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rackscrew.asmt now runs.

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CMakeLists.txt

gitignore

rackscrew.asmt now runs.

CMakeLists.txt

remove cached assembly.asmt
This commit is contained in:
Aik-Siong Koh
2023-12-13 01:09:02 -07:00
committed by Brad Collette
parent 2bb83b82c0
commit 5907363be7
19 changed files with 369 additions and 395 deletions
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1
.gitignore vendored
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@@ -34,6 +34,7 @@
.vs
x64/
*.bak
assembly.asmt
build
cmake-build-debug

26
CMakeLists.txt
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@@ -46,6 +46,7 @@ set(ONDSELSOLVER_SRC
OndselSolver/ArcSine.cpp
OndselSolver/ArcTan.cpp
OndselSolver/ArcTan2.cpp
OndselSolver/Arguments.cpp
OndselSolver/ASMTAngleJoint.cpp
OndselSolver/ASMTAnimationParameters.cpp
OndselSolver/ASMTAssembly.cpp
@@ -83,6 +84,7 @@ set(ONDSELSOLVER_SRC
OndselSolver/ASMTRefSurface.cpp
OndselSolver/ASMTRevCylJoint.cpp
OndselSolver/ASMTRevoluteJoint.cpp
OndselSolver/ASMTRevRevJoint.cpp
OndselSolver/ASMTRotationalMotion.cpp
OndselSolver/ASMTScrewJoint.cpp
OndselSolver/ASMTSimulationParameters.cpp
@@ -231,6 +233,16 @@ 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
@@ -284,6 +296,7 @@ set(ONDSELSOLVER_SRC
OndselSolver/RedundantConstraint.cpp
OndselSolver/RevCylJoint.cpp
OndselSolver/RevoluteJoint.cpp
OndselSolver/RevRevJoint.cpp
OndselSolver/ScalarNewtonRaphson.cpp
OndselSolver/ScrewConstraintIJ.cpp
OndselSolver/ScrewConstraintIqcJc.cpp
@@ -352,6 +365,7 @@ set(ONDSELSOLVER_HEADERS
OndselSolver/ArcSine.h
OndselSolver/ArcTan.h
OndselSolver/ArcTan2.h
OndselSolver/Arguments.h
OndselSolver/ASMTAngleJoint.h
OndselSolver/ASMTAnimationParameters.h
OndselSolver/ASMTAssembly.h
@@ -389,6 +403,7 @@ set(ONDSELSOLVER_HEADERS
OndselSolver/ASMTRefSurface.h
OndselSolver/ASMTRevCylJoint.h
OndselSolver/ASMTRevoluteJoint.h
OndselSolver/ASMTRevRevJoint.h
OndselSolver/ASMTRotationalMotion.h
OndselSolver/ASMTScrewJoint.h
OndselSolver/ASMTSimulationParameters.h
@@ -539,6 +554,16 @@ 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
@@ -589,6 +614,7 @@ set(ONDSELSOLVER_HEADERS
OndselSolver/resource.h
OndselSolver/RevCylJoint.h
OndselSolver/RevoluteJoint.h
OndselSolver/RevRevJoint.h
OndselSolver/ScalarNewtonRaphson.h
OndselSolver/ScrewConstraintIJ.h
OndselSolver/ScrewConstraintIqcJc.h

8
OndselSolver/ASMTAssembly.cpp
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@@ -56,6 +56,7 @@
#include "ASMTRefSurface.h"
#include "ExternalSystem.h"
#include "SystemSolver.h"
#include "ASMTRevRevJoint.h"
using namespace MbD;
@@ -582,14 +583,17 @@ void MbD::ASMTAssembly::readJoints(std::vector<std::string>& lines)
joint = CREATE<ASMTUniversalJoint>::With();
}
//CompoundJoints
else if (jointsLines[0] == "\t\t\tSphSphJoint") {
joint = CREATE<ASMTSphSphJoint>::With();
}
else if (jointsLines[0] == "\t\t\tCylSphJoint") {
joint = CREATE<ASMTCylSphJoint>::With();
}
else if (jointsLines[0] == "\t\t\tRevCylJoint") {
joint = CREATE<ASMTRevCylJoint>::With();
}
else if (jointsLines[0] == "\t\t\tSphSphJoint") {
joint = CREATE<ASMTSphSphJoint>::With();
else if (jointsLines[0] == "\t\t\tRevRevJoint") {
joint = CREATE<ASMTRevRevJoint>::With();
}
//InLineJoints
else if (jointsLines[0] == "\t\t\tCylindricalJoint") {

