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Merge pull request #58 from Ondsel-Development/dragging.log

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Dragging.log
This commit is contained in:
PaddleStroke
2024-04-26 17:12:37 +02:00
committed by GitHub
parent 041fa1c692 fb4d7daae2
commit 2d71435110
131 changed files with 583 additions and 52946 deletions
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1
.gitignore vendored
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@@ -39,3 +39,4 @@ assembly.asmt
build
cmake-build-debug
.idea
temp/

87
CMakeLists.txt
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@@ -25,21 +25,14 @@ endif()
set(ONDSELSOLVER_SRC
OndselSolver/AllowZRotation.cpp
OndselSolver/AllowZRotationConstraintIqctJqc.cpp
OndselSolver/ASMTAllowRotation.cpp
OndselSolver/Array.cpp
OndselSolver/FullVector.cpp
OndselSolver/RowTypeMatrix.cpp
OndselSolver/FullColumn.cpp
OndselSolver/FullMatrix.cpp
OndselSolver/FullRow.cpp
OndselSolver/Abs.cpp
OndselSolver/AbsConstraint.cpp
OndselSolver/AccICKineNewtonRaphson.cpp
OndselSolver/AccICNewtonRaphson.cpp
OndselSolver/AccKineNewtonRaphson.cpp
OndselSolver/AccNewtonRaphson.cpp
OndselSolver/AllowZRotation.cpp
OndselSolver/AllowZRotationConstraintIqctJqc.cpp
OndselSolver/AngleJoint.cpp
OndselSolver/AngleZConstraintIJ.cpp
OndselSolver/AngleZConstraintIqcJc.cpp
@@ -53,6 +46,8 @@ set(ONDSELSOLVER_SRC
OndselSolver/ArcTan.cpp
OndselSolver/ArcTan2.cpp
OndselSolver/Arguments.cpp
OndselSolver/Array.cpp
OndselSolver/ASMTAllowRotation.cpp
OndselSolver/ASMTAngleJoint.cpp
OndselSolver/ASMTAnimationParameters.cpp
OndselSolver/ASMTAssembly.cpp
@@ -192,7 +187,11 @@ set(ONDSELSOLVER_SRC
OndselSolver/FixedJoint.cpp
OndselSolver/ForceTorqueData.cpp
OndselSolver/ForceTorqueItem.cpp
OndselSolver/FullColumn.cpp
OndselSolver/FullMatrix.cpp
OndselSolver/FullMotion.cpp
OndselSolver/FullRow.cpp
OndselSolver/FullVector.cpp
OndselSolver/Function.cpp
OndselSolver/FunctionFromData.cpp
OndselSolver/FunctionWithManyArgs.cpp
@@ -245,31 +244,6 @@ set(ONDSELSOLVER_SRC
OndselSolver/MatrixSolver.cpp
OndselSolver/MaximumIterationError.cpp
OndselSolver/MbDMath.cpp
OndselSolver/MBDynAxialRotationJoint.cpp
OndselSolver/MBDynClampJoint.cpp
OndselSolver/MBDynDriveHingeJoint.cpp
OndselSolver/MBDynInLineJoint.cpp
OndselSolver/MBDynInPlaneJoint.cpp
OndselSolver/MBDynPrismaticJoint.cpp
OndselSolver/MBDynRevoluteHingeJoint.cpp
OndselSolver/MBDynRevolutePinJoint.cpp
OndselSolver/MBDynSphericalHingeJoint.cpp
OndselSolver/MBDynTotalJoint.cpp
OndselSolver/MBDynBlock.cpp
OndselSolver/MBDynBody.cpp
OndselSolver/MBDynControlData.cpp
OndselSolver/MBDynData.cpp
OndselSolver/MBDynDrive.cpp
OndselSolver/MBDynElement.cpp
OndselSolver/MBDynGravity.cpp
OndselSolver/MBDynInitialValue.cpp
OndselSolver/MBDynItem.cpp
OndselSolver/MBDynJoint.cpp
OndselSolver/MBDynMarker.cpp
OndselSolver/MBDynNode.cpp
OndselSolver/MBDynReference.cpp
OndselSolver/MBDynStructural.cpp
OndselSolver/MBDynSystem.cpp
OndselSolver/MomentOfInertiaSolver.cpp
OndselSolver/Negative.cpp
OndselSolver/NewtonRaphson.cpp
@@ -312,6 +286,7 @@ set(ONDSELSOLVER_SRC
OndselSolver/RevoluteJoint.cpp
OndselSolver/RevRevJoint.cpp
OndselSolver/RotationLimitIJ.cpp
OndselSolver/RowTypeMatrix.cpp
OndselSolver/ScalarNewtonRaphson.cpp
OndselSolver/ScrewConstraintIJ.cpp
OndselSolver/ScrewConstraintIqcJc.cpp
@@ -360,21 +335,14 @@ set(ONDSELSOLVER_SRC
)
set(ONDSELSOLVER_HEADERS
OndselSolver/AllowZRotation.h
OndselSolver/AllowZRotationConstraintIqctJqc.h
OndselSolver/ASMTAllowRotation.h
OndselSolver/Array.h
OndselSolver/FullVector.h
OndselSolver/RowTypeMatrix.h
OndselSolver/FullRow.h
OndselSolver/FullColumn.h
OndselSolver/FullMatrix.h
OndselSolver/Abs.h
OndselSolver/AbsConstraint.h
OndselSolver/AccICKineNewtonRaphson.h
OndselSolver/AccICNewtonRaphson.h
OndselSolver/AccKineNewtonRaphson.h
OndselSolver/AccNewtonRaphson.h
OndselSolver/AllowZRotation.h
OndselSolver/AllowZRotationConstraintIqctJqc.h
OndselSolver/AngleJoint.h
OndselSolver/AngleZConstraintIJ.h
OndselSolver/AngleZConstraintIqcJc.h
@@ -388,15 +356,17 @@ set(ONDSELSOLVER_HEADERS
OndselSolver/ArcTan.h
OndselSolver/ArcTan2.h
OndselSolver/Arguments.h
OndselSolver/Array.h
OndselSolver/ASMTAllowRotation.h
OndselSolver/ASMTAngleJoint.h
OndselSolver/ASMTAnimationParameters.h
OndselSolver/ASMTAssembly.h
OndselSolver/ASMTCylSphJoint.h
OndselSolver/ASMTCompoundJoint.h
OndselSolver/ASMTConstantGravity.h
OndselSolver/ASMTConstantVelocityJoint.h
OndselSolver/ASMTConstraintSet.h
OndselSolver/ASMTCylindricalJoint.h
OndselSolver/ASMTCylSphJoint.h
OndselSolver/ASMTExtrusion.h
OndselSolver/ASMTFixedJoint.h
OndselSolver/ASMTForceTorque.h
@@ -529,8 +499,12 @@ set(ONDSELSOLVER_HEADERS
OndselSolver/FixedJoint.h
OndselSolver/ForceTorqueData.h
OndselSolver/ForceTorqueItem.h
OndselSolver/FullColumn.h
OndselSolver/FullMatrix.h
OndselSolver/FullMotion.h
OndselSolver/FullRow.h
OndselSolver/FullRow.h
OndselSolver/FullVector.h
OndselSolver/Function.h
OndselSolver/FunctionFromData.h
OndselSolver/FunctionWithManyArgs.h
@@ -582,30 +556,6 @@ set(ONDSELSOLVER_HEADERS
OndselSolver/MatrixSolver.h
OndselSolver/MaximumIterationError.h
OndselSolver/MbDMath.h
OndselSolver/MBDynAxialRotationJoint.h
OndselSolver/MBDynClampJoint.h
OndselSolver/MBDynDriveHingeJoint.h
OndselSolver/MBDynInLineJoint.h
OndselSolver/MBDynInPlaneJoint.h
OndselSolver/MBDynPrismaticJoint.h
OndselSolver/MBDynRevoluteHingeJoint.h
OndselSolver/MBDynRevolutePinJoint.h
OndselSolver/MBDynSphericalHingeJoint.h
OndselSolver/MBDynTotalJoint.h
OndselSolver/MBDynBlock.h
OndselSolver/MBDynBody.h
OndselSolver/MBDynControlData.h
OndselSolver/MBDynData.h
OndselSolver/MBDynElement.h
OndselSolver/MBDynGravity.h
OndselSolver/MBDynInitialValue.h
OndselSolver/MBDynItem.h
OndselSolver/MBDynJoint.h
OndselSolver/MBDynMarker.h
OndselSolver/MBDynNode.h
OndselSolver/MBDynReference.h
OndselSolver/MBDynStructural.h
OndselSolver/MBDynSystem.h
OndselSolver/MomentOfInertiaSolver.h
OndselSolver/Negative.h
OndselSolver/NewtonRaphson.h
@@ -646,6 +596,7 @@ set(ONDSELSOLVER_HEADERS
OndselSolver/RevoluteJoint.h
OndselSolver/RevRevJoint.h
OndselSolver/RotationLimitIJ.h
OndselSolver/RowTypeMatrix.h
OndselSolver/ScalarNewtonRaphson.h
OndselSolver/ScrewConstraintIJ.h
OndselSolver/ScrewConstraintIqcJc.h

118
OndselSolver/ASMTAssembly.cpp
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@@ -441,6 +441,16 @@ void MbD::ASMTAssembly::runFile(const char* fileName)
}
}
void MbD::ASMTAssembly::runDraggingLogTest()
{
auto assembly = ASMTAssembly::assemblyFromFile("../testapp/runPreDrag.asmt");
assembly->runDraggingLog("../testapp/dragging.log");
//auto assembly = ASMTAssembly::assemblyFromFile("../temp/runPreDrag.asmt");
//assembly->setDebug(true);
//assembly->runDraggingLog("../temp/dragging.log");
//assembly->setDebug(false);
}
void MbD::ASMTAssembly::runDraggingTest()
{
//auto assembly = ASMTAssembly::assemblyFromFile("../testapp/pistonWithLimits.asmt");
@@ -915,7 +925,12 @@ void MbD::ASMTAssembly::readTimes(std::vector<std::string>& lines)
assert(pos != std::string::npos);
str.erase(0, pos + substr.length());
times = readRowOfDoubles(str);
times->insert(times->begin(), times->at(0)); //The first element is the input state.
if (times->empty()) {
times->insert(times->begin(), 0.0); //The first element is the input state.
}
else {
times->insert(times->begin(), times->at(0)); //The first element is the input state.
}
lines.erase(lines.begin());
}
@@ -1035,6 +1050,47 @@ void MbD::ASMTAssembly::readMotionSeries(std::vector<std::string>& lines)
motion->readMotionSeries(lines);
}
void MbD::ASMTAssembly::runDraggingLog(const char* fileName)
{
std::ifstream stream(fileName);
if (stream.fail()) {
throw std::invalid_argument("File not found.");
}
std::string line;
std::vector<std::string> lines;
while (std::getline(stream, line)) {
lines.push_back(line);
}
assert(readStringOffTop(lines) == "runPreDrag");
runPreDrag();
while (lines[0].find("runDragStep") != std::string::npos)
{
assert(readStringOffTop(lines) == "runDragStep");
auto dragParts = std::make_shared<std::vector<std::shared_ptr<ASMTPart>>>();
while (lines[0].find("Name") != std::string::npos) {
assert(readStringOffTop(lines) == "Name");
auto dragPartName = readStringOffTop(lines);
std::string longerName = "/" + name + "/" + dragPartName;
auto dragPart = partAt(longerName);
dragParts->push_back(dragPart);
assert(readStringOffTop(lines) == "Position3D");
auto dragPartPosition3D = readColumnOfDoublesOffTop(lines);
dragPart->updateMbDFromPosition3D(dragPartPosition3D);
assert(readStringOffTop(lines) == "RotationMatrix");
auto dragPartRotationMatrix = std::make_shared<FullMatrix<double>>(3);
for (size_t i = 0; i < 3; i++)
{
auto row = readRowOfDoublesOffTop(lines);
dragPartRotationMatrix->atiput(i, row);
}
dragPart->updateMbDFromRotationMatrix(dragPartRotationMatrix);
}
runDragStep(dragParts);
}
assert(readStringOffTop(lines) == "runPostDrag");
runPostDrag();
}
void MbD::ASMTAssembly::outputFor(AnalysisType)
{
assert(false);
@@ -1183,7 +1239,7 @@ void MbD::ASMTAssembly::createMbD(std::shared_ptr<System> mbdSys, std::shared_pt
void MbD::ASMTAssembly::outputFile(std::string filename)
{
std::ofstream os(filename);
os << std::setprecision(static_cast<std::streamsize>(std::numeric_limits<double>::digits10) + 1);
os << std::setprecision(std::numeric_limits<double>::max_digits10);
// try {
os << "OndselSolver" << std::endl;
storeOnLevel(os, 0);
@@ -1227,29 +1283,56 @@ void MbD::ASMTAssembly::solve()
void MbD::ASMTAssembly::runPreDrag()
{
if (debug) {
outputFile("runPreDrag.asmt");
std::ofstream os("dragging.log");
os << "runPreDrag" << std::endl;
os.close();
}
mbdSystem = std::make_shared<System>();
mbdSystem->externalSystem->asmtAssembly = this;
try {
mbdSystem->runPreDrag(mbdSystem);
}
catch (SimulationStoppingError ex) {
}
mbdSystem->runPreDrag(mbdSystem);
}
void MbD::ASMTAssembly::runDragStep(std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> dragParts) const
void MbD::ASMTAssembly::runDragStep(std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> dragParts)
{
if (debug) {
std::ofstream os("dragging.log", std::ios_base::app);
os << "runDragStep" << std::endl;
os.close();
}
auto dragMbDParts = std::make_shared<std::vector<std::shared_ptr<Part>>>();
for (auto& dragPart : *dragParts) {
if (debug) {
std::ofstream os("dragging.log", std::ios_base::app);
os << std::setprecision(std::numeric_limits<double>::max_digits10);
dragPart->storeOnLevelName(os, 1);
dragPart->storeOnLevelPositionRaw(os, 1);
dragPart->storeOnLevelRotationMatrixRaw(os, 1);
os.close();
}
auto dragMbDPart = std::static_pointer_cast<Part>(dragPart->mbdObject);
dragMbDParts->push_back(dragMbDPart);
}
mbdSystem->runDragStep(dragMbDParts);
try {
mbdSystem->runDragStep(dragMbDParts);
}
catch (...) {
runPreDrag();
}
}
void MbD::ASMTAssembly::runPostDrag()
{
runPreDrag();
if (debug) {
//outputFile("runPostDrag.asmt");
std::ofstream os("dragging.log", std::ios_base::app);
os << "runPostDrag" << std::endl;
os.close();
}
mbdSystem = std::make_shared<System>();
mbdSystem->externalSystem->asmtAssembly = this;
mbdSystem->runPreDrag(mbdSystem);
}
void MbD::ASMTAssembly::runKINEMATIC()
@@ -1284,6 +1367,14 @@ std::shared_ptr<ASMTSpatialContainer> MbD::ASMTAssembly::spatialContainerAt(std:
return part;
}
std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partAt(std::string& longname) const
{
for (auto& part : *parts) {
if (part->fullName("") == longname) return part;
}
return nullptr;
}
std::shared_ptr<ASMTMarker> MbD::ASMTAssembly::markerAt(std::string& longname) const
{
for (auto& refPoint : *refPoints) {
@@ -1533,4 +1624,9 @@ void MbD::ASMTAssembly::setFilename(std::string str)
filename = str;
}
void MbD::ASMTAssembly::setDebug(bool todebug)
{
debug = todebug;
}

10
OndselSolver/ASMTAssembly.h
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@@ -27,7 +27,6 @@ namespace MbD {
class ASMTLimit;
class SystemSolver;
class ASMTItemIJ;
class MBDynSystem;
class ASMTAssembly : public ASMTSpatialContainer
{
@@ -41,6 +40,7 @@ namespace MbD {
static void runSinglePendulum();
static std::shared_ptr<ASMTAssembly> assemblyFromFile(const char* chars);
static void runFile(const char* chars);
static void runDraggingLogTest();
static void runDraggingTest();
static void runDraggingTest2();
static void runDraggingTest3();
@@ -73,6 +73,7 @@ namespace MbD {
void readJointSeries(std::vector<std::string>& lines);
void readMotionSeriesMany(std::vector<std::string>& lines);
void readMotionSeries(std::vector<std::string>& lines);
void runDraggingLog(const char* chars);
void outputFor(AnalysisType type);
void preMbDrun(std::shared_ptr<System> mbdSys);
@@ -92,11 +93,12 @@ namespace MbD {
void solve();
void runPreDrag();
void runDragStep(std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> dragParts) const;
void runDragStep(std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> dragParts);
void runPostDrag();
void runKINEMATIC();
void initprincipalMassMarker();
std::shared_ptr<ASMTSpatialContainer> spatialContainerAt(std::shared_ptr<ASMTAssembly> self, std::string& longname) const;
std::shared_ptr<ASMTPart> partAt(std::string& longname) const;
std::shared_ptr<ASMTMarker> markerAt(std::string& longname) const;
std::shared_ptr<ASMTJoint> jointAt(std::string& longname) const;
std::shared_ptr<ASMTMotion> motionAt(std::string& longname) const;
@@ -126,6 +128,7 @@ namespace MbD {
void storeOnLevelGeneralConstraintSets(std::ofstream& os, size_t level);
void storeOnTimeSeries(std::ofstream& os) override;
void setFilename(std::string filename);
void setDebug(bool todebug);
std::string filename = "";
std::string notes = "(Text string: '' runs: (Core.RunArray runs: #() values: #()))";
@@ -143,7 +146,8 @@ namespace MbD {
std::shared_ptr<ASMTTime> asmtTime = ASMTTime::With();
std::shared_ptr<Units> mbdUnits = std::make_shared<Units>();
std::shared_ptr<System> mbdSystem;
MBDynSystem* mbdynItem = nullptr;
bool debug = false;
};
}

12
OndselSolver/ASMTItem.cpp
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@@ -83,6 +83,12 @@ FRowDsptr MbD::ASMTItem::readRowOfDoubles(std::string& line)
return readRowOfDoubles;
}
FRowDsptr MbD::ASMTItem::readRowOfDoublesOffTop(std::vector<std::string>& lines)
{
auto str = popOffTop(lines);
return readRowOfDoubles(str);
}
FColDsptr MbD::ASMTItem::readColumnOfDoubles(std::string& line)
{
std::istringstream iss(line);
@@ -94,6 +100,12 @@ FColDsptr MbD::ASMTItem::readColumnOfDoubles(std::string& line)
return readColumnOfDoubles;
}
FColDsptr MbD::ASMTItem::readColumnOfDoublesOffTop(std::vector<std::string>& lines)
{
auto str = popOffTop(lines);
return readColumnOfDoubles(str);
}
double MbD::ASMTItem::readDouble(std::string& line)
{
std::istringstream iss(line);

10
OndselSolver/ASMTItem.h
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@@ -30,10 +30,12 @@ namespace MbD {
virtual std::string classname();
void setName(std::string str);
virtual void parseASMT(std::vector<std::string>& lines);
std::string popOffTop(std::vector<std::string>& args);
std::string readStringOffTop(std::vector<std::string>& args);
std::string popOffTop(std::vector<std::string>& lines);
std::string readStringOffTop(std::vector<std::string>& lines);
FRowDsptr readRowOfDoubles(std::string& line);
FRowDsptr readRowOfDoublesOffTop(std::vector<std::string>& lines);
FColDsptr readColumnOfDoubles(std::string& line);
FColDsptr readColumnOfDoublesOffTop(std::vector<std::string>& lines);
double readDouble(std::string& line);
int readInt(std::string& line);
size_t readSize_t(std::string& line);
@@ -58,8 +60,8 @@ namespace MbD {
virtual void storeOnLevelBool(std::ofstream& os, size_t level, bool value);
//template<typename T>
//void storeOnLevelArray(std::ofstream& os, size_t level, std::vector<T> array);
void storeOnLevelArray(std::ofstream& os, size_t level, std::vector<double> array);
void storeOnLevelName(std::ofstream& os, size_t level);
virtual void storeOnLevelArray(std::ofstream& os, size_t level, std::vector<double> array);
virtual void storeOnLevelName(std::ofstream& os, size_t level);
virtual void storeOnTimeSeries(std::ofstream& os);
void logString(std::string& str);
void logString(const char* chars);

1
OndselSolver/ASMTPart.cpp
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@@ -5,6 +5,7 @@
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include <ostream>
#include <fstream>
#include "ASMTPart.h"

15
OndselSolver/ASMTSpatialItem.cpp
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@@ -116,6 +116,12 @@ void MbD::ASMTSpatialItem::storeOnLevelPosition(std::ofstream& os, size_t level)
}
}
void MbD::ASMTSpatialItem::storeOnLevelPositionRaw(std::ofstream& os, size_t level)
{
storeOnLevelString(os, level, "Position3D");
storeOnLevelArray(os, level + 1, *position3D);
}
void MbD::ASMTSpatialItem::storeOnLevelRotationMatrix(std::ofstream& os, size_t level)
{
storeOnLevelString(os, level, "RotationMatrix");
@@ -135,6 +141,15 @@ void MbD::ASMTSpatialItem::storeOnLevelRotationMatrix(std::ofstream& os, size_t
}
void MbD::ASMTSpatialItem::storeOnLevelRotationMatrixRaw(std::ofstream& os, size_t level)
{
storeOnLevelString(os, level, "RotationMatrix");
for (size_t i = 0; i < 3; i++)
{
storeOnLevelArray(os, level + 1, *rotationMatrix->at(i));
}
}
FColDsptr MbD::ASMTSpatialItem::getPosition3D(size_t i)
{
auto vec3 = std::make_shared<FullColumn<double>>(3);

2
OndselSolver/ASMTSpatialItem.h
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@@ -31,7 +31,9 @@ namespace MbD {
double v31, double v32, double v33);
void storeOnLevel(std::ofstream& os, size_t level) override;
void storeOnLevelPosition(std::ofstream& os, size_t level);
void storeOnLevelPositionRaw(std::ofstream& os, size_t level);
void storeOnLevelRotationMatrix(std::ofstream& os, size_t level);
void storeOnLevelRotationMatrixRaw(std::ofstream& os, size_t level);
FColDsptr getPosition3D(size_t i);
FMatDsptr getRotationMatrix(size_t i);

39
OndselSolver/MBDynAxialRotationJoint.cpp
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@@ -1,39 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "MBDynAxialRotationJoint.h"
#include "ASMTAssembly.h"
#include "ASMTRevoluteJoint.h"
#include "ASMTRotationalMotion.h"
using namespace MbD;
void MbD::MBDynAxialRotationJoint::parseMBDyn(std::string line)
{
MBDynJoint::parseMBDyn(line);
readFunction(arguments);
}
void MbD::MBDynAxialRotationJoint::createASMT()
{
MBDynJoint::createASMT();
auto asmtAsm = asmtAssembly();
asmtMotion = ASMTRotationalMotion::With();
asmtMotion->setName(name + "Motion");
asmtMotion->setMotionJoint(asmtItem->fullName(""));
asmtMotion->setRotationZ(asmtFormulaIntegral());
asmtAsm->addMotion(asmtMotion);
return;
}
std::shared_ptr<ASMTJoint> MbD::MBDynAxialRotationJoint::asmtClassNew()
{
auto joint = ASMTRevoluteJoint::With();
joint->initialize();
return joint;
}

26
OndselSolver/MBDynAxialRotationJoint.h
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@@ -1,26 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynJoint.h"
namespace MbD {
class ASMTJoint;
class ASMTRotationalMotion;
class MBDynAxialRotationJoint : public MBDynJoint
{
public:
void parseMBDyn(std::string line) override;
void createASMT() override;
std::shared_ptr<ASMTJoint> asmtClassNew() override;
std::shared_ptr<ASMTRotationalMotion> asmtMotion;
};
}

3
OndselSolver/MBDynBlock.cpp
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@@ -1,3 +0,0 @@
#include "MBDynBlock.h"
using namespace MbD;

18
OndselSolver/MBDynBlock.h
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@@ -1,18 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynItem.h"
namespace MbD {
class MBDynBlock : public MBDynItem
{
public:
};
}

94
OndselSolver/MBDynBody.cpp
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@@ -1,94 +0,0 @@
#include "MBDynBody.h"
#include "MBDynReference.h"
#include "MBDynStructural.h"
#include "SymbolicParser.h"
#include "BasicUserFunction.h"
#include "ASMTPart.h"
#include "ASMTAssembly.h"
#include "MomentOfInertiaSolver.h"
using namespace MbD;
void MbD::MBDynBody::initialize()
{
}
void MbD::MBDynBody::parseMBDyn(std::string line)
{
bodyString = line;
arguments = collectArgumentsFor("body", line);
name = readStringOffTop(arguments);
nodeName = readStringOffTop(arguments);
//auto iss = std::istringstream(arguments.at(0));
//iss >> name;
//arguments.erase(arguments.begin());
//iss = std::istringstream(arguments.at(0));
//iss >> nodeName;
//arguments.erase(arguments.begin());
readMass(arguments);
rPcmP = readPosition(arguments);
readInertiaMatrix(arguments);
}
void MbD::MBDynBody::readMass(std::vector<std::string>& args)
{
auto parser = std::make_shared<SymbolicParser>();
parser->variables = mbdynVariables();
auto userFunc = std::make_shared<BasicUserFunction>(popOffTop(args), 1.0);
parser->parseUserFunction(userFunc);
auto& sym = parser->stack->top();
mass = sym->getValue();
}
void MbD::MBDynBody::readInertiaMatrix(std::vector<std::string>& args)
{
auto parser = std::make_shared<SymbolicParser>();
parser->variables = mbdynVariables();
aJmat = std::make_shared<FullMatrix<double>>(3, 3);
std::string str = args.at(0); //Must copy string
if (str.find("diag") != std::string::npos) {
args.erase(args.begin());
for (size_t i = 0; i < 3; i++)
{
auto userFunc = std::make_shared<BasicUserFunction>(popOffTop(args), 1.0);
parser->parseUserFunction(userFunc);
auto& sym = parser->stack->top();
aJmat->at(i)->at(i) = sym->getValue();
}
}
else if (str.find("eye") != std::string::npos) {
args.erase(args.begin());
aJmat->identity();
}
else {
aJmat = readBasicOrientation(args);
}
}
void MbD::MBDynBody::createASMT()
{
auto asmtMassMarker = ASMTPrincipalMassMarker::With();
asmtItem = asmtMassMarker;
asmtMassMarker->setMass(mass);
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);
}
}

28
OndselSolver/MBDynBody.h
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynElement.h"
namespace MbD {
class MBDynBody : public MBDynElement
{
public:
void initialize() override;
void parseMBDyn(std::string line) override;
void readMass(std::vector<std::string>& args);
void readInertiaMatrix(std::vector<std::string>& args);
void createASMT() override;
std::string bodyString, nodeName;
double mass = std::numeric_limits<double>::min();
FColDsptr rPcmP;
FMatDsptr aJmat;
};
}

52
OndselSolver/MBDynClampJoint.cpp
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "MBDynClampJoint.h"
#include "ASMTAssembly.h"
#include "ASMTFixedJoint.h"
using namespace MbD;
void MbD::MBDynClampJoint::parseMBDyn(std::string statement)
{
MBDynJoint::parseMBDyn(statement);
assert(joint_type == "clamp");
return;
}
void MbD::MBDynClampJoint::createASMT()
{
MBDynJoint::createASMT();
}
void MbD::MBDynClampJoint::readMarkerI(std::vector<std::string>& args)
{
//mkr1 should be on assembly which doesn't exist in MBDyn
//mkr2 is on the node
mkr1 = std::make_shared<MBDynMarker>();
mkr1->owner = this;
mkr1->nodeStr = "Assembly";
mkr1->rPmP = std::make_shared<FullColumn<double>>(3);
mkr1->aAPm = FullMatrix<double>::identitysptr(3);
}
void MbD::MBDynClampJoint::readMarkerJ(std::vector<std::string>& args)
{
if (args.empty()) return;
mkr2 = std::make_shared<MBDynMarker>();
mkr2->owner = this;
mkr2->nodeStr = readStringOffTop(args);
mkr2->parseMBDynClamp(args);
}
std::shared_ptr<ASMTJoint> MbD::MBDynClampJoint::asmtClassNew()
{
auto joint = ASMTFixedJoint::With();
joint->initialize();
return joint;
}

24
OndselSolver/MBDynClampJoint.h
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynJoint.h"
namespace MbD {
class ASMTJoint;
class MBDynClampJoint : public MBDynJoint
{
public:
void parseMBDyn(std::string line) override;
void createASMT() override;
void readMarkerI(std::vector<std::string>& args) override;
void readMarkerJ(std::vector<std::string>& args) override;
std::shared_ptr<ASMTJoint> asmtClassNew() override;
};
}

