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MBDyn spherical hinge (#33)

Browse Source 
* moved misc files to project resource

* MBDyn Sperical Hinge

* Werner compil warning (#32)

* Replace int by size_t in for loops.

* Various dtor missing and some other warning fixes.

* fixed size_t vs int

* fixed size_t vs int

---------

Co-authored-by: Paddle <PaddleStroke@users.noreply.github.com>
Co-authored-by: Aik-Siong Koh <askoh@askoh.com>

* moved misc files to project resource

* MBDyn Sperical Hinge

* gravity fix

---------

Co-authored-by: PaddleStroke <pierrelouis.boyer@gmail.com>
Co-authored-by: Paddle <PaddleStroke@users.noreply.github.com>
This commit is contained in:
aiksiongkoh
2023-11-27 14:48:58 -07:00
committed by GitHub
parent 3952f45945
commit 810c8d2f0e
24 changed files with 2547 additions and 4627 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
OndselSolver/MBDynControlData.cpp
View File

@@ -16,6 +16,7 @@ void MbD::MBDynControlData::parseMBDyn(std::vector<std::string>& lines)
readStructuralNodes(lines);
readRigidBodies(lines);
readJoints(lines);
readGravity(lines);
assert(lines.size() == 2);
}
@@ -131,3 +132,12 @@ void MbD::MBDynControlData::readJoints(std::vector<std::string>& lines)
iss >> joints;
lines.erase(it);
}
void MbD::MBDynControlData::readGravity(std::vector<std::string>& lines)
{
//gravity;
std::vector<std::string> tokens{ "gravity" };
auto it = findLineWith(lines, tokens);
if (it == lines.end()) return;
lines.erase(it);
}

1
OndselSolver/MBDynControlData.h
View File

@@ -23,6 +23,7 @@ namespace MbD {
void readStructuralNodes(std::vector<std::string>& lines);
void readRigidBodies(std::vector<std::string>& lines);
void readJoints(std::vector<std::string>& lines);
void readGravity(std::vector<std::string>& lines);
int maxIterations = 1000;
std::string defaultOrientation = "euler321";

58
OndselSolver/MBDynGravity.cpp Normal file
View File

@@ -0,0 +1,58 @@
#include <regex>
#include "MBDynGravity.h"
#include "ASMTConstantGravity.h"
#include "ASMTAssembly.h"
using namespace MbD;
void MbD::MBDynGravity::parseMBDyn(std::string line)
{
gravityString = line;
size_t previousPos = 0;
auto pos = line.find(":");
auto front = line.substr(previousPos, pos - previousPos);
assert(front.find("gravity") != std::string::npos);
auto arguments = std::vector<std::string>();
std::string argument;
while (true) {
previousPos = pos;
pos = line.find(",", pos + 1);
if (pos != std::string::npos) {
argument = line.substr(previousPos + 1, pos - previousPos - 1);
arguments.push_back(argument);
}
else {
argument = line.substr(previousPos + 1);
arguments.push_back(argument);
break;
}
}
assert(arguments.at(0).find("uniform") != std::string::npos);
arguments.erase(arguments.begin());
gvec = readPosition(arguments);
assert(arguments.at(0).find("string") != std::string::npos);
arguments.erase(arguments.begin());
auto iss = std::istringstream(arguments.at(0));
iss >> formula;
formula = std::regex_replace(formula, std::regex("\""), "");
double mag;
iss = std::istringstream(formula);
iss >> mag;
arguments.erase(arguments.begin());
gvec->normalizeSelf();
gvec->magnifySelf(mag);
}
void MbD::MBDynGravity::readFunction(std::vector<std::string>& args)
{
assert(false);
}
void MbD::MBDynGravity::createASMT()
{
auto asmtGravity = std::make_shared<ASMTConstantGravity>();
asmtGravity->setg(gvec);
asmtAssembly()->setConstantGravity(asmtGravity);
}

24
OndselSolver/MBDynGravity.h Normal file
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@@ -0,0 +1,24 @@
/***************************************************************************
* Copyright (c) 2023 Ondsel, Inc. *
* *
* This file is part of OndselSolver. *
* *
* See LICENSE file for details about copyright. *
***************************************************************************/
#pragma once
#include "MBDynElement.h"
namespace MbD {
class MBDynGravity : public MBDynElement
{
public:
void parseMBDyn(std::string line);
void readFunction(std::vector<std::string>& args);
void createASMT() override;
std::string gravityString, formula;
FColDsptr gvec;
};
}

