def test_sphere_1m():
with MechanicsHdf5Runner() as io:
io.add_occ_shape('sphere_r1_shp', sphere_r1_shape)
###############
# Sphere 1m
###############
obj = io.add_object('sphere_bdy', [
Volume(shape_name='sphere_r1_shp',
instance_name='sphere_r1_shp_bdy',
parameters=steel)
],
translation=[0., 0., 0.],
velocity=[0., 0., 0., 0., 0., 0.])
radius = 1.0
volume = 4 / 3. * math.pi * radius**3
mass = volume * steel.density
inertia = 2 / 5 * mass * radius**2
print('volume :', volume)
print('mass :', mass)
print('inertia :', inertia)
# print(obj.attrs['id'])
c_mass = obj.attrs['mass']
c_inertia = obj.attrs['inertia'][0][0]
assert (abs(mass - c_mass) < tol)
assert (abs(inertia - c_inertia) < tol)
def test_sphere_1cm():
with MechanicsHdf5Runner() as io:
io.add_occ_shape('sphere_r1_shp', sphere_r1_shape)
###############
# Sphere 1 cm
###############
# to compute the center of mass and perform the right translation
print('############### sphere of Radius 1cm')
obj = io.add_object('sphere_cm_bdy', [
Volume(shape_name='sphere_r1_shp',
instance_name='sphere_r1_shp_bdy',
parameters=steel_cm)
],
translation=[0., 0., 0.],
velocity=[0., 0., 0., 0., 0., 0.])
radius = 1.0
volume = 4 / 3. * math.pi * radius**3
mass = volume * steel_cm.density
inertia = 2 / 5 * mass * radius**2 # * 1e-4 # Warning the inertia unit is kg.m^2, so it is not sufficient to scale to density.
print('volume :', volume)
print('mass :', mass)
print('inertia :', inertia)
c_mass = obj.attrs['mass']
c_inertia = obj.attrs['inertia'][0][0]
assert (abs(mass - c_mass) < tol)
assert (abs(inertia - c_inertia) < tol)
def test_sphere_001m():
with MechanicsHdf5Runner() as io:
io.add_occ_shape('sphere_r001_shp', sphere_r001_shape)
###############
# Sphere 0.001 m
###############
# to compute the center of mass and perform the right translation
print('############### sphere of Radius 0.01 m')
obj = io.add_object('Sphere001_com', [
Volume(shape_name='sphere_r001_shp',
instance_name='sphere_r001_shp_bdy',
parameters=steel)
],
translation=[0., 0., 0.],
velocity=[0., 0., 0., 0., 0., 0.])
radius = 0.001
volume = 4 / 3. * math.pi * radius**3
mass = volume * steel.density
inertia = 2 / 5 * mass * radius**2
print('volume :', volume)
print('mass :', mass)
print('inertia :', inertia)
c_mass = obj.attrs['mass']
c_inertia = obj.attrs['inertia'][0][0]
assert (abs(mass - c_mass) < tol)
assert (abs(inertia - c_inertia) < tol)
def test_two_sphere_1m_steel_water():
with MechanicsHdf5Runner() as io:
io.add_occ_shape('sphere_r1_shp', sphere_r1_shape)
#################
# Two spheres 1m steel and water
#################
obj = io.add_object('two_spheres_bdy', [
Volume(shape_name='sphere_r1_shp',
instance_name='sphere_r1_shp_bdy',
parameters=steel,
relative_translation=[0., -2., 0.]),
Volume(shape_name='sphere_r1_shp',
instance_name='sphere_r1_shp_bdy',
parameters=water,
relative_translation=[0, +2., 0.])
],
translation=[0., 0., 0.],
velocity=[0., 0., 0., 0., 0., 0.])
radius = 1.0
volume = 4 / 3. * math.pi * radius**3
mass1 = volume * steel.density
mass2 = volume * water.density
mass = mass1 + mass2
print('volume :', volume)
print('mass :', mass)
inertia_y = 2 / 5 * mass * radius**2
print('inertia (y) :', inertia_y)
d1 = 2 - 1.54285714286
d2 = 2 + 1.54285714286
inertia_zx = mass1 * d1**2 + 2 / 5 * mass1 * radius**2 + mass2 * d2**2 + 2 / 5 * mass2 * radius**2
print('inertia (z and x) :', inertia_zx)
print(obj.attrs['id'])
c_mass = obj.attrs['mass']
c_inertia_zx = obj.attrs['inertia'][0][0]
c_inertia_y = obj.attrs['inertia'][1][1]
assert (abs(mass - c_mass) < 1e-08)
assert (abs(inertia_y - c_inertia_y) < tol)
assert (abs(inertia_zx - c_inertia_zx) < tol)
def test_two_sphere_1m():
with MechanicsHdf5Runner() as io:
io.add_occ_shape('two_spheres_r1_shp', comp)
#################
# Two spheres 1m
#################
obj = io.add_object('two_spheres_comp', [
Volume(shape_name='two_spheres_r1_shp',
instance_name='comp',
parameters=steel)
],
translation=[0., 0., 0.],
velocity=[0., 0., 0., 0., 0., 0.])
