From cc3a7a49556cb012c1ba398610bcde908e1c2fcb Mon Sep 17 00:00:00 2001 From: Perseus Date: Thu, 11 Apr 2024 19:57:30 +0800 Subject: [PATCH 01/20] add RigidCylinder & RigidCube --- Project.toml | 1 + examples/robots/jixiebi.jl | 126 +++++++-- jixiebi2.jl | 0 src/control/actuators.jl | 3 - src/mechanics/contact.jl | 102 +++++-- src/mechanics/dynamics.jl | 62 +++-- ...hong06_CCP_constant_mass_cluster_cables.jl | 37 +-- .../Zhong06_constant_mass_cluster_cables.jl | 29 +- src/members/forces/spring_dampers.jl | 1 - src/members/loci.jl | 2 +- src/postprocess/vis.jl | 15 +- src/structures/structure.jl | 2 +- test/vis.jl | 8 +- yard/jixiebi/CA.jl | 191 +++++++++++++ yard/jixiebi/Group1.jl | 12 +- yard/jixiebi/Group2_1.jl | 255 +++++++++++++----- yard/jixiebi/Group2_2.jl | 240 +++++++++++++---- yard/jixiebi/plot_policy.jl | 17 ++ yard/jixiebi/test.jl | 18 +- yard/temp/structure.jl | 229 ++++++++++++++++ 20 files changed, 1113 insertions(+), 237 deletions(-) create mode 100644 jixiebi2.jl create mode 100644 yard/jixiebi/CA.jl create mode 100644 yard/jixiebi/plot_policy.jl create mode 100644 yard/temp/structure.jl diff --git a/Project.toml b/Project.toml index 18a36de..7716ec8 100644 --- a/Project.toml +++ b/Project.toml @@ -12,6 +12,7 @@ Clarabel = "61c947e1-3e6d-4ee4-985a-eec8c727bd6e" ColorTypes = "3da002f7-5984-5a60-b8a6-cbb66c0b333f" ComponentArrays = "b0b7db55-cfe3-40fc-9ded-d10e2dbeff66" CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298" +DifferentiableCollisions = "64b45163-ce2a-43f6-8f64-55d720633796" DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" DynamicPolynomials = "7c1d4256-1411-5781-91ec-d7bc3513ac07" EponymTuples = "97e2ac4a-e175-5f49-beb1-4d6866a6cdc3" diff --git a/examples/robots/jixiebi.jl b/examples/robots/jixiebi.jl index 6ab160a..d0bcb7b 100644 --- a/examples/robots/jixiebi.jl +++ b/examples/robots/jixiebi.jl @@ -188,7 +188,7 @@ function build_jixiebi(n; ks1=80.0, restlens1=50.0, end ncluster = 3 cluster_segs = [[RB.DistanceSpringDamperSegment(restlencs[i], kc, prestress=pre) for i in 1:5n-1] for _ in 1:ncluster] - cluster_sps = [[RB.SlidingPoint(0.01) for i in 1:5n-2] for _ in 1:ncluster] + cluster_sps = [[RB.SlidingPoint(0.001) for i in 1:5n-2] for _ in 1:ncluster] matrix_cnt_raw = Vector{Matrix{Int}}() @@ -293,9 +293,11 @@ function build_jixiebi(n; ks1=80.0, restlens1=50.0, end -function build_small_jixiebi(n; ks1=80.0, restlens1=0.050, - ks2=1.00, restlens2=0.1, - kc=1.20, restlenc=0.160, pre=383.65, +function build_small_jixiebi(n; ks1=8.0, restlens1=0.018007, + ks2=1.00, restlens2=0.08, + # kc=8.00, restlenc=0.160, pre=520.0-0.35, + # kc=4.00, restlenc=0.160, pre=480.0-0.35, + kc=2.0, restlenc=0.14, pre=57.6343395, delta=-0.02) @@ -334,10 +336,10 @@ function build_small_jixiebi(n; ks1=80.0, restlens1=0.050, r̄g2 = [0.0, 0.0, 0.0] r̄g3 = [0.0, 0.0, 0.0] r̄g4 = [0.0, 0.0, 0.0] - m1 = 0.85 - m2 = 0.05 - m3 = 1.0 - m4 = 0.15 + m1 = 0.85 + m2 = 0.05 + m3 = 1.0 + m4 = 0.15 i1 = [4575.03 0 0; 0 5114.84 0; 0 0 4575.03] / scale i2 = [372.01 0 0; 0 358.79 0; 0 0 372.01] / scale @@ -395,10 +397,11 @@ function build_small_jixiebi(n; ks1=80.0, restlens1=0.050, [len42, r2 * sqrt(3) / 2, -r2 / 2], [len42, -r2 * sqrt(3) / 2, -r2 / 2]] - mesh1 = load(RB.assetpath("jixiebi/m1.STL")) |> RB.make_patch(; rot=RotZ(-π / 2)) |> RB.make_patch(; rot=RotX(pi / 6), scale=1 / scale) - mesh2 = load(RB.assetpath("jixiebi/m2.STL")) |> RB.make_patch(; rot=RotZ(-π / 2)) |> RB.make_patch(; rot=RotX(pi / 6), scale=1 / scale) - mesh3 = load(RB.assetpath("jixiebi/m3.STL")) |> RB.make_patch(; rot=RotZ(-π / 2)) |> RB.make_patch(; rot=RotX(pi / 6), scale=1 / scale) - mesh4 = load(RB.assetpath("jixiebi/m4.STL")) |> RB.make_patch(; rot=RotZ(-π / 2)) |> RB.make_patch(; rot=RotX(pi / 6), scale=1 / scale) + rigid_color = :darkgreen + mesh1 = load(RB.assetpath("jixiebi/m1.STL")) |> RB.make_patch(; rot=RotZ(-π / 2)) |> RB.make_patch(; rot=RotX(pi / 6), scale=1 / scale, color=rigid_color) + mesh2 = load(RB.assetpath("jixiebi/m2.STL")) |> RB.make_patch(; rot=RotZ(-π / 2)) |> RB.make_patch(; rot=RotX(pi / 6), scale=1 / scale, color=rigid_color) + mesh3 = load(RB.assetpath("jixiebi/m3.STL")) |> RB.make_patch(; rot=RotZ(-π / 2)) |> RB.make_patch(; rot=RotX(pi / 6), scale=1 / scale, color=rigid_color) + mesh4 = load(RB.assetpath("jixiebi/m4.STL")) |> RB.make_patch(; rot=RotZ(-π / 2)) |> RB.make_patch(; rot=RotX(pi / 6), scale=1 / scale, color=rigid_color) rd1 = RigidData(r̄g1, m1, i1, r̄l1, mesh1) rd2 = RigidData(r̄g2, m2, i2, r̄l2, mesh2) @@ -483,8 +486,8 @@ function build_small_jixiebi(n; ks1=80.0, restlens1=0.050, sin(theta) cos(theta) 0; 0 0 1] r̄g = [0.0 0.0 0.0] - m = 0.1 - I = [1.0 0 0; 0 1.0 0; 0 0 1.0] + m = 10.0 + I = [100.0 0 0; 0 100.0 0; 0 0 100.0] nrp = length(aps) ṙo = zeros(3) ω = zeros(Float64, 3) @@ -507,8 +510,92 @@ function build_small_jixiebi(n; ks1=80.0, restlens1=0.050, sphere_mesh = simple_mesh |> RB.simple2mesh rb = RB.RigidBody(prop, state, coords, sphere_mesh) end + function rigidCylinder(pos, radius, halflen, thetaX, thetaY, thetaZ, id) + contactable = false + visible = true + ci = Int[] + Φi = collect(1:6) + + ri = pos + aps = [[radius halflen 0.0] for _ in 1:20] + # INFO 2: 第一个aps保留这个物体的特征长度，其他的aps备用 + α = [cos(thetaZ) -sin(thetaZ) 0; + sin(thetaZ) cos(thetaZ) 0; + 0 0 1] * [cos(thetaY) 0 sin(thetaY); + 0 1 0; + -sin(thetaY) 0 cos(thetaY)] * [1 0 0; + 0 cos(thetaX) -sin(thetaX); + 0 sin(thetaX) cos(thetaX)] + @show α + r̄g = [0.0 0.0 0.0] + m = 10.0 + I = [1.0 0 0; 0 1.0 0; 0 0 1.0] + nrp = length(aps) + ṙo = zeros(3) + ω = zeros(Float64, 3) + prop = RB.RigidBodyProperty( + id, + contactable, + m, + SMatrix{3,3}(I), + SVector{3}(r̄g), + [SVector{3}(aps[i]) for i in 1:nrp]; + visible + ) + ro = SVector{3}(ri) + + state = RB.RigidBodyState(prop, ri, α, ṙo, ω) + nmcs = RB.NCF.NC1P3V(SVector{3}(ri)) + coords = RB.NonminimalCoordinates(nmcs, ci, Φi) + p1 = Meshes.Plane((halflen, 0.0, 0.0), (1.0, 0.0, 0.0)) + p2 = Meshes.Plane((-halflen, 0.0, 0.0), (1.0, 0.0, 0.0)) + sphere = Meshes.CylinderSurface(p1, p2, radius) + simple_mesh = Meshes.discretize(sphere, Meshes.RegularDiscretization(30, 30)) + sphere_mesh = simple_mesh |> RB.simple2mesh + rb = RB.RigidBody(prop, state, coords, sphere_mesh) + end + function rigidCube(pos, hxyz, id) + contactable = false + visible = true + ci = Int[] + Φi = collect(1:6) + + ri = pos + aps = [hxyz for _ in 1:10] + # INFO 2: 第一个aps保留这个物体的特征长度，其他的aps备用 + theta = 0 + α = [cos(theta) -sin(theta) 0; + sin(theta) cos(theta) 0; + 0 0 1] + r̄g = [0.0 0.0 0.0] + m = 10.0 + I = [100.0 0 0; 0 100.0 0; 0 0 100.0] + nrp = length(aps) + ṙo = zeros(3) + ω = zeros(Float64, 3) + prop = RB.RigidBodyProperty( + id, + contactable, + m, + SMatrix{3,3}(I), + SVector{3}(r̄g), + [SVector{3}(aps[i]) for i in 1:nrp]; + visible + ) + ro = SVector{3}(ri) + + state = RB.RigidBodyState(prop, ri, α, ṙo, ω) + nmcs = RB.NCF.NC1P3V(SVector{3}(ri)) + coords = RB.NonminimalCoordinates(nmcs, ci, Φi) + cube = Meshes.Box((-hxyz[1], -hxyz[2], -hxyz[3]), (hxyz[1], hxyz[2], hxyz[3])) + simple_mesh = Meshes.discretize(cube, Meshes.RegularDiscretization(30, 30)) + sphere_mesh = simple_mesh |> RB.simple2mesh + rb = RB.RigidBody(prop, state, coords, sphere_mesh) + end rbs1 = [rigidbody(i, rds[i], r̄s[i]) for i in 1:nb] - rbs2 = [rigidSphere([1.8, 0.0, -0.45], 0.2, length(rbs1) + 1)] + # rbs2 = [rigidCube([1.05, 0.0, -0.55], [0.4, 0.4, 0.4], length(rbs1)+1)] + rbs2 = [rigidSphere([0.65, 0.0, -0.55], 0.4, length(rbs1) + 1)] + # rbs2 = [rigidCylinder([1.05, 0.0, -0.5], 0.3, 1.2, 0.0, pi/6, pi/2, length(rbs1) + 1)] rbs = vcat(rbs1, rbs2) # rbs = vcat(rbs, [rigidbody(nb+1, rds[nb], r̄s[nb])]) @@ -520,10 +607,10 @@ function build_small_jixiebi(n; ks1=80.0, restlens1=0.050, restlens1 = restlens1 ks2 = ks2 restlens2 = restlens2 - spring_dampers = [(i <= 12n) ? RB.DistanceSpringDamper3D(restlens1, ks1, 0.02) : RB.DistanceSpringDamper3D(restlens2, ks2, 0.02) for i in 1:nstrings] + spring_dampers = [(i <= 12n) ? RB.DistanceSpringDamper3D(restlens1, ks1, 0.2) : RB.DistanceSpringDamper3D(restlens2, ks2, 0.2) for i in 1:nstrings] restlencs = zeros(Float64, 5n - 1) - restlenc1 = 266.77 / scale + restlenc1 = 256.77 / scale for i in 1:5n-1 if (mod(i, 5) == 0) restlencs[i] = restlenc1 @@ -605,6 +692,7 @@ function build_small_jixiebi(n; ks1=80.0, restlens1=0.050, connecting_cluster_matrix = [reduce(vcat, matrix_cnt_raw[k]) for k in 1:ncluster] cables, clusters = RB.connect_spring_and_clusters(bodies, spring_dampers, cluster_sps, cluster_segs, connecting_matrix, connecting_cluster_matrix, istart=ncluster + 1) cst1 = RB.FixedBodyConstraint(ncluster + 1, rbs[1]) + cst2 = RB.FixedBodyConstraint(77, rbs[14]) apparatuses = TypeSortedCollection(vcat([cst1], cables, clusters)) indexed = RB.index(bodies, apparatuses;) @@ -787,7 +875,7 @@ function build_4_jixiebis(n; ks1=80.0, restlens1=0.050, end # theta = 0 - theta2 = -pi/6 + theta2 = -pi/4 α2 = [cos(theta2) 0 -sin(theta2) ; 0 1 0; sin(theta2) 0 cos(theta2)] @@ -862,7 +950,7 @@ function build_4_jixiebis(n; ks1=80.0, restlens1=0.050, rbs2 = [rigidbody(i + nb, rds[i], r̄s[i], pi / 4, [0.45, 0.45, 0.05]) for i in 1:nb] rbs3 = [rigidbody(i + 2nb, rds[i], r̄s[i], 3pi/4, [-0.45, 0.45, 0.05]) for i in 1:nb] rbs4 = [rigidbody(i + 3nb, rds[i], r̄s[i], -3pi / 4, [-0.45, -0.45, 0.05]) for i in 1:nb] - rbs5 = [rigidSphere([0.0, 0.0, -1.7], 1.6, 4nb+1)] + rbs5 = [rigidSphere([0.0, 0.0, -1.0], 1.0, 4nb+1)] rbs = vcat(rbs1, rbs2, rbs3, rbs4, rbs5) # rbs = vcat(rbs, [rigidbody(nb+1, rds[nb], r̄s[nb])]) diff --git a/jixiebi2.jl b/jixiebi2.jl new file mode 100644 index 0000000..e69de29 diff --git a/src/control/actuators.jl b/src/control/actuators.jl index 99214b4..9edc267 100644 --- a/src/control/actuators.jl +++ b/src/control/actuators.jl @@ -97,13 +97,10 @@ function generalized_force_jacobian!(∂F∂u, structure::Structure,actuator::Ex ∂F∂u .= transpose(C)*force end -#DONE? 重要的地方 function execute!(structure::Structure,actuator::ExternalForceActuator{<:Apparatus{<:ClusterJoint},<:NaiveOperator},u) (;id,signifier,operator,force) = actuator (;state) = structure - (;t) = state.system segs = signifier.force - #用驱动量u和joint的相关变量和参数， 计算驱动力， 加到系统中 segs[1].force.state.restlen = segs[1].force.original_restlen - u[1] end diff --git a/src/mechanics/contact.jl b/src/mechanics/contact.jl index 78aef16..bbbafb0 100644 --- a/src/mechanics/contact.jl +++ b/src/mechanics/contact.jl @@ -7,7 +7,7 @@ end function Contact(id,μ,e) active = false - persistent = true + persistent = false i = one(μ) o = zero(μ) gap = i @@ -62,10 +62,29 @@ abstract type ContactRigid end mutable struct RigidSphere{T} <: ContactRigid bid::T pid::T + init_pid::T end function RigidSphere(id) - return RigidSphere(id, one(id)) + return RigidSphere(id, one(id), one(id)) end +mutable struct RigidCylinder{T} <: ContactRigid + bid::T + pid::T + init_pid::T +end +function RigidCylinder(id) + return RigidCylinder(id, one(id), one(id)) +end +mutable struct RigidCube{T} <: ContactRigid + bid::T + pid::T + init_pid::T +end +function RigidCube(id) + return RigidCube(id, one(id), one(id)) +end + + abstract type StaticContactEnvironment <: AbstractContactEnvironment end struct StaticContactSurfaces{surfacesType} <: StaticContactEnvironment surfaces::surfacesType @@ -180,11 +199,6 @@ function contact_gap_and_normal(x::AbstractVector,p::Sphere) (; r, radius) = p gap = norm(x-r) - radius normal = (x-r)/norm(x-r) - # if gap < 0 - # @show gap, normal, x, r - # @show x-r - # @show norm(x-r) - # end gap, normal end @@ -263,12 +277,14 @@ function contact_gap_and_normal(x::AbstractVector, contact_bodies::Vector{<:Cont ncb = length(contact_bodies) gaps = zeros(Float64, ncb) normals = Vector{SVector{3,Float64}}(undef, ncb) + local_poss = Vector{SVector{3,Float64}}(undef, ncb) contact_ids = Vector{Int}(undef, ncb) for (i, contact) in enumerate(contact_bodies) if isa(contact, RigidSphere) (; bid) = contact foreach(bodies) do body if (body.prop.id == bid) + (;X) = body.state.origin_frame.axes r = body.state.origin_frame.position radius = body.prop.loci[1].position[1] gap = norm(x - r) - radius @@ -276,26 +292,82 @@ function contact_gap_and_normal(x::AbstractVector, contact_bodies::Vector{<:Cont gaps[i] = gap normals[i] = normal contact_ids[i] = i + local_poss[i] = inv(X)*(x - r) + end + end + elseif isa(contact, RigidCylinder) + (; bid) = contact + foreach(bodies) do body + if (body.prop.id == bid) + (;X) = body.state.origin_frame.axes + rc = body.state.origin_frame.position + p = x - rc + px, py, pz = inv(X) * p + radius = body.prop.loci[1].position[1] + halflen = body.prop.loci[1].position[2] + if abs(px) > halflen + gap = 1.0 + normal = SVector(1.0, 0.0, 0.0) + elseif norm(SVector(py, pz)) > radius + gap = 1.0 + normal = SVector(1.0, 0.0, 0.0) + else + gap = norm(SVector(py, pz)) - radius + normal = X*SVector(0.0, py, pz) + end + if gap < 0 + @show gap + end + gaps[i] = gap + normals[i] = normal / norm(normal) + contact_ids[i] = i + local_poss[i] = SVector(px, py, pz) + end + end + elseif isa(contact, RigidCube) + (; bid) = contact + foreach(bodies) do body + if (body.prop.id == bid) + (;X) = body.state.origin_frame.axes + rc = body.state.origin_frame.position + p = x - rc + px, py, pz = inv(X) * p + hx, hy, hz= body.prop.loci[1].position + if (abs(px) > hx) || (abs(py) > hy) || (abs(pz) > hz) + gap = 1.0 + normal = SVector(1.0, 0.0, 0.0) + else + normal_vector = [SVector(1.0, 0.0, 0.0), + SVector(-1.0, 0.0, 0.0), + SVector(0.0, 1.0, 0.0), + SVector(0.0, -1.0, 0.0), + SVector(0.0, 0.0, 1.0), + SVector(0.0, 0.0, -1.0)] + gap_vector = [hx-px, px+hx, hy-py, py+hy, hz-pz, pz+hz] + min_idx = argmin(gap_vector) + gap = - gap_vector[min_idx] + normal = X*normal_vector[min_idx] + # @show px, py, pz + # @show gap + end + gaps[i] = gap + normals[i] = normal + contact_ids[i] = i + local_poss[i] = SVector(px, py, pz) end end end - # gap, normal = contact_gap_and_normal(x, contact, bodies) - # gaps[i] = gap - # normals[i] = normal - # contact_ids[i] = i - # INFO 1: 不能写成上面的形式，感觉应该是TypeSortedCollections的原因 end if all(gaps .< 0) icb = argmax(gaps) contact_bodies[icb].pid += 1 - return gaps[icb], normals[icb], contact_ids[icb] + return gaps[icb], normals[icb], contact_ids[icb], local_poss[icb] else idx = findall((x) -> x >= 0, gaps) positive_gaps = @view gaps[idx] positive_normals = @view normals[idx] positive_contact_body_ids = @view contact_ids[idx] icb = argmin(positive_gaps) - return positive_gaps[icb], positive_normals[icb], positive_contact_body_ids[icb] + return positive_gaps[icb], positive_normals[icb], positive_contact_body_ids[icb], local_poss[icb] end - end diff --git a/src/mechanics/dynamics.jl b/src/mechanics/dynamics.jl index 401e583..66c3728 100644 --- a/src/mechanics/dynamics.jl +++ b/src/mechanics/dynamics.jl @@ -141,7 +141,7 @@ function activate_frictional_contacts!(structure,contact_env::ContactRigidBodies nq = length(q) na = 0 for contact in contact_bodies - contact.pid = 1 + contact.pid = contact.init_pid # INFO 3: 第一个loci不动，从第二个开始 end update_bodies!(structure,q) @@ -151,27 +151,17 @@ function activate_frictional_contacts!(structure,contact_env::ContactRigidBodies bid = prop.id contacts_bits[bodyid2sys_loci_idx[bid]] .= false persistent_bits[bodyid2sys_loci_idx[bid]] .= false - for contact in contact_bodies - if contact.bid == bid - for locus in body.state.loci_states - locus.contact_state.active = false - end - end - end - # INFO 4: 重置所有的contact_state end foreach(structure.bodies) do body (;prop,state) = body bid = prop.id (;loci_states) = state - # contacts_bits[bodyid2sys_loci_idx[bid]] .= false - # persistent_bits[bodyid2sys_loci_idx[bid]] .= false if body.prop.contactable for pid in eachindex(loci_states) locus_state = loci_states[pid] (;frame,contact_state) = locus_state - gap, normal, cid = contact_gap_and_normal(frame.position,contact_bodies,bodies) + gap, normal, cid, local_pos = contact_gap_and_normal(frame.position,contact_bodies,bodies) if !checkpersist contact_state.active = false end @@ -179,28 +169,54 @@ function activate_frictional_contacts!(structure,contact_env::ContactRigidBodies if contact_state.active contacts_bits[bodyid2sys_loci_idx[bid][pid]] = true contact_state.axes = spatial_axes(normal) - contacts_bits[bodyid2sys_loci_idx[contact_bodies[cid].bid][contact_bodies[cid].pid]] = true - persistent_bits[bodyid2sys_loci_idx[contact_bodies[cid].bid][contact_bodies[cid].pid]] = true + if contact_state.persistent + persistent_bits[bodyid2sys_loci_idx[bid][pid]] = true + end foreach(bodies) do ibody if ibody.prop.id == contact_bodies[cid].bid - activate!(ibody.state.loci_states[contact_bodies[cid].pid].contact_state, gap) - ibody.state.loci_states[contact_bodies[cid].pid].contact_state.axes = spatial_axes(-normal) - nmcs = ibody.coords.nmcs + icontact_state = ibody.state.loci_states[contact_bodies[cid].pid].contact_state + ibid = contact_bodies[cid].bid + ipid = contact_bodies[cid].pid + activate!(icontact_state, gap) + contacts_bits[bodyid2sys_loci_idx[ibid][ipid]] = true + icontact_state.axes = spatial_axes(-normal) + + (;axes, friction_coefficient, restitution_coefficient) = ibody.prop.loci[ipid] + ibody.prop.loci[ipid] = Locus(local_pos, axes, friction_coefficient, restitution_coefficient) + ibody.state.loci_states[ipid].frame.position = frame.position + (;nmcs) = ibody.coords + ncoords = get_num_of_coords(nmcs) + iq = @MVector zeros(ncoords) c(x) = NCF.to_local_coords(nmcs,x) - C(c) = NCF.to_position_jacobian(nmcs,q,c) - ibody.cache.Cps[contact_bodies[cid].pid] = C(c(frame.position)) - # INFO 5: 更新Cps，这里的q当前的q。 + C(c) = NCF.to_position_jacobian(nmcs,iq,c) + + ibody.cache.Cps[ipid] = C(c(local_pos)) + + if icontact_state.persistent + persistent_bits[bodyid2sys_loci_idx[ibid][ipid]] = true + end end end - if contact_state.persistent - persistent_bits[bodyid2sys_loci_idx[bid][pid]] = true - end na += 2 # INFO 6: 一个碰撞对应两个na end end end end + + foreach(structure.bodies) do body + (;prop) = body + bid = prop.id + for contact in contact_bodies + if contact.bid == bid + ipid = contact.pid + for locus in body.state.loci_states[ipid+1:end] + locus.contact_state.active = false + end + end + end + end + inv_friction_coefficients = ones(T,3na) for (i,μ) in enumerate(μs_sys[contacts_bits]) inv_friction_coefficients[3(i-1)+1] = 1/μ diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl index e5243c3..1f0f4a2 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl @@ -69,7 +69,7 @@ end function make_step_k( solver_cache::Zhong06_CCP_Constant_Mass_Cluster_Cables_Cache, nq,nλ,ns,na, - qₖ₋₁,vₖ₋₁,pₖ₋₁,tₖ₋₁, + qₖ₋₁,sₖ₋₁,vₖ₋₁,pₖ₋₁,tₖ₋₁, pₖ,vₖ, invM, h,mass_norm) @@ -89,15 +89,15 @@ function make_step_k( contact_cache, timestep,iteration,doin=true ) - # @show timestep, iteration, na qₖ = @view x[ 1:n1] λₘ = @view x[n1+1:n2] sₖ = @view x[nq+nλ+1:nx] qₘ = (qₖ.