Cmake gtest (#79)

* Check rackpin and gear for zero radii

* rebase zero-radii-check (#69)

* contributing

* Update push-freecad.yml

updated actions/checkout to v4

* dragging log for debugging

* fix calcdxNorm crash

* setDebug and remove MBDyn*

* Update cmakelists.txt

* fix includes for gcc-14

gcc-14 is more disciplined about not including <algorithm> transitively.

* fix runDragStep

* backhoe files (#65)

* Mark unused variables to silence compiler warnings. (#64)

* Backhoe issues (#67)

* backhoe issues

* runDragStep edit

* backhoe issues

* runDragStep edit

* Reduce large drag step progressively until convergence.

* Switch to using built-in M_PI, even on MSVC (#68)

---------

Co-authored-by: Brad Collette <bradcollette@pop-os.localdomain>
Co-authored-by: mosfet80 <realeandrea@yahoo.it>
Co-authored-by: PaddleStroke <pierrelouis.boyer@gmail.com>
Co-authored-by: Jed Brown <jed@jedbrown.org>
Co-authored-by: sliptonic <shopinthewoods@gmail.com>
Co-authored-by: Chris Hennes <chennes@pioneerlibrarysystem.org>

* in progress

* Gtest added

* With changes from Assembly

* WinMerge main and this branch

* Add flag for GTest

* Flag to suppress OndselSolverMain

* rebase zero-radii-check (#69)

* contributing

* Update push-freecad.yml

updated actions/checkout to v4

* dragging log for debugging

* fix calcdxNorm crash

* setDebug and remove MBDyn*

* Update cmakelists.txt

* fix includes for gcc-14

gcc-14 is more disciplined about not including <algorithm> transitively.

* fix runDragStep

* backhoe files (#65)

* Mark unused variables to silence compiler warnings. (#64)

* Backhoe issues (#67)

* backhoe issues

* runDragStep edit

* backhoe issues

* runDragStep edit

* Reduce large drag step progressively until convergence.

* Switch to using built-in M_PI, even on MSVC (#68)

---------

Co-authored-by: Brad Collette <bradcollette@pop-os.localdomain>
Co-authored-by: mosfet80 <realeandrea@yahoo.it>
Co-authored-by: PaddleStroke <pierrelouis.boyer@gmail.com>
Co-authored-by: Jed Brown <jed@jedbrown.org>
Co-authored-by: sliptonic <shopinthewoods@gmail.com>
Co-authored-by: Chris Hennes <chennes@pioneerlibrarysystem.org>

* in progress

* Gtest added

* With changes from Assembly

* Add flag for GTest

* Flag to suppress OndselSolverMain

---------

Co-authored-by: Brad Collette <bradcollette@pop-os.localdomain>
Co-authored-by: mosfet80 <realeandrea@yahoo.it>
Co-authored-by: PaddleStroke <pierrelouis.boyer@gmail.com>
Co-authored-by: Jed Brown <jed@jedbrown.org>
Co-authored-by: sliptonic <shopinthewoods@gmail.com>
Co-authored-by: Chris Hennes <chennes@pioneerlibrarysystem.org>

.gitignore

@@ -39,4 +39,6 @@ assembly.asmt
 build
 cmake-build-debug
 .idea
-temp/
+temp/
+/testapp/draggingBackhoe.log
+/testapp/runPreDragBackhoe.asmt

CMakeLists.txt

@@ -5,6 +5,9 @@ project(OndselSolver VERSION 1.0.1 DESCRIPTION "Assembly Constraints and Multibo
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
 
