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MBDynCase.mbd MBDyn file working

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This commit is contained in:
Aik-Siong Koh
2023-10-16 11:28:33 -06:00
parent 84cb979354
commit 0b07ff126a
20 changed files with 723 additions and 57 deletions
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14
OndselSolver/ASMTRotationalMotion.cpp
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@@ -5,7 +5,7 @@
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "ASMTRotationalMotion.h"
#include "ASMTAssembly.h"
#include "SymbolicParser.h"
@@ -42,9 +42,15 @@ void MbD::ASMTRotationalMotion::readRotationZ(std::vector<std::string>& lines)
void MbD::ASMTRotationalMotion::initMarkers()
{
auto jt = root()->jointAt(motionJoint);
markerI = jt->markerI;
markerJ = jt->markerJ;
if (motionJoint == "") {
assert(markerI != "");
assert(markerJ != "");
}
else {
auto jt = root()->jointAt(motionJoint);
markerI = jt->markerI;
markerJ = jt->markerJ;
}
}
void MbD::ASMTRotationalMotion::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)

24
OndselSolver/AccNewtonRaphson.cpp
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@@ -6,12 +6,15 @@
* See LICENSE file for details about copyright. *
***************************************************************************/
#include <iostream>
#include "AccNewtonRaphson.h"
#include "SystemSolver.h"
#include "Part.h"
#include "Constraint.h"
#include "SimulationStoppingError.h"
#include <iostream>
#include "GESpMatParPvPrecise.h"
#include "CREATE.h"
using namespace MbD;
@@ -120,3 +123,22 @@ void AccNewtonRaphson::preRun()
{
system->partsJointsMotionsForcesTorquesDo([&](std::shared_ptr<Item> item) { item->preAccIC(); });
}
void MbD::AccNewtonRaphson::handleSingularMatrix()
{
std::string str = typeid(*matrixSolver).name();
if (str.find("GESpMatParPvMarkoFast") != std::string::npos) {
matrixSolver = CREATE<GESpMatParPvPrecise>::With();
this->solveEquations();
}
else {
str = typeid(*matrixSolver).name();
if (str.find("GESpMatParPvPrecise") != std::string::npos) {
this->logSingularMatrixMessage();
matrixSolver->throwSingularMatrixError("AccAccNewtonRaphson");
}
else {
assert(false);
}
}
}

1
OndselSolver/AccNewtonRaphson.h
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@@ -25,6 +25,7 @@ namespace MbD {
void passRootToSystem();
void postRun() override;
void preRun() override;
void handleSingularMatrix() override;
};

6
OndselSolver/Array.h
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@@ -43,6 +43,7 @@ namespace MbD {
void equalArrayAt(std::shared_ptr<Array<T>> array, int i);
virtual void atiput(int i, T value);
void magnifySelf(T factor);
void negateSelf();
void atitimes(int i, double factor);
virtual std::ostream& printOn(std::ostream& s) const {
@@ -172,6 +173,11 @@ namespace MbD {
}
}
template<typename T>
inline void Array<T>::negateSelf()
{
magnifySelf(-1);
}
template<typename T>
inline void Array<T>::atitimes(int i, double factor)
{
this->at(i) *= factor;

21
OndselSolver/DiagonalMatrix.h
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@@ -5,7 +5,7 @@
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "Array.h"
@@ -24,10 +24,11 @@ namespace MbD {
{
//
public:
DiagonalMatrix() : Array<T>() {}
DiagonalMatrix(int count) : Array<T>(count) {}
DiagonalMatrix(int count, const T& value) : Array<T>(count, value) {}
DiagonalMatrix(std::initializer_list<T> list) : Array<T>{ list } {}
void atiputDiagonalMatrix(int i, std::shared_ptr < DiagonalMatrix<T>> diagMat);
void atiputDiagonalMatrix(int i, std::shared_ptr<DiagonalMatrix<T>> diagMat);
DiagMatsptr<T> times(T factor);
FColsptr<T> timesFullColumn(FColsptr<T> fullCol);
FMatsptr<T> timesFullMatrix(FMatsptr<T> fullMat);
@@ -45,14 +46,6 @@ namespace MbD {
std::ostream& printOn(std::ostream& s) const override;
};
template<typename T>
inline void DiagonalMatrix<T>::atiputDiagonalMatrix(int i, DiagMatsptr<T> diagMat)
{
for (int ii = 0; ii < diagMat->size(); ii++)
{
this->at(i + ii) = diagMat->at(ii);
}
}
template<>
inline DiagMatDsptr DiagonalMatrix<double>::times(double factor)
{
@@ -65,6 +58,14 @@ namespace MbD {
return answer;
}
template<typename T>
inline void DiagonalMatrix<T>::atiputDiagonalMatrix(int i, std::shared_ptr<DiagonalMatrix<T>> diagMat)
{
for (int ii = 0; ii < diagMat->size(); ii++)
{
this->at(i + ii) = diagMat->at(ii);
}
}
template<typename T>
inline DiagMatsptr<T> DiagonalMatrix<T>::times(T factor)
{
assert(false);