18
OndselSolver/ASMTRevRevJoint.cpp Normal file
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@@ -0,0 +1,18 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include <fstream>
#include "ASMTRevRevJoint.h"
#include "RevRevJoint.h"
using namespace MbD;
std::shared_ptr<Joint> MbD::ASMTRevRevJoint::mbdClassNew()
{
return CREATE<RevRevJoint>::With();
}

22
OndselSolver/ASMTRevRevJoint.h Normal file
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@@ -0,0 +1,22 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "ASMTCompoundJoint.h"
namespace MbD {
class ASMTRevRevJoint : public ASMTCompoundJoint
{
//
public:
std::shared_ptr<Joint> mbdClassNew() override;
};
}

3
OndselSolver/AngleZIecJec.cpp
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@@ -29,7 +29,7 @@ void MbD::AngleZIecJec::calcPostDynCorrectorIteration()
auto diffOfSquares = sthez * sthez - (cthez * cthez);
auto sumOfSquaresSquared = sumOfSquares * sumOfSquares;
auto thez0to2pi = Numeric::arcTan0to2piYoverX(sthez, cthez);
thez = std::round(thez - thez0to2pi / (2.0 * OS_M_PI)) * (2.0 * OS_M_PI) + thez0to2pi;
thez = std::round((thez - thez0to2pi) / (2.0 * OS_M_PI)) * (2.0 * OS_M_PI) + thez0to2pi;
cosOverSSq = cthez / sumOfSquares;
sinOverSSq = sthez / sumOfSquares;
twoCosSinOverSSqSq = 2.0 * cthez * sthez / sumOfSquaresSquared;
@@ -91,6 +91,7 @@ void MbD::AngleZIecJec::prePosIC()
{
aA00IeJe->prePosIC();
aA10IeJe->prePosIC();
assert(thez != std::numeric_limits<double>::min());
KinematicIeJe::prePosIC();
}

1
OndselSolver/MBDynItem.h
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@@ -11,7 +11,6 @@
namespace MbD {
class MBDynSystem;
class MBDynVariable;
class MBDynReference;
class MBDynNode;
class ASMTItem;

1
OndselSolver/MBDynSystem.h
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@@ -18,7 +18,6 @@ namespace MbD {
class MBDynControlData;
class MBDynNode;
class MBDynElement;
class MBDynVariable;
class MBDynLabel;
class MBDynReference;
class MBDynDrive;

32
OndselSolver/Numeric.cpp
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@@ -19,35 +19,13 @@ double MbD::Numeric::arcTan0to2piYoverX(double y, double x)
//"(y/x) arcTan in the range 0 to 2*pi."
//"Double arcTan0to2piY: 1.0d overX: 1.0d."
if (x > 0.0) {
if (y >= 0) {
//"First quadrant."
return std::atan2(y, x);
}
else {
//"Forth quadrant."
return 2.0 * OS_M_PI + std::atan2(y, x);
}
if (y >= 0) {
//"First and second quadrants."
return std::atan2(y, x);
}
else {
if (x < 0.0) {
//"Second and Third quadrants."
return OS_M_PI + std::atan2(y, x);
}
else {
//"x = 0"
if (y > 0.0) {
return OS_M_PI / 2.0;
}
else {
if (y < 0.0) {
return 1.5 * OS_M_PI;
}
else {
throw std::invalid_argument("atan2(0, 0) is not defined.");
}
}
}
//"Third and forth quadrants."
return 2.0 * OS_M_PI + std::atan2(y, x);
}
}

