particlesTest3D.py

You can view and download this file on Github: particlesTest3D.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.itemInterface import *
 15from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
 16import exudyn.graphics as graphics
 17
 18import numpy as np
 19
 20SC = exu.SystemContainer()
 21mbs = SC.AddSystem()
 22
 23#create an environment for mini example
 24
 25nGround = mbs.AddNode(NodePointGround(referenceCoordinates=[0,0,0]))
 26#mLast = mbs.AddMarker(MarkerNodePosition(nodeNumber=nGround))
 27
 28np.random.seed(1) #always get same results
 29
 30useGraphics = True
 31
 32L = 1
 33n = 8000 #up to 256000; *8*4 #32*8*8
 34# n = 5000
 35a = 0.2*L*0.5*10*0.5
 36radius = 0.35*a
 37m = 0.05
 38k = 4e3*10*0.5 #4e3 needs h=1e-4
 39d = 0.001*k*4*0.5
 40markerList = []
 41radiusList = []
 42gDataList = []
 43
 44
 45rb = 30*L
 46H = 8*L
 47pos0 = [0,-rb-0.5*H,0]
 48pos1 = [-rb-H,0,0]
 49pos2 = [ rb+H,0,0]
 50pos3 = [ 0,0,rb+H]
 51pos4 = [ 0,0,-rb-H]
 52posList=[pos0,pos1,pos2,pos3,pos4]
 53for pos in posList:
 54    #gDataList += [{'type':'Circle','position':pos,'radius':rb, 'color':graphics.color.grey}]
 55    #gDataList += [graphics.Cylinder(pAxis=pos, vAxis=[0,0,0.1], radius=rb, color= graphics.color.grey, nTiles=200)]
 56    colBG = graphics.color.grey
 57    colBG[3] = 0.05
 58    gDataList += [graphics.Sphere(point=pos, radius=rb, color= colBG, nTiles=50)]
 59    #gDataList += [GraphicsDataRectangle(-1.2*H,-H*0.75,1.2*H,16*H,color=graphics.color.red)]
 60    nMass = mbs.AddNode(NodePointGround(referenceCoordinates=pos,
 61                        visualization=VNodePointGround(show=False)))
 62    #oMass = mbs.AddObject(MassPoint(mass=m, nodeNumber=nMass))
 63    mThis = mbs.AddMarker(MarkerNodePosition(nodeNumber=nMass))
 64    markerList += [mThis]
 65    radiusList += [rb]
 66
 67
 68ns = 20
 69gDataSphere = []
 70for i in range(ns):
 71    gRad = radius*(0.75+0.4*(i/ns))
 72    # gSphere = graphics.Cylinder(pAxis=[0,0,-0.25], vAxis=[0,0,0.5], radius=gRad, color=graphics.color.blue, nTiles=12)
 73    # gSphere2 = graphics.Cylinder(pAxis=[0,0,-0.3], vAxis=[0,0,0.6], radius=0.8*gRad, color=graphics.color.steelblue, nTiles=10)
 74    gSphere = graphics.Sphere(point=[0,0,0], radius=gRad, color=graphics.color.blue, nTiles=8)
 75    gDataSphere += [[gSphere]]
 76
 77gDataSphere = []
 78
 79color4node = graphics.color.blue
 80print("start create: number of masses =",n)
 81for i in range(n):
 82
 83    kk = int(i/12800)
 84    color4node = graphics.colorList[min(kk%12,11)]
 85    # if (i%10000 == 0):
 86        # gDataSphere = []
 87        # for i in range(ns):
 88        #     gRad = radius*(0.75+0.4*(i/ns))
 89        #     # gSphere = graphics.Cylinder(pAxis=[0,0,-0.25], vAxis=[0,0,0.5], radius=gRad, color=graphics.color.blue, nTiles=12)
 90        #     # gSphere2 = graphics.Cylinder(pAxis=[0,0,-0.3], vAxis=[0,0,0.6], radius=0.8*gRad, color=graphics.color.steelblue, nTiles=10)
 91        #     gSphere = graphics.Sphere(point=[0,0,0], radius=gRad, color=graphics.colorList[min(k%12,11)], nTiles=8)
 92        #     gDataSphere += [[gSphere]]
 93        
 94
 95    if (i%20000 == 0): print("create mass",i)
 96    offy = 0
 97    row = 8*2 #160
 98    offy = -0.25*H-1.5*a+int(i/(row*row))*a+a*0.2*np.random.random(1)[0]
 99
