particlesSilo.py
You can view and download this file on Github: particlesSilo.py
1#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2# This is an EXUDYN example
3#
4# Details: test with parallel computation and particles
5#
6# Author: Johannes Gerstmayr
7# Date: 2021-11-01
8#
9# 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.
10#
11#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
12
13import exudyn as exu
14from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
15import exudyn.graphics as graphics #only import if it does not conflict
16from exudyn.graphicsDataUtilities import *
17
18import numpy as np
19
20
21SC = exu.SystemContainer()
22mbs = SC.AddSystem()
23
24nGround = mbs.AddNode(NodePointGround(referenceCoordinates=[0,0,0]))
25
26np.random.seed(1) #always get same results
27
28useGraphics = True
29
30useRigidBody = True #needed for friction
31staticTriangles = True #True speeds up in case of many static objects (silo)
32
33L = 1
34n = 8000 #fast
35# n = 500000
36row = 8*2
37a = L*0.5*0.5*0.75
38stepSize= 0.0001 #Velocity Verlet also works with 2e-4 with 8000 particles
39m = 0.05
40ss=16*3 #the more cells, the more time the search tree needs to build, but contact search is more efficient
41holeRad = 3*a
42SHsilo = 4*L #height of container; adapt to fit all particles
43
44if n >= 4000*8:
45 a*=0.4
46 m *=0.2
47 row=40
48 ss = 16*4
49 holeRad *= 1.4 #better 1.4 !
50
51if n >= 4000*64:
52 #a*=0.75
53 SHsilo = 8*L
54 row=int(1.3*row)
55 stepSize *= 0.25
56 ss=100
57
58radius = 0.5*a
59t = 0.5*a
60k = 16e4
61d = 0.0004*k
62
63frictionCoeff = 0.5
64if not useRigidBody:
65 frictionCoeff = 0
66
67markerList = []
68radiusList = []
69gDataList = []
70
71
72gContact = mbs.AddGeneralContact()
73#gContact.verboseMode = 1
74gContact.SetFrictionPairings(frictionCoeff*np.eye(1))
75gContact.SetSearchTreeCellSize(numberOfCells=[ss,ss,ss])
76# gContact.computeExactStaticTriangleBins = False #default = True; speeds up a lot for static triangles
77
78
79#%% ground
80LL=6*L
81p0 = np.array([0,0,-0.5*t])
82color4wall = [0.6,0.6,0.6,0.5]
83addNormals = False
84hw=10*a
85gFloor = graphics.Brick(p0,[LL,LL,t],graphics.color.steelblue,addNormals)
86gFloorAdd = graphics.Brick(p0+[-0.5*LL,0,0.5*hw],[t,LL,hw],color4wall,addNormals)
87gFloor = graphics.MergeTriangleLists(gFloor, gFloorAdd)
88gFloorAdd = graphics.Brick(p0+[ 0.5*LL,0,0.5*hw],[t,LL,hw],color4wall,addNormals)
89gFloor = graphics.MergeTriangleLists(gFloor, gFloorAdd)
90gFloorAdd = graphics.Brick(p0+[0,-0.5*LL,0.5*hw],[LL,t,hw],color4wall,addNormals)
91gFloor = graphics.MergeTriangleLists(gFloor, gFloorAdd)
92gFloorAdd = graphics.Brick(p0+[0, 0.5*LL,0.5*hw],[LL,t,hw],color4wall,addNormals)
93gFloor = graphics.MergeTriangleLists(gFloor, gFloorAdd)
94
95gDataList = [gFloor]
96
97
98nGround = mbs.AddNode(NodePointGround(referenceCoordinates=[0,0,0] ))
99mGround = mbs.AddMarker(MarkerNodeRigid(nodeNumber=nGround))
100
101[meshPoints, meshTrigs] = graphics.ToPointsAndTrigs(gFloor)
102#[meshPoints, meshTrigs] = RefineMesh(meshPoints, meshTrigs) #just to have more triangles on floor
103gContact.AddTrianglesRigidBodyBased(rigidBodyMarkerIndex=mGround, contactStiffness=k, contactDamping=d, frictionMaterialIndex=0,
104 pointList=meshPoints, triangleList=meshTrigs, staticTriangles=staticTriangles)
105
106if True: #looses color
107 gFloor = graphics.FromPointsAndTrigs(meshPoints, meshTrigs, color=color4wall) #show refined mesh
108 gDataList = [gFloor]
109
110
111color4node = graphics.color.blue
112print("start create: number of masses =",n)
113for i in range(n):
114 kk = int(i/int(n/8))
115 color4node = graphics.colorList[min(kk%9,9)]
116
117 if (i%20000 == 0 and i>0): print("create mass",i)
118 offy = 0
119
120 iz = int(i/(row*row))
121 ix = i%row
122 iy = int(i/row)%row
123
124 if iz % 2 == 1:
125 ix+=0.5
126 iy+=0.5
127
128 offz = 5*L+0.5*a+iz*a*0.74 #0.70x is limit value!
