MBDynCaseJose.mbd .mov
# Conflicts: # testapp/OndselSolver.cpp
This commit is contained in:
Aik-Siong Koh
297
testapp/CrankSlider2.mbd
Normal file
297
testapp/CrankSlider2.mbd
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@@ -0,0 +1,297 @@
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-----------------------------------------------------------------------------
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# [Data Block]
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begin: data;
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problem: initial value;
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end: data;
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#-----------------------------------------------------------------------------
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# [Problem Block]
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begin: initial value;
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initial time: 0.0;
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final time: 8.0;
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time step: 0.01;
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max iterations: 100;
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tolerance: 1e-06;
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derivatives tolerance: 0.0001;
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derivatives max iterations: 100;
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derivatives coefficient: auto;
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end: initial value;
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#-----------------------------------------------------------------------------
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# [Control Data Block]
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begin: control data;
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max iterations: 1000;
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default orientation: euler321;
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omega rotates: no;
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print: none;
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initial stiffness: 1.0, 1.0;
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structural nodes: 4;
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rigid bodies: 3;
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joints: 6;
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end: control data;
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#-----------------------------------------------------------------------------
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# [Design Variables]
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#Generic bodies
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#body: 2
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set: integer body_2 = 2; #body label
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set: real mass_2 = 3.805252376198168; #mass [kg]
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set: real volume_2 = 0.0004816775159744516; #volume [m^3]
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#body: 3
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set: integer body_3 = 3; #body label
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set: real mass_3 = 15.238784954845523; #mass [kg]
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set: real volume_3 = 0.0019289601208665218; #volume [m^3]
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#body: 4
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set: integer body_4 = 4; #body label
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set: real mass_4 = 2.865603331977783; #mass [kg]
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set: real volume_4 = 0.0003627345989845295; #volume [m^3]
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#Nodes
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#node: 1
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set: integer structural_node_1 = 1; #node label
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#node: 2
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set: integer structural_node_2 = 2; #node label
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#node: 3
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set: integer structural_node_3 = 3; #node label
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#node: 4
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set: integer structural_node_4 = 4; #node label
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#Joints
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#joint: 1
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set: integer joint_1 = 1; #joint label
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#joint: 2
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set: integer joint_2 = 2; #joint label
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#joint: 3
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set: integer joint_3 = 3; #joint label
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#joint: 4
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set: integer joint_4 = 4; #joint label
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#joint: 5
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set: integer joint_5 = 5; #joint label
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#joint: 6
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set: integer joint_6 = 6; #joint label
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#Nodes: initial conditions
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#node: 1
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set: real Px_1 = -0.06210573361337854; #X component of the absolute position [m]
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set: real Py_1 = 0.048526435375479564; #Y component of the absolute position [m]
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set: real Pz_1 = -4.033966837940965e-17; #Z component of the absolute position [m]
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set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
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set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
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set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
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set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
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set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
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set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
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#node: 2
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set: real Px_2 = 0.011666006676941875; #X component of the absolute position [m]
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set: real Py_2 = 0.15999999999999778; #Y component of the absolute position [m]
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set: real Pz_2 = -1.2084363289349542e-19; #Z component of the absolute position [m]
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set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
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set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
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set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
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set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
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set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
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set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
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#node: 3
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set: real Px_3 = 0.2111281366952498; #X component of the absolute position [m]
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set: real Py_3 = 0.16; #Y component of the absolute position [m]
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set: real Pz_3 = -2.0217697810416158e-18; #Z component of the absolute position [m]
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set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
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set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
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set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
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set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
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set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
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set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
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#node: 4
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set: real Px_4 = -0.1812239275015207; #X component of the absolute position [m]
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set: real Py_4 = 0.16000000169909329; #Y component of the absolute position [m]
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set: real Pz_4 = -4.340477856936436e-12; #Z component of the absolute position [m]
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set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
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set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
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set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
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set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
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set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
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set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
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#-----------------------------------------------------------------------------
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# [Intermediate Variables]
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#Moments of inertia and relative center of mass
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#body 2:
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set: real Ixx_2 = 0.031674420620509; #moment of inertia [kg*m^2]
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set: real Iyy_2 = 0.029604112147595; #moment of inertia [kg*m^2]
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set: real Izz_2 = 0.002867529429125; #moment of inertia [kg*m^2]
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set: real Rx_2 = 0.0; #X component of the relative center of mass [m]
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set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
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set: real Rz_2 = 2.0843632893495426e-20; #Z component of the relative center of mass [m]
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#body 3:
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set: real Ixx_3 = 0.09813066341583701; #moment of inertia [kg*m^2]
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set: real Iyy_3 = 0.095433846761275; #moment of inertia [kg*m^2]
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set: real Izz_3 = 0.077043262824289; #moment of inertia [kg*m^2]
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set: real Rx_3 = 0.0; #X component of the relative center of mass [m]
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set: real Ry_3 = 0.0; #Y component of the relative center of mass [m]
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set: real Rz_3 = 2.1769781041615487e-20; #Z component of the relative center of mass [m]
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#body 4:
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set: real Ixx_4 = 0.010133521085753; #moment of inertia [kg*m^2]
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set: real Iyy_4 = 0.006853402672398001; #moment of inertia [kg*m^2]
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set: real Izz_4 = 0.00669113151275; #moment of inertia [kg*m^2]
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set: real Rx_4 = 0.0; #X component of the relative center of mass [m]
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set: real Ry_4 = 0.0; #Y component of the relative center of mass [m]
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set: real Rz_4 = -4.306356366563123e-20; #Z component of the relative center of mass [m]
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#-----------------------------------------------------------------------------
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# [Nodes Block]
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begin: nodes;
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structural: structural_node_1,
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static,
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Px_1, Py_1, Pz_1, #<absolute_position> [m]
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3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
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Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
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Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
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structural: structural_node_2,
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dynamic,
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Px_2, Py_2, Pz_2, #<absolute_position> [m]
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3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
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Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
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Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
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structural: structural_node_3,
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dynamic,
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Px_3, Py_3, Pz_3, #<absolute_position> [m]
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3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
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Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
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Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
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structural: structural_node_4,
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dynamic,
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Px_4, Py_4, Pz_4, #<absolute_position> [m]
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3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
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Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
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Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
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end: nodes;
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#-----------------------------------------------------------------------------
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# [Elements Block]
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begin: elements;
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#-----------------------------------------------------------------------------
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# [Bodies]
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body: body_2,
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structural_node_2, #<node_label>
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mass_2, #<mass> [kg]
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Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
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diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
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orientation, 3, 1.0, 0.0, 0.0, 2, 0.0, 0.9999999999999999, 9.62964972193618e-35;
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body: body_3,
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structural_node_3, #<node_label>
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mass_3, #<mass> [kg]
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Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
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diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
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orientation, 3, 0.0, 0.0, 1.0, 2, 1.0, 0.0, 0.0;
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body: body_4,
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structural_node_4, #<node_label>
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mass_4, #<mass> [kg]
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Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
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diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
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orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0;
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#-----------------------------------------------------------------------------
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# [Joints]
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joint: joint_1,
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clamp,
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structural_node_1, #<node_label>
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-0.06210573361337854, 0.048526435375479564, -4.033966837940965e-17, #<absolute_pin_position> [m]
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3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
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joint: joint_2,
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axial rotation,
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structural_node_1, #<node_1_label>
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0.2521057336133785, 0.11147356462452043, 0.13500000000000004, #<relative_offset_1> [m]
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orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, #<relative_orientation_matrix_1>
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structural_node_3, #<node_2_label>
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-0.021128136695249794, 0.0, 0.135, #<relative_offset_2> [m]
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orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, #<relative_orientation_matrix_2>
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string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
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|
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joint: joint_3,
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revolute hinge,
|
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structural_node_2, #<node_1_label>
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0.08833399332305812, 2.2168933355715126e-15, 0.065, #<relative_position_1> [m]
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orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, #<relative_pin_orientation_matrix_1>
|
||||
structural_node_3, #<node_2_label>
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||||
-0.11112813669524979, 0.0, 0.065, #<relative_position_2> [m]
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orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0; #<relative_pin_orientation_matrix_2>
|
||||
|
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joint: joint_4,
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prismatic,
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structural_node_1, #<node_1_label>
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orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
|
||||
structural_node_4, #<node_2_label>
|
||||
orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
|
||||
|
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joint: joint_5,
|
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in line,
|
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structural_node_1, #<node_1_label>
|
||||
0.0, 0.11147355803101042, 2.4118673970779456e-17, #<relative_line_position> [m]
|
||||
3, -1.0, 1.1102230246251565e-16, -2.220446049250313e-16, 2, -1.1102230246251565e-16, 0.0, 1.0, #<relative_orientation>
|
||||
structural_node_4, #<node_2_label>
|
||||
offset, 0.0, -8.292603282173139e-09, 4.340448411165876e-12; #<relative_offset> [m]
|
||||
|
||||
joint: joint_6,
|
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in line,
|
||||
structural_node_2, #<node_1_label>
|
||||
-0.1616660066769419, 2.2168933355715126e-15, 0.0, #<relative_line_position> [m]
|
||||
3, 0.0, -0.0, -1.0, 2, -1.0, -2.220446049250313e-16, 0.0, #<relative_orientation>
|
||||
structural_node_4, #<node_2_label>
|
||||
offset, 0.031223927501520705, -1.69909327496498e-09, 7.275957614183426e-15; #<relative_offset> [m]
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Drive callers]
|
||||
|
||||
drive caller: 1, name,"drive:1", ramp, 10.0, 0.0, 1.0, 0.0;
|
||||
|
||||
end: elements;
|
||||
|
||||
3204
testapp/CrankSlider2.mov
Normal file
3204
testapp/CrankSlider2.mov
Normal file
File diff suppressed because it is too large
Load Diff
349
testapp/MBDynCase.mbd
Normal file
349
testapp/MBDynCase.mbd
Normal file
@@ -0,0 +1,349 @@
|
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######################################################################################################################
|
||||
# MBDyn is a free and open-source general purpose multi-body dynamics software. See https://www.mbdyn.org/ for details.
|
||||
# This input file was automatically generated by the FreeCAD "MBD workbench".
|
||||
# To learn more about MBDyn input files, you can visit the website: https://www.sky-engin.jp/en/MBDynTutorial/index.html
|
||||
# Details about the structure of input files can be studied in the input file manuals: https://www.mbdyn.org/?Software_Download
