0.170801 0.0150573 0.444927 -0.0620224 0.203345 -0.870256 + X= -0.0402679282 0.0959208637 -0.0446015687 0.444815475 -0.0620068535 0.20329403 -0.870037862 V= 0 0 0 0 0 0 T= 2.85 - X= -0.0131482 0.166427 0.0134348 0.441575 -0.05998 0.200765 -0.872702 + X= -0.0413335607 0.0918001213 -0.04686789 0.441464328 -0.0599649673 0.200714682 -0.872483275 V= 0 0 0 0 0 0 T= 2.86 - X= -0.0138513 0.164726 0.011834 0.439755 -0.0585769 0.199585 -0.873986 + X= -0.0416301497 0.0902336229 -0.0488225847 0.439644792 -0.0585622199 0.199534981 -0.873766968 V= 0 0 0 0 0 0 T= 2.87 - X= -0.0144326 0.163161 0.0100844 0.439217 -0.0572854 0.198212 -0.874654 + X= -0.0418514653 0.0886366718 -0.0506966031 0.43910706 -0.0572710609 0.198162386 -0.874435066 V= 0 0 0 0 0 0 T= 2.88 - X= -0.0155836 0.161236 0.00825734 0.437751 -0.0543345 0.196587 -0.875943 + X= -0.0423002374 0.0867206211 -0.0528465026 0.437641436 -0.0543209007 0.196537797 -0.875723762 V= 0 0 0 0 0 0 T= 2.89 - X= -0.0167136 0.159316 0.00641514 0.434906 -0.0525169 0.195764 -0.877654 + X= -0.0429465694 0.0850700081 -0.0552238412 0.434797023 -0.0525037405 0.195714946 -0.877434081 V= 0 0 0 0 0 0 T= 2.9 - X= -0.0175886 0.156969 0.00480467 0.432532 -0.0507968 0.19416 -0.879283 + X= -0.0433047527 0.0829150315 -0.0572814736 0.432423703 -0.0507840816 0.194111386 -0.879062846 V= 0 0 0 0 0 0 T= 2.91 - X= -0.0185781 0.154064 0.00334774 0.429464 -0.0494812 0.192464 -0.881233 + X= -0.0438176023 0.080314101 -0.0592934599 0.429356308 -0.0494687921 0.192415738 -0.881012022 V= 0 0 0 0 0 0 T= 2.92 - X= -0.0193623 0.151202 0.0021781 0.427408 -0.04835 0.19047 -0.882727 + X= -0.0441675206 0.0776237985 -0.0608373688 0.427300953 -0.0483378905 0.190422296 -0.882505917 V= 0 0 0 0 0 0 T= 2.93 - X= -0.020733 0.14808 0.000939053 0.425443 -0.0474491 0.189057 -0.884028 + X= -0.0451966004 0.0746901963 -0.0624286751 0.42533642 -0.0474372133 0.189009638 -0.883806538 V= 0 0 0 0 0 0 T= 2.94 - X= -0.0220873 0.144928 -5.30559e-05 0.424752 -0.0460478 0.187177 -0.884834 + X= -0.0461249477 0.0715215993 -0.063564408 0.424645619 -0.0460362671 0.187130121 -0.884612389 V= 0 0 0 0 0 0 T= 2.95 - X= -0.0232074 0.142371 -0.000538171 0.423902 -0.0460238 0.186231 -0.885442 + X= -0.0471344415 0.0690537884 -0.0641941462 0.423795934 -0.0460122842 0.186184402 -0.88522045 V= 0 0 0 0 0 0 T= 2.96 - X= -0.0248965 0.139707 -0.00112864 0.424664 -0.0450637 0.185252 -0.885332 + X= -0.0485978566 0.0662197419 -0.0646728655 0.424557597 -0.0450524089 0.185205584 -0.885110173 V= 0 0 0 0 0 0 T= 2.97 - X= -0.0266106 0.137401 -0.00169701 0.426007 -0.045236 0.184396 -0.884856 + X= -0.0503150076 0.0637151615 -0.0650097122 0.425900477 -0.0452246888 0.184349892 -0.884634743 V= 0 0 0 0 0 0 T= 2.98 - X= -0.0280039 0.13516 -0.00213156 0.426496 -0.0446308 0.184374 -0.884656 + X= -0.051615612 0.0613822474 -0.0653718184 0.426389255 -0.0446196296 0.184327854 -0.884434585 V= 0 0 0 0 0 0 T= 2.99 - X= -0.0290547 0.133153 -0.00245437 0.426875 -0.0451867 0.183981 -0.884527 + X= -0.0527439778 0.0593361977 -0.065620008 0.426768081 -0.0451753821 0.183934919 -0.884305454 V= 0 0 0 0 0 0 T= 3 - X= -0.0301609 0.131647 -0.00297638 0.427911 -0.0451337 0.18379 -0.884069 + X= -0.0538584261 0.0576825577 -0.0659659707 0.427803713 -0.0451223839 0.18374392 -0.883847343 V= 0 0 0 0 0 0 T= 3.01 - X= -0.0314754 0.130474 -0.00377779 0.428142 -0.0441826 0.183901 -0.883982 + X= -0.0550220661 0.0564422023 -0.0667448245 0.428034699 -0.044171527 0.183854911 -0.883760456 V= 0 0 0 0 0 0 T= 3.02 - X= -0.0324953 0.129513 -0.0046653 0.427327 -0.0441343 0.184347 -0.884285 + X= -0.056044276 0.0556013881 -0.0677725053 0.427220213 -0.044123271 0.184300932 -0.884064021 V= 0 0 0 0 0 0 T= 3.03 - X= -0.0331687 0.128526 -0.00543682 0.427251 -0.0442068 0.184305 -0.884327 + X= -0.056724469 0.0546265549 -0.0685557376 0.427144177 -0.0441957473 0.184258919 -0.884105898 V= 0 0 0 0 0 0 T= 3.04 - X= -0.0340821 0.127275 -0.00644599 0.425257 -0.0442897 0.184538 -0.885236 + X= -0.0576068698 0.0536560327 -0.069903321 0.42515027 -0.0442785843 0.184491685 -0.885013826 V= 0 0 0 0 0 0 T= 3.05 - X= -0.0349306 0.12591 -0.00701479 0.424761 -0.0448444 0.184591 -0.885434 + X= -0.0585415542 0.0523827817 -0.0705464436 0.424654821 -0.0448331901 0.184544857 -0.885212666 V= 0 0 0 0 0 0 T= 3.06 - X= -0.0356059 0.12488 -0.00752582 0.424659 -0.0443212 0.184269 -0.885577 + X= -0.0590943896 0.051336625 -0.0710841621 0.424552594 -0.0443100946 0.184222828 -0.885355104 V= 0 0 0 0 0 0 T= 3.07 - X= -0.036426 0.123682 -0.00812841 0.4238 -0.0446103 0.184374 -0.885952 + X= -0.0599462679 0.0502705009 -0.0718273017 0.423693828 -0.044599124 0.18432781 -0.885730047 V= 0 0 0 0 0 0 T= 3.08 - X= -0.0370998 0.122532 -0.00889668 0.423516 -0.0459733 0.184692 -0.885952 + X= -0.0608779079 0.0492239693 -0.0726190012 0.423409859 -0.0459617782 0.184645713 -0.885729963 V= 0 0 0 0 0 0 T= 3.09 - X= -0.0378065 0.121358 -0.00988096 0.422866 -0.0463185 0.184667 -0.88625 + X= -0.0616223772 0.0481524519 -0.0737069087 0.422759896 -0.046306878 0.184620664 -0.886027626 V= 0 0 0 0 0 0 T= 3.1 - X= -0.0383121 0.119996 -0.0108344 0.422001 -0.0467872 0.184288 -0.886716 + X= -0.0621514871 0.046918084 -0.0747976849 0.421895283 -0.0467754791 0.184241833 -0.886493865 V= 0 0 0 0 0 0 T= 3.11 - X= -0.0386155 0.118446 -0.011758 0.420924 -0.0473788 0.183553 -0.887348 + X= -0.0624642463 0.0455205487 -0.0758915782 0.420818821 -0.0473669611 0.183507134 -0.887126272 V= 0 0 0 0 0 0 T= 3.12 - X= -0.0391616 0.117017 -0.0126612 0.420661 -0.0468089 0.182708 -0.887678 + X= -0.0628316089 0.0440817238 -0.0768497985 0.420555623 -0.0467971742 0.182662231 -0.887455634 V= 0 0 0 0 0 0 T= 3.13 - X= -0.0397195 0.11597 -0.0132989 0.420361 -0.047576 0.182723 -0.887776 + X= -0.0635168738 0.0431078514 -0.077523446 0.420255788 -0.0475640922 0.182677266 -0.887553799 V= 0 0 0 0 0 0 T= 3.14 - X= -0.040274 0.114924 -0.0139397 0.420858 -0.0481167 0.182571 -0.887543 + X= -0.0641704391 0.0420115882 -0.0780703511 0.420752526 -0.0481046412 0.182525245 -0.887320568 V= 0 0 0 0 0 0 T= 3.15 - X= -0.040646 0.113951 -0.0145301 0.421364 -0.0491077 0.18176 -0.887415 + X= -0.064667165 0.0409877903 -0.0785562951 0.421258432 -0.0490953966 0.181714462 -0.887192668 V= 0 0 0 0 0 0 T= 3.16 - X= -0.0408319 0.112935 -0.0153225 0.421151 -0.0494731 0.181194 -0.887611 + X= -0.0648644568 0.0400006832 -0.0793773332 0.421045687 -0.0494607288 0.181148691 -0.887389045 V= 0 0 0 0 0 0 T= 3.17 - X= -0.0409952 0.112088 -0.0161371 0.421101 -0.0495984 0.181319 -0.887603 + X= -0.0650585872 0.039169109 -0.0801979206 0.420995403 -0.0495859625 0.181273532 -0.88738042 V= 0 0 0 0 0 0 T= 3.18 - X= -0.0413148 0.111337 -0.0170272 0.420611 -0.0495473 0.181032 -0.887896 + X= -0.0653301617 0.0384756273 -0.081171434 0.420505794 -0.0495349069 0.180986719 -0.887673914 V= 0 0 0 0 0 0 T= 3.19 - X= -0.0416677 0.110681 -0.0178788 0.420717 -0.0500878 0.180359 -0.887953 + X= -0.0657267768 0.0378089166 -0.0819944789 0.420611549 -0.0500752457 0.180313794 -0.887730438 V= 0 0 0 0 0 0 T= 3.2 - X= -0.0419793 0.109932 -0.0187724 0.419676 -0.0508181 0.181032 -0.888267 + X= -0.0661901291 0.037251505 -0.0830482228 0.419570853 -0.0508053679 0.180986644 -0.888044452 V= 0 0 0 0 0 0 T= 3.21 - X= -0.042096 0.108719 -0.0198716 0.419069 -0.0509002 0.180126 -0.888733 + X= -0.0662282826 0.0361010091 -0.0842475298 0.418963983 -0.0508874447 0.180080861 -0.888510288 V= 0 0 0 0 0 0 T= 3.22 - X= -0.042205 0.107509 -0.0209746 0.417673 -0.0512154 0.179352 -0.889528 + X= -0.0662865403 0.0350760368 -0.0855775818 0.417568422 -0.0512025765 0.179307093 -0.889305277 V= 0 0 0 0 0 0 T= 3.23 - X= -0.042483 0.106231 -0.0221366 0.416747 -0.0516386 0.178707 -0.890067 + X= -0.0665584447 0.0339262425 -0.0868853065 0.416642839 -0.0516256936 0.178662334 -0.889844538 V= 0 0 0 0 0 0 T= 3.24 - X= -0.042792 0.105049 -0.0232612 0.416246 -0.0515615 0.177989 -0.89045 + X= -0.0667800208 0.0327913985 -0.0880949404 0.416141851 -0.0515485988 0.177944465 -0.890227201 V= 0 0 0 0 0 0 T= 3.25 - X= -0.0432852 0.103909 -0.0241885 0.416467 -0.0521029 0.177015 -0.89051 + X= -0.0672969617 0.0316162732 -0.0889742773 0.416362538 -0.0520898311 0.1769706 -0.890286635 V= 0 0 0 0 0 0 T= 3.26 - X= -0.0436688 0.102608 -0.024988 0.416136 -0.0522346 0.17633 -0.890793 + X= -0.0676382612 0.0303481771 -0.0898261287 0.416031576 -0.0522214924 0.176285752 -0.890569468 V= 0 0 0 0 0 0 T= 3.27 - X= -0.0442984 0.100869 -0.026247 0.414623 -0.0527499 0.175725 -0.891587 + X= -0.0682645328 0.0288245258 -0.0913255542 0.414519085 -0.0527366796 0.175680959 -0.891363546 V= 0 0 0 0 0 0 T= 3.28 - X= -0.0448951 0.0991534 -0.0272978 0.414366 -0.052701 0.174842 -0.891883 + X= -0.0687734641 0.0271192028 -0.0924199788 0.414262119 -0.0526877879 0.174798167 -0.891659405 V= 0 0 0 0 0 0 T= 3.29 - X= -0.045474 0.0978778 -0.0281269 0.414094 -0.0537717 0.175326 -0.89185 + X= -0.0695734764 0.0259374012 -0.0932713107 0.413990336 -0.0537582389 0.175282109 -0.891626735 V= 0 0 0 0 0 0 T= 3.3 - X= -0.0460132 0.0967851 -0.028759 0.414622 -0.0545488 0.174489 -0.891722 + X= -0.0701989392 0.024779333 -0.0937991379 0.41451807 -0.0545351267 0.174445262 -0.89149848 V= 0 0 0 0 0 0 T= 3.31 - X= -0.0464502 0.0956761 -0.0294944 0.413723 -0.0560851 0.175114 -0.891921 + X= -0.0709323866 0.023874629 -0.0946493791 0.413619558 -0.0560710772 0.175070217 -0.891697995 V= 0 0 0 0 0 0 T= 3.32 - X= -0.0467503 0.0941507 -0.0301322 0.413341 -0.0563541 0.17415 -0.89227 + X= -0.0711913478 0.0223870793 -0.0953442995 0.413237591 -0.0563400015 0.174106432 -0.892046774 V= 0 0 0 0 0 0 T= 3.33 - X= -0.0471486 0.0927914 -0.0309043 0.413517 -0.0570235 0.17288 -0.892393 + X= -0.0716115884 0.0209950612 -0.0960721444 0.413413505 -0.0570092281 0.172836731 -0.892169651 V= 0 0 0 0 0 0 T= 3.34 - X= -0.0474546 0.0916876 -0.0315336 0.413508 -0.0573882 0.172311 -0.892484 + X= -0.0719363391 0.0198914418 -0.0966946016 0.413404446 -0.0573738284 0.172267849 -0.892260498 V= 0 0 0 0 0 0 T= 3.35 - X= -0.0479044 0.0908384 -0.0322512 0.413454 -0.0579141 0.172827 -0.892375 + X= -0.0725195004 0.0190849387 -0.0974089903 0.413350558 -0.0578996105 0.172783761 -0.892151738 V= 0 0 0 0 0 0 T= 3.36 - X= -0.0483696 0.0904065 -0.0329524 0.414017 -0.0582661 0.173016 -0.892055 + X= -0.0730788303 0.0185935333 -0.0980089273 0.413913188 -0.0582514902 0.172972618 -0.891831324 V= 0 0 0 0 0 0 T= 3.37 - X= -0.0486883 0.0898705 -0.0337983 0.414516 -0.0596448 0.172564 -0.891819 + X= -0.073620403 0.0180303146 -0.0987396428 0.414412311 -0.0596298801 0.172520834 -0.891595915 V= 0 0 0 0 0 0 T= 3.38 - X= -0.0488437 0.0892463 -0.0345721 0.414255 -0.059786 0.172198 -0.892002 + X= -0.0737638306 0.017438045 -0.0995533404 0.414151208 -0.0597710206 0.172154856 -0.891778508 V= 0 0 0 0 0 0 T= 3.39 - X= -0.0489192 0.0882826 -0.0354228 0.414181 -0.0598437 0.172033 -0.892064 + X= -0.0738341671 0.0164823769 -0.100414895 0.414077348 -0.0598287237 0.171989948 -0.891840755 V= 0 0 0 0 0 0 T= 3.4 - X= -0.0491502 0.0874101 -0.0363484 0.413324 -0.0605372 0.171048 -0.892604 + X= -0.074084511 0.0157300197 -0.101465573 0.413220542 -0.0605220472 0.171005186 -0.892380576 V= 0 0 0 0 0 0 T= 3.41 - X= -0.0495054 0.0859357 -0.0378375 0.413209 -0.0610634 0.170191 -0.892785 + X= -0.0744610991 0.0142686945 -0.102960871 0.413105644 -0.0610481262 0.17014843 -0.892561687 V= 0 0 0 0 0 0 T= 3.42 - X= -0.049678 0.0854207 -0.0383555 0.413447 -0.0622889 0.170188 -0.892591 + X= -0.0748578314 0.0137689464 -0.103409341 0.413343475 -0.0622733032 