Merge branch 'master' of github.com:mbsim-env/mbsim

Markus Friedrich · Markus Friedrich · commit d1db0a7ec05b · 2025-03-13T17:21:02.000+01:00
diff --git a/kernel/mbsim/constitutive_laws/Makefile.am b/kernel/mbsim/constitutive_laws/Makefile.am
@@ -20,6 +20,7 @@ libconstitutivelaws_la_SOURCES = bilateral_constraint.cc\
 				 spatial_stribeck_impact.cc\
 				 unilateral_constraint.cc\
 				 unilateral_newton_impact.cc\
+				 tyre_model.cc\
 				 linear_tyre_model.cc\
 				 magic_formula_sharp.cc\
 				 magic_formula_62.cc
diff --git a/kernel/mbsim/constitutive_laws/linear_tyre_model.cc b/kernel/mbsim/constitutive_laws/linear_tyre_model.cc
@@ -83,20 +83,16 @@ namespace MBSim {
   }
 
   VecV LinearTyreModel::getContourParameters() const {
-    TyreContact *contact = static_cast<TyreContact*>(parent);
-    Tyre *tyre = static_cast<Tyre*>(contact->getContour(1));
-    return tyre->getContourParameters();
+    return static_cast<Tyre*>(getTyreContact()->getContour(1))->getContourParameters();
   }
 
   double LinearTyreModel::evalFreeRadius() {
-    TyreContact *contact = static_cast<TyreContact*>(parent);
-    Tyre *tyre = static_cast<Tyre*>(contact->getContour(1));
-    return tyre->getRadius();
+    return static_cast<Tyre*>(getTyreContact()->getContour(1))->getRadius();
   }
 
   void LinearTyreModel::updateGeneralizedForces() {
-    TyreContact *contact = static_cast<TyreContact*>(parent);
-    Tyre *tyre = static_cast<Tyre*>(contact->getContour(1));
+    auto *contact = getTyreContact();
+    auto *tyre = contact->getRigidContour(1);
     double Fx, Fy, Fz, Mz;
     if(contact->evalGeneralizedRelativePosition()(0)>0)
       Fz = 0;
diff --git a/kernel/mbsim/constitutive_laws/tyre_model.cc b/kernel/mbsim/constitutive_laws/tyre_model.cc
@@ -0,0 +1,30 @@
+/* Copyright (C) 2004-2022 MBSim Development Team
+ * 
+ * This library is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU Lesser General Public 
+ * License as published by the Free Software Foundation; either 
+ * version 2.1 of the License, or (at your option) any later version. 
+ * 
+ * This library is distributed in the hope that it will be useful, 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details. 
+ *
+ * You should have received a copy of the GNU Lesser General Public 
+ * License along with this library; if not, write to the Free Software 
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
+ *
+ * Contact: martin.o.foerg@googlemail.com
+ */
+
+#include <config.h>
+#include "tyre_model.h"
+#include "mbsim/links/tyre_contact.h"
+
+namespace MBSim {
+
+  TyreContact* TyreModel::getTyreContact() const {
+    return static_cast<TyreContact*>(parent);
+  }
+
+}
diff --git a/kernel/mbsim/constitutive_laws/tyre_model.h b/kernel/mbsim/constitutive_laws/tyre_model.h
@@ -24,6 +24,8 @@
 
 namespace MBSim {
 
+  class TyreContact;
+
   class TyreModel : public Element {
     public:
       TyreModel() : Element(uniqueDummyName(this)) {
@@ -33,7 +35,9 @@ namespace MBSim {
 
       virtual void initPlot(std::vector<std::string> &plotColumns) { }
       virtual void plot(std::vector<double> &plotVector) { }
+#ifndef SWIG
       using Element::plot;
+#endif
 
       virtual int getxSize() const { return 0; }
       virtual int getDMSize() const { return 1; }
@@ -44,10 +48,13 @@ namespace MBSim {
       int getDataSize() const { return 17; }
       virtual fmatvec::VecV getData() const = 0;
 