|
||||
# Although MBDyn has already reached a mature stage and is used by several industries,
|
||||
# the FreeCAD dynamics workbench is still under development, and it is likely to have bugs.
|
||||
# Please be aware of this fact before you use this input file for any critical application.
|
||||
# If you think you have found a bug or have any suggestion, please send your comments to Jose Egas:
|
||||
# josegegas@gmail.com
|
||||
######################################################################################################################
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Data Block]
|
||||
|
||||
begin: data;
|
||||
problem: initial value;
|
||||
end: data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Problem Block]
|
||||
|
||||
begin: initial value;
|
||||
initial time: 0.0;
|
||||
final time: 8.0;
|
||||
time step: 0.1;
|
||||
max iterations: 100;
|
||||
tolerance: 1e-06;
|
||||
derivatives tolerance: 0.0001;
|
||||
derivatives max iterations: 100;
|
||||
derivatives coefficient: auto;
|
||||
end: initial value;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Control Data Block]
|
||||
|
||||
begin: control data;
|
||||
max iterations: 1000;
|
||||
default orientation: euler321;
|
||||
omega rotates: no;
|
||||
print: none;
|
||||
initial stiffness: 1.0, 1.0;
|
||||
structural nodes: 4;
|
||||
rigid bodies: 3;
|
||||
joints: 7;
|
||||
end: control data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Design Variables]
|
||||
|
||||
#Generic bodies
|
||||
|
||||
#body: 2
|
||||
set: integer body_2 = 2; #body label
|
||||
set: real mass_2 = 1.4486361883511716; #mass [kg]
|
||||
set: real volume_2 = 0.0001833716694115407; #volume [m^3]
|
||||
|
||||
#body: 3
|
||||
set: integer body_3 = 3; #body label
|
||||
set: real mass_3 = 2.85294865570677; #mass [kg]
|
||||
set: real volume_3 = 0.00036113274122870505; #volume [m^3]
|
||||
|
||||
#body: 4
|
||||
set: integer body_4 = 4; #body label
|
||||
set: real mass_4 = 10.859427202622147; #mass [kg]
|
||||
set: real volume_4 = 0.0013746110383066007; #volume [m^3]
|
||||
|
||||
#Nodes
|
||||
|
||||
#node: 1
|
||||
set: integer structural_node_1 = 1; #node label
|
||||
|
||||
#node: 2
|
||||
set: integer structural_node_2 = 2; #node label
|
||||
|
||||
#node: 3
|
||||
set: integer structural_node_3 = 3; #node label
|
||||
|
||||
#node: 4
|
||||
set: integer structural_node_4 = 4; #node label
|
||||
|
||||
#Joints
|
||||
|
||||
#joint: 1
|
||||
set: integer joint_1 = 1; #joint label
|
||||
|
||||
#joint: 2
|
||||
set: integer joint_2 = 2; #joint label
|
||||
|
||||
#joint: 3
|
||||
set: integer joint_3 = 3; #joint label
|
||||
|
||||
#joint: 4
|
||||
set: integer joint_4 = 4; #joint label
|
||||
|
||||
#joint: 5
|
||||
set: integer joint_5 = 5; #joint label
|
||||
|
||||
#joint: 6
|
||||
set: integer joint_6 = 6; #joint label
|
||||
|
||||
#joint: 7
|
||||
set: integer joint_7 = 7; #joint label
|
||||
|
||||
#Nodes: initial conditions
|
||||
|
||||
#node: 1
|
||||
set: real Px_1 = -0.121; #X component of the absolute position [m]
|
||||
set: real Py_1 = -8.796847998598882e-19; #Y component of the absolute position [m]
|
||||
set: real Pz_1 = -0.08; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 2
|
||||
set: real Px_2 = -0.015; #X component of the absolute position [m]
|
||||
set: real Py_2 = 0.092; #Y component of the absolute position [m]
|
||||
set: real Pz_2 = 0.008; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 3
|
||||
set: real Px_3 = 0.088; #X component of the absolute position [m]
|
||||
set: real Py_3 = -0.055; #Y component of the absolute position [m]
|
||||
set: real Pz_3 = 0.05; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 4
|
||||
set: real Px_4 = 0.3200000010688326; #X component of the absolute position [m]
|
||||
set: real Py_4 = 1.4796688528733327e-10; #Y component of the absolute position [m]
|
||||
set: real Pz_4 = 0.04999999225971574; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Intermediate Variables]
|
||||
|
||||
#Moments of inertia and relative center of mass
|
||||
|
||||
#body 2:
|
||||
set: real Ixx_2 = 0.0012769356301204219; #moment of inertia [kg*m^2]
|
||||
set: real Ixy_2 = 4.67e-20; #moment of inertia [kg*m^2]
|
||||
set: real Ixz_2 = -0.0009495625871945231; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Iyx_2 = 4.67e-20; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_2 = 0.0028717510150978666; #moment of inertia [kg*m^2]
|
||||
set: real Iyz_2 = 4.4900000000000004e-20; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Izx_2 = -0.0009495625871945231; #moment of inertia [kg*m^2]
|
||||
set: real Izy_2 = 4.4900000000000004e-20; #moment of inertia [kg*m^2]
|
||||
set: real Izz_2 = 0.002296471669735477; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_2 = -0.03260146715730948; #X component of the relative center of mass [m]
|
||||
set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
|
||||
set: real Rz_2 = -0.028286762255221056; #Z component of the relative center of mass [m]
|
||||
|
||||
#body 3:
|
||||
set: real Ixx_3 = 0.0019563103180210077; #moment of inertia [kg*m^2]
|
||||
set: real Ixy_3 = -7.580852e-16; #moment of inertia [kg*m^2]
|
||||
set: real Ixz_3 = 5.386829000000001e-16; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Iyx_3 = -7.580852e-16; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_3 = 0.03371514809951082; #moment of inertia [kg*m^2]
|
||||
set: real Iyz_3 = -4.95494e-17; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Izx_3 = 5.386829000000001e-16; #moment of inertia [kg*m^2]
|
||||
set: real Izy_3 = -4.95494e-17; #moment of inertia [kg*m^2]
|
||||
set: real Izz_3 = 0.03383792198797204; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_3 = 7.87281351222191e-15; #X component of the relative center of mass [m]
|
||||
set: real Ry_3 = 1.0302869668521452e-15; #Y component of the relative center of mass [m]
|
||||
set: real Rz_3 = -0.024999999999998045; #Z component of the relative center of mass [m]
|
||||
|
||||
#body 4:
|
||||
set: real Ixx_4 = 0.07706742098795094; #moment of inertia [kg*m^2]
|
||||
set: real Ixy_4 = 8.01291908309e-10; #moment of inertia [kg*m^2]
|
||||
set: real Ixz_4 = -1.2135214817691901e-08; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Iyx_4 = 8.01291908309e-10; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_4 = 0.06635181579849883; #moment of inertia [kg*m^2]
|
||||
set: real Iyz_4 = -3.32678908792e-11; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Izx_4 = -1.2135214817691901e-08; #moment of inertia [kg*m^2]
|
||||
set: real Izy_4 = -3.32678908792e-11; #moment of inertia [kg*m^2]
|
||||
set: real Izz_4 = 0.06179235045624136; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_4 = 0.045580834634119355; #X component of the relative center of mass [m]
|
||||
set: real Ry_4 = 2.0299354041266675e-10; #Y component of the relative center of mass [m]
|
||||
set: real Rz_4 = -1.2562251448855477e-08; #Z component of the relative center of mass [m]
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Nodes Block]
|
||||
|
||||
begin: nodes;
|
||||
|
||||
structural: structural_node_1,
|
||||
static,
|
||||
Px_1, Py_1, Pz_1, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
|
||||
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_2,
|
||||
dynamic,
|
||||
Px_2, Py_2, Pz_2, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
|
||||
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_3,
|
||||
dynamic,
|
||||
Px_3, Py_3, Pz_3, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
|
||||
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_4,
|
||||
dynamic,
|
||||
Px_4, Py_4, Pz_4, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
|
||||
Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
end: nodes;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Elements Block]
|
||||
|
||||
begin: elements;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Bodies]
|
||||
|
||||
#IMPORTANT NOTE: FreeCAD provides the inertia matrix in the global reference frame,
|
||||
#while by default, MBDyn assumes it to be in the reference frame of the node,
|
||||
#thus, the matrix of inertia must be rotated, using the inverse of the placement
|
||||
#matrix of the node. This is done using the inertial keyword and the following
|
||||
#orientation matrix.
