.. _examples-particlessilo: **************** particlesSilo.py **************** You can view and download this file on Github: `particlesSilo.py `_ .. code-block:: python :linenos: #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ # This is an EXUDYN example # # Details: test with parallel computation and particles # # Author: Johannes Gerstmayr # Date: 2021-11-01 # # 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.graphicsDataUtilities import * import numpy as np SC = exu.SystemContainer() mbs = SC.AddSystem() #create an environment for mini example nGround = mbs.AddNode(NodePointGround(referenceCoordinates=[0,0,0])) #mLast = mbs.AddMarker(MarkerNodePosition(nodeNumber=nGround)) np.random.seed(1) #always get same results useGraphics = True useRigidBody = True L = 1 n = 4000*25 #test: 4000 n = 8000 #fast simulation for testing row = 8*2 a = L*0.5*0.5 h= 0.0001 m = 0.05 ss=16*2 holeRad = 3*a if n >= 4000*8: a*=0.4 row=40 ss = 16*3 holeRad *= 1.4 #better 1.4 ! if n >= 4000*64: a*=0.5 row*=2 h *= 0.5 m *=0.125 ss*=2 radius = 0.5*a t = 0.5*a k = 8e4*2 #4e3 needs h=1e-4 d = 0.001*k*4*0.5*0.2 frictionCoeff = 0.5 if not useRigidBody: frictionCoeff = 0 markerList = [] radiusList = [] gDataList = [] # rb = 30*L H = 8*L Hy=3*L gContact = mbs.AddGeneralContact() gContact.verboseMode = 1 gContact.SetFrictionPairings(frictionCoeff*np.eye(1)) gContact.SetSearchTreeCellSize(numberOfCells=[ss,ss,ss]) #gContact.SetSearchTreeBox(pMin=np.array([-1.2*H,-H,-1.2*H]), pMax=np.array([1.2*H,14*H,1.2*H])) #print('treesize=',ssx*ssx*ssy) #%% ground LL=6*L p0 = np.array([0,0,-0.5*t]) color4wall = [0.6,0.6,0.6,0.5] addNormals = False hw=10*a gFloor = graphics.Brick(p0,[LL,LL,t],graphics.color.steelblue,addNormals) gFloorAdd = graphics.Brick(p0+[-0.5*LL,0,0.5*hw],[t,LL,hw],color4wall,addNormals) gFloor = graphics.MergeTriangleLists(gFloor, gFloorAdd) gFloorAdd = graphics.Brick(p0+[ 0.5*LL,0,0.5*hw],[t,LL,hw],color4wall,addNormals) gFloor = graphics.MergeTriangleLists(gFloor, gFloorAdd) gFloorAdd = graphics.Brick(p0+[0,-0.5*LL,0.5*hw],[LL,t,hw],color4wall,addNormals) gFloor = graphics.MergeTriangleLists(gFloor, gFloorAdd) gFloorAdd = graphics.Brick(p0+[0, 0.5*LL,0.5*hw],[LL,t,hw],color4wall,addNormals) gFloor = graphics.MergeTriangleLists(gFloor, gFloorAdd) gDataList = [gFloor] nGround = mbs.AddNode(NodePointGround(referenceCoordinates=[0,0,0] )) mGround = mbs.AddMarker(MarkerNodeRigid(nodeNumber=nGround)) #mGroundC = mbs.AddMarker(MarkerNodeCoordinate(nodeNumber=nGround, coordinate=0)) [meshPoints, meshTrigs] = graphics.ToPointsAndTrigs(gFloor) #[meshPoints, meshTrigs] = RefineMesh(meshPoints, meshTrigs) #just to have more triangles on floor # [meshPoints, meshTrigs] = RefineMesh(meshPoints, meshTrigs) #just to have more triangles on floor gContact.AddTrianglesRigidBodyBased(rigidBodyMarkerIndex=mGround, contactStiffness=k, contactDamping=d, frictionMaterialIndex=0, pointList=meshPoints, triangleList=meshTrigs) if True: #looses color gFloor = graphics.FromPointsAndTrigs(meshPoints, meshTrigs, color=color4wall) #show refined mesh gDataList = [gFloor] color4node = graphics.color.blue print("start create: number of masses =",n) for i in range(n): kk = int(i/int(n/8)) color4node = graphics.colorList[min(kk%9,9)] if (i%20000 == 0): print("create mass",i) offy = 0 iz = int(i/(row*row)) ix = i%row iy = int(i/row)%row if iz % 2 == 1: ix+=0.5 iy+=0.5 offz = 5*L+0.5*a+iz*a*0.74 #0.70x is limit value! offx = -0.6*a-row*0.5*a + (ix+1)*a offy = -0.6*a-row*0.5*a + (iy+1)*a valueRand = np.random.random(1)[0] rFact = 0.2 #random part gRad = radius*(1-rFact+rFact*valueRand) v0 = [0,0,-2] pRef = [offx,offy,offz] if not useRigidBody: nMass = mbs.AddNode(NodePoint(referenceCoordinates=pRef, initialVelocities=v0, visualization=VNodePoint(show=True,drawSize=2*gRad, color=color4node))) oMass = mbs.AddObject(MassPoint(physicsMass=m, nodeNumber=nMass, #visualization=VMassPoint(graphicsData=[gSphere,gSphere2]) # visualization=VMassPoint(graphicsData=gData) )) mThis = mbs.AddMarker(MarkerNodePosition(nodeNumber=nMass)) else: RBinertia = InertiaSphere(m, radius) [nMass, oMass] = AddRigidBody(mainSys=mbs, inertia=RBinertia, nodeType=exu.NodeType.RotationRotationVector, position=pRef, velocity=v0, #graphicsDataList=gList, ) mbs.SetNodeParameter(nMass, 'VdrawSize', 2*gRad) mbs.SetNodeParameter(nMass, 'Vcolor', color4node) mThis = mbs.AddMarker(MarkerNodeRigid(nodeNumber=nMass)) mbs.AddLoad(Force(markerNumber=mThis, loadVector= [0,0,-m*9.81])) gContact.AddSphereWithMarker(mThis, radius=gRad, contactStiffness=k, contactDamping=d, frictionMaterialIndex=0) if True: #add Silo SR = 3.1*L SH = 2*L SH2 = 1*L #hole SR2 = holeRad #hole ST = 0.25*L #contour=8*np.array([[0,0.2],[0.3,0.2],[0.5,0.3],[0.7,0.4],[1,0.4],[1,0.]]) contour=np.array([[0,SR2],[0,SR2+ST],[SH2-ST,SR2+ST],[2*SH2-ST,SR+ST],[2*SH2+SH,SR+ST], [2*SH2+SH,SR],[2*SH2,SR],[SH2,SR2],[0,SR2]]) contour = list(contour) contour.reverse() gSilo = graphics.SolidOfRevolution(pAxis=[0,0,3*L], vAxis=[0,0,1], contour=contour, color=[0.8,0.1,0.1,0.5], nTiles = 64) [meshPoints, meshTrigs] = graphics.ToPointsAndTrigs(gSilo) gContact.AddTrianglesRigidBodyBased(rigidBodyMarkerIndex=mGround, contactStiffness=k, contactDamping=d, frictionMaterialIndex=0, pointList=meshPoints, triangleList=meshTrigs) #put here, such that it is transparent in background oGround=mbs.AddObject(ObjectGround(referencePosition= [0,0,0], visualization=VObjectGround(graphicsData=[gSilo]+gDataList))) mbs.Assemble() print("finish gContact") items=gContact.GetItemsInBox(pMin=[-4,-4,0], pMax=[4,4,20]) print('n spheres=',len(items['MarkerBasedSpheres'])) tEnd = 50 #tEnd = h*100 simulationSettings = exu.SimulationSettings() simulationSettings.linearSolverType = exu.LinearSolverType.EigenSparse #simulationSettings.solutionSettings.writeSolutionToFile = True simulationSettings.solutionSettings.writeSolutionToFile = True simulationSettings.solutionSettings.solutionWritePeriod = 0.01 simulationSettings.solutionSettings.outputPrecision = 5 #make files smaller simulationSettings.solutionSettings.exportAccelerations = False simulationSettings.solutionSettings.exportVelocities = False simulationSettings.solutionSettings.coordinatesSolutionFileName = 'solution/test.txt' simulationSettings.displayComputationTime = True #simulationSettings.displayStatistics = True simulationSettings.timeIntegration.verboseMode = 1 simulationSettings.parallel.numberOfThreads = 8 simulationSettings.timeIntegration.newton.numericalDifferentiation.forODE2 = False simulationSettings.timeIntegration.newton.useModifiedNewton = False SC.visualizationSettings.general.graphicsUpdateInterval=0.5*4 SC.visualizationSettings.general.circleTiling=200 SC.visualizationSettings.general.drawCoordinateSystem=True SC.visualizationSettings.loads.show=False SC.visualizationSettings.bodies.show=True SC.visualizationSettings.markers.show=False SC.visualizationSettings.nodes.show=True SC.visualizationSettings.nodes.drawNodesAsPoint = False SC.visualizationSettings.nodes.defaultSize = 0 #must not be -1, otherwise uses autocomputed size SC.visualizationSettings.nodes.tiling = 4 SC.visualizationSettings.window.renderWindowSize=[1200,1200] #SC.visualizationSettings.window.renderWindowSize=[1024,1400] SC.visualizationSettings.openGL.multiSampling = 4 #improved OpenGL rendering SC.visualizationSettings.exportImages.saveImageFileName = "animation/frame" SC.visualizationSettings.exportImages.saveImageTimeOut=10000 #5000 is too shot sometimes! if False: simulationSettings.solutionSettings.recordImagesInterval = 0.005 SC.visualizationSettings.general.graphicsUpdateInterval=2 simulate=True if simulate: if useGraphics: SC.visualizationSettings.general.autoFitScene = False exu.StartRenderer() if 'renderState' in exu.sys: SC.SetRenderState(exu.sys['renderState']) mbs.WaitForUserToContinue() #initial gContact statistics #simulationSettings.timeIntegration.numberOfSteps = 1 #simulationSettings.timeIntegration.endTime = h #mbs.SolveDynamic(simulationSettings, solverType=exu.DynamicSolverType.ExplicitEuler) #print(gContact) simulationSettings.timeIntegration.numberOfSteps = int(tEnd/h) simulationSettings.timeIntegration.endTime = tEnd mbs.SolveDynamic(simulationSettings, solverType=exu.DynamicSolverType.ExplicitEuler) #print(gContact) #p = mbs.GetNodeOutput(n, variableType=exu.OutputVariableType.Position) #print("pEnd =", p[0], p[1]) #print(gContact) if useGraphics: SC.WaitForRenderEngineStopFlag() exu.StopRenderer() #safely close rendering window! if not simulate: SC.visualizationSettings.general.autoFitScene = False SC.visualizationSettings.general.graphicsUpdateInterval=0.5 print('load solution file') #sol = LoadSolutionFile('solution/test2.txt', safeMode=False) sol = LoadSolutionFile('solution/test.txt', safeMode=True, verbose = True)#, maxRows=100) print('start SolutionViewer') mbs.SolutionViewer(sol)