129 offx = -0.6*a-row*0.5*a + (ix+1)*a
130 offy = -0.6*a-row*0.5*a + (iy+1)*a
131
132 valueRand = np.random.random(1)[0]
133 rFact = 0.2 #random part
134 gRad = radius*(1-rFact+rFact*valueRand)
135 v0 = [0,0,-2]
136 pRef = [offx,offy,offz]
137
138 if not useRigidBody:
139 nMass = mbs.AddNode(NodePoint(referenceCoordinates=pRef,
140 initialVelocities=v0,
141 visualization=VNodePoint(show=True,drawSize=2*gRad, color=color4node)))
142
143 oMass = mbs.AddObject(MassPoint(physicsMass=m, nodeNumber=nMass,
144 #visualization=VMassPoint(graphicsData=[gSphere,gSphere2])
145 # visualization=VMassPoint(graphicsData=gData)
146 ))
147 mThis = mbs.AddMarker(MarkerNodePosition(nodeNumber=nMass))
148 else:
149 RBinertia = InertiaSphere(m, radius)
150 dictMass = mbs.CreateRigidBody(
151 inertia=RBinertia,
152 nodeType=exu.NodeType.RotationRotationVector,
153 referencePosition=pRef,
154 initialVelocity=v0,
155 returnDict=True)
156 [nMass, oMass] = [dictMass['nodeNumber'], dictMass['bodyNumber']]
157
158 mbs.SetNodeParameter(nMass, 'VdrawSize', 2*gRad)
159 mbs.SetNodeParameter(nMass, 'Vcolor', color4node)
160 mThis = mbs.AddMarker(MarkerNodeRigid(nodeNumber=nMass))
161
162 mbs.AddLoad(Force(markerNumber=mThis, loadVector= [0,0,-m*9.81]))
163
164 gContact.AddSphereWithMarker(mThis, radius=gRad, contactStiffness=k, contactDamping=d,
165 frictionMaterialIndex=0)
166
167
168
169if True: #add Silo
170 SR = 3.1*L
171 SH2 = 1*L #hole
172 SR2 = holeRad #hole
173 ST = 0.25*L
174 #contour=8*np.array([[0,0.2],[0.3,0.2],[0.5,0.3],[0.7,0.4],[1,0.4],[1,0.]])
175 contour=np.array([[0,SR2],[0,SR2+ST],[SH2-ST,SR2+ST],[2*SH2-ST,SR+ST],[2*SH2+SHsilo,SR+ST],
176 [2*SH2+SHsilo,SR],[2*SH2,SR],[SH2,SR2],[0,SR2]])
177 contour = list(contour)
178 contour.reverse()
179 gSilo = graphics.SolidOfRevolution(pAxis=[0,0,3*L], vAxis=[0,0,1],
180 contour=contour, color=[0.8,0.1,0.1,0.5], nTiles = 64)
181
182 [meshPoints, meshTrigs] = graphics.ToPointsAndTrigs(gSilo)
183 gContact.AddTrianglesRigidBodyBased(rigidBodyMarkerIndex=mGround, contactStiffness=k, contactDamping=d, frictionMaterialIndex=0,
184 pointList=meshPoints, triangleList=meshTrigs, staticTriangles=staticTriangles)
185
186
187#put here, such that it is transparent in background
188oGround=mbs.AddObject(ObjectGround(referencePosition= [0,0,0],
189 visualization=VObjectGround(graphicsData=[gSilo]+gDataList)))
190
191
192mbs.Assemble()
193print("finish gContact")
194# print(gContact.GetPythonObject())
195
196items=gContact.GetItemsInBox(pMin=[-4,-4,0], pMax=[4,4,20])
197print('n spheres=',len(items['MarkerBasedSpheres']), ', ss=',ss)
198
199
200tEnd = 10
201simulationSettings = exu.SimulationSettings()
202simulationSettings.linearSolverType = exu.LinearSolverType.EigenSparse
203#simulationSettings.solutionSettings.writeSolutionToFile = True
204simulationSettings.solutionSettings.writeSolutionToFile = True
205simulationSettings.solutionSettings.solutionWritePeriod = 0.02
206simulationSettings.solutionSettings.outputPrecision = 5 #make files smaller
207simulationSettings.solutionSettings.exportAccelerations = False
208simulationSettings.solutionSettings.exportVelocities = False
209simulationSettings.solutionSettings.coordinatesSolutionFileName = 'solution/test.txt'