|
||||
|
||||
body: body_2,
|
||||
structural_node_2, #<node_label>
|
||||
mass_2, #<mass> [kg]
|
||||
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
|
||||
Ixx_2, Ixy_2, Ixz_2, #<inertia_matrix> [kg*m^2]
|
||||
Iyx_2, Iyy_2, Iyz_2,
|
||||
Izx_2, Izy_2, Izz_2,
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0;
|
||||
|
||||
body: body_3,
|
||||
structural_node_3, #<node_label>
|
||||
mass_3, #<mass> [kg]
|
||||
Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
|
||||
Ixx_3, Ixy_3, Ixz_3, #<inertia_matrix> [kg*m^2]
|
||||
Iyx_3, Iyy_3, Iyz_3,
|
||||
Izx_3, Izy_3, Izz_3,
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0;
|
||||
|
||||
body: body_4,
|
||||
structural_node_4, #<node_label>
|
||||
mass_4, #<mass> [kg]
|
||||
Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
|
||||
Ixx_4, Ixy_4, Ixz_4, #<inertia_matrix> [kg*m^2]
|
||||
Iyx_4, Iyy_4, Iyz_4,
|
||||
Izx_4, Izy_4, Izz_4,
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Joints]
|
||||
|
||||
joint: joint_1,
|
||||
clamp,
|
||||
structural_node_1, #<node_label>
|
||||
-0.121, -8.796847998598882e-19, -0.08, #<absolute_pin_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
|
||||
|
||||
joint: joint_2,
|
||||
spherical hinge,
|
||||
structural_node_1, #<node_1_label>
|
||||
0.0, 0.0, 0.0, #<relative_pin_position_1> [m]
|
||||
structural_node_2, #<node_2_label>
|
||||
-0.07, 0.0, -0.055; #<relative_pin_position_2> [m]
|
||||
|
||||
joint: joint_3,
|
||||
revolute hinge,
|
||||
structural_node_2, #<node_1_label>
|
||||
0.0, 0.0, 0.0, #<relative_position_1> [m]
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
|
||||
structural_node_3, #<node_2_label>
|
||||
-0.14, 0.0, -0.024999999999999998, #<relative_position_2> [m]
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
|
||||
|
||||
joint: joint_4,
|
||||
drive hinge,
|
||||
structural_node_1, #<node_1_label>
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
|
||||
structural_node_2, #<node_2_label>
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_2>
|
||||
single, 0., 0., 1., #<hinge_orientation>
|
||||
string, "0"; #<hinge_orientation> [rad]
|
||||
|
||||
joint: joint_5,
|
||||
in line,
|
||||
structural_node_4, #<node_1_label>
|
||||
0.0, 0.0, 0.0, #<relative_line_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation>
|
||||
structural_node_3, #<node_2_label>
|
||||
offset, 0.14, 0.0, -0.024999999999999998; #<relative_offset> [m]
|
||||
|
||||
joint: joint_6,
|
||||
prismatic,
|
||||
structural_node_1, #<node_1_label>
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
|
||||
structural_node_4, #<node_2_label>
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #relative_orientation_matrix_2>
|
||||
|
||||
joint: joint_7,
|
||||
in line,
|
||||
structural_node_1, #<node_1_label>
|
||||
0.0, 8.796847998604521e-19, 0.08, #<relative_line_position> [m]
|
||||
3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
|
||||
structural_node_4, #<node_2_label>
|
||||
offset, 0.0, 0.0, 0.0; #<relative_offset> [m]
|
||||
|
||||
end: elements;
|
||||
|
||||
324
testapp/MBDynCase.mov
Normal file
324
testapp/MBDynCase.mov
Normal file
@@ -0,0 +1,324 @@
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975219 0.04313916854059263 2.168404344971009e-18 0.9993482542271943 -0.03609801619284766 -0.04316730264761665 0.03606436769945951 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124541 -0.009155819605617083 0.9990537652981445 -0.005530477486285016 0.04313916854059265 0.007090681752166227 0.9993230986318842 -0.03609801619284764 -0.04291032831253404 0.03636974511243224 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814532 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419695 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.469446951953614e-18 0.9993482542271943 -0.03609801619284765 -0.04316730264761659 0.0360643676994595 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617056 0.9990537652981445 -0.00553047748628502 0.04313916854059259 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253398 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606623 -0.02810879162419695 0.9990678575462876 0.001558253989975217 0.04313916854059247 -1.084202172485504e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761648 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617056 0.9990537652981445 -0.005530477486285023 0.04313916854059251 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.0429103283125339 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419695 0.9990678575462876 0.001558253989975214 0.04313916854059258 5.204170427930421e-18 0.9993482542271943 -0.03609801619284765 -0.04316730264761659 0.0360643676994595 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285021 0.04313916854059257 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253396 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975221 0.04313916854059258 -1.301042606982605e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124541 -0.009155819605617063 0.9990537652981445 -0.005530477486285021 0.04313916854059256 0.007090681752166228 0.9993230986318842 -0.03609801619284764 -0.04291032831253395 0.03636974511243224 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606623 -0.02810879162419695 0.9990678575462876 0.001558253989975222 0.04313916854059258 -1.517883041479706e-18 0.9993482542271943 -0.03609801619284768 -0.04316730264761659 0.03606436769945953 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285022 0.04313916854059257 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253396 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606623 -0.02810879162419695 0.9990678575462876 0.001558253989975214 0.04313916854059247 1.517883041479706e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761648 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617042 0.9990537652981445 -0.005530477486285025 0.04313916854059247 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253386 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419695 0.9990678575462876 0.001558253989975217 0.04313916854059252 2.168404344971009e-19 0.9993482542271943 -0.03609801619284767 -0.04316730264761653 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617056 0.9990537652981445 -0.005530477486285023 0.04313916854059251 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253391 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419695 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617056 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.007090681752166231 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606623 -0.02810879162419695 0.9990678575462876 0.001558253989975217 0.04313916854059247 -1.084202172485504e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761648 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617056 0.9990537652981445 -0.005530477486285022 0.04313916854059251 0.007090681752166228 0.9993230986318842 -0.03609801619284766 -0.04291032831253391 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419695 0.9990678575462876 0.001558253989975215 0.04313916854059258 4.77048955893622e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285021 0.04313916854059257 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253396 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975215 0.04313916854059252 2.168404344971009e-18 0.9993482542271943 -0.03609801619284766 -0.04316730264761653 0.03606436769945951 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059256 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253395 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975218 0.04313916854059258 1.301042606982605e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124541 -0.009155819605617069 0.9990537652981445 -0.00553047748628502 0.04313916854059258 0.007090681752166228 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975219 0.04313916854059263 2.602085213965211e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761665 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617069 0.9990537652981445 -0.00553047748628502 0.0431391685405926 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.042910328312534 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.00155825398997522 0.04313916854059258 -4.336808689942018e-19 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.0431391685405926 0.007090681752166231 0.9993230986318842 -0.03609801619284766 -0.04291032831253399 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606623 -0.02810879162419695 0.9990678575462876 0.001558253989975219 0.04313916854059252 -8.673617379884035e-19 0.9993482542271943 -0.03609801619284767 -0.04316730264761653 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617056 0.9990537652981445 -0.005530477486285022 0.04313916854059256 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253395 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419695 0.9990678575462876 0.00155825398997522 0.04313916854059258 -4.336808689942018e-19 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606623 -0.02810879162419695 0.9990678575462876 0.001558253989975218 0.04313916854059252 0 0.9993482542271943 -0.03609801619284767 -0.04316730264761653 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059256 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253395 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419695 0.9990678575462876 0.001558253989975218 0.04313916854059263 3.469446951953614e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761665 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285019 0.0431391685405926 0.007090681752166229 0.9993230986318842 -0.03609801619284767 -0.04291032831253399 0.03636974511243227 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975215 0.04313916854059258 4.336808689942018e-18 0.9993482542271943 -0.03609801619284765 -0.04316730264761659 0.0360643676994595 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124541 -0.009155819605617069 0.9990537652981445 -0.005530477486285019 0.04313916854059258 0.007090681752166228 0.9993230986318842 -0.03609801619284766 -0.04291032831253398 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419695 0.9990678575462876 0.001558253989975221 0.04313916854059263 8.673617379884035e-19 0.9993482542271943 -0.03609801619284767 -0.04316730264761665 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285019 0.04313916854059261 0.007090681752166228 0.9993230986318842 -0.03609801619284766 -0.042910328312534 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.00155825398997522 0.04313916854059258 -4.336808689942018e-19 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285021 0.04313916854059255 0.007090681752166228 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419695 0.9990678575462876 0.00155825398997522 0.04313916854059263 1.734723475976807e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761665 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617056 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253398 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606623 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059252 8.673617379884035e-19 0.9993482542271943 -0.03609801619284768 -0.04316730264761653 0.03606436769945953 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617056 0.9990537652981445 -0.005530477486285025 