1
OndselSolver/EulerParameters.h
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@@ -36,6 +36,7 @@ namespace MbD {
this->atiputFullColumn(0, axis->times(sinHalfTheta));
this->atiput(3, cosHalfTheta);
this->conditionSelf();
this->initialize();
this->calc();
}

40
OndselSolver/FullMatrix.h
View File

@@ -5,7 +5,7 @@
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "corecrt_math_defines.h"
@@ -29,7 +29,7 @@ namespace MbD {
class EulerParameters;
template<typename T>
class DiagonalMatrix;
using FMatFColDsptr = std::shared_ptr<FullMatrix<FColDsptr>>;
using FMatFMatDsptr = std::shared_ptr<FullMatrix<FMatDsptr>>;
using FColFMatDsptr = std::shared_ptr<FullColumn<FMatDsptr>>;
@@ -102,6 +102,7 @@ namespace MbD {
double maxMagnitude() override;
FColsptr<T> bryantAngles();
bool isDiagonal();
bool isDiagonalToWithin(double ratio);
std::shared_ptr<DiagonalMatrix<T>> asDiagonalMatrix();
void conditionSelfWithTol(double tol);
@@ -332,13 +333,13 @@ namespace MbD {
tilde->atijput(2, 1, c0);
return tilde;
}
template<>
inline void FullMatrix<double>::zeroSelf()
{
for (int i = 0; i < this->size(); i++) {
this->at(i)->zeroSelf();
}
}
template<>
inline void FullMatrix<double>::zeroSelf()
{
for (int i = 0; i < this->size(); i++) {
this->at(i)->zeroSelf();
}
}
template<>
inline void FullMatrix<double>::identity() {
this->zeroSelf();
@@ -680,6 +681,27 @@ namespace MbD {
return true;
}
template<typename T>
inline bool FullMatrix<T>::isDiagonalToWithin(double ratio)
{
auto maxMag = this->maxMagnitude();
auto tol = ratio * maxMag;
auto nrow = this->nrow();
if (nrow == this->ncol()) {
for (int i = 0; i < 3; i++)
{
for (int j = i + 1; j < 3; j++)
{
if (std::abs(this->at(i)->at(j)) > tol) return false;
if (std::abs(this->at(j)->at(i)) > tol) return false;
}
}
return true;
}
else {
return false;
}
}
template<typename T>
inline std::shared_ptr<DiagonalMatrix<T>> FullMatrix<T>::asDiagonalMatrix()
{
int nrow = this->nrow();

6
OndselSolver/GESpMatParPvPrecise.cpp
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@@ -29,7 +29,7 @@ void GESpMatParPvPrecise::doPivoting(int p)
while (lookForFirstNonZeroInPivotCol) {
spRowi = matrixA->at(i);
if (spRowi->find(p) == spRowi->end()) {
if (i <= p) throwSingularMatrixError("");
if (i <= p) throwSingularMatrixError("doPivoting");
}
else {
markowitzPivotColCount = 0;
@@ -71,7 +71,7 @@ void GESpMatParPvPrecise::doPivoting(int p)
if (aip != std::numeric_limits<double>::min()) rowPositionsOfNonZerosInPivotColumn->at(markowitzPivotColCount - 1) = rowPivoti;
}
pivotValues->at(p) = max;
if (max < singularPivotTolerance) throwSingularMatrixError("");
if (max < singularPivotTolerance) throwSingularMatrixError("doPivoting");
}
void GESpMatParPvPrecise::preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal)
@@ -97,7 +97,7 @@ void GESpMatParPvPrecise::preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr f
{
auto& spRowi = spMat->at(i);
auto maxRowMagnitude = spRowi->maxMagnitude();
if (maxRowMagnitude == 0) throwSingularMatrixError("");
if (maxRowMagnitude == 0) throwSingularMatrixError("preSolvewithsaveOriginal");
rowScalings->at(i) = 1.0 / maxRowMagnitude;
matrixA->at(i) = spRowi->conditionedWithTol(singularPivotTolerance * maxRowMagnitude);
rowOrder->at(i) = i;

