From f026153c384863b20b84a44218390b3266f07cbb Mon Sep 17 00:00:00 2001 From: Aik-Siong Koh Date: Thu, 9 Nov 2023 14:16:05 -0700 Subject: [PATCH] Good version for ASMT and MBDyn --- OndselSolver/ASMTAssembly.cpp | 4 +- OndselSolver/Array.h | 4 +- OndselSolver/AtPointConstraintIqcJc.cpp | 2 +- OndselSolver/AtPointConstraintIqcJqc.cpp | 2 +- OndselSolver/BasicIntegrator.cpp | 2 +- OndselSolver/BasicQuasiIntegrator.cpp | 30 +- OndselSolver/CREATE.h | 2 +- OndselSolver/ClassDiagram.cd | 2 - OndselSolver/ClassDiagram1.cd | 11 - OndselSolver/ConstVelConstraintIJ.cpp | 12 +- OndselSolver/ConstVelConstraintIqcJc.cpp | 2 +- OndselSolver/ConstantGravity.cpp | 2 +- OndselSolver/Constraint.cpp | 2 +- OndselSolver/Constraint.h | 2 +- OndselSolver/CrankSlider2.mbd | 297 ++ OndselSolver/CrankSlider2.mov | 3204 ++++++++++++++ OndselSolver/DiagonalMatrix.h | 40 +- OndselSolver/DifferenceOperator.cpp | 15 +- OndselSolver/DifferenceOperator.h | 3 +- OndselSolver/DirectionCosineConstraintIJ.cpp | 4 +- OndselSolver/FullColumn.h | 57 +- OndselSolver/FullMatrix.h | 14 +- OndselSolver/FullRow.h | 38 + OndselSolver/FullVector.h | 47 +- OndselSolver/GearConstraintIJ.h | 2 +- OndselSolver/GearConstraintIqcJc.cpp | 2 +- OndselSolver/GearConstraintIqcJqc.cpp | 2 +- OndselSolver/InPlaneJoint.h | 2 +- OndselSolver/Item.cpp | 2 +- OndselSolver/Joint.cpp | 2 +- OndselSolver/LDUFullMat.cpp | 16 +- OndselSolver/LinearMultiStepMethod.cpp | 49 +- OndselSolver/LinearMultiStepMethod.h | 19 +- OndselSolver/MBDynCaseDebug1.mbd | 321 ++ OndselSolver/MBDynCaseDebug1.mov | 4005 ++++++++++++++++++ OndselSolver/MBDynCaseDebug2.mbd | 320 ++ OndselSolver/MBDynCaseDebug2.mov | 4005 ++++++++++++++++++ OndselSolver/MBDynSystem.cpp | 1 + OndselSolver/MarkerFrame.cpp | 10 +- OndselSolver/MarkerFrame.h | 8 +- OndselSolver/MatrixDecomposition.cpp | 37 + OndselSolver/MatrixDecomposition.h | 15 +- OndselSolver/NewtonRaphson.cpp | 2 + OndselSolver/OndselSolver.cpp | 6 +- OndselSolver/OrbitAnglezIecJec.cpp | 2 +- OndselSolver/OrbitAnglezIeqcJec.cpp | 2 +- OndselSolver/OrbitAnglezIeqcJec.h | 2 +- OndselSolver/OrbitAnglezIeqcJeqc.cpp | 2 +- OndselSolver/OrbitAnglezIeqcJeqc.h | 2 +- OndselSolver/Part.cpp | 5 + OndselSolver/Part.h | 1 + OndselSolver/PosICKineNewtonRaphson.cpp | 5 + OndselSolver/PosICKineNewtonRaphson.h | 1 + OndselSolver/SparseMatrix.h | 51 +- OndselSolver/SparseRow.h | 28 +- OndselSolver/SparseVector.h | 11 + OndselSolver/StableBackwardDifference.cpp | 52 +- OndselSolver/StableBackwardDifference.h | 11 +- OndselSolver/SymbolicParser.cpp | 28 +- OndselSolver/SystemSolver.h | 3 +- OndselSolver/VectorNewtonRaphson.cpp | 7 +- OndselSolver/VectorNewtonRaphson.h | 1 + OndselSolver/assembly.asmt | 158 +- OndselSolver/assembly2.asmt | 438 +- OndselSolver/assemblyDebug.asmt | 435 -- OndselSolver/assemblyDebug2.asmt | 582 --- OndselSolver/cirpendu2.asmt | 479 +++ OndselSolver/quasikine.asmt | 493 +++ OndselSolver/smalltalk.asmt | 586 +++ 69 files changed, 14514 insertions(+), 1495 deletions(-) delete mode 100644 OndselSolver/ClassDiagram.cd delete mode 100644 OndselSolver/ClassDiagram1.cd create mode 100644 OndselSolver/CrankSlider2.mbd create mode 100644 OndselSolver/CrankSlider2.mov create mode 100644 OndselSolver/MBDynCaseDebug1.mbd create mode 100644 OndselSolver/MBDynCaseDebug1.mov create mode 100644 OndselSolver/MBDynCaseDebug2.mbd create mode 100644 OndselSolver/MBDynCaseDebug2.mov delete mode 100644 OndselSolver/assemblyDebug.asmt delete mode 100644 OndselSolver/assemblyDebug2.asmt create mode 100644 OndselSolver/cirpendu2.asmt create mode 100644 OndselSolver/quasikine.asmt create mode 100644 OndselSolver/smalltalk.asmt diff --git a/OndselSolver/ASMTAssembly.cpp b/OndselSolver/ASMTAssembly.cpp index a403bcb..9c3813f 100644 --- a/OndselSolver/ASMTAssembly.cpp +++ b/OndselSolver/ASMTAssembly.cpp @@ -940,7 +940,7 @@ void MbD::ASMTAssembly::createMbD(std::shared_ptr mbdSys, std::shared_pt void MbD::ASMTAssembly::outputFile(std::string filename) { std::ofstream os(filename); - os << std::setprecision(std::numeric_limits::digits10 + 1); + os << std::setprecision(static_cast(std::numeric_limits::digits10) + 1); // try { os << "OndselSolver" << std::endl; storeOnLevel(os, 0); @@ -1144,7 +1144,7 @@ std::shared_ptr MbD::ASMTAssembly::partPartialNamed(std::string partia auto fullName = prt->fullName(""); return fullName.find(partialName) != std::string::npos; }); - auto part = *it; + auto& part = *it; return part; } diff --git a/OndselSolver/Array.h b/OndselSolver/Array.h index 20fa6e5..15dc4f5 100644 --- a/OndselSolver/Array.h +++ b/OndselSolver/Array.h @@ -121,7 +121,7 @@ namespace MbD { { for (int ii = 0; ii < this->size(); ii++) { - this->at(ii) = array->at(i + ii); + this->at(ii) = array->at((size_t)i + ii); } } //template<> @@ -182,4 +182,4 @@ namespace MbD { { this->at(i) *= factor; } -} +} \ No newline at end of file diff --git a/OndselSolver/AtPointConstraintIqcJc.cpp b/OndselSolver/AtPointConstraintIqcJc.cpp index 6ebc638..07e858d 100644 --- a/OndselSolver/AtPointConstraintIqcJc.cpp +++ b/OndselSolver/AtPointConstraintIqcJc.cpp @@ -45,7 +45,7 @@ void AtPointConstraintIqcJc::useEquationNumbers() void AtPointConstraintIqcJc::fillPosICError(FColDsptr col) { Constraint::fillPosICError(col); - col->at(iqXIminusOnePlusAxis) -= lam; + col->atiminusNumber(iqXIminusOnePlusAxis, lam); col->atiplusFullVectortimes(iqEI, pGpEI, lam); } diff --git a/OndselSolver/AtPointConstraintIqcJqc.cpp b/OndselSolver/AtPointConstraintIqcJqc.cpp index 2359825..1adb3db 100644 --- a/OndselSolver/AtPointConstraintIqcJqc.cpp +++ b/OndselSolver/AtPointConstraintIqcJqc.cpp @@ -46,7 +46,7 @@ void AtPointConstraintIqcJqc::useEquationNumbers() void AtPointConstraintIqcJqc::fillPosICError(FColDsptr col) { AtPointConstraintIqcJc::fillPosICError(col); - col->at(iqXJminusOnePlusAxis) += lam; + col->atiplusNumber(iqXJminusOnePlusAxis, lam); col->atiplusFullVectortimes(iqEJ, pGpEJ, lam); } diff --git a/OndselSolver/BasicIntegrator.cpp b/OndselSolver/BasicIntegrator.cpp index 1ac1826..057be93 100644 --- a/OndselSolver/BasicIntegrator.cpp +++ b/OndselSolver/BasicIntegrator.cpp @@ -5,7 +5,7 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ - + #include "BasicIntegrator.h" #include "CREATE.h" #include "StableBackwardDifference.h" diff --git a/OndselSolver/BasicQuasiIntegrator.cpp b/OndselSolver/BasicQuasiIntegrator.cpp index 77a07b1..eb8a0c6 100644 --- a/OndselSolver/BasicQuasiIntegrator.cpp +++ b/OndselSolver/BasicQuasiIntegrator.cpp @@ -14,15 +14,15 @@ using namespace MbD; void BasicQuasiIntegrator::firstStep() { istep = 0; - this->preFirstStep(); + preFirstStep(); iTry = 1; orderNew = 1; - this->selectFirstStepSize(); - this->incrementTime(); - this->runInitialConditionTypeSolution(); - //this->reportTrialStepStats(); - this->postFirstStep(); - //this->reportStepStats(); + selectFirstStepSize(); + incrementTime(); + runInitialConditionTypeSolution(); + //reportTrialStepStats(); + postFirstStep(); + //reportStepStats(); } bool BasicQuasiIntegrator::isRedoingFirstStep() @@ -32,15 +32,15 @@ bool BasicQuasiIntegrator::isRedoingFirstStep() void BasicQuasiIntegrator::nextStep() { - this->preStep(); + preStep(); iTry = 1; - this->selectOrder(); - this->selectStepSize(); - this->incrementTime(); - this->runInitialConditionTypeSolution(); - //this->reportTrialStepStats(); - this->postStep(); - //this->reportStepStats(); + selectOrder(); + selectStepSize(); + incrementTime(); + runInitialConditionTypeSolution(); + //reportTrialStepStats(); + postStep(); + //reportStepStats(); } void BasicQuasiIntegrator::runInitialConditionTypeSolution() diff --git a/OndselSolver/CREATE.h b/OndselSolver/CREATE.h index 67bdf9a..042a163 100644 --- a/OndselSolver/CREATE.h +++ b/OndselSolver/CREATE.h @@ -78,7 +78,7 @@ namespace MbD { else { inst = std::make_shared(frmi, frmj, axis); } - } // "class MbD::Tran + } else if(str.find("TranslationConstraintIJ") != std::string::npos) { if (std::dynamic_pointer_cast(frmi)) { inst = std::make_shared(frmi, frmj, axis); diff --git a/OndselSolver/ClassDiagram.cd b/OndselSolver/ClassDiagram.cd deleted file mode 100644 index 7b89419..0000000 --- a/OndselSolver/ClassDiagram.cd +++ /dev/null @@ -1,2 +0,0 @@ - - \ No newline at end of file diff --git a/OndselSolver/ClassDiagram1.cd b/OndselSolver/ClassDiagram1.cd deleted file mode 100644 index 54af3c4..0000000 --- a/OndselSolver/ClassDiagram1.cd +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - AKAAAgAAAAAAgAAAEAEAAIABAAAAAAAACIAAIAAAAAI= - Solver.h - - - - \ No newline at end of file diff --git a/OndselSolver/ConstVelConstraintIJ.cpp b/OndselSolver/ConstVelConstraintIJ.cpp index b5479aa..0e8913d 100644 --- a/OndselSolver/ConstVelConstraintIJ.cpp +++ b/OndselSolver/ConstVelConstraintIJ.cpp @@ -52,40 +52,40 @@ void ConstVelConstraintIJ::postInput() { aA01IeJe->postInput(); aA10IeJe->postInput(); - Constraint::postInput(); + ConstraintIJ::postInput(); } void ConstVelConstraintIJ::postPosICIteration() { aA01IeJe->postPosICIteration(); aA10IeJe->postPosICIteration(); - Item::postPosICIteration(); + ConstraintIJ::postPosICIteration(); } void ConstVelConstraintIJ::preAccIC() { aA01IeJe->preAccIC(); aA10IeJe->preAccIC(); - Constraint::preAccIC(); + ConstraintIJ::preAccIC(); } void ConstVelConstraintIJ::prePosIC() { aA01IeJe->prePosIC(); aA10IeJe->prePosIC(); - Constraint::prePosIC(); + ConstraintIJ::prePosIC(); } void ConstVelConstraintIJ::preVelIC() { aA01IeJe->preVelIC(); aA10IeJe->preVelIC(); - Item::preVelIC(); + ConstraintIJ::preVelIC(); } void ConstVelConstraintIJ::simUpdateAll() { aA01IeJe->simUpdateAll(); aA10IeJe->simUpdateAll(); - Item::simUpdateAll(); + ConstraintIJ::simUpdateAll(); } diff --git a/OndselSolver/ConstVelConstraintIqcJc.cpp b/OndselSolver/ConstVelConstraintIqcJc.cpp index 992a85c..b82da2b 100644 --- a/OndselSolver/ConstVelConstraintIqcJc.cpp +++ b/OndselSolver/ConstVelConstraintIqcJc.cpp @@ -5,7 +5,7 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ - + #include #include "ConstVelConstraintIqcJc.h" diff --git a/OndselSolver/ConstantGravity.cpp b/OndselSolver/ConstantGravity.cpp index 83e8065..744a9c3 100644 --- a/OndselSolver/ConstantGravity.cpp +++ b/OndselSolver/ConstantGravity.cpp @@ -15,6 +15,6 @@ using namespace MbD; void MbD::ConstantGravity::fillAccICIterError(FColDsptr col) { for (auto& part : *(root()->parts)) { - col->atiplusFullColumn(part->iqX(), gXYZ->times(part->m)); + col->atiplusFullColumntimes(part->iqX(), gXYZ, part->m); } } diff --git a/OndselSolver/Constraint.cpp b/OndselSolver/Constraint.cpp index 93f02c7..9702f0a 100644 --- a/OndselSolver/Constraint.cpp +++ b/OndselSolver/Constraint.cpp @@ -104,7 +104,7 @@ void Constraint::setqsudotlam(FColDsptr col) void Constraint::fillPosICError(FColDsptr col) { - col->at(iG) += aG; + col->atiplusNumber(iG, aG); } void Constraint::removeRedundantConstraints(std::shared_ptr> redundantEqnNos) diff --git a/OndselSolver/Constraint.h b/OndselSolver/Constraint.h index 3063632..7922264 100644 --- a/OndselSolver/Constraint.h +++ b/OndselSolver/Constraint.h @@ -5,7 +5,7 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ - + #pragma once #include diff --git a/OndselSolver/CrankSlider2.mbd b/OndselSolver/CrankSlider2.mbd new file mode 100644 index 0000000..6b38c91 --- /dev/null +++ b/OndselSolver/CrankSlider2.mbd @@ -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 = 3.805252376198168; #mass [kg] + set: real volume_2 = 0.0004816775159744516; #volume [m^3] + + #body: 3 + set: integer body_3 = 3; #body label + set: real mass_3 = 15.238784954845523; #mass [kg] + set: real volume_3 = 0.0019289601208665218; #volume [m^3] + + #body: 4 + set: integer body_4 = 4; #body label + set: real mass_4 = 