0.04313916854059252 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253391 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606623 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.818925648462312e-18 0.9993482542271943 -0.03609801619284768 -0.04316730264761659 0.03606436769945953 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617056 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284767 -0.04291032831253392 0.03636974511243227 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606623 -0.02810879162419694 0.9990678575462876 0.001558253989975219 0.04313916854059252 -8.673617379884035e-19 0.9993482542271943 -0.03609801619284767 -0.04316730264761653 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285022 0.04313916854059253 0.00709068175216623 0.9993230986318842 -0.03609801619284767 -0.04291032831253393 0.03636974511243227 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606623 -0.02810879162419696 0.9990678575462876 0.001558253989975221 0.04313916854059258 -6.505213034913027e-19 0.9993482542271943 -0.03609801619284768 -0.04316730264761659 0.03606436769945953 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285021 0.04313916854059255 0.007090681752166228 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606623 -0.02810879162419696 0.9990678575462876 0.00155825398997522 0.04313916854059258 -4.336808689942018e-19 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.007090681752166231 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.001558253989975219 0.04313916854059252 -2.168404344971009e-19 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124543 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284767 -0.04291032831253393 0.03636974511243227 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.035766082959412e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.00709068175216623 0.9993230986318842 -0.03609801619284767 -0.04291032831253394 0.03636974511243227 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606623 -0.02810879162419696 0.9990678575462876 0.00155825398997522 0.04313916854059258 2.168404344971009e-19 0.9993482542271943 -0.03609801619284768 -0.04316730264761659 0.03606436769945953 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285021 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284767 -0.04291032831253397 0.03636974511243227 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606623 -0.02810879162419694 0.9990678575462876 0.001558253989975219 0.04313916854059252 -8.673617379884035e-19 0.9993482542271943 -0.03609801619284767 -0.04316730264761653 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124543 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284767 -0.04291032831253393 0.03636974511243227 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.00155825398997522 0.04313916854059258 -4.336808689942018e-19 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285021 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284767 -0.04291032831253394 0.03636974511243227 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975219 0.04313916854059258 4.336808689942018e-19 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0
|
||||
2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0
|
||||
3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0
|
||||
4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0
|
||||
297
testapp/MBDynCase2.mbd
Normal file
297
testapp/MBDynCase2.mbd
Normal file
@@ -0,0 +1,297 @@
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Data Block]
|
||||
|
||||
begin: data;
|
||||
problem: initial value;
|
||||
end: data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Problem Block]
|
||||
|
||||
begin: initial value;
|
||||
initial time: 0.0;
|
||||
final time: 3.0;
|
||||
time step: 0.01;
|
||||
max iterations: 100;
|
||||
tolerance: 1e-06;
|
||||
derivatives tolerance: 0.0001;
|
||||
derivatives max iterations: 100;
|
||||
derivatives coefficient: auto;
|
||||
end: initial value;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Control Data Block]
|
||||
|
||||
begin: control data;
|
||||
max iterations: 1000;
|
||||
default orientation: euler321;
|
||||
omega rotates: no;
|
||||
print: none;
|
||||
initial stiffness: 1.0, 1.0;
|
||||
structural nodes: 4;
|
||||
rigid bodies: 3;
|
||||
joints: 6;
|
||||
end: control data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Design Variables]
|
||||
|
||||
#Generic bodies
|
||||
|
||||
#body: 2
|
||||
set: integer body_2 = 2; #body label
|
||||
set: real mass_2 = 1.448636188351172; #mass [kg]
|
||||
set: real volume_2 = 0.00018337166941154076; #volume [m^3]
|
||||
|
||||
#body: 3
|
||||
set: integer body_3 = 3; #body label
|
||||
set: real mass_3 = 2.8529486557067685; #mass [kg]
|
||||
set: real volume_3 = 0.0003611327412287049; #volume [m^3]
|
||||
|
||||
#body: 4
|
||||
set: integer body_4 = 4; #body label
|
||||
set: real mass_4 = 10.859427202622141; #mass [kg]
|
||||
set: real volume_4 = 0.0013746110383066003; #volume [m^3]
|
||||
|
||||
#Nodes
|
||||
|
||||
#node: 1
|
||||
set: integer structural_node_1 = 1; #node label
|
||||
|
||||
#node: 2
|
||||
set: integer structural_node_2 = 2; #node label
|
||||
|
||||
#node: 3
|
||||
set: integer structural_node_3 = 3; #node label
|
||||
|
||||
#node: 4
|
||||
set: integer structural_node_4 = 4; #node label
|
||||
|
||||
#Joints
|
||||
|
||||
#joint: 1
|
||||
set: integer joint_1 = 1; #joint label
|
||||
|
||||
#joint: 2
|
||||
set: integer joint_2 = 2; #joint label
|
||||
|
||||
#joint: 3
|
||||
set: integer joint_3 = 3; #joint label
|
||||
|
||||
#joint: 4
|
||||
set: integer joint_4 = 4; #joint label
|
||||
|
||||
#joint: 5
|
||||
set: integer joint_5 = 5; #joint label
|
||||
|
||||
#joint: 6
|
||||
set: integer joint_6 = 6; #joint label
|
||||
|
||||
#Nodes: initial conditions
|
||||
|
||||
#node: 1
|
||||
set: real Px_1 = -0.121; #X component of the absolute position [m]
|
||||
set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m]
|
||||
set: real Pz_1 = -0.08; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 2
|
||||
set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m]
|
||||
set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m]
|
||||
set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 3
|
||||
set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m]
|
||||
set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m]
|
||||
set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 4
|
||||
set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m]
|
||||
set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m]
|
||||
set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Intermediate Variables]
|
||||
|
||||
#Moments of inertia and relative center of mass
|
||||
|
||||
#body 2:
|
||||
set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
|
||||
set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m]
|
||||
set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
|
||||
set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m]
|
||||
|
||||
#body 3:
|
||||
set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
|
||||
set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m]
|
||||
set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m]
|
||||
set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
|
||||
|
||||
#body 4:
|
||||
set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
|
||||
set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m]
|
||||
set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m]
|
||||
set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m]
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Nodes Block]
|
||||
|
||||
begin: nodes;
|
||||
|
||||
structural: structural_node_1,
|
||||
static,
|
||||
Px_1, Py_1, Pz_1, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
|
||||
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_2,
|
||||
dynamic,
|
||||
Px_2, Py_2, Pz_2, #<absolute_position> [m]
|
||||
3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, #<absolute_orientation_matrix>
|
||||
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
|
||||
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_3,
|
||||
dynamic,
|
||||
Px_3, Py_3, Pz_3, #<absolute_position> [m]
|
||||
3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, #<absolute_orientation_matrix>
|
||||
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
|
||||
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_4,
|
||||
dynamic,
|
||||
Px_4, Py_4, Pz_4, #<absolute_position> [m]
|
||||
3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
|
||||
Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
end: nodes;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Elements Block]
|
||||
|
||||
begin: elements;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Bodies]
|
||||
|
||||
body: body_2,
|
||||
structural_node_2, #<node_label>
|
||||
mass_2, #<mass> [kg]
|
||||
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
|
||||
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
|
||||
orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005;
|
||||
|
||||
body: body_3,
|
||||
structural_node_3, #<node_label>
|
||||
mass_3, #<mass> [kg]
|
||||
Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
|
||||
diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
|
||||
orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283;
|
||||
|
||||
body: body_4,
|
||||
structural_node_4, #<node_label>
|
||||
mass_4, #<mass> [kg]
|
||||
Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
|
||||
diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
|
||||
orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Joints]
|
||||
|
||||
joint: joint_1,
|
||||
clamp,
|
||||
structural_node_1, #<node_label>
|
||||
-0.121, -1.218180697837851e-18, -0.08, #<absolute_pin_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
|
||||
|
||||
joint: joint_2,
|
||||
axial rotation,
|
||||
structural_node_1, #<node_1_label>
|
||||
0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
|
||||
structural_node_2, #<node_2_label>
|
||||
-0.03739853284269051, 0.0, 0.0032867622552210634, #<relative_offset_2> [m]
|
||||
orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, #<relative_orientation_matrix_2>
|
||||
string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
|
||||
|
||||
joint: joint_3,
|
||||
revolute hinge,
|
||||
structural_node_2, #<node_1_label>
|
||||
0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, #<relative_position_1> [m]
|
||||
orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
|
||||
structural_node_3, #<node_2_label>
|
||||
-0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, #<relative_position_2> [m]
|
||||
orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
|
||||
|
||||
joint: joint_4,
|
||||
in line,
|
||||
structural_node_3, #<node_1_label>
|
||||
0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, #<relative_line_position> [m]
|
||||
3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, #<relative_orientation>
|
||||
structural_node_4, #<node_2_label>
|
||||
offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
|
||||
|
||||
joint: joint_5,
|
||||
in line,
|
||||
structural_node_1, #<node_1_label>
|
||||
