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 *
 15from exudyn.graphicsDataUtilities import *
 16
 17import numpy as np
 18
 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
 32
 33useRigidBody = True
 34L = 1
 35n = 4000*25 #test: 4000
 36n = 8000    #fast simulation for testing
 37row = 8*2
 38a = L*0.5*0.5
 39h= 0.0001
 40m = 0.05
 41ss=16*2
 42holeRad = 3*a
 43
 44if n >= 4000*8:
 45    a*=0.4
 46    row=40
 47    ss = 16*3
 48    holeRad *= 1.4 #better 1.4 !
 49
 50if n >= 4000*64:
 51    a*=0.5
 52    row*=2
 53    h *= 0.5
 54    m *=0.125
 55    ss*=2
 56
 57radius = 0.5*a
 58t = 0.5*a
 59k = 8e4*2 #4e3 needs h=1e-4
 60d = 0.001*k*4*0.5*0.2
 61
 62frictionCoeff = 0.5
 63if not useRigidBody:
 64    frictionCoeff = 0
 65
 66markerList = []
 67radiusList = []
 68gDataList = []
 69
 70# rb = 30*L
 71H = 8*L
 72Hy=3*L
 73
 74gContact = mbs.AddGeneralContact()
 75gContact.verboseMode = 1
 76gContact.SetFrictionPairings(frictionCoeff*np.eye(1))
 77gContact.SetSearchTreeCellSize(numberOfCells=[ss,ss,ss])
 78#gContact.SetSearchTreeBox(pMin=np.array([-1.2*H,-H,-1.2*H]), pMax=np.array([1.2*H,14*H,1.2*H]))
 79#print('treesize=',ssx*ssx*ssy)
 80
 81
 82#%% ground
 83LL=6*L
 84p0 = np.array([0,0,-0.5*t])
 85color4wall = [0.6,0.6,0.6,0.5]
 86addNormals = False
 87hw=10*a
 88gFloor = GraphicsDataOrthoCubePoint(p0,[LL,LL,t],color4steelblue,addNormals)
 89gFloorAdd = GraphicsDataOrthoCubePoint(p0+[-0.5*LL,0,0.5*hw],[t,LL,hw],color4wall,addNormals)
 90gFloor = MergeGraphicsDataTriangleList(gFloor, gFloorAdd)
 91gFloorAdd = GraphicsDataOrthoCubePoint(p0+[ 0.5*LL,0,0.5*hw],[t,LL,hw],color4wall,addNormals)
 92gFloor = MergeGraphicsDataTriangleList(gFloor, gFloorAdd)
 93gFloorAdd = GraphicsDataOrthoCubePoint(p0+[0,-0.5*LL,0.5*hw],[LL,t,hw],color4wall,addNormals)
 94gFloor = MergeGraphicsDataTriangleList(gFloor, gFloorAdd)
 95gFloorAdd = GraphicsDataOrthoCubePoint(p0+[0, 0.5*LL,0.5*hw],[LL,t,hw],color4wall,addNormals)
 96gFloor = MergeGraphicsDataTriangleList(gFloor, gFloorAdd)
 97
 98gDataList = [gFloor]
 99
100
101nGround = mbs.AddNode(NodePointGround(referenceCoordinates=[0,0,0] ))
102mGround = mbs.AddMarker(MarkerNodeRigid(nodeNumber=nGround))
103#mGroundC = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber=nGround, coordinate=0))
104
105[meshPoints, meshTrigs] = GraphicsData2PointsAndTrigs(gFloor)
106#[meshPoints, meshTrigs] = RefineMesh(meshPoints, meshTrigs) #just to have more triangles on floor
107# [meshPoints, meshTrigs] = RefineMesh(meshPoints, meshTrigs) #just to have more triangles on floor
108gContact.AddTrianglesRigidBodyBased(rigidBodyMarkerIndex=mGround, contactStiffness=k, contactDamping=d, frictionMaterialIndex=0,
109    pointList=meshPoints,  triangleList=meshTrigs)
110
111if True: #looses color
112    gFloor = GraphicsDataFromPointsAndTrigs(meshPoints, meshTrigs, color=color4wall) #show refined mesh
113    gDataList = [gFloor]
114
115
116color4node = color4blue
117print("start create: number of masses =",n)
118for i in range(n):
119
120    kk = int(i/int(n/8))
121    color4node = color4list[min(kk%9,9)]
122
123    if (i%20000 == 0): print("create mass",i)
124    offy = 0
125
126    iz = int(i/(row*row))
127    ix = i%row
128    iy = int(i/row)%row
129
130    if iz % 2 == 1:
131        ix+=0.5
132        iy+=0.5
133
134    offz = 5*L+0.5*a+iz*a*0.74 #0.70x is limit value!
