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crank_slider.mbd MBDyn file working

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This commit is contained in:
Aik-Siong Koh
2023-10-13 13:01:39 -06:00
parent e4e98755db
commit 84cb979354
95 changed files with 2693 additions and 558 deletions
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113
OndselSolver/ASMTAssembly.cpp
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@@ -43,6 +43,11 @@
using namespace MbD;
MbD::ASMTAssembly::ASMTAssembly() : ASMTSpatialContainer()
{
times = std::make_shared<FullRow<double>>();
}
void MbD::ASMTAssembly::runSinglePendulumSuperSimplified()
{
//In this version we skip declaration of variables that don't need as they use default values.
@@ -82,6 +87,64 @@ void MbD::ASMTAssembly::runSinglePendulumSuperSimplified()
assembly->runKINEMATIC();
}
void MbD::ASMTAssembly::runSinglePendulumSuperSimplified2()
{
//In this version we skip declaration of variables that don't need as they use default values.
auto assembly = CREATE<ASMTAssembly>::With();
assembly->setName("OndselAssembly");
auto mkr = CREATE<ASMTMarker>::With();
mkr->setName("marker1");
assembly->addMarker(mkr);
auto part = CREATE<ASMTPart>::With();
part->setName("part1");
assembly->addPart(part);
auto marker1 = CREATE<ASMTMarker>::With();
marker1->setName("FixingMarker");
part->addMarker(marker1);
auto marker2 = CREATE<ASMTMarker>::With();
marker2->setName("marker2");
marker2->setPosition3D(20.0, 10.0, 0.0);
part->addMarker(marker2);
auto part2 = CREATE<ASMTPart>::With();
part2->setName("part2");
part2->setPosition3D(20.0, 10.0, 0.0);
assembly->addPart(part2);
auto marker3 = CREATE<ASMTMarker>::With();
marker3->setName("marker2");
marker3->setPosition3D(50.0, 10.0, 0.0);
part2->addMarker(marker3);
/*Ground joint*/
auto joint = CREATE<ASMTFixedJoint>::With();
joint->setName("Joint1");
joint->setMarkerI("/OndselAssembly/marker1");
joint->setMarkerJ("/OndselAssembly/part1/FixingMarker");
assembly->addJoint(joint);
auto joint2 = CREATE<ASMTRevoluteJoint>::With();
joint2->setName("Joint2");
joint2->setMarkerI("/OndselAssembly/part1/marker2");
joint2->setMarkerJ("/OndselAssembly/part2/marker2");
assembly->addJoint(joint2);
auto simulationParameters = CREATE<ASMTSimulationParameters>::With();
simulationParameters->settstart(0.0);
simulationParameters->settend(0.0); //tstart == tend Initial Conditions only.
simulationParameters->sethmin(1.0e-9);
simulationParameters->sethmax(1.0);
simulationParameters->sethout(0.04);
simulationParameters->seterrorTol(1.0e-6);
assembly->setSimulationParameters(simulationParameters);
assembly->runKINEMATIC();
}
void MbD::ASMTAssembly::runSinglePendulumSimplified()
{
auto assembly = CREATE<ASMTAssembly>::With();
@@ -96,7 +159,7 @@ void MbD::ASMTAssembly::runSinglePendulumSimplified()
assembly->setVelocity3D(0, 0, 0);
assembly->setOmega3D(0, 0, 0);
auto massMarker = CREATE<ASMTPrincipalMassMarker>::With();
auto massMarker = std::make_shared<ASMTPrincipalMassMarker>();
massMarker->setMass(0.0);
massMarker->setDensity(0.0);
massMarker->setMomentOfInertias(0, 0, 0);
@@ -110,7 +173,7 @@ void MbD::ASMTAssembly::runSinglePendulumSimplified()
auto mkr = CREATE<ASMTMarker>::With();
mkr->setName("Marker1");
mkr->setPosition3D(0, 0, 0);
massMarker->setRotationMatrix(
mkr->setRotationMatrix(
1, 0, 0,
0, 1, 0,
0, 0, 1);
@@ -127,7 +190,7 @@ void MbD::ASMTAssembly::runSinglePendulumSimplified()
part->setOmega3D(0, 0, 0);
assembly->addPart(part);
massMarker = CREATE<ASMTPrincipalMassMarker>::With();
massMarker = std::make_shared<ASMTPrincipalMassMarker>();
massMarker->setMass(0.2);
massMarker->setDensity(10.0);
massMarker->setMomentOfInertias(8.3333333333333e-4, 0.016833333333333, 0.017333333333333);
@@ -195,7 +258,7 @@ void MbD::ASMTAssembly::runSinglePendulum()