2.865603331977783; #mass [kg] + set: real volume_4 = 0.0003627345989845295; #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 = -0.06210573361337854; #X component of the absolute position [m] + set: real Py_1 = 0.048526435375479564; #Y component of the absolute position [m] + set: real Pz_1 = -4.033966837940965e-17; #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 = 0.011666006676941875; #X component of the absolute position [m] + set: real Py_2 = 0.15999999999999778; #Y component of the absolute position [m] + set: real Pz_2 = -1.2084363289349542e-19; #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 = 0.2111281366952498; #X component of the absolute position [m] + set: real Py_3 = 0.16; #Y component of the absolute position [m] + set: real Pz_3 = -2.0217697810416158e-18; #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 = -0.1812239275015207; #X component of the absolute position [m] + set: real Py_4 = 0.16000000169909329; #Y component of the absolute position [m] + set: real Pz_4 = -4.340477856936436e-12; #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 = 0.031674420620509; #moment of inertia [kg*m^2] + set: real Iyy_2 = 0.029604112147595; #moment of inertia [kg*m^2] + set: real Izz_2 = 0.002867529429125; #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 = 2.0843632893495426e-20; #Z component of the relative center of mass [m] + + #body 3: + set: real Ixx_3 = 0.09813066341583701; #moment of inertia [kg*m^2] + set: real Iyy_3 = 0.095433846761275; #moment of inertia [kg*m^2] + set: real Izz_3 = 0.077043262824289; #moment of inertia [kg*m^2] + + set: real Rx_3 = 0.0; #X component of the relative center of mass [m] + set: real Ry_3 = 0.0; #Y component of the relative center of mass [m] + set: real Rz_3 = 2.1769781041615487e-20; #Z component of the relative center of mass [m] + + #body 4: + set: real Ixx_4 = 0.010133521085753; #moment of inertia [kg*m^2] + set: real Iyy_4 = 0.006853402672398001; #moment of inertia [kg*m^2] + set: real Izz_4 = 0.00669113151275; #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 = -4.306356366563123e-20; #Z component of the relative center of mass [m] + + #----------------------------------------------------------------------------- + # [Nodes Block] + + begin: nodes; + + structural: structural_node_1, + static, + Px_1, Py_1, Pz_1, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + dynamic, + Px_3, Py_3, Pz_3, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, 1.0, 0.0, 0.0, 2, 0.0, 0.9999999999999999, 9.62964972193618e-35; + + body: body_3, + structural_node_3, # + mass_3, # [kg] + Rx_3, Ry_3, Rz_3, # [m] + diag, Ixx_3, Iyy_3, Izz_3, # [kg*m^2] + orientation, 3, 0.0, 0.0, 1.0, 2, 1.0, 0.0, 0.0; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; + + #----------------------------------------------------------------------------- + # [Joints] + + joint: joint_1, + clamp, + structural_node_1, # + -0.06210573361337854, 0.048526435375479564, -4.033966837940965e-17, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 0.2521057336133785, 0.11147356462452043, 0.13500000000000004, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, # + structural_node_3, # + -0.021128136695249794, 0.0, 0.135, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + revolute hinge, + structural_node_2, # + 0.08833399332305812, 2.2168933355715126e-15, 0.065, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, # + structural_node_3, # + -0.11112813669524979, 0.0, 0.065, # [m] + orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0; # + + joint: joint_4, + prismatic, + structural_node_1, # + orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1> + structural_node_4, # + orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2> + + joint: joint_5, + in line, + structural_node_1, # + 0.0, 0.11147355803101042, 2.4118673970779456e-17, # [m] + 3, -1.0, 1.1102230246251565e-16, -2.220446049250313e-16, 2, -1.1102230246251565e-16, 0.0, 1.0, # + structural_node_4, # + offset, 0.0, -8.292603282173139e-09, 4.340448411165876e-12; # [m] + + joint: joint_6, + in line, + structural_node_2, # + -0.1616660066769419, 2.2168933355715126e-15, 0.0, # [m] + 3, 0.0, -0.0, -1.0, 2, -1.0, -2.220446049250313e-16, 0.0, # + structural_node_4, # + offset, 0.031223927501520705, -1.69909327496498e-09, 7.275957614183426e-15; # [m] + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 10.0, 0.0, 1.0, 0.0; + + end: elements; + diff --git a/OndselSolver/CrankSlider2.mov b/OndselSolver/CrankSlider2.mov new file mode 100644 index 0000000..84d7555 --- /dev/null +++ b/OndselSolver/CrankSlider2.mov @@ -0,0 +1,3204 @@ +1 -0.06210573361337854 0.04852643537547956 -4.033966837940965e-17 1 0 0 0 1 0 0 0 1 -0 0 0 -0 0 0 +2 0.01166600667694186 0.1599999999999978 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index 69c0c28..dbb6d67 100644 --- a/OndselSolver/DiagonalMatrix.h +++ b/OndselSolver/DiagonalMatrix.h @@ -28,7 +28,7 @@ namespace MbD { DiagonalMatrix(int count) : Array(count) {} DiagonalMatrix(int count, const T& value) : Array(count, value) {} DiagonalMatrix(std::initializer_list list) : Array{ list } {} - void atiputDiagonalMatrix(int i, std::shared_ptr> diagMat); + void atiputDiagonalMatrix(int i, DiagMatsptr diagMat); DiagMatsptr times(T factor); FColsptr timesFullColumn(FColsptr fullCol); FMatsptr timesFullMatrix(FMatsptr fullMat); @@ -45,8 +45,38 @@ namespace MbD { std::ostream& printOn(std::ostream& s) const override; + static DiagMatDsptr Identity3by3; + static DiagMatDsptr Identity4by4; + }; template<> + DiagMatDsptr DiagonalMatrix::Identity3by3 = []() { + auto identity3by3 = std::make_shared>(3); + for (int i = 0; i < 3; i++) + { + identity3by3->at(i) = 1.0; + } + return identity3by3; + }(); + template<> + DiagMatDsptr DiagonalMatrix::Identity4by4 = []() { + auto identity4by4 = std::make_shared>(4); + for (int i = 0; i < 4; i++) + { + identity4by4->at(i) = 1.0; + } + return identity4by4; + }(); + + template + inline void DiagonalMatrix::atiputDiagonalMatrix(int i, DiagMatsptr diagMat) + { + for (int ii = 0; ii < diagMat->size(); ii++) + { + this->at(i + ii) = diagMat->at(ii); + } + } + template<> inline DiagMatDsptr DiagonalMatrix::times(double factor) { auto nrow = (int)this->size(); @@ -58,14 +88,6 @@ namespace MbD { return answer; } template - inline void DiagonalMatrix::atiputDiagonalMatrix(int i, std::shared_ptr> diagMat) - { - for (int ii = 0; ii < diagMat->size(); ii++) - { - this->at(i + ii) = diagMat->at(ii); - } - } - template inline DiagMatsptr DiagonalMatrix::times(T factor) { assert(false); diff --git a/OndselSolver/DifferenceOperator.cpp b/OndselSolver/DifferenceOperator.cpp index 5fd44d7..6de4ec5 100644 --- a/OndselSolver/DifferenceOperator.cpp +++ b/OndselSolver/DifferenceOperator.cpp @@ -5,7 +5,7 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ - + #include #include "DifferenceOperator.h" @@ -20,7 +20,7 @@ FRowDsptr DifferenceOperator::OneOverFactorials = []() { auto oneOverFactorials = std::make_shared>(10); for (int i = 0; i < oneOverFactorials->size(); i++) { - oneOverFactorials->at(i) = 1.0 / std::tgamma(i+1); + oneOverFactorials->at(i) = 1.0 / std::tgamma(i + 1); } return oneOverFactorials; }(); @@ -42,6 +42,12 @@ void DifferenceOperator::calcOperatorMatrix() void DifferenceOperator::initialize() { + //Do nothing +} + +void MbD::DifferenceOperator::initializeLocally() +{ + assert(false); } void DifferenceOperator::setiStep(int i) @@ -75,9 +81,8 @@ void DifferenceOperator::formTaylorRowwithTimeNodederivative(int i, int ii, int for (int j = k + 1; j < order + 1; j++) { hipower = hipower * hi; - assert(false); - //aij = hipower * (OneOverFactorials at : j - k - 1); - //rowi at : j put : aij + auto aij = hipower * OneOverFactorials->at((size_t)j - k); + rowi->atiput(j, aij); } } diff --git a/OndselSolver/DifferenceOperator.h b/OndselSolver/DifferenceOperator.h index e9b02f1..8926f8d 100644 --- a/OndselSolver/DifferenceOperator.h +++ b/OndselSolver/DifferenceOperator.h @@ -19,6 +19,7 @@ namespace MbD { public: void calcOperatorMatrix(); virtual void initialize(); + virtual void initializeLocally(); virtual void setiStep(int i); virtual void setorder(int o); virtual void formTaylorMatrix() = 0; @@ -29,7 +30,7 @@ namespace MbD { int iStep = 0, order = 0; FMatDsptr taylorMatrix, operatorMatrix; double time = 0.0; - std::shared_ptr> timeNodes; + std::shared_ptr> timeNodes; //"Row of past times in order of increasing past." static FRowDsptr OneOverFactorials; }; } diff --git a/OndselSolver/DirectionCosineConstraintIJ.cpp b/OndselSolver/DirectionCosineConstraintIJ.cpp index 7138b60..d75482d 100644 --- a/OndselSolver/DirectionCosineConstraintIJ.cpp +++ b/OndselSolver/DirectionCosineConstraintIJ.cpp @@ -59,7 +59,7 @@ void DirectionCosineConstraintIJ::prePosIC() void DirectionCosineConstraintIJ::postPosICIteration() { aAijIeJe->postPosICIteration(); - Item::postPosICIteration(); + ConstraintIJ::postPosICIteration(); } ConstraintType DirectionCosineConstraintIJ::type() @@ -70,7 +70,7 @@ ConstraintType DirectionCosineConstraintIJ::type() void DirectionCosineConstraintIJ::preVelIC() { aAijIeJe->preVelIC(); - Item::preVelIC(); + ConstraintIJ::preVelIC(); } void MbD::DirectionCosineConstraintIJ::simUpdateAll() diff --git a/OndselSolver/FullColumn.h b/OndselSolver/FullColumn.h index b72b006..6e5857d 100644 --- a/OndselSolver/FullColumn.h +++ b/OndselSolver/FullColumn.h @@ -5,7 +5,7 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ - + #pragma once #include @@ -36,6 +36,7 @@ namespace MbD { FullColumn(typename std::vector::iterator begin, typename std::vector::iterator end) : FullVector(begin, end) {} FullColumn(std::initializer_list list) : FullVector{ list } {} FColsptr plusFullColumn(FColsptr fullCol); + FColsptr plusFullColumntimes(FColsptr fullCol, double factor); FColsptr minusFullColumn(FColsptr fullCol); FColsptr times(T a); FColsptr negated(); @@ -47,17 +48,20 @@ namespace MbD { FColsptr copy(); FRowsptr transpose(); void atiplusFullColumntimes(int i, FColsptr fullCol, T factor); - T transposeTimesFullColumn(const FColsptr fullCol); + T transposeTimesFullColumn(const FColsptr fullCol); void equalSelfPlusFullColumntimes(FColsptr fullCol, T factor); FColsptr cross(FColsptr fullCol); FColsptr simplified(); + std::shared_ptr> clonesptr(); + double dot(std::shared_ptr> vec); + std::shared_ptr> dot(std::shared_ptr>>> vecvec); std::ostream& printOn(std::ostream& s) const override; }; template inline FColsptr FullColumn::plusFullColumn(FColsptr fullCol) { - int n = (int) this->size(); + int n = (int)this->size(); auto answer = std::make_shared>(n); for (int i = 0; i < n; i++) { answer->at(i) = this->at(i) + fullCol->at(i); @@ -65,9 +69,19 @@ namespace MbD { return answer; } template + inline FColsptr FullColumn::plusFullColumntimes(FColsptr fullCol, double factor) + { + int n = (int)this->size(); + auto answer = std::make_shared>(n); + for (int i = 0; i < n; i++) { + answer->at(i) = this->at(i) + fullCol->at(i) * factor; + } + return answer; + } + template inline FColsptr FullColumn::minusFullColumn(FColsptr fullCol) { - int n = (int) this->size(); + int n = (int)this->size(); auto answer = std::make_shared>(n); for (int i = 0; i < n; i++) { answer->at(i) = this->at(i) - fullCol->at(i); @@ -99,7 +113,7 @@ namespace MbD { { for (int ii = 0; ii < fullCol->size(); ii++) { - this->at(i + ii) = fullCol->at(ii); + this->at((size_t)i + ii) = fullCol->at(ii); } } template @@ -140,7 +154,7 @@ namespace MbD { template<> inline FColDsptr FullColumn::copy() { - auto n = (int) this->size(); + auto n = (int)this->size(); auto answer = std::make_shared>(n); for (int i = 0; i < n; i++) { @@ -206,6 +220,37 @@ namespace MbD { return