+option(ONDSELSOLVER_BUILD_TESTS "Set to ON to build the Google Test-based C++ test suite." OFF)
+option(ONDSELSOLVER_BUILD_EXE "Set to ON to build the standalone OndselSolver executable." OFF)
+
 include(GNUInstallDirs)
 
 if( UNIX )
@@ -17,9 +20,14 @@ ENDIF ()
 
 add_compile_definitions(TEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/testapp")
 add_subdirectory(OndselSolver)
-add_subdirectory(OndselSolverMain)
-include(CTest)
-enable_testing()
-add_subdirectory(tests)
-target_compile_definitions(test_run PUBLIC TEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/testapp")
-set_property(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/OndselSolverMain PROPERTY VS_STARTUP_PROJECT OndselSolverMain)
+if(ONDSELSOLVER_BUILD_EXE)
+    add_subdirectory(OndselSolverMain)
+    set_property(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/OndselSolverMain PROPERTY VS_STARTUP_PROJECT OndselSolverMain)
+endif()
+
+if(ONDSELSOLVER_BUILD_TESTS)
+    include(CTest)
+    enable_testing()
+    add_subdirectory(tests)
+    target_compile_definitions(test_run PUBLIC TEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/testapp")
+endif()

OndselSolver/ASMTAssembly.cpp

@@ -61,6 +61,7 @@
 #include "ASMTLimit.h"
 #include "ASMTRotationLimit.h"
 #include "ASMTTranslationLimit.h"
+#include "ExternalSystem.h"
 #include <filesystem>
 
 using namespace MbD;
@@ -68,6 +69,7 @@ using namespace MbD;
 MbD::ASMTAssembly::ASMTAssembly()
     : ASMTSpatialContainer()
 {
+    externalSystem = std::make_shared<ExternalSystem>();
     times = std::make_shared<FullRow<double>>();
 }
 
@@ -1305,6 +1307,11 @@ void MbD::ASMTAssembly::storeOnLevel(std::ofstream& os, size_t level)
     storeOnTimeSeries(os);
 }
 
+size_t MbD::ASMTAssembly::numberOfFrames()
+{
+    return times->size();
+}
+
 void MbD::ASMTAssembly::solve()
 {
     auto simulationParameters = CREATE<ASMTSimulationParameters>::With();
@@ -1757,3 +1764,20 @@ void MbD::ASMTAssembly::setDebug(bool todebug)
 {
     debug = todebug;
 }
+
+void MbD::ASMTAssembly::updateForFrame(size_t index)
+{
+    ASMTSpatialContainer::updateForFrame(index);
+    for (auto& part : *parts) {
+        part->updateForFrame(index);
+    }
+    //for (auto& joint : *joints) {
+    //    joint->updateForFrame(index);
+    //}
+    //for (auto& motion : *motions) {
+    //    motion->updateForFrame(index);
+    //}
+    //for (auto& forceTorque : *forcesTorques) {
+    //    forceTorque->updateForFrame(index);
+    //}
+}

OndselSolver/ASMTAssembly.h

@@ -27,6 +27,7 @@ namespace MbD {
 	class ASMTLimit;
 	class SystemSolver;
 	class ASMTItemIJ;
+    class ExternalSystem;
 
 	class ASMTAssembly : public ASMTSpatialContainer
 	{
@@ -91,6 +92,7 @@ namespace MbD {
 		void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
 		void outputFile(const std::string& filename);
 		void storeOnLevel(std::ofstream& os, size_t level) override;
+        size_t numberOfFrames();
 
 		/* This function performs a one shot solve of the assembly.*/
 		void solve();
@@ -133,6 +135,7 @@ namespace MbD {
 		void storeOnTimeSeries(std::ofstream& os) override;
 		void setFilename(const std::string& filename);
 		void setDebug(bool todebug);
+        void updateForFrame(size_t index) override;
 
 		std::string filename = "";
 		std::string notes = "(Text string: '' runs: (Core.RunArray runs: #() values: #()))";
@@ -151,6 +154,7 @@ namespace MbD {
 		std::shared_ptr<Units> mbdUnits = std::make_shared<Units>();
 		std::shared_ptr<System> mbdSystem;
 		bool debug = false;
+        std::shared_ptr<ExternalSystem> externalSystem;
 
 	};
 }

OndselSolver/ASMTItem.cpp

@@ -191,6 +191,21 @@ void MbD::ASMTItem::createMbD(std::shared_ptr<System>, std::shared_ptr<Units>)
 	assert(false);
 }
 
