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CompoundJoints debugged

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This commit is contained in:
Aik-Siong Koh
2023-12-12 14:49:58 -07:00
parent 56bba4e921
commit 2bb83b82c0
32 changed files with 1078 additions and 311 deletions
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8
OndselSolver/ASMTAssembly.cpp
View File

@@ -718,6 +718,7 @@ void MbD::ASMTAssembly::readAnimationParameters(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readTimeSeries(std::vector<std::string>& lines)
{
if (lines.empty()) return;
assert(lines[0] == "TimeSeries");
lines.erase(lines.begin());
assert(lines[0].find("Number\tInput") != std::string::npos);
@@ -727,6 +728,7 @@ void MbD::ASMTAssembly::readTimeSeries(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readTimes(std::vector<std::string>& lines)
{
if (lines.empty()) return;
std::string str = lines[0];
std::string substr = "Time\tInput";
auto pos = str.find(substr);
@@ -739,6 +741,7 @@ void MbD::ASMTAssembly::readTimes(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readPartSeriesMany(std::vector<std::string>& lines)
{
if (lines.empty()) return;
assert(lines[0].find("PartSeries") != std::string::npos);
auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) {
return s.find("JointSeries") != std::string::npos;
@@ -752,6 +755,7 @@ void MbD::ASMTAssembly::readPartSeriesMany(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readJointSeriesMany(std::vector<std::string>& lines)
{
if (lines.empty()) return;
assert(lines[0].find("JointSeries") != std::string::npos);
auto it = std::find_if(lines.begin(), lines.end(), [](const std::string& s) {
return s.find("MotionSeries") != std::string::npos;
@@ -765,6 +769,7 @@ void MbD::ASMTAssembly::readJointSeriesMany(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readAssemblySeries(std::vector<std::string>& lines)
{
if (lines.empty()) return;
std::string str = lines[0];
std::string substr = "AssemblySeries";
auto pos = str.find(substr);
@@ -796,6 +801,7 @@ void MbD::ASMTAssembly::readAssemblySeries(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readPartSeries(std::vector<std::string>& lines)
{
if (lines.empty()) return;
std::string str = lines[0];
std::string substr = "PartSeries";
auto pos = str.find(substr);
@@ -811,6 +817,7 @@ void MbD::ASMTAssembly::readPartSeries(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readJointSeries(std::vector<std::string>& lines)
{
if (lines.empty()) return;
std::string str = lines[0];
std::string substr = "JointSeries";
auto pos = str.find(substr);
@@ -834,6 +841,7 @@ void MbD::ASMTAssembly::readMotionSeriesMany(std::vector<std::string>& lines)
void MbD::ASMTAssembly::readMotionSeries(std::vector<std::string>& lines)
{
if (lines.empty()) return;
std::string str = lines[0];
std::string substr = "MotionSeries";
auto pos = str.find(substr);

4
OndselSolver/ASMTSpatialContainer.cpp
View File

@@ -333,7 +333,7 @@ void MbD::ASMTSpatialContainer::updateFromMbD()
auto mbdPart = std::static_pointer_cast<Part>(mbdObject);
auto rOcmO = mbdPart->qX()->times(mbdUnts->length);
auto aAOp = mbdPart->aAOp();
std::cout << "aAOp" << *aAOp << std::endl;
//std::cout << "aAOp" << *aAOp << std::endl;
auto vOcmO = mbdPart->qXdot()->times(mbdUnts->velocity);
auto omeOPO = mbdPart->omeOpO()->times(mbdUnts->omega);
omega3D = omeOPO;
@@ -356,7 +356,7 @@ void MbD::ASMTSpatialContainer::updateFromMbD()
bryxs->push_back(bryantAngles->at(0));
bryys->push_back(bryantAngles->at(1));
bryzs->push_back(bryantAngles->at(2));
std::cout << "bry " << *bryantAngles << std::endl;
//std::cout << "bry " << *bryantAngles << std::endl;
vxs->push_back(vOPO->at(0));
vys->push_back(vOPO->at(1));
vzs->push_back(vOPO->at(2));

