Merge pull request #27 from ModiaSim/hippmann_planarMotionTest

Add planar motion test

Author: AndreaNeumayr

test/Basic/BoxPlanarMotion.jl

@@ -0,0 +1,32 @@
+module BoxPlanarMotionSimulation
+
+using  ModiaLang
+import Modia3D
+using  Modia3D.ModiaInterface
+
+BoxPlanarMotion = Model(
+    world = Object3D(feature=Scene(gravityField=UniformGravityField(g=1.0, n=[0, -1, 0]))),
+    worldFrame = Object3D(parent=:world,
+                          feature=Visual(shape=CoordinateSystem(length=0.2))),
+    transx = Object3D(),
+    transy = Object3D(),
+    box = Object3D(feature=Solid(shape=Box(lengthX=0.4, lengthY=0.6, lengthZ=0.1),
+                                 solidMaterial="Steel",
+                                 visualMaterial=VisualMaterial(color="DarkGreen", transparency=0.2))),
+    prismatic_x = Prismatic(obj1=:world , obj2=:transx, axis=1, s  =Var(init=-1.0), v=Var(init=1.0)),
+    prismatic_y = Prismatic(obj1=:transx, obj2=:transy, axis=2, s  =Var(init=-1.0), v=Var(init=2.0)),
+    revolute_z  = Revolute( obj1=:transy, obj2=:box   , axis=3, phi=Var(init= 0.0), w=Var(init=3.0))
+)
+
+boxPlanarMotion = buildModia3D(BoxPlanarMotion)
+
+model = @instantiateModel(boxPlanarMotion, aliasReduction=false, unitless=true, log=false, logStateSelection=false, logCode=false)
+
+stopTime = 4.0
+requiredFinalStates = [1.0, 3.0, -2.0, -1.0, 3.0, 12.0]
+simulate!(model, stopTime=stopTime, log=true, logStates=true, requiredFinalStates=requiredFinalStates)
+
+@usingModiaPlot
+plot(model, ["prismatic_x.s", "prismatic_y.s", "revolute_z.phi"], figure=1)
+
+end

test/Collision/CollidingSphereWithBunnies.jl

@@ -21,18 +21,21 @@ ConvexPartitions = Model(
                       massProperties=massAndGeoSphere, collision=true)),
     free = FreeMotion(obj1=:world, obj2=:sphere, r=Var(init=[0.0, 2.0, 0.0])),
 
-
     bunnySolid = Object3D(parent=:world, feature=Solid(shape =
-        FileMesh(filename=filenameBunny, scale=[0.1, 0.1, 0.1]), solidMaterial="Steel", collision = true )),
+        FileMesh(filename=filenameBunny, scale=[0.1, 0.1, 0.1]), solidMaterial="Steel", collision=true )),
 
     bunnyPartitionSolid = Object3D(parent=:world, translation=[0.5, -2.0, 2.0], feature=Solid(shape =
-        FileMesh(filename = filenameBunny, scale=[0.1, 0.1, 0.1], convexPartition=true), solidMaterial="Steel", collision=true)),
+        FileMesh(filename=filenameBunny, scale=[0.1, 0.1, 0.1], convexPartition=true), solidMaterial="Steel", collision=true)),
 )
 
 convexPartitions = @instantiateModel(buildModia3D(ConvexPartitions), unitless=true, log=false, logStateSelection=false, logCode=false)
 
 stopTime = 1.3
-requiredFinalStates = [1.6853549405539088, -1.9603839264641005, 1.5512239899411384, 4.577225786420592, -3.6364005190730575, -1.841958211129179, 16.04685907044025, 0.10996251002097332, 8.10149898250639, 28.66624352831703, 8.399969490696167, 37.24515015558254]
+if Sys.iswindows()
+    requiredFinalStates = [1.6852436731117506, -1.9602009870847892, 1.5537079430670875, 4.576280426855566, -3.6359538989543787, -1.8281828479408744, 16.048751238499957, 0.11284016337050634, 8.101268624505751, 28.746819815200922, 8.39876218585158, 37.19093884427305]
+else
+    requiredFinalStates = [1.6853549405539088, -1.9603839264641005, 1.5512239899411384, 4.577225786420592, -3.6364005190730575, -1.841958211129179, 16.04685907044025, 0.10996251002097332, 8.10149898250639, 28.66624352831703, 8.399969490696167, 37.24515015558254]
+end
 @time simulate!(convexPartitions, stopTime=stopTime, log=false, logStates=false, logEvents=true, requiredFinalStates=requiredFinalStates)
 
 end

test/includeTests.jl

@@ -10,6 +10,7 @@ Test.@testset "Basic" begin
     include(joinpath("Basic", "PendulumWithSpring.jl"))
     include(joinpath("Basic", "DoublePendulumWithDampers.jl"))
     include(joinpath("Basic", "Mobile.jl"))
+    include(joinpath("Basic", "BoxPlanarMotion.jl"))
     include(joinpath("Basic", "ShaftFreeMotion.jl"))
     Test.@test_throws LoadError include(joinpath("Basic", "Object3DWithoutParentError.jl"))
 end
@@ -21,7 +22,11 @@ Test.@testset "Robot" begin
     include(joinpath("Robot", "ServoWithPathAndRevolute.jl"))
     include(joinpath("Robot", "YouBotWithSphere.jl"))
     Test.@test_skip include(joinpath("Robot", "YouBotPingPong.jl")) # too long computation time
-    include(joinpath("Robot", "YouBotGripping.jl"))
+    if Sys.iswindows()
+        include(joinpath("Robot", "YouBotGripping.jl"))
+    else
+        Test.@test_skip include(joinpath("Robot", "YouBotGripping.jl")) # mpr error on linux https://github.com/ModiaSim/PrivateModia3D.jl/issues/142
+    end
     Test.@test_skip include(joinpath("Robot", "YouBotsGripping.jl")) # too long computation time
 end