+void MbD::ASMTItem::updateForFrame(size_t index)
+{
+    assert(false);
+}
+
+void MbD::ASMTItem::updateFromInitiallyAssembledState()
+{
+    assert(false);
+}
+
+void MbD::ASMTItem::updateFromInputState()
+{
+    assert(false);
+}
+
 void MbD::ASMTItem::updateFromMbD()
 {
 	assert(false);

OndselSolver/ASMTItem.h

@@ -46,8 +46,11 @@ namespace MbD {
 		void readDoublesInto(std::string str, std::string label, FRowDsptr& row);
 		virtual void deleteMbD();
 		virtual void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits);
-		virtual void updateFromMbD();
-		virtual void compareResults(AnalysisType type);
+        virtual void updateForFrame(size_t index);
+        virtual void updateFromInitiallyAssembledState();
+        virtual void updateFromInputState();
+        virtual void updateFromMbD();
+        virtual void compareResults(AnalysisType type);
 		virtual void outputResults(AnalysisType type);
 		std::shared_ptr<Units> mbdUnits();
 		std::shared_ptr<Constant> sptrConstant(double value);

OndselSolver/ASMTSimulationParameters.cpp

@@ -78,6 +78,12 @@ void MbD::ASMTSimulationParameters::sethout(double h)
 void MbD::ASMTSimulationParameters::seterrorTol(double tol)
 {
 	errorTol = tol;
+    errorTolPosKine = tol;
+	errorTolAccKine = tol;
+	corAbsTol = tol;
+	corRelTol = tol;
+	intAbsTol = tol;
+    intRelTol = tol;
 }
 
 void MbD::ASMTSimulationParameters::setmaxIter(size_t maxIter)

OndselSolver/ASMTSpatialContainer.cpp

@@ -360,6 +360,26 @@ ASMTSpatialContainer* MbD::ASMTSpatialContainer::partOrAssembly()
 	return this;
 }
 
+void MbD::ASMTSpatialContainer::updateForFrame(size_t index)
+{
+    position3D = getPosition3D(index);
+    rotationMatrix = getRotationMatrix(index);
+    velocity3D = getVelocity3D(index);
+    omega3D = getOmega3D(index);
+    acceleration3D = getAcceleration3D(index);
+    alpha3D = getAlpha3D(index);
+}
+
+void MbD::ASMTSpatialContainer::updateFromInitiallyAssembledState()
+{
+
+}
+
+void MbD::ASMTSpatialContainer::updateFromInputState()
+{
+
+}
+
 void MbD::ASMTSpatialContainer::updateFromMbD()
 {
 	auto mbdUnts = mbdUnits();
@@ -372,6 +392,7 @@ void MbD::ASMTSpatialContainer::updateFromMbD()
 	omega3D = omeOPO;
 	auto aOcmO = mbdPart->qXddot()->times(mbdUnts->acceleration);
 	auto alpOPO = mbdPart->alpOpO()->times(mbdUnts->alpha);
+    alpha3D = alpOPO;
 	auto& rPcmP = principalMassMarker->position3D;
 	auto& aAPp = principalMassMarker->rotationMatrix;
 	auto aAOP = aAOp->timesTransposeFullMatrix(aAPp);
@@ -384,7 +405,8 @@ void MbD::ASMTSpatialContainer::updateFromMbD()
 	auto vOPO = vOcmO->minusFullColumn(omeOPO->cross(rPcmO));
 	velocity3D = vOPO;
 	auto aOPO = aOcmO->minusFullColumn(alpOPO->cross(rPcmO))->minusFullColumn(omeOPO->cross(omeOPO->cross(rPcmO)));
-	xs->push_back(rOPO->at(0));
+    acceleration3D = aOPO;
+    xs->push_back(rOPO->at(0));
 	ys->push_back(rOPO->at(1));
 	zs->push_back(rOPO->at(2));
 	auto bryantAngles = aAOP->bryantAngles();
@@ -764,3 +786,21 @@ FColDsptr MbD::ASMTSpatialContainer::getOmega3D(size_t i)
 	vec3->atiput(2, omezs->at(i));
 	return vec3;
 }
+
+FColDsptr MbD::ASMTSpatialContainer::getAcceleration3D(size_t i)
+{
+    auto vec3 = std::make_shared<FullColumn<double>>(3);
+    vec3->atiput(0, axs->at(i));
+    vec3->atiput(1, ays->at(i));
+    vec3->atiput(2, azs->at(i));
+    return vec3;
+}
+
+FColDsptr MbD::ASMTSpatialContainer::getAlpha3D(size_t i)
+{
+    auto vec3 = std::make_shared<FullColumn<double>>(3);
+    vec3->atiput(0, alpxs->at(i));
+    vec3->atiput(1, alpys->at(i));
+    vec3->atiput(2, alpzs->at(i));
+    return vec3;
+}