-      virtual bool motorcycleKinematics() const = 0;
+      virtual bool motorcycleKinematics() const { return false; }
 
       virtual fmatvec::VecV getContourParameters() const = 0;
       virtual double evalFreeRadius() = 0;
+
+    protected:
+      TyreContact* getTyreContact() const;
   };
 
 }
diff --git a/kernel/mbsim/contours/circle.h b/kernel/mbsim/contours/circle.h
@@ -65,13 +65,14 @@ namespace MBSim {
       fmatvec::Vec3 evalParDer2Wu(const fmatvec::Vec2 &zeta) override { return zero3; }
 
       fmatvec::Vec2 evalZeta(const fmatvec::Vec3& WrPoint) override;
+
+      fmatvec::Vec2 evalCurvatures(const fmatvec::Vec2 &zeta) override { return fmatvec::Vec2({sign/r,0}); }
       /***************************************************/
 
       /* GETTER / SETTER */
       void setRadius(double r_) { r = r_; }
       double getRadius() const { return r; }
       double getSign() const { return sign; }
-      double getCurvature(const fmatvec::Vec2 &zeta) { return sign/r; }
 
       void setSolid(bool solid_=true) { solid = solid_; }
       bool getSolid() const { return solid; }
diff --git a/kernel/mbsim/contours/contour.cc b/kernel/mbsim/contours/contour.cc
@@ -149,6 +149,10 @@ namespace MBSim {
     throwError("(Contour::evalZeta): Not implemented.");
   }
 
+  Vec2 Contour::evalCurvatures(const Vec2 &zeta) {
+    throwError("(Contour::evalCurvatures): Not implemented.");
+  }
+
   void Contour::initializeUsingXML(DOMElement *element) {
     Element::initializeUsingXML(element);
     DOMElement *e=E(element)->getFirstElementChildNamed(MBSIM%"thickness");
diff --git a/kernel/mbsim/contours/contour.h b/kernel/mbsim/contours/contour.h
@@ -176,6 +176,8 @@ namespace MBSim {
 
       virtual fmatvec::Vec2 evalZeta(const fmatvec::Vec3 &WrPS);
 
+      virtual fmatvec::Vec2 evalCurvatures(const fmatvec::Vec2 &zeta);
+
       void initializeUsingXML(xercesc::DOMElement *element) override;
 
       void setThickness(double thickness_) { thickness = thickness_; }
diff --git a/kernel/mbsim/contours/line.h b/kernel/mbsim/contours/line.h
@@ -62,7 +62,7 @@ namespace MBSim {
       fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta) override { return zero3; }
       /***************************************************/
 
-      virtual double getCurvature(const fmatvec::Vec2 &zeta) { return 0; } 
+      fmatvec::Vec2 evalCurvatures(const fmatvec::Vec2 &zeta) override { return fmatvec::Vec2(); }
 
       BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (length,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
         OpenMBVLine ombv(length,diffuseColor,transparency,pointSize,lineWidth);
diff --git a/kernel/mbsim/contours/line_segment.h b/kernel/mbsim/contours/line_segment.h
@@ -71,7 +71,7 @@ namespace MBSim {
       fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta) override { return zero3; }
       /***************************************************/
 
-      virtual double getCurvature(const fmatvec::Vec2 &zeta) { return 0; }
+      fmatvec::Vec2 evalCurvatures(const fmatvec::Vec2 &zeta) override { return fmatvec::Vec2(); }
 
       BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
         OpenMBVLine ombv(1,diffuseColor,transparency,pointSize,lineWidth);
diff --git a/kernel/mbsim/contours/planar_contour.cc b/kernel/mbsim/contours/planar_contour.cc
@@ -107,10 +107,14 @@ namespace MBSim {
     funcCrPC->setName("Contour");
   }
 
