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New joints for ASMT and MBDyn

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GearJoint, RackPinion, Screw, Planar and MBDynCase3orig.mbd
MBDyn Sperical Hinge
This commit is contained in:
Aik-Siong Koh
2023-11-15 22:03:31 -07:00
parent 810c8d2f0e
commit e0241dd6d2
242 changed files with 44337 additions and 2618 deletions
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78
OndselSolver/ASMTSpatialContainer.cpp
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@@ -333,6 +333,7 @@ void MbD::ASMTSpatialContainer::updateFromMbD()
auto mbdPart = std::static_pointer_cast<Part>(mbdObject);
auto rOcmO = mbdPart->qX()->times(mbdUnts->length);
auto aAOp = mbdPart->aAOp();
std::cout << "aAOp" << *aAOp << std::endl;
auto vOcmO = mbdPart->qXdot()->times(mbdUnts->velocity);
auto omeOPO = mbdPart->omeOpO()->times(mbdUnts->omega);
omega3D = omeOPO;
@@ -355,6 +356,7 @@ void MbD::ASMTSpatialContainer::updateFromMbD()
bryxs->push_back(bryantAngles->at(0));
bryys->push_back(bryantAngles->at(1));
bryzs->push_back(bryantAngles->at(2));
std::cout << "bry " << *bryantAngles << std::endl;
vxs->push_back(vOPO->at(0));
vys->push_back(vOPO->at(1));
vzs->push_back(vOPO->at(2));
@@ -383,60 +385,60 @@ void MbD::ASMTSpatialContainer::compareResults(AnalysisType type)
auto i = xs->size() - 1;
//Pos
if (!Numeric::equaltol(xs->at(i), inxs->at(i), lengthTol)) {
std::cout << i << " xs " << xs->at(i) << ", " << inxs->at(i) << ", " << lengthTol << std::endl;
std::cout << i << " xs " << xs->at(i) << " != " << inxs->at(i) << " tol = " << lengthTol << std::endl;
}
if (!Numeric::equaltol(ys->at(i), inys->at(i), lengthTol)) {
std::cout << i << " ys " << ys->at(i) << ", " << inys->at(i) << ", " << lengthTol << std::endl;
std::cout << i << " ys " << ys->at(i) << " != " << inys->at(i) << " tol = " << lengthTol << std::endl;
}
if (!Numeric::equaltol(zs->at(i), inzs->at(i), lengthTol)) {
std::cout << i << " zs " << zs->at(i) << ", " << inzs->at(i) << ", " << lengthTol << std::endl;
std::cout << i << " zs " << zs->at(i) << " != " << inzs->at(i) << " tol = " << lengthTol << std::endl;
}
if (!Numeric::equaltol(bryxs->at(i), inbryxs->at(i), angleTol)) {
std::cout << i << " bryxs " << bryxs->at(i) << ", " << inbryxs->at(i) << ", " << angleTol << std::endl;
std::cout << i << " bryxs " << bryxs->at(i) << " != " << inbryxs->at(i) << " tol = " << angleTol << std::endl;
}
if (!Numeric::equaltol(bryys->at(i), inbryys->at(i), angleTol)) {
std::cout << i << " bryys " << bryys->at(i) << ", " << inbryys->at(i) << ", " << angleTol << std::endl;
std::cout << i << " bryys " << bryys->at(i) << " != " << inbryys->at(i) << " tol = " << angleTol << std::endl;
}
if (!Numeric::equaltol(bryzs->at(i), inbryzs->at(i), angleTol)) {
std::cout << i << " bryzs " << bryzs->at(i) << ", " << inbryzs->at(i) << ", " << angleTol << std::endl;
std::cout << i << " bryzs " << bryzs->at(i) << " != " << inbryzs->at(i) << " tol = " << angleTol << std::endl;
}
//Vel
if (!Numeric::equaltol(vxs->at(i), invxs->at(i), velocityTol)) {
std::cout << i << " vxs " << vxs->at(i) << ", " << invxs->at(i) << ", " << velocityTol << std::endl;
std::cout << i << " vxs " << vxs->at(i) << " != " << invxs->at(i) << " tol = " << velocityTol << std::endl;
