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MBDyn new joints, sine, cosine

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This commit is contained in:
Aik-Siong Koh
2023-12-08 21:39:53 -07:00
parent 98d6d46ebd
commit 56bba4e921
58 changed files with 5895 additions and 1905 deletions
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testapp/MBDynCase(Cosine-half drive).mov
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testapp/MBDynCase(Cosine-half drive)debug1.asmt Normal file
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OndselSolver
Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
Name
Assembly
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Parts
Part
Name
structural_node_1
Position3D
-0.1322131193924678 0.04215394533365132 0.2000000152587891
RotationMatrix
1 0 0
0 1 0
0 0 1
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1
MomentOfInertias
1 2 3
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
0.1322131193924678 -0.04215394533365132 -0.2000000152587891
RotationMatrix
1 0 0
0 1 0
0 0 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
0.2032130965042842 0.117846068852255 -2.842170943040401e-17
RotationMatrix
1 -0 0
0 1 2.471452993948174e-16
-0 -2.471452993948174e-16 1
RefCurves
RefSurfaces
Part
Name
structural_node_2
Position3D
0.4257698614077033 0.1732822793381788 0.302175885912376
RotationMatrix
-0.8995965927692124 0.4234982246408653 -0.1066546951805642
-0.4367218454325635 -0.8723574602808865 0.2196963614042295
1.387778780781446e-17 0.2442165334663419 0.969720725148062
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
-0.003947705364974695 0.01042661386112648 -1.13686837721616e-16
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
12.63583350443436
MomentOfInertias
0.08708924866282601 0.085370944710882 0.06459712318937701
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
joint_1
MarkerI
/Assembly/Marker0
MarkerJ
/Assembly/structural_node_1/Marker0
Motions
GeneralMotion
Name
joint_2
MarkerI
/Assembly/structural_node_1/Marker1
MarkerJ
/Assembly/structural_node_2/Marker0
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
4
hmin
1e-09
hmax
1
hout
0.01
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30