+qₖ₋₁)./2 + sₘ = (sₖ.+sₖ₋₁)./2 q̇ₘ = (qₖ.-qₖ₋₁)./h vₘ = q̇ₘ tₘ = tₖ₋₁+h/2 - F!(Fₘ,qₘ,sₖ,q̇ₘ,tₘ) + F!(Fₘ,qₘ,sₘ,q̇ₘ,tₘ) Jac_F!(∂F∂q,∂F∂q̇,qₘ,q̇ₘ,tₘ) Aₖ₋₁ = A(qₖ₋₁) @@ -117,7 +117,9 @@ function make_step_k( n = length(ζ) ∂s̄∂s̄ = I(n) ∂F∂s̄ = build_∂Q̌∂s̄(structure) - κ₁ = 10; κ₂ = 10 + κ₁ = 10; κ₂ = 100 + cosₘ = 1/2 + coqₘ = 1/2 coes = diagm([((ζ[i]/κ₁)^2 + (κ₂*sₖ[i])^2)^(-1/2) for i in 1:n]) coζ = coes*diagm([ζ[i]/κ₁^2 for i in 1:n]) - diagm([1/κ₁ for i in 1:n]) cos̄ = coes*diagm([κ₂^2*sₖ[i] for i in 1:n]) - diagm([κ₂ for i in 1:n]) @@ -125,15 +127,15 @@ function make_step_k( 𝐉 .= 0.0 𝐉[ 1:nq , 1:nq ] .= M.-(h^2)/2 .*(1/2 .*∂F∂q.+1/h.*∂F∂q̇) 𝐉[ 1:nq ,nq+1:nq+nλ] .= mass_norm.*transpose(Aₖ₋₁) - 𝐉[ 1:nq ,nq+nλ+1:end] .= -1/2 * h^2 .* ∂F∂s̄ + 𝐉[ 1:nq ,nq+nλ+1:end] .= -1/2 * h^2 .* ∂F∂s̄ * cosₘ 𝐉[nq+1:nq+nλ, 1:nq ] .= mass_norm.*Aₖ 𝐉[nq+1:nq+nλ, nq+1:nq+nλ ] .= 0.0 𝐉[nq+1:nq+nλ, nq+nλ+1:end ] .= 0.0 - 𝐉[nq+nλ+1:end,1:nq] .= 1/2 * coζ*∂ζ∂q + 𝐉[nq+nλ+1:end,1:nq] .= coqₘ * coζ*∂ζ∂q 𝐉[nq+nλ+1:end,nq+1:nq+nλ] .= 0.0 - 𝐉[nq+nλ+1:end,nq+nλ+1:end] .= coζ*∂ζ∂s̄ + cos̄*∂s̄∂s̄ + 𝐉[nq+nλ+1:end,nq+nλ+1:end] .= coζ*∂ζ∂s̄*cosₘ + cos̄*∂s̄∂s̄ lu𝐉 = lu(𝐉) @@ -176,22 +178,11 @@ function make_step_k( 𝐜ᵀ[is+1:is+3, 1:n1] .+= ∂v́⁺∂qₖ[is+1:is+3,:] 𝐜ᵀ[is+1:is+3,n1+1:n2] .= Dⁱₖ*∂vₖ∂λₘ end - if timestep == 3092 - ## @show v́⁺, (v́⁺+𝐛), α - ## @show 𝐜ᵀ - ## @show vₙⁱₖ₋₁, restitution_coefficients - ## @show restitution_coefficients[i]*min(vₙⁱₖ₋₁,0) - end # 𝐜ᵀinv𝐉 = 𝐜ᵀ*inv(𝐉) 𝐲 .= (v́⁺ + 𝐛) end end lu𝐉 - # debug - # @show norm(D*vₖ + 𝐛), norm(𝐫𝐞𝐬) - # @show Λₖ, D*vₖ, 𝐛 - # @show Λₖ[1:3]⋅(D*vₖ + 𝐛)[1:3] - end ns_stepk! end @@ -280,7 +271,7 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C ns_stepk! = make_step_k( solver_cache, nq,nλ,ns,na, - qₖ₋₁,q̇ₖ₋₁,pₖ₋₁,tₖ₋₁, + qₖ₋₁,sₖ₋₁,q̇ₖ₋₁,pₖ₋₁,tₖ₋₁, pₖ,q̇ₖ, invM, dt,mass_norm @@ -295,14 +286,6 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C Λʳₖ .= Λₖ Nmax = maxiters for iteration = 1:maxiters - if timestep == 3092 - ## @show L - # @show timestep, iteration - ## @show 𝐍 - @show iteration - # @show qr(L).R |> diag - ## @show :befor, size(𝐍), rank(𝐍), cond(𝐍) - end luJac = ns_stepk!( Res,Jac, F,∂F∂q,∂F∂q̇, diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl index 6f7ada7..285cd11 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl @@ -13,7 +13,7 @@ function generate_cache( (;bot,policy) = prob (;traj,structure) = bot options = merge( - (gravity=true,factor=1,checkpersist=true), #default + (gravity=false,factor=1,checkpersist=true), #default prob.options, solver.options, ) @@ -78,15 +78,16 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cluster_Cables_Cache mass_norm = mr h = dt T = get_numbertype(bot) - function make_Res_stepk(qₖ,q̌ₖ,λₖ,sₖ,qₖ₋₁,p̌ₖ₋₁,F̌,Aᵀₖ₋₁,tₖ₋₁) + function make_Res_stepk(qₖ,q̌ₖ,λₖ,sₖ,qₖ₋₁,sₖ₋₁, p̌ₖ₋₁,F̌,Aᵀₖ₋₁,tₖ₋₁) @inline @inbounds function inner_Res_stepk!(Res,x) q̌ₖ .= x[ 1:nq̌ ] λₖ .= x[nq̌+1:nq̌+nλ] sₖ .= x[nq̌+nλ+1:nx] qₘ = (qₖ.+qₖ₋₁)./2 + sₘ = (sₖ.+sₖ₋₁)./2 q̇ₘ = (qₖ.-qₖ₋₁)./h tₘ = tₖ₋₁+h/2 - F!(F̌,qₘ, sₖ, q̇ₘ, tₘ) + F!(F̌,qₘ, sₘ, q̇ₘ, tₘ) Res[ 1:nq̌ ] .= Ḿ*(qₖ.-qₖ₋₁) .- h.*p̌ₖ₋₁ .- (h^2)/2 .*F̌ .+ @@ -96,12 +97,13 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cluster_Cables_Cache end end - function Jac_stepk!(Jac,x,qₖ,sₖ,q̌ₖ,qₖ₋₁,∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) + function Jac_stepk!(Jac,x,qₖ,sₖ,q̌ₖ,qₖ₋₁,sₖ₋₁, ∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) q̌ₖ .= x[1:nq̌] sₖ .= x[nq̌+nλ+1:end] qₘ = (qₖ.+qₖ₋₁)./2 q̇ₘ = (qₖ.-qₖ₋₁)./h tₘ = tₖ₋₁+h/2 + sₘ = (sₖ.+sₖ₋₁)./2 Jac_F!(∂F∂q̌,∂F∂q̌̇,qₘ,q̇ₘ,tₘ) ζ = build_ζ(bot.structure) ∂ζ∂q = build_∂ζ∂q(bot.structure) @@ -109,22 +111,24 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cluster_Cables_Cache n = length(ζ) ∂s̄∂s̄ = I(n) ∂F∂s̄ = build_∂Q̌∂s̄(bot.structure) - κ₁ = 10; κ₂ = 10 + κ₁ = 10; κ₂ = 100 + cosₘ = 1/2 + coqₘ = 1/2 coes = diagm([((ζ[i]/κ₁)^2 + (κ₂*sₖ[i])^2)^(-1/2) for i in 1:n]) coζ = coes*diagm([ζ[i]/κ₁^2 for i in 1:n]) - diagm([1/κ₁ for i in 1:n]) cos̄ = coes*diagm([κ₂^2*sₖ[i] for i in 1:n]) - diagm([κ₂ for i in 1:n]) Jac[ 1:nq̌ , 1:nq̌ ] .= M̌.-(h^2)/2 .*(1/2 .*∂F∂q̌.+1/h.*∂F∂q̌̇) Jac[ 1:nq̌ ,nq̌+1:nq̌+nλ] .= mass_norm.*Aᵀₖ₋₁ - Jac[ 1:nq̌ ,nq̌+nλ+1:end] .= -1/2 * dt^2 .* ∂F∂s̄ + Jac[ 1:nq̌ ,nq̌+nλ+1:end] .= -1/2 * h^2 .* ∂F∂s̄ * cosₘ Jac[nq̌+1:nq̌+nλ, 1:nq̌ ] .= mass_norm.*A(qₖ) Jac[nq̌+1:nq̌+nλ, nq̌+1:nq̌+nλ ] .= 0.0 Jac[nq̌+1:nq̌+nλ, nq̌+nλ+1:end ] .= 0.0 - Jac[nq̌+nλ+1:end,1:nq̌] .= 1/2 * coζ*∂ζ∂q + Jac[nq̌+nλ+1:end,1:nq̌] .= coζ*∂ζ∂q*coqₘ Jac[nq̌+nλ+1:end,nq̌+1:nq̌+nλ] .= 0.0 - Jac[nq̌+nλ+1:end,nq̌+nλ+1:end] .= coζ*∂ζ∂s̄ + cos̄*∂s̄∂s̄ + Jac[nq̌+nλ+1:end,nq̌+nλ+1:end] .= coζ*∂ζ∂s̄*cosₘ + cos̄*∂s̄∂s̄ end iteration_break = 0 @@ -157,7 +161,7 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cluster_Cables_Cache xₖ[nq̌+1:nq̌+nλ] .= 0 xₖ[nq̌+nλ+1:nx] .= sₖ₋₁ Aᵀₖ₋₁ = transpose(A(qₖ₋₁)) - Res_stepk! = make_Res_stepk(qₖ,q̌ₖ,λₖ,sₖ₋₁,qₖ₋₁,p̌ₖ₋₁,F̌,Aᵀₖ₋₁,tₖ₋₁) + Res_stepk! = make_Res_stepk(qₖ,q̌ₖ,λₖ,sₖ,qₖ₋₁,sₖ₋₁,p̌ₖ₋₁,F̌,Aᵀₖ₋₁,tₖ₋₁) isconverged = false normRes = typemax(T) if false#Jac_F! isa Missing @@ -177,13 +181,18 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cluster_Cables_Cache break end # FiniteDiff.finite_difference_jacobian!(Jac,Res_stepk!,xₖ,Val{:central}) - Jac_stepk!(Jac,xₖ,qₖ,sₖ,q̌ₖ,qₖ₋₁,∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) + Jac_stepk!(Jac,xₖ,qₖ,sₖ,q̌ₖ,qₖ₋₁,sₖ₋₁,∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) xₖ .+= Jac\(-Res) end # dfk = OnceDifferentiable(Res_stepk!,Jac_stepk!,xₖ,Res) end if !isconverged + Res_stepk!(Res,xₖ) + Jac_stepk!(Jac,xₖ,qₖ,sₖ,q̌ₖ,qₖ₋₁,sₖ₋₁,∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) + write("j1.bin", Jac) + FiniteDiff.finite_difference_jacobian!(Jac,Res_stepk!,xₖ,Val{:central}) + write("j2.bin", Jac) if exception error("Not Converged! Step=$timestep, normRes=$normRes") else diff --git a/src/members/forces/spring_dampers.jl b/src/members/forces/spring_dampers.jl index f004f34..6e6212a 100644 --- a/src/members/forces/spring_dampers.jl +++ b/src/members/forces/spring_dampers.jl @@ -278,7 +278,6 @@ struct ClusterDistanceSpringDampers{spsType,segsType} end function ClusterDistanceSpringDampers(segs; μ=0.0) - @show 11 nsp = length(segs) - 1 sps = StructArray([SlidingPoint(μ) for i = 1:nsp]) ClusterDistanceSpringDampers(sps, segs) diff --git a/src/members/loci.jl b/src/members/loci.jl index 719f934..b75c609 100644 --- a/src/members/loci.jl +++ b/src/members/loci.jl @@ -267,7 +267,7 @@ function update_contacts!(loci, loci_previous, v, Λ) rel_vel_split = split_by_lengths(v,3) forces_split = split_by_lengths(Λ,3) for (ac,acp,va,Λa) in zip(loci, loci_previous, rel_vel_split,forces_split) - if acp.state.active + if acp.state.active # == ac.state.active ac.state.persistent = true end ac.state.active = true diff --git a/src/postprocess/vis.jl b/src/postprocess/vis.jl index c5c6dd7..ad01b5c 100644 --- a/src/postprocess/vis.jl +++ b/src/postprocess/vis.jl @@ -21,7 +21,7 @@ MakieCore.@recipe(Viz, structure) do scene refcolor=:lightgrey, cablewidth=0.6, meshcolor=:slategrey, - fontsize = 12, + fontsize = 15, ) end @@ -125,11 +125,12 @@ function MakieCore.plot!(viz::Viz{Tuple{S}}; # slackonly=false, # noslackonly=true linestyle_ob = lift(cable_appar_ob) do cab - if cab.force.state.length > cab.force.state.restlen - return :solid - else - return viz.slack_linestyle[] - end + # if cab.force.state.length > cab.force.state.restlen + # return :solid + # else + # return viz.slack_linestyle[] + # end + return :solid end MakieCore.linesegments!( @@ -197,7 +198,7 @@ function MakieCore.plot!(viz::Viz{Tuple{S}}; (;num_of_bodies,) = connectivity.indexed cable_apparatuses_ob = lift(tgob) do tgob filter(sort(tgob.apparatuses)) do appar - appar.joint isa Union{CableJoint, ClusterJoint} + appar.joint isa Union{CableJoint, ClusterJoint} end end diff --git a/src/structures/structure.jl b/src/structures/structure.jl index f01af77..6e5c01d 100644 --- a/src/structures/structure.jl +++ b/src/structures/structure.jl @@ -425,7 +425,7 @@ function build_ψ(structure::AbstractStructure) (;apparatuses) = structure nclustercables = 0 ns = 0 - FB = FischerBurmeister(1e-14, 10., 10.) + FB = FischerBurmeister(1e-14, 10., 100.) foreach(apparatuses) do appar if isa(appar, Apparatus{<:ClusterJoint}) nclustercables += 1 diff --git a/test/vis.jl b/test/vis.jl index 1b156fc..b8c08d5 100644 --- a/test/vis.jl +++ b/test/vis.jl @@ -251,9 +251,11 @@ function plot_traj!(bot::RB.Robot; showinfo = false # ax = LScene(fig[1,1], show_axis=false, scenekw = (clear=true,)) ax = LScene(fig[1,1],) # - # cam = Makie.camera(ax.scene) - # cam = cam3d!(ax.scene, projectiontype=Makie.Orthographic) - # update_cam!(ax.scene, cam) + cam = Makie.camera(ax.scene) + cam = cam3d!(ax.scene, projectiontype=Makie.Orthographic) + update_cam!(ax.scene, cam, pi/2, pi/8) + + # update_cam!(ax.scene, cam, pi/5, pi/12) # ax = LScene(fig[1,1],show_axis=false) # # scale = 1e3 # m0_yellow = load("yard/jixiebi/m0_yellow.STL") |> RB.make_patch(;rot=RotY(pi/2),trans=[-0.50, 0.0, 0.8],scale=1/scale,color=:yellow) diff --git a/yard/jixiebi/CA.jl b/yard/jixiebi/CA.jl new file mode 100644 index 0000000..e50db7c --- /dev/null +++ b/yard/jixiebi/CA.jl @@ -0,0 +1,191 @@ +using TestEnv +TestEnv.activate() + +using Revise #jl +import Rible as RB +include(joinpath(pathof(RB),"../../yard/tensegrity.jl")) +using AbbreviatedStackTraces #jl +ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl +ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl + +figdir::String = joinpath(pathof(RB),"../../tmp") +include(joinpath(pathof(RB),"../../test/vis.jl")) +includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl + +include(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) #jl + +dt = 1e-2 + +policy = RB.TimePolicy( + @eponymtuple( + # f = (t) -> [0.0, t<3 ? 3t : 3, t<3 ? 3t : 3] + f = (t) -> [0.0, 0.0, 0.0] + ) +) +policy2 = RB.TimePolicy( + @eponymtuple( + f = (t) -> [0.0, 0.1t, 0.1t] + # f = (t) -> [0.0, 0.0, 0.0] + ) +) + +rigid_contacts = RB.ContactRigidBodies( + [ + RB.RigidSphere(18) + ] +) + +θ=0.0 +ground_plane = RB.StaticContactSurfaces( + [ + # RB.HalfSpace([-tan(θ),0,1],[0.0,0.0,-150.0]), + RB.Sphere(0.400, [2.2000,0.0,-0.50-1e-3 ]) + ] +); +restitution_coefficients = 0.5 +friction_coefficients = 0.1 +bot_small = build_small_jixiebi(2) +RB.solve!( + RB.DynamicsProblem( + bot_small,policy2, + # ground_plane, + # RB.RestitutionFrictionCombined( + # RB.NewtonRestitution(), + # RB.CoulombFriction(), + # ), + RB.EulerEytelwein(), + ), + RB.DynamicsSolver( + RB.Zhong06(), + # RB.InnerLayerContactSolver( + # RB.InteriorPointMethod() + # ), + RB.MonolithicApparatusSolver( + RB.SmoothedFischerBurmeister() + ), + ); + tspan=(0.0, 1.0), + dt, + ftol=1e-7,verbose=true, + maxiters=50 +) +plot_traj!(bot_small; + ground=ground_plane, + showground = false, + xlims=(-1.0, 4.0), + ylims = (-1.,1.), + zlims = (-2.,1.), + showlabels = false, + showpoints = false, +) + +bot_small_new = build_small_jixiebi(2) +RB.set_new_initial!(bot_small_new, bot_small.traj.q[end], bot_small.traj.q̇[end]) +RB.solve!( + RB.DynamicsProblem( + bot_small_new,policy2, + # ground_plane, + # RB.RestitutionFrictionCombined( + # RB.NewtonRestitution(), + # RB.CoulombFriction(), + # ), + RB.EulerEytelwein(), + ), + RB.DynamicsSolver( + RB.Zhong06(), + # RB.InnerLayerContactSolver( + # RB.InteriorPointMethod() + # ), + RB.MonolithicApparatusSolver( + RB.SmoothedFischerBurmeister() + ), + ); + tspan=(0.0, 1.0), + dt, + ftol=1e-7,verbose=true, + maxiters=50 +) +plot_traj!(bot_small_new; + ground=ground_plane, + showground = false, + xlims=(-1.0, 4.0), + ylims = (-1.,1.), + zlims = (-2.,1.), + showlabels = false, + showpoints = false, +) + + + +dts = [2e-3, 1e-3, 5e-4, 1e-4,1e-5] +pm_dts2 = [] +for dt in dts + push!(pm_dts2, RB.solve!( + RB.DynamicsProblem( + deepcopy(bot_small),policy2, + # ground_plane, + # rigid_contacts, + # RB.RestitutionFrictionCombined( + # RB.NewtonRestitution(), + # RB.CoulombFriction(), + # ), + RB.EulerEytelwein(), + ), + RB.DynamicsSolver( + RB.Zhong06(), + # RB.InnerLayerContactSolver( + # RB.InteriorPointMethod() + # ), + RB.MonolithicApparatusSolver( + RB.SmoothedFischerBurmeister() + ), + ); + tspan=(0.0, 1.0), + dt, + ftol= dt<1e-4 ? 1e-11 : 1e-8 ,verbose=true, + maxiters=50 + )[1].prob.bot) +end +# pm_dts = [RB.solve!( +# RB.DynamicsProblem( +# deepcopy(bot_small),policy, +# # ground_plane, +# # rigid_contacts, +# # RB.RestitutionFrictionCombined( +# # RB.NewtonRestitution(), +# # RB.CoulombFriction(), +# # ), +# RB.EulerEytelwein(), +# ), +# RB.DynamicsSolver( +# RB.Zhong06(), +# # RB.InnerLayerContactSolver( +# # RB.InteriorPointMethod() +# # ), +# RB.MonolithicApparatusSolver( +# RB.SmoothedFischerBurmeister() +# ), +# ); +# tspan=(0.0, 1.0), +# dt, +# ftol= dt<1e-3 ? 1e-9 : 1e-7 ,verbose=true, +# maxiters=50 +# )[1].prob.bot for dt in dts] + +fig = Figure() +ax = Axis(fig[1,1],ylabel = "Abs. Err.") +_,err_nmsi = RB.get_err_avg(pm_dts2[:];bid=8,pid=1,di=3) +# plot_convergence_order!(ax,dts[begin:end-1][2:end],err_nmsi[2:end];orders=[1, 2],label="NMSI") +plot_convergence_order!(ax,dts[begin:end-1],err_nmsi;orders=[1, 2],label="NMSI") +fig +savefig(fig, "../small_accurate_new") + +tr1 = RB.get_trajectory!(pm_dts[end], 16, 2) +fig = Figure() +ax = Axis(fig[1,1]) +for i in 1:3 + lines!(ax, [t[i] for t in tr1], label = "$(i)") +end +axislegend(ax) +fig diff --git a/yard/jixiebi/Group1.jl b/yard/jixiebi/Group1.jl index 0726e7f..3343796 100644 --- a/yard/jixiebi/Group1.jl +++ b/yard/jixiebi/Group1.jl @@ -22,8 +22,8 @@ policy = RB.TimePolicy( @eponymtuple( #驱动量是且仅是时间的函数 # f = (t) -> reduce(vcat, [[0.0, 2t, 2t] for _ in 1:4]) - f = (t) -> reduce(vcat, [[0.0, 2t, 2t, 0.0, 0.5t, 0.5t] for _ in 1:2]) - # f = (t) -> [0.0, 0.0, 0.0] + # f = (t) -> reduce(vcat, [[0.0, 2t, 2t, 0.0, 0.5t, 0.5t] for _ in 1:2]) + f = (t) -> [0.0, 10t, 10t] ) ) @@ -32,7 +32,7 @@ policy = RB.TimePolicy( # ground_plane = RB.StaticContactSurfaces( # [ # # RB.HalfSpace([-tan(θ),0,1],[0.0,0.0,-150.0]), -# RB.Sphere(0.400, [2.2000,0.0,-0.50+1e-3 ]) +# RB.Sphere(0.400, [2.2000,0.0,-0.50+1e-3 ]) # ] # ); @@ -52,7 +52,7 @@ bot_4 = build_4_jixiebis(3) # RB.solve!( # RB.DynamicsProblem( -# bot_4,policy, +# bot,policy, # RB.EulerEytelwein(), # ), # RB.DynamicsSolver( @@ -61,7 +61,7 @@ bot_4 = build_4_jixiebis(3) # RB.SmoothedFischerBurmeister() # ), # ); -# tspan=(0.0,1.0), +# tspan=(0.0,0.2), # dt, # ftol=1e-7,verbose=true # ) @@ -87,7 +87,7 @@ RB.solve!( RB.SmoothedFischerBurmeister() ), ); - tspan=(0.0, 2.2), + tspan=(0.0, 3.0), dt, ftol=1e-7,verbose=true, maxiters=50 diff --git a/yard/jixiebi/Group2_1.jl b/yard/jixiebi/Group2_1.jl index 317a931..0f1c619 100644 --- a/yard/jixiebi/Group2_1.jl +++ b/yard/jixiebi/Group2_1.jl @@ -1,76 +1,189 @@ -using LinearAlgebra -using SparseArrays -using StaticArrays -using BenchmarkTools -using FileIO, MeshIO -using Printf -using Makie -import GLMakie as GM -import CairoMakie as CM -GM.activate!() -using Unitful -using NLsolve -using Revise -using StructArrays -using EponymTuples -using LaTeXStrings -using StaticArrays -using GeometryBasics -using Rotations -using CoordinateTransformations -using Meshing -using TypeSortedCollections -using Match -import TensegrityRobots as TR -cd("docs/examples/jixiebi") -includet("define.jl") -includet("dyfun.jl") -includet("../vis.jl") - - -bot = build_jixiebi2(4) -plot_tg!(bot.tg) -prob1 = TR.SimProblem(bot,dynfuncs1) -dt = 1e-2; T = 9.0 - -TR.solve!(prob1,TR.FBZhong06(), - ( - actuate! = actuate1!, - prescribe! = nothing - ); - dt=dt,tspan=(0.0,T),ftol=1e-7,verbose=true) - -with_theme(theme_pub; -Axis3 = ( - azimuth = 3π/2, - elevation = 0.0, +using TestEnv +TestEnv.activate() + +using Revise #jl +import Rible as RB +include(joinpath(pathof(RB),"../../yard/tensegrity.jl")) +using AbbreviatedStackTraces #jl +ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl +ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl + +figdir::String = joinpath(pathof(RB),"../../tmp") +include(joinpath(pathof(RB),"../../test/vis.jl")) +includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl + +include(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) #jl + + +dt = 2e-3 + +policy = RB.TimePolicy( + @eponymtuple( + f = (t) -> [0.0, 0.1t, 0.1t] + ) +) + +rigid_contacts = RB.ContactRigidBodies( + [ + # RB.RigidCylinder(14) + # RB.RigidCube(14) + RB.RigidSphere(14) + ] +) + +# parameters +restitution_coefficients = 0.5 +friction_coefficients = 0.1 +bot1 = build_small_jixiebi(3) +fig = plot_traj!(bot1; + # atsteps=[3320], + showground = false, + showlabels = false, + showpoints = false, + # doslide = false, +) + +RB.solve!( + RB.DynamicsProblem( + bot1,policy, + # ground_plane, + rigid_contacts, + RB.RestitutionFrictionCombined( + RB.NewtonRestitution(), + RB.CoulombFriction(), + ), + RB.EulerEytelwein(), + ), + RB.DynamicsSolver( + RB.Zhong06(), + RB.InnerLayerContactSolver( + RB.InteriorPointMethod() + ), + RB.MonolithicApparatusSolver( + RB.SmoothedFischerBurmeister() + ), + ); + tspan=(0.0, 5.0), + dt, + ftol=1e-7,verbose=true, + maxiters=50 +) + +with_theme(theme_pub; size=(2tw, 2tw), fontsize=20, + figure_padding = (5fontsize,5fontsize,1fontsize,1fontsize), + Axis3 = ( + azimuth = π/2, + elevation = pi/6, ), -Mesh = ( - # color = :black, - transparency = false, +)do + fig = plot_traj!(bot1; + # atsteps=[3320], + xlims = (-0.5, 3), + zlims = (-2, 0.5), + AxisType = Axis3, + showground = false, + showlabels = false, + showpoints = false, + showinfo = false, + # doslide = false, + ) +end + +for t in 0.0:5.0:30.0 + step = Int(t/dt)+1 +with_theme(theme_pub; size=(2tw, 2tw), fontsize=20, + figure_padding = (5fontsize,5fontsize,1fontsize,1fontsize), + Axis3 = ( + azimuth = π/2, + elevation = pi/8, ), ) do -plot_traj!(bot; - # AxisType=LScene, - # doslide=false, - doslide=true, - showinfo=false, - axtitle=false, - # hidezdecorations=true, - hideydecorations=true, - fontsize=10, - # gridsize=(2,2), - # attimes=[0.0,2.25,3.75,6.0], - # atsteps=nothing, - showground=false, - showlabels=false, - rigidcolor=:grey, - xlims=(-100,3500), - ylims=(-50,50), - zlims=(-1800,1800), -) + fig = plot_traj!