-  double PlanarContour::getCurvature(const Vec2 &zeta) {
-    const Vec3 rs = funcCrPC->parDer(zeta(0));
-    return nrm2(crossProduct(rs,funcCrPC->parDerDirDer(1,zeta(0))))/pow(nrm2(rs),3);
-  }
+  Vec2 PlanarContour::evalCurvatures(const Vec2 &zeta) {
+    Vec3 Ks = evalKs(zeta);
+    Vec3 Ksp = evalParDer1Ks(zeta);
+    Vec2 kappa(NONINIT);
+    kappa(0) = (Ksp(1)*Ks(0)-Ksp(0)*Ks(1))/pow(sqrt(Ks(0)*Ks(0)+Ks(1)*Ks(1)),3);
+    kappa(1) = 0;
+    return kappa;
+ }
 
   void PlanarContour::initializeUsingXML(DOMElement * element) {
     RigidContour::initializeUsingXML(element);
diff --git a/kernel/mbsim/contours/planar_contour.h b/kernel/mbsim/contours/planar_contour.h
@@ -53,7 +53,6 @@ namespace MBSim {
 
       /* INHERITED INTERFACE OF CONTOUR */
       void init(InitStage stage, const InitConfigSet &config) override;
-      double getCurvature(const fmatvec::Vec2 &zeta);
       fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
       fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override;
       fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override { return zero3; }
@@ -63,6 +62,8 @@ namespace MBSim {
       fmatvec::Vec3 evalParDer1Kn(const fmatvec::Vec2 &zeta) override;
 
       fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override { return crossProduct(evalWu(zeta),R->evalOrientation().col(2)); }
+
+      fmatvec::Vec2 evalCurvatures(const fmatvec::Vec2 &zeta) override;
       /***************************************************/
 
       /* GETTER / SETTER */
diff --git a/kernel/mbsim/contours/planar_nurbs_contour.cc b/kernel/mbsim/contours/planar_nurbs_contour.cc
@@ -96,10 +96,6 @@ namespace MBSim {
     RigidContour::init(stage, config);
   }
 
-  double PlanarNurbsContour::getCurvature(const Vec2 &zeta) {
-    throwError("(PlanarNurbsContour::getCurvature): not implemented");
-  }
-
   void PlanarNurbsContour::setControlPoints(const MatVx3 &cp_) {
     cp.resize(cp_.rows(),NONINIT);
     for(int i=0; i<cp.rows(); i++) {
diff --git a/kernel/mbsim/contours/planar_nurbs_contour.h b/kernel/mbsim/contours/planar_nurbs_contour.h
@@ -57,7 +57,6 @@ namespace MBSim {
 
       /* INHERITED INTERFACE OF CONTOUR */
       void init(InitStage stage, const InitConfigSet &config) override;
-      double getCurvature(const fmatvec::Vec2 &zeta);
       fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
       fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override;
       fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override;
diff --git a/kernel/mbsim/contours/rigid_contour.cc b/kernel/mbsim/contours/rigid_contour.cc
@@ -195,6 +195,29 @@ namespace MBSim {
     return crossProduct(R->evalAngularVelocity(),evalWv(zeta));
   }
 
