objectFFRFTest.py

You can view and download this file on Github: objectFFRFTest.py

#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# This is an EXUDYN example
#
# Details:  Test for ObjectFFRF with C++ implementation user function for reduced order equations of motion
# NOTE: this is a development file, with lots of unstructured code; just kept for consistency!
#
# Author:   Johannes Gerstmayr
# Date:     2020-05-13
#
# 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 * #includes itemInterface and rigidBodyUtilities
import exudyn.graphics as graphics #only import if it does not conflict
from exudyn.FEM import *

useGraphics = True #without test
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#you can erase the following lines and all exudynTestGlobals related operations if this is not intended to be used as TestModel:
try: #only if called from test suite
    from modelUnitTests import exudynTestGlobals #for globally storing test results
    useGraphics = exudynTestGlobals.useGraphics
except:
    class ExudynTestGlobals:
        pass
    exudynTestGlobals = ExudynTestGlobals()
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

SC = exu.SystemContainer()
mbs = SC.AddSystem()

import numpy as np

#==> DO NOT USE THE APPROACH of this test, but use the FEMinterface; also use the more efficient ObjectFFRFreducedOrder !!!!

nodeDrawSize = 0.0025

testMode = 1 #0=MarkerGeneric, 1=MarkerSuperElement
modeNames = ['FFRF_MG','FFRF']

#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#Use FEMinterface to import FEM model and create FFRFreducedOrder object
fem = FEMinterface()
inputFileName = 'testData/rotorDiscTest' #runTestSuite.py is at another directory

nodes=fem.ImportFromAbaqusInputFile(inputFileName+'.inp', typeName='Instance', name='rotor-1')
elements = np.array(fem.elements[0]['Hex8'])

fem.ReadMassMatrixFromAbaqus(inputFileName+'MASS1.mtx')
fem.ReadStiffnessMatrixFromAbaqus(inputFileName+'STIF1.mtx')
fem.ScaleStiffnessMatrix(1e-2) #for larger deformations, stiffness is reduced to 1%

massMatrix = fem.GetMassMatrix(sparse=False)
stiffnessMatrix = fem.GetStiffnessMatrix(sparse=False)

#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

exu.Print("nodes size=", nodes.shape)
exu.Print("elements size=", elements.shape)

minZ = min(nodes[:,2])
maxZ = max(nodes[:,2])
midZ = 0.5*(minZ+maxZ)

#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#nLeft = (78-1)
#nRight = (77-1)
#nMid = (43-1)
nLeft = -1
nRight = -1
nMid = -1
nForce = -1 #40; node where fore is attached
forceZ = 0.1

#nTopRight = 12 #JG, excitation
nForce = 12 #JG, excitation
nTopMid = 9  #alternative: 103; JG, fixed node "rotation"

unbalance = 0.1
massMatrix[nTopMid*3+0,nTopMid*3+0] += unbalance
massMatrix[nTopMid*3+1,nTopMid*3+1] += unbalance
massMatrix[nTopMid*3+2,nTopMid*3+2] += unbalance

#find output nodes:
for i in range(len(nodes)):
    n = nodes[i]
    if abs(n[2] - minZ) < 1e-6 and abs(n[1]) < 1e-6 and abs(n[0]) < 1e-6:
        nLeft = i
    if abs(n[2] - maxZ) < 1e-6 and abs(n[1]) < 1e-6 and abs(n[0]) < 1e-6:
        nRight = i
    if abs(n[2] - midZ) < 1e-6 and abs(n[1]) < 1e-6 and abs(n[0]) < 1e-6:
        nMid = i
    #if abs(n[2] - forceZ) < 1e-6 and abs(n[1]) < 1e-6 and abs(n[0]) < 1e-6:
    #    nForce = i


#exu.Print("nLeft=", nLeft, ", nRight=", nRight, ", nMid=", nMid, ", nForce=", nForce)

#posX=0.15 #+/- x coordinate of nodes
posLeft = nodes[nLeft]
posRight = nodes[nRight]

nNodes = len(nodes)
nODE2 = nNodes*3
exu.Print("nNodes=", nNodes, ", nODE2=", nODE2)