5
OndselSolver/ConstVelConstraintIJ.cpp
View File

@@ -21,7 +21,10 @@ std::shared_ptr<ConstVelConstraintIJ> MbD::ConstVelConstraintIJ::With(EndFrmsptr
{
assert(frmi->isEndFrameqc());
assert(frmj->isEndFrameqc());
return std::make_shared<ConstVelConstraintIqcJqc>(frmi, frmj);
auto constVelCon = std::make_shared<ConstVelConstraintIqcJqc>(frmi, frmj);
constVelCon->initA01IeJe();
constVelCon->initA10IeJe();
return constVelCon;
}
void ConstVelConstraintIJ::calcPostDynCorrectorIteration()

22
OndselSolver/ConstantVelocityJoint.cpp
View File

@@ -21,17 +21,17 @@ MbD::ConstantVelocityJoint::ConstantVelocityJoint()
MbD::ConstantVelocityJoint::ConstantVelocityJoint(const char* str) : AtPointJoint(str)
{
}
void MbD::ConstantVelocityJoint::initializeLocally()
{
if (!constraints->empty())
{
auto constraint = std::static_pointer_cast<ConstVelConstraintIJ>(constraints->back());
constraint->initA01IeJe();
constraint->initA10IeJe();
}
Joint::initializeLocally();
}
//
//void MbD::ConstantVelocityJoint::initializeLocally()
//{
// if (!constraints->empty())
// {
// auto constraint = std::static_pointer_cast<ConstVelConstraintIJ>(constraints->back());
// constraint->initA01IeJe();
// constraint->initA10IeJe();
// }
// Joint::initializeLocally();
//}
void MbD::ConstantVelocityJoint::initializeGlobally()
{

2
OndselSolver/ConstantVelocityJoint.h
View File

@@ -17,7 +17,7 @@ namespace MbD {
public:
ConstantVelocityJoint();
ConstantVelocityJoint(const char* str);
void initializeLocally() override;
//void initializeLocally() override;
void initializeGlobally() override;
void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override;

2
OndselSolver/CylSphJoint.cpp
View File

@@ -25,7 +25,7 @@ void MbD::CylSphJoint::initializeGlobally()
{
if (constraints->empty())
{
auto distxyIJ = CREATE<DistancexyConstraintIJ>::With(frmI, frmJ);
auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ);
distxyIJ->setConstant(distanceIJ);
addConstraint(distxyIJ);
this->root()->hasChanged = true;

2
OndselSolver/DistIeqcJec.cpp
View File

@@ -25,7 +25,7 @@ void MbD::DistIeqcJec::calcPrivate()
if (rIeJe == 0.0) return;
auto frmIeqc = std::static_pointer_cast<EndFrameqc>(frmI);
auto& mprIeJeOpEI = frmIeqc->prOeOpE;
auto mprIeJeOpEIT = mprIeJeOpEI->transpose();
mprIeJeOpEIT = mprIeJeOpEI->transpose();
auto& mpprIeJeOpEIpEI = frmIeqc->pprOeOpEpE;
auto muIeJeOT = muIeJeO->transpose();
prIeJepXI = muIeJeOT;

11
OndselSolver/DistanceConstraintIJ.cpp
View File

@@ -7,6 +7,8 @@
***************************************************************************/
#include "DistanceConstraintIJ.h"
#include "DistanceConstraintIqcJqc.h"
#include "EndFrameqc.h"
using namespace MbD;
@@ -14,6 +16,15 @@ MbD::DistanceConstraintIJ::DistanceConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj
{
}
std::shared_ptr<DistanceConstraintIJ> MbD::DistanceConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj)
{
assert(frmi->isEndFrameqc());
assert(frmj->isEndFrameqc());
auto distCon = std::make_shared<DistanceConstraintIqcJqc>(frmi, frmj);
distCon->init_distIeJe();
return distCon;
}
void MbD::DistanceConstraintIJ::calcPostDynCorrectorIteration()
{
aG = distIeJe->value() - aConstant;

2
OndselSolver/DistanceConstraintIJ.h
View File

@@ -18,6 +18,8 @@ namespace MbD {
public:
DistanceConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj);
static std::shared_ptr<DistanceConstraintIJ> With(EndFrmsptr frmi, EndFrmsptr frmj);
void calcPostDynCorrectorIteration() override;
virtual void init_distIeJe();
void initialize() override;