135    offx = -0.6*a-row*0.5*a + (ix+1)*a
136    offy = -0.6*a-row*0.5*a + (iy+1)*a
137
138    valueRand = np.random.random(1)[0]
139    rFact = 0.2 #random part
140    gRad = radius*(1-rFact+rFact*valueRand)
141    v0 = [0,0,-2]
142    pRef = [offx,offy,offz]
143
144    if not useRigidBody:
145        nMass = mbs.AddNode(NodePoint(referenceCoordinates=pRef,
146                                      initialVelocities=v0,
147                                      visualization=VNodePoint(show=True,drawSize=2*gRad, color=color4node)))
148
149        oMass = mbs.AddObject(MassPoint(physicsMass=m, nodeNumber=nMass,
150                                        #visualization=VMassPoint(graphicsData=[gSphere,gSphere2])
151                                        # visualization=VMassPoint(graphicsData=gData)
152                                        ))
153        mThis = mbs.AddMarker(MarkerNodePosition(nodeNumber=nMass))
154    else:
155        RBinertia = InertiaSphere(m, radius)
156        [nMass, oMass] = AddRigidBody(mainSys=mbs, inertia=RBinertia,
157                                nodeType=exu.NodeType.RotationRotationVector,
158                                position=pRef, velocity=v0,
159                                #graphicsDataList=gList,
160                                )
161        mbs.SetNodeParameter(nMass, 'VdrawSize', 2*gRad)
162        mbs.SetNodeParameter(nMass, 'Vcolor', color4node)
163        mThis = mbs.AddMarker(MarkerNodeRigid(nodeNumber=nMass))
164
165    mbs.AddLoad(Force(markerNumber=mThis, loadVector= [0,0,-m*9.81]))
166
167    gContact.AddSphereWithMarker(mThis, radius=gRad, contactStiffness=k, contactDamping=d,
168                                     frictionMaterialIndex=0)
169
170
171
172if True: #add Silo
173    SR = 3.1*L
174    SH = 2*L
175    SH2 = 1*L #hole
176    SR2 = holeRad   #hole
177    ST = 0.25*L
178    #contour=8*np.array([[0,0.2],[0.3,0.2],[0.5,0.3],[0.7,0.4],[1,0.4],[1,0.]])
179    contour=np.array([[0,SR2],[0,SR2+ST],[SH2-ST,SR2+ST],[2*SH2-ST,SR+ST],[2*SH2+SH,SR+ST],
180                      [2*SH2+SH,SR],[2*SH2,SR],[SH2,SR2],[0,SR2]])
181    contour = list(contour)
182    contour.reverse()
183    gSilo = GraphicsDataSolidOfRevolution(pAxis=[0,0,3*L], vAxis=[0,0,1],
184            contour=contour, color=[0.8,0.1,0.1,0.5], nTiles = 64)
185
186    [meshPoints, meshTrigs] = GraphicsData2PointsAndTrigs(gSilo)
187    gContact.AddTrianglesRigidBodyBased(rigidBodyMarkerIndex=mGround, contactStiffness=k, contactDamping=d, frictionMaterialIndex=0,
188        pointList=meshPoints,  triangleList=meshTrigs)
189
190
191#put here, such that it is transparent in background
192oGround=mbs.AddObject(ObjectGround(referencePosition= [0,0,0],
193                                   visualization=VObjectGround(graphicsData=[gSilo]+gDataList)))
194
195
196mbs.Assemble()
197print("finish gContact")
198
199items=gContact.GetItemsInBox(pMin=[-4,-4,0], pMax=[4,4,20])
200print('n spheres=',len(items['MarkerBasedSpheres']))
201
202
203tEnd = 50
204#tEnd = h*100
205simulationSettings = exu.SimulationSettings()
206simulationSettings.linearSolverType = exu.LinearSolverType.EigenSparse
207#simulationSettings.solutionSettings.writeSolutionToFile = True
208simulationSettings.solutionSettings.writeSolutionToFile = True
209simulationSettings.solutionSettings.solutionWritePeriod = 0.01