FColsptr(); } template + inline std::shared_ptr> FullColumn::clonesptr() + { + return std::make_shared>(*this); + } + template + inline double FullColumn::dot(std::shared_ptr> vec) + { + int n = (int)this->size(); + double answer = 0.0; + for (int i = 0; i < n; i++) { + answer += this->at(i) * vec->at(i); + } + return answer; + } + template + inline std::shared_ptr> FullColumn::dot(std::shared_ptr>>> vecvec) + { + int ncol = (int)this->size(); + auto nelem = vecvec->at(0)->size(); + auto answer = std::make_shared>(nelem); + for (int k = 0; k < nelem; k++) { + auto sum = 0.0; + for (int i = 0; i < ncol; i++) + { + sum += this->at(i) * vecvec->at(i)->at(k); + } + answer->at(k) = sum; + } + return answer; + } + template inline std::ostream& FullColumn::printOn(std::ostream& s) const { s << "FullCol{"; diff --git a/OndselSolver/FullMatrix.h b/OndselSolver/FullMatrix.h index bc954b5..a6786bb 100644 --- a/OndselSolver/FullMatrix.h +++ b/OndselSolver/FullMatrix.h @@ -334,13 +334,6 @@ namespace MbD { return tilde; } template<> - inline void FullMatrix::zeroSelf() - { - for (int i = 0; i < this->size(); i++) { - this->at(i)->zeroSelf(); - } - } - template<> inline void FullMatrix::identity() { this->zeroSelf(); for (int i = 0; i < this->size(); i++) { @@ -496,6 +489,13 @@ namespace MbD { assert(false); return 0.0; } + template<> + inline void FullMatrix::zeroSelf() + { + for (int i = 0; i < this->size(); i++) { + this->at(i)->zeroSelf(); + } + } template inline void FullMatrix::zeroSelf() { diff --git a/OndselSolver/FullRow.h b/OndselSolver/FullRow.h index b4df0bd..a10e162 100644 --- a/OndselSolver/FullRow.h +++ b/OndselSolver/FullRow.h @@ -51,6 +51,13 @@ namespace MbD { FRowsptr copy(); void atiplusFullRow(int j, FRowsptr fullRow); FMatsptr transposeTimesFullRow(FRowsptr fullRow); + std::shared_ptr> clonesptr(); + //double dot(std::shared_ptr> vec); + //double dot(std::shared_ptr> vec); + double dot(std::shared_ptr> vec); + std::shared_ptr> dot(std::shared_ptr>>> vecvec); + + std::ostream& printOn(std::ostream& s) const override; }; @@ -169,6 +176,37 @@ namespace MbD { return answer; } template + inline std::shared_ptr> FullRow::clonesptr() + { + return std::make_shared>(*this); + } + template + inline double FullRow::dot(std::shared_ptr> vec) + { + int n = (int)this->size(); + double answer = 0.0; + for (int i = 0; i < n; i++) { + answer += this->at(i) * vec->at(i); + } + return answer; + } + template + inline std::shared_ptr> FullRow::dot(std::shared_ptr>>> vecvec) + { + auto ncol = (int)this->size(); + auto nelem = vecvec->at(0)->size(); + auto answer = std::make_shared>(nelem); + for (int k = 0; k < nelem; k++) { + auto sum = 0.0; + for (int i = 0; i < ncol; i++) + { + sum += this->at(i) * vecvec->at(i)->at(k); + } + answer->at(k) = sum; + } + return answer; + } + template inline std::ostream& FullRow::printOn(std::ostream& s) const { s << "FullRow{"; diff --git a/OndselSolver/FullVector.h b/OndselSolver/FullVector.h index 228145b..ab0028e 100644 --- a/OndselSolver/FullVector.h +++ b/OndselSolver/FullVector.h @@ -37,7 +37,12 @@ namespace MbD { void normalizeSelf(); double length(); virtual void conditionSelf(); - void conditionSelfWithTol(double tol); + virtual void conditionSelfWithTol(double tol); + std::shared_ptr> clonesptr(); + bool isIncreasing(); + bool isIncreasingIfExceptionsAreLessThan(double tol); + bool isDecreasingIfExceptionsAreLessThan(double tol); + std::ostream& printOn(std::ostream& s) const override; @@ -182,6 +187,46 @@ namespace MbD { return; } template + inline std::shared_ptr> FullVector::clonesptr() + { + //Return shallow copy of *this wrapped in shared_ptr + assert(false); + return std::make_shared>(*this); + } + template + inline bool FullVector::isIncreasing() + { + return isIncreasingIfExceptionsAreLessThan(0.0); + } + template + inline bool FullVector::isIncreasingIfExceptionsAreLessThan(double tol) + { + //"Test if elements are increasing." + //"Ok if spoilers are less than tol." + auto next = this->at(0); + for (int i = 1; i < this->size(); i++) + { + auto previous = next; + next = this->at(i); + if (previous > next && (previous - tol > next)) return false; + } + return true; + } + template + inline bool FullVector::isDecreasingIfExceptionsAreLessThan(double tol) + { + //"Test if elements are increasing." + //"Ok if spoilers are less than tol." + auto next = this->at(0); + for (int i = 1; i < this->size(); i++) + { + auto previous = next; + next = this->at(i); + if (previous < next && (previous + tol < next)) return false; + } + return true; + } + template inline std::ostream& FullVector::printOn(std::ostream& s) const { s << "FullVec{"; diff --git a/OndselSolver/GearConstraintIJ.h b/OndselSolver/GearConstraintIJ.h index 7ffd8b7..4092d59 100644 --- a/OndselSolver/GearConstraintIJ.h +++ b/OndselSolver/GearConstraintIJ.h @@ -9,7 +9,7 @@ #pragma once #include "ConstraintIJ.h" -#include "OrbitAnglezIecJec.h" +#include "OrbitAngleZIecJec.h" namespace MbD { class GearConstraintIJ : public ConstraintIJ diff --git a/OndselSolver/GearConstraintIqcJc.cpp b/OndselSolver/GearConstraintIqcJc.cpp index cd348ff..dd01774 100644 --- a/OndselSolver/GearConstraintIqcJc.cpp +++ b/OndselSolver/GearConstraintIqcJc.cpp @@ -9,7 +9,7 @@ #include "GearConstraintIqcJc.h" #include "EndFrameqc.h" #include "CREATE.h" -#include "OrbitAnglezIeqcJec.h" +#include "OrbitAngleZIeqcJec.h" using namespace MbD; diff --git a/OndselSolver/GearConstraintIqcJqc.cpp b/OndselSolver/GearConstraintIqcJqc.cpp index 717c815..0793ed6 100644 --- a/OndselSolver/GearConstraintIqcJqc.cpp +++ b/OndselSolver/GearConstraintIqcJqc.cpp @@ -8,7 +8,7 @@ #include "GearConstraintIqcJqc.h" #include "EndFrameqc.h" -#include "OrbitAnglezIeqcJeqc.h" +#include "OrbitAngleZIeqcJeqc.h" #include "CREATE.h" using namespace MbD; diff --git a/OndselSolver/InPlaneJoint.h b/OndselSolver/InPlaneJoint.h index a7adfe3..a85ffa6 100644 --- a/OndselSolver/InPlaneJoint.h +++ b/OndselSolver/InPlaneJoint.h @@ -21,7 +21,7 @@ namespace MbD { void createInPlaneConstraint(); - double offset; + double offset = 0.0; }; } diff --git a/OndselSolver/Item.cpp b/OndselSolver/Item.cpp index 86f4bf9..88d215c 100644 --- a/OndselSolver/Item.cpp +++ b/OndselSolver/Item.cpp @@ -42,7 +42,7 @@ std::ostream& Item::printOn(std::ostream& s) const { std::string str = typeid(*this).name(); auto classname = str.substr(11, str.size() - 11); - s << classname; //Why classname() cannot be used? + s << classname << std::endl; return s; } diff --git a/OndselSolver/Joint.cpp b/OndselSolver/Joint.cpp index 2a25d39..926e0e1 100644 --- a/OndselSolver/Joint.cpp +++ b/OndselSolver/Joint.cpp @@ -5,7 +5,7 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ - + #include #include #include diff --git a/OndselSolver/LDUFullMat.cpp b/OndselSolver/LDUFullMat.cpp index 532deeb..7ac06a9 100644 --- a/OndselSolver/LDUFullMat.cpp +++ b/OndselSolver/LDUFullMat.cpp @@ -5,7 +5,7 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ - + #include "LDUFullMat.h" using namespace MbD; @@ -38,11 +38,11 @@ void LDUFullMat::forwardEliminateWithPivot(int p) //"Save factors in lower triangle for LU decomposition." //| rowp app rowi aip factor | - auto rowp = matrixA->at(p); + auto& rowp = matrixA->at(p); auto app = rowp->at(p); for (int i = p + 1; i < m; i++) { - auto rowi = matrixA->at(i); + auto& rowi = matrixA->at(i); auto aip = rowi->at(p); auto factor = aip / app; rowi->at(p) = factor; @@ -138,9 +138,9 @@ void LDUFullMat::forwardSubstituteIntoL() auto vectorc = std::make_shared>(n); for (int i = 0; i < n; i++) { - auto rowi = matrixA->at(i); + auto& rowi = matrixA->at(i); double sum = 0.0; - for (int j = 0; j < i - 1; j++) + for (int j = 0; j < i; j++) { sum += rowi->at(j) * vectorc->at(j); } @@ -155,11 +155,11 @@ void LDUFullMat::backSubstituteIntoDU() //| rowi sum | answerX = std::make_shared>(n); - answerX->at(n - 1) = rightHandSideB->at(m - 1) / matrixA->at(m - 1)->at(n - 1); + answerX->at((size_t)n - 1) = rightHandSideB->at((size_t)m - 1) / matrixA->at((size_t)m - 1)->at((size_t)n - 1); for (int i = n - 2; i >= 0; i--) { - auto rowi = matrixA->at(i); - double sum = answerX->at(n - 1) * rowi->at(n - 1); + auto& rowi = matrixA->at(i); + double sum = answerX->at((size_t)n - 1) * rowi->at((size_t)n - 1); for (int j = i + 1; j < n - 1; j++) { sum += answerX->at(j) * rowi->at(j); diff --git a/OndselSolver/LinearMultiStepMethod.cpp b/OndselSolver/LinearMultiStepMethod.cpp index b0caf51..9cd264e 100644 --- a/OndselSolver/LinearMultiStepMethod.cpp +++ b/OndselSolver/LinearMultiStepMethod.cpp @@ -5,5 +5,52 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ - + #include "LinearMultiStepMethod.h" +#include "FullColumn.h" + +using namespace MbD; + +FColDsptr MbD::LinearMultiStepMethod::derivativeatpresentpast(int n, double t, FColDsptr y, std::shared_ptr> ypast) +{ + //"Interpolate or extrapolate." + //"dfdt(t) = df0dt + d2f0dt2*(t - t0) + d3f0dt3*(t - t0)^2 / 2! + ..." + + auto answer = this->derivativepresentpast(n, y, ypast); + if (t != time) { + auto dt = t - time; + auto dtpower = 1.0; + for (int i = n + 1; i <= order; i++) + { + auto diydti = this->derivativepresentpast(i, y, ypast); + dtpower = dtpower * dt; + answer->equalSelfPlusFullColumntimes(diydti, dtpower * (OneOverFactorials->at((size_t)i - n))); + } + } + return answer; +} + +FColDsptr MbD::LinearMultiStepMethod::derivativepresentpast(int order, FColDsptr y, std::shared_ptr> ypast) +{ + assert(false); + return FColDsptr(); +} + +double MbD::LinearMultiStepMethod::pvdotpv() +{ + assert(false); + return 0.0; +} + +double MbD::LinearMultiStepMethod::firstPastTimeNode() +{ + return timeNodes->at(0); +} + +FColDsptr MbD::LinearMultiStepMethod::derivativepresentpastpresentDerivativepastDerivative(int n, + FColDsptr y, std::shared_ptr> ypast, + FColDsptr ydot, std::shared_ptr> ydotpast) +{ + assert(false); + return FColDsptr(); +} diff --git a/OndselSolver/LinearMultiStepMethod.h b/OndselSolver/LinearMultiStepMethod.h index 35dc6df..f34ed83 100644 --- a/OndselSolver/LinearMultiStepMethod.h +++ b/OndselSolver/LinearMultiStepMethod.h @@ -5,17 +5,24 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ - + #pragma once #include "DifferenceOperator.h" namespace MbD { - class LinearMultiStepMethod : public DifferenceOperator - { - // - public: + class LinearMultiStepMethod : public DifferenceOperator + { + // + public: + FColDsptr derivativeatpresentpast(int n, double t, FColDsptr y, std::shared_ptr> ypast); + virtual FColDsptr derivativepresentpast(int order, FColDsptr y, std::shared_ptr> ypast); + virtual double pvdotpv(); + double firstPastTimeNode(); + virtual FColDsptr derivativepresentpastpresentDerivativepastDerivative(int n, + FColDsptr y, std::shared_ptr> ypast, + FColDsptr ydot, std::shared_ptr> ydotpast); - }; + }; } diff --git a/OndselSolver/MBDynCaseDebug1.mbd b/OndselSolver/MBDynCaseDebug1.mbd new file mode 100644 index 0000000..77c3018 --- /dev/null +++ b/OndselSolver/MBDynCaseDebug1.mbd @@ -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, # [m] + 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + static, + Px_3, Py_3, Pz_3, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + structural: structural_node_5, + dynamic, + Px_5, Py_5, Pz_5, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_5, Vy_5, Vz_5, # [m/s] + Wx_5, Wy_5, Wz_5; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, -0.35, 0.91, 0.21, 2, 0.78, 0.4, -0.47; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] + orientation, 3, 0.78, 0.4, -0.47, 2, -0.36, 0.91, 0.19; + + body: body_5, + structural_node_5, # + mass_5, # [kg] + Rx_5, Ry_5, Rz_5, # [m] + diag, Ixx_5, Iyy_5, Izz_5, # [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, # + 