143
OndselSolver/MBDynControlData.cpp
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#include "MBDynControlData.h"
using namespace MbD;
void MbD::MBDynControlData::initialize()
{
}
void MbD::MBDynControlData::parseMBDyn(std::vector<std::string>& lines)
{
readMaxIterations(lines);
readDefaultOrientation(lines);
readOmegaRotates(lines);
readPrint(lines);
readInitialStiffness(lines);
readStructuralNodes(lines);
readRigidBodies(lines);
readJoints(lines);
readGravity(lines);
assert(lines.size() == 2);
}
void MbD::MBDynControlData::readMaxIterations(std::vector<std::string>& lines)
{
//max iterations: 1000;
std::vector<std::string> tokens{ "max", "iterations:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> maxIterations;
lines.erase(it);
}
void MbD::MBDynControlData::readDefaultOrientation(std::vector<std::string>& lines)
{
//default orientation: euler321;
std::vector<std::string> tokens{ "default", "orientation:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> defaultOrientation;
lines.erase(it);
}
void MbD::MBDynControlData::readOmegaRotates(std::vector<std::string>& lines)
{
//omega rotates: no;
std::vector<std::string> tokens{ "omega", "rotates:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> omegaRotates;
lines.erase(it);
}
void MbD::MBDynControlData::readPrint(std::vector<std::string>& lines)
{
//print: none;
std::vector<std::string> tokens{ "print:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> print;
lines.erase(it);
}
void MbD::MBDynControlData::readInitialStiffness(std::vector<std::string>& lines)
{
//initial stiffness: 1.0, 1.0;
std::vector<std::string> tokens{ "initial", "stiffness:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> initialStiffness;
iss >> str;
initialStiffness.append(str);
lines.erase(it);
}
void MbD::MBDynControlData::readStructuralNodes(std::vector<std::string>& lines)
{
//structural nodes: 4;
std::vector<std::string> tokens{ "structural", "nodes:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> structuralNodes;
lines.erase(it);
}
void MbD::MBDynControlData::readRigidBodies(std::vector<std::string>& lines)
{
//rigid bodies: 3;
std::vector<std::string> tokens{ "rigid", "bodies:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> rigidBodies;
lines.erase(it);
}
void MbD::MBDynControlData::readJoints(std::vector<std::string>& lines)
{
//joints: 6;
std::vector<std::string> tokens{ "joints:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> joints;
lines.erase(it);
}
void MbD::MBDynControlData::readGravity(std::vector<std::string>& lines)
{
//gravity;
std::vector<std::string> tokens{ "gravity" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
lines.erase(it);
}

35
OndselSolver/MBDynControlData.h
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynBlock.h"
namespace MbD {
class MBDynControlData : public MBDynBlock
{
public:
void initialize() override;
void parseMBDyn(std::vector<std::string>& lines) override;
void readMaxIterations(std::vector<std::string>& lines);
void readDefaultOrientation(std::vector<std::string>& lines);
void readOmegaRotates(std::vector<std::string>& lines);
void readPrint(std::vector<std::string>& lines);
void readInitialStiffness(std::vector<std::string>& lines);
void readStructuralNodes(std::vector<std::string>& lines);
void readRigidBodies(std::vector<std::string>& lines);
void readJoints(std::vector<std::string>& lines);
void readGravity(std::vector<std::string>& lines);
size_t maxIterations = 1000;
std::string defaultOrientation = "euler321";
std::string omegaRotates = "no";
std::string print = "none";
std::string initialStiffness = "1.0, 1.0";
size_t structuralNodes = SIZE_MAX, rigidBodies = SIZE_MAX, joints = SIZE_MAX;
};
}

15
OndselSolver/MBDynData.cpp
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@@ -1,15 +0,0 @@
#include "MBDynData.h"
using namespace MbD;
void MbD::MBDynData::initialize()
{
}
void MbD::MBDynData::parseMBDyn(std::vector<std::string>& lines)
{
assert(lines.size() == 3);
std::vector<std::string> tokens{ "problem:", "initial", "value" };
auto problemit = findLineWith(lines, tokens);
assert(problemit != lines.end());
}

20
OndselSolver/MBDynData.h
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@@ -1,20 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynBlock.h"
namespace MbD {
class MBDynData : public MBDynBlock
{
public:
void initialize() override;
void parseMBDyn(std::vector<std::string>& lines) override;
};
}

151
OndselSolver/MBDynDrive.cpp
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#include <regex>
#include "MBDynDrive.h"
using namespace MbD;
void MbD::MBDynDrive::parseMBDyn(std::string line)
{
driveString = line;
arguments = collectArgumentsFor("drive caller", line);
auto iss = std::istringstream(arguments.at(0));
iss >> name;
arguments.erase(arguments.begin());
assert(arguments.at(0).find("name") != std::string::npos);
arguments.erase(arguments.begin());
iss = std::istringstream(arguments.at(0));
iss >> driveName;
driveName = std::regex_replace(driveName, std::regex("\""), "");
arguments.erase(arguments.begin());
readFunction(arguments);
}
void MbD::MBDynDrive::readFunction(std::vector<std::string>& args)
{
if (args.empty()) return;
std::string str = readStringOffTop(args);
if (str == "ramp") {
std::string slope, initValue, initTime, finalTime;
slope = popOffTop(args);
initTime = popOffTop(args);
finalTime = popOffTop(args);
initValue = popOffTop(args);
slope.erase(remove_if(slope.begin(), slope.end(), isspace), slope.end());
initTime.erase(remove_if(initTime.begin(), initTime.end(), isspace), initTime.end());
finalTime.erase(remove_if(finalTime.begin(), finalTime.end(), isspace), finalTime.end());
initValue.erase(remove_if(initValue.begin(), initValue.end(), isspace), initValue.end());
//f = slope*(time - t0) + f0
//rampstep(time, t0, f0, t1, f1)
//t0 = initTime
//f0 = initValue
//t1 = finalTime
//f1 = initValue + slope * (finalTime - initTime)
auto ss = std::stringstream();
ss << "rampstep(time, " << initTime << ", " << initValue << ", " << finalTime << ", "
<< initValue << " + " << slope << "*(" << finalTime << " - " << initTime << "))";
formula = ss.str();
}
else if (str == "cosine") {
std::string initial_time, angular_velocity, amplitude, number_of_cycles, initial_value;
initial_time = popOffTop(args);
angular_velocity = popOffTop(args);
amplitude = popOffTop(args);
number_of_cycles = popOffTop(args);
initial_value = popOffTop(args);
initial_time.erase(remove_if(initial_time.begin(), initial_time.end(), isspace), initial_time.end());
angular_velocity.erase(remove_if(angular_velocity.begin(), angular_velocity.end(), isspace), angular_velocity.end());
amplitude.erase(remove_if(amplitude.begin(), amplitude.end(), isspace), amplitude.end());
number_of_cycles.erase(remove_if(number_of_cycles.begin(), number_of_cycles.end(), isspace), number_of_cycles.end());
initial_value.erase(remove_if(initial_value.begin(), initial_value.end(), isspace), initial_value.end());
//f(t) = initial_value + amplitude * (1 ? cos (angular_velocity * (t ? initial_time)))
double nCycle;
if (number_of_cycles.find("forever") != std::string::npos) {
nCycle = 1.0e9;
}
else if (number_of_cycles.find("one") != std::string::npos) {
nCycle = 1.0;
}
else if (number_of_cycles.find("half") != std::string::npos) {
nCycle = 0.5;
}
else {
nCycle = stod(number_of_cycles);
}
double x0 = stod(initial_time);
double y0 = stod(initial_value);
double omega = stod(angular_velocity);
double amp = stod(amplitude);
double x1 = x0 + (2 * OS_M_PI * nCycle / omega);
double y1 = y0 + amp * (1.0 - std::cos(omega * (x1 - x0)));
double f1 = y0;
auto ss = std::stringstream();
ss << "(" << y0 << " + " << amp << "*(1.0 - cos(" << omega << "*(time - " << x0 << "))))";
std::string f2 = ss.str();
double f3 = y1;
double t1 = x0;
double t2 = x1;
ss = std::stringstream();
ss << "piecewise(time, functions(" << f1 << ", " << f2 << ", " << f3 << "), transitions(" << t1 << ", " << t2 << "))";
formula = ss.str();
}
else if (str == "sine") {
std::string initial_time, angular_velocity, amplitude, number_of_cycles, initial_value;
initial_time = popOffTop(args);
angular_velocity = popOffTop(args);
amplitude = popOffTop(args);
number_of_cycles = popOffTop(args);
initial_value = popOffTop(args);
initial_time.erase(remove_if(initial_time.begin(), initial_time.end(), isspace), initial_time.end());
angular_velocity.erase(remove_if(angular_velocity.begin(), angular_velocity.end(), isspace), angular_velocity.end());
amplitude.erase(remove_if(amplitude.begin(), amplitude.end(), isspace), amplitude.end());
number_of_cycles.erase(remove_if(number_of_cycles.begin(), number_of_cycles.end(), isspace), number_of_cycles.end());
initial_value.erase(remove_if(initial_value.begin(), initial_value.end(), isspace), initial_value.end());
//f(t) = initial_value + amplitude · sin (angular_velocity · (t − initial_time))
double nCycle;
if (number_of_cycles.find("forever") != std::string::npos) {
nCycle = 1.0e9;
}
else if (number_of_cycles.find("one") != std::string::npos) {
nCycle = 0.5; //Different from cosine
}
else if (number_of_cycles.find("half") != std::string::npos) {
nCycle = 0.25; //Different from cosine
}
else {
nCycle = stod(number_of_cycles);
if (nCycle < 0.0) {
nCycle -= 0.75;
}
else if (nCycle > 0.0) {
nCycle -= 0.5;
}
}
double x0 = stod(initial_time);
double y0 = stod(initial_value);
double omega = stod(angular_velocity);
double amp = stod(amplitude);
double x1 = x0 + (2 * OS_M_PI * nCycle / omega);
double y1 = y0 + amp * std::sin(omega * (x1 - x0));
double f1 = y0;
auto ss = std::stringstream();
ss << "(" << y0 << " + " << amp << "*sin(" << omega << "*(time - " << x0 << ")))";
std::string f2 = ss.str();
double f3 = y1;
double t1 = x0;
double t2 = x1;
ss = std::stringstream();
ss << "piecewise(time, functions(" << f1 << ", " << f2 << ", " << f3 << "), transitions(" << t1 << ", " << t2 << "))";
formula = ss.str();
}
else {
assert(false);
}
}
void MbD::MBDynDrive::createASMT()
{
assert(false);
}

24
OndselSolver/MBDynDrive.h
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@@ -1,24 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynElement.h"
namespace MbD {
class MBDynDrive : public MBDynElement
{
public:
void parseMBDyn(std::string line) override;
void readFunction(std::vector<std::string>& args);
void createASMT() override;
std::string driveString, driveName, formula;
};
}

42
OndselSolver/MBDynDriveHingeJoint.cpp
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@@ -1,42 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "MBDynDriveHingeJoint.h"
#include "ASMTMarker.h"
#include "ASMTJoint.h"
#include "ASMTRotationalMotion.h"
#include "ASMTAssembly.h"
using namespace MbD;
void MbD::MBDynDriveHingeJoint::parseMBDyn(std::string line)
{
MBDynJoint::parseMBDyn(line);
readFunction(arguments);
}
void MbD::MBDynDriveHingeJoint::createASMT()
{
mkr1->createASMT();
if (mkr2) mkr2->createASMT();
auto asmtAsm = asmtAssembly();
auto asmtMotion = ASMTRotationalMotion::With();
asmtItem = asmtMotion;
asmtMotion->setName(name);
asmtMotion->setMarkerI(mkr1->asmtItem->fullName(""));
asmtMotion->setMarkerJ(mkr2->asmtItem->fullName(""));
asmtMotion->setRotationZ(formula);
asmtAsm->addMotion(asmtMotion);
return;
}
std::shared_ptr<ASMTJoint> MbD::MBDynDriveHingeJoint::asmtClassNew()
{
assert(false);
return ASMTJoint::With();
}

23
OndselSolver/MBDynDriveHingeJoint.h
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@@ -1,23 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynJoint.h"
namespace MbD {
class ASMTJoint;
class MBDynDriveHingeJoint : public MBDynJoint
{
public:
void parseMBDyn(std::string line) override;
void createASMT() override;
std::shared_ptr<ASMTJoint> asmtClassNew() override;
};
}

11
OndselSolver/MBDynElement.cpp
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@@ -1,11 +0,0 @@
#include "MBDynElement.h"
using namespace MbD;
void MbD::MBDynElement::initialize()
{
}
void MBDynElement::parseMBDyn(std::vector<std::string> &lines) {
MBDynItem::parseMBDyn(lines);
}

20
OndselSolver/MBDynElement.h
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@@ -1,20 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynItem.h"
namespace MbD {
class MBDynElement : public MBDynItem
{
public:
void parseMBDyn(std::vector<std::string>& lines) override;
void initialize() override;
};
}

41
OndselSolver/MBDynGravity.cpp
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#include <regex>
#include "MBDynGravity.h"
#include "ASMTConstantGravity.h"
#include "ASMTAssembly.h"
using namespace MbD;
void MbD::MBDynGravity::parseMBDyn(std::string line)
{
gravityString = line;
arguments = collectArgumentsFor("gravity", line);
assert(arguments.at(0).find("uniform") != std::string::npos);
arguments.erase(arguments.begin());
gvec = readPosition(arguments);
assert(arguments.at(0).find("string") != std::string::npos);
arguments.erase(arguments.begin());
auto iss = std::istringstream(arguments.at(0));
iss >> formula;
formula = std::regex_replace(formula, std::regex("\""), "");
double mag;
iss = std::istringstream(formula);
iss >> mag;
arguments.erase(arguments.begin());
gvec->normalizeSelf();
gvec->magnifySelf(mag);
}
void MbD::MBDynGravity::readFunction(std::vector<std::string>&)
{
assert(false);
noop();
}
void MbD::MBDynGravity::createASMT()
{
auto asmtGravity = ASMTConstantGravity::With();
asmtGravity->setg(gvec);
asmtAssembly()->setConstantGravity(asmtGravity);
}

24
OndselSolver/MBDynGravity.h
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@@ -1,24 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynElement.h"
namespace MbD {
class MBDynGravity : public MBDynElement
{
public:
void parseMBDyn(std::string line) override;
void readFunction(std::vector<std::string>& args);
void createASMT() override;
std::string gravityString, formula;
FColDsptr gvec;
};
}

29
OndselSolver/MBDynInLineJoint.cpp
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@@ -1,29 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "MBDynInLineJoint.h"
#include "ASMTPointInLineJoint.h"
using namespace MbD;
void MbD::MBDynInLineJoint::parseMBDyn(std::string line)
{
MBDynJoint::parseMBDyn(line);
}
void MbD::MBDynInLineJoint::createASMT()
{
MBDynJoint::createASMT();
}
std::shared_ptr<ASMTJoint> MbD::MBDynInLineJoint::asmtClassNew()
{
auto joint = ASMTPointInLineJoint::With();
joint->initialize();
return joint;
}

22
OndselSolver/MBDynInLineJoint.h
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynJoint.h"
namespace MbD {
class ASMTJoint;
class MBDynInLineJoint : public MBDynJoint
{
public:
void parseMBDyn(std::string line) override;
void createASMT() override;
std::shared_ptr<ASMTJoint> asmtClassNew() override;
};
}

29
OndselSolver/MBDynInPlaneJoint.cpp
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@@ -1,29 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "MBDynInPlaneJoint.h"
#include "ASMTPointInPlaneJoint.h"
using namespace MbD;
void MbD::MBDynInPlaneJoint::parseMBDyn(std::string line)
{
MBDynJoint::parseMBDyn(line);
}
void MbD::MBDynInPlaneJoint::createASMT()
{
MBDynJoint::createASMT();
}
std::shared_ptr<ASMTJoint> MbD::MBDynInPlaneJoint::asmtClassNew()
{
auto joint = ASMTPointInPlaneJoint::With();
joint->initialize();
return joint;
}

24
OndselSolver/MBDynInPlaneJoint.h
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@@ -1,24 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynJoint.h"
namespace MbD {
class ASMTJoint;
class MBDynInPlaneJoint : public MBDynJoint
{
public:
void parseMBDyn(std::string line) override;
void createASMT() override;
std::shared_ptr<ASMTJoint> asmtClassNew() override;
};
}

148
OndselSolver/MBDynInitialValue.cpp
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@@ -1,148 +0,0 @@
#include "MBDynInitialValue.h"
#include "ASMTSimulationParameters.h"
#include "ASMTAssembly.h"
using namespace MbD;
void MbD::MBDynInitialValue::initialize()
{
}
void MbD::MBDynInitialValue::parseMBDyn(std::vector<std::string>& lines)
{
readInitialTime(lines);
readFinalTime(lines);
readTimeStep(lines);
readMaxIterations(lines);
readTolerance(lines);
readDerivativesTolerance(lines);
readDerivativesMaxIterations(lines);
readDerivativesCoefficient(lines);
assert(lines.size() == 2);
}
void MbD::MBDynInitialValue::readInitialTime(std::vector<std::string>& lines)
{
//initial time: 0.;
std::vector<std::string> tokens{ "initial", "time:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> initialTime;
lines.erase(it);
}
void MbD::MBDynInitialValue::readFinalTime(std::vector<std::string>& lines)
{
//final time: 5.;
std::vector<std::string> tokens{ "final", "time:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> finalTime;
lines.erase(it);
}
void MbD::MBDynInitialValue::readTimeStep(std::vector<std::string>& lines)
{
//time step: 1.e-2;
std::vector<std::string> tokens{ "time", "step:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> timeStep;
lines.erase(it);
}
void MbD::MBDynInitialValue::readMaxIterations(std::vector<std::string>& lines)
{
//max iterations: 10;
std::vector<std::string> tokens{ "max", "iterations:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> maxIterations;
lines.erase(it);
}
void MbD::MBDynInitialValue::readTolerance(std::vector<std::string>& lines)
{
//tolerance: 1.e-6;
std::vector<std::string> tokens{ "tolerance:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> tolerance;
lines.erase(it);
}
void MbD::MBDynInitialValue::readDerivativesTolerance(std::vector<std::string>& lines)
{
//derivatives tolerance: 0.0001;
std::vector<std::string> tokens{ "derivatives", "tolerance:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> derivativesTolerance;
lines.erase(it);
}
void MbD::MBDynInitialValue::readDerivativesMaxIterations(std::vector<std::string>& lines)
{
//derivatives max iterations: 100;
std::vector<std::string> tokens{ "derivatives", "max", "iterations:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> str;
iss >> derivativesMaxIterations;
lines.erase(it);
}
void MbD::MBDynInitialValue::readDerivativesCoefficient(std::vector<std::string>& lines)
{
//derivatives coefficient: auto;
std::vector<std::string> tokens{ "derivatives", "coefficient:" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
std::istringstream iss(*it);
std::string str;
iss >> str;
iss >> str;
iss >> derivativesCoefficient;
lines.erase(it);
}
void MbD::MBDynInitialValue::createASMT()
{
auto simulationParameters = ASMTSimulationParameters::With();
asmtItem = simulationParameters;
simulationParameters->settstart(initialTime);
simulationParameters->settend(finalTime); //tstart == tend Initial Conditions only.
simulationParameters->sethmin(1.0e-9);
simulationParameters->sethmax(1.0);
simulationParameters->sethout(timeStep);
simulationParameters->seterrorTol(tolerance);
simulationParameters->setmaxIter(maxIterations);
asmtAssembly()->setSimulationParameters(simulationParameters);
}

34
OndselSolver/MBDynInitialValue.h
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@@ -1,34 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynBlock.h"
namespace MbD {
class MBDynInitialValue : public MBDynBlock
{
public:
void initialize() override;
void parseMBDyn(std::vector<std::string>& lines) override;
void readInitialTime(std::vector<std::string>& lines);
void readFinalTime(std::vector<std::string>& lines);
void readTimeStep(std::vector<std::string>& lines);
void readMaxIterations(std::vector<std::string>& lines);
void readTolerance(std::vector<std::string>& lines);
void readDerivativesTolerance(std::vector<std::string>& lines);
void readDerivativesMaxIterations(std::vector<std::string>& lines);
void readDerivativesCoefficient(std::vector<std::string>& lines);
void createASMT() override;
double initialTime = 0.0, finalTime = 5.0, timeStep = 1.0e-2, tolerance = 1.0e-6;
size_t maxIterations = 10;
double derivativesTolerance = 1.0e-4;
size_t derivativesMaxIterations = 100;
std::string derivativesCoefficient = "auto";
};
}

464
OndselSolver/MBDynItem.cpp
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#include "MBDynItem.h"
#include "MBDynSystem.h"
#include "SymbolicParser.h"
#include "BasicUserFunction.h"
#include "EulerAngles.h"
#include "Constant.h"
#include "MBDynReference.h"
#include "FullMatrix.h"
#include "ASMTItem.h"
#include "MBDynBody.h"
#include "MBDynDrive.h"
#include "MBDynGravity.h"
using namespace MbD;
MBDynSystem* MbD::MBDynItem::root()
{
return nullptr;
}
void MbD::MBDynItem::initialize()
{
assert(false);
}
void MbD::MBDynItem::noop()
{
//No Operations
}
void MbD::MBDynItem::parseMBDyn(std::vector<std::string>&)
{
assert(false);
}
void MbD::MBDynItem::parseMBDyn(std::string)
{
assert(false);
}
std::vector<std::string> MbD::MBDynItem::collectArgumentsFor(std::string title, std::string& statement)
{
size_t previousPos = 0;
auto pos = statement.find(":");
auto front = statement.substr(previousPos, pos - previousPos);
assert(front.find(title) != std::string::npos);
auto arguments = std::vector<std::string>();
std::string argument;
while (true) {
previousPos = pos;
pos = statement.find(",", pos + 1);
if (pos != std::string::npos) {
argument = statement.substr(previousPos + 1, pos - previousPos - 1);
arguments.push_back(argument);
}
else {
argument = statement.substr(previousPos + 1);
arguments.push_back(argument);
break;
}
}
auto arguments2 = std::vector<std::string>();
while (!arguments.empty()) {
argument = arguments[0];
auto n = std::count(argument.begin(), argument.end(), '"');
if ((n % 2) == 0) {
arguments2.push_back(argument);
arguments.erase(arguments.begin());
}
else {
//Need to find matching '"'
auto it = std::find_if(arguments.begin() + 1, arguments.end(), [](const std::string& s) {
auto nn = std::count(s.begin(), s.end(), '"');
return (nn % 2) == 1;
});
std::vector<std::string> needToCombineArgs(arguments.begin(), it + 1);
arguments.erase(arguments.begin(), it + 1);
std::stringstream ss;
ss << needToCombineArgs[0];
needToCombineArgs.erase(needToCombineArgs.begin());
for (auto& arg : needToCombineArgs) {
ss << ',' << arg;
}
arguments2.push_back(ss.str());
}
}
return arguments2;
}
std::vector<std::string>::iterator MbD::MBDynItem::findLineWith(std::vector<std::string>& lines, std::vector<std::string>& tokens)
{
auto it = std::find_if(lines.begin(), lines.end(), [&](const std::string& line) {
return lineHasTokens(line, tokens);
});
return it;
}
bool MbD::MBDynItem::lineHasTokens(const std::string& line, std::vector<std::string>& tokens)
{
size_t index = 0;
for (auto& token : tokens) {
index = line.find(token, index);
if (index == std::string::npos) return false;
index++;
}
return true;
}
std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> MbD::MBDynItem::mbdynNodes()
{
return owner->mbdynNodes();
}
std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> MbD::MBDynItem::mbdynBodies()
{
return owner->mbdynBodies();
}
std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> MbD::MBDynItem::mbdynJoints()
{
return owner->mbdynJoints();
}
std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> MbD::MBDynItem::mbdynDrives()
{
return owner->mbdynDrives();
}
std::vector<std::string> MbD::MBDynItem::nodeNames()
{
return owner->nodeNames();
}
std::shared_ptr<std::map<std::string, Symsptr>> MbD::MBDynItem::mbdynVariables()
{
return owner->mbdynVariables();
}
std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> MbD::MBDynItem::mbdynReferences()
{
return owner->mbdynReferences();
}
void MbD::MBDynItem::createASMT()
{
assert(false);
}
std::shared_ptr<MBDynNode> MbD::MBDynItem::nodeAt(std::string nodeName)
{
return owner->nodeAt(nodeName);
}
int MbD::MBDynItem::nodeidAt(std::string nodeName)
{
return owner->nodeidAt(nodeName);
}
std::shared_ptr<MBDynBody> MbD::MBDynItem::bodyWithNode(std::string nodeName)
{
return owner->bodyWithNode(nodeName);
}
std::shared_ptr<ASMTAssembly> MbD::MBDynItem::asmtAssembly()
{
return owner->asmtAssembly();
}
std::string MbD::MBDynItem::formulaFromDrive(std::string driveName, std::string varName)
{
std::vector<std::string> tokens{ "drive:", driveName };
auto drives = mbdynDrives();
auto it = std::find_if(drives->begin(), drives->end(), [&](auto& drive) {
return lineHasTokens(drive->driveName, tokens);
});
auto& formula = (*it)->formula;
assert(varName == "Time");
return formula;
}
void MbD::MBDynItem::logString(std::string& str)
{
std::cout << str << std::endl;
}
FColDsptr MbD::MBDynItem::readVector3(std::vector<std::string>& args)
{
auto parser = std::make_shared<SymbolicParser>();
parser->variables = mbdynVariables();
auto rFfF = std::make_shared<FullColumn<double>>(3);
std::string str = args.at(0); //Must copy string
if (str.find("null") != std::string::npos) {
args.erase(args.begin());
}
else {
for (size_t i = 0; i < 3; i++)
{
auto userFunc = std::make_shared<BasicUserFunction>(popOffTop(args), 1.0);
parser->parseUserFunction(userFunc);
auto& sym = parser->stack->top();
rFfF->at(i) = sym->getValue();
}
}
return rFfF;
}
FColDsptr MbD::MBDynItem::readPosition(std::vector<std::string>& args)
{
auto rOfO = std::make_shared<FullColumn<double>>(3);
if (args.empty()) return rOfO;
std::string str = args.at(0); //Must copy string
if (str.find("position") != std::string::npos) {
args.erase(args.begin());
rOfO = readBasicPosition(args);
}
else if (str.find("orientation") != std::string::npos) {
//Do nothing
}
else if (str.find("reference") != std::string::npos) {
args.erase(args.begin());
auto refName = readStringOffTop(args);
auto& ref = mbdynReferences()->at(refName);
auto rFfF = readBasicPosition(args);
auto& rOFO = ref->rOfO;
auto& aAOF = ref->aAOf;
rOfO = rOFO->plusFullColumn(aAOF->timesFullColumn(rFfF));
}
else if (str.find("offset") != std::string::npos) {
args.erase(args.begin());
rOfO = readBasicPosition(args);
}
else if (str.find("null") != std::string::npos) {
args.erase(args.begin());
}
else {
rOfO = readBasicPosition(args);
}
return rOfO;
}
FColDsptr MbD::MBDynItem::readBasicPosition(std::vector<std::string>& args)
{
return readVector3(args);
}
FMatDsptr MbD::MBDynItem::readOrientation(std::vector<std::string>& args)
{
auto aAOf = FullMatrix<double>::identitysptr(3);
if (args.empty()) return aAOf;
std::string str = args.at(0); //Must copy string
if (str.find("reference") != std::string::npos) {
args.erase(args.begin());
auto refName = readStringOffTop(args);
auto& ref = mbdynReferences()->at(refName);
auto aAFf = readBasicOrientation(args);
auto& aAOF = ref->aAOf;
aAOf = aAOF->timesFullMatrix(aAFf);
}
else if (str.find("hinge") != std::string::npos) {
args.erase(args.begin());
aAOf = readOrientation(args);
}
else if (str.find("position") != std::string::npos) {
if (str.find("orientation") != std::string::npos) {
args.erase(args.begin());
aAOf = readOrientation(args);
}
}
else if (str.find("orientation") != std::string::npos) {
args.erase(args.begin());
aAOf = readOrientation(args);
}
else {
aAOf = readBasicOrientation(args);
}
return aAOf;
}
FMatDsptr MbD::MBDynItem::readBasicOrientation(std::vector<std::string>& args)
{
auto parser = std::make_shared<SymbolicParser>();
parser->variables = mbdynVariables();
std::string str = args.at(0); //Must copy string
if (str.find("euler") != std::string::npos) {
args.erase(args.begin());
auto euler = std::make_shared<EulerAngles<Symsptr>>();
euler->rotOrder = std::make_shared<std::vector<size_t>>(std::initializer_list<size_t>{ 1, 2, 3 });
for (size_t i = 0; i < 3; i++)
{
auto userFunc = std::make_shared<BasicUserFunction>(popOffTop(args), 1.0);
parser->parseUserFunction(userFunc);
auto& sym = parser->stack->top();
euler->at(i) = sym;
}
euler->calc();
auto& aAFf = euler->aA;
return aAFf;
}
if (str.find("eye") != std::string::npos) {
args.erase(args.begin());
auto aAFf = FullMatrix<double>::identitysptr(3);
return aAFf;
}
auto iss = std::istringstream(str);
int integer;
iss >> integer;
if (integer == 1) {
args.erase(args.begin());
FColDsptr vecX, vecY, vecZ, vec;
vecX = readPosition(args);
vecX->normalizeSelf();
auto axis = stoi(popOffTop(args));
str = args.at(0);
if (str.find("guess") != std::string::npos) {
args.erase(args.begin());
double min = std::numeric_limits<double>::max();
double max = -1.0;
size_t imin, imax;
for (size_t i = 0; i < 3; i++)
{
auto mag = std::abs(vecX->at(i));
if (mag > max) {
imax = i;
max = mag;
}
if (mag < min) {
imin = i;
min = mag;
}
}
vec = std::make_shared<FullColumn<double>>(3);
vec->at(imin) = 1.0;
vec->at(imax) = -vecX->at(imin) / vecX->at(imax);
}
else {
vec = readPosition(args);
}
vec->normalizeSelf();
if (axis == 2) {
vecZ = vecX->cross(vec);
vecY = vecZ->cross(vecX);
}
else if (axis == 3) {
vecY = vec->cross(vecX);
vecZ = vecX->cross(vecY);
}
else {
assert(false);
}
auto aAFf = FullMatrix<double>::identitysptr(3);
aAFf->atijputFullColumn(0, 0, vecX);
aAFf->atijputFullColumn(0, 1, vecY);
aAFf->atijputFullColumn(0, 2, vecZ);
return aAFf;
}
if (integer == 3) {
args.erase(args.begin());
FColDsptr vecX, vecY, vecZ, vec;
vecZ = readPosition(args);
vecZ->normalizeSelf();
auto axis = stoi(popOffTop(args));
str = args.at(0);
if (str.find("guess") != std::string::npos) {
args.erase(args.begin());
double min = std::numeric_limits<double>::max();
double max = -1.0;
size_t imin, imax;
for (size_t i = 0; i < 3; i++)
{
auto mag = std::abs(vecZ->at(i));
if (mag > max) {
imax = i;
max = mag;
}
if (mag < min) {
imin = i;
min = mag;
}
}
vec = std::make_shared<FullColumn<double>>(3);
vec->at(imin) = 1.0;
vec->at(imax) = -vecZ->at(imin) / vecZ->at(imax);
}
else {
vec = readPosition(args);
}
vec->normalizeSelf();
if (axis == 2) {
vecX = vec->cross(vecZ);
vecY = vecZ->cross(vecX);
}
else if (axis == 1) {
vecY = vecZ->cross(vec);
vecX = vecY->cross(vecZ);
}
else {
assert(false);
}
auto aAFf = FullMatrix<double>::identitysptr(3);
aAFf->atijputFullColumn(0, 0, vecX);
aAFf->atijputFullColumn(0, 1, vecY);
aAFf->atijputFullColumn(0, 2, vecZ);
return aAFf;
}
auto aAFf = FullMatrix<double>::identitysptr(3);
for (size_t i = 0; i < 3; i++)
{
auto& rowi = aAFf->at(i);
for (size_t j = 0; j < 3; j++)
{
auto userFunc = std::make_shared<BasicUserFunction>(popOffTop(args), 1.0);
parser->parseUserFunction(userFunc);
auto& sym = parser->stack->top();
rowi->at(j) = sym->getValue();
}
}
return aAFf;
}
std::string MbD::MBDynItem::popOffTop(std::vector<std::string>& args)
{
std::string str = args.at(0); //Must copy string
args.erase(args.begin());
return str;
}
std::string MbD::MBDynItem::readStringOffTop(std::vector<std::string>& args)
{
auto iss = std::istringstream(args.at(0));
args.erase(args.begin());
std::string str;
iss >> str;
return str;
}
void MbD::MBDynItem::readName(std::vector<std::string>& args)
{
name = readStringOffTop(args);
}
std::string MbD::MBDynItem::readJointTypeOffTop(std::vector<std::string>& args)
{
auto ss = std::stringstream();
auto iss = std::istringstream(popOffTop(args));
std::string str;
iss >> str;
ss << str;
while (!iss.eof()) {
ss << ' ';
iss >> str;
ss << str;
}
return ss.str();
}
std::string MbD::MBDynItem::readToken(std::string& line)
{
auto iss = std::istringstream(line);
std::string str;
iss >> str;
return str;
}

