From 5e19e4acd2de9ce0475126008163f53126641472 Mon Sep 17 00:00:00 2001 From: Aik-Siong Koh Date: Mon, 22 Apr 2024 14:44:10 -0600 Subject: [PATCH 1/4] dragging log for debugging --- OndselSolver/ASMTAssembly.cpp | 38 +- OndselSolver/ASMTAssembly.h | 2 + OndselSolver/ASMTItem.h | 4 +- OndselSolver/ASMTPart.cpp | 1 + OndselSolver/ASMTSpatialItem.cpp | 15 + OndselSolver/ASMTSpatialItem.h | 2 + OndselSolver/MBDynSystem.cpp | 2 +- OndselSolver/dragging.log | 20 + OndselSolver/runPreDrag.asmt | 345 + testapp/CrankSlider2.mov | 2408 ++--- testapp/CrankSlider2debug1.asmt | 72 +- testapp/CrankSlider2debug2.asmt | 208 +- testapp/InitialConditions.mov | 602 +- testapp/InitialConditionsdebug1.asmt | 14 +- testapp/InitialConditionsdebug2.asmt | 38 +- testapp/MBDynCase(Cosine-half drive).mov | 1604 ++-- .../MBDynCase(Cosine-half drive)debug1.asmt | 28 +- .../MBDynCase(Cosine-half drive)debug2.asmt | 110 +- testapp/MBDynCase(Sine-forever drive).mov | 1604 ++-- .../MBDynCase(Sine-forever drive)debug1.asmt | 28 +- .../MBDynCase(Sine-forever drive)debug2.asmt | 110 +- testapp/MBDynCase2.mov | 2408 ++--- testapp/MBDynCase2debug1.asmt | 86 +- testapp/MBDynCase2debug2.asmt | 252 +- testapp/MBDynCase5orig.mov | 8020 ++++++++--------- testapp/MBDynCase5origdebug1.asmt | 190 +- testapp/MBDynCase5origdebug2.asmt | 686 +- testapp/MBDynCase8orig.mov | 6020 ++++++------- testapp/MBDynCase8origdebug1.asmt | 262 +- testapp/MBDynCase8origdebug2.asmt | 768 +- testapp/MBDynCase9orig.mov | 1292 +-- testapp/MBDynCase9origdebug1.asmt | 448 +- testapp/MBDynCase9origdebug2.asmt | 1394 +-- testapp/SphericalHinge.mov | 1204 +-- testapp/SphericalHingedebug1.asmt | 28 +- testapp/SphericalHingedebug2.asmt | 74 +- 36 files changed, 15403 insertions(+), 14984 deletions(-) create mode 100644 OndselSolver/dragging.log create mode 100644 OndselSolver/runPreDrag.asmt diff --git a/OndselSolver/ASMTAssembly.cpp b/OndselSolver/ASMTAssembly.cpp index 799981b..a9e55f4 100644 --- a/OndselSolver/ASMTAssembly.cpp +++ b/OndselSolver/ASMTAssembly.cpp @@ -1183,7 +1183,7 @@ void MbD::ASMTAssembly::createMbD(std::shared_ptr mbdSys, std::shared_pt void MbD::ASMTAssembly::outputFile(std::string filename) { std::ofstream os(filename); - os << std::setprecision(static_cast(std::numeric_limits::digits10) + 1); + os << std::setprecision(std::numeric_limits::max_digits10); // try { os << "OndselSolver" << std::endl; storeOnLevel(os, 0); @@ -1227,6 +1227,13 @@ void MbD::ASMTAssembly::solve() void MbD::ASMTAssembly::runPreDrag() { + debug = true; //Comment out in release build. + if (debug) { + outputFile("runPreDrag.asmt"); + std::ofstream os("dragging.log"); + os << "runPreDrag" << std::endl; + os.close(); + } mbdSystem = std::make_shared(); mbdSystem->externalSystem->asmtAssembly = this; try { @@ -1239,8 +1246,21 @@ void MbD::ASMTAssembly::runPreDrag() void MbD::ASMTAssembly::runDragStep(std::shared_ptr>> dragParts) const { + if (debug) { + std::ofstream os("dragging.log", std::ios_base::app); + os << "runDragStep" << std::endl; + os.close(); + } auto dragMbDParts = std::make_shared>>(); for (auto& dragPart : *dragParts) { + if (debug) { + std::ofstream os("dragging.log", std::ios_base::app); + os << std::setprecision(std::numeric_limits::max_digits10); + dragPart->storeOnLevelName(os, 1); + dragPart->storeOnLevelPositionRaw(os, 1); + dragPart->storeOnLevelRotationMatrixRaw(os, 1); + os.close(); + } auto dragMbDPart = std::static_pointer_cast(dragPart->mbdObject); dragMbDParts->push_back(dragMbDPart); } @@ -1249,7 +1269,21 @@ void MbD::ASMTAssembly::runDragStep(std::shared_ptr(); + mbdSystem->externalSystem->asmtAssembly = this; + try { + mbdSystem->runPreDrag(mbdSystem); + } + catch (SimulationStoppingError ex) { + + } } void MbD::ASMTAssembly::runKINEMATIC() diff --git a/OndselSolver/ASMTAssembly.h b/OndselSolver/ASMTAssembly.h index 8e20b0e..0c6373e 100644 --- a/OndselSolver/ASMTAssembly.h +++ b/OndselSolver/ASMTAssembly.h @@ -144,6 +144,8 @@ namespace MbD { std::shared_ptr mbdUnits = std::make_shared(); std::shared_ptr mbdSystem; MBDynSystem* mbdynItem = nullptr; + bool debug = false; + }; } diff --git a/OndselSolver/ASMTItem.h b/OndselSolver/ASMTItem.h index 2567ea9..41c818a 100644 --- a/OndselSolver/ASMTItem.h +++ b/OndselSolver/ASMTItem.h @@ -58,8 +58,8 @@ namespace MbD { virtual void storeOnLevelBool(std::ofstream& os, size_t level, bool value); //template //void storeOnLevelArray(std::ofstream& os, size_t level, std::vector array); - void storeOnLevelArray(std::ofstream& os, size_t level, std::vector array); - void storeOnLevelName(std::ofstream& os, size_t level); + virtual void storeOnLevelArray(std::ofstream& os, size_t level, std::vector 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); diff --git a/OndselSolver/ASMTPart.cpp b/OndselSolver/ASMTPart.cpp index 3e6346b..3f804e4 100644 --- a/OndselSolver/ASMTPart.cpp +++ b/OndselSolver/ASMTPart.cpp @@ -5,6 +5,7 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ +#include #include #include "ASMTPart.h" diff --git a/OndselSolver/ASMTSpatialItem.cpp b/OndselSolver/ASMTSpatialItem.cpp index d317c1e..01a41ac 100644 --- a/OndselSolver/ASMTSpatialItem.cpp +++ b/OndselSolver/ASMTSpatialItem.cpp @@ -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>(3); diff --git a/OndselSolver/ASMTSpatialItem.h b/OndselSolver/ASMTSpatialItem.h index 82721bb..6ad1f89 100644 --- a/OndselSolver/ASMTSpatialItem.h +++ b/OndselSolver/ASMTSpatialItem.h @@ -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); diff --git a/OndselSolver/MBDynSystem.cpp b/OndselSolver/MBDynSystem.cpp index e4b6bdd..dbb88dd 100644 --- a/OndselSolver/MBDynSystem.cpp +++ b/OndselSolver/MBDynSystem.cpp @@ -153,7 +153,7 @@ void MbD::MBDynSystem::outputFiles() //auto& asmtJoints = asmtAsm->joints; //auto& asmtMotions = asmtAsm->motions; std::ofstream os(movFile); - os << std::setprecision(static_cast(std::numeric_limits::digits10) + 1); + os << std::setprecision(std::numeric_limits::max_digits10); for (size_t i = 1; i < asmtTimes->size(); i++) { for (auto& node : *nodes) { diff --git a/OndselSolver/dragging.log b/OndselSolver/dragging.log new file mode 100644 index 0000000..a873595 --- /dev/null +++ b/OndselSolver/dragging.log @@ -0,0 +1,20 @@ +runPreDrag +runDragStep + Name + Part1 + Position3D + 4.801714581503802e-15 0.099999999999995245 0.19999999999999998 + RotationMatrix + 1 -4.7573992180162559e-14 0 + 4.7573992180162559e-14 1 0 + 0 0 1 +runDragStep + Name + Part1 + Position3D + 0.2633974596215562 0.063397459621556157 0 + RotationMatrix + 0.86602540378443871 -0.49999999999999994 0 + 0.49999999999999994 0.86602540378443871 0 + 0 0 1 +runPostDrag diff --git a/OndselSolver/runPreDrag.asmt b/OndselSolver/runPreDrag.asmt new file mode 100644 index 0000000..cfbaf83 --- /dev/null +++ b/OndselSolver/runPreDrag.asmt @@ -0,0 +1,345 @@ +OndselSolver +Assembly + Notes + (Text string: 'CAD: Copyright (C) 2000-2004, Aik-Siong Koh, All Rights Reserved.The piston crank is the most common mechanism to convert rotary motion to reciprocating motion or vice versa. A crank connects to the ground with a revolute joint. Its other end is connected to the connecting rod. And the connecting rod is connected to the piston which slides along an axis on the ground. The crank is given rotary motion causing the piston to slides back and forth is a straight line. Units are SI units. Angles are in radians.If the instructions below are too brief, refer to the Notes in projectile.asm and circular.asm.To load the example for a quick look:Click File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select piston.asm. To create the assembly from scratch:To create crank, connection rod and piston:Create an empty assembly and populate it with two rods (Assembly1Part1, Assembly1Part2) and one cylinder (Assembly1Part3). The rods have dimensions (1.0d, 0.2d, 0.1d) and (1.5d, 0.2d, 0.1d). The cylinder has radius (0.5d) and height (1.0d). Arrange them from bottom up away from the origin. To mark joint attachment points:On the ground, create a marker (Assembly1Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Marker2) at (3.0d, 0.0d, 0.0d). On the first rod, create a marker (Assembly1Part1Marker1) at (0.1d, 0.1d, 0.0d) and another (Assembly1Part1Marker2) at (0.9d, 0.1d, 0.0d) relative to the z-face. On the second rod, create a marker (Assembly1Part2Marker1) at (0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.4d, 0.1d, -0.1d) relative to the z-face. On the cylinder, create a marker (Assembly1Part3Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Part3Marker2) at (0.0d, 0.0d, -1.0d) relative to the z-face. Tilt the cylinder a little to get a good view of (Assembly1Part3Marker2). RightClick/Rotate/ over it to rotate the marker (90.0d) degrees about the x-axis.Tilt the cylinder upright to help the solver assemble the system later.To create the joints:Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with revolute joint (Assembly1Joint1).Connect (Assembly1Part1Marker2) to (Assembly1Part2Marker1) with revolute joint (Assembly1Joint2).Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker2) with revolute joint (Assembly1Joint3).Connect (Assembly1Marker2) to (Assembly1Part3Marker1) with translational joint (Assembly1Joint3).The translational joint keeps the marker z-axes parallel and colinear. Only relative translation along the z-axis is permitted.To apply motion to the crank:Apply rotation motion (Assembly1Motion1) to (Assembly1Joint1). Enter 2.0d*pi*time.The assembly is now ready for simulation, animation and plotting.' runs: (Core.RunArray runs: #(514 63 14 5 12 1 2 37 89 10 4 36 1 43 295 32 848 21 517 29 151) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #bold nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil))) + Name + Assembly1 + 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 + Marker1 + Position3D + 0 3 0 + RotationMatrix + 1 0 0 + 0 0 1 + 0 -1 0 + 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 + Parts + Part + Name + Part1 + Position3D + -0.10000000000000001 -0.10000000000000001 -0.10000000000000001 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + Velocity3D + 0 0 0 + Omega3D + 0 0 0 + FeatureOrder + PrincipalMassMarker + Name + MassMarker + Position3D + 0.5 0.10000000000000001 0.050000000000000003 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + Mass + 0.20000000000000001 + MomentOfInertias + 0.00083333333333333003 0.016833333333332999 0.017333333333332999 + Density + 10 + RefPoints + RefPoint + Position3D + 0 0 0.10000000000000001 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + Markers + Marker + Name + Marker1 + Position3D + 0.10000000000000001 0.10000000000000001 0 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + RefPoint + Position3D + 0 0 0.10000000000000001 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + Markers + Marker + Name + Marker2 + Position3D + 0.90000000000000002 0.10000000000000001 0 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + RefCurves + RefSurfaces + Part + Name + Part2 + Position3D + 0.94036115973815004 -0.017284236661228001 6.9388939039071999e-18 + RotationMatrix + -0.61538461538461997 -0.78822698199689001 -2.4430659816415999e-17 + 0.78822698199689001 -0.61538461538461997 3.1292471039841e-17 + -3.9699822201676001e-17 -4.8559383484174003e-33 1 + Velocity3D + 0 0 0 + Omega3D + 0 0 0 + FeatureOrder + PrincipalMassMarker + Name + MassMarker + Position3D + 0.75 0.10000000000000001 0.050000000000000003 + RotationMatrix + 1 -2.7755575615629002e-16 0 + 2.7755575615629002e-16 1 0 + 0 0 1 + Mass + 0.29999999999999999 + MomentOfInertias + 0.00125 0.056500000000000002 0.057250000000000002 + Density + 10 + RefPoints + RefPoint + Position3D + 0 0 0.10000000000000001 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + Markers + Marker + Name + Marker1 + Position3D + 0.10000000000000001 0.10000000000000001 -0.10000000000000001 + RotationMatrix + 1 1.6433823482156999e-50 6.1629758220391999e-33 + 1.9277988905447e-49 1 1.055150120668e-32 + 6.1629758220391999e-33 8.8305116654984998e-33 1 + RefPoint + Position3D + -7.0256300777060995e-17 -1.0408340855861e-17 0.10000000000000001 + RotationMatrix + 1 1.7347234759768e-18 -6.9388939039071999e-18 + 1.7347234759768e-18 1 0 + -6.9388939039071999e-18 0 1 + Markers + Marker + Name + Marker2 + Position3D + 1.3999999999999999 0.10000000000000001 -0.10000000000000001 + RotationMatrix + 1 1.9417266172264999e-33 1.873501354055e-16 + 1.4257315131995e-48 1 4.1633363423443e-17 + -2.5673907444456001e-16 -4.1633363423443e-17 1 + RefCurves + RefSurfaces + Part + Name + Part3 + Position3D + 1.8563657024100999e-16 1.0246950765959999 -6.9385028492422e-17 + RotationMatrix + 1 1.7680967979306999e-16 -2.2204460492503e-16 + 2.2204460492503e-16 6.3228810015036994e-17 1 + 1.7680967979306999e-16 -1 6.3228810015036994e-17 + Velocity3D + 0 0 0 + Omega3D + 0 0 0 + FeatureOrder + PrincipalMassMarker + Name + MassMarker + Position3D + -7.9328390680451997e-18 2.9323172983666999e-17 0.5 + RotationMatrix + 9.2444637330587006e-33 1 -1.0785207688569e-32 + 9.9703461330478005e-65 1.0785207688569e-32 1 + 1 -9.2444637330587006e-33 0 + Mass + 7.6536686473018003 + MomentOfInertias + 0.93243354610287998 1.1040224936598999 1.1040224936598999 + Density + 10 + RefPoints + 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 2.1223636732195001e-32 -2.4651903288157002e-32 + -2.4651903288157002e-32 -2.2204460492503e-16 1 + -1.1179465652455999e-32 -1 -2.2204460492503e-16 + RefPoint + Position3D + 1.0408340855861e-17 5.5511151231258e-17 1 + RotationMatrix + 1 -6.9388939039071999e-18 6.9388939039071999e-18 + -6.9388939039071999e-18 1 0 + 6.9388939039071999e-18 0 1 + Markers + Marker + Name + Marker2 + Position3D + 0 0 0 + RotationMatrix + 1 -4.1633363423442002e-17 4.1633363423442002e-17 + -4.1633363423442002e-17 1 -4.9303806576313002e-32 + 4.1633363423442002e-17 -3.6977854932235e-32 1 + RefCurves + RefSurfaces + KinematicIJs + ConstraintSets + Joints + RevoluteJoint + Name + Joint1 + MarkerI + /Assembly1/Marker2 + MarkerJ + /Assembly1/Part1/Marker1 + RevoluteJoint + Name + Joint2 + MarkerI + /Assembly1/Part1/Marker2 + MarkerJ + /Assembly1/Part2/Marker1 + RevoluteJoint + Name + Joint3 + MarkerI + /Assembly1/Part2/Marker2 + MarkerJ + /Assembly1/Part3/Marker1 + CylindricalJoint + Name + Joint4 + MarkerI + /Assembly1/Part3/Marker2 + MarkerJ + /Assembly1/Marker1 + Motions + Limits + RotationLimit + Name + Limit1 + MarkerI + /Assembly1/Marker2 + MarkerJ + /Assembly1/Part1/Marker1 + MotionJoint + + Limit + 30.0*pi/180.0 + Type + => + Tol + 1.0e-9 + TranslationLimit + Name + Limit2 + MarkerI + /Assembly1/Part3/Marker2 + MarkerJ + /Assembly1/Marker1 + MotionJoint + + Limit + 1.2 + Type + =< + Tol + 1.0e-9 + GeneralConstraintSets + ForceTorques + ConstantGravity + 0 -9.8100000000000005 0 + SimulationParameters + tstart + 0 + tend + 0 + hmin + 1.0000000000000001e-09 + hmax + 1 + hout + 0.040000000000000001 + errorTol + 9.9999999999999995e-07 + AnimationParameters + nframe + 26 + icurrent + 1 + istart + 1 + iend + 26 + isForward + true + framesPerSecond + 30 diff --git a/testapp/CrankSlider2.mov b/testapp/CrankSlider2.mov index fcd448e..8b53357 100644 --- a/testapp/CrankSlider2.mov +++ b/testapp/CrankSlider2.mov @@ -1,1204 +1,1204 @@ -1 -0.06210573361337854 0.04852643537547956 -4.033966837940965e-17 1 0 0 0 1 0 0 0 1 -0 0 0 -0 0 0 -2 0.01166600667694186 0.1599999999999978 -1.208436328934954e-19 1 -6.857138437478893e-17 0 6.857138437478893e-17 1 0 0 0 1 0 0 -0 0 0 0 -3 0.2111281366952498 0.16 -2.021769781041616e-18 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 -4 -0.1812239275015207 0.1600000016990933 -4.340491081712586e-12 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 -1 -0.06210573361337854 0.04852643537547956 -4.033966837940965e-17 1 0 0 0 1 0 0 0 1 -0 0 -0 0 0 0 -2 0.01166601935795221 0.1599709001200084 -8.447514994093189e-18 0.9999999838000012 0.0001799999924998154 0 -0.0001799999924998154 0.9999999838000012 0 0 0 1 5.072404003025277e-06 -0.005819975512872899 -2.117582368135751e-22 0 0 -0.03599999608320004 -3 0.2111281340542328 0.1600105640679075 -4.242213712709561e-18 0.9999998750000026 -0.0004999999791666678 0 0.0004999999791666678 0.9999998750000026 0 0 0 1 -1.056406790745542e-06 0.002112813405423279 -4.235164736271502e-22 0 0 0.1000000000000001 -4 -0.1812239122015213 0.1600000016990933 -4.340491081712586e-12 1 0 0 0 1 0 0 0 1 6.119999568742364e-06 0 0 0 0 0 -1 -0.06210573361337854 0.04852643537547956 -4.033966837940965e-17 1 0 0 0 1 0 0 0 1 -0 0 -0 0 0 0 -2 0.01166620957302538 0.1598836005527901 1.597741457636851e-17 0.999999740800312 0.0007199995200001495 0 -0.0007199995200001495 0.999999740800312 0 0 0 1 4.057919918937208e-05 -0.01163992920084355 -3.388131789017201e-21 0 0 -0.07199987466239856 -3 0.2111280944389905 0.1600422562452196 1.241116871435923e-17 0.9999980000006666 -0.001999998666667171 0 0.001999998666667171 0.9999980000006666 0 0 0 1 -8.451249043932931e-06 0.004225618887798432 -3.388131789017201e-21 0 0 0.2000000000000158 -4 -0.1812236827016596 0.1600000016990933 -4.340491081688805e-12 1 0 0 0 1 0 0 0 1 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0.13500000000000004 RotationMatrix - 2.220446049250313e-16 -1 0 - 1 2.220446049250313e-16 0 + 2.2204460492503131e-16 -1 0 + 1 2.2204460492503131e-16 0 -0 0 1 RefPoint Position3D @@ -128,18 +128,18 @@ Assembly Name Marker3 Position3D - 0 0.1114735580310104 2.411867397077946e-17 + 0 0.11147355803101042 2.4118673970779456e-17 RotationMatrix - -1.110223024625157e-16 -2.220446049250313e-16 -1 - -1 1.232595164407831e-32 1.110223024625157e-16 - -1.232595164407831e-32 1 -2.220446049250313e-16 + -1.1102230246251565e-16 -2.2204460492503131e-16 -1 + -1 1.2325951644078309e-32 1.1102230246251565e-16 + -1.2325951644078309e-32 1 -2.2204460492503131e-16 RefCurves RefSurfaces Part Name structural_node_2 Position3D - 0.01166600667694188 0.1599999999999978 -1.208436328934954e-19 + 0.011666006676941875 0.15999999999999778 -1.2084363289349542e-19 RotationMatrix 1 0 0 0 1 0 @@ -153,7 +153,7 @@ Assembly Name MassMarker Position3D - 0 0 2.084363289349543e-20 + 0 0 2.0843632893495426e-20 RotationMatrix 1 0 0 0 1 0 @@ -161,7 +161,7 @@ Assembly Mass 3.805252376198168 MomentOfInertias - 0.031674420620509 0.029604112147595 0.002867529429125 + 0.031674420620509 0.029604112147595001 0.002867529429125 Density 10 RefPoints @@ -177,10 +177,10 @@ Assembly Name Marker0 Position3D - 0.08833399332305812 2.216893335571513e-15 0.065 + 0.088333993323058121 2.2168933355715126e-15 0.065000000000000002 RotationMatrix - 2.220446049250313e-16 -1 0 - 1 2.220446049250313e-16 0 + 2.2204460492503131e-16 -1 0 + 1 2.2204460492503131e-16 0 -0 0 1 RefPoint Position3D @@ -194,10 +194,10 @@ Assembly Name Marker1 Position3D - -0.1616660066769419 2.216893335571513e-15 0 + -0.16166600667694189 2.2168933355715126e-15 0 RotationMatrix - 2.220446049250313e-16 -1 0 - -1 -2.220446049250313e-16 -0 + 2.2204460492503131e-16 -1 0 + -1 -2.2204460492503131e-16 -0 0 0 -1 RefCurves RefSurfaces @@ -205,7 +205,7 @@ Assembly Name structural_node_3 Position3D - 0.2111281366952498 0.16 -2.021769781041616e-18 + 0.2111281366952498 0.16 -2.0217697810416158e-18 RotationMatrix 1 0 0 0 1 0 @@ -219,15 +219,15 @@ Assembly Name MassMarker Position3D - 0 0 2.176978104161549e-20 + 0 0 2.1769781041615487e-20 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 15.23878495484552 + 15.238784954845523 MomentOfInertias - 0.09813066341583701 0.095433846761275 0.077043262824289 + 0.098130663415837011 0.095433846761275004 0.077043262824288999 Density 10 RefPoints @@ -243,10 +243,10 @@ Assembly Name Marker0 Position3D - -0.02112813669524979 0 0.135 + -0.021128136695249794 0 0.13500000000000001 RotationMatrix - 2.220446049250313e-16 -1 0 - 1 2.220446049250313e-16 0 + 2.2204460492503131e-16 -1 0 + 1 2.2204460492503131e-16 0 -0 0 1 RefPoint Position3D @@ -260,10 +260,10 @@ Assembly Name Marker1 Position3D - -0.1111281366952498 0 0.065 + -0.11112813669524979 0 0.065000000000000002 RotationMatrix - 2.220446049250313e-16 -1 0 - 1 2.220446049250313e-16 0 + 2.2204460492503131e-16 -1 0 + 1 2.2204460492503131e-16 0 -0 0 1 RefCurves RefSurfaces @@ -271,7 +271,7 @@ Assembly Name structural_node_4 Position3D - -0.1812239275015207 0.1600000016990933 -4.340477856936436e-12 + -0.18122392750152069 0.16000000169909329 -4.3404778569364362e-12 RotationMatrix 1 0 0 0 1 0 @@ -285,15 +285,15 @@ Assembly Name MassMarker Position3D - 0 0 -4.306356366563123e-20 + 0 0 -4.3063563665631232e-20 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 2.865603331977783 + 2.8656033319777832 MomentOfInertias - 0.010133521085753 0.006853402672398001 0.00669113151275 + 0.010133521085753 0.0068534026723980008 0.0066911315127499999 Density 10 RefPoints @@ -326,7 +326,7 @@ Assembly Name Marker1 Position3D - 0 -8.292603282173139e-09 4.340448411165876e-12 + 0 -8.2926032821731389e-09 4.3404484111658761e-12 RotationMatrix 1 0 0 0 1 0 @@ -343,7 +343,7 @@ Assembly Name Marker2 Position3D - 0.03122392750152071 -1.69909327496498e-09 7.275957614183426e-15 + 0.031223927501520705 -1.69909327496498e-09 7.2759576141834261e-15 RotationMatrix 1 0 0 0 1 0 @@ -418,13 +418,13 @@ Assembly tend 3 hmin - 1e-09 + 1.0000000000000001e-09 hmax 1 hout 0.01 errorTol - 1e-06 + 9.9999999999999995e-07 AnimationParameters nframe 1000000 diff --git a/testapp/CrankSlider2debug2.asmt b/testapp/CrankSlider2debug2.asmt index d90cdb8..6476bc4 100644 --- a/testapp/CrankSlider2debug2.asmt +++ b/testapp/CrankSlider2debug2.asmt @@ -39,7 +39,7 @@ Assembly Name structural_node_1 Position3D - -0.06210573361337854 0.04852643537547956 -4.033966837940965e-17 + -0.062105733613378539 0.048526435375479564 -4.0339668379409649e-17 RotationMatrix 1 0 0 0 1 0 @@ -77,7 +77,7 @@ Assembly Name Marker0 Position3D - 0.06210573361337854 -0.04852643537547956 4.033966837940965e-17 + 0.062105733613378539 -0.048526435375479564 4.0339668379409649e-17 RotationMatrix 1 0 0 0 1 0 @@ -94,10 +94,10 @@ Assembly Name Marker1 Position3D - 0.2521057336133785 0.1114735646245204 0.135 + 0.25210573361337851 0.11147356462452043 0.13500000000000004 RotationMatrix - 2.220446049250313e-16 -1 0 - 1 2.220446049250313e-16 0 + 2.2204460492503131e-16 -1 0 + 1 2.2204460492503131e-16 0 -0 0 1 RefPoint Position3D @@ -128,18 +128,18 @@ Assembly Name Marker3 Position3D - 0 0.1114735580310104 2.411867397077946e-17 + 0 0.11147355803101042 2.4118673970779456e-17 RotationMatrix - -1.110223024625157e-16 -2.220446049250313e-16 -1 - -1 1.232595164407831e-32 1.110223024625157e-16 - -1.232595164407831e-32 1 -2.220446049250313e-16 + -1.1102230246251565e-16 -2.2204460492503131e-16 -1 + -1 1.2325951644078309e-32 1.1102230246251565e-16 + -1.2325951644078309e-32 1 -2.2204460492503131e-16 RefCurves RefSurfaces Part Name structural_node_2 Position3D - 0.01166600667694188 0.1599999999999978 -1.208436328934954e-19 + 0.011666006676941875 0.15999999999999778 -1.2084363289349542e-19 RotationMatrix 1 0 0 0 1 0 @@ -153,7 +153,7 @@ Assembly Name MassMarker Position3D - 0 0 2.084363289349543e-20 + 0 0 2.0843632893495426e-20 RotationMatrix 1 0 0 0 1 0 @@ -161,7 +161,7 @@ Assembly Mass 3.805252376198168 MomentOfInertias - 0.031674420620509 0.029604112147595 0.002867529429125 + 0.031674420620509 0.029604112147595001 0.002867529429125 Density 10 RefPoints @@ -177,10 +177,10 @@ Assembly Name Marker0 Position3D - 0.08833399332305812 2.216893335571513e-15 0.065 + 0.088333993323058121 2.2168933355715126e-15 0.065000000000000002 RotationMatrix - 2.220446049250313e-16 -1 0 - 1 2.220446049250313e-16 0 + 2.2204460492503131e-16 -1 0 + 1 2.2204460492503131e-16 0 -0 0 1 RefPoint Position3D @@ -194,10 +194,10 @@ Assembly Name Marker1 Position3D - -0.1616660066769419 2.216893335571513e-15 0 + -0.16166600667694189 2.2168933355715126e-15 0 RotationMatrix - 2.220446049250313e-16 -1 0 - -1 -2.220446049250313e-16 -0 + 2.2204460492503131e-16 -1 0 + -1 -2.2204460492503131e-16 -0 0 0 -1 RefCurves RefSurfaces @@ -205,7 +205,7 @@ Assembly Name structural_node_3 Position3D - 0.2111281366952498 0.16 -2.021769781041616e-18 + 0.2111281366952498 0.16 -2.0217697810416158e-18 RotationMatrix 1 0 0 0 1 0 @@ -219,15 +219,15 @@ Assembly Name MassMarker Position3D - 0 0 2.176978104161549e-20 + 0 0 2.1769781041615487e-20 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 15.23878495484552 + 15.238784954845523 MomentOfInertias - 0.09813066341583701 0.095433846761275 0.077043262824289 + 0.098130663415837011 0.095433846761275004 0.077043262824288999 Density 10 RefPoints @@ -243,10 +243,10 @@ Assembly Name Marker0 Position3D - -0.02112813669524979 0 0.135 + -0.021128136695249794 0 0.13500000000000001 RotationMatrix - 2.220446049250313e-16 -1 0 - 1 2.220446049250313e-16 0 + 2.2204460492503131e-16 -1 0 + 1 2.2204460492503131e-16 0 -0 0 1 RefPoint Position3D @@ -260,10 +260,10 @@ Assembly Name Marker1 Position3D - -0.1111281366952498 0 0.065 + -0.11112813669524979 0 0.065000000000000002 RotationMatrix - 2.220446049250313e-16 -1 0 - 1 2.220446049250313e-16 0 + 2.2204460492503131e-16 -1 0 + 1 2.2204460492503131e-16 0 -0 0 1 RefCurves RefSurfaces @@ -271,7 +271,7 @@ Assembly Name structural_node_4 Position3D - -0.1812239275015207 0.1600000016990933 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-5.1150018616868827e-08 -0.011073908864273972 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.4741257435779959e-22 4.6198480632600698e-29 -2.309924031627775e-23 0 8.7266462599716483 1.7453292519943296e-05 +1 -5.1150018616868827e-08 -0.011073908864273972 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.4741257435779959e-22 4.6198480632600698e-29 -2.309924031627775e-23 0 8.7266462599716483 1.7453292519943296e-05 +1 -5.1150018616868827e-08 -0.011073908864273972 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.4741257435779959e-22 4.6198480632600698e-29 -2.309924031627775e-23 0 8.7266462599716483 1.7453292519943296e-05 +1 -5.1150018616868827e-08 -0.011073908864273972 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.4741257435779959e-22 4.6198480632600698e-29 -2.309924031627775e-23 0 8.7266462599716483 1.7453292519943296e-05 diff --git a/testapp/InitialConditionsdebug1.asmt b/testapp/InitialConditionsdebug1.asmt index ce0490c..4d18385 100644 --- a/testapp/InitialConditionsdebug1.asmt +++ b/testapp/InitialConditionsdebug1.asmt @@ -22,7 +22,7 @@ Assembly Name structural_node_1 Position3D - -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 + -5.1150018616868827e-08 -0.011073908864273972 6.608063559905836e-07 RotationMatrix 1 0 0 0 1 0 @@ -30,21 +30,21 @@ Assembly Velocity3D 0 0 0 Omega3D - 0 8.726646259971648 1.74532925199433e-05 + 0 8.7266462599716483 1.7453292519943296e-05 FeatureOrder PrincipalMassMarker Name MassMarker Position3D - -3.117081245895825e-20 0 1.637145280453112e-20 + -3.117081245895825e-20 0 1.6371452804531116e-20 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.008680963294935199 + 0.0086809632949351994 MomentOfInertias - 7.67643316e-07 6.162010270000002e-07 2.41970364e-07 + 7.6764331599999997e-07 6.1620102700000015e-07 2.4197036399999999e-07 Density 10 RefPoints @@ -65,13 +65,13 @@ Assembly tend 3 hmin - 1e-09 + 1.0000000000000001e-09 hmax 1 hout 0.01 errorTol - 1e-06 + 9.9999999999999995e-07 AnimationParameters nframe 1000000 diff --git a/testapp/InitialConditionsdebug2.asmt b/testapp/InitialConditionsdebug2.asmt index a283251..804adee 100644 --- a/testapp/InitialConditionsdebug2.asmt +++ b/testapp/InitialConditionsdebug2.asmt @@ -22,29 +22,29 @@ Assembly Name structural_node_1 Position3D - -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 + -5.1150018616868827e-08 -0.011073908864273972 6.608063559905836e-07 RotationMatrix 1 0 0 0 1 0 0 0 1 Velocity3D - 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 + 3.4741257435779959e-22 4.6198480632600698e-29 -2.309924031627775e-23 Omega3D - 0 8.726646259971648 1.74532925199433e-05 + 0 8.7266462599716483 1.7453292519943296e-05 FeatureOrder PrincipalMassMarker Name MassMarker Position3D - -3.117081245895825e-20 0 1.637145280453112e-20 + -3.117081245895825e-20 0 1.6371452804531116e-20 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.008680963294935199 + 0.0086809632949351994 MomentOfInertias - 7.67643316e-07 6.162010270000002e-07 2.41970364e-07 + 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7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 AlphaY 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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1 0 0 0 0 0 0 +1 -0.13221311939246777 0.04215394533365132 0.2000000152587891 1 0 0 0 1 0 0 0 1 0 -0 -0 0 0 0 +2 0.070999977111816409 0.16000001418590637 0.20000001525878908 -0.40808206181339202 0.91294525072762767 0 -0.91294525072762767 -0.40808206181339202 2.4714529939481741e-16 2.256301273221562e-16 1.0085556334452516e-16 1 0 0 0 0 0 0 diff --git a/testapp/MBDynCase(Cosine-half drive)debug1.asmt b/testapp/MBDynCase(Cosine-half drive)debug1.asmt index 8946b09..3f3a8cd 100644 --- a/testapp/MBDynCase(Cosine-half drive)debug1.asmt +++ b/testapp/MBDynCase(Cosine-half drive)debug1.asmt @@ -39,7 +39,7 @@ Assembly Name structural_node_1 Position3D - -0.1322131193924678 0.04215394533365132 0.2000000152587891 + -0.13221311939246777 0.04215394533365132 0.2000000152587891 RotationMatrix 1 0 0 0 1 0 @@ -77,7 +77,7 @@ Assembly Name Marker0 Position3D - 0.1322131193924678 -0.04215394533365132 -0.2000000152587891 + 0.13221311939246777 -0.04215394533365132 -0.2000000152587891 RotationMatrix 1 0 0 0 1 0 @@ -94,22 +94,22 @@ Assembly Name Marker1 Position3D - 0.2032130965042842 0.117846068852255 -2.842170943040401e-17 + 0.20321309650428418 0.11784606885225504 -2.8421709430404008e-17 RotationMatrix 1 -0 0 - 0 1 2.471452993948174e-16 - -0 -2.471452993948174e-16 1 + 0 1 2.4714529939481741e-16 + -0 -2.4714529939481741e-16 1 RefCurves RefSurfaces Part Name structural_node_2 Position3D - 0.4257698614077033 0.1732822793381788 0.302175885912376 + 0.42576986140770334 0.17328227933817877 0.30217588591237599 RotationMatrix - -0.8995965927692124 0.4234982246408653 -0.1066546951805642 - -0.4367218454325635 -0.8723574602808865 0.2196963614042295 - 1.387778780781446e-17 0.2442165334663419 0.969720725148062 + -0.89959659276921244 0.42349822464086528 -0.1066546951805642 + -0.43672184543256348 -0.87235746028088645 0.21969636140422949 + 1.3877787807814457e-17 0.24421653346634187 0.96972072514806196 Velocity3D 0 0 0 Omega3D @@ -119,15 +119,15 @@ Assembly Name MassMarker Position3D - -0.003947705364974695 0.01042661386112648 -1.13686837721616e-16 + -0.0039477053649746947 0.010426613861126484 -1.1368683772161603e-16 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 12.63583350443436 + 12.635833504434357 MomentOfInertias - 0.08708924866282601 0.085370944710882 0.06459712318937701 + 0.08708924866282601 0.085370944710881996 0.064597123189377006 Density 10 RefPoints @@ -179,13 +179,13 @@ Assembly tend 4 hmin - 1e-09 + 1.0000000000000001e-09 hmax 1 hout 0.01 errorTol - 1e-06 + 9.9999999999999995e-07 AnimationParameters nframe 1000000 diff --git a/testapp/MBDynCase(Cosine-half drive)debug2.asmt b/testapp/MBDynCase(Cosine-half drive)debug2.asmt index 22e83f4..820e1b8 100644 --- a/testapp/MBDynCase(Cosine-half drive)debug2.asmt +++ b/testapp/MBDynCase(Cosine-half drive)debug2.asmt @@ -39,7 +39,7 @@ Assembly Name structural_node_1 Position3D - -0.1322131193924678 0.04215394533365132 0.2000000152587891 + -0.13221311939246777 0.04215394533365132 0.2000000152587891 RotationMatrix 1 0 0 0 1 0 @@ -77,7 +77,7 @@ 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index 8946b09..3f3a8cd 100644 --- a/testapp/MBDynCase(Sine-forever drive)debug1.asmt +++ b/testapp/MBDynCase(Sine-forever drive)debug1.asmt @@ -39,7 +39,7 @@ Assembly Name structural_node_1 Position3D - -0.1322131193924678 0.04215394533365132 0.2000000152587891 + -0.13221311939246777 0.04215394533365132 0.2000000152587891 RotationMatrix 1 0 0 0 1 0 @@ -77,7 +77,7 @@ Assembly Name Marker0 Position3D - 0.1322131193924678 -0.04215394533365132 -0.2000000152587891 + 0.13221311939246777 -0.04215394533365132 -0.2000000152587891 RotationMatrix 1 0 0 0 1 0 @@ -94,22 +94,22 @@ Assembly Name Marker1 Position3D - 0.2032130965042842 0.117846068852255 -2.842170943040401e-17 + 0.20321309650428418 0.11784606885225504 -2.8421709430404008e-17 RotationMatrix 1 -0 0 - 0 1 2.471452993948174e-16 - -0 -2.471452993948174e-16 1 + 0 1 2.4714529939481741e-16 + -0 -2.4714529939481741e-16 1 RefCurves RefSurfaces Part Name structural_node_2 Position3D - 0.4257698614077033 0.1732822793381788 0.302175885912376 + 0.42576986140770334 0.17328227933817877 0.30217588591237599 RotationMatrix - -0.8995965927692124 0.4234982246408653 -0.1066546951805642 - -0.4367218454325635 -0.8723574602808865 0.2196963614042295 - 1.387778780781446e-17 0.2442165334663419 0.969720725148062 + -0.89959659276921244 0.42349822464086528 -0.1066546951805642 + -0.43672184543256348 -0.87235746028088645 0.21969636140422949 + 1.3877787807814457e-17 0.24421653346634187 0.96972072514806196 Velocity3D 0 0 0 Omega3D @@ -119,15 +119,15 @@ Assembly Name MassMarker Position3D - -0.003947705364974695 0.01042661386112648 -1.13686837721616e-16 + -0.0039477053649746947 0.010426613861126484 -1.1368683772161603e-16 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 12.63583350443436 + 12.635833504434357 MomentOfInertias - 0.08708924866282601 0.085370944710882 0.06459712318937701 + 0.08708924866282601 0.085370944710881996 0.064597123189377006 Density 10 RefPoints @@ -179,13 +179,13 @@ Assembly tend 4 hmin - 1e-09 + 1.0000000000000001e-09 hmax 1 hout 0.01 errorTol - 1e-06 + 9.9999999999999995e-07 AnimationParameters nframe 1000000 diff --git a/testapp/MBDynCase(Sine-forever drive)debug2.asmt b/testapp/MBDynCase(Sine-forever drive)debug2.asmt index 90c2bc1..1a92348 100644 --- a/testapp/MBDynCase(Sine-forever drive)debug2.asmt +++ b/testapp/MBDynCase(Sine-forever drive)debug2.asmt @@ -39,7 +39,7 @@ Assembly Name structural_node_1 Position3D - -0.1322131193924678 0.04215394533365132 0.2000000152587891 + -0.13221311939246777 0.04215394533365132 0.2000000152587891 RotationMatrix 1 0 0 0 1 0 @@ -77,7 +77,7 @@ Assembly Name Marker0 Position3D - 0.1322131193924678 -0.04215394533365132 -0.2000000152587891 + 0.13221311939246777 -0.04215394533365132 -0.2000000152587891 RotationMatrix 1 0 0 0 1 0 @@ -94,22 +94,22 @@ Assembly Name Marker1 Position3D - 0.2032130965042842 0.117846068852255 -2.842170943040401e-17 + 0.20321309650428418 0.11784606885225504 -2.8421709430404008e-17 RotationMatrix 1 -0 0 - 0 1 2.471452993948174e-16 - -0 -2.471452993948174e-16 1 + 0 1 2.4714529939481741e-16 + -0 -2.4714529939481741e-16 1 RefCurves RefSurfaces Part Name structural_node_2 Position3D - 0.4257698614077033 0.1732822793381788 0.302175885912376 + 0.42576986140770334 0.17328227933817877 0.30217588591237599 RotationMatrix - -0.8995965927692123 0.4234982246408655 -0.1066546951805642 - -0.4367218454325636 -0.8723574602808863 0.2196963614042295 - 8.326672684688674e-17 0.2442165334663419 0.969720725148062 + -0.89959659276921233 0.42349822464086545 -0.10665469518056421 + -0.43672184543256365 -0.87235746028088634 0.21969636140422952 + 8.3266726846886741e-17 0.24421653346634192 0.96972072514806196 Velocity3D 0 0 0 Omega3D @@ -119,15 +119,15 @@ Assembly Name MassMarker Position3D - -0.003947705364974695 0.01042661386112648 -1.13686837721616e-16 + -0.0039477053649746947 0.010426613861126484 -1.1368683772161603e-16 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 12.63583350443436 + 12.635833504434357 MomentOfInertias - 0.08708924866282601 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-0.04753704894473842 0.09742200410568831 -0.03029347681223059 + -0.047537048944738425 0.097422004105688312 -0.030293476812230588 RotationMatrix - 0.9512512425641979 -0.1267494082121462 0.2811683855591535 - 0.167731259496521 0.9776506595433678 -0.1267494082121462 - -0.258819045102521 0.167731259496521 0.9512512425641977 + 0.95125124256419791 -0.1267494082121462 0.28116838555915347 + 0.16773125949652101 0.97765065954336783 -0.12674940821214617 + -0.25881904510252102 0.16773125949652104 0.95125124256419769 Velocity3D 0 0 0 Omega3D @@ -161,7 +161,7 @@ Assembly Mass 1.448636188351172 MomentOfInertias - 0.002871751015088 0.002864447840812 0.0007089594589930001 + 0.0028717510150880004 0.0028644478408119999 0.00070895945899300007 Density 10 RefPoints @@ -177,11 +177,11 @@ Assembly Name Marker0 Position3D - -0.03739853284269051 0 0.003286762255221063 + -0.037398532842690513 0 0.0032867622552210634 RotationMatrix - 1 0 5.204170427930421e-18 + 1 0 5.2041704279304213e-18 -0 1 0 - -5.204170427930421e-18 -0 1 + -5.2041704279304213e-18 -0 1 RefPoint Position3D 0 0 0 @@ -194,22 +194,22 @@ Assembly Name Marker1 Position3D - 0.03260146715730949 1.4210854715202e-17 0.05328676225522106 + 0.032601467157309487 1.4210854715202004e-17 0.053286762255221061 RotationMatrix - 1 -0 5.204170427930421e-18 + 1 -0 5.2041704279304213e-18 0 1 0 - -5.204170427930421e-18 0 1 + -5.2041704279304213e-18 0 1 RefCurves RefSurfaces Part Name structural_node_3 Position3D - 0.07099630277370235 -0.07364765799707981 0.05840790082376057 + 0.070996302773702349 -0.073647657997079813 0.058407900823760565 RotationMatrix - 0.9622501868990581 0.01433011691863463 -0.271788935686915 - -0.08715574274765801 0.9622501868990581 -0.2578341604963 - 0.2578341604963001 0.271788935686915 0.9271743741709766 + 0.96225018689905806 0.014330116918634631 -0.27178893568691503 + -0.087155742747658013 0.96225018689905806 -0.25783416049630004 + 0.25783416049630009 0.27178893568691498 0.92717437417097659 Velocity3D 0 0 0 Omega3D @@ -219,15 +219,15 @@ Assembly Name MassMarker Position3D - 2.842170943040401e-17 -1.4210854715202e-17 0 + 2.8421709430404008e-17 -1.4210854715202004e-17 0 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 2.852948655706768 + 2.8529486557067685 MomentOfInertias - 0.03383792198797 0.033715148099504 0.001956310318013 + 0.033837921987970004 0.033715148099504003 0.0019563103180130002 Density 10 RefPoints @@ -243,11 +243,11 @@ Assembly Name Marker0 Position3D - -0.1400000000000079 -1.044497821567347e-15 0.02499999999999804 + -0.1400000000000079 -1.0444978215673472e-15 0.024999999999998038 RotationMatrix - 3.322229154067983e-33 1 -5.551115123125784e-17 - -1 0 -5.984795992119986e-17 - -5.984795992119986e-17 5.551115123125784e-17 1 + 3.3222291540679832e-33 1 -5.5511151231257839e-17 + -1 0 -5.9847959921199857e-17 + -5.9847959921199857e-17 5.5511151231257839e-17 1 RefPoint Position3D 0 0 0 @@ -260,22 +260,22 @@ Assembly Name Marker1 Position3D - 0.1399999999999913 4.423128530106624e-16 9.79127889877418e-15 + 0.13999999999999133 4.4231285301066236e-16 9.7912788987741798e-15 RotationMatrix - 0.7254861972346578 0.6882367162699149 2.719509169040251e-15 - -0.6882367162699149 0.7254861972346578 1.258675848677982e-14 - 6.689702964032028e-15 -1.100318561045113e-14 1 + 0.72548619723465779 0.68823671626991489 2.7195091690402506e-15 + -0.68823671626991489 0.72548619723465779 1.2586758486779817e-14 + 6.6897029640320283e-15 -1.1003185610451132e-14 1 RefCurves RefSurfaces Part Name structural_node_4 Position3D - 0.3723079639890564 0.04333150035096042 0.008140985321785409 + 0.37230796398905641 0.043331500350960422 0.008140985321785409 RotationMatrix - 0.9659258262890682 -0 0.2588190451025211 + 0.9659258262890682 -0 0.25881904510252107 0 1 0 - -0.2588190451025211 0 0.9659258262890682 + -0.25881904510252107 0 0.9659258262890682 Velocity3D 0 0 0 Omega3D @@ -285,15 +285,15 @@ Assembly Name MassMarker Position3D - 2.842170943040401e-16 2.131628207280301e-17 2.273736754432321e-16 + 2.8421709430404008e-16 2.1316282072803006e-17 2.2737367544323206e-16 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 10.85942720262214 + 10.859427202622141 MomentOfInertias - 0.07706742098794901 0.066351815798527 0.061792350456255 + 0.077067420987949012 0.066351815798527003 0.061792350456255002 Density 10 RefPoints @@ -309,7 +309,7 @@ Assembly Name Marker0 Position3D - -0.04558083463411924 -2.029935401992589e-10 1.256225164070202e-08 + -0.045580834634119244 -2.0299354019925886e-10 1.2562251640702015e-08 RotationMatrix 1 0 0 0 1 0 @@ -326,7 +326,7 @@ Assembly Name Marker1 Position3D - -0.04558083463411924 -2.029935401992589e-10 1.256225164070202e-08 + -0.045580834634119244 -2.0299354019925886e-10 1.2562251640702015e-08 RotationMatrix 1 0 0 0 1 0 @@ -418,13 +418,13 @@ Assembly tend 3 hmin - 1e-09 + 1.0000000000000001e-09 hmax 1 hout 0.01 errorTol - 1e-06 + 9.9999999999999995e-07 AnimationParameters nframe 1000000 diff --git a/testapp/MBDynCase2debug2.asmt b/testapp/MBDynCase2debug2.asmt index 8cf5842..133c0fa 100644 --- a/testapp/MBDynCase2debug2.asmt +++ b/testapp/MBDynCase2debug2.asmt @@ -39,7 +39,7 @@ Assembly Name structural_node_1 Position3D - -0.121 -1.218180697837851e-18 -0.08 + -0.121 -1.218180697837851e-18 -0.080000000000000002 RotationMatrix 1 0 0 0 1 0 @@ -77,7 +77,7 @@ Assembly Name Marker0 Position3D - 0.121 1.218180697837851e-18 0.08 + 0.121 1.218180697837851e-18 0.080000000000000002 RotationMatrix 1 0 0 0 1 0 @@ -94,7 +94,7 @@ Assembly Name Marker1 Position3D - 0 1.218180697837851e-18 0.05 + 0 1.218180697837851e-18 0.050000000000000003 RotationMatrix 1 0 0 0 1 0 @@ -111,11 +111,11 @@ Assembly Name Marker2 Position3D - 0 1.218180697837785e-18 0.08 + 0 1.2181806978377854e-18 0.080000000000000002 RotationMatrix - 2.220446049250313e-16 -2.220446049250313e-16 1 - 1 0 -2.220446049250313e-16 - 4.930380657631324e-32 1 2.220446049250313e-16 + 2.2204460492503131e-16 -2.2204460492503131e-16 1 + 1 0 -2.2204460492503131e-16 + 4.9303806576313238e-32 1 2.2204460492503131e-16 RefPoint Position3D 0 0 0 @@ -139,11 +139,11 @@ Assembly Name structural_node_2 Position3D - -0.04753704894473842 0.09742200410568831 -0.03029347681223059 + -0.047537048944738425 0.097422004105688312 -0.030293476812230588 RotationMatrix - 0.9512512425641976 -0.1267494082121462 0.2811683855591535 - 0.167731259496521 0.9776506595433675 -0.1267494082121462 - -0.258819045102521 0.167731259496521 0.9512512425641976 + 0.95125124256419757 -0.1267494082121462 0.28116838555915352 + 0.16773125949652104 0.9776506595433675 -0.1267494082121462 + -0.25881904510252102 0.16773125949652104 0.95125124256419757 Velocity3D 0 0 0 Omega3D @@ -161,7 +161,7 @@ Assembly Mass 1.448636188351172 MomentOfInertias - 0.002871751015088 0.002864447840812 0.0007089594589930001 + 0.0028717510150880004 0.0028644478408119999 0.00070895945899300007 Density 10 RefPoints @@ -177,11 +177,11 @@ Assembly Name Marker0 Position3D - -0.03739853284269051 0 0.003286762255221063 + -0.037398532842690513 0 0.0032867622552210634 RotationMatrix - 1 0 5.204170427930421e-18 + 1 0 5.2041704279304213e-18 -0 1 0 - -5.204170427930421e-18 -0 1 + -5.2041704279304213e-18 -0 1 RefPoint Position3D 0 0 0 @@ -194,22 +194,22 @@ Assembly Name Marker1 Position3D - 0.03260146715730949 1.4210854715202e-17 0.05328676225522106 + 0.032601467157309487 1.4210854715202004e-17 0.053286762255221061 RotationMatrix - 1 -0 5.204170427930421e-18 + 1 -0 5.2041704279304213e-18 0 1 0 - -5.204170427930421e-18 0 1 + -5.2041704279304213e-18 0 1 RefCurves RefSurfaces Part Name structural_node_3 Position3D - 0.07099630277370235 -0.07364765799707981 0.05840790082376057 + 0.070996302773702349 -0.073647657997079813 0.058407900823760565 RotationMatrix - 0.9622501868990581 0.01433011691863464 -0.271788935686915 - -0.08715574274765799 0.9622501868990581 -0.2578341604963 - 0.2578341604963 0.2717889356869149 0.9271743741709766 + 0.96225018689905806 0.014330116918634639 -0.27178893568691498 + -0.087155742747657985 0.96225018689905806 -0.25783416049629998 + 0.25783416049630004 0.27178893568691492 0.92717437417097659 Velocity3D 0 0 0 Omega3D @@ -219,15 +219,15 @@ Assembly Name MassMarker Position3D - 2.842170943040401e-17 -1.4210854715202e-17 0 + 2.8421709430404008e-17 -1.4210854715202004e-17 0 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 2.852948655706768 + 2.8529486557067685 MomentOfInertias - 0.03383792198797 0.033715148099504 0.001956310318013 + 0.033837921987970004 0.033715148099504003 0.0019563103180130002 Density 10 RefPoints @@ -243,11 +243,11 @@ Assembly Name Marker0 Position3D - -0.1400000000000079 -1.044497821567347e-15 0.02499999999999804 + -0.1400000000000079 -1.0444978215673472e-15 0.024999999999998038 RotationMatrix - 3.322229154067983e-33 1 -5.551115123125784e-17 - -1 0 -5.984795992119986e-17 - -5.984795992119986e-17 5.551115123125784e-17 1 + 3.3222291540679832e-33 1 -5.5511151231257839e-17 + -1 0 -5.9847959921199857e-17 + -5.9847959921199857e-17 5.5511151231257839e-17 1 RefPoint Position3D 0 0 0 @@ -260,22 +260,22 @@ Assembly Name Marker1 Position3D - 0.1399999999999913 4.423128530106624e-16 9.79127889877418e-15 + 0.13999999999999133 4.4231285301066236e-16 9.7912788987741798e-15 RotationMatrix - 0.7254861972346578 0.6882367162699149 2.719509169040251e-15 - -0.6882367162699149 0.7254861972346578 1.258675848677982e-14 - 6.689702964032028e-15 -1.100318561045113e-14 1 + 0.72548619723465779 0.68823671626991489 2.7195091690402506e-15 + -0.68823671626991489 0.72548619723465779 1.2586758486779817e-14 + 6.6897029640320283e-15 -1.1003185610451132e-14 1 RefCurves RefSurfaces Part Name structural_node_4 Position3D - 0.3723079639890564 0.04333150035096042 0.008140985321785409 + 0.37230796398905641 0.043331500350960422 0.008140985321785409 RotationMatrix - 0.9659258262890682 0 0.2588190451025211 + 0.9659258262890682 0 0.25881904510252107 0 1 0 - -0.2588190451025211 0 0.9659258262890682 + -0.25881904510252107 0 0.9659258262890682 Velocity3D 0 0 0 Omega3D @@ -285,15 +285,15 @@ Assembly Name 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+ -1.4956874853228675e-13 -0.0014241440841156886 0.99999898590629976 + 1.047116715990916e-10 0.99999898590629999 0.0014241440841156884 + -1.0000000000000002 1.0471177841909349e-10 -4.4408920985006262e-16 RefPoint Position3D 0 0 0 @@ -620,7 +620,7 @@ Assembly Name structural_node_8 Position3D - -0.3290000000000001 0.004 -1.273 + -0.32900000000000013 0.0040000000000000001 -1.2729999999999999 RotationMatrix 1 0 0 0 1 0 @@ -634,15 +634,15 @@ Assembly Name MassMarker Position3D - -0.1090000000000001 -0.002999999999999985 0.02900238100507408 + -0.10900000000000006 -0.0029999999999999849 0.029002381005074084 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 2.643354032879375 + 2.6433540328793748 MomentOfInertias - 0.014001696547798 0.009872891153302001 0.005359259534436001 + 0.014001696547797999 0.0098728911533020013 0.0053592595344360006 Density 10 RefPoints @@ -658,11 +658,11 @@ Assembly Name Marker0 Position3D - 0.07499994787026051 8.84277004365579e-05 0.105 + 0.074999947870260514 8.8427700436557902e-05 0.105 RotationMatrix - 0.001179036005820311 -1.30822033579866e-19 -0.999999304936807 - -0.999999304936807 1.109566985270027e-16 -0.001179036005820311 - 1.109567756489734e-16 1 0 + 0.0011790360058203109 -1.3082203357986596e-19 -0.999999304936807 + -0.999999304936807 1.1095669852700265e-16 -0.0011790360058203109 + 1.1095677564897342e-16 1 0 RefPoint Position3D 0 0 0 @@ -703,11 +703,11 @@ Assembly Name structural_node_9 Position3D - -0.3290000000000001 0.004000000000000001 -1.473 + -0.32900000000000007 0.004000000000000001 -1.4730000000000003 RotationMatrix 1 0 0 - 0 1 -3.996802888650563e-17 - -0 3.996802888650563e-17 1 + 0 1 -3.9968028886505634e-17 + -0 3.9968028886505634e-17 1 Velocity3D 0 0 0 Omega3D @@ -717,15 +717,15 @@ Assembly Name MassMarker Position3D - -0.1029999999999998 -0.005000000000000004 -0.04199999999999954 + -0.10299999999999983 -0.0050000000000000036 -0.041999999999999545 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 2.978229835603125 + 2.9782298356031252 MomentOfInertias - 0.040082009870845 0.040082009870845 0.0007445574589190001 + 0.040082009870845002 0.040082009870845002 0.0007445574589190001 Density 10 RefPoints @@ -744,8 +744,8 @@ Assembly 0 0 0 RotationMatrix 1 -0 0 - 0 1 3.996802888650563e-17 - -0 -3.996802888650563e-17 1 + 0 1 3.9968028886505634e-17 + -0 -3.9968028886505634e-17 1 RefPoint Position3D 0 0 0 @@ -758,7 +758,7 @@ Assembly Name Marker1 Position3D - 0 0 0.2 + 0 0 0.20000000000000001 RotationMatrix 1 0 0 0 1 0 @@ -786,7 +786,7 @@ Assembly Name structural_node_10 Position3D - -0.329 0.004 -1.473 + -0.32900000000000001 0.0040000000000000001 -1.4730000000000001 RotationMatrix 1 0 0 0 1 -3.552713678800501e-17 @@ -824,7 +824,7 @@ Assembly Name Marker0 Position3D - 0.329 -0.003999999999999948 1.473 + 0.32900000000000001 -0.003999999999999948 1.4730000000000001 RotationMatrix 1 0 0 0 1 3.552713678800501e-17 @@ -990,13 +990,13 @@ Assembly tend 4 hmin - 1e-09 + 1.0000000000000001e-09 hmax 1 hout 0.01 errorTol - 1e-06 + 9.9999999999999995e-07 AnimationParameters nframe 1000000 diff --git a/testapp/MBDynCase5origdebug2.asmt b/testapp/MBDynCase5origdebug2.asmt index cca7b83..7c8ef3e 100644 --- a/testapp/MBDynCase5origdebug2.asmt +++ b/testapp/MBDynCase5origdebug2.asmt @@ -56,11 +56,11 @@ Assembly Name structural_node_1 Position3D - -0.07783416000000026 0.004000000000000017 -0.1783206000000001 + -0.077834160000000263 0.0040000000000000174 -0.17832060000000008 RotationMatrix - 5.549534576630243e-17 -0.9063077746978223 -0.4226182882013997 - -1 -9.476526566669887e-18 -1.109906915326049e-16 - 9.658677321938644e-17 0.4226182882013997 -0.9063077746978223 + 5.5495345766302431e-17 -0.90630777469782231 -0.42261828820139968 + -1 -9.4765265666698866e-18 -1.1099069153260486e-16 + 9.658677321938644e-17 0.42261828820139968 -0.90630777469782231 Velocity3D 0 0 0 Omega3D @@ -94,11 +94,11 @@ Assembly Name Marker0 Position3D - 0.004000000000000023 0.004819842377972061 -0.1945074856315745 + 0.0040000000000000226 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a/testapp/MBDynCase8origdebug1.asmt b/testapp/MBDynCase8origdebug1.asmt index 536fb9b..dac65f1 100644 --- a/testapp/MBDynCase8origdebug1.asmt +++ b/testapp/MBDynCase8origdebug1.asmt @@ -39,7 +39,7 @@ Assembly Name structural_node_1 Position3D - 0.05129621592196151 0.01790817553892063 0.02190382802730576 + 0.051296215921961506 0.017908175538920625 0.021903828027305762 RotationMatrix 1 0 0 0 1 0 @@ -77,7 +77,7 @@ Assembly Name Marker0 Position3D - -0.05129621592196151 -0.01790817553892063 -0.02190382802730576 + -0.051296215921961506 -0.017908175538920625 -0.021903828027305762 RotationMatrix 1 0 0 0 1 0 @@ -94,11 +94,11 @@ Assembly Name Marker1 Position3D - -0.03125970983963543 0.004098680469401038 0.009999999336380188 + -0.031259709839635427 0.0040986804694010384 0.0099999993363801883 RotationMatrix - 2.220446049250313e-16 -2.220446049250313e-16 1 - 1 0 -2.220446049250313e-16 - 4.930380657631324e-32 1 2.220446049250313e-16 + 2.2204460492503131e-16 -2.2204460492503131e-16 1 + 1 0 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-5.5511151231257802e-17 + 1.1102230246251562e-16 1 2.2204460492503126e-16 + 5.5511151231257827e-17 2.2204460492503126e-16 -1 RefCurves RefSurfaces Part Name structural_node_8 Position3D - 0.0552405173788026 0.01031490596194293 0.06528007729432314 + 0.055240517378802603 0.010314905961942929 0.065280077294323141 RotationMatrix - 0.8110589124405684 -0.5374334434100817 -0.230973449675726 - -0.584964478024711 -0.7451566727492076 -0.3202469242734549 - 0 0.3948503855407932 -0.9187454342952062 + 0.81105891244056838 -0.5374334434100817 -0.23097344967572597 + -0.58496447802471097 -0.7451566727492076 -0.32024692427345486 + 0 0.39485038554079321 -0.91874543429520616 Velocity3D 0 0 0 Omega3D @@ -549,15 +549,15 @@ Assembly Name MassMarker Position3D - 0 1.06581410364015e-17 1.10459737356905e-09 + 0 1.0658141036401503e-17 1.1045973735690496e-09 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.0002016932293236247 + 0.00020169322932362473 MomentOfInertias - 4.19727e-10 4.138810000000001e-10 3.50681e-10 + 4.1972700000000003e-10 4.1388100000000008e-10 3.5068100000000003e-10 Density 10 RefPoints @@ -573,11 +573,11 @@ Assembly Name Marker0 Position3D - -0.0001433407570943786 0.00169394611111322 1.4210854715202e-17 + -0.00014334075709437856 0.0016939461111132204 1.4210854715202004e-17 RotationMatrix - -0.9957852927205322 0.03608476263026957 0.08431809240845796 - -0.08426278547208613 0.003053472103433767 -0.996438888890131 - -0.03621372372415391 -0.9993440679836104 -6.217248937900875e-15 + -0.99578529272053218 0.036084762630269572 0.084318092408457959 + -0.084262785472086127 0.0030534721034337665 -0.99643888889013099 + -0.036213723724153907 -0.99934406798361042 -6.217248937900875e-15 RefPoint Position3D 0 0 0 @@ -592,16 +592,16 @@ Assembly Position3D -7.105427357601002e-18 0 0.0015 RotationMatrix - -1 -3.05311331771918e-16 1.249000902703301e-16 - -3.05311331771918e-16 1 -5.551115123125781e-17 - -1.249000902703301e-16 -5.551115123125785e-17 -1 + -1 -3.0531133177191805e-16 1.2490009027033011e-16 + -3.0531133177191805e-16 1 -5.5511151231257809e-17 + -1.2490009027033009e-16 -5.5511151231257852e-17 -1 RefCurves RefSurfaces Part Name structural_node_9 Position3D - 0.08353531294400929 0.02859433824102924 0.1152133287215932 + 0.083535312944009288 0.028594338241029239 0.11521332872159323 RotationMatrix 1 0 0 0 1 0 @@ -621,9 +621,9 @@ Assembly 0 1 0 0 0 1 Mass - 0.01246007610518293 + 0.012460076105182932 MomentOfInertias - 1.0698233404e-05 9.651757376000001e-06 1.051791622e-06 + 1.0698233404000002e-05 9.6517573760000009e-06 1.0517916220000001e-06 Density 10 RefPoints @@ -639,11 +639,11 @@ Assembly Name Marker0 Position3D - -0.02861042035041207 -0.01675161745682374 -0.04684637137402089 + -0.028610420350412072 -0.016751617456823742 -0.046846371374020888 RotationMatrix - -0.7071067811865509 -0.6413714505613355 0.2977291762740824 - 0.7071067811865441 -0.6413714505613416 0.2977291762740852 - 0 0.4210526390009792 0.90703620390275 + -0.7071067811865509 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0 1 Mass - 0.001428380850032209 + 0.0014283808500322086 MomentOfInertias - 5.0332796e-08 4.749748600000001e-08 9.388439000000002e-09 + 5.0332795999999999e-08 4.7497486000000008e-08 9.3884390000000021e-09 Density 10 RefPoints @@ -705,11 +705,11 @@ Assembly Name Marker0 Position3D - -0.01009342601826444 0.008752596234087643 -0.0009120272923144199 + -0.010093426018264445 0.008752596234087643 -0.00091202729231441989 RotationMatrix - 0.7071067811865445 3.695296429680129e-16 0.7071067811865507 - 0.7071067811865507 -2.585073405054969e-16 -0.7071067811865445 - -7.850462293418705e-17 1 -4.440892098500627e-16 + 0.70710678118654446 3.6952964296801286e-16 0.70710678118655068 + 0.70710678118655068 -2.5850734050549686e-16 -0.70710678118654446 + -7.8504622934187045e-17 1 -4.4408920985006271e-16 RefPoint Position3D 0 0 0 @@ -722,11 +722,11 @@ Assembly Name Marker1 Position3D - -0.0005590506087313684 -0.001017043482772032 0.004163290987744275 + -0.00055905060873136844 -0.0010170434827720322 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-1.103872790508831e-09 -0.0007000000000000064 + -4.0001580714488226e-11 -1.1038727905088309e-09 -0.00070000000000000639 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.0002016932293236248 + 0.00020169322932362475 MomentOfInertias - 4.19727e-10 4.138810000000001e-10 3.50681e-10 + 4.1972700000000003e-10 4.1388100000000008e-10 3.5068100000000003e-10 Density 10 RefPoints @@ -905,22 +905,22 @@ Assembly Name Marker1 Position3D - -5.432058558623254e-05 -0.001499016101975414 -0.0007000000000000135 + -5.4320585586232542e-05 -0.0014990161019754139 -0.00070000000000001355 RotationMatrix - 0.995785292720532 -0.08426278547208661 0.03621372372415421 - -0.03608476263026975 0.003053472103435249 0.9993440679836102 - -0.08431809240845851 -0.9964388888901308 7.660538869913579e-15 + 0.99578529272053196 -0.084262785472086613 0.036213723724154205 + -0.036084762630269746 0.0030534721034352493 0.9993440679836102 + -0.084318092408458514 -0.99643888889013077 7.6605388699135786e-15 RefCurves RefSurfaces Part Name structural_node_13 Position3D - 0.053630942640463 0.01186518593037613 -0.01795336931020456 + 0.053630942640462996 0.011865185930376127 -0.017953369310204557 RotationMatrix - -0.7718206851026098 -0.2361790532969382 0.5903492905318852 - 0.6358402551331098 -0.2866881693175712 0.7166010490681699 - -2.775557561562891e-17 0.9284553561464881 0.3714440087589223 + -0.77182068510260982 -0.23617905329693822 0.59034929053188523 + 0.63584025513310982 -0.28668816931757118 0.7166010490681699 + -2.7755575615628914e-17 0.92845535614648811 0.37144400875892225 Velocity3D 0 0 0 Omega3D @@ -930,15 +930,15 @@ Assembly Name MassMarker Position3D - -3.960920480494678e-11 -1.103886965836409e-09 -0.00070000000000001 + -3.9609204804946785e-11 -1.1038869658364093e-09 -0.00070000000000000997 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.0002016932293236246 + 0.00020169322932362462 MomentOfInertias - 4.19727e-10 4.138810000000001e-10 3.50681e-10 + 4.1972700000000003e-10 4.1388100000000008e-10 3.5068100000000003e-10 Density 10 RefPoints @@ -971,22 +971,22 @@ Assembly Name Marker1 Position3D - 5.378777408382263e-05 0.001499035314913936 -0.0007000000000000028 + 5.3787774083822627e-05 0.001499035314913936 -0.00070000000000000281 RotationMatrix - 0.9953665964521086 -0.08921606073805165 -0.03585851605587945 - -0.03571533844992841 0.003201214322226829 -0.9993568766092873 - 0.08927347459773563 0.996007151948844 -2.220446049250313e-16 + 0.99536659645210857 -0.089216060738051647 -0.035858516055879454 + -0.035715338449928413 0.0032012143222268285 -0.99935687660928729 + 0.08927347459773563 0.99600715194884404 -2.2204460492503126e-16 RefCurves RefSurfaces Part Name structural_node_14 Position3D - 0.04251578989318065 0.02455223024287405 0.06421420666448795 + 0.042515789893180646 0.024552230242874045 0.064214206664487947 RotationMatrix - -0.7071067811865476 -0.2832001659401762 0.6479179469743503 - 0.7071067811865478 -0.2832001659401761 0.6479179469743501 - 0 0.9162943479160581 0.400505515538908 + -0.70710678118654757 -0.28320016594017616 0.64791794697435035 + 0.70710678118654779 -0.28320016594017605 0.64791794697435012 + 0 0.91629434791605813 0.40050551553890801 Velocity3D 0 0 0 Omega3D @@ -996,15 +996,15 @@ Assembly Name MassMarker Position3D - -1.104597355805481e-09 -7.105427357601002e-18 -0.0007000000000000312 + -1.1045973558054812e-09 -7.105427357601002e-18 -0.00070000000000003122 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.0002016932293236245 + 0.00020169322932362451 MomentOfInertias - 4.19727e-10 4.138810000000001e-10 3.50681e-10 + 4.1972700000000003e-10 4.1388100000000008e-10 3.5068100000000003e-10 Density 10 RefPoints @@ -1037,22 +1037,22 @@ Assembly Name Marker1 Position3D - 0.001499999999999996 0 -0.0007000000000000028 + 0.0014999999999999963 0 -0.00070000000000000281 RotationMatrix - 1.149003457692619e-15 -1.338924178983106e-16 -1 - -0.4005055155389079 0.9162943479160578 -5.828670879282071e-16 - 0.9162943479160578 0.4005055155389079 9.992007221626407e-16 + 1.1490034576926194e-15 -1.3389241789831056e-16 -1 + -0.4005055155389079 0.91629434791605779 -5.8286708792820709e-16 + 0.91629434791605779 0.4005055155389079 9.9920072216264069e-16 RefCurves RefSurfaces Part Name structural_node_15 Position3D - 0.04470534729501721 0.02108493339521819 -0.02470346974153963 + 0.044705347295017211 0.021084933395218192 -0.024703469741539631 RotationMatrix - -0.7071067811865517 0.286763131582525 0.6463489045128629 - 0.7071067811865437 0.2867631315825284 0.6463489045128701 - -5.551115123125783e-17 0.9140753867870886 -0.4055443098725896 + -0.70710678118655168 0.28676313158252503 0.64634890451286287 + 0.70710678118654369 0.28676313158252836 0.64634890451287008 + -5.5511151231257827e-17 0.91407538678708855 -0.4055443098725896 Velocity3D 0 0 0 Omega3D @@ -1062,15 +1062,15 @@ Assembly Name MassMarker Position3D - -1.104597377121763e-09 7.105427357601002e-18 -0.0007000000000000312 + -1.1045973771217632e-09 7.105427357601002e-18 -0.00070000000000003122 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.0002016932293236246 + 0.00020169322932362462 MomentOfInertias - 4.19727e-10 4.138810000000001e-10 3.50681e-10 + 4.1972700000000003e-10 4.1388100000000008e-10 3.5068100000000003e-10 Density 10 RefPoints @@ -1103,22 +1103,22 @@ Assembly Name Marker1 Position3D - 0.001500000000000002 3.552713678800501e-18 -0.0006999999999999958 + 0.0015000000000000018 3.552713678800501e-18 -0.00069999999999999576 RotationMatrix - -4.340002207602574e-15 7.326866967695451e-17 -1 - 0.4055443098725896 0.9140753867870883 -1.693090112553363e-15 - 0.9140753867870883 -0.4055443098725896 -3.996802888650563e-15 + -4.3400022076025735e-15 7.3268669676954506e-17 -1 + 0.4055443098725896 0.91407538678708833 -1.6930901125533633e-15 + 0.91407538678708833 -0.4055443098725896 -3.9968028886505628e-15 RefCurves RefSurfaces Part Name structural_node_16 Position3D - 0.05452661183313087 0.01747116909078761 0.05863255536975865 + 0.054526611833130866 0.017471169090787612 0.05863255536975865 RotationMatrix - 0.7071067811865445 3.695296429680129e-16 0.7071067811865507 - 0.7071067811865507 -2.585073405054969e-16 -0.7071067811865445 - -7.850462293418705e-17 1 -4.440892098500627e-16 + 0.70710678118654446 3.6952964296801286e-16 0.70710678118655068 + 0.70710678118655068 -2.5850734050549686e-16 -0.70710678118654446 + -7.8504622934187045e-17 1 -4.4408920985006271e-16 Velocity3D 0 0 0 Omega3D @@ -1128,15 +1128,15 @@ Assembly Name MassMarker Position3D - 0.0003090619272732766 0.0006139880782884432 0.01413542468220822 + 0.00030906192727327662 0.00061398807828844321 0.014135424682208225 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.001611442049912411 + 0.0016114420499124108 MomentOfInertias - 6.511788300000001e-08 5.858995500000001e-08 1.3370355e-08 + 6.5117883000000013e-08 5.8589955000000006e-08 1.3370355000000002e-08 Density 10 RefPoints @@ -1169,11 +1169,11 @@ Assembly Name Marker1 Position3D - 0.0002125903880190307 0.005891650863571172 0.01365 + 0.00021259038801903075 0.005891650863571172 0.013649999999999999 RotationMatrix - -7.760983174754289e-15 -0.9070362039027499 -0.4210526390009796 - 4.202727314597452e-16 0.4210526390009796 -0.9070362039027499 - 1 -7.216449660063518e-15 -2.886579864025407e-15 + -7.7609831747542891e-15 -0.90703620390274986 -0.42105263900097961 + 4.2027273145974522e-16 0.42105263900097961 -0.90703620390274986 + 1 -7.2164496600635175e-15 -2.886579864025407e-15 RefPoint Position3D 0 0 0 @@ -1186,7 +1186,7 @@ Assembly Name Marker2 Position3D - -0.004507683008810034 -0.001649482916578833 0.02044999999999999 + -0.0045076830088100336 -0.0016494829165788331 0.020449999999999989 RotationMatrix 1 0 0 0 1 0 @@ -1197,11 +1197,11 @@ Assembly Name structural_node_17 Position3D - 0.04165968239579892 0.02016058883955953 -0.02772134964109765 + 0.041659682395798918 0.020160588839559526 -0.027721349641097653 RotationMatrix - 0.7071067811865466 -8.326672684688649e-17 0.7071067811865486 - 0.7071067811865486 -8.326672684688674e-17 -0.7071067811865466 - 1.177569344012829e-16 1 0 + 0.70710678118654657 -8.3266726846886494e-17 0.70710678118654857 + 0.70710678118654857 -8.3266726846886741e-17 -0.70710678118654657 + 1.1775693440128295e-16 1 0 Velocity3D 0 0 0 Omega3D @@ -1211,15 +1211,15 @@ Assembly Name MassMarker Position3D - 0.0002764559346451634 -0.0006293431117348192 0.01413542468170668 + 0.0002764559346451634 -0.00062934311173481919 0.01413542468170668 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.001611442049720647 + 0.0016114420497206471 MomentOfInertias - 6.511788300000001e-08 5.858995500000001e-08 1.3370355e-08 + 6.5117883000000013e-08 5.8589955000000006e-08 1.3370355000000002e-08 Density 10 RefPoints @@ -1252,11 +1252,11 @@ Assembly Name Marker1 Position3D - -9.65030579664159e-05 -0.005894695219525783 0.01365 + -9.6503057966415895e-05 -0.0058946952195257831 0.013650000000000001 RotationMatrix - -6.160907017145772e-17 0.9278582447897185 -0.3729330738560789 - -1.444168472193083e-16 0.3729330738560789 0.9278582447897182 - 1 1.110223024625157e-16 1.110223024625157e-16 + -6.1609070171457721e-17 0.92785824478971846 -0.37293307385607888 + -1.4441684721930827e-16 0.37293307385607893 0.92785824478971823 + 1.0000000000000002 1.110223024625157e-16 1.1102230246251565e-16 RefPoint Position3D 0 0 0 @@ -1269,7 +1269,7 @@ Assembly Name Marker2 Position3D - -0.004415032139150533 0.001883478486807771 0.02045 + -0.0044150321391505333 0.0018834784868077712 0.020450000000000003 RotationMatrix 1 0 0 0 1 0 @@ -1280,7 +1280,7 @@ Assembly Name structural_node_18 Position3D - 0.09251606523223796 0.04383786289542596 0.1708764769587451 + 0.09251606523223796 0.043837862895425961 0.17087647695874514 RotationMatrix 1 0 0 0 1 0 @@ -1294,15 +1294,15 @@ Assembly Name MassMarker Position3D - -0.008980752288228672 -0.01524352465439673 -0.05566314823715192 + -0.0089807522882286717 -0.015243524654396726 -0.055663148237151919 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.01246007610518293 + 0.012460076105182932 MomentOfInertias - 1.0698233404e-05 9.651757376000001e-06 1.051791622e-06 + 1.0698233404000002e-05 9.6517573760000009e-06 1.0517916220000001e-06 Density 10 RefPoints @@ -1318,11 +1318,11 @@ Assembly Name Marker0 Position3D - -0.03759117263864074 -0.03199514211122047 -0.1025095196111728 + -0.037591172638640744 -0.031995142111220468 -0.1025095196111728 RotationMatrix - -0.7071067811865509 -0.6413714505613355 0.2977291762740824 - 0.7071067811865441 -0.6413714505613416 0.2977291762740852 - 0 0.4210526390009792 0.90703620390275 + -0.7071067811865509 -0.64137145056133549 0.29772917627408235 + 0.70710678118654413 -0.64137145056134159 0.29772917627408518 + 0 0.42105263900097917 0.90703620390274997 RefPoint Position3D 0 0 0 @@ -1335,18 +1335,18 @@ Assembly Name Marker1 Position3D - -0.0335749691710067 -0.03169987551682306 -0.09334081219451422 + -0.033574969171006698 -0.031699875516823059 -0.093340812194514219 RotationMatrix - 0.7071067811865496 -0.6413714505613352 -0.2977291762740863 - -0.7071067811865456 -0.6413714505613388 -0.2977291762740881 - 0 0.4210526390009841 -0.9070362039027478 + 0.70710678118654957 -0.64137145056133515 -0.29772917627408635 + -0.70710678118654557 -0.64137145056133882 -0.29772917627408807 + 0 0.42105263900098411 -0.90703620390274775 RefCurves RefSurfaces Part Name structural_node_19 Position3D - 0.07800232703539574 0.04227608639771267 -0.1310564148570501 + 0.078002327035395738 0.042276086397712673 -0.13105641485705011 RotationMatrix 1 0 0 0 1 0 @@ -1360,15 +1360,15 @@ Assembly Name MassMarker Position3D - -0.008967181029626943 -0.0125100277755003 0.0552534337281898 + -0.0089671810296269427 -0.012510027775500298 0.055253433728189805 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.01246008308310637 + 0.012460083083106369 MomentOfInertias - 1.0698239803e-05 9.651764012000002e-06 1.051791306e-06 + 1.0698239803000001e-05 9.6517640120000017e-06 1.051791306e-06 Density 10 RefPoints @@ -1384,11 +1384,11 @@ Assembly Name Marker0 Position3D - -0.03543598419291869 -0.02958066547748736 0.1032299830524821 + -0.035435984192918692 -0.029580665477487358 0.10322998305248207 RotationMatrix - -0.7071067811865474 0.6560948568706571 0.2637035054523777 - 0.7071067811865477 0.6560948568706568 0.2637035054523776 - 2.775557561562891e-17 0.3729330738560799 -0.9278582447897177 + -0.70710678118654735 0.65609485687065705 0.2637035054523777 + 0.70710678118654768 0.65609485687065683 0.26370350545237758 + 2.7755575615628914e-17 0.37293307385607988 -0.92785824478971768 RefPoint Position3D 0 0 0 @@ -1401,11 +1401,11 @@ Assembly Name Marker1 Position3D - -0.03134870967114584 -0.02942557771604998 0.09408928268995996 + -0.031348709671145843 -0.029425577716049985 0.09408928268995996 RotationMatrix - 0.7071067811865452 0.6560948568706569 -0.2637035054523846 - -0.70710678118655 0.6560948568706525 -0.2637035054523828 - 0 0.3729330738560885 0.9278582447897145 + 0.70710678118654524 0.65609485687065694 -0.26370350545238458 + -0.70710678118655002 0.6560948568706525 -0.2637035054523828 + 0 0.37293307385608848 0.92785824478971446 RefCurves RefSurfaces KinematicIJs @@ -1606,11 +1606,11 @@ Assembly tend 8 hmin - 1e-09 + 1.0000000000000001e-09 hmax 1 hout - 0.1 + 0.10000000000000001 errorTol 1e-08 AnimationParameters diff --git a/testapp/MBDynCase9origdebug2.asmt b/testapp/MBDynCase9origdebug2.asmt index 3220f11..6ef42b3 100644 --- a/testapp/MBDynCase9origdebug2.asmt +++ b/testapp/MBDynCase9origdebug2.asmt @@ -39,7 +39,7 @@ Assembly Name structural_node_1 Position3D - 0.01503650608232607 0.02000685600832166 0.02190382736368595 + 0.015036506082326075 0.020006856008321663 0.021903827363685954 RotationMatrix 1 0 0 0 1 0 @@ -77,7 +77,7 @@ Assembly Name Marker0 Position3D - -0.01503650608232607 -0.02000685600832166 -0.02190382736368595 + -0.015036506082326075 -0.020006856008321663 -0.021903827363685954 RotationMatrix 1 0 0 0 1 0 @@ -94,11 +94,11 @@ Assembly Name Marker1 Position3D - 0.005 0.002 0.01 + 0.0050000000000000001 0.002 0.01 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--- a/testapp/SphericalHingedebug1.asmt +++ b/testapp/SphericalHingedebug1.asmt @@ -39,7 +39,7 @@ Assembly Name structural_node_1 Position3D - 1.727420524244408e-18 0.003055045871559638 0.025 + 1.7274205242444082e-18 0.0030550458715596384 0.025000000000000001 RotationMatrix 1 0 0 0 1 0 @@ -77,7 +77,7 @@ Assembly Name Marker0 Position3D - -1.727420524244408e-18 -0.003055045871559638 -0.025 + -1.7274205242444082e-18 -0.0030550458715596384 -0.025000000000000001 RotationMatrix 1 0 0 0 1 0 @@ -94,7 +94,7 @@ Assembly Name Marker1 Position3D - -1.727420524244408e-18 -0.003055045871559638 0 + -1.7274205242444082e-18 -0.0030550458715596384 0 RotationMatrix 1 0 0 0 1 0 @@ -105,11 +105,11 @@ Assembly Name structural_node_2 Position3D - 0.008191520442889925 -0.01262591275038929 0.04303463608057351 + 0.0081915204428899251 -0.012625912750389287 0.043034636080573507 RotationMatrix - 0.5735764363510459 -1.387778780781446e-16 0.8191520442889918 - -0.6710100716628343 0.5735764363510458 0.4698463103929542 - -0.469846310392954 -0.8191520442889917 0.3289899283371654 + 0.57357643635104594 -1.3877787807814457e-16 0.8191520442889918 + -0.67101007166283433 0.57357643635104583 0.46984631039295421 + -0.46984631039295405 -0.81915204428899169 0.32898992833716539 Velocity3D 0 0 0 Omega3D @@ -119,15 +119,15 @@ Assembly Name MassMarker Position3D - -3.203482812352831e-12 0.01281482425686655 -0.009255846159930699 + -3.2034828123528313e-12 0.012814824256866551 -0.0092558461599306988 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.0064701741006665 + 0.0064701741006664999 MomentOfInertias - 4.27187049e-07 4.10064115e-07 6.3235945e-08 + 4.2718704899999999e-07 4.1006411500000001e-07 6.3235944999999997e-08 Density 10 RefPoints @@ -143,7 +143,7 @@ Assembly Name Marker0 Position3D - -3.552713678800501e-18 0.01800000000000001 -0.01000000000000001 + -3.552713678800501e-18 0.018000000000000006 -0.010000000000000007 RotationMatrix 1 0 0 0 1 0 @@ -172,20 +172,20 @@ Assembly GeneralConstraintSets ForceTorques ConstantGravity - 0 -9.807 0 + 0 -9.8070000000000004 0 SimulationParameters tstart 0 tend 3 hmin - 1e-09 + 1.0000000000000001e-09 hmax 1 hout 0.01 errorTol - 1e-06 + 9.9999999999999995e-07 AnimationParameters nframe 1000000 diff --git a/testapp/SphericalHingedebug2.asmt b/testapp/SphericalHingedebug2.asmt index ba42361..51a889b 100644 --- a/testapp/SphericalHingedebug2.asmt +++ b/testapp/SphericalHingedebug2.asmt @@ -39,7 +39,7 @@ Assembly Name structural_node_1 Position3D - 1.727420524244408e-18 0.003055045871559638 0.025 + 1.7274205242444082e-18 0.0030550458715596384 0.025000000000000001 RotationMatrix 1 0 0 0 1 0 @@ -77,7 +77,7 @@ Assembly Name Marker0 Position3D - -1.727420524244408e-18 -0.003055045871559638 -0.025 + -1.7274205242444082e-18 -0.0030550458715596384 -0.025000000000000001 RotationMatrix 1 0 0 0 1 0 @@ -94,7 +94,7 @@ Assembly Name Marker1 Position3D - -1.727420524244408e-18 -0.003055045871559638 0 + -1.7274205242444082e-18 -0.0030550458715596384 0 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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 From 18a8b5cecf725afd67cca5931f008eb7134d3aac Mon Sep 17 00:00:00 2001 From: Aik-Siong Koh Date: Wed, 24 Apr 2024 16:22:29 -0600 Subject: [PATCH 2/4] fix calcdxNorm crash --- .gitignore | 1 + OndselSolver/ASMTAssembly.cpp | 85 ++++- OndselSolver/ASMTAssembly.h | 5 +- OndselSolver/ASMTItem.cpp | 12 + OndselSolver/ASMTItem.h | 6 +- OndselSolver/Part.cpp | 4 +- OndselSolver/PosICDragLimitNewtonRaphson.cpp | 6 +- testapp/OndselSolver.cpp | 1 + testapp/dragging.log | 20 ++ testapp/runPreDrag.asmt | 345 +++++++++++++++++++ 10 files changed, 464 insertions(+), 21 deletions(-) create mode 100644 testapp/dragging.log create mode 100644 testapp/runPreDrag.asmt diff --git a/.gitignore b/.gitignore index b62b7a8..41d29b1 100644 --- a/.gitignore +++ b/.gitignore @@ -39,3 +39,4 @@ assembly.asmt build cmake-build-debug .idea +temp/ \ No newline at end of file diff --git a/OndselSolver/ASMTAssembly.cpp b/OndselSolver/ASMTAssembly.cpp index a9e55f4..9856394 100644 --- a/OndselSolver/ASMTAssembly.cpp +++ b/OndselSolver/ASMTAssembly.cpp @@ -441,6 +441,12 @@ void MbD::ASMTAssembly::runFile(const char* fileName) } } +void MbD::ASMTAssembly::runDraggingLogTest() +{ + auto assembly = ASMTAssembly::assemblyFromFile("../testapp/runPreDrag.asmt"); + assembly->runDraggingLog("../testapp/dragging.log"); +} + void MbD::ASMTAssembly::runDraggingTest() { //auto assembly = ASMTAssembly::assemblyFromFile("../testapp/pistonWithLimits.asmt"); @@ -915,7 +921,12 @@ void MbD::ASMTAssembly::readTimes(std::vector& 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 +1046,47 @@ void MbD::ASMTAssembly::readMotionSeries(std::vector& 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 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>>(); + 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>(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); @@ -1236,15 +1288,10 @@ void MbD::ASMTAssembly::runPreDrag() } mbdSystem = std::make_shared(); mbdSystem->externalSystem->asmtAssembly = this; - try { - mbdSystem->runPreDrag(mbdSystem); - } - catch (SimulationStoppingError ex) { - - } + mbdSystem->runPreDrag(mbdSystem); } -void MbD::ASMTAssembly::runDragStep(std::shared_ptr>> dragParts) const +void MbD::ASMTAssembly::runDragStep(std::shared_ptr>> dragParts) { if (debug) { std::ofstream os("dragging.log", std::ios_base::app); @@ -1264,7 +1311,12 @@ void MbD::ASMTAssembly::runDragStep(std::shared_ptr(dragPart->mbdObject); dragMbDParts->push_back(dragMbDPart); } - mbdSystem->runDragStep(dragMbDParts); + try { + mbdSystem->runDragStep(dragMbDParts); + } + catch (...) { + runPreDrag(); + } } void MbD::ASMTAssembly::runPostDrag() @@ -1278,12 +1330,7 @@ void MbD::ASMTAssembly::runPostDrag() debug = false; mbdSystem = std::make_shared(); mbdSystem->externalSystem->asmtAssembly = this; - try { - mbdSystem->runPreDrag(mbdSystem); - } - catch (SimulationStoppingError ex) { - - } + mbdSystem->runPreDrag(mbdSystem); } void MbD::ASMTAssembly::runKINEMATIC() @@ -1318,6 +1365,14 @@ std::shared_ptr MbD::ASMTAssembly::spatialContainerAt(std: return part; } +std::shared_ptr MbD::ASMTAssembly::partAt(std::string& longname) const +{ + for (auto& part : *parts) { + if (part->fullName("") == longname) return part; + } + return nullptr; +} + std::shared_ptr MbD::ASMTAssembly::markerAt(std::string& longname) const { for (auto& refPoint : *refPoints) { diff --git a/OndselSolver/ASMTAssembly.h b/OndselSolver/ASMTAssembly.h index 0c6373e..40e6db6 100644 --- a/OndselSolver/ASMTAssembly.h +++ b/OndselSolver/ASMTAssembly.h @@ -41,6 +41,7 @@ namespace MbD { static void runSinglePendulum(); static std::shared_ptr assemblyFromFile(const char* chars); static void runFile(const char* chars); + static void runDraggingLogTest(); static void runDraggingTest(); static void runDraggingTest2(); static void runDraggingTest3(); @@ -73,6 +74,7 @@ namespace MbD { void readJointSeries(std::vector& lines); void readMotionSeriesMany(std::vector& lines); void readMotionSeries(std::vector& lines); + void runDraggingLog(const char* chars); void outputFor(AnalysisType type); void preMbDrun(std::shared_ptr mbdSys); @@ -92,11 +94,12 @@ namespace MbD { void solve(); void runPreDrag(); - void runDragStep(std::shared_ptr>> dragParts) const; + void runDragStep(std::shared_ptr>> dragParts); void runPostDrag(); void runKINEMATIC(); void initprincipalMassMarker(); std::shared_ptr spatialContainerAt(std::shared_ptr self, std::string& longname) const; + std::shared_ptr partAt(std::string& longname) const; std::shared_ptr markerAt(std::string& longname) const; std::shared_ptr jointAt(std::string& longname) const; std::shared_ptr motionAt(std::string& longname) const; diff --git a/OndselSolver/ASMTItem.cpp b/OndselSolver/ASMTItem.cpp index 5b959d1..de44e93 100644 --- a/OndselSolver/ASMTItem.cpp +++ b/OndselSolver/ASMTItem.cpp @@ -83,6 +83,12 @@ FRowDsptr MbD::ASMTItem::readRowOfDoubles(std::string& line) return readRowOfDoubles; } +FRowDsptr MbD::ASMTItem::readRowOfDoublesOffTop(std::vector& 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& lines) +{ + auto str = popOffTop(lines); + return readColumnOfDoubles(str); +} + double MbD::ASMTItem::readDouble(std::string& line) { std::istringstream iss(line); diff --git a/OndselSolver/ASMTItem.h b/OndselSolver/ASMTItem.h index 41c818a..6ec2b20 100644 --- a/OndselSolver/ASMTItem.h +++ b/OndselSolver/ASMTItem.h @@ -30,10 +30,12 @@ namespace MbD { virtual std::string classname(); void setName(std::string str); virtual void parseASMT(std::vector& lines); - std::string popOffTop(std::vector& args); - std::string readStringOffTop(std::vector& args); + std::string popOffTop(std::vector& lines); + std::string readStringOffTop(std::vector& lines); FRowDsptr readRowOfDoubles(std::string& line); + FRowDsptr readRowOfDoublesOffTop(std::vector& lines); FColDsptr readColumnOfDoubles(std::string& line); + FColDsptr readColumnOfDoublesOffTop(std::vector& lines); double readDouble(std::string& line); int readInt(std::string& line); size_t readSize_t(std::string& line); diff --git a/OndselSolver/Part.cpp b/OndselSolver/Part.cpp index a262dc1..2b19cf0 100644 --- a/OndselSolver/Part.cpp +++ b/OndselSolver/Part.cpp @@ -121,9 +121,9 @@ FColDsptr Part::qX() return partFrame->qX; } -void Part::qE(std::shared_ptr> x) +void Part::qE(std::shared_ptr> qe) { - partFrame->qE = x; + partFrame->qE = qe; } std::shared_ptr> Part::qE() diff --git a/OndselSolver/PosICDragLimitNewtonRaphson.cpp b/OndselSolver/PosICDragLimitNewtonRaphson.cpp index 6321914..be7fb7c 100644 --- a/OndselSolver/PosICDragLimitNewtonRaphson.cpp +++ b/OndselSolver/PosICDragLimitNewtonRaphson.cpp @@ -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. diff --git a/testapp/OndselSolver.cpp b/testapp/OndselSolver.cpp index c021097..1d64a27 100644 --- a/testapp/OndselSolver.cpp +++ b/testapp/OndselSolver.cpp @@ -26,6 +26,7 @@ void sharedptrTest(); int main() { + ASMTAssembly::runDraggingLogTest(); ASMTAssembly::runDraggingTest2(); ASMTAssembly::runDraggingTest3(); ASMTAssembly::runDraggingTest(); diff --git a/testapp/dragging.log b/testapp/dragging.log new file mode 100644 index 0000000..a873595 --- /dev/null +++ b/testapp/dragging.log @@ -0,0 +1,20 @@ +runPreDrag +runDragStep + Name + Part1 + Position3D + 4.801714581503802e-15 0.099999999999995245 0.19999999999999998 + RotationMatrix + 1 -4.7573992180162559e-14 0 + 4.7573992180162559e-14 1 0 + 0 0 1 +runDragStep + Name + Part1 + Position3D + 0.2633974596215562 0.063397459621556157 0 + RotationMatrix + 0.86602540378443871 -0.49999999999999994 0 + 0.49999999999999994 0.86602540378443871 0 + 0 0 1 +runPostDrag diff --git a/testapp/runPreDrag.asmt b/testapp/runPreDrag.asmt new file mode 100644 index 0000000..cfbaf83 --- /dev/null +++ b/testapp/runPreDrag.asmt @@ -0,0 +1,345 @@ +OndselSolver +Assembly + Notes + (Text string: 'CAD: Copyright (C) 2000-2004, Aik-Siong Koh, All Rights Reserved.The piston crank is the most common mechanism to convert rotary motion to reciprocating motion or vice versa. A crank connects to the ground with a revolute joint. Its other end is connected to the connecting rod. And the connecting rod is connected to the piston which slides along an axis on the ground. The crank is given rotary motion causing the piston to slides back and forth is a straight line. Units are SI units. Angles are in radians.If the instructions below are too brief, refer to the Notes in projectile.asm and circular.asm.To load the example for a quick look:Click File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select piston.asm. To create the assembly from scratch:To create crank, connection rod and piston:Create an empty assembly and populate it with two rods (Assembly1Part1, Assembly1Part2) and one cylinder (Assembly1Part3). The rods have dimensions (1.0d, 0.2d, 0.1d) and (1.5d, 0.2d, 0.1d). The cylinder has radius (0.5d) and height (1.0d). Arrange them from bottom up away from the origin. To mark joint attachment points:On the ground, create a marker (Assembly1Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Marker2) at (3.0d, 0.0d, 0.0d). On the first rod, create a marker (Assembly1Part1Marker1) at (0.1d, 0.1d, 0.0d) and another (Assembly1Part1Marker2) at (0.9d, 0.1d, 0.0d) relative to the z-face. On the second rod, create a marker (Assembly1Part2Marker1) at (0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.4d, 0.1d, -0.1d) relative to the z-face. On the cylinder, create a marker (Assembly1Part3Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Part3Marker2) at (0.0d, 0.0d, -1.0d) relative to the z-face. Tilt the cylinder a little to get a good view of (Assembly1Part3Marker2). RightClick/Rotate/ over it to rotate the marker (90.0d) degrees about the x-axis.Tilt the cylinder upright to help the solver assemble the system later.To create the joints:Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with revolute joint (Assembly1Joint1).Connect (Assembly1Part1Marker2) to (Assembly1Part2Marker1) with revolute joint (Assembly1Joint2).Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker2) with revolute joint (Assembly1Joint3).Connect (Assembly1Marker2) to (Assembly1Part3Marker1) with translational joint (Assembly1Joint3).The translational joint keeps the marker z-axes parallel and colinear. Only relative translation along the z-axis is permitted.To apply motion to the crank:Apply rotation motion (Assembly1Motion1) to (Assembly1Joint1). Enter 2.0d*pi*time.The assembly is now ready for simulation, animation and plotting.' runs: (Core.RunArray runs: #(514 63 14 5 12 1 2 37 89 10 4 36 1 43 295 32 848 21 517 29 151) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #bold nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil))) + Name + Assembly1 + 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 + Marker1 + Position3D + 0 3 0 + RotationMatrix + 1 0 0 + 0 0 1 + 0 -1 0 + 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 + Parts + Part + Name + Part1 + Position3D + -0.10000000000000001 -0.10000000000000001 -0.10000000000000001 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + Velocity3D + 0 0 0 + Omega3D + 0 0 0 + FeatureOrder + PrincipalMassMarker + Name + MassMarker + Position3D + 0.5 0.10000000000000001 0.050000000000000003 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + Mass + 0.20000000000000001 + MomentOfInertias + 0.00083333333333333003 0.016833333333332999 0.017333333333332999 + Density + 10 + RefPoints + RefPoint + Position3D + 0 0 0.10000000000000001 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + Markers + Marker + Name + Marker1 + Position3D + 0.10000000000000001 0.10000000000000001 0 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + RefPoint + Position3D + 0 0 0.10000000000000001 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + Markers + Marker + Name + Marker2 + Position3D + 0.90000000000000002 0.10000000000000001 0 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + RefCurves + RefSurfaces + Part + Name + Part2 + Position3D + 0.94036115973815004 -0.017284236661228001 6.9388939039071999e-18 + RotationMatrix + -0.61538461538461997 -0.78822698199689001 -2.4430659816415999e-17 + 0.78822698199689001 -0.61538461538461997 3.1292471039841e-17 + -3.9699822201676001e-17 -4.8559383484174003e-33 1 + Velocity3D + 0 0 0 + Omega3D + 0 0 0 + FeatureOrder + PrincipalMassMarker + Name + MassMarker + Position3D + 0.75 0.10000000000000001 0.050000000000000003 + RotationMatrix + 1 -2.7755575615629002e-16 0 + 2.7755575615629002e-16 1 0 + 0 0 1 + Mass + 0.29999999999999999 + MomentOfInertias + 0.00125 0.056500000000000002 0.057250000000000002 + Density + 10 + RefPoints + RefPoint + Position3D + 0 0 0.10000000000000001 + RotationMatrix + 1 0 0 + 0 1 0 + 0 0 1 + Markers + Marker + Name + Marker1 + Position3D + 0.10000000000000001 0.10000000000000001 -0.10000000000000001 + RotationMatrix + 1 1.6433823482156999e-50 6.1629758220391999e-33 + 1.9277988905447e-49 1 1.055150120668e-32 + 6.1629758220391999e-33 8.8305116654984998e-33 1 + RefPoint + Position3D + -7.0256300777060995e-17 -1.0408340855861e-17 0.10000000000000001 + RotationMatrix + 1 1.7347234759768e-18 -6.9388939039071999e-18 + 1.7347234759768e-18 1 0 + -6.9388939039071999e-18 0 1 + Markers + Marker + Name + Marker2 + Position3D + 1.3999999999999999 0.10000000000000001 -0.10000000000000001 + RotationMatrix + 1 1.9417266172264999e-33 1.873501354055e-16 + 1.4257315131995e-48 1 4.1633363423443e-17 + -2.5673907444456001e-16 -4.1633363423443e-17 1 + RefCurves + RefSurfaces + Part + Name + Part3 + Position3D + 1.8563657024100999e-16 1.0246950765959999 -6.9385028492422e-17 + RotationMatrix + 1 1.7680967979306999e-16 -2.2204460492503e-16 + 2.2204460492503e-16 6.3228810015036994e-17 1 + 1.7680967979306999e-16 -1 6.3228810015036994e-17 + Velocity3D + 0 0 0 + Omega3D + 0 0 0 + FeatureOrder + PrincipalMassMarker + Name + MassMarker + Position3D + -7.9328390680451997e-18 2.9323172983666999e-17 0.5 + RotationMatrix + 9.2444637330587006e-33 1 -1.0785207688569e-32 + 9.9703461330478005e-65 1.0785207688569e-32 1 + 1 -9.2444637330587006e-33 0 + Mass + 7.6536686473018003 + MomentOfInertias + 0.93243354610287998 1.1040224936598999 1.1040224936598999 + Density + 10 + RefPoints + 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 2.1223636732195001e-32 -2.4651903288157002e-32 + -2.4651903288157002e-32 -2.2204460492503e-16 1 + -1.1179465652455999e-32 -1 -2.2204460492503e-16 + RefPoint + Position3D + 1.0408340855861e-17 5.5511151231258e-17 1 + RotationMatrix + 1 -6.9388939039071999e-18 6.9388939039071999e-18 + -6.9388939039071999e-18 1 0 + 6.9388939039071999e-18 0 1 + Markers + Marker + Name + Marker2 + Position3D + 0 0 0 + RotationMatrix + 1 -4.1633363423442002e-17 4.1633363423442002e-17 + -4.1633363423442002e-17 1 -4.9303806576313002e-32 + 4.1633363423442002e-17 -3.6977854932235e-32 1 + RefCurves + RefSurfaces + KinematicIJs + ConstraintSets + Joints + RevoluteJoint + Name + Joint1 + MarkerI + /Assembly1/Marker2 + MarkerJ + /Assembly1/Part1/Marker1 + RevoluteJoint + Name + Joint2 + MarkerI + /Assembly1/Part1/Marker2 + MarkerJ + /Assembly1/Part2/Marker1 + RevoluteJoint + Name + Joint3 + MarkerI + /Assembly1/Part2/Marker2 + MarkerJ + /Assembly1/Part3/Marker1 + CylindricalJoint + Name + Joint4 + MarkerI + /Assembly1/Part3/Marker2 + MarkerJ + /Assembly1/Marker1 + Motions + Limits + RotationLimit + Name + Limit1 + MarkerI + /Assembly1/Marker2 + MarkerJ + /Assembly1/Part1/Marker1 + MotionJoint + + Limit + 30.0*pi/180.0 + Type + => + Tol + 1.0e-9 + TranslationLimit + Name + Limit2 + MarkerI + /Assembly1/Part3/Marker2 + MarkerJ + /Assembly1/Marker1 + MotionJoint + + Limit + 1.2 + Type + =< + Tol + 1.0e-9 + GeneralConstraintSets + ForceTorques + ConstantGravity + 0 -9.8100000000000005 0 + SimulationParameters + tstart + 0 + tend + 0 + hmin + 1.0000000000000001e-09 + hmax + 1 + hout + 0.040000000000000001 + errorTol + 9.9999999999999995e-07 + AnimationParameters + nframe + 26 + icurrent + 1 + istart + 1 + iend + 26 + isForward + true + framesPerSecond + 30 From aa0d5ada2e52a7b35c8a4b5b91fc8b23e1178646 Mon Sep 17 00:00:00 2001 From: Aik-Siong Koh Date: Thu, 25 Apr 2024 13:35:10 -0600 Subject: [PATCH 3/4] setDebug and remove MBDyn* --- OndselSolver/ASMTAssembly.cpp | 11 +- OndselSolver/ASMTAssembly.h | 3 +- OndselSolver/MBDynAxialRotationJoint.cpp | 39 - OndselSolver/MBDynAxialRotationJoint.h | 26 - OndselSolver/MBDynBlock.cpp | 3 - OndselSolver/MBDynBlock.h | 18 - OndselSolver/MBDynBody.cpp | 94 - OndselSolver/MBDynBody.h | 28 - OndselSolver/MBDynClampJoint.cpp | 52 - OndselSolver/MBDynClampJoint.h | 24 - OndselSolver/MBDynControlData.cpp | 143 - OndselSolver/MBDynControlData.h | 35 - OndselSolver/MBDynData.cpp | 15 - OndselSolver/MBDynData.h | 20 - OndselSolver/MBDynDrive.cpp | 151 - OndselSolver/MBDynDrive.h | 24 - OndselSolver/MBDynDriveHingeJoint.cpp | 42 - OndselSolver/MBDynDriveHingeJoint.h | 23 - OndselSolver/MBDynElement.cpp | 11 - OndselSolver/MBDynElement.h | 20 - OndselSolver/MBDynGravity.cpp | 41 - OndselSolver/MBDynGravity.h | 24 - OndselSolver/MBDynInLineJoint.cpp | 29 - OndselSolver/MBDynInLineJoint.h | 22 - OndselSolver/MBDynInPlaneJoint.cpp | 29 - OndselSolver/MBDynInPlaneJoint.h | 24 - OndselSolver/MBDynInitialValue.cpp | 148 - OndselSolver/MBDynInitialValue.h | 34 - OndselSolver/MBDynItem.cpp | 464 -- OndselSolver/MBDynItem.h | 70 - OndselSolver/MBDynJoint.cpp | 410 -- OndselSolver/MBDynJoint.h | 40 - OndselSolver/MBDynMarker.cpp | 74 - OndselSolver/MBDynMarker.h | 26 - OndselSolver/MBDynNode.cpp | 41 - OndselSolver/MBDynNode.h | 21 - OndselSolver/MBDynPrismaticJoint.cpp | 29 - OndselSolver/MBDynPrismaticJoint.h | 23 - OndselSolver/MBDynReference.cpp | 66 - OndselSolver/MBDynReference.h | 26 - OndselSolver/MBDynRevoluteHingeJoint.cpp | 29 - OndselSolver/MBDynRevoluteHingeJoint.h | 23 - OndselSolver/MBDynRevolutePinJoint.cpp | 28 - OndselSolver/MBDynRevolutePinJoint.h | 26 - OndselSolver/MBDynSphericalHingeJoint.cpp | 29 - OndselSolver/MBDynSphericalHingeJoint.h | 23 - OndselSolver/MBDynStructural.cpp | 89 - OndselSolver/MBDynStructural.h | 26 - OndselSolver/MBDynSystem.cpp | 453 -- OndselSolver/MBDynSystem.h | 79 - OndselSolver/MBDynTotalJoint.cpp | 123 - OndselSolver/MBDynTotalJoint.h | 30 - OndselSolver/OndselSolver.vcxproj | 66 - OndselSolver/OndselSolver.vcxproj.filters | 178 +- OndselSolver/dragging.log | 19 - OndselSolver/runPreDrag.asmt | 301 +- testapp/CrankSlider2.mov | 1204 ----- testapp/CrankSlider2debug1.asmt | 440 -- testapp/CrankSlider2debug2.asmt | 587 --- testapp/InitialConditions.mov | 301 -- testapp/InitialConditionsMBDyn.mov | 802 ---- testapp/InitialConditionsOndselSolver.mov | 801 ---- testapp/InitialConditionsdebug1.asmt | 87 - testapp/InitialConditionsdebug2.asmt | 128 - testapp/MBDynCase(Assembly).mbd | 579 --- testapp/MBDynCase(Assembly).mov | 9 - testapp/MBDynCase(Assembly)debug1.asmt | 834 ---- testapp/MBDynCase(Assembly)debug2.asmt | 1111 ----- testapp/MBDynCase(Cosine-half drive).mbd | 174 - testapp/MBDynCase(Cosine-half drive).mov | 802 ---- .../MBDynCase(Cosine-half drive)debug1.asmt | 201 - .../MBDynCase(Cosine-half drive)debug2.asmt | 275 -- testapp/MBDynCase(Sine-forever drive).mbd | 174 - testapp/MBDynCase(Sine-forever drive).mov | 802 ---- .../MBDynCase(Sine-forever drive)debug1.asmt | 201 - .../MBDynCase(Sine-forever drive)debug2.asmt | 275 -- testapp/MBDynCase(simulation).mbd | 580 --- testapp/MBDynCase(simulation).mov | 3609 --------------- testapp/MBDynCase(simulation)debug1.asmt | 845 ---- testapp/MBDynCase(simulation)debug2.asmt | 1129 ----- testapp/MBDynCase.mbd | 349 -- testapp/MBDynCase.mov | 324 -- testapp/MBDynCase2.mbd | 297 -- testapp/MBDynCase2.mov | 1204 ----- testapp/MBDynCase2debug1.asmt | 440 -- testapp/MBDynCase2debug2.asmt | 587 --- testapp/MBDynCase2orig.mbd | 297 -- testapp/MBDynCase3orig.mbd | 221 - testapp/MBDynCase3orig.mov | 1203 ----- testapp/MBDynCase3origdebug1.asmt | 284 -- testapp/MBDynCase3origdebug2.asmt | 391 -- testapp/MBDynCase4orig.mbd | 206 - testapp/MBDynCase4orig.mov | 1203 ----- testapp/MBDynCase4origdebug1.asmt | 232 - testapp/MBDynCase4origdebug2.asmt | 325 -- testapp/MBDynCase5orig.mbd | 639 --- testapp/MBDynCase5orig.mov | 4010 ----------------- testapp/MBDynCase5origdebug1.asmt | 1012 ----- testapp/MBDynCase5origdebug2.asmt | 1343 ------ testapp/MBDynCase6orig.mbd | 638 --- testapp/MBDynCase7orig.mbd | 579 --- testapp/MBDynCase7orig.mov | 9 - testapp/MBDynCase7origdebug1.asmt | 834 ---- testapp/MBDynCase7origdebug2.asmt | 1111 ----- testapp/MBDynCase8orig.mbd | 659 --- testapp/MBDynCase8orig.mov | 3010 ------------- testapp/MBDynCase8origdebug1.asmt | 878 ---- testapp/MBDynCase8origdebug2.asmt | 1181 ----- testapp/MBDynCase9orig.mbd | 1202 ----- testapp/MBDynCase9orig.mov | 646 --- testapp/MBDynCase9origdebug1.asmt | 1628 ------- testapp/MBDynCase9origdebug2.asmt | 2186 --------- testapp/MBDynCaseBird.mbd | 655 --- testapp/MBDynCaseDebug1.mbd | 321 -- testapp/MBDynCaseDebug2.mbd | 320 -- testapp/MBDynSliderCrankTotalJoint.mbd | 317 -- testapp/MBDynSliderCrankTotalJointorig.mov | 1608 ------- testapp/OndselSolver.cpp | 14 - testapp/SphericalHinge.mov | 602 --- testapp/SphericalHingedebug1.asmt | 201 - testapp/SphericalHingedebug2.asmt | 275 -- 121 files changed, 80 insertions(+), 53256 deletions(-) delete mode 100644 OndselSolver/MBDynAxialRotationJoint.cpp delete mode 100644 OndselSolver/MBDynAxialRotationJoint.h delete mode 100644 OndselSolver/MBDynBlock.cpp delete mode 100644 OndselSolver/MBDynBlock.h delete mode 100644 OndselSolver/MBDynBody.cpp delete mode 100644 OndselSolver/MBDynBody.h delete mode 100644 OndselSolver/MBDynClampJoint.cpp delete mode 100644 OndselSolver/MBDynClampJoint.h delete mode 100644 OndselSolver/MBDynControlData.cpp delete mode 100644 OndselSolver/MBDynControlData.h delete mode 100644 OndselSolver/MBDynData.cpp delete mode 100644 OndselSolver/MBDynData.h delete mode 100644 OndselSolver/MBDynDrive.cpp delete mode 100644 OndselSolver/MBDynDrive.h delete mode 100644 