11
OndselSolver/DistancexyConstraintIJ.cpp
View File

@@ -7,6 +7,8 @@
***************************************************************************/
#include "DistancexyConstraintIJ.h"
#include "DistancexyConstraintIqcJqc.h"
#include "EndFrameqc.h"
using namespace MbD;
@@ -14,6 +16,15 @@ MbD::DistancexyConstraintIJ::DistancexyConstraintIJ(EndFrmsptr frmi, EndFrmsptr
{
}
std::shared_ptr<DistancexyConstraintIJ> MbD::DistancexyConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj)
{
assert(frmi->isEndFrameqc());
assert(frmj->isEndFrameqc());
auto distxyCon = std::make_shared<DistancexyConstraintIqcJqc>(frmi, frmj);
distxyCon->init_xyIeJeIe();
return distxyCon;
}
void MbD::DistancexyConstraintIJ::calcPostDynCorrectorIteration()
{
auto x = xIeJeIe->value();

2
OndselSolver/DistancexyConstraintIJ.h
View File

@@ -18,6 +18,8 @@ namespace MbD {
public:
DistancexyConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj);
static std::shared_ptr<DistancexyConstraintIJ> With(EndFrmsptr frmi, EndFrmsptr frmj);
void calcPostDynCorrectorIteration() override;
virtual void init_xyIeJeIe();
void initialize() override;

4
OndselSolver/DistancexyConstraintIqcJqc.cpp
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@@ -13,6 +13,10 @@
using namespace MbD;
MbD::DistancexyConstraintIqcJqc::DistancexyConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj) : DistancexyConstraintIqcJc(frmi, frmj)
{
}
void MbD::DistancexyConstraintIqcJqc::calc_pGpXJ()
{
pGpXJ = (xIeJeIe->pvaluepXJ()->times(xIeJeIe->value())->plusFullRow(yIeJeIe->pvaluepXJ()->times(yIeJeIe->value())));

2
OndselSolver/DistancexyConstraintIqcJqc.h
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@@ -15,6 +15,8 @@ namespace MbD {
{
//pGpXJ pGpEJ ppGpXIpXJ ppGpEIpXJ ppGpXJpXJ ppGpXIpEJ ppGpEIpEJ ppGpXJpEJ ppGpEJpEJ iqXJ iqEJ
public:
DistancexyConstraintIqcJqc(EndFrmsptr frmi, EndFrmsptr frmj);
void calc_pGpXJ();
void calc_pGpEJ();
void calc_ppGpXIpXJ();

4
OndselSolver/GearConstraintIJ.cpp
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@@ -20,7 +20,9 @@ std::shared_ptr<GearConstraintIJ> MbD::GearConstraintIJ::With(EndFrmsptr frmi, E
{
assert(frmi->isEndFrameqc());
assert(frmj->isEndFrameqc());
return std::make_shared<GearConstraintIqcJqc>(frmi, frmj);
auto gearCon = std::make_shared<GearConstraintIqcJqc>(frmi, frmj);
gearCon->initorbitsIJ();
return gearCon;
}
void MbD::GearConstraintIJ::calcPostDynCorrectorIteration()

20
OndselSolver/GearJoint.cpp
View File

@@ -20,16 +20,16 @@ MbD::GearJoint::GearJoint()
MbD::GearJoint::GearJoint(const char*)
{
}
void MbD::GearJoint::initializeLocally()
{
if (!constraints->empty())
{
auto constraint = std::static_pointer_cast<GearConstraintIJ>(constraints->back());
constraint->initorbitsIJ();
}
Joint::initializeLocally();
}
//
//void MbD::GearJoint::initializeLocally()
//{
// if (!constraints->empty())
// {
// auto constraint = std::static_pointer_cast<GearConstraintIJ>(constraints->back());
// constraint->initorbitsIJ();
// }
// Joint::initializeLocally();
//}
void MbD::GearJoint::initializeGlobally()
{