70
OndselSolver/MBDynItem.h
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@@ -1,70 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "CREATE.h"
namespace MbD {
class MBDynSystem;
class MBDynReference;
class MBDynNode;
class ASMTItem;
class MBDynBody;
class MBDynJoint;
class MBDynDrive;
class ASMTAssembly;
class MBDynItem
{
//
public:
virtual ~MBDynItem() {}
virtual MBDynSystem* root();
virtual void initialize();
void noop();
//void setName(std::string str);
virtual void parseMBDyn(std::vector<std::string>& lines);
virtual void parseMBDyn(std::string line);
static std::vector<std::string> collectArgumentsFor(std::string title, std::string& statement);
std::vector<std::string>::iterator findLineWith(std::vector<std::string>& lines, std::vector<std::string>& tokens);
static bool lineHasTokens(const std::string& line, std::vector<std::string>& tokens);
virtual std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> mbdynNodes();
virtual std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> mbdynBodies();
virtual std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> mbdynJoints();
virtual std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> mbdynDrives();
virtual std::vector<std::string> nodeNames();
virtual std::shared_ptr<std::map<std::string, Symsptr>> mbdynVariables();
virtual std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> mbdynReferences();
virtual void createASMT();
virtual std::shared_ptr<MBDynNode> nodeAt(std::string nodeName);
virtual int nodeidAt(std::string nodeName);
virtual std::shared_ptr<MBDynBody> bodyWithNode(std::string nodeName);
virtual std::shared_ptr<ASMTAssembly> asmtAssembly();
virtual std::string formulaFromDrive(std::string driveName, std::string varName);
void logString(std::string& str);
FColDsptr readVector3(std::vector<std::string>& args);
FColDsptr readPosition(std::vector<std::string>& args);
FColDsptr readBasicPosition(std::vector<std::string>& args);
FMatDsptr readOrientation(std::vector<std::string>& args);
FMatDsptr readBasicOrientation(std::vector<std::string>& args);
std::string popOffTop(std::vector<std::string>& args);
std::string readStringOffTop(std::vector<std::string>& args);
void readName(std::vector<std::string>& args);
std::string readJointTypeOffTop(std::vector<std::string>& args);
std::string readToken(std::string& line);
std::string name;
MBDynItem* owner = nullptr;
std::shared_ptr<ASMTItem> asmtItem;
std::vector<std::string> arguments;
};
}

410
OndselSolver/MBDynJoint.cpp
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@@ -1,410 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include <regex>
#include "MBDynJoint.h"
#include "ASMTMarker.h"
#include "ASMTPart.h"
#include "ASMTJoint.h"
#include "ASMTAssembly.h"
#include "ASMTRevoluteJoint.h"
#include "ASMTRotationalMotion.h"
#include "ASMTPointInLineJoint.h"
#include "ASMTNoRotationJoint.h"
#include "ASMTFixedJoint.h"
#include "ASMTSphericalJoint.h"
#include "MBDynTotalJoint.h"
#include "MBDynClampJoint.h"
#include "MBDynAxialRotationJoint.h"
#include "MBDynDriveHingeJoint.h"
#include "MBDynInLineJoint.h"
#include "MBDynInPlaneJoint.h"
#include "MBDynPrismaticJoint.h"
#include "MBDynRevoluteHingeJoint.h"
#include "MBDynRevolutePinJoint.h"
#include "MBDynSphericalHingeJoint.h"
using namespace MbD;
std::shared_ptr<MBDynJoint> MbD::MBDynJoint::newJoint(std::string statement)
{
//std::shared_ptr<MBDynJoint> joint;
//std::vector<std::string> tokens{ "total", "joint" };
std::vector<std::string> tokens;
tokens = { "axial", "rotation" };
if (lineHasTokens(statement, tokens)) {
return std::make_shared<MBDynAxialRotationJoint>();
}
tokens = { "clamp" };
if (lineHasTokens(statement, tokens)) {
return std::make_shared<MBDynClampJoint>();
}
tokens = { "drive", "hinge" };
if (lineHasTokens(statement, tokens)) {
return std::make_shared<MBDynDriveHingeJoint>();
}
tokens = { "in", "line" };
if (lineHasTokens(statement, tokens)) {
return std::make_shared<MBDynInLineJoint>();
}
tokens = { "in", "plane" };
if (lineHasTokens(statement, tokens)) {
return std::make_shared<MBDynInPlaneJoint>();
}
tokens = { "prismatic" };
if (lineHasTokens(statement, tokens)) {
return std::make_shared<MBDynPrismaticJoint>();
}
tokens = { "revolute", "hinge" };
if (lineHasTokens(statement, tokens)) {
return std::make_shared<MBDynRevoluteHingeJoint>();
}
tokens = { "revolute", "pin" };
if (lineHasTokens(statement, tokens)) {
return std::make_shared<MBDynRevolutePinJoint>();
}
tokens = { "spherical", "hinge" };
if (lineHasTokens(statement, tokens)) {
return std::make_shared<MBDynSphericalHingeJoint>();
}
tokens = { "total", "joint" };
if (lineHasTokens(statement, tokens)) {
return std::make_shared<MBDynTotalJoint>();
}
return std::make_shared<MBDynJoint>();
}
void MbD::MBDynJoint::initialize()
{
}
void MbD::MBDynJoint::parseMBDyn(std::string line)
{
jointString = line;
arguments = collectArgumentsFor("joint", line);
readName(arguments);
readJointType(arguments);
readMarkerI(arguments);
readMarkerJ(arguments);
}
void MbD::MBDynJoint::readJointType(std::vector<std::string>& args)
{
joint_type = readJointTypeOffTop(args);
}
//void MbD::MBDynJoint::parseMBDyn0(std::string line)
//{
// jointString = line;
// arguments = collectArgumentsFor("joint", line);
// auto ss = std::stringstream();
// name = readStringOffTop(arguments);
// auto iss = std::istringstream(arguments.at(0));
// iss >> joint_type;
// if (joint_type == "axial") {
// ss << joint_type;
// iss >> joint_type;
// if (joint_type == "rotation") {
// ss << " " << joint_type;
// joint_type = ss.str();
// }
// else {
// assert(false);
// }
// arguments.erase(arguments.begin());
// readMarkerI(arguments);
// readMarkerJ(arguments);
// readFunction(arguments);
// return;
// }
// else if (joint_type == "revolute") {
// ss << joint_type;
// iss >> joint_type;
// if (joint_type == "hinge") {
// ss << " " << joint_type;
// joint_type = ss.str();
// }
// else {
// assert(false);
// }
// }
// else if (joint_type == "spherical") {
// ss << joint_type;
// iss >> joint_type;
// if (joint_type == "hinge") {
// ss << " " << joint_type;
// joint_type = ss.str();
// }
// else {
// assert(false);
// }
// }
// else if (joint_type == "drive") {
// ss << joint_type;
// iss >> joint_type;
// if (joint_type == "hinge") {
// ss << " " << joint_type;
// joint_type = ss.str();
// }
// else {
// assert(false);
// }
// arguments.erase(arguments.begin());
// readMarkerI(arguments);
// readMarkerJ(arguments);
// readFunction(arguments);
// return;
// }
// else if (joint_type == "in") {
// ss << joint_type;
// iss >> joint_type;
// if (joint_type == "line") {
// ss << " " << joint_type;
// joint_type = ss.str();
// }
// else {
// assert(false);
// }
// }
// else if (joint_type == "total") {
// ss << joint_type;
// iss >> joint_type;
// if (joint_type == "joint") {
// ss << " " << joint_type;
// joint_type = ss.str();
// }
// else {
// assert(false);
// }
// arguments.erase(arguments.begin());
// readTotalJointMarkerI(arguments);
// readTotalJointMarkerJ(arguments);
// readTotalJointFunction(arguments);
// return;
// }
// else if (joint_type == "clamp") {
// //mkr1 should be on assembly which doesn't exist in MBDyn
// //mkr2 is on the node
// arguments.erase(arguments.begin());
// mkr1 = std::make_shared<MBDynMarker>();
// mkr1->owner = this;
// mkr1->nodeStr = "Assembly";
// mkr1->rPmP = std::make_shared<FullColumn<double>>(3);
// mkr1->aAPm = FullMatrix<double>::identitysptr(3);
// readClampMarkerJ(arguments);
// return;
// }
// else if (joint_type == "prismatic") {
// noop();
// }
// else {
// assert(false);
// }
// arguments.erase(arguments.begin());
// readMarkerI(arguments);
// readMarkerJ(arguments);
//}
void MbD::MBDynJoint::readMarkerI(std::vector<std::string>& args)
{
mkr1 = std::make_shared<MBDynMarker>();
mkr1->owner = this;
mkr1->nodeStr = readStringOffTop(args);
auto _nodeNames = nodeNames();
std::string nodeName;
auto it = std::find_if(args.begin(), args.end(), [&](const std::string& s) {
auto iss = std::istringstream(s);
iss >> nodeName;
if (std::find(_nodeNames.begin(), _nodeNames.end(), nodeName) != _nodeNames.end()) return true;
return false;
});
auto markerArgs = std::vector<std::string>(args.begin(), it);
args.erase(args.begin(), it);
mkr1->parseMBDyn(markerArgs);
}
void MbD::MBDynJoint::readMarkerJ(std::vector<std::string>& args)
{
if (args.empty()) return;
mkr2 = std::make_shared<MBDynMarker>();
mkr2->owner = this;
mkr2->nodeStr = readStringOffTop(args);
mkr2->parseMBDyn(args);
}
void MbD::MBDynJoint::readTotalJointMarkerI(std::vector<std::string>& args)
{
mkr1 = std::make_shared<MBDynMarker>();
mkr1->owner = this;
mkr1->nodeStr = readStringOffTop(args);
auto _nodeNames = nodeNames();
std::string nodeName;
auto it = std::find_if(args.begin(), args.end(), [&](const std::string& s) {
auto iss = std::istringstream(s);
iss >> nodeName;
if (std::find(_nodeNames.begin(), _nodeNames.end(), nodeName) != _nodeNames.end()) return true;
return false;
});
auto markerArgs = std::vector<std::string>(args.begin(), it);
args.erase(args.begin(), it);
mkr1->parseMBDynTotalJointMarker(markerArgs);
}
void MbD::MBDynJoint::readTotalJointMarkerJ(std::vector<std::string>& args)
{
if (args.empty()) return;
mkr2 = std::make_shared<MBDynMarker>();
mkr2->owner = this;
mkr2->nodeStr = readStringOffTop(args);
mkr2->parseMBDynTotalJointMarker(args);
}
void MbD::MBDynJoint::readClampMarkerJ(std::vector<std::string>& args)
{
if (args.empty()) return;
mkr2 = std::make_shared<MBDynMarker>();
mkr2->owner = this;
mkr2->nodeStr = readStringOffTop(args);
mkr2->parseMBDynClamp(args);
}
void MbD::MBDynJoint::readFunction(std::vector<std::string>& args)
{
if (args.empty()) return;
std::string str;
auto iss = std::istringstream(args.at(0));
iss >> str;
if (str.find("ramp") != std::string::npos) {
args.erase(args.begin());
std::string slope, initValue, initTime, finalTime;
slope = popOffTop(args);
initTime = popOffTop(args);
finalTime = popOffTop(args);
initValue = popOffTop(args);
//f = slope*(time - t0) + f0
auto ss = std::stringstream();
ss << slope << "*(time - " << initTime << ") + " << initValue;
formula = ss.str();
}
else if (str.find("single") != std::string::npos) {
args.erase(args.begin());
auto vec3 = readVector3(args);
assert(vec3->at(0) == 0 && vec3->at(1) == 0 && vec3->at(2) == 1);
assert(readStringOffTop(args) == "string");
formula = popOffTop(args);
formula = std::regex_replace(formula, std::regex("\""), "");
}
else if (str.find("string") != std::string::npos) {
args.erase(args.begin());
formula = popOffTop(args);
formula = std::regex_replace(formula, std::regex("\""), "");
}
else {
assert(false);
}
}
void MbD::MBDynJoint::readTotalJointFunction(std::vector<std::string>& args)
{
std::vector<std::string> tokens{ "position", "constraint" };
assert(lineHasTokens(args[0], tokens));
args.erase(args.begin());
assert(readStringOffTop(args) == "active");
assert(readStringOffTop(args) == "active");
assert(readStringOffTop(args) == "active");
assert(readStringOffTop(args) == "null");
std::vector<std::string> tokens1{ "orientation", "constraint" };
assert(lineHasTokens(args[0], tokens1));
args.erase(args.begin());
assert(readStringOffTop(args) == "active");
assert(readStringOffTop(args) == "active");
assert(readStringOffTop(args) == "rotation");
readFunction(args);
}
void MbD::MBDynJoint::createASMT()
{
mkr1->createASMT();
if (mkr2) mkr2->createASMT();
auto asmtAsm = asmtAssembly();
auto asmtJoint = asmtClassNew();
asmtItem = asmtJoint;
asmtJoint->setName(name);
asmtJoint->setMarkerI(mkr1->asmtItem->fullName(""));
asmtJoint->setMarkerJ(mkr2->asmtItem->fullName(""));
asmtAsm->addJoint(asmtJoint);
}
std::shared_ptr<ASMTJoint> MbD::MBDynJoint::asmtClassNew()
{
assert(false);
return ASMTJoint::With();
}
std::string MbD::MBDynJoint::asmtFormula()
{
auto ss = std::stringstream();
std::string drivestr = "model::drive";
size_t previousPos = 0;
auto pos = formula.find(drivestr);
ss << formula.substr(previousPos, pos - previousPos);
while (pos != std::string::npos) {
previousPos = pos;
pos = formula.find('(', pos + 1);
previousPos = pos;
pos = formula.find(',', pos + 1);
auto driveName = formula.substr(previousPos + 1, pos - previousPos - 1);
driveName = readToken(driveName);
previousPos = pos;
pos = formula.find(')', pos + 1);
auto varName = formula.substr(previousPos + 1, pos - previousPos - 1);
varName = readToken(varName);
//Insert drive formula
ss << formulaFromDrive(driveName, varName);
previousPos = pos;
pos = formula.find(drivestr, pos + 1);
ss << formula.substr(previousPos + 1, pos - previousPos);
}
return ss.str();
}
std::string MbD::MBDynJoint::asmtFormula(std::string mbdynFormula)
{
auto ss = std::stringstream();
std::string drivestr = "model::drive";
size_t previousPos = 0;
auto pos = mbdynFormula.find(drivestr);
ss << mbdynFormula.substr(previousPos, pos - previousPos);
while (pos != std::string::npos) {
previousPos = pos;
pos = mbdynFormula.find('(', pos + 1);
previousPos = pos;
pos = mbdynFormula.find(',', pos + 1);
auto driveName = mbdynFormula.substr(previousPos + 1, pos - previousPos - 1);
driveName = readToken(driveName);
previousPos = pos;
pos = mbdynFormula.find(')', pos + 1);
auto varName = mbdynFormula.substr(previousPos + 1, pos - previousPos - 1);
varName = readToken(varName);
//Insert drive mbdynFormula
ss << formulaFromDrive(driveName, varName);
previousPos = pos;
pos = mbdynFormula.find(drivestr, pos + 1);
ss << mbdynFormula.substr(previousPos + 1, pos - previousPos);
}
return ss.str();
}
std::string MbD::MBDynJoint::asmtFormulaIntegral()
{
auto ss = std::stringstream();
ss << "integral(time, " << asmtFormula() << ")";
return ss.str();
}

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OndselSolver/MBDynJoint.h
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynElement.h"
#include "MBDynMarker.h"
namespace MbD {
class ASMTJoint;
class MBDynJoint : public MBDynElement
{
public:
static std::shared_ptr<MBDynJoint> newJoint(std::string line);
void initialize() override;
void parseMBDyn(std::string line) override;
virtual void readJointType(std::vector<std::string>& args);
virtual void readMarkerI(std::vector<std::string>& args);
virtual void readMarkerJ(std::vector<std::string>& args);
void readTotalJointMarkerI(std::vector<std::string>& args);
void readTotalJointMarkerJ(std::vector<std::string>& args);
void readClampMarkerJ(std::vector<std::string>& args);
virtual void readFunction(std::vector<std::string>& args);
void readTotalJointFunction(std::vector<std::string>& args);
void createASMT() override;
virtual std::shared_ptr<ASMTJoint> asmtClassNew();
std::string asmtFormula();
std::string asmtFormula(std::string mbdynFormula);
std::string asmtFormulaIntegral();
std::string jointString, joint_type;
std::shared_ptr<MBDynMarker> mkr1, mkr2;
std::string formula;
};
}

74
OndselSolver/MBDynMarker.cpp
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#include "MBDynMarker.h"
#include "MBDynStructural.h"
#include "ASMTMarker.h"
#include "ASMTPart.h"
#include "ASMTAssembly.h"
#include "MBDynBody.h"
#include "ASMTSpatialContainer.h"
using namespace MbD;
void MbD::MBDynMarker::parseMBDyn(std::vector<std::string>& args)
{
rPmP = std::make_shared<FullColumn<double>>(3);
aAPm = FullMatrix<double>::identitysptr(3);
if (args.empty()) return;
std::string str = args.at(0); //Must copy string
if (str.find("reference") != std::string::npos) {
auto strucNode = std::static_pointer_cast<MBDynStructural>(nodeAt(nodeStr));
auto& rOPO = strucNode->rOfO;
auto& aAOP = strucNode->aAOf;
auto rOmO = readPosition(args);
auto aAOm = readOrientation(args);
rPmP = aAOP->transposeTimesFullColumn(rOmO->minusFullColumn(rOPO));
aAPm = aAOP->transposeTimesFullMatrix(aAOm);
}
else if (str.find("offset") != std::string::npos) {
rPmP = readPosition(args);
}
else {
rPmP = readPosition(args);
aAPm = readOrientation(args);
}
}
void MbD::MBDynMarker::parseMBDynTotalJointMarker(std::vector<std::string>& args)
{
parseMBDyn(args);
aAPm2 = readOrientation(args);
assert(aAPm->equaltol(aAPm2, 1.0e-9));
}
void MbD::MBDynMarker::parseMBDynClamp(std::vector<std::string>& args)
{
//rOmO = rOPO + aAOP*rPmP
//aAOm = aAOP * aAPm
auto rOmO = std::make_shared<FullColumn<double>>(3);
auto aAOm = FullMatrix<double>::identitysptr(3);
auto rOPO = readPosition(args);
auto aAOP = readOrientation(args);
rPmP = aAOP->transposeTimesFullColumn(rOmO->minusFullColumn(rOPO));
aAPm = aAOP->transposeTimesFullMatrix(aAOm);
}
void MbD::MBDynMarker::createASMT()
{
auto asmtAsm = asmtAssembly();
if (nodeStr == "Assembly") {
auto mkr = ASMTMarker::With();
asmtItem = mkr;
mkr->setName(asmtAsm->generateUniqueMarkerName());
mkr->setPosition3D(rPmP);
mkr->setRotationMatrix(aAPm);
asmtAsm->addMarker(mkr);
}
else {
auto asmtPart = asmtAsm->partPartialNamed(nodeStr);
auto mkr = ASMTMarker::With();
asmtItem = mkr;
mkr->setName(asmtPart->generateUniqueMarkerName());
mkr->setPosition3D(rPmP);
mkr->setRotationMatrix(aAPm);
asmtPart->addMarker(mkr);
}
}

26
OndselSolver/MBDynMarker.h
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynItem.h"
namespace MbD {
class MBDynMarker : public MBDynItem
{
public:
void parseMBDyn(std::vector<std::string>& args) override;
void parseMBDynTotalJointMarker(std::vector<std::string>& args);
void parseMBDynClamp(std::vector<std::string>& args);
void createASMT() override;
std::string nodeStr;
FColDsptr rPmP; //part to marker
FMatDsptr aAPm, aAPm2;
};
}

41
OndselSolver/MBDynNode.cpp
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#include "MBDynNode.h"
#include "ASMTPart.h"
#include "EulerAngles.h"
using namespace MbD;
void MbD::MBDynNode::initialize()
{
}
void MbD::MBDynNode::parseMBDyn(std::vector<std::string>&)
{
assert(false);
}
void MbD::MBDynNode::outputLine(size_t i, std::ostream& os)
{
auto id = nodeidAt(name);
auto asmtPart = std::static_pointer_cast<ASMTPart>(asmtItem);
auto x = asmtPart->xs->at(i);
auto y = asmtPart->ys->at(i);
auto z = asmtPart->zs->at(i);
auto aA = asmtPart->getRotationMatrix(i);
auto vx = asmtPart->vxs->at(i);
auto vy = asmtPart->vys->at(i);
auto vz = asmtPart->vzs->at(i);
auto omex = asmtPart->omexs->at(i);
auto omey = asmtPart->omeys->at(i);
auto omez = asmtPart->omezs->at(i);
os << id << " ";
os << x << " " << y << " " << z << " ";
auto row = aA->at(0);
os << row->at(0) << " " << row->at(1) << " " << row->at(2) << " ";
row = aA->at(1);
os << row->at(0) << " " << row->at(1) << " " << row->at(2) << " ";
row = aA->at(2);
os << row->at(0) << " " << row->at(1) << " " << row->at(2) << " ";
os << vx << " " << vy << " " << vz << " ";
os << omex << " " << omey << " " << omez << " ";
os << std::endl;
}

21
OndselSolver/MBDynNode.h
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynItem.h"
namespace MbD {
class MBDynNode : public MBDynItem
{
public:
void initialize() override;
void parseMBDyn(std::vector<std::string>& lines) override;
void outputLine(size_t i, std::ostream& os);
};
}

29
OndselSolver/MBDynPrismaticJoint.cpp
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "MBDynPrismaticJoint.h"
#include "ASMTNoRotationJoint.h"
using namespace MbD;
void MbD::MBDynPrismaticJoint::parseMBDyn(std::string line)
{
MBDynJoint::parseMBDyn(line);
}
void MbD::MBDynPrismaticJoint::createASMT()
{
MBDynJoint::createASMT();
}
std::shared_ptr<ASMTJoint> MbD::MBDynPrismaticJoint::asmtClassNew()
{
auto joint = ASMTNoRotationJoint::With();
joint->initialize();
return joint;
}

23
OndselSolver/MBDynPrismaticJoint.h
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynJoint.h"
namespace MbD {
class ASMTJoint;
class MBDynPrismaticJoint : public MBDynJoint
{
public:
void parseMBDyn(std::string line) override;
void createASMT() override;
std::shared_ptr<ASMTJoint> asmtClassNew() override;
};
}

66
OndselSolver/MBDynReference.cpp
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#include "MBDynReference.h"
#include "SymbolicParser.h"
#include "BasicUserFunction.h"
#include "EulerAngles.h"
using namespace MbD;
void MbD::MBDynReference::initialize()
{
}
void MbD::MBDynReference::parseMBDyn(std::string line)
{
refString = line;
arguments = collectArgumentsFor("reference", line);
std::istringstream iss(arguments.at(0));
iss >> name;
arguments.erase(arguments.begin());
rOfO = readPosition(arguments);
aAOf = readOrientation(arguments);
readVelocity(arguments);
readOmega(arguments);
}
void MbD::MBDynReference::readVelocity(std::vector<std::string>& args)
{
auto parser = std::make_shared<SymbolicParser>();
parser->variables = mbdynVariables();
vOfO = std::make_shared<FullColumn<double>>(3);
std::string str = args.at(0); //Must copy string
if (str.find("null") != std::string::npos) {
args.erase(args.begin());
return;
}
else {
for (size_t i = 0; i < 3; i++)
{
auto userFunc = std::make_shared<BasicUserFunction>(popOffTop(args), 1.0);
parser->parseUserFunction(userFunc);
auto& sym = parser->stack->top();
vOfO->at(i) = sym->getValue();
}
}
}
void MbD::MBDynReference::readOmega(std::vector<std::string>& args)
{
auto parser = std::make_shared<SymbolicParser>();
parser->variables = mbdynVariables();
omeOfO = std::make_shared<FullColumn<double>>(3);
std::string str = args.at(0); //Must copy string
if (str.find("null") != std::string::npos) {
args.erase(args.begin());
return;
}
else {
for (size_t i = 0; i < 3; i++)
{
auto userFunc = std::make_shared<BasicUserFunction>(popOffTop(args), 1.0);
parser->parseUserFunction(userFunc);
auto& sym = parser->stack->top();
omeOfO->at(i) = sym->getValue();
}
}
}

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OndselSolver/MBDynReference.h
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynItem.h"
namespace MbD {
class MBDynReference : public MBDynItem
{
public:
void initialize() override;
void parseMBDyn(std::string line) override;
void readVelocity(std::vector<std::string>& args);
void readOmega(std::vector<std::string>& args);
std::string refString, name;
FColDsptr rOfO, vOfO, omeOfO;
FMatDsptr aAOf;
};
}

29
OndselSolver/MBDynRevoluteHingeJoint.cpp
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/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "MBDynRevoluteHingeJoint.h"
#include "ASMTRevoluteJoint.h"
using namespace MbD;
void MbD::MBDynRevoluteHingeJoint::parseMBDyn(std::string line)
{
MBDynJoint::parseMBDyn(line);
}
void MbD::MBDynRevoluteHingeJoint::createASMT()
{
MBDynJoint::createASMT();
}
std::shared_ptr<ASMTJoint> MbD::MBDynRevoluteHingeJoint::asmtClassNew()
{
auto joint = ASMTRevoluteJoint::With();
joint->initialize();
return joint;
}

23
OndselSolver/MBDynRevoluteHingeJoint.h
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@@ -1,23 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynJoint.h"
namespace MbD {
class ASMTJoint;
class MBDynRevoluteHingeJoint : public MBDynJoint
{
public:
void parseMBDyn(std::string line) override;
void createASMT() override;
std::shared_ptr<ASMTJoint> asmtClassNew() override;
};
}

28
OndselSolver/MBDynRevolutePinJoint.cpp
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@@ -1,28 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "MBDynRevolutePinJoint.h"
#include "ASMTJoint.h"
using namespace MbD;
void MbD::MBDynRevolutePinJoint::parseMBDyn(std::string line)
{
MBDynJoint::parseMBDyn(line);
}
void MbD::MBDynRevolutePinJoint::createASMT()
{
MBDynJoint::createASMT();
}
std::shared_ptr<ASMTJoint> MbD::MBDynRevolutePinJoint::asmtClassNew()
{
assert(false);
return ASMTJoint::With();
}

26
OndselSolver/MBDynRevolutePinJoint.h
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@@ -1,26 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynJoint.h"
namespace MbD {
class ASMTJoint;
class MBDynRevolutePinJoint : public MBDynJoint
{
//Note: this is equivalent to a revolute hinge (see Section 8.12.38) when one node is grounded.
public:
void parseMBDyn(std::string line) override;
void createASMT() override;
std::shared_ptr<ASMTJoint> asmtClassNew() override;
};
}