2
OndselSolver/MBDynItem.cpp
View File

@@ -8,6 +8,8 @@
#include "FullMatrix.h"
#include "ASMTItem.h"
#include "MBDynBody.h"
#include "MBDynDrive.h"
#include "MBDynGravity.h"
using namespace MbD;

19
OndselSolver/MBDynSystem.cpp
View File

@@ -21,6 +21,7 @@
#include "BasicUserFunction.h"
#include "MBDynReference.h"
#include "MBDynDrive.h"
#include "MBDynGravity.h"
using namespace MbD;
@@ -94,6 +95,7 @@ void MbD::MBDynSystem::createASMT()
for (auto& node : *nodes) node->createASMT();
for (auto& body : *bodies) body->createASMT();
for (auto& joint : *joints) joint->createASMT();
if (gravity) gravity->createASMT();
}
std::shared_ptr<MBDynNode> MbD::MBDynSystem::nodeAt(std::string nodeName)
@@ -134,11 +136,12 @@ std::vector<std::string> MbD::MBDynSystem::nodeNames()
void MbD::MBDynSystem::runKINEMATIC()
{
createASMT();
asmtAssembly()->outputFile("assembly.asmt");
auto debugFile1 = filename.substr(0, filename.find_last_of('.')) + "debug1.asmt";
asmtAssembly()->outputFile(debugFile1);
std::static_pointer_cast<ASMTAssembly>(asmtItem)->runKINEMATIC();
outputFiles();
asmtAssembly()->outputFile("assembly2.asmt");
asmtAssembly()->outputFile("smalltalk.asmt");
auto debugFile2 = filename.substr(0, filename.find_last_of('.')) + "debug2.asmt";
asmtAssembly()->outputFile(debugFile2);
}
void MbD::MBDynSystem::outputFiles()
@@ -325,6 +328,7 @@ void MbD::MBDynSystem::parseMBDynElements(std::vector<std::string>& lines)
std::vector<std::string> bodyTokens{ "body:" };
std::vector<std::string> jointTokens{ "joint:" };
std::vector<std::string> driveTokens{ "drive", "caller:" };
std::vector<std::string> gravityTokens{ "gravity" };
std::vector<std::string>::iterator it;
while (true) {
it = findLineWith(lines, bodyTokens);
@@ -354,6 +358,15 @@ void MbD::MBDynSystem::parseMBDynElements(std::vector<std::string>& lines)
lines.erase(it);
continue;
}
it = findLineWith(lines, gravityTokens);
if (it != lines.end()) {
auto grav = std::make_shared<MBDynGravity>();
grav->owner = this;
grav->parseMBDyn(*it);
gravity = grav;
lines.erase(it);
continue;
}
break;
}
assert(lines[0].find("end: elements") != std::string::npos);

4
OndselSolver/MBDynSystem.h
View File

@@ -11,7 +11,6 @@
#include <string>
#include "MBDynItem.h"
#include "MBDynDrive.h"
namespace MbD {
class MBDynData;
@@ -22,6 +21,8 @@ namespace MbD {
class MBDynVariable;
class MBDynLabel;
class MBDynReference;
class MBDynDrive;
class MBDynGravity;
class MBDynSystem : public MBDynItem
{
@@ -70,6 +71,7 @@ namespace MbD {
std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> bodies;
std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> joints;
std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> drives;
std::shared_ptr<MBDynGravity> gravity;
std::shared_ptr<std::map<std::string, Symsptr>> variables;
std::shared_ptr<std::map<std::string, int>> labels;
std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> references;