}
if (!Numeric::equaltol(vys->at(i), invys->at(i), velocityTol)) {
std::cout << i << " vys " << vys->at(i) << ", " << invys->at(i) << ", " << velocityTol << std::endl;
std::cout << i << " vys " << vys->at(i) << " != " << invys->at(i) << " tol = " << velocityTol << std::endl;
}
if (!Numeric::equaltol(vzs->at(i), invzs->at(i), velocityTol)) {
std::cout << i << " vzs " << vzs->at(i) << ", " << invzs->at(i) << ", " << velocityTol << std::endl;
std::cout << i << " vzs " << vzs->at(i) << " != " << invzs->at(i) << " tol = " << velocityTol << std::endl;
}
if (!Numeric::equaltol(omexs->at(i), inomexs->at(i), omegaTol)) {
std::cout << i << " omexs " << omexs->at(i) << ", " << inomexs->at(i) << ", " << omegaTol << std::endl;
std::cout << i << " omexs " << omexs->at(i) << " != " << inomexs->at(i) << " tol = " << omegaTol << std::endl;
}
if (!Numeric::equaltol(omeys->at(i), inomeys->at(i), omegaTol)) {
std::cout << i << " omeys " << omeys->at(i) << ", " << inomeys->at(i) << ", " << omegaTol << std::endl;
std::cout << i << " omeys " << omeys->at(i) << " != " << inomeys->at(i) << " tol = " << omegaTol << std::endl;
}
if (!Numeric::equaltol(omezs->at(i), inomezs->at(i), omegaTol)) {
std::cout << i << " omezs " << omezs->at(i) << ", " << inomezs->at(i) << ", " << omegaTol << std::endl;
std::cout << i << " omezs " << omezs->at(i) << " != " << inomezs->at(i) << " tol = " << omegaTol << std::endl;
}
//Acc
if (!Numeric::equaltol(axs->at(i), inaxs->at(i), accelerationTol)) {
std::cout << i << " axs " << axs->at(i) << ", " << inaxs->at(i) << ", " << accelerationTol << std::endl;
std::cout << i << " axs " << axs->at(i) << " != " << inaxs->at(i) << " tol = " << accelerationTol << std::endl;
}
if (!Numeric::equaltol(ays->at(i), inays->at(i), accelerationTol)) {
std::cout << i << " ays " << ays->at(i) << ", " << inays->at(i) << ", " << accelerationTol << std::endl;
std::cout << i << " ays " << ays->at(i) << " != " << inays->at(i) << " tol = " << accelerationTol << std::endl;
}
if (!Numeric::equaltol(azs->at(i), inazs->at(i), accelerationTol)) {
std::cout << i << " azs " << azs->at(i) << ", " << inazs->at(i) << ", " << accelerationTol << std::endl;
std::cout << i << " azs " << azs->at(i) << " != " << inazs->at(i) << " tol = " << accelerationTol << std::endl;
}
if (!Numeric::equaltol(alpxs->at(i), inalpxs->at(i), alphaTol)) {
std::cout << i << " alpxs " << alpxs->at(i) << ", " << inalpxs->at(i) << ", " << alphaTol << std::endl;
std::cout << i << " alpxs " << alpxs->at(i) << " != " << inalpxs->at(i) << " tol = " << alphaTol << std::endl;
}
if (!Numeric::equaltol(alpys->at(i), inalpys->at(i), alphaTol)) {
std::cout << i << " alpys " << alpys->at(i) << ", " << inalpys->at(i) << ", " << alphaTol << std::endl;
std::cout << i << " alpys " << alpys->at(i) << " != " << inalpys->at(i) << " tol = " << alphaTol << std::endl;
}
if (!Numeric::equaltol(alpzs->at(i), inalpzs->at(i), alphaTol)) {
std::cout << i << " alpzs " << alpzs->at(i) << ", " << inalpzs->at(i) << ", " << alphaTol << std::endl;
std::cout << i << " alpzs " << alpzs->at(i) << " != " << inalpzs->at(i) << " tol = " << alphaTol << std::endl;
}
}
@@ -601,116 +603,116 @@ void MbD::ASMTSpatialContainer::storeOnLevelRefSurfaces(std::ofstream& os, int l