28
OndselSolver/MBDynBody.cpp
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@@ -5,6 +5,7 @@
#include "BasicUserFunction.h"
#include "ASMTPart.h"
#include "ASMTAssembly.h"
#include "MomentOfInertiaSolver.h"
using namespace MbD;
@@ -85,10 +86,25 @@ void MbD::MBDynBody::createASMT()
auto asmtMassMarker = std::make_shared<ASMTPrincipalMassMarker>();
asmtItem = asmtMassMarker;
asmtMassMarker->setMass(mass);
assert(aJmat->isDiagonal());
asmtMassMarker->setMomentOfInertias(aJmat->asDiagonalMatrix());
asmtMassMarker->setPosition3D(rPcmP);
asmtMassMarker->setRotationMatrix(FullMatrix<double>::identitysptr(3));
auto asmtPart = asmtAssembly()->partPartialNamed(nodeName);
asmtPart->setPrincipalMassMarker(asmtMassMarker);
if (aJmat->isDiagonalToWithin(1.0e-6)) {
asmtMassMarker->setMomentOfInertias(aJmat->asDiagonalMatrix());
asmtMassMarker->setPosition3D(rPcmP);
asmtMassMarker->setRotationMatrix(FullMatrix<double>::identitysptr(3));
auto asmtPart = asmtAssembly()->partPartialNamed(nodeName);
asmtPart->setPrincipalMassMarker(asmtMassMarker);
}
else {
auto solver = std::make_shared<MomentOfInertiaSolver>();
solver->setm(mass);
solver->setJPP(aJmat);
solver->setrPoP(rPcmP);
solver->setAPo(FullMatrix<double>::identitysptr(3));
solver->setrPcmP(rPcmP);
solver->calc();
asmtMassMarker->setMomentOfInertias(solver->aJpp);
asmtMassMarker->setPosition3D(rPcmP);
asmtMassMarker->setRotationMatrix(solver->aAPp);
auto asmtPart = asmtAssembly()->partPartialNamed(nodeName);
asmtPart->setPrincipalMassMarker(asmtMassMarker);
}
}

2
OndselSolver/MBDynCase.mbd
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@@ -23,7 +23,7 @@
begin: initial value;
initial time: 0.0;
final time: 8.0;
time step: 0.01;
time step: 0.1;
max iterations: 100;
tolerance: 1e-06;
derivatives tolerance: 0.0001;

324
OndselSolver/MBDynCase.mov Normal file
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@@ -0,0 +1,324 @@
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
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1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894122 -4.336808689942018e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894122 -4.336808689942018e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894122 -4.336808689942018e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894122 -4.336808689942018e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0
1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894122 -4.336808689942018e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0
3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0
4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0

15
OndselSolver/MBDynJoint.cpp
View File

@@ -9,6 +9,7 @@
#include "ASMTPointInLineJoint.h"
#include "ASMTNoRotationJoint.h"
#include "ASMTFixedJoint.h"
#include "ASMTSphericalJoint.h"
using namespace MbD;
@@ -219,9 +220,23 @@ void MbD::MBDynJoint::createASMT()
asmtAsm->addMotion(asmtMotion);
return;
}
if (joint_type == "drive hinge") {
auto asmtAsm = asmtAssembly();
auto asmtMotion = std::make_shared<ASMTRotationalMotion>();
asmtItem = asmtMotion;
asmtMotion->setName(name);
asmtMotion->setMarkerI(mkr1->asmtItem->fullName(""));
asmtMotion->setMarkerJ(mkr2->asmtItem->fullName(""));
asmtMotion->setRotationZ(formula);
asmtAsm->addMotion(asmtMotion);
return;
}
if (joint_type == "revolute hinge") {
asmtJoint = std::make_shared<ASMTRevoluteJoint>();
}
else if (joint_type == "spherical hinge") {
asmtJoint = std::make_shared<ASMTSphericalJoint>();
}
else if (joint_type == "in line") {
asmtJoint = std::make_shared<ASMTPointInLineJoint>();
}