OndselSolver/MBDynDriveHingeJoint.cpp delete mode 100644 OndselSolver/MBDynDriveHingeJoint.h delete mode 100644 OndselSolver/MBDynElement.cpp delete mode 100644 OndselSolver/MBDynElement.h delete mode 100644 OndselSolver/MBDynGravity.cpp delete mode 100644 OndselSolver/MBDynGravity.h delete mode 100644 OndselSolver/MBDynInLineJoint.cpp delete mode 100644 OndselSolver/MBDynInLineJoint.h delete mode 100644 OndselSolver/MBDynInPlaneJoint.cpp delete mode 100644 OndselSolver/MBDynInPlaneJoint.h delete mode 100644 OndselSolver/MBDynInitialValue.cpp delete mode 100644 OndselSolver/MBDynInitialValue.h delete mode 100644 OndselSolver/MBDynItem.cpp delete mode 100644 OndselSolver/MBDynItem.h delete mode 100644 OndselSolver/MBDynJoint.cpp delete mode 100644 OndselSolver/MBDynJoint.h delete mode 100644 OndselSolver/MBDynMarker.cpp delete mode 100644 OndselSolver/MBDynMarker.h delete mode 100644 OndselSolver/MBDynNode.cpp delete mode 100644 OndselSolver/MBDynNode.h delete mode 100644 OndselSolver/MBDynPrismaticJoint.cpp delete mode 100644 OndselSolver/MBDynPrismaticJoint.h delete mode 100644 OndselSolver/MBDynReference.cpp delete mode 100644 OndselSolver/MBDynReference.h delete mode 100644 OndselSolver/MBDynRevoluteHingeJoint.cpp delete mode 100644 OndselSolver/MBDynRevoluteHingeJoint.h delete mode 100644 OndselSolver/MBDynRevolutePinJoint.cpp delete mode 100644 OndselSolver/MBDynRevolutePinJoint.h delete mode 100644 OndselSolver/MBDynSphericalHingeJoint.cpp delete mode 100644 OndselSolver/MBDynSphericalHingeJoint.h delete mode 100644 OndselSolver/MBDynStructural.cpp delete mode 100644 OndselSolver/MBDynStructural.h delete mode 100644 OndselSolver/MBDynSystem.cpp delete mode 100644 OndselSolver/MBDynSystem.h delete mode 100644 OndselSolver/MBDynTotalJoint.cpp delete mode 100644 OndselSolver/MBDynTotalJoint.h delete mode 100644 testapp/CrankSlider2.mov delete mode 100644 testapp/CrankSlider2debug1.asmt delete mode 100644 testapp/CrankSlider2debug2.asmt delete mode 100644 testapp/InitialConditions.mov delete mode 100644 testapp/InitialConditionsMBDyn.mov delete mode 100644 testapp/InitialConditionsOndselSolver.mov delete mode 100644 testapp/InitialConditionsdebug1.asmt delete mode 100644 testapp/InitialConditionsdebug2.asmt delete mode 100644 testapp/MBDynCase(Assembly).mbd delete mode 100644 testapp/MBDynCase(Assembly).mov delete mode 100644 testapp/MBDynCase(Assembly)debug1.asmt delete mode 100644 testapp/MBDynCase(Assembly)debug2.asmt delete mode 100644 testapp/MBDynCase(Cosine-half drive).mbd delete mode 100644 testapp/MBDynCase(Cosine-half drive).mov delete mode 100644 testapp/MBDynCase(Cosine-half drive)debug1.asmt delete mode 100644 testapp/MBDynCase(Cosine-half drive)debug2.asmt delete mode 100644 testapp/MBDynCase(Sine-forever drive).mbd delete mode 100644 testapp/MBDynCase(Sine-forever drive).mov delete mode 100644 testapp/MBDynCase(Sine-forever drive)debug1.asmt delete mode 100644 testapp/MBDynCase(Sine-forever drive)debug2.asmt delete mode 100644 testapp/MBDynCase(simulation).mbd delete mode 100644 testapp/MBDynCase(simulation).mov delete mode 100644 testapp/MBDynCase(simulation)debug1.asmt delete mode 100644 testapp/MBDynCase(simulation)debug2.asmt delete mode 100644 testapp/MBDynCase.mbd delete mode 100644 testapp/MBDynCase.mov delete mode 100644 testapp/MBDynCase2.mbd delete mode 100644 testapp/MBDynCase2.mov delete mode 100644 testapp/MBDynCase2debug1.asmt delete mode 100644 testapp/MBDynCase2debug2.asmt delete mode 100644 testapp/MBDynCase2orig.mbd delete mode 100644 testapp/MBDynCase3orig.mbd delete mode 100644 testapp/MBDynCase3orig.mov delete mode 100644 testapp/MBDynCase3origdebug1.asmt delete mode 100644 testapp/MBDynCase3origdebug2.asmt delete mode 100644 testapp/MBDynCase4orig.mbd delete mode 100644 testapp/MBDynCase4orig.mov delete mode 100644 testapp/MBDynCase4origdebug1.asmt delete mode 100644 testapp/MBDynCase4origdebug2.asmt delete mode 100644 testapp/MBDynCase5orig.mbd delete mode 100644 testapp/MBDynCase5orig.mov delete mode 100644 testapp/MBDynCase5origdebug1.asmt delete mode 100644 testapp/MBDynCase5origdebug2.asmt delete mode 100644 testapp/MBDynCase6orig.mbd delete mode 100644 testapp/MBDynCase7orig.mbd delete mode 100644 testapp/MBDynCase7orig.mov delete mode 100644 testapp/MBDynCase7origdebug1.asmt delete mode 100644 testapp/MBDynCase7origdebug2.asmt delete mode 100644 testapp/MBDynCase8orig.mbd delete mode 100644 testapp/MBDynCase8orig.mov delete mode 100644 testapp/MBDynCase8origdebug1.asmt delete mode 100644 testapp/MBDynCase8origdebug2.asmt delete mode 100644 testapp/MBDynCase9orig.mbd delete mode 100644 testapp/MBDynCase9orig.mov delete mode 100644 testapp/MBDynCase9origdebug1.asmt delete mode 100644 testapp/MBDynCase9origdebug2.asmt delete mode 100644 testapp/MBDynCaseBird.mbd delete mode 100644 testapp/MBDynCaseDebug1.mbd delete mode 100644 testapp/MBDynCaseDebug2.mbd delete mode 100644 testapp/MBDynSliderCrankTotalJoint.mbd delete mode 100644 testapp/MBDynSliderCrankTotalJointorig.mov delete mode 100644 testapp/SphericalHinge.mov delete mode 100644 testapp/SphericalHingedebug1.asmt delete mode 100644 testapp/SphericalHingedebug2.asmt diff --git a/OndselSolver/ASMTAssembly.cpp b/OndselSolver/ASMTAssembly.cpp index 9856394..12d5361 100644 --- a/OndselSolver/ASMTAssembly.cpp +++ b/OndselSolver/ASMTAssembly.cpp @@ -445,6 +445,10 @@ 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() @@ -1279,7 +1283,6 @@ void MbD::ASMTAssembly::solve() void MbD::ASMTAssembly::runPreDrag() { - debug = true; //Comment out in release build. if (debug) { outputFile("runPreDrag.asmt"); std::ofstream os("dragging.log"); @@ -1327,7 +1330,6 @@ void MbD::ASMTAssembly::runPostDrag() os << "runPostDrag" << std::endl; os.close(); } - debug = false; mbdSystem = std::make_shared(); mbdSystem->externalSystem->asmtAssembly = this; mbdSystem->runPreDrag(mbdSystem); @@ -1622,4 +1624,9 @@ void MbD::ASMTAssembly::setFilename(std::string str) filename = str; } +void MbD::ASMTAssembly::setDebug(bool todebug) +{ + debug = todebug; +} + diff --git a/OndselSolver/ASMTAssembly.h b/OndselSolver/ASMTAssembly.h index 40e6db6..53631ff 100644 --- a/OndselSolver/ASMTAssembly.h +++ b/OndselSolver/ASMTAssembly.h @@ -27,7 +27,6 @@ namespace MbD { class ASMTLimit; class SystemSolver; class ASMTItemIJ; - class MBDynSystem; class ASMTAssembly : public ASMTSpatialContainer { @@ -129,6 +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: #()))"; @@ -146,7 +146,6 @@ namespace MbD { std::shared_ptr asmtTime = ASMTTime::With(); std::shared_ptr mbdUnits = std::make_shared(); std::shared_ptr mbdSystem; - MBDynSystem* mbdynItem = nullptr; bool debug = false; }; diff --git a/OndselSolver/MBDynAxialRotationJoint.cpp b/OndselSolver/MBDynAxialRotationJoint.cpp deleted file mode 100644 index d9b954b..0000000 --- a/OndselSolver/MBDynAxialRotationJoint.cpp +++ /dev/null @@ -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 MbD::MBDynAxialRotationJoint::asmtClassNew() -{ - auto joint = ASMTRevoluteJoint::With(); - joint->initialize(); - return joint; -} diff --git a/OndselSolver/MBDynAxialRotationJoint.h b/OndselSolver/MBDynAxialRotationJoint.h deleted file mode 100644 index d17a9f3..0000000 --- a/OndselSolver/MBDynAxialRotationJoint.h +++ /dev/null @@ -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 asmtClassNew() override; - - std::shared_ptr asmtMotion; - }; - -} \ No newline at end of file diff --git a/OndselSolver/MBDynBlock.cpp b/OndselSolver/MBDynBlock.cpp deleted file mode 100644 index 045ce58..0000000 --- a/OndselSolver/MBDynBlock.cpp +++ /dev/null @@ -1,3 +0,0 @@ -#include "MBDynBlock.h" - -using namespace MbD; diff --git a/OndselSolver/MBDynBlock.h b/OndselSolver/MBDynBlock.h deleted file mode 100644 index 04c12d5..0000000 --- a/OndselSolver/MBDynBlock.h +++ /dev/null @@ -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: - - }; -} diff --git a/OndselSolver/MBDynBody.cpp b/OndselSolver/MBDynBody.cpp deleted file mode 100644 index 05966c6..0000000 --- a/OndselSolver/MBDynBody.cpp +++ /dev/null @@ -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& args) -{ - auto parser = std::make_shared(); - parser->variables = mbdynVariables(); - auto userFunc = std::make_shared(popOffTop(args), 1.0); - parser->parseUserFunction(userFunc); - auto& sym = parser->stack->top(); - mass = sym->getValue(); -} - -void MbD::MBDynBody::readInertiaMatrix(std::vector& args) -{ - auto parser = std::make_shared(); - parser->variables = mbdynVariables(); - aJmat = std::make_shared>(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(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::identitysptr(3)); - auto asmtPart = asmtAssembly()->partPartialNamed(nodeName); - asmtPart->setPrincipalMassMarker(asmtMassMarker); - } - else { - auto solver = std::make_shared(); - solver->setm(mass); - solver->setJPP(aJmat); - solver->setrPoP(rPcmP); - solver->setAPo(FullMatrix::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); - } -} diff --git a/OndselSolver/MBDynBody.h b/OndselSolver/MBDynBody.h deleted file mode 100644 index 2151fdc..0000000 --- a/OndselSolver/MBDynBody.h +++ /dev/null @@ -1,28 +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 MBDynBody : public MBDynElement - { - public: - void initialize() override; - void parseMBDyn(std::string line) override; - void readMass(std::vector& args); - void readInertiaMatrix(std::vector& args); - void createASMT() override; - - std::string bodyString, nodeName; - double mass = std::numeric_limits::min(); - FColDsptr rPcmP; - FMatDsptr aJmat; - - }; -} diff --git a/OndselSolver/MBDynClampJoint.cpp b/OndselSolver/MBDynClampJoint.cpp deleted file mode 100644 index fac6c87..0000000 --- a/OndselSolver/MBDynClampJoint.cpp +++ /dev/null @@ -1,52 +0,0 @@ -/*************************************************************************** - * 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& args) -{ - //mkr1 should be on assembly which doesn't exist in MBDyn - //mkr2 is on the node - mkr1 = std::make_shared(); - mkr1->owner = this; - mkr1->nodeStr = "Assembly"; - mkr1->rPmP = std::make_shared>(3); - mkr1->aAPm = FullMatrix::identitysptr(3); -} - -void MbD::MBDynClampJoint::readMarkerJ(std::vector& args) -{ - if (args.empty()) return; - mkr2 = std::make_shared(); - mkr2->owner = this; - mkr2->nodeStr = readStringOffTop(args); - mkr2->parseMBDynClamp(args); -} - -std::shared_ptr MbD::MBDynClampJoint::asmtClassNew() -{ - auto joint = ASMTFixedJoint::With(); - joint->initialize(); - return joint; -} diff --git a/OndselSolver/MBDynClampJoint.h b/OndselSolver/MBDynClampJoint.h deleted file mode 100644 index 49ac5b2..0000000 --- a/OndselSolver/MBDynClampJoint.h +++ /dev/null @@ -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 MBDynClampJoint : public MBDynJoint - { - public: - void parseMBDyn(std::string line) override; - void createASMT() override; - void readMarkerI(std::vector& args) override; - void readMarkerJ(std::vector& args) override; - std::shared_ptr asmtClassNew() override; - }; -} \ No newline at end of file diff --git a/OndselSolver/MBDynControlData.cpp b/OndselSolver/MBDynControlData.cpp deleted file mode 100644 index 253455d..0000000 --- a/OndselSolver/MBDynControlData.cpp +++ /dev/null @@ -1,143 +0,0 @@ -#include "MBDynControlData.h" - -using namespace MbD; - -void MbD::MBDynControlData::initialize() -{ -} - -void MbD::MBDynControlData::parseMBDyn(std::vector& 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& lines) -{ - //max iterations: 1000; - std::vector 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& lines) -{ - //default orientation: euler321; - std::vector 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& lines) -{ - //omega rotates: no; - std::vector 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& lines) -{ - //print: none; - std::vector 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& lines) -{ - //initial stiffness: 1.0, 1.0; - std::vector 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& lines) -{ - //structural nodes: 4; - std::vector 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& lines) -{ - //rigid bodies: 3; - std::vector 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& lines) -{ - //joints: 6; - std::vector 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& lines) -{ - //gravity; - std::vector tokens{ "gravity" }; - auto it = findLineWith(lines, tokens); - if (it == lines.end()) return; - lines.erase(it); -} diff --git a/OndselSolver/MBDynControlData.h b/OndselSolver/MBDynControlData.h deleted file mode 100644 index 8209b52..0000000 --- a/OndselSolver/MBDynControlData.h +++ /dev/null @@ -1,35 +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 MBDynControlData : public MBDynBlock - { - public: - void initialize() override; - void parseMBDyn(std::vector& lines) override; - void readMaxIterations(std::vector& lines); - void readDefaultOrientation(std::vector& lines); - void readOmegaRotates(std::vector& lines); - void readPrint(std::vector& lines); - void readInitialStiffness(std::vector& lines); - void readStructuralNodes(std::vector& lines); - void readRigidBodies(std::vector& lines); - void readJoints(std::vector& lines); - void readGravity(std::vector& 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; - }; -} diff --git a/OndselSolver/MBDynData.cpp b/OndselSolver/MBDynData.cpp deleted file mode 100644 index 383da24..0000000 --- a/OndselSolver/MBDynData.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "MBDynData.h" - -using namespace MbD; - -void MbD::MBDynData::initialize() -{ -} - -void MbD::MBDynData::parseMBDyn(std::vector& lines) -{ - assert(lines.size() == 3); - std::vector tokens{ "problem:", "initial", "value" }; - auto problemit = findLineWith(lines, tokens); - assert(problemit != lines.end()); -} diff --git a/OndselSolver/MBDynData.h b/OndselSolver/MBDynData.h deleted file mode 100644 index f16a092..0000000 --- a/OndselSolver/MBDynData.h +++ /dev/null @@ -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& lines) override; - - }; -} diff --git a/OndselSolver/MBDynDrive.cpp b/OndselSolver/MBDynDrive.cpp deleted file mode 100644 index 6ca485f..0000000 --- a/OndselSolver/MBDynDrive.cpp +++ /dev/null @@ -1,151 +0,0 @@ -#include - -#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& 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); -} diff --git a/OndselSolver/MBDynDrive.h b/OndselSolver/MBDynDrive.h deleted file mode 100644 index 31425e4..0000000 --- a/OndselSolver/MBDynDrive.h +++ /dev/null @@ -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& args); - void createASMT() override; - - std::string driveString, driveName, formula; - - }; -} - diff --git a/OndselSolver/MBDynDriveHingeJoint.cpp b/OndselSolver/MBDynDriveHingeJoint.cpp deleted file mode 100644 index a3aa68b..0000000 --- a/OndselSolver/MBDynDriveHingeJoint.cpp +++ /dev/null @@ -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 MbD::MBDynDriveHingeJoint::asmtClassNew() -{ - assert(false); - return ASMTJoint::With(); -} diff --git a/OndselSolver/MBDynDriveHingeJoint.h b/OndselSolver/MBDynDriveHingeJoint.h deleted file mode 100644 index 388b442..0000000 --- a/OndselSolver/MBDynDriveHingeJoint.h +++ /dev/null @@ -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 asmtClassNew() override; - }; - -} \ No newline at end of file diff --git a/OndselSolver/MBDynElement.cpp b/OndselSolver/MBDynElement.cpp deleted file mode 100644 index efc3b2d..0000000 --- a/OndselSolver/MBDynElement.cpp +++ /dev/null @@ -1,11 +0,0 @@ -#include "MBDynElement.h" - -using namespace MbD; - -void MbD::MBDynElement::initialize() -{ -} - -void MBDynElement::parseMBDyn(std::vector &lines) { - MBDynItem::parseMBDyn(lines); -} diff --git a/OndselSolver/MBDynElement.h b/OndselSolver/MBDynElement.h deleted file mode 100644 index 9b24e22..0000000 --- a/OndselSolver/MBDynElement.h +++ /dev/null @@ -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& lines) override; - void initialize() override; - - }; -} diff --git a/OndselSolver/MBDynGravity.cpp b/OndselSolver/MBDynGravity.cpp deleted file mode 100644 index 1fab0ae..0000000 --- a/OndselSolver/MBDynGravity.cpp +++ /dev/null @@ -1,41 +0,0 @@ -#include - -#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&) -{ - assert(false); - noop(); -} - -void MbD::MBDynGravity::createASMT() -{ - auto asmtGravity = ASMTConstantGravity::With(); - asmtGravity->setg(gvec); - asmtAssembly()->setConstantGravity(asmtGravity); -} diff --git a/OndselSolver/MBDynGravity.h b/OndselSolver/MBDynGravity.h deleted file mode 100644 index 0ae1a80..0000000 --- a/OndselSolver/MBDynGravity.h +++ /dev/null @@ -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& args); - void createASMT() override; - - std::string gravityString, formula; - FColDsptr gvec; - - }; -} diff --git a/OndselSolver/MBDynInLineJoint.cpp b/OndselSolver/MBDynInLineJoint.cpp deleted file mode 100644 index c19071f..0000000 --- a/OndselSolver/MBDynInLineJoint.cpp +++ /dev/null @@ -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 MbD::MBDynInLineJoint::asmtClassNew() -{ - auto joint = ASMTPointInLineJoint::With(); - joint->initialize(); - return joint; -} diff --git a/OndselSolver/MBDynInLineJoint.h b/OndselSolver/MBDynInLineJoint.h deleted file mode 100644 index 4a4b785..0000000 --- a/OndselSolver/MBDynInLineJoint.h +++ /dev/null @@ -1,22 +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 MBDynInLineJoint : public MBDynJoint - { - public: - void parseMBDyn(std::string line) override; - void createASMT() override; - std::shared_ptr asmtClassNew() override; - }; -} diff --git a/OndselSolver/MBDynInPlaneJoint.cpp b/OndselSolver/MBDynInPlaneJoint.cpp deleted file mode 100644 index 7af9224..0000000 --- a/OndselSolver/MBDynInPlaneJoint.cpp +++ /dev/null @@ -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 MbD::MBDynInPlaneJoint::asmtClassNew() -{ - auto joint = ASMTPointInPlaneJoint::With(); - joint->initialize(); - return joint; -} diff --git a/OndselSolver/MBDynInPlaneJoint.h b/OndselSolver/MBDynInPlaneJoint.h deleted file mode 100644 index 1706530..0000000 --- a/OndselSolver/MBDynInPlaneJoint.h +++ /dev/null @@ -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 asmtClassNew() override; - - }; -} - diff --git a/OndselSolver/MBDynInitialValue.cpp b/OndselSolver/MBDynInitialValue.cpp deleted file mode 100644 index 5211b87..0000000 --- a/OndselSolver/MBDynInitialValue.cpp +++ /dev/null @@ -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& 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& lines) -{ - //initial time: 0.; - std::vector 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& lines) -{ - //final time: 5.; - std::vector 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& lines) -{ - //time step: 1.e-2; - std::vector 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& lines) -{ - //max iterations: 10; - std::vector 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& lines) -{ - //tolerance: 1.e-6; - std::vector 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& lines) -{ - //derivatives tolerance: 0.0001; - std::vector 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& lines) -{ - //derivatives max iterations: 100; - std::vector 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& lines) -{ - //derivatives coefficient: auto; - std::vector 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); -} diff --git a/OndselSolver/MBDynInitialValue.h b/OndselSolver/MBDynInitialValue.h deleted file mode 100644 index cb88665..0000000 --- a/OndselSolver/MBDynInitialValue.h +++ /dev/null @@ -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& lines) override; - void readInitialTime(std::vector& lines); - void readFinalTime(std::vector& lines); - void readTimeStep(std::vector& lines); - void readMaxIterations(std::vector& lines); - void readTolerance(std::vector& lines); - void readDerivativesTolerance(std::vector& lines); - void readDerivativesMaxIterations(std::vector& lines); - void readDerivativesCoefficient(std::vector& 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"; - }; -} diff --git a/OndselSolver/MBDynItem.cpp b/OndselSolver/MBDynItem.cpp deleted file mode 100644 index b88563b..0000000 --- a/OndselSolver/MBDynItem.cpp +++ /dev/null @@ -1,464 +0,0 @@ -#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&) -{ - assert(false); -} - -void MbD::MBDynItem::parseMBDyn(std::string) -{ - assert(false); -} - -std::vector 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 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(); - 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 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::iterator MbD::MBDynItem::findLineWith(std::vector& lines, std::vector& 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& 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>> MbD::MBDynItem::mbdynNodes() -{ - return owner->mbdynNodes(); -} - -std::shared_ptr>> MbD::MBDynItem::mbdynBodies() -{ - return owner->mbdynBodies(); -} - -std::shared_ptr>> MbD::MBDynItem::mbdynJoints() -{ - return owner->mbdynJoints(); -} - -std::shared_ptr>> MbD::MBDynItem::mbdynDrives() -{ - return owner->mbdynDrives(); -} - -std::vector MbD::MBDynItem::nodeNames() -{ - return owner->nodeNames(); -} - -std::shared_ptr> MbD::MBDynItem::mbdynVariables() -{ - return owner->mbdynVariables(); -} - -std::shared_ptr>> MbD::MBDynItem::mbdynReferences() -{ - return owner->mbdynReferences(); -} - -void MbD::MBDynItem::createASMT() -{ - assert(false); -} - -std::shared_ptr MbD::MBDynItem::nodeAt(std::string nodeName) -{ - return owner->nodeAt(nodeName); -} - -int MbD::MBDynItem::nodeidAt(std::string nodeName) -{ - return owner->nodeidAt(nodeName); -} - -std::shared_ptr MbD::MBDynItem::bodyWithNode(std::string nodeName) -{ - return owner->bodyWithNode(nodeName); -} - -std::shared_ptr MbD::MBDynItem::asmtAssembly() -{ - return owner->asmtAssembly(); -} - -std::string MbD::MBDynItem::formulaFromDrive(std::string driveName, std::string varName) -{ - std::vector 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& args) -{ - auto parser = std::make_shared(); - parser->variables = mbdynVariables(); - auto rFfF = std::make_shared>(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(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& args) -{ - auto rOfO = std::make_shared>(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& args) -{ - return readVector3(args); -} - -FMatDsptr MbD::MBDynItem::readOrientation(std::vector& args) -{ - auto aAOf = FullMatrix::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& args) -{ - auto parser = std::make_shared(); - 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>(); - euler->rotOrder = std::make_shared>(std::initializer_list{ 1, 2, 3 }); - for (size_t i = 0; i < 3; i++) - { - auto userFunc = std::make_shared(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::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::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>(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::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::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>(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::identitysptr(3); - aAFf->atijputFullColumn(0, 0, vecX); - aAFf->atijputFullColumn(0, 1, vecY); - aAFf->atijputFullColumn(0, 2, vecZ); - return aAFf; - } - auto aAFf = FullMatrix::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(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& args) -{ - std::string str = args.at(0); //Must copy string - args.erase(args.begin()); - return str; -} - -std::string MbD::MBDynItem::readStringOffTop(std::vector& 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& args) -{ - name = readStringOffTop(args); -} - -std::string MbD::MBDynItem::readJointTypeOffTop(std::vector& 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; -} diff --git a/OndselSolver/MBDynItem.h b/OndselSolver/MBDynItem.h deleted file mode 100644 index 418679c..0000000 --- a/OndselSolver/MBDynItem.h +++ /dev/null @@ -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& lines); - virtual void parseMBDyn(std::string line); - static std::vector collectArgumentsFor(std::string title, std::string& statement); - std::vector::iterator findLineWith(std::vector& lines, std::vector& tokens); - static bool lineHasTokens(const std::string& line, std::vector& tokens); - virtual std::shared_ptr>> mbdynNodes(); - virtual std::shared_ptr>> mbdynBodies(); - virtual std::shared_ptr>> mbdynJoints(); - virtual std::shared_ptr>> mbdynDrives(); - virtual std::vector nodeNames(); - virtual std::shared_ptr> mbdynVariables(); - virtual std::shared_ptr>> mbdynReferences(); - virtual void createASMT(); - virtual std::shared_ptr nodeAt(std::string nodeName); - virtual int nodeidAt(std::string nodeName); - virtual std::shared_ptr bodyWithNode(std::string nodeName); - virtual std::shared_ptr asmtAssembly(); - virtual std::string formulaFromDrive(std::string driveName, std::string varName); - void logString(std::string& str); - - FColDsptr readVector3(std::vector& args); - FColDsptr readPosition(std::vector& args); - FColDsptr readBasicPosition(std::vector& args); - FMatDsptr readOrientation(std::vector& args); - FMatDsptr readBasicOrientation(std::vector& args); - std::string popOffTop(std::vector& args); - std::string readStringOffTop(std::vector& args); - void readName(std::vector& args); - std::string readJointTypeOffTop(std::vector& args); - std::string readToken(std::string& line); - - std::string name; - MBDynItem* owner = nullptr; - std::shared_ptr asmtItem; - std::vector arguments; - - - }; -} diff --git a/OndselSolver/MBDynJoint.cpp b/OndselSolver/MBDynJoint.cpp deleted file mode 100644 index f4b0f62..0000000 --- a/OndselSolver/MBDynJoint.cpp +++ /dev/null @@ -1,410 +0,0 @@ -/*************************************************************************** - * Copyright (c) 2023 Ondsel, Inc. * - * * - * This file is part of OndselSolver. * - * * - * See LICENSE file for details about copyright. * - ***************************************************************************/ - -#include - -#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 MbD::MBDynJoint::newJoint(std::string statement) -{ - //std::shared_ptr joint; - //std::vector tokens{ "total", "joint" }; - std::vector tokens; - tokens = { "axial", "rotation" }; - if (lineHasTokens(statement, tokens)) { - return std::make_shared(); - } - tokens = { "clamp" }; - if (lineHasTokens(statement, tokens)) { - return std::make_shared(); - } - tokens = { "drive", "hinge" }; - if (lineHasTokens(statement, tokens)) { - return std::make_shared(); - } - tokens = { "in", "line" }; - if (lineHasTokens(statement, tokens)) { - return std::make_shared(); - } - tokens = { "in", "plane" }; - if (lineHasTokens(statement, tokens)) { - return std::make_shared(); - } - tokens = { "prismatic" }; - if (lineHasTokens(statement, tokens)) { - return std::make_shared(); - } - tokens = { "revolute", "hinge" }; - if (lineHasTokens(statement, tokens)) { - return std::make_shared(); - } - tokens = { "revolute", "pin" }; - if (lineHasTokens(statement, tokens)) { - return std::make_shared(); - } - tokens = { "spherical", "hinge" }; - if (lineHasTokens(statement, tokens)) { - return std::make_shared(); - } - tokens = { "total", "joint" }; - if (lineHasTokens(statement, tokens)) { - return std::make_shared(); - } - return std::make_shared(); -} - -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& 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(); -// mkr1->owner = this; -// mkr1->nodeStr = "Assembly"; -// mkr1->rPmP = std::make_shared>(3); -// mkr1->aAPm = FullMatrix::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& args) -{ - mkr1 = std::make_shared(); - 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(args.begin(), it); - args.erase(args.begin(), it); - mkr1->parseMBDyn(markerArgs); -} - -void MbD::MBDynJoint::readMarkerJ(std::vector& args) -{ - if (args.empty()) return; - mkr2 = std::make_shared(); - mkr2->owner = this; - mkr2->nodeStr = readStringOffTop(args); - mkr2->parseMBDyn(args); -} - -void MbD::MBDynJoint::readTotalJointMarkerI(std::vector& args) -{ - mkr1 = std::make_shared(); - 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(args.begin(), it); - args.erase(args.begin(), it); - mkr1->parseMBDynTotalJointMarker(markerArgs); -} - -void MbD::MBDynJoint::readTotalJointMarkerJ(std::vector& args) -{ - if (args.empty()) return; - mkr2 = std::make_shared(); - mkr2->owner = this; - mkr2->nodeStr = readStringOffTop(args); - mkr2->parseMBDynTotalJointMarker(args); -} - -void MbD::MBDynJoint::readClampMarkerJ(std::vector& args) -{ - if (args.empty()) return; - mkr2 = std::make_shared(); - mkr2->owner = this; - mkr2->nodeStr = readStringOffTop(args); - mkr2->parseMBDynClamp(args); -} - -void MbD::MBDynJoint::readFunction(std::vector& 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& args) -{ - std::vector 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 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 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(); -} diff --git a/OndselSolver/MBDynJoint.h b/OndselSolver/MBDynJoint.h deleted file mode 100644 index c5b794a..0000000 --- a/OndselSolver/MBDynJoint.h +++ /dev/null @@ -1,40 +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" -#include "MBDynMarker.h" - -namespace MbD { - class ASMTJoint; - - class MBDynJoint : public MBDynElement - { - public: - static std::shared_ptr newJoint(std::string line); - void initialize() override; - void parseMBDyn(std::string line) override; - virtual void readJointType(std::vector& args); - virtual void readMarkerI(std::vector& args); - virtual void readMarkerJ(std::vector& args); - void readTotalJointMarkerI(std::vector& args); - void readTotalJointMarkerJ(std::vector& args); - void readClampMarkerJ(std::vector& args); - virtual void readFunction(std::vector& args); - void readTotalJointFunction(std::vector& args); - void createASMT() override; - virtual std::shared_ptr asmtClassNew(); - std::string asmtFormula(); - std::string asmtFormula(std::string mbdynFormula); - std::string asmtFormulaIntegral(); - - std::string jointString, joint_type; - std::shared_ptr mkr1, mkr2; - std::string formula; - }; -} diff --git a/OndselSolver/MBDynMarker.cpp b/OndselSolver/MBDynMarker.cpp deleted file mode 100644 index b7630c3..0000000 --- a/OndselSolver/MBDynMarker.cpp +++ /dev/null @@ -1,74 +0,0 @@ -#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& args) -{ - rPmP = std::make_shared>(3); - aAPm = FullMatrix::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(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& args) -{ - parseMBDyn(args); - aAPm2 = readOrientation(args); - assert(aAPm->equaltol(aAPm2, 1.0e-9)); -} - -void MbD::MBDynMarker::parseMBDynClamp(std::vector& args) -{ - //rOmO = rOPO + aAOP*rPmP - //aAOm = aAOP * aAPm - auto rOmO = std::make_shared>(3); - auto aAOm = FullMatrix::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); - } -} diff --git a/OndselSolver/MBDynMarker.h b/OndselSolver/MBDynMarker.h deleted file mode 100644 index a69e0fc..0000000 --- a/OndselSolver/MBDynMarker.h +++ /dev/null @@ -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 "MBDynItem.h" - -namespace MbD { - - class MBDynMarker : public MBDynItem - { - public: - void parseMBDyn(std::vector& args) override; - void parseMBDynTotalJointMarker(std::vector& args); - void parseMBDynClamp(std::vector& args); - void createASMT() override; - - std::string nodeStr; - FColDsptr rPmP; //part to marker - FMatDsptr aAPm, aAPm2; - }; -} diff --git a/OndselSolver/MBDynNode.cpp b/OndselSolver/MBDynNode.cpp deleted file mode 100644 index 2fc2a71..0000000 --- a/OndselSolver/MBDynNode.cpp +++ /dev/null @@ -1,41 +0,0 @@ -#include "MBDynNode.h" -#include "ASMTPart.h" -#include "EulerAngles.h" - -using namespace MbD; - -void MbD::MBDynNode::initialize() -{ -} - -void MbD::MBDynNode::parseMBDyn(std::vector&) -{ - assert(false); -} - -void MbD::MBDynNode::outputLine(size_t i, std::ostream& os) -{ - auto id = nodeidAt(name); - auto asmtPart = std::static_pointer_cast(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; -} diff --git a/OndselSolver/MBDynNode.h b/OndselSolver/MBDynNode.h deleted file mode 100644 index 65c4b63..0000000 --- a/OndselSolver/MBDynNode.h +++ /dev/null @@ -1,21 +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 MBDynNode : public MBDynItem - { - public: - void initialize() override; - void parseMBDyn(std::vector& lines) override; - void outputLine(size_t i, std::ostream& os); - - }; -} diff --git a/OndselSolver/MBDynPrismaticJoint.cpp b/OndselSolver/MBDynPrismaticJoint.cpp deleted file mode 100644 index be0a40c..0000000 --- a/OndselSolver/MBDynPrismaticJoint.cpp +++ /dev/null @@ -1,29 +0,0 @@ -/*************************************************************************** - * 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 MbD::MBDynPrismaticJoint::asmtClassNew() -{ - auto joint = ASMTNoRotationJoint::With(); - joint->initialize(); - return joint; -} diff --git a/OndselSolver/MBDynPrismaticJoint.h b/OndselSolver/MBDynPrismaticJoint.h deleted file mode 100644 index f770d69..0000000 --- a/OndselSolver/MBDynPrismaticJoint.h +++ /dev/null @@ -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 MBDynPrismaticJoint : public MBDynJoint - { - public: - void parseMBDyn(std::string line) override; - void createASMT() override; - std::shared_ptr asmtClassNew() override; - - }; -} diff --git a/OndselSolver/MBDynReference.cpp b/OndselSolver/MBDynReference.cpp deleted file mode 100644 index c35c77a..0000000 --- a/OndselSolver/MBDynReference.cpp +++ /dev/null @@ -1,66 +0,0 @@ -#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& args) -{ - auto parser = std::make_shared(); - parser->variables = mbdynVariables(); - vOfO = std::make_shared>(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(popOffTop(args), 1.0); - parser->parseUserFunction(userFunc); - auto& sym = parser->stack->top(); - vOfO->at(i) = sym->getValue(); - } - } -} - -void MbD::MBDynReference::readOmega(std::vector& args) -{ - auto parser = std::make_shared(); - parser->variables = mbdynVariables(); - omeOfO = std::make_shared>(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(popOffTop(args), 1.0); - parser->parseUserFunction(userFunc); - auto& sym = parser->stack->top(); - omeOfO->at(i) = sym->getValue(); - } - } -} diff --git a/OndselSolver/MBDynReference.h b/OndselSolver/MBDynReference.h deleted file mode 100644 index dfe9f90..0000000 --- a/OndselSolver/MBDynReference.h +++ /dev/null @@ -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 "MBDynItem.h" - -namespace MbD { - - class MBDynReference : public MBDynItem - { - public: - void initialize() override; - void parseMBDyn(std::string line) override; - void readVelocity(std::vector& args); - void readOmega(std::vector& args); - - std::string refString, name; - FColDsptr rOfO, vOfO, omeOfO; - FMatDsptr aAOf; - }; -} diff --git a/OndselSolver/MBDynRevoluteHingeJoint.cpp b/OndselSolver/MBDynRevoluteHingeJoint.cpp deleted file mode 100644 index 0cdc426..0000000 --- a/OndselSolver/MBDynRevoluteHingeJoint.cpp +++ /dev/null @@ -1,29 +0,0 @@ -/*************************************************************************** - * 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 MbD::MBDynRevoluteHingeJoint::asmtClassNew() -{ - auto joint = ASMTRevoluteJoint::With(); - joint->initialize(); - return joint; -} diff --git a/OndselSolver/MBDynRevoluteHingeJoint.h b/OndselSolver/MBDynRevoluteHingeJoint.h deleted file mode 100644 index c87e8a6..0000000 --- a/OndselSolver/MBDynRevoluteHingeJoint.h +++ /dev/null @@ -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 asmtClassNew() override; - - }; -} diff --git a/OndselSolver/MBDynRevolutePinJoint.cpp b/OndselSolver/MBDynRevolutePinJoint.cpp deleted file mode 100644 index 0e1d422..0000000 --- a/OndselSolver/MBDynRevolutePinJoint.cpp +++ /dev/null @@ -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 MbD::MBDynRevolutePinJoint::asmtClassNew() -{ - assert(false); - return ASMTJoint::With(); -} diff --git a/OndselSolver/MBDynRevolutePinJoint.h b/OndselSolver/MBDynRevolutePinJoint.h deleted file mode 100644 index 471cafd..0000000 --- a/OndselSolver/MBDynRevolutePinJoint.h +++ /dev/null @@ -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 asmtClassNew() override; - - }; -} - diff --git a/OndselSolver/MBDynSphericalHingeJoint.cpp b/OndselSolver/MBDynSphericalHingeJoint.cpp deleted file mode 100644 index 9fbb207..0000000 --- a/OndselSolver/MBDynSphericalHingeJoint.cpp +++ /dev/null @@ -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 MbD::MBDynSphericalHingeJoint::asmtClassNew() -{ - auto joint = ASMTSphericalJoint::With(); - joint->initialize(); - return joint; -} diff --git a/OndselSolver/MBDynSphericalHingeJoint.h b/OndselSolver/MBDynSphericalHingeJoint.h deleted file mode 100644 index d342b30..0000000 --- a/OndselSolver/MBDynSphericalHingeJoint.h +++ /dev/null @@ -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 asmtClassNew() override; - - }; -} diff --git a/OndselSolver/MBDynStructural.cpp b/OndselSolver/MBDynStructural.cpp deleted file mode 100644 index 1731524..0000000 --- a/OndselSolver/MBDynStructural.cpp +++ /dev/null @@ -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>(3); - aAOf = FullMatrix::identitysptr(3); - vOfO = std::make_shared>(3); - omeOfO = std::make_shared>(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& args) -{ - auto parser = std::make_shared(); - parser->variables = mbdynVariables(); - vOfO = std::make_shared>(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(popOffTop(args), 1.0); - parser->parseUserFunction(userFunc); - auto& sym = parser->stack->top(); - vOfO->at(i) = sym->getValue(); - } - } -} - -void MbD::MBDynStructural::readOmega(std::vector& args) -{ - auto parser = std::make_shared(); - parser->variables = mbdynVariables(); - omeOfO = std::make_shared>(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(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); -} diff --git a/OndselSolver/MBDynStructural.h b/OndselSolver/MBDynStructural.h deleted file mode 100644 index 542cd5b..0000000 --- a/OndselSolver/MBDynStructural.h +++ /dev/null @@ -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& args); - void readOmega(std::vector& args); - void createASMT() override; - - std::string strucString, type; - FColDsptr rOfO, vOfO, omeOfO; - FMatDsptr aAOf; - }; -} diff --git a/OndselSolver/MBDynSystem.cpp b/OndselSolver/MBDynSystem.cpp deleted file mode 100644 index dbb88dd..0000000 --- a/OndselSolver/MBDynSystem.cpp +++ /dev/null @@ -1,453 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#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 lines; - while (std::getline(stream, line)) { - lines.push_back(line); - } - eraseComments(lines); - auto statements = collectStatements(lines); - - auto system = std::make_shared(); - system->setFilename(filename); - system->parseMBDyn(statements); - system->runKINEMATIC(); -} - -void MbD::MBDynSystem::parseMBDyn(std::vector& lines) -{ - readDataBlock(lines); - readInitialValueBlock(lines); - readControlDataBlock(lines); - readLabels(lines); - readVariables(lines); - readReferences(lines); - readNodesBlock(lines); - readElementsBlock(lines); - assert(lines.empty()); -} - -std::shared_ptr>> MbD::MBDynSystem::mbdynNodes() -{ - return nodes; -} - -std::shared_ptr>> MbD::MBDynSystem::mbdynBodies() -{ - return bodies; -} - -std::shared_ptr>> MbD::MBDynSystem::mbdynJoints() -{ - return joints; -} - -std::shared_ptr>> MbD::MBDynSystem::mbdynDrives() -{ - return drives; -} - -std::shared_ptr> MbD::MBDynSystem::mbdynVariables() -{ - return variables; -} - -std::shared_ptr>> 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 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 MbD::MBDynSystem::bodyWithNode(std::string nodeName) -{ - for (auto& body : *bodies) { - if (body->nodeName == nodeName) return body; - } - return nullptr; -} - -std::shared_ptr MbD::MBDynSystem::asmtAssembly() -{ - return std::static_pointer_cast(asmtItem); -} - -std::vector MbD::MBDynSystem::nodeNames() -{ - auto nodeNames = std::vector(); - 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(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(std::numeric_limits::max_digits10); - 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& lines) -{ - std::vector tokens{ "begin:", "data" }; - auto beginit = findLineWith(lines, tokens); - std::vector tokens1{ "end:", "data" }; - auto endit = findLineWith(lines, tokens1); - std::vector blocklines = { beginit, endit + 1 }; - parseMBDynData(blocklines); - lines.erase(beginit, endit + 1); -} - -void MbD::MBDynSystem::readInitialValueBlock(std::vector& lines) -{ - std::vector tokens{ "begin:", "initial", "value" }; - auto beginit = findLineWith(lines, tokens); - std::vector tokens1{ "end:", "initial", "value" }; - auto endit = findLineWith(lines, tokens1); - std::vector blocklines = { beginit, endit + 1 }; - initialValue = std::make_shared(); - initialValue->owner = this; - initialValue->parseMBDyn(blocklines); - lines.erase(beginit, endit + 1); -} - -void MbD::MBDynSystem::readControlDataBlock(std::vector& lines) -{ - std::vector tokens{ "begin:", "control", "data" }; - auto beginit = findLineWith(lines, tokens); - std::vector tokens1{ "end:", "control", "data" }; - auto endit = findLineWith(lines, tokens1); - std::vector blocklines = { beginit, endit + 1 }; - controlData = std::make_shared(); - controlData->owner = this; - controlData->parseMBDyn(blocklines); - lines.erase(beginit, endit + 1); -} - -void MbD::MBDynSystem::readLabels(std::vector& lines) -{ - parseMBDynLabels(lines); -} - -void MbD::MBDynSystem::readVariables(std::vector& lines) -{ - parseMBDynVariables(lines); -} - -void MbD::MBDynSystem::readReferences(std::vector& lines) -{ - parseMBDynReferences(lines); -} - -void MbD::MBDynSystem::readNodesBlock(std::vector& lines) -{ - std::vector tokens{ "begin:", "nodes" }; - auto beginit = findLineWith(lines, tokens); - std::vector tokens1{ "end:", "nodes" }; - auto endit = findLineWith(lines, tokens1); - std::vector blocklines = { beginit, endit + 1 }; - parseMBDynNodes(blocklines); - lines.erase(beginit, endit + 1); -} - -void MbD::MBDynSystem::readElementsBlock(std::vector& lines) -{ - std::vector tokens{ "begin:", "elements" }; - auto beginit = findLineWith(lines, tokens); - std::vector tokens1{ "end:", "elements" }; - auto endit = findLineWith(lines, tokens1); - std::vector blocklines = { beginit, endit + 1 }; - parseMBDynElements(blocklines); - lines.erase(beginit, endit + 1); -} - -void MbD::MBDynSystem::eraseComments(std::vector& 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 MbD::MBDynSystem::collectStatements(std::vector& lines) -{ - auto statements = std::vector(); - 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& lines) -{ - assert(lines.size() == 3); - std::vector tokens{ "problem:", "initial", "value" }; - auto problemit = findLineWith(lines, tokens); - assert(problemit != lines.end()); - data = *problemit; -} - -void MbD::MBDynSystem::parseMBDynNodes(std::vector& lines) -{ - nodes = std::make_shared>>(); - std::vector tokens{ "structural:" }; - while (true) { - auto it = findLineWith(lines, tokens); - if (it != lines.end()) { - auto structural = std::make_shared(); - structural->owner = this; - structural->parseMBDyn(*it); - nodes->push_back(structural); - lines.erase(it); - } - else { - break; - } - } -} - -void MbD::MBDynSystem::parseMBDynElements(std::vector& lines) -{ - assert(lines[0].find("begin: elements") != std::string::npos); - lines.erase(lines.begin()); - bodies = std::make_shared>>(); - joints = std::make_shared>>(); - drives = std::make_shared>>(); - std::vector bodyTokens{ "body:" }; - std::vector jointTokens{ "joint:" }; - std::vector driveTokens{ "drive", "caller:" }; - std::vector gravityTokens{ "gravity" }; - std::vector::iterator it; - while (true) { - it = findLineWith(lines, bodyTokens); - if (it != lines.end()) { - auto body = std::make_shared(); - 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(); - 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(); - 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(); - 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& lines) -{ - variables = std::make_shared>(); - std::string str, variable; - std::vector 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(); - parser->variables = variables; - auto userFunc = std::make_shared(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& lines) -{ - labels = std::make_shared>(); - std::string str, label; - int intValue; - std::vector 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& lines) -{ - references = std::make_shared>>(); - std::string str, refName; - std::vector tokens{ "reference:" }; - while (true) { - auto it = findLineWith(lines, tokens); - if (it != lines.end()) { - auto reference = std::make_shared(); - reference->owner = this; - reference->parseMBDyn(*it); - references->insert(std::make_pair(reference->name, reference)); - lines.erase(it); - } - else { - break; - } - } -} diff --git a/OndselSolver/MBDynSystem.h b/OndselSolver/MBDynSystem.h deleted file mode 100644 index f407556..0000000 --- a/OndselSolver/MBDynSystem.h +++ /dev/null @@ -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 -#include - -#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& lines); - static std::vector collectStatements(std::vector& lines); - void initialize() override; - void parseMBDyn(std::vector& lines) override; - void parseMBDynData(std::vector& lines); - void parseMBDynNodes(std::vector& lines); - void parseMBDynElements(std::vector& lines); - void parseMBDynVariables(std::vector& lines); - void parseMBDynLabels(std::vector& lines); - void parseMBDynReferences(std::vector& lines); - std::shared_ptr>> mbdynNodes() override; - std::shared_ptr>> mbdynBodies() override; - std::shared_ptr>> mbdynJoints() override; - std::shared_ptr>> mbdynDrives() override; - std::shared_ptr> mbdynVariables() override; - std::shared_ptr>> mbdynReferences() override; - void createASMT() override; - std::shared_ptr nodeAt(std::string nodeName) override; - int nodeidAt(std::string nodeName) override; - std::shared_ptr bodyWithNode(std::string nodeName) override; - std::shared_ptr asmtAssembly() override; - std::vector nodeNames() override; - - void runKINEMATIC(); - void outputFiles(); - void setFilename(std::string filename); - void readDataBlock(std::vector& lines); - void readInitialValueBlock(std::vector& lines); - void readControlDataBlock(std::vector& lines); - void readLabels(std::vector& lines); - void readVariables(std::vector& lines); - void readReferences(std::vector& lines); - void readNodesBlock(std::vector& lines); - void readElementsBlock(std::vector& lines); - - std::string