#+++++++++++++++++++++++++++++++++++++++++++++++++++++++
calcEig = True
if calcEig:
    from scipy.linalg import solve, eigh, eig #eigh for symmetric matrices, positive definite

    [eigvals, eigvecs] = eigh(stiffnessMatrix, massMatrix) #this gives omega^2 ... squared eigen frequencies (rad/s)
    ev = np.sort(a=abs(eigvals))

    listEig = []
    for i in range(18):
        listEig += [np.sqrt(ev[i])/(2*np.pi)]
    exu.Print("eigenvalues =", listEig)
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++

#eigenvalues of constrained system:
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++
calcEigConstrained = False
if calcEigConstrained:

    constrainedCoordinates = [0]*nODE2
    constrainedCoordinates[nLeft*3+0] = 1  #X
    constrainedCoordinates[nLeft*3+1] = 1  #Y
    constrainedCoordinates[nLeft*3+2] = 1  #Z
    constrainedCoordinates[nRight*3+1] = 1 #Y
    constrainedCoordinates[nRight*3+2] = 1 #Z

    nConstrained = sum(constrainedCoordinates)
    indexList = []
    cnt = 0
    for i in range(nODE2):
        if constrainedCoordinates[i] == 0:
            indexList+=[i]

    nODE2C = nODE2-nConstrained
    massMatrixC = np.zeros((nODE2C,nODE2C))
    stiffnessMatrixC = np.zeros((nODE2C,nODE2C))

    for i in range(nODE2C):
        for j in range(nODE2C):
            massMatrixC[i,j] = massMatrix[indexList[i],indexList[j]]
            stiffnessMatrixC[i,j] = stiffnessMatrix[indexList[i],indexList[j]]

    from scipy.linalg import solve, eigh, eig #eigh for symmetric matrices, positive definite

    [eigvals, eigvecs] = eigh(stiffnessMatrixC, massMatrixC) #this gives omega^2 ... squared eigen frequencies (rad/s)
    ev = np.sort(a=abs(eigvals))

    listEig = []
    for i in range(18):
        listEig += [np.sqrt(ev[i])/(2*np.pi)]
    exu.Print("eigenvalues of constrained system (Hz)=", listEig)


#compute (3 x 3*n) skew matrix from (3*n) vector
def ComputeSkewMatrix(v):
    n = int(len(v)/3) #number of nodes
    sm = np.zeros((3*n,3))

    for i in range(n):
        off = 3*i
        x=v[off+0]
        y=v[off+1]
        z=v[off+2]
        mLoc = np.array([[0,-z,y],[z,0,-x],[-y,x,0]])
        sm[off:off+3,:] = mLoc[:,:]

    return sm
    #Y0=np.array([[0,0,0],[0,0,1],[0,-1,0]])
    #Y1=np.array([[0,0,-1],[0,0,0],[1,0,0]])
    #Y2=np.array([[0,1,0],[-1,0,0],[0,0,0]])


#+++++++++++++++++++++++++++++++++++++++++++++++++++++++

nNodesFFRF = nNodes
nODE2FFRF = nNodes*3

#the following is only working for useFFRFobject = True; with False, it represents an old mode, deactivated with newer ObjectGenericODE2!
useFFRFobject = True #uses ObjectFFRF instead of ObjectGenericODE2 ==> mesh nodes are indexed from 0 .. n_meshNodes-1
decFFRFobject = 0    #adapt node numbers if useFFRFobject=True
if useFFRFobject: decFFRFobject = 1

useFFRF = True
if useFFRF:
    p0 = [0,0,midZ*0] #reference position
    v0 = [0,0,0] #initial translational velocity
    omega0 = [0,0,50*2*pi] #arbitrary initial angular velocity
    ep0 = np.array(eulerParameters0) #no rotation
    ep_t0 = AngularVelocity2EulerParameters_t(omega0, ep0)
    #adjust mass and stiffness matrices
    nODE2rigid = len(p0)+len(ep0)
    nODE2rot = len(ep0) #dimension of rotation parameters
    dim3D = len(p0)     #dimension of position
    nODE2FFRF = nODE2rigid + nODE2
    nNodesFFRF = nNodes+1