(bot1; + AxisType=Axis3, + xlims = (-0.5, 3), + zlims = (-2, 0.5), + showground = false, + showlabels = false, + showpoints = false, + doslide = false, + atsteps = [step] + ) + savefig(fig, "../tg1_$(t).png") + end end -# traj_bot = bot.traj[1112] -# q_bot = bot.traj.q[1112] -# s_bot = bot.traj.s[1112] \ No newline at end of file + +pos_list = Vector{SVector{3}}() +vel_list = Vector{SVector{3}}() +contact_set = Set{Int}() +(;contacts_traj) = bot1 +for (id, ctraj) in enumerate(contacts_traj) + for cn in ctraj + if cn.state.active == true && cn.id < 144 + @show cn.id, cn.state.gap, norm(cn.state.force) + contact_set = union(contact_set, Set(cn.id)) + end + end +end +contact_set = collect(contact_set) +@show contact_set + +for step in 1:length(bot1.traj) + (;structure, traj, contacts_traj) = bot1 + structure.state.system.q .= traj.q[step] + structure.state.system.c .= traj.c[step] + structure.state.system.q̇ .= traj.q̇[step] + RB.update!(structure) + (;bodies) = structure + foreach(bodies) do body + if body.prop.id == 14 + push!(pos_list, body.state.origin_frame.position) + push!(vel_list, body.state.origin_frame.velocity) + end + end +end + +xt = 0:dt:5 +Poss = [[p[i] for p in pos_list] for i in 1:3] +Vels = [[v[i] for v in vel_list] for i in 1:3] +Fs = [[norm(c_traj[i].state.force) for c_traj in contacts_traj] for i in contact_set] +as = [[c_traj[i].state.active for c_traj in contacts_traj] for i in contact_set] +ps = [[c_traj[i].state.persistent for c_traj in contacts_traj] for i in contact_set] + +fig = Figure(fontsize=20, size=(1200, 800)) +ax1 = Axis(fig[1,1]) +ax2 = Axis(fig[1,2]) +lines!(ax1, xt, Poss[1], label="Direction x") +lines!(ax2, xt, Poss[3], label="Direction z") +ax4 = Axis(fig[2,1]) +ax5 = Axis(fig[2,2]) +lines!(ax4, xt, Vels[1], label="Direction x") +lines!(ax5, xt, Vels[3], label="Direction z") +for ax in [ax1, ax2] + ax.xlabel = "Time [s]" + ax.ylabel = "Position [m]" + axislegend(ax, position=:rt) +end +for ax in [ax4, ax5] + ax.xlabel = "Time [s]" + ax.ylabel = "Velocity [m/s]" + axislegend(ax, position=:rt) +end +fig +savefig(fig, "../position_velocity1.png" ) + +fig = Figure(fontsize=20, size=(1200, 800)) +ax1 = Axis(fig[1,1]) +n = 3 +for (id, f) in enumerate(Fs) + # lines!(ax1,xt[1+n:end-n],[(sum([f[j] for j in i-n:i+n]))/(2n+1) for i in n+1:length(f)-n],label="Node $(contact_set[id])") + # lines!(ax1, xt, as[1], label="activate $(contact_set[id])") + lines!(ax1, xt, ps[1], label="persistent $(contact_set[id])") + # lines!(ax1,xt,f, label="Node $(contact_set[id])") +end +ax1.xlabel = "Time [s]" +ax1.ylabel = "Λₙ" +axislegend(ax1, position=:lt) +fig +# savefig(fig, "../contact_force1.png" ) \ No newline at end of file diff --git a/yard/jixiebi/Group2_2.jl b/yard/jixiebi/Group2_2.jl index ce31d6c..6988656 100644 --- a/yard/jixiebi/Group2_2.jl +++ b/yard/jixiebi/Group2_2.jl @@ -1,51 +1,193 @@ -bot1 = deepcopy(bot) -q_bot = bot.traj.q[901] -s_bot = bot.traj.s[901] -bot1.tg.state.system.q̇ .= 0.0 -bot1.traj.q[1] .= q_bot -bot1.traj.s[1] .= s_bot -TR.update!(bot1.tg) -TR.update_orientations!(bot1.tg) - -plot_tg!(bot1.tg) - -prob2 = TR.SimProblem(bot1, dynfuncs1) -dt = 1e-2; T = 6.0 - -TR.solve!(prob2,TR.FBZhong06(), - ( - actuate! = actuate2!, - prescribe! = nothing - ); - dt=dt,tspan=(0.0,T),ftol=1e-7,verbose=true) - -with_theme(theme_pub; - Axis3 = ( - azimuth = 3π/2, - elevation = 0.0, - ), - Mesh = ( - # color = :black, - transparency = false, +using TestEnv +TestEnv.activate() + +using Revise #jl +import Rible as RB +include(joinpath(pathof(RB),"../../yard/tensegrity.jl")) +using AbbreviatedStackTraces #jl +ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl +ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl + +figdir::String = joinpath(pathof(RB),"../../tmp") +include(joinpath(pathof(RB),"../../test/vis.jl")) +includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl + +include(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) #jl + + +dt = 1e-2 + +policy = RB.TimePolicy( + @eponymtuple( + # f = (t) -> [0.0, t<5 ? 0.1t : 0.5, t<5 ? 0.1t : 0.5] + # f = (t) -> [0.0, t<20 ? 0.1t : 2, t<20 ? 0.1t : 2] + # f = (t) -> [0.0, 0.1t, 0.1t] + f = (t) -> reduce(vcat, [[0.0, 0.1t, 0.1t] for _ in 1:4]) + # f = (t) -> [0.0, 0.0, 0.0] + ) +) + +rigid_contacts = RB.ContactRigidBodies( + [ + RB.RigidSphere(37) + ] +) + +# parameters +restitution_coefficients = 0.5 +friction_coefficients = 0.1 +bot2 = build_4_jixiebis(2) +RB.solve!( + RB.DynamicsProblem( + bot2,policy, + # ground_plane, + rigid_contacts, + RB.RestitutionFrictionCombined( + RB.NewtonRestitution(), + RB.CoulombFriction(), + ), + RB.EulerEytelwein(), ), - ) do -plot_traj!(bot1; - # AxisType=LScene, - # doslide=false, - doslide=true, - showinfo=false, - axtitle=false, - # hidezdecorations=true, - hideydecorations=true, - fontsize=10, - # gridsize=(2,2), - # attimes=[0.0,2.25,3.75,6.0], - # atsteps=nothing, - showground=false, - showlabels=false, - rigidcolor=:grey, - xlims=(-100,3500), - ylims=(-50,50), - zlims=(-1800,1800), + RB.DynamicsSolver( + RB.Zhong06(), + RB.InnerLayerContactSolver( + RB.InteriorPointMethod() + ), + RB.MonolithicApparatusSolver( + RB.SmoothedFischerBurmeister() + ), + ); + tspan=(0.0, 30.0), + dt, + ftol=1e-7,verbose=true, + maxiters=50 +) +with_theme(theme_pub;size = (2tw, 2tw), +fontsize=20, +figure_padding=(-10,-10,-10,0), +Axis3 = ( + azimuth = 1.0, + elevation = 0.2 ) -end \ No newline at end of file +) do + fig = plot_traj!(bot2; + # atsteps=[3320], + showground = false, + showlabels = false, + showpoints = false, + doslide = false, + ) +end +for t in 0.0:5.0:30.0 + step = Int(t/dt)+1 + with_theme(theme_pub; size=(2tw, 2tw), fontsize=20) do + fig = plot_traj!(bot2; + # atsteps=[3320], + showground = false, + showlabels = false, + showpoints = false, + doslide = false, + atsteps = [step] + ) + savefig(fig, "../tg2_$(t).png") + end +end + + +pos_list = Vector{SVector{3}}() +vel_list = Vector{SVector{3}}() +contact_set = Set{Int}() +(;contacts_traj) = bot2 +for (id, ctraj) in enumerate(contacts_traj) + @show id + for cn in ctraj + if cn.state.active == true && cn.id < 385 + contact_set = union(contact_set, Set(cn.id)) + end + end +end +contact_set = collect(contact_set) +@show contact_set + +for step in 1:length(bot2.traj) + (;structure, traj, contacts_traj) = bot2 + structure.state.system.q .= traj.q[step] + structure.state.system.c .= traj.c[step] + structure.state.system.q̇ .= traj.q̇[step] + RB.update!(structure) + (;bodies) = structure + foreach(bodies) do body + if body.prop.id == 37 + push!(pos_list, body.state.origin_frame.position) + push!(vel_list, body.state.origin_frame.velocity) + end + end +end + +xt = 0:dt:30 +Poss = [[p[i] for p in pos_list] for i in 1:3] +Vels = [[v[i] for v in vel_list] for i in 1:3] +Fs = [[norm(c_traj[i].state.force) for c_traj in contacts_traj] for i in contact_set] + +fig = Figure(fontsize=20, size=(1200, 600)) +ax1 = Axis(fig[1,1]) +ax2 = Axis(fig[1,2]) +# ax3 = Axis(fig[1,3]) +# lines!(ax1, xt, Poss[1], label="Direction x") +# lines!(ax2, xt, Poss[2], label="Direction y") +lines!(ax1, xt, Poss[3], label="Direction z") +# ax4 = Axis(fig[2,1]) +# ax5 = Axis(fig[2,2]) +# ax6 = Axis(fig[2,3]) +# lines!(ax4, xt, Vels[1], label="Direction x") +# lines!(ax5, xt, Vels[2], label="Direction y") +lines!(ax2, xt, Vels[3], label="Direction z") +ax1.xlabel = "Time [s]" +ax1.ylabel = "Position [m]" +axislegend(ax1, position=:rt) +ax2.xlabel = "Time [s]" +ax2.ylabel = "Velocity [m/s]" +axislegend(ax2, position=:lb) +# for (ax,ps) in zip([ax1, ax2, ax3], [:lt, :lt, :rt]) +# ax.xlabel = "Time [s]" +# ax.ylabel = "Position [m]" +# axislegend(ax, position=ps) +# end +# for (ax,ps) in zip([ax4, ax5, ax6], [:lb, :lt, :lb]) +# ax.xlabel = "Time [s]" +# ax.ylabel = "Velocity [m/s]" +# axislegend(ax, position=ps) +# end +fig +savefig(fig, "../position_velocity2-2.png" ) + +fig = Figure(fontsize=20, size=(1200, 800)) +ax1 = Axis(fig[1,1]) +n = 3 +for (id, f) in enumerate(Fs) + if contact_set[id] < 96 + # lines!(ax1,xt[1:end-1],[(f[i]+f[i+1])/2 for i in 1:length(f)-1],label="Node $(contact_set[id])") + lines!(ax1,xt[1+n:end-n],[(sum([f[j] for j in i-n:i+n]))/(2n+1) for i in n+1:length(f)-n],label="Node $(contact_set[id])") + end +end +ax1.xlabel = "Time [s]" +ax1.ylabel = "Λₙ" +axislegend(ax1, position=:lt) +fig +savefig(fig, "../contact_force2-2.png" ) + +bot1 = build_small_jixiebi(3) +(;structure) = bot1 +(;bodies) = structure +foreach(bodies) do body + (;prop, state) = body + (;loci_states) = state + force = [0.0, 0.0, 0.0] + @show prop.id + for loci in loci_states + force += loci.force + end + @show force +end + diff --git a/yard/jixiebi/plot_policy.jl b/yard/jixiebi/plot_policy.jl new file mode 100644 index 0000000..42aeb05 --- /dev/null +++ b/yard/jixiebi/plot_policy.jl @@ -0,0 +1,17 @@ +t = 0:dt:30 +sc1 = zeros(length(t)) +sc2 = 0.01*ones(length(t)) +sc3 = 0.01*ones(length(t)) + +fig = Figure(fontsize=20) +ax1 = Axis(fig[1,1]) +lw=3 +lines!(ax1, t, sc1, label="Sliding cable 1", linewidth=lw) +lines!(ax1, t, sc2, label="Sliding cable 2", linewidth=lw) +lines!(ax1, t, sc3, label="Sliding cable 3", linestyle=:dash, linewidth=lw) +ax1.xlabel = "Time [s]" +ax1.ylabel = "Velocity [m/s]" +axislegend(ax1, position=:rc) + +fig +savefig(fig, "../sliding_cables.png") \ No newline at end of file diff --git a/yard/jixiebi/test.jl b/yard/jixiebi/test.jl index 3566c14..23c8006 100644 --- a/yard/jixiebi/test.jl +++ b/yard/jixiebi/test.jl @@ -40,4 +40,20 @@ GeometryBasics.Mesh.Sphere((0.,0.,0.), 1.) s1 = Meshes.Sphere((0.,0.,0.),1.) mesh = Meshes.discretize(s1, Meshes.RegularDiscretization(30, 30)) -m1 = mesh |> RB.simple2mesh \ No newline at end of file +m1 = mesh |> RB.simple2mesh + + +temp_n = 20 +temp_m = zeros(temp_n, temp_n) +for i in 1:temp_n + n1 = 0.5 + n2 = 0.25 + temp_prev = (i+temp_n-2) % temp_n + 1 + temp_next = (i) % temp_n + 1 + temp_m[i, i] = n1 + temp_m[i, temp_prev] = temp_m[i, temp_next] = n2 + @show temp_prev,i, temp_next +end +temp_inv_m = inv(temp_m) +display(temp_inv_m) +display(temp_inv_m*temp_m) \ No newline at end of file diff --git a/yard/temp/structure.jl b/yard/temp/structure.jl new file mode 100644 index 0000000..51d459e --- /dev/null +++ b/yard/temp/structure.jl @@ -0,0 +1,229 @@ +function test_structure(n) + k1 = 1.0 + k2 = 80.0 + # kc = 4.0 + kc = 1.2 + delta = 20.00 + # delta = 37.52777 + # restlen1 = 120.0 + # restlen1 = 102.47223 + restlen1 = 100.0 + # restlen2 = 35.0555 + restlen2 = 50.0 + # restlenc = 102.47223 + restlenc = 160.0 + # pre = 1400.0 + pre = 383.65 + len1= -112.8 + len2= 47.2 + r1 = 100 + r2 = 120 + r3 = 35 + rl = [[len1, 0.0, -r3], + [len1, r3*sqrt(3)/2, r3/2], + [len1, -r3*sqrt(3)/2, r3/2], + [len2, 0.0, -r1], + [len2, r1*sqrt(3)/2, r1/2], + [len2, -r1*sqrt(3)/2, r1/2], + [len2, 0.0, r2], + [len2, r2*sqrt(3)/2, -r2/2], + [len2, -r2*sqrt(3)/2, -r2/2]] + mesh = load(RB.assetpath("jixiebi/m2.STL")) |> RB.make_patch(; rot=RotZ(-π / 2)) |> RB.make_patch(; rot=RotX(pi / 6)) + function rigidbody(i, rl, r_center, mesh) + if i == 1 + contactable = false + visible = true + ci = Int[] + Φi = collect(1:6) + else + contactable = true + visible = true + ci = Int[] + Φi = collect(1:6) + end + + ri = r_center + aps = rl + theta = 0 + α = [cos(theta) -sin(theta) 0; + sin(theta) cos(theta) 0; + 0 0 1] + r̄g = [0.0, 0.0, 0.0] + m = 1.0 + I = [372.01 0 0; 0 358.79 0; 0 0 372.01] ./ 10 + nrp = length(aps) + ṙo = zeros(3) + ω = zeros(Float64, 3) + prop = RB.RigidBodyProperty( + i, + contactable, + m, + SMatrix{3,3}(I), + SVector{3}(r̄g), + [SVector{3}(aps[i]) for i in 1:nrp]; + visible + ) + ro = SVector{3}(ri) + + state = RB.RigidBodyState(prop, ri, α, ṙo, ω) + nmcs = RB.NCF.NC1P3V(SVector{3}(ri)) + coords = RB.NonminimalCoordinates(nmcs, ci, Φi) + rb = RB.RigidBody(prop, state, coords, mesh) + end + rbs = [rigidbody(i, rl, [i*(len2-len1) - (i-1) * delta, 0, 0], mesh) for i in 1:n] + bodies = TypeSortedCollection(rbs) + nstrings = 6*(n-1) + spring_dampers = [(i <= 3(n-1)) ? RB.DistanceSpringDamper3D(restlen1, k1, 0.02) : RB.DistanceSpringDamper3D(restlen2, k2, 0.02) for i in 1:nstrings] + ncluster = 3 + cluster_segs = [[RB.DistanceSpringDamperSegment(restlenc, kc, prestress=pre) for i in 1:n-1] for _ in 1:ncluster] + cluster_sps = [[RB.SlidingPoint(0.01) for i in 1:n-2] for _ in 1:ncluster] + matrix_cnt_raw = Vector{Matrix{Int}}() + for i in 1:n-1 + s = zeros(3, 4) + s[1, :] = [i, 4, i+1, 4] + s[2, :] = [i, 5, i+1, 5] + s[3, :] = [i, 6, i+1, 6] + push!(matrix_cnt_raw, s) + end + for i in 1:n-1 + s = zeros(3, 4) + s[1, :] = [i, 4, i+1, 1] + s[2, :] = [i, 5, i+1, 2] + s[3, :] = [i, 6, i+1, 3] + push!(matrix_cnt_raw, s) + end + connecting_matrix = reduce(vcat, matrix_cnt_raw) + + matrix_cnt_raw = [Vector{Matrix{Int}}() for _ in 1:ncluster] + for j in 1:ncluster + s = zeros(n-1, 4) + for i in 1:n-1 + s[i, :] = [i, 6+j, i+1, 6+j] + end + push!(matrix_cnt_raw[j], s) + end + connecting_cluster_matrix = [reduce(vcat, matrix_cnt_raw[k]) for k in 1:ncluster] + + cables, clusters = RB.connect_spring_and_clusters(bodies, spring_dampers, cluster_sps, cluster_segs, connecting_matrix, connecting_cluster_matrix, istart=ncluster+1) + cst1 = RB.FixedBodyConstraint(ncluster + 1, rbs[1]) + apparatuses = TypeSortedCollection(vcat([cst1], cables, clusters)) + # apparatuses = TypeSortedCollection(vcat(cables, clusters)) + + indexed = RB.index(bodies, apparatuses;) + numbered = RB.number(bodies, apparatuses) + cnt = RB.Connectivity(numbered, indexed) + structure = RB.Structure(bodies, apparatuses, cnt) + # 测量器/传感器， 可测量误差， 之后用于定义cost函数， 实现优化或反馈控制， 目前暂时用不到。 + gauges = Int[] + # 作动器， 依附于一个或多个bodies或apparatuses， 其类型分派给execute!来施加不同的驱动力 + actuators = [ + # 试下ExternalForceActuator堪不堪用， 不堪用的话再搞个新的Actuator + RB.ExternalForceActuator( + i, + cluster, + #操作员， 1个驱动量 + RB.NaiveOperator(1), + #外力， 可能不需要用到 + 0.0, + #驱动量数值， + [0.0], + ) + for (i, cluster) in enumerate(clusters) + ] + hub = RB.ControlHub( + structure, + gauges, + actuators, + RB.Coalition(structure, gauges, actuators,) + ) + bot = RB.Robot(structure, hub) +end + + +# +policy = RB.TimePolicy( + @eponymtuple( + f = (t) -> [0.0, 5t, 5t] + # f = (t) -> [0.0, 0.0, 0.0] + ) +) + +dt = 1e-4 +RB.solve!( + RB.DynamicsProblem( + bot,policy, + RB.EulerEytelwein(), + ), + RB.DynamicsSolver( + RB.Zhong06(), + RB.MonolithicApparatusSolver( + RB.SmoothedFischerBurmeister() + ), + ); + tspan=(0.0,10.0), + dt, + ftol=1e-7,verbose=true +) + +dts = [1e-2, 7e-3,5e-3,2e-3,1e-3, 5e-4, 1e-5] +dts = [2e-3, 1e-3, 5e-4, 1e-4,1e-5] + +pm_dts = [] +for dt in dts + push!(pm_dts, RB.solve!( + RB.DynamicsProblem( + deepcopy(bot),policy, + # ground_plane, + # rigid_contacts, + # RB.RestitutionFrictionCombined( + # RB.NewtonRestitution(), + # RB.CoulombFriction(), + # ), + RB.EulerEytelwein(), + ), + RB.DynamicsSolver( + RB.Zhong06(), + # RB.InnerLayerContactSolver( + # RB.InteriorPointMethod() + # ), + RB.MonolithicApparatusSolver( + RB.SmoothedFischerBurmeister() + ), + ); + tspan=(0.0, 0.5), + dt, + ftol= dt<1e-4 ? 1e-9 : 1e-8,verbose=true, + maxiters=50 + )[1].prob.bot) +end + +fig = Figure() +ax = Axis(fig[1,1],ylabel = "Abs. Err.") +_,err_nmsi = RB.get_err_avg(pm_dts[:];bid=4,pid=1,di=3) +# plot_convergence_order!(ax,dts[begin:end-1][end-1:end],err_nmsi[1:5][end-1:end];orders=[1, 2],label="NMSI") +plot_convergence_order!(ax,dts[begin:end-1],err_nmsi;orders=[1, 2],label="NMSI") +fig +savefig(fig, "../5t") + +fig = Figure() +ax = Axis(fig[1,1]) +for (id, dt) in enumerate(dts) + tr1 = RB.get_trajectory!(pm_dts[id], 4, 1) + for i in [3] + lines!(ax, LinRange(0.0, 1.0, length(tr1)), [log10(abs(t[i])) for t in tr1], label = "dt = $(dt), axis $(i)") + end +end +axislegend(ax) +fig + +bot = test_structure(4) + +plot_traj!(bot; + # ground=ground_plane, + showground = false, + xlims=(-1000.0, 4000.0), + ylims = (-1000.,1000.), + zlims = (-2000.,1000.), + showlabels = false, + showpoints = false, +) \ No newline at end of file From f447ae2bcd66123b30f6bf24e9b1dc110a137cf5 Mon Sep 17 00:00:00 2001 From: Perseus Date: Wed, 17 Apr 2024 11:55:02 +0800 Subject: [PATCH 02/20] prettify code --- src/mechanics/dynamics.jl | 18 ++ ...hong06_CCP_constant_mass_cluster_cables.jl | 30 ++- src/structures/linearization.jl | 178 ++++++++++++++++++ yard/jixiebi/Group1.jl | 11 ++ yard/jixiebi/Group2_1.jl | 3 +- 5 files changed, 230 insertions(+), 10 deletions(-) diff --git a/src/mechanics/dynamics.jl b/src/mechanics/dynamics.jl index 66c3728..553acdb 100644 --- a/src/mechanics/dynamics.jl +++ b/src/mechanics/dynamics.jl @@ -89,6 +89,24 @@ function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy:: build_tangent_damping_matrix!(∂F∂q̌̇,structure) end +function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,∂F∂s̄,∂ζ∂q,ζ,bot::Robot,policy::AbstractPolicy,q,q̇,t,cluster_cache,s=nothing) + (;structure,hub) = bot + ∂F∂q̌ .= 0 + ∂F∂q̌̇ .= 0 + ∂F∂s̄ .= 0 + ∂ζ∂q .= 0 + ζ .= 0 + clear_forces!(structure) + lazy_update_bodies!(structure,q,q̇) + update_apparatuses!(structure) + generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure,hub,policy,q,q̇,t) + build_tangent_stiffness_matrix!(∂F∂q̌,structure) + build_tangent_damping_matrix!(∂F∂q̌̇,structure) + build_ζ!(ζ, cluster_cache, structure) + build_∂Q̌∂s̄!(∂F∂s̄, cluster_cache, structure) + build_∂ζ∂q!(∂ζ∂q, cluster_cache, structure) +end + struct ContactCache{cacheType} cache::cacheType end diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl index 1f0f4a2..862efb8 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl @@ -28,7 +28,8 @@ function generate_cache( solver.options, ) F!(F,q,s,q̇,t) = generalized_force!(F,bot,policy,q,q̇,t,s;gravity=options.gravity) - Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,policy,q,q̇,t) + # Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,policy,q,q̇,t) + Jac_F!(∂F∂q, ∂F∂q̇, ∂Q̌∂s̄, ∂ζ∂q, ζ, qₘ,q̇ₘ,tₘ, cluster_cache) = generalized_force_jacobian!(∂F∂q, ∂F∂q̇, ∂Q̌∂s̄, ∂ζ∂q, ζ,bot,policy, qₘ,q̇ₘ,tₘ, cluster_cache) M = Matrix(assemble_M(structure)) Φ = make_cstr_function(bot) @@ -83,10 +84,12 @@ function make_step_k( function ns_stepk!( 𝐫𝐞𝐬,𝐉, Fₘ,∂F∂q,∂F∂q̇, + ∂Q̌∂s̄, ∂ζ∂q, ∂ζ∂s̄, ζ, 𝐁,𝐛,𝐜ᵀ,𝐲, x,Λₖ, structure, contact_cache, + cluster_cache, timestep,iteration,doin=true ) qₖ = @view x[ 1:n1] @@ -98,7 +101,9 @@ function make_step_k( vₘ = q̇ₘ tₘ = tₖ₋₁+h/2 F!(Fₘ,qₘ,sₘ,q̇ₘ,tₘ) - Jac_F!(∂F∂q,∂F∂q̇,qₘ,q̇ₘ,tₘ) + Jac_F!(∂F∂q, ∂F∂q̇, ∂Q̌∂s̄, ∂ζ∂q, ζ, qₘ,q̇ₘ,tₘ, cluster_cache) + + ∂F∂s̄ = transpose(∂Q̌∂s̄) Aₖ₋₁ = A(qₖ₋₁) Aᵀₖ₋₁ = transpose(Aₖ₋₁) @@ -111,18 +116,18 @@ function make_step_k( 𝐫𝐞𝐬[nq+1:nq+nλ] .= mass_norm.*Φ(qₖ) 𝐫𝐞𝐬[nq+nλ+1:nx] .= ψ(sₖ) - ζ = build_ζ(structure) - ∂ζ∂q = build_∂ζ∂q(structure) - ∂ζ∂s̄ = build_∂ζ∂s̄(structure) + # ζ = build_ζ(structure) + # ∂ζ∂q = build_∂ζ∂q(structure) + # ∂ζ∂s̄ = build_∂ζ∂s̄(structure) + # ∂F∂s̄ = build_∂Q̌∂s̄(structure) n = length(ζ) ∂s̄∂s̄ = I(n) - ∂F∂s̄ = build_∂Q̌∂s̄(structure) κ₁ = 10; κ₂ = 100 cosₘ = 1/2 coqₘ = 1/2 - coes = diagm([((ζ[i]/κ₁)^2 + (κ₂*sₖ[i])^2)^(-1/2) for i in 1:n]) - coζ = coes*diagm([ζ[i]/κ₁^2 for i in 1:n]) - diagm([1/κ₁ for i in 1:n]) - cos̄ = coes*diagm([κ₂^2*sₖ[i] for i in 1:n]) - diagm([κ₂ for i in 1:n]) + coes = [((ζ[i]/κ₁)^2 + (κ₂*sₖ[i])^2)^(-1/2) for i in 1:n] + coζ = diagm(coes.