0.16912189837562464, -0.10055206743263254, 0.07867737409397452, # [m] + 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 1.0407603667772492e-11, -0.05247682460581396, -0.00025357557055826873, # [m] + orientation, 3, 1.1102230246251565e-16, -1.0, 0.0, 2, guess, # + structural_node_2, # + 0.006998226646402806, -0.00490348349806041, 0.007426083408032554, # [m] + orientation, 3, 0.5084786344413901, 0.01838554762064229, 0.8608783014778036, 2, guess, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + clamp, + structural_node_3, # + 0.2890983348369078, -0.06156645049450425, 0.09724597715885096, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_4, + revolute hinge, + structural_node_2, # + -0.0011629534118987692, 0.02262071327533141, 0.01746668757489371, # [m] + orientation, 3, 0.5084786344412178, 0.018385547620640152, 0.8608783014779054, 2, guess, # + structural_node_4, # + -0.031347177833029705, -0.01617494903756937, 0.018860685712244078, # [m] + orientation, 3, 0.5084786455601428, 0.018385495401303797, 0.860878296025734, 2, guess; # + + joint: joint_5, + revolute hinge, + structural_node_4, # + 0.03388957106083931, 0.016266876514581658, -0.01455629423212079, # [m] + orientation, 3, 0.50847864556046, 0.0183854954014063, 0.8608782960255446, 2, guess, # + structural_node_5, # + -0.016813818553224735, 0.036484433510506876, 0.003343892503690739, # [m] + orientation, 3, 0.5084787180221569, 0.01838550036990011, 0.8608782531198544, 2, guess; # + + joint: joint_7, + revolute hinge, + structural_node_3, # + 1.1368683772161603e-16, 0.0, -1.4210854715202004e-17, # [m] + orientation, 3, 0.5094306516594838, 0.018659363391322903, 0.8603093858070039, 2, guess, # + structural_node_5, # + 0.014271424963118534, -0.03657636101236503, -0.007648283769292526, # [m] + orientation, 3, 0.5084787180221835, 0.018385500369866165, 0.8608782531198396, 2, guess; # + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 4.0, 0.0; + + end: elements; + diff --git a/OndselSolver/MBDynCaseDebug1.mov b/OndselSolver/MBDynCaseDebug1.mov new file mode 100644 index 0000000..c4c9803 --- /dev/null +++ b/OndselSolver/MBDynCaseDebug1.mov @@ -0,0 +1,4005 @@ +1 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0.604362359993362 -0.7565221864779726 0.249840587555028 0.7753587623271136 0.4863864044099088 -0.4027990259270338 0.1832073347489681 0.4371526586580349 0.880529741418421 0.2199125782747648 0.4745330519364431 -0.1266407835226855 0.9785023844851707 0.1554290097064314 2.36641229334012 +5 0.2598701475580331 -0.04781636284024187 0.1046465280576042 0.7614158383009314 -0.62961648573332 0.1543664538600077 0.6406422379821888 0.6944126862792139 -0.3276713964441489 0.09911328920817027 0.3483878614810082 0.9320957321407642 0.05754597589193361 0.2432969563092469 -0.02696078656135672 -3.615756536998411 -0.3544773334395949 -5.396930219946104 +1 0.1691218983756246 -0.09658326505551115 0.08350161896943536 0.7849806925916096 -0.5084786583487672 -0.3539135011019427 0.377444529870961 -0.060472686637246 0.924055561663563 -0.4912646324832333 -0.8589484898262011 0.1444525967104867 -6.245004513516506e-17 0.04357356743180908 0.05039994990062553 -0.5218290132525373 -4.510281037539698e-17 -6.966649479522857e-15 +2 0.1950372523870993 -0.09716665003804914 0.117815026354754 -0.3431395599529238 0.5199852420600428 0.7822215737468972 -0.4462203391886274 -0.8230534619808213 0.351383561960105 0.8265244408302153 -0.2284695751323211 0.5144501938469423 0.04457005610042016 0.1499157011835114 0.01809367984520999 9.012145830786846 1.133862874448365 16.10528418424126 +3 0.2924716466693147 -0.06156645049450425 0.08657345536359358 0.9993266918036167 0 0.03669009469651527 0 1 0 -0.03669009469651527 0 0.9993266918036167 -0.01267177756343729 -2.026157019940911e-15 0.04280914553589799 0 -0.1463702414350628 -7.058151964970544e-15 +4 0.2222120611940685 -0.06931372212581341 0.117068879010674 0.5919922502734488 -0.7637676270624315 0.2573017440041958 0.7841091145277018 0.4720043561845481 -0.4029699545343219 0.1863278619282732 0.440307732834926 0.8783000787174083 0.2077907343966163 0.5410409222398572 -0.1206277092793239 -0.03925260151868883 0.05739216709544913 0.815193073065289 +5 0.2605594955104027 -0.04523045091479156 0.1043146426446854 0.7970865599822307 -0.5891641235785267 0.132433573476065 0.5988112523513854 0.7428591253692924 -0.2993082088966743 0.07796217001250809 0.3178772645904647 0.9449211314725819 0.08122782959322838 0.2732413356450711 -0.03988723005987218 -4.206235443497288 -0.4381815280641372 -6.223890201088919 diff --git a/OndselSolver/MBDynCaseDebug2.mbd b/OndselSolver/MBDynCaseDebug2.mbd new file mode 100644 index 0000000..3312e1b --- /dev/null +++ b/OndselSolver/MBDynCaseDebug2.mbd @@ -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, # [m] + 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926, # + Vx_1, Vy_1, Vz_1, # [m/s] + Wx_1, Wy_1, Wz_1; # [rad/s] + + structural: structural_node_2, + dynamic, + Px_2, Py_2, Pz_2, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_2, Vy_2, Vz_2, # [m/s] + Wx_2, Wy_2, Wz_2; # [rad/s] + + structural: structural_node_3, + static, + Px_3, Py_3, Pz_3, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_3, Vy_3, Vz_3, # [m/s] + Wx_3, Wy_3, Wz_3; # [rad/s] + + structural: structural_node_4, + dynamic, + Px_4, Py_4, Pz_4, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_4, Vy_4, Vz_4, # [m/s] + Wx_4, Wy_4, Wz_4; # [rad/s] + + structural: structural_node_5, + dynamic, + Px_5, Py_5, Pz_5, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, # + Vx_5, Vy_5, Vz_5, # [m/s] + Wx_5, Wy_5, Wz_5; # [rad/s] + + end: nodes; + + #----------------------------------------------------------------------------- + # [Elements Block] + + begin: elements; + + #----------------------------------------------------------------------------- + # [Bodies] + + body: body_2, + structural_node_2, # + mass_2, # [kg] + Rx_2, Ry_2, Rz_2, # [m] + diag, Ixx_2, Iyy_2, Izz_2, # [kg*m^2] + orientation, 3, -0.35, 0.91, 0.21, 2, 0.78, 0.4, -0.47; + + body: body_4, + structural_node_4, # + mass_4, # [kg] + Rx_4, Ry_4, Rz_4, # [m] + diag, Ixx_4, Iyy_4, Izz_4, # [kg*m^2] + orientation, 3, 0.78, 0.4, -0.47, 2, -0.36, 0.91, 0.19; + + body: body_5, + structural_node_5, # + mass_5, # [kg] + Rx_5, Ry_5, Rz_5, # [m] + diag, Ixx_5, Iyy_5, Izz_5, # [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, # + 0.16912189837562464, -0.10055206743263254, 0.07867737409397452, # [m] + 3, -0.3539135011019427, 0.9158836712023025, 0.18947911379030236, 2, -0.5084786583487672, -0.018385530501657588, -0.8608782877224926; # + + joint: joint_2, + axial rotation, + structural_node_1, # + 1.0407603667772492e-11, -0.05247682460581396, -0.00025357557055826873, # [m] + orientation, 3, 1.1102230246251565e-16, -1.0, 0.0, 2, guess, # + structural_node_2, # + 0.006998226646402806, -0.00490348349806041, 0.007426083408032554, # [m] + orientation, 3, 0.5084786344413901, 0.01838554762064229, 0.8608783014778036, 2, guess, # + string, "model::drive(1, Time)"; # [rad/s] + + joint: joint_3, + clamp, + structural_node_3, # + 0.2890983348369078, -0.06156645049450425, 0.09724597715885096, # [m] + 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; # + + joint: joint_4, + revolute hinge, + structural_node_2, # + -0.0011629534118987692, 0.02262071327533141, 0.01746668757489371, # [m] + orientation, 3, 0.5084786344412178, 0.018385547620640152, 0.8608783014779054, 2, guess, # + structural_node_4, # + -0.031347177833029705, -0.01617494903756937, 0.018860685712244078, # [m] + orientation, 3, 0.5084786455601428, 0.018385495401303797, 0.860878296025734, 2, guess; # + + joint: joint_5, + revolute hinge, + structural_node_4, # + 0.03388957106083931, 0.016266876514581658, -0.01455629423212079, # [m] + orientation, 3, 0.50847864556046, 0.0183854954014063, 0.8608782960255446, 2, guess, # + structural_node_5, # + -0.016813818553224735, 0.036484433510506876, 0.003343892503690739, # [m] + orientation, 3, 0.5084787180221569, 0.01838550036990011, 0.8608782531198544, 2, guess; # + + joint: joint_6, + in line, + structural_node_3, # + 0.0, 0.0, 0.0, # [m] + 3, 0.5094306516594838, 0.018659363391322903, 0.8603093858070039, 2, guess, # + structural_node_5, # + offset, 0.014271424963118534, -0.03657636101236503, -0.007648283769292526; # [m] + + #----------------------------------------------------------------------------- + # [Drive callers] + + drive caller: 1, name,"drive:1", ramp, 5.0, 0.25, 4.0, 0.0; + + end: elements; + diff --git a/OndselSolver/MBDynCaseDebug2.mov b/OndselSolver/MBDynCaseDebug2.mov new file mode 100644 index 0000000..c6546dc --- /dev/null +++ b/OndselSolver/MBDynCaseDebug2.mov @@ -0,0 +1,4005 @@ +1 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0.0786773740939745 0.7849806925916096 -0.5084786583487672 -0.3539135011019426 0.4010225343957191 -0.01838553050165753 0.9158836712023022 -0.4722141878059482 -0.8608782877224923 0.1894791137903022 7.840950111415168e-16 9.020562075079397e-17 1.387778780781446e-16 5.941489050460732e-17 4.177209650438886e-16 6.09366319405123e-15 +2 0.1945213090960841 -0.1036578720559162 0.1132439545730007 -0.413355473245255 0.3818310808569962 0.8266451950079727 -0.3461901649109513 -0.9055617152416899 0.245174120998642 0.8421933403067965 -0.1848323715697726 0.5065050562065239 0.05831611429707029 0.0785201853189624 -0.0361214067813599 9.533974844039385 0.3447286969060783 16.14146789479673 +3 0.2890983348369078 -0.06156645049450425 0.09724597715885096 1 0 0 0 1 0 0 0 1 9.676419905002311e-17 4.16431548226858e-17 -2.775557561562891e-17 -3.426845959267051e-16 7.111878959406054e-17 0 +4 0.2152563889895968 -0.07956530617885314 0.1177451127688739 0.5094546416047512 -0.8039044153094909 0.3069098551582863 0.8162746036699663 0.3386204290713032 -0.4680085217375917 0.2723081701874074 0.4889518340915311 0.8287185073278585 0.2060352511614127 0.4146202338515638 -0.130549861277873 1.60833822285443 0.05815416432354406 2.722992268483138 +5 0.2507029955319873 -0.0506233825342552 0.1078064772153022 0.7353500395337945 -0.6559344086582776 0.170324310935822 0.6626081147279063 0.6431847082022708 -0.3837498109856079 0.142164713112561 0.3950487092408677 0.9075933625102972 0.04872846222410632 0.2028132853232703 -0.0331129421488328 -2.684728754734881 -0.09707420675584565 -4.545372072991998 +1 0.1691218983756246 -0.1005520674326326 0.0786773740939745 0.7849806925916096 -0.5084786583487672 -0.3539135011019426 0.4010225343957191 -0.01838553050165753 0.9158836712023022 -0.4722141878059482 -0.8608782877224923 0.1894791137903022 -6.591949208711867e-16 1.790234627208065e-15 -2.498001805406602e-16 -7.937198757380861e-19 2.054047306570084e-18 -1.817750764190763e-18 +2 0.1950372523870993 -0.1028131666134366 0.1129211719984602 -0.3431395599529238 0.5199852420600428 0.7822215737468972 -0.4861149798842009 -0.810892850165511 0.3257990360369976 0.8037085720131998 -0.2684550867281389 0.5310220312588647 0.04457005610041962 0.08992566833218518 -0.02824586680052606 9.533974844039383 0.3447286969060762 16.14146789479673 +3 0.2890983348369078 -0.06156645049450425 0.09724597715885096 1 0 0 0 1 0 0 0 1 4.838209952501155e-17 -0 -0 0 2.054047306570083e-18 0 +4 0.2172368907362625 -0.07508566144719979 0.1164796568601929 0.4930490960189344 -0.8102966676180171 0.3167363246646148 0.8230805580066677 0.3165015918198859 -0.4715560808715236 0.2818527699816769 0.4931998102418684 0.8229902570693295 0.1902034938157359 0.479605409009047 -0.1225866870264327 0.7459864891299668 0.02697331957503039 1.26299021774994 +5 0.2512917484736847 -0.04842231727169068 0.107411722157287 0.7673646284801882 -0.6232463305794941 0.1507167488259315 0.6291127194270155 0.6863484974853634 -0.3648875528909274 0.1239706143108445 0.3748196251782717 0.9187717536845655 0.06997647779414332 0.2370323518208129 -0.04639391148386374 -3.196584113525803 -0.1155818317216119 -5.411967273405817 diff --git a/OndselSolver/MBDynSystem.cpp b/OndselSolver/MBDynSystem.cpp index fd55db7..fe6b7a9 100644 --- a/OndselSolver/MBDynSystem.cpp +++ b/OndselSolver/MBDynSystem.cpp @@ -138,6 +138,7 @@ void MbD::MBDynSystem::runKINEMATIC() std::static_pointer_cast(asmtItem)->runKINEMATIC(); outputFiles(); asmtAssembly()->outputFile("assembly2.asmt"); + asmtAssembly()->outputFile("smalltalk.asmt"); } void MbD::MBDynSystem::outputFiles() diff --git a/OndselSolver/MarkerFrame.cpp b/OndselSolver/MarkerFrame.cpp index db8fd07..febbf6f 100644 --- a/OndselSolver/MarkerFrame.cpp +++ b/OndselSolver/MarkerFrame.cpp @@ -61,7 +61,7 @@ void MarkerFrame::initializeGlobally() void MarkerFrame::postInput() { - Item::postInput(); + CartesianFrame::postInput(); endFramesDo([](EndFrmsptr endFrame) { endFrame->postInput(); }); } @@ -82,7 +82,7 @@ void MarkerFrame::calcPostDynCorrectorIteration() void MarkerFrame::prePosIC() { - Item::prePosIC(); + CartesianFrame::prePosIC(); endFramesDo([](EndFrmsptr endFrame) { endFrame->prePosIC(); }); } @@ -153,7 +153,7 @@ void MarkerFrame::setqsudotlam(FColDsptr col) void MarkerFrame::postPosICIteration() { - Item::postPosICIteration(); + CartesianFrame::postPosICIteration(); endFramesDo([](EndFrmsptr endFrame) { endFrame->postPosICIteration(); }); } @@ -174,7 +174,7 @@ void MarkerFrame::storeDynState() void MarkerFrame::preVelIC() { - Item::preVelIC(); + CartesianFrame::preVelIC(); endFramesDo([](EndFrmsptr endFrame) { endFrame->preVelIC(); }); } @@ -185,7 +185,7 @@ void MarkerFrame::postVelIC() void MarkerFrame::preAccIC() { - Item::preAccIC(); + CartesianFrame::preAccIC(); endFramesDo([](EndFrmsptr endFrame) { endFrame->preAccIC(); }); } diff --git a/OndselSolver/MarkerFrame.h b/OndselSolver/MarkerFrame.h index 7c67474..5ee8cea 100644 --- a/OndselSolver/MarkerFrame.h +++ b/OndselSolver/MarkerFrame.h @@ -38,9 +38,7 @@ namespace MbD { void addEndFrame(EndFrmsptr x); void initializeLocally() override; void initializeGlobally() override; - void postInput() override; void calcPostDynCorrectorIteration() override; - void prePosIC() override; int iqX(); int iqE(); void endFramesDo(const std::function & f); @@ -55,12 +53,14 @@ namespace MbD { void setqsudot(FColDsptr col) override; void setqsudotlam(FColDsptr col) override; void setqsuddotlam(FColDsptr col) override; + void storeDynState() override; + void postInput() override; void postPosICIteration() override; + void postVelIC() override; void postPosIC() override; void preDyn() override; - void storeDynState() override; + void prePosIC() override; void preVelIC() override; - void postVelIC() override; void preAccIC() override; FColDsptr qXdot(); std::shared_ptr> qEdot(); diff --git a/OndselSolver/MatrixDecomposition.cpp b/OndselSolver/MatrixDecomposition.cpp index 982564b..9cc74ec 100644 --- a/OndselSolver/MatrixDecomposition.cpp +++ b/OndselSolver/MatrixDecomposition.cpp @@ -10,6 +10,12 @@ using namespace MbD; +FColDsptr MbD::MatrixDecomposition::forAndBackSubsaveOriginal(FColDsptr fullCol, bool saveOriginal) +{ + assert(false); + return FColDsptr(); +} + void MatrixDecomposition::applyRowOrderOnRightHandSideB() { FColDsptr answer = std::make_shared>(m); @@ -19,3 +25,34 @@ void MatrixDecomposition::applyRowOrderOnRightHandSideB() } rightHandSideB = answer; } + +FColDsptr MbD::MatrixDecomposition::basicSolvewithsaveOriginal(FMatDsptr aMatrix, FColDsptr aVector, bool saveOriginal) +{ + assert(false); + return FColDsptr(); +} + +void MbD::MatrixDecomposition::forwardSubstituteIntoL() +{ + assert(false); +} + +void MbD::MatrixDecomposition::backSubstituteIntoU() +{ + assert(false); +} + +void MbD::MatrixDecomposition::forwardSubstituteIntoLD() +{ + assert(false); +} + +void MbD::MatrixDecomposition::postSolve() +{ + assert(false); +} + +void MbD::MatrixDecomposition::preSolvesaveOriginal(FMatDsptr aMatrix, bool saveOriginal) +{ + assert(false); +} diff --git a/OndselSolver/MatrixDecomposition.h b/OndselSolver/MatrixDecomposition.h index 3efe637..e63868e 100644 --- a/OndselSolver/MatrixDecomposition.h +++ b/OndselSolver/MatrixDecomposition.h @@ -15,15 +15,14 @@ namespace MbD { { // public: - virtual FColDsptr forAndBackSubsaveOriginal(FColDsptr fullCol, bool saveOriginal) = 0; + virtual FColDsptr forAndBackSubsaveOriginal(FColDsptr fullCol, bool saveOriginal); virtual void applyRowOrderOnRightHandSideB(); - virtual void forwardSubstituteIntoL() = 0; - //virtual void backSubstituteIntoU(); - //virtual FColDsptr basicSolve(aMatrix); with : aVector saveOriginal : saveOriginal - //virtual void forwardSubstituteIntoL(); - //virtual void forwardSubstituteIntoLD(); - //virtual void postSolve(); - //virtual void preSolve : aMatrix saveOriginal : saveOriginal + virtual void forwardSubstituteIntoL(); + virtual void backSubstituteIntoU(); + virtual FColDsptr basicSolvewithsaveOriginal(FMatDsptr aMatrix, FColDsptr aVector, bool saveOriginal); + virtual void forwardSubstituteIntoLD(); + virtual void postSolve(); + virtual void preSolvesaveOriginal(FMatDsptr aMatrix, bool saveOriginal); }; } diff --git a/OndselSolver/NewtonRaphson.cpp b/OndselSolver/NewtonRaphson.cpp index 31d0eec..e1a4f0a 100644 --- a/OndselSolver/NewtonRaphson.cpp +++ b/OndselSolver/NewtonRaphson.cpp @@ -7,6 +7,7 @@ ***************************************************************************/ #include +#include #include "NewtonRaphson.h" #include "SystemSolver.h" @@ -92,6 +93,7 @@ bool NewtonRaphson::isConverged() void NewtonRaphson::askSystemToUpdate() { + assert(false); } bool NewtonRaphson::isConvergedToNumericalLimit() diff --git a/OndselSolver/OndselSolver.cpp b/OndselSolver/OndselSolver.cpp index dcaa52f..c787551 100644 --- a/OndselSolver/OndselSolver.cpp +++ b/OndselSolver/OndselSolver.cpp @@ -26,9 +26,14 @@ void sharedptrTest(); int main() { + ASMTAssembly::runFile("cirpendu2.asmt"); //Under constrained. Testing ICKine. + ASMTAssembly::runFile("quasikine.asmt"); //Under constrained. Testing ICKine. ASMTAssembly::readWriteFile("piston.asmt"); + //MBDynSystem::runFile("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 ////ASMTAssembly::runSinglePendulumSuperSimplified(); //Mass is missing ////ASMTAssembly::runSinglePendulumSuperSimplified2(); //DOF has infinite acceleration due to zero mass and inertias @@ -37,7 +42,6 @@ int main() ASMTAssembly::runFile("piston.asmt"); ASMTAssembly::runFile("00backhoe.asmt"); //ASMTAssembly::runFile("circular.asmt"); //Needs checking - //ASMTAssembly::runFile("cirpendu.asmt"); //Under constrained. Testing ICKine. //ASMTAssembly::runFile("engine1.asmt"); //Needs checking ASMTAssembly::runFile("fourbar.asmt"); //ASMTAssembly::runFile("fourbot.asmt"); //Very large but works diff --git a/OndselSolver/OrbitAnglezIecJec.cpp b/OndselSolver/OrbitAnglezIecJec.cpp index 3a1ec8b..7395dfa 100644 --- a/OndselSolver/OrbitAnglezIecJec.cpp +++ b/OndselSolver/OrbitAnglezIecJec.cpp @@ -8,7 +8,7 @@ #include "corecrt_math_defines.h" -#include "OrbitAnglezIecJec.h" +#include "OrbitAngleZIecJec.h" #include "Numeric.h" using namespace MbD; diff --git a/OndselSolver/OrbitAnglezIeqcJec.cpp b/OndselSolver/OrbitAnglezIeqcJec.cpp index b9bb400..1dd5298 100644 --- a/OndselSolver/OrbitAnglezIeqcJec.cpp +++ b/OndselSolver/OrbitAnglezIeqcJec.cpp @@ -6,7 +6,7 @@ * See LICENSE file for details about copyright. * ***************************************************************************/ -#include "OrbitAnglezIeqcJec.h" +#include "OrbitAngleZIeqcJec.h" #include "CREATE.h" #include "DispCompIeqcJecIe.h" diff --git a/OndselSolver/OrbitAnglezIeqcJec.h b/OndselSolver/OrbitAnglezIeqcJec.h index 2788bad..65610f3 100644 --- a/OndselSolver/OrbitAnglezIeqcJec.h +++ b/OndselSolver/OrbitAnglezIeqcJec.h @@ -8,7 +8,7 @@ #pragma once -#include "OrbitAnglezIecJec.h" +#include "OrbitAngleZIecJec.h" namespace MbD { class OrbitAngleZIeqcJec : public OrbitAngleZIecJec diff --git a/OndselSolver/OrbitAnglezIeqcJeqc.cpp b/OndselSolver/OrbitAnglezIeqcJeqc.cpp index b8e689c..79709c6 100644 --- a/OndselSolver/OrbitAnglezIeqcJeqc.cpp +++ b/OndselSolver/OrbitAnglezIeqcJeqc.cpp @@ -6,7 +6,7 @@ * See LICENSE file for details about copyright. * ***************************************************************************/ -#include "OrbitAnglezIeqcJeqc.h" +#include "OrbitAngleZIeqcJeqc.h" #include "CREATE.h" #include "DispCompIeqcJeqcIe.h" diff --git a/OndselSolver/OrbitAnglezIeqcJeqc.h b/OndselSolver/OrbitAnglezIeqcJeqc.h index 8455372..ec0f843 100644 --- a/OndselSolver/OrbitAnglezIeqcJeqc.h +++ b/OndselSolver/OrbitAnglezIeqcJeqc.h @@ -8,7 +8,7 @@ #pragma once -#include "OrbitAnglezIeqcJec.h" +#include "OrbitAngleZIeqcJec.h" namespace MbD { class OrbitAngleZIeqcJeqc : public OrbitAngleZIeqcJec diff --git a/OndselSolver/Part.cpp b/OndselSolver/Part.cpp index d05ef7a..02bfc18 100644 --- a/OndselSolver/Part.cpp +++ b/OndselSolver/Part.cpp @@ -581,3 +581,8 @@ void Part::postDynStep() { partFrame->postDynStep(); } + +void MbD::Part::postAccIC() +{ + calcpdot(); +} diff --git a/OndselSolver/Part.h b/OndselSolver/Part.h index 399f18f..b9ba955 100644 --- a/OndselSolver/Part.h +++ b/OndselSolver/Part.h @@ -113,6 +113,7 @@ namespace MbD { std::shared_ptr stateData() override; double suggestSmallerOrAcceptDynStepSize(double hnew) override; void postDynStep() override; + void postAccIC() override; System* system; //Use raw pointer when pointing backwards. int ipX = -1; diff --git a/OndselSolver/PosICKineNewtonRaphson.cpp b/OndselSolver/PosICKineNewtonRaphson.cpp index 47de4cc..cd846e8 100644 --- a/OndselSolver/PosICKineNewtonRaphson.cpp +++ b/OndselSolver/PosICKineNewtonRaphson.cpp @@ -57,3 +57,8 @@ void MbD::PosICKineNewtonRaphson::preRun() system->Solver::logString("MbD: Solving for quasi kinematic position."); PosNewtonRaphson::preRun(); } + +bool MbD::PosICKineNewtonRaphson::isConverged() +{ + return dxNorms->at(iterNo) < dxTol || isConvergedToNumericalLimit(); +} diff --git a/OndselSolver/PosICKineNewtonRaphson.h b/OndselSolver/PosICKineNewtonRaphson.h index 061f3fc..0769f1b 100644 --- a/OndselSolver/PosICKineNewtonRaphson.h +++ b/OndselSolver/PosICKineNewtonRaphson.h @@ -18,6 +18,7 @@ namespace MbD { void initializeGlobally() override; void assignEquationNumbers() override; void preRun() override; + bool isConverged() override; }; } diff --git a/OndselSolver/SparseMatrix.h b/OndselSolver/SparseMatrix.h index 44e18c1..efd87e9 100644 --- a/OndselSolver/SparseMatrix.h +++ b/OndselSolver/SparseMatrix.h @@ -5,7 +5,7 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ - + #pragma once #include @@ -17,6 +17,8 @@ namespace MbD { template class SparseMatrix; + template + using SpMatsptr = std::shared_ptr>; using SpMatDsptr = std::shared_ptr>; template @@ -47,15 +49,20 @@ namespace MbD { void zeroSelf() override; void atijplusFullRow(int i, int j, FRowsptr fullRow); void atijplusFullColumn(int i, int j, FColsptr fullCol); + void atijminusFullColumn(int i, int j, FColsptr fullCol); void atijplusFullMatrix(int i, int j, FMatsptr fullMat); void atijminusFullMatrix(int i, int j, FMatsptr fullMat); void atijplusTransposeFullMatrix(int i, int j, FMatsptr fullMat); + void atijminusTransposeFullMatrix(int i, int j, FMatsptr fullMat); void atijplusFullMatrixtimes(int i, int j, FMatsptr fullMat, T factor); void atijplusNumber(int i, int j, double value); void atijminusNumber(int i, int j, double value); void atijput(int i, int j, T value); double maxMagnitude() override; FColsptr timesFullColumn(FColsptr fullCol); + SpMatsptr plusSparseMatrix(SpMatsptr spMat); + std::shared_ptr> clonesptr(); + void