266
OndselSolver/MomentOfInertiaSolver.cpp
View File

@@ -1,6 +1,7 @@
#include "MomentOfInertiaSolver.h"
#include "EulerParameters.h"
#include <iostream>
#include <algorithm>
using namespace MbD;
@@ -13,8 +14,8 @@ void MbD::MomentOfInertiaSolver::example1()
});
auto rpPp = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 1 });
auto axis = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 1 });
auto aApP = std::make_shared<EulerParameters<double>>(axis, 0.1)->aA;
auto rotAxis = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 1 });
auto aApP = std::make_shared<EulerParameters<double>>(rotAxis, M_PI*10/180)->aA;
auto solver = std::make_shared<MomentOfInertiaSolver>();
solver->setm(4.0);
solver->setJPP(aJpp);
@@ -24,10 +25,9 @@ void MbD::MomentOfInertiaSolver::example1()
solver->setrPcmP(rPcmP);
solver->calc();
auto aJPP = solver->getJoo();
std::cout << solver->getJoo();
std::cout << solver->getJpp();
std::cout << solver->getAPp();
std::cout << std::endl;
std::cout << *solver->getJoo() << std::endl;
std::cout << *solver->getJpp() << std::endl;
std::cout << *solver->getAPp() << std::endl;
solver->setm(4.0);
solver->setJPP(aJPP);
auto rPoP = aApP->transposeTimesFullColumn(rpPp->negated());
@@ -36,14 +36,59 @@ void MbD::MomentOfInertiaSolver::example1()
solver->setAPo(aAPo);
solver->setrPcmP(rPoP);
solver->calc();
std::cout << solver->getJoo();
std::cout << solver->getJpp();
std::cout << solver->getAPp();
std::cout << std::endl;
std::cout << *solver->getJoo() << std::endl;
std::cout << *solver->getJpp() << std::endl;
std::cout << *solver->getAPp() << std::endl;
}
void MbD::MomentOfInertiaSolver::doFullPivoting(int p)
{
auto max = 0.0;
auto pivotRow = p;
auto pivotCol = p;
for (int i = p; i < 3; i++)
{
auto rowi = aJcmPcopy->at(i);
for (int j = p; j < 3; j++)
{
auto aij = rowi->at(j);
if (aij != 0.0) {
auto mag = std::abs(aij);
if (mag > max) {
max = mag;
pivotRow = i;
pivotCol = j;
}
}
}
}
if (p != pivotRow) aJcmPcopy->swapElems(p, pivotRow);
if (p != pivotCol) {
for (auto& row : *aJcmPcopy) {
row->swapElems(p, pivotCol);
}
colOrder->swapElems(p, pivotCol);
}
}
void MbD::MomentOfInertiaSolver::forwardEliminateWithPivot(int p)
{
auto rowp = aJcmPcopy->at(p);
auto app = rowp->at(p);
for (int i = p + 1; i < 3; i++)
{
auto rowi = aJcmPcopy->at(i);
auto aip = rowi->at(p);
if (aip != 0) {
rowi->atiput(p, 0.0);
auto factor = aip / app;
for (int j = p + 1; j < 3; j++)
{
rowi->atiminusNumber(j, factor * rowp->at(j));
}
}
}
}
void MbD::MomentOfInertiaSolver::backSubstituteIntoDU()
@@ -111,7 +156,7 @@ FMatDsptr MbD::MomentOfInertiaSolver::getJoo()
return aJoo;
}
FMatDsptr MbD::MomentOfInertiaSolver::getJpp()
DiagMatDsptr MbD::MomentOfInertiaSolver::getJpp()
{
return aJpp;
}
@@ -150,8 +195,207 @@ void MbD::MomentOfInertiaSolver::calcJoo()
void MbD::MomentOfInertiaSolver::calcJpp()