*[ζ[i]/κ₁^2 for i in 1:n] .- [1/κ₁ for i in 1:n]) + cos̄ = diagm(coes.*[κ₂^2*sₖ[i] for i in 1:n] .- [κ₂ for i in 1:n]) 𝐉 .= 0.0 𝐉[ 1:nq , 1:nq ] .= M.-(h^2)/2 .*(1/2 .*∂F∂q.+1/h.*∂F∂q̇) @@ -227,6 +232,7 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C mr = norm(M,Inf) mass_norm = mr α0 = 1.0 + ∂Q̌∂s̄, ∂ζ∂q, ∂ζ∂s̄, ζ, cluster_cache = init_cluster_matrix(structure) iteration = 0 prog = Progress(totalstep; dt=1.0, enabled=progress) @@ -289,12 +295,18 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C luJac = ns_stepk!( Res,Jac, F,∂F∂q,∂F∂q̇, + ∂Q̌∂s̄, ∂ζ∂q, ∂ζ∂s̄, ζ, 𝐁,𝐛,𝐜ᵀ,𝐲, x,Λʳₖ, structure, contact_cache, + cluster_cache, timestep,iteration ) + if (tₖ₋₁ == 0.096) & (iteration == 1) + @show size(Jac) + write("jac1.bin", Jac) + end if na == 0 normRes = norm(Res) if normRes < ftol diff --git a/src/structures/linearization.jl b/src/structures/linearization.jl index 132be73..d930f66 100644 --- a/src/structures/linearization.jl +++ b/src/structures/linearization.jl @@ -800,6 +800,131 @@ function build_tangent_damping_matrix!(∂Q̌∂q̌̇,st) end end end +function init_cluster_matrix(st) + (; bodies, apparatuses, connectivity) = st + (; indexed, numbered) = connectivity + (; + num_of_free_coords, + bodyid2sys_free_coords, + bodyid2sys_full_coords, + apparid2sys_free_coords_idx, + apparid2sys_add_var_idx + ) = indexed + ns = 0 + nc = 0 + foreach(apparatuses) do appar + if isa(appar.joint, ClusterJoint) + ns += length(appar.joint.sps) + nc += 1 + end + end + T = get_numbertype(st) + num_of_dim = get_num_of_dims(st) + ∂Q̌∂s̄ = zeros(T, 2ns, num_of_free_coords) + ∂ζ∂q = zeros(T, 2ns, num_of_free_coords) + + αc = zeros(T, ns) + kc = zeros(T, ns + nc) + clusterA = get_clusterA(st) + N_list = Vector{SparseMatrixCSC{Float64,Int64}}() + b_list = [SparseMatrixCSC{Float64,Int64}(undef, 1, 1) for _ in 1:nc] + T_list = [SparseMatrixCSC{Float64,Int64}(undef, 1, 1) for _ in 1:nc] + A_list = [SparseMatrixCSC{Float64,Int64}(undef, 1, 1) for _ in 1:nc] + foreach(apparatuses) do appar + if isa(appar.joint, ClusterJoint) + (; force, joint, id) = appar + (; sps) = joint + nsegs = length(force) + nsp = length(sps) + sp_idx = apparid2sys_add_var_idx[id] + sp_idx_begin = Int((sp_idx[1]-1) / 2) + foreach(force) do seg + kc_idx = seg.id + seg.num_of_add_var + kc[kc_idx] = seg.force.k + end + for i in 1:nsp + αc[sp_idx_begin+i] = sps[i].α + end + b⁺ = zeros(Float64, nsegs-1, nsegs) + b⁻ = zeros(Float64, nsegs-1, nsegs) + for i in 1:nsegs-1 + b⁺[i, i:i+1] = [-kc[i] kc[i+1]/αc[i]] + b⁻[i, i:i+1] = [kc[i] -kc[i+1]*αc[i]] + end + b_list[id] = vcat(b⁺, b⁻) + T_list[id] = get_TransMatrix(nsegs - 1) + + nsegs = length(force) + N = zeros(Float64, nsegs, 2nsegs - 2) + N[1, 1:2] = [1 -1] + N[end, end-1:end] = [-1 1] + for i in 2:nsegs-1 + N[i, 2i-3:2i] = [-1 1 1 -1] + end + push!(N_list, N) + + TT = get_TransMatrix(nsegs - 1) + A = TT*clusterA[id]*TT' + A_list[id] = A + end + end + b = reduce(blockdiag, b_list) + T_matrix = reduce(blockdiag, T_list) + N = reduce(blockdiag, N_list) + ζ = Vector{Float64}(undef, 2ns) + ∂ζ∂s̄ = reduce(blockdiag, A_list) + Tb = T_matrix*b + cluster_cache = @eponymtuple( + N, kc, ns, nc, T, num_of_dim, + Tb, + ) + return ∂Q̌∂s̄, ∂ζ∂q, ∂ζ∂s̄, ζ, cluster_cache +end + +function build_∂Q̌∂s̄!(∂Q̌∂s̄, cluster_cache, st) + (; bodies, apparatuses, connectivity) = st + (; indexed, numbered) = connectivity + (; + num_of_free_coords, + bodyid2sys_free_coords, + bodyid2sys_full_coords, + apparid2sys_free_coords_idx + ) = indexed + (;T, num_of_dim, ns, kc, N) = cluster_cache + D = zeros(T, num_of_dim) + lkn = zeros(T, 2ns, num_of_dim) + J̌ = zeros(T, num_of_dim, num_of_free_coords) + foreach(apparatuses) do appar + if isa(appar.joint, ClusterJoint) + (; force) = appar + foreach(force) do seg + idx = seg.id + seg.num_of_add_var + (; hen, egg) = seg.joint.hen2egg + body_hen = hen.body + body_egg = egg.body + C_hen = body_hen.cache.Cps[hen.pid] + C_egg = body_egg.cache.Cps[egg.pid] + free_idx_hen = body_hen.coords.free_idx + free_idx_egg = body_egg.coords.free_idx + mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] + mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] + (; k, c, state) = seg.force + (; direction, tension) = state + if tension == 0 + ∂Q̌∂s̄ .-= 0 + else + D .= direction + J̌ .= 0 + J̌[:, mfree_egg] .+= C_egg[:, free_idx_egg] + J̌[:, mfree_hen] .-= C_hen[:, free_idx_hen] + kN = kc[idx] .* N[idx, :] + @tullio lkn[k, l] = D[l] * kN[k] + ∂Q̌∂s̄ .-= lkn * J̌ + end + end + end + end +end function build_∂Q̌∂s̄(st) (; bodies, apparatuses, connectivity) = st @@ -878,6 +1003,25 @@ function build_∂Q̌∂s̄(st) return ∂Q̌∂s̄' end +function build_ζ!(ζ, cluster_cache, st) + (; apparatuses, connectivity) = st + (; apparid2sys_add_var_idx) = connectivity.indexed + ζ⁺ = @view ζ[begin:2:end] + ζ⁻ = @view ζ[begin+1:2:end] + foreach(apparatuses) do appar + if isa(appar.joint, ClusterJoint) + (; force, joint, id) = appar + (; sps) = joint + nsp = length(sps) + idx_begin = Int((apparid2sys_add_var_idx[id][1]-1) / 2) + for i in 1:nsp + ζ⁺[idx_begin+i] = force[i+1].force.state.tension / sps[i].α - force[i].force.state.tension + ζ⁻[idx_begin+i] = force[i].force.state.tension - sps[i].α * force[i+1].force.state.tension + end + end + end +end + function build_ζ(st) (; apparatuses, connectivity) = st (; apparid2sys_add_var_idx) = connectivity.indexed @@ -967,6 +1111,38 @@ function build_∂ζ∂s̄(st) return reduce(blockdiag, A_list) end +function build_∂ζ∂q!(∂ζ∂q, cluster_cache, st) + (; apparatuses, connectivity) = st + (; indexed) = connectivity + (; num_of_free_coords, bodyid2sys_free_coords, apparid2sys_add_var_idx) = indexed + (; Tb, T, ns, nc, num_of_dim) = cluster_cache + ∂l∂q = zeros(T, ns+nc, num_of_free_coords) + foreach(apparatuses) do appar + if isa(appar.joint, ClusterJoint) + (; force) = appar + foreach(force) do seg + idx = seg.id + seg.num_of_add_var + J̌ = zeros(T, num_of_dim, num_of_free_coords) + (; hen, egg) = seg.joint.hen2egg + body_hen = hen.body + body_egg = egg.body + C_hen = body_hen.cache.Cps[hen.pid] + C_egg = body_egg.cache.Cps[egg.pid] + free_idx_hen = body_hen.coords.free_idx + free_idx_egg = body_egg.coords.free_idx + mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] + mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] + (; direction) = seg.force.state + J̌[:, mfree_egg] .+= C_egg[:, free_idx_egg] + J̌[:, mfree_hen] .-= C_hen[:, free_idx_hen] + ∂l∂q[idx, :] = direction'*J̌ + end + end + end + ∂ζ∂q .= Tb*∂l∂q + # @show maximum(∂ζ∂q) +end + function build_∂ζ∂q(st) (; apparatuses, connectivity) = st (; indexed) = connectivity @@ -1035,10 +1211,12 @@ function build_∂ζ∂q(st) end b = reduce(blockdiag, b_list) T = reduce(blockdiag, T_list) + # @show maximum(T*b*∂l∂q) return T*b*∂l∂q end + function build_Ǩ(st) _,λ = check_static_equilibrium_output_multipliers(st) build_Ǩ(st,λ) diff --git a/yard/jixiebi/Group1.jl b/yard/jixiebi/Group1.jl index 3343796..5956281 100644 --- a/yard/jixiebi/Group1.jl +++ b/yard/jixiebi/Group1.jl @@ -124,3 +124,14 @@ plot_traj!(bot_4; showpoints = false, ) + +t1 = zeros(336, 336) +t2 = zeros(336, 336) +read!("jac.bin", t1) +read!("jac1.bin", t2) +diff = t1 - t2 +n1 = 168 +n2 = n1 + 90 +n3 = n2 + 78 +findmax(diff[n2:n3, 1:n1]) +findmax(diff) \ No newline at end of file diff --git a/yard/jixiebi/Group2_1.jl b/yard/jixiebi/Group2_1.jl index 0f1c619..28ef2e8 100644 --- a/yard/jixiebi/Group2_1.jl +++ b/yard/jixiebi/Group2_1.jl @@ -44,6 +44,7 @@ fig = plot_traj!(bot1; # doslide = false, ) + RB.solve!( RB.DynamicsProblem( bot1,policy, @@ -64,7 +65,7 @@ RB.solve!( RB.SmoothedFischerBurmeister() ), ); - tspan=(0.0, 5.0), + tspan=(0.0, 0.1), dt, ftol=1e-7,verbose=true, maxiters=50 From 223158bb03d15892dd1b9636ddbabc2a60fff317 Mon Sep 17 00:00:00 2001 From: Perseus Date: Thu, 25 Apr 2024 12:58:30 +0800 Subject: [PATCH 03/20] update structure --- examples/robots/jixiebi.jl | 10 ++--- ...hong06_CCP_constant_mass_cluster_cables.jl | 2 + test/vis.jl | 15 ++++++- yard/jixiebi/Group2_1.jl | 39 ++++++++++++------- yard/jixiebi/Group2_2.jl | 35 +++++++++++------ 5 files changed, 71 insertions(+), 30 deletions(-) diff --git a/examples/robots/jixiebi.jl b/examples/robots/jixiebi.jl index d0bcb7b..2893a50 100644 --- a/examples/robots/jixiebi.jl +++ b/examples/robots/jixiebi.jl @@ -692,7 +692,7 @@ function build_small_jixiebi(n; ks1=8.0, restlens1=0.018007, connecting_cluster_matrix = [reduce(vcat, matrix_cnt_raw[k]) for k in 1:ncluster] cables, clusters = RB.connect_spring_and_clusters(bodies, spring_dampers, cluster_sps, cluster_segs, connecting_matrix, connecting_cluster_matrix, istart=ncluster + 1) cst1 = RB.FixedBodyConstraint(ncluster + 1, rbs[1]) - cst2 = RB.FixedBodyConstraint(77, rbs[14]) + # cst2 = RB.FixedBodyConstraint(77, rbs[14]) apparatuses = TypeSortedCollection(vcat([cst1], cables, clusters)) indexed = RB.index(bodies, apparatuses;) @@ -725,9 +725,9 @@ function build_small_jixiebi(n; ks1=8.0, restlens1=0.018007, bot = RB.Robot(structure, hub) end -function build_4_jixiebis(n; ks1=80.0, restlens1=0.050, - ks2=1.00, restlens2=0.1, - kc=1.20, restlenc=0.160, pre=383.65, +function build_4_jixiebis(n; ks1=8.0, restlens1=0.018007, + ks2=1.00, restlens2=0.08, + kc=2.00, restlenc=0.140, pre=57.6343395, delta=-0.02) @@ -966,7 +966,7 @@ function build_4_jixiebis(n; ks1=80.0, restlens1=0.050, spring_dampers = vcat(deepcopy(spring_dampers), deepcopy(spring_dampers), deepcopy(spring_dampers), deepcopy(spring_dampers)) restlencs = zeros(Float64, 5n - 1) - restlenc1 = 266.77 / scale + restlenc1 = 256.77 / scale for i in 1:5n-1 if (mod(i, 5) == 0) restlencs[i] = restlenc1 diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl index 862efb8..7cdd2ed 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl @@ -355,10 +355,12 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C ns_stepk!( Res_α0,Jac_α0, F,∂F∂q,∂F∂q̇, + ∂Q̌∂s̄, ∂ζ∂q, ∂ζ∂s̄, ζ, 𝐁t,𝐛,𝐜ᵀ,𝐲, x.+Δx,Λʳₖ.+ΔΛₖ, structure, contact_cache, + cluster_cache, timestep,iteration,false ) ϕα0 = (transpose(Res_α0)*sd*Res_α0)/2 diff --git a/test/vis.jl b/test/vis.jl index b8c08d5..0f3b34c 100644 --- a/test/vis.jl +++ b/test/vis.jl @@ -244,6 +244,18 @@ function plot_traj!(bot::RB.Robot; aspect=:data, # tellheight=false, ) + # scale = 1e3 + # m0_yellow = load("yard/jixiebi/m0_yellow.STL") |> RB.make_patch(;rot=RotY(pi/2),trans=[-0.50, 0.0, 0.8],scale=1/scale,color=:yellow) + # m0_blue1 = load("yard/jixiebi/m0_blue.STL") |> RB.make_patch(;rot=RotY(pi/2), trans=[-0.5,0.23,0.37], scale=1/scale,color=:blue) + # m0_blue2 = load("yard/jixiebi/m0_blue.STL") |> RB.make_patch(;rot=RotY(pi/2), trans=[0.5,0.23,0.37], scale=1/scale,color=:blue) + # m0_blue3 = load("yard/jixiebi/m0_blue.STL") |> RB.make_patch(;rot=RotY(pi/2)*RotX(-pi/2), trans=[-0.23,0.5,0.37], scale=1/scale,color=:blue) + # m0_blue4 = load("yard/jixiebi/m0_blue.STL") |> RB.make_patch(;rot=RotY(pi/2)*RotX(-pi/2), trans=[-0.23,-0.5,0.37], scale=1/scale,color=:blue) + # mesh!(ax, m0_yellow) + # mesh!(ax, m0_blue1) + # mesh!(ax, m0_blue2) + # mesh!(ax, m0_blue3) + # mesh!(ax, m0_blue4) + xlims!(ax,xmin,xmax) ylims!(ax,ymin,ymax) zlims!(ax,zmin,zmax) @@ -367,6 +379,7 @@ function plot_traj!(bot::RB.Robot; recordsteps = 1:skipstep:length(traj.t) record(fig, figname, recordsteps; framerate) do this_step + @show this_step / length(traj.t) if actuate RB.actuate!(bot,[traj.t[this_step]]) end @@ -376,7 +389,7 @@ function plot_traj!(bot::RB.Robot; # @show RB.mechanical_energy(structure) # this_time[] = traj.t[this_step] - RB.analyse_slack(structure,true) + # RB.analyse_slack(structure,true) tgob[] = structure end else diff --git a/yard/jixiebi/Group2_1.jl b/yard/jixiebi/Group2_1.jl index 28ef2e8..8330af4 100644 --- a/yard/jixiebi/Group2_1.jl +++ b/yard/jixiebi/Group2_1.jl @@ -16,11 +16,15 @@ include(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) includet(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) #jl -dt = 2e-3 +dt = 5e-3 +A = 0.1 policy = RB.TimePolicy( @eponymtuple( - f = (t) -> [0.0, 0.1t, 0.1t] + # f = (t) -> [0.0, 0.1t, 0.1t] + f = (t) -> [0.0, + t [0.0, t<5 ? 0.1t : 0.5, t<5 ? 0.1t : 0.5] # f = (t) -> [0.0, t<20 ? 0.1t : 2, t<20 ? 0.1t : 2] # f = (t) -> [0.0, 0.1t, 0.1t] - f = (t) -> reduce(vcat, [[0.0, 0.1t, 0.1t] for _ in 1:4]) + f = (t) -> reduce(vcat, [[0.0, + t reduce(vcat, [[0.0, 0.1t, 0.1t] for _ in 1:4]) # f = (t) -> [0.0, 0.0, 0.0] ) ) @@ -63,20 +67,28 @@ RB.solve!( ftol=1e-7,verbose=true, maxiters=50 ) -with_theme(theme_pub;size = (2tw, 2tw), -fontsize=20, -figure_padding=(-10,-10,-10,0), +with_theme(theme_pub; size=(0.8tw, 0.7tw), fontsize=fontsize, + # figure_padding = (5fontsize,5fontsize,fontsize,fontsize), + figure_padding = (2fontsize,2fontsize,0,0), # left, right, down, up Axis3 = ( - azimuth = 1.0, - elevation = 0.2 + azimuth = pi/3.5, + elevation = pi/12 ) ) do fig = plot_traj!(bot2; # atsteps=[3320], showground = false, showlabels = false, + xlims = (-1.5, 1.5), + ylims = (-1.5, 1.5), + zlims = (-2, 2), + AxisType = Axis3, showpoints = false, + showinfo = false, + # doslide = true, doslide = false, + dorecord = true, + figname = "t1.mp4" ) end for t in 0.0:5.0:30.0 @@ -103,6 +115,7 @@ for (id, ctraj) in enumerate(contacts_traj) @show id for cn in ctraj if cn.state.active == true && cn.id < 385 + # if cn.state.active == true contact_set = union(contact_set, Set(cn.id)) end end @@ -110,7 +123,7 @@ end contact_set = collect(contact_set) @show contact_set -for step in 1:length(bot2.traj) +for step in 1:length(bot2.traj[1:2001]) (;structure, traj, contacts_traj) = bot2 structure.state.system.q .= traj.q[step] structure.state.system.c .= traj.c[step] @@ -125,10 +138,10 @@ for step in 1:length(bot2.traj) end end -xt = 0:dt:30 +xt = 0:dt:10 Poss = [[p[i] for p in pos_list] for i in 1:3] Vels = [[v[i] for v in vel_list] for i in 1:3] -Fs = [[norm(c_traj[i].state.force) for c_traj in contacts_traj] for i in contact_set] +Fs = [[norm(c_traj[i].state.force) for c_traj in contacts_traj[1:2001]] for i in contact_set] fig = Figure(fontsize=20, size=(1200, 600)) ax1 = Axis(fig[1,1]) @@ -164,7 +177,7 @@ savefig(fig, "../position_velocity2-2.png" ) fig = Figure(fontsize=20, size=(1200, 800)) ax1 = Axis(fig[1,1]) -n = 3 +n = 1 for (id, f) in enumerate(Fs) if contact_set[id] < 96 # lines!(ax1,xt[1:end-1],[(f[i]+f[i+1])/2 for i in 1:length(f)-1],label="Node $(contact_set[id])") From ab9d6953edec6f5b126841d878e0ebf051c44b5a Mon Sep 17 00:00:00 2001 From: Jacob <88961633+jacobleft@users.noreply.github.com> Date: Mon, 29 Apr 2024 13:53:53 +0800 Subject: [PATCH 04/20] fix type instability using `na_ref`; fix abstract type in `connect_clusters`; add dispatch for in-place tangent stiffness matrix for apparatuses and bodies; rm `DifferentiableCollisions`; --- Project.toml | 1 - jixiebi2.jl | 0 src/mechanics/dynamics.jl | 10 +- ...hong06_CCP_constant_mass_cluster_cables.jl | 2 +- src/structures/connectivity.jl | 39 +-- src/structures/linearization.jl | 278 ++++++++++-------- 6 files changed, 188 insertions(+), 142 deletions(-) delete mode 100644 jixiebi2.jl diff --git a/Project.toml b/Project.toml index 7716ec8..18a36de 100644 --- a/Project.toml +++ b/Project.toml @@ -12,7 +12,6 @@ Clarabel = "61c947e1-3e6d-4ee4-985a-eec8c727bd6e" ColorTypes = "3da002f7-5984-5a60-b8a6-cbb66c0b333f" ComponentArrays = "b0b7db55-cfe3-40fc-9ded-d10e2dbeff66" CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298" -DifferentiableCollisions = "64b45163-ce2a-43f6-8f64-55d720633796" DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" DynamicPolynomials = "7c1d4256-1411-5781-91ec-d7bc3513ac07" EponymTuples = "97e2ac4a-e175-5f49-beb1-4d6866a6cdc3" diff --git a/jixiebi2.jl b/jixiebi2.jl deleted file mode 100644 index e69de29..0000000 diff --git a/src/mechanics/dynamics.jl b/src/mechanics/dynamics.jl index 553acdb..2d7404c 100644 --- a/src/mechanics/dynamics.jl +++ b/src/mechanics/dynamics.jl @@ -157,7 +157,7 @@ function activate_frictional_contacts!(structure,contact_env::ContactRigidBodies (;contact_bodies) = contact_env T = eltype(q) nq = length(q) - na = 0 + na_ref = Ref(0) for contact in contact_bodies contact.pid = contact.init_pid # INFO 3: 第一个loci不动，从第二个开始 @@ -215,7 +215,7 @@ function activate_frictional_contacts!(structure,contact_env::ContactRigidBodies end end end - na += 2 + na_ref[] += 2 # INFO 6: 一个碰撞对应两个na end end @@ -235,6 +235,7 @@ function activate_frictional_contacts!(structure,contact_env::ContactRigidBodies end end + na = na_ref[] inv_friction_coefficients = ones(T,3na) for (i,μ) in enumerate(μs_sys[contacts_bits]) inv_friction_coefficients[3(i-1)+1] = 1/μ @@ -360,7 +361,7 @@ function activate_contacts!(structure,contact_env::ContactRigidBodies,solver_cac (;contact_bodies) = contact_env T = eltype(q) nq = length(q) - na = 0 + na_ref = Ref(0) update_bodies!(structure,q) foreach(structure.bodies) do body (;prop,state) = body @@ -383,12 +384,13 @@ function activate_contacts!(structure,contact_env::ContactRigidBodies,solver_cac if contact_state.persistent persistent_bits[bodyid2sys_loci_idx[bid][pid]] = true end - na += 1 + na_ref[] += 1 end end end end # @show na, length(active_contacts) + na = na_ref[] inv_friction_coefficients = ones(T,na) for (i,μ) in enumerate(μs_sys[contacts_bits]) inv_friction_coefficients[(i-1)+1] = 1 diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl index 7cdd2ed..08af31c 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl @@ -207,7 +207,7 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C λ0 = traj.λ[begin] s0 = traj.s[begin] q̇0 = traj.q̇[begin] - activate_contacts!(structure,env,solver_cache,q0) + activate_frictional_contacts!(structure,env,solver_cache,q0) invM = inv(M) pₖ₋₁ = M*q̇0 pₖ = zero(pₖ₋₁) diff --git a/src/structures/connectivity.jl b/src/structures/connectivity.jl index 8099e78..54cc1bb 100644 --- a/src/structures/connectivity.jl +++ b/src/structures/connectivity.jl @@ -38,24 +38,27 @@ function connect_clusters(bodies, cluster_sps, cluster_segs, cms) ret = Vector{Apparatus{<:CableJoint, <:DistanceSpringDamperSegment}}(undef, size(cm, 1)) j = 0 clusterID += 1 - for row in eachrow(cm) - rbid1, pid1, rbid2, pid2 = row - j += 1 - joint = CableJoint( - Hen2Egg(Signifier(rbs_sorted[rbid1], pid1), Signifier(rbs_sorted[rbid2], pid2)), - 0, - ) - segs = Apparatus( - j, - joint, - cluster_seg[j], - num_segs, - Int[], - Int[] - ) - # push!(ret, segs) - ret[j] = segs - end + ret = [ + begin + rbid1, pid1, rbid2, pid2 = row + j += 1 + joint = CableJoint( + Hen2Egg(Signifier(rbs_sorted[rbid1], pid1), Signifier(rbs_sorted[rbid2], pid2)), + 0, + ) + segs = Apparatus( + j, + joint, + cluster_seg[j], + num_segs, + Int[], + Int[] + ) + # push!