# obj= io.add_object('Two_Sphere_com',
# [Volume(shape_name='two_sphere_R=1_shp',
# instance_name='balance_wheel_shp_bdy',
# parameters=steel)],
# translation=[0., 0., 0.],
# velocity=[0., 0., 0., 0., 0., 0.])
radius = 1.0
volume = 2 * 4 / 3. * math.pi * radius**3
mass = volume * steel.density
print('volume :', volume)
print('mass :', mass)
d = 2
inertia_zy = 2 * (2 / 5 * mass / 2.0 * radius**2 + mass / 2.0 * d**2)
print('inertia (z and y) :', inertia_zy)
inertia_x = (2 / 5 * mass * radius**2)
print('inertia (x) :', inertia_x)
c_mass = obj.attrs['mass']
c_inertia_zy = obj.attrs['inertia'][1][1]
c_inertia_x = obj.attrs['inertia'][0][0]
assert (abs(mass - c_mass) < tol)
assert (abs(inertia_x - c_inertia_x) < tol)
assert (abs(inertia_zy - c_inertia_zy) < tol)
io.addShapeDataFromFile('Chamber',
'../Mechanisms/SliderCrank/CAD/chamber.step')
io.addShapeDataFromFile('AxisBody',
'../Mechanisms/SliderCrank/CAD/AxisBody2.stp')
io.addShapeDataFromFile('Artefact',
'../Mechanisms/SliderCrank/CAD/artefact2.step')
# io.addObject('Artefact', [Shape(shape_data='Artefact',
# instance_name='artefact')],
# translation=[0., 0., 0.])
io.addObject('part1', [Volume(shape_data='body1',
instance_name='Body1',
relative_translation=[-0.5*l1, 0., 0.],
relative_orientation=[(0, 1, 0), 0. ])],
translation=[0.5*l1, 0., 0.],
velocity=[0., 0., -0.5 * w10 * l1, 0., w10, 0.],
mass=0.038,
inertia=[7.4e-5, 1, 1.])
io.addObject('part2', [Volume(shape_data='body2',
instance_name='Body2',
relative_translation=[-0.5 * l2, 0., 0.])],
translation=[l1 + 0.5*l2, 0., 0.],
orientation=[0., 0., 1., 0.],
velocity=[0., 0., -0.5 * w10 * l1, 0., w20, 0.],
mass=0.038,
inertia=[5.9e-4, 1., 1.])
from OCC.BRepPrimAPI import BRepPrimAPI_MakeBox, BRepPrimAPI_MakeSphere
from OCC.gp import gp_Pnt
siconos.io.mechanics_run.set_backend('occ')
sphere = BRepPrimAPI_MakeSphere(1.).Shape()
ground = BRepPrimAPI_MakeBox(gp_Pnt(-50, -50, 0), 100., 100., .5).Shape()
# Creation of the hdf5 file for input/output
with MechanicsHdf5Runner() as io:
io.add_occ_shape('Sphere', sphere)
io.add_occ_shape('Ground', ground)
io.add_object('sphere',
[Volume('Sphere'),
Contactor('Sphere', contact_type='Face', contact_index=0)],
mass=1, translation=[0, 0, 10], velocity=[0, 0, 0, 0, 0, 0])
io.add_object('ground',
[Contactor('Ground', contact_type='Face', contact_index=5)],
mass=0, translation=[0, 0, 0])
io.add_interaction('sphere-ground',
'sphere', 'Sphere-1',
'ground', 'Ground-0',
distance_calculator='occ',
offset1=0.01)
io.add_Newton_impact_friction_nsl('contact', mu=0.3, e=0.9)
# mass = 100.0)
balance_wheel_com = np.array([10.36290606, -3.90431343, -0.21335326])
inertia = [
.019661740055950054, 0.028171281786527207, 0.021165152882136887
]
init_orientation = [0.97366047, 0., 0., -0.22800273] #
angle_init = math.asin(-0.22800273)
print('angle_init =', angle_init)
angle_init = math.pi / 4.0
init_orientation = [math.sin(angle_init), 0., 0., math.cos(angle_init)]
io.add_object('balance_wheel_body', [
Volume(shape_name='balance_wheel_shp',
instance_name='balance_wheel_shp_bdy',
relative_translation=-1.0 * balance_wheel_com,
parameters=steel_mm),
Contactor(instance_name='balance_wheel_contactor_shp_f0',
shape_name='balance_wheel_contactor_shp',
contact_type='Face',
contact_index=0,
relative_translation=-1.0 * balance_wheel_com),
Contactor(instance_name='balance_wheel_contactor_shp_f1',
shape_name='balance_wheel_contactor_shp',
contact_type='Face',
contact_index=1,
relative_translation=-1.0 * balance_wheel_com)
],
translation=balance_wheel_com,
orientation=init_orientation,
velocity=[0., 0., 0., 0., 0., 0.])