100    offx = -0.6*a-H*0.5 + (i%row+1)*a+0.2*a*np.random.random(1)[0]
101    offz = -0.6*a-H*0.5 + (int(i/row)%row+1)*a+0.2*a*np.random.random(1)[0]
102
103    valueRand = np.random.random(1)[0]
104    gRad = radius*(0.75+0.4*valueRand)
105    #gSphere = graphics.Cylinder(pAxis=[0,0,-0.25], vAxis=[0,0,0.25], radius=gRad, color= graphics.color.steelblue, nTiles=16)
106    #gSphere2 = graphics.Cylinder(pAxis=[0,0,-0.3], vAxis=[0,0,0.3], radius=0.8*gRad, color= graphics.color.blue, nTiles=12)
107    nMass = mbs.AddNode(NodePoint(referenceCoordinates=[offx,offy,offz],
108                                  initialVelocities=[0,-20,0],
109                                  visualization=VNodePoint(show=True,drawSize=2*gRad, color=color4node)))
110    # gData = gDataSphere[int(valueRand*ns)]
111    # if not useGraphics:
112    #     gData = []
113    # if i%2 != 0:
114    #     gData = []
115    
116    oMass = mbs.AddObject(MassPoint(mass=m, nodeNumber=nMass,
117                                    #visualization=VMassPoint(graphicsData=[gSphere,gSphere2])
118                                    # visualization=VMassPoint(graphicsData=gData)
119                                    ))
120    mThis = mbs.AddMarker(MarkerNodePosition(nodeNumber=nMass))
121    mbs.AddLoad(Force(markerNumber=mThis, loadVector= [0,-m*9.81,0]))
122    markerList += [mThis]
123    radiusList += [gRad]
124    #if (i==n-1):
125    #    mbs.AddLoad(Force(markerNumber = mThis, loadVector = [5, -20, 0])) 
126
127    #mbs.AddObject(CartesianSpringDamper(markerNumbers=[mLast, mThis], 
128    #                                    stiffness = [k,k,k], damping=[d,d,d], offset=[a,0,0],
129    #                                    visualization = VCartesianSpringDamper(drawSize = 0.1*a)))
130
131    mLast = mThis
132print("finish create")
133#put here, such that it is transparent in background
134oGround=mbs.AddObject(ObjectGround(referencePosition= [0,0,0],
135                                   visualization=VObjectGround(graphicsData=gDataList)))
136
137if True:
138    gContact = mbs.AddGeneralContact()
139    gContact.verboseMode = 1
140
141    for i in range(len(markerList)):
142        m = markerList[i]
143        r = radiusList[i]
144        gContact.AddSphereWithMarker(m, radius=r, contactStiffness=k, contactDamping=d, frictionMaterialIndex=0)
145
146    # f=n/32000
147    ssx = 20 #search tree size
148    #ssy = int(500*f) #search tree size
149    ssy = 200
150    # mbs.Assemble()
151    # gContact.FinalizeContact(mbs, searchTreeSize=np.array([ssx,ssy,ssx]), frictionPairingsInit=np.eye(1), 
152    #                          searchTreeBoxMin=np.array([-1.2*H,-0.75*H,-1.2*H]), 
153    #                          searchTreeBoxMax=np.array([1.2*H,4*16*H,1.2*H])
154    #                          )
155    gContact.SetFrictionPairings(np.eye(1))
156    gContact.SetSearchTreeCellSize(numberOfCells=[ssx,ssy,ssx])
157    gContact.SetSearchTreeBox(pMin=np.array([-1.2*H,-0.75*H,-1.2*H]), pMax=np.array([1.2*H,4*16*H,1.2*H]))
158    print('treesize=',ssx*ssx*ssy)
159
160mbs.Assemble()
161print("finish gContact")
162
163tEnd = 10
164h= 0.0001*0.25
165simulationSettings = exu.SimulationSettings()
166simulationSettings.linearSolver.solverType = exu.LinearSolverType.EigenSparse
167#simulationSettings.solution.file.write = True
168simulationSettings.solution.file.write = True