45
OndselSolver/OndselSolver.vcxproj
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@@ -230,6 +230,7 @@
<ClCompile Include="MBDynData.cpp" />
<ClCompile Include="MBDynDrive.cpp" />
<ClCompile Include="MBDynElement.cpp" />
<ClCompile Include="MBDynGravity.cpp" />
<ClCompile Include="MBDynInitialValue.cpp" />
<ClCompile Include="MBDynItem.cpp" />
<ClCompile Include="MBDynJoint.cpp" />
@@ -527,6 +528,7 @@
<ClInclude Include="MBDynData.h" />
<ClInclude Include="MBDynDrive.h" />
<ClInclude Include="MBDynElement.h" />
<ClInclude Include="MBDynGravity.h" />
<ClInclude Include="MBDynInitialValue.h" />
<ClInclude Include="MBDynItem.h" />
<ClInclude Include="MBDynJoint.h" />
@@ -728,19 +730,36 @@
<ResourceCompile Include="OndselSolver.rc" />
</ItemGroup>
<ItemGroup>
<None Include="00backhoe.asmt" />
<None Include="circular.asmt" />
<None Include="cirpendu.asmt" />
<None Include="ClassDiagram.cd" />
<None Include="ClassDiagram1.cd" />
<None Include="crank_slider.mbd" />
<None Include="engine1.asmt" />
<None Include="fourbar.asmt" />
<None Include="fourbot.asmt" />
<None Include="gyro.asmt" />
<None Include="piston.asmt" />
<None Include="robot.asmt" />
<None Include="wobpump.asmt" />
<None Include="..\testapp\00backhoe.asmt" />
<None Include="..\testapp\circular.asmt" />
<None Include="..\testapp\cirpendu.asmt" />
<None Include="..\testapp\cirpendu2.asmt" />
<None Include="..\testapp\CrankSlider2.mbd" />
<None Include="..\testapp\crank_slider.mbd" />
<None Include="..\testapp\crank_sliderX.mbd" />
<None Include="..\testapp\engine1.asmt" />
<None Include="..\testapp\fourbar.asmt" />
<None Include="..\testapp\fourbot.asmt" />
<None Include="..\testapp\gyro.asmt" />
<None Include="..\testapp\InitialConditions.mbd" />
<None Include="..\testapp\MBDynCase.mbd" />
<None Include="..\testapp\MBDynCase2.mbd" />
<None Include="..\testapp\MBDynCase2orig.mbd" />
<None Include="..\testapp\MBDynCaseDebug1.mbd" />
<None Include="..\testapp\MBDynCaseDebug2.mbd" />
<None Include="..\testapp\piston.asmt" />
<None Include="..\testapp\quasikine.asmt" />
<None Include="..\testapp\robot.asmt" />
<None Include="..\testapp\SphericalHinge.mbd" />
<None Include="..\testapp\wobpump.asmt" />
</ItemGroup>
<ItemGroup>
<Media Include="..\testapp\CrankSlider2.mov" />
<Media Include="..\testapp\InitialConditionsMBDyn.mov" />
<Media Include="..\testapp\InitialConditionsOndselSolver.mov" />
<Media Include="..\testapp\MBDynCase.mov" />
<Media Include="..\testapp\MBDynCase2.mov" />
<Media Include="..\testapp\SphericalHinge.mov" />
</ItemGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets">

49
OndselSolver/OndselSolver.vcxproj.filters
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@@ -885,6 +885,9 @@
<ClCompile Include="..\testapp\OndselSolver.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="MBDynGravity.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<ClInclude Include="Array.h">
@@ -1778,6 +1781,9 @@
<ClInclude Include="DiagonalMatrix.ref.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="MBDynGravity.h">
<Filter>Header Files</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ResourceCompile Include="OndselSolver.rc">
@@ -1785,18 +1791,35 @@
</ResourceCompile>
</ItemGroup>
<ItemGroup>
<None Include="ClassDiagram.cd" />
<None Include="piston.asmt" />
<None Include="00backhoe.asmt" />
<None Include="circular.asmt" />
<None Include="cirpendu.asmt" />
<None Include="engine1.asmt" />
<None Include="fourbar.asmt" />
<None Include="fourbot.asmt" />
<None Include="gyro.asmt" />
<None Include="robot.asmt" />
<None Include="wobpump.asmt" />
<None Include="crank_slider.mbd" />
<None Include="ClassDiagram1.cd" />
<None Include="..\testapp\00backhoe.asmt" />
<None Include="..\testapp\circular.asmt" />
<None Include="..\testapp\cirpendu.asmt" />
<None Include="..\testapp\cirpendu2.asmt" />
<None Include="..\testapp\CrankSlider2.mbd" />
<None Include="..\testapp\crank_slider.mbd" />
<None Include="..\testapp\crank_sliderX.mbd" />
<None Include="..\testapp\engine1.asmt" />
<None Include="..\testapp\fourbar.asmt" />
<None Include="..\testapp\fourbot.asmt" />
<None Include="..\testapp\gyro.asmt" />
<None Include="..\testapp\InitialConditions.mbd" />
<None Include="..\testapp\MBDynCase.mbd" />
<None Include="..\testapp\MBDynCase2.mbd" />
<None Include="..\testapp\MBDynCase2orig.mbd" />
<None Include="..\testapp\MBDynCaseDebug1.mbd" />
<None Include="..\testapp\MBDynCaseDebug2.mbd" />
<None Include="..\testapp\piston.asmt" />
<None Include="..\testapp\quasikine.asmt" />
<None Include="..\testapp\robot.asmt" />
<None Include="..\testapp\SphericalHinge.mbd" />
<None Include="..\testapp\wobpump.asmt" />
</ItemGroup>
<ItemGroup>
<Media Include="..\testapp\CrankSlider2.mov" />
<Media Include="..\testapp\InitialConditionsMBDyn.mov" />
<Media Include="..\testapp\InitialConditionsOndselSolver.mov" />
<Media Include="..\testapp\MBDynCase.mov" />
<Media Include="..\testapp\MBDynCase2.mov" />
<Media Include="..\testapp\SphericalHinge.mov" />
</ItemGroup>
</Project>