    Knew = np.zeros((nODE2FFRF,nODE2FFRF))
    Mnew = np.zeros((nODE2FFRF,nODE2FFRF))

    FillInSubMatrix(stiffnessMatrix, Knew, nODE2rigid, nODE2rigid)
    FillInSubMatrix(massMatrix, Mnew, nODE2rigid, nODE2rigid)

    Dnew = 2e-4*Knew #add little bit of damping
    fNew = np.zeros(nODE2FFRF)

    #+++++++++++++++++++++++++++++++++++++++++++++++++++++++
    #FFRF constant matrices:
    unit3D = np.eye(3)
    Phit = np.kron(np.ones(nNodes),unit3D).T
    PhitTM = Phit.T @ massMatrix

    Mtt = Phit.T @ massMatrix @ Phit
    Mnew[0:3,0:3] = Mtt
    totalMass = Mtt[0,0] #must be diagonal matrix with mass in diagonal

    xRef = nodes.flatten() #node reference values in single vector (can be added then to q[7:])
    xRefTilde = ComputeSkewMatrix(xRef) #rfTilde without q

    inertiaLocal = xRefTilde.T @ massMatrix @ xRefTilde
    if False:
        exu.Print("Phit=", Phit[0:6,:])
        exu.Print("PhitTM=", PhitTM[0:3,0:6])
        exu.Print("xRef=", xRef[0:6])
        exu.Print("xRefTilde=", xRefTilde[0:6,:])

        exu.Print("python inertiaLocal=", inertiaLocal)
        exu.Print("python totalMass=", totalMass)
        exu.Print("python Mtt=", Mtt)

    #+++++++++++++++++++++++++++++++++++++++++++++++++++++++
    #compute gravity term
    g=np.array([0,-9.81,0]) #gravity vector
    fGravRigid = list(totalMass*g)+[0,0,0,0]
    #fGrav = np.array(fGravRigid + list((massMatrix @ Phit) @ g) ) #only local vector, without rotation
    #exu.Print("fGrav=",fGrav)
    #+++++++++++++++++++++++++++++++++++++++++++++++++++++++



#    mbs.Reset()
#background
rect = [-0.3,-0.1,0.3,0.1] #xmin,ymin,xmax,ymax
background = {'type':'Line', 'color':[0.1,0.1,0.8,1], 'data':[rect[0],rect[1],0, rect[2],rect[1],0, rect[2],rect[3],0, rect[0],rect[3],0, rect[0],rect[1],0]} #background
oGround = mbs.AddObject(ObjectGround(referencePosition= [0,0,0]))
mGround = mbs.AddMarker(MarkerBodyRigid(bodyNumber=oGround, localPosition=p0))
#exu.Print("goundMarker=", mGround)

nodeList = []
nRB = -1

if useFFRF:
    nRB = mbs.AddNode(NodeRigidBodyEP(referenceCoordinates=p0+list(ep0),
                                      initialVelocities=v0+list(ep_t0)))
    nodeList += [nRB]


    #adjust node numbers:
    #in all cases, triglist is same; elements = elements  + 1 - decFFRFobject #increase node numbers, because of FFRFnode

    #boundary nodes not adjusted for old constraints in
    nLeft += 1
    nRight += 1
    nMid += 1
    nForce += 1
    nTopMid += 1

for node in nodes:
    n3 = mbs.AddNode(Point(referenceCoordinates = list(node), visualization=VNodePoint(show = not useFFRF))) #not useFFRF)))
    nodeList += [n3]
#+++++++++++++++++++++++++++++++++++++++++++++++++++++++




#exu.Print("nForce=", nForce)

#conventional user function:
def UFforce(mbs, t, itemIndex, q, q_t):
    force = np.zeros(nODE2FFRF)
    Avec = mbs.GetNodeOutput(nRB,  exu.OutputVariableType.RotationMatrix)
    A = Avec.reshape((3,3))