0.0, 1.2181806978377854e-18, 0.08, #<relative_line_position> [m]
|
||||
3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
|
||||
structural_node_4, #<node_2_label>
|
||||
offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
|
||||
|
||||
joint: joint_6,
|
||||
prismatic,
|
||||
structural_node_1, #<node_1_label>
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
|
||||
structural_node_4, #<node_2_label>
|
||||
orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Drive callers]
|
||||
|
||||
drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0;
|
||||
|
||||
end: elements;
|
||||
|
||||
1204
testapp/MBDynCase2.mov
Normal file
1204
testapp/MBDynCase2.mov
Normal file
File diff suppressed because it is too large
Load Diff
297
testapp/MBDynCase2orig.mbd
Normal file
297
testapp/MBDynCase2orig.mbd
Normal file
@@ -0,0 +1,297 @@
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Data Block]
|
||||
|
||||
begin: data;
|
||||
problem: initial value;
|
||||
end: data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Problem Block]
|
||||
|
||||
begin: initial value;
|
||||
initial time: 0.0;
|
||||
final time: 8.0;
|
||||
time step: 0.01;
|
||||
max iterations: 100;
|
||||
tolerance: 1e-06;
|
||||
derivatives tolerance: 0.0001;
|
||||
derivatives max iterations: 100;
|
||||
derivatives coefficient: auto;
|
||||
end: initial value;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Control Data Block]
|
||||
|
||||
begin: control data;
|
||||
max iterations: 1000;
|
||||
default orientation: euler321;
|
||||
omega rotates: no;
|
||||
print: none;
|
||||
initial stiffness: 1.0, 1.0;
|
||||
structural nodes: 4;
|
||||
rigid bodies: 3;
|
||||
joints: 6;
|
||||
end: control data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Design Variables]
|
||||
|
||||
#Generic bodies
|
||||
|
||||
#body: 2
|
||||
set: integer body_2 = 2; #body label
|
||||
set: real mass_2 = 1.448636188351172; #mass [kg]
|
||||
set: real volume_2 = 0.00018337166941154076; #volume [m^3]
|
||||
|
||||
#body: 3
|
||||
set: integer body_3 = 3; #body label
|
||||
set: real mass_3 = 2.8529486557067685; #mass [kg]
|
||||
set: real volume_3 = 0.0003611327412287049; #volume [m^3]
|
||||
|
||||
#body: 4
|
||||
set: integer body_4 = 4; #body label
|
||||
set: real mass_4 = 10.859427202622141; #mass [kg]
|
||||
set: real volume_4 = 0.0013746110383066003; #volume [m^3]
|
||||
|
||||
#Nodes
|
||||
|
||||
#node: 1
|
||||
set: integer structural_node_1 = 1; #node label
|
||||
|
||||
#node: 2
|
||||
set: integer structural_node_2 = 2; #node label
|
||||
|
||||
#node: 3
|
||||
set: integer structural_node_3 = 3; #node label
|
||||
|
||||
#node: 4
|
||||
set: integer structural_node_4 = 4; #node label
|
||||
|
||||
#Joints
|
||||
|
||||
#joint: 1
|
||||
set: integer joint_1 = 1; #joint label
|
||||
|
||||
#joint: 2
|
||||
set: integer joint_2 = 2; #joint label
|
||||
|
||||
#joint: 3
|
||||
set: integer joint_3 = 3; #joint label
|
||||
|
||||
#joint: 4
|
||||
set: integer joint_4 = 4; #joint label
|
||||
|
||||
#joint: 5
|
||||
set: integer joint_5 = 5; #joint label
|
||||
|
||||
#joint: 6
|
||||
set: integer joint_6 = 6; #joint label
|
||||
|
||||
#Nodes: initial conditions
|
||||
|
||||
#node: 1
|
||||
set: real Px_1 = -0.121; #X component of the absolute position [m]
|
||||
set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m]
|
||||
set: real Pz_1 = -0.08; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 2
|
||||
set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m]
|
||||
set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m]
|
||||
set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 3
|
||||
set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m]
|
||||
set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m]
|
||||
set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 4
|
||||
set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m]
|
||||
set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m]
|
||||
set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Intermediate Variables]
|
||||
|
||||
#Moments of inertia and relative center of mass
|
||||
|
||||
#body 2:
|
||||
set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
|
||||
set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m]
|
||||
set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
|
||||
set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m]
|
||||
|
||||
#body 3:
|
||||
set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
|
||||
set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m]
|
||||
set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m]
|
||||
set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
|
||||
|
||||
#body 4:
|
||||
set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
|
||||
set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m]
|
||||
set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m]
|
||||
set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m]
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Nodes Block]
|
||||
|
||||
begin: nodes;
|
||||
|
||||
structural: structural_node_1,
|
||||
static,
|
||||
Px_1, Py_1, Pz_1, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
|
||||
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_2,
|
||||
dynamic,
|
||||
Px_2, Py_2, Pz_2, #<absolute_position> [m]
|
||||
3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, #<absolute_orientation_matrix>
|
||||
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
|
||||
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_3,
|
||||
dynamic,
|
||||
Px_3, Py_3, Pz_3, #<absolute_position> [m]
|
||||
3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, #<absolute_orientation_matrix>
|
||||
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
|
||||
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_4,
|
||||
dynamic,
|
||||
Px_4, Py_4, Pz_4, #<absolute_position> [m]
|
||||
3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
|
||||
Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
end: nodes;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Elements Block]
|
||||
|
||||
begin: elements;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Bodies]
|
||||
|
||||
body: body_2,
|
||||
structural_node_2, #<node_label>
|
||||
mass_2, #<mass> [kg]
|
||||
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
|
||||
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
|
||||
orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005;
|
||||
|
||||
body: body_3,
|
||||
structural_node_3, #<node_label>
|
||||
mass_3, #<mass> [kg]
|
||||
Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
|
||||
diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
|
||||
orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283;
|
||||
|
||||
body: body_4,
|
||||
structural_node_4, #<node_label>
|
||||
mass_4, #<mass> [kg]
|
||||
Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
|
||||
diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
|
||||
orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Joints]
|
||||
|
||||
joint: joint_1,
|
||||
clamp,
|
||||
structural_node_1, #<node_label>
|
||||
-0.121, -1.218180697837851e-18, -0.08, #<absolute_pin_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
|
||||
|
||||
joint: joint_2,
|
||||
axial rotation,
|
||||
structural_node_1, #<node_1_label>
|
||||
0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
|
||||
structural_node_2, #<node_2_label>
|
||||
-0.03739853284269051, 0.0, 0.0032867622552210634, #<relative_offset_2> [m]
|
||||
orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, #<relative_orientation_matrix_2>
|
||||
string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
|
||||
|
||||
joint: joint_3,
|
||||
revolute hinge,
|
||||
structural_node_2, #<node_1_label>
|
||||
0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, #<relative_position_1> [m]
|
||||
orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
|
||||
structural_node_3, #<node_2_label>
|
||||
-0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, #<relative_position_2> [m]
|
||||
orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
|
||||
|
||||
joint: joint_4,
|
||||
in line,
|
||||
structural_node_3, #<node_1_label>
|
||||
0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, #<relative_line_position> [m]
|
||||
3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, #<relative_orientation>
|
||||
structural_node_4, #<node_2_label>
|
||||
offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
|
||||
|
||||
joint: joint_5,
|
||||
in line,
|
||||
structural_node_1, #<node_1_label>
|
||||
0.0, 1.2181806978377854e-18, 0.08, #<relative_line_position> [m]
|
||||
3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
|
||||
structural_node_4, #<node_2_label>
|
||||
offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
|
||||
|
||||
joint: joint_6,
|
||||
prismatic,
|
||||
structural_node_1, #<node_1_label>
|
||||
orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
|
||||
structural_node_4, #<node_2_label>
|
||||
orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Drive callers]
|
||||
|
||||
drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0;
|
||||
|
||||
end: elements;
|
||||
|
||||
321
testapp/MBDynCaseDebug1.mbd
Normal file
321
testapp/MBDynCaseDebug1.mbd
Normal file
@@ -0,0 +1,321 @@
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Data Block]
|
||||
|
||||
begin: data;
|
||||
problem: initial value;
|
||||
end: data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Problem Block]
|
||||
|
||||
begin: initial value;
|
||||
initial time: 0.0;
|
||||
final time: 8.0;
|
||||
time step: 0.01;
|
||||
max iterations: 100;
|
||||
tolerance: 1e-06;
|
||||
derivatives tolerance: 0.0001;
|
||||
derivatives max iterations: 100;
|
||||
derivatives coefficient: auto;
|
||||
end: initial value;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Control Data Block]
|
||||
|
||||
begin: control data;
|
||||
max iterations: 1000;
|
||||
default orientation: orientation matrix;
|
||||
omega rotates: no;
|
||||
print: none;
|
||||
initial stiffness: 1.0, 1.0;
|
||||
structural nodes: 5;
|
||||
rigid bodies: 3;
|
||||
joints: 6;
|
||||
end: control data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Design Variables]
|
||||
|
||||
#Generic bodies
|
||||
|
||||
#body: 2
|
||||
set: integer body_2 = 2; #body label
|
||||
set: real mass_2 = 0.24147734685710437; #mass [kg]
|
||||
set: real volume_2 = 3.056675276672207e-05; #volume [m^3]
|
||||
|
||||
#body: 4
|
||||
set: integer body_4 = 4; #body label
|
||||
set: real mass_4 = 0.11253654770310718; #mass [kg]
|
||||
set: real volume_4 = 1.4245132620646478e-05; #volume [m^3]
|
||||
|
||||
#body: 5
|
||||
set: integer body_5 = 5; #body label
|
||||
set: real mass_5 = 0.11253654770310723; #mass [kg]
|
||||
set: real volume_5 = 1.4245132620646483e-05; #volume [m^3]
|
||||
|
||||
#Nodes
|
||||
|
||||
#node: 1
|
||||
set: integer structural_node_1 = 1; #node label
|
||||
|
||||
#node: 2
|
||||
set: integer structural_node_2 = 2; #node label
|
||||
|
||||
#node: 3
|
||||
set: integer structural_node_3 = 3; #node label
|
||||
|
||||
#node: 4
|
||||
set: integer structural_node_4 = 4; #node label
|
||||
|
||||
#node: 5
|
||||
set: integer structural_node_5 = 5; #node label