2
OndselSolver/GearJoint.h
View File

@@ -18,7 +18,7 @@ namespace MbD {
GearJoint();
GearJoint(const char* str);
void initializeLocally() override;
//void initializeLocally() override;
void initializeGlobally() override;
double radiusI = 0.0, radiusJ = 0.0, aConstant = 0.0;

4
OndselSolver/MBDynClampJoint.h
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@@ -17,8 +17,8 @@ namespace MbD {
public:
void parseMBDyn(std::string line) override;
void createASMT() override;
void readMarkerI(std::vector<std::string>& args);
void readMarkerJ(std::vector<std::string>& args);
void readMarkerI(std::vector<std::string>& args) override;
void readMarkerJ(std::vector<std::string>& args) override;
std::shared_ptr<ASMTJoint> asmtClassNew() override;
};
}

4
OndselSolver/MBDynTotalJoint.h
View File

@@ -14,8 +14,8 @@ namespace MbD {
{
public:
void parseMBDyn(std::string line) override;
void readMarkerI(std::vector<std::string>& args);
void readMarkerJ(std::vector<std::string>& args);
void readMarkerI(std::vector<std::string>& args) override;
void readMarkerJ(std::vector<std::string>& args) override;
void readPositionConstraints(std::vector<std::string>& args);
void readOrientationConstraints(std::vector<std::string>& args);
void readPositionFormulas(std::vector<std::string>& args);

8
OndselSolver/RackPinConstraintIJ.cpp
View File

@@ -8,6 +8,7 @@
#include "RackPinConstraintIJ.h"
#include "RackPinConstraintIqcJqc.h"
#include "EndFrameqc.h"
using namespace MbD;
@@ -17,7 +18,12 @@ MbD::RackPinConstraintIJ::RackPinConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj)
std::shared_ptr<RackPinConstraintIJ> MbD::RackPinConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj)
{
return std::make_shared<RackPinConstraintIqcJqc>(frmi, frmj);
assert(frmi->isEndFrameqc());
assert(frmj->isEndFrameqc());
auto rackPinCon = std::make_shared<RackPinConstraintIqcJqc>(frmi, frmj);
rackPinCon->initxIeJeIe();
rackPinCon->initthezIeJe();
return rackPinCon;
}
void MbD::RackPinConstraintIJ::calcPostDynCorrectorIteration()

22
OndselSolver/RackPinJoint.cpp
View File

@@ -20,17 +20,17 @@ MbD::RackPinJoint::RackPinJoint()
MbD::RackPinJoint::RackPinJoint(const char* str) : Joint(str)
{
}
void MbD::RackPinJoint::initializeLocally()
{
if (!constraints->empty())
{
auto constraint = std::static_pointer_cast<RackPinConstraintIJ>(constraints->front());
constraint->initxIeJeIe();
constraint->initthezIeJe();
}
Joint::initializeLocally();
}
//
//void MbD::RackPinJoint::initializeLocally()
//{
// if (!constraints->empty())
// {
// auto constraint = std::static_pointer_cast<RackPinConstraintIJ>(constraints->front());
// constraint->initxIeJeIe();
// constraint->initthezIeJe();
// }
// Joint::initializeLocally();
//}
void MbD::RackPinJoint::initializeGlobally()
{

2
OndselSolver/RackPinJoint.h
View File

@@ -17,7 +17,7 @@ namespace MbD {
public:
RackPinJoint();
RackPinJoint(const char* str);
void initializeLocally() override;
//void initializeLocally() override;
void initializeGlobally() override;
void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override;

2
OndselSolver/RevCylJoint.cpp
View File

@@ -25,7 +25,7 @@ void MbD::RevCylJoint::initializeGlobally()
{
if (constraints->empty())
{
auto distxyIJ = CREATE<DistancexyConstraintIJ>::With(frmI, frmJ);
auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ);
distxyIJ->setConstant(distanceIJ);
addConstraint(distxyIJ);
addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));

