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AndreaNeumayrAndreaNeumayr
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situations where a 2d mpr would be needed
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5 files changed

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‎test/Collision/OrthogonalLinesError.jl‎

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module LineLineSimulation
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using Modia3D
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vmatRed = VisualMaterial(color="Red")
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vmatGreen = VisualMaterial(color="Green")
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vmatBlue = VisualMaterial(color="Blue")
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vmatGrey = VisualMaterial(color="Grey", transparency=0.5)
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LineLine = Model3D(
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boxHeigth = 0.1,
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gravField = UniformGravityField(g=9.81, n=[0, 0, -1]),
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world = Object3D(feature=Scene(gravityField=:gravField,
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visualizeFrames=false,
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defaultFrameLength=0.2,
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visualizeBoundingBox = true,
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enableContactDetection=true,
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visualizeContactPoints=false)),
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worldFrame = Object3D(parent=:world, feature=Visual(shape=CoordinateSystem(length=0.5))),
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ground = Object3D(parent=:world,
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translation=:[0.0, 0.0, 0.0],
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feature=Solid(shape=Box(lengthX=5.0, lengthY=0.0, lengthZ=0.0),
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visualMaterial=vmatGrey,
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solidMaterial="Steel",
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massProperties = MassProperties(mass = 12000.0),
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collision=true)),
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frameX = Object3D(parent=:world,
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translation=:[0.0, 0.0, 1.0],
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rotation=:[0.0, 0*u"°", 0.0], # [-90*u"°", 0.0, -90*u"°"],
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feature=Visual(shape=CoordinateSystem(length=0.5))),
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capsuleX = Object3D(feature=Solid(shape=Box(lengthX=0.0, lengthY = 0.0, lengthZ = 3.0),
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visualMaterial=vmatRed,
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solidMaterial="Steel",
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massProperties = MassProperties(mass = 1273.39, Ixx = 24.39551415267595, Iyy = 185.24505801647337, Izz = 185.24505801647337, Ixy = 0.0, Ixz = 0.0, Iyz = 0.0),
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collision=true)),
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jointX = FreeMotion(obj1=:frameX, obj2=:capsuleX,
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r=Var(init=Modia.SVector{3,Float64}(0.0, 0.0, 0.0)),
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rot=Var(init=Modia.SVector{3,Float64}(0.0, 0.0, 0.0)),
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v=Var(init=Modia.SVector{3,Float64}(0.0, 1.0, 0.0)))
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)
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lineLine = @instantiateModel(LineLine, unitless=true, log=false, logStateSelection=false, logCode=false)
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stopTime = 1.0
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tolerance = 1e-8
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requiredFinalStates = missing
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simulate!(lineLine, stopTime=stopTime, tolerance=tolerance, log=true, logStates=false, logEvents=false, requiredFinalStates=requiredFinalStates)
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end