524
OndselSolver/assembly.asmt
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File diff suppressed because one or more lines are too long

479
OndselSolver/cirpendu2.asmt
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File diff suppressed because one or more lines are too long

493
OndselSolver/quasikine.asmt
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File diff suppressed because one or more lines are too long

586
OndselSolver/smalltalk.asmt
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File diff suppressed because one or more lines are too long

0
testapp/assembly.asmt → testapp/CrankSlider2debug1.asmt
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0
OndselSolver/assembly2.asmt → testapp/CrankSlider2debug2.asmt
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439
testapp/MBDynCase2debug1.asmt Normal file
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@@ -0,0 +1,439 @@
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
-0.121 -1.218180697837851e-18 -0.08
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
0.121 1.218180697837851e-18 0.08
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 1.218180697837851e-18 0.05
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
Marker2
Position3D
0 1.218180697837785e-18 0.08
RotationMatrix
2.220446049250313e-16 -2.220446049250313e-16 1
1 0 -2.220446049250313e-16
4.930380657631324e-32 1 2.220446049250313e-16
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker3
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Part
Name
structural_node_2
Position3D
-0.04753704894473842 0.09742200410568831 -0.03029347681223059
RotationMatrix
0.9512512425641979 -0.1267494082121462 0.2811683855591535
0.167731259496521 0.9776506595433678 -0.1267494082121462
-0.258819045102521 0.167731259496521 0.9512512425641977
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
7.105427357601002e-18 0 7.105427357601002e-18
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
1.448636188351172
MomentOfInertias
0.002871751015088 0.002864447840812 0.0007089594589930001
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
-0.03739853284269051 0 0.003286762255221063
RotationMatrix
1 0 5.204170427930421e-18
-0 1 0
-5.204170427930421e-18 -0 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
0.03260146715730949 1.4210854715202e-17 0.05328676225522106
RotationMatrix
1 -0 5.204170427930421e-18
0 1 0
-5.204170427930421e-18 0 1
RefCurves
RefSurfaces
Part
Name
structural_node_3
Position3D
0.07099630277370235 -0.07364765799707981 0.05840790082376057
RotationMatrix
0.9622501868990581 0.01433011691863463 -0.271788935686915
-0.08715574274765801 0.9622501868990581 -0.2578341604963
0.2578341604963001 0.271788935686915 0.9271743741709766
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
2.842170943040401e-17 -1.4210854715202e-17 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
2.852948655706768
MomentOfInertias
0.03383792198797 0.033715148099504 0.001956310318013
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
-0.1400000000000079 -1.044497821567347e-15 0.02499999999999804
RotationMatrix
3.322229154067983e-33 1 -5.551115123125784e-17
-1 0 -5.984795992119986e-17
-5.984795992119986e-17 5.551115123125784e-17 1
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
0.1399999999999913 4.423128530106624e-16 9.79127889877418e-15
RotationMatrix
0.7254861972346578 0.6882367162699149 2.719509169040251e-15
-0.6882367162699149 0.7254861972346578 1.258675848677982e-14
6.689702964032028e-15 -1.100318561045113e-14 1
RefCurves
RefSurfaces
Part
Name
structural_node_4
Position3D
0.3723079639890564 0.04333150035096042 0.008140985321785409
RotationMatrix
0.9659258262890682 -0 0.2588190451025211
0 1 0
-0.2588190451025211 0 0.9659258262890682
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
2.842170943040401e-16 2.131628207280301e-17 2.273736754432321e-16
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
10.85942720262214
MomentOfInertias
0.07706742098794901 0.066351815798527 0.061792350456255
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
-0.04558083463411924 -2.029935401992589e-10 1.256225164070202e-08
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
-0.04558083463411924 -2.029935401992589e-10 1.256225164070202e-08
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
Marker2
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
RevoluteJoint
Name
joint_2
MarkerI
/Assembly/structural_node_1/Marker1
MarkerJ
/Assembly/structural_node_2/Marker0
RevoluteJoint
Name
joint_3
MarkerI
/Assembly/structural_node_2/Marker1
MarkerJ
/Assembly/structural_node_3/Marker0
PointInLineJoint
Name
joint_4
MarkerI
/Assembly/structural_node_3/Marker1
MarkerJ
/Assembly/structural_node_4/Marker0
PointInLineJoint
Name
joint_5
MarkerI
/Assembly/structural_node_1/Marker2
MarkerJ
/Assembly/structural_node_4/Marker1
NoRotationJoint
Name
joint_6
MarkerI
/Assembly/structural_node_1/Marker3
MarkerJ
/Assembly/structural_node_4/Marker2
Motions
RotationalMotion
Name
joint_2Motion
MarkerI
/Assembly/structural_node_1/Marker1
MarkerJ
/Assembly/structural_node_2/Marker0
MotionJoint
/Assembly/joint_2
RotationZ
integral(time, rampstep(time, 0.0, 0.0, 1.0, 0.0 + 6.28*(1.0 - 0.0)))
GeneralConstraintSets
ForceTorques
ConstantGravity
0 0 0
SimulationParameters
tstart
0
tend
3
hmin
1e-09
hmax
1
hout
0.01
errorTol
1e-06
AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
1000000
isForward
true
framesPerSecond
30