(ret, segs) + segs + end + for row in eachrow(cm) + ] num_segs += size(cm, 1) push!(rets, Apparatus(clusterID, ClusterJoint(cluster_sps[clusterID], 0), ret, 2j-2, Int[], Int[])) end diff --git a/src/structures/linearization.jl b/src/structures/linearization.jl index d930f66..467fb83 100644 --- a/src/structures/linearization.jl +++ b/src/structures/linearization.jl @@ -625,133 +625,173 @@ function build_tangent_damping_matrix(st, @eponymargs(clustered, )) return ∂Q̌∂q̌̇ end + # In-place ∂Q̌∂q̌ for cables and flexible bodies -function build_tangent_stiffness_matrix!(∂Q̌∂q̌,st) - (;bodies,apparatuses,connectivity) = st - (;indexed,numbered) = connectivity +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,body::AbstractBody,q,st) + #default do nothing +end +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus,q,st) + #default do nothing +end + +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,body::FlexibleBody,q,st) + (;coords,cache) = body + (;e,) = cache + ancs = coords.nmcs + ∂Q∂e = ANCF.make_∂Q∂e(ancs)(e) + mfree = bodyid2sys_free_coords[body.prop.id] + (;free_idx) = body.coords + ∂Q̌∂q̌[mfree,mfree] .-= ∂Q∂e[free_idx,free_idx] +end + +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJoint},q,st) + + (;indexed,numbered) = st.connectivity (; num_of_free_coords, bodyid2sys_free_coords, bodyid2sys_full_coords, apparid2sys_free_coords_idx ) = indexed + T = get_numbertype(st) num_of_dim = get_num_of_dims(st) - # ∂Q̌∂q̌ = zeros(T,num_of_free_coords,num_of_free_coords) D = @MMatrix zeros(T,num_of_dim,num_of_dim) Im = Symmetric(SMatrix{num_of_dim,num_of_dim}(one(T)*I)) J̌ = zeros(T,num_of_dim,num_of_free_coords) + + (;hen,egg) = appar.joint.hen2egg + body_hen = hen.body + body_egg = egg.body + C_hen = body_hen.cache.Cps[hen.pid] + C_egg = body_egg.cache.Cps[egg.pid] + free_idx_hen = body_hen.coords.free_idx + free_idx_egg = body_egg.coords.free_idx + mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] + mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] + (;k,c,state,slack) = appar.force + (;direction,tension) = state + l = state.length + l̇ = state.lengthdot + if slack && (tension==0) + ∂Q̌∂q̌ .-= 0 + else + D .= direction*transpose(direction) + density = tension/l + β = c*l̇/l + density + D .*= k-β + D .+= β.*Im + J̌ .= 0 + J̌[:,mfree_egg] .+= C_egg[:,free_idx_egg] + J̌[:,mfree_hen] .-= C_hen[:,free_idx_hen] + ∂Q̌∂q̌ .-= transpose(J̌)*D*J̌ + end +end + +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJoint,<:DistanceSpringDamperSegment},q,st) + + (;indexed,numbered) = st.connectivity + (; + num_of_free_coords, + bodyid2sys_free_coords, + bodyid2sys_full_coords, + apparid2sys_free_coords_idx + ) = indexed + + T = get_numbertype(st) + num_of_dim = get_num_of_dims(st) + D = @MMatrix zeros(T,num_of_dim,num_of_dim) + Im = Symmetric(SMatrix{num_of_dim,num_of_dim}(one(T)*I)) + J̌ = zeros(T,num_of_dim,num_of_free_coords) + + (;hen,egg) = appar.joint.hen2egg + body_hen = hen.body + body_egg = egg.body + C_hen = body_hen.cache.Cps[hen.pid] + C_egg = body_egg.cache.Cps[egg.pid] + free_idx_hen = body_hen.coords.free_idx + free_idx_egg = body_egg.coords.free_idx + mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] + mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] + (;k,c,state) = appar.force + (;direction,tension) = state + l = state.length + l̇ = state.lengthdot + D .= direction*transpose(direction) + density = tension/l + β = c*l̇/l + density + D .*= k-β + D .+= β.*Im + J̌ .= 0 + J̌[:,mfree_egg] .+= C_egg[:,free_idx_egg] + J̌[:,mfree_hen] .-= C_hen[:,free_idx_hen] + ∂Q̌∂q̌ .-= transpose(J̌)*D*J̌ +end + +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:ClusterJoint},q,st) + foreach(appar.force) do seg + build_tangent_stiffness_matrix!(∂Q̌∂q̌,seg,q,st) + end +end + +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{JointType,<:RotationalSpringDamper},q,st) where {JointType} + (; + num_of_cstr, + hen2egg, + cache, + mask_1st,mask_2nd,mask_3rd,mask_4th + ) = appar.joint + (; + relative_core + ) = cache + full_idx = appar.full_coords_idx + free_idx = appar.free_coords_idx + sys_free_coords_idx = apparid2sys_free_coords_idx[appar.id] + (;mask,k) = appar.force + (;hen,egg) = hen2egg + nmcs_hen = hen.body.coords.nmcs + nmcs_egg = egg.body.coords.nmcs + num_of_coords_hen = get_num_of_coords(nmcs_hen) + num_of_coords_egg = get_num_of_coords(nmcs_egg) + id_hen = hen.body.prop.id + id_egg = egg.body.prop.id + q_hen = @view q[bodyid2sys_full_coords[id_hen]] + q_egg = @view q[bodyid2sys_full_coords[id_egg]] + q_jointed = vcat( + q_hen, + q_egg + ) + jointed2angles = make_jointed2angles(hen2egg,relative_core) + nq = length(q_jointed) + ## angles = jointed2angles(q_jointed) + ## torques = k.*angles + ## angles_jacobian = ForwardDiff.jacobian(jointed2angles,q_jointed) + ## angles_hessians = ForwardDiff.jacobian(x -> ForwardDiff.jacobian(jointed2angles, x), q_jointed) + # angles_hessians = FiniteDiff.finite_difference_jacobian(x -> ForwardDiff.jacobian(jointed2angles, x), q_jointed) + ## reshaped_angles_hessians = reshape(angles_hessians,3,nq,nq) + # @show sys_free_coords_idx, free_idx + for i in mask + ## angle = angles[i] + ## torque = torques[i] + ## generalized_force_jacobian = torque.*reshaped_angles_hessians[i,:,:] .+ k.*angles_jacobian[i,:]*angles_jacobian[[i],:] + # @show generalized_force_jacobian + ## ∂Q̌∂q̌[sys_free_coords_idx,sys_free_coords_idx] .-= generalized_force_jacobian[free_idx,free_idx] + end +end + +# In-place ∂Q̌∂q̌ for cables and flexible bodies +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,st) + (;bodies,apparatuses,connectivity) = st q = get_coords(st) + num_of_dim = get_num_of_dims(st) + # ∂Q̌∂q̌ = zeros(T,num_of_free_coords,num_of_free_coords) foreach(bodies) do body - if body isa FlexibleBody - (;coords,cache) = body - (;e,) = cache - ancs = coords.nmcs - ∂Q∂e = ANCF.make_∂Q∂e(ancs)(e) - mfree = bodyid2sys_free_coords[body.prop.id] - (;free_idx) = body.coords - ∂Q̌∂q̌[mfree,mfree] .-= ∂Q∂e[free_idx,free_idx] - end + build_tangent_stiffness_matrix!(∂Q̌∂q̌,body,q,st) end foreach(apparatuses) do appar - if appar.joint isa CableJoint - (;hen,egg) = appar.joint.hen2egg - body_hen = hen.body - body_egg = egg.body - C_hen = body_hen.cache.Cps[hen.pid] - C_egg = body_egg.cache.Cps[egg.pid] - free_idx_hen = body_hen.coords.free_idx - free_idx_egg = body_egg.coords.free_idx - mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] - mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] - (;k,c,state,slack) = appar.force - (;direction,tension) = state - l = state.length - l̇ = state.lengthdot - if slack && (tension==0) - ∂Q̌∂q̌ .-= 0 - else - D .= direction*transpose(direction) - density = tension/l - β = c*l̇/l + density - D .*= k-β - D .+= β.*Im - J̌ .= 0 - J̌[:,mfree_egg] .+= C_egg[:,free_idx_egg] - J̌[:,mfree_hen] .-= C_hen[:,free_idx_hen] - ∂Q̌∂q̌ .-= transpose(J̌)*D*J̌ - end - elseif appar.joint isa ClusterJoint - foreach(appar.force) do seg - (;hen, egg) = seg.joint.hen2egg - body_hen = hen.body - body_egg = egg.body - C_hen = body_hen.cache.Cps[hen.pid] - C_egg = body_egg.cache.Cps[egg.pid] - free_idx_hen = body_hen.coords.free_idx - free_idx_egg = body_egg.coords.free_idx - mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] - mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] - (;k, c, state) = seg.force - (;direction, tension) = state - l = state.length - l̇ = state.lengthdot - D .= direction*transpose(direction) - density = tension / l - β = c*l̇/l + density - D .*= k - β - D .+= β .* Im - J̌ .= 0 - J̌[:,mfree_egg] .+= C_egg[:,free_idx_egg] - J̌[:,mfree_hen] .-= C_hen[:,free_idx_hen] - ∂Q̌∂q̌ .-= transpose(J̌)*D*J̌ - end - elseif appar.force isa RotationalSpringDamper - (; - num_of_cstr, - hen2egg, - cache, - mask_1st,mask_2nd,mask_3rd,mask_4th - ) = appar.joint - (; - relative_core - ) = cache - full_idx = appar.full_coords_idx - free_idx = appar.free_coords_idx - sys_free_coords_idx = apparid2sys_free_coords_idx[appar.id] - (;mask,k) = appar.force - (;hen,egg) = hen2egg - nmcs_hen = hen.body.coords.nmcs - nmcs_egg = egg.body.coords.nmcs - num_of_coords_hen = get_num_of_coords(nmcs_hen) - num_of_coords_egg = get_num_of_coords(nmcs_egg) - id_hen = hen.body.prop.id - id_egg = egg.body.prop.id - q_hen = @view q[bodyid2sys_full_coords[id_hen]] - q_egg = @view q[bodyid2sys_full_coords[id_egg]] - q_jointed = vcat( - q_hen, - q_egg - ) - jointed2angles = make_jointed2angles(hen2egg,relative_core) - nq = length(q_jointed) - ## angles = jointed2angles(q_jointed) - ## torques = k.*angles - ## angles_jacobian = ForwardDiff.jacobian(jointed2angles,q_jointed) - ## angles_hessians = ForwardDiff.jacobian(x -> ForwardDiff.jacobian(jointed2angles, x), q_jointed) - # angles_hessians = FiniteDiff.finite_difference_jacobian(x -> ForwardDiff.jacobian(jointed2angles, x), q_jointed) - ## reshaped_angles_hessians = reshape(angles_hessians,3,nq,nq) - # @show sys_free_coords_idx, free_idx - for i in mask - ## angle = angles[i] - ## torque = torques[i] - ## generalized_force_jacobian = torque.*reshaped_angles_hessians[i,:,:] .+ k.*angles_jacobian[i,:]*angles_jacobian[[i],:] - # @show generalized_force_jacobian - ## ∂Q̌∂q̌[sys_free_coords_idx,sys_free_coords_idx] .-= generalized_force_jacobian[free_idx,free_idx] - end - end + build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar,q,st) end return ∂Q̌∂q̌ @@ -810,14 +850,16 @@ function init_cluster_matrix(st) apparid2sys_free_coords_idx, apparid2sys_add_var_idx ) = indexed - ns = 0 - nc = 0 + ns_ref = Ref(0) + nc_ref = Ref(0) foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) - ns += length(appar.joint.sps) - nc += 1 + ns_ref[] += length(appar.joint.sps) + nc_ref[] += 1 end end + ns = ns_ref[] + nc = nc_ref[] T = get_numbertype(st) num_of_dim = get_num_of_dims(st) ∂Q̌∂s̄ = zeros(T, 2ns, num_of_free_coords) @@ -855,13 +897,13 @@ function init_cluster_matrix(st) T_list[id] = get_TransMatrix(nsegs - 1) nsegs = length(force) - N = zeros(Float64, nsegs, 2nsegs - 2) - N[1, 1:2] = [1 -1] - N[end, end-1:end] = [-1 1] + N_segs = zeros(Float64, nsegs, 2nsegs - 2) + N_segs[1, 1:2] = [1 -1] + N_segs[end, end-1:end] = [-1 1] for i in 2:nsegs-1 - N[i, 2i-3:2i] = [-1 1 1 -1] + N_segs[i, 2i-3:2i] = [-1 1 1 -1] end - push!(N_list, N) + push!(N_list, N_segs) TT = get_TransMatrix(nsegs - 1) A = TT*clusterA[id]*TT' From 7ba6aa5950aced52a6eb4387b6da2f3ae37c020d Mon Sep 17 00:00:00 2001 From: Perseus Date: Mon, 29 Apr 2024 14:17:26 +0800 Subject: [PATCH 05/20] update --- examples/robots/jixiebi.jl | 16 +- .../Zhong06_constant_mass_cluster_cables.jl | 10 +- test/vis.jl | 2 + yard/jixiebi/Group2_1 copy.jl | 311 ++++++++++++++++++ yard/jixiebi/Group2_1.jl | 110 +++++-- yard/jixiebi/Group2_2.jl | 12 +- 6 files changed, 421 insertions(+), 40 deletions(-) create mode 100644 yard/jixiebi/Group2_1 copy.jl diff --git a/examples/robots/jixiebi.jl b/examples/robots/jixiebi.jl index 2893a50..b7419ec 100644 --- a/examples/robots/jixiebi.jl +++ b/examples/robots/jixiebi.jl @@ -298,7 +298,7 @@ function build_small_jixiebi(n; ks1=8.0, restlens1=0.018007, # kc=8.00, restlenc=0.160, pre=520.0-0.35, # kc=4.00, restlenc=0.160, pre=480.0-0.35, kc=2.0, restlenc=0.14, pre=57.6343395, - delta=-0.02) + delta=-0.02,object=:none) function RigidData(r̄g, m, i, r̄l, mesh=nothing) @@ -593,9 +593,15 @@ function build_small_jixiebi(n; ks1=8.0, restlens1=0.018007, rb = RB.RigidBody(prop, state, coords, sphere_mesh) end rbs1 = [rigidbody(i, rds[i], r̄s[i]) for i in 1:nb] - # rbs2 = [rigidCube([1.05, 0.0, -0.55], [0.4, 0.4, 0.4], length(rbs1)+1)] - rbs2 = [rigidSphere([0.65, 0.0, -0.55], 0.4, length(rbs1) + 1)] - # rbs2 = [rigidCylinder([1.05, 0.0, -0.5], 0.3, 1.2, 0.0, pi/6, pi/2, length(rbs1) + 1)] + if object == :none + rbs2 = [] + elseif object == :cube + rbs2 = [rigidCube([1.05, 0.0, -0.55], [0.4, 0.4, 0.4], length(rbs1)+1)] + elseif object == :sphere + rbs2 = [rigidSphere([0.65, 0.0, -0.55], 0.4, length(rbs1) + 1)] + elseif object == :cylinder + rbs2 = [rigidCylinder([1.05, 0.0, -0.5], 0.3, 1.2, 0.0, 0.0, pi/2, length(rbs1) + 1)] + end rbs = vcat(rbs1, rbs2) # rbs = vcat(rbs, [rigidbody(nb+1, rds[nb], r̄s[nb])]) @@ -620,7 +626,7 @@ function build_small_jixiebi(n; ks1=8.0, restlens1=0.018007, end ncluster = 3 cluster_segs = [[RB.DistanceSpringDamperSegment(restlencs[i], kc, prestress=pre) for i in 1:5n-1] for _ in 1:ncluster] - cluster_sps = [[RB.SlidingPoint(0.01) for i in 1:5n-2] for _ in 1:ncluster] + cluster_sps = [[RB.SlidingPoint(1e-2) for i in 1:5n-2] for _ in 1:ncluster] matrix_cnt_raw = Vector{Matrix{Int}}() diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl index 285cd11..1137b42 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl @@ -188,11 +188,11 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cluster_Cables_Cache end if !isconverged - Res_stepk!(Res,xₖ) - Jac_stepk!(Jac,xₖ,qₖ,sₖ,q̌ₖ,qₖ₋₁,sₖ₋₁,∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) - write("j1.bin", Jac) - FiniteDiff.finite_difference_jacobian!(Jac,Res_stepk!,xₖ,Val{:central}) - write("j2.bin", Jac) + # Res_stepk!(Res,xₖ) + # Jac_stepk!(Jac,xₖ,qₖ,sₖ,q̌ₖ,qₖ₋₁,sₖ₋₁,∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) + # write("j1.bin", Jac) + # FiniteDiff.finite_difference_jacobian!(Jac,Res_stepk!,xₖ,Val{:central}) + # write("j2.bin", Jac) if exception error("Not Converged! Step=$timestep, normRes=$normRes") else diff --git a/test/vis.jl b/test/vis.jl index 0f3b34c..a107e66 100644 --- a/test/vis.jl +++ b/test/vis.jl @@ -255,6 +255,8 @@ function plot_traj!(bot::RB.Robot; # mesh!(ax, m0_blue2) # mesh!(ax, m0_blue3) # mesh!(ax, m0_blue4) + # hidezdecorations!(ax) + # hideydecorations!(ax) xlims!(ax,xmin,xmax) ylims!(ax,ymin,ymax) diff --git a/yard/jixiebi/Group2_1 copy.jl b/yard/jixiebi/Group2_1 copy.jl new file mode 100644 index 0000000..725dc1f --- /dev/null +++ b/yard/jixiebi/Group2_1 copy.jl @@ -0,0 +1,311 @@ +using TestEnv +TestEnv.activate() + +using Revise #jl +import Rible as RB +include(joinpath(pathof(RB),"../../yard/tensegrity.jl")) +using AbbreviatedStackTraces #jl +ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl +ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl + +# figdir::String = joinpath(pathof(RB),"../../tmp") +figdir::String = "/home/perseus/Project/LaTeX/contactcable/images" +include(joinpath(pathof(RB),"../../test/vis.jl")) +includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl + +include(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) #jl + + +dt = 2e-3 + +A = 0.1 +policy = RB.TimePolicy( + @eponymtuple( + # f = (t) -> [0.0, 0.1t, 0.1t] + f = (t) -> [0.0, + t2acu(t),linestyle=:dot, linewidth=lw, label="Cable 1") + lines!(ax1, 0..tMax, t->acu(t),linestyle=:dash, linewidth=lw, label="Cable 2") + lines!(ax1, 0..tMax, t->0,linestyle=:dashdot, linewidth=lw, label="Cable 3") + axislegend(ax1, nbanks=3) + fig + # figpath = joinpath(figdir, "cylidner_acu.pdf") + # save(figpath, fig; backend=CM) +end + + diff --git a/yard/jixiebi/Group2_1.jl b/yard/jixiebi/Group2_1.jl index 8330af4..b13a6cf 100644 --- a/yard/jixiebi/Group2_1.jl +++ b/yard/jixiebi/Group2_1.jl @@ -8,7 +8,8 @@ using AbbreviatedStackTraces #jl ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl -figdir::String = joinpath(pathof(RB),"../../tmp") +# figdir::String = joinpath(pathof(RB),"../../tmp") +figdir::String = "/home/perseus/Project/LaTeX/contactcable/images" include(joinpath(pathof(RB),"../../test/vis.jl")) includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl @@ -18,28 +19,28 @@ includet(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) #jl dt = 5e-3 -A = 0.1 +A = 0.000 policy = RB.TimePolicy( @eponymtuple( # f = (t) -> [0.0, 0.1t, 0.1t] f = (t) -> [0.0, - t2acu(t),linestyle=:dot, linewidth=lw, label="Cable 1") + lines!(ax1, 0..tMax, t->acu(t),linestyle=:dash, linewidth=lw, label="Cable 2") + lines!(ax1, 0..tMax, t->0,linestyle=:dashdot, linewidth=lw, label="Cable 3") + axislegend(ax1, nbanks=3) + fig + figpath = joinpath(figdir, "cylidner_acu.pdf") + save(figpath, fig; backend=CM) +end diff --git a/yard/jixiebi/Group2_2.jl b/yard/jixiebi/Group2_2.jl index bf5cad3..fc0346b 100644 --- a/yard/jixiebi/Group2_2.jl +++ b/yard/jixiebi/Group2_2.jl @@ -192,7 +192,7 @@ savefig(fig, "../contact_force2-2.png" ) bot1 = build_small_jixiebi(3) (;structure) = bot1 -(;bodies) = structure +(;bodies, apparatuses) = structure foreach(bodies) do body (;prop, state) = body (;loci_states) = state @@ -204,3 +204,13 @@ foreach(bodies) do body @show force end +foreach(apparatuses) do appar + if appar.id == 1 + forces = [] + (;force) = appar + foreach(force) do f + push!(forces, f.force.state.tension) + end + @show forces + end +end From a32b230ada44b6ee2656ad4952dc2b58956a0511 Mon Sep 17 00:00:00 2001 From: Jacob <88961633+jacobleft@users.noreply.github.com> Date: Tue, 30 Apr 2024 15:21:48 +0800 Subject: [PATCH 06/20] rm out-of-place `build_tangent_stiffness_matrix!`; use `spzero` for `build_tangent_stiffness_matrix!`, reduce allocations by half; use broadcast to update spring-dampers. --- src/members/forces/spring_dampers.jl | 12 +- src/structures/linearization.jl | 215 +-------------------------- yard/jixiebi/Group2_1.jl | 13 +- 3 files changed, 25 insertions(+), 215 deletions(-) diff --git a/src/members/forces/spring_dampers.jl b/src/members/forces/spring_dampers.jl index 6e6212a..c86e34b 100644 --- a/src/members/forces/spring_dampers.jl +++ b/src/members/forces/spring_dampers.jl @@ -70,8 +70,10 @@ function update!(cab::DistanceSpringDamper,p1,p2,ṗ1,ṗ2) # state.force .= ṗ2 - ṗ1 # Δṙ # state.lengthdot = (transpose(state.direction)*state.force)/state.length # state.direction ./= state.length - state.start, state.stop = p1, p2 - state.start_vel, state.stop_vel = ṗ1, ṗ2 + state.start .= p1 + state.stop .= p2 + state.start_vel .= ṗ1 + state.stop_vel .= ṗ2 l = p2 - p1 l̇ = ṗ2 - ṗ1 state.length = norm(l) @@ -243,8 +245,10 @@ $(TYPEDSIGNATURES) """ function update!(cab::DistanceSpringDamperSegment, p1, p2, ṗ1, ṗ2, s1, s2) (;k, c, state, prestress) = cab - state.start, state.stop = p1, p2 - state.start_vel, state.stop_vel = ṗ1, ṗ2 + state.start .= p1 + state.stop .= p2 + state.start_vel .= ṗ1 + state.stop_vel .