‎test/Collision/ParallelLinesError.jl‎

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module LineLineSimulation
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using Modia3D
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vmatRed = VisualMaterial(color="Red")
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vmatGreen = VisualMaterial(color="Green")
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vmatBlue = VisualMaterial(color="Blue")
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vmatGrey = VisualMaterial(color="Grey", transparency=0.5)
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LineLine = Model3D(
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boxHeigth = 0.1,
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gravField = UniformGravityField(g=9.81, n=[0, 0, -1]),
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world = Object3D(feature=Scene(gravityField=:gravField,
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visualizeFrames=false,
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defaultFrameLength=0.2,
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visualizeBoundingBox = true,
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enableContactDetection=true,
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visualizeContactPoints=false)),
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worldFrame = Object3D(parent=:world, feature=Visual(shape=CoordinateSystem(length=0.5))),
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ground = Object3D(parent=:world,
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translation=:[0.0, 0.0, 0.0],
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feature=Solid(shape=Box(lengthX=5.0, lengthY=0.0, lengthZ=0.0),
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visualMaterial=vmatGrey,
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solidMaterial="Steel",
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massProperties = MassProperties(mass = 12000.0),
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collision=true)),
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frameX = Object3D(parent=:world,
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translation=:[0.1, 0.0001, 0.0],
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rotation=:[0.0, 0.0, 0.0], # [-90*u"°", 0.0, -90*u"°"],
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feature=Visual(shape=CoordinateSystem(length=0.5))),
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capsuleX = Object3D(feature=Solid(shape=Box(lengthX=3.0, lengthY = 0.0, lengthZ = 0.0),
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visualMaterial=vmatRed,
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solidMaterial="Steel",
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massProperties = MassProperties(mass = 1273.39, Ixx = 24.39551415267595, Iyy = 185.24505801647337, Izz = 185.24505801647337, Ixy = 0.0, Ixz = 0.0, Iyz = 0.0),
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collision=true)),
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jointX = FreeMotion(obj1=:frameX, obj2=:capsuleX,
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r=Var(init=Modia.SVector{3,Float64}(0.0, 0.0, 0.0)),
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rot=Var(init=Modia.SVector{3,Float64}(0.0, 0.0, 0.0)),
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v=Var(init=Modia.SVector{3,Float64}(0.0, 1.0, 0.0)))
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)
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lineLine = @instantiateModel(LineLine, unitless=true, log=false, logStateSelection=false, logCode=false)
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stopTime = 0.0
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tolerance = 1e-8
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requiredFinalStates = missing
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simulate!(lineLine, stopTime=stopTime, tolerance=tolerance, log=true, logStates=false, logEvents=false, requiredFinalStates=requiredFinalStates)
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end

‎test/Collision/PlaneVSPointError.jl‎

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module LineLineSimulation
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using Modia3D
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vmatRed = VisualMaterial(color="Red")
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vmatGreen = VisualMaterial(color="Green")
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vmatBlue = VisualMaterial(color="Blue")
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vmatGrey = VisualMaterial(color="Grey", transparency=0.5)
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LineLine = Model3D(
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boxHeigth = 0.1,
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gravField = UniformGravityField(g=9.81, n=[0, 0, -1]),
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world = Object3D(feature=Scene(gravityField=:gravField,
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visualizeFrames=false,
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defaultFrameLength=0.2,
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visualizeBoundingBox = true,
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enableContactDetection=true,
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visualizeContactPoints=false)),
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worldFrame = Object3D(parent=:world, feature=Visual(shape=CoordinateSystem(length=0.5))),
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ground = Object3D(parent=:world,
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translation=:[0.0, 0.0, 0.0],
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feature=Solid(shape=Box(lengthX=5.0, lengthY=3.0, lengthZ=0.0),
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visualMaterial=vmatGrey,
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solidMaterial="Steel",
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massProperties = MassProperties(mass = 12000.0),
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collision=true)),
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frameX = Object3D(parent=:world,
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translation=:[0.1, 0.1, 0.0],
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rotation=:[0.0, 0.0, 0.0], # [-90*u"°", 0.0, -90*u"°"],
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feature=Visual(shape=CoordinateSystem(length=0.5))),
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capsuleX = Object3D(feature=Solid(shape=Sphere(diameter = 0.0),
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visualMaterial=vmatRed,
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solidMaterial="Steel",
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massProperties = MassProperties(mass = 1273.39, Ixx = 24.39551415267595, Iyy = 185.24505801647337, Izz = 185.24505801647337, Ixy = 0.0, Ixz = 0.0, Iyz = 0.0),
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collision=true)),
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jointX = FreeMotion(obj1=:frameX, obj2=:capsuleX,
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r=Var(init=Modia.SVector{3,Float64}(0.0, 0.0, 0.0)),
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rot=Var(init=Modia.SVector{3,Float64}(0.0, 0.0, 0.0)),
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v=Var(init=Modia.SVector{3,Float64}(0.0, 1.0, 0.0)))
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)
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lineLine = @instantiateModel(LineLine, unitless=true, log=false, logStateSelection=false, logCode=false)
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stopTime = 0.0
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tolerance = 1e-8
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requiredFinalStates = missing
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simulate!(lineLine, stopTime=stopTime, tolerance=tolerance, log=true, logStates=false, logEvents=false, requiredFinalStates=requiredFinalStates)
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end

