fix bugs (CreateRigidBody, etc.), add continuous integration; fix stu…

…b files; fix Lidar; complex eigenvalue computation

README.rst

@@ -39,7 +39,7 @@ Exudyn
 
 **A flexible multibody dynamics systems simulation code with Python and C++**
 
-Exudyn version = 1.8.0 (Jones)
+Exudyn version = 1.8.28.dev1 (Jones)
 
 +  **University of Innsbruck**, Department of Mechatronics, Innsbruck, Austria
 

docs/RST/CCode.rst

@@ -149,7 +149,7 @@ No-abbreviations-rule
 The code uses a \ **minimum set of abbreviations**\ ; however, the following abbreviation rules are used throughout:
 In general: DO NOT ABBREVIATE function, class or variable names: GetDataPointer() instead of GetPtr(); exception: cnt, i, j, k, x or v in cases where it is really clear (short, 5-line member functions).
 
-\ **Exceptions**\  to the NO-ABBREVIATIONS-RULE, see also \hyperref[sec:listOfAbbreviations]{\underline{List of Abbreviations}}: 
+\ **Exceptions**\  to the NO-ABBREVIATIONS-RULE: 
 
 +  \ :ref:`ODE <ODE>`\ 
 +  \ :ref:`ODE2 <ODE2>`\ : marks parts related to second order differential equations (SOS2, EvalF2 in HOTINT)