4
OndselSolver/OndselSolver.vcxproj
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@@ -191,6 +191,7 @@
<ClCompile Include="ASMTRefSurface.cpp" />
<ClCompile Include="ASMTRevCylJoint.cpp" />
<ClCompile Include="ASMTRevoluteJoint.cpp" />
<ClCompile Include="ASMTRevRevJoint.cpp" />
<ClCompile Include="ASMTRotationalMotion.cpp" />
<ClCompile Include="ASMTScrewJoint.cpp" />
<ClCompile Include="ASMTSimulationParameters.cpp" />
@@ -405,6 +406,7 @@
<ClCompile Include="RedundantConstraint.cpp" />
<ClCompile Include="RevCylJoint.cpp" />
<ClCompile Include="RevoluteJoint.cpp" />
<ClCompile Include="RevRevJoint.cpp" />
<ClCompile Include="RowTypeMatrix.cpp" />
<ClCompile Include="ScalarNewtonRaphson.cpp" />
<ClCompile Include="ScrewConstraintIJ.cpp" />
@@ -513,6 +515,7 @@
<ClInclude Include="ASMTRefSurface.h" />
<ClInclude Include="ASMTRevCylJoint.h" />
<ClInclude Include="ASMTRevoluteJoint.h" />
<ClInclude Include="ASMTRevRevJoint.h" />
<ClInclude Include="ASMTRotationalMotion.h" />
<ClInclude Include="ASMTScrewJoint.h" />
<ClInclude Include="ASMTSimulationParameters.h" />
@@ -729,6 +732,7 @@
<ClInclude Include="resource.h" />
<ClInclude Include="RevCylJoint.h" />
<ClInclude Include="RevoluteJoint.h" />
<ClInclude Include="RevRevJoint.h" />
<ClInclude Include="RowTypeMatrix.h" />
<ClInclude Include="ScalarNewtonRaphson.h" />
<ClInclude Include="ScrewConstraintIJ.h" />

27
OndselSolver/OrbitAngleZIecJec.cpp
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@@ -58,13 +58,15 @@ void MbD::OrbitAngleZIecJec::postInput()
{
xIeJeIe->postInput();
yIeJeIe->postInput();
auto x = xIeJeIe->value();
auto y = yIeJeIe->value();
if (x > 0.0) {
thez = std::atan2(y, x);
}
else {
thez = Numeric::arcTan0to2piYoverX(y, x);
if (thez == std::numeric_limits<double>::min()) {
auto x = xIeJeIe->value();
auto y = yIeJeIe->value();
if (x > 0.0) {
thez = std::atan2(y, x);
}
else {
thez = Numeric::arcTan0to2piYoverX(y, x);
}
}
KinematicIeJe::postInput();
}
@@ -78,7 +80,7 @@ void MbD::OrbitAngleZIecJec::postPosICIteration()
void MbD::OrbitAngleZIecJec::preAccIC()
{
if (thez == 0.0) this->prePosIC();
if (thez == std::numeric_limits<double>::min()) this->prePosIC();
xIeJeIe->preAccIC();
yIeJeIe->preAccIC();
KinematicIeJe::preAccIC();
@@ -88,14 +90,7 @@ void MbD::OrbitAngleZIecJec::prePosIC()
{
xIeJeIe->prePosIC();
yIeJeIe->prePosIC();
auto x = xIeJeIe->value();
auto y = yIeJeIe->value();
if (x > 0.0) {
thez = std::atan2(y, x);
}
else {
thez = Numeric::arcTan0to2piYoverX(y, x);
}
assert(thez != std::numeric_limits<double>::min());
KinematicIeJe::prePosIC();
}

3
OndselSolver/OrbitAngleZIecJec.h
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@@ -32,7 +32,8 @@ namespace MbD {
void simUpdateAll() override;
double value() override;
double thez, cosOverSSq, sinOverSSq, twoCosSinOverSSqSq, dSqOverSSqSq;
double thez = std::numeric_limits<double>::min();
double cosOverSSq, sinOverSSq, twoCosSinOverSSqSq, dSqOverSSqSq;
std::shared_ptr<DispCompIecJecIe> xIeJeIe, yIeJeIe;
};
}

