void MyController::onInit(InitEvent &evt) { // handle of target and tool SimObj *toolName = getObj("TShapeTool_7"); SimObj *target = getObj("box_7"); toolName->setMass(10.0); // mass of all the tools should be set uniformly target->getPosition(initTargetPos); // initial target position target->getRotation(initTargetRotation); // initial target rotation in quaternion toolName->getPosition(initToolPos); // initial tool position toolName->getRotation(initToolRotation); // initial tool rotation in quaternion isTargetAtRest = true; // target and tool both are at rest initially. isToolAtRest = true; insideTimer = true; f_x = 0 ; f_z = 0 ; int xForceVariance = 4000; int zForceVariance = 4000; flag = true; Colli = false; counterOfCollision = 0; counterOfAction = 0; // Reset the forces applied double r; r = ((double) rand() / (RAND_MAX)) ; f_x = r * int(xForceVariance); f_z = r * int(zForceVariance); forceOnTool_z = 8000 + f_z; forceOnTool_x = 0; forceOnTool.set(forceOnTool_x, 0 , forceOnTool_z); toolName->addForce(forceOnTool.x(), forceOnTool.y(), forceOnTool.z()); toolName->getVelocity(appliedToolVel); myfile.flush(); // I have uncommented the file, because I want to overwrite the file. }