29
OndselSolver/MBDynSphericalHingeJoint.cpp
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@@ -1,29 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "MBDynSphericalHingeJoint.h"
#include "ASMTSphericalJoint.h"
using namespace MbD;
void MbD::MBDynSphericalHingeJoint::parseMBDyn(std::string line)
{
MBDynJoint::parseMBDyn(line);
}
void MbD::MBDynSphericalHingeJoint::createASMT()
{
MBDynJoint::createASMT();
}
std::shared_ptr<ASMTJoint> MbD::MBDynSphericalHingeJoint::asmtClassNew()
{
auto joint = ASMTSphericalJoint::With();
joint->initialize();
return joint;
}

23
OndselSolver/MBDynSphericalHingeJoint.h
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@@ -1,23 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynJoint.h"
namespace MbD {
class ASMTJoint;
class MBDynSphericalHingeJoint : public MBDynJoint
{
public:
void parseMBDyn(std::string line) override;
void createASMT() override;
std::shared_ptr<ASMTJoint> asmtClassNew() override;
};
}

89
OndselSolver/MBDynStructural.cpp
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@@ -1,89 +0,0 @@
#include "MBDynStructural.h"
#include "SymbolicParser.h"
#include "BasicUserFunction.h"
#include "EulerAngles.h"
#include "Constant.h"
#include "MBDynReference.h"
#include "ASMTPart.h"
#include "ASMTAssembly.h"
using namespace MbD;
MbD::MBDynStructural::MBDynStructural()
{
rOfO = std::make_shared<FullColumn<double>>(3);
aAOf = FullMatrix<double>::identitysptr(3);
vOfO = std::make_shared<FullColumn<double>>(3);
omeOfO = std::make_shared<FullColumn<double>>(3);
}
void MbD::MBDynStructural::parseMBDyn(std::string line)
{
strucString = line;
arguments = collectArgumentsFor("structural", line);
std::istringstream iss(arguments.at(0));
iss >> name;
arguments.erase(arguments.begin());
iss = std::istringstream(arguments.at(0));
iss >> type;
arguments.erase(arguments.begin());
rOfO = readPosition(arguments);
aAOf = readOrientation(arguments);
readVelocity(arguments);
readOmega(arguments);
}
void MbD::MBDynStructural::readVelocity(std::vector<std::string>& args)
{
auto parser = std::make_shared<SymbolicParser>();
parser->variables = mbdynVariables();
vOfO = std::make_shared<FullColumn<double>>(3);
std::string str = args.at(0); //Must copy string
if (str.find("null") != std::string::npos) {
args.erase(args.begin());
return;
}
else {
for (size_t i = 0; i < 3; i++)
{
auto userFunc = std::make_shared<BasicUserFunction>(popOffTop(args), 1.0);
parser->parseUserFunction(userFunc);
auto& sym = parser->stack->top();
vOfO->at(i) = sym->getValue();
}
}
}
void MbD::MBDynStructural::readOmega(std::vector<std::string>& args)
{
auto parser = std::make_shared<SymbolicParser>();
parser->variables = mbdynVariables();
omeOfO = std::make_shared<FullColumn<double>>(3);
std::string str = args.at(0); //Must copy string
if (str.find("null") != std::string::npos) {
args.erase(args.begin());
return;
}
else {
for (size_t i = 0; i < 3; i++)
{
auto userFunc = std::make_shared<BasicUserFunction>(popOffTop(args), 1.0);
parser->parseUserFunction(userFunc);
auto& sym = parser->stack->top();
omeOfO->at(i) = sym->getValue();
}
}
}
void MbD::MBDynStructural::createASMT()
{
auto asmtPart = ASMTPart::With();
asmtItem = asmtPart;
asmtPart->setName(name);
asmtPart->setPosition3D(rOfO);
asmtPart->setRotationMatrix(aAOf);
asmtPart->setVelocity3D(vOfO);
asmtPart->setOmega3D(omeOfO);
asmtAssembly()->addPart(asmtPart);
}

26
OndselSolver/MBDynStructural.h
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@@ -1,26 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynNode.h"
namespace MbD {
class MBDynStructural : public MBDynNode
{
public:
MBDynStructural();
void parseMBDyn(std::string line) override;
void readVelocity(std::vector<std::string>& args);
void readOmega(std::vector<std::string>& args);
void createASMT() override;
std::string strucString, type;
FColDsptr rOfO, vOfO, omeOfO;
FMatDsptr aAOf;
};
}

453
OndselSolver/MBDynSystem.cpp
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@@ -1,453 +0,0 @@
#include <string>
#include <cassert>
#include <fstream>
#include <algorithm>
#include <numeric>
#include <iomanip>
#include "MBDynSystem.h"
#include "CREATE.h"
#include "FullColumn.h"
#include "MBDynInitialValue.h"
#include "MBDynData.h"
#include "MBDynControlData.h"
#include "ASMTAssembly.h"
#include "ASMTConstantGravity.h"
#include "ASMTTime.h"
#include "MBDynBody.h"
#include "MBDynJoint.h"
#include "MBDynStructural.h"
#include "SymbolicParser.h"
#include "BasicUserFunction.h"
#include "MBDynReference.h"
#include "MBDynDrive.h"
#include "MBDynGravity.h"
using namespace MbD;
void MbD::MBDynSystem::runFile(const char* filename)
{
std::ifstream stream(filename);
std::string line;
std::vector<std::string> lines;
while (std::getline(stream, line)) {
lines.push_back(line);
}
eraseComments(lines);
auto statements = collectStatements(lines);
auto system = std::make_shared<MBDynSystem>();
system->setFilename(filename);
system->parseMBDyn(statements);
system->runKINEMATIC();
}
void MbD::MBDynSystem::parseMBDyn(std::vector<std::string>& lines)
{
readDataBlock(lines);
readInitialValueBlock(lines);
readControlDataBlock(lines);
readLabels(lines);
readVariables(lines);
readReferences(lines);
readNodesBlock(lines);
readElementsBlock(lines);
assert(lines.empty());
}
std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> MbD::MBDynSystem::mbdynNodes()
{
return nodes;
}
std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> MbD::MBDynSystem::mbdynBodies()
{
return bodies;
}
std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> MbD::MBDynSystem::mbdynJoints()
{
return joints;
}
std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> MbD::MBDynSystem::mbdynDrives()
{
return drives;
}
std::shared_ptr<std::map<std::string, Symsptr>> MbD::MBDynSystem::mbdynVariables()
{
return variables;
}
std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> MbD::MBDynSystem::mbdynReferences()
{
return references;
}
void MbD::MBDynSystem::createASMT()
{
auto asmtAsm = ASMTAssembly::With();
asmtAsm->mbdynItem = this;
asmtItem = asmtAsm;
asmtItem->setName("Assembly");
initialValue->createASMT();
for (auto& node : *nodes) node->createASMT();
for (auto& body : *bodies) body->createASMT();
for (auto& joint : *joints) joint->createASMT();
if (gravity) gravity->createASMT();
}
std::shared_ptr<MBDynNode> MbD::MBDynSystem::nodeAt(std::string nodeName)
{
for (auto& node : *nodes) {
if (node->name == nodeName) return node;
}
return nullptr;
}
int MbD::MBDynSystem::nodeidAt(std::string nodeName)
{
return labels->at(nodeName);
}
std::shared_ptr<MBDynBody> MbD::MBDynSystem::bodyWithNode(std::string nodeName)
{
for (auto& body : *bodies) {
if (body->nodeName == nodeName) return body;
}
return nullptr;
}
std::shared_ptr<ASMTAssembly> MbD::MBDynSystem::asmtAssembly()
{
return std::static_pointer_cast<ASMTAssembly>(asmtItem);
}
std::vector<std::string> MbD::MBDynSystem::nodeNames()
{
auto nodeNames = std::vector<std::string>();
for (auto& node : *nodes) {
nodeNames.push_back(node->name);
}
return nodeNames;
}
void MbD::MBDynSystem::runKINEMATIC()
{
createASMT();
auto debugFile1 = filename.substr(0, filename.find_last_of('.')) + "debug1.asmt";
asmtAssembly()->outputFile(debugFile1);
std::static_pointer_cast<ASMTAssembly>(asmtItem)->runKINEMATIC();
outputFiles();
auto debugFile2 = filename.substr(0, filename.find_last_of('.')) + "debug2.asmt";
asmtAssembly()->outputFile(debugFile2);
}
void MbD::MBDynSystem::outputFiles()
{
auto movFile = filename.substr(0, filename.find_last_of('.')) + ".mov";
auto asmtAsm = asmtAssembly();
auto& asmtTimes = asmtAsm->times;
//auto& asmtParts = asmtAsm->parts;
//auto& asmtJoints = asmtAsm->joints;
//auto& asmtMotions = asmtAsm->motions;
std::ofstream os(movFile);
os << std::setprecision(static_cast<std::streamsize>(std::numeric_limits<double>::digits10) + 1);
for (size_t i = 1; i < asmtTimes->size(); i++)
{
for (auto& node : *nodes) {
node->outputLine(i, os);
}
}
os.close();
}
void MbD::MBDynSystem::setFilename(std::string str)
{
std::stringstream ss;
ss << "FileName = " << str << std::endl;
auto str2 = ss.str();
logString(str2);
filename = str;
}
void MbD::MBDynSystem::readDataBlock(std::vector<std::string>& lines)
{
std::vector<std::string> tokens{ "begin:", "data" };
auto beginit = findLineWith(lines, tokens);
std::vector<std::string> tokens1{ "end:", "data" };
auto endit = findLineWith(lines, tokens1);
std::vector<std::string> blocklines = { beginit, endit + 1 };
parseMBDynData(blocklines);
lines.erase(beginit, endit + 1);
}
void MbD::MBDynSystem::readInitialValueBlock(std::vector<std::string>& lines)
{
std::vector<std::string> tokens{ "begin:", "initial", "value" };
auto beginit = findLineWith(lines, tokens);
std::vector<std::string> tokens1{ "end:", "initial", "value" };
auto endit = findLineWith(lines, tokens1);
std::vector<std::string> blocklines = { beginit, endit + 1 };
initialValue = std::make_shared<MBDynInitialValue>();
initialValue->owner = this;
initialValue->parseMBDyn(blocklines);
lines.erase(beginit, endit + 1);
}
void MbD::MBDynSystem::readControlDataBlock(std::vector<std::string>& lines)
{
std::vector<std::string> tokens{ "begin:", "control", "data" };
auto beginit = findLineWith(lines, tokens);
std::vector<std::string> tokens1{ "end:", "control", "data" };
auto endit = findLineWith(lines, tokens1);
std::vector<std::string> blocklines = { beginit, endit + 1 };
controlData = std::make_shared<MBDynControlData>();
controlData->owner = this;
controlData->parseMBDyn(blocklines);
lines.erase(beginit, endit + 1);
}
void MbD::MBDynSystem::readLabels(std::vector<std::string>& lines)
{
parseMBDynLabels(lines);
}
void MbD::MBDynSystem::readVariables(std::vector<std::string>& lines)
{
parseMBDynVariables(lines);
}
void MbD::MBDynSystem::readReferences(std::vector<std::string>& lines)
{
parseMBDynReferences(lines);
}
void MbD::MBDynSystem::readNodesBlock(std::vector<std::string>& lines)
{
std::vector<std::string> tokens{ "begin:", "nodes" };
auto beginit = findLineWith(lines, tokens);
std::vector<std::string> tokens1{ "end:", "nodes" };
auto endit = findLineWith(lines, tokens1);
std::vector<std::string> blocklines = { beginit, endit + 1 };
parseMBDynNodes(blocklines);
lines.erase(beginit, endit + 1);
}
void MbD::MBDynSystem::readElementsBlock(std::vector<std::string>& lines)
{
std::vector<std::string> tokens{ "begin:", "elements" };
auto beginit = findLineWith(lines, tokens);
std::vector<std::string> tokens1{ "end:", "elements" };
auto endit = findLineWith(lines, tokens1);
std::vector<std::string> blocklines = { beginit, endit + 1 };
parseMBDynElements(blocklines);
lines.erase(beginit, endit + 1);
}
void MbD::MBDynSystem::eraseComments(std::vector<std::string>& lines)
{
for (size_t i = 0; i < lines.size(); i++)
{
auto& line = lines[i];
auto it = line.find('#');
if (it != std::string::npos) {
lines[i] = line.substr(0, it);
}
}
for (int i = (int)lines.size() - 1; i >= 0; i--) //Use int because of decrement
{
auto& line = lines[i];
auto it = std::find_if(line.begin(), line.end(), [](unsigned char ch) { return !std::isspace(ch); });
if (it == line.end()) lines.erase(lines.begin() + i);
}
}
std::vector<std::string> MbD::MBDynSystem::collectStatements(std::vector<std::string>& lines)
{
auto statements = std::vector<std::string>();
while (!lines.empty()) {
std::stringstream ss;
while (!lines.empty()) {
std::string line = lines[0]; //Must copy string
lines.erase(lines.begin());
auto i = line.find(';');
if (i != std::string::npos) {
ss << line.substr(0, i);
if (line.size() > i + 1) {
auto remainder = line.substr(i + 1);
auto it = std::find_if(remainder.begin(), remainder.end(), [](unsigned char ch) { return !std::isspace(ch); });
if (it != remainder.end()) lines.insert(lines.begin(), remainder);
}
break;
}
else {
ss << line;
}
}
statements.push_back(ss.str());
}
return statements;
}
void MbD::MBDynSystem::initialize()
{
}
void MbD::MBDynSystem::parseMBDynData(std::vector<std::string>& lines)
{
assert(lines.size() == 3);
std::vector<std::string> tokens{ "problem:", "initial", "value" };
auto problemit = findLineWith(lines, tokens);
assert(problemit != lines.end());
data = *problemit;
}
void MbD::MBDynSystem::parseMBDynNodes(std::vector<std::string>& lines)
{
nodes = std::make_shared<std::vector<std::shared_ptr<MBDynNode>>>();
std::vector<std::string> tokens{ "structural:" };
while (true) {
auto it = findLineWith(lines, tokens);
if (it != lines.end()) {
auto structural = std::make_shared<MBDynStructural>();
structural->owner = this;
structural->parseMBDyn(*it);
nodes->push_back(structural);
lines.erase(it);
}
else {
break;
}
}
}
void MbD::MBDynSystem::parseMBDynElements(std::vector<std::string>& lines)
{
assert(lines[0].find("begin: elements") != std::string::npos);
lines.erase(lines.begin());
bodies = std::make_shared<std::vector<std::shared_ptr<MBDynBody>>>();
joints = std::make_shared<std::vector<std::shared_ptr<MBDynJoint>>>();
drives = std::make_shared<std::vector<std::shared_ptr<MBDynDrive>>>();
std::vector<std::string> bodyTokens{ "body:" };
std::vector<std::string> jointTokens{ "joint:" };
std::vector<std::string> driveTokens{ "drive", "caller:" };
std::vector<std::string> gravityTokens{ "gravity" };
std::vector<std::string>::iterator it;
while (true) {
it = findLineWith(lines, bodyTokens);
if (it != lines.end()) {
auto body = std::make_shared<MBDynBody>();
body->owner = this;
body->parseMBDyn(*it);
bodies->push_back(body);
lines.erase(it);
continue;
}
it = findLineWith(lines, jointTokens);
if (it != lines.end()) {
//auto joint = std::make_shared<MBDynJoint>();
auto joint = MBDynJoint::newJoint(*it);
joint->owner = this;
joint->parseMBDyn(*it);
joints->push_back(joint);
lines.erase(it);
continue;
}
it = findLineWith(lines, driveTokens);
if (it != lines.end()) {
auto drive = std::make_shared<MBDynDrive>();
drive->owner = this;
drive->parseMBDyn(*it);
drives->push_back(drive);
lines.erase(it);
continue;
}
it = findLineWith(lines, gravityTokens);
if (it != lines.end()) {
auto grav = std::make_shared<MBDynGravity>();
grav->owner = this;
grav->parseMBDyn(*it);
gravity = grav;
lines.erase(it);
continue;
}
break;
}
assert(lines[0].find("end: elements") != std::string::npos);
lines.erase(lines.begin());
}
void MbD::MBDynSystem::parseMBDynVariables(std::vector<std::string>& lines)
{
variables = std::make_shared<std::map<std::string, Symsptr>>();
std::string str, variable;
std::vector<std::string> tokens{ "set:", "real" };
while (true) {
auto it = findLineWith(lines, tokens);
if (it != lines.end()) {
std::istringstream iss(*it);
iss >> str;
iss >> str;
iss >> variable;
iss >> str;
iss >> str;
auto parser = std::make_shared<SymbolicParser>();
parser->variables = variables;
auto userFunc = std::make_shared<BasicUserFunction>(str, 1.0);
parser->parseUserFunction(userFunc);
auto& sym = parser->stack->top();
//auto val = sym->getValue();
variables->insert(std::make_pair(variable, sym));
lines.erase(it);
}
else {
break;
}
}
}
void MbD::MBDynSystem::parseMBDynLabels(std::vector<std::string>& lines)
{
labels = std::make_shared<std::map<std::string, int>>();
std::string str, label;
int intValue;
std::vector<std::string> tokens{ "set:", "integer" };
while (true) {
auto it = findLineWith(lines, tokens);
if (it != lines.end()) {
std::istringstream iss(*it);
iss >> str;
iss >> str;
iss >> label;
iss >> str;
iss >> intValue;
labels->insert(std::make_pair(label, intValue));
lines.erase(it);
}
else {
break;
}
}
}
void MbD::MBDynSystem::parseMBDynReferences(std::vector<std::string>& lines)
{
references = std::make_shared<std::map<std::string, std::shared_ptr<MBDynReference>>>();
std::string str, refName;
std::vector<std::string> tokens{ "reference:" };
while (true) {
auto it = findLineWith(lines, tokens);
if (it != lines.end()) {
auto reference = std::make_shared<MBDynReference>();
reference->owner = this;
reference->parseMBDyn(*it);
references->insert(std::make_pair(reference->name, reference));
lines.erase(it);
}
else {
break;
}
}
}

79
OndselSolver/MBDynSystem.h
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@@ -1,79 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include <memory>
#include <string>
#include "MBDynItem.h"
namespace MbD {
class MBDynData;
class MBDynInitialValue;
class MBDynControlData;
class MBDynNode;
class MBDynElement;
class MBDynLabel;
class MBDynReference;
class MBDynDrive;
class MBDynGravity;
class MBDynSystem : public MBDynItem
{
public:
static void runFile(const char* chars);
static void eraseComments(std::vector<std::string>& lines);
static std::vector<std::string> collectStatements(std::vector<std::string>& lines);
void initialize() override;
void parseMBDyn(std::vector<std::string>& lines) override;
void parseMBDynData(std::vector<std::string>& lines);
void parseMBDynNodes(std::vector<std::string>& lines);
void parseMBDynElements(std::vector<std::string>& lines);
void parseMBDynVariables(std::vector<std::string>& lines);
void parseMBDynLabels(std::vector<std::string>& lines);
void parseMBDynReferences(std::vector<std::string>& lines);
std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> mbdynNodes() override;
std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> mbdynBodies() override;
std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> mbdynJoints() override;
std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> mbdynDrives() override;
std::shared_ptr<std::map<std::string, Symsptr>> mbdynVariables() override;
std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> mbdynReferences() override;
void createASMT() override;
std::shared_ptr<MBDynNode> nodeAt(std::string nodeName) override;
int nodeidAt(std::string nodeName) override;
std::shared_ptr<MBDynBody> bodyWithNode(std::string nodeName) override;
std::shared_ptr<ASMTAssembly> asmtAssembly() override;
std::vector<std::string> nodeNames() override;
void runKINEMATIC();
void outputFiles();
void setFilename(std::string filename);
void readDataBlock(std::vector<std::string>& lines);
void readInitialValueBlock(std::vector<std::string>& lines);
void readControlDataBlock(std::vector<std::string>& lines);
void readLabels(std::vector<std::string>& lines);
void readVariables(std::vector<std::string>& lines);
void readReferences(std::vector<std::string>& lines);
void readNodesBlock(std::vector<std::string>& lines);
void readElementsBlock(std::vector<std::string>& lines);
std::string filename = "";
std::string data;
std::shared_ptr<MBDynInitialValue> initialValue;
std::shared_ptr<MBDynControlData> controlData;
std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> nodes;
std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> bodies;
std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> joints;
std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> drives;
std::shared_ptr<MBDynGravity> gravity;
std::shared_ptr<std::map<std::string, Symsptr>> variables;
std::shared_ptr<std::map<std::string, int>> labels;
std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> references;
};
}

123
OndselSolver/MBDynTotalJoint.cpp
View File

@@ -1,123 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include <regex>
#include "MBDynTotalJoint.h"
#include "ASMTAssembly.h"
#include "ASMTJoint.h"
#include "ASMTGeneralMotion.h"
using namespace MbD;
void MbD::MBDynTotalJoint::parseMBDyn(std::string statement)
{
MBDynJoint::parseMBDyn(statement);
readPositionConstraints(arguments);
readOrientationConstraints(arguments);
return;
}
void MbD::MBDynTotalJoint::readMarkerI(std::vector<std::string>& args)
{
mkr1 = std::make_shared<MBDynMarker>();
mkr1->owner = this;
mkr1->nodeStr = readStringOffTop(args);
auto _nodeNames = nodeNames();
std::string nodeName;
auto it = std::find_if(args.begin(), args.end(), [&](const std::string& s) {
auto iss = std::istringstream(s);
iss >> nodeName;
if (std::find(_nodeNames.begin(), _nodeNames.end(), nodeName) != _nodeNames.end()) return true;
return false;
});
auto markerArgs = std::vector<std::string>(args.begin(), it);
args.erase(args.begin(), it);
mkr1->parseMBDynTotalJointMarker(markerArgs);
}
void MbD::MBDynTotalJoint::readMarkerJ(std::vector<std::string>& args)
{
if (args.empty()) return;
mkr2 = std::make_shared<MBDynMarker>();
mkr2->owner = this;
mkr2->nodeStr = readStringOffTop(args);
mkr2->parseMBDynTotalJointMarker(args);
}
void MbD::MBDynTotalJoint::readPositionConstraints(std::vector<std::string>& args)
{
std::vector<std::string> tokens{ "position", "constraint" };
assert(lineHasTokens(popOffTop(args), tokens));
positionConstraints = std::vector<std::string>();
positionConstraints.push_back(readStringOffTop(args));
positionConstraints.push_back(readStringOffTop(args));
positionConstraints.push_back(readStringOffTop(args));
readPositionFormulas(args);
}
void MbD::MBDynTotalJoint::readOrientationConstraints(std::vector<std::string>& args)
{
std::vector<std::string> tokens{ "orientation", "constraint" };
assert(lineHasTokens(popOffTop(args), tokens));
orientationConstraints = std::vector<std::string>();
orientationConstraints.push_back(readStringOffTop(args));
orientationConstraints.push_back(readStringOffTop(args));
orientationConstraints.push_back(readStringOffTop(args));
readOrientationFormulas(args);
}
void MbD::MBDynTotalJoint::readPositionFormulas(std::vector<std::string>& args)
{
std::string str = readStringOffTop(args);
if (str == "null") return;
assert(false);
}
void MbD::MBDynTotalJoint::readOrientationFormulas(std::vector<std::string>& args)
{
std::string str = readStringOffTop(args);
if (str == "null") { return; }
else if (str == "single") {
auto vec3 = readVector3(args);
assert(vec3->at(0) == 0 && vec3->at(1) == 0 && vec3->at(2) == 1);
assert(readStringOffTop(args) == "string");
formula = popOffTop(args);
formula = std::regex_replace(formula, std::regex("\""), "");
orientationFormulas = std::vector<std::string>();
for (auto& status : orientationConstraints) {
if (status == "active") {
orientationFormulas.push_back("");
}
else if (status == "rotation") {
orientationFormulas.push_back(formula);
}
else { assert(false); }
}
return;
}
assert(false);
}
void MbD::MBDynTotalJoint::createASMT()
{
mkr1->createASMT();
if (mkr2) mkr2->createASMT();
auto asmtAsm = asmtAssembly();
auto asmtMotion = ASMTGeneralMotion::With();
asmtItem = asmtMotion;
asmtMotion->setName(name);
asmtMotion->setMarkerI(mkr1->asmtItem->fullName(""));
asmtMotion->setMarkerJ(mkr2->asmtItem->fullName(""));
asmtAsm->addMotion(asmtMotion);
for (size_t i = 0; i < 3; i++)
{
asmtMotion->rIJI->atiput(i, asmtFormula(positionFormulas.at(i)));
asmtMotion->angIJJ->atiput(i, asmtFormula(orientationFormulas.at(i)));
}
}

30
OndselSolver/MBDynTotalJoint.h
View File

@@ -1,30 +0,0 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynJoint.h"
namespace MbD {
class MBDynTotalJoint : public MBDynJoint
{
public:
void parseMBDyn(std::string line) override;
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);
void readOrientationFormulas(std::vector<std::string>& args);
void createASMT() override;
std::vector<std::string> positionConstraints = std::vector<std::string>(3);
std::vector<std::string> orientationConstraints = std::vector<std::string>(3);
std::vector<std::string> positionFormulas = std::vector<std::string>(3);
std::vector<std::string> orientationFormulas = std::vector<std::string>(3);
};
}

66
OndselSolver/OndselSolver.vcxproj
View File

@@ -255,31 +255,6 @@
<ClCompile Include="Ln.cpp" />
<ClCompile Include="Log10.cpp" />
<ClCompile Include="LogN.cpp" />
<ClCompile Include="MBDynAxialRotationJoint.cpp" />
<ClCompile Include="MBDynBlock.cpp" />
<ClCompile Include="MBDynBody.cpp" />
<ClCompile Include="MBDynClampJoint.cpp" />
<ClCompile Include="MBDynControlData.cpp" />
<ClCompile Include="MBDynData.cpp" />
<ClCompile Include="MBDynDrive.cpp" />
<ClCompile Include="MBDynDriveHingeJoint.cpp" />
<ClCompile Include="MBDynElement.cpp" />
<ClCompile Include="MBDynGravity.cpp" />
<ClCompile Include="MBDynInitialValue.cpp" />
<ClCompile Include="MBDynInLineJoint.cpp" />
<ClCompile Include="MBDynInPlaneJoint.cpp" />
<ClCompile Include="MBDynItem.cpp" />
<ClCompile Include="MBDynJoint.cpp" />
<ClCompile Include="MBDynMarker.cpp" />
<ClCompile Include="MBDynNode.cpp" />
<ClCompile Include="MBDynPrismaticJoint.cpp" />
<ClCompile Include="MBDynReference.cpp" />
<ClCompile Include="MBDynRevoluteHingeJoint.cpp" />
<ClCompile Include="MBDynRevolutePinJoint.cpp" />
<ClCompile Include="MBDynSphericalHingeJoint.cpp" />
<ClCompile Include="MBDynStructural.cpp" />
<ClCompile Include="MBDynSystem.cpp" />
<ClCompile Include="MBDynTotalJoint.cpp" />
<ClCompile Include="MomentOfInertiaSolver.cpp" />
<ClCompile Include="Negative.cpp" />
<ClCompile Include="PiecewiseFunction.cpp" />
@@ -595,31 +570,6 @@
<ClInclude Include="Ln.h" />
<ClInclude Include="Log10.h" />
<ClInclude Include="LogN.h" />
<ClInclude Include="MBDynAxialRotationJoint.h" />
<ClInclude Include="MBDynBlock.h" />
<ClInclude Include="MBDynBody.h" />
<ClInclude Include="MBDynClampJoint.h" />
<ClInclude Include="MBDynControlData.h" />
<ClInclude Include="MBDynData.h" />
<ClInclude Include="MBDynDrive.h" />
<ClInclude Include="MBDynDriveHingeJoint.h" />
<ClInclude Include="MBDynElement.h" />
<ClInclude Include="MBDynGravity.h" />
<ClInclude Include="MBDynInitialValue.h" />
<ClInclude Include="MBDynInLineJoint.h" />
<ClInclude Include="MBDynInPlaneJoint.h" />
<ClInclude Include="MBDynItem.h" />
<ClInclude Include="MBDynJoint.h" />
<ClInclude Include="MBDynMarker.h" />
<ClInclude Include="MBDynNode.h" />
<ClInclude Include="MBDynPrismaticJoint.h" />
<ClInclude Include="MBDynReference.h" />
<ClInclude Include="MBDynRevoluteHingeJoint.h" />
<ClInclude Include="MBDynRevolutePinJoint.h" />
<ClInclude Include="MBDynSphericalHingeJoint.h" />
<ClInclude Include="MBDynStructural.h" />
<ClInclude Include="MBDynSystem.h" />
<ClInclude Include="MBDynTotalJoint.h" />
<ClInclude Include="MomentOfInertiaSolver.h" />
<ClInclude Include="Negative.h" />
<ClInclude Include="PiecewiseFunction.h" />
@@ -834,18 +784,6 @@
<None Include="..\testapp\Gears.asmt" />
<None Include="..\testapp\gyro.asmt" />
<None Include="..\testapp\InitialConditions.mbd" />
<None Include="..\testapp\MBDynCase(Cosine-half drive).mbd" />
<None Include="..\testapp\MBDynCase(Sine-forever drive).mbd" />
<None Include="..\testapp\MBDynCase.mbd" />
<None Include="..\testapp\MBDynCase2.mbd" />
<None Include="..\testapp\MBDynCase2orig.mbd" />
<None Include="..\testapp\MBDynCase3orig.mbd" />
<None Include="..\testapp\MBDynCase4orig.mbd" />
<None Include="..\testapp\MBDynCase5orig.mbd" />
<None Include="..\testapp\MBDynCase6orig.mbd" />
<None Include="..\testapp\MBDynCaseBird.mbd" />
<None Include="..\testapp\MBDynCaseDebug1.mbd" />
<None Include="..\testapp\MBDynCaseDebug2.mbd" />
<None Include="..\testapp\piston.asmt" />
<None Include="..\testapp\planarbug.asmt" />
<None Include="..\testapp\quasikine.asmt" />
@@ -858,10 +796,6 @@
<Media Include="..\testapp\CrankSlider2.mov" />
<Media Include="..\testapp\InitialConditionsMBDyn.mov" />
<Media Include="..\testapp\InitialConditionsOndselSolver.mov" />
<Media Include="..\testapp\MBDynCase(Cosine-half drive).mov" />
<Media Include="..\testapp\MBDynCase(Sine-forever drive).mov" />
<Media Include="..\testapp\MBDynCase.mov" />
<Media Include="..\testapp\MBDynCase2.mov" />
<Media Include="..\testapp\SphericalHinge.mov" />
</ItemGroup>
<ItemGroup>

