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MBDyn spherical hinge (#33)

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* 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

0
testapp/assembly.asmt → testapp/CrankSlider2debug1.asmt
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0
testapp/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
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Markers
Marker
Name
Marker3
Position3D
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RotationMatrix
1 0 0
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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
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Velocity3D
0 0 0
Omega3D
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PrincipalMassMarker
Name
MassMarker
Position3D
7.105427357601002e-18 0 7.105427357601002e-18
RotationMatrix
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Mass
1.448636188351172
MomentOfInertias
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Density
10
RefPoints
RefPoint
Position3D
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RotationMatrix
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Markers
Marker
Name
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RotationMatrix
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-0 1 0
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Position3D
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RotationMatrix
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Markers
Marker
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RotationMatrix
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0 1 0
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Name
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Position3D
0 0 0
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1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker1
Position3D
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RotationMatrix
1 0 0
0 1 0
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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
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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
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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
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hmin
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hmax
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hout
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errorTol
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AnimationParameters
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icurrent
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istart
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iend
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isForward
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framesPerSecond
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testapp/MBDynCase2debug2.asmt Normal file
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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
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@@ -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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200
testapp/SphericalHingedebug1.asmt Normal file
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OndselSolver
Assembly
Notes
(Text string: '' runs: (Core.RunArray runs: #() values: #()))
Name
Assembly
Position3D
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RotationMatrix
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Velocity3D
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Omega3D
0 0 0
RefPoints
RefPoint
Position3D
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RotationMatrix
1 0 0
0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
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RotationMatrix
1 0 0
0 1 0
0 0 1
RefCurves
RefSurfaces
Parts
Part
Name
structural_node_1
Position3D
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RotationMatrix
1 0 0
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Velocity3D
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Omega3D
0 0 0
FeatureOrder
PrincipalMassMarker
Name
MassMarker
Position3D
0 0 0
RotationMatrix
1 0 0
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Mass
1
MomentOfInertias
1 2 3
Density
10
RefPoints
RefPoint
Position3D
0 0 0
RotationMatrix
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0 1 0
0 0 1
Markers
Marker
Name
Marker0
Position3D
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RotationMatrix
1 0 0
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RefPoint
Position3D
0 0 0
RotationMatrix
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Markers
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Name
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Position3D
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RotationMatrix
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RefCurves
RefSurfaces
Part
Name
structural_node_2
Position3D
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RotationMatrix
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Velocity3D
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Omega3D
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Name
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RotationMatrix
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Mass
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MomentOfInertias
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RotationMatrix
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RefCurves
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KinematicIJs
ConstraintSets
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Name
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MarkerI
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MarkerJ
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SphericalJoint
Name
joint_2
MarkerI
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MarkerJ
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Motions
GeneralConstraintSets
ForceTorques
ConstantGravity
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SimulationParameters
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tend
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hmin
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hmax
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hout
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errorTol
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AnimationParameters
nframe
1000000
icurrent
1
istart
1
iend
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isForward
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framesPerSecond
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testapp/SphericalHingedebug2.asmt Normal file
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586
testapp/smalltalk.asmt
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