solveDynamic = True
if solveDynamic:
# time related settings:
steps = 400
tend = 0.8
h = tend / steps
SC.visualizationSettings.openGL.lineWidth = 2
simulationSettings.timeIntegration.numberOfSteps = steps
simulationSettings.timeIntegration.endTime = tend
simulationSettings.timeIntegration.generalizedAlpha.useIndex2Constraints = True
simulationSettings.timeIntegration.generalizedAlpha.useNewmark = simulationSettings.timeIntegration.generalizedAlpha.useIndex2Constraints
simulationSettings.timeIntegration.generalizedAlpha.spectralRadius = 0.3
simulationSettings.timeIntegration.verboseMode = 1
simulationSettings.displayStatistics = True
exu.SolveDynamic(mbs, simulationSettings)
if exudynTestGlobals.useGraphics:
#SC.WaitForRenderEngineStopFlag()
exu.StopRenderer() #safely close rendering window!
sol = mbs.systemData.GetODE2Coordinates()
uDynamic = sol[nc]
#y-displacement of first node of four bar mechanism
exu.Print('dynamic solution of cable1 =', uDynamic)
exudynTestGlobals.testError += uDynamic - (
-2.2290811574753953
) #2020-03-05(corrected Cable2DshapeMarker): -2.2290811574753953 #2019-12-26: -2.2290811558815617; 2019-12-18: -2.229126333291627
exudynTestGlobals.testResult += uDynamic
def SolutionViewer(mainSystem,
solution=[],
rowIncrement=1,
timeout=0.04,
runOnStart=True,
runMode=2):
from exudyn.utilities import SetSolutionState, LoadSolutionFile
mbs = mainSystem
SC = mbs.GetSystemContainer()
if solution == []:
if not 'simulationSettings' in mbs.sys:
raise ValueError(
'SolutionViewer: no solution file found (already simulated?)!')
sims = mbs.sys['simulationSettings']
if not sims.solutionSettings.writeSolutionToFile:
raise ValueError(
'SolutionViewer: previous simulation has writeSolutionToFile==False; no solution file available!'
)
solution = LoadSolutionFile(
sims.solutionSettings.coordinatesSolutionFileName
) #load solution file of previous simulation
nRows = solution['nRows']
if nRows == 0:
print('ERROR in SolutionViewer: solution file is empty')
return
if (runMode != 0 and runMode != 1 and runMode != 2):
print('ERROR in SolutionViewer: illegal run mode:', runMode)
return
if (rowIncrement < 1) or (rowIncrement > nRows):
print(
'ERROR in SolutionViewer: rowIncrement must be at least 1 and must not be larger than the number of rows in the solution file'
)
oldUpdateInterval = SC.visualizationSettings.general.graphicsUpdateInterval
SC.visualizationSettings.general.graphicsUpdateInterval = 0.5 * min(
timeout, 2e-3) #avoid too small values to run multithreading properly
mbs.SetRenderEngineStopFlag(False) #not to stop right at the beginning
# runLoop = False
# while runLoop and not mainSystem.GetRenderEngineStopFlag():
# for i in range(0,nRows,rowIncrement):
# if not(mainSystem.GetRenderEngineStopFlag()):
# SetSolutionState(mainSystem, solution, i, exudyn.ConfigurationType.Visualization)
# exudyn.DoRendererIdleTasks(timeout)
SetSolutionState(mainSystem, solution, 0,
exudyn.ConfigurationType.Visualization)
exudyn.DoRendererIdleTasks(timeout)
nSteps = int(nRows) #only make these steps available in slider!
maxNSteps = max(500, min(
nSteps,
1200)) #do not allow more steps, because dialog may be too large ...
