new models for segmented simulation and force elements

Author: AndreaNeumayr

test/Basic/Sphere3DwithFreeMotion.jl

@@ -0,0 +1,34 @@
+module BouncingSphere3DfreeMotion
+
+using Modia3D
+using Modia3D.StaticArrays
+
+BouncingSphere = Model3D(
+    boxHeigth = 0.1,
+    world     = Object3D(feature=Scene(enableContactDetection=false)),
+    ground    = Object3D(parent=:world,
+                         translation=:[0.0,-boxHeigth/2,0.0],
+                         feature=Solid(shape=Box(lengthX=4.0, lengthY=:boxHeigth, lengthZ=0.7),
+                                       visualMaterial=VisualMaterial(color="DarkGreen"),
+                                       solidMaterial="Steel",
+                                       collision=true)),
+    sphere    = Object3D(feature=Solid(shape=Sphere(diameter=0.2),
+                                       visualMaterial=VisualMaterial(color="Blue"),
+                                       solidMaterial="Steel",
+                                       massProperties=MassPropertiesFromShapeAndMass(mass=0.001),
+                                       collision=true)),
+    free = FreeMotion2(obj1=:world, obj2=:sphere, r=Var(init=SVector{3,Float64}(0.0, 1.0, 0.0)))
+)
+
+bouncingSphere = @instantiateModel(BouncingSphere, unitless=true, logCode=true)
+
+simulate!(bouncingSphere, stopTime=0.2, dtmax=0.1, log=true, logStates=true) 
+showInfo(bouncingSphere)
+
+@usingModiaPlot
+plot(bouncingSphere, "free.r", figure=1)
+
+simulate!(bouncingSphere, IDA(), nlinearMinForDAE=1, stopTime=2.2, dtmax=0.1, log=true, logStates=true)  #, requiredFinalStates=requiredFinalStates)
+showInfo(bouncingSphere)
+
+end

test/ForceElements/BoxWorldForce.jl

@@ -0,0 +1,58 @@
+module BoxWorldForceSimulation
+
+using Modia3D
+
+function forceVec(; time::Float64, axis::Int64, maxForce::Float64)::Modia.SVector{3,Float64}
+    if time < 1.0
+        frc = 0.0
+    elseif time < 2.0
+        frc = maxForce*(time - 1.0)
+    elseif time < 3.0
+        frc = maxForce
+    elseif time < 4.0
+        frc = maxForce*(4.0 - time)
+    else
+        frc = 0.0
+    end
+    if axis == 1
+        return Modia.SVector{3,Float64}(frc, 0.0, 0.0)
+    elseif axis == 2
+        return Modia.SVector{3,Float64}(0.0, frc, 0.0)
+    else
+        return Modia.SVector{3,Float64}(0.0, 0.0, frc)
+    end
+end
+forceVector(; time, objectApply, objectCoord) = forceVec(; time=time, axis=1, maxForce=1.0)
+
+BoxWorldForce = Model3D(
+    Length = 0.1,
+    Mass = 1.0,
+    IMoment = 0.1,
+    visualMaterial = VisualMaterial(color="IndianRed1", transparency=0.5),
+    world = Object3D(feature=Scene(gravityField=NoGravityField(),
+                                   nominalLength=:(2*Length))),
+    worldFrame = Object3D(parent=:world,
+                          feature=Visual(shape=CoordinateSystem(length=:Length))),
+    dirFrame = Object3D(parent=:world,
+                        rotation=[0.0, 0.0, 30.0/180*pi],
+                        feature=Visual(shape=CoordinateSystem(length=:(0.75*Length)))),
+    box = Object3D(parent=:world, fixedToParent=false,
+                   feature=Solid(shape=Box(lengthX=:Length, lengthY=:Length, lengthZ=:Length),
+                                 massProperties=MassProperties(; mass=:Mass, Ixx=:IMoment, Iyy=:IMoment, Izz=:IMoment),
+                                 visualMaterial=:(visualMaterial))),
+    force = WorldForce(;objectApply=:box,
+                       forceFunction=forceVector,
+                       objectCoord=:dirFrame)
+)
+
+boxWorldForce = @instantiateModel(BoxWorldForce, unitless=true, logCode=false)
+
+stopTime = 5.0
+dtmax = 0.1
+requiredFinalStates = [4.330091998452314, 2.4999797809222875, 0.0, 1.7320345346635413, 0.9999906048337232, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+simulate!(boxWorldForce, stopTime=stopTime, dtmax=dtmax, log=true, requiredFinalStates=requiredFinalStates)
+
+@usingModiaPlot
+plot(boxWorldForce, ["box.translation", "box.velocity", "force.forceVector"], figure=1)
+
+end

test/ForceElements/BoxWorldTorque.jl

@@ -0,0 +1,58 @@
+module BoxWorldTorqueSimulation
+
+using Modia3D
+
+function torqueVec(; time::Float64, axis::Int64, maxTorque::Float64)::Modia.SVector{3,Float64}
+    if time < 1.0
+        trq = 0.0
+    elseif time < 2.0
+        trq = maxTorque*(time - 1.0)
+    elseif time < 3.0
+        trq = maxTorque
+    elseif time < 4.0
+        trq = maxTorque*(4.0 - time)
+    else
+        trq = 0.0
+    end
+    if axis == 1
+        return Modia.SVector{3,Float64}(trq, 0.0, 0.0)
+    elseif axis == 2
+        return Modia.SVector{3,Float64}(0.0, trq, 0.0)
+    else
+        return Modia.SVector{3,Float64}(0.0, 0.0, trq)
+    end
+end
+torqueVector(; time, objectApply, objectCoord) = torqueVec(; time=time, axis=2, maxTorque=1.0)
+
+BoxWorldTorque = Model3D(
+    Length = 0.1,
+    Mass = 1.0,
+    IMoment = 0.1,
+    visualMaterial = VisualMaterial(color="IndianRed1", transparency=0.5),
+    world = Object3D(feature=Scene(gravityField=NoGravityField(),
+                                   nominalLength=:(2*Length))),
+    worldFrame = Object3D(parent=:world,
+                          feature=Visual(shape=CoordinateSystem(length=:Length))),
+    dirFrame = Object3D(parent=:world,
+                        rotation=[0.0, 0.0, 60.0/180*pi],
+                        feature=Visual(shape=CoordinateSystem(length=:(0.75*Length)))),
+    box = Object3D(parent=:world, fixedToParent=false,
+                   feature=Solid(shape=Box(lengthX=:Length, lengthY=:Length, lengthZ=:Length),
+                                 massProperties=MassProperties(; mass=:Mass, Ixx=:IMoment, Iyy=:IMoment, Izz=:IMoment),
+                                 visualMaterial=:(visualMaterial))),
+    torque = WorldTorque(objectApply=:box,
+                         torqueFunction=torqueVector,
+                         objectCoord=:dirFrame)
+)
+
+boxWorldTorque = @instantiateModel(BoxWorldTorque, unitless=true, logCode=false)
+
+stopTime = 5.0
+dtmax = 0.1
+requiredFinalStates = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -50.03469666280062, -0.13132172058876085, 0.015242310907410017, -17.320661301093185, 10.0, 0.0]
+simulate!(boxWorldTorque, stopTime=stopTime, dtmax=dtmax, log=true, requiredFinalStates=requiredFinalStates)
+
+@usingModiaPlot
+plot(boxWorldTorque, ["box.rotation", "box.angularVelocity", "torque.torqueVector"], figure=1)
+
+end