RackPinion, Screw, Planar

Ondsel-Development · Nov 20, 2023 · d609d3e · d609d3e
1 parent 1b9ba5a
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diff --git a/OndselSolver/ASMTAngleJoint.cpp b/OndselSolver/ASMTAngleJoint.cpp
@@ -0,0 +1,50 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+#include <fstream>	
+
+#include "ASMTAngleJoint.h"
+#include "AngleJoint.h"
+
+using namespace MbD;
+
+std::shared_ptr<Joint> MbD::ASMTAngleJoint::mbdClassNew()
+{
+    return CREATE<AngleJoint>::With();
+}
+
+void MbD::ASMTAngleJoint::parseASMT(std::vector<std::string>& lines)
+{
+	ASMTJoint::parseASMT(lines);
+	readTheIzJz(lines);
+}
+
+void MbD::ASMTAngleJoint::readTheIzJz(std::vector<std::string>& lines)
+{
+	if (lines[0].find("theIzJz") == std::string::npos) {
+		theIzJz = 0.0;
+	}
+	else {
+		lines.erase(lines.begin());
+		theIzJz = readDouble(lines[0]);
+		lines.erase(lines.begin());
+	}
+}
+
+void MbD::ASMTAngleJoint::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
+{
+	ASMTJoint::createMbD(mbdSys, mbdUnits);
+	auto angleJoint = std::static_pointer_cast<AngleJoint>(mbdObject);
+	angleJoint->theIzJz = theIzJz;
+}
+
+void MbD::ASMTAngleJoint::storeOnLevel(std::ofstream& os, int level)
+{
+	ASMTJoint::storeOnLevel(os, level);
+	storeOnLevelString(os, level + 1, "theIzJz");
+	storeOnLevelDouble(os, level + 2, theIzJz);
+}
diff --git a/OndselSolver/ASMTAngleJoint.h b/OndselSolver/ASMTAngleJoint.h
@@ -0,0 +1,27 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "ASMTJoint.h"
+
+namespace MbD {
+    class EXPORT ASMTAngleJoint : public ASMTJoint
+    {
+        //
+    public:
+        std::shared_ptr<Joint> mbdClassNew() override;
+        void parseASMT(std::vector<std::string>& lines) override;
+        void readTheIzJz(std::vector<std::string>& lines);
+        void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+        void storeOnLevel(std::ofstream& os, int level) override;
+
+        double theIzJz = 0.0;
+    };
+}
+
diff --git a/OndselSolver/ASMTAssembly.cpp b/OndselSolver/ASMTAssembly.cpp
@@ -41,6 +41,20 @@
 #include "ASMTItemIJ.h"
 #include "ASMTKinematicIJ.h"
 #include <iomanip>
+#include "ASMTAngleJoint.h"
+#include "ASMTConstantVelocityJoint.h"
+#include "ASMTCylSphJoint.h"
+#include "ASMTGearJoint.h"
+#include "ASMTPointInLineJoint.h"
+#include "ASMTRevCylJoint.h"
+#include "ASMTSphSphJoint.h"
+#include "ASMTLineInPlaneJoint.h"
+#include "ASMTPlanarJoint.h"
+#include "ASMTNoRotationJoint.h"
+#include "ASMTParallelAxesJoint.h"
+#include "ASMTPerpendicularJoint.h"
+#include "ASMTRackPinionJoint.h"
+#include "ASMTScrewJoint.h"
 
 using namespace MbD;
 