0.170145386 -0.8923675 V= 0 0 0 0 0 0 T= 3.43 - X= -0.0497351 0.0849063 -0.0387569 0.414053 -0.0628861 0.17052 -0.892205 + X= -0.0750647223 0.0132028869 -0.103695569 0.41394924 -0.062870341 0.170477268 -0.891981417 V= 0 0 0 0 0 0 T= 3.44 - X= -0.0496771 0.0843926 -0.0390416 0.414109 -0.063908 0.169575 -0.892286 + X= -0.0751137189 0.0126951904 -0.103945066 0.414005412 -0.0638920136 0.169532581 -0.892062797 V= 0 0 0 0 0 0 T= 3.45 - X= -0.0496859 0.0837918 -0.0394888 0.413808 -0.0647286 0.169854 -0.892314 + X= -0.0752820993 0.0121772632 -0.104421016 0.413704275 -0.0647123751 0.169811424 -0.892090333 V= 0 0 0 0 0 0 T= 3.46 - X= -0.0497611 0.0829556 -0.0398712 0.413886 -0.0649441 0.168569 -0.892505 + X= -0.0752945889 0.0113018772 -0.104784873 0.413782559 -0.0649278688 0.16852687 -0.89228194 V= 0 0 0 0 0 0 T= 3.47 - X= -0.0498854 0.0827937 -0.0399781 0.41496 -0.0661331 0.16879 -0.891878 + X= -0.0756772083 0.0110434878 -0.104682734 0.414855922 -0.0661165128 0.168747665 -0.891654303 V= 0 0 0 0 0 0 T= 3.48 - X= -0.050113 0.0826446 -0.0399852 0.415429 -0.0662364 0.168922 -0.891626 + X= -0.0759467199 0.0108368072 -0.104609188 0.415325165 -0.0662198444 0.168879779 -0.891403141 V= 0 0 0 0 0 0 T= 3.49 - X= -0.0502266 0.0826446 -0.0401026 0.416113 -0.067176 0.169235 -0.891178 + X= -0.0762708739 0.0107881815 -0.104587877 0.416008729 -0.0671591668 0.169192592 -0.890954685 V= 0 0 0 0 0 0 T= 3.5 - X= -0.0502266 0.0826446 -0.0401026 0.415824 -0.0677256 0.169371 -0.891245 + X= -0.0763712393 0.0108544724 -0.104621089 0.41571997 -0.0677086566 0.169328627 -0.891022031 V= 0 0 0 0 0 0 T= 3.51 - X= -0.0503401 0.0826446 -0.0402201 0.416293 -0.0678292 0.169502 -0.890994 + X= -0.0765265384 0.010797184 -0.104657816 0.416188571 -0.0678121847 0.16945948 -0.89077049 V= 0 0 0 0 0 0 T= 3.52 - X= -0.0503401 0.0826446 -0.0402201 0.416797 -0.0681161 0.169547 -0.890728 + X= -0.0765948372 0.0107399276 -0.104566093 0.416692403 -0.068099006 0.169504451 -0.890504468 V= 0 0 0 0 0 0 T= 3.53 - X= -0.0504536 0.0826446 -0.0403376 0.416183 -0.0690323 0.169902 -0.890876 + X= -0.0768822815 0.0108727767 -0.104760656 0.416078892 -0.0690150317 0.169859499 -0.890653149 V= 0 0 0 0 0 0 T= 3.54 - X= -0.0504536 0.0826446 -0.0403376 0.416106 -0.0704188 0.170215 -0.890744 + X= -0.0771507452 0.0109490044 -0.104734836 0.416001798 -0.0704011656 0.170172375 -0.890520939 V= 0 0 0 0 0 0 T= 3.55 - X= -0.0505357 0.0829816 -0.0402583 0.415414 -0.0710751 0.171432 -0.890781 + X= -0.0774277693 0.0114457106 -0.104751967 0.415310148 -0.0710573314 0.171389142 -0.890558307 V= 0 0 0 0 0 0 T= 3.56 - X= -0.0507209 0.083332 -0.0400796 0.414958 -0.0731345 0.171831 -0.890751 + X= -0.0779966621 0.0119563371 -0.104589658 0.414853878 -0.0731161489 0.171787884 -0.890527491 V= 0 0 0 0 0 0 T= 3.57 - X= -0.0508024 0.0836695 -0.0400009 0.41472 -0.0743415 0.172524 -0.890627 + X= -0.0783405622 0.0123981313 -0.104514787 0.414616292 -0.0743229097 0.172480858 -0.890404284 V= 0 0 0 0 0 0 T= 3.58 - X= -0.0509518 0.0837705 -0.0398567 0.414283 -0.0768976 0.173386 -0.890446 + X= -0.0789985711 0.0126933345 -0.104365732 0.414179379 -0.0768783663 0.173342633 -0.890223281 V= 0 0 0 0 0 0 T= 3.59 - X= -0.05109 0.0840339 -0.0397233 0.414249 -0.0789408 0.174252 -0.890114 + X= -0.0795657513 0.0130747721 -0.104174318 0.414145357 -0.0789210495 0.174208403 -0.889891299 V= 0 0 0 0 0 0 T= 3.6 - X= -0.0514683 0.084724 -0.0395858 0.414927 -0.0803963 0.175635 -0.889396 + X= -0.0803298142 0.013776734 -0.103878089 0.414823125 -0.0803761732 0.175591031 -0.889173344 V= 0 0 0 0 0 0 T= 3.61 - X= -0.0521077 0.0861078 -0.0391972 0.414801 -0.0826137 0.17821 -0.888739 + X= -0.0815616928 0.0153577774 -0.103438126 0.414697192 -0.0825930251 0.178165401 -0.888516584 V= 0 0 0 0 0 0 T= 3.62 - X= -0.0527297 0.0878083 -0.0390545 0.415238 -0.0849663 0.181057 -0.887737 + X= -0.0828365269 0.017195962 -0.103144099 0.415134128 -0.0849450457 0.181011709 -0.887514933 V= 0 0 0 0 0 0 T= 3.63 - X= -0.0531663 0.0891572 -0.0390911 0.414964 -0.0874501 0.184046 -0.887009 + X= -0.083939195 0.0187960261 -0.103140566 0.414860186 -0.0874282222 0.183999956 -0.886787093 V= 0 0 0 0 0 0 T= 3.64 - X= -0.0532602 0.0902099 -0.039457 0.412961 -0.0908117 0.186001 -0.887198 + X= -0.0847202867 0.020347425 -0.103718167 0.412857754 -0.0907889958 0.185954497 -0.886976188 V= 0 0 0 0 0 0 T= 3.65 - X= -0.0532399 0.0911146 -0.0394764 0.41217 -0.0926174 0.186677 -0.887238 + X= -0.0850472106 0.021468869 -0.103801878 0.412066654 -0.0925941774 0.186630193 -0.887015537 V= 0 0 0 0 0 0 T= 3.66 - X= -0.0532644 0.0919617 -0.039225 0.411036 -0.0951943 0.188827 -0.887036 + X= -0.0856592617 0.0226707232 -0.10364032 0.410933064 -0.0951704604 0.188779712 -0.886813859 V= 0 0 0 0 0 0 T= 3.67 - X= -0.053636 0.0930952 -0.0388683 0.410544 -0.097436 0.19094 -0.886568 + X= -0.0865740786 0.0240556437 -0.103278102 0.410441187 -0.0974115989 0.190892183 -0.886345975 V= 0 0 0 0 0 0 T= 3.68 - X= -0.0541639 0.0941747 -0.0383616 0.410088 -0.0999638 0.192638 -0.88613 + X= -0.0876630177 0.0253822542 -0.102746447 0.409985372 -0.0999387832 0.192589791 -0.885908238 V= 0 0 0 0 0 0 T= 3.69 - X= -0.0542978 0.0948796 -0.0380041 0.409175 -0.102238 0.194105 -0.885973 + X= -0.0882813547 0.0263793472 -0.102446581 0.409072398 -0.102212363 0.194056327 -0.885750839 V= 0 0 0 0 0 0 T= 3.7 - X= -0.0542286 0.0954048 -0.0376122 0.407581 -0.104321 0.195184 -0.886228 + X= -0.0886124354 0.0272694233 -0.102228934 0.407478735 -0.104294825 0.195135027 -0.886005639 V= 0 0 0 0 0 0 T= 3.71 - X= -0.0542731 0.0959306 -0.0373399 0.406747 -0.10598 0.196232 -0.886182 + X= -0.0890025899 0.0280335362 -0.102022597 0.406645267 -0.105953493 0.196182919 -0.885960353 V= 0 0 0 0 0 0 T= 3.72 - X= -0.0545609 0.096729 -0.0370628 0.407004 -0.107312 0.197678 -0.885583 + X= -0.089641175 0.028918518 -0.101646953 0.406901888 -0.107285077 0.197628405 -0.885360819 V= 0 0 0 0 0 0 T= 3.73 - X= -0.0549048 0.0974556 -0.0367316 0.406762 -0.108338 0.199108 -0.885248 + X= -0.0902662161 0.029786609 -0.101310837 0.406660253 -0.108310901 0.199058195 -0.885026566 V= 0 0 0 0 0 0 T= 3.74 - X= -0.0549183 0.0977284 -0.0364884 0.406266 -0.109967 0.200459 -0.88497 + X= -0.0906518492 0.0302642973 -0.101077163 0.406164367 -0.10993949 0.200408852 -0.884748613 V= 0 0 0 0 0 0 T= 3.75 - X= -0.0548309 0.0979839 -0.0363423 0.40583 -0.111545 0.20039 -0.884989 + X= -0.0908209088 0.0306571786 -0.100932019 0.405728183 -0.111517015 0.200339725 -0.88476697 V= 0 0 0 0 0 0 T= 3.76 - X= -0.0547859 0.0983304 -0.0361553 0.405752 -0.113735 0.201192 -0.884564 + X= -0.0912155999 0.0311579144 -0.100659053 0.405650189 -0.113706462 0.201141517 -0.884342046 V= 0 0 0 0 0 0 T= 3.77 - X= -0.0547831 0.0987684 -0.0359274 0.404793 -0.115345 0.20211 -0.884585 + X= -0.0915337251 0.0318496332 -0.100512771 0.404691654 -0.115316122 0.202059399 -0.884363532 V= 0 0 0 0 0 0 T= 3.78 - X= -0.0546215 0.0992619 -0.0358527 0.404395 -0.118069 0.203056 -0.884191 + X= -0.0919048942 0.0325777533 -0.100375356 0.404293723 -0.118039431 0.203005147 -0.883969563 V= 0 0 0 0 0 0 T= 3.79 - X= -0.0544173 0.099664 -0.0358196 0.404276 -0.119967 0.204274 -0.883709 + X= -0.0921182245 0.0331460606 -0.100271163 0.404174842 -0.119936982 0.204222886 -0.883487878 V= 0 0 0 0 0 0 T= 3.8 - X= -0.054386 0.0999929 -0.0358498 0.403052 -0.121329 0.204988 -0.883917 + X= -0.0923401033 0.0337473827 -0.100433215 0.402951077 -0.121298619 0.204936671 -0.883695669 V= 0 0 0 0 0 0 T= 3.81 - X= -0.0542549 0.100157 -0.0357459 0.402175 -0.123404 0.204919 -0.884045 + X= -0.0925373319 0.0341394561 -0.100368955 0.402074366 -0.123373121 0.204867724 -0.88382379 V= 0 0 0 0 0 0 T= 3.82 - X= -0.0542392 0.100322 -0.0357612 0.402141 -0.124811 0.205362 -0.88376 + X= -0.092797393 0.0344020516 -0.100319903 0.40204041 -0.12477978 0.205310632 -0.88353894 V= 0 0 0 0 0 0 T= 3.83 - X= -0.0543077 0.100669 -0.0356948 0.401509 -0.126505 0.206234 -0.883604 + X= -0.0932052198 0.0349648842 -0.100269967 0.401408363 -0.126473292 0.206182308 -0.883382527 V= 0 0 0 0 0 0 T= 3.84 - X= -0.0543759 0.101017 -0.0356287 0.400957 -0.127941 0.207671 -0.883311 + X= -0.0936120102 0.0355297892 -0.100219356 0.400856602 -0.127908964 0.207619 -0.883089822 V= 0 0 0 0 0 0 T= 3.85 - X= -0.0543599 0.101181 -0.0356442 0.400025 -0.12983 0.207684 -0.883455 + X= -0.0938956352 0.0359256122 -0.100286756 0.399924789 -0.129797476 0.207631973 -0.883233685 V= 0 0 0 0 0 0 T= 3.86 - X= -0.0542858 0.101418 -0.035716 0.400387 -0.130446 0.208543 -0.882998 + X= -0.0940021725 0.0361832551 -0.100268597 0.400286629 -0.130413299 0.208490721 -0.882776645 V= 0 0 0 0 0 0 T= 3.87 - X= -0.0542697 0.101583 -0.0357316 0.399771 -0.131799 0.208412 -0.883107 + X= -0.0941916232 0.0365012147 -0.100311792 0.399670822 -0.131765973 0.208359774 -0.882885704 V= 0 0 0 0 0 0 T= 3.88 - X= -0.0542373 0.101912 -0.035763 0.399747 -0.132135 0.209415 -0.88283 + X= -0.0942903946 0.0368970392 -0.10032928 0.399646946 -0.132101928 0.209362585 -0.882609034 V= 0 0 0 0 0 0 T= 3.89 - X= -0.0542884 0.102424 -0.0357135 0.400256 -0.133349 0.209588 -0.882376 + X= -0.0945787626 0.0374110071 -0.100133974 0.400155702 -0.133315585 0.209535481 -0.882154891 V= 0 0 0 0 0 0 T= 3.9 - X= -0.054239 0.102917 -0.0357613 0.399206 -0.13447 0.211024 -0.882339 + X= -0.0947967211 0.0381776996 -0.100289544 0.399106066 -0.134436338 0.210971174 -0.882118123 V= 0 0 0 0 0 0 T= 3.91 - X= -0.0543891 0.103449 -0.035616 0.398768 -0.136212 0.212195 -0.881989 + X= -0.0953194086 0.0389202282 -0.100119856 0.398668158 -0.136177896 0.212141871 -0.881768171 V= 0 0 0 0 0 0 T= 3.92 - X= -0.0544139 0.103706 -0.0355919 0.398012 -0.137866 0.212921 -0.881898 + X= -0.0956590491 0.0394078664 -0.100125517 0.39791253 -0.137831545 0.212867787 -0.881677599 V= 0 0 0 0 0 0 T= 3.93 - X= -0.0543971 0.10387 -0.0356082 0.397383 -0.139213 0.212793 -0.882001 + X= -0.0958456355 0.0397283491 -0.100167224 0.397283665 -0.139178201 0.212739808 -0.881780524 V= 0 0 0 0 0 0 T= 3.94 - X= -0.0543219 0.104107 -0.035681 0.396194 -0.141369 0.213513 -0.882019 + X= -0.0961575167 0.0402856199 -0.100307718 0.39609495 -0.141333657 0.213459621 -0.881798491 V= 0 0 0 0 0 0 T= 3.95 - X= -0.0543295 0.104528 -0.0356737 0.395302 -0.143326 0.215096 -0.881719 + X= -0.0965885683 0.041016513 -0.100330194 0.395203074 -0.143290132 0.215042171 -0.881498346 V= 0 0 0 0 0 0 T= 3.96 - X= -0.0542954 0.104857 -0.0357067 0.394443 -0.145227 0.215259 -0.881753 + X= -0.0968664237 0.0415807224 -0.10038916 0.394344239 -0.145190638 0.215205103 -0.881532225 V= 0 0 0 0 0 0 T= 3.97 - X= -0.0543351 0.105094 -0.0358991 0.392874 -0.147728 0.216201 -0.881808 + X= -0.0973550111 0.0422254462 -0.100682062 0.392775472 -0.147690952 0.21614678 -0.881586854 V= 0 0 0 0 0 0 T= 3.98 - X= -0.0543351 0.105094 -0.0358991 0.39199 -0.149069 0.217191 -0.881732 + X= -0.0976285325 0.0424746346 -0.100741168 0.391891848 -0.149031674 0.217136617 -0.881511219 V= 0 0 0 0 0 0 T= 3.99 - X= -0.0543179 0.105258 -0.0359157 0.390528 -0.150624 0.217213 -0.882111 + X= -0.0978350665 0.0429349139 -0.100893305 0.390430207 -0.150586282 0.217158607 -0.881890109 V= 0 0 0 0 0 0 T= 4 - X= -0.0543179 0.105258 -0.0359157 0.389971 -0.151435 0.218061 -0.882009 + X= -0.0980169322 0.043101931 -0.100931219 0.389873463 -0.151397124 0.21800646 -0.881788397 V= 0 0 0 0 0 0 T= 4.01 - X= -0.0543179 0.105258 -0.0359157 0.388989 -0.153026 0.218487 -0.882063 + X= -0.0982893881 0.0433532981 -0.100987323 0.388891575 -0.152987673 0.218432278 -0.88184208 V= 0 0 