resolution = min(1., maxNSteps / nSteps) #do not use values smaller than 1
dialogItems = [
{
'type': 'label',
'text': 'Solution steps:',
'grid': (1, 0)
},
{
'type': 'slider',
'range': (0, nSteps - 1),
'value': 0,
'steps': maxNSteps,
'variable': 'solutionViewerStep',
'resolution': resolution,
'grid': (1, 1)
},
{
'type': 'label',
'text': 'Increment:',
'grid': (2, 0)
},
{
'type': 'slider',
'range': (1, 200),
'value': rowIncrement,
'steps': 200,
'variable': 'solutionViewerRowIncrement',
'grid': (2, 1)
},
{
'type': 'label',
'text': 'update period:',
'grid': (3, 0)
},
{
'type': 'slider',
'range': (0.005, 1),
'value': timeout,
'steps': 200,
'variable': 'solutionViewerPeriod',
'grid': (3, 1)
},
{
'type':
'radio',
'textValueList': [('Continuous run', 0), ('One cycle', 1),
('Static', 2)],
'value':
runMode,
'variable':
'solutionViewerRunModus',
'grid': [(4, 0), (4, 1), (4, 2)]
},
#{'type':'radio', 'textValueList':[('Mesh+Faces',3), ('Faces only',1), ('Mesh only',2)],'value':3, 'variable':'modeShapeMesh', 'grid': [(8,0),(8,1),(8,2)]},
{
'type': 'radio',
'textValueList': [('Record animation', 0), ('No recording', 1)],
'value': 1,
'variable': 'solutionViewerSaveImages',
'grid': [(5, 0), (5, 1)]
},
]
mbs.variables['solutionViewerRowIncrement'] = float(rowIncrement)
mbs.variables['solutionViewerNSteps'] = nSteps
mbs.variables['solutionViewerSolution'] = solution
# mbs.variables['solutionViewerStep'] = 0
# mbs.variables['solutionViewerPeriod'] = timeout
def UFviewer(mbs, dialog):
i = int(mbs.variables['solutionViewerStep'])
# mbs.systemData.SetTime(t, exudyn.ConfigurationType.Visualization)
SetSolutionState(mainSystem, mbs.variables['solutionViewerSolution'],
i, exudyn.ConfigurationType.Visualization)
#exudyn.DoRendererIdleTasks(timeout)
# SC.visualizationSettings.contour.reduceRange = False
mbs.SendRedrawSignal()
exudyn.DoRendererIdleTasks(
) #as there is no simulation, we must do this for graphicsDataUserFunctions
# if mbs.variables['modeShapeSaveImages'] == 0:
# SC.RedrawAndSaveImage() #create images for animation
# else:
# SC.visualizationSettings.exportImages.saveImageFileCounter = 0 #for next mode ...
dialog.period = mbs.variables['solutionViewerPeriod']
if mbs.variables['solutionViewerRunModus'] < 2:
mbs.variables['solutionViewerStep'] += mbs.variables[
'solutionViewerRowIncrement']
# print("step=", mbs.variables['solutionViewerStep'])
#first variable is scale, which contains step
dialog.variableList[0][0].set(mbs.variables['solutionViewerStep'])
# for var in dialog.variableList:
# #self.mbs.variables[var[1]] = var[0].get()
# print(var[1],'=', var[0].get())
if mbs.variables['solutionViewerSaveImages'] == 0:
SC.RedrawAndSaveImage() #create images for animation
# else: #do not reset image counter to allow creating of multi-view images, slow motion, etc.
# SC.visualizationSettings.exportImages.saveImageFileCounter = 0 #
if mbs.variables['solutionViewerStep'] > mbs.variables[
'solutionViewerNSteps'] - 1.:
#or (mbs.variables['solutionViewerRunModus'] and mbs.variables['solutionViewerStep']==mbs.variables['solutionViewerNSteps']-1.):
mbs.variables['solutionViewerStep'] = 0
dialog.variableList[0][0].set(0)
SetSolutionState(mainSystem,
mbs.variables['solutionViewerSolution'], 0,
exudyn.ConfigurationType.Visualization)
# mbs.SendRedrawSignal()
# exudyn.DoRendererIdleTasks() #as there is no simulation, we must do this for graphicsDataUserFunctions
if mbs.variables[
'solutionViewerRunModus'] == 1: #one cylce ==> stop
dialog.StartSimulation() #start/stop simulation
exudyn.StartRenderer()
if 'renderState' in exudyn.sys:
SC.SetRenderState(exudyn.sys['renderState']) #load last model view
simulationSettings = exudyn.SimulationSettings(
) #not used, but needed in dialog
# self.mbs.sys['solver'].InitializeSolver(self.mbs, self.simulationSettings)
simulationSettings.solutionSettings.solutionInformation = ''
if not SC.visualizationSettings.general.useMultiThreadedRendering:
exudyn.DoRendererIdleTasks() #do an update once
dialog = InteractiveDialog(mbs,
simulationSettings=simulationSettings,
simulationFunction=UFviewer,
dialogItems=dialogItems,
title='Solution Viewer',
doTimeIntegration=False,
period=timeout,
showTime=True,
runOnStart=runOnStart)
#SC.WaitForRenderEngineStopFlag() #not needed, Render window closes when dialog is quit
exudyn.StopRenderer() #safely close rendering window!