{
//"aJcmP = aJPP + mass*(rPcmPTilde*rPcmPTilde)"
auto rPcmPtilde = FullMatrix<double>::tildeMatrix(rPcmP);
aJcmP = aJPP->plusFullMatrix(rPcmPtilde->timesFullMatrix(rPcmPtilde)->times(m));
aJcmP->symLowerWithUpper();
aJcmP->conditionSelfWithTol(aJcmP->maxMagnitude() * 1.0e-6);
if (aJcmP->isDiagonal()) {
calcJppFromDiagJcmP();
}
else {
calcJppFromFullJcmP();
}
}
void MbD::MomentOfInertiaSolver::calcAPp()
{
FColDsptr eigenvector1, eigenvector2, eigenvector0;
auto lam0 = aJpp->at(0);
auto lam1 = aJpp->at(1);
auto lam2 = aJpp->at(2);
if (lam0 == lam1) {
if (lam1 == lam2) {
aAPp = FullMatrix<double>::identitysptr(3);
}
else {
eigenvector1 = eigenvectorFor(lam1);
eigenvector2 = eigenvectorFor(lam2);
eigenvector1->normalizeSelf();
eigenvector2->normalizeSelf();
if (eigenvector1->at(1) < 0.0) eigenvector1->negateSelf();
if (eigenvector2->at(2) < 0.0) eigenvector2->negateSelf();
eigenvector0 = eigenvector1->cross(eigenvector2);
}
}
else {
eigenvector0 = eigenvectorFor(lam0);
eigenvector1 = eigenvectorFor(lam1);
eigenvector0->normalizeSelf();
eigenvector1->normalizeSelf();
if (eigenvector0->at(0) < 0.0) eigenvector0->negateSelf();
if (eigenvector1->at(1) < 0.0) eigenvector1->negateSelf();
eigenvector2 = eigenvector0->cross(eigenvector1);
}
aAPp = std::make_shared<FullMatrix<double>>(3, 3);
aAPp->atijputFullColumn(0, 0, eigenvector0);
aAPp->atijputFullColumn(0, 1, eigenvector1);
aAPp->atijputFullColumn(0, 2, eigenvector2);
}
FColDsptr MbD::MomentOfInertiaSolver::eigenvectorFor(double lam)
{
//"[aJcmP] - lam[I]."
double e0, e1, e2;
aJcmPcopy = aJcmP->copy();
colOrder = std::make_shared<FullRow<int>>(3);
auto eigenvector = std::make_shared<FullColumn<double>>(3);
for (int i = 0; i < 3; i++)
{
colOrder->atiput(i, i);
aJcmPcopy->atijminusNumber(i, i, lam);
}
for (int p = 0; p < 3; p++)
{
doFullPivoting(p);
forwardEliminateWithPivot(p);
}
auto row0 = aJcmPcopy->at(0);
auto row1 = aJcmPcopy->at(1);
auto row2 = aJcmPcopy->at(2);
auto norm0 = row0->length();
auto aaaa = row2->length();
if ((row2->length() / norm0) > 1.0e-5) throw std::runtime_error("3rd row should be very small.");
if ((row1->length() / norm0) > 1.0e-5) {
e2 = 1.0;
e1 = e2 * -row1->at(2) / row1->at(1);
e0 = -(e1 * row0->at(1) + e2 * row0->at(2)) / row0->at(0);
}
else {
//"Repeated roots."
e2 = 1.0;
e1 = 0.0;
e0 = -(e1 * row0->at(1) + e2 * row0->at(2)) / row0->at(0);
}
auto dum = std::make_shared<FullColumn<double>>(ListD{ e0, e1, e2 });
for (int i = 0; i < 3; i++)
{
eigenvector->atiput(colOrder->at(i), dum->at(i));
}
return eigenvector;
}
void MbD::MomentOfInertiaSolver::calcJppFromDiagJcmP()
{
//"Eigenvalues are orders from smallest to largest."
double average;
auto sortedJ = std::make_shared<DiagonalMatrix<double>>();
sortedJ->push_back(aJcmP->at(0)->at(0));
sortedJ->push_back(aJcmP->at(1)->at(1));