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

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testapp/MBDynCase(Sine-forever drive)debug2.asmt Normal file
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testapp/MBDynSliderCrankTotalJoint.mbd Normal file
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#-----------------------------------------------------------------------------
# [Data Block]
begin: data;
problem: initial value;
end: data;
#-----------------------------------------------------------------------------
# [Problem Block]
begin: initial value;
initial time: 0.0;
final time: 4.0;
time step: 0.01;
max iterations: 100;
tolerance: 1e-06;
derivatives tolerance: 0.0001;
derivatives max iterations: 100;
derivatives coefficient: auto;
end: initial value;
#-----------------------------------------------------------------------------
# [Control Data Block]
begin: control data;
max iterations: 1000;
default orientation: orientation matrix;
omega rotates: no;
print: none;
initial stiffness: 1.0, 1.0;
structural nodes: 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, #<absolute_position> [m]
3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<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, 3.0728199502890935e-08, -8.312621051592148e-09, 0.9999999999999994, 2, 9.860761315262648e-32, 1.0, 8.312621051592151e-09, #<absolute_orientation_matrix>
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
structural: structural_node_3,
dynamic,
Px_3, Py_3, Pz_3, #<absolute_position> [m]
3, 1.2241820623870575e-07, -7.110463684512068e-09, 0.9999999999999925, 2, -0.9983174164285165, 0.057985653876428844, 1.2262453226214997e-07, #<absolute_orientation_matrix>
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
structural: structural_node_4,
dynamic,
Px_4, Py_4, Pz_4, #<absolute_position> [m]
3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<absolute_orientation_matrix>
Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
end: nodes;
#-----------------------------------------------------------------------------
# [Elements Block]
begin: elements;
#-----------------------------------------------------------------------------
# [Bodies]
body: body_2,
structural_node_2, #<node_label>
mass_2, #<mass> [kg]
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
orientation, 3, -0.12000003011363553, -0.1699999918536315, 0.9799999977257611, 2, 0.8099999999999996, -0.5899999999999999, 2.9794288017781016e-08;
body: body_3,
structural_node_3, #<node_label>
mass_3, #<mass> [kg]
Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
orientation, 3, 0.05682594079890069, -0.9783510423487942, 0.21000011996984053, 2, 0.9977375598897598, 0.06796883662443129, 0.06999999166535376;
body: body_4,
structural_node_4, #<node_label>
mass_4, #<mass> [kg]
Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
orientation, 3, -0.010000000000000047, 0.98, -0.20999999999999977, 2, 0.98, -0.029999999999999954, -0.21000000000000021;
#-----------------------------------------------------------------------------
# [Joints]
joint: joint_1,
clamp,
structural_node_1, #<node_label>
-0.419, 0.09000000999999999, 0.2, #<absolute_pin_position> [m]
3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0; #<absolute_orientation_matrix>
joint: joint_2,
total joint,
structural_node_1, #<node_1_label>
position, 0.07000000000000012, -5.684341886080802e-17, 0.48999999999999994, #<relative_position_1> [m]
position orientation, 3, 3.885780586188048e-16, 1.0, 1.1102230246251565e-16, 2, 1.0, -4.440892098500626e-16, -1.6653345369377348e-16, #<relative_pin_orientation_matrix_1>
rotation orientation, 3, 3.885780586188048e-16, 1.0, 1.1102230246251565e-16, 2, 1.0, -4.440892098500626e-16, -1.6653345369377348e-16, #<relative_pin_orientation_matrix_1>
structural_node_2, #<node_2_label>
position, 8.526512829121202e-17, 9.999999974752426e-09, 2.842170943040401e-17, #<relative_position_2> [m]
position orientation, 3, -3.0728199502890935e-08, 8.312621298737451e-09, 0.9999999999999994, 2, 2.554318856595847e-16, 1.0, -8.312621298737448e-09, #<relative_pin_orientation_matrix_2>
rotation orientation, 3, -3.0728199502890935e-08, 8.312621298737451e-09, 0.9999999999999994, 2, 2.554318856595847e-16, 1.0, -8.312621298737448e-09, #<relative_pin_orientation_matrix_2>
position constraint,
active, active, active,
null,
orientation constraint,
active, active, angular velocity,
single, 0., 0., 1., string, "0.0+model::drive(1, Time)"; #<angle> [rad]
joint: joint_4,
total joint,
structural_node_2, #<node_1_label>
position, -0.08833762115250354, 0.0468664559052288, 2.842170943040401e-17, #<relative_position_1> [m]
position orientation, 3, -3.7239980926641352e-16, 1.6936012837021416e-16, 1.0, 2, 5.204131742837832e-24, 1.0, -1.6936012837021416e-16, #<relative_pin_orientation_matrix_1>
rotation orientation, 3, -3.7239980926641352e-16, 1.6936012837021416e-16, 1.0, 2, 5.204131742837832e-24, 1.0, -1.6936012837021416e-16, #<relative_pin_orientation_matrix_1>
structural_node_3, #<node_2_label>
position, -4.408740682038115e-08, -1.4062993436425586e-09, 3.1040392514114503e-09, #<relative_position_2> [m]
position orientation, 3, -6.51683948387302e-09, 9.146602313741393e-08, 0.9999999999999958, 2, 0.9983174164285239, 0.057985653876430066, 1.2021571977199034e-09, #<relative_pin_orientation_matrix_2>
rotation orientation, 3, -6.51683948387302e-09, 9.146602313741393e-08, 0.9999999999999958, 2, 0.9983174164285239, 0.057985653876430066, 1.2021571977199034e-09, #<relative_pin_orientation_matrix_2>
position constraint,
active, active, active,
null,
orientation constraint,
active, active, inactive,
null;
joint: joint_6,
in line,
structural_node_1, #<node_1_label>
0.0, 0.0, 0.0, #<relative_line_position> [m]
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, 0.0, 0.0, 0.0; #<relative_offset> [m]
joint: joint_7,
prismatic,
structural_node_1, #<node_1_label>
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
structural_node_4, #<node_2_label>
orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
joint: joint_9,
in line,
structural_node_3, #<node_1_label>
-0.13269133782709974, 0.26905948945475705, 1.4177195929807734e-15, #<relative_line_position> [m]
3, 1.3390417087237118e-16, -2.3053784001404156e-15, 1.0, 2, -1.0919852799773366e-09, 1.0, 2.3053784002866372e-15, #<relative_orientation>
structural_node_4, #<node_2_label>
offset, 0.0, 0.0, 0.0; #<relative_offset> [m]
#-----------------------------------------------------------------------------
# [Drive callers]
drive caller: 1, name,"drive:1", cosine, 0.25, 3.1416, 10.0, half, 0.0;
end: elements;

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testapp/MBDynSliderCrankTotalJointorig.mov Normal file
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2
testapp/OndselSolver.cpp
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@@ -26,6 +26,8 @@ void sharedptrTest();
int main()
{
//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