magnifySelf(T factor); std::ostream& printOn(std::ostream& s) const override; @@ -117,6 +124,14 @@ namespace MbD { } } template + inline void SparseMatrix::atijminusFullColumn(int i, int j, FColsptr fullCol) + { + for (int ii = 0; ii < fullCol->size(); ii++) + { + this->atijminusNumber(i + ii, j, fullCol->at(ii)); + } + } + template inline void SparseMatrix::atijplusFullMatrix(int i, int j, FMatsptr fullMat) { for (int ii = 0; ii < fullMat->nrow(); ii++) @@ -141,6 +156,14 @@ namespace MbD { } } template + inline void SparseMatrix::atijminusTransposeFullMatrix(int i, int j, FMatsptr fullMat) + { + for (int ii = 0; ii < fullMat->nrow(); ii++) + { + this->atijminusFullColumn(i, j + ii, fullMat->at(ii)->transpose()); + } + } + template inline void SparseMatrix::atijplusFullMatrixtimes(int i, int j, FMatsptr fullMat, T factor) { for (int ii = 0; ii < fullMat->nrow(); ii++) @@ -197,4 +220,30 @@ namespace MbD { } return answer; } + template + inline SpMatsptr SparseMatrix::plusSparseMatrix(SpMatsptr spMat) + { + //"a + b." + //"Assume all checking of validity of this operation has been done." + //"Just evaluate quickly." + + auto answer = clonesptr(); + for (int i = 0; i < answer->size(); i++) + { + answer->atiput(i, answer->at(i)->plusSparseRow(spMat->at(i))); + } + return answer; + } + template + inline std::shared_ptr> SparseMatrix::clonesptr() + { + return std::make_shared>(*this); + } + template + inline void SparseMatrix::magnifySelf(T factor) + { + for (int i = 0; i < this->size(); i++) { + this->at(i)->magnifySelf(factor); + } + } } \ No newline at end of file diff --git a/OndselSolver/SparseRow.h b/OndselSolver/SparseRow.h index 64ea662..b7a4425 100644 --- a/OndselSolver/SparseRow.h +++ b/OndselSolver/SparseRow.h @@ -5,7 +5,7 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ - + #pragma once #include @@ -25,7 +25,7 @@ namespace MbD { class SparseRow : public SparseVector { public: - SparseRow(){} + SparseRow() {} SparseRow(int n) : SparseVector(n) {} SparseRow(std::initializer_list> list) : SparseVector{ list } {} SparseRow(std::initializer_list> list) : SparseVector{ list } {} @@ -35,6 +35,8 @@ namespace MbD { void atiminusFullRow(int j, FRowsptr fullRow); void atiplusFullRowtimes(int j, FRowsptr fullRow, double factor); T timesFullColumn(FColsptr fullCol); + SpRowsptr plusSparseRow(SpRowsptr spMat); + SpRowsptr clonesptr(); }; template<> @@ -92,5 +94,27 @@ namespace MbD { } return sum; } + template + inline SpRowsptr SparseRow::plusSparseRow(SpRowsptr spRow) + { + auto answer = clonesptr(); + for (auto const& keyValue : *spRow) + { + auto key = keyValue.first; + auto val = keyValue.second; + if (answer->find(key) == answer->end()) { + (*answer)[key] = val; + } + else { + (*answer)[key] = val + answer->at(key); + } + } + return answer; + } + template + inline std::shared_ptr> SparseRow::clonesptr() + { + return std::make_shared>(*this); + } } diff --git a/OndselSolver/SparseVector.h b/OndselSolver/SparseVector.h index b2695c9..f032d52 100644 --- a/OndselSolver/SparseVector.h +++ b/OndselSolver/SparseVector.h @@ -42,6 +42,7 @@ namespace MbD { void atiminusNumber(int i, double value); void zeroSelf(); double maxMagnitude(); + void magnifySelf(T factor); virtual std::ostream& printOn(std::ostream& s) const; friend std::ostream& operator<<(std::ostream& s, const SparseVector& spVec) @@ -101,6 +102,16 @@ namespace MbD { return max; } template + inline void SparseVector::magnifySelf(T factor) + { + for (const auto& keyValue : *this) { + auto key = keyValue.first; + auto val = keyValue.second; + val *= factor; + this->at(key) = val; + } + } + template inline std::ostream& SparseVector::printOn(std::ostream& s) const { s << "{"; diff --git a/OndselSolver/StableBackwardDifference.cpp b/OndselSolver/StableBackwardDifference.cpp index c594e0f..08d8617 100644 --- a/OndselSolver/StableBackwardDifference.cpp +++ b/OndselSolver/StableBackwardDifference.cpp @@ -5,8 +5,9 @@ * * * See LICENSE file for details about copyright. * ***************************************************************************/ - + #include "StableBackwardDifference.h" +#include "FullColumn.h" using namespace MbD; @@ -25,6 +26,25 @@ void StableBackwardDifference::formTaylorMatrix() } } +double MbD::StableBackwardDifference::pvdotpv() +{ + //"pvdotpv = operatorMatrix timesColumn: #(-1.0d ... -1.0d)." + + auto& coeffs = operatorMatrix->at(0); + auto sum = 0.0; + for (int i = 0; i < order; i++) + { + sum -= coeffs->at(i); + } + return sum; +} + +FColDsptr MbD::StableBackwardDifference::derivativepresentpastpresentDerivativepastDerivative(int n, FColDsptr y, std::shared_ptr> ypast, FColDsptr ydot, std::shared_ptr> ydotpast) +{ + assert(false); + return FColDsptr(); +} + void StableBackwardDifference::instantiateTaylorMatrix() { if (taylorMatrix == nullptr || (taylorMatrix->nrow() != (order))) { @@ -37,11 +57,11 @@ void StableBackwardDifference::formTaylorRowwithTimeNodederivative(int i, int ii //| rowi hi hipower aij | auto& rowi = taylorMatrix->at(i); if (k > 0) { - for (int j = 0; j < k - 1; j++) + for (int j = 0; j < k - 2; j++) { rowi->at(j) = 0.0; } - rowi->at(k) = 1.0; + rowi->at((size_t)k - 1) = 1.0; } auto hi = timeNodes->at(ii) - time; @@ -49,7 +69,31 @@ void StableBackwardDifference::formTaylorRowwithTimeNodederivative(int i, int ii for (int j = k; j < order; j++) { hipower *= hi; - auto aij = hipower * OneOverFactorials->at((size_t)(j - k)); + auto aij = hipower * OneOverFactorials->at((size_t)(j - k + 1)); rowi->at(j) = aij; } } + +FColDsptr MbD::StableBackwardDifference::derivativepresentpast(int deriv, FColDsptr y, std::shared_ptr> ypast) +{ + //"Answer ith derivative given present value and past values." + + if (deriv == 0) { + return y->clonesptr(); + } + else { + if (deriv <= order) { + auto series = std::make_shared>(order); + for (int i = 0; i < order; i++) + { + series->at(i) = ypast->at(i)->minusFullColumn(y); + } + auto& coeffs = operatorMatrix->at((size_t)deriv - 1); + auto answer = coeffs->dot(series); + return std::static_pointer_cast>(answer); + } + else { + return std::make_shared>(y->size(), 0.0); + } + } +} diff --git a/OndselSolver/StableBackwardDifference.h b/OndselSolver/StableBackwardDifference.h index 4393e88..79cd029 100644 --- a/OndselSolver/StableBackwardDifference.h +++ b/OndselSolver/StableBackwardDifference.h @@ -15,9 +15,16 @@ namespace MbD { { // public: + FColDsptr derivativepresentpast(int order, FColDsptr y, std::shared_ptr> ypast) override; + void instantiateTaylorMatrix(); + void formTaylorRowwithTimeNodederivative(int i, int ii, int k); void formTaylorMatrix() override; - void instantiateTaylorMatrix() override; - void formTaylorRowwithTimeNodederivative(int i, int ii, int k) override; + double pvdotpv() override; + FColDsptr derivativepresentpastpresentDerivativepastDerivative(int n, + FColDsptr y, std::shared_ptr> ypast, + FColDsptr ydot, std::shared_ptr> ydotpast); + FColDsptr derivativewith(int deriv, std::shared_ptr> series); + }; } diff --git a/OndselSolver/SymbolicParser.cpp b/OndselSolver/SymbolicParser.cpp index 2cd960a..067a193 100644 --- a/OndselSolver/SymbolicParser.cpp +++ b/OndselSolver/SymbolicParser.cpp @@ -90,10 +90,10 @@ bool MbD::SymbolicParser::minusTerm() { if (peekForTypeNoPush("-")) { if (term()) { - auto trm = stack->top(); + Symsptr trm = stack->top(); stack->pop(); auto negativeTrm = std::make_shared(trm); - auto sum = stack->top(); + Symsptr sum = stack->top(); sum->addTerm(negativeTrm); return true; } @@ -105,9 +105,9 @@ bool MbD::SymbolicParser::minusTerm() bool MbD::SymbolicParser::plainTerm() { if (term()) { - auto trm = stack->top(); + Symsptr trm = stack->top(); stack->pop(); - auto sum = stack->top(); + Symsptr sum = stack->top(); sum->addTerm(trm); return true; } @@ -120,7 +120,7 @@ bool MbD::SymbolicParser::term() stack->push(product); if (plainFunction()) { while (timesFunction() || divideByFunction()) {} - auto term = stack->top(); + Symsptr term = stack->top(); if (term->isProduct()) { if (term->isOne()) { stack->pop(); @@ -141,9 +141,9 @@ bool MbD::SymbolicParser::term() bool MbD::SymbolicParser::plainFunction() { if (symfunction()) { - auto trm = stack->top(); + Symsptr trm = stack->top(); stack->pop(); - auto product = stack->top(); + Symsptr product = stack->top(); product->addTerm(trm); return true; } @@ -163,10 +163,10 @@ bool MbD::SymbolicParser::divideByFunction() { if (peekForTypeNoPush("/")) { if (symfunction()) { - auto trm = stack->top(); + Symsptr trm = stack->top(); stack->pop(); auto reciprocalTrm = std::make_shared(trm); - auto product = stack->top(); + Symsptr product = stack->top(); product->addTerm(reciprocalTrm); return true; } @@ -287,7 +287,7 @@ bool MbD::SymbolicParser::expression() stack->push(sum); if (plusTerm() || minusTerm() || plainTerm()) { while (plusTerm() || minusTerm()) {} - auto term = stack->top(); + Symsptr term = stack->top(); if (term->isSum()) { auto sum1 = std::static_pointer_cast(term); if (sum1->isZero()) { @@ -378,7 +378,7 @@ bool MbD::SymbolicParser::intrinsic() if (stack->size() > startsize) { combineStackTo((int)startsize); if (peekForTypeNoPush(")")) { - auto args = stack->top(); //args is a Sum with "terms" containing the actual arguments + Symsptr args = stack->top(); //args is a Sum with "terms" containing the actual arguments stack->pop(); auto func = std::static_pointer_cast(stack->top()); func->arguments(args); @@ -409,9 +409,9 @@ bool MbD::SymbolicParser::raisedTo() { if (peekForTypeNoPush("^")) { if (symfunction()) { - auto exp = stack->top(); + Symsptr exp = stack->top(); stack->pop(); - auto base = stack->top(); + Symsptr base = stack->top(); stack->pop(); auto pow = std::make_shared(base, exp); stack->push(pow); @@ -488,7 +488,7 @@ void MbD::SymbolicParser::combineStackTo(int pos) { auto args = std::make_shared>(); while (stack->size() > pos) { - auto arg = stack->top(); + Symsptr arg = stack->top(); stack->pop(); args->push_back(arg); } diff --git a/OndselSolver/SystemSolver.h b/OndselSolver/SystemSolver.h index 9936e27..c19073e 100644 --- a/OndselSolver/SystemSolver.h +++ b/OndselSolver/SystemSolver.h @@ -15,6 +15,7 @@ #include "Solver.h" #include "System.h" +#include "IntegratorInterface.h" //#include "Constraint.h" //#include "NewtonRaphson.h" //#include "QuasiIntegrator.h" @@ -87,7 +88,7 @@ namespace MbD { double errorTolAccKine = 1.0e-6; int iterMaxPosKine = 25; int iterMaxAccKine = 25; - std::shared_ptr basicIntegrator; + std::shared_ptr basicIntegrator; std::shared_ptr> tstartPasts; double tstart = 0.0; double tend = 25; diff --git a/OndselSolver/VectorNewtonRaphson.cpp b/OndselSolver/VectorNewtonRaphson.cpp index 82b51c8..eadafa8 100644 --- a/OndselSolver/VectorNewtonRaphson.cpp +++ b/OndselSolver/VectorNewtonRaphson.cpp @@ -70,10 +70,15 @@ void VectorNewtonRaphson::calcdxNorm() bool VectorNewtonRaphson::isConverged() { - return dxNorms->at(iterNo) < dxTol || this->isConvergedToNumericalLimit(); + return dxNorms->at(iterNo) < dxTol || isConvergedToNumericalLimit(); } void VectorNewtonRaphson::xEqualxoldPlusdx() { x = xold->plusFullColumn(dx); } + +void VectorNewtonRaphson::handleSingularMatrix() +{ + assert(false); +} diff --git a/OndselSolver/VectorNewtonRaphson.h b/OndselSolver/VectorNewtonRaphson.h index ee35d43..ff63474 100644 --- a/OndselSolver/VectorNewtonRaphson.h +++ b/OndselSolver/VectorNewtonRaphson.h @@ -27,6 +27,7 @@ namespace MbD { bool isConverged() override; void xEqualxoldPlusdx() override; virtual void basicSolveEquations() = 0; + virtual void handleSingularMatrix(); std::shared_ptr matrixSolver; int n; diff --git a/OndselSolver/assembly.asmt b/OndselSolver/assembly.asmt index f70be55..a49681f 100644 --- a/OndselSolver/assembly.asmt +++ b/OndselSolver/assembly.asmt @@ -39,7 +39,7 @@ Assembly Name structural_node_1 Position3D - -0.121 -8.796847998598882e-19 -0.08 + -0.06210573361337854 0.04852643537547956 -4.033966837940965e-17 RotationMatrix 1 0 0 0 1 0 @@ -77,7 +77,7 @@ Assembly Name Marker0 Position3D - 0.121 8.796847998598882e-19 0.08 + 0.06210573361337854 -0.04852643537547956 4.033966837940965e-17 RotationMatrix 1 0 0 0 1 0 @@ -94,11 +94,11 @@ Assembly Name Marker1 Position3D - 0 0 0 + 0.2521057336133785 0.1114735646245204 0.135 RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 + 2.220446049250313e-16 -1 0 + 1 2.220446049250313e-16 0 + -0 0 1 RefPoint Position3D 0 0 0 @@ -128,35 +128,18 @@ Assembly Name Marker3 Position3D - 0 0 0 + 0 0.1114735580310104 2.411867397077946e-17 RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker4 - Position3D - 0 8.796847998604521e-19 0.08 - RotationMatrix - 2.220446049250313e-16 -2.220446049250313e-16 1 - 1 0 -2.220446049250313e-16 - 4.930380657631324e-32 1 2.220446049250313e-16 + -1.110223024625157e-16 -2.220446049250313e-16 -1 + -1 1.232595164407831e-32 1.110223024625157e-16 + -1.232595164407831e-32 1 -2.220446049250313e-16 RefCurves RefSurfaces Part Name structural_node_2 Position3D - -0.015 0.092 0.008 + 0.01166600667694188 0.1599999999999978 -1.208436328934954e-19 RotationMatrix 1 0 0 0 1 0 @@ -170,15 +153,15 @@ Assembly Name MassMarker Position3D - -0.03260146715730948 0 -0.02828676225522106 + 0 0 2.084363289349543e-20 RotationMatrix - 0.9047806520640266 0 0.4258778834954861 - -0 1 0 - -0.4258778834954861 -0 0.9047806520640266 + 1 0 0 + 0 1 0 + 0 0 1 Mass - 1.448636188351172 + 3.805252376198168 MomentOfInertias - -6.403381706494366e-05 0.000172946750980814 0.0009386368528037903 + 0.031674420620509 0.029604112147595 0.002867529429125 Density 10 RefPoints @@ -194,11 +177,11 @@ Assembly Name Marker0 Position3D - -0.07000000000000001 0 -0.055 + 0.08833399332305812 2.216893335571513e-15 0.065 RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 + 2.220446049250313e-16 -1 0 + 1 2.220446049250313e-16 0 + -0 0 1 RefPoint Position3D 0 0 0 @@ -211,35 +194,18 @@ Assembly Name Marker1 Position3D - 0 0 0 + -0.1616660066769419 2.216893335571513e-15 0 RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker2 - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 + 2.220446049250313e-16 -1 0 + -1 -2.220446049250313e-16 -0 + 0 0 -1 RefCurves RefSurfaces Part Name structural_node_3 Position3D - 0.08799999999999999 -0.055 0.05 + 0.2111281366952498 0.16 -2.021769781041616e-18 RotationMatrix 1 0 0 0 1 0 @@ -253,15 +219,15 @@ Assembly Name MassMarker Position3D - 7.872813512221911e-15 1.030286966852145e-15 -0.02499999999999804 + 0 0 2.176978104161549e-20 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 2.85294865570677 + 15.23878495484552 MomentOfInertias - 0.001956310318021008 0.03371514809951082 0.03383792198797204 + 0.09813066341583701 0.095433846761275 0.077043262824289 Density 10 RefPoints @@ -277,11 +243,11 @@ Assembly Name Marker0 Position3D - -0.14 0 -0.025 + -0.02112813669524979 0 0.135 RotationMatrix - 0 1 0 - -1 0 0 - 0 -0 1 + 2.220446049250313e-16 -1 0 + 1 2.220446049250313e-16 0 + -0 0 1 RefPoint Position3D 0 0 0 @@ -294,18 +260,18 @@ Assembly Name Marker1 Position3D - 0.14 0 -0.025 + -0.1111281366952498 0 0.065 RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 + 2.220446049250313e-16 -1 0 + 1 2.220446049250313e-16 0 + -0 0 1 RefCurves RefSurfaces Part Name structural_node_4 Position3D - 0.3200000010688326 1.479668852873333e-10 0.04999999225971574 + -0.1812239275015207 0.1600000016990933 -4.340477856936436e-12 RotationMatrix 1 0 0 0 1 0 @@ -319,15 +285,15 @@ Assembly Name MassMarker Position3D - 0.04558083463411935 2.029935404126667e-10 -1.256225144885548e-08 + 0 0 -4.306356366563123e-20 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 10.85942720262215 + 2.865603331977783 MomentOfInertias - 0.07706742098795094 0.06635181579849883 0.06179235045624136 + 0.010133521085753 0.006853402672398001 0.00669113151275 Density 10 RefPoints @@ -360,7 +326,7 @@ Assembly Name Marker1 Position3D - 0 0 0 + 0 -8.292603282173139e-09 4.340448411165876e-12 RotationMatrix 1 0 0 0 1 0 @@ -377,7 +343,7 @@ Assembly Name Marker2 Position3D - 0 0 0 + 0.03122392750152071 -1.69909327496498e-09 7.275957614183426e-15 RotationMatrix 1 0 0 0 1 0 @@ -394,53 +360,53 @@ Assembly /Assembly/Marker0 MarkerJ /Assembly/structural_node_1/Marker0 - SphericalJoint + RevoluteJoint Name joint_2 MarkerI /Assembly/structural_node_1/Marker1 MarkerJ - /Assembly/structural_node_2/Marker0 + /Assembly/structural_node_3/Marker0 RevoluteJoint Name joint_3 MarkerI - /Assembly/structural_node_2/Marker1 - MarkerJ - /Assembly/structural_node_3/Marker0 - PointInLineJoint - Name - joint_5 - MarkerI - /Assembly/structural_node_4/Marker0 + /Assembly/structural_node_2/Marker0 MarkerJ /Assembly/structural_node_3/Marker1 NoRotationJoint Name - joint_6 + joint_4 + MarkerI + /Assembly/structural_node_1/Marker2 + MarkerJ + /Assembly/structural_node_4/Marker0 + PointInLineJoint + Name + joint_5 MarkerI /Assembly/structural_node_1/Marker3 MarkerJ /Assembly/structural_node_4/Marker1 PointInLineJoint Name - joint_7 + joint_6 MarkerI - /Assembly/structural_node_1/Marker4 + /Assembly/structural_node_2/Marker1 MarkerJ /Assembly/structural_node_4/Marker2 Motions RotationalMotion Name - joint_4 + joint_2Motion MarkerI - /Assembly/structural_node_1/Marker2 + /Assembly/structural_node_1/Marker1 MarkerJ - /Assembly/structural_node_2/Marker2 + /Assembly/structural_node_3/Marker0 MotionJoint - + /Assembly/joint_2 RotationZ - 0 + integral(time, rampstep(time, 0.0, 0.0, 1.0, 0.0 + 10.0*(1.0 - 0.0))) GeneralConstraintSets ForceTorques ConstantGravity @@ -455,7 +421,7 @@ Assembly hmax 1 hout - 0.1 + 0.01 errorTol 1e-06 AnimationParameters diff --git a/OndselSolver/assembly2.asmt b/OndselSolver/assembly2.asmt index 48ff113..976729d 100644 --- a/OndselSolver/assembly2.asmt +++ b/OndselSolver/assembly2.asmt @@ -39,7 +39,7 @@ Assembly Name structural_node_1 Position3D - -0.121 -8.796847998598882e-19 -0.08 + -0.06210573361337854 0.04852643537547956 -4.033966837940965e-17 RotationMatrix 1 0 0 0 1 0 @@ -77,7 +77,7 @@ Assembly Name Marker0 Position3D - 0.121 8.796847998598882e-19 0.08 + 0.06210573361337854 -0.04852643537547956 4.033966837940965e-17 RotationMatrix 1 0 0 0 1 0 @@ -94,11 +94,11 @@ Assembly Name Marker1 Position3D - 0 0 0 + 0.2521057336133785 0.1114735646245204 0.135 RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 + 2.220446049250313e-16 -1 0 + 1 2.220446049250313e-16 0 + -0 0 1 RefPoint Position3D 0 0 0 @@ -128,39 +128,22 @@ Assembly Name Marker3 Position3D - 0 0 0 + 0 0.1114735580310104 2.411867397077946e-17 RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker4 - Position3D - 0 8.796847998604521e-19 0.08 - RotationMatrix - 2.220446049250313e-16 -2.220446049250313e-16 1 - 1 0 -2.220446049250313e-16 - 4.930380657631324e-32 1 2.220446049250313e-16 + -1.110223024625157e-16 -2.220446049250313e-16 -1 + -1 1.232595164407831e-32 1.110223024625157e-16 + -1.232595164407831e-32 1 -2.220446049250313e-16 RefCurves RefSurfaces Part Name structural_node_2 Position3D - -0.01499999999999999 0.092 0.008000000000000011 + 0.01166600667694188 0.1599999999999978 -1.208436328934954e-19 RotationMatrix - 1 0 5.55111512312578e-17 + 1 0 0 0 1 0 - -5.55111512312578e-17 0 1 + 0 0 1 Velocity3D 0 0 0 Omega3D @@ -170,15 +153,15 @@ Assembly Name MassMarker Position3D - -0.03260146715730948 0 -0.02828676225522106 + 0 0 2.084363289349543e-20 RotationMatrix - 0.9047806520640266 0 0.4258778834954861 - -0 1 0 - -0.4258778834954861 -0 0.9047806520640266 + 1 0 0 + 0 1 0 + 0 0 1 Mass - 1.448636188351172 + 3.805252376198168 MomentOfInertias - -6.403381706494366e-05 0.000172946750980814 0.0009386368528037903 + 0.031674420620509 0.029604112147595 0.002867529429125 Density 10 RefPoints @@ -194,11 +177,11 @@ Assembly Name Marker0 Position3D - -0.07000000000000001 0 -0.055 + 0.08833399332305812 2.216893335571513e-15 0.065 RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 + 2.220446049250313e-16 -1 0 + 1 2.220446049250313e-16 0 + -0 0 1 RefPoint Position3D 0 0 0 @@ -211,35 +194,18 @@ Assembly Name Marker1 Position3D - 0 0 0 + -0.1616660066769419 2.216893335571513e-15 0 RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker2 - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 + 2.220446049250313e-16 -1 0 + -1 -2.220446049250313e-16 -0 + 0 0 -1 RefCurves RefSurfaces Part Name structural_node_3 Position3D - 0.08799999999999999 -0.055 0.05 + 0.2111281366952498 0.16 -2.021769781041616e-18 RotationMatrix 1 0 0 0 1 0 @@ -253,15 +219,15 @@ Assembly Name MassMarker Position3D - 7.872813512221911e-15 1.030286966852145e-15 -0.02499999999999804 + 0 0 2.176978104161549e-20 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 2.85294865570677 + 15.23878495484552 MomentOfInertias - 0.001956310318021008 0.03371514809951082 0.03383792198797204 + 0.09813066341583701 0.095433846761275 0.077043262824289 Density 10 RefPoints @@ -277,11 +243,11 @@ Assembly Name Marker0 Position3D - -0.14 0 -0.025 + -0.02112813669524979 0 0.135 RotationMatrix - 0 1 0 - -1 0 0 - 0 -0 1 + 2.220446049250313e-16 -1 0 + 1 2.220446049250313e-16 0 + -0 0 1 RefPoint Position3D 0 0 0 @@ -294,18 +260,18 @@ Assembly Name Marker1 Position3D - 0.14 0 -0.025 + -0.1111281366952498 0 0.065 RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 + 2.220446049250313e-16 -1 0 + 1 2.220446049250313e-16 0 + -0 0 1 RefCurves RefSurfaces Part Name structural_node_4 Position3D - 0.3200000010688326 1.479668852873333e-10 0.04999999225971574 + -0.1812239275015207 0.1600000016990933 -4.340477856936436e-12 RotationMatrix 1 0 0 0 1 0 @@ -319,15 +285,15 @@ Assembly Name MassMarker Position3D - 0.04558083463411935 2.029935404126667e-10 -1.256225144885548e-08 + 0 0 -4.306356366563123e-20 RotationMatrix 1 0 0 0 1 0 0 0 1 Mass - 10.85942720262215 + 2.865603331977783 MomentOfInertias - 0.07706742098795094 0.06635181579849883 0.06179235045624136 + 0.010133521085753 0.006853402672398001 0.00669113151275 Density 10 RefPoints @@ -360,7 +326,7 @@ Assembly Name Marker1 Position3D - 0 0 0 + 0 -8.292603282173139e-09 4.340448411165876e-12 RotationMatrix 1 0 0 0 1 0 @@ -377,7 +343,7 @@ Assembly Name Marker2 Position3D - 0 0 0 + 0.03122392750152071 -1.69909327496498e-09 7.275957614183426e-15 RotationMatrix 1 0 0 0 1 0 @@ -394,53 +360,53 @@ Assembly /Assembly/Marker0 MarkerJ /Assembly/structural_node_1/Marker0 - SphericalJoint + RevoluteJoint Name joint_2 MarkerI /Assembly/structural_node_1/Marker1 MarkerJ - /Assembly/structural_node_2/Marker0 + /Assembly/structural_node_3/Marker0 RevoluteJoint Name joint_3 MarkerI - /Assembly/structural_node_2/Marker1 - MarkerJ - /Assembly/structural_node_3/Marker0 - PointInLineJoint - Name - joint_5 - MarkerI - /Assembly/structural_node_4/Marker0 + /Assembly/structural_node_2/Marker0 MarkerJ /Assembly/structural_node_3/Marker1 NoRotationJoint Name - joint_6 + joint_4 + MarkerI + /Assembly/structural_node_1/Marker2 + MarkerJ + /Assembly/structural_node_4/Marker0 + PointInLineJoint + Name + joint_5 MarkerI /Assembly/structural_node_1/Marker3 MarkerJ /Assembly/structural_node_4/Marker1 PointInLineJoint Name - joint_7 + joint_6 MarkerI - /Assembly/structural_node_1/Marker4 + /Assembly/structural_node_2/Marker1 MarkerJ /Assembly/structural_node_4/Marker2 Motions RotationalMotion Name - joint_4 + joint_2Motion MarkerI - /Assembly/structural_node_1/Marker2 + /Assembly/structural_node_1/Marker1 MarkerJ - /Assembly/structural_node_2/Marker2 + /Assembly/structural_node_3/Marker0 MotionJoint - + /Assembly/joint_2 RotationZ - 0 + integral(time, rampstep(time, 