SC.visualizationSettings.general.graphicsUpdateInterval = oldUpdateInterval #set values back to original
#modify system online #add nodes mbs.AddNode(NodePoint()) mbs.AddNode(NodePoint(referenceCoordinates=[1, 0, 0])) #add objects mbs.AddObject(ObjectMassPoint(nodeNumber=0, physicsMass=1)) mbs.AddObject(ObjectMassPoint(nodeNumber=1, physicsMass=1)) #make nodes bigger SC.visualizationSettings.nodes.defaultSize = 0.05 #add marker m0 = mbs.AddMarker(MarkerNodePosition(nodeNumber=0)) #add load mbs.AddLoad(LoadForceVector(markerNumber=m0, loadVector=[0, -1, 0])) #prepare system for simulation mbs.Assemble() #simulate with default parameters exu.SolveDynamic(mbs, exu.SimulationSettings()) #stop rendering window exu.StopRenderer() #mbs can be still modified and work can be continued!
def AnimateModes(systemContainer,
mainSystem,
nodeNumber,
period=0.04,
stepsPerPeriod=30,
showTime=True,
renderWindowText='',
runOnStart=False,
runMode=0):
SC = systemContainer
mbs = mainSystem
SC.visualizationSettings.general.graphicsUpdateInterval = 0.25 * min(
period, 2e-3) #set according update interval!
SC.visualizationSettings.general.showSolverTime = showTime
#SC.visualizationSettings.general.showComputationInfo = False
SC.visualizationSettings.general.showSolverInformation = False
SC.visualizationSettings.general.renderWindowString = renderWindowText + 'mode 0'
coordIndex = mbs.GetNodeODE2Index(nodeNumber)
nodeCoords = mbs.GetNodeOutput(nodeNumber,
exudyn.OutputVariableType.Coordinates,
exudyn.ConfigurationType.Reference)
numberOfModes = len(nodeCoords)
#numberOfModes = mbs.GetNode(nODE2)['numberOfODE2Coordinates']
if (runMode != 0 and runMode != 1 and runMode != 2):
print('ERROR in AnimateModes: illegal run mode:', runMode)
return
#use interactive dialog:
dialogItems = [
{
'type': 'label',
'text': 'Mode shape:',
'grid': (1, 0)
},
{
'type': 'slider',
'range': (0, numberOfModes - 1),
'value': 0,
'steps': numberOfModes,
'variable': 'modeShapeModeNumber',
'grid': (1, 1)
},
{
'type': 'label',
'text': 'Contour plot:',
'grid': (2, 0)
},
{
'type':
'radio',
'textValueList':
[('None', int(exudyn.OutputVariableType._None)),
('DisplacementLocal',
int(exudyn.OutputVariableType.DisplacementLocal)),
('Displacement', int(exudyn.OutputVariableType.Displacement)),
('StressLocal', int(exudyn.OutputVariableType.StressLocal)),
('StrainLocal', int(exudyn.OutputVariableType.StrainLocal))],
'value':
int(exudyn.OutputVariableType.DisplacementLocal),
'variable':
'modeShapeOutputVariable',
'grid': [(3, 0), (3, 1), (3, 2), (3, 3), (3, 4)]
},
{
'type': 'label',
'text': 'Contour Component (use -1 for norm):',
'grid': (4, 0)
},
{
'type': 'slider',
'range': (-1, 5),
'value': 0,
'steps': 7,
'variable': 'modeShapeComponent',
'grid': (4, 1)
},
{
'type': 'label',
'text': 'Amplitude:',
'grid': (5, 0)
},
{
'type': 'slider',
'range': (0, 0.5),
'value': 0.05,
'steps': 501,
'variable': 'modeShapeAmplitude',
'grid': (5, 1)
},
{
'type': 'label',
'text': 'update period:',
'grid': (6, 0)
},
{
'type': 'slider',
'range': (0.01, 2),
'value': 0.04,
'steps': 200,
'variable': 'modeShapePeriod',
'grid': (6, 1)
},
{
'type':
'radio',
'textValueList': [('Continuous run', 0), ('One cycle', 1),
('Static', 2)],
'value':