filename = ""; - std::string data; - std::shared_ptr initialValue; - std::shared_ptr controlData; - std::shared_ptr>> nodes; - std::shared_ptr>> bodies; - std::shared_ptr>> joints; - std::shared_ptr>> drives; - std::shared_ptr gravity; - std::shared_ptr> variables; - std::shared_ptr> labels; - std::shared_ptr>> references; - - }; -} diff --git a/OndselSolver/MBDynTotalJoint.cpp b/OndselSolver/MBDynTotalJoint.cpp deleted file mode 100644 index 703e722..0000000 --- a/OndselSolver/MBDynTotalJoint.cpp +++ /dev/null @@ -1,123 +0,0 @@ -/*************************************************************************** - * Copyright (c) 2023 Ondsel, Inc. * - * * - * This file is part of OndselSolver. * - * * - * See LICENSE file for details about copyright. * - ***************************************************************************/ - -#include - -#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& args) -{ - mkr1 = std::make_shared(); - 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(args.begin(), it); - args.erase(args.begin(), it); - mkr1->parseMBDynTotalJointMarker(markerArgs); -} - -void MbD::MBDynTotalJoint::readMarkerJ(std::vector& args) -{ - if (args.empty()) return; - mkr2 = std::make_shared(); - mkr2->owner = this; - mkr2->nodeStr = readStringOffTop(args); - mkr2->parseMBDynTotalJointMarker(args); -} - -void MbD::MBDynTotalJoint::readPositionConstraints(std::vector& args) -{ - std::vector tokens{ "position", "constraint" }; - assert(lineHasTokens(popOffTop(args), tokens)); - positionConstraints = std::vector(); - positionConstraints.push_back(readStringOffTop(args)); - positionConstraints.push_back(readStringOffTop(args)); - positionConstraints.push_back(readStringOffTop(args)); - readPositionFormulas(args); -} - -void MbD::MBDynTotalJoint::readOrientationConstraints(std::vector& args) -{ - std::vector tokens{ "orientation", "constraint" }; - assert(lineHasTokens(popOffTop(args), tokens)); - orientationConstraints = std::vector(); - orientationConstraints.push_back(readStringOffTop(args)); - orientationConstraints.push_back(readStringOffTop(args)); - orientationConstraints.push_back(readStringOffTop(args)); - readOrientationFormulas(args); -} - -void MbD::MBDynTotalJoint::readPositionFormulas(std::vector& args) -{ - std::string str = readStringOffTop(args); - if (str == "null") return; - assert(false); -} - -void MbD::MBDynTotalJoint::readOrientationFormulas(std::vector& 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(); - 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))); - } -} diff --git a/OndselSolver/MBDynTotalJoint.h b/OndselSolver/MBDynTotalJoint.h deleted file mode 100644 index 413e6b4..0000000 --- a/OndselSolver/MBDynTotalJoint.h +++ /dev/null @@ -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& args) override; - void readMarkerJ(std::vector& args) override; - void readPositionConstraints(std::vector& args); - void readOrientationConstraints(std::vector& args); - void readPositionFormulas(std::vector& args); - void readOrientationFormulas(std::vector& args); - void createASMT() override; - - std::vector positionConstraints = std::vector(3); - std::vector orientationConstraints = std::vector(3); - std::vector positionFormulas = std::vector(3); - std::vector orientationFormulas = std::vector(3); - }; -} diff --git a/OndselSolver/OndselSolver.vcxproj b/OndselSolver/OndselSolver.vcxproj index 4b8053b..7fa4c62 100644 --- a/OndselSolver/OndselSolver.vcxproj +++ b/OndselSolver/OndselSolver.vcxproj @@ -255,31 +255,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - @@ -595,31 +570,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - @@ -834,18 +784,6 @@ - - - - - - - - - - - - @@ -858,10 +796,6 @@ - - - - diff --git a/OndselSolver/OndselSolver.vcxproj.filters b/OndselSolver/OndselSolver.vcxproj.filters index 50bd51c..438727e 100644 --- a/OndselSolver/OndselSolver.vcxproj.filters +++ b/OndselSolver/OndselSolver.vcxproj.filters @@ -810,48 +810,9 @@ Source Files - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - Source Files - - Source Files - Source Files @@ -864,9 +825,6 @@ Source Files - - Source Files - Source Files @@ -885,9 +843,6 @@ Source Files - - Source Files - Source Files @@ -936,36 +891,6 @@ Source Files - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - - - Source Files - Source Files @@ -1023,6 +948,12 @@ Source Files + + Source Files + + + Source Files + @@ -1826,48 +1757,9 @@ Header Files - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - Header Files - - Header Files - Header Files @@ -1880,9 +1772,6 @@ Header Files - - Header Files - Header Files @@ -1901,9 +1790,6 @@ Header Files - - Header Files - Header Files @@ -1952,36 +1838,6 @@ Header Files - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - - - Header Files - Header Files @@ -2039,6 +1895,12 @@ Header Files + + Header Files + + + Header Files + @@ -2058,11 +1920,6 @@ - - - - - @@ -2073,23 +1930,12 @@ - - - - - - - - - - - diff --git a/OndselSolver/dragging.log b/OndselSolver/dragging.log index a873595..7ad7c58 100644 --- a/OndselSolver/dragging.log +++ b/OndselSolver/dragging.log @@ -1,20 +1 @@ runPreDrag -runDragStep - Name - Part1 - Position3D - 4.801714581503802e-15 0.099999999999995245 0.19999999999999998 - RotationMatrix - 1 -4.7573992180162559e-14 0 - 4.7573992180162559e-14 1 0 - 0 0 1 -runDragStep - Name - Part1 - Position3D - 0.2633974596215562 0.063397459621556157 0 - RotationMatrix - 0.86602540378443871 -0.49999999999999994 0 - 0.49999999999999994 0.86602540378443871 0 - 0 0 1 -runPostDrag diff --git a/OndselSolver/runPreDrag.asmt b/OndselSolver/runPreDrag.asmt index cfbaf83..aee5c03 100644 --- a/OndselSolver/runPreDrag.asmt +++ b/OndselSolver/runPreDrag.asmt @@ -1,9 +1,9 @@ OndselSolver Assembly Notes - (Text string: 'CAD: Copyright (C) 2000-2004, Aik-Siong Koh, All Rights Reserved.The piston crank is the most common mechanism to convert rotary motion to reciprocating motion or vice versa. A crank connects to the ground with a revolute joint. Its other end is connected to the connecting rod. And the connecting rod is connected to the piston which slides along an axis on the ground. The crank is given rotary motion causing the piston to slides back and forth is a straight line. Units are SI units. Angles are in radians.If the instructions below are too brief, refer to the Notes in projectile.asm and circular.asm.To load the example for a quick look:Click File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select piston.asm. To create the assembly from scratch:To create crank, connection rod and piston:Create an empty assembly and populate it with two rods (Assembly1Part1, Assembly1Part2) and one cylinder (Assembly1Part3). The rods have dimensions (1.0d, 0.2d, 0.1d) and (1.5d, 0.2d, 0.1d). The cylinder has radius (0.5d) and height (1.0d). Arrange them from bottom up away from the origin. To mark joint attachment points:On the ground, create a marker (Assembly1Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Marker2) at (3.0d, 0.0d, 0.0d). On the first rod, create a marker (Assembly1Part1Marker1) at (0.1d, 0.1d, 0.0d) and another (Assembly1Part1Marker2) at (0.9d, 0.1d, 0.0d) relative to the z-face. On the second rod, create a marker (Assembly1Part2Marker1) at (0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.4d, 0.1d, -0.1d) relative to the z-face. On the cylinder, create a marker (Assembly1Part3Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Part3Marker2) at (0.0d, 0.0d, -1.0d) relative to the z-face. Tilt the cylinder a little to get a good view of (Assembly1Part3Marker2). RightClick/Rotate/ over it to rotate the marker (90.0d) degrees about the x-axis.Tilt the cylinder upright to help the solver assemble the system later.To create the joints:Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with revolute joint (Assembly1Joint1).Connect (Assembly1Part1Marker2) to (Assembly1Part2Marker1) with revolute joint (Assembly1Joint2).Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker2) with revolute joint (Assembly1Joint3).Connect (Assembly1Marker2) to (Assembly1Part3Marker1) with translational joint (Assembly1Joint3).The translational joint keeps the marker z-axes parallel and colinear. Only relative translation along the z-axis is permitted.To apply motion to the crank:Apply rotation motion (Assembly1Motion1) to (Assembly1Joint1). Enter 2.0d*pi*time.The assembly is now ready for simulation, animation and plotting.' runs: (Core.RunArray runs: #(514 63 14 5 12 1 2 37 89 10 4 36 1 43 295 32 848 21 517 29 151) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #bold nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil))) + (Text string: '' runs: (Core.RunArray runs: #() values: #())) Name - Assembly1 + OndselAssembly Position3D 0 0 0 RotationMatrix @@ -25,26 +25,9 @@ Assembly Markers Marker Name - Marker1 + marker-AssemblyExample#BasePin Position3D - 0 3 0 - RotationMatrix - 1 0 0 - 0 0 1 - 0 -1 0 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker2 - Position3D - 0 0 0 + -206.51702880859375 40.255699157714844 364.26800537109375 RotationMatrix 1 0 0 0 1 0 @@ -54,9 +37,9 @@ Assembly Parts Part Name - Part1 + AssemblyExample#BasePin Position3D - -0.10000000000000001 -0.10000000000000001 -0.10000000000000001 + -206.51702880859375 40.255699157714844 364.26800537109375 RotationMatrix 1 0 0 0 1 0 @@ -70,275 +53,107 @@ Assembly Name MassMarker Position3D - 0.5 0.10000000000000001 0.050000000000000003 + 0 0 0 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 0.20000000000000001 + 1 MomentOfInertias - 0.00083333333333333003 0.016833333333332999 0.017333333333332999 + 1 1 1 Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0.10000000000000001 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 0.10000000000000001 0.10000000000000001 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefPoint - Position3D - 0 0 0.10000000000000001 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker2 - Position3D - 0.90000000000000002 0.10000000000000001 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - Part2 - Position3D - 0.94036115973815004 -0.017284236661228001 6.9388939039071999e-18 - RotationMatrix - 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0 1 -0.94206297643719683 0 0 0 0 0 diff --git a/testapp/CrankSlider2debug1.asmt b/testapp/CrankSlider2debug1.asmt deleted file mode 100644 index 2ea0248..0000000 --- a/testapp/CrankSlider2debug1.asmt +++ /dev/null @@ -1,440 +0,0 @@ -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 - -0.062105733613378539 0.048526435375479564 -4.0339668379409649e-17 - 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 - 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1.1102230246251565e-16 - -1.2325951644078309e-32 1 -2.2204460492503131e-16 - RefCurves - RefSurfaces - Part - Name - structural_node_2 - Position3D - 0.011666006676941875 0.15999999999999778 -1.2084363289349542e-19 - 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 2.0843632893495426e-20 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 3.805252376198168 - MomentOfInertias - 0.031674420620509 0.029604112147595001 0.002867529429125 - Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker0 - Position3D - 0.088333993323058121 2.2168933355715126e-15 0.065000000000000002 - RotationMatrix - 2.2204460492503131e-16 -1 0 - 1 2.2204460492503131e-16 0 - -0 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - -0.16166600667694189 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0.065000000000000002 - RotationMatrix - 2.2204460492503131e-16 -1 0 - 1 2.2204460492503131e-16 0 - -0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_4 - Position3D - -0.18122392750152069 0.16000000169909329 -4.3404778569364362e-12 - 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 -4.3063563665631232e-20 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 2.8656033319777832 - MomentOfInertias - 0.010133521085753 0.0068534026723980008 0.0066911315127499999 - 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 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 0 -8.2926032821731389e-09 4.3404484111658761e-12 - 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 - 0.031223927501520705 -1.69909327496498e-09 7.2759576141834261e-15 - 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_3/Marker0 - RevoluteJoint - Name - joint_3 - MarkerI - /Assembly/structural_node_2/Marker0 - MarkerJ - /Assembly/structural_node_3/Marker1 - NoRotationJoint - Name - joint_4 - MarkerI - /Assembly/structural_node_1/Marker2 - MarkerJ - /Assembly/structural_node_4/Marker0 - PointInLineJoint - Name - joint_5 - MarkerI - /Assembly/structural_node_1/Marker3 - MarkerJ - /Assembly/structural_node_4/Marker1 - PointInLineJoint - Name - joint_6 - MarkerI - /Assembly/structural_node_2/Marker1 - MarkerJ - /Assembly/structural_node_4/Marker2 - Motions - RotationalMotion - Name - joint_2Motion - MarkerI - /Assembly/structural_node_1/Marker1 - MarkerJ - /Assembly/structural_node_3/Marker0 - MotionJoint - /Assembly/joint_2 - RotationZ - integral(time, rampstep(time, 0.0, 0.0, 1.0, 0.0 + 10.0*(1.0 - 0.0))) - Limits - GeneralConstraintSets - ForceTorques - ConstantGravity - 0 0 0 - SimulationParameters - tstart - 0 - tend - 3 - hmin - 1.0000000000000001e-09 - hmax - 1 - hout - 0.01 - errorTol - 9.9999999999999995e-07 - AnimationParameters - nframe - 1000000 - icurrent - 1 - istart - 1 - iend - 1000000 - isForward - true - framesPerSecond - 30 diff --git a/testapp/CrankSlider2debug2.asmt b/testapp/CrankSlider2debug2.asmt deleted file mode 100644 index 6476bc4..0000000 --- a/testapp/CrankSlider2debug2.asmt +++ /dev/null @@ -1,587 +0,0 @@ -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 - -0.062105733613378539 0.048526435375479564 -4.0339668379409649e-17 - 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 - 0.062105733613378539 -0.048526435375479564 4.0339668379409649e-17 - 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 - 0.25210573361337851 0.11147356462452043 0.13500000000000004 - RotationMatrix - 2.2204460492503131e-16 -1 0 - 1 2.2204460492503131e-16 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 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker3 - Position3D - 0 0.11147355803101042 2.4118673970779456e-17 - RotationMatrix - -1.1102230246251565e-16 -2.2204460492503131e-16 -1 - -1 1.2325951644078309e-32 1.1102230246251565e-16 - -1.2325951644078309e-32 1 -2.2204460492503131e-16 - RefCurves - RefSurfaces - Part - Name - structural_node_2 - Position3D - 0.011666006676941875 0.15999999999999778 -1.2084363289349542e-19 - 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 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- 0 0 2.1769781041615487e-20 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 15.238784954845523 - MomentOfInertias - 0.098130663415837011 0.095433846761275004 0.077043262824288999 - Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker0 - Position3D - -0.021128136695249794 0 0.13500000000000001 - RotationMatrix - 2.2204460492503131e-16 -1 0 - 1 2.2204460492503131e-16 0 - -0 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - -0.11112813669524979 0 0.065000000000000002 - RotationMatrix - 2.2204460492503131e-16 -1 0 - 1 2.2204460492503131e-16 0 - -0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_4 - Position3D - -0.18122392750152069 0.16000000169909329 -4.3404778569364362e-12 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Velocity3D - 0 0 0 - Omega3D - 0 0 0 - FeatureOrder - PrincipalMassMarker - Name - MassMarker - 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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 diff --git a/testapp/InitialConditionsdebug1.asmt b/testapp/InitialConditionsdebug1.asmt deleted file mode 100644 index 4d18385..0000000 --- a/testapp/InitialConditionsdebug1.asmt +++ /dev/null @@ -1,87 +0,0 @@ -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 - 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7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 7.4251398137705751e-05 -AlphaY 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -AlphaZ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 diff --git a/testapp/MBDynCase(Assembly).mbd b/testapp/MBDynCase(Assembly).mbd deleted file mode 100644 index 93780a3..0000000 --- a/testapp/MBDynCase(Assembly).mbd +++ /dev/null @@ -1,579 +0,0 @@ -#----------------------------------------------------------------------------- - # [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, # [m] - 3, 0.0, -8.881784197001252e-16, 1.0, 2, 0.0, 1.0, 8.881784197001252e-16, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - static, - Px_4, Py_4, Pz_4, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - structural: structural_node_5, - dynamic, - Px_5, Py_5, Pz_5, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_5, Vy_5, Vz_5, # [m/s] - Wx_5, Wy_5, Wz_5; # [rad/s] - - structural: structural_node_6, - dynamic, - Px_6, Py_6, Pz_6, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_6, Vy_6, Vz_6, # [m/s] - Wx_6, Wy_6, Wz_6; # [rad/s] - - structural: structural_node_7, - dynamic, - Px_7, Py_7, Pz_7, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_7, Vy_7, Vz_7, # [m/s] - Wx_7, Wy_7, Wz_7; # [rad/s] - - structural: structural_node_8, - dynamic, - Px_8, Py_8, Pz_8, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_8, Vy_8, Vz_8, # [m/s] - Wx_8, Wy_8, Wz_8; # [rad/s] - - structural: structural_node_9, - dynamic, - Px_9, Py_9, Pz_9, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_9, Vy_9, Vz_9, # [m/s] - Wx_9, Wy_9, Wz_9; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, 0.0, 1.0, 0.0, 2, 1.0, 0.0, 0.0; - - body: body_3, - structural_node_3, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] - orientation, 3, 0.93, -0.36, 0.0, 2, 0.0, 0.0, 1.0; - - body: body_5, - structural_node_5, # - mass_5, # [kg] - Rx_5, Ry_5, Rz_5, # [m] - diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] - orientation, 3, 0.6, 0.8, 0.0, 2, 0.8, -0.6, 0.0; - - body: body_6, - structural_node_6, # - mass_6, # [kg] - Rx_6, Ry_6, Rz_6, # [m] - diag, Ixx_6, Iyy_6, Izz_6, # [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, # - mass_7, # [kg] - Rx_7, Ry_7, Rz_7, # [m] - diag, Ixx_7, Iyy_7, Izz_7, # [kg*m^2] - orientation, 3, 0.46, 0.89, 0.0, 2, 0.0, 0.0, 1.0; - - body: body_8, - structural_node_8, # - mass_8, # [kg] - Rx_8, Ry_8, Rz_8, # [m] - diag, Ixx_8, Iyy_8, Izz_8, # [kg*m^2] - orientation, 3, 0.28, 0.96, 0.0, 2, 0.0, 0.0, 1.0; - - body: body_9, - structural_node_9, # - mass_9, # [kg] - Rx_9, Ry_9, Rz_9, # [m] - diag, Ixx_9, Iyy_9, Izz_9, # [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, # - 0.06336329999999998, -0.00923969, 0.1754432, # [m] - 3, 0.0, -8.881784197001252e-16, 1.0, 2, 0.0, 1.0, 8.881784197001252e-16; # - - joint: joint_2, - revolute hinge, - structural_node_2, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_1, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_4, - revolute hinge, - structural_node_3, # - position, 0.01945754810926986, -0.00739828899605903, 0.0, # [m] - orientation, 3, 0.0, 1.0150610510858574e-15, 1.0, 2, -0.0, 1.0, -1.0150610510858574e-15, # - structural_node_2, # - position, 0.0, 0.015, -0.021, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_6, - clamp, - structural_node_4, # - 0.02533718228677867, -0.017040456121480287, 0.15444319999996145, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_7, - revolute hinge, - structural_node_5, # - position, 0.007939339015500806, 0.027232800113977215, 2.842170943040401e-17, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_3, # - position, -0.027278104193160138, 0.010371877122050975, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_9, - in line, - structural_node_5, # - 0.01667499131794409, -0.013337366004130142, 0.0, # [m] - 3, -3.552713678800501e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0, # - structural_node_4, # - offset, 0.0, 0.0, 0.0; # [m] - - joint: joint_10, - revolute hinge, - structural_node_5, # - position, -0.022992799945235915, -0.01920902133303015, 2.842170943040401e-17, # [m] - orientation, 3, 0.0, -1.3877787807814457e-17, 1.0, 2, 0.0, 1.0, 1.3877787807814457e-17, # - structural_node_6, # - position, -0.011399640718976662, 0.019064468616942547, -3.2400748750660566e-14, # [m] - orientation, 3, -1.6342482922482304e-13, 3.2405824055915996e-13, 1.0, 2, 0.0, 1.0, -3.2405824055915996e-13; # - - joint: joint_12, - revolute hinge, - structural_node_6, # - position, 0.008820551176670967, -0.01475126499491892, -3.2400748750660566e-14, # [m] - orientation, 3, -1.7763568394002505e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0, # - structural_node_7, # - position, -0.010702134855840453, -0.020680393800658683, -1.6711965145077555e-14, # [m] - orientation, 3, -7.105427357601002e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0; # - - joint: joint_14, - in line, - structural_node_7, # - 0.007360348279200356, 0.014222853942156995, 3.637978807091713e-15, # [m] - 3, -3.700743415417188e-17, -0.0, 1.0, 2, -0.0, 1.0, 0.0, # - structural_node_4, # - offset, 0.0, 0.0, 0.0; # [m] - - joint: joint_17, - revolute hinge, - structural_node_7, # - position, -0.010702134855840453, -0.020680393800658683, -1.6711965145077555e-14, # [m] - orientation, 3, -7.105427357601002e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0, # - structural_node_9, # - position, 0.006602908111129636, 0.0653673588611301, 0.0, # [m] - orientation, 3, -3.552713678800501e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0; # - - joint: joint_19, - revolute hinge, - structural_node_9, # - position, 0.030998012897328734, 0.03794895514263533, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_8, # - position, -0.012894678260996642, -0.03394329643173133, -1.503508428868372e-14, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_21, - in line, - structural_node_8, # - 0.005024292862524291, 0.025306348916361215, 3.637978807091713e-15, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_2, # - offset, 0.0, 0.015, -0.021; # [m] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 2.0, 0.0; - - end: elements; - diff --git a/testapp/MBDynCase(Assembly).mov b/testapp/MBDynCase(Assembly).mov deleted file mode 100644 index 1bddbed..0000000 --- a/testapp/MBDynCase(Assembly).mov +++ /dev/null @@ -1,9 +0,0 @@ -1 0.06336329999999998 -0.00923969 0.1754432 1 0 0 0 1 -8.881784197001252e-16 0 8.881784197001252e-16 1 0 0 0 0 0 0 -2 0.06336329999999997 -0.009239690000000002 0.1754432 0.9991475579842098 0.04128144103819611 -2.680894482587032e-31 -0.04128144103819611 0.9991475579842098 -8.881784197001252e-16 -3.666528506424866e-17 8.874212990976547e-16 1 0 0 0 0 -0 0 -3 0.04455003956931927 0.01321140305902591 0.1544432 0.9999943109907206 0.003373127064616727 -3.423929903656003e-18 -0.003373127064616727 0.9999943109907206 -1.903233696094244e-15 -2.995938665699013e-18 1.903234417930711e-15 1 0 0 0 0 0 0 -4 0.02533718228677867 -0.01704045612148029 0.1544431999999615 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 -5 0.008896217652200259 -0.003415649727766681 0.1544432 0.9998493329550092 0.01735832334711857 -3.423929903655937e-18 -0.01735832334711857 0.9998493329550092 -1.903233696094244e-15 -2.961353187168038e-17 1.903006375179712e-15 1 -0 0 0 0 0 0 -6 -0.0006959211745032133 -0.03968334433993675 0.1544432000000243 0.9918873550807732 -0.1271199230288793 2.032896153860595e-13 0.1271199230288793 0.9918873550807732 -3.025718288012637e-13 -1.631774913327423e-13 3.259593312520843e-13 1 -0 -0 -0 0 0 0 -7 0.01905813997139198 -0.03177266331024334 0.1544432000000069 0.997214693601893 -0.07458454842983767 2.086133060642677e-13 0.07458454842983767 0.997214693601893 -3.022676840550924e-13 -1.854877553679747e-13 3.169851051700116e-13 1 -0 0 -0 0 0 -0 -8 0.0591979874964582 -0.01960524861887855 0.1544432000000008 0.9999552024897852 -0.00946535860982602 2.039234020530081e-13 0.00946535860982602 0.9999552024897852 -3.001742367725244e-13 -2.010730099958388e-13 3.020909978434538e-13 1 0 0 0 0 0 -0 -9 0.05374435861058888 -0.1021491472282852 0.154443199999962 0.6743387648593129 -0.7384221219654895 2.039234020530081e-13 0.7384221219654895 0.6743387648593129 -3.001742367725243e-13 8.414184181060413e-14 3.530006753301749e-13 1 -0 0 0 0 0 0 diff --git a/testapp/MBDynCase(Assembly)debug1.asmt b/testapp/MBDynCase(Assembly)debug1.asmt deleted file mode 100644 index 156307c..0000000 --- a/testapp/MBDynCase(Assembly)debug1.asmt +++ /dev/null @@ -1,834 +0,0 @@ -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 - 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 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Parts - Part - Name - structural_node_1 - Position3D - 0.06336329999999998 -0.00923969 0.1754432 - RotationMatrix - 1 0 0 - 0 1 -8.881784197001252e-16 - -0 8.881784197001252e-16 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 - -0.06336329999999998 0.009239689999999844 -0.1754432 - RotationMatrix - 1 0 0 - 0 1 8.881784197001252e-16 - 0 -8.881784197001252e-16 1 - RefPoint - 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- Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker2 - Position3D - 0 0.015 -0.021 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_3 - Position3D - -0.0008822481092698588 0.05115859899605903 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 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 0.0240425385694815 - MomentOfInertias - 9.607179098000002e-06 9.40820717e-06 1.260956604e-06 - Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker0 - Position3D - 0.01945754810926986 -0.00739828899605903 0 - RotationMatrix - 1 -0 0 - 0 1 1.015061051085857e-15 - -0 -1.015061051085857e-15 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 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Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_5 - Position3D - -0.05009969131794408 0.01829767600413014 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 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 0.0449777290670256 - MomentOfInertias - 1.35688267e-05 1.0311377119e-05 3.788040441e-06 - Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker0 - Position3D - 0.007939339015500806 0.02723280011397721 2.842170943040401e-17 - 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 - 0.01667499131794409 -0.01333736600413014 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 - Marker2 - Position3D - -0.02299279994523592 -0.01920902133303015 2.842170943040401e-17 - RotationMatrix - 1 0 0 - 0 1 -1.387778780781446e-17 - -0 1.387778780781446e-17 1 - RefCurves - RefSurfaces - Part - Name - structural_node_6 - Position3D - -0.04969285054420095 -0.03297581394583109 0.1324432000000324 - 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 - 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 - -0.01139964071897666 0.01906446861694255 -3.240074875066057e-14 - RotationMatrix - 1 0 -1.63424829224823e-13 - 5.295916262227734e-26 1 3.2405824055916e-13 - 1.63424829224823e-13 -3.2405824055916e-13 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 0.008820551176670967 -0.01475126499491892 -3.240074875066057e-14 - RotationMatrix - 1 -0 -1.77635683940025e-15 - 0 1 -0 - 1.77635683940025e-15 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_7 - Position3D - -0.008253259374919249 -0.04279152470322321 0.1324432000000167 - 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 - 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 -0.02068039380065868 -1.671196514507756e-14 - RotationMatrix - 1 -0 -7.105427357601002e-15 - 0 1 -0 - 7.105427357601002e-15 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 0.007360348279200356 0.014222853942157 3.637978807091713e-15 - RotationMatrix - 1 -0 -3.700743415417188e-17 - 0 1 -0 - 3.700743415417188e-17 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker2 - Position3D - -0.01070213485584045 -0.02068039380065868 -1.671196514507756e-14 - RotationMatrix - 1 -0 -7.105427357601002e-15 - 0 1 -0 - 7.105427357601002e-15 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_8 - Position3D - 0.04699565137599786 -0.07797375336529921 0.132443200000015 - 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 - 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 diff --git a/testapp/MBDynCase(Assembly)debug2.asmt b/testapp/MBDynCase(Assembly)debug2.asmt deleted file mode 100644 index 8cf864f..0000000 --- a/testapp/MBDynCase(Assembly)debug2.asmt +++ /dev/null @@ -1,1111 +0,0 @@ -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 - 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 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Parts - Part - Name - structural_node_1 - Position3D - 0.06336329999999998 -0.00923969 0.1754432 - RotationMatrix - 1 0 0 - 0 1 -8.881784197001252e-16 - 0 8.881784197001252e-16 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 - -0.06336329999999998 0.009239689999999844 -0.1754432 - RotationMatrix - 1 0 0 - 0 1 8.881784197001252e-16 - 0 -8.881784197001252e-16 1 - 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 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_2 - Position3D - 0.0633633 -0.00923969 0.1474432 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Velocity3D - 0 0 0 - Omega3D - 0 0 0 - FeatureOrder - PrincipalMassMarker - Name - MassMarker - Position3D - 8.128751005642698e-13 0.00425722688408314 -0.021 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 0.2406058732027723 - MomentOfInertias - 7.0382920239e-05 5.839585895200001e-05 4.7214826765e-05 - 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 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 0 0.015 -0.021 - 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 0.015 -0.021 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_3 - Position3D - -0.0008822481092698588 0.05115859899605903 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 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 0.0240425385694815 - MomentOfInertias - 9.607179098000002e-06 9.40820717e-06 1.260956604e-06 - Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker0 - Position3D - 0.01945754810926986 -0.00739828899605903 0 - RotationMatrix - 1 -0 0 - 0 1 1.015061051085857e-15 - -0 -1.015061051085857e-15 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - -0.02727810419316014 0.01037187712205098 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_4 - Position3D - 0.02533718228677867 -0.01704045612148029 0.1544431999999615 - 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 - -0.02533718228677867 0.01704045612148029 -0.1544431999999615 - 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 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 - Marker2 - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_5 - Position3D - -0.05009969131794408 0.01829767600413014 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 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 0.0449777290670256 - MomentOfInertias - 1.35688267e-05 1.0311377119e-05 3.788040441e-06 - Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker0 - Position3D - 0.007939339015500806 0.02723280011397721 2.842170943040401e-17 - 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 - 0.01667499131794409 -0.01333736600413014 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 - Marker2 - Position3D - 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0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 0.008820551176670967 -0.01475126499491892 -3.240074875066057e-14 - RotationMatrix - 1 -0 -1.77635683940025e-15 - 0 1 -0 - 1.77635683940025e-15 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_7 - Position3D - -0.008253259374919249 -0.04279152470322321 0.1324432000000167 - 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 - 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 -0.02068039380065868 -1.671196514507756e-14 - RotationMatrix - 1 -0 -7.105427357601002e-15 - 0 1 -0 - 7.105427357601002e-15 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 0.007360348279200356 0.014222853942157 3.637978807091713e-15 - RotationMatrix - 1 -0 -3.700743415417188e-17 - 0 1 -0 - 3.700743415417188e-17 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker2 - Position3D - -0.01070213485584045 -0.02068039380065868 -1.671196514507756e-14 - RotationMatrix - 1 -0 -7.105427357601002e-15 - 0 1 -0 - 7.105427357601002e-15 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_8 - Position3D - 0.04699565137599786 -0.07797375336529921 0.132443200000015 - 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 - 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 -TimeSeries -Number Input 1 -Time Input 0 -AssemblySeries /Assembly -X 0 0 -Y 0 0 -Z 0 0 -Bryantx -0 -0 -Bryanty 0 0 -Bryantz -0 -0 -VX 0 -0 -VY 0 -0 -VZ 0 0 -OmegaX 0 -0 -OmegaY 0 0 -OmegaZ 0 0 -AX 0 0 -AY 0 0 -AZ 0 0 -AlphaX 0 0 -AlphaY 0 0 -AlphaZ 0 0 -PartSeries /Assembly/structural_node_1 -X 0.06336329999999998 0.06336329999999998 -Y -0.00923969 -0.00923969 -Z 0.1754432 0.1754432 -Bryantx 8.881784197001252e-16 8.881784197001252e-16 -Bryanty 0 0 -Bryantz -0 -0 -VX 0 0 -VY 0 0 -VZ 0 0 -OmegaX 0 0 -OmegaY 0 0 -OmegaZ 0 0 -AX 0 0 -AY 0 0 -AZ 0 0 -AlphaX 0 0 -AlphaY 0 0 -AlphaZ 0 0 -PartSeries /Assembly/structural_node_2 -X 0.0633633 0.06336329999999997 -Y -0.00923969 -0.009239690000000002 -Z 0.1474432 0.1754432 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0.008896217652200259 -Y 0.01829767600413014 -0.003415649727766681 -Z 0.1324432 0.1544432 -Bryantx -0 1.903233696094244e-15 -Bryanty 0 -3.423929903655937e-18 -Bryantz -0 -0.01735919517542268 -VX 0 -0 -VY 0 0 -VZ 0 0 -OmegaX 0 0 -OmegaY 0 0 -OmegaZ 0 0 -AX 0 0 -AY 0 0 -AZ 0 0 -AlphaX 0 0 -AlphaY 0 0 -AlphaZ 0 0 -PartSeries /Assembly/structural_node_6 -X -0.04969285054420095 -0.0006959211745032133 -Y -0.03297581394583109 -0.03968334433993675 -Z 0.1324432000000324 0.1544432000000243 -Bryantx -0 3.025718288012637e-13 -Bryanty 0 2.032896153860595e-13 -Bryantz -0 0.1274648020404655 -VX 0 -0 -VY 0 -0 -VZ 0 -0 -OmegaX 0 0 -OmegaY 0 0 -OmegaZ 0 0 -AX 0 0 -AY 0 0 -AZ 0 0 -AlphaX 0 0 -AlphaY 0 0 -AlphaZ 0 0 -PartSeries /Assembly/structural_node_7 -X -0.008253259374919249 0.01905813997139198 -Y -0.04279152470322321 -0.03177266331024334 -Z 0.1324432000000167 0.1544432000000069 -Bryantx -0 3.022676840550924e-13 -Bryanty 0 2.086133060642677e-13 -Bryantz -0 0.07465387261160399 -VX 0 -0 -VY 0 0 -VZ 0 -0 -OmegaX 0 0 -OmegaY 0 0 -OmegaZ 0 -0 -AX 0 0 -AY 0 0 -AZ 0 0 -AlphaX 0 0 -AlphaY 0 0 -AlphaZ 0 0 -PartSeries /Assembly/structural_node_8 -X 0.04699565137599786 0.0591979874964582 -Y -0.07797375336529921 -0.01960524861887855 -Z 0.132443200000015 0.1544432000000008 -Bryantx -0 3.001742367725244e-13 -Bryanty 0 2.039234020530081e-13 -Bryantz -0 0.009465499953858437 -VX 0 0 -VY 0 0 -VZ 0 0 -OmegaX 0 0 -OmegaY 0 0 -OmegaZ 0 -0 -AX 0 0 -AY 0 0 -AZ 0 0 -AlphaX 0 0 -AlphaY 0 0 -AlphaZ 0 0 -PartSeries /Assembly/structural_node_9 -X -0.0146312020590571 0.05374435861058888 -Y -0.1501509801972379 -0.1021491472282852 -Z 0.1324432 0.154443199999962 -Bryantx -0 3.001742367725243e-13 -Bryanty 0 2.039234020530081e-13 -Bryantz -0 0.8307274615338283 -VX 0 -0 -VY 0 0 -VZ 0 0 -OmegaX 0 0 -OmegaY 0 0 -OmegaZ 0 0 -AX 0 0 -AY 0 0 -AZ 0 0 -AlphaX 0 0 -AlphaY 0 0 -AlphaZ 0 0 -FixedJointSeries /Assembly/joint_1 -FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 -RevoluteJointSeries /Assembly/joint_2 -FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 -RevoluteJointSeries /Assembly/joint_4 -FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 -FixedJointSeries /Assembly/joint_6 -FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 -RevoluteJointSeries /Assembly/joint_7 -FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 -PointInLineJointSeries /Assembly/joint_9 -FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 -RevoluteJointSeries /Assembly/joint_10 -FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 -RevoluteJointSeries /Assembly/joint_12 -FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 -PointInLineJointSeries /Assembly/joint_14 -FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 -RevoluteJointSeries /Assembly/joint_17 -FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 -RevoluteJointSeries /Assembly/joint_19 -FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 -PointInLineJointSeries /Assembly/joint_21 -FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 diff --git a/testapp/MBDynCase(Cosine-half drive).mbd b/testapp/MBDynCase(Cosine-half drive).mbd deleted file mode 100644 index 01a9ea2..0000000 --- a/testapp/MBDynCase(Cosine-half drive).mbd +++ /dev/null @@ -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, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, -0.1066546951805642, 0.2196963614042295, 0.969720725148062, 2, 0.4234982246408653, -0.8723574602808866, 0.24421653346634187, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [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, # - -0.13221311939246777, 0.04215394533365132, 0.2000000152587891, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_2, - total joint, - structural_node_1, # - position, 0.20321309650428418, 0.11784606885225504, -2.842170943040401e-17, # [m] - position orientation, 3, 0.0, 2.471452993948174e-16, 1.0, 2, -0.0, 1.0, -2.471452993948174e-16, # - rotation orientation, 3, 0.0, 2.471452993948174e-16, 1.0, 2, -0.0, 1.0, -2.471452993948174e-16, # - structural_node_2, # - position, 0.0, 0.0, 0.0, # [m] - position orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - rotation orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - position constraint, - active, active, active, - null, - orientation constraint, - active, active, rotation, - single, 0., 0., 1., string, "model::drive(1, Time)"; # [rad] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", cosine, 0.25, 3.1416, 10.0, half, 0.0; - - end: elements; - diff --git a/testapp/MBDynCase(Cosine-half drive).mov b/testapp/MBDynCase(Cosine-half drive).mov deleted file mode 100644 index 4dae9f5..0000000 --- a/testapp/MBDynCase(Cosine-half drive).mov +++ /dev/null @@ -1,802 +0,0 @@ -1 -0.13221311939246777 0.04215394533365132 0.2000000152587891 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 -2 0.070999977111816409 0.16000001418590637 0.20000001525878908 -1 1.2246467991473532e-16 3.2626522339992619e-55 -1.2246467991473532e-16 -1 2.4714529939481741e-16 3.0266569982817742e-32 2.4714529939481741e-16 1 0 0 0 0 0 0 -1 -0.13221311939246777 0.04215394533365132 0.2000000152587891 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 -2 0.070999977111816409 0.16000001418590637 0.20000001525878908 -1 1.2246467991473532e-16 0 -1.2246467991473532e-16 -1 2.4714529939481741e-16 3.0266569982817742e-32 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#----------------------------------------------------------------------------- - # [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, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, -0.1066546951805642, 0.2196963614042295, 0.969720725148062, 2, 0.4234982246408653, -0.8723574602808866, 0.24421653346634187, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [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, # - -0.13221311939246777, 0.04215394533365132, 0.2000000152587891, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_2, - total joint, - structural_node_1, # - position, 0.20321309650428418, 0.11784606885225504, -2.842170943040401e-17, # [m] - position orientation, 3, 0.0, 2.471452993948174e-16, 1.0, 2, -0.0, 1.0, -2.471452993948174e-16, # - rotation orientation, 3, 0.0, 2.471452993948174e-16, 1.0, 2, -0.0, 1.0, -2.471452993948174e-16, # - structural_node_2, # - position, 0.0, 0.0, 0.0, # [m] - position orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - rotation orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - position constraint, - active, active, active, - null, - orientation constraint, - active, active, rotation, - single, 0., 0., 1., string, "model::drive(1, Time)"; # [rad] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", sine, 0.25, 3.1416, 10.0, forever, 0.0; - - end: elements; - diff --git a/testapp/MBDynCase(Sine-forever drive).mov b/testapp/MBDynCase(Sine-forever drive).mov deleted file mode 100644 index 343f9e9..0000000 --- a/testapp/MBDynCase(Sine-forever drive).mov +++ /dev/null @@ -1,802 +0,0 @@ -1 -0.13221311939246777 0.04215394533365132 0.2000000152587891 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 -2 0.070999977111816409 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a/testapp/MBDynCase(Sine-forever drive)debug2.asmt b/testapp/MBDynCase(Sine-forever drive)debug2.asmt deleted file mode 100644 index 1a92348..0000000 --- a/testapp/MBDynCase(Sine-forever drive)debug2.asmt +++ /dev/null @@ -1,275 +0,0 @@ -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 - -0.13221311939246777 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 - 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-5.6210074809442814 -5.5138098116523118 -5.4011706523196006 -5.2832011647171742 -5.1600177710311046 -5.0317420389673764 -4.8985005617785955 -4.760424833331256 -4.6176511183364877 diff --git a/testapp/MBDynCase(simulation).mbd b/testapp/MBDynCase(simulation).mbd deleted file mode 100644 index d042ede..0000000 --- a/testapp/MBDynCase(simulation).mbd +++ /dev/null @@ -1,580 +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: 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, # [m] - 3, 3.552713678800501e-15, -8.881784197001252e-16, 1.0, 2, 0.0, 1.0, 8.881784197001252e-16, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 0.0, -7.105427357601003e-16, 1.0, 2, 0.0, 1.0, 7.105427357601003e-16, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, -3.1700485006557752e-18, -1.903231223632211e-15, 1.0, 2, 0.0031162201389038045, 0.9999951445742353, 1.9032318612032713e-15, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - static, - Px_4, Py_4, Pz_4, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - structural: structural_node_5, - dynamic, - Px_5, Py_5, Pz_5, # [m] - 3, -3.170082765228165e-18, -1.9032308101571934e-15, 1.0, 2, 0.016100019779106436, 0.9998703862816982, 1.9030351637303236e-15, # - Vx_5, Vy_5, Vz_5, # [m/s] - Wx_5, Wy_5, Wz_5; # [rad/s] - - structural: structural_node_6, - dynamic, - Px_6, Py_6, Pz_6, # [m] - 3, 2.0366811261067867e-13, -3.0231574532833476e-13, 1.0, 2, -0.1283680988289512, 0.99172659095289, 3.2595905191376506e-13, # - Vx_6, Vy_6, Vz_6, # [m/s] - Wx_6, Wy_6, Wz_6; # [rad/s] - - structural: structural_node_7, - dynamic, - Px_7, Py_7, Pz_7, # [m] - 3, 2.0899139341889746e-13, -3.0200488848262844e-13, 1.0, 2, -0.07583947304837221, 0.9971200400793002, 3.1698492365647733e-13, # - Vx_7, Vy_7, Vz_7, # [m/s] - Wx_7, Wy_7, Wz_7; # [rad/s] - - structural: structural_node_8, - dynamic, - Px_8, Py_8, Pz_8, # [m] - 3, 2.043025799989906e-13, -2.999207132952625e-13, 1.0, 2, -0.011014440431914747, 0.9999393392111202, 3.0215279846567804e-13, # - Vx_8, Vy_8, Vz_8, # [m/s] - Wx_8, Wy_8, Wz_8; # [rad/s] - - structural: structural_node_9, - dynamic, - Px_9, Py_9, Pz_9, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_9, Vy_9, Vz_9, # [m/s] - Wx_9, Wy_9, Wz_9; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [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, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [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, # - mass_5, # [kg] - Rx_5, Ry_5, Rz_5, # [m] - diag, Ixx_5, Iyy_5, Izz_5, # [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, # - mass_6, # [kg] - Rx_6, Ry_6, Rz_6, # [m] - diag, Ixx_6, Iyy_6, Izz_6, # [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, # - mass_7, # [kg] - Rx_7, Ry_7, Rz_7, # [m] - diag, Ixx_7, Iyy_7, Izz_7, # [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, # - mass_8, # [kg] - Rx_8, Ry_8, Rz_8, # [m] - diag, Ixx_8, Iyy_8, Izz_8, # [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, # - mass_9, # [kg] - Rx_9, Ry_9, Rz_9, # [m] - diag, Ixx_9, Iyy_9, Izz_9, # [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, # - 0.0633633, -0.00923969, 0.1754432, # [m] - 3, 3.552713678800501e-15, -8.881784197001252e-16, 1.0, 2, 0.0, 1.0, 8.881784197001252e-16; # - - joint: joint_2, - axial rotation, - structural_node_2, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_1, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - string, "model::drive(1, Time)"; # [rad/s] - - joint: joint_4, - revolute hinge, - structural_node_3, # - position, 0.01945754810926986, -0.007398288996059009, 0.0, # [m] - orientation, 3, 2.379270386264628e-18, 2.5376566208832034e-16, 1.0, 2, -0.0031162201389038045, 0.9999951445742353, -2.537570156176929e-16, # - structural_node_2, # - position, 0.000572592272705613, 0.014989067285499725, -0.02099999999999997, # [m] - orientation, 3, 4.4133089177646067e-16, -2.8245177073693617e-16, 1.0, 2, -1.0947644252537633e-47, 1.0, 2.8245177073693617e-16; # - - joint: joint_6, - clamp, - structural_node_4, # - 0.02533717999999999, -0.01704046, 0.1544432, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_7, - revolute hinge, - structural_node_5, # - position, 0.007939339015500799, 0.027232800113977197, -8.526512829121202e-17, # [m] - orientation, 3, 3.553380196810903e-15, 1.8410732504324904e-16, 1.0, 2, -0.016100019779106436, 0.9998703862816982, -1.2687397075694296e-16, # - structural_node_3, # - position, -0.027278104193160135, 0.010371877122050989, -2.842170943040401e-17, # [m] - orientation, 3, -1.7721896700948145e-15, -3.2273892579290396e-16, 1.0, 2, -0.0031162201389038045, 0.9999951445742353, 3.1721482561810166e-16; # - - joint: joint_9, - in line, - structural_node_5, # - 0.016674991317944074, -0.013337366004130156, 2.583957822554477e-17, # [m] - 3, 1.54266885649206e-17, -7.611547350475735e-16, 1.0, 2, -0.016100019779106436, 0.9998703862816982, 7.613044489431823e-16, # - structural_node_4, # - offset, 0.0, 0.0, 0.0; # [m] - - joint: joint_10, - revolute hinge, - structural_node_5, # - position, -0.0229927999452359, -0.019209021333030166, -8.526512829121202e-17, # [m] - orientation, 3, -1.989865580580776e-15, -3.4929738803148917e-16, 1.0, 2, -0.016100019779106436, 0.9998703862816982, 3.172152390931197e-16, # - structural_node_6, # - position, -0.011399640718976634, 0.019064468616942564, -3.234390533179976e-14, # [m] - orientation, 3, -1.674626405891981e-13, 3.24466931671453e-13, 1.0, 2, 0.1283680988289512, 0.99172659095289, -3.0028562322616305e-13; # - - joint: joint_12, - revolute hinge, - structural_node_6, # - position, 0.00882055117667097, -0.014751264994918899, -3.2372327041230165e-14, # [m] - orientation, 3, -7.843921394049555e-16, -4.561790173454178e-16, 1.0, 2, 0.1283680988289512, 0.99172659095289, 5.530957894079982e-16, # - structural_node_7, # - position, -0.010702134855840454, -0.020680393800658704, -1.668354343564715e-14, # [m] - orientation, 3, -5.9986169706224296e-15, -2.845473939500244e-17, 1.0, 2, 