auto ome3D = std::make_shared<FullColumn<double>>(ListD{ 0, 0, 0 });
assembly->setOmega3D(ome3D);
//
auto massMarker = CREATE<ASMTPrincipalMassMarker>::With();
auto massMarker = std::make_shared<ASMTPrincipalMassMarker>();
massMarker->setMass(0.0);
massMarker->setDensity(0.0);
auto aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 0, 0, 0 });
@@ -220,7 +283,7 @@ void MbD::ASMTAssembly::runSinglePendulum()
{ 0, 1, 0 },
{ 0, 0, 1 }
});
massMarker->setRotationMatrix(rotMat);
mkr->setRotationMatrix(rotMat);
assembly->addMarker(mkr);
//
auto part = CREATE<ASMTPart>::With();
@@ -240,7 +303,7 @@ void MbD::ASMTAssembly::runSinglePendulum()
part->setOmega3D(ome3D);
assembly->addPart(part);
//
massMarker = CREATE<ASMTPrincipalMassMarker>::With();
massMarker = std::make_shared<ASMTPrincipalMassMarker>();
massMarker->setMass(0.2);
massMarker->setDensity(10.0);
aJ = std::make_shared<DiagonalMatrix<double>>(ListD{ 8.3333333333333e-4, 0.016833333333333, 0.017333333333333 });
@@ -729,6 +792,7 @@ void MbD::ASMTAssembly::calcCharacteristicDimensions()
auto unitLength = this->calcCharacteristicLength();
auto unitAngle = 1.0;
this->mbdUnits = std::make_shared<Units>(unitTime, unitMass, unitLength, unitAngle);
this->mbdUnits = std::make_shared<Units>(1.0, 1.0, 1.0, 1.0); //for debug
}
double MbD::ASMTAssembly::calcCharacteristicTime()
@@ -861,31 +925,20 @@ void MbD::ASMTAssembly::solve()
void MbD::ASMTAssembly::runKINEMATIC()
{
auto mbdSystem = CREATE<System>::With();
auto mbdSystem = std::make_shared<System>();
mbdObject = mbdSystem;
mbdSystem->externalSystem->asmtAssembly = this;
mbdSystem->runKINEMATIC(mbdSystem);
}
//
//void MbD::ASMTAssembly::initprincipalMassMarker()
//{
// //Choose first refPoint as center of mass
// assert(!refPoints->empty());
// auto refPoint = refPoints->at(0);
// principalMassMarker = CREATE<ASMTPrincipalMassMarker>::With();
// principalMassMarker->position3D = refPoint->position3D;
// principalMassMarker->rotationMatrix = refPoint->rotationMatrix;
//}
void MbD::ASMTAssembly::initprincipalMassMarker()
{
principalMassMarker = CREATE<ASMTPrincipalMassMarker>::With();
principalMassMarker = std::make_shared<ASMTPrincipalMassMarker>();
principalMassMarker->mass = 0.0;
principalMassMarker->density = 0.0;
principalMassMarker->momentOfInertias = std::make_shared<DiagonalMatrix<double>>(3, 0);
//principalMassMarker->position3D = std::make_shared<FullColumn<double>>(3, 0);
//principalMassMarker->rotationMatrix = std::make_shared<FullMatrix<double>>(3, 3);
//principalMassMarker->rotationMatrix->identity();
//principalMassMarker->rotationMatrix = FullMatrix<double>>::identitysptr(3);
}
std::shared_ptr<ASMTSpatialContainer> MbD::ASMTAssembly::spatialContainerAt(std::shared_ptr<ASMTAssembly> self, std::string& longname)
@@ -961,6 +1014,7 @@ void MbD::ASMTAssembly::updateFromMbD()
{
ASMTSpatialContainer::updateFromMbD();
times->push_back(asmtTime->getValue());
std::cout << "Time = " << asmtTime->getValue() << std::endl;
for (auto& part : *parts) part->updateFromMbD();
for (auto& joint : *joints) joint->updateFromMbD();
for (auto& motion : *motions) motion->updateFromMbD();
@@ -1016,4 +1070,23 @@ void MbD::ASMTAssembly::setSimulationParameters(std::shared_ptr<ASMTSimulationPa
parameters->owner = this;
}
std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partNamed(std::string partName)
{
auto it = std::find_if(parts->begin(), parts->end(), [&](const std::shared_ptr<ASMTPart>& prt) {
return prt->fullName("") == partName;
});
auto& part = *it;
return part;
}
std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partPartialNamed(std::string partialName)
{
auto it = std::find_if(parts->begin(), parts->end(), [&](const std::shared_ptr<ASMTPart>& prt) {
auto fullName = prt->fullName("");
return fullName.find(partialName) != std::string::npos;
});
auto part = *it;
return part;
}