8
OndselSolver/ScrewConstraintIJ.cpp
View File

@@ -10,6 +10,7 @@
#include "ScrewConstraintIJ.h"
#include "ScrewConstraintIqcJqc.h"
#include "EndFrameqc.h"
using namespace MbD;
@@ -19,7 +20,12 @@ MbD::ScrewConstraintIJ::ScrewConstraintIJ(EndFrmsptr frmi, EndFrmsptr frmj) : Co
std::shared_ptr<ScrewConstraintIJ> MbD::ScrewConstraintIJ::With(EndFrmsptr frmi, EndFrmsptr frmj)
{
return std::make_shared<ScrewConstraintIqcJqc>(frmi, frmj);
assert(frmi->isEndFrameqc());
assert(frmj->isEndFrameqc());
auto screwCon = std::make_shared<ScrewConstraintIqcJqc>(frmi, frmj);
screwCon->initzIeJeIe();
screwCon->initthezIeJe();
return screwCon;
}
void MbD::ScrewConstraintIJ::calcPostDynCorrectorIteration()

22
OndselSolver/ScrewJoint.cpp
View File

@@ -20,17 +20,17 @@ MbD::ScrewJoint::ScrewJoint()
MbD::ScrewJoint::ScrewJoint(const char* str) : Joint(str)
{
}
void MbD::ScrewJoint::initializeLocally()
{
if (!constraints->empty())
{
auto constraint = std::static_pointer_cast<ScrewConstraintIJ>(constraints->front());
constraint->initzIeJeIe();
constraint->initthezIeJe();
}
Joint::initializeLocally();
}
//
//void MbD::ScrewJoint::initializeLocally()
//{
// if (!constraints->empty())
// {
// auto constraint = std::static_pointer_cast<ScrewConstraintIJ>(constraints->front());
// constraint->initzIeJeIe();
// constraint->initthezIeJe();
// }
// Joint::initializeLocally();
//}
void MbD::ScrewJoint::initializeGlobally()
{

2
OndselSolver/ScrewJoint.h
View File

@@ -17,7 +17,7 @@ namespace MbD {
public:
ScrewJoint();
ScrewJoint(const char* str);
void initializeLocally() override;
//void initializeLocally() override;
void initializeGlobally() override;
void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override;

2
OndselSolver/SphSphJoint.cpp
View File

@@ -25,7 +25,7 @@ void MbD::SphSphJoint::initializeGlobally()
{
if (constraints->empty())
{
auto distxyIJ = CREATE<DistanceConstraintIJ>::With(frmI, frmJ);
auto distxyIJ = DistanceConstraintIJ::With(frmI, frmJ);
distxyIJ->setConstant(distanceIJ);
addConstraint(distxyIJ);
this->root()->hasChanged = true;

401
OndselSolver/assembly.asmt
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File diff suppressed because one or more lines are too long

202
testapp/CylSphJt.asmt Normal file
View File

@@ -0,0 +1,202 @@
OndselSolver
Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
Name
OndselAssembly
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
marker-part32#Body001
Position3D
-50.97707939147949 -6.651639938354492 5.976193904876709
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Parts
Part
Name
part32#Body001
Position3D
-50.97707939147949 -6.651639938354492 5.976193904876709
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1
MomentOfInertias
1 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
FixingMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
part32#Distance
Position3D
24.73092618997876 13.40888489553289 5
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Part
Name
part32#Body002
Position3D
58.55961227416992 25.54718399047852 23.1300048828125
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1
MomentOfInertias
1 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
part32#Distance
Position3D
-22.68139865429635 -16.64244751954205 5
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
part32#GroundedJoint
MarkerI
/OndselAssembly/marker-part32#Body001
MarkerJ
/OndselAssembly/part32#Body001/FixingMarker
CylSphJoint
Name
part32#CylSphJoint
MarkerI
/OndselAssembly/part32#Body001/part32#Distance
MarkerJ
/OndselAssembly/part32#Body002/part32#Distance
distanceIJ
2
Motions
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
1
hmin
1e-09
hmax
1000000000
hout
0.1
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30

3
testapp/OndselSolver.cpp
View File

@@ -26,6 +26,9 @@ void sharedptrTest();
int main()
{
ASMTAssembly::runFile("../testapp/RevCylJt.asmt");
ASMTAssembly::runFile("../testapp/CylSphJt.asmt");
ASMTAssembly::runFile("../testapp/SphSphJt.asmt");
//MBDynSystem::runFile("../testapp/MBDynCase(Cosine-half drive).mbd");
//MBDynSystem::runFile("../testapp/MBDynCase(Sine-forever drive).mbd");
MBDynSystem::runFile("../testapp/MBDynCase9orig.mbd"); //SimulationStoppingError