586
testapp/MBDynCase2debug2.asmt Normal file
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File diff suppressed because one or more lines are too long

1
testapp/OndselSolver.cpp
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@@ -26,6 +26,7 @@ void sharedptrTest();
int main()
{
MBDynSystem::runFile("../testapp/SphericalHinge.mbd");
ASMTAssembly::runFile("../testapp/cirpendu2.asmt"); //Under constrained. Testing ICKine.
ASMTAssembly::runFile("../testapp/quasikine.asmt"); //Under constrained. Testing ICKine.
ASMTAssembly::readWriteFile("../testapp/piston.asmt");

2
testapp/SphericalHinge.mbd
View File

@@ -10,7 +10,7 @@
begin: initial value;
initial time: 0.0;
final time: 8.0;
final time: 3.0;
time step: 0.01;
max iterations: 100;
tolerance: 1e-06;

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testapp/SphericalHinge.mov
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testapp/SphericalHingedebug1.asmt Normal file
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@@ -0,0 +1,200 @@
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
1.727420524244408e-18 0.003055045871559638 0.025
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
-1.727420524244408e-18 -0.003055045871559638 -0.025
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
-1.727420524244408e-18 -0.003055045871559638 0
RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Part
Name
structural_node_2
Position3D
0.008191520442889925 -0.01262591275038929 0.04303463608057351
RotationMatrix
0.5735764363510459 -1.387778780781446e-16 0.8191520442889918
-0.6710100716628343 0.5735764363510458 0.4698463103929542
-0.469846310392954 -0.8191520442889917 0.3289899283371654
Velocity3D
0 0 0
Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
-3.203482812352831e-12 0.01281482425686655 -0.009255846159930699
RotationMatrix
1 0 0
0 1 0
0 0 1
Mass
0.0064701741006665
MomentOfInertias
4.27187049e-07 4.10064115e-07 6.3235945e-08
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
-3.552713678800501e-18 0.01800000000000001 -0.01000000000000001
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
SphericalJoint
Name
joint_2
MarkerI
/Assembly/structural_node_2/Marker0
MarkerJ
/Assembly/structural_node_1/Marker1
Motions
GeneralConstraintSets
ForceTorques
ConstantGravity
0 -9.807 0
SimulationParameters
tstart
0
tend
3
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/SphericalHingedebug2.asmt Normal file
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testapp/assembly2.asmt
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testapp/smalltalk.asmt
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