|
||||
|
||||
#Joints
|
||||
|
||||
#joint: 1
|
||||
set: integer joint_1 = 1; #joint label
|
||||
|
||||
#joint: 2
|
||||
set: integer joint_2 = 2; #joint label
|
||||
|
||||
#joint: 3
|
||||
set: integer joint_3 = 3; #joint label
|
||||
|
||||
#joint: 4
|
||||
set: integer joint_4 = 4; #joint label
|
||||
|
||||
#joint: 5
|
||||
set: integer joint_5 = 5; #joint label
|
||||
|
||||
#joint: 7
|
||||
set: integer joint_7 = 7; #joint label
|
||||
|
||||
#Nodes: initial conditions
|
||||
|
||||
#node: 1
|
||||
set: real Px_1 = 0.16912189837562464; #X component of the absolute position [m]
|
||||
set: real Py_1 = -0.10055206743263254; #Y component of the absolute position [m]
|
||||
set: real Pz_1 = 0.07867737409397452; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 2
|
||||
set: real Px_2 = 0.018683478687078307; #X component of the absolute position [m]
|
||||
set: real Py_2 = -0.05533171845235879; #Y component of the absolute position [m]
|
||||
set: real Pz_2 = 0.1768528076947657; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 3
|
||||
set: real Px_3 = 0.2890983348369078; #X component of the absolute position [m]
|
||||
set: real Py_3 = -0.06156645049450425; #Y component of the absolute position [m]
|
||||
set: real Pz_3 = 0.09724597715885096; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 4
|
||||
set: real Px_4 = 0.11637356459110539; #X component of the absolute position [m]
|
||||
set: real Py_4 = -0.019655254070140387; #Y component of the absolute position [m]
|
||||
set: real Pz_4 = 0.20651079866339145; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 5
|
||||
set: real Px_5 = 0.15064540729834192; #X component of the absolute position [m]
|
||||
set: real Py_5 = -0.020536937096322302; #Y component of the absolute position [m]
|
||||
set: real Pz_5 = 0.06548008210568429; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_5 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_5 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_5 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_5 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_5 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_5 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Intermediate Variables]
|
||||
|
||||
#Moments of inertia and relative center of mass
|
||||
|
||||
#body 2:
|
||||
set: real Ixx_2 = 6.927961737800001e-05; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_2 = 5.6689424982e-05; #moment of inertia [kg*m^2]
|
||||
set: real Izz_2 = 2.9053392577e-05; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_2 = 0.0; #X component of the relative center of mass [m]
|
||||
set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
|
||||
set: real Rz_2 = 0.0; #Z component of the relative center of mass [m]
|
||||
|
||||
#body 4:
|
||||
set: real Ixx_4 = 7.9157004521e-05; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_4 = 7.769349168e-05; #moment of inertia [kg*m^2]
|
||||
set: real Izz_4 = 3.339121993e-06; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_4 = 0.0; #X component of the relative center of mass [m]
|
||||
set: real Ry_4 = 0.0; #Y component of the relative center of mass [m]
|
||||
set: real Rz_4 = 0.0; #Z component of the relative center of mass [m]
|
||||
|
||||
#body 5:
|
||||
set: real Ixx_5 = 7.9157004521e-05; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_5 = 7.769349168e-05; #moment of inertia [kg*m^2]
|
||||
set: real Izz_5 = 3.339121993e-06; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_5 = 0.0; #X component of the relative center of mass [m]
|
||||
set: real Ry_5 = 0.0; #Y component of the relative center of mass [m]
|
||||
set: real Rz_5 = 0.0; #Z component of the relative center of mass [m]
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Nodes Block]
|
||||
|
||||
begin: nodes;
|
||||
|
||||
structural: structural_node_1,
|
||||
static,
|
||||
Px_1, Py_1, Pz_1, #<absolute_position> [m]
|
||||
3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926, #<absolute_orientation_matrix>
|
||||
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
|
||||
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_2,
|
||||
dynamic,
|
||||
Px_2, Py_2, Pz_2, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
|
||||
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_3,
|
||||
static,
|
||||
Px_3, Py_3, Pz_3, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
|
||||
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_4,
|
||||
dynamic,
|
||||
Px_4, Py_4, Pz_4, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
|
||||
Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_5,
|
||||
dynamic,
|
||||
Px_5, Py_5, Pz_5, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_5, Vy_5, Vz_5, #<absolute_velocity> [m/s]
|
||||
Wx_5, Wy_5, Wz_5; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
end: nodes;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Elements Block]
|
||||
|
||||
begin: elements;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Bodies]
|
||||
|
||||
body: body_2,
|
||||
structural_node_2, #<node_label>
|
||||
mass_2, #<mass> [kg]
|
||||
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
|
||||
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
|
||||
orientation, 3, -0.35, 0.91, 0.21, 2, 0.78, 0.4, -0.47;
|
||||
|
||||
body: body_4,
|
||||
structural_node_4, #<node_label>
|
||||
mass_4, #<mass> [kg]
|
||||
Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
|
||||
diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
|
||||
orientation, 3, 0.78, 0.4, -0.47, 2, -0.36, 0.91, 0.19;
|
||||
|
||||
body: body_5,
|
||||
structural_node_5, #<node_label>
|
||||
mass_5, #<mass> [kg]
|
||||
Rx_5, Ry_5, Rz_5, #<relative_center_of_mass> [m]
|
||||
diag, Ixx_5, Iyy_5, Izz_5, #<inertia matrix> [kg*m^2]
|
||||
orientation, 3, -0.36, 0.91, 0.19, 2, 0.78, 0.4, -0.47;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Joints]
|
||||
|
||||
joint: joint_1,
|
||||
clamp,
|
||||
structural_node_1, #<node_label>
|
||||
0.16912189837562464, -0.10055206743263254, 0.07867737409397452, #<absolute_pin_position> [m]
|
||||
3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926; #<absolute_orientation_matrix>
|
||||
|
||||
joint: joint_2,
|
||||
axial rotation,
|
||||
structural_node_1, #<node_1_label>
|
||||
1.0407603667772492e-11, -0.05247682460581396, -0.00025357557055826873, #<relative_offset_1> [m]
|
||||
orientation, 3, 1.1102230246251565e-16, -1.0, 0.0, 2, guess, #<relative_orientation_matrix_1>
|
||||
structural_node_2, #<node_2_label>
|
||||
0.006998226646402806, -0.00490348349806041, 0.007426083408032554, #<relative_offset_2> [m]
|
||||
orientation, 3, 0.5084786344413901, 0.01838554762064229, 0.8608783014778036, 2, guess, #<relative_orientation_matrix_2>
|
||||
string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
|
||||
|
||||
joint: joint_3,
|
||||
clamp,
|
||||
structural_node_3, #<node_label>
|
||||
0.2890983348369078, -0.06156645049450425, 0.09724597715885096, #<absolute_pin_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
|
||||
|
||||
joint: joint_4,
|
||||
revolute hinge,
|
||||
structural_node_2, #<node_1_label>
|
||||
-0.0011629534118987692, 0.02262071327533141, 0.01746668757489371, #<relative_position_1> [m]
|
||||
orientation, 3, 0.5084786344412178, 0.018385547620640152, 0.8608783014779054, 2, guess, #<relative_pin_orientation_matrix_1>
|
||||
structural_node_4, #<node_2_label>
|
||||
-0.031347177833029705, -0.01617494903756937, 0.018860685712244078, #<relative_position_2> [m]
|
||||
orientation, 3, 0.5084786455601428, 0.018385495401303797, 0.860878296025734, 2, guess; #<relative_pin_orientation_matrix_2>
|
||||
|
||||
joint: joint_5,
|
||||
revolute hinge,
|
||||
structural_node_4, #<node_1_label>
|
||||
0.03388957106083931, 0.016266876514581658, -0.01455629423212079, #<relative_position_1> [m]
|
||||
orientation, 3, 0.50847864556046, 0.0183854954014063, 0.8608782960255446, 2, guess, #<relative_pin_orientation_matrix_1>
|
||||
structural_node_5, #<node_2_label>
|
||||
-0.016813818553224735, 0.036484433510506876, 0.003343892503690739, #<relative_position_2> [m]
|
||||
orientation, 3, 0.5084787180221569, 0.01838550036990011, 0.8608782531198544, 2, guess; #<relative_pin_orientation_matrix_2>
|
||||
|
||||
joint: joint_7,
|
||||
revolute hinge,
|
||||
structural_node_3, #<node_1_label>
|
||||
1.1368683772161603e-16, 0.0, -1.4210854715202004e-17, #<relative_position_1> [m]
|
||||
orientation, 3, 0.5094306516594838, 0.018659363391322903, 0.8603093858070039, 2, guess, #<relative_pin_orientation_matrix_1>
|
||||
structural_node_5, #<node_2_label>
|
||||
0.014271424963118534, -0.03657636101236503, -0.007648283769292526, #<relative_position_2> [m]
|
||||
orientation, 3, 0.5084787180221835, 0.018385500369866165, 0.8608782531198396, 2, guess; #<relative_pin_orientation_matrix_2>
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Drive callers]
|
||||
|
||||
drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 4.0, 0.0;
|
||||
|
||||
end: elements;
|
||||
|
||||
320
testapp/MBDynCaseDebug2.mbd
Normal file
320
testapp/MBDynCaseDebug2.mbd
Normal file
@@ -0,0 +1,320 @@
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Data Block]
|
||||
|
||||
begin: data;
|
||||
problem: initial value;
|
||||
end: data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Problem Block]
|
||||
|
||||
begin: initial value;
|
||||
initial time: 0.0;
|
||||
final time: 8.0;
|
||||
time step: 0.01;
|
||||
max iterations: 100;
|
||||
tolerance: 1e-06;
|
||||
derivatives tolerance: 0.0001;
|
||||
derivatives max iterations: 100;
|
||||
derivatives coefficient: auto;
|
||||
end: initial value;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Control Data Block]
|
||||
|
||||
begin: control data;
|
||||
max iterations: 1000;
|
||||
default orientation: orientation matrix;
|
||||
omega rotates: no;
|
||||
print: none;
|
||||
initial stiffness: 1.0, 1.0;
|
||||
structural nodes: 5;
|
||||
rigid bodies: 3;
|
||||
joints: 6;
|
||||
end: control data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Design Variables]
|
||||
|
||||
#Generic bodies
|
||||
|
||||
#body: 2
|
||||
set: integer body_2 = 2; #body label
|
||||
set: real mass_2 = 0.24147734685710437; #mass [kg]
|
||||
set: real volume_2 = 3.056675276672207e-05; #volume [m^3]
|
||||
|
||||
#body: 4
|
||||
set: integer body_4 = 4; #body label
|
||||
set: real mass_4 = 0.11253654770310718; #mass [kg]
|
||||
set: real volume_4 = 1.4245132620646478e-05; #volume [m^3]
|
||||
|
||||
#body: 5
|
||||
set: integer body_5 = 5; #body label
|
||||
set: real mass_5 = 0.11253654770310723; #mass [kg]
|
||||
set: real volume_5 = 1.4245132620646483e-05; #volume [m^3]
|
||||
|
||||
#Nodes
|
||||
|
||||
#node: 1
|
||||
set: integer structural_node_1 = 1; #node label
|
||||
|
||||
#node: 2
|
||||
set: integer structural_node_2 = 2; #node label
|
||||
|
||||
#node: 3
|
||||
set: integer structural_node_3 = 3; #node label
|
||||
|
||||
#node: 4
|
||||
set: integer structural_node_4 = 4; #node label
|
||||
|
||||
#node: 5
|
||||
set: integer structural_node_5 = 5; #node label
|
||||
|
||||
#Joints
|
||||
|
||||
#joint: 1
|
||||
set: integer joint_1 = 1; #joint label
|
||||
|
||||
#joint: 2
|
||||
set: integer joint_2 = 2; #joint label