0 0 0 0 T= 4.02 - X= -0.0543592 0.10535 -0.0358758 0.388993 -0.1533 0.218074 -0.882116 + X= -0.0983486743 0.0434397977 -0.100930031 0.388895526 -0.153261586 0.218019355 -0.881894958 V= 0 0 0 0 0 0 T= 4.03 - X= -0.0543592 0.10535 -0.0358758 0.388337 -0.15436 0.218357 -0.88215 + X= -0.098530024 0.0436077555 -0.100966764 0.388239751 -0.154321344 0.218302318 -0.881929088 V= 0 0 0 0 0 0 T= 4.04 - X= -0.0543419 0.105515 -0.0358925 0.388111 -0.154915 0.218649 -0.88208 + X= -0.0986212031 0.0438513249 -0.100984239 0.388013753 -0.154876184 0.218594214 -0.881858982 V= 0 0 0 0 0 0 T= 4.05 - X= -0.0544399 0.105679 -0.0360284 0.388267 -0.154512 0.219444 -0.881885 + X= -0.0987106099 0.0440099382 -0.101120881 0.388169573 -0.154473229 0.219388935 -0.881663711 V= 0 0 0 0 0 0 T= 4.06 - X= -0.0543813 0.105751 -0.0360851 0.38751 -0.155819 0.219163 -0.882057 + X= -0.0988328692 0.0442505532 -0.101213842 0.387413056 -0.155780018 0.219108171 -0.881836334 V= 0 0 0 0 0 0 T= 4.07 - X= -0.0545377 0.105844 -0.0361644 0.387238 -0.156192 0.219535 -0.882018 + X= -0.0990706978 0.0444224912 -0.101312004 0.387141115 -0.156152922 0.219480073 -0.881797323 V= 0 0 0 0 0 0 T= 4.08 - X= -0.0545377 0.105844 -0.0361644 0.386421 -0.156406 0.219691 -0.8823 + X= -0.0990934035 0.0445590798 -0.101425015 0.386324151 -0.1563668 0.219635939 -0.882078868 V= 0 0 0 0 0 0 T= 4.09 - X= -0.0545377 0.105844 -0.0361644 0.386579 -0.157251 0.219818 -0.882049 + X= -0.099251294 0.0445917196 -0.101347624 0.386482084 -0.157211577 0.219762891 -0.881827869 V= 0 0 0 0 0 0 T= 4.1 - X= -0.0546529 0.105844 -0.0362837 0.386046 -0.156754 0.219912 -0.882347 + X= -0.0992720666 0.0446437631 -0.101580415 0.385949361 -0.15671476 0.21985695 -0.882126123 V= 0 0 0 0 0 0 T= 4.11 - X= -0.0546529 0.105844 -0.0362837 0.385716 -0.157283 0.220054 -0.882362 + X= -0.0993622683 0.0447285557 -0.101598131 0.385619369 -0.157243597 0.219998871 -0.882140947 V= 0 0 0 0 0 0 T= 4.12 - X= -0.0546529 0.105844 -0.0362837 0.385817 -0.157036 0.220617 -0.882221 + X= -0.0993621581 0.0447283979 -0.101598058 0.385720425 -0.156996692 0.220561776 -0.882000168 V= 0 0 0 0 0 0 T= 4.13 - X= -0.0546529 0.105844 -0.0362837 0.385487 -0.157566 0.220759 -0.882235 + X= -0.0994524752 0.0448133378 -0.101615594 0.385390587 -0.157526592 0.220703787 -0.882014346 V= 0 0 0 0 0 0 T= 4.14 - X= -0.0546529 0.105844 -0.0362837 0.385487 -0.157566 0.220759 -0.882235 + X= -0.0994524752 0.0448133378 -0.101615594 0.385390587 -0.157526592 0.220703787 -0.882014346 V= 0 0 0 0 0 0 T= 4.15 - X= -0.0544965 0.105751 -0.0362043 0.385431 -0.157722 0.220528 -0.88229 + X= -0.0993050015 0.044725646 -0.101535031 0.385334384 -0.157682464 0.22047272 -0.882068837 V= 0 0 0 0 0 0 T= 4.16 - X= -0.0545138 0.105587 -0.0361875 0.385329 -0.157696 0.220376 -0.882377 + X= -0.0993042677 0.0445669778 -0.101535575 0.385232469 -0.157656495 0.220320793 -0.882155951 V= 0 0 0 0 0 0 T= 4.17 - X= -0.0542333 0.105218 -0.0362282 0.385296 -0.157247 0.21955 -0.882677 + X= -0.0988889585 0.0441349053 -0.101609602 0.385199613 -0.157207662 0.219495077 -0.882456186 V= 0 0 0 0 0 0 T= 4.18 - X= -0.0536296 0.104389 -0.0363515 0.385184 -0.157412 0.217307 -0.883252 + X= -0.0981547913 0.0432181264 -0.101739814 0.385087417 -0.15737253 0.217252511 -0.883030529 V= 0 0 0 0 0 0 T= 4.19 - X= -0.0529258 0.103399 -0.0363431 0.384621 -0.157171 0.215414 -0.884003 + X= -0.0972620849 0.0421997753 -0.101833166 0.384524779 -0.15713168 0.215360109 -0.883781847 V= 0 0 0 0 0 0 T= 4.2 - X= -0.0523931 0.102338 -0.0364 0.385253 -0.155749 0.213874 -0.884354 + X= -0.0963975927 0.0408909545 -0.101881793 0.385156394 -0.155709944 0.213820369 -0.884132239 V= 0 0 0 0 0 0 T= 4.21 - X= -0.0518434 0.101299 -0.0362443 0.385107 -0.154996 0.211998 -0.885001 + X= -0.0955841881 0.0397375998 -0.101795329 0.385010551 -0.154957182 0.211944906 -0.884779354 V= 0 0 0 0 0 0 T= 4.22 - X= -0.0509638 0.0998065 -0.0361816 0.387248 -0.153083 0.2087 -0.885183 + X= -0.0942072014 0.0376701866 -0.101519849 0.387151214 -0.15304474 0.208647839 -0.884961764 V= 0 0 0 0 0 0 T= 4.23 - X= -0.0496918 0.0979382 -0.0362765 0.389305 -0.150406 0.205019 -0.8856 + X= -0.092273383 0.0351831247 -0.101457857 0.389207613 -0.150368375 0.204967713 -0.885378463 V= 0 0 0 0 0 0 T= 4.24 - X= -0.0480499 0.0955216 -0.0367418 0.390588 -0.147496 0.200316 -0.8866 + X= -0.0898312003 0.032203364 -0.101896416 0.390490367 -0.147459131 0.200265928 -0.886378382 V= 0 0 0 0 0 0 T= 4.25 - X= -0.0468198 0.0941769 -0.0368081 0.393047 -0.145737 0.198675 -0.886174 + X= -0.0882464221 0.0303381576 -0.101680667 0.392948514 -0.145700482 0.198625218 -0.88595195 V= 0 0 0 0 0 0 T= 4.26 - X= -0.0460931 0.0932111 -0.036839 0.395437 -0.143425 0.197964 -0.885647 + X= -0.0871337601 0.028878442 -0.101468508 0.39533788 -0.143389049 0.197914379 -0.885425005 V= 0 0 0 0 0 0 T= 4.27 - X= -0.0448736 0.0921424 -0.0366732 0.397497 -0.141868 0.197419 -0.885097 + X= -0.0856612311 0.0274116604 -0.101064973 0.397397394 -0.14183245 0.19736953 -0.884875209 V= 0 0 0 0 0 0 T= 4.28 - X= -0.0432565 0.0907073 -0.0366815 0.399041 -0.140323 0.196062 -0.88495 + X= -0.0837193482 0.0256160506 -0.100914569 0.398941063 -0.140287857 0.196012898 -0.88472837 V= 0 0 0 0 0 0 T= 4.29 - X= -0.0419162 0.0897925 -0.0366498 0.401562 -0.139003 0.195528 -0.884135 + X= -0.0821788843 0.0242540462 -0.100553065 0.401461693 -0.138968278 0.195479159 -0.88391415 V= 0 0 0 0 0 0 T= 4.3 - X= -0.0410352 0.0897452 -0.0363894 0.403908 -0.137424 0.195854 -0.883241 + X= -0.081112244 0.0238115854 -0.100002205 0.403806964 -0.137389624 0.195805008 -0.88302006 V= 0 0 0 0 0 0 T= 4.31 - X= -0.0405192 0.0901064 -0.0364519 0.40695 -0.135659 0.196861 -0.881893 + X= -0.0804490492 0.023703602 -0.0996680021 0.40684806 -0.135625018 