@@ -528,24 +542,70 @@ void MbD::ASMTAssembly::readJoints(std::vector<std::string>& lines)
 	std::vector<std::string> jointsLines(lines.begin(), it);
 	std::shared_ptr<ASMTJoint> joint;
 	while (!jointsLines.empty()) {
-		if (jointsLines[0] == "\t\t\tRevoluteJoint") {
-			joint = CREATE<ASMTRevoluteJoint>::With();
+		if (jointsLines[0] == "\t\t\tAngleJoint") {
+			joint = CREATE<ASMTAngleJoint>::With();
 		}
-		else if (jointsLines[0] == "\t\t\tCylindricalJoint") {
-			joint = CREATE<ASMTCylindricalJoint>::With();
+		else if (jointsLines[0] == "\t\t\tGearJoint") {
+			joint = CREATE<ASMTGearJoint>::With();
 		}
-		else if (jointsLines[0] == "\t\t\tTranslationalJoint") {
-			joint = CREATE<ASMTTranslationalJoint>::With();
+		else if (jointsLines[0] == "\t\t\tNoRotationJoint") {
+			joint = CREATE<ASMTNoRotationJoint>::With();
 		}
-		else if (jointsLines[0] == "\t\t\tSphericalJoint") {
-			joint = CREATE<ASMTSphericalJoint>::With();
+		else if (jointsLines[0] == "\t\t\tParallelAxesJoint") {
+			joint = CREATE<ASMTParallelAxesJoint>::With();
+		}
+		else if (jointsLines[0] == "\t\t\tPerpendicularJoint") {
+			joint = CREATE<ASMTPerpendicularJoint>::With();
+		}
+		else if (jointsLines[0] == "\t\t\tRackPinionJoint") {
+			joint = CREATE<ASMTRackPinionJoint>::With();
+		}
+		else if (jointsLines[0] == "\t\t\tScrewJoint") {
+			joint = CREATE<ASMTScrewJoint>::With();
+		}
+		//AtPointJoints
+		else if (jointsLines[0] == "\t\t\tConstantVelocityJoint") {
+			joint = CREATE<ASMTConstantVelocityJoint>::With();
 		}
 		else if (jointsLines[0] == "\t\t\tFixedJoint") {
 			joint = CREATE<ASMTFixedJoint>::With();
 		}
+		else if (jointsLines[0] == "\t\t\tRevoluteJoint") {
+			joint = CREATE<ASMTRevoluteJoint>::With();
+		}
+		else if (jointsLines[0] == "\t\t\tSphericalJoint") {
+			joint = CREATE<ASMTSphericalJoint>::With();
+		}
 		else if (jointsLines[0] == "\t\t\tUniversalJoint") {
 			joint = CREATE<ASMTUniversalJoint>::With();
 		}
+		//CompoundJoints
+		else if (jointsLines[0] == "\t\t\tCylSphJoint") {
+			joint = CREATE<ASMTCylSphJoint>::With();
+		}
+		else if (jointsLines[0] == "\t\t\tRevCylJoint") {
+			joint = CREATE<ASMTRevCylJoint>::With();
+		}
+		else if (jointsLines[0] == "\t\t\tSphSphJoint") {
+			joint = CREATE<ASMTSphSphJoint>::With();
+		}
+		//InLineJoints
+		else if (jointsLines[0] == "\t\t\tCylindricalJoint") {
+			joint = CREATE<ASMTCylindricalJoint>::With();
+		}
+		else if (jointsLines[0] == "\t\t\tPointInLineJoint") {
+			joint = CREATE<ASMTPointInLineJoint>::With();
+		}
+		else if (jointsLines[0] == "\t\t\tTranslationalJoint") {
+			joint = CREATE<ASMTTranslationalJoint>::With();
+		}
+		//InPlaneJoints
+		else if (jointsLines[0] == "\t\t\tLineInPlaneJoint") {
+			joint = CREATE<ASMTLineInPlaneJoint>::With();
+		}
+		else if (jointsLines[0] == "\t\t\tPlanarJoint") {
+			joint = CREATE<ASMTPlanarJoint>::With();
+		}
 		else if (jointsLines[0] == "\t\t\tPointInPlaneJoint") {
 			joint = CREATE<ASMTPointInPlaneJoint>::With();
 		}
@@ -1072,8 +1132,9 @@ std::shared_ptr<ASMTTime> MbD::ASMTAssembly::geoTime()
 void MbD::ASMTAssembly::updateFromMbD()
 {
 	ASMTSpatialContainer::updateFromMbD();
-	times->push_back(asmtTime->getValue());
-	std::cout << "Time = " << asmtTime->getValue() << std::endl;
+	auto time = asmtTime->getValue();
+	times->push_back(time);
+	std::cout << "Time = " << time << std::endl;
 	for (auto& part : *parts) part->updateFromMbD();
 	for (auto& joint : *joints) joint->updateFromMbD();
 	for (auto& motion : *motions) motion->updateFromMbD();
@@ -1091,11 +1152,11 @@ void MbD::ASMTAssembly::compareResults(AnalysisType type)
 
 void MbD::ASMTAssembly::outputResults(AnalysisType type)
 {
-	ASMTSpatialContainer::outputResults(type);
-	for (auto& part : *parts) part->outputResults(type);
-	for (auto& joint : *joints) joint->outputResults(type);
-	for (auto& motion : *motions) motion->outputResults(type);
-	for (auto& forceTorque : *forcesTorques) forceTorque->outputResults(type);
+	//ASMTSpatialContainer::outputResults(type);
+	//for (auto& part : *parts) part->outputResults(type);
+	//for (auto& joint : *joints) joint->outputResults(type);
+	//for (auto& motion : *motions) motion->outputResults(type);
+	//for (auto& forceTorque : *forcesTorques) forceTorque->outputResults(type);
 }
 
 void MbD::ASMTAssembly::addPart(std::shared_ptr<ASMTPart> part)