sortedJ->push_back(aJcmP->at(2)->at(2));
std::sort(sortedJ->begin(), sortedJ->end(), [](double a, double b) { return a < b; });
auto lam0 = sortedJ->at(0);
auto lam1 = sortedJ->at(1);
auto lam2 = sortedJ->at(2);
if (lam1 == 0 || std::abs((lam0 / lam1) - 1.0) < 1.0e-6) {
if (lam2 == 0 || std::abs((lam1 / lam2) - 1.0) < 1.0e-6) {
//"All are equal."
average = (lam0 + lam1 + lam2) / 3.0;
lam0 = average;
lam1 = average;
lam2 = average;
}
else {
//"lam0 = lam1"
average = (lam0 + lam1) / 2.0;
lam0 = average;
lam1 = average;
}
}
else {
if (std::abs(lam1 / lam2 - 1.0) < 1.0e-6) {
//"lam1 = lam2"
average = (lam1 + lam2) / 2.0;
lam1 = average;
lam2 = average;
}
}
aJpp = std::make_shared<DiagonalMatrix<double>>(ListD{ lam0, lam1, lam2 });
}
void MbD::MomentOfInertiaSolver::calcJppFromFullJcmP()
{
//"Eigenvalues are orders from smallest to largest."
//"Rounding error can be significant."
//"e.g. (diag 100.0d 100.0d 1.0d) gives only 8 digit accuracy."
double average;
auto a00 = aJcmP->at(0)->at(0);
auto a01 = aJcmP->at(0)->at(1);
auto a02 = aJcmP->at(0)->at(2);
auto a11 = aJcmP->at(1)->at(1);
auto a12 = aJcmP->at(1)->at(2);
auto a22 = aJcmP->at(2)->at(2);
auto a = -(a00 + a11 + a22);
auto b = a00 * a11 + (a00 * a22) + (a11 * a22) - (a01 * a01) - (a02 * a02) - (a12 * a12);
auto c = a00 * a12 * a12 + (a11 * a02 * a02) + (a22 * a01 * a01) - (a00 * a11 * a22) - (2.0 * a01 * a02 * a12);
auto aDiv3 = a / 3.0;
auto p = (b / 3.0) - (aDiv3 * aDiv3);
auto q = (c + (2.0 * aDiv3 * aDiv3 * aDiv3) - (aDiv3 * b)) / 2.0;
auto phiDiv3 = modifiedArcCos(-q / std::sqrt(-p * p * p)) / 3.0;
auto twoSqrtMinusp = 2.0 * std::sqrt(-p);
auto piDiv3 = M_PI / 3.0;
auto sortedJ = std::make_shared<DiagonalMatrix<double>>();
sortedJ->push_back(twoSqrtMinusp * std::cos(phiDiv3));
sortedJ->push_back(twoSqrtMinusp * -std::cos(phiDiv3 + piDiv3));
sortedJ->push_back(twoSqrtMinusp * -std::cos(phiDiv3 - piDiv3));
std::sort(sortedJ->begin(), sortedJ->end(), [](double a, double b) { return a < b; });
auto lam0 = sortedJ->at(0) - aDiv3;
auto lam1 = sortedJ->at(1) - aDiv3;
auto lam2 = sortedJ->at(2) - aDiv3;
if (lam1 == 0 || std::abs((lam0 / lam1) - 1.0) < 1.0e-6) {
if (lam2 == 0 || std::abs((lam1 / lam2) - 1.0) < 1.0e-6) {
//"All are equal."
average = (lam0 + lam1 + lam2) / 3.0;
lam0 = average;
lam1 = average;
lam2 = average;
}
else {
//"lam0 = lam1"
average = (lam0 + lam1) / 2.0;
lam0 = average;
lam1 = average;
}
}
else {
if (std::abs((lam1 / lam2) - 1.0) < 1.0e-6) {
//"lam1 = lam2"
average = (lam1 + lam2) / 2.0;
lam1 = average;
lam2 = average;
}
}
aJpp = std::make_shared<DiagonalMatrix<double>>(ListD{ lam0, lam1, lam2 });
}
double MbD::MomentOfInertiaSolver::modifiedArcCos(double val)
{
if (val > 1.0) {
return 0.0;
}
else {
if (val < -1.0) {
return M_PI;
}
else {
return std::acos(val);
}
}
}