OndselSolver/ASMTSpatialContainer.h

@@ -72,7 +72,10 @@ namespace MbD {
 		virtual FColDsptr vOcmO();
 		virtual FColDsptr omeOpO();
 		ASMTSpatialContainer* partOrAssembly() override;
-		void updateFromMbD() override;
+        void updateForFrame(size_t index) override;
+        void updateFromInitiallyAssembledState() override;
+        void updateFromInputState() override;
+        void updateFromMbD() override;
 		void compareResults(AnalysisType type) override;
 		void outputResults(AnalysisType type) override;
 		void addRefPoint(std::shared_ptr<ASMTRefPoint> refPoint);
@@ -92,12 +95,16 @@ namespace MbD {
 		void storeOnLevelRefCurves(std::ofstream& os, size_t level);
 		void storeOnLevelRefSurfaces(std::ofstream& os, size_t level);
 		void storeOnTimeSeries(std::ofstream& os) override;
-		FColDsptr getVelocity3D(size_t i);
-		FColDsptr getOmega3D(size_t i);
+        FColDsptr getVelocity3D(size_t i);
+        FColDsptr getOmega3D(size_t i);
+        FColDsptr getAcceleration3D(size_t i);
+        FColDsptr getAlpha3D(size_t i);
 
 		FColDsptr velocity3D = std::make_shared<FullColumn<double>>(3);
-		FColDsptr omega3D = std::make_shared<FullColumn<double>>(3);
-		std::shared_ptr<std::vector<std::shared_ptr<ASMTRefPoint>>> refPoints;
+        FColDsptr omega3D = std::make_shared<FullColumn<double>>(3);
+        FColDsptr acceleration3D = std::make_shared<FullColumn<double>>(3);
+        FColDsptr alpha3D = std::make_shared<FullColumn<double>>(3);
+        std::shared_ptr<std::vector<std::shared_ptr<ASMTRefPoint>>> refPoints;
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTRefCurve>>> refCurves;
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTRefSurface>>> refSurfaces;
 		FRowDsptr vxs, vys, vzs, omexs, omeys, omezs;

OndselSolver/ASMTTranslationalMotion.cpp

@@ -27,9 +27,15 @@ void MbD::ASMTTranslationalMotion::parseASMT(std::vector<std::string>& lines)
 
 void MbD::ASMTTranslationalMotion::initMarkers()
 {
-	auto jt = root()->jointAt(motionJoint);
-	markerI = jt->markerI;
-	markerJ = jt->markerJ;
+    if (motionJoint == "") {
+        assert(markerI != "");
+        assert(markerJ != "");
+    }
+    else {
+        auto jt = root()->jointAt(motionJoint);
+        markerI = jt->markerI;
+        markerJ = jt->markerJ;
+    }
 }
 
 void MbD::ASMTTranslationalMotion::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
@@ -60,6 +66,11 @@ void MbD::ASMTTranslationalMotion::readMotionJoint(std::vector<std::string>& lin
 	lines.erase(lines.begin());
 }
 
+void MbD::ASMTTranslationalMotion::setTranslationZ(std::string tranZ)
+{
+    translationZ = tranZ;
+}
+
 void MbD::ASMTTranslationalMotion::readTranslationZ(std::vector<std::string>& lines)
 {
 	assert(lines[0].find("TranslationZ") != std::string::npos);