void MbD::ASMTSpatialContainer::storeOnTimeSeries(std::ofstream& os)
{
os << "X\t";
for (size_t i = 0; i < xs->size(); i++)
for (int i = 0; i < xs->size(); i++)
{
os << xs->at(i) << '\t';
}
os << std::endl;
os << "Y\t";
for (size_t i = 0; i < ys->size(); i++)
for (int i = 0; i < ys->size(); i++)
{
os << ys->at(i) << '\t';
}
os << std::endl;
os << "Z\t";
for (size_t i = 0; i < zs->size(); i++)
for (int i = 0; i < zs->size(); i++)
{
os << zs->at(i) << '\t';
}
os << std::endl;
os << "Bryantx\t";
for (size_t i = 0; i < bryxs->size(); i++)
for (int i = 0; i < bryxs->size(); i++)
{
os << bryxs->at(i) << '\t';
}
os << std::endl;
os << "Bryanty\t";
for (size_t i = 0; i < bryys->size(); i++)
for (int i = 0; i < bryys->size(); i++)
{
os << bryys->at(i) << '\t';
}
os << std::endl;
os << "Bryantz\t";
for (size_t i = 0; i < bryzs->size(); i++)
for (int i = 0; i < bryzs->size(); i++)
{
os << bryzs->at(i) << '\t';
}
os << std::endl;
os << "VX\t";
for (size_t i = 0; i < vxs->size(); i++)
for (int i = 0; i < vxs->size(); i++)
{
os << vxs->at(i) << '\t';
}
os << std::endl;
os << "VY\t";
for (size_t i = 0; i < vys->size(); i++)
for (int i = 0; i < vys->size(); i++)
{
os << vys->at(i) << '\t';
}
os << std::endl;
os << "VZ\t";
for (size_t i = 0; i < vzs->size(); i++)
for (int i = 0; i < vzs->size(); i++)
{
os << vzs->at(i) << '\t';
}
os << std::endl;
os << "OmegaX\t";
for (size_t i = 0; i < omexs->size(); i++)
for (int i = 0; i < omexs->size(); i++)
{
os << omexs->at(i) << '\t';
}
os << std::endl;
os << "OmegaY\t";
for (size_t i = 0; i < omeys->size(); i++)
for (int i = 0; i < omeys->size(); i++)
{
os << omeys->at(i) << '\t';
}
os << std::endl;
os << "OmegaZ\t";
for (size_t i = 0; i < omezs->size(); i++)
for (int i = 0; i < omezs->size(); i++)
{
os << omezs->at(i) << '\t';
}
os << std::endl;
os << "AX\t";
for (size_t i = 0; i < axs->size(); i++)
for (int i = 0; i < axs->size(); i++)
{
os << axs->at(i) << '\t';
}
os << std::endl;
os << "AY\t";
for (size_t i = 0; i < ays->size(); i++)
for (int i = 0; i < ays->size(); i++)
{
os << ays->at(i) << '\t';
}
os << std::endl;
os << "AZ\t";
for (size_t i = 0; i < azs->size(); i++)
for (int i = 0; i < azs->size(); i++)
{
os << azs->at(i) << '\t';
}
os << std::endl;
os << "AlphaX\t";
for (size_t i = 0; i < alpxs->size(); i++)
for (int i = 0; i < alpxs->size(); i++)
{
os << alpxs->at(i) << '\t';
}
os << std::endl;
os << "AlphaY\t";
for (size_t i = 0; i < alpys->size(); i++)
for (int i = 0; i < alpys->size(); i++)
{
os << alpys->at(i) << '\t';
}
os << std::endl;
os << "AlphaZ\t";
for (size_t i = 0; i < alpzs->size(); i++)
for (int i = 0; i < alpzs->size(); i++)
{
os << alpzs->at(i) << '\t';
}
os << std::endl;
}
FColDsptr MbD::ASMTSpatialContainer::getVelocity3D(size_t i)
FColDsptr MbD::ASMTSpatialContainer::getVelocity3D(int i)
{
auto vec3 = std::make_shared<FullColumn<double>>(3);
vec3->atiput(0, vxs->at(i));
@@ -719,7 +721,7 @@ FColDsptr MbD::ASMTSpatialContainer::getVelocity3D(size_t i)
return vec3;
}
FColDsptr MbD::ASMTSpatialContainer::getOmega3D(size_t i)
FColDsptr MbD::ASMTSpatialContainer::getOmega3D(int i)
{
auto vec3 = std::make_shared<FullColumn<double>>(3);
vec3->atiput(0, omexs->at(i));