= ṗ2 l = p2 - p1 l̇ = ṗ2 - ṗ1 state.length = norm(l) diff --git a/src/structures/linearization.jl b/src/structures/linearization.jl index 467fb83..7a44f6d 100644 --- a/src/structures/linearization.jl +++ b/src/structures/linearization.jl @@ -424,212 +424,11 @@ function make_S(st,q0) inner_S end -# Out-of-place ∂Q̌∂q̌ (dispatch) -function build_tangent_stiffness_matrix(st) - build_tangent_stiffness_matrix(st, st.connectivity.tensioned) - build_tangent_stiffness_matrix(st, st.connectivity.jointed) -end - -# Out-of-place ∂Q̌∂q̌ for cables and clustered cables -function build_tangent_stiffness_matrix(st, @eponymargs(connected, clustered)) - ∂Q̌∂q̌1 = build_tangent_stiffness_matrix(st, @eponymtuple(connected)) - ∂Q̌∂q̌2 = build_tangent_stiffness_matrix(st, @eponymtuple(clustered)) - return ∂Q̌∂q̌1 + ∂Q̌∂q̌2 -end - -# Out-of-place ∂Q̌∂q̌ for cables -function build_tangent_stiffness_matrix(st,@eponymargs(connected,)) - (;cables) = st.apparatuses - (;indexed) = st.connectivity - (;num_of_full_coords,num_of_free_coords,sys_free_coords_idx,bodyid2sys_free_coords,bodyid2sys_full_coords) = indexed - T = get_numbertype(st) - num_of_dim = get_num_of_dims(st) - ∂Q̌∂q̌ = zeros(T,num_of_free_coords,num_of_free_coords) - D = @MMatrix zeros(T,num_of_dim,num_of_dim) - Im = Symmetric(SMatrix{num_of_dim,num_of_dim}(one(T)*I)) - J̌ = zeros(T,num_of_dim,num_of_free_coords) - foreach(connected) do cc - cable = cables[cc.id] - (;hen,egg) = cc - rb1 = hen.body - rb2 = egg.body - C1 = rb1.state.cache.Cps[hen.pid] - C2 = rb2.state.cache.Cps[egg.pid] - free_idx1 = rb1.state.cache.free_idx - free_idx2 = rb2.state.cache.free_idx - mfree1 = bodyid2sys_free_coords[rb1.prop.id] - mfree2 = bodyid2sys_free_coords[rb2.prop.id] - (;k,c,state,slack) = cable - (;direction,tension,length,lengthdot) = state - if slack && (tension==0) - ∂Q̌∂q̌ .= 0 - else - D .= direction*transpose(direction) - density = tension/length - β = c*lengthdot/length + density - D .*= k-β - D .+= β.*Im - J̌ .= 0 - J̌[:,mfree2] .+= C2[:,free_idx2] - J̌[:,mfree1] .-= C1[:,free_idx1] - ∂Q̌∂q̌ .-= transpose(J̌)*D*J̌ - end - # ∂Q̌∂q̌_full[mfree2,mfree2] .+= transpose(C2)*D*C2 - # ∂Q̌∂q̌_full[mfree1,mfree2] .-= transpose(C1)*D*C2 - # ∂Q̌∂q̌_full[mfree2,mfree1] .-= transpose(C2)*D*C1 - # ∂Q̌∂q̌_full[mfree1,mfree1] .+= transpose(C1)*D*C1 - end - return ∂Q̌∂q̌ -end - -# Out-of-place ∂Q̌∂q̌ for cluster cables -function build_tangent_stiffness_matrix(st,@eponymargs(clustered)) - (;clustercables) = st.apparatuses - (;indexed) = st.connectivity - (;num_of_full_coords,num_of_free_coords,sys_free_coords_idx,bodyid2sys_free_coords,bodyid2sys_full_coords) = indexed - T = get_numbertype(st) - num_of_dim = get_num_of_dims(st) - ∂Q̌∂q̌ = zeros(T,num_of_free_coords,num_of_free_coords) - D = @MMatrix zeros(T,num_of_dim,num_of_dim) - Im = Symmetric(SMatrix{num_of_dim,num_of_dim}(one(T)*I)) - J̌ = zeros(T,num_of_dim,num_of_free_coords) - i = 0 - foreach(clustered) do clustercable - i += 1 - foreach(clustercable) do cc - cable = clustercables[i].segs[cc.id] - (;hen,egg) = cc - rb1 = hen.body - rb2 = egg.body - C1 = rb1.state.cache.Cps[hen.pid] - C2 = rb2.state.cache.Cps[egg.pid] - free_idx1 = rb1.state.cache.free_idx - free_idx2 = rb2.state.cache.free_idx - mfree1 = bodyid2sys_free_coords[rb1.prop.id] - mfree2 = bodyid2sys_free_coords[rb2.prop.id] - (;k,c,state) = cable - (;direction,tension,length,lengthdot) = state - if tension==0 - ∂Q̌∂q̌ .-= 0 - else - D .= direction*transpose(direction) - density = tension/length - β = c*lengthdot/length + density - D .*= k-β - D .+= β.*Im - J̌ .= 0 - J̌[:,mfree2] .+= C2[:,free_idx2] - J̌[:,mfree1] .-= C1[:,free_idx1] - ∂Q̌∂q̌ .-= transpose(J̌)*D*J̌ - end - end - end - return ∂Q̌∂q̌ -end - -# Out-of-place ∂Q̌∂q̌̇ (dispatch) -function build_tangent_damping_matrix(st) - build_tangent_damping_matrix(st, st.connectivity.tensioned) -end - -# Out-of-place ∂Q̌∂q̌̇ for cables and clustered cables -function build_tangent_damping_matrix(st, @eponymargs(connected, clustered)) - ∂Q̌∂q̌̇1 = build_tangent_damping_matrix(st, @eponymtuple(connected)) - ∂Q̌∂q̌̇2 = build_tangent_damping_matrix(st, @eponymtuple(clustered)) - return ∂Q̌∂q̌̇1 + ∂Q̌∂q̌̇2 -end - -# Out-of-place ∂Q̌∂q̌̇ for cables -function build_tangent_damping_matrix(st, @eponymargs(connected, )) - (;cables) = st.apparatuses - (;indexed) = st.connectivity - (;num_of_full_coords,num_of_free_coords,sys_free_coords_idx,bodyid2sys_free_coords,bodyid2sys_full_coords) = indexed - T = get_numbertype(st) - num_of_dim = get_num_of_dims(st) - ∂Q̌∂q̌̇ = zeros(T,num_of_free_coords,num_of_free_coords) - D = @MMatrix zeros(T,num_of_dim,num_of_dim) - Im = Symmetric(SMatrix{num_of_dim,num_of_dim}(one(T)*I)) - J̌ = zeros(T,num_of_dim,num_of_free_coords) - foreach(connected) do cc - cable = cables[cc.id] - (;hen,egg) = cc - rb1 = hen.body - rb2 = egg.body - C1 = rb1.state.cache.Cps[hen.pid] - C2 = rb2.state.cache.Cps[egg.pid] - free_idx1 = rb1.state.cache.free_idx - free_idx2 = rb2.state.cache.free_idx - mfree1 = bodyid2sys_free_coords[rb1.prop.id] - mfree2 = bodyid2sys_free_coords[rb2.prop.id] - (;k,c,state,slack) = cable - (;direction,tension) = state - if slack && (tension == 0) - ∂Q̌∂q̌̇ .-= 0 - else - D .= direction*transpose(direction) - D .*= c - J̌ .= 0 - J̌[:,mfree2] .+= C2[:,free_idx2] - J̌[:,mfree1] .-= C1[:,free_idx1] - - ∂Q̌∂q̌̇ .-= transpose(J̌)*D*J̌ - end - # ∂Q̌∂q̌_full[mfrjiexee2,mfree2] .+= transpose(C2)*D*C2 - # ∂Q̌∂q̌_full[mfree1,mfree2] .-= transpose(C1)*D*C2 - # ∂Q̌∂q̌_full[mfree2,mfree1] .-= transpose(C2)*D*C1 - # ∂Q̌∂q̌_full[mfree1,mfree1] .+= transpose(C1)*D*C1 - end - return ∂Q̌∂q̌̇ -end - -# Out-of-place ∂Q̌∂q̌̇ for clustered cables -function build_tangent_damping_matrix(st, @eponymargs(clustered, )) - (;clustercables) = st.apparatuses - (;indexed) = st.connectivity - (;num_of_full_coords,num_of_free_coords,sys_free_coords_idx,bodyid2sys_free_coords,bodyid2sys_full_coords) = indexed - T = get_numbertype(st) - num_of_dim = get_num_of_dims(st) - ∂Q̌∂q̌̇ = zeros(T,num_of_free_coords,num_of_free_coords) - D = @MMatrix zeros(T,num_of_dim,num_of_dim) - Im = Symmetric(SMatrix{num_of_dim,num_of_dim}(one(T)*I)) - J̌ = zeros(T,num_of_dim,num_of_free_coords) - i = 0 - foreach(clustered) do clustercable - i += 1 - foreach(clustercable) do cc - cable = clustercables[i].segs[cc.id] - (;hen,egg) = cc - rb1 = hen.body - rb2 = egg.body - C1 = rb1.state.cache.Cps[hen.pid] - C2 = rb2.state.cache.Cps[egg.pid] - free_idx1 = rb1.state.cache.free_idx - free_idx2 = rb2.state.cache.free_idx - mfree1 = bodyid2sys_free_coords[rb1.prop.id] - mfree2 = bodyid2sys_free_coords[rb2.prop.id] - (;k,c,state) = cable - (;direction,tension) = state - if tension == 0 - ∂Q̌∂q̌̇ .-= 0 - else - D .= direction*transpose(direction) - D .*= c - J̌ .= 0 - J̌[:,mfree2] .+= C2[:,free_idx2] - J̌[:,mfree1] .-= C1[:,free_idx1] - - ∂Q̌∂q̌̇ .-= transpose(J̌)*D*J̌ - end - end - end - return ∂Q̌∂q̌̇ -end - - # In-place ∂Q̌∂q̌ for cables and flexible bodies function build_tangent_stiffness_matrix!(∂Q̌∂q̌,body::AbstractBody,q,st) #default do nothing end + function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus,q,st) #default do nothing end @@ -656,9 +455,9 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJo T = get_numbertype(st) num_of_dim = get_num_of_dims(st) - D = @MMatrix zeros(T,num_of_dim,num_of_dim) + D = spzeros(T,num_of_dim,num_of_dim) Im = Symmetric(SMatrix{num_of_dim,num_of_dim}(one(T)*I)) - J̌ = zeros(T,num_of_dim,num_of_free_coords) + J̌ = spzeros(T,num_of_dim,num_of_free_coords) (;hen,egg) = appar.joint.hen2egg body_hen = hen.body @@ -684,7 +483,9 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJo J̌ .= 0 J̌[:,mfree_egg] .+= C_egg[:,free_idx_egg] J̌[:,mfree_hen] .-= C_hen[:,free_idx_hen] - ∂Q̌∂q̌ .-= transpose(J̌)*D*J̌ + JDJ = transpose(J̌)*sparse(D)*J̌ + @show typeof(JDJ) + ∂Q̌∂q̌ .-= JDJ end end @@ -702,7 +503,7 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJo num_of_dim = get_num_of_dims(st) D = @MMatrix zeros(T,num_of_dim,num_of_dim) Im = Symmetric(SMatrix{num_of_dim,num_of_dim}(one(T)*I)) - J̌ = zeros(T,num_of_dim,num_of_free_coords) + J̌ = spzeros(T,num_of_dim,num_of_free_coords) (;hen,egg) = appar.joint.hen2egg body_hen = hen.body @@ -807,7 +608,7 @@ function build_tangent_damping_matrix!(∂Q̌∂q̌̇,st) # ∂Q̌∂q̌̇ = zeros(T,num_of_free_coords,num_of_free_coords) D = @MMatrix zeros(T,num_of_dim,num_of_dim) Im = Symmetric(SMatrix{num_of_dim,num_of_dim}(one(T)*I)) - J̌ = zeros(T,num_of_dim,num_of_free_coords) + J̌ = spzeros(T,num_of_dim,num_of_free_coords) foreach(apparatuses) do appar if appar.joint isa CableJoint spring_damper = appar.force diff --git a/yard/jixiebi/Group2_1.jl b/yard/jixiebi/Group2_1.jl index 8330af4..2b55a58 100644 --- a/yard/jixiebi/Group2_1.jl +++ b/yard/jixiebi/Group2_1.jl @@ -36,6 +36,12 @@ rigid_contacts = RB.ContactRigidBodies( ] ) +nq = RB.get_num_of_free_coords(bot1.structure) + +K = zeros(nq,nq) +RB.build_tangent_stiffness_matrix!(K,bot1.structure) +@time RB.build_tangent_stiffness_matrix!(K,bot1.structure) + # parameters restitution_coefficients = 0.0 friction_coefficients = 0.1 @@ -48,8 +54,7 @@ fig = plot_traj!(bot1; # doslide = false, ) - -RB.solve!( +@time RB.solve!( RB.DynamicsProblem( bot1,policy, # ground_plane, @@ -69,11 +74,11 @@ RB.solve!( RB.SmoothedFischerBurmeister() ), ); - tspan=(0.0, 30.0), + tspan=(0.0, 2.0), dt, ftol=1e-7,verbose=true, maxiters=50 - ) +) tw = 468 fontsize = 10 GM.activate!(scalefactor=4.0) From b4aec300864c310ae9095027d1c990cd33c3de06 Mon Sep 17 00:00:00 2001 From: Jacob <88961633+jacobleft@users.noreply.github.com> Date: Wed, 1 May 2024 15:49:21 +0800 Subject: [PATCH 07/20] add `ApparatusCache` with `JointCache` and `ForceCache`; use force_cache for `build_tangent_damping_matrix!` and `build_tangent_damping_matrix!`; add `AbstractForce` and `AbstractJoint` types; reuse `ClusterDistanceSpringDampers` for `ClusterJoint` apparatus; rename `jointed_sys_free_idx` to `appar_sys_free_idx`; --- src/Rible.jl | 4 +- src/control/actuators.jl | 2 +- src/get.jl | 4 + src/members/apparatus.jl | 172 +++++++++++++++++++- src/members/forces/spring_dampers.jl | 42 ++--- src/members/joints.jl | 157 ++++-------------- src/postprocess/vis.jl | 6 +- src/structures/connectivity.jl | 15 +- src/structures/constraints.jl | 24 +-- src/structures/linearization.jl | 234 +++++++++++++++------------ src/structures/mutate.jl | 8 +- src/structures/structure.jl | 16 +- yard/jixiebi/Group2_1.jl | 18 ++- 13 files changed, 402 insertions(+), 300 deletions(-) diff --git a/src/Rible.jl b/src/Rible.jl index a75452e..d072d5c 100644 --- a/src/Rible.jl +++ b/src/Rible.jl @@ -113,12 +113,12 @@ import .ANCF include("members/flexibles/flexible_body.jl") -include("members/apparatus.jl") - include("members/forces/spring_dampers.jl") include("members/joints.jl") +include("members/apparatus.jl") + include("structures/connectivity.jl") include("structures/structure.jl") diff --git a/src/control/actuators.jl b/src/control/actuators.jl index 9edc267..47fc5fc 100644 --- a/src/control/actuators.jl +++ b/src/control/actuators.jl @@ -100,7 +100,7 @@ end function execute!(structure::Structure,actuator::ExternalForceActuator{<:Apparatus{<:ClusterJoint},<:NaiveOperator},u) (;id,signifier,operator,force) = actuator (;state) = structure - segs = signifier.force + (;segs) = signifier.force segs[1].force.state.restlen = segs[1].force.original_restlen - u[1] end diff --git a/src/get.jl b/src/get.jl index 2a9596f..60b8932 100644 --- a/src/get.jl +++ b/src/get.jl @@ -135,6 +135,10 @@ get_numbertype(bodies::AbstractVector) = get_numbertype(bodies[begin]) get_numbertype(bodies::TypeSortedCollection) = get_numbertype(bodies.data[1]) get_numbertype(body::BodyType) where {BodyType<:AbstractBody{N,T}} where {N,T} = T +get_numbertype(appar::Apparatus) = get_numbertype((appar.joint,appar.force)) +get_numbertype(appar::Tuple{<:AbstractJoint,<:AbstractForce}) = get_numbertype(appar.joint) +get_numbertype(appar::Tuple{NoJoint,<:AbstractForce}) = get_numbertype(appar.force) + """ Return the system's number of constraints. $(TYPEDSIGNATURES) diff --git a/src/members/apparatus.jl b/src/members/apparatus.jl index 8a54088..5056fa8 100644 --- a/src/members/apparatus.jl +++ b/src/members/apparatus.jl @@ -1,10 +1,69 @@ -struct Apparatus{jointType,forceType} +struct JointCache{φType,AType,FJType} + # cstr + φ::φType + # cstr Jacobian + A::AType + # cstr force Jacobian, symmetric + ∂Aᵀλ∂q::FJType + # cstr velocity Jacobian + ∂Aq̇∂q::AType +end + +struct ForceCache{FType,KType,CType} + Q::FType + #∂Q∂q + K::KType + #∂Q∂q̇ + C::CType +end + +struct ApparatusCache{JCache,FCache} + joint_cache::JCache + force_cache::FCache +end + +struct Apparatus{jointType,forceType,cacheType} id::Int joint::jointType force::forceType num_of_add_var::Int full_coords_idx::Vector{Int} free_coords_idx::Vector{Int} + cache::cacheType +end + +function Apparatus(id::Int,joint::AbstractJoint,force::AbstractForce, + num_of_add_var::Int,full_coords_idx,free_coords_idx + ) + T = get_numbertype(joint) + ## T = get_numbertype(force) + (;num_of_cstr,) = joint + num_appar_free_idx = length(free_coords_idx) + + φ = zeros(T,num_of_cstr) + A = zeros(T,num_of_cstr,num_appar_free_idx) + ∂Aᵀλ∂q = zeros(T,num_appar_free_idx) + ∂Aq̇∂q = zeros(T,num_of_cstr,num_appar_free_idx) + joint_cache = JointCache( + φ, + A, + ∂Aᵀλ∂q, + ∂Aq̇∂q + ) + + Q = zeros(T,num_appar_free_idx) + K = zeros(T,num_appar_free_idx,num_appar_free_idx) + C = zeros(T,num_appar_free_idx,num_appar_free_idx) + force_cache = ForceCache( + Q, + K, + C + ) + cache = ApparatusCache( + joint_cache, + force_cache, + ) + Apparatus(id,joint,force,num_of_add_var,full_coords_idx,free_coords_idx,cache) end function Base.isless(a::Apparatus,b::Apparatus) @@ -12,3 +71,114 @@ function Base.isless(a::Apparatus,b::Apparatus) end get_id(appar::Apparatus) = appar.id + + +function get_appar_idx(appar::Apparatus{<:LinearJoint},bodyid2sys_free_coords) + (;body) = appar.joint + bid = body.prop.id + bodyid2sys_free_coords[bid] +end + +function get_appar_idx(appar::Apparatus{<:jointType},bodyid2sys_free_coords) where {jointType<:Union{PrototypeJoint,CableJoint}} + (;joint) = appar + (;hen,egg) = joint.hen2egg + id_hen = hen.body.prop.id + id_egg = egg.body.prop.id + free_hen = bodyid2sys_free_coords[id_hen] + free_egg = bodyid2sys_free_coords[id_egg] + appar_free_coords_idx = vcat( + free_hen, + free_egg + ) + appar_free_coords_idx +end + +function get_appar_idx(appar::Apparatus,bodyid2sys_free_coords) + Int[] +end + + +function FixedIndicesConstraint(id::Int,body,idx,violations) + num_of_cstr = length(idx) + num_of_coords = get_num_of_coords(body) + T = get_numbertype(body) + A = zeros(T,num_of_cstr,num_of_coords) + for (i,j) in enumerate(idx) + A[i,j] = 1 + end + joint = LinearJoint(body,num_of_cstr,A,violations) + full_idx, free_idx = get_joint_idx(joint) + force = NoForce() + Apparatus( + id, + joint, + force, + 0, + full_idx, free_idx + ) +end + +""" +A prototype joint is defined for a `Hen2Egg`. + +Translation uses either the axis on Hen or on Egg. + +Rotation uses the axis on Egg, because the local angular velocity is defined relative to Egg. + +The order of translation and rotation matters! + +$(TYPEDSIGNATURES) +""" +function PrototypeJoint(id,hen2egg,force,joint_type::Symbol) + (;hen,egg) = hen2egg + joint_info = get_joint_info(joint_type) + (; ntrl, nrot, + num_of_dof, num_of_cstr, + mask_1st, + mask_2nd, + mask_3rd_hen, + mask_3rd_egg, + mask_4th, + ) = joint_info + mask_3rd = vcat(mask_3rd_hen,mask_3rd_egg.+3) + nmcs_hen = hen.body.coords.nmcs + nmcs_egg = egg.body.coords.nmcs + + state_hen = hen.body.state + state_egg = egg.body.state + q_hen,_ = cartesian_frame2coords(nmcs_hen,state_hen.origin_frame) + q_egg,_ = cartesian_frame2coords(nmcs_egg,state_egg.origin_frame) + + cache, values = build_joint_cache( + nmcs_hen,nmcs_egg, + hen.body.prop.loci[hen.pid].position, + egg.body.prop.loci[egg.pid].position, + hen.body.prop.loci[hen.trlid].axes, + egg.body.prop.loci[egg.trlid].axes, + hen.body.prop.loci[hen.rotid].axes, + egg.body.prop.loci[egg.rotid].axes, + mask_1st,mask_2nd,mask_3rd,mask_4th, + q_hen,q_egg + ) + # @show mask_1st,mask_2nd,mask_3rd,mask_4th + # @show values + joint = PrototypeJoint( + hen2egg, + num_of_cstr, + num_of_dof, + mask_1st, + mask_2nd, + mask_3rd, + mask_4th, + values, + cache + ) + full_idx, free_idx = get_joint_idx(joint) + Apparatus( + id, + joint, + force, + 0, + full_idx, free_idx + ) +end diff --git a/src/members/forces/spring_dampers.jl b/src/members/forces/spring_dampers.jl index c86e34b..b7d5fe7 100644 --- a/src/members/forces/spring_dampers.jl +++ b/src/members/forces/spring_dampers.jl @@ -1,3 +1,6 @@ +abstract type AbstractForce end +struct NoForce <: AbstractForce end + """ $(TYPEDEF) """ @@ -35,7 +38,7 @@ end """ $(TYPEDEF) """ -struct DistanceSpringDamper{N,T} +struct DistanceSpringDamper{N,T} <: AbstractForce k::T c::T slack::Bool @@ -131,7 +134,7 @@ end """ $(TYPEDEF) """ -struct RotationalSpringDamper{N,T} +struct RotationalSpringDamper{N,T} <: AbstractForce k::T c::T slack::Bool @@ -204,7 +207,7 @@ function SMADistanceSpringDamperState(temp,restlen,direction) end -struct SMADistanceSpringDamper{N,T,F} +struct SMADistanceSpringDamper{N,T,F} <: AbstractForce id::Int law::F c::T @@ -217,16 +220,7 @@ function SMADistanceSpringDamper3D(restlen::T,law::LawT,c::T,original_temp::T=0. SMADistanceSpringDamper(law,c,state) end -mutable struct SlidingPoint{T} - μ::T - θ::T - α::T - s::T - s⁺::T - s⁻::T -end - -struct DistanceSpringDamperSegment{N,T} +struct DistanceSpringDamperSegment{N,T} <: AbstractForce k::T c::T prestress::T @@ -264,27 +258,25 @@ function update!(cab::DistanceSpringDamperSegment, p1, p2, ṗ1, ṗ2, s1, s2) state.force .= state.tension.