‎test/Collision/PlaneVsPlaneEdgesError.jl‎

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module PlanePlaneSimulation
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using Modia3D
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vmatRed = VisualMaterial(color="Red")
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vmatGreen = VisualMaterial(color="Green")
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vmatBlue = VisualMaterial(color="Blue")
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vmatGrey = VisualMaterial(color="Grey", transparency=0.5)
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PlanePlane = Model3D(
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boxHeigth = 0.1,
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gravField = UniformGravityField(g=9.81, n=[0, 0, -1]),
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world = Object3D(feature=Scene(gravityField=:gravField,
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visualizeFrames=false,
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defaultFrameLength=0.2,
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visualizeBoundingBox = true,
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enableContactDetection=true,
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visualizeContactPoints=false)),
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worldFrame = Object3D(parent=:world, feature=Visual(shape=CoordinateSystem(length=0.5))),
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ground = Object3D(parent=:world,
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translation=:[0.0, 0.0, 0.0],
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feature=Solid(shape=Box(lengthX=5.0, lengthY=3.0, lengthZ=0.0),
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visualMaterial=vmatGrey,
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solidMaterial="Steel",
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massProperties = MassProperties(mass = 12000.0),
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collision=true)),
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frameX = Object3D(parent=:world,
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translation=:[-2.0, -1.0, 0.0],
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rotation=:[0.0, 0.0, 0.0], # [-90*u"°", 0.0, -90*u"°"],
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feature=Visual(shape=CoordinateSystem(length=0.5))),
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capsuleX = Object3D(feature=Solid(shape=Box(lengthX=1.0, lengthY = 0.7, lengthZ = 0.0),
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visualMaterial=vmatRed,
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solidMaterial="Steel",
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massProperties = MassProperties(mass = 1273.39, Ixx = 24.39551415267595, Iyy = 185.24505801647337, Izz = 185.24505801647337, Ixy = 0.0, Ixz = 0.0, Iyz = 0.0),
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collision=true)),
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jointX = FreeMotion(obj1=:frameX, obj2=:capsuleX,
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r=Var(init=Modia.SVector{3,Float64}(0.0, 0.0, 0.0)),
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rot=Var(init=Modia.SVector{3,Float64}(0.0, 0.0, 0.0)),
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v=Var(init=Modia.SVector{3,Float64}(0.0, 1.0, 0.0)))
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)
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planePlane = @instantiateModel(PlanePlane, unitless=true, log=false, logStateSelection=false, logCode=false)
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stopTime = 0.0
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tolerance = 1e-8
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requiredFinalStates = missing
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simulate!(planePlane, stopTime=stopTime, tolerance=tolerance, log=true, logStates=false, logEvents=false, requiredFinalStates=requiredFinalStates)
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end

‎test/includeTests.jl‎

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import Test
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Modia3D.loadPalettes!(solidMaterialPalette = "$(Modia3D.path)/palettes/solidMaterials.json",
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Modia3D.loadPalettes!(solidMaterialPalette = "$(Modia3D.path)/palettes/solidMaterials.json",
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contactPairMaterialPalette = "$(Modia3D.path)/palettes/contactPairMaterials.json",
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visualMaterialPalette = "$(Modia3D.path)/palettes/visualMaterials.json")
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visualMaterialPalette = "$(Modia3D.path)/palettes/visualMaterials.json")
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Test.@testset "Basic" begin
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include(joinpath("Basic", "AllShapes.jl"))
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include(joinpath("Basic", "PendulumWithBar1.jl"))
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include(joinpath("Collision", "BouncingBeams.jl"))
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Test.@test_skip include(joinpath("Collision", "CollidingSphereWithBunnies.jl")) # Error on Linux too large
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include(joinpath("Collision", "Billard4Balls.jl"))
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Test.@test_throws LoadError include(joinpath("Collision", "OrthogonalLinesError.jl")) # orthogonal lines moving until r_abs is NaN
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Test.@test_throws LoadError include(joinpath("Collision", "ParallelLinesError.jl")) # MPR 2D not implemented
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Test.@test_throws LoadError include(joinpath("Collision", "PlaneVsPlaneEdgesError.jl")) # MPR 2D not implemented
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Test.@test_throws LoadError include(joinpath("Collision", "PlaneVSPointError.jl")) # MPR 2D not implemented
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end
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if testsExtend == completeTests
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include(joinpath("Collision", "Billard16Balls.jl")) # long computation time

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