305 lines
8.1 KiB
C++
305 lines
8.1 KiB
C++
#include <regex>
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#include "MBDynJoint.h"
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#include "ASMTMarker.h"
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#include "ASMTPart.h"
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#include "ASMTAssembly.h"
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#include "ASMTRevoluteJoint.h"
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#include "ASMTRotationalMotion.h"
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#include "ASMTPointInLineJoint.h"
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#include "ASMTNoRotationJoint.h"
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#include "ASMTFixedJoint.h"
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#include "ASMTSphericalJoint.h"
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using namespace MbD;
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void MbD::MBDynJoint::initialize()
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{
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}
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void MbD::MBDynJoint::parseMBDyn(std::string line)
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{
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jointString = line;
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auto arguments = collectArgumentsFor("joint", line);
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//size_t previousPos = 0;
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//auto pos = line.find(":");
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//auto front = line.substr(previousPos, pos - previousPos);
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//assert(front.find("joint") != std::string::npos);
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//auto arguments = std::vector<std::string>();
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//std::string argument;
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//while (true) {
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// previousPos = pos;
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// pos = line.find(",", pos + 1);
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// if (pos != std::string::npos) {
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// argument = line.substr(previousPos + 1, pos - previousPos - 1);
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// arguments.push_back(argument);
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// }
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// else {
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// argument = line.substr(previousPos + 1);
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// arguments.push_back(argument);
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// break;
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// }
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//}
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auto ss = std::stringstream();
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auto iss = std::istringstream(arguments.at(0));
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iss >> name;
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arguments.erase(arguments.begin());
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iss = std::istringstream(arguments.at(0));
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iss >> joint_type;
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if (joint_type == "axial") {
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ss << joint_type;
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iss >> joint_type;
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if (joint_type == "rotation") {
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ss << " " << joint_type;
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joint_type = ss.str();
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}
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else {
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assert(false);
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}
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arguments.erase(arguments.begin());
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readMarkerI(arguments);
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readMarkerJ(arguments);
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readFunction(arguments);
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return;
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}
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else if (joint_type == "revolute") {
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ss << joint_type;
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iss >> joint_type;
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if (joint_type == "hinge") {
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ss << " " << joint_type;
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joint_type = ss.str();
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}
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else {
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assert(false);
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}
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}
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else if (joint_type == "spherical") {
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ss << joint_type;
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iss >> joint_type;
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if (joint_type == "hinge") {
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ss << " " << joint_type;
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joint_type = ss.str();
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}
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else {
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assert(false);
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}
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}
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else if (joint_type == "drive") {
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ss << joint_type;
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iss >> joint_type;
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if (joint_type == "hinge") {
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ss << " " << joint_type;
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joint_type = ss.str();
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}
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else {
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assert(false);
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}
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arguments.erase(arguments.begin());
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readMarkerI(arguments);
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readMarkerJ(arguments);
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readFunction(arguments);
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return;
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}
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else if (joint_type == "in") {
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ss << joint_type;
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iss >> joint_type;
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if (joint_type == "line") {
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ss << " " << joint_type;
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joint_type = ss.str();
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}
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else {
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assert(false);
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}
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}
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else if (joint_type == "clamp") {
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//mkr1 should be on assembly which doesn't exist in MBDyn
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//mkr2 is on the node
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arguments.erase(arguments.begin());
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mkr1 = std::make_shared<MBDynMarker>();
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mkr1->owner = this;
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mkr1->nodeStr = "Assembly";
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mkr1->rPmP = std::make_shared<FullColumn<double>>(3);
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mkr1->aAPm = FullMatrixDouble::identitysptr(3);
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readClampMarkerJ(arguments);
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return;
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}
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else if (joint_type == "prismatic") {
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noop();
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}
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else {
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assert(false);
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}
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arguments.erase(arguments.begin());
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readMarkerI(arguments);
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readMarkerJ(arguments);
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}
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void MbD::MBDynJoint::readMarkerI(std::vector<std::string>& args)
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{
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mkr1 = std::make_shared<MBDynMarker>();
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mkr1->owner = this;
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mkr1->nodeStr = readStringOffTop(args);
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auto _nodeNames = nodeNames();
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std::string nodeName;
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auto it = std::find_if(args.begin(), args.end(), [&](const std::string& s) {
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auto iss = std::istringstream(s);
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iss >> nodeName;
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if (std::find(_nodeNames.begin(), _nodeNames.end(), nodeName) != _nodeNames.end()) return true;
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return false;
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});
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auto markerArgs = std::vector<std::string>(args.begin(), it);
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args.erase(args.begin(), it);
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mkr1->parseMBDyn(markerArgs);
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}
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void MbD::MBDynJoint::readMarkerJ(std::vector<std::string>& args)
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{
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if (args.empty()) return;
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mkr2 = std::make_shared<MBDynMarker>();
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mkr2->owner = this;