diff --git a/OndselSolver/ASMTAtPointJoint.cpp b/OndselSolver/ASMTAtPointJoint.cpp
@@ -0,0 +1 @@
+#include "ASMTAtPointJoint.h"
diff --git a/OndselSolver/ASMTAtPointJoint.h b/OndselSolver/ASMTAtPointJoint.h
@@ -0,0 +1,20 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "ASMTJoint.h"
+
+namespace MbD {
+    class EXPORT ASMTAtPointJoint : public ASMTJoint
+    {
+        //
+    public:
+
+    };
+}
diff --git a/OndselSolver/ASMTCompoundJoint.cpp b/OndselSolver/ASMTCompoundJoint.cpp
@@ -0,0 +1,45 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+#include <fstream>	
+
+#include "ASMTCompoundJoint.h"
+#include "CompoundJoint.h"
+
+using namespace MbD;
+
+void MbD::ASMTCompoundJoint::parseASMT(std::vector<std::string>& lines)
+{
+	ASMTJoint::parseASMT(lines);
+	readDistanceIJ(lines);
+}
+
+void MbD::ASMTCompoundJoint::readDistanceIJ(std::vector<std::string>& lines)
+{
+	if (lines[0].find("distanceIJ") == std::string::npos) {
+		distanceIJ = 0.0;
+	}
+	else {
+		lines.erase(lines.begin());
+		distanceIJ = readDouble(lines[0]);
+		lines.erase(lines.begin());
+	}
+}
+
+void MbD::ASMTCompoundJoint::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
+{
+	ASMTJoint::createMbD(mbdSys, mbdUnits);
+	auto compoundJoint = std::static_pointer_cast<CompoundJoint>(mbdObject);
+	compoundJoint->distanceIJ = distanceIJ;
+}
+
+void MbD::ASMTCompoundJoint::storeOnLevel(std::ofstream& os, int level)
+{
+	ASMTJoint::storeOnLevel(os, level);
+	storeOnLevelString(os, level + 1, "distanceIJ");
+	storeOnLevelDouble(os, level + 2, distanceIJ);
+}
diff --git a/OndselSolver/ASMTCompoundJoint.h b/OndselSolver/ASMTCompoundJoint.h
@@ -0,0 +1,27 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "ASMTJoint.h"
+
+namespace MbD {
+    class EXPORT ASMTCompoundJoint : public ASMTJoint
+    {
+        //
+    public:
+        void parseASMT(std::vector<std::string>& lines) override;
+        void readDistanceIJ(std::vector<std::string>& lines);
+        void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+        void storeOnLevel(std::ofstream& os, int level) override;
+
+        double distanceIJ = 0.0;
+
+    };
+}
+
diff --git a/OndselSolver/ASMTConstantGravity.cpp b/OndselSolver/ASMTConstantGravity.cpp
@@ -29,6 +29,11 @@ void MbD::ASMTConstantGravity::createMbD(std::shared_ptr<System> mbdSys, std::sh
 	mbdSys->addForceTorque(mbdGravity);
 }
 
+FColDsptr MbD::ASMTConstantGravity::getg()
+{
+	return g;
+}
+
 void MbD::ASMTConstantGravity::setg(FColDsptr gravity)
 {
 	g = gravity;

diff --git a/OndselSolver/ASMTConstantGravity.h b/OndselSolver/ASMTConstantGravity.h
@@ -21,6 +21,7 @@ namespace MbD {
     public:
         void parseASMT(std::vector<std::string>& lines) override;
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+        FColDsptr getg();
         void setg(FColDsptr g);
 
         void setg(double a, double b, double c);

diff --git a/OndselSolver/ASMTConstantVelocityJoint.cpp b/OndselSolver/ASMTConstantVelocityJoint.cpp
@@ -0,0 +1,18 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+#include <fstream>	
+
+#include "ASMTConstantVelocityJoint.h"
+#include "ConstantVelocityJoint.h"
+
+using namespace MbD;
+
+std::shared_ptr<Joint> MbD::ASMTConstantVelocityJoint::mbdClassNew()
+{
+    return CREATE<ConstantVelocityJoint>::With();
+}
diff --git a/OndselSolver/ASMTConstantVelocityJoint.h b/OndselSolver/ASMTConstantVelocityJoint.h
@@ -0,0 +1,22 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "ASMTAtPointJoint.h"
+
+namespace MbD {
+    class EXPORT ASMTConstantVelocityJoint : public ASMTAtPointJoint
+    {
+        //
+    public:
+        std::shared_ptr<Joint> mbdClassNew() override;
+
+    };
+}
+
diff --git a/OndselSolver/ASMTCylSphJoint.cpp b/OndselSolver/ASMTCylSphJoint.cpp
@@ -0,0 +1,18 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+#include <fstream>	
+
+#include "ASMTCylSphJoint.h"
+#include "CylSphJoint.h"
+
+using namespace MbD;
+
+std::shared_ptr<Joint> MbD::ASMTCylSphJoint::mbdClassNew()
+{
+    return CREATE<CylSphJoint>::With();
+}