Merge branch 'main' into otter_next_main_2022_02_06

Author: MartinOtter

.github/workflows/test.yml

@@ -2,24 +2,23 @@ name: Run tests
 
 env:
   JULIA_NUM_THREADS: 4
-  
 on:
   pull_request:
     branches:
       - main
-
 jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
     runs-on: ${{ matrix.os }}
     strategy:
-      fail-fast: true
+      fail-fast: false
       matrix:
         version:
-          - '1.7'
+          - '1.7.2'
         os:
           - ubuntu-latest
           - windows-latest
+          - macos-latest
         arch:
           - x64
     steps:

.gitignore

@@ -2,3 +2,4 @@
 docs/build/
 docs/site/
 .vscode/
+*.json

Project.toml

@@ -1,7 +1,7 @@
 name = "Modia3D"
 uuid = "07f2c1e0-90b0-56cf-bda7-b44b56e34eed"
 authors = ["Andrea Neumayr <[email protected]>", "Martin Otter <[email protected]>", "Gerhard Hippmann <[email protected]>"]
-version = "0.9.0-dev"
+version = "0.9.0"
 
 [deps]
 Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"

docs/src/index.md

@@ -48,12 +48,26 @@ Download and install the free DLR SimVis Community Edition, e.g. with [https://v
 
 ## Release Notes
 
+### Version 0.8.2
+
+- Fix Cone contact detection
+- Add rattleback test (Modia3D/test/Collisions/Rattleback.jl)
+
+### Version 0.8.1
+
+- `collisionSmoothingRadius`: edges are smoothed with `collisionSmoothingRadius`
+    - its default value is `0.001`, if it is set to `0.0` no smoothing takes place
+    - the edges of Box, Cylinder, Cone, and Beam are smoothened with `collisionSmoothingRadius`
+- For using Herz' pressure `contactSphereRadius` is introduced for each shape
+    - it can be user set
+    - otherwise, it is calculated from shape geometry
+
 ### Version 0.8.0
 
 - Require ModiaLang 0.10.0 (e.g. require DifferentialEquations 7)
-- Support animation export for FloatType = Measurements.XXX (animation is performed for the nominal value).
-- Remove PathPlanning struct und functions (and instead use the functionality from ModiaLang 0.9.1). 
-- Reactivate test model test/old/Test_PathPlanning.jl
+- Support animation export for `FloatType = Measurements.XXX` (animation is performed for the nominal value).
+- Remove PathPlanning struct und functions (and instead use the functionality from ModiaLang 0.9.1).
+- Reactivate test model `test/old/Test_PathPlanning.jl`
 - Remove unused files: .codecov.yml, .travis.yml, appveyor.yml
 - Fix import/using of some tests.
 

src/Composition/responseCalculation/elasticCollisionResponse.jl

@@ -36,28 +36,24 @@ function resultantDampingCoefficient(cor, abs_vreln, vsmall, maximumContactDampi
     return d_res
 end
 
-
 function elasticContactPairCoefficients(obj1::Object3D, obj2::Object3D)
-  if typeof(obj1.feature.shape) <: Modia3D.Shapes.Sphere && typeof(obj2.feature.shape) <: Modia3D.Shapes.Sphere
-    r1 = obj1.feature.shape.diameter*0.5
-    r2 = obj2.feature.shape.diameter*0.5
-    mu_r_geo = r1*r2/(r1 + r2)
-    n_geo = 1.5
-    c_geo = 4/3*sqrt(mu_r_geo)
-  elseif typeof(obj1.feature.shape) <: Modia3D.Shapes.Sphere && typeof(obj2.feature.shape) != Modia3D.Shapes.Sphere
-    mu_r_geo = obj1.feature.shape.diameter*0.5
-    n_geo = 1.5
-    c_geo = 4/3*sqrt(mu_r_geo)
-  elseif typeof(obj1.feature.shape) != Modia3D.Shapes.Sphere && typeof(obj2.feature.shape) <: Modia3D.Shapes.Sphere
-    mu_r_geo = obj2.feature.shape.diameter*0.5
+    solid1::Shapes.Solid = obj1.feature
+    solid2::Shapes.Solid = obj2.feature
+
+    if !solid1.isFlat && solid2.isFlat
+        mu_r_geo = solid1.contactSphereRadius
+    elseif solid1.isFlat && !solid2.isFlat
+        mu_r_geo = solid2.contactSphereRadius
+    else # (solid1.isFlat && solid2.isFlat) || (!solid1.isFlat && !solid2.isFlat)
+        r1 = solid1.contactSphereRadius
+        r2 = solid2.contactSphereRadius
+        mu_r_geo = r1*r2/(r1 + r2)
+    end
+
     n_geo = 1.5
     c_geo = 4/3*sqrt(mu_r_geo)
-  else
-    mu_r_geo = 1.0
-    n_geo = 1.0
-    c_geo = 1.0
-  end
-  return (c_geo, n_geo, mu_r_geo)
+
+    return (c_geo, n_geo, mu_r_geo)
 end
 