docs/RST/Examples/NGsolveGeometry.rst

@@ -0,0 +1,249 @@
+
+.. _examples-ngsolvegeometry:
+
+******************
+NGsolveGeometry.py
+******************
+
+You can view and download this file on Github: `NGsolveGeometry.py <https://github.com/jgerstmayr/EXUDYN/tree/master/main/pythonDev/Examples/NGsolveGeometry.py>`_
+
+.. code-block:: python
+   :linenos:
+
+   #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+   # This is an EXUDYN example
+   #
+   # Details:  Example to show how to create CSG-geometry in Netgen and import as STL into exudyn
+   #
+   # Author:   Johannes Gerstmayr 
+   # Date:     2021-04-20
+   #
+   # Copyright:This file is part of Exudyn. Exudyn is free software. You can redistribute it and/or modify it under the terms of the Exudyn license. See 'LICENSE.txt' for more details.
+   #
+   #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+   
+   
+   import exudyn as exu
+   from exudyn.utilities import *
+   from exudyn.FEM import *
+   
+   SC = exu.SystemContainer()
+   mbs = SC.AddSystem()
+   
+   import numpy as np
+   import time
+   
+   #%%+++++++++++++++++++++++++++++++++++++++++++++++++++++
+   #netgen/meshing part:
+   
+   #geometrical parameters:
+   L = 0.2         #Length of body
+   sy = 0.04       #width of body  (Y)
+   sz = 0.03       #height of body (Z)
+   dy = 0.005      #additional distance Y
+   r = 0.015       #radius of bolt
+   R = 0.025       #outer radius
+   x = 0.002
+   meshH = 0.005   #0.01 is default, 0.002 gives 100000 nodes and is fairly converged; 
+   curvaturesafety = 5
+   
+   axis = 0.15
+   rotBasis = np.eye(3 )
+   
+   #steel: (not needed for drawing ...)
+   rho = 7850
+   Emodulus=2.1e11
+   nu=0.3
+   
+   #test high flexibility
+   Emodulus=2e8
+   # nModes = 32
+   
+   
+   #helper function for cylinder with netgen
+   def CSGcylinder(p0,p1,r):
+       v = VSub(p1,p0)
+       v = Normalize(v)
+       cyl = Cylinder(Pnt(p0[0],p0[1],p0[2]), Pnt(p1[0],p1[1],p1[2]), 
+                      r) * Plane(Pnt(p0[0],p0[1],p0[2]), Vec(-v[0],-v[1],-v[2])) * Plane(Pnt(p1[0],p1[1],p1[2]), Vec(v[0],v[1],v[2])) 
+       return cyl
+   
+   meshCreated = False
+   
+   #%%+++++++++++++++++++++++++++++++++++++++++++++++++++++
+   import ngsolve as ngs
+   import netgen
+   from netgen.meshing import *
+   
+   from netgen.geom2d import unit_square
+   #import netgen.libngpy as libng
+   from netgen.csg import *
+   
+   
+   showCase = 'revolute'
+   showCase = 'spheric'
+   
+   if showCase == 'revolute':
+       rotBasis = RotationMatrixX(-0.5*pi)
+       #++++++++++++++++++++++++++++++++++++++++++++++++++++
+       #first body
+       geo0 = CSGeometry()
+       
+       #plate
+       block = OrthoBrick(Pnt(0, x, -0.5*sz),Pnt(L, sy-x, 0.5*sz))
+       blockCyl = CSGcylinder(p0=[0,0,0], p1=[0,sy,0], r=R)
+       bolt0 = CSGcylinder(p0=[0,sy,0], p1=[0,2*sy+dy,0], r=r)
+       geo0.Add(block+blockCyl+bolt0)
+       
+       mesh0 = ngs.Mesh( geo0.GenerateMesh(maxh=meshH, curvaturesafety=curvaturesafety))
+       mesh0.Curve(1)
+       
+       #++++++++++++++++++++++++++++++++++++++++++++++++++++
+       #second body
+       geo1 = CSGeometry()
+       
+       #plate
+       block = OrthoBrick(Pnt(0, x, -0.5*sz),Pnt(L, sy-x, 0.5*sz))
+       blockCyl = CSGcylinder(p0=[0,0,0], p1=[0,sy,0], r=R)
+       hole = CSGcylinder(p0=[0,-sy*0.1,0], p1=[0,1.1*sy,0], r=r)
+       geo1.Add(block+blockCyl-hole)
+       
+       mesh1 = ngs.Mesh( geo1.GenerateMesh(maxh=meshH, curvaturesafety=curvaturesafety))
+       mesh1.Curve(1)
+       
+       
+       if False: #set this to true, if you want to visualize the mesh inside netgen/ngsolve
+           import netgen.gui
+           ngs.Draw(mesh1)
+           for i in range(10000000):
+               netgen.Redraw() #this makes the netgen window interactive
+               time.sleep(0.05)
+       
+       #%%+++++++++++++++++++++++++++++++++++++++++++++++++++++
+       #import body with fem (this could be simplified in future ...)
+       #body0
+       fem0 = FEMinterface()
+       fem0.ImportMeshFromNGsolve(mesh0, density=rho, youngsModulus=Emodulus, poissonsRatio=nu)
+       graphics0 = GraphicsDataFromPointsAndTrigs(fem0.GetNodePositionsAsArray(), fem0.GetSurfaceTriangles(), 
+                                                  color=color4dodgerblue, )
+       graphics0 = AddEdgesAndSmoothenNormals(graphics0)
+       
+       mbs.CreateRigidBody(referencePosition=[0,-sy*2-dy,0],
+                           referenceRotationMatrix=RotationMatrixX(0),
+                           inertia=InertiaCuboid(1000, [1,1,1]),
+                           graphicsDataList=[graphics0])
+       
