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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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28
OndselSolver/MBDynSystem.cpp
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@@ -148,13 +148,13 @@ void MbD::MBDynSystem::outputFiles()
{
auto movFile = filename.substr(0, filename.find_last_of('.')) + ".mov";
auto asmtAsm = asmtAssembly();
auto asmtTimes = asmtAsm->times;
auto asmtParts = asmtAsm->parts;
auto asmtJoints = asmtAsm->joints;
auto asmtMotions = asmtAsm->motions;
auto& asmtTimes = asmtAsm->times;
auto& asmtParts = asmtAsm->parts;
auto& asmtJoints = asmtAsm->joints;
auto& asmtMotions = asmtAsm->motions;
std::ofstream os(movFile);
os << std::setprecision(std::numeric_limits<double>::digits10 + 1);
for (size_t i = 1; i < asmtTimes->size(); i++)
os << std::setprecision(static_cast<std::streamsize>(std::numeric_limits<double>::digits10) + 1);
for (int i = 1; i < asmtTimes->size(); i++)
{
for (auto& node : *nodes) {
node->outputLine(i, os);
@@ -165,6 +165,10 @@ void MbD::MBDynSystem::outputFiles()
void MbD::MBDynSystem::setFilename(std::string str)
{
std::stringstream ss;
ss << "FileName = " << str << std::endl;
auto str2 = ss.str();
logString(str2);
filename = str;
}
@@ -244,15 +248,15 @@ void MbD::MBDynSystem::readElementsBlock(std::vector<std::string>& lines)
void MbD::MBDynSystem::eraseComments(std::vector<std::string>& lines)
{
for (size_t i = 0; i < lines.size(); i++)
for (int i = 0; i < lines.size(); i++)
{
auto line = lines[i];
auto& line = lines[i];
auto it = line.find('#');
if (it != std::string::npos) {
lines[i] = line.substr(0, it);
}
}
for (int i = lines.size() - 1; i >= 0; i--) {
for (int i = (int)lines.size() - 1; i >= 0; i--) {
auto& line = lines[i];
auto it = std::find_if(line.begin(), line.end(), [](unsigned char ch) { return !std::isspace(ch); });
if (it == line.end()) lines.erase(lines.begin() + i);
@@ -265,7 +269,7 @@ std::vector<std::string> MbD::MBDynSystem::collectStatements(std::vector<std::st
while (!lines.empty()) {
std::stringstream ss;
while (!lines.empty()) {
auto line = lines[0];
std::string line = lines[0]; //Must copy string
lines.erase(lines.begin());
auto i = line.find(';');
if (i != std::string::npos) {
@@ -377,7 +381,6 @@ void MbD::MBDynSystem::parseMBDynVariables(std::vector<std::string>& lines)
{
variables = std::make_shared<std::map<std::string, Symsptr>>();
std::string str, variable;
double doubleValue;
std::vector<std::string> tokens{ "set:", "real" };
while (true) {
auto it = findLineWith(lines, tokens);
@@ -392,7 +395,7 @@ void MbD::MBDynSystem::parseMBDynVariables(std::vector<std::string>& lines)
parser->variables = variables;
auto userFunc = std::make_shared<BasicUserFunction>(str, 1.0);
parser->parseUserFunction(userFunc);
auto sym = parser->stack->top();
auto& sym = parser->stack->top();
auto val = sym->getValue();
variables->insert(std::make_pair(variable, sym));
lines.erase(it);
@@ -431,7 +434,6 @@ void MbD::MBDynSystem::parseMBDynReferences(std::vector<std::string>& lines)
{
references = std::make_shared<std::map<std::string, std::shared_ptr<MBDynReference>>>();
std::string str, refName;
double doubleValue;
std::vector<std::string> tokens{ "reference:" };
while (true) {
auto it = findLineWith(lines, tokens);