    #implementation for Euler Parameters (Glocal_t*theta_t=0)
    ep = np.array(q[dim3D:nODE2rigid]) + ep0 #add reference values, q are only the change w.r.t. reference values!
    G = EulerParameters2GLocal(ep)

    cF_t = np.array(q_t[nODE2rigid:])         #velocities of flexible coordinates

    rF = xRef + np.array(q[nODE2rigid:]) #nodal position

    omega3D = G @ np.array(q_t[dim3D:nODE2rigid])
    omega3Dtilde = Skew(omega3D)
    omega = np.array(list(omega3D)*nNodes)
    omegaTilde = np.kron(np.eye(nNodes),omega3Dtilde)

    #squared angul. vel. matrix:
    omega3Dtilde2 = Skew(omega3D) @ Skew(omega3D)
    omegaTilde2 = np.kron(np.eye(nNodes),omega3Dtilde2)

    if True: #for rotordynamics, we assume rigid body motion with constant ang. vel.
        #these 2 terms are computationally costly:
        rfTilde = ComputeSkewMatrix(rF) #rfTilde
        cF_tTilde = ComputeSkewMatrix(cF_t)

        fTrans = A @ (omega3Dtilde @ PhitTM @ rfTilde @ omega3D + 2*PhitTM @ cF_tTilde @ omega3D)
        force[0:dim3D] = fTrans

        fRot = -G.T@(omega3Dtilde @ rfTilde.T @ massMatrix @ rfTilde @ omega3D +
                        2*rfTilde.T @ massMatrix @ cF_tTilde @ omega3D)
        force[dim3D:nODE2rigid] = fRot

    fFlex = -massMatrix @ (omegaTilde2 @ rF + 2*(omegaTilde @ cF_t))
    force[nODE2rigid:] = fFlex

    #add gravity:
    if False:
        fGrav = np.array(fGravRigid + list(PhitTM.T @ (A.T @ g)) ) #only local vector, without rotation
        force += fGrav


    return force

#ffrf mass matrix:
def UFmassGenericODE2(mbs, t, itemIndex, q, q_t):
    Avec = mbs.GetNodeOutput(nRB,  exu.OutputVariableType.RotationMatrix)
    A = Avec.reshape((3,3))
    ep = q[dim3D:nODE2rigid] + ep0 #add reference values, q are only the change w.r.t. reference values!
    G = EulerParameters2GLocal(ep)

    rF = xRef + q[nODE2rigid:] #nodal position
    rfTilde = ComputeSkewMatrix(rF) #rfTilde

    #Mtr:
    Mtr = -A @ PhitTM @ rfTilde @ G
    Mnew[0:dim3D, dim3D:dim3D+nODE2rot] = Mtr
    Mnew[dim3D:dim3D+nODE2rot, 0:dim3D] = Mtr.T
    #Mtf:
    Mtf = A @ PhitTM
    Mnew[0:dim3D, nODE2rigid:] = Mtf
    Mnew[nODE2rigid:, 0:dim3D] = Mtf.T
    #Mrf:
    Mrf = -G.T @ rfTilde.T @ massMatrix
    Mnew[dim3D:dim3D+nODE2rot, nODE2rigid:] = Mrf
    Mnew[nODE2rigid:, dim3D:dim3D+nODE2rot] = Mrf.T
    #Mrr:
    Mnew[dim3D:dim3D+nODE2rot, dim3D:dim3D+nODE2rot] = -Mrf @ rfTilde @ G   #G.T @ rfTilde.T @ massMatrix @ rfTilde @ G

    #exu.Print(np.linalg.norm(rF))
    #omega3D = G @ q_t[dim3D:nODE2rigid]
    #exu.Print(omega3D)

    #exu.Print("Mtt Mtr Mtf=",Mnew[0:3,0:10].round(5))
    #exu.Print("Mrr=",Mnew[3:7,3:7].round(5))
    #exu.Print("Mff=",Mnew[7:10,7:13].round(5))
    #Mnew[:,:] = 0 #for testing
    return Mnew