0.196811687 -0.881672088 V= 0 0 0 0 0 0 T= 4.32 - X= -0.0396268 0.0905065 -0.0366679 0.408505 -0.133988 0.197631 -0.881257 + X= -0.0793691109 0.0238363621 -0.0997205878 0.408402702 -0.133954447 0.197581509 -0.881036314 V= 0 0 0 0 0 0 T= 4.33 - X= -0.0385423 0.0905692 -0.0368526 0.409972 -0.132109 0.197195 -0.880957 + X= -0.0779679059 0.0235794636 -0.0997652126 0.409869354 -0.132075924 0.197145628 -0.880736433 V= 0 0 0 0 0 0 T= 4.34 - X= -0.0375917 0.091037 -0.0371341 0.411504 -0.129297 0.19716 -0.880668 + X= -0.0765721251 0.0236895296 -0.0999420986 0.411400865 -0.129264594 0.197110586 -0.880447278 V= 0 0 0 0 0 0 T= 4.35 - X= -0.0367303 0.0915357 -0.0370979 0.413203 -0.126983 0.196763 -0.880298 + X= -0.0753281261 0.0238184265 -0.099744358 0.413099398 -0.126951162 0.196713666 -0.880077283 V= 0 0 0 0 0 0 T= 4.36 - X= -0.0360409 0.0918199 -0.0368871 0.414315 -0.125776 0.196611 -0.879982 + X= -0.0744495682 0.023881759 -0.0994105612 0.41421131 -0.125744522 0.196561794 -0.879761767 V= 0 0 0 0 0 0 T= 4.37 - X= -0.0354087 0.0920327 -0.0366188 0.41621 -0.123166 0.195518 -0.879701 + X= -0.0733348299 0.0236551729 -0.0989575717 0.416105619 -0.123135111 0.195468966 -0.879480381 V= 0 0 0 0 0 0 T= 4.38 - X= -0.0344755 0.0924746 -0.036203 0.418147 -0.119846 0.194823 -0.879395 + X= -0.0718280912 0.023635601 -0.0983799744 0.41804218 -0.119815957 0.194774162 -0.879174555 V= 0 0 0 0 0 0 T= 4.39 - X= -0.0339004 0.0927572 -0.036109 0.419487 -0.117894 0.194617 -0.879066 + X= -0.0709370209 0.0236293267 -0.0981543532 0.419381927 -0.11786447 0.194568252 -0.878845812 V= 0 0 0 0 0 0 T= 4.4 - X= -0.0333697 0.093268 -0.0362004 0.420094 -0.114953 0.193938 -0.879315 + X= -0.0698618722 0.0238824512 -0.0982807269 0.41998902 -0.114924274 0.193889536 -0.879095263 V= 0 0 0 0 0 0 T= 4.41 - X= -0.0331705 0.0936548 -0.0361775 0.421561 -0.11158 0.193351 -0.879178 + X= -0.0690740487 0.0238792404 -0.0981638411 0.421455157 -0.111551985 0.193302455 -0.878957261 V= 0 0 0 0 0 0 T= 4.42 - X= -0.0330419 0.093813 -0.036081 0.422908 -0.108177 0.192613 -0.879118 + X= -0.0683357796 0.0236582465 -0.0979894212 0.422801961 -0.108149876 0.192564705 -0.878897571 V= 0 0 0 0 0 0 T= 4.43 - X= -0.0329708 0.093901 -0.0359246 0.423811 -0.104229 0.192417 -0.879203 + X= -0.0675908105 0.0234242616 -0.0978478122 0.423704734 -0.104202866 0.192368754 -0.87898255 V= 0 0 0 0 0 0 T= 4.44 - X= -0.0329435 0.0940771 -0.0357221 0.425766 -0.10113 0.19181 -0.878753 + X= -0.0670332847 0.0231636087 -0.0974405198 0.4256592 -0.101104632 0.191761886 -0.878532571 V= 0 0 0 0 0 0 T= 4.45 - X= -0.0329606 0.0944818 -0.0357043 0.426944 -0.0984391 0.190981 -0.878667 + X= -0.0665504518 0.0232491575 -0.0973292341 0.426837117 -0.0984144564 0.190933189 -0.878447032 V= 0 0 0 0 0 0 T= 4.46 - X= -0.0330513 0.0952214 -0.0356095 0.429657 -0.094459 0.191425 -0.877684 + X= -0.0660652295 0.0234530589 -0.0969233294 0.429549546 -0.0944353764 0.191377126 -0.877464497 V= 0 0 0 0 0 0 T= 4.47 - X= -0.033113 0.0962785 -0.035545 0.432479 -0.0910965 0.19101 -0.876744 + X= -0.0655919359 0.0239601639 -0.0964972517 0.432370592 -0.0910736653 0.19096212 -0.876524231 V= 0 0 0 0 0 0 T= 4.48 - X= -0.0329415 0.0974758 -0.0354931 0.434617 -0.0879278 0.191167 -0.875975 + X= -0.0649468857 0.0247312443 -0.0961881156 0.434508331 -0.087905815 0.191119202 -0.875755976 V= 0 0 0 0 0 0 T= 4.49 - X= -0.0330408 0.0991873 -0.0353893 0.438413 -0.0836305 0.192378 -0.874237 + X= -0.0645158523 0.0257863351 -0.0955691922 0.438303515 -0.083609615 0.192329958 -0.874018677 V= 0 0 0 0 0 0 T= 4.5 - X= -0.0332012 0.101665 -0.0349899 0.443292 -0.0794813 0.193713 -0.871867 + X= -0.0642193422 0.0274832083 -0.0944452332 0.443180805 -0.079461363 0.193664409 -0.871648302 V= 0 0 0 0 0 0 T= 4.51 - X= -0.0333972 0.103811 -0.0347847 0.44595 -0.0761832 0.195066 -0.870503 + X= -0.0640433084 0.0291804151 -0.0938701622 0.44583822 -0.0761641043 0.195017106 -0.870284804 V= 0 0 0 0 0 0 T= 4.52 - X= -0.033402 0.10646 -0.0343156 0.44912 -0.0736742 0.196178 -0.868838 + X= -0.0638104184 0.0313458497 -0.0929090511 0.449007327 -0.0736557169 0.196128784 -0.86862003 V= 0 0 0 0 0 0 T= 4.53 - X= -0.0335499 0.109206 -0.0339281 0.451198 -0.0704565 0.198663 -0.867462 + X= -0.063685737 0.0337637974 -0.0922402376 0.451085003 -0.0704388551 0.198613247 -0.867244755 V= 0 0 0 0 0 0 T= 4.54 - X= -0.0339431 0.11235 -0.0332823 0.453468 -0.0688285 0.200258 -0.866041 + X= -0.064011819 0.0366002563 -0.0912292453 0.453354478 -0.0688112694 0.200207867 -0.865824195 V= 0 0 0 0 0 0 T= 4.55 - X= -0.0339062 0.115575 -0.0323874 0.456206 -0.0669009 0.201924 -0.864365 + X= -0.0638803663 0.0394491273 -0.0898887118 0.456092037 -0.0668841877 0.201873558 -0.864149076 V= 0 0 0 0 0 0 T= 4.56 - X= -0.0336693 0.119026 -0.0309969 0.458095 -0.066183 0.202627 -0.863257 + X= -0.0636453357 0.0426556545 -0.0881721359 0.45798016 -0.0661664086 0.202576204 -0.86304059 V= 0 0 0 0 0 0 T= 4.57 - X= -0.0330052 0.122946 -0.0295825 0.460091 -0.0653558 0.202577 -0.862269 + X= -0.0629018673 0.0462878332 -0.0864130793 0.459975933 -0.0653394548 0.202526336 -0.862053351 V= 0 0 0 0 0 0 T= 4.58 - X= -0.0325343 0.126213 -0.0284291 0.461159 -0.0645446 0.20218 -0.861853 + X= -0.0622924087 0.0493711677 -0.085084089 0.461043529 -0.0645284385 0.202129375 -0.861637198 V= 0 0 0 0 0 0 T= 4.59 - X= -0.0318958 0.129652 -0.027214 0.462381 -0.064238 0.201213 -0.861448 + X= -0.0615558625 0.0526123434 -0.0836513282 0.462264977 -0.0642218811 0.201162511 -0.861231842 V= 0 0 0 0 0 0 T= 4.6 - X= -0.0312976 0.133164 -0.0257108 0.463241 -0.063066 0.200058 -0.861341 + X= -0.0606821563 0.0559243805 -0.0820187838 0.463124986 -0.0630502058 0.200007898 -0.861125287 V= 0 0 0 0 0 0 T= 4.61 - X= -0.0307814 0.136431 -0.0238683 