|
||||
|
||||
#joint: 3
|
||||
set: integer joint_3 = 3; #joint label
|
||||
|
||||
#joint: 4
|
||||
set: integer joint_4 = 4; #joint label
|
||||
|
||||
#joint: 5
|
||||
set: integer joint_5 = 5; #joint label
|
||||
|
||||
#joint: 6
|
||||
set: integer joint_6 = 6; #joint label
|
||||
|
||||
#Nodes: initial conditions
|
||||
|
||||
#node: 1
|
||||
set: real Px_1 = 0.16912189837562464; #X component of the absolute position [m]
|
||||
set: real Py_1 = -0.10055206743263254; #Y component of the absolute position [m]
|
||||
set: real Pz_1 = 0.07867737409397452; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 2
|
||||
set: real Px_2 = 0.018683478687078307; #X component of the absolute position [m]
|
||||
set: real Py_2 = -0.05533171845235879; #Y component of the absolute position [m]
|
||||
set: real Pz_2 = 0.1768528076947657; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 3
|
||||
set: real Px_3 = 0.2890983348369078; #X component of the absolute position [m]
|
||||
set: real Py_3 = -0.06156645049450425; #Y component of the absolute position [m]
|
||||
set: real Pz_3 = 0.09724597715885096; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 4
|
||||
set: real Px_4 = 0.11637356459110539; #X component of the absolute position [m]
|
||||
set: real Py_4 = -0.019655254070140387; #Y component of the absolute position [m]
|
||||
set: real Pz_4 = 0.20651079866339145; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#node: 5
|
||||
set: real Px_5 = 0.15064540729834192; #X component of the absolute position [m]
|
||||
set: real Py_5 = -0.020536937096322302; #Y component of the absolute position [m]
|
||||
set: real Pz_5 = 0.06548008210568429; #Z component of the absolute position [m]
|
||||
|
||||
set: real Vx_5 = 0.0; #X component of the absolute velocity [m/s]
|
||||
set: real Vy_5 = 0.0; #Y component of the absolute velocity [m/s]
|
||||
set: real Vz_5 = 0.0; #Z component of the absolute velocity [m/s]
|
||||
|
||||
set: real Wx_5 = 0.0; #X component of the absolute angular velocity [rad/s]
|
||||
set: real Wy_5 = 0.0; #Y component of the absolute angular velocity [rad/s]
|
||||
set: real Wz_5 = 0.0; #Z component of the absolute angular velocity [rad/s]
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Intermediate Variables]
|
||||
|
||||
#Moments of inertia and relative center of mass
|
||||
|
||||
#body 2:
|
||||
set: real Ixx_2 = 6.927961737800001e-05; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_2 = 5.6689424982e-05; #moment of inertia [kg*m^2]
|
||||
set: real Izz_2 = 2.9053392577e-05; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_2 = 0.0; #X component of the relative center of mass [m]
|
||||
set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
|
||||
set: real Rz_2 = 0.0; #Z component of the relative center of mass [m]
|
||||
|
||||
#body 4:
|
||||
set: real Ixx_4 = 7.9157004521e-05; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_4 = 7.769349168e-05; #moment of inertia [kg*m^2]
|
||||
set: real Izz_4 = 3.339121993e-06; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_4 = 0.0; #X component of the relative center of mass [m]
|
||||
set: real Ry_4 = 0.0; #Y component of the relative center of mass [m]
|
||||
set: real Rz_4 = 0.0; #Z component of the relative center of mass [m]
|
||||
|
||||
#body 5:
|
||||
set: real Ixx_5 = 7.9157004521e-05; #moment of inertia [kg*m^2]
|
||||
set: real Iyy_5 = 7.769349168e-05; #moment of inertia [kg*m^2]
|
||||
set: real Izz_5 = 3.339121993e-06; #moment of inertia [kg*m^2]
|
||||
|
||||
set: real Rx_5 = 0.0; #X component of the relative center of mass [m]
|
||||
set: real Ry_5 = 0.0; #Y component of the relative center of mass [m]
|
||||
set: real Rz_5 = 0.0; #Z component of the relative center of mass [m]
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Nodes Block]
|
||||
|
||||
begin: nodes;
|
||||
|
||||
structural: structural_node_1,
|
||||
static,
|
||||
Px_1, Py_1, Pz_1, #<absolute_position> [m]
|
||||
3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926, #<absolute_orientation_matrix>
|
||||
Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
|
||||
Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_2,
|
||||
dynamic,
|
||||
Px_2, Py_2, Pz_2, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
|
||||
Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_3,
|
||||
static,
|
||||
Px_3, Py_3, Pz_3, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
|
||||
Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_4,
|
||||
dynamic,
|
||||
Px_4, Py_4, Pz_4, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
|
||||
Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
structural: structural_node_5,
|
||||
dynamic,
|
||||
Px_5, Py_5, Pz_5, #<absolute_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
|
||||
Vx_5, Vy_5, Vz_5, #<absolute_velocity> [m/s]
|
||||
Wx_5, Wy_5, Wz_5; #<absolute_angular_velocity> [rad/s]
|
||||
|
||||
end: nodes;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Elements Block]
|
||||
|
||||
begin: elements;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Bodies]
|
||||
|
||||
body: body_2,
|
||||
structural_node_2, #<node_label>
|
||||
mass_2, #<mass> [kg]
|
||||
Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
|
||||
diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
|
||||
orientation, 3, -0.35, 0.91, 0.21, 2, 0.78, 0.4, -0.47;
|
||||
|
||||
body: body_4,
|
||||
structural_node_4, #<node_label>
|
||||
mass_4, #<mass> [kg]
|
||||
Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
|
||||
diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
|
||||
orientation, 3, 0.78, 0.4, -0.47, 2, -0.36, 0.91, 0.19;
|
||||
|
||||
body: body_5,
|
||||
structural_node_5, #<node_label>
|
||||
mass_5, #<mass> [kg]
|
||||
Rx_5, Ry_5, Rz_5, #<relative_center_of_mass> [m]
|
||||
diag, Ixx_5, Iyy_5, Izz_5, #<inertia matrix> [kg*m^2]
|
||||
orientation, 3, -0.36, 0.91, 0.19, 2, 0.78, 0.4, -0.47;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Joints]
|
||||
|
||||
joint: joint_1,
|
||||
clamp,
|
||||
structural_node_1, #<node_label>
|
||||
0.16912189837562464, -0.10055206743263254, 0.07867737409397452, #<absolute_pin_position> [m]
|
||||
3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926; #<absolute_orientation_matrix>
|
||||
|
||||
joint: joint_2,
|
||||
axial rotation,
|
||||
structural_node_1, #<node_1_label>
|
||||
1.0407603667772492e-11, -0.05247682460581396, -0.00025357557055826873, #<relative_offset_1> [m]
|
||||
orientation, 3, 1.1102230246251565e-16, -1.0, 0.0, 2, guess, #<relative_orientation_matrix_1>
|
||||
structural_node_2, #<node_2_label>
|
||||
0.006998226646402806, -0.00490348349806041, 0.007426083408032554, #<relative_offset_2> [m]
|
||||
orientation, 3, 0.5084786344413901, 0.01838554762064229, 0.8608783014778036, 2, guess, #<relative_orientation_matrix_2>
|
||||
string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
|
||||
|
||||
joint: joint_3,
|
||||
clamp,
|
||||
structural_node_3, #<node_label>
|
||||
0.2890983348369078, -0.06156645049450425, 0.09724597715885096, #<absolute_pin_position> [m]
|
||||
3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
|
||||
|
||||
joint: joint_4,
|
||||
revolute hinge,
|
||||
structural_node_2, #<node_1_label>
|
||||
-0.0011629534118987692, 0.02262071327533141, 0.01746668757489371, #<relative_position_1> [m]
|
||||
orientation, 3, 0.5084786344412178, 0.018385547620640152, 0.8608783014779054, 2, guess, #<relative_pin_orientation_matrix_1>
|
||||
structural_node_4, #<node_2_label>
|
||||
-0.031347177833029705, -0.01617494903756937, 0.018860685712244078, #<relative_position_2> [m]
|
||||
orientation, 3, 0.5084786455601428, 0.018385495401303797, 0.860878296025734, 2, guess; #<relative_pin_orientation_matrix_2>
|
||||
|
||||
joint: joint_5,
|
||||
revolute hinge,
|
||||
structural_node_4, #<node_1_label>
|
||||
0.03388957106083931, 0.016266876514581658, -0.01455629423212079, #<relative_position_1> [m]
|
||||
orientation, 3, 0.50847864556046, 0.0183854954014063, 0.8608782960255446, 2, guess, #<relative_pin_orientation_matrix_1>
|
||||
structural_node_5, #<node_2_label>
|
||||
-0.016813818553224735, 0.036484433510506876, 0.003343892503690739, #<relative_position_2> [m]
|
||||
orientation, 3, 0.5084787180221569, 0.01838550036990011, 0.8608782531198544, 2, guess; #<relative_pin_orientation_matrix_2>
|
||||
|
||||
joint: joint_6,
|
||||
in line,
|
||||
structural_node_3, #<node_1_label>
|
||||
0.0, 0.0, 0.0, #<relative_line_position> [m]
|
||||
3, 0.5094306516594838, 0.018659363391322903, 0.8603093858070039, 2, guess, #<relative_orientation>
|
||||
structural_node_5, #<node_2_label>
|
||||
offset, 0.014271424963118534, -0.03657636101236503, -0.007648283769292526; #<relative_offset> [m]
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Drive callers]
|
||||
|
||||
drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 4.0, 0.0;
|
||||
|
||||
end: elements;
|
||||
|
||||
@@ -26,26 +26,25 @@ void sharedptrTest();
|
||||
|
||||
int main()
|
||||
{
|
||||
ASMTAssembly::readWriteFile("failingsolve.asmt");
|
||||
ASMTAssembly::runFile("cirpendu2.asmt"); //Under constrained. Testing ICKine.
|
||||
ASMTAssembly::runFile("quasikine.asmt"); //Under constrained. Testing ICKine.
|
||||
ASMTAssembly::readWriteFile("piston.asmt");
|
||||
//MBDynSystem::runFile("MBDynCaseDebug2.mbd");
|
||||
ASMTAssembly::runFile("../testapp/cirpendu2.asmt"); //Under constrained. Testing ICKine.
|
||||
ASMTAssembly::runFile("../testapp/quasikine.asmt"); //Under constrained. Testing ICKine.
|
||||
ASMTAssembly::readWriteFile("../testapp/piston.asmt");
|
||||
//MBDynSystem::runFile("../testapp/MBDynCaseDebug2.mbd");
|
||||
//return 0;
|
||||
MBDynSystem::runFile("MBDynCase2.mbd");
|
||||
MBDynSystem::runFile("MBDynCase.mbd");
|
||||
MBDynSystem::runFile("CrankSlider2.mbd");
|
||||
//MBDynSystem::runFile("crank_slider.mbd"); //Needs integration of product
|
||||
MBDynSystem::runFile("../testapp/MBDynCase2.mbd");
|
||||
//MBDynSystem::runFile("../testapp/MBDynCase.mbd"); //Very large but works
|
||||
MBDynSystem::runFile("../testapp/CrankSlider2.mbd");
|
||||
//MBDynSystem::runFile("../testapp/crank_slider.mbd"); //Needs integration of product
|
||||
////ASMTAssembly::runSinglePendulumSuperSimplified(); //Mass is missing
|
||||
////ASMTAssembly::runSinglePendulumSuperSimplified2(); //DOF has infinite acceleration due to zero mass and inertias
|
||||
ASMTAssembly::runSinglePendulumSimplified();
|
||||
ASMTAssembly::runSinglePendulum();
|
||||
ASMTAssembly::runFile("../testapp/piston.asmt");
|
||||
ASMTAssembly::runFile("../testapp/00backhoe.asmt");
|
||||
//ASMTAssembly::runFile("circular.asmt"); //Needs checking
|
||||
//ASMTAssembly::runFile("engine1.asmt"); //Needs checking
|
||||
//ASMTAssembly::runFile("../testapp/circular.asmt"); //Needs checking
|
||||
//ASMTAssembly::runFile("../testapp/engine1.asmt"); //Needs checking
|
||||
ASMTAssembly::runFile("../testapp/fourbar.asmt");
|
||||
//ASMTAssembly::runFile("fourbot.asmt"); //Very large but works
|
||||
//ASMTAssembly::runFile("../testapp/fourbot.asmt"); //Very large but works
|
||||
ASMTAssembly::runFile("../testapp/wobpump.asmt");
|
||||
|
||||
auto cadSystem = std::make_shared<CADSystem>();
|
||||
|
||||
586
testapp/assembly2.asmt
Normal file
