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Assembly: Simulation implementation

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This commit is contained in:
Aik-Siong Koh
2024-08-28 10:01:11 -06:00
committed by Max Wilfinger
parent 3e70f7244d
commit 5d143d1f59
28 changed files with 6187 additions and 15 deletions
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217
src/Mod/Assembly/App/AssemblyObject.cpp
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@@ -29,6 +29,9 @@
#include <unordered_map>
#endif
#include <thread>
#include <chrono>
#include <App/Application.h>
#include <App/Document.h>
#include <App/DocumentObjectGroup.h>
@@ -67,10 +70,15 @@
#include <OndselSolver/ASMTRackPinionJoint.h>
#include <OndselSolver/ASMTRotationLimit.h>
#include <OndselSolver/ASMTTranslationLimit.h>
#include <OndselSolver/ASMTRotationalMotion.h>
#include <OndselSolver/ASMTTranslationalMotion.h>
#include <OndselSolver/ASMTGeneralMotion.h>
#include <OndselSolver/ASMTScrewJoint.h>
#include <OndselSolver/ASMTSphSphJoint.h>
#include <OndselSolver/ASMTTime.h>
#include <OndselSolver/ASMTConstantGravity.h>
#include <OndselSolver/ExternalSystem.h>
#include <OndselSolver/enum.h>
#include "AssemblyLink.h"
#include "AssemblyObject.h"
@@ -78,6 +86,7 @@
#include "AssemblyUtils.h"
#include "JointGroup.h"
#include "ViewGroup.h"
#include "SimulationGroup.h"
FC_LOG_LEVEL_INIT("Assembly", true, true, true)
@@ -110,7 +119,9 @@ PROPERTY_SOURCE(Assembly::AssemblyObject, App::Part)
AssemblyObject::AssemblyObject()
: mbdAssembly(std::make_shared<ASMTAssembly>())
, bundleFixed(false)
{}
{
mbdAssembly->externalSystem->freecadAssemblyObject = this;
}
AssemblyObject::~AssemblyObject() = default;
@@ -141,6 +152,7 @@ int AssemblyObject::solve(bool enableRedo, bool updateJCS)
mbdAssembly = makeMbdAssembly();
objectPartMap.clear();
motions.clear();
std::vector<App::DocumentObject*> groundedObjs = fixGroundedParts();
if (groundedObjs.empty()) {
@@ -159,7 +171,8 @@ int AssemblyObject::solve(bool enableRedo, bool updateJCS)
}
try {
mbdAssembly->runPreDrag(); // solve() is causing some issues with limits.
// mbdAssembly->runPreDrag(); // solve() is causing some issues with limits.
mbdAssembly->runKINEMATIC();
}
catch (const std::exception& e) {
FC_ERR("Solve failed: " << e.what());
@@ -177,6 +190,79 @@ int AssemblyObject::solve(bool enableRedo, bool updateJCS)
return 0;
}
int AssemblyObject::generateSimulation(App::DocumentObject* sim)
{
mbdAssembly = makeMbdAssembly();
objectPartMap.clear();
motions = getMotionsFromSimulation(sim);
std::vector<App::DocumentObject*> groundedObjs = fixGroundedParts();
if (groundedObjs.empty()) {
// If no part fixed we can't solve.
return -6;
}
std::vector<App::DocumentObject*> joints = getJoints();
removeUnconnectedJoints(joints, groundedObjs);
jointParts(joints);
create_mbdSimulationParameters(sim);
try {
mbdAssembly->runKINEMATIC();
}
catch (...) {
Base::Console().Error("Generation of simulation failed\n");
motions.clear();
return -1;
}
motions.clear();
return 0;
}
std::vector<App::DocumentObject*> AssemblyObject::getMotionsFromSimulation(App::DocumentObject* sim)
{
if (!sim) {
return {};
}
auto* prop = dynamic_cast<App::PropertyLinkList*>(sim->getPropertyByName("Group"));
if (!prop) {
return {};
}
return prop->getValue();
}
int Assembly::AssemblyObject::updateForFrame(size_t index, bool updateJCS)
{
if (!mbdAssembly) {
return -1;
}
auto nfrms = mbdAssembly->numberOfFrames();
if (index >= nfrms) {
return -1;
}
mbdAssembly->updateForFrame(index);
setNewPlacements();
auto jointDocs = getJoints(updateJCS);
redrawJointPlacements(jointDocs);
return 0;
}
size_t Assembly::AssemblyObject::numberOfFrames()
{
return mbdAssembly->numberOfFrames();
}
void AssemblyObject::preDrag(std::vector<App::DocumentObject*> dragParts)
{
bundleFixed = true;
@@ -480,6 +566,7 @@ void AssemblyObject::recomputeJointPlacements(std::vector<App::DocumentObject*>
std::shared_ptr<ASMTAssembly> AssemblyObject::makeMbdAssembly()
{
auto assembly = CREATE<ASMTAssembly>::With();
assembly->externalSystem->freecadAssemblyObject = this;
assembly->setName("OndselAssembly");
ParameterGrp::handle hPgr = App::GetApplication().GetParameterGroupByPath(
@@ -521,6 +608,23 @@ App::DocumentObject* AssemblyObject::getJointOfPartConnectingToGround(App::Docum
return nullptr;
}
template<typename T>
T* AssemblyObject::getGroup()
{
App::Document* doc = getDocument();
std::vector<DocumentObject*> groups = doc->getObjectsOfType(T::getClassTypeId());
if (groups.empty()) {
return nullptr;
}
for (auto group : groups) {
if (hasObject(group)) {