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mkr2->nodeStr = readStringOffTop(args);
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mkr2->parseMBDyn(args);
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}
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void MbD::MBDynJoint::readClampMarkerJ(std::vector<std::string>& args)
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{
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if (args.empty()) return;
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mkr2 = std::make_shared<MBDynMarker>();
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mkr2->owner = this;
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mkr2->nodeStr = readStringOffTop(args);
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mkr2->parseMBDynClamp(args);
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}
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void MbD::MBDynJoint::readFunction(std::vector<std::string>& args)
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{
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if (args.empty()) return;
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std::string str;
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auto iss = std::istringstream(args.at(0));
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iss >> str;
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if (str.find("ramp") != std::string::npos) {
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args.erase(args.begin());
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std::string slope, initValue, initTime, finalTime;
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slope = popOffTop(args);
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initTime = popOffTop(args);
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finalTime = popOffTop(args);
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initValue = popOffTop(args);
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//f = slope*(time - t0) + f0
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auto ss = std::stringstream();
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ss << slope << "*(time - " << initTime << ") + " << initValue;
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formula = ss.str();
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}
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else if (str.find("single") != std::string::npos) {
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args.erase(args.begin());
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auto vec3 = readVector3(args);
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assert(vec3->at(0) == 0 && vec3->at(1) == 0 && vec3->at(2) == 1);
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assert(readStringOffTop(args) == "string");
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formula = popOffTop(args);
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formula = std::regex_replace(formula, std::regex("\""), "");
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}
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else if (str.find("string") != std::string::npos) {
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args.erase(args.begin());
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formula = popOffTop(args);
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formula = std::regex_replace(formula, std::regex("\""), "");
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}
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else {
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assert(false);
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}
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}
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void MbD::MBDynJoint::createASMT()
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{
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mkr1->createASMT();
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if (mkr2) mkr2->createASMT();
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std::shared_ptr<ASMTJoint> asmtJoint;
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if (joint_type == "clamp") {
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auto asmtAsm = asmtAssembly();
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asmtJoint = std::make_shared<ASMTFixedJoint>();
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asmtJoint->setName(name);
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asmtJoint->setMarkerI(mkr1->asmtItem->fullName(""));
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asmtJoint->setMarkerJ(mkr2->asmtItem->fullName(""));
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asmtAsm->addJoint(asmtJoint);
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return;
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}
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if (joint_type == "axial rotation") {
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auto asmtAsm = asmtAssembly();
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asmtJoint = std::make_shared<ASMTRevoluteJoint>();
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asmtItem = asmtJoint;
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asmtJoint->setName(name);
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asmtJoint->setMarkerI(mkr1->asmtItem->fullName(""));
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asmtJoint->setMarkerJ(mkr2->asmtItem->fullName(""));
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asmtAsm->addJoint(asmtJoint);
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auto asmtMotion = std::make_shared<ASMTRotationalMotion>();
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asmtItem = asmtMotion;
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asmtMotion->setName(name.append("Motion"));
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asmtMotion->setMotionJoint(asmtJoint->fullName(""));
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asmtMotion->setRotationZ(asmtFormulaIntegral());
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asmtAsm->addMotion(asmtMotion);
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return;
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}
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if (joint_type == "drive hinge") {
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auto asmtAsm = asmtAssembly();
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auto asmtMotion = std::make_shared<ASMTRotationalMotion>();
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asmtItem = asmtMotion;
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asmtMotion->setName(name);
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asmtMotion->setMarkerI(mkr1->asmtItem->fullName(""));
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asmtMotion->setMarkerJ(mkr2->asmtItem->fullName(""));
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asmtMotion->setRotationZ(formula);
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asmtAsm->addMotion(asmtMotion);
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return;
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}
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if (joint_type == "revolute hinge") {
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asmtJoint = std::make_shared<ASMTRevoluteJoint>();
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}
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else if (joint_type == "spherical hinge") {
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asmtJoint = std::make_shared<ASMTSphericalJoint>();
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}
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else if (joint_type == "in line") {
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asmtJoint = std::make_shared<ASMTPointInLineJoint>();
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}
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else if (joint_type == "prismatic") {
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asmtJoint = std::make_shared<ASMTNoRotationJoint>();
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}
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else {
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assert(false);
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}
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asmtItem = asmtJoint;
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asmtJoint->setName(name);
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asmtJoint->setMarkerI(mkr1->asmtItem->fullName(""));
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asmtJoint->setMarkerJ(mkr2->asmtItem->fullName(""));
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asmtAssembly()->addJoint(asmtJoint);
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}
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std::string MbD::MBDynJoint::asmtFormula()
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{
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auto ss = std::stringstream();
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std::string drivestr = "model::drive";
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size_t previousPos = 0;
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auto pos = formula.find(drivestr);
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ss << formula.substr(previousPos, pos - previousPos);
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while (pos != std::string::npos) {
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previousPos = pos;
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pos = formula.find('(', pos + 1);
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previousPos = pos;
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pos = formula.find(',', pos + 1);
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auto driveName = formula.substr(previousPos + 1, pos - previousPos - 1);
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driveName = readToken(driveName);
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previousPos = pos;
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pos = formula.find(')', pos + 1);
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auto varName = formula.substr(previousPos + 1, pos - previousPos - 1);
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varName = readToken(varName);
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//Insert drive formula
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ss << formulaFromDrive(driveName, varName);
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previousPos = pos;
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pos = formula.find(drivestr, pos + 1);
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ss << formula.substr(previousPos + 1, pos - previousPos);
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}
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return ss.str();
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}
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std::string MbD::MBDynJoint::asmtFormulaIntegral()
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{
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auto ss = std::stringstream();
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ss << "integral(time, " << asmtFormula() << ")";
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return ss.str();
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}
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