0.07583947304837221, 0.9971200400793002, 4.833047409570188e-16; # - - joint: joint_14, - in line, - structural_node_7, # - 0.007360348279200352, 0.014222853942156975, 4.1327660701972565e-15, # [m] - 3, 2.835536297890121e-17, 2.2139088486989354e-17, 1.0, 2, 0.07583947304837221, 0.9971200400793002, -2.422578458588119e-17, # - structural_node_4, # - offset, 0.0, 0.0, 0.0; # [m] - - joint: joint_17, - revolute hinge, - structural_node_7, # - position, -0.010702134855840454, -0.020680393800658704, -1.668354343564715e-14, # [m] - orientation, 3, -5.9986169706224296e-15, -2.845473939500244e-17, 1.0, 2, 0.07583947304837221, 0.9971200400793002, 4.833047409570188e-16, # - structural_node_9, # - position, -0.04380863335425453, 0.048962165430424774, 2.361844053666573e-14, # [m] - orientation, 3, 2.0250467969162858e-13, -3.0020430585864233e-13, 1.0, 2, 1.1479437019748901e-41, 1.0, 3.0020430585864233e-13; # - - joint: joint_19, - revolute hinge, - structural_node_9, # - position, -0.00711178566808907, 0.048481156180642686, 1.5973000699887054e-14, # [m] - orientation, 3, 1.9895196601282803e-13, -3.0020430585864233e-13, 1.0, 2, -1.1479437019748901e-41, 1.0, 3.0020430585864233e-13, # - structural_node_8, # - position, -0.012894678260996642, -0.0339432964317313, -1.494981916039251e-14, # [m] - orientation, 3, 4.579871051207537e-16, -4.501513270023455e-16, 1.0, 2, 0.011014440431914747, 0.9999393392111202, 4.450795487797967e-16; # - - joint: joint_21, - in line, - structural_node_8, # - 0.005024292862524304, 0.02530634891636125, 6.393896531709601e-16, # [m] - 3, -3.779590336935672e-16, -1.0180004744870912e-16, 1.0, 2, 0.011014440431914747, 0.9999393392111202, 1.0595687943984473e-16, # - structural_node_2, # - offset, 0.000572592272705613, 0.014989067285499725, -0.02099999999999997; # [m] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 2.0, 0.0; - - end: elements; - diff --git a/testapp/MBDynCase(simulation).mov b/testapp/MBDynCase(simulation).mov deleted file mode 100644 index a229893..0000000 --- a/testapp/MBDynCase(simulation).mov +++ /dev/null @@ -1,3609 +0,0 @@ -1 0.0633633 -0.00923969 0.1754432 1 0 3.552713678800501e-15 3.155443620884047e-30 1 -8.881784197001252e-16 -3.552713678800501e-15 8.881784197001252e-16 1 0 0 0 0 0 0 -2 0.0633633 -0.00923969 0.1754432 1 0 3.552713678800501e-15 3.155443620884047e-30 1 -8.881784197001252e-16 -3.552713678800501e-15 8.881784197001252e-16 1 0 0 0 0 0 0 -3 0.04450149274340797 0.01320826282084599 0.1544432000000001 0.9999951448215078 0.003116140788158513 3.990874542212212e-15 -0.003116140788158513 0.9999951448215078 -1.4243872063063e-15 -3.995293756875672e-15 1.411944163710761e-15 1 0 0 0 0 -0 0 -4 0.02533717999999999 -0.01704046 0.1544432 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 -5 0.008879082108432364 -0.003436354694129496 0.1544432000000003 0.9998703859712964 0.01610003905618439 -1.338195987527827e-15 -0.01610003905618439 0.9998703859712964 -1.868476074829786e-15 1.307940000774383e-15 1.889778901782218e-15 1 0 -0 0 0 0 0 -6 -0.0006674076740799881 -0.03971609191182132 0.1544432000000244 0.9917265942856552 -0.1283680730811805 2.04394921663632e-13 0.1283680730811805 0.9917265942856552 -3.024713198947805e-13 -1.638762190535428e-13 3.262066341898769e-13 1 0 0 -0 -0 0 0 -7 0.01907668255247174 -0.03178055744745774 0.154443200000007 0.9971200422638714 -0.07583944432612484 2.096547611557198e-13 0.07583944432612484 0.9971200422638714 -3.02541111096787e-13 -1.861064145530245e-13 3.175699060697631e-13 1 0 0 -0 -0 0 0 -8 0.05919063814025979 -0.01961077605519471 0.1544432000000008 0.9999393397844998 -0.01101438837787325 1.99659946796203e-13 0.01101438837787325 0.9999393397844998 -3.025793366081352e-13 -1.963151090522823e-13 3.047601142778895e-13 1 -0 0 0 0 0 0 -9 0.05378239942568041 -0.1021751956223423 0.1544431999999619 0.9999999999999895 -1.451005369298238e-07 1.170854688639759e-15 1.451005369298238e-07 0.9999999999999895 -2.820139190411081e-15 -1.170854279436036e-15 2.820139360302696e-15 1 0 -0 0 0 0 0 -1 0.0633633 -0.00923969 0.1754432 1 0 3.552713678800501e-15 3.155443620884047e-30 1 -8.881784197001252e-16 -3.552713678800501e-15 8.881784197001252e-16 1 0 0 0 0 0 0 -2 0.0633633 -0.00923969 0.1754432 1 0 3.552713678800501e-15 3.155443620884047e-30 1 -8.881784197001252e-16 -3.552713678800501e-15 8.881784197001252e-16 1 0 0 0 0 0 0 -3 0.04450149274340797 0.01320826282084599 0.1544432000000001 0.9999951448215078 0.003116140788158654 3.990874542212212e-15 -0.003116140788158654 0.9999951448215078 -1.424387206306301e-15 -3.995293756875672e-15 1.411944163710761e-15 1 0 0 0 0 -0 0 -4 0.02533717999999999 -0.01704046 0.1544432 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 -5 0.008879082108432364 -0.003436354694129493 0.1544432000000003 0.9998703859712964 0.01610003905618445 -1.338195987527827e-15 -0.01610003905618445 0.9998703859712964 -1.868476074829785e-15 1.307940000774382e-15 1.889778901782218e-15 1 0 -0 -0 0 0 0 -6 -0.000667407674079995 -0.03971609191182131 0.1544432000000243 0.9917265942856552 -0.1283680730811804 2.04394921663632e-13 0.1283680730811804 0.9917265942856552 -3.024713198947805e-13 -1.638762190535428e-13 3.262066341898769e-13 1 0 0 -0 -0 0 0 -7 0.01907668255247174 -0.03178055744745774 0.154443200000007 0.9971200422638714 -0.07583944432612474 2.096547611557198e-13 0.07583944432612474 0.9971200422638714 -3.02541111096787e-13 -1.861064145530245e-13 3.175699060697631e-13 1 0 0 -0 -0 0 0 -8 0.05919063814025978 -0.01961077605519472 0.1544432000000008 0.9999393397844998 -0.01101438837787338 1.99659946796203e-13 0.01101438837787338 0.9999393397844998 -3.025793366081351e-13 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- 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 diff --git a/testapp/MBDynCase(simulation)debug2.asmt b/testapp/MBDynCase(simulation)debug2.asmt deleted file mode 100644 index 23e5d3c..0000000 --- a/testapp/MBDynCase(simulation)debug2.asmt +++ /dev/null @@ -1,1129 +0,0 @@ -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 - 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0.03965417231125648 0.03146577176802278 0.02290638650852902 0.01515750258901357 0.008786220983289867 0.003918871086053439 0.0004305730166537323 -0.001911107436262118 -0.003358514590130633 -0.004140056492835673 -0.004443958399049775 -0.004416775851409134 -0.004168462765326323 -0.003779462851893823 -0.003307647724787818 -0.002794247940740035 -0.002268586496532952 -0.001751713627026627 diff --git a/testapp/MBDynCase.mbd b/testapp/MBDynCase.mbd deleted file mode 100644 index f8216d9..0000000 --- a/testapp/MBDynCase.mbd +++ /dev/null @@ -1,349 +0,0 @@ -###################################################################################################################### - # 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, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - dynamic, - Px_4, Py_4, Pz_4, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [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, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - Ixx_2, Ixy_2, Ixz_2, # [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, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - Ixx_3, Ixy_3, Ixz_3, # [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, # - mass_4, # [kg] - Rx_4, Ry_4, Rz_4, # [m] - Ixx_4, Ixy_4, Ixz_4, # [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, # - -0.121, -8.796847998598882e-19, -0.08, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_2, - spherical hinge, - structural_node_1, # - 0.0, 0.0, 0.0, # [m] - structural_node_2, # - -0.07, 0.0, -0.055; # [m] - - joint: joint_3, - revolute hinge, - structural_node_2, # - 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_3, # - -0.14, 0.0, -0.024999999999999998, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, guess; # - - joint: joint_4, - drive hinge, - structural_node_1, # - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_2, # - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - single, 0., 0., 1., # - string, "0"; # [rad] - - joint: joint_5, - in line, - structural_node_4, # - 0.0, 0.0, 0.0, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_3, # - offset, 0.14, 0.0, -0.024999999999999998; # [m] - - joint: joint_6, - prismatic, - structural_node_1, # - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1> - structural_node_4, # - 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, # - 0.0, 8.796847998604521e-19, 0.08, # [m] - 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # - structural_node_4, # - offset, 0.0, 0.0, 0.0; # [m] - - end: elements; - diff --git a/testapp/MBDynCase.mov b/testapp/MBDynCase.mov deleted file mode 100644 index afdeeb0..0000000 --- a/testapp/MBDynCase.mov +++ /dev/null @@ -1,324 +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 0.001558253989975219 0.04313916854059263 2.168404344971009e-18 0.9993482542271943 -0.03609801619284766 -0.04316730264761665 0.03606436769945951 0.9984167192933857 0 -0 -0 0 0 0 -3 0.0922534106532278 -0.001895145850124541 -0.009155819605617083 0.9990537652981445 -0.005530477486285016 0.04313916854059265 0.007090681752166227 0.9993230986318842 -0.03609801619284764 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a/testapp/MBDynCase2.mbd +++ /dev/null @@ -1,297 +0,0 @@ -#----------------------------------------------------------------------------- - # [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, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - dynamic, - Px_4, Py_4, Pz_4, # [m] - 3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005; - - body: body_3, - structural_node_3, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] - orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283; - - body: body_4, - structural_node_4, # - mass_4, # [kg] - Rx_4, Ry_4, Rz_4, # [m] - diag, Ixx_4, Iyy_4, Izz_4, # [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, # - -0.121, -1.218180697837851e-18, -0.08, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_2, - axial rotation, - structural_node_1, # - 0.0, 1.218180697837851e-18, 0.05, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_2, # - -0.03739853284269051, 0.0, 0.0032867622552210634, # [m] - orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, # - string, "model::drive(1, Time)"; # [rad/s] - - joint: joint_3, - revolute hinge, - structural_node_2, # - 0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, # [m] - orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_3, # - -0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, # [m] - orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; # - - joint: joint_4, - in line, - structural_node_3, # - 0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, # [m] - 3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, # - structural_node_4, # - offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; # [m] - - joint: joint_5, - in line, - structural_node_1, # - 0.0, 1.2181806978377854e-18, 0.08, # [m] - 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # - structural_node_4, # - offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; # [m] - - joint: joint_6, - prismatic, - structural_node_1, # - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1> - structural_node_4, # - 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; - diff --git a/testapp/MBDynCase2.mov b/testapp/MBDynCase2.mov deleted file mode 100644 index a3de8f6..0000000 --- a/testapp/MBDynCase2.mov +++ /dev/null @@ -1,1204 +0,0 @@ -1 -0.121 -1.218180697837851e-18 -0.080000000000000002 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 -2 -0.083601467157309484 0 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- 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 - 1.0000000000000001e-09 - hmax - 1 - hout - 0.01 - errorTol - 9.9999999999999995e-07 - AnimationParameters - nframe - 1000000 - icurrent - 1 - istart - 1 - iend - 1000000 - isForward - true - framesPerSecond - 30 diff --git a/testapp/MBDynCase2debug2.asmt b/testapp/MBDynCase2debug2.asmt deleted file mode 100644 index 133c0fa..0000000 --- a/testapp/MBDynCase2debug2.asmt +++ /dev/null @@ -1,587 +0,0 @@ -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 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- 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, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - dynamic, - Px_4, Py_4, Pz_4, # [m] - 3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005; - - body: body_3, - structural_node_3, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] - orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283; - - body: body_4, - structural_node_4, # - mass_4, # [kg] - Rx_4, Ry_4, Rz_4, # [m] - diag, Ixx_4, Iyy_4, Izz_4, # [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, # - -0.121, -1.218180697837851e-18, -0.08, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_2, - axial rotation, - structural_node_1, # - 0.0, 1.218180697837851e-18, 0.05, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_2, # - -0.03739853284269051, 0.0, 0.0032867622552210634, # [m] - orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, # - string, "model::drive(1, Time)"; # [rad/s] - - joint: joint_3, - revolute hinge, - structural_node_2, # - 0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, # [m] - orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_3, # - -0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, # [m] - orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; # - - joint: joint_4, - in line, - structural_node_3, # - 0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, # [m] - 3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, # - structural_node_4, # - offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; # [m] - - joint: joint_5, - in line, - structural_node_1, # - 0.0, 1.2181806978377854e-18, 0.08, # [m] - 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # - structural_node_4, # - offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; # [m] - - joint: joint_6, - prismatic, - structural_node_1, # - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1> - structural_node_4, # - 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; - diff --git a/testapp/MBDynCase3orig.mbd b/testapp/MBDynCase3orig.mbd deleted file mode 100644 index ad898e3..0000000 --- a/testapp/MBDynCase3orig.mbd +++ /dev/null @@ -1,221 +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: 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, # [m] - 3, -0.4226182882013998, -2.7755575615628914e-17, -0.9063077746978225, 2, -0.9063077746978224, -2.220446049250313e-16, 0.4226182882013998, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 0.42261828111830424, -2.2294840669803695e-11, 0.9063077780007243, 2, 0.004451515729309454, 0.9999879375081729, -0.002075775966247727, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, 0.9147491093362897, 0.0044930312486344106, 0.40449212555828973, 2, -0.4044872463754312, -0.001986745651661539, 0.9147601436230902; - - body: body_3, - structural_node_3, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [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, # - -0.07783416000000026, 0.004000000000000017, -0.17832060000000008, # [m] - 3, -0.4226182882013998, -2.7755575615628914e-17, -0.9063077746978225, 2, -0.9063077746978224, -2.220446049250313e-16, 0.4226182882013998; # - - joint: joint_2, - axial rotation, - structural_node_1, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 2.7755575615628907e-17, 2.888894916580853e-34, 1.0, 2, -2.0816681711721682e-17, 1.0, 2.888894916580853e-34, # - structural_node_2, # - position, 0.12405488305905531, -7.105427357601002e-17, 0.07103245896806425, # [m] - orientation, 3, -7.634214775133242e-16, -3.1014999607476295e-18, -1.0, 2, -0.9999879375084079, -0.004911704152397167, 7.634275023984063e-16, # - string, "model::drive(1, Time)"; # [rad/s] - - joint: joint_4, - spherical hinge, - structural_node_2, # - -0.0759451169409448, -6.661338147750939e-17, -0.05896754103193575, # [m] - structural_node_3, # - 0.0, 0.0, 0.0; # [m] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", ramp, 10.0, 0.25, 4.0, 0.0; - - end: elements; - diff --git a/testapp/MBDynCase3orig.mov b/testapp/MBDynCase3orig.mov deleted file mode 100644 index c2ca114..0000000 --- a/testapp/MBDynCase3orig.mov +++ /dev/null @@ -1,1203 +0,0 @@ -1 -0.07783416000000026 0.004000000000000012 -0.1783206000000001 5.549534576630243e-17 -0.9063077746978223 -0.4226182882013996 -1 -1.129881533480654e-16 1.109906915326049e-16 -1.483425866100842e-16 0.4226182882013996 -0.9063077746978223 -0 -0 -0 0 0 0 -2 -0.2202843250125619 0.004609320884246371 -0.1902706399078666 0.9062968423679104 0.004451515660332926 0.422618288201399 -0.004911704152396982 0.9999879375084079 8.868773770931425e-17 -0.4226131903718509 -0.002075776001037796 0.9063077746978226 -0 -0 -0 0 0 0 -3 -0.3140339059397644 0.004982340830479381 -0.2116179726363468 0.9999999999999973 1.036592642763532e-08 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100644 index ec2258d..0000000 --- a/testapp/MBDynCase4orig.mbd +++ /dev/null @@ -1,206 +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: 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, # [m] - 3, -0.4226182882013998, -2.7755575615628914e-17, -0.9063077746978225, 2, -0.9063077746978224, -2.220446049250313e-16, 0.4226182882013998, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 0.4255722967998098, -0.005157126203417276, 0.9049097326506421, 2, 0.008184884137404964, 0.9999647927802666, 0.0018495598329388702, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, 0.9133994021895833, 0.008147892940746188, 0.40747410214679713, 2, -0.4075017758287343, 0.0020132575156869698, 0.9134211785866383; - - body: body_3, - structural_node_3, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [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, # - -0.07783416000000026, 0.004000000000000017, -0.17832060000000008, # [m] - 3, -0.4226182882013998, -2.7755575615628914e-17, -0.9063077746978225, 2, -0.9063077746978224, -2.220446049250313e-16, 0.4226182882013998; # - - joint: joint_4, - spherical hinge, - structural_node_2, # - -0.07594511694094498, -7.105427357601002e-17, -0.058967541031935924, # [m] - structural_node_3, # - 0.0, 0.0, 0.0; # [m] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", ramp, 10.0, 0.25, 4.0, 0.0; - - end: elements; - diff --git a/testapp/MBDynCase4orig.mov b/testapp/MBDynCase4orig.mov deleted file mode 100644 index 3d801ec..0000000 --- a/testapp/MBDynCase4orig.mov +++ /dev/null @@ -1,1203 +0,0 @@ -1 -0.07783416000000026 0.004000000000000012 -0.1783206000000001 5.549534576630243e-17 -0.9063077746978223 -0.4226182882013996 -1 -1.129881533480654e-16 1.109906915326049e-16 -1.483425866100842e-16 0.4226182882013996 -0.9063077746978223 0 0 0 0 0 0 -2 -0.369519899402072 -0.0004034105327046511 -0.2369633983698679 0.9048874059786289 0.008184876010315267 0.4255723091390742 -0.006619448398860397 0.9999647928291137 -0.005157131482009772 -0.425599536423811 0.001849569388716579 0.904909726817495 -0 -0 0 0 0 0 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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 - SphericalJoint - Name - joint_4 - MarkerI - /Assembly/structural_node_2/Marker0 - MarkerJ - /Assembly/structural_node_3/Marker0 - Motions - 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 diff --git a/testapp/MBDynCase4origdebug2.asmt b/testapp/MBDynCase4origdebug2.asmt deleted file mode 100644 index b9a877d..0000000 --- a/testapp/MBDynCase4origdebug2.asmt 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0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 diff --git a/testapp/MBDynCase5orig.mbd b/testapp/MBDynCase5orig.mbd deleted file mode 100644 index 336b3f4..0000000 --- a/testapp/MBDynCase5orig.mbd +++ /dev/null @@ -1,639 +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: 10; - rigid bodies: 8; - joints: 15; - end: control data; - - #----------------------------------------------------------------------------- - # [Design Variables] - - #Generic bodies - - #body: 2 - set: integer body_2 = 2; #body label - set: real mass_2 = 2.978229835603125; #mass [kg] - set: real volume_2 = 0.0003769911184307753; #volume [m^3] - - #body: 3 - set: integer body_3 = 3; #body label - set: real mass_3 = 2.588134615720142; #mass [kg] - set: real volume_3 = 0.0003276119766734357; #volume [m^3] - - #body: 4 - set: integer body_4 = 4; #body label - set: real mass_4 = 1.1703392124151422; #mass [kg] - set: real volume_4 = 0.00014814420410318253; #volume [m^3] - - #body: 5 - set: integer body_5 = 5; #body label - set: real mass_5 = 2.9782298356031247; #mass [kg] - set: real volume_5 = 0.00037699111843077525; #volume [m^3] - - #body: 6 - set: integer body_6 = 6; #body label - set: real mass_6 = 2.6433540328793748; #mass [kg] - set: real volume_6 = 0.0003346017763138449; #volume [m^3] - - #body: 7 - set: integer body_7 = 7; #body label - set: real mass_7 = 2.6411631689303903; #mass [kg] - set: real volume_7 = 0.0003343244517633405; #volume [m^3] - - #body: 8 - set: integer body_8 = 8; #body label - set: real mass_8 = 2.6433540328793748; #mass [kg] - set: real volume_8 = 0.0003346017763138449; #volume [m^3] - - #body: 9 - set: integer body_9 = 9; #body label - set: real mass_9 = 2.978229835603125; #mass [kg] - set: real volume_9 = 0.0003769911184307753; #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 - - #node: 10 - set: integer structural_node_10 = 10; #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_9 - set: integer joint_7 = 7; #joint label - - set: integer joint_8 = 8; #joint label - - set: integer joint_9 = 9; #joint label - - #joint: 12_13 - set: integer joint_12 = 12; #joint label - - set: integer joint_13 = 13; #joint label - - #joint: 14_15 - set: integer joint_14 = 14; #joint label - - set: integer joint_15 = 15; #joint label - - #joint: 16_17 - set: integer joint_16 = 16; #joint label - - set: integer joint_17 = 17; #joint label - - #joint: 18 - 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_22 - set: integer joint_21 = 21; #joint label - - set: integer joint_22 = 22; #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 = -0.07783416099836238; #X component of the absolute position [m] - set: real Py_2 = 0.003999999996809766; #Y component of the absolute position [m] - set: real Pz_2 = -0.17832060017325177; #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 = -0.1623578015932916; #X component of the absolute position [m] - set: real Py_3 = 0.003999999315223945; #Y component of the absolute position [m] - set: real Pz_3 = -0.3595821023052435; #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 = -0.3774260000000018; #X component of the absolute position [m] - set: real Py_4 = 0.0051113240000002945; #Y component of the absolute position [m] - set: real Pz_4 = -0.347564400000001; #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 = -0.3351868564816247; #X component of the absolute position [m] - set: real Py_5 = 0.004141981016983607; #Y component of the absolute position [m] - set: real Pz_5 = -1.0431822332692882; #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 = -0.3290883999648427; #X component of the absolute position [m] - set: real Py_6 = 0.0789998699933408; #Y component of the absolute position [m] - set: real Pz_6 = -1.1681069999111064; #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 = -0.25400010003843715; #X component of the absolute position [m] - set: real Py_7 = 0.004088427999796447; #Y component of the absolute position [m] - set: real Pz_7 = -1.1680000001111455; #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 = -0.3290000000000001; #X component of the absolute position [m] - set: real Py_8 = 0.004; #Y component of the absolute position [m] - set: real Pz_8 = -1.273; #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 = -0.32900000000000007; #X component of the absolute position [m] - set: real Py_9 = 0.004000000000000001; #Y component of the absolute position [m] - set: real Pz_9 = -1.4730000000000003; #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] - - #node: 10 - set: real Px_10 = -0.329; #X component of the absolute position [m] - set: real Py_10 = 0.004; #Y component of the absolute position [m] - set: real Pz_10 = -1.473; #Z component of the absolute position [m] - - set: real Vx_10 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_10 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_10 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_10 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_10 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_10 = 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 = 0.040082009870845; #moment of inertia [kg*m^2] - set: real Iyy_2 = 0.040082009870845; #moment of inertia [kg*m^2] - set: real Izz_2 = 0.0007445574589190001; #moment of inertia [kg*m^2] - - set: real Rx_2 = 0.004999996385997411; #X component of the relative center of mass [m] - set: real Ry_2 = 0.1205597414584092; #Y component of the relative center of mass [m] - set: real Rz_2 = -0.13592680593549666; #Z component of the relative center of mass [m] - - #body 3: - set: real Ixx_3 = 0.024389786154885; #moment of inertia [kg*m^2] - set: real Iyy_3 = 0.023044218207903002; #moment of inertia [kg*m^2] - set: real Izz_3 = 0.0026456642607380005; #moment of inertia [kg*m^2] - - set: real Rx_3 = -0.09199998799213414; #X component of the relative center of mass [m] - set: real Ry_3 = 0.18852863696782032; #Y component of the relative center of mass [m] - set: real Rz_3 = 0.0197964064628884; #Z component of the relative center of mass [m] - - #body 4: - set: real Ixx_4 = 0.018472555043878; #moment of inertia [kg*m^2] - set: real Iyy_4 = 0.018472555043878; #moment of inertia [kg*m^2] - set: real Izz_4 = 0.000232194477874; #moment of inertia [kg*m^2] - - set: real Rx_4 = -0.1305739999999983; #X component of the relative center of mass [m] - set: real Ry_4 = 0.08288867599999981; #Y component of the relative center of mass [m] - set: real Rz_4 = -0.057501651596334566; #Z component of the relative center of mass [m] - - #body 5: - set: real Ixx_5 = 0.040082009870845; #moment of inertia [kg*m^2] - set: real Iyy_5 = 0.040082009870845; #moment of inertia [kg*m^2] - set: real Izz_5 = 0.0007445574589190001; #moment of inertia [kg*m^2] - - set: real Rx_5 = 0.006834112138545638; #X component of the relative center of mass [m] - set: real Ry_5 = -0.04601302782700924; #Y component of the relative center of mass [m] - set: real Rz_5 = 0.4707123913694984; #Z component of the relative center of mass [m] - - #body 6: - set: real Ixx_6 = 0.014001696547797999; #moment of inertia [kg*m^2] - set: real Iyy_6 = 0.009872891153302001; #moment of inertia [kg*m^2] - set: real Izz_6 = 0.0053592595344360006; #moment of inertia [kg*m^2] - - set: real Rx_6 = -0.11400466480286309; #X component of the relative center of mass [m] - set: real Ry_6 = 0.2899920088958115; #Y component of the relative center of mass [m] - set: real Rz_6 = 0.07927857952755618; #Z component of the relative center of mass [m] - - #body 7: - set: real Ixx_7 = 0.005810096369772; #moment of inertia [kg*m^2] - set: real Iyy_7 = 0.0031759058351150007; #moment of inertia [kg*m^2] - set: real Izz_7 = 0.0031759058351150007; #moment of inertia [kg*m^2] - - set: real Rx_7 = 0.003864408418240226; #X component of the relative center of mass [m] - set: real Ry_7 = 0.10100000009125211; #Y component of the relative center of mass [m] - set: real Rz_7 = 0.19000458831433167; #Z component of the relative center of mass [m] - - #body 8: - set: real Ixx_8 = 0.014001696547797999; #moment of inertia [kg*m^2] - set: real Iyy_8 = 0.009872891153302001; #moment of inertia [kg*m^2] - set: real Izz_8 = 0.0053592595344360006; #moment of inertia [kg*m^2] - - set: real Rx_8 = -0.10900000000000006; #X component of the relative center of mass [m] - set: real Ry_8 = -0.002999999999999985; #Y component of the relative center of mass [m] - set: real Rz_8 = 0.029002381005074084; #Z component of the relative center of mass [m] - - #body 9: - set: real Ixx_9 = 0.040082009870845; #moment of inertia [kg*m^2] - set: real Iyy_9 = 0.040082009870845; #moment of inertia [kg*m^2] - set: real Izz_9 = 0.0007445574589190001; #moment of inertia [kg*m^2] - - set: real Rx_9 = -0.10299999999999983; #X component of the relative center of mass [m] - set: real Ry_9 = -0.005000000000000004; #Y component of the relative center of mass [m] - set: real Rz_9 = -0.041999999999999545; #Z component of the relative center of mass [m] - - #----------------------------------------------------------------------------- - # [Nodes Block] - - begin: nodes; - - structural: structural_node_1, - static, - Px_1, Py_1, Pz_1, # [m] - 3, -0.4226182882013998, -2.7755575615628914e-17, -0.9063077746978225, 2, -0.9063077746978224, -2.220446049250313e-16, 0.4226182882013998, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, -0.42261825908564954, -2.9448519067720724e-08, -0.9063077882747201, 2, -0.9063077882747177, -6.315255363098515e-08, 0.4226182590856506, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, 0.42261825908564965, 2.9448519067720724e-08, 0.9063077882747196, 2, -0.9063077882747174, -6.315255363098515e-08, 0.42261825908565065, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - dynamic, - Px_4, Py_4, Pz_4, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - structural: structural_node_5, - dynamic, - Px_5, Py_5, Pz_5, # [m] - 3, -0.058922175918830574, 0.0013521991508192235, 0.9982616634642677, 2, 0.997998898981574, -0.02290297740498337, 0.05893768961838506, # - Vx_5, Vy_5, Vz_5, # [m/s] - Wx_5, Wy_5, Wz_5; # [rad/s] - - structural: structural_node_6, - dynamic, - Px_6, Py_6, Pz_6, # [m] - 3, 0.0011790380091409901, -0.9999982908405949, 0.0014241436943254193, 2, -1.6791212488734449e-06, 0.0014241427044502375, 0.9999989859068548, # - Vx_6, Vy_6, Vz_6, # [m/s] - Wx_6, Wy_6, Wz_6; # [rad/s] - - structural: structural_node_7, - dynamic, - Px_7, Py_7, Pz_7, # [m] - 3, -0.9999993049367035, -0.001179036093641228, 1.0471146172363888e-10, 2, 1.0471157274594134e-10, 1.2323475573339238e-13, 1.0000000000000002, # - Vx_7, Vy_7, Vz_7, # [m/s] - Wx_7, Wy_7, Wz_7; # [rad/s] - - structural: structural_node_8, - dynamic, - Px_8, Py_8, Pz_8, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_8, Vy_8, Vz_8, # [m/s] - Wx_8, Wy_8, Wz_8; # [rad/s] - - structural: structural_node_9, - dynamic, - Px_9, Py_9, Pz_9, # [m] - 3, 0.0, -3.9968028886505634e-17, 1.0, 2, 0.0, 1.0, 3.9968028886505634e-17, # - Vx_9, Vy_9, Vz_9, # [m/s] - Wx_9, Wy_9, Wz_9; # [rad/s] - - structural: structural_node_10, - static, - Px_10, Py_10, Pz_10, # [m] - 3, 0.0, -3.552713678800501e-17, 1.0, 2, 0.0, 1.0, 3.552713678800501e-17, # - Vx_10, Vy_10, Vz_10, # [m/s] - Wx_10, Wy_10, Wz_10; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, 3.7627811787024905e-08, -0.13440686803640117, -0.9895124020570147, 2, -0.019999941467848125, -0.9895124033200648, 0.13440686744743258; - - body: body_3, - structural_node_3, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] - orientation, 3, -6.968113306842633e-08, -0.9147601534564302, 0.4044921033201552, 2, -1.3936225763330756e-09, 0.4044921033201563, 0.9147601534564325; - - body: body_4, - structural_node_4, # - mass_4, # [kg] - Rx_4, Ry_4, Rz_4, # [m] - diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] - orientation, 3, 0.0, 0.0, 1.0, 2, 1.0, 0.0, 0.0; - - body: body_5, - structural_node_5, # - mass_5, # [kg] - Rx_5, Ry_5, Rz_5, # [m] - diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] - orientation, 3, -2.7755575615628914e-17, 0.058937689618385136, 0.9982616634642679, 2, -0.9997367779487975, -0.02290297740498341, 0.0013521991508192467; - - body: body_6, - structural_node_6, # - mass_6, # [kg] - Rx_6, Ry_6, Rz_6, # [m] - diag, Ixx_6, Iyy_6, Izz_6, # [kg*m^2] - orientation, 3, 0.0011790392047965658, 0.0014241427044501846, -0.999998290840595, 2, 5.551115123125783e-17, 0.9999989859068549, 0.0014241436943254748; - - body: body_7, - structural_node_7, # - mass_7, # [kg] - Rx_7, Ry_7, Rz_7, # [m] - diag, Ixx_7, Iyy_7, Izz_7, # [kg*m^2] - orientation, 3, -0.709162390878574, 7.443270238366723e-11, -0.7108366221315445, 2, 0.7108366221315445, 7.425747000768528e-11, -0.7091623908785742; - - body: body_8, - structural_node_8, # - mass_8, # [kg] - Rx_8, Ry_8, Rz_8, # [m] - diag, Ixx_8, Iyy_8, Izz_8, # [kg*m^2] - orientation, 3, 1.0, 0.0, 0.0, 2, 0.0, 0.0, 1.0; - - body: body_9, - structural_node_9, # - mass_9, # [kg] - Rx_9, Ry_9, Rz_9, # [m] - diag, Ixx_9, Iyy_9, Izz_9, # [kg*m^2] - orientation, 3, -2.7755575615628914e-17, 3.9898639947466563e-17, 1.0, 2, 1.5407439555097887e-33, 1.0, -3.9968028886505634e-17; - - #----------------------------------------------------------------------------- - # [Joints] - - joint: joint_1, - clamp, - structural_node_1, # - -0.07783416000000026, 0.004000000000000017, -0.17832060000000008, # [m] - 3, -0.4226182882013998, -2.7755575615628914e-17, -0.9063077746978225, 2, -0.9063077746978224, -2.220446049250313e-16, 0.4226182882013998; # - - joint: joint_2, - axial rotation, - structural_node_2, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 2.7755575615628907e-17, 6.740754805355322e-34, 1.0, 2, -4.8572257327350586e-17, 1.0, 6.740754805355322e-34, # - structural_node_1, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - string, "model::drive(1, Time)"; # [rad/s] - - joint: joint_4, - prismatic, - structural_node_2, # - orientation, 3, -2.220446049250313e-16, -1.665334536937734e-16, -1.0, 2, 4.926614671774131e-16, 1.0, -1.665334536937735e-16, #relative_orientation_matrix_1> - structural_node_3, # - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #relative_orientation_matrix_2> - - joint: joint_5, - spherical hinge, - structural_node_2, # - 7.993605777301126e-18, -2.842170943040401e-17, 0.20000000000000004, # [m] - structural_node_3, # - 0.0, 0.0, 0.0; # [m] - - joint: joint_6, - spherical hinge, - structural_node_3, # - 0.0011113412974166784, 0.19999691227746655, -0.08000000000000006, # [m] - structural_node_4, # - 0.0, 0.0, 0.0; # [m] - - joint: joint_7, - in line, - structural_node_4, # - 0.0, 0.0, 2.9103830456733704e-14, # [m] - 3, -0.058922175918830526, 0.0013521991508192166, 0.9982616634642677, 2, 0.9979988989815741, -0.022902977404982927, 0.05893768961838501, # - structural_node_5, # - offset, 0.0, 0.0, 0.0; # [m] - - joint: joint_8, - prismatic, - structural_node_4, # - orientation, 3, -0.058922175918830526, 0.0013521991508192166, 0.9982616634642677, 2, 0.9979988989815741, -0.022902977404982927, 0.05893768961838501, #relative_orientation_matrix_1> - structural_node_5, # - orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2> - - joint: joint_12, - revolute hinge, - structural_node_7, # - position, -0.07499992394297246, -0.00010681080630843098, 0.075, # [m] - orientation, 3, 0.9999989859062998, 0.0014241440841156884, -4.440892098500626e-16, 2, -0.0014241440841156884, 0.9999989859062997, 1.0471177841909346e-10, # - structural_node_6, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_14, - revolute hinge, - structural_node_8, # - position, 0.07499994787026051, 8.84277004365579e-05, 0.105, # [m] - orientation, 3, -0.999999304936807, -0.0011790360058203109, 0.0, 2, 5.551115123125783e-17, 1.1102230246251565e-16, 1.0, # - structural_node_7, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_16, - prismatic, - structural_node_9, # - orientation, 3, 0.0, 3.9968028886505634e-17, 1.0, 2, -0.0, 1.0, -3.9968028886505634e-17, #relative_orientation_matrix_1> - structural_node_8, # - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #relative_orientation_matrix_2> - - joint: joint_17, - spherical hinge, - structural_node_9, # - 0.0, 0.0, 0.2, # [m] - structural_node_8, # - 0.0, 0.0, 0.0; # [m] - - joint: joint_18, - clamp, - structural_node_10, # - -0.329, 0.004, -1.473, # [m] - 3, 0.0, -3.552713678800501e-17, 1.0, 2, 0.0, 1.0, 3.552713678800501e-17; # - - joint: joint_19, - axial rotation, - structural_node_9, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_10, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - string, "model::drive(1, Time)/2"; # [rad/s] - - joint: joint_21, - prismatic, - structural_node_6, # - orientation, 3, 0.0, 0.9999989859068548, 0.0014241436943254193, 2, 0.0011790392047965658, 0.0014241427044502375, -0.9999982908405949, #relative_orientation_matrix_1> - structural_node_5, # - orientation, 3, -6.938893903907228e-18, 0.05893768961838506, 0.9982616634642677, 2, -0.9997367779487978, -0.02290297740498337, 0.0013521991508192235; #relative_orientation_matrix_2> - - joint: joint_22, - spherical hinge, - structural_node_6, # - -0.006186656766077363, 0.10481758095882014, 0.075, # [m] - structural_node_5, # - 4.440892098500626e-19, -0.0011787537923677292, -0.019965233269285478; # [m] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 2.0, 0.0; - - end: elements; - diff --git a/testapp/MBDynCase5orig.mov b/testapp/MBDynCase5orig.mov deleted file mode 100644 index 369f8f5..0000000 --- a/testapp/MBDynCase5orig.mov +++ /dev/null @@ -1,4010 +0,0 @@ -1 -0.077834160000000263 0.0040000000000000122 -0.17832060000000008 5.5495345766302431e-17 -0.90630777469782231 -0.42261828820139963 -1 -1.1298815334806543e-16 1.1099069153260486e-16 -1.483425866100842e-16 0.42261828820139963 -0.90630777469782231 0 0 0 0 0 0 -2 -0.077834160000000263 0.0040000000000000122 -0.17832060000000008 2.567360975395647e-16 -0.90630777469782231 -0.42261828820139963 -1 -3.3503275827309674e-16 1.1099069153260486e-16 -2.4218269744785701e-16 0.42261828820139963 -0.90630777469782231 -0 0 0 0 -0 0 -3 -0.16235781764028018 0.0040000000000000036 -0.35958215493956458 -7.4946766132674656e-16 -0.90630777469782231 0.42261828820139974 1 -7.1046233366908721e-16 2.4980018054066022e-16 7.3858529541881305e-17 0.42261828820139974 0.90630777469782231 -0 0 -0 0 0 0 -4 -0.37742603720901846 0.0051113412974165134 -0.34756442420312206 0.99999897200246046 -2.0399977603774966e-06 -0.0014338723306962793 2.0873828499985664e-06 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--git a/testapp/MBDynCase6orig.mbd b/testapp/MBDynCase6orig.mbd deleted file mode 100644 index 0e7a815..0000000 --- a/testapp/MBDynCase6orig.mbd +++ /dev/null @@ -1,638 +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: 10; - rigid bodies: 8; - joints: 15; - end: control data; - - #----------------------------------------------------------------------------- - # [Design Variables] - - #Generic bodies - - #body: 2 - set: integer body_2 = 2; #body label - set: real mass_2 = 2.978229835603125; #mass [kg] - set: real volume_2 = 0.0003769911184307753; #volume [m^3] - - #body: 3 - set: integer body_3 = 3; #body label - set: real mass_3 = 2.588134615720142; #mass [kg] - set: real volume_3 = 0.0003276119766734357; #volume [m^3] - - #body: 4 - set: integer body_4 = 4; #body label - set: real mass_4 = 1.1703392124151422; #mass [kg] - set: real volume_4 = 0.00014814420410318253; #volume [m^3] - - #body: 5 - set: integer body_5 = 5; #body label - set: real mass_5 = 2.9782298356031247; #mass [kg] - set: real volume_5 = 0.00037699111843077525; #volume [m^3] - - #body: 6 - set: integer body_6 = 6; #body label - set: real mass_6 = 2.6433540328793748; #mass [kg] - set: real volume_6 = 0.0003346017763138449; #volume [m^3] - - #body: 7 - set: integer body_7 = 7; #body label - set: real mass_7 = 2.6411631689303903; #mass [kg] - set: real volume_7 = 0.0003343244517633405; #volume [m^3] - - #body: 8 - set: integer body_8 = 8; #body label - set: real mass_8 = 2.6433540328793748; #mass [kg] - set: real volume_8 = 0.0003346017763138449; #volume [m^3] - - #body: 9 - set: integer body_9 = 9; #body label - set: real mass_9 = 2.978229835603125; #mass [kg] - set: real volume_9 = 0.0003769911184307753; #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 - - #node: 10 - set: integer structural_node_10 = 10; #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_9 - set: integer joint_7 = 7; #joint label - - set: integer joint_8 = 8; #joint label - - set: integer joint_9 = 9; #joint label - - #joint: 12_13 - set: integer joint_12 = 12; #joint label - - set: integer joint_13 = 13; #joint label - - #joint: 14_15 - set: integer joint_14 = 14; #joint label - - set: integer joint_15 = 15; #joint label - - #joint: 16_17 - set: integer joint_16 = 16; #joint label - - set: integer joint_17 = 17; #joint label - - #joint: 18 - 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_22 - set: integer joint_21 = 21; #joint label - - set: integer joint_22 = 22; #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 = -0.07783416099836238; #X component of the absolute position [m] - set: real Py_2 = 0.003999999996809766; #Y component of the absolute position [m] - set: real Pz_2 = -0.17832060017325177; #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 = -0.1623578015932916; #X component of the absolute position [m] - set: real Py_3 = 0.003999999315223945; #Y component of the absolute position [m] - set: real Pz_3 = -0.3595821023052435; #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 = -0.3774260000000018; #X component of the absolute position [m] - set: real Py_4 = 0.0051113240000002945; #Y component of the absolute position [m] - set: real Pz_4 = -0.347564400000001; #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 = -0.3351868564816247; #X component of the absolute position [m] - set: real Py_5 = 0.004141981016983607; #Y component of the absolute position [m] - set: real Pz_5 = -1.0431822332692882; #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 = -0.3290883999648427; #X component of the absolute position [m] - set: real Py_6 = 0.0789998699933408; #Y component of the absolute position [m] - set: real Pz_6 = -1.1681069999111064; #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 = -0.25400010003843715; #X component of the absolute position [m] - set: real Py_7 = 0.004088427999796447; #Y component of the absolute position [m] - set: real Pz_7 = -1.1680000001111455; #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 = -0.3290000000000001; #X component of the absolute position [m] - set: real Py_8 = 0.004; #Y component of the absolute position [m] - set: real Pz_8 = -1.273; #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 = -0.32900000000000007; #X component of the absolute position [m] - set: real Py_9 = 0.004000000000000001; #Y component of the absolute position [m] - set: real Pz_9 = -1.4730000000000003; #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] - - #node: 10 - set: real Px_10 = -0.329; #X component of the absolute position [m] - set: real Py_10 = 0.004; #Y component of the absolute position [m] - set: real Pz_10 = -1.473; #Z component of the absolute position [m] - - set: real Vx_10 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_10 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_10 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_10 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_10 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_10 = 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 = 0.040082009870845; #moment of inertia [kg*m^2] - set: real Iyy_2 = 0.040082009870845; #moment of inertia [kg*m^2] - set: real Izz_2 = 0.0007445574589190001; #moment of inertia [kg*m^2] - - set: real Rx_2 = 0.004999996385997411; #X component of the relative center of mass [m] - set: real Ry_2 = 0.1205597414584092; #Y component of the relative center of mass [m] - set: real Rz_2 = -0.13592680593549666; #Z component of the relative center of mass [m] - - #body 3: - set: real Ixx_3 = 0.024389786154885; #moment of inertia [kg*m^2] - set: real Iyy_3 = 0.023044218207903002; #moment of inertia [kg*m^2] - set: real Izz_3 = 0.0026456642607380005; #moment of inertia [kg*m^2] - - set: real Rx_3 = -0.09199998799213414; #X component of the relative center of mass [m] - set: real Ry_3 = 0.18852863696782032; #Y component of the relative center of mass [m] - set: real Rz_3 = 0.0197964064628884; #Z component of the relative center of mass [m] - - #body 4: - set: real Ixx_4 = 0.018472555043878; #moment of inertia [kg*m^2] - set: real Iyy_4 = 0.018472555043878; #moment of inertia [kg*m^2] - set: real Izz_4 = 0.000232194477874; #moment of inertia [kg*m^2] - - set: real Rx_4 = -0.1305739999999983; #X component of the relative center of mass [m] - set: real Ry_4 = 0.08288867599999981; #Y component of the relative center of mass [m] - set: real Rz_4 = -0.057501651596334566; #Z component of the relative center of mass [m] - - #body 5: - set: real Ixx_5 = 0.040082009870845; #moment of inertia [kg*m^2] - set: real Iyy_5 = 0.040082009870845; #moment of inertia [kg*m^2] - set: real Izz_5 = 0.0007445574589190001; #moment of inertia [kg*m^2] - - set: real Rx_5 = 0.006834112138545638; #X component of the relative center of mass [m] - set: real Ry_5 = -0.04601302782700924; #Y component of the relative center of mass [m] - set: real Rz_5 = 0.4707123913694984; #Z component of the relative center of mass [m] - - #body 6: - set: real Ixx_6 = 0.014001696547797999; #moment of inertia [kg*m^2] - set: real Iyy_6 = 0.009872891153302001; #moment of inertia [kg*m^2] - set: real Izz_6 = 0.0053592595344360006; #moment of inertia [kg*m^2] - - set: real Rx_6 = -0.11400466480286309; #X component of the relative center of mass [m] - set: real Ry_6 = 0.2899920088958115; #Y component of the relative center of mass [m] - set: real Rz_6 = 0.07927857952755618; #Z component of the relative center of mass [m] - - #body 7: - set: real Ixx_7 = 0.005810096369772; #moment of inertia [kg*m^2] - set: real Iyy_7 = 0.0031759058351150007; #moment of inertia [kg*m^2] - set: real Izz_7 = 0.0031759058351150007; #moment of inertia [kg*m^2] - - set: real Rx_7 = 0.003864408418240226; #X component of the relative center of mass [m] - set: real Ry_7 = 0.10100000009125211; #Y component of the relative center of mass [m] - set: real Rz_7 = 0.19000458831433167; #Z component of the relative center of mass [m] - - #body 8: - set: real Ixx_8 = 0.014001696547797999; #moment of inertia [kg*m^2] - set: real Iyy_8 = 0.009872891153302001; #moment of inertia [kg*m^2] - set: real Izz_8 = 0.0053592595344360006; #moment of inertia [kg*m^2] - - set: real Rx_8 = -0.10900000000000006; #X component of the relative center of mass [m] - set: real Ry_8 = -0.002999999999999985; #Y component of the relative center of mass [m] - set: real Rz_8 = 0.029002381005074084; #Z component of the relative center of mass [m] - - #body 9: - set: real Ixx_9 = 0.040082009870845; #moment of inertia [kg*m^2] - set: real Iyy_9 = 0.040082009870845; #moment of inertia [kg*m^2] - set: real Izz_9 = 0.0007445574589190001; #moment of inertia [kg*m^2] - - set: real Rx_9 = -0.10299999999999983; #X component of the relative center of mass [m] - set: real Ry_9 = -0.005000000000000004; #Y component of the relative center