particlesTest3D2.py
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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 *
16from exudyn.graphicsDataUtilities import *
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 = 50000
34a = 0.2*L*0.5*10*0.5
35radius = 0.5*a
36m = 0.05
37k = 8e4*2 #4e3 needs h=1e-4
38d = 0.001*k*4*0.5*0.2
39markerList = []
40radiusList = []
41gDataList = []
42
43
44rb = 30*L
45H = 8*L
46Hy=3*L
47pos0 = [0,-rb-0.5*H,0]
48pos1 = [-rb-H,-Hy,0]
49pos2 = [ rb+H,-Hy,0]
50pos3 = [ 0,-Hy,rb+H]
51pos4 = [ 0,-Hy,-rb-H]
52posList=[pos0,pos1,pos2,pos3,pos4]
53for pos in posList:
54 #gDataList += [{'type':'Circle','position':pos,'radius':rb, 'color':color4grey}]
55 #gDataList += [GraphicsDataCylinder(pAxis=pos, vAxis=[0,0,0.1], radius=rb, color= color4grey, nTiles=200)]
56 colBG = color4grey
57 colBG[3] = 0.05
58 gDataList += [GraphicsDataSphere(point=pos, radius=rb, color= colBG, nTiles=100)]
59 #gDataList += [GraphicsDataRectangle(-1.2*H,-H,1.2*H,14*H,color=color4red)]#80000 particles
60 nMass = mbs.AddNode(NodePointGround(referenceCoordinates=pos,
61 visualization=VNodePointGround(show=False)))
62 #oMass = mbs.AddObject(MassPoint(physicsMass=m, nodeNumber=nMass))
63 mThis = mbs.AddMarker(MarkerNodePosition(nodeNumber=nMass))
64 markerList += [mThis]
65 radiusList += [rb]
66
67
68color4node = color4blue
69print("start create: number of masses =",n)
70for i in range(n):
71
72 kk = int(i/int(n/16))
73 color4node = color4list[min(kk%9,9)]
74
75 if (i%20000 == 0): print("create mass",i)
76 offy = 0
77 row = 8*2 #160
78
79 iy = int(i/(row*row))
80 ix = i%row
81 iz = int(i/row)%row
82
83 if iy % 2 == 1:
84 ix+=0.5
85 iz+=0.5
86
87 offy = -0.25*H-3.5*a+iy*a*0.74 #0.70x is limit value!
88 offx = -0.6*a-H*0.5 + (ix+1)*a
89 offz = -0.6*a-H*0.5 + (iz+1)*a
90
91 valueRand = np.random.random(1)[0]
92 rFact = 0.2 #random part
93 gRad = radius*(1-rFact+rFact*valueRand)
94 nMass = mbs.AddNode(NodePoint(referenceCoordinates=[offx,offy,offz],
95 initialVelocities=[0,-20,0],
96 visualization=VNodePoint(show=True,drawSize=2*gRad, color=color4node)))
97
98 oMass = mbs.AddObject(MassPoint(physicsMass=m, nodeNumber=nMass,
99 #visualization=VMassPoint(graphicsData=[gSphere,gSphere2])
100 # visualization=VMassPoint(graphicsData=gData)
101 ))
102 mThis = mbs.AddMarker(MarkerNodePosition(nodeNumber=nMass))
103 mbs.AddLoad(Force(markerNumber=mThis, loadVector= [0,-m*9.81,0]))
104 markerList += [mThis]
105 radiusList += [gRad]
106
107 mLast = mThis
108print("finish create")
109#put here, such that it is transparent in background
110oGround=mbs.AddObject(ObjectGround(referencePosition= [0,0,0],
111 visualization=VObjectGround(graphicsData=gDataList)))
112
113if True:
114 gContact = mbs.AddGeneralContact()
115 gContact.verboseMode = 1
116
117 for i in range(len(markerList)):
118 m = markerList[i]
119 r = radiusList[i]
120 gContact.AddSphereWithMarker(m, radius=r, contactStiffness=k, contactDamping=d, frictionMaterialIndex=0)
121
122 # f=n/32000
123 ssx = 20 #search tree size
124 #ssy = int(500*f) #search tree size
125 ssy = 200
126 # mbs.Assemble()
127 # gContact.FinalizeContact(mbs, searchTreeSize=np.array([ssx,ssy,ssx]), frictionPairingsInit=np.eye(1),
128 # searchTreeBoxMin=np.array([-1.2*H,-H,-1.2*H]), searchTreeBoxMax=np.array([1.2*H,14*H,1.2*H]) #80000 particles
129 # )
130 gContact.SetFrictionPairings(np.eye(1))
131 gContact.SetSearchTreeCellSize(numberOfCells=[ssx,ssy,ssx])
132 gContact.SetSearchTreeBox(pMin=np.array([-1.2*H,-H,-1.2*H]), pMax=np.array([1.2*H,14*H,1.2*H]))
133 print('treesize=',ssx*ssx*ssy)
134
135mbs.Assemble()
136print("finish gContact")