runMode,
'variable':
'modeShapeRunModus',
'grid': [(7, 0), (7, 1), (7, 2)]
},
{
'type':
'radio',
'textValueList': [('Mesh+Faces', 3), ('Faces only', 1),
('Mesh only', 2)],
'value':
3,
'variable':
'modeShapeMesh',
'grid': [(8, 0), (8, 1), (8, 2)]
},
{
'type': 'radio',
'textValueList': [('Record animation', 0), ('No recording', 1)],
'value': 1,
'variable': 'modeShapeSaveImages',
'grid': [(9, 0), (9, 1)]
},
]
mbs.variables['modeShapePeriod'] = period
mbs.variables['modeShapeStepsPerPeriod'] = stepsPerPeriod
mbs.variables['modeShapeTimeIndex'] = 0
mbs.variables['modeShapeLastSetting'] = [-1, 0, 0, 0]
mbs.variables['modeShapeNodeCoordIndex'] = coordIndex
def UFshowModes(mbs, dialog):
i = mbs.variables['modeShapeTimeIndex']
mbs.variables['modeShapeTimeIndex'] += 1
stepsPerPeriod = mbs.variables['modeShapeStepsPerPeriod']
amplitude = mbs.variables['modeShapeAmplitude']
if amplitude == 0:
SC.visualizationSettings.bodies.deformationScaleFactor = 0
amplitude = 1
else:
SC.visualizationSettings.bodies.deformationScaleFactor = 1
if mbs.variables['modeShapeRunModus'] == 2: #no sin(t) in static case
stepsPerPeriod = 1
t = 0
else:
t = i / stepsPerPeriod * 2 * pi
amplitude *= sin(t)
mbs.systemData.SetTime(t, exudyn.ConfigurationType.Visualization)
ode2Coords = mbs.systemData.GetODE2Coordinates()
selectedMode = int(mbs.variables['modeShapeModeNumber'])
outputVariable = exudyn.OutputVariableType(
int(mbs.variables['modeShapeOutputVariable']))
ode2Coords[mbs.variables['modeShapeNodeCoordIndex'] +
selectedMode] = amplitude
mbs.systemData.SetODE2Coordinates(
ode2Coords, exudyn.ConfigurationType.Visualization)
SC.visualizationSettings.contour.reduceRange = False
#check, if automatic range of contour colors shall be recomputed:
if (mbs.variables['modeShapeLastSetting'][0] != int(
mbs.variables['modeShapeModeNumber'])
or mbs.variables['modeShapeLastSetting'][1] != int(
mbs.variables['modeShapeOutputVariable'])
or mbs.variables['modeShapeLastSetting'][2] !=
mbs.variables['modeShapeAmplitude']
or mbs.variables['modeShapeLastSetting'][3] != int(
mbs.variables['modeShapeComponent'])):
#print("set=",mbs.variables['modeShapeLastSetting'])
SC.visualizationSettings.contour.reduceRange = True
SC.visualizationSettings.general.renderWindowString = renderWindowText + 'mode ' + str(
int(mbs.variables['modeShapeModeNumber']))
mbs.variables['modeShapeLastSetting'] = [
int(mbs.variables['modeShapeModeNumber']),
int(mbs.variables['modeShapeOutputVariable']),
mbs.variables['modeShapeAmplitude'],
int(mbs.variables['modeShapeComponent'])
]
SC.visualizationSettings.contour.outputVariable = outputVariable
SC.visualizationSettings.contour.outputVariableComponent = int(
mbs.variables['modeShapeComponent']) #component
SC.visualizationSettings.openGL.showFaces = (
mbs.variables['modeShapeMesh'] & 1) == 1
SC.visualizationSettings.openGL.showFaceEdges = (
mbs.variables['modeShapeMesh'] & 2) == 2
mbs.SendRedrawSignal()
if not SC.visualizationSettings.general.useMultiThreadedRendering:
exudyn.DoRendererIdleTasks()
if mbs.variables['modeShapeSaveImages'] == 0:
SC.RedrawAndSaveImage() #create images for animation
else:
SC.visualizationSettings.exportImages.saveImageFileCounter = 0 #for next mode ...