of mass [m] - set: real Rz_9 = -0.041999999999999545; #Z component of the relative center of mass [m] - - #----------------------------------------------------------------------------- - # [Nodes Block] - - begin: nodes; - - structural: structural_node_1, - static, - Px_1, Py_1, Pz_1, # [m] - 3, -0.4226182882013998, -2.7755575615628914e-17, -0.9063077746978225, 2, -0.9063077746978224, -2.220446049250313e-16, 0.4226182882013998, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, -0.42261825908564954, -2.9448519067720724e-08, -0.9063077882747201, 2, -0.9063077882747177, -6.315255363098515e-08, 0.4226182590856506, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, 0.42261825908564965, 2.9448519067720724e-08, 0.9063077882747196, 2, -0.9063077882747174, -6.315255363098515e-08, 0.42261825908565065, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - dynamic, - Px_4, Py_4, Pz_4, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - structural: structural_node_5, - dynamic, - Px_5, Py_5, Pz_5, # [m] - 3, -0.058922175918830574, 0.0013521991508192235, 0.9982616634642677, 2, 0.997998898981574, -0.02290297740498337, 0.05893768961838506, # - Vx_5, Vy_5, Vz_5, # [m/s] - Wx_5, Wy_5, Wz_5; # [rad/s] - - structural: structural_node_6, - dynamic, - Px_6, Py_6, Pz_6, # [m] - 3, 0.0011790380091409901, -0.9999982908405949, 0.0014241436943254193, 2, -1.6791212488734449e-06, 0.0014241427044502375, 0.9999989859068548, # - Vx_6, Vy_6, Vz_6, # [m/s] - Wx_6, Wy_6, Wz_6; # [rad/s] - - structural: structural_node_7, - dynamic, - Px_7, Py_7, Pz_7, # [m] - 3, -0.9999993049367035, -0.001179036093641228, 1.0471146172363888e-10, 2, 1.0471157274594134e-10, 1.2323475573339238e-13, 1.0000000000000002, # - Vx_7, Vy_7, Vz_7, # [m/s] - Wx_7, Wy_7, Wz_7; # [rad/s] - - structural: structural_node_8, - dynamic, - Px_8, Py_8, Pz_8, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_8, Vy_8, Vz_8, # [m/s] - Wx_8, Wy_8, Wz_8; # [rad/s] - - structural: structural_node_9, - dynamic, - Px_9, Py_9, Pz_9, # [m] - 3, 0.0, -3.9968028886505634e-17, 1.0, 2, 0.0, 1.0, 3.9968028886505634e-17, # - Vx_9, Vy_9, Vz_9, # [m/s] - Wx_9, Wy_9, Wz_9; # [rad/s] - - structural: structural_node_10, - static, - Px_10, Py_10, Pz_10, # [m] - 3, 0.0, -3.552713678800501e-17, 1.0, 2, 0.0, 1.0, 3.552713678800501e-17, # - Vx_10, Vy_10, Vz_10, # [m/s] - Wx_10, Wy_10, Wz_10; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, 3.7627811787024905e-08, -0.13440686803640117, -0.9895124020570147, 2, -0.019999941467848125, -0.9895124033200648, 0.13440686744743258; - - body: body_3, - structural_node_3, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] - orientation, 3, -6.968113306842633e-08, -0.9147601534564302, 0.4044921033201552, 2, -1.3936225763330756e-09, 0.4044921033201563, 0.9147601534564325; - - body: body_4, - structural_node_4, # - mass_4, # [kg] - Rx_4, Ry_4, Rz_4, # [m] - diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] - orientation, 3, 0.0, 0.0, 1.0, 2, 1.0, 0.0, 0.0; - - body: body_5, - structural_node_5, # - mass_5, # [kg] - Rx_5, Ry_5, Rz_5, # [m] - diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] - orientation, 3, -2.7755575615628914e-17, 0.058937689618385136, 0.9982616634642679, 2, -0.9997367779487975, -0.02290297740498341, 0.0013521991508192467; - - body: body_6, - structural_node_6, # - mass_6, # [kg] - Rx_6, Ry_6, Rz_6, # [m] - diag, Ixx_6, Iyy_6, Izz_6, # [kg*m^2] - orientation, 3, 0.0011790392047965658, 0.0014241427044501846, -0.999998290840595, 2, 5.551115123125783e-17, 0.9999989859068549, 0.0014241436943254748; - - body: body_7, - structural_node_7, # - mass_7, # [kg] - Rx_7, Ry_7, Rz_7, # [m] - diag, Ixx_7, Iyy_7, Izz_7, # [kg*m^2] - orientation, 3, -0.709162390878574, 7.443270238366723e-11, -0.7108366221315445, 2, 0.7108366221315445, 7.425747000768528e-11, -0.7091623908785742; - - body: body_8, - structural_node_8, # - mass_8, # [kg] - Rx_8, Ry_8, Rz_8, # [m] - diag, Ixx_8, Iyy_8, Izz_8, # [kg*m^2] - orientation, 3, 1.0, 0.0, 0.0, 2, 0.0, 0.0, 1.0; - - body: body_9, - structural_node_9, # - mass_9, # [kg] - Rx_9, Ry_9, Rz_9, # [m] - diag, Ixx_9, Iyy_9, Izz_9, # [kg*m^2] - orientation, 3, -2.7755575615628914e-17, 3.9898639947466563e-17, 1.0, 2, 1.5407439555097887e-33, 1.0, -3.9968028886505634e-17; - - #----------------------------------------------------------------------------- - # [Joints] - - joint: joint_1, - clamp, - structural_node_1, # - -0.07783416000000026, 0.004000000000000017, -0.17832060000000008, # [m] - 3, -0.4226182882013998, -2.7755575615628914e-17, -0.9063077746978225, 2, -0.9063077746978224, -2.220446049250313e-16, 0.4226182882013998; # - - joint: joint_2, - axial rotation, - structural_node_2, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 2.7755575615628907e-17, 6.740754805355322e-34, 1.0, 2, -4.8572257327350586e-17, 1.0, 6.740754805355322e-34, # - structural_node_1, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - string, "model::drive(1, Time)"; # [rad/s] - - joint: joint_4, - prismatic, - structural_node_2, # - orientation, 3, -2.220446049250313e-16, -1.665334536937734e-16, -1.0, 2, 4.926614671774131e-16, 1.0, -1.665334536937735e-16, #relative_orientation_matrix_1> - structural_node_3, # - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #relative_orientation_matrix_2> - - joint: joint_5, - spherical hinge, - structural_node_2, # - 7.993605777301126e-18, -2.842170943040401e-17, 0.20000000000000004, # [m] - structural_node_3, # - 0.0, 0.0, 0.0; # [m] - - joint: joint_6, - spherical hinge, - structural_node_3, # - 0.0011113412974166784, 0.19999691227746655, -0.08000000000000006, # [m] - structural_node_4, # - 0.0, 0.0, 0.0; # [m] - - joint: joint_7, - in line, - structural_node_4, # - 0.0, 0.0, 2.9103830456733704e-14, # [m] - 3, -0.058922175918830526, 0.0013521991508192166, 0.9982616634642677, 2, 0.9979988989815741, -0.022902977404982927, 0.05893768961838501, # - structural_node_5, # - offset, 0.0, 0.0, 0.0; # [m] - - joint: joint_8, - prismatic, - structural_node_4, # - orientation, 3, -0.058922175918830526, 0.0013521991508192166, 0.9982616634642677, 2, 0.9979988989815741, -0.022902977404982927, 0.05893768961838501, #relative_orientation_matrix_1> - structural_node_5, # - orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2> - - joint: joint_12, - revolute hinge, - structural_node_7, # - position, -0.07499992394297246, -0.00010681080630843098, 0.075, # [m] - orientation, 3, 0.9999989859062998, 0.0014241440841156884, -4.440892098500626e-16, 2, -0.0014241440841156884, 0.9999989859062997, 1.0471177841909346e-10, # - structural_node_6, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_14, - revolute hinge, - structural_node_8, # - position, 0.07499994787026051, 8.84277004365579e-05, 0.105, # [m] - orientation, 3, -0.999999304936807, -0.0011790360058203109, 0.0, 2, 5.551115123125783e-17, 1.1102230246251565e-16, 1.0, # - structural_node_7, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_16, - prismatic, - structural_node_9, # - orientation, 3, 0.0, 3.9968028886505634e-17, 1.0, 2, -0.0, 1.0, -3.9968028886505634e-17, #relative_orientation_matrix_1> - structural_node_8, # - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #relative_orientation_matrix_2> - - joint: joint_17, - spherical hinge, - structural_node_9, # - 0.0, 0.0, 0.2, # [m] - structural_node_8, # - 0.0, 0.0, 0.0; # [m] - - joint: joint_18, - clamp, - structural_node_10, # - -0.329, 0.004, -1.473, # [m] - 3, 0.0, -3.552713678800501e-17, 1.0, 2, 0.0, 1.0, 3.552713678800501e-17; # - - joint: joint_19, - revolute hinge, - structural_node_9, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_10, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_21, - prismatic, - structural_node_6, # - orientation, 3, 0.0, 0.9999989859068548, 0.0014241436943254193, 2, 0.0011790392047965658, 0.0014241427044502375, -0.9999982908405949, #relative_orientation_matrix_1> - structural_node_5, # - orientation, 3, -6.938893903907228e-18, 0.05893768961838506, 0.9982616634642677, 2, -0.9997367779487978, -0.02290297740498337, 0.0013521991508192235; #relative_orientation_matrix_2> - - joint: joint_22, - spherical hinge, - structural_node_6, # - -0.006186656766077363, 0.10481758095882014, 0.075, # [m] - structural_node_5, # - 4.440892098500626e-19, -0.0011787537923677292, -0.019965233269285478; # [m] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 2.0, 0.0; - - end: elements; - diff --git a/testapp/MBDynCase7orig.mbd b/testapp/MBDynCase7orig.mbd deleted file mode 100644 index 9b79b24..0000000 --- a/testapp/MBDynCase7orig.mbd +++ /dev/null @@ -1,579 +0,0 @@ -#----------------------------------------------------------------------------- - # [Data Block] - - begin: data; - problem: initial value; - end: data; - - #----------------------------------------------------------------------------- - # [Problem Block] - - begin: initial value; - initial time: 0.0; - final time: 0.0; - time step: 0.00001; - 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, # [m] - 3, 0.0, -8.881784197001252e-16, 1.0, 2, 0.0, 1.0, 8.881784197001252e-16, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - static, - Px_4, Py_4, Pz_4, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - structural: structural_node_5, - dynamic, - Px_5, Py_5, Pz_5, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_5, Vy_5, Vz_5, # [m/s] - Wx_5, Wy_5, Wz_5; # [rad/s] - - structural: structural_node_6, - dynamic, - Px_6, Py_6, Pz_6, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_6, Vy_6, Vz_6, # [m/s] - Wx_6, Wy_6, Wz_6; # [rad/s] - - structural: structural_node_7, - dynamic, - Px_7, Py_7, Pz_7, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_7, Vy_7, Vz_7, # [m/s] - Wx_7, Wy_7, Wz_7; # [rad/s] - - structural: structural_node_8, - dynamic, - Px_8, Py_8, Pz_8, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_8, Vy_8, Vz_8, # [m/s] - Wx_8, Wy_8, Wz_8; # [rad/s] - - structural: structural_node_9, - dynamic, - Px_9, Py_9, Pz_9, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_9, Vy_9, Vz_9, # [m/s] - Wx_9, Wy_9, Wz_9; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, 0.0, 1.0, 0.0, 2, 1.0, 0.0, 0.0; - - body: body_3, - structural_node_3, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] - orientation, 3, 0.93, -0.36, 0.0, 2, 0.0, 0.0, 1.0; - - body: body_5, - structural_node_5, # - mass_5, # [kg] - Rx_5, Ry_5, Rz_5, # [m] - diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] - orientation, 3, 0.6, 0.8, 0.0, 2, 0.8, -0.6, 0.0; - - body: body_6, - structural_node_6, # - mass_6, # [kg] - Rx_6, Ry_6, Rz_6, # [m] - diag, Ixx_6, Iyy_6, Izz_6, # [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, # - mass_7, # [kg] - Rx_7, Ry_7, Rz_7, # [m] - diag, Ixx_7, Iyy_7, Izz_7, # [kg*m^2] - orientation, 3, 0.46, 0.89, 0.0, 2, 0.0, 0.0, 1.0; - - body: body_8, - structural_node_8, # - mass_8, # [kg] - Rx_8, Ry_8, Rz_8, # [m] - diag, Ixx_8, Iyy_8, Izz_8, # [kg*m^2] - orientation, 3, 0.28, 0.96, 0.0, 2, 0.0, 0.0, 1.0; - - body: body_9, - structural_node_9, # - mass_9, # [kg] - Rx_9, Ry_9, Rz_9, # [m] - diag, Ixx_9, Iyy_9, Izz_9, # [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, # - 0.06336329999999998, -0.00923969, 0.1754432, # [m] - 3, 0.0, -8.881784197001252e-16, 1.0, 2, 0.0, 1.0, 8.881784197001252e-16; # - - joint: joint_2, - revolute hinge, - structural_node_2, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_1, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_4, - revolute hinge, - structural_node_3, # - position, 0.01945754810926986, -0.00739828899605903, 0.0, # [m] - orientation, 3, 0.0, 1.0150610510858574e-15, 1.0, 2, -0.0, 1.0, -1.0150610510858574e-15, # - structural_node_2, # - position, 0.0, 0.015, -0.021, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_6, - clamp, - structural_node_4, # - 0.02533718228677867, -0.017040456121480287, 0.15444319999996145, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_7, - revolute hinge, - structural_node_5, # - position, 0.007939339015500806, 0.027232800113977215, 2.842170943040401e-17, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_3, # - position, -0.027278104193160138, 0.010371877122050975, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_9, - in line, - structural_node_5, # - 0.01667499131794409, -0.013337366004130142, 0.0, # [m] - 3, -3.552713678800501e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0, # - structural_node_4, # - offset, 0.0, 0.0, 0.0; # [m] - - joint: joint_10, - revolute hinge, - structural_node_5, # - position, -0.022992799945235915, -0.01920902133303015, 2.842170943040401e-17, # [m] - orientation, 3, 0.0, -1.3877787807814457e-17, 1.0, 2, 0.0, 1.0, 1.3877787807814457e-17, # - structural_node_6, # - position, -0.011399640718976662, 0.019064468616942547, -3.2400748750660566e-14, # [m] - orientation, 3, -1.6342482922482304e-13, 3.2405824055915996e-13, 1.0, 2, 0.0, 1.0, -3.2405824055915996e-13; # - - joint: joint_12, - revolute hinge, - structural_node_6, # - position, 0.008820551176670967, -0.01475126499491892, -3.2400748750660566e-14, # [m] - orientation, 3, -1.7763568394002505e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0, # - structural_node_7, # - position, -0.010702134855840453, -0.020680393800658683, -1.6711965145077555e-14, # [m] - orientation, 3, -7.105427357601002e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0; # - - joint: joint_14, - in line, - structural_node_7, # - 0.007360348279200356, 0.014222853942156995, 3.637978807091713e-15, # [m] - 3, -3.700743415417188e-17, -0.0, 1.0, 2, -0.0, 1.0, 0.0, # - structural_node_4, # - offset, 0.0, 0.0, 0.0; # [m] - - joint: joint_17, - revolute hinge, - structural_node_7, # - position, -0.010702134855840453, -0.020680393800658683, -1.6711965145077555e-14, # [m] - orientation, 3, -7.105427357601002e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0, # - structural_node_9, # - position, 0.006602908111129636, 0.0653673588611301, 0.0, # [m] - orientation, 3, -3.552713678800501e-15, -0.0, 1.0, 2, -0.0, 1.0, 0.0; # - - joint: joint_19, - revolute hinge, - structural_node_9, # - position, 0.030998012897328734, 0.03794895514263533, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_8, # - position, -0.012894678260996642, -0.03394329643173133, -1.503508428868372e-14, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_21, - in line, - structural_node_8, # - 0.005024292862524291, 0.025306348916361215, 3.637978807091713e-15, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_2, # - offset, 0.0, 0.015, -0.021; # [m] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 2.0, 0.0; - - end: elements; - diff --git a/testapp/MBDynCase7orig.mov b/testapp/MBDynCase7orig.mov deleted file mode 100644 index 1bddbed..0000000 --- a/testapp/MBDynCase7orig.mov +++ /dev/null @@ -1,9 +0,0 @@ -1 0.06336329999999998 -0.00923969 0.1754432 1 0 0 0 1 -8.881784197001252e-16 0 8.881784197001252e-16 1 0 0 0 0 0 0 -2 0.06336329999999997 -0.009239690000000002 0.1754432 0.9991475579842098 0.04128144103819611 -2.680894482587032e-31 -0.04128144103819611 0.9991475579842098 -8.881784197001252e-16 -3.666528506424866e-17 8.874212990976547e-16 1 0 0 0 0 -0 0 -3 0.04455003956931927 0.01321140305902591 0.1544432 0.9999943109907206 0.003373127064616727 -3.423929903656003e-18 -0.003373127064616727 0.9999943109907206 -1.903233696094244e-15 -2.995938665699013e-18 1.903234417930711e-15 1 0 0 0 0 0 0 -4 0.02533718228677867 -0.01704045612148029 0.1544431999999615 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 -5 0.008896217652200259 -0.003415649727766681 0.1544432 0.9998493329550092 0.01735832334711857 -3.423929903655937e-18 -0.01735832334711857 0.9998493329550092 -1.903233696094244e-15 -2.961353187168038e-17 1.903006375179712e-15 1 -0 0 0 0 0 0 -6 -0.0006959211745032133 -0.03968334433993675 0.1544432000000243 0.9918873550807732 -0.1271199230288793 2.032896153860595e-13 0.1271199230288793 0.9918873550807732 -3.025718288012637e-13 -1.631774913327423e-13 3.259593312520843e-13 1 -0 -0 -0 0 0 0 -7 0.01905813997139198 -0.03177266331024334 0.1544432000000069 0.997214693601893 -0.07458454842983767 2.086133060642677e-13 0.07458454842983767 0.997214693601893 -3.022676840550924e-13 -1.854877553679747e-13 3.169851051700116e-13 1 -0 0 -0 0 0 -0 -8 0.0591979874964582 -0.01960524861887855 0.1544432000000008 0.9999552024897852 -0.00946535860982602 2.039234020530081e-13 0.00946535860982602 0.9999552024897852 -3.001742367725244e-13 -2.010730099958388e-13 3.020909978434538e-13 1 0 0 0 0 0 -0 -9 0.05374435861058888 -0.1021491472282852 0.154443199999962 0.6743387648593129 -0.7384221219654895 2.039234020530081e-13 0.7384221219654895 0.6743387648593129 -3.001742367725243e-13 8.414184181060413e-14 3.530006753301749e-13 1 -0 0 0 0 0 0 diff --git a/testapp/MBDynCase7origdebug1.asmt b/testapp/MBDynCase7origdebug1.asmt deleted file mode 100644 index 156307c..0000000 --- a/testapp/MBDynCase7origdebug1.asmt +++ /dev/null @@ -1,834 +0,0 @@ -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 - 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 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Parts - Part - Name - structural_node_1 - Position3D - 0.06336329999999998 -0.00923969 0.1754432 - RotationMatrix - 1 0 0 - 0 1 -8.881784197001252e-16 - -0 8.881784197001252e-16 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 - -0.06336329999999998 0.009239689999999844 -0.1754432 - RotationMatrix - 1 0 0 - 0 1 8.881784197001252e-16 - 0 -8.881784197001252e-16 1 - 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 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_2 - Position3D - 0.0633633 -0.00923969 0.1474432 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Velocity3D - 0 0 0 - Omega3D - 0 0 0 - FeatureOrder - PrincipalMassMarker - Name - MassMarker - Position3D - 8.128751005642698e-13 0.00425722688408314 -0.021 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 0.2406058732027723 - MomentOfInertias - 7.0382920239e-05 5.839585895200001e-05 4.7214826765e-05 - 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 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 0 0.015 -0.021 - 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 0.015 -0.021 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_3 - Position3D - -0.0008822481092698588 0.05115859899605903 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 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 0.0240425385694815 - MomentOfInertias - 9.607179098000002e-06 9.40820717e-06 1.260956604e-06 - Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker0 - Position3D - 0.01945754810926986 -0.00739828899605903 0 - RotationMatrix - 1 -0 0 - 0 1 1.015061051085857e-15 - -0 -1.015061051085857e-15 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - -0.02727810419316014 0.01037187712205098 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_4 - Position3D - 0.02533718228677867 -0.01704045612148029 0.1544431999999615 - 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 - -0.02533718228677867 0.01704045612148029 -0.1544431999999615 - 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 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 - Marker2 - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_5 - Position3D - 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Marker - Name - Marker1 - Position3D - 0.008820551176670967 -0.01475126499491892 -3.240074875066057e-14 - RotationMatrix - 1 -0 -1.77635683940025e-15 - 0 1 -0 - 1.77635683940025e-15 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_7 - Position3D - -0.008253259374919249 -0.04279152470322321 0.1324432000000167 - 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 - 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 -0.02068039380065868 -1.671196514507756e-14 - RotationMatrix - 1 -0 -7.105427357601002e-15 - 0 1 -0 - 7.105427357601002e-15 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 0.007360348279200356 0.014222853942157 3.637978807091713e-15 - RotationMatrix - 1 -0 -3.700743415417188e-17 - 0 1 -0 - 3.700743415417188e-17 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker2 - Position3D - -0.01070213485584045 -0.02068039380065868 -1.671196514507756e-14 - RotationMatrix - 1 -0 -7.105427357601002e-15 - 0 1 -0 - 7.105427357601002e-15 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_8 - Position3D - 0.04699565137599786 -0.07797375336529921 0.132443200000015 - 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 - 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 diff --git a/testapp/MBDynCase7origdebug2.asmt b/testapp/MBDynCase7origdebug2.asmt deleted file mode 100644 index 8cf864f..0000000 --- a/testapp/MBDynCase7origdebug2.asmt +++ /dev/null @@ -1,1111 +0,0 @@ -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 - 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 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Parts - Part - Name - structural_node_1 - Position3D - 0.06336329999999998 -0.00923969 0.1754432 - RotationMatrix - 1 0 0 - 0 1 -8.881784197001252e-16 - 0 8.881784197001252e-16 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 - -0.06336329999999998 0.009239689999999844 -0.1754432 - RotationMatrix - 1 0 0 - 0 1 8.881784197001252e-16 - 0 -8.881784197001252e-16 1 - 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 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_2 - Position3D - 0.0633633 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-FXonI 0 0 -FYonI 0 0 -FZonI 0 0 -TXonI 0 0 -TYonI 0 0 -TZonI 0 0 diff --git a/testapp/MBDynCase8orig.mbd b/testapp/MBDynCase8orig.mbd deleted file mode 100644 index 3f32bb2..0000000 --- a/testapp/MBDynCase8orig.mbd +++ /dev/null @@ -1,659 +0,0 @@ -#----------------------------------------------------------------------------- - # [Data Block] - - begin: data; - problem: initial value; - end: data; - - #----------------------------------------------------------------------------- - # [Problem Block] - - begin: initial value; - initial time: 0.0; - final time: 3.15; - 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: 10; - rigid bodies: 9; - joints: 12; - end: control data; - - #----------------------------------------------------------------------------- - # [Design Variables] - - #Generic bodies - - #body: 2 - set: integer body_2 = 2; #body label - set: real mass_2 = 0.009719837657386224; #mass [kg] - set: real volume_2 = 1.2303591971374965e-06; #volume [m^3] - - #body: 3 - set: integer body_3 = 3; #body label - set: real mass_3 = 0.00020169322932362446; #mass [kg] - set: real volume_3 = 2.5530788521977774e-08; #volume [m^3] - - #body: 4 - set: integer body_4 = 4; #body label - set: real mass_4 = 0.001049146570158587; #mass [kg] - set: real volume_4 = 1.3280336331121353e-07; #volume [m^3] - - #body: 5 - set: integer body_5 = 5; #body label - set: real mass_5 = 0.00020169322932362473; #mass [kg] - set: real volume_5 = 2.553078852197781e-08; #volume [m^3] - - #body: 6 - set: integer body_6 = 6; #body label - set: real mass_6 = 0.0007849031279946996; #mass [kg] - set: real volume_6 = 9.935482632844298e-08; #volume [m^3] - - #body: 7 - set: integer body_7 = 7; #body label - set: real mass_7 = 0.0002016932293236245; #mass [kg] - set: real volume_7 = 2.5530788521977784e-08; #volume [m^3] - - #body: 8 - set: integer body_8 = 8; #body label - set: real mass_8 = 0.00020169322932362473; #mass [kg] - set: real volume_8 = 2.553078852197781e-08; #volume [m^3] - - #body: 9 - set: integer body_9 = 9; #body label - set: real mass_9 = 0.012460076105182932; #mass [kg] - set: real volume_9 = 1.5772248234408773e-06; #volume [m^3] - - #body: 10 - set: integer body_10 = 10; #body label - set: real mass_10 = 0.0014283808500322086; #mass [kg] - set: real volume_10 = 1.808077025357226e-07; #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 - - #node: 10 - set: integer structural_node_10 = 10; #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_7 - set: integer joint_6 = 6; #joint label - - set: integer joint_7 = 7; #joint label - - #joint: 8_9 - set: integer joint_8 = 8; #joint label - - 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_15 - set: integer joint_14 = 14; #joint label - - set: integer joint_15 = 15; #joint label - - #joint: 16_17 - set: integer joint_16 = 16; #joint label - - set: integer joint_17 = 17; #joint label - - #joint: 18_19 - set: integer joint_18 = 18; #joint label - - set: integer joint_19 = 19; #joint label - - #joint: 20_21 - set: integer joint_20 = 20; #joint label - - set: integer joint_21 = 21; #joint label - - #joint: 22_23 - set: integer joint_22 = 22; #joint label - - set: integer joint_23 = 23; #joint label - - #Nodes: initial conditions - - #node: 1 - set: real Px_1 = 0.051296215921961506; #X component of the absolute position [m] - set: real Py_1 = 0.017908175538920625; #Y component of the absolute position [m] - set: real Pz_1 = 0.021903828027305762; #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 = 0.031977001309755025; #X component of the absolute position [m] - set: real Py_2 = 0.02334848596165942; #Y component of the absolute position [m] - set: real Pz_2 = 0.04345936903611186; #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 = 0.030675333966519322; #X component of the absolute position [m] - set: real Py_3 = 0.01998371759123168; #Y component of the absolute position [m] - set: real Pz_3 = 0.04641598880906898; #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 = 0.04048293205298854; #X component of the absolute position [m] - set: real Py_4 = 0.01842507174353429; #Y component of the absolute position [m] - set: real Pz_4 = 0.060771633632696775; #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 = 0.057108568099306256; #X component of the absolute position [m] - set: real Py_5 = 0.01940271230148272; #Y component of the absolute position [m] - set: real Pz_5 = 0.046433390036753765; #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 = 0.05096550744229583; #X component of the absolute position [m] - set: real Py_6 = 0.020121317600343993; #Y component of the absolute position [m] - set: real Pz_6 = 0.05848708075836755; #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 = 0.042062247330298605; #X component of the absolute position [m] - set: real Py_7 = 0.024098687679992; #Y component of the absolute position [m] - set: real Pz_7 = 0.06393385280361072; #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 = 0.0552405173788026; #X component of the absolute position [m] - set: real Py_8 = 0.010314905961942929; #Y component of the absolute position [m] - set: real Pz_8 = 0.06528007729432314; #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 = 0.08353531294400929; #X component of the absolute position [m] - set: real Py_9 = 0.02859433824102924; #Y component of the absolute position [m] - set: real Pz_9 = 0.11521332872159323; #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] - - #node: 10 - set: real Px_10 = 0.0646200378513953; #X component of the absolute position [m] - set: real Py_10 = 0.00871857285669997; #Y component of the absolute position [m] - set: real Pz_10 = 0.05954458266207307; #Z component of the absolute position [m] - - set: real Vx_10 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_10 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_10 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_10 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_10 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_10 = 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 = 2.7489439610000006e-06; #moment of inertia [kg*m^2] - set: real Iyy_2 = 2.744127568e-06; #moment of inertia [kg*m^2] - set: real Izz_2 = 2.8767802600000003e-07; #moment of inertia [kg*m^2] - - set: real Rx_2 = 0.0020412640777831966; #X component of the relative center of mass [m] - set: real Ry_2 = -8.134434653401712e-05; #Y component of the relative center of mass [m] - set: real Rz_2 = 0.018447029525859897; #Z component of the relative center of mass [m] - - #body 3: - set: real Ixx_3 = 4.1972700000000003e-10; #moment of inertia [kg*m^2] - set: real Iyy_3 = 4.138810000000001e-10; #moment of inertia [kg*m^2] - set: real Izz_3 = 3.5068100000000003e-10; #moment of inertia [kg*m^2] - - set: real Rx_3 = 7.105427357601002e-18; #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 = 1.1045973629109085e-09; #Z component of the relative center of mass [m] - - #body 4: - set: real Ixx_4 = 7.444051500000001e-08; #moment of inertia [kg*m^2] - set: real Iyy_4 = 7.346865700000001e-08; #moment of inertia [kg*m^2] - set: real Izz_4 = 3.0315460000000003e-09; #moment of inertia [kg*m^2] - - set: real Rx_4 = 0.0; #X component of the relative center of mass [m] - set: real Ry_4 = 0.0; #Y component of the relative center of mass [m] - set: real Rz_4 = 0.0; #Z component of the relative center of mass [m] - - #body 5: - set: real Ixx_5 = 4.1972700000000003e-10; #moment of inertia [kg*m^2] - set: real Iyy_5 = 4.138810000000001e-10; #moment of inertia [kg*m^2] - set: real Izz_5 = 3.5068100000000003e-10; #moment of inertia [kg*m^2] - - set: real Rx_5 = 3.552713678800501e-18; #X component of the relative center of mass [m] - set: real Ry_5 = -7.105427357601002e-18; #Y component of the relative center of mass [m] - set: real Rz_5 = 1.1045973309364853e-09; #Z component of the relative center of mass [m] - - #body 6: - set: real Ixx_6 = 3.532959000000001e-08; #moment of inertia [kg*m^2] - set: real Iyy_6 = 3.3955384999999996e-08; #moment of inertia [kg*m^2] - set: real Izz_6 = 2.8082920000000003e-09; #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 = 4.1972700000000003e-10; #moment of inertia [kg*m^2] - set: real Iyy_7 = 4.138810000000001e-10; #moment of inertia [kg*m^2] - set: real Izz_7 = 3.5068100000000003e-10; #moment of inertia [kg*m^2] - - set: real Rx_7 = 1.4210854715202004e-17; #X component of the relative center of mass [m] - set: real Ry_7 = -1.4210854715202004e-17; #Y component of the relative center of mass [m] - set: real Rz_7 = -1.1045973522527675e-09; #Z component of the relative center of mass [m] - - #body 8: - set: real Ixx_8 = 4.1972700000000003e-10; #moment of inertia [kg*m^2] - set: real Iyy_8 = 4.138810000000001e-10; #moment of inertia [kg*m^2] - set: real Izz_8 = 3.5068100000000003e-10; #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 = 1.0658141036401503e-17; #Y component of the relative center of mass [m] - set: real Rz_8 = 1.1045973735690496e-09; #Z component of the relative center of mass [m] - - #body 9: - set: real Ixx_9 = 1.0698233404000002e-05; #moment of inertia [kg*m^2] - set: real Iyy_9 = 9.651757376000001e-06; #moment of inertia [kg*m^2] - set: real Izz_9 = 1.0517916220000001e-06; #moment of inertia [kg*m^2] - - set: real Rx_9 = 0.0; #X component of the relative center of mass [m] - set: real Ry_9 = 0.0; #Y component of the relative center of mass [m] - set: real Rz_9 = 0.0; #Z component of the relative center of mass [m] - - #body 10: - set: real Ixx_10 = 5.0332796e-08; #moment of inertia [kg*m^2] - set: real Iyy_10 = 4.749748600000001e-08; #moment of inertia [kg*m^2] - set: real Izz_10 = 9.388439000000002e-09; #moment of inertia [kg*m^2] - - set: real Rx_10 = 0.0; #X component of the relative center of mass [m] - set: real Ry_10 = 0.0; #Y component of the relative center of mass [m] - set: real Rz_10 = 0.0; #Z component of the relative center of mass [m] - - #----------------------------------------------------------------------------- - # [Nodes Block] - - begin: nodes; - - structural: structural_node_1, - static, - Px_1, Py_1, Pz_1, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 0.9793620978823918, -0.1880748514375032, -0.07401169831966925, 2, 0.07268359610878666, -0.013958020807279814, 0.9972573732551886, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, 0.9796190485228959, -0.18399559321644493, -0.08057382607289298, 2, 0.07918912690662289, -0.01487358826213736, 0.9967486436168225, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - dynamic, - Px_4, Py_4, Pz_4, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - structural: structural_node_5, - dynamic, - Px_5, Py_5, Pz_5, # [m] - 3, 0.979619048522896, -0.18399559321644432, -0.08057382607289298, 2, 0.07918912690662255, -0.014873588262137583, 0.9967486436168225, # - Vx_5, Vy_5, Vz_5, # [m/s] - Wx_5, Wy_5, Wz_5; # [rad/s] - - structural: structural_node_6, - dynamic, - Px_6, Py_6, Pz_6, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_6, Vy_6, Vz_6, # [m/s] - Wx_6, Wy_6, Wz_6; # [rad/s] - - structural: structural_node_7, - dynamic, - Px_7, Py_7, Pz_7, # [m] - 3, -0.7071067811865486, 0.7071067811865466, 0.0, 2, 1.6653345369377348e-16, -2.220446049250313e-16, 1.0000000000000002, # - Vx_7, Vy_7, Vz_7, # [m/s] - Wx_7, Wy_7, Wz_7; # [rad/s] - - structural: structural_node_8, - dynamic, - Px_8, Py_8, Pz_8, # [m] - 3, -0.23097344967572597, -0.32024692427345486, -0.9187454342952062, 2, -0.5374334434100816, -0.7451566727492076, 0.39485038554079327, # - Vx_8, Vy_8, Vz_8, # [m/s] - Wx_8, Wy_8, Wz_8; # [rad/s] - - structural: structural_node_9, - dynamic, - Px_9, Py_9, Pz_9, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_9, Vy_9, Vz_9, # [m/s] - Wx_9, Wy_9, Wz_9; # [rad/s] - - structural: structural_node_10, - dynamic, - Px_10, Py_10, Pz_10, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_10, Vy_10, Vz_10, # [m/s] - Wx_10, Wy_10, Wz_10; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, 0.17877153404917348, 0.06285060258430791, 0.9819829633799634, 2, 0.9446592100958121, 0.2765317742301039, -0.19222162891388295; - - body: body_3, - structural_node_3, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] - orientation, 3, -0.47544288942869956, 0.882694346210497, -0.0021794631707100914, 2, 0.8821396507573231, 0.4715184019757929, -0.00018209871582300363; - - body: body_4, - structural_node_4, # - mass_4, # [kg] - Rx_4, Ry_4, Rz_4, # [m] - diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] - orientation, 3, 0.81, -0.42, 0.41, 2, 0.44, 0.9, 0.03; - - body: body_5, - structural_node_5, # - mass_5, # [kg] - Rx_5, Ry_5, Rz_5, # [m] - diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] - orientation, 3, 0.05592620134211661, 1.0032807215079327, 0.00023206456551012888, 2, 0.996385478617406, -0.050159505834543795, 4.443868565057012e-05; - - body: body_6, - structural_node_6, # - mass_6, # [kg] - Rx_6, Ry_6, Rz_6, # [m] - diag, Ixx_6, Iyy_6, Izz_6, # [kg*m^2] - orientation, 3, -0.63, 0.15, 0.76, 2, 0.44, 0.88, 0.19; - - body: body_7, - structural_node_7, # - mass_7, # [kg] - Rx_7, Ry_7, Rz_7, # [m] - diag, Ixx_7, Iyy_7, Izz_7, # [kg*m^2] - orientation, 3, 0.39597979746446643, 0.9199999999999998, 6.52811138479592e-16, 2, -0.9192388155425115, 0.39999999999999997, -1.099120794378905e-15; - - body: body_8, - structural_node_8, # - mass_8, # [kg] - Rx_8, Ry_8, Rz_8, # [m] - diag, Ixx_8, Iyy_8, Izz_8, # [kg*m^2] - orientation, 3, 0.9966316841708942, 0.08774793186154664, 0.005058315995337671, 2, 0.08300985762729049, -0.9906098206039115, -0.0012437281789889343; - - body: body_9, - structural_node_9, # - mass_9, # [kg] - Rx_9, Ry_9, Rz_9, # [m] - diag, Ixx_9, Iyy_9, Izz_9, # [kg*m^2] - orientation, 3, 0.2600000000000001, 0.28, 0.92, 2, 0.92, 0.22, -0.33; - - body: body_10, - structural_node_10, # - mass_10, # [kg] - Rx_10, Ry_10, Rz_10, # [m] - diag, Ixx_10, Iyy_10, Izz_10, # [kg*m^2] - orientation, 3, -0.63, 0.77, 0.03, 2, 0.71, 0.56, 0.41; - - #----------------------------------------------------------------------------- - # [Joints] - - joint: joint_1, - clamp, - structural_node_1, # - 0.051296215921961506, 0.017908175538920625, 0.021903828027305762, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_2, - axial rotation, - structural_node_1, # - position, -0.03125970983963543, 0.004098680469401038, 0.009999999336380188, # [m] - orientation, 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # - structural_node_2, # - position, -0.0035694380278606702, -0.0024004270358846894, -0.011326613320549562, # [m] - orientation, 3, 0.18859208914505204, 0.07268359610878687, 0.9793620978823917, 2, -6.158268339717665e-17, 0.9972573732551885, -0.0740116983196691, # - string, "model::drive(1, Time)"; # [rad/s] - - joint: joint_4, - revolute hinge, - structural_node_2, # - position, -6.892678673725783e-06, 1.1190067350106858e-05, -0.0016999491972919216, # [m] - orientation, 3, 0.0040545168666000645, -0.0065823925586486354, 0.999970116054066, 2, 0.00032775358050658835, 0.9999782904997281, 0.006581117445533269, # - structural_node_3, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_6, - revolute hinge, - structural_node_3, # - position, 0.0006156748634029476, 0.00033308326672734266, -3.552713678800501e-18, # [m] - orientation, 3, 0.8795355191470654, 0.4758332381819309, 4.440892098500626e-16, 2, -0.4738361655250061, 0.8758441075449799, -0.09152260660239453, # - structural_node_4, # - position, -0.010031255571078788, 0.005836346784002984, -0.004843288797937191, # [m] - orientation, 3, 0.2000393637771276, 0.8573429391601048, 0.47428613474563563, 2, -0.10776811512755509, -0.46188025609870964, 0.8803707528013667; # - - joint: joint_8, - revolute hinge, - structural_node_2, # - position, 0.00010257927679259283, -0.0001665345317887983, 0.025299243936167237, # [m] - orientation, 3, 0.004054516871649974, -0.006582392562752626, 0.9999701160540185, 2, 0.0003277535809315394, 0.999978290499701, 0.006581117449634049, # - structural_node_5, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_10, - revolute hinge, - structural_node_5, # - position, 0.0006990980490339567, -3.552348289397855e-05, 0.0, # [m] - orientation, 3, 0.9987114986199351, -0.05074783270568111, -2.6645352591003757e-15, 2, 0.050582409469853984, 0.9954559884049977, -0.08067710332463017, # - structural_node_6, # - position, 0.0059220932710704515, -0.0007403080657511936, -0.0071016375052887284, # [m] - orientation, 3, 0.1803392514021772, 0.9823029733067715, -0.05058283341588421, 2, 0.009133762723787214, 0.04975135591001101, 0.9987198691142686; # - - joint: joint_12, - revolute hinge, - structural_node_6, # - position, -0.005342313232206877, 0.001881462709947577, 0.007346583382774938, # [m] - orientation, 3, 0.6479179469743502, 0.64791794697435, 0.4005055155389079, 2, -0.28320016594017605, -0.28320016594017594, 0.9162943479160578, # - structural_node_7, # - position, -0.000641406043541231, 0.00028035386087722715, 0.0, # [m] - orientation, 3, -0.9162943479160579, 0.40050551553890806, -1.5543122344752192e-15, 2, 0.4005055155389081, 0.9162943479160578, 7.771561172376096e-16; # - - joint: joint_14, - revolute hinge, - structural_node_4, # - position, 0.009345832136820753, -0.00650875285470482, 0.005965542845361668, # [m] - orientation, 3, 0.5750162073713931, 0.7025039188332043, -0.41933829455966687, 2, 0.26560733087644095, 0.3244955332033135, 0.9078300472642389, # - structural_node_8, # - position, -0.00014334075709437856, 0.0016939461111132204, 1.4210854715202004e-17, # [m] - orientation, 3, 0.08431809240845797, -0.9964388888901312, -6.217248937900877e-15, 2, 0.036084762630269614, 0.003053472103433319, -0.9993440679836105; # - - joint: joint_16, - revolute hinge, - structural_node_8, # - position, -7.105427357601002e-18, 0.0, 0.0015, # [m] - orientation, 3, 1.249000902703301e-16, -5.551115123125781e-17, -1.0, 2, -3.0531133177191805e-16, 1.0, -5.551115123125785e-17, # - structural_node_9, # - position, -0.028610420350412072, -0.016751617456823742, -0.04684637137402089, # [m] - orientation, 3, 0.29772917627408235, 0.2977291762740852, 0.90703620390275, 2, -0.6413714505613356, -0.6413714505613417, 0.42105263900097917; # - - joint: joint_18, - revolute hinge, - structural_node_7, # - position, 0.0, 0.0, 0.0014999999999999963, # [m] - orientation, 3, -5.55111512312578e-17, 2.2204460492503126e-16, -1.0, 2, 1.1102230246251563e-16, 1.0, 2.2204460492503126e-16, # - structural_node_10, # - position, -0.010093426018264445, 0.008752596234087643, -0.0009120272923144199, # [m] - orientation, 3, 0.7071067811865506, -0.7071067811865444, -4.440892098500626e-16, 2, 3.3306690738754696e-16, -2.220446049250313e-16, 1.0; # - - joint: joint_20, - revolute hinge, - structural_node_10, # - position, -0.0005590506087313684, -0.0010170434827720322, 0.004163290987744275, # [m] - orientation, 3, 0.2977291762740853, 0.2977291762740839, 0.9070362039027495, 2, -0.6413714505613397, -0.6413714505613368, 0.42105263900098033, # - structural_node_9, # - position, -0.02489194605905211, -0.016754080038700412, -0.038584700161265036, # [m] - orientation, 3, 0.2977291762740889, 0.29772917627408535, 0.9070362039027479, 2, -0.641371450561341, -0.6413714505613335, 0.4210526390009839; # - - joint: joint_22, - revolute hinge, - structural_node_1, # - position, 0.004757447447889902, -0.013617775960092804, 0.021999999336380183, # [m] - orientation, 3, -0.7071067811865468, 0.7071067811865486, -6.661338147750939e-16, 2, -2.7755575615628914e-16, 0.0, 1.0000000000000002, # - structural_node_10, # - position, 0.0018512458761587992, -0.009566902106273376, -0.0025615102088932602, # [m] - orientation, 3, -0.707106781186551, 0.7071067811865441, -4.440892098500626e-16, 2, -2.7755575615628914e-16, 1.1102230246251565e-16, 1.0; # - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", ramp, 1.0, 0.25, 3.0, 0.0; - - end: elements; - diff --git a/testapp/MBDynCase8orig.mov b/testapp/MBDynCase8orig.mov deleted file mode 100644 index e189f8d..0000000 --- a/testapp/MBDynCase8orig.mov +++ /dev/null @@ -1,3010 +0,0 @@ -1 0.051296215921961506 0.017908175538920625 0.021903828027305762 1 0 0 0 1 0 0 0 1 0 -0 -0 0 -0 0 -2 0.031977001309755039 0.023348485961649085 0.033459369036118999 0.18859208914505218 0.072683596108786663 0.9793620978823917 0.98205550958787691 -0.013958020807279647 -0.1880748514375031 -5.5511151231257827e-17 0.99725737325518848 -0.074011698319668889 -0 -0 0 0 0 0 -3 0.030311648927266552 0.023661278470120808 0.033596344540439846 0.18428104709862231 0.079918805370988208 0.97961904852259252 0.98286568042552591 -0.010985259108145018 -0.1839955932189544 -0.0039433389282899634 0.99674084326388523 -0.080573826070850146 -0 -0 0 0 0 0 -4 0.040726844076608107 0.018584624091449564 0.038434502125338804 0.99936967996916715 -0.017008701298911518 0.031160019872409156 0.017108770833474118 0.99984928929423389 -0.0029476530296306232 -0.031105187973908682 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deleted file mode 100644 index 7202729..0000000 --- a/testapp/MBDynCase9orig.mbd +++ /dev/null @@ -1,1202 +0,0 @@ -#----------------------------------------------------------------------------- - # [Data Block] - - begin: data; - problem: initial value; - end: data; - - #----------------------------------------------------------------------------- - # [Problem Block] - - begin: initial value; - initial time: 0.0; - final time: 8.0; - time step: 0.1; - max iterations: 100; - tolerance: 1e-08; - 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: 19; - rigid bodies: 18; - joints: 23; - end: control data; - - #----------------------------------------------------------------------------- - # [Design Variables] - - #Generic bodies - - #body: 2 - set: integer body_2 = 2; #body label - set: real mass_2 = 0.009719837657386224; #mass [kg] - set: real volume_2 = 1.2303591971374965e-06; #volume [m^3] - - #body: 3 - set: integer body_3 = 3; #body label - set: real mass_3 = 0.009719837362240845; #mass [kg] - set: real volume_3 = 1.230359159777322e-06; #volume [m^3] - - #body: 4 - set: integer body_4 = 4; #body label - set: real mass_4 = 0.00020169322932362446; #mass [kg] - set: real volume_4 = 2.5530788521977774e-08; #volume [m^3] - - #body: 5 - set: integer body_5 = 5; #body label - set: real mass_5 = 0.0009406396924402498; #mass [kg] - set: real volume_5 = 1.190683154987658e-07; #volume [m^3] - - #body: 6 - set: integer body_6 = 6; #body label - set: real mass_6 = 0.00020169322932362456; #mass [kg] - set: real volume_6 = 2.553078852197779e-08; #volume [m^3] - - #body: 7 - set: integer body_7 = 7; #body label - set: real mass_7 = 0.0009406397298147796; #mass [kg] - set: real volume_7 = 1.1906832022971894e-07; #volume [m^3] - - #body: 8 - set: integer body_8 = 8; #body label - set: real mass_8 = 0.00020169322932362454; #mass [kg] - set: real volume_8 = 2.5530788521977788e-08; #volume [m^3] - - #body: 9 - set: integer body_9 = 9; #body label - set: real mass_9 = 0.00020169322932362475; #mass [kg] - set: real volume_9 = 2.5530788521977814e-08; #volume [m^3] - - #body: 10 - set: integer body_10 = 10; #body label - set: real mass_10 = 0.0007849031279946994; #mass [kg] - set: real volume_10 = 9.935482632844295e-08; #volume [m^3] - - #body: 11 - set: integer body_11 = 11; #body label - set: real mass_11 = 0.0007849031279946989; #mass [kg] - set: real volume_11 = 9.93548263284429e-08; #volume [m^3] - - #body: 12 - set: integer body_12 = 12; #body label - set: real mass_12 = 0.00020169322932362475; #mass [kg] - set: real volume_12 = 2.5530788521977814e-08; #volume [m^3] - - #body: 13 - set: integer body_13 = 13; #body label - set: real mass_13 = 0.00020169322932362462; #mass [kg] - set: real volume_13 = 2.5530788521977798e-08; #volume [m^3] - - #body: 14 - set: integer body_14 = 14; #body label - set: real mass_14 = 0.0002016932293236245; #mass [kg] - set: real volume_14 = 2.5530788521977784e-08; #volume [m^3] - - #body: 15 - set: integer body_15 = 15; #body label - set: real mass_15 = 0.00020169322932362462; #mass [kg] - set: real volume_15 = 2.5530788521977798e-08; #volume [m^3] - - #body: 16 - set: integer body_16 = 16; #body label - set: real mass_16 = 0.0016114420499124108; #mass [kg] - set: real volume_16 = 2.0398000631802667e-07; #volume [m^3] - - #body: 17 - set: integer body_17 = 17; #body label - set: real mass_17 = 0.0016114420497206471; #mass [kg] - set: real volume_17 = 2.0398000629375277e-07; #volume [m^3] - - #body: 18 - set: integer body_18 = 18; #body label - set: real mass_18 = 0.012460076105182932; #mass [kg] - set: real volume_18 = 1.5772248234408773e-06; #volume [m^3] - - #body: 19 - set: integer body_19 = 19; #body label - set: real mass_19 = 0.01246008308310637; #mass [kg] - set: real volume_19 = 1.5772257067223251e-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 - - #node: 10 - set: integer structural_node_10 = 10; #node label - - #node: 11 - set: integer structural_node_11 = 11; #node label - - #node: 12 - set: integer structural_node_12 = 12; #node label - - #node: 13 - set: integer structural_node_13 = 13; #node label - - #node: 14 - set: integer structural_node_14 = 14; #node label - - #node: 15 - set: integer structural_node_15 = 15; #node label - - #node: 16 - set: integer structural_node_16 = 16; #node label - - #node: 17 - set: integer structural_node_17 = 17; #node label - - #node: 18 - set: integer structural_node_18 = 18; #node label - - #node: 19 - set: integer structural_node_19 = 19; #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_7 - set: integer joint_6 = 6; #joint label - - set: integer joint_7 = 7; #joint label - - #joint: 8_9 - set: integer joint_8 = 8; #joint label - - 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_15 - set: integer joint_14 = 14; #joint label - - set: integer joint_15 = 15; #joint label - - #joint: 16_17 - set: integer joint_16 = 16; #joint label - - set: integer joint_17 = 17; #joint label - - #joint: 18_19 - set: integer joint_18 = 18; #joint label - - set: integer joint_19 = 19; #joint label - - #joint: 20_21 - set: integer joint_20 = 20; #joint label - - set: integer joint_21 = 21; #joint label - - #joint: 22_23 - set: integer joint_22 = 22; #joint label - - set: integer joint_23 = 23; #joint label - - #joint: 24_25 - set: integer joint_24 = 24; #joint label - - set: integer joint_25 = 25; #joint label - - #joint: 26_27 - set: integer joint_26 = 26; #joint label - - set: integer joint_27 = 27; #joint label - - #joint: 28_29 - set: integer joint_28 = 28; #joint label - - set: integer joint_29 = 29; #joint label - - #joint: 30_31 - set: integer joint_30 = 30; #joint label - - set: integer joint_31 = 31; #joint label - - #joint: 32_33 - set: integer joint_32 = 32; #joint label - - set: integer joint_33 = 33; #joint label - - #joint: 34_35 - set: integer joint_34 = 34; #joint label - - set: integer joint_35 = 35; #joint label - - #joint: 36_37 - set: integer joint_36 = 36; #joint label - - set: integer joint_37 = 37; #joint label - - #joint: 38_39 - set: integer joint_38 = 38; #joint label - - set: integer joint_39 = 39; #joint label - - #joint: 40_41 - set: integer joint_40 = 40; #joint label - - set: integer joint_41 = 41; #joint label - - #joint: 42 - set: integer joint_42 = 42; #joint label - - #joint: 43 - set: integer joint_43 = 43; #joint label - - #Nodes: initial conditions - - #node: 1 - set: real Px_1 = 0.015036506082326075; #X component of the absolute position [m] - set: real Py_1 = 0.020006856008321663; #Y component of the absolute position [m] - set: real Pz_1 = 0.021903827363685954; #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 = 0.020036506082326072; #X component of the absolute position [m] - set: real Py_2 = 0.020006856008332005; #Y component of the absolute position [m] - set: real Pz_2 = 0.041903827363678814; #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 = 0.02003650608232603; #X component of the absolute position [m] - set: real Py_3 = 0.022006856008322667; #Y component of the absolute position [m] - set: real Pz_3 = 0.0039038273636841296; #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 = 0.02920590539373498; #X component of the absolute position [m] - set: real Py_4 = 0.020259710981056347; #Y component of the absolute position [m] - set: real Pz_4 = 0.04653684954817832; #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 = 0.03045167648190976; #X component of the absolute position [m] - set: real Py_5 = 0.024261418527537274; #Y component of the absolute position [m] - set: real Pz_5 = 0.055928344834759586; #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 = 0.027850747478305522; #X component of the absolute position [m] - set: real Py_6 = 0.025022140099583357; #Y component of the absolute position [m] - set: real Pz_6 = -0.0028606592025389186; #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 = 0.027449769256636336; #X component of the absolute position [m] - set: real Py_7 = 0.02439321512528643; #Y component of the absolute position [m] - set: real Pz_7 = -0.006984734702085176; #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 = 0.056291469722772186; #X component of the absolute position [m] - set: real Py_8 = 0.019342181351613322; #Y component of the absolute position [m] - set: real Pz_8 = -0.0019497619684338263; #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 = 0.05563913952652191; #X component of the absolute position [m] - set: real Py_9 = 0.019678705691307384; #Y component of the absolute position [m] - set: real Pz_9 = 0.0465542507758631; #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] - - #node: 10 - set: real Px_10 = 0.05688760071336628; #X component of the absolute position [m] - set: real Py_10 = 0.019381009534592798; #Y component of the absolute position [m] - set: real Pz_10 = 0.051385443253078825; #Z component of the absolute position [m] - - set: real Vx_10 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_10 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_10 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_10 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_10 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_10 = 0.0; #Z component of the absolute angular velocity [rad/s] - - #node: 11 - set: real Px_11 = 0.05689278667082175; #X component of the absolute position [m] - set: real Py_11 = 0.019351455196641675; #Y component of the absolute position [m] - set: real Pz_11 = -0.005865077665126552; #Z component of the absolute position [m] - - set: real Vx_11 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_11 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_11 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_11 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_11 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_11 = 0.0; #Z component of the absolute angular velocity [rad/s] - - #node: 12 - set: real Px_12 = 0.05566325194527486; #X component of the absolute position [m] - set: real Py_12 = 0.010800131960633601; #Y component of the absolute position [m] - set: real Pz_12 = 0.06500466629871086; #Z component of the absolute position [m] - - set: real Vx_12 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_12 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_12 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_12 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_12 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_12 = 0.0; #Z component of the absolute angular velocity [rad/s] - - #node: 13 - set: real Px_13 = 0.053630942640462996; #X component of the absolute position [m] - set: real Py_13 = 0.011865185930376127; #Y component of the absolute position [m] - set: real Pz_13 = -0.017953369310204557; #Z component of the absolute position [m] - - set: real Vx_13 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_13 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_13 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_13 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_13 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_13 = 0.0; #Z component of the absolute angular velocity [rad/s] - - #node: 14 - set: real Px_14 = 0.042515789893180646; #X component of the absolute position [m] - set: real Py_14 = 0.024552230242874045; #Y component of the absolute position [m] - set: real Pz_14 = 0.06421420666448795; #Z component of the absolute position [m] - - set: real Vx_14 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_14 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_14 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_14 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_14 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_14 = 0.0; #Z component of the absolute angular velocity [rad/s] - - #node: 15 - set: real Px_15 = 0.04470534729501721; #X component of the absolute position [m] - set: real Py_15 = 0.02108493339521819; #Y component of the absolute position [m] - set: real Pz_15 = -0.02470346974153963; #Z component of the absolute position [m] - - set: real Vx_15 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_15 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_15 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_15 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_15 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_15 = 0.0; #Z component of the absolute angular velocity [rad/s] - - #node: 16 - set: real Px_16 = 0.054526611833130866; #X component of the absolute position [m] - set: real Py_16 = 0.017471169090787612; #Y component of the absolute position [m] - set: real Pz_16 = 0.05863255536975865; #Z component of the absolute position [m] - - set: real Vx_16 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_16 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_16 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_16 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_16 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_16 = 0.0; #Z component of the absolute angular velocity [rad/s] - - #node: 17 - set: real Px_17 = 0.04165968239579892; #X component of the absolute position [m] - set: real Py_17 = 0.020160588839559526; #Y component of the absolute position [m] - set: real Pz_17 = -0.027721349641097653; #Z component of the absolute position [m] - - set: real Vx_17 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_17 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_17 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_17 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_17 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_17 = 0.0; #Z component of the absolute angular velocity [rad/s] - - #node: 18 - set: real Px_18 = 0.09251606523223796; #X component of the absolute position [m] - set: real Py_18 = 0.04383786289542596; #Y component of the absolute position [m] - set: real Pz_18 = 0.17087647695874514; #Z component of the absolute position [m] - - set: real Vx_18 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_18 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_18 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_18 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_18 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_18 = 0.0; #Z component of the absolute angular velocity [rad/s] - - #node: 19 - set: real Px_19 = 0.07800232703539574; #X component of the absolute position [m] - set: real Py_19 = 0.04227608639771267; #Y component of the absolute position [m] - set: real Pz_19 = -0.1310564148570501; #Z component of the absolute position [m] - - set: real Vx_19 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_19 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_19 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_19 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_19 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_19 = 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 = 2.7489439610000006e-06; #moment of inertia [kg*m^2] - set: real Iyy_2 = 2.744127568e-06; #moment of inertia [kg*m^2] - set: real Izz_2 = 2.8767802600000003e-07; #moment of inertia [kg*m^2] - - set: real Rx_2 = -0.00012202234401962997; #X component of the relative center of mass [m] - set: real Ry_2 = 0.00010912443891739799; #Y component of the relative center of mass [m] - set: real Rz_2 = 0.030385870620870174; #Z component of the relative center of mass [m] - - #body 3: - set: real Ixx_3 = 2.7489438030000002e-06; #moment of inertia [kg*m^2] - set: real Iyy_3 = 2.7441274889999998e-06; #moment of inertia [kg*m^2] - set: real Izz_3 = 2.8767802600000003e-07; #moment of inertia [kg*m^2] - - set: real Rx_3 = -0.0001124046522727582; #X component of the relative center of mass [m] - set: real Ry_3 = -0.00011900800636395736; #Y component of the relative center of mass [m] - set: real Rz_3 = 0.030385871132171338; #Z component of the relative center of mass [m] - - #body 4: - set: real Ixx_4 = 4.1972700000000003e-10; #moment of inertia [kg*m^2] - set: real Iyy_4 = 4.138810000000001e-10; #moment of inertia [kg*m^2] - set: real Izz_4 = 3.5068100000000003e-10; #moment of inertia [kg*m^2] - - set: real Rx_4 = 7.105427357601002e-18; #X component of the relative center of mass [m] - set: real Ry_4 = 1.4210854715202004e-17; #Y component of the relative center of mass [m] - set: real Rz_4 = 0.0015000011045973665; #Z component of the relative center of mass [m] - - #body 5: - set: real Ixx_5 = 8.2552788e-08; #moment of inertia [kg*m^2] - set: real Iyy_5 = 8.158085100000001e-08; #moment of inertia [kg*m^2] - set: real Izz_5 = 2.8500040000000003e-09; #moment of inertia [kg*m^2] - - set: real Rx_5 = -0.011708133331376384; #X component of the relative center of mass [m] - set: real Ry_5 = 0.006203395204739124; #Y component of the relative center of mass [m] - set: real Rz_5 = -0.0006994637391446403; #Z component of the relative center of mass [m] - - #body 6: - set: real Ixx_6 = 4.1972700000000003e-10; #moment of inertia [kg*m^2] - set: real Iyy_6 = 4.138810000000001e-10; #moment of inertia [kg*m^2] - set: real Izz_6 = 3.5068100000000003e-10; #moment of inertia [kg*m^2] - - set: real Rx_6 = 7.105427357601002e-18; #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 = 0.0015000011045973665; #Z component of the relative center of mass [m] - - #body 7: - set: real Ixx_7 = 8.2577515e-08; #moment of inertia [kg*m^2] - set: real Iyy_7 = 8.1556124e-08; #moment of inertia [kg*m^2] - set: real Izz_7 = 2.8500040000000003e-09; #moment of inertia [kg*m^2] - - set: real Rx_7 = -0.01153034625112635; #X component of the relative center of mass [m] - set: real Ry_7 = -0.006527910487218446; #Y component of the relative center of mass [m] - set: real Rz_7 = -0.0007000000000000064; #Z component of the relative center of mass [m] - - #body 8: - set: real Ixx_8 = 4.1972700000000003e-10; #moment of inertia [kg*m^2] - set: real Iyy_8 = 4.138810000000001e-10; #moment of inertia [kg*m^2] - set: real Izz_8 = 3.5068100000000003e-10; #moment of inertia [kg*m^2] - - set: real Rx_8 = 7.105427357601002e-18; #X component of the relative center of mass [m] - set: real Ry_8 = 1.7763568394002505e-18; #Y component of the relative center of mass [m] - set: real Rz_8 = 0.001500001104597338; #Z component of the relative center of mass [m] - - #body 9: - set: real Ixx_9 = 4.1972700000000003e-10; #moment of inertia [kg*m^2] - set: real Iyy_9 = 4.138810000000001e-10; #moment of inertia [kg*m^2] - set: real Izz_9 = 3.5068100000000003e-10; #moment of inertia [kg*m^2] - - set: real Rx_9 = -1.4210854715202004e-17; #X component of the relative center of mass [m] - set: real Ry_9 = -2.1316282072803006e-17; #Y component of the relative center of mass [m] - set: real Rz_9 = 0.0015000011045973097; #Z component of the relative center of mass [m] - - #body 10: - set: real Ixx_10 = 3.532959000000001e-08; #moment of inertia [kg*m^2] - set: real Iyy_10 = 3.3955384999999996e-08; #moment of inertia [kg*m^2] - set: real Izz_10 = 2.8082920000000003e-09; #moment of inertia [kg*m^2] - - set: real Rx_10 = 0.005958423993341263; #X component of the relative center of mass [m] - set: real Ry_10 = 0.007075286815075088; #Y component of the relative center of mass [m] - set: real Rz_10 = -0.0006999999999983544; #Z component of the relative center of mass [m] - - #body 11: - set: real Ixx_11 = 3.5335199000000006e-08; #moment of inertia [kg*m^2] - set: real Iyy_11 = 3.3949776e-08; #moment of inertia [kg*m^2] - set: real Izz_11 = 2.8082920000000003e-09; #moment of inertia [kg*m^2] - - set: real Rx_11 = 0.0059896620528081075; #X component of the relative center of mass [m] - set: real Ry_11 = -0.007048861503331615; #Y component of the relative center of mass [m] - set: real Rz_11 = -0.0007000000000005926; #Z component of the relative center of mass [m] - - #body 12: - set: real Ixx_12 = 4.1972700000000003e-10; #moment of inertia [kg*m^2] - set: real Iyy_12 = 4.138810000000001e-10; #moment of inertia [kg*m^2] - set: real Izz_12 = 3.5068100000000003e-10; #moment of inertia [kg*m^2] - - set: real Rx_12 = -4.0001580714488226e-11; #X component of the relative center of mass [m] - set: real Ry_12 = -1.103872790508831e-09; #Y component of the relative center of mass [m] - set: real Rz_12 = -0.0007000000000000064; #Z component of the relative center of mass [m] - - #body 13: - set: real Ixx_13 = 4.1972700000000003e-10; #moment of inertia [kg*m^2] - set: real Iyy_13 = 4.138810000000001e-10; #moment of inertia [kg*m^2] - set: real Izz_13 = 3.5068100000000003e-10; #moment of inertia [kg*m^2] - - set: real Rx_13 = -3.9609204804946785e-11; #X component of the relative center of mass [m] - set: real Ry_13 = -1.1038869658364093e-09; #Y component of the relative center of mass [m] - set: real Rz_13 = -0.00070000000000001; #Z component of the relative center of mass [m] - - #body 14: - set: real Ixx_14 = 4.1972700000000003e-10; #moment of inertia [kg*m^2] - set: real Iyy_14 = 4.138810000000001e-10; #moment of inertia [kg*m^2] - set: real Izz_14 = 3.5068100000000003e-10; #moment of inertia [kg*m^2] - - set: real Rx_14 = -1.1045973558054812e-09; #X component of the relative center of mass [m] - set: real Ry_14 = -7.105427357601002e-18; #Y component of the relative center of mass [m] - set: real Rz_14 = -0.0007000000000000312; #Z component of the relative center of mass [m] - - #body 15: - set: real Ixx_15 = 4.1972700000000003e-10; #moment of inertia [kg*m^2] - set: real Iyy_15 = 4.138810000000001e-10; #moment of inertia [kg*m^2] - set: real Izz_15 = 3.5068100000000003e-10; #moment of inertia [kg*m^2] - - set: real Rx_15 = -1.1045973771217632e-09; #X component of the relative center of mass [m] - set: real Ry_15 = 7.105427357601002e-18; #Y component of the relative center of mass [m] - set: real Rz_15 = -0.0007000000000000312; #Z component of the relative center of mass [m] - - #body 16: - set: real Ixx_16 = 6.511788300000001e-08; #moment of inertia [kg*m^2] - set: real Iyy_16 = 5.8589955000000006e-08; #moment of inertia [kg*m^2] - set: real Izz_16 = 1.3370355000000002e-08; #moment of inertia [kg*m^2] - - set: real Rx_16 = 0.0003090619272732766; #X component of the relative center of mass [m] - set: real Ry_16 = 0.0006139880782884432; #Y component of the relative center of mass [m] - set: real Rz_16 = 0.014135424682208225; #Z component of the relative center of mass [m] - - #body 17: - set: real Ixx_17 = 6.511788300000001e-08; #moment of inertia [kg*m^2] - set: real Iyy_17 = 5.8589955000000006e-08; #moment of inertia [kg*m^2] - set: real Izz_17 = 1.3370355000000002e-08; #moment of inertia [kg*m^2] - - set: real Rx_17 = 0.0002764559346451634; #X component of the relative center of mass [m] - set: real Ry_17 = -0.0006293431117348192; #Y component of the relative center of mass [m] - set: real Rz_17 = 0.01413542468170668; #Z component of the relative center of mass [m] - - #body 18: - set: real Ixx_18 = 1.0698233404000002e-05; #moment of inertia [kg*m^2] - set: real Iyy_18 = 9.651757376000001e-06; #moment of inertia [kg*m^2] - set: real Izz_18 = 1.0517916220000001e-06; #moment of inertia [kg*m^2] - - set: real Rx_18 = -0.008980752288228672; #X component of the relative center of mass [m] - set: real Ry_18 = -0.015243524654396726; #Y component of the relative center of mass [m] - set: real Rz_18 = -0.05566314823715192; #Z component of the relative center of mass [m] - - #body 19: - set: real Ixx_19 = 1.0698239803e-05; #moment of inertia [kg*m^2] - set: real Iyy_19 = 9.651764012000002e-06; #moment of inertia [kg*m^2] - set: real Izz_19 = 1.051791306e-06; #moment of inertia [kg*m^2] - - set: real Rx_19 = -0.008967181029626943; #X component of the relative center of mass [m] - set: real Ry_19 = -0.012510027775500298; #Y component of the relative center of mass [m] - set: real Rz_19 = 0.055253433728189805; #Z component of the relative center of mass [m] - - #----------------------------------------------------------------------------- - # [Nodes Block] - - begin: nodes; - - structural: structural_node_1, - static, - Px_1, Py_1, Pz_1, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - dynamic, - Px_4, Py_4, Pz_4, # [m] - 3, 0.9796190485228959, -0.18399559321644493, -0.08057382607289298, 2, 0.07918912690662289, -0.01487358826213736, 0.9967486436168225, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - structural: structural_node_5, - dynamic, - Px_5, Py_5, Pz_5, # [m] - 3, 0.20003936377712603, 0.857342939160105, 0.47428613474563563, 2, -0.10776811512755421, -0.46188025609870964, 0.8803707528013666, # - Vx_5, Vy_5, Vz_5, # [m/s] - Wx_5, Wy_5, Wz_5; # [rad/s] - - structural: structural_node_6, - dynamic, - Px_6, Py_6, Pz_6, # [m] - 3, 0.9796190485228959, -0.1901245643530557, 0.06480100154053892, 2, -0.06361399897275127, 0.012346211376439653, 0.9978982063313587, # - Vx_6, Vy_6, Vz_6, # [m/s] - Wx_6, Wy_6, Wz_6; # [rad/s] - - structural: structural_node_7, - dynamic, - Px_7, Py_7, Pz_7, # [m] - 3, 0.19731645922864813, 0.8504943344462715, -0.4875711250599881, 2, 0.1101908732194586, 0.4749563911049054, 0.8730832709471287, # - Vx_7, Vy_7, Vz_7, # [m/s] - Wx_7, Wy_7, Wz_7; # [rad/s] - - structural: structural_node_8, - dynamic, - Px_8, Py_8, Pz_8, # [m] - 3, 0.9796190485228959, -0.1901245643530557, 0.06480100154053892, 2, -0.06361399897275127, 0.012346211376439653, 0.9978982063313587, # - Vx_8, Vy_8, Vz_8, # [m/s] - Wx_8, Wy_8, Wz_8; # [rad/s] - - structural: structural_node_9, - dynamic, - Px_9, Py_9, Pz_9, # [m] - 3, 0.979619048522896, -0.18399559321644432, -0.08057382607289298, 2, 0.07918912690662255, -0.014873588262137583, 0.9967486436168225, # - Vx_9, Vy_9, Vz_9, # [m/s] - Wx_9, Wy_9, Wz_9; # [rad/s] - - structural: structural_node_10, - dynamic, - Px_10, Py_10, Pz_10, # [m] - 3, 0.18033925140217716, 0.9823029733067712, -0.050582833415883766, 2, 0.009133762723787214, 0.04975135591001134, 0.9987198691142682, # - Vx_10, Vy_10, Vz_10, # [m/s] - Wx_10, Wy_10, Wz_10; # [rad/s] - - structural: structural_node_11, - dynamic, - Px_11, Py_11, Pz_11, # [m] - 3, 0.1877477620538353, 0.9813596102636744, 0.04103770445463617, 2, -0.007711233124869127, -0.04030670007083215, 0.9991575985864765, # - Vx_11, Vy_11, Vz_11, # [m/s] - Wx_11, Wy_11, Wz_11; # [rad/s] - - structural: structural_node_12, - dynamic, - Px_12, Py_12, Pz_12, # [m] - 3, 0.6039065235318071, 0.6931799981295371, -0.3934442794461015, 2, 0.2584477771028245, 0.29665324461308473, 0.9193484643872193, # - Vx_12, Vy_12, Vz_12, # [m/s] - Wx_12, Wy_12, Wz_12; # [rad/s] - - structural: structural_node_13, - dynamic, - Px_13, Py_13, Pz_13, # [m] - 3, 0.5903492905318852, 0.7166010490681699, 0.37144400875892225, 2, -0.23617905329693842, -0.28668816931757135, 0.928455356146488, # - Vx_13, Vy_13, Vz_13, # [m/s] - Wx_13, Wy_13, Wz_13; # [rad/s] - - structural: structural_node_14, - dynamic, - Px_14, Py_14, Pz_14, # [m] - 3, 0.6479179469743502, 0.64791794697435, 0.4005055155389079, 2, -0.28320016594017605, -0.28320016594017594, 0.9162943479160578, # - Vx_14, Vy_14, Vz_14, # [m/s] - Wx_14, Wy_14, Wz_14; # [rad/s] - - structural: structural_node_15, - dynamic, - Px_15, Py_15, Pz_15, # [m] - 3, 0.646348904512863, 0.6463489045128702, -0.4055443098725897, 2, 0.2867631315825249, 0.2867631315825282, 0.9140753867870884, # - Vx_15, Vy_15, Vz_15, # [m/s] - Wx_15, Wy_15, Wz_15; # [rad/s] - - structural: structural_node_16, - dynamic, - Px_16, Py_16, Pz_16, # [m] - 3, 0.7071067811865506, -0.7071067811865444, -4.440892098500626e-16, 2, 3.3306690738754696e-16, -2.220446049250313e-16, 1.0, # - Vx_16, Vy_16, Vz_16, # [m/s] - Wx_16, Wy_16, Wz_16; # [rad/s] - - structural: structural_node_17, - dynamic, - Px_17, Py_17, Pz_17, # [m] - 3, 0.7071067811865486, -0.7071067811865466, 0.0, 2, -1.6653345369377348e-16, 0.0, 1.0000000000000002, # - Vx_17, Vy_17, Vz_17, # [m/s] - Wx_17, Wy_17, Wz_17; # [rad/s] - - structural: structural_node_18, - dynamic, - Px_18, Py_18, Pz_18, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_18, Vy_18, Vz_18, # [m/s] - Wx_18, Wy_18, Wz_18; # [rad/s] - - structural: structural_node_19, - dynamic, - Px_19, Py_19, Pz_19, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_19, Vy_19, Vz_19, # [m/s] - Wx_19, Wy_19, Wz_19; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, -0.009999999999999778, -0.01000000000000022, 1.0000000000000002, 2, 0.96, 0.2899999999999999, 0.009999999999999837; - - body: body_3, - structural_node_3, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] - orientation, 3, -0.009999999999999778, 0.009999999999999778, 1.0, 2, 0.98, -0.19999999999999998, 0.009999999999999738; - - body: body_4, - structural_node_4, # - mass_4, # [kg] - Rx_4, Ry_4, Rz_4, # [m] - diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] - orientation, 3, -0.4754428894286996, 0.8826943462104969, -0.0021794631707104384, 2, 0.8821396507573231, 0.47151840197579287, -0.00018209871582316323; - - body: body_5, - structural_node_5, # - mass_5, # [kg] - Rx_5, Ry_5, Rz_5, # [m] - diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] - orientation, 3, -0.8842459963929753, 0.46764954295669925, -0.0035948345420613037, 2, -0.22399138681464686, -0.43669907856092144, 0.8738545493483988; - - body: body_6, - structural_node_6, # - mass_6, # [kg] - Rx_6, Ry_6, Rz_6, # [m] - diag, Ixx_6, Iyy_6, Izz_6, # [kg*m^2] - orientation, 3, 0.4886453480490815, 0.8716765231238276, 0.002400596748187399, 2, 0.8725349926382678, -0.4911986412269425, 0.0025654392496177597; - - body: body_7, - structural_node_7, # - mass_7, # [kg] - Rx_7, Ry_7, Rz_7, # [m] - diag, Ixx_7, Iyy_7, Izz_7, # [kg*m^2] - orientation, 3, -0.8667404666452476, -0.4926062648390023, -0.00017697724546969495, 2, -0.23721769581342422, 0.41118125206582323, 0.8798623430642728; - - body: body_8, - structural_node_8, # - mass_8, # [kg] - Rx_8, Ry_8, Rz_8, # [m] - diag, Ixx_8, Iyy_8, Izz_8, # [kg*m^2] - orientation, 3, -0.04278722087032508, 1.0019807999181582, 0.001931405074527881, 2, 0.9982484470452492, 0.03992855559734235, 0.00239758621497718; - - body: body_9, - structural_node_9, # - mass_9, # [kg] - Rx_9, Ry_9, Rz_9, # [m] - diag, Ixx_9, Iyy_9, Izz_9, # [kg*m^2] - orientation, 3, 0.05592620134211661, 1.0032807215079327, 0.00023206456551014276, 2, 0.996385478617406, -0.05015950583454379, 4.443868565056925e-05; - - body: body_10, - structural_node_10, # - mass_10, # [kg] - Rx_10, Ry_10, Rz_10, # [m] - diag, Ixx_10, Iyy_10, Izz_10, # [kg*m^2] - orientation, 3, 0.6467296595054443, 0.7607355333973596, -0.004711235783427775, 2, -0.27386535051478916, 0.23755682393098715, 0.9341651487778987; - - body: body_11, - structural_node_11, # - mass_11, # [kg] - Rx_11, Ry_11, Rz_11, # [m] - diag, Ixx_11, Iyy_11, Izz_11, # [kg*m^2] - orientation, 3, -0.6469637219280406, 0.760547703067679, 0.002265803939889042, 2, -0.2785058853833383, -0.23836840368510992, 0.9300618129626947; - - body: body_12, - structural_node_12, # - mass_12, # [kg] - Rx_12, Ry_12, Rz_12, # [m] - diag, Ixx_12, Iyy_12, Izz_12, # [kg*m^2] - orientation, 3, -1.000008238972704, 0.031176155531258076, -0.0034013692834085566, 2, 0.0008565874526688694, 0.001213503933707727, 0.9940813818124443; - - body: body_13, - structural_node_13, # - mass_13, # [kg] - Rx_13, Ry_13, Rz_13, # [m] - diag, Ixx_13, Iyy_13, Izz_13, # [kg*m^2] - orientation, 3, -0.9998798865145044, 0.03470489023514289, -0.00598190082731013, 2, 0.002430779485299384, -0.0022326415796441457, 1.0016931199836956; - - body: body_14, - structural_node_14, # - mass_14, # [kg] - Rx_14, Ry_14, Rz_14, # [m] - diag, Ixx_14, Iyy_14, Izz_14, # [kg*m^2] - orientation, 3, -5.773159728050814e-17, 1.0015828930092718, 0.005631023990159245, 2, 2.331468351712829e-16, -0.0016424765558055165, 1.0024955372822186; - - body: body_15, - structural_node_15, # - mass_15, # [kg] - Rx_15, Ry_15, Rz_15, # [m] - diag, Ixx_15, Iyy_15, Izz_15, # [kg*m^2] - orientation, 3, -2.328970349907422e-15, 0.9981312182941156, 0.005837042633406064, 2, -5.206668429735828e-15, -0.001978837525421495, 1.0065267429144877; - - body: body_16, - structural_node_16, # - mass_16, # [kg] - Rx_16, Ry_16, Rz_16, # [m] - diag, Ixx_16, Iyy_16, Izz_16, # [kg*m^2] - orientation, 3, 0.23334523779156485, 0.09999999999999945, -0.9687362902255692, 2, 0.8768124086713178, 0.42000000000000004, 0.2545584412271607; - - body: body_17, - structural_node_17, # - mass_17, # [kg] - Rx_17, Ry_17, Rz_17, # [m] - diag, Ixx_17, Iyy_17, Izz_17, # [kg*m^2] - orientation, 3, 0.23334523779156202, -0.10999999999999995, -0.9687362902255697, 2, 0.8485281374238566, -0.45999999999999996, 0.2545584412271583; - - body: body_18, - structural_node_18, # - mass_18, # [kg] - Rx_18, Ry_18, Rz_18, # [m] - diag, Ixx_18, Iyy_18, Izz_18, # [kg*m^2] - orientation, 3, 0.26, 0.28, 0.92, 2, 0.92, 0.22, -0.33; - - body: body_19, - structural_node_19, # - mass_19, # [kg] - Rx_19, Ry_19, Rz_19, # [m] - diag, Ixx_19, Iyy_19, Izz_19, # [kg*m^2] - orientation, 3, -0.23, -0.24, 0.94, 2, 0.87, 0.39, 0.31; - - #----------------------------------------------------------------------------- - # [Joints] - - joint: joint_1, - clamp, - structural_node_1, # - 0.015036506082326075, 0.020006856008321663, 0.021903827363685954, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_2, - axial rotation, - structural_node_1, # - position, 0.005, 0.002, 0.01, # [m] - orientation, 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # - structural_node_2, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - string, "model::drive(1, Time)*-1"; # [rad/s] - - joint: joint_4, - axial rotation, - structural_node_1, # - position, 0.005, 0.002, -0.01, # [m] - orientation, 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # - structural_node_3, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - string, "model::drive(1, Time)"; # [rad/s] - - joint: joint_6, - revolute hinge, - structural_node_2, # - position, 0.0019304158516275792, 0.0018133779158601797, 0.008805714272156564, # [m] - orientation, 3, -0.1839955932187977, -0.08057382607097904, 0.9796190485226113, 2, -0.014873588261971882, 0.9967486436169771, 0.07918912690470653, # - structural_node_4, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_8, - revolute hinge, - structural_node_4, # - position, 0.0006156748634029476, 0.00033308326672734266, 0.0015, # [m] - orientation, 3, 0.8795355191470654, 0.4758332381819309, 4.440892098500626e-16, 2, -0.4738361655250061, 0.8758441075449799, -0.09152260660239453, # - structural_node_5, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_10, - revolute hinge, - structural_node_3, # - position, 0.0020761975451982907, -0.0016444599658419908, 0.008805714272156557, # [m] - orientation, 3, -0.19012456435322037, 0.06480100154111189, 0.979619048522826, 2, 0.012346211376559769, 0.9978982063313215, -0.06361399897331162, # - structural_node_6, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_12, - revolute hinge, - structural_node_6, # - position, 0.0006107562932847408, -0.00034201864015442586, 0.0015000000000000035, # [m] - orientation, 3, 0.8725089904067733, -0.48859805736346673, -1.9984014443252818e-15, 2, 0.48725041955745857, 0.8701024599594374, 0.07422087181929557, # - structural_node_7, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_14, - revolute hinge, - structural_node_3, # - position, -0.0030571656923347205, 0.0001051670757542551, 0.035255428582274574, # [m] - orientation, 3, -0.19012456435286373, 0.06480100153987961, 0.9796190485229768, 2, 0.012346211376300868, 0.9978982063314016, -0.0636139989721066, # - structural_node_8, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_16, - revolute hinge, - structural_node_2, # - position, -0.0030374651652239457, -0.00036211538810186286, 0.03525542858227387, # [m] - orientation, 3, -0.18399559321349285, -0.08057382607529058, 0.9796190485232531, 2, -0.01487358826234423, 0.9967486436166285, 0.07918912690902351, # - structural_node_9, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_18, - revolute hinge, - structural_node_9, # - position, 0.0006990980490339567, -3.552348289397855e-05, 0.0015, # [m] - orientation, 3, 0.9987114986199351, -0.05074783270568111, -2.6645352591003757e-15, 2, 0.050582409469853984, 0.9954559884049977, -0.08067710332463017, # - structural_node_10, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_20, - revolute hinge, - structural_node_8, # - position, 0.0006994078313455461, 2.878689723659722e-05, 0.0014999999999999929, # [m] - orientation, 3, 0.9991540447793614, 0.04112413890942468, 3.6637359812630166e-15, 2, -0.04103755849159123, 0.9970504828089152, 0.064855636019997, # - structural_node_11, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_22, - revolute hinge, - structural_node_5, # - position, -0.023696513945399768, 0.011877857349965283, -0.0003362616853040521, # [m] - orientation, 3, -0.4003513828652549, -0.7556142728371764, 0.5184263119505252, 2, -0.18492741744034608, 0.620724940734265, 0.761907079786825, # - structural_node_12, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_24, - revolute hinge, - structural_node_7, # - position, -0.02334987921568972, -0.012545026142969321, -0.0003186082264685517, # [m] - orientation, 3, -0.41312387633862363, 0.7297069020965572, 0.5448453907592457, 2, 0.1652770784565687, 0.6484296848822757, -0.743116700862209, # - structural_node_13, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_26, - revolute hinge, - structural_node_10, # - position, 0.011552657092899963, 0.01445727550901202, -0.0001868733583299651, # [m] - orientation, 3, -0.5202727054035232, 0.438145541231108, 0.7330380595244685, 2, 0.22740737031976843, 0.8984450958523724, -0.3756092353271802, # - structural_node_14, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_28, - revolute hinge, - structural_node_11, # - position, 0.011619956269554109, -0.014403090318766616, -0.00018269393672451173, # [m] - orientation, 3, -0.5133826229461081, -0.4362390172907191, 0.7390086618235282, 2, -0.22777049303894434, 0.8995355954938721, 0.3727684468142136, # - structural_node_15, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_30, - revolute hinge, - structural_node_14, # - position, 0.0014999999999999963, 0.0, -0.0007000000000000028, # [m] - orientation, 3, -1.0000000000000002, -5.828670879282072e-16, 9.992007221626409e-16, 2, 2.7755575615628914e-17, 0.9162943479160578, 0.4005055155389079, # - structural_node_16, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_32, - revolute hinge, - structural_node_15, # - position, 0.0015000000000000018, 3.552713678800501e-18, -0.0006999999999999958, # [m] - orientation, 3, -1.0000000000000002, -1.6930901125533637e-15, -3.9968028886505635e-15, 2, 8.326672684688674e-17, 0.9140753867870883, -0.4055443098725896, # - structural_node_17, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_34, - revolute hinge, - structural_node_12, # - position, -5.432058558623254e-05, -0.001499016101975414, -0.0007000000000000135, # [m] - orientation, 3, 0.03621372372415421, 0.9993440679836104, 7.66053886991358e-15, 2, -0.08426278547208664, 0.0030534721034352064, -0.9964388888901311, # - structural_node_18, # - position, -0.037591172638640744, -0.03199514211122047, -0.1025095196111728, # [m] - orientation, 3, 0.29772917627408235, 0.2977291762740852, 0.90703620390275, 2, -0.6413714505613356, -0.6413714505613417, 0.42105263900097917; # - - joint: joint_36, - revolute hinge, - structural_node_13, # - position, 5.378777408382263e-05, 0.001499035314913936, -0.0007000000000000028, # [m] - orientation, 3, -0.03585851605587946, -0.9993568766092875, -2.220446049250313e-16, 2, -0.08921606073805166, 0.003201214322226753, 0.9960071519488443, # - structural_node_19, # - position, -0.03543598419291869, -0.029580665477487358, 0.10322998305248207, # [m] - orientation, 3, 0.26370350545237775, 0.26370350545237764, -0.9278582447897179, 2, 0.6560948568706572, 0.6560948568706568, 0.37293307385608; # - - joint: joint_38, - revolute hinge, - structural_node_17, # - position, -9.65030579664159e-05, -0.005894695219525783, 0.01365, # [m] - orientation, 3, -0.3729330738560789, 0.9278582447897182, 1.1102230246251565e-16, 2, 0.9278582447897182, 0.37293307385607877, 1.1102230246251565e-16, # - structural_node_19, # - position, -0.03134870967114584, -0.029425577716049985, 0.09408928268995996, # [m] - orientation, 3, -0.2637035054523845, -0.26370350545238275, 0.9278582447897142, 2, 0.6560948568706568, 0.6560948568706524, 0.3729330738560883; # - - joint: joint_40, - revolute hinge, - structural_node_16, # - position, 0.00021259038801903075, 0.005891650863571172, 0.013649999999999999, # [m] - orientation, 3, -0.4210526390009796, -0.9070362039027499, -2.886579864025407e-15, 2, -0.9070362039027499, 0.42105263900097956, -7.216449660063518e-15, # - structural_node_18, # - position, -0.0335749691710067, -0.03169987551682306, -0.09334081219451422, # [m] - orientation, 3, -0.29772917627408635, -0.29772917627408807, -0.9070362039027478, 2, -0.6413714505613352, -0.6413714505613388, 0.42105263900098405; # - - joint: joint_42, - spherical hinge, - structural_node_1, # - 0.03825944084089781, -0.012958739982866315, 0.021999999999999995, # [m] - structural_node_16, # - -0.004507683008810034, -0.001649482916578833, 0.02044999999999999; # [m] - - joint: joint_43, - spherical hinge, - structural_node_1, # - 0.03825944084089781, -0.012958739982866306, -0.022, # [m] - structural_node_17, # - -0.004415032139150533, 0.0018834784868077712, 0.020450000000000003; # [m] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", ramp, 0.5, 0.25, 2.0, 0.0; - - end: elements; - diff --git a/testapp/MBDynCase9orig.mov b/testapp/MBDynCase9orig.mov deleted file mode 100644 index f2dadbe..0000000 --- a/testapp/MBDynCase9orig.mov +++ /dev/null @@ -1,646 +0,0 @@ -1 0.015036506082326075 0.020006856008321663 0.021903827363685954 1 0 0 0 1 0 0 0 1 0 -0 -0 0 -0 0 -2 0.020036506082326076 0.022006856008321661 0.031903827363685952 6.123233995736766e-17 0 1 1 6.123233995736766e-17 -6.123233995736766e-17 -6.123233995736766e-17 1 3.749399456654644e-33 -0 -0 0 0 0 0 -3 0.020036506082326072 0.022006856008321661 0.011903827363685953 6.123233995736766e-17 0 1 1 6.123233995736766e-17 -6.123233995736766e-17 -6.123233995736766e-17 1 3.749399456654644e-33 0 0 0 0 0 0 -4 0.028842220354482639 0.02393727185994924 0.033717205279546136 0.19346729208909608 0.054008579534792912 0.97961904852261128 0.97216076949526631 -0.14508294155562965 -0.18399559321879785 0.13218867253317865 0.98794433720033015 -0.080573826070978835 -0 -0 0 0 0 0 -5 0.030448751229999203 0.024211488718965987 0.034006797510524413 -0.97391043110248443 -0.1146174645522994 0.19586043247520737 0.2258020164278737 -0.57549494627255526 0.78601464120705478 0.022625683788100967 0.80973353866216458 0.5863613858353649 -0 0 0 0 0 0 -6 0.028842220354482632 0.024083053553519952 0.010259367397843965 0.19599076137455124 -0.043978872507795225 0.979619048522826 0.97537742796040716 0.11176548239433762 -0.1901245643532207 -0.10112613154454531 0.99276096605280784 0.064801001541112194 -0 -0 0 0 0 0 -7 0.03044639311237269 0.024355358731140107 0.0099552627232914852 -0.97837196870750909 0.075731360546266974 0.19249169300830668 0.20084638053047449 0.57042125752667694 0.79641717735712625 -0.049487597185564572 0.81785350154627068 -0.57329453837735411 -0 0 0 0 0 0 -8 0.055291934664600639 0.018949690315986936 0.012008994439440215 0.18318302470998582 -0.082404485491012883 0.97961904852297665 0.97796951773621554 -0.086187426045959248 -0.19012456435286398 0.10009796120248782 0.99286516121905177 0.064801001539879804 0 -0 0 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0.08927347459773563 0.99600715194884404 -2.2204460492503126e-16 - RefCurves - RefSurfaces - Part - Name - structural_node_14 - Position3D - 0.042515789893180646 0.024552230242874045 0.064214206664487947 - RotationMatrix - -0.70710678118654757 -0.28320016594017616 0.64791794697435035 - 0.70710678118654779 -0.28320016594017605 0.64791794697435012 - 0 0.91629434791605813 0.40050551553890801 - Velocity3D - 0 0 0 - Omega3D - 0 0 0 - FeatureOrder - PrincipalMassMarker - Name - MassMarker - Position3D - -1.1045973558054812e-09 -7.105427357601002e-18 -0.00070000000000003122 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 0.00020169322932362451 - MomentOfInertias - 4.1972700000000003e-10 4.1388100000000008e-10 3.5068100000000003e-10 - 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 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 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PrincipalMassMarker - Name - MassMarker - Position3D - 0.00030906192727327662 0.00061398807828844321 0.014135424682208225 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 0.0016114420499124108 - MomentOfInertias - 6.5117883000000013e-08 5.8589955000000006e-08 1.3370355000000002e-08 - 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 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 0.00021259038801903075 0.005891650863571172 0.013649999999999999 - RotationMatrix - -7.7609831747542891e-15 -0.90703620390274986 -0.42105263900097961 - 4.2027273145974522e-16 0.42105263900097961 -0.90703620390274986 - 1 -7.2164496600635175e-15 -2.886579864025407e-15 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker2 - Position3D - 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RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - -9.6503057966415895e-05 -0.0058946952195257831 0.013650000000000001 - RotationMatrix - -6.1609070171457721e-17 0.92785824478971846 -0.37293307385607888 - -1.4441684721930827e-16 0.37293307385607893 0.92785824478971823 - 1.0000000000000002 1.110223024625157e-16 1.1102230246251565e-16 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker2 - Position3D - -0.0044150321391505333 0.0018834784868077712 0.020450000000000003 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_18 - Position3D - 0.09251606523223796 0.043837862895425961 0.17087647695874514 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Velocity3D - 0 0 0 - Omega3D - 0 0 0 - FeatureOrder - PrincipalMassMarker - Name - MassMarker - Position3D - -0.0089807522882286717 -0.015243524654396726 -0.055663148237151919 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 0.012460076105182932 - MomentOfInertias - 1.0698233404000002e-05 9.6517573760000009e-06 1.0517916220000001e-06 - Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker0 - Position3D - -0.037591172638640744 -0.031995142111220468 -0.1025095196111728 - RotationMatrix - -0.7071067811865509 -0.64137145056133549 0.29772917627408235 - 0.70710678118654413 -0.64137145056134159 0.29772917627408518 - 0 0.42105263900097917 0.90703620390274997 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - -0.033574969171006698 -0.031699875516823059 -0.093340812194514219 - RotationMatrix - 0.70710678118654957 -0.64137145056133515 -0.29772917627408635 - -0.70710678118654557 -0.64137145056133882 -0.29772917627408807 - 0 0.42105263900098411 -0.90703620390274775 - RefCurves - RefSurfaces - Part - Name - structural_node_19 - Position3D - 0.078002327035395738 0.042276086397712673 -0.13105641485705011 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Velocity3D - 0 0 0 - Omega3D - 0 0 0 - FeatureOrder - PrincipalMassMarker - Name - MassMarker - Position3D - -0.0089671810296269427 -0.012510027775500298 0.055253433728189805 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 0.012460083083106369 - MomentOfInertias - 1.0698239803000001e-05 9.6517640120000017e-06 1.051791306e-06 - Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker0 - Position3D - -0.035435984192918692 -0.029580665477487358 0.10322998305248207 - RotationMatrix - -0.70710678118654735 0.65609485687065705 0.2637035054523777 - 0.70710678118654768 0.65609485687065683 0.26370350545237758 - 2.7755575615628914e-17 0.37293307385607988 -0.92785824478971768 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - -0.031348709671145843 -0.029425577716049985 0.09408928268995996 - RotationMatrix - 0.70710678118654524 0.65609485687065694 -0.26370350545238458 - -0.70710678118655002 0.6560948568706525 -0.2637035054523828 - 0 0.37293307385608848 0.92785824478971446 - 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_4 - MarkerI - /Assembly/structural_node_1/Marker2 - MarkerJ - /Assembly/structural_node_3/Marker0 - RevoluteJoint - Name - joint_6 - MarkerI - /Assembly/structural_node_2/Marker1 - MarkerJ - /Assembly/structural_node_4/Marker0 - RevoluteJoint - Name - joint_8 - MarkerI - /Assembly/structural_node_4/Marker1 - MarkerJ - /Assembly/structural_node_5/Marker0 - RevoluteJoint - Name - joint_10 - MarkerI - /Assembly/structural_node_3/Marker1 - MarkerJ - /Assembly/structural_node_6/Marker0 - RevoluteJoint - Name - joint_12 - MarkerI - /Assembly/structural_node_6/Marker1 - MarkerJ - /Assembly/structural_node_7/Marker0 - RevoluteJoint - Name - joint_14 - MarkerI - /Assembly/structural_node_3/Marker2 - MarkerJ - /Assembly/structural_node_8/Marker0 - RevoluteJoint - Name - joint_16 - MarkerI - /Assembly/structural_node_2/Marker2 - MarkerJ - /Assembly/structural_node_9/Marker0 - RevoluteJoint - Name - joint_18 - MarkerI - /Assembly/structural_node_9/Marker1 - MarkerJ - /Assembly/structural_node_10/Marker0 - RevoluteJoint - Name - joint_20 - MarkerI - /Assembly/structural_node_8/Marker1 - MarkerJ - /Assembly/structural_node_11/Marker0 - RevoluteJoint - Name - joint_22 - MarkerI - /Assembly/structural_node_5/Marker1 - MarkerJ - /Assembly/structural_node_12/Marker0 - RevoluteJoint - Name - joint_24 - MarkerI - /Assembly/structural_node_7/Marker1 - MarkerJ - /Assembly/structural_node_13/Marker0 - RevoluteJoint - Name - joint_26 - MarkerI - /Assembly/structural_node_10/Marker1 - MarkerJ - /Assembly/structural_node_14/Marker0 - RevoluteJoint - Name - joint_28 - MarkerI - /Assembly/structural_node_11/Marker1 - MarkerJ - /Assembly/structural_node_15/Marker0 - RevoluteJoint - Name - joint_30 - MarkerI - /Assembly/structural_node_14/Marker1 - MarkerJ - /Assembly/structural_node_16/Marker0 - RevoluteJoint - Name - joint_32 - MarkerI - /Assembly/structural_node_15/Marker1 - MarkerJ - /Assembly/structural_node_17/Marker0 - RevoluteJoint - Name - joint_34 - MarkerI - /Assembly/structural_node_12/Marker1 - MarkerJ - /Assembly/structural_node_18/Marker0 - RevoluteJoint - Name - joint_36 - MarkerI - /Assembly/structural_node_13/Marker1 - MarkerJ - /Assembly/structural_node_19/Marker0 - RevoluteJoint - Name - joint_38 - MarkerI - /Assembly/structural_node_17/Marker1 - MarkerJ - /Assembly/structural_node_19/Marker1 - RevoluteJoint - Name - joint_40 - MarkerI - /Assembly/structural_node_16/Marker1 - MarkerJ - /Assembly/structural_node_18/Marker1 - SphericalJoint - Name - joint_42 - MarkerI - /Assembly/structural_node_1/Marker3 - MarkerJ - /Assembly/structural_node_16/Marker2 - SphericalJoint - Name - joint_43 - MarkerI - /Assembly/structural_node_1/Marker4 - MarkerJ - /Assembly/structural_node_17/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, 0.25, 0.0, 2.0, 0.0 + 0.5*(2.0 - 0.25))*-1) - RotationalMotion - Name - joint_4Motion - MarkerI - /Assembly/structural_node_1/Marker2 - MarkerJ - /Assembly/structural_node_3/Marker0 - MotionJoint - /Assembly/joint_4 - RotationZ - integral(time, rampstep(time, 0.25, 0.0, 2.0, 0.0 + 0.5*(2.0 - 0.25))) - Limits - GeneralConstraintSets - ForceTorques - ConstantGravity - 0 0 0 - SimulationParameters - tstart - 0 - tend - 8 - hmin - 1.0000000000000001e-09 - hmax - 1 - hout - 0.10000000000000001 - errorTol - 1e-08 - AnimationParameters - nframe - 1000000 - icurrent - 1 - istart - 1 - iend - 1000000 - isForward - true - framesPerSecond - 30 diff --git a/testapp/MBDynCase9origdebug2.asmt