39
OndselSolver/RevRevJoint.cpp Normal file
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@@ -0,0 +1,39 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#include "RevRevJoint.h"
#include "CREATE.h"
#include "DistancexyConstraintIJ.h"
#include "System.h"
using namespace MbD;
MbD::RevRevJoint::RevRevJoint()
{
}
MbD::RevRevJoint::RevRevJoint(const char* str) : CompoundJoint(str)
{
}
void MbD::RevRevJoint::initializeGlobally()
{
if (constraints->empty())
{
auto distxyIJ = DistancexyConstraintIJ::With(frmI, frmJ);
distxyIJ->setConstant(distanceIJ);
addConstraint(distxyIJ);
addConstraint(CREATE<TranslationConstraintIJ>::ConstraintWith(frmI, frmJ, 2));
addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 0));
addConstraint(CREATE<DirectionCosineConstraintIJ>::ConstraintWith(frmI, frmJ, 2, 1));
this->root()->hasChanged = true;
}
else {
CompoundJoint::initializeGlobally();
}
}

25
OndselSolver/RevRevJoint.h Normal file
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@@ -0,0 +1,25 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "CompoundJoint.h"
namespace MbD {
class RevRevJoint : public CompoundJoint
{
//
public:
RevRevJoint();
RevRevJoint(const char* str);
void initializeGlobally() override;
};
}

2
OndselSolver/ScrewConstraintIJ.cpp
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@@ -31,7 +31,7 @@ std::shared_ptr<ScrewConstraintIJ> MbD::ScrewConstraintIJ::With(EndFrmsptr frmi,
void MbD::ScrewConstraintIJ::calcPostDynCorrectorIteration()
{
auto z = zIeJeIe->value();
auto thez = thezIeJe->value();
auto thez = thezIeJe->thez;
aG = (2.0 * OS_M_PI * z) - (pitch * thez) - aConstant;
}

3
OndselSolver/ScrewConstraintIqcJc.cpp
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@@ -75,8 +75,7 @@ void MbD::ScrewConstraintIqcJc::calc_ppGpEIpEI()
void MbD::ScrewConstraintIqcJc::calc_ppGpXIpEI()
{
ppGpXIpEI = zIeJeIe->ppvaluepXIpEI()->times(2.0 * OS_M_PI)
->minusFullMatrix(thezIeJe->ppvaluepXIpEI()->times(pitch));
ppGpXIpEI = zIeJeIe->ppvaluepXIpEI()->times(2.0 * OS_M_PI);
}
void MbD::ScrewConstraintIqcJc::calcPostDynCorrectorIteration()

340
OndselSolver/assembly.asmt
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File diff suppressed because one or more lines are too long

7
testapp/OndselSolver.cpp
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@@ -26,18 +26,19 @@ void sharedptrTest();
int main()
{
ASMTAssembly::runFile("../testapp/RevRevJt.asmt");
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/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"); //ToDo new joint
ASMTAssembly::readWriteFile("../testapp/rackscrew.asmt");
ASMTAssembly::readWriteFile("../testapp/planarbug.asmt");
MBDynSystem::runFile("../testapp/InitialConditions.mbd");
MBDynSystem::runFile("../testapp/SphericalHinge.mbd");

202
testapp/RevRevJt.asmt Normal file
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@@ -0,0 +1,202 @@
OndselSolver
Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
Name
OndselAssembly
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
marker-part32#Body001
Position3D
-50.97707939147949 -6.651639938354492 5.976193904876709
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Parts
Part
Name
part32#Body001
Position3D
-50.97707939147949 -6.651639938354492 5.976193904876709
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 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
FixingMarker
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
part32#Distance
Position3D
24.73092618997876 13.40888489553289 5
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Part
Name
part32#Body002
Position3D
58.55961227416992 25.54718399047852 23.1300048828125
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 1 1
Density
1
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
part32#Distance
Position3D
-22.68139865429635 -16.64244751954205 5
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
KinematicIJs
ConstraintSets
Joints
FixedJoint
Name
part32#GroundedJoint
MarkerI
/OndselAssembly/marker-part32#Body001
MarkerJ
/OndselAssembly/part32#Body001/FixingMarker
RevRevJoint
Name
part32#RevRevJoint
MarkerI
/OndselAssembly/part32#Body001/part32#Distance
MarkerJ
/OndselAssembly/part32#Body002/part32#Distance
distanceIJ
2
Motions
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
1
hmin
1e-09
hmax
1000000000
hout
0.1
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30