0.0, 0.0, 1.0, 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- MarkerI - /Assembly/structural_node_1/Marker2 - MarkerJ - /Assembly/structural_node_4/Marker1 - NoRotationJoint - Name - joint_6 - MarkerI - /Assembly/structural_node_1/Marker3 - MarkerJ - /Assembly/structural_node_4/Marker2 - Motions - RotationalMotion - Name - joint_2Motion - MotionJoint - /Assembly/joint_2 - RotationZ - 2.0*pi*time - GeneralConstraintSets - ForceTorques - ConstantGravity - 0 0 0 - SimulationParameters - tstart - 0 - tend - 0.1 - hmin - 1e-09 - hmax - 1 - hout - 0.01 - errorTol - 1e-06 - AnimationParameters - nframe - 1000000 - icurrent - 1 - istart - 1 - iend - 1000000 - isForward - true - framesPerSecond - 30 diff --git a/OndselSolver/assemblyDebug2.asmt b/OndselSolver/assemblyDebug2.asmt deleted file mode 100644 index 9d34a18..0000000 --- a/OndselSolver/assemblyDebug2.asmt +++ /dev/null @@ -1,582 +0,0 @@ -OndselSolver -Assembly - Notes - (Text string: '' runs: (Core.RunArray runs: #() values: #())) - Name - Assembly - Position3D - 0 0 0 - RotationMatrix - 1 0 0 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7.105427357601002e-18 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 1.448636188351172 - MomentOfInertias - 0.002871751015088 0.002864447840812 0.0007089594589930001 - Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker0 - Position3D - -0.03739853284269051 0 0.003286762255221063 - RotationMatrix - 1 0 5.204170427930421e-18 - -0 1 0 - -5.204170427930421e-18 -0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 0.03260146715730949 1.4210854715202e-17 0.05328676225522106 - RotationMatrix - 1 -0 5.204170427930421e-18 - 0 1 0 - -5.204170427930421e-18 0 1 - RefCurves - RefSurfaces - Part - Name - structural_node_3 - Position3D - 0.07099630277370235 -0.07364765799707981 0.05840790082376057 - RotationMatrix - 0.9622501868990581 0.01433011691863464 -0.271788935686915 - -0.08715574274765799 0.9622501868990581 -0.2578341604963 - 0.2578341604963 0.2717889356869149 0.9271743741709766 - Velocity3D - 0 0 0 - Omega3D - 0 0 0 - FeatureOrder - PrincipalMassMarker - Name - MassMarker - Position3D - 2.842170943040401e-17 -1.4210854715202e-17 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 2.852948655706768 - MomentOfInertias - 0.03383792198797 0.033715148099504 0.001956310318013 - Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker0 - Position3D - -0.1400000000000079 -1.044497821567347e-15 0.02499999999999804 - RotationMatrix - 3.322229154067983e-33 1 -5.551115123125784e-17 - -1 0 -5.984795992119986e-17 - -5.984795992119986e-17 5.551115123125784e-17 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker1 - Position3D - 0.1399999999999913 4.423128530106624e-16 9.79127889877418e-15 - RotationMatrix - 0.7254861972346578 0.6882367162699149 2.719509169040251e-15 - -0.6882367162699149 0.7254861972346578 1.258675848677982e-14 - 6.689702964032028e-15 -1.100318561045113e-14 1 - RefCurves - RefSurfaces - Part - Name - structural_node_4 - Position3D - 0.3723079639890564 0.04333150035096042 0.008140985321785409 - RotationMatrix - 0.9659258262890682 0 0.2588190451025211 - 0 1 0 - -0.2588190451025211 0 0.9659258262890682 - Velocity3D - 0 0 0 - Omega3D - 0 0 0 - FeatureOrder - PrincipalMassMarker - Name - MassMarker - Position3D - 2.842170943040401e-16 2.131628207280301e-17 2.273736754432321e-16 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Mass - 10.85942720262214 - MomentOfInertias - 0.07706742098794901 0.066351815798527 0.061792350456255 - Density - 10 - RefPoints - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - Marker - Name - Marker0 - Position3D - -0.04558083463411924 -2.029935401992589e-10 1.256225164070202e-08 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - RefPoint - Position3D - 0 0 0 - RotationMatrix - 1 0 0 - 0 1 0 - 0 0 1 - Markers - 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The beam is allowed to swing under gravity like a circular pendulum. A second beam is connected to ground with a spherical joint. A third beam is connected to the second beam with a spherical joint. The double beam is allowed to swing under gravity like a double circular pendulum.If the instructions below are too brief, review the Notes in projectile.asm and circular.asm.To load the example for a quick look:Click File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select cirpendu.asm. To create the assembly from scratch:To create three pendulums:Create an empty assembly and populate it with three beams (Assembly1Part1, Assembly1Part2, Assembly1Part3) each of dimensions (1.0d, 0.2d, 0.2d). Set the density of each beam to (10.0d). To mark joint attachment points:Create a marker (Assembly1Marker1) at the assembly origin. Create a second marker (Assembly1Marker2) on the assembly at (2.0d, 0.0d, 0.0d).On the first beam, create a marker (Assembly1Part1Marker1) at (-0.1d, 0.1d, -0.1d) relative to the z-face. On the second beam, create a marker (Assembly1Part2Marker1) at (-0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.1d, 0.1d, -0.1d) relative to the z-face. On the third beam, create a marker (Assembly1Part3Marker1) at (-0.1d, 0.1d, -0.1d) relative to the z-face.To create the joints:Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with spherical joint (Assembly1Joint1).Connect (Assembly1Marker2) to (Assembly1Part2Marker1) with spherical joint (Assembly1Joint2).Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker1) with spherical joint (Assembly1Joint3).To set the initial conditions:It is possible to set the initial positions and initial velocities of the beams precisely by RightClick/PositionPart/Direction/ and RightClick/Velocity/ over any part marker.To set gravity:Click Dynamic/Gravity/ for the gravity dialog. Enter (0.0d, -9.81d, 0.0d).The assembly is now ready for simulation, animation and plotting.You can run a Quasi Static simulation to find the static equillibrium configuration of the system.' runs: (Core.RunArray runs: #(423 61 14 5 12 1 2 37 105 36 1 26 190 32 526 21 289 30 177 15 242) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil #bold nil))) + Name + Assembly1 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Velocity3D + 0.0 0.0 0.0 + Omega3D + 0.0 0.0 0.0 + RefPoints + RefPoint + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker1 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + RefPoint + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker2 + 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The shortest link (crank) is attached to the ground with a revolute joint. Its other end is attached to the coupler link. The coupler link is further connected to the rocker link. The rocker link completes the loop by connecting back to ground at a different location. The crank is give a rotary motion so that the coupler and rocker produce some oscillating motion. A wide range of possible motions are produced by changing the linkage lengths or attachment locations. Units are SI units. Angles are in radians.If the instructions below are too brief, refer to the Notes in projectile.asm and circular.asm.To load the example for a quick look:Click File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select fourbar.asm. To create the assembly from scratch:To create crank, coupler and rocker:Create an empty assembly and populate it with three rectangular links (Assembly1Part1, Assembly1Part2, Assembly1Part3). Their dimensions are (1.0d, 0.2d, 0.1d), (2.0d, 0.2d, 0.1d) and (1.5d, 0.2d, 0.1d). Arrange them from left to right in the xy quadrant. To mark joint attachment points:On the assembly, create a marker (Assembly1Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Marker2) at (2.0d, 0.0d, 0.0d). On the first link, create a marker (Assembly1Part1Marker1) at (0.1d, 0.1d, 0.0d) and another (Assembly1Part1Marker2) at (0.9d, 0.1d, 0.0d) relative to the z-face. On the second link, create a marker (Assembly1Part2Marker1) at (0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.9d, 0.1d, -0.1d) relative to the z-face. On the third link, create a marker (Assembly1Part3Marker1) at (0.1d, 0.1d, 0.0d) and another (Assembly1Part3Marker2) at (1.4d, 0.1d, 0.0d) relative to the z-face. To create the joints:Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with revolute joint (Assembly1Joint1).Connect (Assembly1Part1Marker2) to (Assembly1Part2Marker1) with revolute joint (Assembly1Joint2).Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker1) with revolute joint (Assembly1Joint3).Connect (Assembly1Part3Marker2) to (Assembly1Marker2) with revolute joint (Assembly1Joint4).To apply motion to the crank:Apply rotation motion (Assembly1Motion1) to (Assembly1Joint1). Enter 2.0d*pi*time.The assembly is now ready for simulation, animation and plotting.Known problems:Depending on the input state of the system, the solver with converge on one of several solutions for the assembly. If the solution is not one desired, move the links by dragging and rotating them so that they are near the desired solution. Then resimulate and the solver should find the desired solution.' runs: (Core.RunArray runs: #(662 63 14 5 12 1 2 37 89 11 4 36 1 36 259 32 626 21 384 29 152 15 306) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #bold nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil #bold nil))) + Name + Assembly1 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Velocity3D + 0.0 0.0 -3.92889708655e-32 + Omega3D + -1.2325951644068e-32 6.9388939039072e-18 -8.8817841970011e-16 + RefPoints + RefPoint + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker1 + Position3D + 2.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + RefPoint + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker2 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + RefCurves + RefSurfaces + Parts + Part + Name + Part1 + Position3D + -0.10000000000001 -0.1 -0.1 + RotationMatrix + 1.0 -7.9645710363513e-15 0.0 + 7.9645710363513e-15 1.0 0.0 + 0.0 0.0 1.0 + Velocity3D + 0.62831853071798 -0.62831853071801 1.2517657822302e-15 + Omega3D + -1.2624026985831e-31 6.9388939039072e-18 6.2831853071797 + FeatureOrder + Extrusion + zStart + 0.0 + zEnd + 0.1 + Sketch + Name + Sketch1 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Graphics + Rectangle + Position2D + 0.0 0.0 + Angle + 0.0 + xLength + 1.0 + yLength + 0.2 + PrincipalMassMarker + Name + MassMarker + Position3D + 0.5 0.1 0.05 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Mass + 0.2 + MomentOfInertias + 8.3333333333333e-4 0.016833333333333 0.017333333333333 + Density + 10.0 + RefPoints + RefPoint + Position3D + 0.0 0.0 0.1 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker1 + Position3D + 0.1 0.1 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + RefPoint + Position3D + 0.0 0.0 0.1 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Markers + Marker + Name + Marker2 + Position3D + 0.9 0.1 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + RefCurves + RefSurfaces + Part + Name + Part2 + Position3D + 0.80296435866902 -0.1413902845939 -5.1549042812127e-14 + RotationMatrix + 0.6921296296303 -0.7217732163137 -4.0719095229064e-17 + 0.7217732163137 0.6921296296303 3.7740328119713e-17 + 9.429342880732e-19 -5.5511151652488e-17 1.0 + Velocity3D + -0.5922542391652 5.014131169193 4.8275850949384e-18 + Omega3D + 3.385886664474e-17 -1.6168796594788e-17 -4.1887902047918 + FeatureOrder + Extrusion + zStart + 0.0 + zEnd + 0.1 + Sketch + Name + Sketch1 + Position3D + 0.0 0.0 0.0 + RotationMatrix + 1.0 0.0 0.0 + 0.0 1.0 0.0 + 0.0 0.0 1.0 + Graphics + Rectangle + Position2D + 0.0 0.0 + Angle + 0.0 + xLength + 2.0 + yLength + 0.2 + 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