OndselSolver/ASMTTranslationalMotion.h

@@ -20,6 +20,7 @@ namespace MbD {
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
         std::shared_ptr<ItemIJ> mbdClassNew() override;
         void readMotionJoint(std::vector<std::string>& lines);
+        void setTranslationZ(std::string tranZ);
         void readTranslationZ(std::vector<std::string>& lines);
         void storeOnLevel(std::ofstream& os, size_t level) override;
         void storeOnTimeSeries(std::ofstream& os) override;

OndselSolver/CMakeLists.txt

@@ -297,7 +297,7 @@ set(ONDSELSOLVER_SRC
         System.cpp
         SystemNewtonRaphson.cpp
         SystemSolver.cpp
-        Time.cpp
+        SymTime.cpp
         TooManyTriesError.cpp
         TooSmallStepSizeError.cpp
         Translation.cpp

OndselSolver/ExternalSystem.cpp

@@ -9,6 +9,7 @@
 #include "ExternalSystem.h"
 #include "CADSystem.h"
 #include "ASMTAssembly.h"
+//#include <Mod/Assembly/App/AssemblyObject.h>
 #include "System.h"
 
 using namespace MbD;
@@ -18,10 +19,14 @@ void MbD::ExternalSystem::preMbDrun(std::shared_ptr<System> mbdSys)
 	if (cadSystem) {
 		cadSystem->preMbDrun(mbdSys);
 	}
-	else if (asmtAssembly) {
-		asmtAssembly->preMbDrun(mbdSys);
-	}
-	else {
+    else if (asmtAssembly) {
+        asmtAssembly->preMbDrun(mbdSys);
+        //asmtAssembly->externalSystem->preMbDrun(mbdSys);
+    }
+    else if (freecadAssemblyObject) {
+        //freecadAssemblyObject->preMbDrun();
+    }
+    else {
 		assert(false);
 	}
 }
@@ -39,7 +44,10 @@ void MbD::ExternalSystem::updateFromMbD()
 	else if (asmtAssembly) {
 		asmtAssembly->updateFromMbD();
 	}
-	else {
+    else if (freecadAssemblyObject) {
+        //freecadAssemblyObject->updateFromMbD();
+    }
+    else {
 		assert(false);
 	}
 }
@@ -53,8 +61,12 @@ void MbD::ExternalSystem::outputFor(AnalysisType type)
 		asmtAssembly->updateFromMbD();
 		asmtAssembly->compareResults(type);
 		asmtAssembly->outputResults(type);
-	}
-	else {
+        //asmtAssembly->externalSystem->outputFor(type);
+    }
+    else if (freecadAssemblyObject) {
+        //freecadAssemblyObject->outputResults(type);
+    }
+    else {
 		assert(false);
 	}
 }

OndselSolver/ExternalSystem.h

@@ -16,10 +16,15 @@
 //#include "ASMTAssembly.h"
 #include "Part.h"
 
+namespace Assembly
+{
+	class AssemblyObject;
+}
+
 namespace MbD {
 	class CADSystem;
 	class ASMTAssembly;
-	class System;
+    class System;
 
 	class ExternalSystem
 	{
@@ -37,7 +42,8 @@ namespace MbD {
 
 
 		CADSystem* cadSystem;
-		ASMTAssembly* asmtAssembly;
+        ASMTAssembly* asmtAssembly;
+        Assembly::AssemblyObject* freecadAssemblyObject;
 
 	};
 }

OndselSolver/GeneralSpline.cpp

@@ -106,7 +106,7 @@ void MbD::GeneralSpline::computeDerivatives()
 	else {
 		//"Zero out higher derivatives at node n and node 1 to get the p end equations."
 		unsigned int count = 0;
-		auto npass = 0;
+		unsigned int npass = 0;
 		while (count < p) {
 			matrix->atijput(np - count, np - npass, 1.0);
 			count++;