210simulationSettings.displayComputationTime = True
211#simulationSettings.displayStatistics = True
212simulationSettings.timeIntegration.verboseMode = 1
213simulationSettings.timeIntegration.stepInformation += 32 #show time to go
214simulationSettings.parallel.numberOfThreads = 8 #this should not be higher than the number of real cores (not threads)
215
216simulationSettings.timeIntegration.explicitIntegration.computeEndOfStepAccelerations = False
217simulationSettings.timeIntegration.explicitIntegration.computeMassMatrixInversePerBody = True
218
219SC.visualizationSettings.general.graphicsUpdateInterval=2
220SC.visualizationSettings.general.circleTiling=200
221SC.visualizationSettings.general.drawCoordinateSystem=True
222SC.visualizationSettings.loads.show=False
223SC.visualizationSettings.bodies.show=True
224SC.visualizationSettings.markers.show=False
225
226SC.visualizationSettings.nodes.show=True
227SC.visualizationSettings.nodes.drawNodesAsPoint = False
228SC.visualizationSettings.nodes.defaultSize = 0 #must not be -1, otherwise uses autocomputed size
229SC.visualizationSettings.nodes.tiling = 4
230
231SC.visualizationSettings.window.renderWindowSize=[1200,1200]
232#SC.visualizationSettings.window.renderWindowSize=[1024,1400]
233SC.visualizationSettings.openGL.multiSampling = 4
234#improved OpenGL rendering
235
236SC.visualizationSettings.exportImages.saveImageFileName = "animation/frame"
237SC.visualizationSettings.exportImages.saveImageTimeOut=10000 #5000 is too shot sometimes!
238
239if False:
240 simulationSettings.solutionSettings.recordImagesInterval = 0.005
241
242
243simulate=True
244if simulate:
245 if useGraphics:
246 SC.visualizationSettings.general.autoFitScene = False
247 SC.renderer.Start()
248 if 'renderState' in exu.sys:
249 SC.renderer.SetState(exu.sys['renderState'])
250 #SC.renderer.DoIdleTasks()
251
252 simulationSettings.timeIntegration.numberOfSteps = int(tEnd/stepSize)
253 simulationSettings.timeIntegration.endTime = tEnd
254 mbs.SolveDynamic(simulationSettings, solverType=exu.DynamicSolverType.VelocityVerlet)
255 #print(gContact)
256
257 if useGraphics:
258 SC.renderer.DoIdleTasks()
259 SC.renderer.Stop() #safely close rendering window!
260
261if not simulate:
262 SC.visualizationSettings.general.autoFitScene = False
263 SC.visualizationSettings.general.graphicsUpdateInterval=0.5
264
265 print('load solution file')
266 #sol = LoadSolutionFile('solution/test2.txt', safeMode=False)
267 sol = LoadSolutionFile('solution/test.txt', safeMode=True, verbose = True)#, maxRows=100)
268 print('start SolutionViewer')
269 mbs.SolutionViewer(sol)
270
271
272#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++
273#timings (best of 3), a=0.25, Core i9-7940X@3.10GHz:
274#1.9.66, ss=32, staticTriangles = False
275# n spheres= 8000 , ss= 16
276# +++++++++++++++++++++++++++++++
277# EXUDYN V1.9.68.dev1 solver: explicit time integration (VelocityVerlet)
278# Start multi-threading with 8 threads
279# STEP526, t = 0.0526s, timeToGo = 5.61318s, Nit/step = 0
280# STEP1031, t = 0.1031s, timeToGo = 3.75953s, Nit/step = 0
281# STEP1530, t = 0.153s, timeToGo = 1.84418s, Nit/step = 0
282# STEP2000, t = 0.2s, timeToGo = 2.26949e-13s, Nit/step = 0
283# Solver terminated successfully after 7.96149 seconds.