*state.direction end -function calculate_α(μ,θ) - exp(-μ*θ) +mutable struct SlidingPoint{T} + μ::T + θ::T + α::T + s::T + s⁺::T + s⁻::T end function SlidingPoint(μ) θ = one(μ) * 2pi - α = calculate_α(μ, θ) + α = exp(-μ*θ) s = zero(μ) s⁺, s⁻ = s2s̄(s) SlidingPoint(μ, θ, α, s, s⁺, s⁻) end -struct ClusterDistanceSpringDampers{spsType,segsType} - sps::spsType - segs::segsType -end - -function ClusterDistanceSpringDampers(segs; μ=0.0) - nsp = length(segs) - 1 - sps = StructArray([SlidingPoint(μ) for i = 1:nsp]) - ClusterDistanceSpringDampers(sps, segs) +struct ClusterDistanceSpringDampers{seg} <: AbstractForce + segs::Vector{seg} end function s2s̄(s::Number) diff --git a/src/members/joints.jl b/src/members/joints.jl index fddc1cc..9f67abd 100644 --- a/src/members/joints.jl +++ b/src/members/joints.jl @@ -1,5 +1,6 @@ #todo parameterization of joints abstract type AbstractJoint end +struct NoJoint <: AbstractJoint end """ $(TYPEDEF) @@ -29,12 +30,6 @@ function get_joint_idx(joint::LinearJoint) full_idx, free_idx end -function get_appar_idx(appar::Apparatus{<:LinearJoint},bodyid2sys_free_coords) - (;body) = appar.joint - bid = body.prop.id - bodyid2sys_free_coords[bid] -end - function FixedBodyConstraint(id::Int,body::AbstractBody) nmcs = body.coords.nmcs state = body.state @@ -47,26 +42,6 @@ function FixedBodyConstraint(id::Int,body::AbstractBody) FixedIndicesConstraint(id,body,independent_free_idx,violations) end -function FixedIndicesConstraint(id::Int,body,idx,violations) - num_of_cstr = length(idx) - num_of_coords = get_num_of_coords(body) - T = get_numbertype(body) - A = zeros(T,num_of_cstr,num_of_coords) - for (i,j) in enumerate(idx) - A[i,j] = 1 - end - joint = LinearJoint(body,num_of_cstr,A,violations) - full_idx, free_idx = get_joint_idx(joint) - force = nothing - Apparatus( - id, - joint, - force, - 0, - full_idx, free_idx - ) -end - function get_joint_info(joint_type::Symbol) (joint_type == :FloatingSpherical) && (return (ntrl = 3, nrot = 3, num_of_dof = 6, num_of_cstr = 0, mask_1st = Int[] , mask_2nd = Int[], mask_3rd_hen = Int[], mask_3rd_egg = Int[], mask_4th = Int[] )) (joint_type == :OrbitalSpherical) && (return (ntrl = 2, nrot = 3, num_of_dof = 5, num_of_cstr = 1, mask_1st = Int[] , mask_2nd = [1] , mask_3rd_hen = Int[], mask_3rd_egg = Int[], mask_4th = Int[] )) @@ -91,27 +66,27 @@ function get_joint_info(joint_type::Symbol) (joint_type == :Fixed) && (return (ntrl = 0, nrot = 0, num_of_dof = 0, num_of_cstr = 6, mask_1st = [1,2,3], mask_2nd = Int[], mask_3rd_hen = Int[], mask_3rd_egg = Int[], mask_4th = [1,2,3])) #t'*b, t'*n, b'*n end -FloatingSphericalJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:FloatingSpherical) -OrbitalSphericalJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:OrbitalSpherical) -PlanarSphericalJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:PlanarSpherical) -PrismaticSphericalJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:PrismaticSpherical) -SphericalJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:Spherical) -FloatingUniversalJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:FloatingUniversal) -OrbitalUniversalJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:OrbitalUniversal) -PlanarUniversalJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:PlanarUniversal) -PrismaticUniversalJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:PrismaticUniversal) -UniversalPrismaticJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:UniversalPrismatic) -UniversalJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:Universal) -FloatingRevoluteJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:FloatingRevolute) -OrbitalRevoluteJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:OrbitalRevolute) -PlanarRevoluteJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:PlanarRevolute) -CylindricalJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:Cylindrical) -RevoluteJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:Revolute) -FloatingJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:Floating) -OrbitalJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:Orbital) -PlanarJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:Planar) -PrismaticJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:Prismatic) -FixedJoint(id,hen2egg,force=nothing) = PrototypeJoint(id,hen2egg,force,:Fixed) +FloatingSphericalJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:FloatingSpherical) +OrbitalSphericalJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:OrbitalSpherical) +PlanarSphericalJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:PlanarSpherical) +PrismaticSphericalJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:PrismaticSpherical) +SphericalJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:Spherical) +FloatingUniversalJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:FloatingUniversal) +OrbitalUniversalJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:OrbitalUniversal) +PlanarUniversalJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:PlanarUniversal) +PrismaticUniversalJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:PrismaticUniversal) +UniversalPrismaticJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:UniversalPrismatic) +UniversalJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:Universal) +FloatingRevoluteJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:FloatingRevolute) +OrbitalRevoluteJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:OrbitalRevolute) +PlanarRevoluteJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:PlanarRevolute) +CylindricalJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:Cylindrical) +RevoluteJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:Revolute) +FloatingJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:Floating) +OrbitalJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:Orbital) +PlanarJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:Planar) +PrismaticJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:Prismatic) +FixedJoint(id,hen2egg,force=NoForce()) = PrototypeJoint(id,hen2egg,force,:Fixed) const PinJoint = SphericalJoint @@ -130,70 +105,6 @@ struct PrototypeJoint{hen2eggType,maskType,valueType,cacheType} <: AbstractJoint cache::cacheType end -""" -A prototype joint is defined for a `Hen2Egg`. - -Translation uses either the axis on Hen or on Egg. - -Rotation uses the axis on Egg, because the local angular velocity is defined relative to Egg. - -The order of translation and rotation matters! - -$(TYPEDSIGNATURES) -""" -function PrototypeJoint(id,hen2egg,force,joint_type::Symbol) - (;hen,egg) = hen2egg - joint_info = get_joint_info(joint_type) - (; ntrl, nrot, - num_of_dof, num_of_cstr, - mask_1st, - mask_2nd, - mask_3rd_hen, - mask_3rd_egg, - mask_4th, - ) = joint_info - mask_3rd = vcat(mask_3rd_hen,mask_3rd_egg.+3) - nmcs_hen = hen.body.coords.nmcs - nmcs_egg = egg.body.coords.nmcs - - state_hen = hen.body.state - state_egg = egg.body.state - q_hen,_ = cartesian_frame2coords(nmcs_hen,state_hen.origin_frame) - q_egg,_ = cartesian_frame2coords(nmcs_egg,state_egg.origin_frame) - - cache, values = build_joint_cache( - nmcs_hen,nmcs_egg, - hen.body.prop.loci[hen.pid].position, - egg.body.prop.loci[egg.pid].position, - hen.body.prop.loci[hen.trlid].axes, - egg.body.prop.loci[egg.trlid].axes, - hen.body.prop.loci[hen.rotid].axes, - egg.body.prop.loci[egg.rotid].axes, - mask_1st,mask_2nd,mask_3rd,mask_4th, - q_hen,q_egg - ) - # @show mask_1st,mask_2nd,mask_3rd,mask_4th - # @show values - joint = PrototypeJoint( - hen2egg, - num_of_cstr, - num_of_dof, - mask_1st, - mask_2nd, - mask_3rd, - mask_4th, - values, - cache - ) - full_idx, free_idx = get_joint_idx(joint) - Apparatus( - id, - joint, - force, - 0, - full_idx, free_idx - ) -end """ $(TYPEDEF) @@ -203,11 +114,12 @@ struct CableJoint{hen2eggType} <: AbstractJoint num_of_cstr::Int end -struct ClusterJoint{SlidingPointsType} <: AbstractJoint - sps::SlidingPointsType +struct ClusterJoint{spType} <: AbstractJoint + sps::Vector{spType} num_of_cstr::Int end +get_numbertype(::ClusterJoint{SlidingPoint{T}}) where{T} = T function get_joint_idx(joint::Union{PrototypeJoint,CableJoint}) (;hen,egg) = joint.hen2egg @@ -228,20 +140,9 @@ function get_joint_idx(joint::Union{PrototypeJoint,CableJoint}) full_idx, free_idx end -function get_appar_idx(appar::Apparatus{<:jointType},bodyid2sys_free_coords) where {jointType<:Union{PrototypeJoint,CableJoint}} - (;joint) = appar - (;hen,egg) = joint.hen2egg - id_hen = hen.body.prop.id - id_egg = egg.body.prop.id - free_hen = bodyid2sys_free_coords[id_hen] - free_egg = bodyid2sys_free_coords[id_egg] - sys_free_coords_idx = vcat( - free_hen, - free_egg - ) - sys_free_coords_idx +function get_numbertype(joint::Union{PrototypeJoint,CableJoint}) + get_numbertype(joint.hen2egg.hen.body) end -function get_appar_idx(appar::Apparatus,bodyid2sys_free_coords) - Int[] -end + +get_numbertype(::LinearJoint{T}) where{T} = T \ No newline at end of file diff --git a/src/postprocess/vis.jl b/src/postprocess/vis.jl index ad01b5c..eb53c8f 100644 --- a/src/postprocess/vis.jl +++ b/src/postprocess/vis.jl @@ -94,10 +94,10 @@ function MakieCore.plot!(viz::Viz{Tuple{S}}; ) where {S<:Apparatus{<:ClusterJoint}} cluster_cable_ob = viz[:structure] # foreach(cluster_cable_ob[].force) do cluster_seg - n_segs = length(cluster_cable_ob[].force) + n_segs = length(cluster_cable_ob[].force.segs) for i in 1:n_segs - seg_ob = lift(cluster_cable_ob) do seg - iseg = seg.force[i].force + seg_ob = lift(cluster_cable_ob) do cluster_cable + iseg = cluster_cable.force.segs[i].force point_start = iseg.state.start |> GB.Point point_stop = iseg.state.stop |> GB.Point [(point_start, point_stop)] diff --git a/src/structures/connectivity.jl b/src/structures/connectivity.jl index 54cc1bb..767a569 100644 --- a/src/structures/connectivity.jl +++ b/src/structures/connectivity.jl @@ -34,8 +34,6 @@ function connect_clusters(bodies, cluster_sps, cluster_segs, cms) for (cluster_seg, cm) in zip(cluster_segs, cms) @assert size(cm, 2) == 4 rbs_sorted = sort(bodies) - #DONE 这里ret的类型是Vector{Any}， 导致下面的Apparatus不是concrete， 会影响运算性能， 建议修改 - ret = Vector{Apparatus{<:CableJoint, <:DistanceSpringDamperSegment}}(undef, size(cm, 1)) j = 0 clusterID += 1 ret = [ @@ -46,19 +44,20 @@ function connect_clusters(bodies, cluster_sps, cluster_segs, cms) Hen2Egg(Signifier(rbs_sorted[rbid1], pid1), Signifier(rbs_sorted[rbid2], pid2)), 0, ) + full_coords_idx, free_coords_idx = get_joint_idx(joint) segs = Apparatus( j, joint, cluster_seg[j], num_segs, - Int[], - Int[] + full_coords_idx, + free_coords_idx ) # push!(ret, segs) segs end for row in eachrow(cm) - ] + ] |> ClusterDistanceSpringDampers num_segs += size(cm, 1) push!(rets, Apparatus(clusterID, ClusterJoint(cluster_sps[clusterID], 0), ret, 2j-2, Int[], Int[])) end @@ -111,8 +110,6 @@ function connect(bodies, spring_dampers; connecting_matrix=Int[;;], istart=0) ret end - - struct Indexed{id2idxType,idxType} num_of_bodies::Int num_of_apparatuses::Int @@ -253,10 +250,10 @@ function index(bodies,apparatuses=Int[];sharing_matrix::AbstractMatrix=Int[;;]) num_of_excst_by_joint[id] = apparatus.joint.num_of_cstr apparid2sys_extrinsic_cstr_idx[id] = collect(num_excst_last+1:num_excst_last+num_of_excst_by_joint[id]) num_excst_last += num_of_excst_by_joint[id] - if !(apparatus.joint isa Nothing) + if !(apparatus.joint isa NoJoint) num_of_joint_apparatuses += 1 end - if !(apparatus.force isa Nothing) + if !(apparatus.force isa NoForce) num_of_force_apparatuses += 1 end end diff --git a/src/structures/constraints.jl b/src/structures/constraints.jl index 1d79b32..4573400 100644 --- a/src/structures/constraints.jl +++ b/src/structures/constraints.jl @@ -6,31 +6,31 @@ end function cstr_jacobian(appar::Apparatus,structure,q) (;apparid2sys_free_coords_idx) = structure.connectivity.indexed - jointed_sys_free_idx = apparid2sys_free_coords_idx[appar.id] + appar_sys_free_idx = apparid2sys_free_coords_idx[appar.id] T = get_numbertype(structure) - zeros(T,0,length(jointed_sys_free_idx)) + zeros(T,0,length(appar_sys_free_idx)) end function cstr_forces_jacobian(appar::Apparatus,structure,q,λ) (;apparid2sys_free_coords_idx) = structure.connectivity.indexed - jointed_sys_free_idx = apparid2sys_free_coords_idx[appar.id] + appar_sys_free_idx = apparid2sys_free_coords_idx[appar.id] T = get_numbertype(structure) - zeros(T,length(jointed_sys_free_idx),length(jointed_sys_free_idx)) + zeros(T,length(appar_sys_free_idx),length(appar_sys_free_idx)) end function cstr_velocity_jacobian(appar::Apparatus,structure,q,q̇) (;apparid2sys_free_coords_idx) = structure.connectivity.indexed - jointed_sys_free_idx = apparid2sys_free_coords_idx[appar.id] + appar_sys_free_idx = apparid2sys_free_coords_idx[appar.id] T = get_numbertype(structure) - zeros(T,0,length(jointed_sys_free_idx)) + zeros(T,0,length(appar_sys_free_idx)) end function cstr_function(appar::Apparatus{<:LinearJoint},structure,q,c) (;indexed) = structure.connectivity - sys_free_coords_idx = indexed.apparid2sys_free_coords_idx[appar.id] + appar_sys_free_idx = indexed.apparid2sys_free_coords_idx[appar.id] (;A,violations) = appar.joint - A*q[sys_free_coords_idx] .- violations + A*q[appar_sys_free_idx] .- violations end function cstr_jacobian(appar::Apparatus{<:LinearJoint},structure,q) @@ -40,16 +40,16 @@ end function cstr_forces_jacobian(appar::Apparatus{<:LinearJoint},structure,q,λ) (;indexed) = structure.connectivity - sys_free_coords_idx = indexed.apparid2sys_free_coords_idx[appar.id] - n = length(sys_free_coords_idx) + appar_sys_free_idx = indexed.apparid2sys_free_coords_idx[appar.id] + n = length(appar_sys_free_idx) zeros(eltype(λ),n,n) end function cstr_velocity_jacobian(appar::Apparatus{<:LinearJoint},structure,q,q̇) (;indexed) = structure.connectivity - sys_free_coords_idx = indexed.apparid2sys_free_coords_idx[appar.id] + appar_sys_free_idx = indexed.apparid2sys_free_coords_idx[appar.id] (;num_of_cstr,) = appar.joint - n = length(sys_free_coords_idx) + n = length(appar_sys_free_idx) zeros(eltype(q̇),num_of_cstr,n) end diff --git a/src/structures/linearization.jl b/src/structures/linearization.jl index 7a44f6d..4cfdfb6 100644 --- a/src/structures/linearization.jl +++ b/src/structures/linearization.jl @@ -28,8 +28,8 @@ function cstr_forces_jacobian(st::AbstractStructure,q,λ) if get_num_of_dims(st) == 3 foreach(apparatuses) do appar joint_cstr_idx = num_of_intrinsic_cstr .+ apparid2sys_extrinsic_cstr_idx[appar.id] - jointed_sys_free_idx = indexed.apparid2sys_free_coords_idx[appar.id] - ret[jointed_sys_free_idx,jointed_sys_free_idx] .+= cstr_forces_jacobian(appar,st,q,λ[joint_cstr_idx]) + appar_sys_free_idx = indexed.apparid2sys_free_coords_idx[appar.id] + ret[appar_sys_free_idx,appar_sys_free_idx] .+= cstr_forces_jacobian(appar,st,q,λ[joint_cstr_idx]) end end ret @@ -57,8 +57,8 @@ function cstr_velocity_jacobian(st::AbstractStructure,q,q̇) if get_num_of_dims(st) == 3 foreach(apparatuses) do appar joint_cstr_idx = num_of_intrinsic_cstr .+ apparid2sys_extrinsic_cstr_idx[appar.id] - jointed_sys_free_idx = indexed.apparid2sys_free_coords_idx[appar.id] - ret[joint_cstr_idx,jointed_sys_free_idx] .= cstr_velocity_jacobian(appar,st,q,q̇) + appar_sys_free_idx = indexed.apparid2sys_free_coords_idx[appar.id] + ret[joint_cstr_idx,appar_sys_free_idx] .= cstr_velocity_jacobian(appar,st,q,q̇) end end ret @@ -447,33 +447,33 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJo (;indexed,numbered) = st.connectivity (; - num_of_free_coords, - bodyid2sys_free_coords, - bodyid2sys_full_coords, apparid2sys_free_coords_idx ) = indexed - + (;joint, force, cache) = appar + (;joint_cache, force_cache) = cache T = get_numbertype(st) num_of_dim = get_num_of_dims(st) - D = spzeros(T,num_of_dim,num_of_dim) + appar_free_coords_idx = apparid2sys_free_coords_idx[appar.id] + num_of_appar_free_idx = length(appar_free_coords_idx) + D = @MMatrix zeros(T,num_of_dim,num_of_dim) Im = Symmetric(SMatrix{num_of_dim,num_of_dim}(one(T)*I)) - J̌ = spzeros(T,num_of_dim,num_of_free_coords) + J̌ = zeros(T,num_of_dim,num_of_appar_free_idx) - (;hen,egg) = appar.joint.hen2egg + (;hen,egg) = joint.hen2egg body_hen = hen.body body_egg = egg.body C_hen = body_hen.cache.Cps[hen.pid] C_egg = body_egg.cache.Cps[egg.pid] - free_idx_hen = body_hen.coords.free_idx - free_idx_egg = body_egg.coords.free_idx - mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] - mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] - (;k,c,state,slack) = appar.force + free_idx_hen = hen.body.coords.free_idx + free_idx_egg = egg.body.coords.free_idx + ncoords_hen = length(free_idx_hen) + ncoords_egg = length(free_idx_egg) + (;k,c,state,slack) = force (;direction,tension) = state l = state.length l̇ = state.lengthdot if slack && (tension==0) - ∂Q̌∂q̌ .-= 0 + ## ∂Q̌∂q̌ .-= 0 else D .= direction*transpose(direction) density = tension/l @@ -481,11 +481,11 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJo D .*= k-β D .+= β.*Im J̌ .= 0 - J̌[:,mfree_egg] .+= C_egg[:,free_idx_egg] - J̌[:,mfree_hen] .-= C_hen[:,free_idx_hen] - JDJ = transpose(J̌)*sparse(D)*J̌ - @show typeof(JDJ) - ∂Q̌∂q̌ .-= JDJ + J̌[:,free_idx_hen] .-= C_hen[:,free_idx_hen] + J̌[:,ncoords_hen.+free_idx_egg] .+= C_egg[:,free_idx_egg] + force_cache.K .= -transpose(J̌)*D*J̌ + ## @show typeof(JDJ) + ∂Q̌∂q̌[appar_free_coords_idx,appar_free_coords_idx] .+= force_cache.K end end @@ -493,28 +493,29 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJo (;indexed,numbered) = st.connectivity (; - num_of_free_coords, bodyid2sys_free_coords, - bodyid2sys_full_coords, apparid2sys_free_coords_idx ) = indexed - + (;joint, force, cache) = appar + (;joint_cache, force_cache) = cache T = get_numbertype(st) num_of_dim = get_num_of_dims(st) + appar_free_coords_idx = get_appar_idx(appar,bodyid2sys_free_coords) + num_of_appar_free_idx = length(appar_free_coords_idx) D = @MMatrix zeros(T,num_of_dim,num_of_dim) Im = Symmetric(SMatrix{num_of_dim,num_of_dim}(one(T)*I)) - J̌ = spzeros(T,num_of_dim,num_of_free_coords) + J̌ = zeros(T,num_of_dim,num_of_appar_free_idx) - (;hen,egg) = appar.joint.hen2egg + (;hen,egg) = joint.hen2egg body_hen = hen.body body_egg = egg.body C_hen = body_hen.cache.Cps[hen.pid] C_egg = body_egg.cache.Cps[egg.pid] free_idx_hen = body_hen.coords.free_idx free_idx_egg = body_egg.coords.free_idx - mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] - mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] - (;k,c,state) = appar.force + ncoords_hen = length(free_idx_hen) + ncoords_egg = length(free_idx_egg) + (;k,c,state) = force (;direction,tension) = state l = state.length l̇ = state.lengthdot @@ -524,13 +525,17 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJo D .*= k-β D .+= β.*Im J̌ .= 0 - J̌[:,mfree_egg] .+= C_egg[:,free_idx_egg] - J̌[:,mfree_hen] .-= C_hen[:,free_idx_hen] - ∂Q̌∂q̌ .-= transpose(J̌)*D*J̌ + J̌[:,free_idx_hen] .-= C_hen[:,free_idx_hen] + J̌[:,ncoords_hen.+free_idx_egg] .+= C_egg[:,free_idx_egg] + ## @show size(J̌),size(force_cache.K) + force_cache.K .= -transpose(J̌)*D*J̌ + ## @tullio force_cache.K[i,j] = -J̌[k,i]*D[k,l]*J̌[l,j] + ## @show typeof(JDJ) + ∂Q̌∂q̌[appar_free_coords_idx,appar_free_coords_idx] .+= force_cache.K end function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:ClusterJoint},q,st) - foreach(appar.force) do seg + foreach(appar.force.segs) do seg build_tangent_stiffness_matrix!(∂Q̌∂q̌,seg,q,st) end end @@ -547,7 +552,6 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{JointType ) = cache full_idx = appar.full_coords_idx free_idx = appar.free_coords_idx - sys_free_coords_idx = apparid2sys_free_coords_idx[appar.id] (;mask,k) = appar.force (;hen,egg) = hen2egg nmcs_hen = hen.body.coords.nmcs @@ -583,10 +587,8 @@ end # In-place ∂Q̌∂q̌ for cables and flexible bodies function build_tangent_stiffness_matrix!(∂Q̌∂q̌,st) (;bodies,apparatuses,connectivity) = st - q = get_coords(st) - num_of_dim = get_num_of_dims(st) - # ∂Q̌∂q̌ = zeros(T,num_of_free_coords,num_of_free_coords) + q = get_coords(st) foreach(bodies) do body build_tangent_stiffness_matrix!