+  Vec2 RigidContour::evalCurvatures(const Vec2 &zeta) {
+    Vec3 Ks = evalKs(zeta);
+    Vec3 Kt = evalKt(zeta);
+    Vec3 Ksp = evalParDer1Ks(zeta);
+    Vec3 Ktp = evalParDer2Kt(zeta);
+    Vec3 Ku = Ks/nrm2(Ks);
+    Vec3 Kn = crossProduct(Ks,Kt);
+    Kn /= nrm2(Kn);
+    Vec3 Kv = crossProduct(Kn,Ku);
+    SqrMat3 A(NONINIT);
+    A.set(0,Ku.T());
+    A.set(1,Kv.T());
+    A.set(2,Kn.T());
+    Vec3 Ns = A*Ks;
+    Vec3 Nt = A*Kt;
+    Vec3 Nsp = A*Ksp;
+    Vec3 Ntp = A*Ktp;
+    Vec2 kappa(NONINIT);
+    kappa(0) = (Nsp(0)*Ns(2)-Nsp(2)*Ns(0))/pow(sqrt(Ns(0)*Ns(0)+Ns(2)*Ns(2)),3);
+    kappa(1) = (Ntp(1)*Nt(2)-Ntp(2)*Nt(1))/pow(sqrt(Nt(1)*Nt(1)+Nt(2)*Nt(2)),3);
+    return kappa;
+  }
+
   void RigidContour::plot() {
     if(plotFeature[openMBV] && openMBVRigidBody) {
       vector<double> data;
diff --git a/kernel/mbsim/contours/rigid_contour.h b/kernel/mbsim/contours/rigid_contour.h
@@ -115,6 +115,8 @@ namespace MBSim {
       fmatvec::Vec3 evalParWuPart(const fmatvec::Vec2 &zeta) override;
       fmatvec::Vec3 evalParWvPart(const fmatvec::Vec2 &zeta) override;
 
+      fmatvec::Vec2 evalCurvatures(const fmatvec::Vec2 &zeta) override;
+
       /**
        * \brief contact search for RigidContours
        * \author Markus Schneider
diff --git a/kernel/mbsim/contours/spatial_contour.cc b/kernel/mbsim/contours/spatial_contour.cc
@@ -129,10 +129,6 @@ namespace MBSim {
     funcCrPC->setName("Contour");
   }
 
-  double SpatialContour::getCurvature(const Vec2 &zeta) {
-    throwError("(SpatialContour::getCurvature): not implemented");
-  }
-
   void SpatialContour::initializeUsingXML(DOMElement * element) {
     RigidContour::initializeUsingXML(element);
     DOMElement * e;
diff --git a/kernel/mbsim/contours/spatial_contour.h b/kernel/mbsim/contours/spatial_contour.h
@@ -53,7 +53,6 @@ namespace MBSim {
 
       /* INHERITED INTERFACE OF CONTOUR */
       void init(InitStage stage, const InitConfigSet &config) override;
-      double getCurvature(const fmatvec::Vec2 &zeta);
       fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
       fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override;
       fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override;
diff --git a/kernel/mbsim/contours/spatial_nurbs_contour.cc b/kernel/mbsim/contours/spatial_nurbs_contour.cc
@@ -137,10 +137,6 @@ namespace MBSim {
     RigidContour::init(stage, config);
   }
 
-  double SpatialNurbsContour::getCurvature(const Vec2 &zeta) {
-    throwError("(SpatialNurbsContour::getCurvature): not implemented");
-  }
-
   void SpatialNurbsContour::setControlPoints(const MatVx3 &cp_) {
     cp.resize(cp_.rows(),NONINIT);
     for(int i=0; i<cp.rows(); i++) {
diff --git a/kernel/mbsim/contours/spatial_nurbs_contour.h b/kernel/mbsim/contours/spatial_nurbs_contour.h
@@ -57,7 +57,6 @@ namespace MBSim {
 
       /* INHERITED INTERFACE OF CONTOUR */
       void init(InitStage stage, const InitConfigSet &config) override;
-      double getCurvature(const fmatvec::Vec2 &zeta);
       fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
       fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override;
       fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override;
diff --git a/kernel/mbsim/links/tyre_contact.cc b/kernel/mbsim/links/tyre_contact.cc
diff --git a/kernel/mbsim/links/tyre_contact.h b/kernel/mbsim/links/tyre_contact.h
diff --git a/kernel/swig/_mbsim_part350.i b/kernel/swig/_mbsim_part350.i
diff --git a/mbsimgui/RELEASENOTES.md b/mbsimgui/RELEASENOTES.md
diff --git a/mbsimgui/configure.ac b/mbsimgui/configure.ac
diff --git a/mbsimgui/mbsimgui/extended_widgets.cc b/mbsimgui/mbsimgui/extended_widgets.cc