11
OndselSolver/MomentOfInertiaSolver.h
View File

@@ -18,6 +18,7 @@ namespace MbD {
//aJoo == aJpp when rPoP == rPcmP and aAPo == aAPp
public:
static void example1();
void doFullPivoting(int p);
void forwardEliminateWithPivot(int p) override;
void backSubstituteIntoDU() override;
void postSolve() override;
@@ -34,16 +35,22 @@ namespace MbD {
void setAPo(FMatDsptr mat);
void setrPcmP(FColDsptr col);
FMatDsptr getJoo();
FMatDsptr getJpp();
DiagMatDsptr getJpp();
FMatDsptr getAPp();
void calc();
void calcJoo();
void calcJpp();
void calcAPp();
FColDsptr eigenvectorFor(double lam);
void calcJppFromDiagJcmP();
void calcJppFromFullJcmP();
double modifiedArcCos(double val);
double m;
FMatDsptr aJPP, aJoo, aAPo, aJcmP, aJcmPcopy, aJpp, aAPp;
FMatDsptr aJPP, aJoo, aAPo, aJcmP, aJcmPcopy, aAPp;
FColDsptr rPoP, rPcmP;
DiagMatDsptr aJpp;
std::shared_ptr<FullRow<int>> colOrder;
};

7
OndselSolver/OndselSolver.cpp
View File

@@ -18,18 +18,18 @@
#include "GESpMatParPvPrecise.h"
#include "ASMTAssembly.h"
#include "MBDynSystem.h"
#include "MomentOfInertiaSolver.h"
using namespace MbD;
void runSpMat();
int main()
{
//MBDynSystem::runFile("MBDynCase.mbd"); //To be completed
MBDynSystem::runFile("MBDynCase.mbd"); //To be completed
MBDynSystem::runFile("crank_slider.mbd"); //To be completed
//ASMTAssembly::runSinglePendulumSuperSimplified(); //Mass is missing
//ASMTAssembly::runSinglePendulumSuperSimplified2(); //DOF has infinite acceleration due to zero mass and inertias
//ASMTAssembly::runSinglePendulumSimplified();
ASMTAssembly::runSinglePendulumSimplified();
ASMTAssembly::runSinglePendulum();
ASMTAssembly::runFile("piston.asmt");
ASMTAssembly::runFile("00backhoe.asmt");
@@ -46,6 +46,7 @@ int main()
//cadSystem->runOndselPiston(); //For debugging
cadSystem->runPiston();
runSpMat();
MomentOfInertiaSolver::example1();
}
void runSpMat() {

5
OndselSolver/Solver.cpp
View File

@@ -69,3 +69,8 @@ void Solver::logString(const char* chars)
std::string str = chars;
this->logString(str);
}
void MbD::Solver::handleSingularMatrix()
{
assert(false);
}

1
OndselSolver/Solver.h
View File

@@ -28,6 +28,7 @@ namespace MbD {
virtual void logString(std::string& str);
void logString(const char* chars);
virtual void setSystem(Solver* sys) = 0;
virtual void handleSingularMatrix();
};
}

5
OndselSolver/VectorNewtonRaphson.cpp
View File

@@ -77,8 +77,3 @@ void VectorNewtonRaphson::xEqualxoldPlusdx()
{
x = xold->plusFullColumn(dx);
}
void VectorNewtonRaphson::handleSingularMatrix()
{
assert(false);
}

1
OndselSolver/VectorNewtonRaphson.h
View File

@@ -27,7 +27,6 @@ namespace MbD {
bool isConverged() override;
void xEqualxoldPlusdx() override;
virtual void basicSolveEquations() = 0;
virtual void handleSingularMatrix();
std::shared_ptr<MatrixSolver> matrixSolver;
int n;

2
OndselSolver/VelSolver.h
View File

@@ -23,7 +23,7 @@ namespace MbD {
//system n x errorVector jacobian matrixSolver
public:
void basicSolveEquations();
void handleSingularMatrix();
void handleSingularMatrix() override;
void logSingularMatrixMessage();
std::shared_ptr<MatrixSolver> matrixSolverClassNew();
void solveEquations();