284# ====================
285# CPU-time statistics:
286# total time = 7.96 seconds
287# measured time= 7.65 seconds (=96.1%)
288# non-zero timer [__ sub-timer]:
289# newtonIncrement = 2.97%
290# integrationFormula= 6.03%
291# ODE2RHS = 84.2%
292# writeSolution = 5.01%
293# overhead = 1.74%
294# visualization/user= 0.00322%
295# special timers:
296# Contact:BoundingBoxes = 0.92391 (12.1%)s
297# Contact:SearchTree = 0.59905 (7.83%)s
298# Contact:Overall = 5.1361 (67.2%)s
299
300# n spheres= 8000 , ss= 32
301# +++++++++++++++++++++++++++++++
302# EXUDYN V1.9.68.dev1 solver: explicit time integration (VelocityVerlet)
303# Start multi-threading with 8 threads
304# STEP562, t = 0.0562s, timeToGo = 5.12578s, Nit/step = 0
305# STEP1126, t = 0.1126s, timeToGo = 3.10595s, Nit/step = 0
306# STEP1688, t = 0.1688s, timeToGo = 1.10932s, Nit/step = 0
307# STEP2000, t = 0.2s, timeToGo = 2.03936e-13s, Nit/step = 0
308# Solver terminated successfully after 7.15063 seconds.
309# ====================
310# CPU-time statistics:
311# total time = 7.15 seconds
312# measured time= 6.86 seconds (=95.9%)
313# non-zero timer [__ sub-timer]:
314# newtonIncrement = 3.16%
315# integrationFormula= 6.44%
316# ODE2RHS = 84.1%
317# writeSolution = 4.47%
318# overhead = 1.81%
319# visualization/user= 0.00365%
320# special timers:
321# Contact:BoundingBoxes = 0.89462 (13%)s
322# Contact:SearchTree = 1.142 (16.7%)s
323# Contact:Overall = 4.5078 (65.8%)s
324
325# n spheres= 8000 , ss= 48
326# +++++++++++++++++++++++++++++++
327# EXUDYN V1.9.68.dev1 solver: explicit time integration (VelocityVerlet)
328# Start multi-threading with 8 threads
329# STEP440, t = 0.044s, timeToGo = 7.10356s, Nit/step = 0
330# STEP861, t = 0.0861s, timeToGo = 5.29512s, Nit/step = 0
331# STEP1294, t = 0.1294s, timeToGo = 3.27367s, Nit/step = 0
332# STEP1707, t = 0.1707s, timeToGo = 1.37385s, Nit/step = 0
333# STEP2000, t = 0.2s, timeToGo = 2.71236e-13s, Nit/step = 0
334# Solver terminated successfully after 9.50154 seconds.
335# ====================
336# CPU-time statistics:
337# total time = 9.5 seconds
338# measured time= 9.17 seconds (=96.5%)
339# non-zero timer [__ sub-timer]:
340# newtonIncrement = 2.45%
341# integrationFormula= 4.94%
342# ODE2RHS = 87.5%
343# writeSolution = 3.6%
344# overhead = 1.54%
345# visualization/user= 0.00405%
346# special timers:
347# Contact:BoundingBoxes = 0.92908 (10.1%)s
348# Contact:SearchTree = 2.3468 (25.6%)s
349# Contact:Overall = 6.676 (72.8%)s
350
351
352
353#++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
354#++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
355#1.9.66, staticTriangles = True
356
357# n spheres= 8000 , ss= 16
358# +++++++++++++++++++++++++++++++
359# EXUDYN V1.9.68.dev1 solver: explicit time integration (VelocityVerlet)
360# Start multi-threading with 8 threads
361# WARNING: VelocityVerlet: still under development
362# STEP526, t = 0.0526s, timeToGo = 5.60837s, Nit/step = 0
363# STEP1091, t = 0.1091s, timeToGo = 3.33273s, Nit/step = 0
364# STEP1655, t = 0.1655s, timeToGo = 1.25102s, Nit/step = 0
365# STEP2000, t = 0.2s, timeToGo = 2.0821e-13s, Nit/step = 0
366# Solver terminated successfully after 7.30395 seconds.