0.464377 -0.0628889 0.198981 -0.860991 + X= -0.0600765491 0.0590075638 -0.0799700447 0.46426096 -0.0628731852 0.198931278 -0.860775853 V= 0 0 0 0 0 0 T= 4.62 - X= -0.0301424 0.139813 -0.0219062 0.466235 -0.0629165 0.19848 -0.8601 + X= -0.0594583064 0.0621476121 -0.0776616047 0.466118513 -0.0629007805 0.19843041 -0.859885106 V= 0 0 0 0 0 0 T= 4.63 - X= -0.029742 0.143701 -0.0194176 0.467902 -0.0643941 0.198521 -0.859076 + X= -0.0593687155 0.0659040201 -0.0748241668 0.467784825 -0.064377974 0.198471285 -0.858860864 V= 0 0 0 0 0 0 T= 4.64 - X= -0.0291175 0.148332 -0.0171587 0.469697 -0.0650828 0.200058 -0.857687 + X= -0.0590599546 0.0704045248 -0.0722110208 0.46957933 -0.0650664952 0.200007881 -0.857472129 V= 0 0 0 0 0 0 T= 4.65 - X= -0.0280358 0.152762 -0.0149031 0.471418 -0.0668048 0.201256 -0.856329 + X= -0.0584370823 0.0747522867 -0.0695862479 0.47129992 -0.0667880668 0.20120559 -0.856114508 V= 0 0 0 0 0 0 T= 4.66 - X= -0.0266364 0.157371 -0.0129977 0.472487 -0.0687607 0.201138 -0.855612 + X= -0.057394523 0.0793230228 -0.0674261037 0.472368831 -0.0687435029 0.201087695 -0.855398011 V= 0 0 0 0 0 0 T= 4.67 - X= -0.0249729 0.161962 -0.0111384 0.472655 -0.0696078 0.201734 -0.855311 + X= -0.0559347525 0.0839561685 -0.0655116833 0.472536524 -0.0695903521 0.201683433 -0.855096608 V= 0 0 0 0 0 0 T= 4.68 - X= -0.0230101 0.166304 -0.00911542 0.472388 -0.0711955 0.202099 -0.855242 + X= -0.0542661111 0.0884196025 -0.0634944822 0.47226945 -0.0711776329 0.202048282 -0.85502737 V= 0 0 0 0 0 0 T= 4.69 - X= -0.020919 0.170864 -0.00698217 0.471355 -0.0715471 0.202146 -0.85577 + X= -0.0522054402 0.093121156 -0.0615459754 0.471237247 -0.0715292263 0.2020955 -0.855556214 V= 0 0 0 0 0 0 T= 4.7 - X= -0.0188839 0.17556 -0.0045115 0.470522 -0.0722884 0.203231 -0.85591 + X= -0.0503675204 0.097992239 -0.0592108977 0.4704041 -0.0722702865 0.203180076 -0.855695533 V= 0 0 0 0 0 0 T= 4.71 - X= -0.0172489 0.179907 -0.0017917 0.470212 -0.0727989 0.204988 -0.855618 + X= -0.0489681742 0.102466027 -0.0565345841 0.470094198 -0.0727806617 0.204936645 -0.855403643 V= 0 0 0 0 0 0 T= 4.72 - X= -0.0153063 0.185353 0.00163891 0.469765 -0.0740588 0.207198 -0.855223 + X= -0.0474244322 0.108109919 -0.0531509794 0.469647309 -0.0740402459 0.20714609 -0.855008739 V= 0 0 0 0 0 0 T= 4.73 - X= -0.0136058 0.189859 0.00488015 0.469654 -0.0748527 0.208556 -0.854884 + X= -0.0459775191 0.112719833 -0.0499068982 0.469536615 -0.0748339914 0.208503874 -0.854670331 V= 0 0 0 0 0 0 T= 4.74 - X= -0.0117468 0.194346 0.00795479 0.469714 -0.075724 0.211212 -0.854122 + X= -0.0445077644 0.117344672 -0.0467947741 0.469596553 -0.075705066 0.211159189 -0.853908436 V= 0 0 0 0 0 0 T= 4.75 - X= -0.0091296 0.199697 0.0117373 0.46887 -0.0775073 0.213178 -0.853938 + X= -0.0423407866 0.122962865 -0.0431160461 0.468752492 -0.0774878752 0.213124574 -0.853723987 V= 0 0 0 0 0 0 T= 4.76 - X= -0.00690335 0.204292 0.0146776 0.468677 -0.0794091 0.21492 -0.853433 + X= -0.0405861083 0.127746895 -0.0401523076 0.468559306 -0.0793891589 0.214866029 -0.853218687 V= 0 0 0 0 0 0 T= 4.77 - X= -0.00414186 0.209164 0.0180637 0.467497 -0.0824902 0.216618 -0.853358 + X= -0.0384570448 0.1329875 -0.036887268 0.467379863 -0.0824695311 0.216563724 -0.853144181 V= 0 0 0 0 0 0 T= 4.78 - X= -0.00132055 0.214375 0.0214054 0.46632 -0.0851512 0.218619 -0.85323 + X= -0.036223066 0.138560457 -0.0336760801 0.466203284 -0.0851298874 0.218564282 -0.853016444 V= 0 0 0 0 0 0 T= 4.79 - X= 0.00122639 0.219179 0.0242863 0.465325 -0.0869768 0.220166 -0.853191 + X= -0.034087257 0.143644434 -0.0309176462 0.46520865 -0.0869550522 0.220110949 -0.852977667 V= 0 0 0 0 0 0 T= 4.8 - X= 0.00425027 0.224321 0.0274039 0.462146 -0.0891287 0.222629 -0.854057 + X= -0.0315334608 0.14938718 -0.0283136659 0.462030534 -0.0891064315 0.222573377 -0.853843616 V= 0 0 0 0 0 0 T= 4.81 - X= 0.00746222 0.229418 0.0305799 0.460533 -0.0917155 0.223311 -0.854477 + X= -0.0287618013 0.154848613 -0.0253417134 0.460417651 -0.0916925282 0.223255068 -0.854262981 V= 0 0 0 0 0 0 T= 4.82 - X= 0.01084 0.234267 0.0335328 0.457422 -0.0935083 0.224482 -0.855646 + X= -0.0256803074 0.160224016 -0.02289329 0.457307474 -0.0934848881 0.224425796 -0.855431769 V= 0 0 0 0 0 0 T= 4.83 - X= 0.0152948 0.239559 0.0370502 0.454046 -0.096071 0.225745 -0.856827 + X= -0.0216496694 0.166125505 -0.0198938775 0.453932368 -0.0960469567 0.225688504 -0.856612565 V= 0 0 0 0 0 0 T= 4.84 - X= 0.0198769 0.244428 0.04039 0.450989 -0.0983515 0.226261 -0.858046 + X= -0.0173906929 0.171521292 -0.0170185223 0.450876053 -0.0983268686 0.226204335 -0.857831109 V= 0 0 0 0 0 0 T= 4.85 - X= 0.0243505 0.249569 0.043602 0.446604 -0.100356 0.228912 -0.859403 + X= -0.0133264883 0.17743709 -0.0145136788 0.446492239 -0.100330886 0.228854716 -0.859187938 V= 0 0 0 0 0 0 T= 4.86 - X= 0.028342 0.253956 0.0462994 0.442752 -0.101088 0.231056 -0.860735 + X= -0.00950118575 0.182444706 -0.01247158 0.442641413 -0.101062751 0.230998289 -0.860520012 V= 0 0 0 0 0 0 T= 4.87 - X= 0.0327977 0.259263 0.0492402 0.438326 -0.102326 0.233514 -0.86219 + X= -0.00529916795 0.188493285 -0.0102600189 0.438216311 -0.102300393 0.233455564 -0.861974242 V= 0 0 0 0 0 0 T= 4.88 - X= 0.0382554 0.265007 0.0525182 0.433388 -0.10423 0.236687 -0.863592 + X= -0.000243214817 0.195121903 -0.00776388564 0.433279492 -0.104203904 0.23662774 -0.863375782 V= 0 0 0 0 0 0 T= 4.89 - X= 0.0426634 0.269215 0.0552245 0.429014 -0.106751 0.239557 -0.864676 + X= 0.00366726737 0.200172553 -0.00570531384 0.428906587 -0.106724273 0.239497022 -0.864459511 V= 0 0 0 0 0 0 T= 4.9 - X= 0.0469866 0.273313 0.0577366 0.423368 -0.108365 0.242859 -0.866335 + X= 0.00766644608 0.205254827 -0.0040858115 0.423262142 -0.108337905 0.242798276 -0.866118384 