137
138tEnd = 10
139h= 0.0001*0.25
140simulationSettings = exu.SimulationSettings()
141simulationSettings.linearSolverType = exu.LinearSolverType.EigenSparse
142#simulationSettings.solutionSettings.writeSolutionToFile = True
143simulationSettings.solutionSettings.writeSolutionToFile = True
144simulationSettings.solutionSettings.solutionWritePeriod = 0.02
145simulationSettings.solutionSettings.outputPrecision = 5 #make files smaller
146simulationSettings.solutionSettings.exportAccelerations = False
147simulationSettings.solutionSettings.exportVelocities = False
148simulationSettings.solutionSettings.coordinatesSolutionFileName = 'solution/test.txt'
149simulationSettings.displayComputationTime = True
150#simulationSettings.displayStatistics = True
151simulationSettings.timeIntegration.verboseMode = 1
152simulationSettings.parallel.numberOfThreads = 4
153
154simulationSettings.timeIntegration.newton.numericalDifferentiation.forODE2 = False
155simulationSettings.timeIntegration.newton.useModifiedNewton = False
156
157SC.visualizationSettings.general.graphicsUpdateInterval=0.5
158SC.visualizationSettings.general.circleTiling=200
159SC.visualizationSettings.general.drawCoordinateSystem=False
160SC.visualizationSettings.loads.show=False
161SC.visualizationSettings.bodies.show=True
162SC.visualizationSettings.markers.show=False
163
164SC.visualizationSettings.nodes.show=True
165SC.visualizationSettings.nodes.drawNodesAsPoint = False
166SC.visualizationSettings.nodes.defaultSize = 0 #must not be -1, otherwise uses autocomputed size
167SC.visualizationSettings.nodes.tiling = 4
168
169SC.visualizationSettings.window.renderWindowSize=[1200,1200]
170#SC.visualizationSettings.window.renderWindowSize=[1024,1400]
171SC.visualizationSettings.openGL.multiSampling = 4
172#improved OpenGL rendering
173
174SC.visualizationSettings.exportImages.saveImageFileName = "animation/frame"
175SC.visualizationSettings.exportImages.saveImageTimeOut=10000 #5000 is too shot sometimes!
176if False:
177 simulationSettings.solutionSettings.recordImagesInterval = 0.025
178 SC.visualizationSettings.general.graphicsUpdateInterval=2
179
180
181simulate=True
182if simulate:
183 if useGraphics:
184 SC.visualizationSettings.general.autoFitScene = False
185 exu.StartRenderer()
186 if 'renderState' in exu.sys:
187 SC.SetRenderState(exu.sys['renderState'])
188 mbs.WaitForUserToContinue()
189
190 #initial gContact statistics
191 #simulationSettings.timeIntegration.numberOfSteps = 1
192 #simulationSettings.timeIntegration.endTime = h
193 #mbs.SolveDynamic(simulationSettings, solverType=exu.DynamicSolverType.ExplicitEuler)
194 #print(gContact)
195
196 simulationSettings.timeIntegration.numberOfSteps = int(tEnd/h)
197 simulationSettings.timeIntegration.endTime = tEnd
198 simulationSettings.timeIntegration.explicitIntegration.computeEndOfStepAccelerations = False #increase performance, accelerations less accurate
199 mbs.SolveDynamic(simulationSettings, solverType=exu.DynamicSolverType.ExplicitEuler)
200 #print(gContact)
201 #p = mbs.GetNodeOutput(n, variableType=exu.OutputVariableType.Position)
202 #print("pEnd =", p[0], p[1])
203 #print(gContact)
204
205 if useGraphics:
206 SC.WaitForRenderEngineStopFlag()
207 exu.StopRenderer() #safely close rendering window!
208else:
209 SC.visualizationSettings.general.autoFitScene = False
210 SC.visualizationSettings.general.graphicsUpdateInterval=0.5
211
212 print('load solution file')
213 sol = LoadSolutionFile('particles3Db.txt', safeMode=True)
214 #sol = LoadSolutionFile('coordinatesSolution2.txt')
215 print('start SolutionViewer')
216 mbs.SolutionViewer(sol)