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perf3DRigidBodies.py
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perf3DRigidBodies.py
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#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# This is an EXUDYN example
#
# Details: Test for AddRevoluteJoint utility function
#
# Author: Johannes Gerstmayr
# Date: 2021-07-01
#
# Copyright:This file is part of Exudyn. Exudyn is free software. You can redistribute it and/or modify it under the terms of the Exudyn license. See 'LICENSE.txt' for more details.
#
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
import exudyn as exu
from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
import exudyn.graphics as graphics #only import if it does not conflict
useGraphics = True #without test
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#you can erase the following lines and all exudynTestGlobals related operations if this is not intended to be used as TestModel:
try: #only if called from test suite
from modelUnitTests import exudynTestGlobals #for globally storing test results
useGraphics = exudynTestGlobals.useGraphics
except:
class ExudynTestGlobals:
pass
exudynTestGlobals = ExudynTestGlobals()
exudynTestGlobals.isPerformanceTest = False
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
useGraphics = False #without test
from math import sin, cos, pi
import numpy as np
SC = exu.SystemContainer()
mbs = SC.AddSystem()
#background
color = [0.1,0.1,0.8,1]
L = 0.4 #length of bodies
d = 0.1 #diameter of bodies
oGround=mbs.AddObject(ObjectGround(referencePosition= [-0.5*L,0,0]))
mPosLast = mbs.AddMarker(MarkerBodyRigid(bodyNumber = oGround, localPosition=[0,0,0]))
A0 = np.eye(3)
Alast = A0 #previous marker
bodyLast = oGround
Alist=[]
axisList=[]
A=RotationMatrixX(0)
nBodies = 400
for i in range(nBodies):
delta = 0.01*pi
#A = RotationMatrixZ(delta)
v0= A@[0,0,1]
Alist+=[A]
axisList+=[v0]
A = A @ RotationMatrixX(delta)@RotationMatrixZ(2*delta)
p0 = [0.,0.,0] #reference position
vLoc = np.array([L,0,0]) #last to next joint
g = [0,0,9.81]
#g = [0,9.81,0]
#create a chain of bodies:
for i in range(nBodies):
#print("Build Object", i)
inertia = InertiaCuboid(density=1000, sideLengths=[L,d,d])
p0 += Alist[i] @ (0.5*vLoc)
#p0 += (0.5*vLoc)
ep0 = eulerParameters0 #no rotation
graphicsBody = graphics.Brick([0,0,0], [0.96*L,d,d], graphics.color.steelblue)
# ep = RotationMatrix2EulerParameters(Alist[i])
# ep = (1./np.linalg.norm(ep)) * ep
oRB = mbs.CreateRigidBody(inertia=inertia,
referencePosition=p0,
referenceRotationMatrix=Alist[i],
gravity=g,
graphicsDataList=[graphicsBody])
body0 = bodyLast
body1 = oRB
# point = mbs.GetObjectOutputBody(oRB,exu.OutputVariableType.Position,
# localPosition=[-0.5*L,0,0],
# configuration=exu.ConfigurationType.Reference)
#axis = [0,0,1]
axis = axisList[i]
mbs.CreateRevoluteJoint(bodyNumbers=[body0, body1], position=[0.5*L,0,0],
axis=Alast.T@axis, useGlobalFrame=False,
axisRadius=0.6*d, axisLength=1.2*d)
# OLD:
# AddRevoluteJoint(mbs, body0, body1, point, axis, useGlobalFrame=True,
# axisRadius=0.6*d, axisLength=1.2*d)
bodyLast = oRB
p0 += Alist[i] @ (0.5*vLoc)
#p0 += (0.5*vLoc)
Alast = Alist[i]
#mbs.AddLoad(LoadForceVector(markerNumber=mPosLast, loadVector=[0,0,20]))
mbs.Assemble()
simulationSettings = exu.SimulationSettings() #takes currently set values or default values
tEnd = 1
h=0.001 #use small step size to detext contact switching
simulationSettings.timeIntegration.numberOfSteps = int(tEnd/h)
simulationSettings.timeIntegration.endTime = tEnd
simulationSettings.solutionSettings.solutionWritePeriod = 0.005
simulationSettings.solutionSettings.sensorsWritePeriod = 0.01
simulationSettings.timeIntegration.verboseMode = 1
simulationSettings.timeIntegration.generalizedAlpha.spectralRadius = 0.8
simulationSettings.timeIntegration.generalizedAlpha.computeInitialAccelerations=True
simulationSettings.timeIntegration.newton.useModifiedNewton = True
#simulationSettings.timeIntegration.newton.modifiedNewtonJacUpdatePerStep = True
simulationSettings.linearSolverType = exu.LinearSolverType.EigenSparse
simulationSettings.displayComputationTime = True
simulationSettings.displayStatistics = True
simulationSettings.parallel.numberOfThreads = 4
SC.visualizationSettings.nodes.show = True
SC.visualizationSettings.nodes.drawNodesAsPoint = False
SC.visualizationSettings.nodes.showBasis = True
SC.visualizationSettings.nodes.basisSize = 0.015
SC.visualizationSettings.connectors.showJointAxes = True
#for snapshot:
SC.visualizationSettings.openGL.multiSampling=4
SC.visualizationSettings.openGL.lineWidth=2
SC.visualizationSettings.window.renderWindowSize = [800,600]
SC.visualizationSettings.general.drawCoordinateSystem=False
SC.visualizationSettings.general.drawWorldBasis=True
SC.visualizationSettings.general.autoFitScene = False #use loaded render state
if useGraphics:
exu.StartRenderer()
if 'renderState' in exu.sys:
SC.SetRenderState(exu.sys[ 'renderState' ])
#mbs.WaitForUserToContinue()
else:
simulationSettings.solutionSettings.writeSolutionToFile = False
mbs.SolveDynamic(simulationSettings)
nRB= mbs.GetObject(oRB)['nodeNumber']
u0 = mbs.GetNodeOutput(nRB, exu.OutputVariableType.Displacement)
rot0 = mbs.GetNodeOutput(nRB, exu.OutputVariableType.Rotation)
exu.Print('u0=',u0,', rot0=', rot0)
result = (abs(u0)+abs(rot0)).sum()
exu.Print('solution of perf3DRigidBodies=',result)
exudynTestGlobals.testResult = result
#%%+++++++++++++++++++++++++++++
if useGraphics:
SC.WaitForRenderEngineStopFlag()
exu.StopRenderer() #safely close rendering window!