return dynamic_cast<T*>(group);
}
}
return nullptr;
}
JointGroup* AssemblyObject::getJointGroup() const
{
return Assembly::getJointGroup(this);
@@ -964,6 +1068,27 @@ void AssemblyObject::jointParts(std::vector<App::DocumentObject*> joints)
}
}
void Assembly::AssemblyObject::create_mbdSimulationParameters(App::DocumentObject* sim)
{
auto mbdSim = mbdAssembly->simulationParameters;
if (!sim) {
return;
}
auto valueOf = [](DocumentObject* docObj, const char* propName) {
auto* prop = dynamic_cast<App::PropertyFloat*>(docObj->getPropertyByName(propName));
if (!prop) {
return 0.0;
}
return prop->getValue();
};
mbdSim->settstart(valueOf(sim, "aTimeStart"));
mbdSim->settend(valueOf(sim, "bTimeEnd"));
mbdSim->sethout(valueOf(sim, "cTimeStepOutput"));
mbdSim->sethmin(1.0e-9);
mbdSim->sethmax(1.0);
mbdSim->seterrorTol(valueOf(sim, "fGlobalErrorTolerance"));
}
std::shared_ptr<ASMTJoint> AssemblyObject::makeMbdJointOfType(App::DocumentObject* joint,
JointType type)
{
@@ -1351,7 +1476,7 @@ AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
if (maxEnabled) {
auto limit2 = ASMTRotationLimit::With();
limit2->setName(joint->getFullName() + "-LimiRotMax");
limit2->setName(joint->getFullName() + "-LimitRotMax");
limit2->setMarkerI(fullMarkerNameI);
limit2->setMarkerJ(fullMarkerNameJ);
limit2->settype("=<");
@@ -1361,6 +1486,90 @@ AssemblyObject::makeMbdJoint(App::DocumentObject* joint)
}
}
}
std::vector<App::DocumentObject*> done;
// Add motions if needed
for (auto* motion : motions) {
if (std::find(done.begin(), done.end(), motion) != done.end()) {
continue; // don't process twice (can happen in case of cylindrical)
}
auto* pJoint = dynamic_cast<App::PropertyXLinkSub*>(motion->getPropertyByName("Joint"));
if (!pJoint) {
continue;
}
App::DocumentObject* motionJoint = pJoint->getValue();
if (joint != motionJoint) {
continue;
}
auto* pType =
dynamic_cast<App::PropertyEnumeration*>(motion->getPropertyByName("MotionType"));
auto* pFormula = dynamic_cast<App::PropertyString*>(motion->getPropertyByName("Formula"));
if (!pType || !pFormula) {
continue;
}
std::string formula = pFormula->getValue();
if (formula == "") {
continue;
}
std::string motionType = pType->getValueAsString();
// check if there is a second motion as cylindrical can have both,
// in which case the solver needs a general motion.
for (auto* motion2 : motions) {
pJoint = dynamic_cast<App::PropertyXLinkSub*>(motion2->getPropertyByName("Joint"));
if (!pJoint) {
continue;
}
motionJoint = pJoint->getValue();
if (joint != motionJoint || motion2 == motion) {
continue;
}
auto* pType2 =
dynamic_cast<App::PropertyEnumeration*>(motion2->getPropertyByName("MotionType"));
auto* pFormula2 =
dynamic_cast<App::PropertyString*>(motion2->getPropertyByName("Formula"));
if (!pType2 || !pFormula2) {
continue;
}
std::string formula2 = pFormula2->getValue();
if (formula2 == "") {
continue;
}
std::string motionType2 = pType2->getValueAsString();
if (motionType2 == motionType) {
continue; // only if both motions are different. ie one angular and one linear.
}
auto ASMTmotion = CREATE<ASMTGeneralMotion>::With();
ASMTmotion->setName(joint->getFullName() + "-ScrewMotion");
ASMTmotion->setMarkerI(fullMarkerNameI);
ASMTmotion->setMarkerJ(fullMarkerNameJ);
ASMTmotion->rIJI->atiput(2, motionType == "Angular" ? formula2 : formula);
ASMTmotion->angIJJ->atiput(2, motionType == "Angular" ? formula : formula2);
mbdAssembly->addMotion(ASMTmotion);
done.push_back(motion2);
}
if (motionType == "Angular") {
auto ASMTmotion = CREATE<ASMTRotationalMotion>::With();
ASMTmotion->setName(joint->getFullName() + "-AngularMotion");
ASMTmotion->setMarkerI(fullMarkerNameI);
ASMTmotion->setMarkerJ(fullMarkerNameJ);
ASMTmotion->setRotationZ(formula);
mbdAssembly->addMotion(ASMTmotion);
}
else if (motionType == "Linear") {
auto ASMTmotion = CREATE<ASMTTranslationalMotion>::With();
ASMTmotion->setName(joint->getFullName() + "-LinearMotion");
ASMTmotion->setMarkerI(fullMarkerNameI);
ASMTmotion->setMarkerJ(fullMarkerNameJ);
ASMTmotion->setTranslationZ(formula);
mbdAssembly->addMotion(ASMTmotion);
}
}
return {mbdJoint};
}
@@ -1565,7 +1774,7 @@ AssemblyObject::MbDPartData AssemblyObject::getMbDData(App::DocumentObject* part
MbDPartData data = {mbdPart, Base::Placement()};
objectPartMap[part] = data; // Store the association
// Associate other objects conneted with fixed joints
// Associate other objects connected with fixed joints
if (bundleFixed) {
auto addConnectedFixedParts = [&](App::DocumentObject* currentPart, auto& self) -> void {
std::vector<App::DocumentObject*> joints = getJointsOfPart(currentPart);