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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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202
testapp/CylSphJt.asmt Normal file
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@@ -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
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@@ -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
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@@ -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
View File

@@ -0,0 +1,200 @@
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