210simulationSettings.solutionSettings.outputPrecision = 5 #make files smaller
211simulationSettings.solutionSettings.exportAccelerations = False
212simulationSettings.solutionSettings.exportVelocities = False
213simulationSettings.solutionSettings.coordinatesSolutionFileName = 'solution/test.txt'
214simulationSettings.displayComputationTime = True
215#simulationSettings.displayStatistics = True
216simulationSettings.timeIntegration.verboseMode = 1
217simulationSettings.parallel.numberOfThreads = 8
218
219simulationSettings.timeIntegration.newton.numericalDifferentiation.forODE2 = False
220simulationSettings.timeIntegration.newton.useModifiedNewton = False
221
222SC.visualizationSettings.general.graphicsUpdateInterval=0.5*4
223SC.visualizationSettings.general.circleTiling=200
224SC.visualizationSettings.general.drawCoordinateSystem=True
225SC.visualizationSettings.loads.show=False
226SC.visualizationSettings.bodies.show=True
227SC.visualizationSettings.markers.show=False
228
229SC.visualizationSettings.nodes.show=True
230SC.visualizationSettings.nodes.drawNodesAsPoint = False
231SC.visualizationSettings.nodes.defaultSize = 0 #must not be -1, otherwise uses autocomputed size
232SC.visualizationSettings.nodes.tiling = 4
233
234SC.visualizationSettings.window.renderWindowSize=[1200,1200]
235#SC.visualizationSettings.window.renderWindowSize=[1024,1400]
236SC.visualizationSettings.openGL.multiSampling = 4
237#improved OpenGL rendering
238
239SC.visualizationSettings.exportImages.saveImageFileName = "animation/frame"
240SC.visualizationSettings.exportImages.saveImageTimeOut=10000 #5000 is too shot sometimes!
241
242if False:
243    simulationSettings.solutionSettings.recordImagesInterval = 0.005
244    SC.visualizationSettings.general.graphicsUpdateInterval=2
245
246
247simulate=True
248if simulate:
249    if useGraphics:
250        SC.visualizationSettings.general.autoFitScene = False
251        exu.StartRenderer()
252        if 'renderState' in exu.sys:
253            SC.SetRenderState(exu.sys['renderState'])
254        mbs.WaitForUserToContinue()
255
256    #initial gContact statistics
257    #simulationSettings.timeIntegration.numberOfSteps = 1
258    #simulationSettings.timeIntegration.endTime = h
259    #mbs.SolveDynamic(simulationSettings, solverType=exu.DynamicSolverType.ExplicitEuler)
260    #print(gContact)
261
262    simulationSettings.timeIntegration.numberOfSteps = int(tEnd/h)
263    simulationSettings.timeIntegration.endTime = tEnd
264    mbs.SolveDynamic(simulationSettings, solverType=exu.DynamicSolverType.ExplicitEuler)
265    #print(gContact)
266    #p = mbs.GetNodeOutput(n, variableType=exu.OutputVariableType.Position)
267    #print("pEnd =", p[0], p[1])
268    #print(gContact)
269
270    if useGraphics:
271        SC.WaitForRenderEngineStopFlag()
272        exu.StopRenderer() #safely close rendering window!
273
274if not simulate or True:
275    SC.visualizationSettings.general.autoFitScene = False
276    SC.visualizationSettings.general.graphicsUpdateInterval=0.5
277
278    print('load solution file')
279    #sol = LoadSolutionFile('solution/test2.txt', safeMode=False)
280    sol = LoadSolutionFile('solution/test.txt', safeMode=True)#, maxRows=100)
281    print('start SolutionViewer')
282    mbs.SolutionViewer(sol)