586
testapp/assembly2.asmt
Normal file
File diff suppressed because one or more lines are too long
479
testapp/cirpendu2.asmt
Normal file
479
testapp/cirpendu2.asmt
Normal file
File diff suppressed because one or more lines are too long
176
testapp/crank_slider.mbd
Normal file
176
testapp/crank_slider.mbd
Normal file
@@ -0,0 +1,176 @@
|
||||
# crank_slider.mbd
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Data Block]
|
||||
|
||||
begin: data;
|
||||
problem: initial value;
|
||||
end: data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [<Problem> Block]
|
||||
|
||||
begin: initial value;
|
||||
initial time: 0.;
|
||||
final time: 5.;
|
||||
time step: 1.e-1;
|
||||
max iterations: 10;
|
||||
tolerance: 1.e-6;
|
||||
end: initial value;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Control Data Block]
|
||||
|
||||
begin: control data;
|
||||
structural nodes: 4;
|
||||
rigid bodies: 3;
|
||||
joints: 6;
|
||||
end: control data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# Design Variables
|
||||
set: real Mass_Crank = 1.;
|
||||
set: real Mass_Conrod = 1.;
|
||||
set: real Mass_Slider = 1.;
|
||||
set: real Length_Crank = 0.2;
|
||||
set: real Length_Conrod = 0.4;
|
||||
set: real Offset_Slider = 0.05;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# Reference Labels
|
||||
set: integer Ref_Conrod = 1;
|
||||
|
||||
# Node Labels
|
||||
set: integer Node_Ground = 1;
|
||||
set: integer Node_Crank = 2;
|
||||
set: integer Node_Conrod = 3;
|
||||
set: integer Node_Slider = 4;
|
||||
|
||||
# Body Labels
|
||||
set: integer Body_Crank = 1;
|
||||
set: integer Body_Conrod = 2;
|
||||
set: integer Body_Slider = 3;
|
||||
|
||||
# Joint Labels
|
||||
set: integer JoClamp_Ground = 1;
|
||||
set: integer JoAxrot_Ground_Crank = 2;
|
||||
set: integer JoRevh_Crank_Conrod = 3;
|
||||
set: integer JoInlin_Conrod_Slider = 4;
|
||||
set: integer JoInlin_Ground_Slider = 5;
|
||||
set: integer JoPrism_Ground_Slider = 6;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# Intermediate Variables
|
||||
set: real Izz_Crank = Mass_Crank*Length_Crank^2./12.;
|
||||
set: real Izz_Conrod = Mass_Conrod*Length_Conrod^2./12.;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# References
|
||||
reference: Ref_Conrod,
|
||||
Length_Crank, 0., 0., # absolute position
|
||||
euler, 0., 0., asin(Offset_Slider/Length_Conrod), # absolute orientation
|
||||
null, # absolute velocity
|
||||
null; # absolute angular velocity
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Nodes Block]
|
||||
|
||||
begin: nodes;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# Nodes
|
||||
structural: Node_Ground, static,
|
||||
0., 0., 0., # absolute position
|
||||
eye, # absolute orientation
|
||||
null, # absolute velocity
|
||||
null; # absolute angular velocity
|
||||
|
||||
structural: Node_Crank, dynamic,
|
||||
Length_Crank/2., 0., 0., # absolute position
|
||||
eye, # absolute orientation
|
||||
null, # absolute velocity
|
||||
null; # absolute angular velocity
|
||||
|
||||
structural: Node_Conrod, dynamic,
|
||||
reference, Ref_Conrod, Length_Conrod/2., 0., 0., # absolute position
|
||||
reference, Ref_Conrod, eye, # absolute orientation
|
||||
null, # absolute velocity
|
||||
null; # absolute angular velocity
|
||||
|
||||
structural: Node_Slider, dynamic,
|
||||
reference, Ref_Conrod, Length_Conrod, 0., 0., # absolute position
|
||||
eye, # absolute orientation
|
||||
null, # absolute velocity
|
||||
null; # absolute angular velocity
|
||||
|
||||
end: nodes;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Elements Block]
|
||||
|
||||
begin: elements;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# Bodies
|
||||
body: Body_Crank, Node_Crank,
|
||||
Mass_Crank, # mass
|
||||
null, # relative center of mass
|
||||
diag, 1., 1., Izz_Crank; # inertia matrix
|
||||
|
||||
body: Body_Conrod, Node_Conrod,
|
||||
Mass_Conrod, # mass
|
||||
null, # relative center of mass
|
||||
diag, 1., 1., Izz_Conrod; # inertia matrix
|
||||
|
||||
body: Body_Slider, Node_Slider,
|
||||
Mass_Slider, # mass
|
||||
null, # relative center of mass
|
||||
eye; # inertia matrix
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# Joints
|
||||
joint: JoClamp_Ground,
|
||||
clamp,
|
||||
Node_Ground,
|
||||
null, # absolute position
|
||||
eye; # absolute orientation
|
||||
|
||||
joint: JoAxrot_Ground_Crank,
|
||||
axial rotation,
|
||||
Node_Ground,
|
||||
null, # relative offset
|
||||
hinge, eye, # relative orientation
|
||||
Node_Crank,
|
||||
-Length_Crank/2., 0., 0., # relative offset
|
||||
hinge, eye, # relative orientation
|
||||
ramp, 2.*pi, 0., 1., 0.; # angular velocity
|
||||
|
||||
joint: JoRevh_Crank_Conrod,
|
||||
revolute hinge,
|
||||
Node_Crank,
|
||||
reference, Ref_Conrod, null, # relative offset
|
||||
hinge, reference, Ref_Conrod, eye, # relative axis orientation
|
||||
Node_Conrod,
|
||||
reference, Ref_Conrod, null, # relative offset
|
||||
hinge, reference, Ref_Conrod, eye; # relative axis orientation
|
||||
|
||||
joint: JoInlin_Conrod_Slider,
|
||||
in line,
|
||||
Node_Conrod,
|
||||
Length_Conrod/2., 0., 0., # relative line position
|
||||
eye, # relative orientation
|
||||
Node_Slider;
|
||||
|
||||
joint: JoInlin_Ground_Slider,
|
||||
in line,
|
||||
Node_Ground,
|
||||
0., Offset_Slider, 0., # relative line position
|
||||
1, 0., 0., -1., 3, 1., 0., 0., # relative orientation
|
||||
Node_Slider;
|
||||
|
||||
joint: JoPrism_Ground_Slider,
|
||||
prismatic,
|
||||
Node_Ground,
|
||||
Node_Slider;
|
||||
|
||||
end: elements;
|
||||
176
testapp/crank_sliderX.mbd
Normal file
176
testapp/crank_sliderX.mbd
Normal file
@@ -0,0 +1,176 @@
|
||||
# crank_slider.mbd
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Data Block]
|
||||
|
||||
begin: data;
|
||||
problem: initial value;
|
||||
end: data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [<Problem> Block]
|
||||
|
||||
begin: initial value;
|
||||
initial time: 0.;
|
||||
final time: 1.;
|
||||
time step: 1.e-1;
|
||||
max iterations: 10;
|
||||
tolerance: 1.e-6;
|
||||
end: initial value;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Control Data Block]
|
||||
|
||||
begin: control data;
|
||||
structural nodes: 4;
|
||||
rigid bodies: 3;
|
||||
joints: 6;
|
||||
end: control data;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# Design Variables
|
||||
set: real Mass_Crank = 1.;
|
||||
set: real Mass_Conrod = 1.;
|
||||
set: real Mass_Slider = 1.;
|
||||
set: real Length_Crank = 0.2;
|
||||
set: real Length_Conrod = 0.4;
|
||||
set: real Offset_Slider = 0.05;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# Reference Labels
|
||||
set: integer Ref_Conrod = 1;
|
||||
|
||||
# Node Labels
|
||||
set: integer Node_Ground = 1;
|
||||
set: integer Node_Crank = 2;
|
||||
set: integer Node_Conrod = 3;
|
||||
set: integer Node_Slider = 4;
|
||||
|
||||
# Body Labels
|
||||
set: integer Body_Crank = 1;
|
||||
set: integer Body_Conrod = 2;
|
||||
set: integer Body_Slider = 3;
|
||||
|
||||
# Joint Labels
|
||||
set: integer JoClamp_Ground = 1;
|
||||
set: integer JoAxrot_Ground_Crank = 2;
|
||||
set: integer JoRevh_Crank_Conrod = 3;
|
||||
set: integer JoInlin_Conrod_Slider = 4;
|
||||
set: integer JoInlin_Ground_Slider = 5;
|
||||
set: integer JoPrism_Ground_Slider = 6;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# Intermediate Variables
|
||||
set: real Izz_Crank = Mass_Crank*Length_Crank^2./12.;
|
||||
set: real Izz_Conrod = Mass_Conrod*Length_Conrod^2./12.;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# References
|
||||
reference: Ref_Conrod,
|
||||
Length_Crank, 0., 0., # absolute position
|
||||
euler, 0., 0., asin(Offset_Slider/Length_Conrod), # absolute orientation
|
||||
null, # absolute velocity
|
||||
null; # absolute angular velocity
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Nodes Block]
|
||||
|
||||
begin: nodes;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# Nodes
|
||||
structural: Node_Ground, static,
|
||||
0., 0., 0., # absolute position
|
||||
eye, # absolute orientation
|
||||
null, # absolute velocity
|
||||
null; # absolute angular velocity
|
||||
|
||||
structural: Node_Crank, dynamic,
|
||||
Length_Crank/2., 0., 0., # absolute position
|
||||
eye, # absolute orientation
|
||||
null, # absolute velocity
|
||||
null; # absolute angular velocity
|
||||
|
||||
structural: Node_Conrod, dynamic,
|
||||
reference, Ref_Conrod, Length_Conrod/2., 0., 0., # absolute position
|
||||
reference, Ref_Conrod, eye, # absolute orientation
|
||||
null, # absolute velocity
|
||||
null; # absolute angular velocity
|
||||
|
||||
structural: Node_Slider, dynamic,
|
||||
reference, Ref_Conrod, Length_Conrod, 0., 0., # absolute position
|
||||
eye, # absolute orientation
|
||||
null, # absolute velocity
|
||||
null; # absolute angular velocity
|
||||
|
||||
end: nodes;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# [Elements Block]
|
||||
|
||||
begin: elements;
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# Bodies
|
||||
body: Body_Crank, Node_Crank,
|
||||
Mass_Crank, # mass
|
||||
null, # relative center of mass
|
||||
diag, 1., 1., Izz_Crank; # inertia matrix
|
||||
|
||||
body: Body_Conrod, Node_Conrod,
|
||||
Mass_Conrod, # mass
|
||||
null, # relative center of mass
|
||||
diag, 1., 1., Izz_Conrod; # inertia matrix
|
||||
|
||||
body: Body_Slider, Node_Slider,
|
||||
Mass_Slider, # mass
|
||||
null, # relative center of mass
|
||||
eye; # inertia matrix
|
||||
|
||||
#-----------------------------------------------------------------------------
|
||||
# Joints
|
||||
joint: JoClamp_Ground,
|
||||
clamp,
|
||||
Node_Ground,
|
||||
null, # absolute position
|
||||
eye; # absolute orientation
|
||||
|
||||
joint: JoAxrot_Ground_Crank,
|
||||
axial rotation,
|
||||
Node_Ground,
|
||||
null, # relative offset
|
||||
hinge, eye, # relative orientation
|
||||
Node_Crank,
|
||||
-Length_Crank/2., 0., 0., # relative offset
|
||||
hinge, eye, # relative orientation
|
||||
ramp, 2.*pi, 0., 1., 0.; # angular velocity
|
||||
|
||||
joint: JoRevh_Crank_Conrod,
|
||||
revolute hinge,
|
||||
Node_Crank,
|
||||
reference, Ref_Conrod, null, # relative offset
|
||||
hinge, reference, Ref_Conrod, eye, # relative axis orientation
|
||||
Node_Conrod,
|
||||
reference, Ref_Conrod, null, # relative offset
|
||||
hinge, reference, Ref_Conrod, eye; # relative axis orientation
|
||||
|
||||
joint: JoInlin_Conrod_Slider,
|
||||
in line,
|
||||
Node_Conrod,
|
||||
Length_Conrod/2., 0., 0., # relative line position
|
||||
eye, # relative orientation
|
||||
Node_Slider;
|
||||
|
||||
joint: JoInlin_Ground_Slider,
|
||||
in line,
|
||||
Node_Ground,
|
||||
0., Offset_Slider, 0., # relative line position
|
||||
1, 0., 0., -1., 3, 1., 0., 0., # relative orientation
|
||||
Node_Slider;
|
||||
|
||||
joint: JoPrism_Ground_Slider,
|
||||
prismatic,
|
||||
Node_Ground,
|
||||
Node_Slider;
|
||||
|
||||
end: elements;
|
||||
493
testapp/quasikine.asmt
Normal file
493
testapp/quasikine.asmt
Normal file
File diff suppressed because one or more lines are too long
586
testapp/smalltalk.asmt
Normal file
586
testapp/smalltalk.asmt
Normal file
File diff suppressed because one or more lines are too long
Reference in New Issue
Block a user