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testing

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Aik-Siong Koh
2023-11-15 17:53:20 -07:00
parent f6451ce61e
commit 4e5c0b1d37
10 changed files with 3486 additions and 8 deletions
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2
OndselSolver/MbdMath.cpp
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@@ -6,4 +6,4 @@
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "MbdMath.h"
#include "MbDMath.h"

2
OndselSolver/MbdMath.h
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@@ -9,7 +9,7 @@
#pragma once
namespace MbD {
class MbdMath
class MbDMath
{
};
}

4
OndselSolver/Numeric.h
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@@ -9,10 +9,10 @@
#pragma once
#include <vector>
#include "MbdMath.h"
#include "MbDMath.h"
namespace MbD {
class Numeric : public MbdMath
class Numeric : public MbDMath
{
//
public:

4
OndselSolver/OndselSolver.vcxproj
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@@ -337,7 +337,7 @@
<ClCompile Include="MatrixLDU.cpp" />
<ClCompile Include="MatrixSolver.cpp" />
<ClCompile Include="MaximumIterationError.cpp" />
<ClCompile Include="MbdMath.cpp" />
<ClCompile Include="MbDMath.cpp" />
<ClCompile Include="NewtonRaphson.cpp" />
<ClCompile Include="NewtonRaphsonError.cpp" />
<ClCompile Include="NoRotationJoint.cpp" />
@@ -624,7 +624,7 @@
<ClInclude Include="MatrixLDU.h" />
<ClInclude Include="MatrixSolver.h" />
<ClInclude Include="MaximumIterationError.h" />
<ClInclude Include="MbdMath.h" />
<ClInclude Include="MbDMath.h" />
<ClInclude Include="NewtonRaphson.h" />
<ClInclude Include="NewtonRaphsonError.h" />
<ClInclude Include="NoRotationJoint.h" />

4
OndselSolver/Symbolic.h
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@@ -13,7 +13,7 @@
#include <memory>
#include <ostream>
#include "MbdMath.h"
#include "MbDMath.h"
#include "System.h"
#include "Units.h"
//#include "Constant.h"
@@ -23,7 +23,7 @@ namespace MbD {
class Symbolic;
using Symsptr = std::shared_ptr<Symbolic>;
class Symbolic : public MbdMath
class Symbolic : public MbDMath
{
public:
Symbolic();

111
testapp/InitialConditions.mbd Normal file
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@@ -0,0 +1,111 @@
#-----------------------------------------------------------------------------
# [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: 1;
rigid bodies: 1;
end: control data;
#-----------------------------------------------------------------------------
# [Design Variables]
#Generic bodies
#body: 1
set: integer body_1 = 1; #body label
set: real mass_1 = 0.0086809632949352; #mass [kg]
set: real volume_1 = 1.0988561132829396e-06; #volume [m^3]
#Nodes
#node: 1
set: integer structural_node_1 = 1; #node label
#Joints
#Nodes: initial conditions
#node: 1
set: real Px_1 = -5.115001861686883e-08; #X component of the absolute position [m]
set: real Py_1 = -0.011073908864273972; #Y component of the absolute position [m]
set: real Pz_1 = 6.608063559905836e-07; #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 = 8.726646259971648; #Y component of the absolute angular velocity [rad/s]
set: real Wz_1 = 1.7453292519943296e-05; #Z component of the absolute angular velocity [rad/s]
#-----------------------------------------------------------------------------
# [Intermediate Variables]
#Moments of inertia and relative center of mass
#body 1:
set: real Ixx_1 = 7.67643316e-07; #moment of inertia [kg*m^2]
set: real Iyy_1 = 6.162010270000002e-07; #moment of inertia [kg*m^2]
set: real Izz_1 = 2.41970364e-07; #moment of inertia [kg*m^2]
set: real Rx_1 = -3.117081245895825e-20; #X component of the relative center of mass [m]
set: real Ry_1 = 0.0; #Y component of the relative center of mass [m]
set: real Rz_1 = 1.6371452804531116e-20; #Z component of the relative center of mass [m]
#-----------------------------------------------------------------------------
# [Nodes Block]
begin: nodes;
structural: structural_node_1,
dynamic,
Px_1, Py_1, Pz_1, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
body: body_1,
structural_node_1, #<node_label>
mass_1, #<mass> [kg]
Rx_1, Ry_1, Rz_1, #<relative_center_of_mass> [m]
diag, Ixx_1, Iyy_1, Izz_1, #<inertia matrix> [kg*m^2]
orientation, 3, 1.0, 0.0, 0.0, 2, 0.0, 1.0, 0.0;
end: elements;