367# ====================
368# CPU-time statistics:
369# total time = 7.3 seconds
370# measured time= 7.01 seconds (=96%)
371# non-zero timer [__ sub-timer]:
372# newtonIncrement = 3.19%
373# integrationFormula= 6.58%
374# ODE2RHS = 83.6%
375# writeSolution = 4.71%
376# overhead = 1.93%
377# visualization/user= 0.003%
378# special timers:
379# Contact:BoundingBoxes = 0.98863 (14.1%)s
380# Contact:SearchTree = 0.4626 (6.6%)s
381# Contact:Overall = 4.3393 (61.9%)s
382
383#++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
384#update to 1.9.68 (exact bin computation for triangles)
385# start create: number of masses = 8000
386# create mass 0
387# finish gContact
388# n spheres= 8000 , ss= 32
389# +++++++++++++++++++++++++++++++
390# EXUDYN V1.9.68.dev1 solver: explicit time integration (VelocityVerlet)
391# Start multi-threading with 8 threads
392# STEP639, t = 0.0639s, timeToGo = 4.26062s, Nit/step = 0
393# STEP1309, t = 0.1309s, timeToGo = 2.11214s, Nit/step = 0
394# STEP2000, t = 0.2s, timeToGo = 1.70989e-13s, Nit/step = 0
395# Solver terminated successfully after 5.99597 seconds.
396# ====================
397# CPU-time statistics:
398# total time = 6 seconds
399# measured time= 5.72 seconds (=95.4%)
400# non-zero timer [__ sub-timer]:
401# newtonIncrement = 3.65%
402# integrationFormula= 7.59%
403# ODE2RHS = 81.1%
404# writeSolution = 5.57%
405# overhead = 2.07%
406# visualization/user= 0.00279%
407# special timers:
408# Contact:BoundingBoxes = 0.86635 (15.1%)s
409# Contact:SearchTree = 0.59121 (10.3%)s
410# Contact:Overall = 3.3974 (59.4%)s
411
412
413# runfile('C:/DATA/cpp/EXUDYN_git/main/pythonDev/Examples/particlesSilo.py', wdir='C:/DATA/cpp/EXUDYN_git/main/pythonDev/Examples')
414# start create: number of masses = 8000
415# create mass 0
416# finish gContact
417# n spheres= 8000 , ss= 48
418# +++++++++++++++++++++++++++++++
419# EXUDYN V1.9.68.dev1 solver: explicit time integration (VelocityVerlet)
420# Start multi-threading with 8 threads
421# STEP517, t = 0.0517s, timeToGo = 5.74121s, Nit/step = 0
422# STEP1051, t = 0.1051s, timeToGo = 3.614s, Nit/step = 0
423# STEP1601, t = 0.1601s, timeToGo = 1.49891s, Nit/step = 0
424# STEP2000, t = 0.2s, timeToGo = 2.14357e-13s, Nit/step = 0
425# Solver terminated successfully after 7.51458 seconds.
426# ====================
427# CPU-time statistics:
428# total time = 7.51 seconds
429# measured time= 7.21 seconds (=95.9%)
430# non-zero timer [__ sub-timer]:
431# newtonIncrement = 3.12%
432# integrationFormula= 6.21%
433# ODE2RHS = 84.7%
434# writeSolution = 4.11%
435# overhead = 1.84%
436# visualization/user= 0.00239%
437# special timers:
438# Contact:BoundingBoxes = 0.88801 (12.3%)s
439# Contact:SearchTree = 0.93017 (12.9%)s
440# Contact:Overall = 4.8152 (66.8%)s
441
442#++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
443#large test:
444# 500000 particles, stepSize=2.5e-5
445# STEP40046, t = 1.00115s, timeToGo = 5.81135 days, tCPU=2.84971h, Nit/step = 0
446# STEP121643, t = 3.04107s, timeToGo = 6.78003 days, tCPU=10.5378h, Nit/step = 0
447# STEP121644 (stopped), t = 3.04107s, tCPU=37936.2s, Nit/step = 0
448# solver stopped by user after 37935.8 seconds.
449# ====================
450# CPU-time statistics:
451# total time = 3.79e+04 seconds
452# measured time= 3.63e+04 seconds (=95.8%)
453# non-zero timer [__ sub-timer]:
454# newtonIncrement = 3.02%
455# integrationFormula= 5.06%
456# ODE2RHS = 86.1%
457# writeSolution = 0.974%
458# overhead = 1.18%
459# visualization/user= 3.61%
460# special timers:
461# Contact:BoundingBoxes = 3156.8 (8.68%)s
462# Contact:SearchTree = 3350.5 (9.22%)s
463# Contact:Overall = 25633 (70.5%)s