From b72d93ac9cfed1dcf44901332c16b685f1e78fb2 Mon Sep 17 00:00:00 2001
From: Tarun Gaba <Tarun Gaba>
Date: Mon, 23 Sep 2013 20:40:16 +0530
Subject: [PATCH] WIP

---
 docs/src/index.rst           |  1 +
 docs/src/tutorials.rst       | 13 ++++++
 docs/src/tutorials/basic.rst | 80 ++++++++++++++++++++++++++++++++++++
 3 files changed, 94 insertions(+)
 create mode 100644 docs/src/tutorials.rst
 create mode 100644 docs/src/tutorials/basic.rst

diff --git a/docs/src/index.rst b/docs/src/index.rst
index 843e22e..a781e8b 100644
--- a/docs/src/index.rst
+++ b/docs/src/index.rst
@@ -19,6 +19,7 @@ Contents:
     
     introduction.rst
     installation.rst
+    tutorials.rst
     api.rst
 
 
diff --git a/docs/src/tutorials.rst b/docs/src/tutorials.rst
new file mode 100644
index 0000000..8fe8d8e
--- /dev/null
+++ b/docs/src/tutorials.rst
@@ -0,0 +1,13 @@
+Tutorials
+=========
+
+There are two types of tutorials in this documentation.
+The first one is a basic example for animation. In the basic example,
+a simple mass-spring system is animated using SymPy mechanics and PyDyViz.
+
+
+.. toctree::
+    :maxdepth: 2
+    
+    tutorials/basic.rst
+
diff --git a/docs/src/tutorials/basic.rst b/docs/src/tutorials/basic.rst
new file mode 100644
index 0000000..dfdb87b
--- /dev/null
+++ b/docs/src/tutorials/basic.rst
@@ -0,0 +1,80 @@
+Basic Tutorial
+--------------
+
+In this tutorial, we are going to analyze a mass spring damper problem, and animate it using the package.
+For this tutorial to work, you have following additional dependency:
+
+ * Scipy_
+ 
+We are going to break this tutorial into three parts, 
+ * Mechanics Part: where we define the system and derive Equations Of Motion.
+ * Simulation Part: where we numerically solve Equations of Motion(using SciPy).
+ * Visualization Part: where we actually generate the animations in a browser.
+ 
+
+
+Equation Of Motion Generation
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+We will be using SymPy Mechanics module for EoM generation.
+
+For more details on Mechanics Please refer to SymPy docs and tutorials.
+
+First we import necessary functionality from SymPy::
+
+    >>> from sympy.physics.mechanics import *
+    >>> from sympy import symbols,cos,Eq,sqrt,sin
+
+Now, we will create some symbols for coordinates, speed, force etc of the mass(bob).
+
+    >>> q = dynamicsymbols('q')                # Generalized coordinate
+    >>> u = dynamicsymbols('u')                # Generalized speed
+    >>> f = dynamicsymbols('f')                # Net Force applied to the box
+    >>> m = symbols('m')                       # Mass of body
+    >>> g, k, t, L = symbols('g k t L')        # Gravity,spring constant, time and length of unstretched spring
+    
+    
+Now we create an inertial reference frame, assign an origin, and set origin velocity to zero.
+
+    >>> I = ReferenceFrame('I')            # Inertial reference frame
+    >>> O = Point('O')                     # Origin point
+    >>> O.set_vel(I, 0)                    # Origin's velocity is zero
+    
+Now we define the bob as a Particle.
+
+    >>> P = Point('P')                      # Center Of Mass of the box
+    >>> P.set_pos(O, q * I.y)               # Set the position of P
+    >>> P.set_vel(I, u * I.y )              # Set the velocity of P
+    >>> bob = Particle('bob',P,m)   
+    
+We assign forces acting on the Particle. Coordinate axes are defined to be as : 
+    * x-axis: running from left to right, 
+    * y-axis: running from top to bottom,
+    * z-axis: running from behind the plane to above the plane.
+    
+Following the above notion, Gravity is taken to be in (+I.y) direction, 
+and force due to spring(F=Kx), in -I.y direction.
+
+    >>> f = m*g* I.y - k*(q)*I.y    #Net force on bob.
+    >>> force = [(P,f)]    
+
+Setting up equation of motion for the body::
+
+    >>> diff_eq = [q.diff(t) - u]
+    
+    
+    
+
+
+Advanced Tutorial 
+-----------------
+
+
+
+
+
+
+
+
+.. _Scipy: http://www.scipy.org
+