#convert elements to triangles for drawing:
trigList = []
for element in elements:
    trigList += ConvertHexToTrigs(element)
trigList = np.array(trigList)
#exu.Print("trig list=", trigList)
#exu.Print("trig list size=", trigList.shape)

stiffnessMatrixFF = exu.MatrixContainer()
stiffnessMatrixFF.SetWithDenseMatrix(stiffnessMatrix,useDenseMatrix=False)
massMatrixFF = exu.MatrixContainer()
massMatrixFF.SetWithDenseMatrix(massMatrix,useDenseMatrix=False)
emptyMC = exu.MatrixContainer()

#add generic body for FFRF-Object:
if useFFRFobject:
    oGenericODE2 = mbs.AddObject(ObjectFFRF(nodeNumbers = nodeList,
                                                    #massMatrixFF=Mnew,
                                                    stiffnessMatrixFF=stiffnessMatrixFF,
                                                    #dampingMatrixFF=Dnew,
                                                    massMatrixFF=massMatrixFF,
                                                    #dampingMatrixFF=emptyMC,
                                                    #forceVector=fNew, #now is a global vector!
                                                    #forceUserFunction=UFforce,
                                                    #computeFFRFterms=True,
                                                    #massMatrixUserFunction=UFmassGenericODE2,
                                                    visualization=VObjectFFRF(triangleMesh = trigList,
                                                                              color=graphics.color.lightred,
                                                                              showNodes = True)))
else:
    oGenericODE2 = mbs.AddObject(ObjectGenericODE2(nodeNumbers = nodeList,
                                                    massMatrix=Mnew,
                                                    stiffnessMatrix=Knew,
                                                    dampingMatrix=Dnew,
                                                    forceVector=fNew, forceUserFunction=UFforce,
                                                    useFirstNodeAsReferenceFrame=True, #does not exist anymore
                                                    massMatrixUserFunction=UFmassGenericODE2,
                                                    visualization=VObjectGenericODE2(triangleMesh = trigList,
                                                                                     color=graphics.color.lightred,
                                                                                     showNodes = True)))

if nODE2rot == 4: #for euler parameters --> add body to constrain EP
    epsMass = 1e-3#needed, if not all ffrf terms are included
    #add rigid body to node for Euler Parameter constraint:
    nReferenceFrame = mbs.AddObject(ObjectRigidBody(nodeNumber=nRB, physicsMass=epsMass, physicsInertia=[epsMass,epsMass,epsMass,0,0,0]))

mRB = mbs.AddMarker(MarkerNodeRigid(nodeNumber=nRB))
#exu.Print("rigidNodeMarker=", mRB)


#mbs.AddLoad(Torque(markerNumber=mRB, loadVector=[0,0,100*2*pi])) #add drive for reference frame

if False: #OPTIONAL: lock rigid body motion of reference frame (for tests):
    mbs.AddObject(GenericJoint(markerNumbers=[mGround, mRB], constrainedAxes=[1,1,1, 1,1,0]))



#ground point:
nGroundLeft = mbs.AddNode(NodePointGround(referenceCoordinates=[0,0,minZ], visualization = VNodePointGround(show=False))) #ground node for coordinate constraint
nGroundRight = mbs.AddNode(NodePointGround(referenceCoordinates=[0,0,maxZ], visualization = VNodePointGround(show=False))) #ground node for coordinate constraint

mGroundLeft = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber = nGroundLeft, coordinate=0)) #Ground node ==> no action
mGroundRight = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber = nGroundRight, coordinate=0)) #Ground node ==> no action

mGroundPosLeft = mbs.AddMarker(MarkerNodePosition(nodeNumber = nGroundLeft)) #Ground node ==> no action
mGroundPosRight = mbs.AddMarker(MarkerNodePosition(nodeNumber = nGroundRight)) #Ground node ==> no action

#exu.Print("ground Node/Coordinate Markers =", mGroundLeft, "...", mGroundPosRight)

#++++++++++++++++++++++++++++++++++++++++++
#find nodes at left and right surface:
nodeListLeft = []
nodeListRight = []

for i in range(len(nodes)):
    n = nodes[i]
    if abs(n[2] - minZ) < 1e-6:
        nodeListLeft += [i+useFFRF] #add 1 for rigid body node, which is first node in GenericODE2 object
    elif abs(n[2] - maxZ) < 1e-6:
        nodeListRight += [i+useFFRF]