+       
+       #+++++++++++++++++++++++++++++++++++++++++++++++++++++
+       #body1
+       fem1 = FEMinterface()
+       fem1.ImportMeshFromNGsolve(mesh1, density=rho, youngsModulus=Emodulus, poissonsRatio=nu)
+       graphics1 = GraphicsDataFromPointsAndTrigs(fem1.GetNodePositionsAsArray(), fem1.GetSurfaceTriangles(), 
+                                                  color=color4lightred)
+       graphics1 = AddEdgesAndSmoothenNormals(graphics1)
+       
+       mbs.CreateRigidBody(referencePosition=[0,-sy,0],
+                           referenceRotationMatrix=RotationMatrixY(1.2*pi),
+                           inertia=InertiaCuboid(1000, [1,1,1]),
+                           graphicsDataList=[graphics1])
+   
+   if showCase == 'spheric':
+       #++++++++++++++++++++++++++++++++++++++++++++++++++++
+       #first body
+       geo0 = CSGeometry()
+       meshH *= 0.5
+       
+       block = OrthoBrick(Pnt(0, -0.4*sy, -0.4*sz),Pnt(L, 0.4*sy, 0.4*sz))
+       sphere = Sphere( Pnt(0, 0, 0), R*1.2)
+       cutBlock = OrthoBrick(Pnt(-1, -sy, -sz),Pnt(-0.3*R, sy, sz))
+       cutSphere = Sphere( Pnt(0, 0, 0), R)
+       geo0.Add(block+sphere-cutBlock-cutSphere)
+       
+       mesh0 = ngs.Mesh( geo0.GenerateMesh(maxh=meshH, curvaturesafety=curvaturesafety))
+       mesh0.Curve(1)
+       
+       #++++++++++++++++++++++++++++++++++++++++++++++++++++
+       #second body
+       geo1 = CSGeometry()
+       
+       #plate
+       block = OrthoBrick(Pnt(0, -0.4*sz, -0.4*sz),Pnt(L, 0.4*sz, 0.4*sz))
+       sphere = Sphere( Pnt(0, 0, 0), R)
+       geo1.Add(block+sphere)
+       
+       mesh1 = ngs.Mesh( geo1.GenerateMesh(maxh=meshH, curvaturesafety=curvaturesafety))
+       mesh1.Curve(1)
+       
+       
+       if False: #set this to true, if you want to visualize the mesh inside netgen/ngsolve
+           import netgen.gui
+           ngs.Draw(mesh1)
+           for i in range(10000000):
+               netgen.Redraw() #this makes the netgen window interactive
+               time.sleep(0.05)
+       
+       #%%+++++++++++++++++++++++++++++++++++++++++++++++++++++
+       #import body with fem (this could be simplified in future ...)
+       #body0
+       fem0 = FEMinterface()
+       fem0.ImportMeshFromNGsolve(mesh0, density=rho, youngsModulus=Emodulus, poissonsRatio=nu)
+       graphics0 = GraphicsDataFromPointsAndTrigs(fem0.GetNodePositionsAsArray(), fem0.GetSurfaceTriangles(), 
+                                                  color=color4dodgerblue, )
+       graphics0 = AddEdgesAndSmoothenNormals(graphics0)
+       
+       mbs.CreateRigidBody(referencePosition=[0,-sy,0],
+                           referenceRotationMatrix=RotationMatrixX(0),
+                           inertia=InertiaCuboid(1000, [1,1,1]),
+                           graphicsDataList=[graphics0])
+       
+       
+       #+++++++++++++++++++++++++++++++++++++++++++++++++++++
+       #body1
+       fem1 = FEMinterface()
+       fem1.ImportMeshFromNGsolve(mesh1, density=rho, youngsModulus=Emodulus, poissonsRatio=nu)
+       graphics1 = GraphicsDataFromPointsAndTrigs(fem1.GetNodePositionsAsArray(), fem1.GetSurfaceTriangles(), 
+                                                  color=color4lightred)
+       graphics1 = AddEdgesAndSmoothenNormals(graphics1)
+       
+       mbs.CreateRigidBody(referencePosition=[0,-sy,0],
+                           referenceRotationMatrix=RotationMatrixZ(-0.12*pi)@RotationMatrixY(1.15*pi),
+                           inertia=InertiaCuboid(1000, [1,1,1]),
+                           graphicsDataList=[graphics1])
+   
+   
+   #+++++++++++++++++++++++++++++++++++++++++++++++++
+   #world basis
+   gl=[]
+   gl += [GraphicsDataText(point=rotBasis@[axis,0,0],text='X')]
+   gl += [GraphicsDataText(point=rotBasis@[0,axis,0],text='Y')]
+   gl += [GraphicsDataText(point=rotBasis@[0,0,axis],text='Z')]
+   
+   gl += [GraphicsDataBasis(origin=[0,0,0], rotationMatrix=rotBasis, length=axis)]
+   
+   mbs.CreateGround(graphicsDataList=gl)
+   
+   mbs.Assemble()
+   #%%++++++++++++++++++++++++++++++
+   SC.visualizationSettings.openGL.polygonOffset = 0.1 #to draw edges clearly
+   SC.visualizationSettings.openGL.lineWidth = 2
+   SC.visualizationSettings.openGL.multiSampling = 4
+   # SC.visualizationSettings.general.drawWorldBasis = True
+   # SC.visualizationSettings.general.worldBasisSize = axis
+   SC.visualizationSettings.general.drawCoordinateSystem = False
+   SC.visualizationSettings.general.textSize = 16
+   SC.visualizationSettings.window.renderWindowSize = [1600,1200]
+   
+   mbs.SolveDynamic()
+   
+   mbs.SolutionViewer()
+   
+   
+   
+   
+   
+   
+   
+   
+   
+
+