Merge pull request #36 from Ondsel-Development/MBDynIC2

Merging ASMT and MBDyn joints

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);
+}

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;
+    };
+}
+

OndselSolver/ASMTAnimationParameters.cpp

@@ -14,7 +14,7 @@ void MbD::ASMTAnimationParameters::parseASMT(std::vector<std::string>& lines)
 {
 	//int nframe, icurrent, istart, iend, framesPerSecond;
 	//bool isForward;
-	size_t pos = lines[0].find_first_not_of("\t");
+	int pos = lines[0].find_first_not_of("\t");
 	auto leadingTabs = lines[0].substr(0, pos);
 	assert(lines[0] == (leadingTabs + "nframe"));
 	lines.erase(lines.begin());

OndselSolver/ASMTAssembly.cpp

@@ -41,6 +41,21 @@
 #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"
+#include "SimulationStoppingError.h"
 
 using namespace MbD;
 
@@ -386,6 +401,7 @@ void MbD::ASMTAssembly::runFile(const char* fileName)
 	if (lines[0] == "Assembly") {
 		lines.erase(lines.begin());
 		auto assembly = CREATE<ASMTAssembly>::With();
+		assembly->setFilename(fileName);
 		assembly->parseASMT(lines);
 		assembly->runKINEMATIC();
 	}
@@ -528,24 +544,70 @@ 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();
 		}
@@ -790,16 +852,6 @@ void MbD::ASMTAssembly::outputFor(AnalysisType type)
 	assert(false);
 }
 
-void MbD::ASMTAssembly::logString(std::string& str)
-{
-	assert(false);
-}
-
-void MbD::ASMTAssembly::logString(double value)
-{
-	assert(false);
-}
-
 void MbD::ASMTAssembly::preMbDrun(std::shared_ptr<System> mbdSys)
 {
 	calcCharacteristicDimensions();
@@ -830,7 +882,7 @@ double MbD::ASMTAssembly::calcCharacteristicTime()
 
 double MbD::ASMTAssembly::calcCharacteristicMass()
 {
-	auto n = parts->size();
+	auto n = (int)parts->size();
 	double sumOfSquares = 0.0;
 	for (int i = 0; i < n; i++)
 	{
@@ -853,7 +905,7 @@ double MbD::ASMTAssembly::calcCharacteristicLength()
 		auto& mkrJ = markerMap->at(connector->markerJ);
 		lengths->push_back(mkrJ->rpmp()->length());
 	}
-	auto n = lengths->size();
+	auto n = (int)lengths->size();
 	double sumOfSquares = std::accumulate(lengths->begin(), lengths->end(), 0.0, [](double sum, double l) { return sum + l * l; });
 	auto unitLength = std::sqrt(sumOfSquares / std::max((int)n, 1));
 	if (unitLength <= 0) unitLength = 1.0;
@@ -987,7 +1039,12 @@ void MbD::ASMTAssembly::runKINEMATIC()
 	auto mbdSystem = std::make_shared<System>();
 	mbdObject = mbdSystem;
 	mbdSystem->externalSystem->asmtAssembly = this;
-	mbdSystem->runKINEMATIC(mbdSystem);
+	try {
+		mbdSystem->runKINEMATIC(mbdSystem);
+	}
+	catch (SimulationStoppingError ex) {
+
+	}
 }
 
 void MbD::ASMTAssembly::initprincipalMassMarker()
@@ -1072,8 +1129,9 @@ 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 +1149,11 @@ 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)
@@ -1215,13 +1273,13 @@ void MbD::ASMTAssembly::storeOnTimeSeries(std::ofstream& os)
 	if (times->empty()) return;
 	os << "TimeSeries" << std::endl;
 	os << "Number\tInput\t";
-	for (size_t i = 1; i < times->size(); i++)
+	for (int i = 1; i < times->size(); i++)
 	{
 		os << i << '\t';
 	}
 	os << std::endl;
 	os << "Time\tInput\t";
-	for (size_t i = 1; i < times->size(); i++)
+	for (int i = 1; i < times->size(); i++)
 	{
 		os << times->at(i) << '\t';
 	}
@@ -1233,4 +1291,13 @@ void MbD::ASMTAssembly::storeOnTimeSeries(std::ofstream& os)
 	for (auto& motion : *motions) motion->storeOnTimeSeries(os);
 }
 
+void MbD::ASMTAssembly::setFilename(std::string str)
+{
+	std::stringstream ss;
+	ss << "FileName = " << str << std::endl;
+	auto str2 = ss.str();
+	logString(str2);
+	filename = str;
+}
+
 

OndselSolver/ASMTAssembly.h

@@ -75,8 +75,6 @@ namespace MbD {
 		void readMotionSeries(std::vector<std::string>& lines);
 
 		void outputFor(AnalysisType type);
-		void logString(std::string& str);
-		void logString(double value);
 		void preMbDrun(std::shared_ptr<System> mbdSys);
 		void postMbDrun();
 		void calcCharacteristicDimensions();
@@ -122,7 +120,9 @@ namespace MbD {
 		void storeOnLevelMotions(std::ofstream& os, int level);
 		void storeOnLevelGeneralConstraintSets(std::ofstream& os, int level);
 		void storeOnTimeSeries(std::ofstream& os) override;
+		void setFilename(std::string filename);
 
+		std::string filename = "";
 		std::string notes = "(Text string: '' runs: (Core.RunArray runs: #() values: #()))";
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> parts = std::make_shared<std::vector<std::shared_ptr<ASMTPart>>>();
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTKinematicIJ>>> kinematicIJs = std::make_shared<std::vector<std::shared_ptr<ASMTKinematicIJ>>>();

OndselSolver/ASMTAtPointJoint.cpp

@@ -0,0 +1 @@
+#include "ASMTAtPointJoint.h"

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:
+
+    };
+}

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);
+}