dialog.period = mbs.variables['modeShapePeriod']
if mbs.variables['modeShapeTimeIndex'] >= stepsPerPeriod:
mbs.variables['modeShapeTimeIndex'] = 0
if mbs.variables['modeShapeRunModus'] > 0: #one cylce or static
dialog.StartSimulation()
exudyn.StartRenderer()
if 'renderState' in exudyn.sys:
SC.SetRenderState(exudyn.sys['renderState']) #load last model view
simulationSettings = exudyn.SimulationSettings(
) #not used, but needed in dialog
# self.mbs.sys['solver'].InitializeSolver(self.mbs, self.simulationSettings)
simulationSettings.solutionSettings.solutionInformation = 'Mode X'
if not SC.visualizationSettings.general.useMultiThreadedRendering:
exudyn.DoRendererIdleTasks() #do an update once
dialog = InteractiveDialog(
mbs,
simulationSettings=simulationSettings,
simulationFunction=UFshowModes,
dialogItems=dialogItems,
title='Animate mode shapes',
doTimeIntegration=False,
period=period,
showTime=False, #done in UFshowModes
runOnStart=runOnStart)
#SC.WaitForRenderEngineStopFlag() #not needed, Render window closes when dialog is quit
exudyn.StopRenderer() #safely close rendering window!
def ParameterFunction(parameterSet):
s1=L1*0.5
s2=L2*0.5
if False:
s1 = s1opt
s2 = s2opt
if 's1' in parameterSet:
s1 = parameterSet['s1']
h=0.002
if 'h' in parameterSet:
h = parameterSet['h']
if 's2' in parameterSet:
s2 = parameterSet['s2']
iCalc = 'Ref' #needed for parallel computation ==> output files are different for every computation
if 'computationIndex' in parameterSet:
iCalc = str(parameterSet['computationIndex'])
#print("computation index=",iCalc, flush=True)
SC = exu.SystemContainer()
mbs = SC.AddSystem()
testCases = 1 #floating body
nGround = mbs.AddNode(NodePointGround(referenceCoordinates=[0,0,0])) #ground node for coordinate constraint
mGround = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber = nGround, coordinate=0)) #Ground node ==> no action
#++++++++++++++++++++++++++++++++
#floating body to mount slider-crank mechanism
constrainGroundBody = (testCases == 0) #use this flag to fix ground body
#graphics for floating frame:
gFloating = GraphicsDataOrthoCube(-0.25, -0.25, -0.1, 0.8, 0.25, -0.05, color=[0.3,0.3,0.3,1.])
if constrainGroundBody:
floatingRB = mbs.AddObject(ObjectGround(referencePosition=[0,0,0], visualization=VObjectGround(graphicsData=[gFloating])))
mFloatingN = mbs.AddMarker(MarkerBodyPosition(bodyNumber = floatingRB, localPosition=[0,0,0]))
else:
nFloating = mbs.AddNode(Rigid2D(referenceCoordinates=[0,0,0], initialVelocities=[0,0,0]));
mFloatingN = mbs.AddMarker(MarkerNodePosition(nodeNumber=nFloating))
floatingRB = mbs.AddObject(RigidBody2D(physicsMass=2, physicsInertia=1, nodeNumber=nFloating, visualization=VObjectRigidBody2D(graphicsData=[gFloating])))
mRB0 = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber = nFloating, coordinate=0))
mRB1 = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber = nFloating, coordinate=1))