#exu.Print("nodeListLeft =",nodeListLeft)
#exu.Print("nodeListRight =",nodeListRight)

lenLeft = len(nodeListLeft)
lenRight = len(nodeListRight)
weightsLeft = np.array((1./lenLeft)*np.ones(lenLeft))
weightsRight = np.array((1./lenRight)*np.ones(lenRight))

#exu.Print("nodeLeft =",nLeft)
#exu.Print("nodeRight =",nRight)

#lock FFRF reference frame:
for i in range(3):
    mLeft = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber = nLeft, coordinate=i))
#    exu.Print("mLeftCoord=", mLeft)

    mbs.AddObject(CoordinateConstraint(markerNumbers=[mGroundLeft,mLeft]))
    if i != 2: #exclude double constraint in z-direction (axis)
        mRight = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber = nRight, coordinate=i))
#        exu.Print("mRightCoord=", mRight)
        mbs.AddObject(CoordinateConstraint(markerNumbers=[mGroundRight,mRight]))

#lock rotation (also needed in FFRF):
mTopRight = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber = nTopMid, coordinate=0)) #x-coordinate of node with y-max
#exu.Print("mTopRight=", mTopRight)
mbs.AddObject(CoordinateConstraint(markerNumbers=[mGroundRight,mTopRight]))

addSupports = True
if addSupports:
    k = 2e8
    d = k*0.01

    useSpringDamper = True

    if testMode == 0:
        raise ValueError('does not exist any more')
        # mLeft = mbs.AddMarker(MarkerGenericBodyPosition(bodyNumber=oGenericODE2,
        #                                                 nodeNumbers=nodeListLeft,
        #                                                 weightingFactors=weightsLeft,
        #                                                 useFirstNodeAsReferenceFrame=useFFRF))
        # mRight = mbs.AddMarker(MarkerGenericBodyPosition(bodyNumber=oGenericODE2,
        #                                                 nodeNumbers=nodeListRight,
        #                                                 weightingFactors=weightsRight,
        #                                                 useFirstNodeAsReferenceFrame=useFFRF))
    else:
        mLeft = mbs.AddMarker(MarkerSuperElementPosition(bodyNumber=oGenericODE2,
                                                        meshNodeNumbers=np.array(nodeListLeft)-1, #these are the meshNodeNumbers
                                                        weightingFactors=weightsLeft))
        mRight = mbs.AddMarker(MarkerSuperElementPosition(bodyNumber=oGenericODE2,
                                                        meshNodeNumbers=np.array(nodeListRight)-1, #these are the meshNodeNumbers
                                                        weightingFactors=weightsRight))

    if useSpringDamper:
        oSJleft = mbs.AddObject(CartesianSpringDamper(markerNumbers=[mLeft, mGroundPosLeft],
                                            stiffness=[k,k,k], damping=[d,d,d]))
        oSJright = mbs.AddObject(CartesianSpringDamper(markerNumbers=[mRight,mGroundPosRight],
                                            stiffness=[k,k,0], damping=[d,d,d]))
    else:
        oSJleft = mbs.AddObject(SphericalJoint(markerNumbers=[mGroundPosLeft,mLeft], visualization=VObjectJointSpherical(jointRadius=nodeDrawSize)))
        oSJright= mbs.AddObject(SphericalJoint(markerNumbers=[mGroundPosRight,mRight], visualization=VObjectJointSpherical(jointRadius=nodeDrawSize)))


fileDir = 'solution/'
sDisp=mbs.AddSensor(SensorSuperElement(bodyNumber=oGenericODE2, meshNodeNumber=nMid-1, #meshnode is -1
                         storeInternal=True,#fileName=fileDir+'nMidDisplacement'+modeNames[testMode]+'test.txt',
                         outputVariableType = exu.OutputVariableType.Displacement))


#exu.Print(mbs)
mbs.Assemble()