178
OndselSolver/OndselSolver.vcxproj.filters
View File

@@ -810,48 +810,9 @@
<ClCompile Include="ASMTPointInPlaneJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynItem.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynData.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynSystem.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynBlock.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynInitialValue.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynControlData.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynNode.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynStructural.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynElement.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynBody.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynReference.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="ArcSine.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynMarker.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="ASMTPointInLineJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
@@ -864,9 +825,6 @@
<ClCompile Include="MomentOfInertiaSolver.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynDrive.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="PiecewiseFunction.cpp">
<Filter>Source Files</Filter>
</ClCompile>
@@ -885,9 +843,6 @@
<ClCompile Include="..\testapp\OndselSolver.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynGravity.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="ASMTInLineJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
@@ -936,36 +891,6 @@
<ClCompile Include="ASMTCompoundJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynAxialRotationJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynClampJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynDriveHingeJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynInLineJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynInPlaneJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynPrismaticJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynRevoluteHingeJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynRevolutePinJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynSphericalHingeJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynTotalJoint.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="Functions.cpp">
<Filter>Source Files</Filter>
</ClCompile>
@@ -1023,6 +948,12 @@
<ClCompile Include="AngleZConstraintIJ.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="AngleZConstraintIqcJc.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="AngleZConstraintIqcJqc.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<ClInclude Include="Array.h">
@@ -1826,48 +1757,9 @@
<ClInclude Include="ASMTPointInPlaneJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynItem.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynData.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynSystem.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynBlock.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynInitialValue.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynControlData.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynNode.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynStructural.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynElement.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynBody.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynReference.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="ArcSine.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynMarker.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="ASMTPointInLineJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
@@ -1880,9 +1772,6 @@
<ClInclude Include="MomentOfInertiaSolver.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynDrive.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="PiecewiseFunction.h">
<Filter>Header Files</Filter>
</ClInclude>
@@ -1901,9 +1790,6 @@
<ClInclude Include="..\testapp\OndselSolver.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynGravity.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="ASMTInLineJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
@@ -1952,36 +1838,6 @@
<ClInclude Include="ASMTCompoundJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynAxialRotationJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynClampJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynDriveHingeJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynInLineJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynInPlaneJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynPrismaticJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynRevoluteHingeJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynRevolutePinJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynSphericalHingeJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynTotalJoint.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="Functions.h">
<Filter>Header Files</Filter>
</ClInclude>
@@ -2039,6 +1895,12 @@
<ClInclude Include="AngleZConstraintIJ.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="AngleZConstraintIqcJc.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="AngleZConstraintIqcJqc.h">
<Filter>Header Files</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ResourceCompile Include="OndselSolver.rc">
@@ -2058,11 +1920,6 @@
<None Include="..\testapp\fourbot.asmt" />
<None Include="..\testapp\gyro.asmt" />
<None Include="..\testapp\InitialConditions.mbd" />
<None Include="..\testapp\MBDynCase.mbd" />
<None Include="..\testapp\MBDynCase2.mbd" />
<None Include="..\testapp\MBDynCase2orig.mbd" />
<None Include="..\testapp\MBDynCaseDebug1.mbd" />
<None Include="..\testapp\MBDynCaseDebug2.mbd" />
<None Include="..\testapp\piston.asmt" />
<None Include="..\testapp\quasikine.asmt" />
<None Include="..\testapp\robot.asmt" />
@@ -2073,23 +1930,12 @@
<None Include="..\testapp\constvel.asmt" />
<None Include="..\testapp\anglejoint.asmt" />
<None Include="..\testapp\Gears.asmt" />
<None Include="..\testapp\MBDynCase4orig.mbd" />
<None Include="..\testapp\MBDynCase3orig.mbd" />
<None Include="..\testapp\MBDynCase5orig.mbd" />
<None Include="..\testapp\MBDynCase6orig.mbd" />
<None Include="..\testapp\MBDynCase(Cosine-half drive).mbd" />
<None Include="..\testapp\MBDynCase(Sine-forever drive).mbd" />
<None Include="..\testapp\MBDynCaseBird.mbd" />
</ItemGroup>
<ItemGroup>
<Media Include="..\testapp\CrankSlider2.mov" />
<Media Include="..\testapp\InitialConditionsMBDyn.mov" />
<Media Include="..\testapp\InitialConditionsOndselSolver.mov" />
<Media Include="..\testapp\MBDynCase.mov" />
<Media Include="..\testapp\MBDynCase2.mov" />
<Media Include="..\testapp\SphericalHinge.mov" />
<Media Include="..\testapp\MBDynCase(Cosine-half drive).mov" />
<Media Include="..\testapp\MBDynCase(Sine-forever drive).mov" />
</ItemGroup>
<ItemGroup>
<Text Include="..\CMakeLists.txt" />

4
OndselSolver/Part.cpp
View File

@@ -121,9 +121,9 @@ FColDsptr Part::qX()
return partFrame->qX;
}
void Part::qE(std::shared_ptr<EulerParameters<double>> x)
void Part::qE(std::shared_ptr<EulerParameters<double>> qe)
{
partFrame->qE = x;
partFrame->qE = qe;
}
std::shared_ptr<EulerParameters<double>> Part::qE()

6
OndselSolver/PosICDragLimitNewtonRaphson.cpp
View File

@@ -38,7 +38,11 @@ void MbD::PosICDragLimitNewtonRaphson::run()
{
preRun();
system->deactivateLimits();
if (system->limitsSatisfied()) return;
if (system->limitsSatisfied()) {
std::string str("MbD: No limits reached. ");
system->logString(str);
return;
}
auto limits = system->limits();
std::partition(limits->begin(), limits->end(), [](auto limit) { return !limit->satisfied(); });
//Violated limits are in front.

1
OndselSolver/dragging.log Normal file
View File

@@ -0,0 +1 @@
runPreDrag

95
testapp/MBDynCase(Cosine-half drive)debug1.asmt → OndselSolver/runPreDrag.asmt
View File

@@ -3,7 +3,7 @@ Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
Name
Assembly
OndselAssembly
Position3D
0 0 0
RotationMatrix
@@ -25,9 +25,9 @@ Assembly
Markers
Marker
Name
Marker0
marker-AssemblyExample#BasePin
Position3D
0 0 0
-206.51702880859375 40.255699157714844 364.26800537109375
RotationMatrix
1 0 0
0 1 0
@@ -37,9 +37,9 @@ Assembly
Parts
Part
Name
structural_node_1
AssemblyExample#BasePin
Position3D
-0.1322131193924678 0.04215394533365132 0.2000000152587891
-206.51702880859375 40.255699157714844 364.26800537109375
RotationMatrix
1 0 0
0 1 0
@@ -61,9 +61,9 @@ Assembly
Mass
1
MomentOfInertias
1 2 3
1 1 1
Density
10
1
RefPoints
RefPoint
Position3D
@@ -75,41 +75,24 @@ Assembly
Markers
Marker
Name
Marker0
FixingMarker
Position3D
0.1322131193924678 -0.04215394533365132 -0.2000000152587891
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
Marker1
Position3D
0.2032130965042842 0.117846068852255 -2.842170943040401e-17
RotationMatrix
1 -0 0
0 1 2.471452993948174e-16
-0 -2.471452993948174e-16 1
RefCurves
RefSurfaces
Part
Name
structural_node_2
AssemblyExample#Stick
Position3D
0.4257698614077033 0.1732822793381788 0.302175885912376
-206.81702880859257 269.20743548911616 124.57579919241013
RotationMatrix
-0.8995965927692124 0.4234982246408653 -0.1066546951805642
-0.4367218454325635 -0.8723574602808865 0.2196963614042295
1.387778780781446e-17 0.2442165334663419 0.969720725148062
1 1.9573942562249709e-15 -4.8204795291975149e-16
-1.4705626826996499e-15 0.87188642801965233 0.48970813413208841
1.3788429567821853e-15 -0.48970813413208841 0.87188642801965233
Velocity3D
0 0 0
Omega3D
@@ -119,35 +102,18 @@ Assembly
Name
MassMarker
Position3D
-0.003947705364974695 0.01042661386112648 -1.13686837721616e-16
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
12.63583350443436
1
MomentOfInertias
0.08708924866282601 0.085370944710882 0.06459712318937701
1 1 1
Density
10
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
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@@ -155,19 +121,12 @@ Assembly
Joints
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Name
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/OndselAssembly/marker-AssemblyExample#BasePin
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/Assembly/structural_node_1/Marker0
/OndselAssembly/AssemblyExample#BasePin/FixingMarker
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Name
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@@ -177,15 +136,15 @@ Assembly
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tend
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hmax
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errorTol
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9.9999999999999995e-07
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nframe
1000000

1204
testapp/CrankSlider2.mov
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File diff suppressed because it is too large Load Diff

440
testapp/CrankSlider2debug1.asmt
View File

@@ -1,440 +0,0 @@
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587
testapp/CrankSlider2debug2.asmt
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301
testapp/InitialConditions.mov
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@@ -1,301 +0,0 @@
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testapp/InitialConditionsOndselSolver.mov
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1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05

87
testapp/InitialConditionsdebug1.asmt
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OndselSolver
Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
Name
Assembly
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
RefPoints
RefCurves
RefSurfaces
Parts
Part
Name
structural_node_1
Position3D
-5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 8.726646259971648 1.74532925199433e-05
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
-3.117081245895825e-20 0 1.637145280453112e-20
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
0.008680963294935199
MomentOfInertias
7.67643316e-07 6.162010270000002e-07 2.41970364e-07
Density
10
RefPoints
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
Motions
Limits
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
3
hmin
1e-09
hmax
1
hout
0.01
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30

128
testapp/InitialConditionsdebug2.asmt
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579
testapp/MBDynCase(Assembly).mbd
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#-----------------------------------------------------------------------------
# [Data Block]
begin: data;
problem: initial value;
end: data;
#-----------------------------------------------------------------------------
# [Problem Block]
begin: initial value;
initial time: 0.0;
final time: 0.0;
time step: 1e-05;
max iterations: 100;
tolerance: 1e-06;
derivatives tolerance: 0.0001;
derivatives max iterations: 100;
derivatives coefficient: auto;
end: initial value;
#-----------------------------------------------------------------------------
# [Control Data Block]
begin: control data;
max iterations: 1000;
default orientation: orientation matrix;
omega rotates: no;
print: none;
initial stiffness: 1.0, 1.0;
structural nodes: 9;
rigid bodies: 7;
joints: 12;
end: control data;
#-----------------------------------------------------------------------------
# [Design Variables]
#Generic bodies
#body: 2
set: integer body_2 = 2; #body label
set: real mass_2 = 0.2406058732027723; #mass [kg]
set: real volume_2 = 3.045643964592054e-05; #volume [m^3]
#body: 3
set: integer body_3 = 3; #body label
set: real mass_3 = 0.0240425385694815; #mass [kg]
set: real volume_3 = 3.043359312592595e-06; #volume [m^3]
#body: 5
set: integer body_5 = 5; #body label
set: real mass_5 = 0.0449777290670256; #mass [kg]
set: real volume_5 = 5.693383426205766e-06; #volume [m^3]
#body: 6
set: integer body_6 = 6; #body label
set: real mass_6 = 0.0124530516778275; #mass [kg]
set: real volume_6 = 1.576335655421198e-06; #volume [m^3]
#body: 7
set: integer body_7 = 7; #body label
set: real mass_7 = 0.012877956133769; #mass [kg]
set: real volume_7 = 1.6301210295910151e-06; #volume [m^3]
#body: 8
set: integer body_8 = 8; #body label
set: real mass_8 = 0.0326050144115717; #mass [kg]
set: real volume_8 = 4.127217014123003e-06; #volume [m^3]
#body: 9
set: integer body_9 = 9; #body label
set: real mass_9 = 0.0647536788008991; #mass [kg]
set: real volume_9 = 8.196668202645451e-06; #volume [m^3]
#Nodes
#node: 1
set: integer structural_node_1 = 1; #node label
#node: 2
set: integer structural_node_2 = 2; #node label
#node: 3
set: integer structural_node_3 = 3; #node label
#node: 4
set: integer structural_node_4 = 4; #node label
#node: 5
set: integer structural_node_5 = 5; #node label
#node: 6
set: integer structural_node_6 = 6; #node label
#node: 7
set: integer structural_node_7 = 7; #node label
#node: 8
set: integer structural_node_8 = 8; #node label
#node: 9
set: integer structural_node_9 = 9; #node label
#Joints
#joint: 1
set: integer joint_1 = 1; #joint label
#joint: 2_3
set: integer joint_2 = 2; #joint label
set: integer joint_3 = 3; #joint label
#joint: 4_5
set: integer joint_4 = 4; #joint label
set: integer joint_5 = 5; #joint label
#joint: 6
set: integer joint_6 = 6; #joint label
#joint: 7_8
set: integer joint_7 = 7; #joint label
set: integer joint_8 = 8; #joint label
#joint: 9
set: integer joint_9 = 9; #joint label
#joint: 10_11
set: integer joint_10 = 10; #joint label
set: integer joint_11 = 11; #joint label
#joint: 12_13
set: integer joint_12 = 12; #joint label
set: integer joint_13 = 13; #joint label
#joint: 14
set: integer joint_14 = 14; #joint label
#joint: 17_18
set: integer joint_17 = 17; #joint label
set: integer joint_18 = 18; #joint label
#joint: 19_20
set: integer joint_19 = 19; #joint label
set: integer joint_20 = 20; #joint label
#joint: 21
set: integer joint_21 = 21; #joint label
#Nodes: initial conditions
#node: 1
set: real Px_1 = 0.06336329999999998; #X component of the absolute position [m]
set: real Py_1 = -0.00923969; #Y component of the absolute position [m]
set: real Pz_1 = 0.1754432; #Z component of the absolute position [m]
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 2
set: real Px_2 = 0.0633633; #X component of the absolute position [m]
set: real Py_2 = -0.00923969; #Y component of the absolute position [m]
set: real Pz_2 = 0.1474432; #Z component of the absolute position [m]
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 3
set: real Px_3 = -0.0008822481092698588; #X component of the absolute position [m]
set: real Py_3 = 0.051158598996059026; #Y component of the absolute position [m]
set: real Pz_3 = 0.13244319999999998; #Z component of the absolute position [m]
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 4
set: real Px_4 = 0.02533718228677867; #X component of the absolute position [m]
set: real Py_4 = -0.017040456121480287; #Y component of the absolute position [m]
set: real Pz_4 = 0.15444319999996145; #Z component of the absolute position [m]
set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 5
set: real Px_5 = -0.050099691317944076; #X component of the absolute position [m]
set: real Py_5 = 0.018297676004130143; #Y component of the absolute position [m]
set: real Pz_5 = 0.13244319999999996; #Z component of the absolute position [m]
set: real Vx_5 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_5 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_5 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_5 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_5 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_5 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 6
set: real Px_6 = -0.04969285054420095; #X component of the absolute position [m]
set: real Py_6 = -0.032975813945831094; #Y component of the absolute position [m]
set: real Pz_6 = 0.1324432000000324; #Z component of the absolute position [m]
set: real Vx_6 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_6 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_6 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_6 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_6 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_6 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 7
set: real Px_7 = -0.008253259374919249; #X component of the absolute position [m]
set: real Py_7 = -0.04279152470322321; #Y component of the absolute position [m]
set: real Pz_7 = 0.1324432000000167; #Z component of the absolute position [m]
set: real Vx_7 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_7 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_7 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_7 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_7 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_7 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 8
set: real Px_8 = 0.046995651375997864; #X component of the absolute position [m]
set: real Py_8 = -0.07797375336529921; #Y component of the absolute position [m]
set: real Pz_8 = 0.13244320000001503; #Z component of the absolute position [m]
set: real Vx_8 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_8 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_8 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_8 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_8 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_8 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 9
set: real Px_9 = -0.014631202059057102; #X component of the absolute position [m]
set: real Py_9 = -0.15015098019723785; #Y component of the absolute position [m]
set: real Pz_9 = 0.1324432; #Z component of the absolute position [m]
set: real Vx_9 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_9 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_9 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_9 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_9 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_9 = 0.0; #Z component of the absolute angular velocity [rad/s]
#-----------------------------------------------------------------------------
# [Intermediate Variables]
#Moments of inertia and relative center of mass
#body 2:
set: real Ixx_2 = 7.0382920239e-05; #moment of inertia [kg*m^2]
set: real Iyy_2 = 5.839585895200001e-05; #moment of inertia [kg*m^2]
set: real Izz_2 = 4.7214826765e-05; #moment of inertia [kg*m^2]
set: real Rx_2 = 8.128751005642698e-13; #X component of the relative center of mass [m]
set: real Ry_2 = 0.00425722688408314; #Y component of the relative center of mass [m]
set: real Rz_2 = -0.021; #Z component of the relative center of mass [m]
#body 3:
set: real Ixx_3 = 9.607179098000002e-06; #moment of inertia [kg*m^2]
set: real Iyy_3 = 9.40820717e-06; #moment of inertia [kg*m^2]
set: real Izz_3 = 1.2609566040000002e-06; #moment of inertia [kg*m^2]
set: real Rx_3 = 0.0; #X component of the relative center of mass [m]
set: real Ry_3 = 0.0; #Y component of the relative center of mass [m]
set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
#body 5:
set: real Ixx_5 = 1.35688267e-05; #moment of inertia [kg*m^2]
set: real Iyy_5 = 1.0311377119e-05; #moment of inertia [kg*m^2]
set: real Izz_5 = 3.788040441e-06; #moment of inertia [kg*m^2]
set: real Rx_5 = 0.0; #X component of the relative center of mass [m]
set: real Ry_5 = 0.0; #Y component of the relative center of mass [m]
set: real Rz_5 = 0.0; #Z component of the relative center of mass [m]
#body 6:
set: real Ixx_6 = 3.0807125189999998e-06; #moment of inertia [kg*m^2]
set: real Iyy_6 = 2.7461459389999997e-06; #moment of inertia [kg*m^2]
set: real Izz_6 = 4.0681373900000014e-07; #moment of inertia [kg*m^2]
set: real Rx_6 = 0.0; #X component of the relative center of mass [m]
set: real Ry_6 = 0.0; #Y component of the relative center of mass [m]
set: real Rz_6 = 0.0; #Z component of the relative center of mass [m]
#body 7:
set: real Ixx_7 = 3.323661377e-06; #moment of inertia [kg*m^2]
set: real Iyy_7 = 2.919060349e-06; #moment of inertia [kg*m^2]
set: real Izz_7 = 4.74840086e-07; #moment of inertia [kg*m^2]
set: real Rx_7 = 0.0; #X component of the relative center of mass [m]
set: real Ry_7 = 0.0; #Y component of the relative center of mass [m]
set: real Rz_7 = 0.0; #Z component of the relative center of mass [m]
#body 8:
set: real Ixx_8 = 1.8277407926e-05; #moment of inertia [kg*m^2]
set: real Iyy_8 = 1.6715521441e-05; #moment of inertia [kg*m^2]
set: real Izz_8 = 3.055755313e-06; #moment of inertia [kg*m^2]
set: real Rx_8 = 0.0; #X component of the relative center of mass [m]
set: real Ry_8 = 0.0; #Y component of the relative center of mass [m]
set: real Rz_8 = 0.0; #Z component of the relative center of mass [m]
#body 9:
set: real Ixx_9 = 3.6750824094999996e-05; #moment of inertia [kg*m^2]
set: real Iyy_9 = 3.4476237135000004e-05; #moment of inertia [kg*m^2]
set: real Izz_9 = 3.9371388e-06; #moment of inertia [kg*m^2]
set: real Rx_9 = 0.0053686113042139836; #X component of the relative center of mass [m]
set: real Ry_9 = 0.01921590766100874; #Y component of the relative center of mass [m]
set: real Rz_9 = 6.416598807845731e-12; #Z component of the relative center of mass [m]
#-----------------------------------------------------------------------------
# [Nodes Block]
begin: nodes;
structural: structural_node_1,
static,
Px_1, Py_1, Pz_1, #<absolute_position> [m]
3, 0.0, -8.881784197001252e-16, 1.0, 2, 0.0, 1.0, 8.881784197001252e-16, #<absolute_orientation_matrix>
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
structural: structural_node_2,
dynamic,
Px_2, Py_2, Pz_2, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
structural: structural_node_3,
dynamic,
Px_3, Py_3, Pz_3, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
structural: structural_node_4,
static,
Px_4, Py_4, Pz_4, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
structural: structural_node_5,
dynamic,
Px_5, Py_5, Pz_5, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_5, Vy_5, Vz_5, #<absolute_velocity> [m/s]
Wx_5, Wy_5, Wz_5; #<absolute_angular_velocity> [rad/s]
structural: structural_node_6,
dynamic,
Px_6, Py_6, Pz_6, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_6, Vy_6, Vz_6, #<absolute_velocity> [m/s]
Wx_6, Wy_6, Wz_6; #<absolute_angular_velocity> [rad/s]
structural: structural_node_7,
dynamic,
Px_7, Py_7, Pz_7, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_7, Vy_7, Vz_7, #<absolute_velocity> [m/s]
Wx_7, Wy_7, Wz_7; #<absolute_angular_velocity> [rad/s]
structural: structural_node_8,
dynamic,
Px_8, Py_8, Pz_8, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_8, Vy_8, Vz_8, #<absolute_velocity> [m/s]
Wx_8, Wy_8, Wz_8; #<absolute_angular_velocity> [rad/s]
structural: structural_node_9,
dynamic,
Px_9, Py_9, Pz_9, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_9, Vy_9, Vz_9, #<absolute_velocity> [m/s]
Wx_9, Wy_9, Wz_9; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
body: body_2,
structural_node_2, #<node_label>
mass_2, #<mass> [kg]
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
orientation, 3, 0.0, 1.0, 0.0, 2, 1.0, 0.0, 0.0;
body: body_3,
structural_node_3, #<node_label>
mass_3, #<mass> [kg]
Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
orientation, 3, 0.93, -0.36, 0.0, 2, 0.0, 0.0, 1.0;
body: body_5,
structural_node_5, #<node_label>
mass_5, #<mass> [kg]
Rx_5, Ry_5, Rz_5, #<relative_center_of_mass> [m]
diag, Ixx_5, Iyy_5, Izz_5, #<inertia matrix> [kg*m^2]
orientation, 3, 0.6, 0.8, 0.0, 2, 0.8, -0.6, 0.0;
body: body_6,
structural_node_6, #<node_label>
mass_6, #<mass> [kg]
Rx_6, Ry_6, Rz_6, #<relative_center_of_mass> [m]
diag, Ixx_6, Iyy_6, Izz_6, #<inertia matrix> [kg*m^2]
orientation, 3, -0.51, 0.86, 0.0, 2, 5.551115123125783e-17, 0.0, 1.0;
body: body_7,
structural_node_7, #<node_label>
mass_7, #<mass> [kg]
Rx_7, Ry_7, Rz_7, #<relative_center_of_mass> [m]
diag, Ixx_7, Iyy_7, Izz_7, #<inertia matrix> [kg*m^2]
orientation, 3, 0.46, 0.89, 0.0, 2, 0.0, 0.0, 1.0;
body: body_8,
structural_node_8, #<node_label>
mass_8, #<mass> [kg]
Rx_8, Ry_8, Rz_8, #<relative_center_of_mass> [m]
diag, Ixx_8, Iyy_8, Izz_8, #<inertia matrix> [kg*m^2]
orientation, 3, 0.28, 0.96, 0.0, 2, 0.0, 0.0, 1.0;
body: body_9,
structural_node_9, #<node_label>
mass_9, #<mass> [kg]
Rx_9, Ry_9, Rz_9, #<relative_center_of_mass> [m]
diag, Ixx_9, Iyy_9, Izz_9, #<inertia matrix> [kg*m^2]
orientation, 3, 0.25, 0.97, 0.0, 2, 0.97, -0.25, 0.0;
#-----------------------------------------------------------------------------
# [Joints]
joint: joint_1,
clamp,
structural_node_1, #<node_label>
0.06336329999999998, -0.00923969, 0.1754432, #<absolute_pin_position> [m]
3, 0.0, -8.881784197001252e-16, 1.0, 2, 0.0, 1.0, 8.881784197001252e-16; #<absolute_orientation_matrix>
joint: joint_2,
revolute hinge,
structural_node_2, #<node_1_label>
position, 0.0, 0.0, 0.0, #<relative_position_1> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
structural_node_1, #<node_2_label>
position, 0.0, 0.0, 0.0, #<relative_position_2> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<relative_pin_orientation_matrix_2>
joint: joint_4,
revolute hinge,
structural_node_3, #<node_1_label>
position, 0.01945754810926986, -0.00739828899605903, 0.0, #<relative_position_1> [m]
orientation, 3, 0.0, 1.0150610510858574e-15, 1.0, 2, -0.0, 1.0, -1.0150610510858574e-15, #<relative_pin_orientation_matrix_1>
structural_node_2, #<node_2_label>
position, 0.0, 0.015, -0.021, #<relative_position_2> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<relative_pin_orientation_matrix_2>
joint: joint_6,
clamp,
structural_node_4, #<node_label>
0.02533718228677867, -0.017040456121480287, 0.15444319999996145, #<absolute_pin_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
joint: joint_7,
revolute hinge,
structural_node_5, #<node_1_label>
position, 0.007939339015500806, 0.027232800113977215, 2.842170943040401e-17, #<relative_position_1> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
structural_node_3, #<node_2_label>
position, -0.027278104193160138, 0.010371877122050975, 0.0, #<relative_position_2> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<relative_pin_orientation_matrix_2>
joint: joint_9,
in line,
structural_node_5, #<node_1_label>
0.01667499131794409, -0.013337366004130142, 0.0, #<relative_line_position> [m]
3, -3.552713678800501e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, 0.0, 0.0, 0.0; #<relative_offset> [m]
joint: joint_10,
revolute hinge,
structural_node_5, #<node_1_label>
position, -0.022992799945235915, -0.01920902133303015, 2.842170943040401e-17, #<relative_position_1> [m]
orientation, 3, 0.0, -1.3877787807814457e-17, 1.0, 2, 0.0, 1.0, 1.3877787807814457e-17, #<relative_pin_orientation_matrix_1>
structural_node_6, #<node_2_label>
position, -0.011399640718976662, 0.019064468616942547, -3.2400748750660566e-14, #<relative_position_2> [m]
orientation, 3, -1.6342482922482304e-13, 3.2405824055915996e-13, 1.0, 2, 0.0, 1.0, -3.2405824055915996e-13; #<relative_pin_orientation_matrix_2>
joint: joint_12,
revolute hinge,
structural_node_6, #<node_1_label>
position, 0.008820551176670967, -0.01475126499491892, -3.2400748750660566e-14, #<relative_position_1> [m]
orientation, 3, -1.7763568394002505e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
structural_node_7, #<node_2_label>
position, -0.010702134855840453, -0.020680393800658683, -1.6711965145077555e-14, #<relative_position_2> [m]
orientation, 3, -7.105427357601002e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0; #<relative_pin_orientation_matrix_2>
joint: joint_14,
in line,
structural_node_7, #<node_1_label>
0.007360348279200356, 0.014222853942156995, 3.637978807091713e-15, #<relative_line_position> [m]
3, -3.700743415417188e-17, -0.0, 1.0, 2, -0.0, 1.0, 0.0, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, 0.0, 0.0, 0.0; #<relative_offset> [m]
joint: joint_17,
revolute hinge,
structural_node_7, #<node_1_label>
position, -0.010702134855840453, -0.020680393800658683, -1.6711965145077555e-14, #<relative_position_1> [m]
orientation, 3, -7.105427357601002e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
structural_node_9, #<node_2_label>
position, 0.006602908111129636, 0.0653673588611301, 0.0, #<relative_position_2> [m]
orientation, 3, -3.552713678800501e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0; #<relative_pin_orientation_matrix_2>
joint: joint_19,
revolute hinge,
structural_node_9, #<node_1_label>
position, 0.030998012897328734, 0.03794895514263533, 0.0, #<relative_position_1> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
structural_node_8, #<node_2_label>
position, -0.012894678260996642, -0.03394329643173133, -1.503508428868372e-14, #<relative_position_2> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<relative_pin_orientation_matrix_2>
joint: joint_21,
in line,
structural_node_8, #<node_1_label>
0.005024292862524291, 0.025306348916361215, 3.637978807091713e-15, #<relative_line_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation>
structural_node_2, #<node_2_label>
offset, 0.0, 0.015, -0.021; #<relative_offset> [m]
#-----------------------------------------------------------------------------
# [Drive callers]
drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 2.0, 0.0;
end: elements;