b/testapp/MBDynCase9origdebug2.asmt deleted file mode 100644 index 6ef42b3..0000000 --- a/testapp/MBDynCase9origdebug2.asmt +++ /dev/null @@ -1,2186 +0,0 @@ -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 - 0.015036506082326075 0.020006856008321663 0.021903827363685954 - RotationMatrix - 1 0 0 - 0 1 0 - 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5.4702311165017919e-08 2.2962679893439191e-08 -1.9525272253559231e-07 -6.3211646289902939e-07 1.708522313300171e-07 3.4619615299430739e-07 4.2836600669449622e-07 4.1408343415973758e-07 3.0023944832184605e-07 7.8285133402187716e-08 -2.741282129987815e-07 -8.088207446702134e-07 -1.6431422357073223e-06 -3.0595472952557237e-06 -5.8448687417240731e-06 -1.2864410430000761e-05 -4.1988995572574201e-05 -0.00091424873885075726 -TYonI 0 0 0 0 2.0961349624419311e-21 1.9388052437098257e-21 1.6786155743899473e-21 1.385875978927502e-21 8.4733874994828924e-22 8.7608475386051749e-22 8.3555232256249978e-22 4.1089770098976643e-22 3.9033458180867506e-22 1.6717906057154016e-22 1.4157370940825469e-22 4.142496805537099e-23 1.9074995458123728e-23 -1.260486637937083e-23 -6.8044558481667145e-24 5.1945167500485515e-23 9.6953686741455185e-23 -4.1911355042152843e-23 -8.7442481073496638e-23 -7.7474144614228092e-23 -7.8915301033616029e-23 -7.1107320650767667e-23 -1.8447051302847844e-23 4.4728950272386496e-23 2.5445585039615674e-22 3.907058028222127e-22 7.4028161773504464e-22 1.1698226093392866e-21 3.31002638629072e-21 1.1280578731452209e-20 2.0904415927654592e-19 -TZonI 0 0 0 0 -2.0948244692857876e-21 -1.9278691924228987e-21 -1.6521896713034037e-21 -1.3428288914492158e-21 -1.0669400898720201e-21 -8.0773987898905345e-22 -5.9143281297437154e-22 -4.6242581863347727e-22 -3.1574477611746314e-22 -2.3372960666482492e-22 -1.3167720336875607e-22 -7.1531791498663524e-23 -1.1086657291506911e-23 1.1921676235450433e-23 4.1093295871400836e-24 -3.7469951106435033e-23 -1.7550237271315412e-22 5.987778059727529e-23 1.1556428052976677e-22 4.7408861195190168e-23 6.4390122143919617e-23 7.4259586568269748e-23 1.8883981041655146e-23 -4.1869583150423088e-23 -2.5351767295081878e-22 -3.862591980223967e-22 -7.2140453117584806e-22 -1.2251122399386478e-21 -3.0639841996404267e-21 -1.0019254715901631e-20 -2.0457266561304273e-19 diff --git a/testapp/MBDynCaseBird.mbd b/testapp/MBDynCaseBird.mbd deleted file mode 100644 index 21856b7..0000000 --- a/testapp/MBDynCaseBird.mbd +++ /dev/null @@ -1,655 +0,0 @@ -#----------------------------------------------------------------------------- - # [Data Block] - - begin: data; - problem: initial value; - end: data; - - #----------------------------------------------------------------------------- - # [Problem Block] - - begin: initial value; - initial time: 0.0; - final time: 46.0; - time step: 0.1; - max iterations: 100; - tolerance: 0.0001; - 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: 10; - rigid bodies: 9; - joints: 12; - end: control data; - - #----------------------------------------------------------------------------- - # [Design Variables] - - #Generic bodies - - #body: 2 - set: integer body_2 = 2; #body label - set: real mass_2 = 0.0097198376573862; #mass [kg] - set: real volume_2 = 1.2303591971374963e-06; #volume [m^3] - - #body: 3 - set: integer body_3 = 3; #body label - set: real mass_3 = 0.0002016932293236; #mass [kg] - set: real volume_3 = 2.5530788521977774e-08; #volume [m^3] - - #body: 4 - set: integer body_4 = 4; #body label - set: real mass_4 = 0.00094063969244025; #mass [kg] - set: real volume_4 = 1.1906831549876583e-07; #volume [m^3] - - #body: 5 - set: integer body_5 = 5; #body label - set: real mass_5 = 0.0002016932293236; #mass [kg] - set: real volume_5 = 2.553078852197781e-08; #volume [m^3] - - #body: 6 - set: integer body_6 = 6; #body label - set: real mass_6 = 0.0007849031279947; #mass [kg] - set: real volume_6 = 9.935482632844295e-08; #volume [m^3] - - #body: 7 - set: integer body_7 = 7; #body label - set: real mass_7 = 0.0002016932293236; #mass [kg] - set: real volume_7 = 2.5530788521977788e-08; #volume [m^3] - - #body: 8 - set: integer body_8 = 8; #body label - set: real mass_8 = 0.0002016932293236; #mass [kg] - set: real volume_8 = 2.5530788521977784e-08; #volume [m^3] - - #body: 9 - set: integer body_9 = 9; #body label - set: real mass_9 = 0.0014283808500322; #mass [kg] - set: real volume_9 = 1.8080770253572263e-07; #volume [m^3] - - #body: 10 - set: integer body_10 = 10; #body label - set: real mass_10 = 0.0124600761051829; #mass [kg] - set: real volume_10 = 1.5772248234408773e-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 - - #node: 10 - set: integer structural_node_10 = 10; #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_7 - set: integer joint_6 = 6; #joint label - - set: integer joint_7 = 7; #joint label - - #joint: 8_9 - set: integer joint_8 = 8; #joint label - - 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_15 - set: integer joint_14 = 14; #joint label - - set: integer joint_15 = 15; #joint label - - #joint: 16_17 - set: integer joint_16 = 16; #joint label - - set: integer joint_17 = 17; #joint label - - #joint: 18_19 - set: integer joint_18 = 18; #joint label - - set: integer joint_19 = 19; #joint label - - #joint: 20_21 - set: integer joint_20 = 20; #joint label - - set: integer joint_21 = 21; #joint label - - #joint: 22 - set: integer joint_22 = 22; #joint label - - #Nodes: initial conditions - - #node: 1 - set: real Px_1 = 0.051296215921961506; #X component of the absolute position [m] - set: real Py_1 = 0.017908175538920625; #Y component of the absolute position [m] - set: real Pz_1 = 0.021903828027305762; #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 = 0.020036506082326072; #X component of the absolute position [m] - set: real Py_2 = 0.020006856008332005; #Y component of the absolute position [m] - set: real Pz_2 = 0.041903827363678814; #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 = 0.029205905393734976; #X component of the absolute position [m] - set: real Py_3 = 0.020259710981056347; #Y component of the absolute position [m] - set: real Pz_3 = 0.04653684954817832; #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 = 0.03045167648190976; #X component of the absolute position [m] - set: real Py_4 = 0.024261418527537274; #Y component of the absolute position [m] - set: real Pz_4 = 0.055928344834759586; #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 = 0.05563913952652191; #X component of the absolute position [m] - set: real Py_5 = 0.019678705691307384; #Y component of the absolute position [m] - set: real Pz_5 = 0.0465542507758631; #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 = 0.05688760071336628; #X component of the absolute position [m] - set: real Py_6 = 0.019381009534592798; #Y component of the absolute position [m] - set: real Pz_6 = 0.051385443253078825; #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 = 0.05481778281233034; #X component of the absolute position [m] - set: real Py_7 = 0.009829679963252255; #Y component of the absolute position [m] - set: real Pz_7 = 0.06555548828993542; #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 = 0.042515789893180646; #X component of the absolute position [m] - set: real Py_8 = 0.024552230242874045; #Y component of the absolute position [m] - set: real Pz_8 = 0.06421420666448795; #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 = 0.054526611833130866; #X component of the absolute position [m] - set: real Py_9 = 0.017471169090787612; #Y component of the absolute position [m] - set: real Pz_9 = 0.05863255536975865; #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] - - #node: 10 - set: real Px_10 = 0.09251606523223796; #X component of the absolute position [m] - set: real Py_10 = 0.04383786289542596; #Y component of the absolute position [m] - set: real Pz_10 = 0.17087647695874514; #Z component of the absolute position [m] - - set: real Vx_10 = 0.0; #X component of the absolute velocity [m/s] - set: real Vy_10 = 0.0; #Y component of the absolute velocity [m/s] - set: real Vz_10 = 0.0; #Z component of the absolute velocity [m/s] - - set: real Wx_10 = 0.0; #X component of the absolute angular velocity [rad/s] - set: real Wy_10 = 0.0; #Y component of the absolute angular velocity [rad/s] - set: real Wz_10 = 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 = 2.7489439610000006e-06; #moment of inertia [kg*m^2] - set: real Iyy_2 = 2.744127568e-06; #moment of inertia [kg*m^2] - set: real Izz_2 = 2.87678026e-07; #moment of inertia [kg*m^2] - - set: real Rx_2 = -0.00012202234401964418; #X component of the relative center of mass [m] - set: real Ry_2 = 0.00010912443891739087; #Y component of the relative center of mass [m] - set: real Rz_2 = 0.030385870620870174; #Z component of the relative center of mass [m] - - #body 3: - set: real Ixx_3 = 4.19727e-10; #moment of inertia [kg*m^2] - set: real Iyy_3 = 4.13881e-10; #moment of inertia [kg*m^2] - set: real Izz_3 = 3.50681e-10; #moment of inertia [kg*m^2] - - set: real Rx_3 = 3.552713678800501e-18; #X component of the relative center of mass [m] - set: real Ry_3 = 7.105427357601002e-18; #Y component of the relative center of mass [m] - set: real Rz_3 = 0.0015000011045973665; #Z component of the relative center of mass [m] - - #body 4: - set: real Ixx_4 = 8.2552788e-08; #moment of inertia [kg*m^2] - set: real Iyy_4 = 8.158085100000001e-08; #moment of inertia [kg*m^2] - set: real Izz_4 = 2.8500040000000003e-09; #moment of inertia [kg*m^2] - - set: real Rx_4 = -0.011708133331376342; #X component of the relative center of mass [m] - set: real Ry_4 = 0.006203395204739124; #Y component of the relative center of mass [m] - set: real Rz_4 = -0.0006994637391446616; #Z component of the relative center of mass [m] - - #body 5: - set: real Ixx_5 = 4.19727e-10; #moment of inertia [kg*m^2] - set: real Iyy_5 = 4.13881e-10; #moment of inertia [kg*m^2] - set: real Izz_5 = 3.50681e-10; #moment of inertia [kg*m^2] - - set: real Rx_5 = 3.552713678800501e-18; #X component of the relative center of mass [m] - set: real Ry_5 = -7.105427357601002e-18; #Y component of the relative center of mass [m] - set: real Rz_5 = 0.001500001104597331; #Z component of the relative center of mass [m] - - #body 6: - set: real Ixx_6 = 3.532959e-08; #moment of inertia [kg*m^2] - set: real Iyy_6 = 3.3955384999999996e-08; #moment of inertia [kg*m^2] - set: real Izz_6 = 2.808292e-09; #moment of inertia [kg*m^2] - - set: real Rx_6 = 0.005958423993341263; #X component of the relative center of mass [m] - set: real Ry_6 = 0.007075286815075088; #Y component of the relative center of mass [m] - set: real Rz_6 = -0.0006999999999983686; #Z component of the relative center of mass [m] - - #body 7: - set: real Ixx_7 = 4.19727e-10; #moment of inertia [kg*m^2] - set: real Iyy_7 = 4.13881e-10; #moment of inertia [kg*m^2] - set: real Izz_7 = 3.50681e-10; #moment of inertia [kg*m^2] - - set: real Rx_7 = 4.00016020307703e-11; #X component of the relative center of mass [m] - set: real Ry_7 = -1.1038728615631043e-09; #Y component of the relative center of mass [m] - set: real Rz_7 = -0.0007000000000000242; #Z component of the relative center of mass [m] - - #body 8: - set: real Ixx_8 = 4.19727e-10; #moment of inertia [kg*m^2] - set: real Iyy_8 = 4.13881e-10; #moment of inertia [kg*m^2] - set: real Izz_8 = 3.50681e-10; #moment of inertia [kg*m^2] - - set: real Rx_8 = -1.1045973558054812e-09; #X component of the relative center of mass [m] - set: real Ry_8 = -7.105427357601002e-18; #Y component of the relative center of mass [m] - set: real Rz_8 = -0.0007000000000000312; #Z component of the relative center of mass [m] - - #body 9: - set: real Ixx_9 = 5.0332796e-08; #moment of inertia [kg*m^2] - set: real Iyy_9 = 4.7497486e-08; #moment of inertia [kg*m^2] - set: real Izz_9 = 9.388439e-09; #moment of inertia [kg*m^2] - - set: real Rx_9 = 0.0009481098328082354; #X component of the relative center of mass [m] - set: real Ry_9 = 0.0009120272923143915; #Y component of the relative center of mass [m] - set: real Rz_9 = 0.013326150133030701; #Z component of the relative center of mass [m] - - #body 10: - set: real Ixx_10 = 1.0698233404000002e-05; #moment of inertia [kg*m^2] - set: real Iyy_10 = 9.651757376000001e-06; #moment of inertia [kg*m^2] - set: real Izz_10 = 1.0517916220000001e-06; #moment of inertia [kg*m^2] - - set: real Rx_10 = -0.008980752288228672; #X component of the relative center of mass [m] - set: real Ry_10 = -0.015243524654396726; #Y component of the relative center of mass [m] - set: real Rz_10 = -0.05566314823715192; #Z component of the relative center of mass [m] - - #----------------------------------------------------------------------------- - # [Nodes Block] - - begin: nodes; - - structural: structural_node_1, - static, - Px_1, Py_1, Pz_1, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, 0.979619048522896, -0.18399559321644432, -0.08057382607289298, 2, 0.07918912690662278, -0.01487358826213736, 0.9967486436168225, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - dynamic, - Px_4, Py_4, Pz_4, # [m] - 3, 0.20003936377712567, 0.8573429391601034, 0.4742861347456384, 2, -0.10776811512755485, -0.4618802560987123, 0.880370752801365, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - structural: structural_node_5, - dynamic, - Px_5, Py_5, Pz_5, # [m] - 3, 0.979619048522896, -0.18399559321644432, -0.08057382607289298, 2, 0.07918912690662255, -0.014873588262137583, 0.9967486436168225, # - Vx_5, Vy_5, Vz_5, # [m/s] - Wx_5, Wy_5, Wz_5; # [rad/s] - - structural: structural_node_6, - dynamic, - Px_6, Py_6, Pz_6, # [m] - 3, 0.18033925140217938, 0.9823029733067711, -0.05058283341588399, 2, 0.00913376272378734, 0.04975135591001112, 0.9987198691142684, # - Vx_6, Vy_6, Vz_6, # [m/s] - Wx_6, Wy_6, Wz_6; # [rad/s] - - structural: structural_node_7, - dynamic, - Px_7, Py_7, Pz_7, # [m] - 3, -0.6039065235318068, -0.6931799981295375, 0.3934442794461013, 2, 0.2584477771028243, 0.29665324461308473, 0.9193484643872194, # - Vx_7, Vy_7, Vz_7, # [m/s] - Wx_7, Wy_7, Wz_7; # [rad/s] - - structural: structural_node_8, - dynamic, - Px_8, Py_8, Pz_8, # [m] - 3, 0.6479179469743502, 0.64791794697435, 0.4005055155389079, 2, -0.28320016594017605, -0.28320016594017594, 0.9162943479160578, # - Vx_8, Vy_8, Vz_8, # [m/s] - Wx_8, Wy_8, Wz_8; # [rad/s] - - structural: structural_node_9, - dynamic, - Px_9, Py_9, Pz_9, # [m] - 3, 0.7071067811865506, -0.7071067811865448, -6.661338147750939e-16, 2, 3.3306690738754696e-16, -6.661338147750939e-16, 1.0000000000000002, # - Vx_9, Vy_9, Vz_9, # [m/s] - Wx_9, Wy_9, Wz_9; # [rad/s] - - structural: structural_node_10, - dynamic, - Px_10, Py_10, Pz_10, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_10, Vy_10, Vz_10, # [m/s] - Wx_10, Wy_10, Wz_10; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, -0.009999999999999778, -0.01000000000000022, 1.0000000000000002, 2, 0.96, 0.2899999999999999, 0.009999999999999837; - - body: body_3, - structural_node_3, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] - orientation, 3, -0.4754428894286995, 0.8826943462104969, -0.0021794631707106465, 2, 0.882139650757323, 0.47151840197579287, -0.0001820987158225526; - - body: body_4, - structural_node_4, # - mass_4, # [kg] - Rx_4, Ry_4, Rz_4, # [m] - diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] - orientation, 3, -0.8842459963929752, 0.4676495429566993, -0.0035948345420598604, 2, -0.22399138681464692, -0.43669907856092416, 0.8738545493483976; - - body: body_5, - structural_node_5, # - mass_5, # [kg] - Rx_5, Ry_5, Rz_5, # [m] - diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] - orientation, 3, 0.05592620134211661, 1.0032807215079327, 0.00023206456551014276, 2, 0.996385478617406, -0.05015950583454379, 4.443868565056925e-05; - - body: body_6, - structural_node_6, # - mass_6, # [kg] - Rx_6, Ry_6, Rz_6, # [m] - diag, Ixx_6, Iyy_6, Izz_6, # [kg*m^2] - orientation, 3, 0.6467296595054439, 0.7607355333973596, -0.004711235783428892, 2, -0.27386535051478694, 0.23755682393098726, 0.934165148777899; - - body: body_7, - structural_node_7, # - mass_7, # [kg] - Rx_7, Ry_7, Rz_7, # [m] - diag, Ixx_7, Iyy_7, Izz_7, # [kg*m^2] - orientation, 3, 1.000008238972704, 0.031176155531257854, 0.0034013692834091638, 2, -0.0008565874526685241, 0.0012135039337075049, -0.9940813818124443; - - body: body_8, - structural_node_8, # - mass_8, # [kg] - Rx_8, Ry_8, Rz_8, # [m] - diag, Ixx_8, Iyy_8, Izz_8, # [kg*m^2] - orientation, 3, -5.773159728050814e-17, 1.0015828930092718, 0.005631023990159245, 2, 2.331468351712829e-16, -0.0016424765558055165, 1.0024955372822186; - - body: body_9, - structural_node_9, # - mass_9, # [kg] - Rx_9, Ry_9, Rz_9, # [m] - diag, Ixx_9, Iyy_9, Izz_9, # [kg*m^2] - orientation, 3, 0.09899494936612065, 0.029999999999999128, -0.9899494936611659, 2, 0.8980256121069149, 0.40999999999999986, 0.10606601717798556; - - body: body_10, - structural_node_10, # - mass_10, # [kg] - Rx_10, Ry_10, Rz_10, # [m] - diag, Ixx_10, Iyy_10, Izz_10, # [kg*m^2] - orientation, 3, 0.26, 0.28, 0.92, 2, 0.92, 0.22, -0.33; - - #----------------------------------------------------------------------------- - # [Joints] - - joint: joint_1, - clamp, - structural_node_1, # - 0.051296215921961506, 0.017908175538920625, 0.021903828027305762, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_2, - axial rotation, - structural_node_1, # - position, -0.03125970983963543, 0.004098680469401038, 0.009999999336380188, # [m] - orientation, 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # - structural_node_2, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - string, "model::drive(1, Time)"; # [rad/s] - - joint: joint_4, - revolute hinge, - structural_node_2, # - position, 0.0019304158516275792, 0.0018133779158601797, 0.008805714272156564, # [m] - orientation, 3, -0.1839955932187977, -0.08057382607097904, 0.9796190485226113, 2, -0.014873588261971882, 0.9967486436169771, 0.07918912690470653, # - structural_node_3, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_6, - revolute hinge, - structural_node_3, # - position, 0.0006156748634029441, 0.00033308326672734266, 0.0015, # [m] - orientation, 3, 0.8795355191470654, 0.4758332381819309, 1.1102230246251565e-15, 2, -0.47383616552500607, 0.8758441075449799, -0.09152260660239489, # - structural_node_4, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_8, - revolute hinge, - structural_node_2, # - position, -0.0030374651652239457, -0.00036211538810186286, 0.03525542858227387, # [m] - orientation, 3, -0.18399559321349285, -0.08057382607529058, 0.9796190485232531, 2, -0.01487358826234423, 0.9967486436166285, 0.07918912690902351, # - structural_node_5, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_10, - revolute hinge, - structural_node_5, # - position, 0.0006990980490339567, -3.552348289397855e-05, 0.0015, # [m] - orientation, 3, 0.9987114986199351, -0.05074783270568111, -2.6645352591003757e-15, 2, 0.050582409469853984, 0.9954559884049977, -0.08067710332463017, # - structural_node_6, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_12, - revolute hinge, - structural_node_4, # - position, -0.023136022009388416, 0.012935717331937333, -0.0010620585220347464, # [m] - orientation, 3, 0.4003513828652565, 0.7556142728371739, -0.5184263119505281, 2, -0.18492741744034347, 0.6207249407342676, 0.7619070797868236, # - structural_node_7, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_14, - revolute hinge, - structural_node_6, # - position, 0.011552657092899963, 0.014457275509012013, -0.00018687335832999352, # [m] - orientation, 3, -0.5202727054035214, 0.43814554123110794, 0.7330380595244699, 2, 0.2274073703197676, 0.8984450958523724, -0.3756092353271806, # - structural_node_8, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_16, - revolute hinge, - structural_node_8, # - position, 0.0014999999999999963, 0.0, -0.0007000000000000028, # [m] - orientation, 3, -1.0000000000000002, -5.828670879282072e-16, 9.992007221626409e-16, 2, 2.7755575615628914e-17, 0.9162943479160578, 0.4005055155389079, # - structural_node_9, # - position, 0.0, 0.0, 0.0, # [m] - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_18, - revolute hinge, - structural_node_7, # - position, 5.432058558623964e-05, -0.0014990161019754283, -0.0006999999999999886, # [m] - orientation, 3, -0.03621372372415403, 0.9993440679836105, -7.771561172376096e-15, 2, 0.08426278547208627, 0.0030534721034348733, 0.9964388888901312, # - structural_node_10, # - position, -0.037591172638640744, -0.03199514211122047, -0.1025095196111728, # [m] - orientation, 3, 0.29772917627408235, 0.2977291762740852, 0.90703620390275, 2, -0.6413714505613356, -0.6413714505613417, 0.42105263900097917; # - - joint: joint_20, - revolute hinge, - structural_node_9, # - position, 0.00021259038801904495, 0.005891650863571172, 0.013649999999999992, # [m] - orientation, 3, -0.4210526390009809, -0.9070362039027493, -1.3322676295501878e-15, 2, -0.9070362039027493, 0.4210526390009808, -4.163336342344337e-15, # - structural_node_10, # - position, -0.0335749691710067, -0.03169987551682306, -0.09334081219451422, # [m] - orientation, 3, -0.29772917627408635, -0.29772917627408807, -0.9070362039027478, 2, -0.6413714505613352, -0.6413714505613388, 0.42105263900098405; # - - joint: joint_22, - spherical hinge, - structural_node_1, # - 0.004757447447889902, -0.013617775960092804, 0.021999999336380183, # [m] - structural_node_9, # - -0.00450768300881002, -0.001649482916578833, 0.021400000000000006; # [m] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", ramp, 1.0, 0.25, 2.0, 0.0; - - end: elements; - diff --git a/testapp/MBDynCaseDebug1.mbd b/testapp/MBDynCaseDebug1.mbd deleted file mode 100644 index 77c3018..0000000 --- a/testapp/MBDynCaseDebug1.mbd +++ /dev/null @@ -1,321 +0,0 @@ -#----------------------------------------------------------------------------- - # [Data Block] - - begin: data; - problem: initial value; - end: data; - - #----------------------------------------------------------------------------- - # [Problem Block] - - begin: initial value; - initial time: 0.0; - final time: 8.0; - 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: 5; - 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 = 0.24147734685710437; #mass [kg] - set: real volume_2 = 3.056675276672207e-05; #volume [m^3] - - #body: 4 - set: integer body_4 = 4; #body label - set: real mass_4 = 0.11253654770310718; #mass [kg] - set: real volume_4 = 1.4245132620646478e-05; #volume [m^3] - - #body: 5 - set: integer body_5 = 5; #body label - set: real mass_5 = 0.11253654770310723; #mass [kg] - set: real volume_5 = 1.4245132620646483e-05; #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 - - #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: 7 - set: integer joint_7 = 7; #joint label - - #Nodes: initial conditions - - #node: 1 - set: real Px_1 = 0.16912189837562464; #X component of the absolute position [m] - set: real Py_1 = -0.10055206743263254; #Y component of the absolute position [m] - set: real Pz_1 = 0.07867737409397452; #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 = 0.018683478687078307; #X component of the absolute position [m] - set: real Py_2 = -0.05533171845235879; #Y component of the absolute position [m] - set: real Pz_2 = 0.1768528076947657; #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 = 0.2890983348369078; #X component of the absolute position [m] - set: real Py_3 = -0.06156645049450425; #Y component of the absolute position [m] - set: real Pz_3 = 0.09724597715885096; #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 = 0.11637356459110539; #X component of the absolute position [m] - set: real Py_4 = -0.019655254070140387; #Y component of the absolute position [m] - set: real Pz_4 = 0.20651079866339145; #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 = 0.15064540729834192; #X component of the absolute position [m] - set: real Py_5 = -0.020536937096322302; #Y component of the absolute position [m] - set: real Pz_5 = 0.06548008210568429; #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] - - #----------------------------------------------------------------------------- - # [Intermediate Variables] - - #Moments of inertia and relative center of mass - - #body 2: - set: real Ixx_2 = 6.927961737800001e-05; #moment of inertia [kg*m^2] - set: real Iyy_2 = 5.6689424982e-05; #moment of inertia [kg*m^2] - set: real Izz_2 = 2.9053392577e-05; #moment of inertia [kg*m^2] - - set: real Rx_2 = 0.0; #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 = 0.0; #Z component of the relative center of mass [m] - - #body 4: - set: real Ixx_4 = 7.9157004521e-05; #moment of inertia [kg*m^2] - set: real Iyy_4 = 7.769349168e-05; #moment of inertia [kg*m^2] - set: real Izz_4 = 3.339121993e-06; #moment of inertia [kg*m^2] - - set: real Rx_4 = 0.0; #X component of the relative center of mass [m] - set: real Ry_4 = 0.0; #Y component of the relative center of mass [m] - set: real Rz_4 = 0.0; #Z component of the relative center of mass [m] - - #body 5: - set: real Ixx_5 = 7.9157004521e-05; #moment of inertia [kg*m^2] - set: real Iyy_5 = 7.769349168e-05; #moment of inertia [kg*m^2] - set: real Izz_5 = 3.339121993e-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] - - #----------------------------------------------------------------------------- - # [Nodes Block] - - begin: nodes; - - structural: structural_node_1, - static, - Px_1, Py_1, Pz_1, # [m] - 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - static, - Px_3, Py_3, Pz_3, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - dynamic, - Px_4, Py_4, Pz_4, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - structural: structural_node_5, - dynamic, - Px_5, Py_5, Pz_5, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_5, Vy_5, Vz_5, # [m/s] - Wx_5, Wy_5, Wz_5; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, -0.35, 0.91, 0.21, 2, 0.78, 0.4, -0.47; - - body: body_4, - structural_node_4, # - mass_4, # [kg] - Rx_4, Ry_4, Rz_4, # [m] - diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] - orientation, 3, 0.78, 0.4, -0.47, 2, -0.36, 0.91, 0.19; - - body: body_5, - structural_node_5, # - mass_5, # [kg] - Rx_5, Ry_5, Rz_5, # [m] - diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] - orientation, 3, -0.36, 0.91, 0.19, 2, 0.78, 0.4, -0.47; - - #----------------------------------------------------------------------------- - # [Joints] - - joint: joint_1, - clamp, - structural_node_1, # - 0.16912189837562464, -0.10055206743263254, 0.07867737409397452, # [m] - 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926; # - - joint: joint_2, - axial rotation, - structural_node_1, # - 1.0407603667772492e-11, -0.05247682460581396, -0.00025357557055826873, # [m] - orientation, 3, 1.1102230246251565e-16, -1.0, 0.0, 2, guess, # - structural_node_2, # - 0.006998226646402806, -0.00490348349806041, 0.007426083408032554, # [m] - orientation, 3, 0.5084786344413901, 0.01838554762064229, 0.8608783014778036, 2, guess, # - string, "model::drive(1, Time)"; # [rad/s] - - joint: joint_3, - clamp, - structural_node_3, # - 0.2890983348369078, -0.06156645049450425, 0.09724597715885096, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_4, - revolute hinge, - structural_node_2, # - -0.0011629534118987692, 0.02262071327533141, 0.01746668757489371, # [m] - orientation, 3, 0.5084786344412178, 0.018385547620640152, 0.8608783014779054, 2, guess, # - structural_node_4, # - -0.031347177833029705, -0.01617494903756937, 0.018860685712244078, # [m] - orientation, 3, 0.5084786455601428, 0.018385495401303797, 0.860878296025734, 2, guess; # - - joint: joint_5, - revolute hinge, - structural_node_4, # - 0.03388957106083931, 0.016266876514581658, -0.01455629423212079, # [m] - orientation, 3, 0.50847864556046, 0.0183854954014063, 0.8608782960255446, 2, guess, # - structural_node_5, # - -0.016813818553224735, 0.036484433510506876, 0.003343892503690739, # [m] - orientation, 3, 0.5084787180221569, 0.01838550036990011, 0.8608782531198544, 2, guess; # - - joint: joint_7, - revolute hinge, - structural_node_3, # - 1.1368683772161603e-16, 0.0, -1.4210854715202004e-17, # [m] - orientation, 3, 0.5094306516594838, 0.018659363391322903, 0.8603093858070039, 2, guess, # - structural_node_5, # - 0.014271424963118534, -0.03657636101236503, -0.007648283769292526, # [m] - orientation, 3, 0.5084787180221835, 0.018385500369866165, 0.8608782531198396, 2, guess; # - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 4.0, 0.0; - - end: elements; - diff --git a/testapp/MBDynCaseDebug2.mbd b/testapp/MBDynCaseDebug2.mbd deleted file mode 100644 index 3312e1b..0000000 --- a/testapp/MBDynCaseDebug2.mbd +++ /dev/null @@ -1,320 +0,0 @@ -#----------------------------------------------------------------------------- - # [Data Block] - - begin: data; - problem: initial value; - end: data; - - #----------------------------------------------------------------------------- - # [Problem Block] - - begin: initial value; - initial time: 0.0; - final time: 8.0; - 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: 5; - 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 = 0.24147734685710437; #mass [kg] - set: real volume_2 = 3.056675276672207e-05; #volume [m^3] - - #body: 4 - set: integer body_4 = 4; #body label - set: real mass_4 = 0.11253654770310718; #mass [kg] - set: real volume_4 = 1.4245132620646478e-05; #volume [m^3] - - #body: 5 - set: integer body_5 = 5; #body label - set: real mass_5 = 0.11253654770310723; #mass [kg] - set: real volume_5 = 1.4245132620646483e-05; #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 - - #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 = 0.16912189837562464; #X component of the absolute position [m] - set: real Py_1 = -0.10055206743263254; #Y component of the absolute position [m] - set: real Pz_1 = 0.07867737409397452; #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 = 0.018683478687078307; #X component of the absolute position [m] - set: real Py_2 = -0.05533171845235879; #Y component of the absolute position [m] - set: real Pz_2 = 0.1768528076947657; #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 = 0.2890983348369078; #X component of the absolute position [m] - set: real Py_3 = -0.06156645049450425; #Y component of the absolute position [m] - set: real Pz_3 = 0.09724597715885096; #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 = 0.11637356459110539; #X component of the absolute position [m] - set: real Py_4 = -0.019655254070140387; #Y component of the absolute position [m] - set: real Pz_4 = 0.20651079866339145; #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 = 0.15064540729834192; #X component of the absolute position [m] - set: real Py_5 = -0.020536937096322302; #Y component of the absolute position [m] - set: real Pz_5 = 0.06548008210568429; #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] - - #----------------------------------------------------------------------------- - # [Intermediate Variables] - - #Moments of inertia and relative center of mass - - #body 2: - set: real Ixx_2 = 6.927961737800001e-05; #moment of inertia [kg*m^2] - set: real Iyy_2 = 5.6689424982e-05; #moment of inertia [kg*m^2] - set: real Izz_2 = 2.9053392577e-05; #moment of inertia [kg*m^2] - - set: real Rx_2 = 0.0; #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 = 0.0; #Z component of the relative center of mass [m] - - #body 4: - set: real Ixx_4 = 7.9157004521e-05; #moment of inertia [kg*m^2] - set: real Iyy_4 = 7.769349168e-05; #moment of inertia [kg*m^2] - set: real Izz_4 = 3.339121993e-06; #moment of inertia [kg*m^2] - - set: real Rx_4 = 0.0; #X component of the relative center of mass [m] - set: real Ry_4 = 0.0; #Y component of the relative center of mass [m] - set: real Rz_4 = 0.0; #Z component of the relative center of mass [m] - - #body 5: - set: real Ixx_5 = 7.9157004521e-05; #moment of inertia [kg*m^2] - set: real Iyy_5 = 7.769349168e-05; #moment of inertia [kg*m^2] - set: real Izz_5 = 3.339121993e-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] - - #----------------------------------------------------------------------------- - # [Nodes Block] - - begin: nodes; - - structural: structural_node_1, - static, - Px_1, Py_1, Pz_1, # [m] - 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - static, - Px_3, Py_3, Pz_3, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - dynamic, - Px_4, Py_4, Pz_4, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - structural: structural_node_5, - dynamic, - Px_5, Py_5, Pz_5, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - Vx_5, Vy_5, Vz_5, # [m/s] - Wx_5, Wy_5, Wz_5; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, -0.35, 0.91, 0.21, 2, 0.78, 0.4, -0.47; - - body: body_4, - structural_node_4, # - mass_4, # [kg] - Rx_4, Ry_4, Rz_4, # [m] - diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] - orientation, 3, 0.78, 0.4, -0.47, 2, -0.36, 0.91, 0.19; - - body: body_5, - structural_node_5, # - mass_5, # [kg] - Rx_5, Ry_5, Rz_5, # [m] - diag, Ixx_5, Iyy_5, Izz_5, # [kg*m^2] - orientation, 3, -0.36, 0.91, 0.19, 2, 0.78, 0.4, -0.47; - - #----------------------------------------------------------------------------- - # [Joints] - - joint: joint_1, - clamp, - structural_node_1, # - 0.16912189837562464, -0.10055206743263254, 0.07867737409397452, # [m] - 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926; # - - joint: joint_2, - axial rotation, - structural_node_1, # - 1.0407603667772492e-11, -0.05247682460581396, -0.00025357557055826873, # [m] - orientation, 3, 1.1102230246251565e-16, -1.0, 0.0, 2, guess, # - structural_node_2, # - 0.006998226646402806, -0.00490348349806041, 0.007426083408032554, # [m] - orientation, 3, 0.5084786344413901, 0.01838554762064229, 0.8608783014778036, 2, guess, # - string, "model::drive(1, Time)"; # [rad/s] - - joint: joint_3, - clamp, - structural_node_3, # - 0.2890983348369078, -0.06156645049450425, 0.09724597715885096, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # - - joint: joint_4, - revolute hinge, - structural_node_2, # - -0.0011629534118987692, 0.02262071327533141, 0.01746668757489371, # [m] - orientation, 3, 0.5084786344412178, 0.018385547620640152, 0.8608783014779054, 2, guess, # - structural_node_4, # - -0.031347177833029705, -0.01617494903756937, 0.018860685712244078, # [m] - orientation, 3, 0.5084786455601428, 0.018385495401303797, 0.860878296025734, 2, guess; # - - joint: joint_5, - revolute hinge, - structural_node_4, # - 0.03388957106083931, 0.016266876514581658, -0.01455629423212079, # [m] - orientation, 3, 0.50847864556046, 0.0183854954014063, 0.8608782960255446, 2, guess, # - structural_node_5, # - -0.016813818553224735, 0.036484433510506876, 0.003343892503690739, # [m] - orientation, 3, 0.5084787180221569, 0.01838550036990011, 0.8608782531198544, 2, guess; # - - joint: joint_6, - in line, - structural_node_3, # - 0.0, 0.0, 0.0, # [m] - 3, 0.5094306516594838, 0.018659363391322903, 0.8603093858070039, 2, guess, # - structural_node_5, # - offset, 0.014271424963118534, -0.03657636101236503, -0.007648283769292526; # [m] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 4.0, 0.0; - - end: elements; - diff --git a/testapp/MBDynSliderCrankTotalJoint.mbd b/testapp/MBDynSliderCrankTotalJoint.mbd deleted file mode 100644 index 9bcdc07..0000000 --- a/testapp/MBDynSliderCrankTotalJoint.mbd +++ /dev/null @@ -1,317 +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: 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 = 12.635833504434364; #mass [kg] - set: real volume_2 = 0.0015994725954980207; #volume [m^3] - - #body: 3 - set: integer body_3 = 3; #body label - set: real mass_3 = 4.761616622776476; #mass [kg] - set: real volume_3 = 0.0006027362813641108; #volume [m^3] - - #body: 4 - set: integer body_4 = 4; #body label - set: real mass_4 = 2.8656033319778023; #mass [kg] - set: real volume_4 = 0.00036273459898453187; #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_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_7_8 - set: integer joint_6 = 6; #joint label - - set: integer joint_7 = 7; #joint label - - set: integer joint_8 = 8; #joint label - - #joint: 9 - set: integer joint_9 = 9; #joint label - - #Nodes: initial conditions - - #node: 1 - set: real Px_1 = -0.419; #X component of the absolute position [m] - set: real Py_1 = 0.09000000999999999; #Y component of the absolute position [m] - set: real Pz_1 = 0.2; #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 = 0.07099999999999991; #X component of the absolute position [m] - set: real Py_2 = 0.16; #Y component of the absolute position [m] - set: real Pz_2 = 0.19999999999999996; #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 = -0.017337619999999984; #X component of the absolute position [m] - set: real Py_3 = 0.20686650000000006; #Y component of the absolute position [m] - set: real Pz_3 = 0.2; #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 = -0.29363859999999997; #X component of the absolute position [m] - set: real Py_4 = 0.09000000999999998; #Y component of the absolute position [m] - set: real Pz_4 = 0.19999999999999982; #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 = 0.08708924866282601; #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 = 0.23369760691597463; #X component of the relative center of mass [m] - set: real Ry_2 = -0.017056058774585096; #Y component of the relative center of mass [m] - set: real Rz_2 = 0.02412068691121374; #Z component of the relative center of mass [m] - - #body 3: - set: real Ixx_3 = 0.052187573112937; #moment of inertia [kg*m^2] - set: real Iyy_3 = 0.049571280557501; #moment of inertia [kg*m^2] - set: real Izz_3 = 0.0035529543779500004; #moment of inertia [kg*m^2] - - set: real Rx_3 = 0.10067231525120601; #X component of the relative center of mass [m] - set: real Ry_3 = 0.1919853054998222; #Y component of the relative center of mass [m] - set: real Rz_3 = 0.04071350992502829; #Z component of the relative center of mass [m] - - #body 4: - set: real Ixx_4 = 0.010133521085753; #moment of inertia [kg*m^2] - set: real Iyy_4 = 0.006853402672398001; #moment of inertia [kg*m^2] - set: real Izz_4 = 0.00669113151275; #moment of inertia [kg*m^2] - - set: real Rx_4 = -0.0330388768314067; #X component of the relative center of mass [m] - set: real Ry_4 = -0.010904342272327113; #Y component of the relative center of mass [m] - set: real Rz_4 = -0.26627346364210613; #Z component of the relative center of mass [m] - - #----------------------------------------------------------------------------- - # [Nodes Block] - - begin: nodes; - - structural: structural_node_1, - static, - Px_1, Py_1, Pz_1, # [m] - 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # - Vx_1, Vy_1, Vz_1, # [m/s] - Wx_1, Wy_1, Wz_1; # [rad/s] - - structural: structural_node_2, - dynamic, - Px_2, Py_2, Pz_2, # [m] - 3, 3.0728199502890935e-08, -8.312621051592148e-09, 0.9999999999999994, 2, 9.860761315262648e-32, 1.0, 8.312621051592151e-09, # - Vx_2, Vy_2, Vz_2, # [m/s] - Wx_2, Wy_2, Wz_2; # [rad/s] - - structural: structural_node_3, - dynamic, - Px_3, Py_3, Pz_3, # [m] - 3, 1.2241820623870575e-07, -7.110463684512068e-09, 0.9999999999999925, 2, -0.9983174164285165, 0.057985653876428844, 1.2262453226214997e-07, # - Vx_3, Vy_3, Vz_3, # [m/s] - Wx_3, Wy_3, Wz_3; # [rad/s] - - structural: structural_node_4, - dynamic, - Px_4, Py_4, Pz_4, # [m] - 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, # - Vx_4, Vy_4, Vz_4, # [m/s] - Wx_4, Wy_4, Wz_4; # [rad/s] - - end: nodes; - - #----------------------------------------------------------------------------- - # [Elements Block] - - begin: elements; - - #----------------------------------------------------------------------------- - # [Bodies] - - body: body_2, - structural_node_2, # - mass_2, # [kg] - Rx_2, Ry_2, Rz_2, # [m] - diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] - orientation, 3, -0.12000003011363553, -0.1699999918536315, 0.9799999977257611, 2, 0.8099999999999996, -0.5899999999999999, 2.9794288017781016e-08; - - body: body_3, - structural_node_3, # - mass_3, # [kg] - Rx_3, Ry_3, Rz_3, # [m] - diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] - orientation, 3, 0.05682594079890069, -0.9783510423487942, 0.21000011996984053, 2, 0.9977375598897598, 0.06796883662443129, 0.06999999166535376; - - body: body_4, - structural_node_4, # - mass_4, # [kg] - Rx_4, Ry_4, Rz_4, # [m] - diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] - orientation, 3, -0.010000000000000047, 0.98, -0.20999999999999977, 2, 0.98, -0.029999999999999954, -0.21000000000000021; - - #----------------------------------------------------------------------------- - # [Joints] - - joint: joint_1, - clamp, - structural_node_1, # - -0.419, 0.09000000999999999, 0.2, # [m] - 3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0; # - - joint: joint_2, - total joint, - structural_node_1, # - position, 0.07000000000000012, -5.684341886080802e-17, 0.48999999999999994, # [m] - position orientation, 3, 3.885780586188048e-16, 1.0, 1.1102230246251565e-16, 2, 1.0, -4.440892098500626e-16, -1.6653345369377348e-16, # - rotation orientation, 3, 3.885780586188048e-16, 1.0, 1.1102230246251565e-16, 2, 1.0, -4.440892098500626e-16, -1.6653345369377348e-16, # - structural_node_2, # - position, 8.526512829121202e-17, 9.999999974752426e-09, 2.842170943040401e-17, # [m] - position orientation, 3, -3.0728199502890935e-08, 8.312621298737451e-09, 0.9999999999999994, 2, 2.554318856595847e-16, 1.0, -8.312621298737448e-09, # - rotation orientation, 3, -3.0728199502890935e-08, 8.312621298737451e-09, 0.9999999999999994, 2, 2.554318856595847e-16, 1.0, -8.312621298737448e-09, # - position constraint, - active, active, active, - null, - orientation constraint, - active, active, angular velocity, - single, 0., 0., 1., string, "0.0+model::drive(1, Time)"; # [rad] - - joint: joint_4, - total joint, - structural_node_2, # - position, -0.08833762115250354, 0.0468664559052288, 2.842170943040401e-17, # [m] - position orientation, 3, -3.7239980926641352e-16, 1.6936012837021416e-16, 1.0, 2, 5.204131742837832e-24, 1.0, -1.6936012837021416e-16, # - rotation orientation, 3, -3.7239980926641352e-16, 1.6936012837021416e-16, 1.0, 2, 5.204131742837832e-24, 1.0, -1.6936012837021416e-16, # - structural_node_3, # - position, -4.408740682038115e-08, -1.4062993436425586e-09, 3.1040392514114503e-09, # [m] - position orientation, 3, -6.51683948387302e-09, 9.146602313741393e-08, 0.9999999999999958, 2, 0.9983174164285239, 0.057985653876430066, 1.2021571977199034e-09, # - rotation orientation, 3, -6.51683948387302e-09, 9.146602313741393e-08, 0.9999999999999958, 2, 0.9983174164285239, 0.057985653876430066, 1.2021571977199034e-09, # - position constraint, - active, active, active, - null, - orientation constraint, - active, active, inactive, - null; - - joint: joint_6, - in line, - structural_node_1, # - 0.0, 0.0, 0.0, # [m] - 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # - structural_node_4, # - offset, 0.0, 0.0, 0.0; # [m] - - joint: joint_7, - prismatic, - structural_node_1, # - orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1> - structural_node_4, # - orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2> - - joint: joint_9, - in line, - structural_node_3, # - -0.13269133782709974, 0.26905948945475705, 1.4177195929807734e-15, # [m] - 3, 1.3390417087237118e-16, -2.3053784001404156e-15, 1.0, 2, -1.0919852799773366e-09, 1.0, 2.3053784002866372e-15, # - structural_node_4, # - offset, 0.0, 0.0, 0.0; # [m] - - #----------------------------------------------------------------------------- - # [Drive callers] - - drive caller: 1, name,"drive:1", cosine, 0.25, 3.1416, 10.0, half, 0.0; - - end: elements; - diff --git a/testapp/MBDynSliderCrankTotalJointorig.mov b/testapp/MBDynSliderCrankTotalJointorig.mov deleted file mode 100644 index beecbda..0000000 --- a/testapp/MBDynSliderCrankTotalJointorig.mov +++ /dev/null @@ -1,1608 +0,0 @@ - 1 -4.190000e-01 9.000001e-02 2.000000e-01 2.220446e-16 -2.220446e-16 1.000000e+00 1.000000e+00 0.000000e+00 -2.220446e-16 4.930381e-32 1.000000e+00 2.220446e-16 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 - 2 7.100000e-02 1.600000e-01 2.000000e-01 1.000000e+00 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1d64a27..eec8edb 100644 --- a/testapp/OndselSolver.cpp +++ b/testapp/OndselSolver.cpp @@ -17,7 +17,6 @@ #include "../OndselSolver/CREATE.h" #include "../OndselSolver/GESpMatParPvPrecise.h" #include "../OndselSolver/ASMTAssembly.h" -#include "../OndselSolver/MBDynSystem.h" #include "../OndselSolver/MomentOfInertiaSolver.h" using namespace MbD; @@ -37,27 +36,14 @@ int main() ASMTAssembly::runFile("../testapp/RevCylJt.asmt"); ASMTAssembly::runFile("../testapp/CylSphJt.asmt"); ASMTAssembly::runFile("../testapp/SphSphJt.asmt"); - MBDynSystem::runFile("../testapp/MBDynCase(Cosine-half drive).mbd"); - MBDynSystem::runFile("../testapp/MBDynCase(Sine-forever drive).mbd"); - MBDynSystem::runFile("../testapp/MBDynCase9orig.mbd"); //SimulationStoppingError - MBDynSystem::runFile("../testapp/MBDynCase8orig.mbd"); //Incompatible geometry at t=3.15 - MBDynSystem::runFile("../testapp/MBDynCase5orig.mbd"); //Test Product::integrateWRT ASMTAssembly::readWriteFile("../testapp/Gears.asmt"); ASMTAssembly::readWriteFile("../testapp/anglejoint.asmt"); ASMTAssembly::readWriteFile("../testapp/constvel.asmt"); ASMTAssembly::readWriteFile("../testapp/rackscrew.asmt"); ASMTAssembly::readWriteFile("../testapp/planarbug.asmt"); - MBDynSystem::runFile("../testapp/InitialConditions.mbd"); - MBDynSystem::runFile("../testapp/SphericalHinge.mbd"); ASMTAssembly::runFile("../testapp/cirpendu2.asmt"); //Under constrained. Testing ICKine. ASMTAssembly::runFile("../testapp/quasikine.asmt"); //Under constrained. Testing ICKine. ASMTAssembly::readWriteFile("../testapp/piston.asmt"); - //MBDynSystem::runFile("../testapp/MBDynCaseDebug2.mbd"); - //return 0; - MBDynSystem::runFile("../testapp/MBDynCase2.mbd"); - //MBDynSystem::runFile("../testapp/MBDynCase.mbd"); //Very large but works - MBDynSystem::runFile("../testapp/CrankSlider2.mbd"); - //MBDynSystem::runFile("../testapp/crank_slider.mbd"); //Needs integration of product ////ASMTAssembly::runSinglePendulumSuperSimplified(); //Mass is missing ////ASMTAssembly::runSinglePendulumSuperSimplified2(); //DOF has infinite acceleration due to zero mass and inertias ASMTAssembly::runSinglePendulumSimplified(); diff --git a/testapp/SphericalHinge.mov b/testapp/SphericalHinge.mov deleted file mode 100644 index 2cb6cd2..0000000 --- a/testapp/SphericalHinge.mov +++ /dev/null @@ -1,602 +0,0 @@ -1 1.7274205242444082e-18 0.0030550458715596384 0.025000000000000001 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 -2 0.0081908031783166635 -0.0056438736161729839 0.043029349236695838 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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