202
testapp/RevCylJt.asmt Normal file
View File

@@ -0,0 +1,202 @@
OndselSolver
Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
Name
OndselAssembly
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
marker-part32#Body001
Position3D
-50.97707939147949 -6.651639938354492 5.976193904876709
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Parts
Part
Name
part32#Body001
Position3D
-50.97707939147949 -6.651639938354492 5.976193904876709
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1
MomentOfInertias
1 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
FixingMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
part32#Distance
Position3D
24.73092618997876 13.40888489553289 5
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Part
Name
part32#Body002
Position3D
58.55961227416992 25.54718399047852 23.1300048828125
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1
MomentOfInertias
1 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
part32#Distance
Position3D
-22.68139865429635 -16.64244751954205 5
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
part32#GroundedJoint
MarkerI
/OndselAssembly/marker-part32#Body001
MarkerJ
/OndselAssembly/part32#Body001/FixingMarker
RevCylJoint
Name
part32#RevCylJoint
MarkerI
/OndselAssembly/part32#Body001/part32#Distance
MarkerJ
/OndselAssembly/part32#Body002/part32#Distance
distanceIJ
2
Motions
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
1
hmin
1e-09
hmax
1000000000
hout
0.1
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30

202
testapp/SphSphJt.asmt Normal file
View File

@@ -0,0 +1,202 @@
OndselSolver
Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
Name
OndselAssembly
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
marker-part32#Body001
Position3D
-50.97707939147949 -6.651639938354492 5.976193904876709
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Parts
Part
Name
part32#Body001
Position3D
-50.97707939147949 -6.651639938354492 5.976193904876709
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1
MomentOfInertias
1 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
FixingMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
part32#Distance
Position3D
24.73092618997876 13.40888489553289 5
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Part
Name
part32#Body002
Position3D
58.55961227416992 25.54718399047852 23.1300048828125
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1
MomentOfInertias
1 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
part32#Distance
Position3D
-22.68139865429635 -16.64244751954205 5
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
part32#GroundedJoint
MarkerI
/OndselAssembly/marker-part32#Body001
MarkerJ
/OndselAssembly/part32#Body001/FixingMarker
SphSphJoint
Name
part32#SphSphJoint
MarkerI
/OndselAssembly/part32#Body001/part32#Distance
MarkerJ
/OndselAssembly/part32#Body002/part32#Distance
distanceIJ
2
Motions
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
1
hmin
1e-09
hmax
1000000000
hout
0.1
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30

200
testapp/part32.asmt Normal file
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OndselSolver
Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
Name
OndselAssembly
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
marker-part32#Body001
Position3D
-50.97707939147949 -6.651639938354492 5.976193904876709
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Parts
Part
Name
part32#Body001
Position3D
-50.97707939147949 -6.651639938354492 5.976193904876709
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1
MomentOfInertias
1 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
FixingMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
part32#Slider
Position3D
15.997032 -6.973144 5
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Part
Name
part32#Body002
Position3D
-52.32045548863208 -15.58438009010746 23.1300048828125
RotationMatrix
0.8660254037844387 -0.4999999999999999 0
0.4999999999999999 0.8660254037844387 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1
MomentOfInertias
1 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
part32#Slider
Position3D
15.997032 -6.973144000000001 5
RotationMatrix
-0.8660254037844388 -0.4999999999999999 0
0.4999999999999999 -0.8660254037844388 0
0 0 1
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
part32#GroundedJoint
MarkerI
/OndselAssembly/marker-part32#Body001
MarkerJ
/OndselAssembly/part32#Body001/FixingMarker
TranslationalJoint
Name
part32#TranJoint
MarkerI
/OndselAssembly/part32#Body001/part32#Slider
MarkerJ
/OndselAssembly/part32#Body002/part32#Slider
Motions
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
1
hmin
1e-09
hmax
1000000000
hout
0.1
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30