9
testapp/MBDynCase(Assembly).mov
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@@ -1,9 +0,0 @@
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834
testapp/MBDynCase(Assembly)debug1.asmt
View File

@@ -1,834 +0,0 @@
OndselSolver
Assembly
Notes
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0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
0.0326050144115717
MomentOfInertias
1.8277407926e-05 1.6715521441e-05 3.055755313e-06
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
-0.01289467826099664 -0.03394329643173133 -1.503508428868372e-14
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
Marker1
Position3D
0.005024292862524291 0.02530634891636122 3.637978807091713e-15
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Part
Name
structural_node_9
Position3D
-0.0146312020590571 -0.1501509801972379 0.1324432
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0.005368611304213984 0.01921590766100874 6.416598807845731e-12
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
0.06475367880089911
MomentOfInertias
3.6750824095e-05 3.4476237135e-05 3.9371388e-06
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
0.006602908111129636 0.0653673588611301 0
RotationMatrix
1 -0 -3.552713678800501e-15
0 1 -0
3.552713678800501e-15 0 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
0.03099801289732873 0.03794895514263533 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
joint_1
MarkerI
/Assembly/Marker0
MarkerJ
/Assembly/structural_node_1/Marker0
RevoluteJoint
Name
joint_2
MarkerI
/Assembly/structural_node_2/Marker0
MarkerJ
/Assembly/structural_node_1/Marker1
RevoluteJoint
Name
joint_4
MarkerI
/Assembly/structural_node_3/Marker0
MarkerJ
/Assembly/structural_node_2/Marker1
FixedJoint
Name
joint_6
MarkerI
/Assembly/Marker1
MarkerJ
/Assembly/structural_node_4/Marker0
RevoluteJoint
Name
joint_7
MarkerI
/Assembly/structural_node_5/Marker0
MarkerJ
/Assembly/structural_node_3/Marker1
PointInLineJoint
Name
joint_9
MarkerI
/Assembly/structural_node_5/Marker1
MarkerJ
/Assembly/structural_node_4/Marker1
RevoluteJoint
Name
joint_10
MarkerI
/Assembly/structural_node_5/Marker2
MarkerJ
/Assembly/structural_node_6/Marker0
RevoluteJoint
Name
joint_12
MarkerI
/Assembly/structural_node_6/Marker1
MarkerJ
/Assembly/structural_node_7/Marker0
PointInLineJoint
Name
joint_14
MarkerI
/Assembly/structural_node_7/Marker1
MarkerJ
/Assembly/structural_node_4/Marker2
RevoluteJoint
Name
joint_17
MarkerI
/Assembly/structural_node_7/Marker2
MarkerJ
/Assembly/structural_node_9/Marker0
RevoluteJoint
Name
joint_19
MarkerI
/Assembly/structural_node_9/Marker1
MarkerJ
/Assembly/structural_node_8/Marker0
PointInLineJoint
Name
joint_21
MarkerI
/Assembly/structural_node_8/Marker1
MarkerJ
/Assembly/structural_node_2/Marker2
Motions
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
0
hmin
1e-09
hmax
1
hout
1e-05
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30

1111
testapp/MBDynCase(Assembly)debug2.asmt
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174
testapp/MBDynCase(Cosine-half drive).mbd
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@@ -1,174 +0,0 @@
#-----------------------------------------------------------------------------
# [Data Block]
begin: data;
problem: initial value;
end: data;
#-----------------------------------------------------------------------------
# [Problem Block]
begin: initial value;
initial time: 0.0;
final time: 4.0;
time step: 0.01;
max iterations: 100;
tolerance: 1e-06;
derivatives tolerance: 0.0001;
derivatives max iterations: 100;
derivatives coefficient: auto;
end: initial value;
#-----------------------------------------------------------------------------
# [Control Data Block]
begin: control data;
max iterations: 1000;
default orientation: orientation matrix;
omega rotates: no;
print: none;
initial stiffness: 1.0, 1.0;
structural nodes: 2;
rigid bodies: 1;
joints: 2;
end: control data;
#-----------------------------------------------------------------------------
# [Design Variables]
#Generic bodies
#body: 2
set: integer body_2 = 2; #body label
set: real mass_2 = 12.635833504434357; #mass [kg]
set: real volume_2 = 0.0015994725954980198; #volume [m^3]
#Nodes
#node: 1
set: integer structural_node_1 = 1; #node label
#node: 2
set: integer structural_node_2 = 2; #node label
#Joints
#joint: 1
set: integer joint_1 = 1; #joint label
#joint: 2_3
set: integer joint_2 = 2; #joint label
set: integer joint_3 = 3; #joint label
#Nodes: initial conditions
#node: 1
set: real Px_1 = -0.13221311939246777; #X component of the absolute position [m]
set: real Py_1 = 0.04215394533365132; #Y component of the absolute position [m]
set: real Pz_1 = 0.2000000152587891; #Z component of the absolute position [m]
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 2
set: real Px_2 = 0.42576986140770334; #X component of the absolute position [m]
set: real Py_2 = 0.17328227933817877; #Y component of the absolute position [m]
set: real Pz_2 = 0.302175885912376; #Z component of the absolute position [m]
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
#-----------------------------------------------------------------------------
# [Intermediate Variables]
#Moments of inertia and relative center of mass
#body 2:
set: real Ixx_2 = 0.08708924866282601; #moment of inertia [kg*m^2]
set: real Iyy_2 = 0.085370944710882; #moment of inertia [kg*m^2]
set: real Izz_2 = 0.064597123189377; #moment of inertia [kg*m^2]
set: real Rx_2 = -0.003947705364974695; #X component of the relative center of mass [m]
set: real Ry_2 = 0.010426613861126484; #Y component of the relative center of mass [m]
set: real Rz_2 = -1.1368683772161603e-16; #Z component of the relative center of mass [m]
#-----------------------------------------------------------------------------
# [Nodes Block]
begin: nodes;
structural: structural_node_1,
static,
Px_1, Py_1, Pz_1, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
structural: structural_node_2,
dynamic,
Px_2, Py_2, Pz_2, #<absolute_position> [m]
3, -0.1066546951805642, 0.2196963614042295, 0.969720725148062, 2, 0.4234982246408653, -0.8723574602808866, 0.24421653346634187, #<absolute_orientation_matrix>
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
body: body_2,
structural_node_2, #<node_label>
mass_2, #<mass> [kg]
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
orientation, 3, 0.0028768192094494223, -0.0016134085099385742, 1.0006943193724125, 2, 0.3504771628806489, -0.9326094659776577, -0.002311334679062277;
#-----------------------------------------------------------------------------
# [Joints]
joint: joint_1,
clamp,
structural_node_1, #<node_label>
-0.13221311939246777, 0.04215394533365132, 0.2000000152587891, #<absolute_pin_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
joint: joint_2,
total joint,
structural_node_1, #<node_1_label>
position, 0.20321309650428418, 0.11784606885225504, -2.842170943040401e-17, #<relative_position_1> [m]
position orientation, 3, 0.0, 2.471452993948174e-16, 1.0, 2, -0.0, 1.0, -2.471452993948174e-16, #<relative_pin_orientation_matrix_1>
rotation orientation, 3, 0.0, 2.471452993948174e-16, 1.0, 2, -0.0, 1.0, -2.471452993948174e-16, #<relative_pin_orientation_matrix_1>
structural_node_2, #<node_2_label>
position, 0.0, 0.0, 0.0, #<relative_position_2> [m]
position orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_2>
rotation orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_2>
position constraint,
active, active, active,
null,
orientation constraint,
active, active, rotation,
single, 0., 0., 1., string, "model::drive(1, Time)"; #<angle> [rad]
#-----------------------------------------------------------------------------
# [Drive callers]
drive caller: 1, name,"drive:1", cosine, 0.25, 3.1416, 10.0, half, 0.0;
end: elements;

802
testapp/MBDynCase(Cosine-half drive).mov
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@@ -1,802 +0,0 @@
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1 -0.1322131193924678 0.04215394533365132 0.2000000152587891 1 0 0 0 1 0 0 0 1 0 -0 -0 0 0 0
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1 -0.1322131193924678 0.04215394533365132 0.2000000152587891 1 0 0 0 1 0 0 0 1 0 -0 -0 0 0 0
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1 -0.1322131193924678 0.04215394533365132 0.2000000152587891 1 0 0 0 1 0 0 0 1 0 -0 -0 0 0 0
2 0.07099997711181641 0.1600000141859064 0.2000000152587891 -0.408082061813392 0.9129452507276277 0 -0.9129452507276277 -0.408082061813392 2.471452993948174e-16 2.256301273221562e-16 1.008555633445252e-16 1 0 0 0 0 0 0

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testapp/MBDynCase(Cosine-half drive)debug2.asmt
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testapp/MBDynCase(Sine-forever drive).mbd
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#-----------------------------------------------------------------------------
# [Data Block]
begin: data;
problem: initial value;
end: data;
#-----------------------------------------------------------------------------
# [Problem Block]
begin: initial value;
initial time: 0.0;
final time: 4.0;
time step: 0.01;
max iterations: 100;
tolerance: 1e-06;
derivatives tolerance: 0.0001;
derivatives max iterations: 100;
derivatives coefficient: auto;
end: initial value;
#-----------------------------------------------------------------------------
# [Control Data Block]
begin: control data;
max iterations: 1000;
default orientation: orientation matrix;
omega rotates: no;
print: none;
initial stiffness: 1.0, 1.0;
structural nodes: 2;
rigid bodies: 1;
joints: 2;
end: control data;
#-----------------------------------------------------------------------------
# [Design Variables]
#Generic bodies
#body: 2
set: integer body_2 = 2; #body label
set: real mass_2 = 12.635833504434357; #mass [kg]
set: real volume_2 = 0.0015994725954980198; #volume [m^3]
#Nodes
#node: 1
set: integer structural_node_1 = 1; #node label
#node: 2
set: integer structural_node_2 = 2; #node label
#Joints
#joint: 1
set: integer joint_1 = 1; #joint label
#joint: 2_3
set: integer joint_2 = 2; #joint label
set: integer joint_3 = 3; #joint label
#Nodes: initial conditions
#node: 1
set: real Px_1 = -0.13221311939246777; #X component of the absolute position [m]
set: real Py_1 = 0.04215394533365132; #Y component of the absolute position [m]
set: real Pz_1 = 0.2000000152587891; #Z component of the absolute position [m]
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 2
set: real Px_2 = 0.42576986140770334; #X component of the absolute position [m]
set: real Py_2 = 0.17328227933817877; #Y component of the absolute position [m]
set: real Pz_2 = 0.302175885912376; #Z component of the absolute position [m]
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
#-----------------------------------------------------------------------------
# [Intermediate Variables]
#Moments of inertia and relative center of mass
#body 2:
set: real Ixx_2 = 0.08708924866282601; #moment of inertia [kg*m^2]
set: real Iyy_2 = 0.085370944710882; #moment of inertia [kg*m^2]
set: real Izz_2 = 0.064597123189377; #moment of inertia [kg*m^2]
set: real Rx_2 = -0.003947705364974695; #X component of the relative center of mass [m]
set: real Ry_2 = 0.010426613861126484; #Y component of the relative center of mass [m]
set: real Rz_2 = -1.1368683772161603e-16; #Z component of the relative center of mass [m]
#-----------------------------------------------------------------------------
# [Nodes Block]
begin: nodes;
structural: structural_node_1,
static,
Px_1, Py_1, Pz_1, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
structural: structural_node_2,
dynamic,
Px_2, Py_2, Pz_2, #<absolute_position> [m]
3, -0.1066546951805642, 0.2196963614042295, 0.969720725148062, 2, 0.4234982246408653, -0.8723574602808866, 0.24421653346634187, #<absolute_orientation_matrix>
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
body: body_2,
structural_node_2, #<node_label>
mass_2, #<mass> [kg]
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
orientation, 3, 0.0028768192094494223, -0.0016134085099385742, 1.0006943193724125, 2, 0.3504771628806489, -0.9326094659776577, -0.002311334679062277;
#-----------------------------------------------------------------------------
# [Joints]
joint: joint_1,
clamp,
structural_node_1, #<node_label>
-0.13221311939246777, 0.04215394533365132, 0.2000000152587891, #<absolute_pin_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
joint: joint_2,
total joint,
structural_node_1, #<node_1_label>
position, 0.20321309650428418, 0.11784606885225504, -2.842170943040401e-17, #<relative_position_1> [m]
position orientation, 3, 0.0, 2.471452993948174e-16, 1.0, 2, -0.0, 1.0, -2.471452993948174e-16, #<relative_pin_orientation_matrix_1>
rotation orientation, 3, 0.0, 2.471452993948174e-16, 1.0, 2, -0.0, 1.0, -2.471452993948174e-16, #<relative_pin_orientation_matrix_1>
structural_node_2, #<node_2_label>
position, 0.0, 0.0, 0.0, #<relative_position_2> [m]
position orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_2>
rotation orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_2>
position constraint,
active, active, active,
null,
orientation constraint,
active, active, rotation,
single, 0., 0., 1., string, "model::drive(1, Time)"; #<angle> [rad]
#-----------------------------------------------------------------------------
# [Drive callers]
drive caller: 1, name,"drive:1", sine, 0.25, 3.1416, 10.0, forever, 0.0;
end: elements;

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2 0.07099997711181641 0.1600000141859063 0.2000000152587891 0.04738368889101496 -0.9988767621819418 1.008768208503013e-26 0.9988767621819418 0.04738368889101496 2.471452994106165e-16 -2.468676964642411e-16 -1.171065596807304e-17 1 9.020562075079397e-16 -2.498001805406602e-16 -2.522721173502341e-17 9.712277971377423e-26 2.379485848741587e-15 19.25576455968292
1 -0.1322131193924678 0.04215394533365132 0.2000000152587891 1 0 0 0 1 0 0 0 1 3.0873316143493e-16 -4.734771026850007e-16 -0 0 -0 3.5527136788005e-15
2 0.07099997711181641 0.1600000141859064 0.2000000152587891 -0.1484724358742776 -0.9889165464211621 1.464739672482073e-26 0.9889165464211621 -0.1484724358742776 2.471452994171224e-16 -2.4440607596163e-16 3.66942646338229e-17 1 -1.52655665885959e-16 2.498001805406602e-16 -2.406590970004146e-17 1.466644278530116e-25 2.474662618744172e-15 20.02597358380287
1 -0.1322131193924678 0.04215394533365132 0.2000000152587891 1 0 0 0 1 0 0 0 1 1.479000953334919e-16 1.367292182636386e-16 -0 0 -0 0
2 0.07099997711181641 0.1600000141859064 0.2000000152587891 -0.3457633159284645 -0.9383217621680491 2.07920315308135e-26 0.9383217621680491 -0.3457633159284645 2.471452994256788e-16 -2.319018128614639e-16 8.545377826506556e-17 1 8.326672684688674e-17 1.387778780781446e-16 -2.161375384598452e-17 2.159920880017761e-25 2.567397184117041e-15 20.77641929733813
1 -0.1322131193924678 0.04215394533365132 0.2000000152587891 1 0 0 0 1 0 0 0 1 -2.87545424504972e-16 4.156016662338282e-17 -0 0 0 0
2 0.07099997711181642 0.1600000141859064 0.2000000152587891 -0.5349794687749437 -0.8448650590415484 2.89007944053385e-26 0.8448650590415484 -0.5349794687749437 2.471452994367233e-16 -2.088044279849871e-16 1.322176610272999e-16 1 -3.05311331771918e-16 3.33066907387547e-16 -1.779830715171195e-17 3.107756979163437e-25 2.657598026619023e-15 21.50636109750855
1 -0.1322131193924678 0.04215394533365132 0.2000000152587891 1 0 0 0 1 0 0 0 1 5.446811336632661e-16 2.449518267721526e-16 -0 0 0 0
2 0.07099997711181642 0.1600000141859064 0.2000000152587891 -0.7054859817975437 -0.7087238739362149 3.939234862193848e-26 0.7087238739362149 -0.7054859817975437 2.471452994507299e-16 -1.751577740240565e-16 1.743575442575645e-16 1 -1.110223024625157e-16 6.106226635438361e-16 -1.264027156351292e-17 4.375521534878284e-25 2.745176128500113e-15 22.21507861651548

201
testapp/MBDynCase(Sine-forever drive)debug1.asmt
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OndselSolver
Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
Name
Assembly
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
Marker0
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Parts
Part
Name
structural_node_1
Position3D
-0.1322131193924678 0.04215394533365132 0.2000000152587891
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 2 3
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
0.1322131193924678 -0.04215394533365132 -0.2000000152587891
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
Marker1
Position3D
0.2032130965042842 0.117846068852255 -2.842170943040401e-17
RotationMatrix
1 -0 0
0 1 2.471452993948174e-16
-0 -2.471452993948174e-16 1
RefCurves
RefSurfaces
Part
Name
structural_node_2
Position3D
0.4257698614077033 0.1732822793381788 0.302175885912376
RotationMatrix
-0.8995965927692124 0.4234982246408653 -0.1066546951805642
-0.4367218454325635 -0.8723574602808865 0.2196963614042295
1.387778780781446e-17 0.2442165334663419 0.969720725148062
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
-0.003947705364974695 0.01042661386112648 -1.13686837721616e-16
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
12.63583350443436
MomentOfInertias
0.08708924866282601 0.085370944710882 0.06459712318937701
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
joint_1
MarkerI
/Assembly/Marker0
MarkerJ
/Assembly/structural_node_1/Marker0
Motions
GeneralMotion
Name
joint_2
MarkerI
/Assembly/structural_node_1/Marker1
MarkerJ
/Assembly/structural_node_2/Marker0
Limits
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
4
hmin
1e-09
hmax
1
hout
0.01
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30

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testapp/MBDynCase(Sine-forever drive)debug2.asmt
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580
testapp/MBDynCase(simulation).mbd
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#-----------------------------------------------------------------------------
# [Data Block]
begin: data;
problem: initial value;
end: data;
#-----------------------------------------------------------------------------
# [Problem Block]
begin: initial value;
initial time: 0.0;
final time: 4.0;
time step: 0.01;
max iterations: 100;
tolerance: 1e-06;
derivatives tolerance: 0.0001;
derivatives max iterations: 100;
derivatives coefficient: auto;
end: initial value;
#-----------------------------------------------------------------------------
# [Control Data Block]
begin: control data;
max iterations: 1000;
default orientation: orientation matrix;
omega rotates: no;
print: none;
initial stiffness: 1.0, 1.0;
structural nodes: 9;
rigid bodies: 7;
joints: 12;
end: control data;
#-----------------------------------------------------------------------------
# [Design Variables]
#Generic bodies
#body: 2
set: integer body_2 = 2; #body label
set: real mass_2 = 0.2406058732027723; #mass [kg]
set: real volume_2 = 3.045643964592054e-05; #volume [m^3]
#body: 3
set: integer body_3 = 3; #body label
set: real mass_3 = 0.0240425385694815; #mass [kg]
set: real volume_3 = 3.043359312592595e-06; #volume [m^3]
#body: 5
set: integer body_5 = 5; #body label
set: real mass_5 = 0.0449777290670256; #mass [kg]
set: real volume_5 = 5.693383426205766e-06; #volume [m^3]
#body: 6
set: integer body_6 = 6; #body label
set: real mass_6 = 0.0124530516778275; #mass [kg]
set: real volume_6 = 1.576335655421198e-06; #volume [m^3]
#body: 7
set: integer body_7 = 7; #body label
set: real mass_7 = 0.012877956133769; #mass [kg]
set: real volume_7 = 1.6301210295910151e-06; #volume [m^3]
#body: 8
set: integer body_8 = 8; #body label
set: real mass_8 = 0.0326050144115717; #mass [kg]
set: real volume_8 = 4.127217014123003e-06; #volume [m^3]
#body: 9
set: integer body_9 = 9; #body label
set: real mass_9 = 0.0647536788008991; #mass [kg]
set: real volume_9 = 8.196668202645451e-06; #volume [m^3]
#Nodes
#node: 1
set: integer structural_node_1 = 1; #node label
#node: 2
set: integer structural_node_2 = 2; #node label
#node: 3
set: integer structural_node_3 = 3; #node label
#node: 4
set: integer structural_node_4 = 4; #node label
#node: 5
set: integer structural_node_5 = 5; #node label
#node: 6
set: integer structural_node_6 = 6; #node label
#node: 7
set: integer structural_node_7 = 7; #node label
#node: 8
set: integer structural_node_8 = 8; #node label
#node: 9
set: integer structural_node_9 = 9; #node label
#Joints
#joint: 1
set: integer joint_1 = 1; #joint label
#joint: 2_3
set: integer joint_2 = 2; #joint label
set: integer joint_3 = 3; #joint label
#joint: 4_5
set: integer joint_4 = 4; #joint label
set: integer joint_5 = 5; #joint label
#joint: 6
set: integer joint_6 = 6; #joint label
#joint: 7_8
set: integer joint_7 = 7; #joint label
set: integer joint_8 = 8; #joint label
#joint: 9
set: integer joint_9 = 9; #joint label
#joint: 10_11
set: integer joint_10 = 10; #joint label
set: integer joint_11 = 11; #joint label
#joint: 12_13
set: integer joint_12 = 12; #joint label
set: integer joint_13 = 13; #joint label
#joint: 14
set: integer joint_14 = 14; #joint label
#joint: 17_18
set: integer joint_17 = 17; #joint label
set: integer joint_18 = 18; #joint label
#joint: 19_20
set: integer joint_19 = 19; #joint label
set: integer joint_20 = 20; #joint label
#joint: 21
set: integer joint_21 = 21; #joint label
#Nodes: initial conditions
#node: 1
set: real Px_1 = 0.0633633; #X component of the absolute position [m]
set: real Py_1 = -0.00923969; #Y component of the absolute position [m]
set: real Pz_1 = 0.1754432; #Z component of the absolute position [m]
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 2
set: real Px_2 = 0.0633633; #X component of the absolute position [m]
set: real Py_2 = -0.009239690000000004; #Y component of the absolute position [m]
set: real Pz_2 = 0.17544320000000002; #Z component of the absolute position [m]
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 3
set: real Px_3 = 0.044501489999999984; #X component of the absolute position [m]
set: real Py_3 = 0.013208259999999982; #Y component of the absolute position [m]
set: real Pz_3 = 0.15444320000000006; #Z component of the absolute position [m]
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 4
set: real Px_4 = 0.02533717999999999; #X component of the absolute position [m]
set: real Py_4 = -0.01704046; #Y component of the absolute position [m]
set: real Pz_4 = 0.1544432; #Z component of the absolute position [m]
set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 5
set: real Px_5 = 0.008879083999999999; #X component of the absolute position [m]
set: real Py_5 = -0.003436350999999984; #Y component of the absolute position [m]
set: real Pz_5 = 0.15444320000000014; #Z component of the absolute position [m]
set: real Vx_5 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_5 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_5 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_5 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_5 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_5 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 6
set: real Px_6 = -0.0006674049000000011; #X component of the absolute position [m]
set: real Py_6 = -0.039716090000000016; #Y component of the absolute position [m]
set: real Pz_6 = 0.15444319999999995; #Z component of the absolute position [m]
set: real Vx_6 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_6 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_6 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_6 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_6 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_6 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 7
set: real Px_7 = 0.019076690000000004; #X component of the absolute position [m]
set: real Py_7 = -0.03178055; #Y component of the absolute position [m]
set: real Pz_7 = 0.1544432; #Z component of the absolute position [m]
set: real Vx_7 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_7 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_7 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_7 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_7 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_7 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 8
set: real Px_8 = 0.059190639999999996; #X component of the absolute position [m]
set: real Py_8 = -0.019610780000000046; #Y component of the absolute position [m]
set: real Pz_8 = 0.15444319999999995; #Z component of the absolute position [m]
set: real Vx_8 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_8 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_8 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_8 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_8 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_8 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 9
set: real Px_9 = 0.05378240000000001; #X component of the absolute position [m]
set: real Py_9 = -0.1021752; #Y component of the absolute position [m]
set: real Pz_9 = 0.1544432; #Z component of the absolute position [m]
set: real Vx_9 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_9 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_9 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_9 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_9 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_9 = 0.0; #Z component of the absolute angular velocity [rad/s]
#-----------------------------------------------------------------------------
# [Intermediate Variables]
#Moments of inertia and relative center of mass
#body 2:
set: real Ixx_2 = 7.0382920239e-05; #moment of inertia [kg*m^2]
set: real Iyy_2 = 5.839585895200001e-05; #moment of inertia [kg*m^2]
set: real Izz_2 = 4.7214826765e-05; #moment of inertia [kg*m^2]
set: real Rx_2 = 8.128679951369122e-13; #X component of the relative center of mass [m]
set: real Ry_2 = 0.004257226884083109; #Y component of the relative center of mass [m]
set: real Rz_2 = -0.04900000000000003; #Z component of the relative center of mass [m]
#body 3:
set: real Ixx_3 = 9.607179098000002e-06; #moment of inertia [kg*m^2]
set: real Iyy_3 = 9.40820717e-06; #moment of inertia [kg*m^2]
set: real Izz_3 = 1.2609566040000002e-06; #moment of inertia [kg*m^2]
set: real Rx_3 = -0.045501779362556276; #X component of the relative center of mass [m]
set: real Ry_3 = 0.037808729012330414; #Y component of the relative center of mass [m]
set: real Rz_3 = -0.022000000000000113; #Z component of the relative center of mass [m]
#body 5:
set: real Ixx_5 = 1.35688267e-05; #moment of inertia [kg*m^2]
set: real Iyy_5 = 1.0311377119e-05; #moment of inertia [kg*m^2]
set: real Izz_5 = 3.788040441e-06; #moment of inertia [kg*m^2]
set: real Rx_5 = -0.059321049124220364; #X component of the relative center of mass [m]
set: real Ry_5 = 0.020781650526910035; #Y component of the relative center of mass [m]
set: real Rz_5 = -0.0220000000000002; #Z component of the relative center of mass [m]
#body 6:
set: real Ixx_6 = 3.0807125189999998e-06; #moment of inertia [kg*m^2]
set: real Iyy_6 = 2.7461459389999997e-06; #moment of inertia [kg*m^2]
set: real Izz_6 = 4.0681373900000014e-07; #moment of inertia [kg*m^2]
set: real Rx_6 = -0.047754601656010066; #X component of the relative center of mass [m]
set: real Ry_6 = 0.012977814244863342; #Y component of the relative center of mass [m]
set: real Rz_6 = -0.021999999999979564; #Z component of the relative center of mass [m]
#body 7:
set: real Ixx_7 = 3.323661377e-06; #moment of inertia [kg*m^2]
set: real Iyy_7 = 2.919060349e-06; #moment of inertia [kg*m^2]
set: real Izz_7 = 4.74840086e-07; #moment of inertia [kg*m^2]
set: real Rx_7 = -0.028086306735322055; #X component of the relative center of mass [m]
set: real Ry_7 = -0.008906574578364492; #Y component of the relative center of mass [m]
set: real Rz_7 = -0.021999999999985677; #Z component of the relative center of mass [m]
#body 8:
set: real Ixx_8 = 1.8277407926e-05; #moment of inertia [kg*m^2]
set: real Iyy_8 = 1.6715521441e-05; #moment of inertia [kg*m^2]
set: real Izz_8 = 3.055755313e-06; #moment of inertia [kg*m^2]
set: real Rx_8 = -0.012837084359928908; #X component of the relative center of mass [m]
set: real Ry_8 = -0.058225112045533156; #Y component of the relative center of mass [m]
set: real Rz_8 = -0.021999999999969874; #Z component of the relative center of mass [m]
#body 9:
set: real Ixx_9 = 3.6750824094999996e-05; #moment of inertia [kg*m^2]
set: real Iyy_9 = 3.4476237135000004e-05; #moment of inertia [kg*m^2]
set: real Izz_9 = 3.9371388e-06; #moment of inertia [kg*m^2]
set: real Rx_9 = -0.06304499075484313; #X component of the relative center of mass [m]
set: real Ry_9 = -0.028759872536229126; #Y component of the relative center of mass [m]
set: real Rz_9 = -0.02199999999358337; #Z component of the relative center of mass [m]
#-----------------------------------------------------------------------------
# [Nodes Block]
begin: nodes;
structural: structural_node_1,
static,
Px_1, Py_1, Pz_1, #<absolute_position> [m]
3, 3.552713678800501e-15, -8.881784197001252e-16, 1.0, 2, 0.0, 1.0, 8.881784197001252e-16, #<absolute_orientation_matrix>
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
structural: structural_node_2,
dynamic,
Px_2, Py_2, Pz_2, #<absolute_position> [m]
3, 0.0, -7.105427357601003e-16, 1.0, 2, 0.0, 1.0, 7.105427357601003e-16, #<absolute_orientation_matrix>
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
structural: structural_node_3,
dynamic,
Px_3, Py_3, Pz_3, #<absolute_position> [m]
3, -3.1700485006557752e-18, -1.903231223632211e-15, 1.0, 2, 0.0031162201389038045, 0.9999951445742353, 1.9032318612032713e-15, #<absolute_orientation_matrix>
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
structural: structural_node_4,
static,
Px_4, Py_4, Pz_4, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
structural: structural_node_5,
dynamic,
Px_5, Py_5, Pz_5, #<absolute_position> [m]
3, -3.170082765228165e-18, -1.9032308101571934e-15, 1.0, 2, 0.016100019779106436, 0.9998703862816982, 1.9030351637303236e-15, #<absolute_orientation_matrix>
Vx_5, Vy_5, Vz_5, #<absolute_velocity> [m/s]
Wx_5, Wy_5, Wz_5; #<absolute_angular_velocity> [rad/s]
structural: structural_node_6,
dynamic,
Px_6, Py_6, Pz_6, #<absolute_position> [m]
3, 2.0366811261067867e-13, -3.0231574532833476e-13, 1.0, 2, -0.1283680988289512, 0.99172659095289, 3.2595905191376506e-13, #<absolute_orientation_matrix>
Vx_6, Vy_6, Vz_6, #<absolute_velocity> [m/s]
Wx_6, Wy_6, Wz_6; #<absolute_angular_velocity> [rad/s]
structural: structural_node_7,
dynamic,
Px_7, Py_7, Pz_7, #<absolute_position> [m]
3, 2.0899139341889746e-13, -3.0200488848262844e-13, 1.0, 2, -0.07583947304837221, 0.9971200400793002, 3.1698492365647733e-13, #<absolute_orientation_matrix>
Vx_7, Vy_7, Vz_7, #<absolute_velocity> [m/s]
Wx_7, Wy_7, Wz_7; #<absolute_angular_velocity> [rad/s]
structural: structural_node_8,
dynamic,
Px_8, Py_8, Pz_8, #<absolute_position> [m]
3, 2.043025799989906e-13, -2.999207132952625e-13, 1.0, 2, -0.011014440431914747, 0.9999393392111202, 3.0215279846567804e-13, #<absolute_orientation_matrix>
Vx_8, Vy_8, Vz_8, #<absolute_velocity> [m/s]
Wx_8, Wy_8, Wz_8; #<absolute_angular_velocity> [rad/s]
structural: structural_node_9,
dynamic,
Px_9, Py_9, Pz_9, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_9, Vy_9, Vz_9, #<absolute_velocity> [m/s]
Wx_9, Wy_9, Wz_9; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
body: body_2,
structural_node_2, #<node_label>
mass_2, #<mass> [kg]
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
orientation, 3, 0.0, 1.0, -7.105427357601003e-16, 2, 1.0, 0.0, 0.0;
body: body_3,
structural_node_3, #<node_label>
mass_3, #<mass> [kg]
Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
orientation, 3, 0.9311173237040443, -0.35710016731754424, 6.822150954019863e-16, 2, -5.551115123125783e-17, 1.9012569296705806e-15, 1.0;
body: body_5,
structural_node_5, #<node_label>
mass_5, #<mass> [kg]
Rx_5, Ry_5, Rz_5, #<relative_center_of_mass> [m]
diag, Ixx_5, Iyy_5, Izz_5, #<inertia matrix> [kg*m^2]
orientation, 3, 0.5870422159457338, 0.8095563208928225, -1.5244866977848912e-15, 2, 0.8095563208928226, -0.5870422159457337, 1.1394024198821332e-15;
body: body_6,
structural_node_6, #<node_label>
mass_6, #<mass> [kg]
Rx_6, Ry_6, Rz_6, #<relative_center_of_mass> [m]
diag, Ixx_6, Iyy_6, Izz_6, #<inertia matrix> [kg*m^2]
orientation, 3, -0.39538399639307586, 0.9183525986222504, -3.63862278413814e-13, 2, -1.631819679381863e-13, 3.2596148002994596e-13, 0.9999999999999999;
body: body_7,
structural_node_7, #<node_label>
mass_7, #<mass> [kg]
Rx_7, Ry_7, Rz_7, #<relative_center_of_mass> [m]
diag, Ixx_7, Iyy_7, Izz_7, #<inertia matrix> [kg*m^2]
orientation, 3, 0.5261723494495293, 0.852550678068326, -1.7264830977684646e-13, 2, -1.8549051183924803e-13, 3.1702418468171345e-13, 0.9999999999999999;
body: body_8,
structural_node_8, #<node_label>
mass_8, #<mass> [kg]
Rx_8, Ry_8, Rz_8, #<relative_center_of_mass> [m]
diag, Ixx_8, Iyy_8, Izz_8, #<inertia matrix> [kg*m^2]
orientation, 3, 0.2905568777937519, 0.9568577223217393, -2.307191623637346e-13, 2, -2.011169009108471e-13, 3.02174951727352e-13, 1.0;
body: body_9,
structural_node_9, #<node_label>
mass_9, #<mass> [kg]
Rx_9, Ry_9, Rz_9, #<relative_center_of_mass> [m]
diag, Ixx_9, Iyy_9, Izz_9, #<inertia matrix> [kg*m^2]
orientation, 3, 0.25, 0.97, 0.0, 2, 0.97, -0.25, 0.0;
#-----------------------------------------------------------------------------
# [Joints]
joint: joint_1,
clamp,
structural_node_1, #<node_label>
0.0633633, -0.00923969, 0.1754432, #<absolute_pin_position> [m]
3, 3.552713678800501e-15, -8.881784197001252e-16, 1.0, 2, 0.0, 1.0, 8.881784197001252e-16; #<absolute_orientation_matrix>
joint: joint_2,
axial rotation,
structural_node_2, #<node_1_label>
position, 0.0, 0.0, 0.0, #<relative_position_1> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
structural_node_1, #<node_2_label>
position, 0.0, 0.0, 0.0, #<relative_position_2> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_2>
string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
joint: joint_4,
revolute hinge,
structural_node_3, #<node_1_label>
position, 0.01945754810926986, -0.007398288996059009, 0.0, #<relative_position_1> [m]
orientation, 3, 2.379270386264628e-18, 2.5376566208832034e-16, 1.0, 2, -0.0031162201389038045, 0.9999951445742353, -2.537570156176929e-16, #<relative_pin_orientation_matrix_1>
structural_node_2, #<node_2_label>
position, 0.000572592272705613, 0.014989067285499725, -0.02099999999999997, #<relative_position_2> [m]
orientation, 3, 4.4133089177646067e-16, -2.8245177073693617e-16, 1.0, 2, -1.0947644252537633e-47, 1.0, 2.8245177073693617e-16; #<relative_pin_orientation_matrix_2>
joint: joint_6,
clamp,
structural_node_4, #<node_label>
0.02533717999999999, -0.01704046, 0.1544432, #<absolute_pin_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
joint: joint_7,
revolute hinge,
structural_node_5, #<node_1_label>
position, 0.007939339015500799, 0.027232800113977197, -8.526512829121202e-17, #<relative_position_1> [m]
orientation, 3, 3.553380196810903e-15, 1.8410732504324904e-16, 1.0, 2, -0.016100019779106436, 0.9998703862816982, -1.2687397075694296e-16, #<relative_pin_orientation_matrix_1>
structural_node_3, #<node_2_label>
position, -0.027278104193160135, 0.010371877122050989, -2.842170943040401e-17, #<relative_position_2> [m]
orientation, 3, -1.7721896700948145e-15, -3.2273892579290396e-16, 1.0, 2, -0.0031162201389038045, 0.9999951445742353, 3.1721482561810166e-16; #<relative_pin_orientation_matrix_2>
joint: joint_9,
in line,
structural_node_5, #<node_1_label>
0.016674991317944074, -0.013337366004130156, 2.583957822554477e-17, #<relative_line_position> [m]
3, 1.54266885649206e-17, -7.611547350475735e-16, 1.0, 2, -0.016100019779106436, 0.9998703862816982, 7.613044489431823e-16, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, 0.0, 0.0, 0.0; #<relative_offset> [m]
joint: joint_10,
revolute hinge,
structural_node_5, #<node_1_label>
position, -0.0229927999452359, -0.019209021333030166, -8.526512829121202e-17, #<relative_position_1> [m]
orientation, 3, -1.989865580580776e-15, -3.4929738803148917e-16, 1.0, 2, -0.016100019779106436, 0.9998703862816982, 3.172152390931197e-16, #<relative_pin_orientation_matrix_1>
structural_node_6, #<node_2_label>
position, -0.011399640718976634, 0.019064468616942564, -3.234390533179976e-14, #<relative_position_2> [m]
orientation, 3, -1.674626405891981e-13, 3.24466931671453e-13, 1.0, 2, 0.1283680988289512, 0.99172659095289, -3.0028562322616305e-13; #<relative_pin_orientation_matrix_2>
joint: joint_12,
revolute hinge,
structural_node_6, #<node_1_label>
position, 0.00882055117667097, -0.014751264994918899, -3.2372327041230165e-14, #<relative_position_1> [m]
orientation, 3, -7.843921394049555e-16, -4.561790173454178e-16, 1.0, 2, 0.1283680988289512, 0.99172659095289, 5.530957894079982e-16, #<relative_pin_orientation_matrix_1>
structural_node_7, #<node_2_label>
position, -0.010702134855840454, -0.020680393800658704, -1.668354343564715e-14, #<relative_position_2> [m]
orientation, 3, -5.9986169706224296e-15, -2.845473939500244e-17, 1.0, 2, 0.07583947304837221, 0.9971200400793002, 4.833047409570188e-16; #<relative_pin_orientation_matrix_2>
joint: joint_14,
in line,
structural_node_7, #<node_1_label>
0.007360348279200352, 0.014222853942156975, 4.1327660701972565e-15, #<relative_line_position> [m]
3, 2.835536297890121e-17, 2.2139088486989354e-17, 1.0, 2, 0.07583947304837221, 0.9971200400793002, -2.422578458588119e-17, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, 0.0, 0.0, 0.0; #<relative_offset> [m]
joint: joint_17,
revolute hinge,
structural_node_7, #<node_1_label>
position, -0.010702134855840454, -0.020680393800658704, -1.668354343564715e-14, #<relative_position_1> [m]
orientation, 3, -5.9986169706224296e-15, -2.845473939500244e-17, 1.0, 2, 0.07583947304837221, 0.9971200400793002, 4.833047409570188e-16, #<relative_pin_orientation_matrix_1>
structural_node_9, #<node_2_label>
position, -0.04380863335425453, 0.048962165430424774, 2.361844053666573e-14, #<relative_position_2> [m]
orientation, 3, 2.0250467969162858e-13, -3.0020430585864233e-13, 1.0, 2, 1.1479437019748901e-41, 1.0, 3.0020430585864233e-13; #<relative_pin_orientation_matrix_2>
joint: joint_19,
revolute hinge,
structural_node_9, #<node_1_label>
position, -0.00711178566808907, 0.048481156180642686, 1.5973000699887054e-14, #<relative_position_1> [m]
orientation, 3, 1.9895196601282803e-13, -3.0020430585864233e-13, 1.0, 2, -1.1479437019748901e-41, 1.0, 3.0020430585864233e-13, #<relative_pin_orientation_matrix_1>
structural_node_8, #<node_2_label>
position, -0.012894678260996642, -0.0339432964317313, -1.494981916039251e-14, #<relative_position_2> [m]
orientation, 3, 4.579871051207537e-16, -4.501513270023455e-16, 1.0, 2, 0.011014440431914747, 0.9999393392111202, 4.450795487797967e-16; #<relative_pin_orientation_matrix_2>
joint: joint_21,
in line,
structural_node_8, #<node_1_label>
0.005024292862524304, 0.02530634891636125, 6.393896531709601e-16, #<relative_line_position> [m]
3, -3.779590336935672e-16, -1.0180004744870912e-16, 1.0, 2, 0.011014440431914747, 0.9999393392111202, 1.0595687943984473e-16, #<relative_orientation>
structural_node_2, #<node_2_label>
offset, 0.000572592272705613, 0.014989067285499725, -0.02099999999999997; #<relative_offset> [m]
#-----------------------------------------------------------------------------
# [Drive callers]
drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 2.0, 0.0;
end: elements;