#exu.Print("ltg GenericODE2 left =", mbs.systemData.GetObjectLTGODE2(oSJleft))
#exu.Print("ltg GenericODE2 right=", mbs.systemData.GetObjectLTGODE2(oSJright))

simulationSettings = exu.SimulationSettings()

SC.visualizationSettings.nodes.defaultSize = nodeDrawSize
SC.visualizationSettings.nodes.drawNodesAsPoint = False
SC.visualizationSettings.connectors.defaultSize = 2*nodeDrawSize

SC.visualizationSettings.nodes.show = True
SC.visualizationSettings.nodes.showBasis = True #of rigid body node of reference frame
SC.visualizationSettings.nodes.basisSize = 0.12
SC.visualizationSettings.bodies.deformationScaleFactor = 10

SC.visualizationSettings.openGL.showFaceEdges = True
SC.visualizationSettings.openGL.showFaces = True

SC.visualizationSettings.sensors.show = True
SC.visualizationSettings.sensors.drawSimplified = False
SC.visualizationSettings.sensors.defaultSize = 0.01
SC.visualizationSettings.markers.drawSimplified = False
SC.visualizationSettings.markers.show = True
SC.visualizationSettings.markers.defaultSize = 0.01

SC.visualizationSettings.loads.drawSimplified = False

SC.visualizationSettings.contour.outputVariable = exu.OutputVariableType.Displacement
SC.visualizationSettings.contour.outputVariableComponent = 2 #z-component

simulationSettings.solutionSettings.solutionInformation = modeNames[testMode]
simulationSettings.solutionSettings.writeSolutionToFile=False

h=1e-4
tEnd = 0.001
simulationSettings.timeIntegration.numberOfSteps = int(tEnd/h)
simulationSettings.timeIntegration.endTime = tEnd
simulationSettings.solutionSettings.solutionWritePeriod = h
simulationSettings.timeIntegration.verboseMode = 1
simulationSettings.timeIntegration.newton.useModifiedNewton = True
#simulationSettings.timeIntegration.newton.maxModifiedNewtonIterations = 10
#simulationSettings.timeIntegration.newton.modifiedNewtonJacUpdatePerStep = True #this improves the FFRF simulation slightly

simulationSettings.solutionSettings.sensorsWritePeriod = h

simulationSettings.timeIntegration.generalizedAlpha.spectralRadius = 0.5 #SHOULD work with 0.9 as well
#simulationSettings.displayStatistics = True
#simulationSettings.displayComputationTime = True

#create animation:
#simulationSettings.solutionSettings.recordImagesInterval = 0.0002
#SC.visualizationSettings.exportImages.saveImageFileName = "animation/frame"

if useGraphics:
    exu.StartRenderer()
    if 'lastRenderState' in vars():
        SC.SetRenderState(lastRenderState) #load last model view

    mbs.WaitForUserToContinue() #press space to continue

mbs.SolveDynamic(simulationSettings)

data = mbs.GetSensorStoredData(sDisp)
#data = np.loadtxt(fileDir+'nMidDisplacement'+modeNames[testMode]+'test.txt', comments='#', delimiter=',')
result = abs(data).sum()
#pos = mbs.GetObjectOutputBody(objFFRF['oFFRFreducedOrder'],exu.OutputVariableType.Position, localPosition=[0,0,0])
exu.Print('solution of ObjectFFRF=',result)

exudynTestGlobals.testError = result - (0.0064600108120842666) #2022-02-20 (changed to internal sensor data); 2020-05-17 (tEnd=0.001, h=1e-4): 0.006445369560936511
exudynTestGlobals.testResult = result#0.006460010812070858


if useGraphics:
    SC.WaitForRenderEngineStopFlag()
    exu.StopRenderer() #safely close rendering window!
    lastRenderState = SC.GetRenderState() #store model view for next simulation

##++++++++++++++++++++++++++++++++++++++++++++++q+++++++
#plot results
cList=['r-','g-','b-','k-','c-','r:','g:','b:','k:','c:']
if useGraphics:


    mbs.PlotSensor(sDisp, components=0, closeAll=True)