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testapp/InitialConditionsMBDyn.mov Normal file
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@@ -0,0 +1,802 @@
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1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05
1 -5.115001861686883e-08 -0.01107390886427397 6.608063559905836e-07 1 0 0 0 1 0 0 0 1 3.474125743577996e-22 4.61984806326007e-29 -2.309924031627775e-23 0 8.726646259971648 1.74532925199433e-05

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#-----------------------------------------------------------------------------
# [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: 2;
rigid bodies: 1;
joints: 2;
gravity;
end: control data;
#-----------------------------------------------------------------------------
# [Design Variables]
#Generic bodies
#body: 2
set: integer body_2 = 2; #body label
set: real mass_2 = 0.0064701741006665; #mass [kg]
set: real volume_2 = 8.190093798311967e-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
#Joints
#joint: 1
set: integer joint_1 = 1; #joint label
#joint: 2
set: integer joint_2 = 2; #joint label
#Nodes: initial conditions
#node: 1
set: real Px_1 = 1.7274205242444082e-18; #X component of the absolute position [m]
set: real Py_1 = 0.0030550458715596384; #Y component of the absolute position [m]
set: real Pz_1 = 0.025; #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 = 0.008191520442889925; #X component of the absolute position [m]
set: real Py_2 = -0.012625912750389287; #Y component of the absolute position [m]
set: real Pz_2 = 0.04303463608057351; #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 = 4.27187049e-07; #moment of inertia [kg*m^2]
set: real Iyy_2 = 4.10064115e-07; #moment of inertia [kg*m^2]
set: real Izz_2 = 6.3235945e-08; #moment of inertia [kg*m^2]
set: real Rx_2 = -3.2034828123528313e-12; #X component of the relative center of mass [m]
set: real Ry_2 = 0.012814824256866551; #Y component of the relative center of mass [m]
set: real Rz_2 = -0.009255846159930699; #Z component of the relative center of mass [m]
#-----------------------------------------------------------------------------
# [Nodes Block]
begin: nodes;
structural: structural_node_1,
static,
Px_1, Py_1, Pz_1, #<absolute_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
structural: structural_node_2,
dynamic,
Px_2, Py_2, Pz_2, #<absolute_position> [m]
3, 0.819152044288992, 0.4698463103929543, 0.32898992833716545, 2, -5.551115123125783e-17, 0.573576436351046, -0.819152044288992, #<absolute_orientation_matrix>
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
body: body_2,
structural_node_2, #<node_label>
mass_2, #<mass> [kg]
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
orientation, 3, -0.0006449901910526301, -0.9879789679799248, 0.1835678153080647, 2, -0.0024511632742001133, 0.17949120074807742, 0.9905437398987571;
#-----------------------------------------------------------------------------
# [Joints]
joint: joint_1,
clamp,
structural_node_1, #<node_label>
1.7274205242444082e-18, 0.0030550458715596384, 0.025, #<absolute_pin_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
joint: joint_2,
spherical hinge,
structural_node_2, #<node_1_label>
-3.552713678800501e-18, 0.018000000000000006, -0.010000000000000007, #<relative_pin_position_1> [m]
structural_node_1, #<node_2_label>
-1.7274205242444082e-18, -0.0030550458715596384, 0.0; #<relative_pin_position_2> [m]
gravity: uniform, 0.0, -1.0, 0.0, string, "9.807"; #<gravity_acceleration> [m/s^2]
end: elements;

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