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parallel_connection_example.py
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parallel_connection_example.py
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__doc__ = """Parallel connection example"""
import numpy as np
import elastica as ea
from elastica.experimental.connection_contact_joint.parallel_connection import (
get_connection_vector_straight_straight_rod,
SurfaceJointSideBySide,
)
from elastica._calculus import difference_kernel
import sys
sys.path.append("../")
sys.path.append("../../")
sys.path.append("../../../")
from examples.JointCases.joint_cases_postprocessing import (
plot_position,
plot_video,
plot_video_xy,
plot_video_xz,
)
class ParallelConnection(
ea.BaseSystemCollection,
ea.Constraints,
ea.Connections,
ea.Forcing,
ea.Damping,
ea.CallBacks,
):
pass
parallel_connection_sim = ParallelConnection()
# setting up test params
n_elem = 10
direction = np.array([0.0, 0.0, 1.0])
normal = np.array([0.0, 1.0, 0.0])
binormal = np.cross(direction, normal)
base_length = 0.2
base_radius = 0.007
base_area = np.pi * base_radius ** 2
density = 1750
E = 3e4
poisson_ratio = 0.5
shear_modulus = E / (poisson_ratio + 1.0)
start_rod_1 = np.zeros((3,)) + 0.1 * direction
start_rod_2 = start_rod_1 + binormal * 2 * base_radius
# Create rod 1
rod_one = ea.CosseratRod.straight_rod(
n_elem,
start_rod_1,
direction,
normal,
base_length,
base_radius,
density,
youngs_modulus=E,
shear_modulus=shear_modulus,
)
parallel_connection_sim.append(rod_one)
# Create rod 2
rod_two = ea.CosseratRod.straight_rod(
n_elem,
start_rod_2,
direction,
normal,
base_length,
base_radius,
density,
youngs_modulus=E,
shear_modulus=shear_modulus,
)
parallel_connection_sim.append(rod_two)
# Apply boundary conditions to rod1.
parallel_connection_sim.constrain(rod_one).using(
ea.OneEndFixedBC, constrained_position_idx=(0,), constrained_director_idx=(0,)
)
# Apply boundary conditions to rod2.
parallel_connection_sim.constrain(rod_two).using(
ea.OneEndFixedBC, constrained_position_idx=(0,), constrained_director_idx=(0,)
)
# Apply a contraction force on rod one.
class ContractionForce(ea.NoForces):
def __init__(
self,
ramp,
force_mag,
):
self.ramp = ramp
self.force_mag = force_mag
def apply_forces(self, system, time: np.float64 = 0.0):
# Ramp the force
factor = min(1.0, time / self.ramp)
system.external_forces[:] -= factor * difference_kernel(
self.force_mag * system.tangents
)
parallel_connection_sim.add_forcing_to(rod_one).using(
ContractionForce, ramp=0.5, force_mag=1.0
)
# Connect rod 1 and rod 2
(
rod_one_direction_vec_in_material_frame,
rod_two_direction_vec_in_material_frame,
offset_btw_rods,
) = get_connection_vector_straight_straight_rod(
rod_one, rod_two, (0, n_elem), (0, n_elem)
)
for i in range(n_elem):
parallel_connection_sim.connect(
first_rod=rod_one, second_rod=rod_two, first_connect_idx=i, second_connect_idx=i
).using(
SurfaceJointSideBySide,
k=1e2,
nu=1e-5,
k_repulsive=1e3,
rod_one_direction_vec_in_material_frame=rod_one_direction_vec_in_material_frame[
:, i
],
rod_two_direction_vec_in_material_frame=rod_two_direction_vec_in_material_frame[
:, i
],
offset_btw_rods=offset_btw_rods[i],
) # k=kg/s2 nu=kg/s 1e-2
# add damping
damping_constant = 4e-3
dt = 1e-3
parallel_connection_sim.dampen(rod_one).using(
ea.AnalyticalLinearDamper,
damping_constant=damping_constant,
time_step=dt,
)
parallel_connection_sim.dampen(rod_two).using(
ea.AnalyticalLinearDamper,
damping_constant=damping_constant,
time_step=dt,
)
class ParallelConnecitonCallback(ea.CallBackBaseClass):
"""
Call back function for parallel connection
"""
def __init__(self, step_skip: int, callback_params: dict):
ea.CallBackBaseClass.__init__(self)
self.every = step_skip
self.callback_params = callback_params
def make_callback(self, system, time, current_step: int):
if current_step % self.every == 0:
self.callback_params["time"].append(time)
self.callback_params["step"].append(current_step)
self.callback_params["position"].append(system.position_collection.copy())
self.callback_params["velocity"].append(system.velocity_collection.copy())
return
pp_list_rod1 = ea.defaultdict(list)
pp_list_rod2 = ea.defaultdict(list)
parallel_connection_sim.collect_diagnostics(rod_one).using(
ParallelConnecitonCallback, step_skip=40, callback_params=pp_list_rod1
)
parallel_connection_sim.collect_diagnostics(rod_two).using(
ParallelConnecitonCallback, step_skip=40, callback_params=pp_list_rod2
)
parallel_connection_sim.finalize()
timestepper = ea.PositionVerlet()
final_time = 20.0
dl = base_length / n_elem
total_steps = int(final_time / dt)
print("Total steps", total_steps)
ea.integrate(timestepper, parallel_connection_sim, final_time, total_steps)
PLOT_FIGURE = True
SAVE_FIGURE = False
PLOT_VIDEO = True
# plotting results
if PLOT_FIGURE:
filename = "parallel_connection_test_last_node_pos_xy.png"
plot_position(pp_list_rod1, pp_list_rod2, filename, SAVE_FIGURE)
if PLOT_VIDEO:
filename = "parallel_connection_test.mp4"
plot_video(pp_list_rod1, pp_list_rod2, video_name=filename, margin=0.2, fps=100)
plot_video_xy(
pp_list_rod1, pp_list_rod2, video_name=filename + "_xy.mp4", margin=0.2, fps=100
)
plot_video_xz(
pp_list_rod1, pp_list_rod2, video_name=filename + "_xz.mp4", margin=0.2, fps=100
)