diff --git a/OndselSolver/MbdMath.cpp b/OndselSolver/MbdMath.cpp index 993d98c..3945be1 100644 --- a/OndselSolver/MbdMath.cpp +++ b/OndselSolver/MbdMath.cpp @@ -6,4 +6,4 @@ * See LICENSE file for details about copyright. * ***************************************************************************/ -#include "MbdMath.h" +#include "MbDMath.h" diff --git a/OndselSolver/MbdMath.h b/OndselSolver/MbdMath.h index fe2abce..20ed642 100644 --- a/OndselSolver/MbdMath.h +++ b/OndselSolver/MbdMath.h @@ -9,7 +9,7 @@ #pragma once namespace MbD { - class MbdMath + class MbDMath { }; } diff --git a/OndselSolver/Numeric.h b/OndselSolver/Numeric.h index 5f5686d..d4bd4e9 100644 --- a/OndselSolver/Numeric.h +++ b/OndselSolver/Numeric.h @@ -9,10 +9,10 @@ #pragma once #include -#include "MbdMath.h" +#include "MbDMath.h" namespace MbD { - class Numeric : public MbdMath + class Numeric : public MbDMath { // public: diff --git a/OndselSolver/OndselSolver.vcxproj b/OndselSolver/OndselSolver.vcxproj index da879e1..6e81f83 100644 --- a/OndselSolver/OndselSolver.vcxproj +++ b/OndselSolver/OndselSolver.vcxproj @@ -337,7 +337,7 @@ - + @@ -624,7 +624,7 @@ - + diff --git a/OndselSolver/Symbolic.h b/OndselSolver/Symbolic.h index 7f08b1b..0fbadcf 100644 --- a/OndselSolver/Symbolic.h +++ b/OndselSolver/Symbolic.h @@ -13,7 +13,7 @@ #include #include -#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; - class Symbolic : public MbdMath + class Symbolic : public MbDMath { public: Symbolic(); diff --git a/testapp/InitialConditions.mbd b/testapp/InitialConditions.mbd new file mode 100644 index 0000000..dc0833c --- /dev/null +++ b/testapp/InitialConditions.mbd @@ -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, # [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] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_1, + structural_node_1, # + mass_1, # [kg] + Rx_1, Ry_1, Rz_1, # [m] + diag, Ixx_1, Iyy_1, Izz_1, # [kg*m^2] + orientation, 3, 1.0, 0.0, 0.0, 2, 0.0, 1.0, 0.0; + + end: elements; + diff --git a/testapp/InitialConditionsMBDyn.mov b/testapp/InitialConditionsMBDyn.mov new file mode 100644 index 0000000..d538009 --- /dev/null +++ b/testapp/InitialConditionsMBDyn.mov @@ -0,0 +1,802 @@ + 1 -5.115002e-08 -1.107391e-02 6.608064e-07 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 8.726646e+00 1.745329e-05 + 1 -5.115002e-08 -1.107391e-02 6.608064e-07 9.961995e-01 -1.742013e-07 8.710064e-02 1.742013e-07 1.000000e+00 7.600964e-09 -8.710064e-02 7.600964e-09 9.961995e-01 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 8.710064e+00 1.742013e-05 + 1 -5.115002e-08 -1.107391e-02 6.608064e-07 9.848842e-01 -3.464285e-07 1.732142e-01 3.464285e-07 1.000000e+00 3.023166e-08 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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/SphericalHinge.mbd b/testapp/SphericalHinge.mbd new file mode 100644 index 0000000..f261404 --- /dev/null +++ b/testapp/SphericalHinge.mbd @@ -0,0 +1,160 @@ +#----------------------------------------------------------------------------- + # [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, # [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, 0.819152044288992, 0.4698463103929543, 0.32898992833716545, 2, -5.551115123125783e-17, 0.573576436351046, -0.819152044288992, # + 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, -0.0006449901910526301, -0.9879789679799248, 0.1835678153080647, 2, -0.0024511632742001133, 0.17949120074807742, 0.9905437398987571; + + #----------------------------------------------------------------------------- + # [Joints] + + joint: joint_1, + clamp, + structural_node_1, # + 1.7274205242444082e-18, 0.0030550458715596384, 0.025, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_2, + spherical hinge, + structural_node_2, # + -3.552713678800501e-18, 0.018000000000000006, -0.010000000000000007, # [m] + structural_node_1, # + -1.7274205242444082e-18, -0.0030550458715596384, 0.0; # [m] + + gravity: uniform, 0.0, -1.0, 0.0, string, "9.807"; # [m/s^2] + + end: elements; + diff --git a/testapp/SphericalHinge.mov b/testapp/SphericalHinge.mov new file mode 100644 index 0000000..17941ff --- /dev/null +++ b/testapp/SphericalHinge.mov @@ -0,0 +1,1604 @@ + 1 1.727421e-18 3.055046e-03 2.500000e-02 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 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