mRB2 = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber = nFloating, coordinate=2))
#add spring dampers for reference frame:
k=5000 #stiffness of floating body
d=k*0.01
mbs.AddObject(CoordinateSpringDamper(markerNumbers=[mGround,mRB0], stiffness=k, damping=d))
mbs.AddObject(CoordinateSpringDamper(markerNumbers=[mGround,mRB1], stiffness=k, damping=d))
mbs.AddObject(CoordinateSpringDamper(markerNumbers=[mGround,mRB2], stiffness=k, damping=d))
mbs.AddObject(CoordinateConstraint(markerNumbers=[mGround,mRB2]))
#++++++++++++++++++++++++++++++++
#nodes and bodies
omega=2*pi/60*300 #3000 rpm
M=0.1 #torque (default: 0.1)
s1L=-s1
s1R=L1-s1
s2L=-s2
s2R=L2-s2
#lambda=L1/L2
J1=(m1/12.)*L1**2 #inertia w.r.t. center of mass
J2=(m2/12.)*L2**2 #inertia w.r.t. center of mass
ty = 0.05 #thickness
tz = 0.05 #thickness
graphics1 = GraphicsDataRigidLink(p0=[s1L,0,-0.5*tz],p1=[s1R,0,-0.5*tz],
axis0=[0,0,1], axis1=[0,0,1],radius=[0.5*ty,0.5*ty],
thickness=0.8*ty, width=[tz,tz], color=color4steelblue,nTiles=16)
graphics2 = GraphicsDataRigidLink(p0=[s2L,0,0.5*tz],p1=[s2R,0,0.5*tz],
axis0=[0,0,1], axis1=[0,0,1],radius=[0.5*ty,0.5*ty],
thickness=0.8*ty, width=[tz,tz], color=color4lightred,nTiles=16)
#crank:
nRigid1 = mbs.AddNode(Rigid2D(referenceCoordinates=[s1,0,0],
initialVelocities=[0,0,0]));
oRigid1 = mbs.AddObject(RigidBody2D(physicsMass=m1,
physicsInertia=J1,
nodeNumber=nRigid1,
visualization=VObjectRigidBody2D(graphicsData= [graphics1])))
#connecting rod:
nRigid2 = mbs.AddNode(Rigid2D(referenceCoordinates=[L1+s2,0,0],
initialVelocities=[0,0,0]));
oRigid2 = mbs.AddObject(RigidBody2D(physicsMass=m2,
physicsInertia=J2,
nodeNumber=nRigid2,
visualization=VObjectRigidBody2D(graphicsData= [graphics2])))
#++++++++++++++++++++++++++++++++
#slider:
c=0.025 #dimension of mass
graphics3 = GraphicsDataOrthoCube(-c,-c,-c*2,c,c,0,color4grey)
#nMass = mbs.AddNode(Point2D(referenceCoordinates=[L1+L2,0]))
#oMass = mbs.AddObject(MassPoint2D(physicsMass=m3, nodeNumber=nMass,visualization=VObjectMassPoint2D(graphicsData= [graphics3])))
nMass = mbs.AddNode(Rigid2D(referenceCoordinates=[L1+L2,0,0]))
oMass = mbs.AddObject(RigidBody2D(physicsMass=m3, physicsInertia=0.001*m3, nodeNumber=nMass,visualization=VObjectRigidBody2D(graphicsData= [graphics3])))
#++++++++++++++++++++++++++++++++
#markers for joints:
mR1Left = mbs.AddMarker(MarkerBodyRigid(bodyNumber=oRigid1, localPosition= [s1L,0.,0.])) #support point # MUST be a rigidBodyMarker, because a torque is applied
mR1Right = mbs.AddMarker(MarkerBodyPosition(bodyNumber=oRigid1, localPosition=[s1R,0.,0.])) #end point; connection to connecting rod
mR2Left = mbs.AddMarker(MarkerBodyPosition(bodyNumber=oRigid2, localPosition= [s2L,0.,0.])) #connection to crank
mR2Right = mbs.AddMarker(MarkerBodyPosition(bodyNumber=oRigid2, localPosition=[s2R,0.,0.])) #end point; connection to slider
mMass = mbs.AddMarker(MarkerBodyPosition(bodyNumber=oMass, localPosition=[ 0.,0.,0.]))