3609
testapp/MBDynCase(simulation).mov
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845
testapp/MBDynCase(simulation)debug1.asmt
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@@ -1,845 +0,0 @@
OndselSolver
Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
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0.01667499131794407 -0.01333736600413016 2.583957822554477e-17
RotationMatrix
0.9998703862816982 -0.01610001977910644 1.54266885649206e-17
0.01610001977910644 0.9998703862816982 -7.611547350475735e-16
-3.170082765228165e-18 7.613044489431823e-16 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker2
Position3D
-0.0229927999452359 -0.01920902133303017 -8.526512829121202e-17
RotationMatrix
0.9998703862816982 -0.01610001977910644 -1.989865580580776e-15
0.01610001977910644 0.9998703862816982 -3.492973880314892e-16
1.995231361560053e-15 3.172152390931197e-16 1
RefCurves
RefSurfaces
Part
Name
structural_node_6
Position3D
-0.0006674049000000011 -0.03971609000000002 0.1544431999999999
RotationMatrix
0.99172659095289 -0.1283680988289512 2.036681126106787e-13
0.1283680988289512 0.99172659095289 -3.023157453283348e-13
-1.63175385531342e-13 3.259590519137651e-13 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
-0.04775460165601007 0.01297781424486334 -0.02199999999997956
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
0.0124530516778275
MomentOfInertias
3.080712519e-06 2.746145939e-06 4.068137390000001e-07
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
-0.01139964071897663 0.01906446861694256 -3.234390533179976e-14
RotationMatrix
0.99172659095289 0.1283680988289512 -1.674626405891981e-13
-0.1283680988289512 0.99172659095289 3.24466931671453e-13
2.077283568150221e-13 -3.00285623226163e-13 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
0.008820551176670971 -0.0147512649949189 -3.237232704123016e-14
RotationMatrix
0.99172659095289 0.1283680988289512 -7.843921394049555e-16
-0.1283680988289512 0.99172659095289 -4.561790173454178e-16
7.193437092000302e-16 5.530957894079983e-16 1
RefCurves
RefSurfaces
Part
Name
structural_node_7
Position3D
0.01907669 -0.03178055 0.1544432
RotationMatrix
0.9971200400793002 -0.07583947304837221 2.089913934188975e-13
0.07583947304837221 0.9971200400793002 -3.020048884826284e-13
-1.854856149815249e-13 3.169849236564773e-13 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
-0.02808630673532206 -0.008906574578364492 -0.02199999999998568
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
0.012877956133769
MomentOfInertias
3.323661377e-06 2.919060349e-06 4.74840086e-07
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
-0.01070213485584045 -0.0206803938006587 -1.668354343564715e-14
RotationMatrix
0.9971200400793002 0.07583947304837221 -5.99861697062243e-15
-0.07583947304837221 0.9971200400793002 -2.845473939500244e-17
5.979183201725961e-15 4.833047409570188e-16 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
0.007360348279200352 0.01422285394215697 4.132766070197256e-15
RotationMatrix
0.9971200400793002 0.07583947304837221 2.835536297890121e-17
-0.07583947304837221 0.9971200400793002 2.213908848698935e-17
-2.659468386536053e-17 -2.422578458588119e-17 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker2
Position3D
-0.01070213485584045 -0.0206803938006587 -1.668354343564715e-14
RotationMatrix
0.9971200400793002 0.07583947304837221 -5.99861697062243e-15
-0.07583947304837221 0.9971200400793002 -2.845473939500244e-17
5.979183201725961e-15 4.833047409570188e-16 1
RefCurves
RefSurfaces
Part
Name
structural_node_8
Position3D
0.05919064 -0.01961078000000005 0.1544431999999999
RotationMatrix
0.9999393392111204 -0.01101444043191475 2.043025799989906e-13
0.01101444043191475 0.9999393392111204 -2.999207132952625e-13
-2.009867280124297e-13 3.021527984656781e-13 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
-0.01283708435992891 -0.05822511204553316 -0.02199999999996987
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
0.0326050144115717
MomentOfInertias
1.8277407926e-05 1.6715521441e-05 3.055755313e-06
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
-0.01289467826099664 -0.0339432964317313 -1.494981916039251e-14
RotationMatrix
0.9999393392111204 0.01101444043191475 4.579871051207537e-16
-0.01101444043191475 0.9999393392111204 -4.501513270023455e-16
-4.629174882382751e-16 4.450795487797968e-16 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
0.005024292862524304 0.02530634891636125 6.393896531709601e-16
RotationMatrix
0.9999393392111204 0.01101444043191475 -3.779590336935672e-16
-0.01101444043191475 0.9999393392111204 -1.018000474487091e-16
3.768148358418293e-16 1.059568794398448e-16 1
RefCurves
RefSurfaces
Part
Name
structural_node_9
Position3D
0.05378240000000001 -0.1021752 0.1544432
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
-0.06304499075484313 -0.02875987253622913 -0.02199999999358337
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
0.06475367880089911
MomentOfInertias
3.6750824095e-05 3.4476237135e-05 3.9371388e-06
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
-0.04380863335425453 0.04896216543042477 2.361844053666573e-14
RotationMatrix
1 1.14794370197489e-41 2.025046796916286e-13
6.079277679995205e-26 1 -3.002043058586423e-13
-2.025046796916286e-13 3.002043058586423e-13 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
-0.00711178566808907 0.04848115618064269 1.597300069988705e-14
RotationMatrix
1 -1.14794370197489e-41 1.98951966012828e-13
5.972623685609325e-26 1 -3.002043058586423e-13
-1.98951966012828e-13 3.002043058586423e-13 1
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
joint_1
MarkerI
/Assembly/Marker0
MarkerJ
/Assembly/structural_node_1/Marker0
RevoluteJoint
Name
joint_2
MarkerI
/Assembly/structural_node_2/Marker0
MarkerJ
/Assembly/structural_node_1/Marker1
RevoluteJoint
Name
joint_4
MarkerI
/Assembly/structural_node_3/Marker0
MarkerJ
/Assembly/structural_node_2/Marker1
FixedJoint
Name
joint_6
MarkerI
/Assembly/Marker1
MarkerJ
/Assembly/structural_node_4/Marker0
RevoluteJoint
Name
joint_7
MarkerI
/Assembly/structural_node_5/Marker0
MarkerJ
/Assembly/structural_node_3/Marker1
PointInLineJoint
Name
joint_9
MarkerI
/Assembly/structural_node_5/Marker1
MarkerJ
/Assembly/structural_node_4/Marker1
RevoluteJoint
Name
joint_10
MarkerI
/Assembly/structural_node_5/Marker2
MarkerJ
/Assembly/structural_node_6/Marker0
RevoluteJoint
Name
joint_12
MarkerI
/Assembly/structural_node_6/Marker1
MarkerJ
/Assembly/structural_node_7/Marker0
PointInLineJoint
Name
joint_14
MarkerI
/Assembly/structural_node_7/Marker1
MarkerJ
/Assembly/structural_node_4/Marker2
RevoluteJoint
Name
joint_17
MarkerI
/Assembly/structural_node_7/Marker2
MarkerJ
/Assembly/structural_node_9/Marker0
RevoluteJoint
Name
joint_19
MarkerI
/Assembly/structural_node_9/Marker1
MarkerJ
/Assembly/structural_node_8/Marker0
PointInLineJoint
Name
joint_21
MarkerI
/Assembly/structural_node_8/Marker1
MarkerJ
/Assembly/structural_node_2/Marker2
Motions
RotationalMotion
Name
joint_2Motion
MarkerI
/Assembly/structural_node_2/Marker0
MarkerJ
/Assembly/structural_node_1/Marker1
MotionJoint
/Assembly/joint_2
RotationZ
integral(time, rampstep(time, 0.25, 0.0, 2.0, 0.0 + 5.0*(2.0 - 0.25)))
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
4
hmin
1e-09
hmax
1
hout
0.01
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30

1129
testapp/MBDynCase(simulation)debug2.asmt
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testapp/MBDynCase.mbd
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######################################################################################################################
# MBDyn is a free and open-source general purpose multi-body dynamics software. See https://www.mbdyn.org/ for details.
# This input file was automatically generated by the FreeCAD "MBD workbench".
# To learn more about MBDyn input files, you can visit the website: https://www.sky-engin.jp/en/MBDynTutorial/index.html
# Details about the structure of input files can be studied in the input file manuals: https://www.mbdyn.org/?Software_Download
# Although MBDyn has already reached a mature stage and is used by several industries,
# the FreeCAD dynamics workbench is still under development, and it is likely to have bugs.
# Please be aware of this fact before you use this input file for any critical application.
# If you think you have found a bug or have any suggestion, please send your comments to Jose Egas:
# josegegas@gmail.com
######################################################################################################################
#-----------------------------------------------------------------------------
# [Data Block]
begin: data;
problem: initial value;
end: data;
#-----------------------------------------------------------------------------
# [Problem Block]
begin: initial value;
initial time: 0.0;
final time: 3.0;
time step: 0.1;
max iterations: 100;
tolerance: 1e-06;
derivatives tolerance: 0.0001;
derivatives max iterations: 100;
derivatives coefficient: auto;
end: initial value;
#-----------------------------------------------------------------------------
# [Control Data Block]
begin: control data;
max iterations: 1000;
default orientation: euler321;
omega rotates: no;
print: none;
initial stiffness: 1.0, 1.0;
structural nodes: 4;
rigid bodies: 3;
joints: 7;
end: control data;
#-----------------------------------------------------------------------------
# [Design Variables]
#Generic bodies
#body: 2
set: integer body_2 = 2; #body label
set: real mass_2 = 1.4486361883511716; #mass [kg]
set: real volume_2 = 0.0001833716694115407; #volume [m^3]
#body: 3
set: integer body_3 = 3; #body label
set: real mass_3 = 2.85294865570677; #mass [kg]
set: real volume_3 = 0.00036113274122870505; #volume [m^3]
#body: 4
set: integer body_4 = 4; #body label
set: real mass_4 = 10.859427202622147; #mass [kg]
set: real volume_4 = 0.0013746110383066007; #volume [m^3]
#Nodes
#node: 1
set: integer structural_node_1 = 1; #node label
#node: 2
set: integer structural_node_2 = 2; #node label
#node: 3
set: integer structural_node_3 = 3; #node label
#node: 4
set: integer structural_node_4 = 4; #node label
#Joints
#joint: 1
set: integer joint_1 = 1; #joint label
#joint: 2
set: integer joint_2 = 2; #joint label
#joint: 3
set: integer joint_3 = 3; #joint label
#joint: 4
set: integer joint_4 = 4; #joint label
#joint: 5
set: integer joint_5 = 5; #joint label
#joint: 6
set: integer joint_6 = 6; #joint label
#joint: 7
set: integer joint_7 = 7; #joint label
#Nodes: initial conditions
#node: 1
set: real Px_1 = -0.121; #X component of the absolute position [m]
set: real Py_1 = -8.796847998598882e-19; #Y component of the absolute position [m]
set: real Pz_1 = -0.08; #Z component of the absolute position [m]
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 2
set: real Px_2 = -0.015; #X component of the absolute position [m]
set: real Py_2 = 0.092; #Y component of the absolute position [m]
set: real Pz_2 = 0.008; #Z component of the absolute position [m]
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 3
set: real Px_3 = 0.088; #X component of the absolute position [m]
set: real Py_3 = -0.055; #Y component of the absolute position [m]
set: real Pz_3 = 0.05; #Z component of the absolute position [m]
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 4
set: real Px_4 = 0.3200000010688326; #X component of the absolute position [m]
set: real Py_4 = 1.4796688528733327e-10; #Y component of the absolute position [m]
set: real Pz_4 = 0.04999999225971574; #Z component of the absolute position [m]
set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
#-----------------------------------------------------------------------------
# [Intermediate Variables]
#Moments of inertia and relative center of mass
#body 2:
set: real Ixx_2 = 0.0012769356301204219; #moment of inertia [kg*m^2]
set: real Ixy_2 = 4.67e-20; #moment of inertia [kg*m^2]
set: real Ixz_2 = -0.0009495625871945231; #moment of inertia [kg*m^2]
set: real Iyx_2 = 4.67e-20; #moment of inertia [kg*m^2]
set: real Iyy_2 = 0.0028717510150978666; #moment of inertia [kg*m^2]
set: real Iyz_2 = 4.4900000000000004e-20; #moment of inertia [kg*m^2]
set: real Izx_2 = -0.0009495625871945231; #moment of inertia [kg*m^2]
set: real Izy_2 = 4.4900000000000004e-20; #moment of inertia [kg*m^2]
set: real Izz_2 = 0.002296471669735477; #moment of inertia [kg*m^2]
set: real Rx_2 = -0.03260146715730948; #X component of the relative center of mass [m]
set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
set: real Rz_2 = -0.028286762255221056; #Z component of the relative center of mass [m]
#body 3:
set: real Ixx_3 = 0.0019563103180210077; #moment of inertia [kg*m^2]
set: real Ixy_3 = -7.580852e-16; #moment of inertia [kg*m^2]
set: real Ixz_3 = 5.386829000000001e-16; #moment of inertia [kg*m^2]
set: real Iyx_3 = -7.580852e-16; #moment of inertia [kg*m^2]
set: real Iyy_3 = 0.03371514809951082; #moment of inertia [kg*m^2]
set: real Iyz_3 = -4.95494e-17; #moment of inertia [kg*m^2]
set: real Izx_3 = 5.386829000000001e-16; #moment of inertia [kg*m^2]
set: real Izy_3 = -4.95494e-17; #moment of inertia [kg*m^2]
set: real Izz_3 = 0.03383792198797204; #moment of inertia [kg*m^2]
set: real Rx_3 = 7.87281351222191e-15; #X component of the relative center of mass [m]
set: real Ry_3 = 1.0302869668521452e-15; #Y component of the relative center of mass [m]
set: real Rz_3 = -0.024999999999998045; #Z component of the relative center of mass [m]
#body 4:
set: real Ixx_4 = 0.07706742098795094; #moment of inertia [kg*m^2]
set: real Ixy_4 = 8.01291908309e-10; #moment of inertia [kg*m^2]
set: real Ixz_4 = -1.2135214817691901e-08; #moment of inertia [kg*m^2]
set: real Iyx_4 = 8.01291908309e-10; #moment of inertia [kg*m^2]
set: real Iyy_4 = 0.06635181579849883; #moment of inertia [kg*m^2]
set: real Iyz_4 = -3.32678908792e-11; #moment of inertia [kg*m^2]
set: real Izx_4 = -1.2135214817691901e-08; #moment of inertia [kg*m^2]
set: real Izy_4 = -3.32678908792e-11; #moment of inertia [kg*m^2]
set: real Izz_4 = 0.06179235045624136; #moment of inertia [kg*m^2]
set: real Rx_4 = 0.045580834634119355; #X component of the relative center of mass [m]
set: real Ry_4 = 2.0299354041266675e-10; #Y component of the relative center of mass [m]
set: real Rz_4 = -1.2562251448855477e-08; #Z component of the relative center of mass [m]
#-----------------------------------------------------------------------------
# [Nodes Block]
begin: nodes;
structural: structural_node_1,
static,
Px_1, Py_1, Pz_1, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
structural: structural_node_2,
dynamic,
Px_2, Py_2, Pz_2, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
structural: structural_node_3,
dynamic,
Px_3, Py_3, Pz_3, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
structural: structural_node_4,
dynamic,
Px_4, Py_4, Pz_4, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
#IMPORTANT NOTE: FreeCAD provides the inertia matrix in the global reference frame,
#while by default, MBDyn assumes it to be in the reference frame of the node,
#thus, the matrix of inertia must be rotated, using the inverse of the placement
#matrix of the node. This is done using the inertial keyword and the following
#orientation matrix.
body: body_2,
structural_node_2, #<node_label>
mass_2, #<mass> [kg]
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
Ixx_2, Ixy_2, Ixz_2, #<inertia_matrix> [kg*m^2]
Iyx_2, Iyy_2, Iyz_2,
Izx_2, Izy_2, Izz_2,
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0;
body: body_3,
structural_node_3, #<node_label>
mass_3, #<mass> [kg]
Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
Ixx_3, Ixy_3, Ixz_3, #<inertia_matrix> [kg*m^2]
Iyx_3, Iyy_3, Iyz_3,
Izx_3, Izy_3, Izz_3,
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0;
body: body_4,
structural_node_4, #<node_label>
mass_4, #<mass> [kg]
Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
Ixx_4, Ixy_4, Ixz_4, #<inertia_matrix> [kg*m^2]
Iyx_4, Iyy_4, Iyz_4,
Izx_4, Izy_4, Izz_4,
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0;
#-----------------------------------------------------------------------------
# [Joints]
joint: joint_1,
clamp,
structural_node_1, #<node_label>
-0.121, -8.796847998598882e-19, -0.08, #<absolute_pin_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
joint: joint_2,
spherical hinge,
structural_node_1, #<node_1_label>
0.0, 0.0, 0.0, #<relative_pin_position_1> [m]
structural_node_2, #<node_2_label>
-0.07, 0.0, -0.055; #<relative_pin_position_2> [m]
joint: joint_3,
revolute hinge,
structural_node_2, #<node_1_label>
0.0, 0.0, 0.0, #<relative_position_1> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
structural_node_3, #<node_2_label>
-0.14, 0.0, -0.024999999999999998, #<relative_position_2> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
joint: joint_4,
drive hinge,
structural_node_1, #<node_1_label>
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
structural_node_2, #<node_2_label>
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_2>
single, 0., 0., 1., #<hinge_orientation>
string, "0"; #<hinge_orientation> [rad]
joint: joint_5,
in line,
structural_node_4, #<node_1_label>
0.0, 0.0, 0.0, #<relative_line_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation>
structural_node_3, #<node_2_label>
offset, 0.14, 0.0, -0.024999999999999998; #<relative_offset> [m]
joint: joint_6,
prismatic,
structural_node_1, #<node_1_label>
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
structural_node_4, #<node_2_label>
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #relative_orientation_matrix_2>
joint: joint_7,
in line,
structural_node_1, #<node_1_label>
0.0, 8.796847998604521e-19, 0.08, #<relative_line_position> [m]
3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, 0.0, 0.0, 0.0; #<relative_offset> [m]
end: elements;

324
testapp/MBDynCase.mov
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@@ -1,324 +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 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 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 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0