V= 0 0 0 0 0 0 T= 4.91 - X= 0.0517664 0.27761 0.0605082 0.41843 -0.111366 0.245703 -0.867551 + X= 0.0119013244 0.210514318 -0.00201335732 0.418325274 -0.111338127 0.245641505 -0.867333867 V= 0 0 0 0 0 0 T= 4.92 - X= 0.056931 0.281793 0.0632971 0.4132 -0.114907 0.248296 -0.868857 + X= 0.0164645521 0.215729961 6.62412414e-05 0.413096481 -0.114878212 0.248233794 -0.868639325 V= 0 0 0 0 0 0 T= 4.93 - X= 0.0617284 0.285815 0.0656641 0.407662 -0.117547 0.251043 -0.870329 + X= 0.0208198344 0.22078942 0.00164720183 0.407559968 -0.11751758 0.250980168 -0.870111169 V= 0 0 0 0 0 0 T= 4.94 - X= 0.0662575 0.289507 0.0677947 0.400632 -0.120741 0.254144 -0.872254 + X= 0.0248512202 0.225785446 0.00279405696 0.400531759 -0.12071079 0.254080411 -0.872035756 V= 0 0 0 0 0 0 T= 4.95 - X= 0.0713038 0.292976 0.07004 0.392247 -0.12637 0.257831 -0.874184 + X= 0.0290042028 0.230944324 0.00398838947 0.392148666 -0.12633832 0.257766363 -0.873964847 V= 0 0 0 0 0 0 T= 4.96 - X= 0.0763606 0.295575 0.072266 0.382711 -0.13269 0.260375 -0.876716 + X= 0.0331862413 0.235409169 0.00506445579 0.382615276 -0.132656811 0.260309875 -0.876496714 V= 0 0 0 0 0 0 T= 4.97 - X= 0.0821585 0.297498 0.0745054 0.368497 -0.138213 0.265506 -0.880406 + X= 0.0382761428 0.2399807 0.00546846093 0.36840472 -0.138178388 0.265439511 -0.880185527 V= 0 0 0 0 0 0 T= 4.98 - X= 0.0865152 0.298296 0.0761607 0.358002 -0.143303 0.267261 -0.883386 + X= 0.0420830686 0.242732876 0.0058860604 0.357912453 -0.143267156 0.26719415 -0.883165038 V= 0 0 0 0 0 0 T= 4.99 - X= 0.091869 0.29862 0.0781049 0.342951 -0.148573 0.271207 -0.887276 + X= 0.0469243352 0.245846822 0.00602876775 0.342865078 -0.148535777 0.271139053 -0.887053705 V= 0 0 0 0 0 0 T= 5 - X= 0.0962567 0.29862 0.0796742 0.329247 -0.152444 0.273484 -0.891103 + X= 0.0511018958 0.2483048 0.00598957288 0.329164585 -0.152405841 0.273415543 -0.890879945 V= 0 0 0 0 0 0 diff --git a/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.cpp b/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.cpp index 3ba23647..793258cf 100644 --- a/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.cpp +++ b/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.cpp @@ -1,5 +1,7 @@ #include #include +#include +#include namespace sofa::collisionalgorithm { @@ -56,6 +58,48 @@ void InsertionAlgorithm::init() this->getContext()->get(m_constraintSolver); msg_warning_when(!m_constraintSolver) << "No constraint solver found in context. Insertion algorithm is disabled."; + + // The algorithm must determine whether an impulse-based formulation is in use. + // TODO: This check must be performed to enable backward compatibility. Relying on a + // force-based formulation should simplify the algorithm. + const auto lambdaIsImpulseFor = + [this](sofa::core::objectmodel::BaseObject* obj, const char* owner) -> std::optional + { + auto* scheme = obj + ? obj->getContext()->get( + sofa::core::objectmodel::BaseContext::SearchUp) + : nullptr; + if (!scheme) return std::nullopt; + + // First-order schemes forcefully ignore the impulseBased flag. + // Notify user in case they set it. + const auto* firstOrderData = dynamic_cast*>(scheme->findData("firstOrder")); + const auto* impulseBasedData = dynamic_cast*>(scheme->findData("impulseBased")); + const bool firstOrder = firstOrderData && firstOrderData->getValue(); + const bool impulseBased = impulseBasedData && impulseBasedData->getValue(); + + if (firstOrder) + { + msg_warning_when(impulseBased) + << "impulseBased is ignored by the first-order integration scheme of the " + << owner << " (" << scheme->getPathName() << ")."; + return std::nullopt; + } + return impulseBased; + }; + + // The tissue and the needle integration schemes set impulseBased independently, so one + // may use impulses whereas the other one does not. A user should be warned. + // This check only applies to the needle and tissue both using 2nd-order schemes. + BaseGeometry* tissueGeom = l_surfGeom ? l_surfGeom.get() : l_volGeom.get(); + const std::optional tissueImpulse = lambdaIsImpulseFor(tissueGeom, "tissue"); + const std::optional needleImpulse = lambdaIsImpulseFor(l_tipGeom.get(), "needle"); + + msg_warning_when(tissueImpulse && needleImpulse && *tissueImpulse != *needleImpulse) + << "The tissue and needle integration schemes disagree on impulseBased; " + "lambda mixes impulses and forces."; + m_lambdaIsImpulse = tissueImpulse.value_or(false) || needleImpulse.value_or(false); + if (d_punctureForceThreshold.getValue() < 0) { msg_warning() << d_punctureForceThreshold.getName() + @@ -180,15 +224,14 @@ InsertionAlgorithm::AlgorithmOutput InsertionAlgorithm::puncturePhase() l_tipGeom->getContext()->get(); const auto& lambda = m_constraintSolver->getLambda()[mstate.get()].read()->getValue(); - const auto dt = l_tipGeom->getContext()->getDt(); SReal norm{0_sreal}; for (const auto& l : lambda) { norm += l.norm(); } - // Convert impulse to force - norm /= dt; + if (m_lambdaIsImpulse) + norm /= l_tipGeom->getContext()->getDt(); if (norm > punctureForceThreshold) { diff --git a/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.h b/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.h index a76e413c..593ad5e2 100644 --- a/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.h +++ b/src/CollisionAlgorithm/algorithm/InsertionAlgorithm.h @@ -32,6 +32,7 @@ class SOFA_COLLISIONALGORITHM_API InsertionAlgorithm : public BaseAlgorithm Data d_projective, d_enablePuncture, d_enableInsertion, d_enableShaftCollision; Data d_punctureForceThreshold, d_tipDistThreshold; ConstraintSolver::SPtr m_constraintSolver; + bool m_lambdaIsImpulse{false}; std::vector m_couplingPts; Data d_drawCollision, d_drawPoints; Data d_drawPointsScale;