mG0 = mFloatingN
#++++++++++++++++++++++++++++++++
#joints:
mbs.AddObject(RevoluteJoint2D(markerNumbers=[mG0,mR1Left]))
mbs.AddObject(RevoluteJoint2D(markerNumbers=[mR1Right,mR2Left]))
mbs.AddObject(RevoluteJoint2D(markerNumbers=[mR2Right,mMass]))
#prismatic joint:
mRigidGround = mbs.AddMarker(MarkerBodyRigid(bodyNumber = floatingRB, localPosition = [L1+L2,0,0]))
mRigidSlider = mbs.AddMarker(MarkerBodyRigid(bodyNumber = oMass, localPosition = [0,0,0]))
mbs.AddObject(PrismaticJoint2D(markerNumbers=[mRigidGround,mRigidSlider], constrainRotation=True))
#user function for load; switch off load after 1 second
userLoadOn = True
def userLoad(mbs, t, load):
setLoad = 0
if userLoadOn:
setLoad = load
omega = mbs.GetNodeOutput(nRigid1,variableType = exu.OutputVariableType.AngularVelocity)[2]
if omega > 2*pi*2:
#print("t=",t)
userLoadOn = False
return setLoad
#loads and driving forces:
mRigid1CoordinateTheta = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber = nRigid1, coordinate=2)) #angle coordinate is constrained
#mbs.AddLoad(LoadCoordinate(markerNumber=mRigid1CoordinateTheta, load = M, loadUserFunction=userLoad)) #torque at crank
mbs.AddLoad(LoadCoordinate(markerNumber=mRigid1CoordinateTheta, load = M)) #torque at crank
#write motion of support frame:
sensorFileName = 'solution/floatingPos'+iCalc+'.txt'
sFloating = mbs.AddSensor(SensorNode(nodeNumber=nFloating, fileName=sensorFileName,
outputVariableType=exu.OutputVariableType.Position))
#++++++++++++++++++++++++++++++++
#assemble, adjust settings and start time integration
mbs.Assemble()
simulationSettings = exu.SimulationSettings() #takes currently set values or default values
tEnd = 3
simulationSettings.timeIntegration.numberOfSteps = int(tEnd/h)
simulationSettings.timeIntegration.endTime = tEnd
#simulationSettings.timeIntegration.newton.relativeTolerance = 1e-8 #10000
#simulationSettings.timeIntegration.verboseMode = 1 #10000
simulationSettings.solutionSettings.solutionWritePeriod = 2e-3
simulationSettings.solutionSettings.writeSolutionToFile = useGraphics
simulationSettings.timeIntegration.newton.useModifiedNewton = True
simulationSettings.timeIntegration.newton.relativeTolerance = 1e-8
simulationSettings.timeIntegration.newton.absoluteTolerance = 1e-8
#++++++++++++++++++++++++++++++++++++++++++
#solve index 2 / trapezoidal rule:
simulationSettings.timeIntegration.generalizedAlpha.useNewmark = True
simulationSettings.timeIntegration.generalizedAlpha.useIndex2Constraints = True
dSize = 0.02
SC.visualizationSettings.nodes.defaultSize = dSize
SC.visualizationSettings.markers.defaultSize = dSize
SC.visualizationSettings.bodies.defaultSize = [dSize, dSize, dSize]
SC.visualizationSettings.connectors.defaultSize = dSize
#data obtained from SC.GetRenderState(); use np.round(d['modelRotation'],4)
SC.visualizationSettings.openGL.initialModelRotation = [[ 0.87758, 0.04786, -0.47703],
[ 0. , 0.995 , 0.09983],
[ 0.47943, -0.08761, 0.8732]]
SC.visualizationSettings.openGL.initialZoom = 0.47
SC.visualizationSettings.openGL.initialCenterPoint = [0.192, -0.0039,-0.075]
SC.visualizationSettings.openGL.initialMaxSceneSize = 0.4
SC.visualizationSettings.general.autoFitScene = False
#mbs.WaitForUserToContinue()
if useGraphics:
exu.StartRenderer()
exu.SolveDynamic(mbs, simulationSettings)
if useGraphics:
#+++++++++++++++++++++++++++++++++++++
#animate solution
# mbs.WaitForUserToContinue
# fileName = 'coordinatesSolution.txt'
# solution = LoadSolutionFile('coordinatesSolution.txt')
# AnimateSolution(mbs, solution, 10, 0.025, True)
#+++++++++++++++++++++++++++++++++++++
SC.WaitForRenderEngineStopFlag()
exu.StopRenderer() #safely close rendering window!
#++++++++++++++++++++++++++++++++++++++++++
#evaluate error:
data = np.loadtxt(sensorFileName, comments='#', delimiter=',')
errorNorm = max(abs(data[:,1])) + max(abs(data[:,2])) #max displacement in x and y direction
#++++++++++++++++++++++++++++++++++++++++++
#clean up optimization
if True: #delete files; does not work for parallel, consecutive operation
if iCalc != 'Ref':
os.remove(sensorFileName) #remove files in order to clean up
while(os.path.exists(sensorFileName)): #wait until file is really deleted -> usually some delay
sleep(0.001) #not nice, but there is no other way than that
if useGraphics:
print("max. oszillation=", errorNorm)
from exudyn.plot import PlotSensor
PlotSensor(mbs, sensorNumbers=[sFloating,sFloating], components=[0,1])
del mbs
del SC
return errorNorm