169simulationSettings.solution.file.writePeriod = 0.02
170simulationSettings.solution.precision = 5 #make files smaller
171simulationSettings.solution.file.export.accelerations = False
172simulationSettings.solution.file.export.velocities = False
173#simulationSettings.solution.file.name = 'particles3D.txt'
174simulationSettings.show.computationTime = True
175#simulationSettings.show.statistics = True
176simulationSettings.timeIntegration.verboseMode = 1
177simulationSettings.parallel.numberOfThreads = 4
178
179simulationSettings.timeIntegration.newton.numericalDifferentiation.forODE2 = False
180simulationSettings.timeIntegration.newton.useModifiedNewton = False
181
182SC.visualizationSettings.general.graphicsUpdateInterval=0.5
183SC.visualizationSettings.general.circleTiling=200
184SC.visualizationSettings.view0.scene.drawCoordinateSystem=False
185SC.visualizationSettings.loads.show=False
186SC.visualizationSettings.bodies.show=False
187SC.visualizationSettings.markers.show=False
188
189SC.visualizationSettings.nodes.show=True
190SC.visualizationSettings.nodes.drawNodesAsPoint = False
191SC.visualizationSettings.nodes.defaultSize = 0 #must not be -1, otherwise uses autocomputed size
192SC.visualizationSettings.nodes.tiling = 4
193
194SC.visualizationSettings.view0.window.renderWindowSize=[1200,1200]
195#SC.visualizationSettings.view0.window.renderWindowSize=[1024,1400]
196SC.visualizationSettings.openGL.multiSampling = 4
197#improved OpenGL rendering
198
199SC.visualizationSettings.exportImages.saveImageFileName = "animation/frame"
200SC.visualizationSettings.exportImages.saveImageTimeOut=10000 #5000 is too shot sometimes!
201if False:
202    simulationSettings.solution.recordImagesInterval = 0.025
203    SC.visualizationSettings.general.graphicsUpdateInterval=2
204
205
206simulate=False
207if simulate:
208    if useGraphics:
209        SC.visualizationSettings.general.autoFitScene = False
210        SC.renderer.Start()
211        SC.renderer.RestoreSavedState()
212        SC.renderer.DoIdleTasks()
213
214    #initial gContact statistics
215    #simulationSettings.timeIntegration.numberOfSteps = 1
216    #simulationSettings.timeIntegration.endTime = h
217    #mbs.SolveDynamic(simulationSettings, solverType=exu.DynamicSolverType.ExplicitEuler)
218    #print(gContact)
219
220    simulationSettings.timeIntegration.numberOfSteps = int(tEnd/h)
221    simulationSettings.timeIntegration.endTime = tEnd
222    simulationSettings.timeIntegration.explicit.computeEndOfStepAccelerations = False #increase performance, accelerations less accurate
223    mbs.SolveDynamic(simulationSettings, solverType=exu.DynamicSolverType.ExplicitEuler)
224    print(gContact)
225    #p = mbs.GetNodeOutput(n, variableType=exu.OutputVariableType.Position)
226    #print("pEnd =", p[0], p[1])
227    print(gContact)
228
229    if useGraphics:
230        SC.renderer.DoIdleTasks()
231        SC.renderer.Stop() #safely close rendering window!
232else:
233    SC.visualizationSettings.general.autoFitScene = False
234    SC.visualizationSettings.general.graphicsUpdateInterval=0.5
235    
236    #load previously computed solution
237    # print('load solution file')
238    # sol = LoadSolutionFile('particles3DX.txt', safeMode=True)
239    print('start SolutionViewer')
240    # mbs.SolutionViewer(sol)
241    mbs.SolutionViewer()