 
@@ -86,28 +82,28 @@ function contactStart(matPair::Shapes.ElasticContactPairMaterial,
     nu1   = mat1.PoissonsRatio
     nu2   = mat2.PoissonsRatio
     if E1 <= 0.0 || E2 <= 0.0 || nu1 <= 0.0 || nu1 >= 1.0 ||
-       nu2 <= 0.0 || nu2 >= 1.0 || elasticContactReductionFactor <= 0.0
-      responseMaterial = nothing
+        nu2 <= 0.0 || nu2 >= 1.0 || elasticContactReductionFactor <= 0.0
+        responseMaterial = nothing
     else
-      @assert(E1 > 0.0)
-      @assert(E2 > 0.0)
-      @assert(nu1 > 0.0 && nu1 < 1.0)
-      @assert(nu2 > 0.0 && nu2 < 1.0)
-      @assert(elasticContactReductionFactor > 0.0)
-      c1 = E1/(1 - nu1^2)
-      c2 = E2/(1 - nu2^2)
-      c_res = elasticContactReductionFactor*c1*c2/(c1 + c2)
-
-      # Compute damping constant
-      delta_dot_start = normalRelativeVelocityAtContact(obj1, obj2, rContact, contactNormal)
-      d_res = Modia3D.resultantDampingCoefficient(matPair.coefficientOfRestitution, abs(delta_dot_start), matPair.vsmall, maximumContactDamping)
-
-      # Determine other coefficients
-      (c_geo, n_geo, mu_r_geo) = elasticContactPairCoefficients(obj1,obj2)
-      responseMaterial = ElasticContactPairResponseMaterial(c_res, c_geo, n_geo, d_res,
-                              matPair.slidingFrictionCoefficient,
-                              matPair.rotationalResistanceCoefficient, mu_r_geo,
-                              matPair.vsmall, matPair.wsmall)
+        @assert(E1 > 0.0)
+        @assert(E2 > 0.0)
+        @assert(nu1 > 0.0 && nu1 < 1.0)
+        @assert(nu2 > 0.0 && nu2 < 1.0)
+        @assert(elasticContactReductionFactor > 0.0)
+        c1 = E1/(1 - nu1^2)
+        c2 = E2/(1 - nu2^2)
+        c_res = elasticContactReductionFactor*c1*c2/(c1 + c2)
+
+        # Compute damping constant
+        delta_dot_start = normalRelativeVelocityAtContact(obj1, obj2, rContact, contactNormal)
+        d_res = Modia3D.resultantDampingCoefficient(matPair.coefficientOfRestitution, abs(delta_dot_start), matPair.vsmall, maximumContactDamping)
+
+        # Determine other coefficients
+        (c_geo, n_geo, mu_r_geo) = elasticContactPairCoefficients(obj1,obj2)
+        responseMaterial = ElasticContactPairResponseMaterial(c_res, c_geo, n_geo, d_res,
+                                matPair.slidingFrictionCoefficient,
+                                matPair.rotationalResistanceCoefficient, mu_r_geo,
+                                matPair.vsmall, matPair.wsmall)
     end
     return responseMaterial
 end
@@ -163,11 +159,8 @@ function responseCalculation(material::ElasticContactPairResponseMaterial, obj1:
     e_t_reg   = v_t/Modia3D.regularize(norm(v_t),vsmall)
     delta     = -s
 
-    if c_geo != 1.0 && n_geo != 1.0
-      delta_comp = delta * sqrt(abs(delta))
-    else
-      delta_comp = delta
-    end
+    delta_comp = delta * sqrt(abs(delta))
+
     #fn = -max(F(0.0), c_res * c_geo * delta_comp * (1 - d_res*delta_dot) )
     fn = -c_res * c_geo * delta_comp * (1 - d_res*delta_dot)
     ft = -mu_k*fn*e_t_reg

src/Modia3D.jl

@@ -4,7 +4,7 @@
 module Modia3D
 
 const path = dirname(dirname(@__FILE__))   # Absolute path of package directory
-const Version = "0.9.0-dev"
+const Version = "0.9.0"
 const Date = "2022-02-20"
 
 println("\nImporting Modia3D Version $Version ($Date)")