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testapp/MBDynCase2.mbd
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#-----------------------------------------------------------------------------
# [Data Block]
begin: data;
problem: initial value;
end: data;
#-----------------------------------------------------------------------------
# [Problem Block]
begin: initial value;
initial time: 0.0;
final time: 3.0;
time step: 0.01;
max iterations: 100;
tolerance: 1e-06;
derivatives tolerance: 0.0001;
derivatives max iterations: 100;
derivatives coefficient: auto;
end: initial value;
#-----------------------------------------------------------------------------
# [Control Data Block]
begin: control data;
max iterations: 1000;
default orientation: euler321;
omega rotates: no;
print: none;
initial stiffness: 1.0, 1.0;
structural nodes: 4;
rigid bodies: 3;
joints: 6;
end: control data;
#-----------------------------------------------------------------------------
# [Design Variables]
#Generic bodies
#body: 2
set: integer body_2 = 2; #body label
set: real mass_2 = 1.448636188351172; #mass [kg]
set: real volume_2 = 0.00018337166941154076; #volume [m^3]
#body: 3
set: integer body_3 = 3; #body label
set: real mass_3 = 2.8529486557067685; #mass [kg]
set: real volume_3 = 0.0003611327412287049; #volume [m^3]
#body: 4
set: integer body_4 = 4; #body label
set: real mass_4 = 10.859427202622141; #mass [kg]
set: real volume_4 = 0.0013746110383066003; #volume [m^3]
#Nodes
#node: 1
set: integer structural_node_1 = 1; #node label
#node: 2
set: integer structural_node_2 = 2; #node label
#node: 3
set: integer structural_node_3 = 3; #node label
#node: 4
set: integer structural_node_4 = 4; #node label
#Joints
#joint: 1
set: integer joint_1 = 1; #joint label
#joint: 2
set: integer joint_2 = 2; #joint label
#joint: 3
set: integer joint_3 = 3; #joint label
#joint: 4
set: integer joint_4 = 4; #joint label
#joint: 5
set: integer joint_5 = 5; #joint label
#joint: 6
set: integer joint_6 = 6; #joint label
#Nodes: initial conditions
#node: 1
set: real Px_1 = -0.121; #X component of the absolute position [m]
set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m]
set: real Pz_1 = -0.08; #Z component of the absolute position [m]
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 2
set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m]
set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m]
set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m]
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 3
set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m]
set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m]
set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m]
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 4
set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m]
set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m]
set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m]
set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
#-----------------------------------------------------------------------------
# [Intermediate Variables]
#Moments of inertia and relative center of mass
#body 2:
set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2]
set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]
set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m]
set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m]
#body 3:
set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]
set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m]
set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m]
set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
#body 4:
set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2]
set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]
set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m]
set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m]
set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m]
#-----------------------------------------------------------------------------
# [Nodes Block]
begin: nodes;
structural: structural_node_1,
static,
Px_1, Py_1, Pz_1, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
structural: structural_node_2,
dynamic,
Px_2, Py_2, Pz_2, #<absolute_position> [m]
3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, #<absolute_orientation_matrix>
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
structural: structural_node_3,
dynamic,
Px_3, Py_3, Pz_3, #<absolute_position> [m]
3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, #<absolute_orientation_matrix>
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
structural: structural_node_4,
dynamic,
Px_4, Py_4, Pz_4, #<absolute_position> [m]
3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
body: body_2,
structural_node_2, #<node_label>
mass_2, #<mass> [kg]
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005;
body: body_3,
structural_node_3, #<node_label>
mass_3, #<mass> [kg]
Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283;
body: body_4,
structural_node_4, #<node_label>
mass_4, #<mass> [kg]
Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0;
#-----------------------------------------------------------------------------
# [Joints]
joint: joint_1,
clamp,
structural_node_1, #<node_label>
-0.121, -1.218180697837851e-18, -0.08, #<absolute_pin_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
joint: joint_2,
axial rotation,
structural_node_1, #<node_1_label>
0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
structural_node_2, #<node_2_label>
-0.03739853284269051, 0.0, 0.0032867622552210634, #<relative_offset_2> [m]
orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, #<relative_orientation_matrix_2>
string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
joint: joint_3,
revolute hinge,
structural_node_2, #<node_1_label>
0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, #<relative_position_1> [m]
orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
structural_node_3, #<node_2_label>
-0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, #<relative_position_2> [m]
orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
joint: joint_4,
in line,
structural_node_3, #<node_1_label>
0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, #<relative_line_position> [m]
3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
joint: joint_5,
in line,
structural_node_1, #<node_1_label>
0.0, 1.2181806978377854e-18, 0.08, #<relative_line_position> [m]
3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
joint: joint_6,
prismatic,
structural_node_1, #<node_1_label>
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
structural_node_4, #<node_2_label>
orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
#-----------------------------------------------------------------------------
# [Drive callers]
drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0;
end: elements;

1204
testapp/MBDynCase2.mov
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440
testapp/MBDynCase2debug1.asmt
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OndselSolver
Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
Name
Assembly
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
Marker0
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Parts
Part
Name
structural_node_1
Position3D
-0.121 -1.218180697837851e-18 -0.08
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 2 3
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
0.121 1.218180697837851e-18 0.08
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
Marker1
Position3D
0 1.218180697837851e-18 0.05
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
Marker2
Position3D
0 1.218180697837785e-18 0.08
RotationMatrix
2.220446049250313e-16 -2.220446049250313e-16 1
1 0 -2.220446049250313e-16
4.930380657631324e-32 1 2.220446049250313e-16
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker3
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Part
Name
structural_node_2
Position3D
-0.04753704894473842 0.09742200410568831 -0.03029347681223059
RotationMatrix
0.9512512425641979 -0.1267494082121462 0.2811683855591535
0.167731259496521 0.9776506595433678 -0.1267494082121462
-0.258819045102521 0.167731259496521 0.9512512425641977
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
7.105427357601002e-18 0 7.105427357601002e-18
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1.448636188351172
MomentOfInertias
0.002871751015088 0.002864447840812 0.0007089594589930001
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
-0.03739853284269051 0 0.003286762255221063
RotationMatrix
1 0 5.204170427930421e-18
-0 1 0
-5.204170427930421e-18 -0 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
0.03260146715730949 1.4210854715202e-17 0.05328676225522106
RotationMatrix
1 -0 5.204170427930421e-18
0 1 0
-5.204170427930421e-18 0 1
RefCurves
RefSurfaces
Part
Name
structural_node_3
Position3D
0.07099630277370235 -0.07364765799707981 0.05840790082376057
RotationMatrix
0.9622501868990581 0.01433011691863463 -0.271788935686915
-0.08715574274765801 0.9622501868990581 -0.2578341604963
0.2578341604963001 0.271788935686915 0.9271743741709766
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
2.842170943040401e-17 -1.4210854715202e-17 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
2.852948655706768
MomentOfInertias
0.03383792198797 0.033715148099504 0.001956310318013
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
-0.1400000000000079 -1.044497821567347e-15 0.02499999999999804
RotationMatrix
3.322229154067983e-33 1 -5.551115123125784e-17
-1 0 -5.984795992119986e-17
-5.984795992119986e-17 5.551115123125784e-17 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
0.1399999999999913 4.423128530106624e-16 9.79127889877418e-15
RotationMatrix
0.7254861972346578 0.6882367162699149 2.719509169040251e-15
-0.6882367162699149 0.7254861972346578 1.258675848677982e-14
6.689702964032028e-15 -1.100318561045113e-14 1
RefCurves
RefSurfaces
Part
Name
structural_node_4
Position3D
0.3723079639890564 0.04333150035096042 0.008140985321785409
RotationMatrix
0.9659258262890682 -0 0.2588190451025211
0 1 0
-0.2588190451025211 0 0.9659258262890682
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
2.842170943040401e-16 2.131628207280301e-17 2.273736754432321e-16
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
10.85942720262214
MomentOfInertias
0.07706742098794901 0.066351815798527 0.061792350456255
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
-0.04558083463411924 -2.029935401992589e-10 1.256225164070202e-08
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
Marker1
Position3D
-0.04558083463411924 -2.029935401992589e-10 1.256225164070202e-08
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
Marker2
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
joint_1
MarkerI
/Assembly/Marker0
MarkerJ
/Assembly/structural_node_1/Marker0
RevoluteJoint
Name
joint_2
MarkerI
/Assembly/structural_node_1/Marker1
MarkerJ
/Assembly/structural_node_2/Marker0
RevoluteJoint
Name
joint_3
MarkerI
/Assembly/structural_node_2/Marker1
MarkerJ
/Assembly/structural_node_3/Marker0
PointInLineJoint
Name
joint_4
MarkerI
/Assembly/structural_node_3/Marker1
MarkerJ
/Assembly/structural_node_4/Marker0
PointInLineJoint
Name
joint_5
MarkerI
/Assembly/structural_node_1/Marker2
MarkerJ
/Assembly/structural_node_4/Marker1
NoRotationJoint
Name
joint_6
MarkerI
/Assembly/structural_node_1/Marker3
MarkerJ
/Assembly/structural_node_4/Marker2
Motions
RotationalMotion
Name
joint_2Motion
MarkerI
/Assembly/structural_node_1/Marker1
MarkerJ
/Assembly/structural_node_2/Marker0
MotionJoint
/Assembly/joint_2
RotationZ
integral(time, rampstep(time, 0.0, 0.0, 1.0, 0.0 + 6.28*(1.0 - 0.0)))
Limits
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
3
hmin
1e-09
hmax
1
hout
0.01
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30

587
testapp/MBDynCase2debug2.asmt
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297
testapp/MBDynCase2orig.mbd
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#-----------------------------------------------------------------------------
# [Data Block]
begin: data;
problem: initial value;
end: data;
#-----------------------------------------------------------------------------
# [Problem Block]
begin: initial value;
initial time: 0.0;
final time: 3.0;
time step: 0.01;
max iterations: 100;
tolerance: 1e-06;
derivatives tolerance: 0.0001;
derivatives max iterations: 100;
derivatives coefficient: auto;
end: initial value;
#-----------------------------------------------------------------------------
# [Control Data Block]
begin: control data;
max iterations: 1000;
default orientation: euler321;
omega rotates: no;
print: none;
initial stiffness: 1.0, 1.0;
structural nodes: 4;
rigid bodies: 3;
joints: 6;
end: control data;
#-----------------------------------------------------------------------------
# [Design Variables]
#Generic bodies
#body: 2
set: integer body_2 = 2; #body label
set: real mass_2 = 1.448636188351172; #mass [kg]
set: real volume_2 = 0.00018337166941154076; #volume [m^3]
#body: 3
set: integer body_3 = 3; #body label
set: real mass_3 = 2.8529486557067685; #mass [kg]
set: real volume_3 = 0.0003611327412287049; #volume [m^3]
#body: 4
set: integer body_4 = 4; #body label
set: real mass_4 = 10.859427202622141; #mass [kg]
set: real volume_4 = 0.0013746110383066003; #volume [m^3]
#Nodes
#node: 1
set: integer structural_node_1 = 1; #node label
#node: 2
set: integer structural_node_2 = 2; #node label
#node: 3
set: integer structural_node_3 = 3; #node label
#node: 4
set: integer structural_node_4 = 4; #node label
#Joints
#joint: 1
set: integer joint_1 = 1; #joint label
#joint: 2
set: integer joint_2 = 2; #joint label
#joint: 3
set: integer joint_3 = 3; #joint label
#joint: 4
set: integer joint_4 = 4; #joint label
#joint: 5
set: integer joint_5 = 5; #joint label
#joint: 6
set: integer joint_6 = 6; #joint label
#Nodes: initial conditions
#node: 1
set: real Px_1 = -0.121; #X component of the absolute position [m]
set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m]
set: real Pz_1 = -0.08; #Z component of the absolute position [m]
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 2
set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m]
set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m]
set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m]
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 3
set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m]
set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m]
set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m]
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 4
set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m]
set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m]
set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m]
set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
#-----------------------------------------------------------------------------
# [Intermediate Variables]
#Moments of inertia and relative center of mass
#body 2:
set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2]
set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]
set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m]
set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m]
#body 3:
set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]
set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m]
set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m]
set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
#body 4:
set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2]
set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]
set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m]
set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m]
set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m]
#-----------------------------------------------------------------------------
# [Nodes Block]
begin: nodes;
structural: structural_node_1,
static,
Px_1, Py_1, Pz_1, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
structural: structural_node_2,
dynamic,
Px_2, Py_2, Pz_2, #<absolute_position> [m]
3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, #<absolute_orientation_matrix>
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
structural: structural_node_3,
dynamic,
Px_3, Py_3, Pz_3, #<absolute_position> [m]
3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, #<absolute_orientation_matrix>
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
structural: structural_node_4,
dynamic,
Px_4, Py_4, Pz_4, #<absolute_position> [m]
3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
body: body_2,
structural_node_2, #<node_label>
mass_2, #<mass> [kg]
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005;
body: body_3,
structural_node_3, #<node_label>
mass_3, #<mass> [kg]
Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283;
body: body_4,
structural_node_4, #<node_label>
mass_4, #<mass> [kg]
Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0;
#-----------------------------------------------------------------------------
# [Joints]
joint: joint_1,
clamp,
structural_node_1, #<node_label>
-0.121, -1.218180697837851e-18, -0.08, #<absolute_pin_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
joint: joint_2,
axial rotation,
structural_node_1, #<node_1_label>
0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
structural_node_2, #<node_2_label>
-0.03739853284269051, 0.0, 0.0032867622552210634, #<relative_offset_2> [m]
orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, #<relative_orientation_matrix_2>
string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
joint: joint_3,
revolute hinge,
structural_node_2, #<node_1_label>
0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, #<relative_position_1> [m]
orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
structural_node_3, #<node_2_label>
-0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, #<relative_position_2> [m]
orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
joint: joint_4,
in line,
structural_node_3, #<node_1_label>
0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, #<relative_line_position> [m]
3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
joint: joint_5,
in line,
structural_node_1, #<node_1_label>
0.0, 1.2181806978377854e-18, 0.08, #<relative_line_position> [m]
3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
joint: joint_6,
prismatic,
structural_node_1, #<node_1_label>
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
structural_node_4, #<node_2_label>
orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
#-----------------------------------------------------------------------------
# [Drive callers]
drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0;
end: elements;

221
testapp/MBDynCase3orig.mbd
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#-----------------------------------------------------------------------------
# [Data Block]
begin: data;
problem: initial value;
end: data;
#-----------------------------------------------------------------------------
# [Problem Block]
begin: initial value;
initial time: 0.0;
final time: 4.0;
time step: 0.01;
max iterations: 100;
tolerance: 1e-06;
derivatives tolerance: 0.0001;
derivatives max iterations: 100;
derivatives coefficient: auto;
end: initial value;
#-----------------------------------------------------------------------------
# [Control Data Block]
begin: control data;
max iterations: 1000;
default orientation: orientation matrix;
omega rotates: no;
print: none;
initial stiffness: 1.0, 1.0;
structural nodes: 3;
rigid bodies: 2;
joints: 3;
end: control data;
#-----------------------------------------------------------------------------
# [Design Variables]
#Generic bodies
#body: 2
set: integer body_2 = 2; #body label
set: real mass_2 = 2.588134615720143; #mass [kg]
set: real volume_2 = 0.0003276119766734358; #volume [m^3]
#body: 3
set: integer body_3 = 3; #body label
set: real mass_3 = 1.1703392124151422; #mass [kg]
set: real volume_3 = 0.00014814420410318253; #volume [m^3]
#Nodes
#node: 1
set: integer structural_node_1 = 1; #node label
#node: 2
set: integer structural_node_2 = 2; #node label
#node: 3
set: integer structural_node_3 = 3; #node label
#Joints
#joint: 1
set: integer joint_1 = 1; #joint label
#joint: 2_3
set: integer joint_2 = 2; #joint label
set: integer joint_3 = 3; #joint label
#joint: 4
set: integer joint_4 = 4; #joint label
#Nodes: initial conditions
#node: 1
set: real Px_1 = -0.07783416000000026; #X component of the absolute position [m]
set: real Py_1 = 0.004000000000000017; #Y component of the absolute position [m]
set: real Pz_1 = -0.17832060000000008; #Z component of the absolute position [m]
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 2
set: real Px_2 = -0.2202842999999839; #X component of the absolute position [m]
set: real Py_2 = 0.0046093210000022825; #Y component of the absolute position [m]
set: real Pz_2 = -0.19027059999998716; #Z component of the absolute position [m]
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 3
set: real Px_3 = -0.3140338999999442; #X component of the absolute position [m]
set: real Py_3 = 0.004982340999990341; #Y component of the absolute position [m]
set: real Pz_3 = -0.21161799999997433; #Z component of the absolute position [m]
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
#-----------------------------------------------------------------------------
# [Intermediate Variables]
#Moments of inertia and relative center of mass
#body 2:
set: real Ixx_2 = 0.024389786154885; #moment of inertia [kg*m^2]
set: real Iyy_2 = 0.023044218207903002; #moment of inertia [kg*m^2]
set: real Izz_2 = 0.0026456642607380005; #moment of inertia [kg*m^2]
set: real Rx_2 = -0.06401961217966927; #X component of the relative center of mass [m]
set: real Ry_2 = -0.09292488730616842; #Y component of the relative center of mass [m]
set: real Rz_2 = -0.10917112966538195; #Z component of the relative center of mass [m]
#body 3:
set: real Ixx_3 = 0.018472555043878; #moment of inertia [kg*m^2]
set: real Iyy_3 = 0.018472555043878; #moment of inertia [kg*m^2]
set: real Izz_3 = 0.000232194477874; #moment of inertia [kg*m^2]
set: real Rx_3 = -0.19396610000005593; #X component of the relative center of mass [m]
set: real Ry_3 = 0.08301765900000978; #Y component of the relative center of mass [m]
set: real Rz_3 = -0.19344805159636125; #Z component of the relative center of mass [m]
#-----------------------------------------------------------------------------
# [Nodes Block]
begin: nodes;
structural: structural_node_1,
static,
Px_1, Py_1, Pz_1, #<absolute_position> [m]
3, -0.4226182882013998, -2.7755575615628914e-17, -0.9063077746978225, 2, -0.9063077746978224, -2.220446049250313e-16, 0.4226182882013998, #<absolute_orientation_matrix>
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
structural: structural_node_2,
dynamic,
Px_2, Py_2, Pz_2, #<absolute_position> [m]
3, 0.42261828111830424, -2.2294840669803695e-11, 0.9063077780007243, 2, 0.004451515729309454, 0.9999879375081729, -0.002075775966247727, #<absolute_orientation_matrix>
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
structural: structural_node_3,
dynamic,
Px_3, Py_3, Pz_3, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
body: body_2,
structural_node_2, #<node_label>
mass_2, #<mass> [kg]
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
orientation, 3, 0.9147491093362897, 0.0044930312486344106, 0.40449212555828973, 2, -0.4044872463754312, -0.001986745651661539, 0.9147601436230902;
body: body_3,
structural_node_3, #<node_label>
mass_3, #<mass> [kg]
Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
orientation, 3, 0.0, 0.0, 1.0, 2, 1.0, 0.0, -1.1102230246251565e-16;
#-----------------------------------------------------------------------------
# [Joints]
joint: joint_1,
clamp,
structural_node_1, #<node_label>
-0.07783416000000026, 0.004000000000000017, -0.17832060000000008, #<absolute_pin_position> [m]
3, -0.4226182882013998, -2.7755575615628914e-17, -0.9063077746978225, 2, -0.9063077746978224, -2.220446049250313e-16, 0.4226182882013998; #<absolute_orientation_matrix>
joint: joint_2,
axial rotation,
structural_node_1, #<node_1_label>
position, 0.0, 0.0, 0.0, #<relative_position_1> [m]
orientation, 3, 2.7755575615628907e-17, 2.888894916580853e-34, 1.0, 2, -2.0816681711721682e-17, 1.0, 2.888894916580853e-34, #<relative_pin_orientation_matrix_1>
structural_node_2, #<node_2_label>
position, 0.12405488305905531, -7.105427357601002e-17, 0.07103245896806425, #<relative_position_2> [m]
orientation, 3, -7.634214775133242e-16, -3.1014999607476295e-18, -1.0, 2, -0.9999879375084079, -0.004911704152397167, 7.634275023984063e-16, #<relative_pin_orientation_matrix_2>
string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
joint: joint_4,
spherical hinge,
structural_node_2, #<node_1_label>
-0.0759451169409448, -6.661338147750939e-17, -0.05896754103193575, #<relative_pin_position_1> [m]
structural_node_3, #<node_2_label>
0.0, 0.0, 0.0; #<relative_pin_position_2> [m]
#-----------------------------------------------------------------------------
# [Drive callers]
drive caller: 1, name,"drive:1", ramp, 10.0, 0.25, 4.0, 0.0;
end: elements;

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testapp/MBDynCase3orig.mov
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284
testapp/MBDynCase3origdebug1.asmt
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OndselSolver
Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
Name
Assembly
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
Marker0
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Parts
Part
Name
structural_node_1
Position3D
-0.07783416000000026 0.004000000000000017 -0.1783206000000001
RotationMatrix
2.129707656279838e-16 -0.9063077746978225 -0.4226182882013997
-1 -2.220446049250313e-16 -2.775557561562891e-17
-6.868501686611503e-17 0.4226182882013998 -0.9063077746978223
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 2 3
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
0.004000000000000023 0.004819842377972061 -0.1945074856315745
RotationMatrix
2.129707656279838e-16 -1 -6.868501686611503e-17
-0.9063077746978225 -2.220446049250313e-16 0.4226182882013998
-0.4226182882013997 -2.775557561562891e-17 -0.9063077746978223
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
0 0 0
RotationMatrix
1 -2.081668171172168e-17 2.775557561562891e-17
2.081668171172168e-17 1 2.888894916580853e-34
-2.775557561562891e-17 2.888894916580853e-34 1
RefCurves
RefSurfaces
Part
Name
structural_node_2
Position3D
-0.2202842999999839 0.004609321000002282 -0.1902705999999872
RotationMatrix
0.9062968456705133 0.004451515729309454 0.4226182811183042
-0.004911704200208027 0.9999879375081734 -2.229484066980369e-11
-0.4226131832888416 -0.002075775966247728 0.9063077780007243
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
-0.06401961217966927 -0.09292488730616842 -0.1091711296653819
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
2.588134615720143
MomentOfInertias
0.024389786154885 0.023044218207903 0.002645664260738
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
0.1240548830590553 -7.105427357601002e-17 0.07103245896806425
RotationMatrix
0.004911704152397167 -0.9999879375084079 -7.634214775133242e-16
-0.9999879375084079 -0.004911704152397167 -3.10149996074763e-18
-6.482378922009452e-19 7.634275023984063e-16 -1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
-0.0759451169409448 -6.661338147750939e-17 -0.05896754103193575
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Part
Name
structural_node_3
Position3D
-0.3140338999999442 0.004982340999990341 -0.2116179999999743
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
-0.1939661000000559 0.08301765900000978 -0.1934480515963612
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1.170339212415142
MomentOfInertias
0.018472555043878 0.018472555043878 0.000232194477874
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
joint_1
MarkerI
/Assembly/Marker0
MarkerJ
/Assembly/structural_node_1/Marker0
RevoluteJoint
Name
joint_2
MarkerI
/Assembly/structural_node_1/Marker1
MarkerJ
/Assembly/structural_node_2/Marker0
SphericalJoint
Name
joint_4
MarkerI
/Assembly/structural_node_2/Marker1
MarkerJ
/Assembly/structural_node_3/Marker0
Motions
RotationalMotion
Name
joint_2Motion
MarkerI
/Assembly/structural_node_1/Marker1
MarkerJ
/Assembly/structural_node_2/Marker0
MotionJoint
/Assembly/joint_2
RotationZ
integral(time, rampstep(time, 0.25, 0.0, 4.0, 0.0 + 10.0*(4.0 - 0.25)))
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
4
hmin
1e-09
hmax
1
hout
0.01
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30

391
testapp/MBDynCase3origdebug2.asmt
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206
testapp/MBDynCase4orig.mbd
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#-----------------------------------------------------------------------------
# [Data Block]
begin: data;
problem: initial value;
end: data;
#-----------------------------------------------------------------------------
# [Problem Block]
begin: initial value;
initial time: 0.0;
final time: 4.0;
time step: 0.01;
max iterations: 100;
tolerance: 1e-06;
derivatives tolerance: 0.0001;
derivatives max iterations: 100;
derivatives coefficient: auto;
end: initial value;
#-----------------------------------------------------------------------------
# [Control Data Block]
begin: control data;
max iterations: 1000;
default orientation: orientation matrix;
omega rotates: no;
print: none;
initial stiffness: 1.0, 1.0;
structural nodes: 3;
rigid bodies: 2;
joints: 2;
end: control data;
#-----------------------------------------------------------------------------
# [Design Variables]
#Generic bodies
#body: 2
set: integer body_2 = 2; #body label
set: real mass_2 = 2.588134615720143; #mass [kg]
set: real volume_2 = 0.0003276119766734358; #volume [m^3]
#body: 3
set: integer body_3 = 3; #body label
set: real mass_3 = 1.1703392124151422; #mass [kg]
set: real volume_3 = 0.00014814420410318253; #volume [m^3]
#Nodes
#node: 1
set: integer structural_node_1 = 1; #node label
#node: 2
set: integer structural_node_2 = 2; #node label
#node: 3
set: integer structural_node_3 = 3; #node label
#Joints
#joint: 1
set: integer joint_1 = 1; #joint label
#joint: 4
set: integer joint_4 = 4; #joint label
#Nodes: initial conditions
#node: 1
set: real Px_1 = -0.07783416000000026; #X component of the absolute position [m]
set: real Py_1 = 0.004000000000000017; #Y component of the absolute position [m]
set: real Pz_1 = -0.17832060000000008; #Z component of the absolute position [m]
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 2
set: real Px_2 = -0.3695198999998465; #X component of the absolute position [m]
set: real Py_2 = -0.0004034092999799128; #Y component of the absolute position [m]
set: real Pz_2 = -0.236963399999881; #Z component of the absolute position [m]
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
#node: 3
set: real Px_3 = -0.46333659999999893; #X component of the absolute position [m]
set: real Py_3 = 0.0004034093999998021; #Y component of the absolute position [m]
set: real Pz_3 = -0.25800149999999955; #Z component of the absolute position [m]
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
#-----------------------------------------------------------------------------
# [Intermediate Variables]
#Moments of inertia and relative center of mass
#body 2:
set: real Ixx_2 = 0.024389786154885; #moment of inertia [kg*m^2]
set: real Iyy_2 = 0.023044218207903002; #moment of inertia [kg*m^2]
set: real Izz_2 = 0.0026456642607380005; #moment of inertia [kg*m^2]
set: real Rx_2 = 0.051635833615559394; #X component of the relative center of mass [m]
set: real Ry_2 = -0.0872741830812007; #Y component of the relative center of mass [m]
set: real Rz_2 = -0.003164752755860491; #Z component of the relative center of mass [m]
#body 3:
set: real Ixx_3 = 0.018472555043878; #moment of inertia [kg*m^2]
set: real Iyy_3 = 0.018472555043878; #moment of inertia [kg*m^2]
set: real Izz_3 = 0.000232194477874; #moment of inertia [kg*m^2]
set: real Rx_3 = -0.04466340000000116; #X component of the relative center of mass [m]
set: real Ry_3 = 0.08759659060000032; #Y component of the relative center of mass [m]
set: real Rz_3 = -0.147064551596336; #Z component of the relative center of mass [m]
#-----------------------------------------------------------------------------
# [Nodes Block]
begin: nodes;
structural: structural_node_1,
static,
Px_1, Py_1, Pz_1, #<absolute_position> [m]
3, -0.4226182882013998, -2.7755575615628914e-17, -0.9063077746978225, 2, -0.9063077746978224, -2.220446049250313e-16, 0.4226182882013998, #<absolute_orientation_matrix>
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
structural: structural_node_2,
dynamic,
Px_2, Py_2, Pz_2, #<absolute_position> [m]
3, 0.4255722967998098, -0.005157126203417276, 0.9049097326506421, 2, 0.008184884137404964, 0.9999647927802666, 0.0018495598329388702, #<absolute_orientation_matrix>
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
structural: structural_node_3,
dynamic,
Px_3, Py_3, Pz_3, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
body: body_2,
structural_node_2, #<node_label>
mass_2, #<mass> [kg]
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
orientation, 3, 0.9133994021895833, 0.008147892940746188, 0.40747410214679713, 2, -0.4075017758287343, 0.0020132575156869698, 0.9134211785866383;
body: body_3,
structural_node_3, #<node_label>
mass_3, #<mass> [kg]
Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
orientation, 3, 0.0, 0.0, 1.0, 2, 1.0, 0.0, 0.0;
#-----------------------------------------------------------------------------
# [Joints]
joint: joint_1,
clamp,
structural_node_1, #<node_label>
-0.07783416000000026, 0.004000000000000017, -0.17832060000000008, #<absolute_pin_position> [m]
3, -0.4226182882013998, -2.7755575615628914e-17, -0.9063077746978225, 2, -0.9063077746978224, -2.220446049250313e-16, 0.4226182882013998; #<absolute_orientation_matrix>
joint: joint_4,
spherical hinge,
structural_node_2, #<node_1_label>
-0.07594511694094498, -7.105427357601002e-17, -0.058967541031935924, #<relative_pin_position_1> [m]
structural_node_3, #<node_2_label>
0.0, 0.0, 0.0; #<relative_pin_position_2> [m]
#-----------------------------------------------------------------------------
# [Drive callers]
drive caller: 1, name,"drive:1", ramp, 10.0, 0.25, 4.0, 0.0;
end: elements;

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