(∂Q̌∂q̌,body,q,st) end @@ -594,53 +596,73 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,st) foreach(apparatuses) do appar build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar,q,st) end +end + +# In-place ∂Q̌∂q̌̇ for cables and flexible bodies +function build_tangent_damping_matrix!(∂Q̌∂q̌̇,body::AbstractBody,q,st) + #default do nothing +end - return ∂Q̌∂q̌ +function build_tangent_damping_matrix!(∂Q̌∂q̌̇,appar::Apparatus,q,st) + #default do nothing end -# In-place ∂Q̌∂q̌̇ for cables -function build_tangent_damping_matrix!(∂Q̌∂q̌̇,st) - (;apparatuses,connectivity) = st - (;numbered,indexed) = connectivity - (;num_of_full_coords,num_of_free_coords,sys_free_coords_idx,bodyid2sys_free_coords,bodyid2sys_full_coords) = indexed +function build_tangent_damping_matrix!(∂Q̌∂q̌̇,appar::Apparatus{<:CableJoint},q,st) + + (;indexed,numbered) = st.connectivity + (; + apparid2sys_free_coords_idx + ) = indexed + (;joint, force, cache) = appar + (;joint_cache, force_cache) = cache T = get_numbertype(st) num_of_dim = get_num_of_dims(st) - # ∂Q̌∂q̌̇ = zeros(T,num_of_free_coords,num_of_free_coords) + appar_free_coords_idx = apparid2sys_free_coords_idx[appar.id] + num_of_appar_free_idx = length(appar_free_coords_idx) D = @MMatrix zeros(T,num_of_dim,num_of_dim) Im = Symmetric(SMatrix{num_of_dim,num_of_dim}(one(T)*I)) - J̌ = spzeros(T,num_of_dim,num_of_free_coords) + J̌ = zeros(T,num_of_dim,num_of_appar_free_idx) + + (;hen,egg) = joint.hen2egg + body_hen = hen.body + body_egg = egg.body + C_hen = body_hen.cache.Cps[hen.pid] + C_egg = body_egg.cache.Cps[egg.pid] + free_idx_hen = body_hen.coords.free_idx + free_idx_egg = body_egg.coords.free_idx + ncoords_hen = length(free_idx_hen) + ncoords_egg = length(free_idx_egg) + (;k,c,state,slack) = force + (;direction,tension) = state + if slack && (tension == 0) + ∂Q̌∂q̌̇ .-= 0 + else + D .= direction*transpose(direction) + D .*= c + J̌ .= 0 + J̌[:,free_idx_hen] .-= C_hen[:,free_idx_hen] + J̌[:,ncoords_hen.+free_idx_egg] .+= C_egg[:,free_idx_egg] + force_cache.C .= -transpose(J̌)*D*J̌ + + ∂Q̌∂q̌̇[appar_free_coords_idx,appar_free_coords_idx] .+= force_cache.C + end + # ∂Q̌∂q̌_full[mfree_egg,mfree_egg] .+= transpose(C_egg)*D*C_egg + # ∂Q̌∂q̌_full[mfree_hen,mfree_egg] .-= transpose(C_hen)*D*C_egg + # ∂Q̌∂q̌_full[mfree_egg,mfree_hen] .-= transpose(C_egg)*D*C_hen + # ∂Q̌∂q̌_full[mfree_hen,mfree_hen] .+= transpose(C_hen)*D*C_hen +end + +# In-place ∂Q̌∂q̌̇ for cables +function build_tangent_damping_matrix!(∂Q̌∂q̌̇,st) + (;apparatuses,) = st + + q = get_coords(st) + foreach(apparatuses) do appar - if appar.joint isa CableJoint - spring_damper = appar.force - (;hen,egg) = appar.joint.hen2egg - body_hen = hen.body - body_egg = egg.body - C_hen = body_hen.cache.Cps[hen.pid] - C_egg = body_egg.cache.Cps[egg.pid] - free_idx_hen = body_hen.coords.free_idx - free_idx_egg = body_egg.coords.free_idx - mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] - mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] - (;k,c,state,slack) = spring_damper - (;direction,tension) = state - if slack && (tension == 0) - ∂Q̌∂q̌̇ .-= 0 - else - D .= direction*transpose(direction) - D .*= c - J̌ .= 0 - J̌[:,mfree_egg] .+= C_egg[:,free_idx_egg] - J̌[:,mfree_hen] .-= C_hen[:,free_idx_hen] - - ∂Q̌∂q̌̇ .-= transpose(J̌)*D*J̌ - end - # ∂Q̌∂q̌_full[mfree_egg,mfree_egg] .+= transpose(C_egg)*D*C_egg - # ∂Q̌∂q̌_full[mfree_hen,mfree_egg] .-= transpose(C_hen)*D*C_egg - # ∂Q̌∂q̌_full[mfree_egg,mfree_hen] .-= transpose(C_egg)*D*C_hen - # ∂Q̌∂q̌_full[mfree_hen,mfree_hen] .+= transpose(C_hen)*D*C_hen - end + build_tangent_damping_matrix!(∂Q̌∂q̌̇,appar,q,st) end end + function init_cluster_matrix(st) (; bodies, apparatuses, connectivity) = st (; indexed, numbered) = connectivity @@ -677,11 +699,12 @@ function init_cluster_matrix(st) if isa(appar.joint, ClusterJoint) (; force, joint, id) = appar (; sps) = joint - nsegs = length(force) + (; segs) = force + nsegs = length(segs) nsp = length(sps) sp_idx = apparid2sys_add_var_idx[id] sp_idx_begin = Int((sp_idx[1]-1) / 2) - foreach(force) do seg + foreach(segs) do seg kc_idx = seg.id + seg.num_of_add_var kc[kc_idx] = seg.force.k end @@ -697,7 +720,6 @@ function init_cluster_matrix(st) b_list[id] = vcat(b⁺, b⁻) T_list[id] = get_TransMatrix(nsegs - 1) - nsegs = length(force) N_segs = zeros(Float64, nsegs, 2nsegs - 2) N_segs[1, 1:2] = [1 -1] N_segs[end, end-1:end] = [-1 1] @@ -739,8 +761,8 @@ function build_∂Q̌∂s̄!(∂Q̌∂s̄, cluster_cache, st) J̌ = zeros(T, num_of_dim, num_of_free_coords) foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) - (; force) = appar - foreach(force) do seg + (; segs) = appar.force + foreach(segs) do seg idx = seg.id + seg.num_of_add_var (; hen, egg) = seg.joint.hen2egg body_hen = hen.body @@ -855,11 +877,12 @@ function build_ζ!(ζ, cluster_cache, st) if isa(appar.joint, ClusterJoint) (; force, joint, id) = appar (; sps) = joint + (; segs) = force nsp = length(sps) idx_begin = Int((apparid2sys_add_var_idx[id][1]-1) / 2) for i in 1:nsp - ζ⁺[idx_begin+i] = force[i+1].force.state.tension / sps[i].α - force[i].force.state.tension - ζ⁻[idx_begin+i] = force[i].force.state.tension - sps[i].α * force[i+1].force.state.tension + ζ⁺[idx_begin+i] = segs[i+1].force.state.tension / sps[i].α - segs[i].force.state.tension + ζ⁻[idx_begin+i] = segs[i].force.state.tension - sps[i].α * segs[i+1].force.state.tension end end end @@ -884,8 +907,8 @@ function build_ζ(st) nsp = length(sps) idx_begin = Int((apparid2sys_add_var_idx[id][1]-1) / 2) for i in 1:nsp - ζ⁺[idx_begin+i] = force[i+1].force.state.tension / sps[i].α - force[i].force.state.tension - ζ⁻[idx_begin+i] = force[i].force.state.tension - sps[i].α * force[i+1].force.state.tension + ζ⁺[idx_begin+i] = segs[i+1].force.state.tension / sps[i].α - segs[i].force.state.tension + ζ⁻[idx_begin+i] = segs[i].force.state.tension - sps[i].α * segs[i+1].force.state.tension end end end @@ -894,23 +917,25 @@ end function get_clusterA(st) (; apparatuses) = st - nc = 0 + nc_ref = Ref(0) foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) - nc += 1 + nc_ref[] += 1 end end + nc = nc_ref[] A_list = [Matrix{Float64}(undef, 1, 1) for _ in 1:nc] foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) (; force, joint, id) = appar (; sps) = joint + (; segs) = force n = length(sps) - ap = [-force[i+1].force.k for i in 1:n-1] - ap0 = [force[i].force.k + force[i+1].force.k/sps[i].α for i in 1:n] - ap1 = [-force[i+1].force.k/sps[i].α for i in 1:n-1] - an0 = [force[i].force.k + force[i+1].force.k*sps[i].α for i in 1:n] - an1 = [-force[i+1].force.k*sps[i].α for i in 1:n-1] + ap = [-segs[i+1].force.k for i in 1:n-1] + ap0 = [segs[i].force.k + segs[i+1].force.k/sps[i].α for i in 1:n] + ap1 = [-segs[i+1].force.k/sps[i].α for i in 1:n-1] + an0 = [segs[i].force.k + segs[i+1].force.k*sps[i].α for i in 1:n] + an1 = [-segs[i+1].force.k*sps[i].α for i in 1:n-1] A⁺ = diagm(-1=>ap, 0=>ap0, 1=>ap1) A⁻ = diagm(-1=>ap, 0=>an0, 1=>an1) A = [A⁺ -A⁺; -A⁻ A⁻] @@ -934,18 +959,20 @@ end function build_∂ζ∂s̄(st) (; apparatuses) = st - nc = 0 + nc_ref = Ref(0) foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) - nc += 1 + nc_ref[] += 1 end end + nc = nc_ref[] A_list = [SparseMatrixCSC{Float64,Int64}(undef, 1, 1) for _ in 1:nc] clusterA = get_clusterA(st) foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) (; force, id) = appar - nsegs = length(force) + (; segs) = force + nsegs = length(segs) T = get_TransMatrix(nsegs - 1) A = T*clusterA[id]*T' A_list[id] = A @@ -962,8 +989,8 @@ function build_∂ζ∂q!(∂ζ∂q, cluster_cache, st) ∂l∂q = zeros(T, ns+nc, num_of_free_coords) foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) - (; force) = appar - foreach(force) do seg + (; segs) = appar.force + foreach(segs) do seg idx = seg.id + seg.num_of_add_var J̌ = zeros(T, num_of_dim, num_of_free_coords) (; hen, egg) = seg.joint.hen2egg @@ -992,14 +1019,16 @@ function build_∂ζ∂q(st) (; num_of_free_coords, bodyid2sys_free_coords, apparid2sys_add_var_idx) = indexed T = get_numbertype(st) num_of_dim = get_num_of_dims(st) - ns = 0 - nc = 0 + ns_ref = Ref(0) + nc_ref = Ref(0) foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) - ns += length(appar.joint.sps) - nc += 1 + ns_ref[] += length(appar.joint.sps) + nc_ref[] += 1 end end + ns = ns_ref[] + nc = nc_ref[] ∂l∂q = zeros(T, ns+nc, num_of_free_coords) foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) @@ -1031,11 +1060,12 @@ function build_∂ζ∂q(st) if isa(appar.joint, ClusterJoint) (; force, joint, id) = appar (; sps) = joint - nsegs = length(force) + (; segs) = force + nsegs = length(segs) nsp = length(sps) sp_idx = apparid2sys_add_var_idx[id] sp_idx_begin = Int((sp_idx[1]-1) / 2) - foreach(force) do seg + foreach(segs) do seg kc_idx = seg.id + seg.num_of_add_var kc[kc_idx] = seg.force.k end diff --git a/src/structures/mutate.jl b/src/structures/mutate.jl index 10fb2be..e72f268 100644 --- a/src/structures/mutate.jl +++ b/src/structures/mutate.jl @@ -91,8 +91,9 @@ end function update_apparatus!(st::AbstractStructure, appar::Apparatus{<:ClusterJoint}) (;id, joint, force) = appar (;sps) = joint - nAppar = length(appar.force) - for (idx, iappar) in enumerate(force) + (;segs) = force + nAppar = length(segs) + for (idx, iappar) in enumerate(segs) ijoint = iappar.joint iforce = iappar.force hen = ijoint.hen2egg.hen @@ -141,7 +142,8 @@ function update_apparatus!(st::AbstractStructure, appar::Apparatus{<:PrototypeJo ) = cache full_idx = appar.full_coords_idx free_idx = appar.free_coords_idx - sys_free_coords_idx = apparid2sys_free_coords_idx[appar.id] + appar_sys_free_idx = apparid2sys_free_coords_idx[appar.id] + @show appar_sys_free_idx spring_damper = appar.force (;mask,k) = spring_damper (;hen,egg) = hen2egg diff --git a/src/structures/structure.jl b/src/structures/structure.jl index 6e5c01d..7e17aa8 100644 --- a/src/structures/structure.jl +++ b/src/structures/structure.jl @@ -368,8 +368,8 @@ function cstr_jacobian(structure::AbstractStructure,q,c=get_local_coords(structu ext = apparid2sys_extrinsic_cstr_idx[id] if !isempty(ext) jointexcst = num_of_intrinsic_cstr.+apparid2sys_extrinsic_cstr_idx[id] - jointed_sys_free_idx = apparid2sys_free_coords_idx[id] - ret[jointexcst,jointed_sys_free_idx] .= cstr_jacobian(appar,structure,q) + appar_sys_free_idx = apparid2sys_free_coords_idx[id] + ret[jointexcst,appar_sys_free_idx] .= cstr_jacobian(appar,structure,q) end end ret @@ -442,11 +442,11 @@ function build_ψ(structure::AbstractStructure) foreach(apparatuses) do appar if isa(appar, Apparatus{<:ClusterJoint}) (;sps) = appar.joint - (;force) = appar + (;segs) = appar.force nsi = length(sps) for (i, sp) in enumerate(sps) - ζ⁺ = force[i+1].force.state.tension/sp.α - force[i].force.state.tension - ζ⁻ = force[i].force.state.tension - sp.α*force[i+1].force.state.tension + ζ⁺ = segs[i+1].force.state.tension/sp.α - segs[i].force.state.tension + ζ⁻ = segs[i].force.state.tension - sp.α*segs[i+1].force.state.tension ψ⁺[is+i] = FB(ζ⁺, s⁺[is+i]) ψ⁻[is+i] = FB(ζ⁻, s⁻[is+i]) end @@ -571,8 +571,8 @@ function check_constraints_consistency(st;tol=1e-14) end end foreach(apparatuses) do appar - sys_free_coords_idx = indexed.apparid2sys_free_coords_idx[appar.id] - q̇_jointed = state.system.q̌̇[sys_free_coords_idx] + appar_sys_free_idx = indexed.apparid2sys_free_coords_idx[appar.id] + q̇_jointed = state.system.q̌̇[appar_sys_free_idx] Aq̇_joint = cstr_jacobian(appar,st,q)*q̇_jointed norm_velocity_joint = norm(Aq̇_joint) if norm_velocity_joint > tol @@ -628,7 +628,7 @@ function potential_energy(st::Structure;gravity=false) V[] += potential_energy_gravity(st) end foreach(st.apparatuses) do appar - if !(appar.force isa Nothing) + if !(appar.force isa NoForce) V[] += potential_energy(appar.force) end end diff --git a/yard/jixiebi/Group2_1.jl b/yard/jixiebi/Group2_1.jl index 2b55a58..854a214 100644 --- a/yard/jixiebi/Group2_1.jl +++ b/yard/jixiebi/Group2_1.jl @@ -15,7 +15,6 @@ includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl include(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) includet(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) #jl - dt = 5e-3 A = 0.1 @@ -36,16 +35,23 @@ rigid_contacts = RB.ContactRigidBodies( ] ) +# parameters +restitution_coefficients = 0.0 +friction_coefficients = 0.1 +bot1 = build_small_jixiebi(3) + nq = RB.get_num_of_free_coords(bot1.structure) K = zeros(nq,nq) RB.build_tangent_stiffness_matrix!(K,bot1.structure) @time RB.build_tangent_stiffness_matrix!(K,bot1.structure) -# parameters -restitution_coefficients = 0.0 -friction_coefficients = 0.1 -bot1 = build_small_jixiebi(3) + +C = zeros(nq,nq) + +RB.build_tangent_damping_matrix!(K,bot1.structure) +@time RB.build_tangent_damping_matrix!(K,bot1.structure) + fig = plot_traj!(bot1; # atsteps=[3320], showground = false, @@ -54,7 +60,7 @@ fig = plot_traj!(bot1; # doslide = false, ) -@time RB.solve!( +@time RB.solve!( RB.DynamicsProblem( bot1,policy, # ground_plane, From 8aaa31d76f0a0fc14e26d674b750e5b64839300f Mon Sep 17 00:00:00 2001 From: Perseus Date: Wed, 1 May 2024 17:15:36 +0800 Subject: [PATCH 08/20] fix bugs --- src/structures/linearization.jl | 15 ++++++++------- yard/jixiebi/Group2_1 copy.jl | 2 +- yard/jixiebi/Group2_1.jl | 22 +++++++++++----------- 3 files changed, 20 insertions(+), 19 deletions(-) diff --git a/src/structures/linearization.jl b/src/structures/linearization.jl index 4cfdfb6..8893fd4 100644 --- a/src/structures/linearization.jl +++ b/src/structures/linearization.jl @@ -819,9 +819,9 @@ function build_∂Q̌∂s̄(st) kc = zeros(T, ns + nc) foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) - (; force) = appar - nsegs = length(force) - for seg in force + (; segs) = appar.force + nsegs = length(segs) + for seg in segs (; id, num_of_add_var) = seg kc[id+num_of_add_var] = seg.force.k end @@ -837,8 +837,8 @@ function build_∂Q̌∂s̄(st) N = reduce(blockdiag, N_list) foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) - (; force) = appar - foreach(force) do seg + (; segs) = appar.force + foreach(segs) do seg idx = seg.id + seg.num_of_add_var (; hen, egg) = seg.joint.hen2egg body_hen = hen.body @@ -904,6 +904,7 @@ function build_ζ(st) if isa(appar.joint, ClusterJoint) (; force, joint, id) = appar (; sps) = joint + (; segs) = force nsp = length(sps) idx_begin = Int((apparid2sys_add_var_idx[id][1]-1) / 2) for i in 1:nsp @@ -1032,8 +1033,8 @@ function build_∂ζ∂q(st) ∂l∂q = zeros(T, ns+nc, num_of_free_coords) foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) - (; force) = appar - foreach(force) do seg + (; segs) = appar.force + foreach(segs) do seg idx = seg.id + seg.num_of_add_var J̌ = zeros(T, num_of_dim, num_of_free_coords) (; hen, egg) = seg.joint.hen2egg diff --git a/yard/jixiebi/Group2_1 copy.jl b/yard/jixiebi/Group2_1 copy.jl index 725dc1f..9e169ee 100644 --- a/yard/jixiebi/Group2_1 copy.jl +++ b/yard/jixiebi/Group2_1 copy.jl @@ -69,7 +69,7 @@ RB.solve!( RB.SmoothedFischerBurmeister() ), ); - tspan=(0.0, 30.0), + tspan=(0.0, 3.0), dt, ftol=1e-7,verbose=true, maxiters=50 diff --git a/yard/jixiebi/Group2_1.jl b/yard/jixiebi/Group2_1.jl index 06193b8..e31d8e6 100644 --- a/yard/jixiebi/Group2_1.jl +++ b/yard/jixiebi/Group2_1.jl @@ -18,7 +18,7 @@ includet(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) #jl dt = 5e-3 -A = 0.000 +A = 0.1 policy = RB.TimePolicy( @eponymtuple( # f = (t) -> [0.0, 0.1t, 0.1t] @@ -39,7 +39,7 @@ rigid_contacts = RB.ContactRigidBodies( # parameters restitution_coefficients = 0.0 friction_coefficients = 0.1 -bot1 = build_small_jixiebi(3) +bot1 = build_small_jixiebi(3, object=:cylinder) nq = RB.get_num_of_free_coords(bot1.structure) @@ -61,22 +61,22 @@ fig = plot_traj!(bot1; # doslide = false, ) -@time RB.solve!( +RB.solve!( RB.DynamicsProblem( bot1,policy, # ground_plane, - # rigid_contacts, - # RB.RestitutionFrictionCombined( - # RB.NewtonRestitution(), - # RB.CoulombFriction(), - # ), + rigid_contacts, + RB.RestitutionFrictionCombined( + RB.NewtonRestitution(), + RB.CoulombFriction(), + ), RB.EulerEytelwein(), ), RB.DynamicsSolver( RB.Zhong06(), - # RB.InnerLayerContactSolver( - # RB.InteriorPointMethod() - # ), + RB.InnerLayerContactSolver( + RB.InteriorPointMethod() + ), RB.MonolithicApparatusSolver( RB.SmoothedFischerBurmeister() ), From c0a71f5e61d50fb3887d136f8faaa43b05641520 Mon Sep 17 00:00:00 2001 From: Perseus Date: Wed, 1 May 2024 22:49:41 +0800 Subject: [PATCH 09/20] reduce allocation --- src/members/apparatus.jl | 21 +++++++++++++ src/members/joints.jl | 20 +++++++++++++ src/structures/connectivity.jl | 4 +-- src/structures/linearization.jl | 52 ++++++++++++++++++++++++++------- yard/jixiebi/Group2_1 copy.jl | 6 ++-- 5 files changed, 87 insertions(+), 16 deletions(-) diff --git a/src/members/apparatus.jl b/src/members/apparatus.jl index 5056fa8..40387e7 100644 --- a/src/members/apparatus.jl +++ b/src/members/apparatus.jl @@ -93,6 +93,27 @@ function get_appar_idx(appar::Apparatus{<:jointType},bodyid2sys_free_coords) whe appar_free_coords_idx end +function get_appar_idx(appar::Apparatus{<:ClusterJoint},bodyid2sys_free_coords) + (; segs) = appar.force + first_hen_id = segs[1].joint.hen2egg.hen.body.prop.id + first_egg_id = segs[1].joint.hen2egg.egg.body.prop.id + first_hen_free = bodyid2sys_free_coords[first_hen_id] + first_egg_free = bodyid2sys_free_coords[first_egg_id] + appar_free_coords_idx = vcat( + first_hen_free, + first_egg_free + ) + for seg in segs[2:end] + (;id) = seg.joint.hen2egg.egg.body.prop + free_idx = bodyid2sys_free_coords[id] + appar_free_coords_idx = vcat( + appar_free_coords_idx, + free_idx + ) + end + appar_free_coords_idx +end + function get_appar_idx(appar::Apparatus,bodyid2sys_free_coords) Int[] end diff --git a/src/members/joints.jl b/src/members/joints.jl index 9f67abd..91c97d6 100644 --- a/src/members/joints.jl +++ b/src/members/joints.jl @@ -140,6 +140,26 @@ function get_joint_idx(joint::Union{PrototypeJoint,CableJoint}) full_idx, free_idx end +# for clustercables seg +function get_joint_idx(beginIdx, joint::Union{PrototypeJoint,CableJoint}) + (;hen,egg) = joint.hen2egg + nmcs_hen = hen.body.coords.nmcs + nmcs_egg = egg.body.coords.nmcs + free_idx_hen = hen.body.coords.free_idx + free_idx_egg = egg.body.coords.free_idx + ncoords_hen = get_num_of_coords(nmcs_hen) + ncoords_egg = get_num_of_coords(nmcs_egg) + full_idx = vcat( + collect(1:ncoords_hen), + collect(1:ncoords_egg) .+ ncoords_hen + ) .+ beginIdx + free_idx = vcat( + free_idx_hen, + free_idx_egg .+ ncoords_hen + ) .+ beginIdx + beginIdx+ncoords_hen, full_idx, free_idx +end + function get_numbertype(joint::Union{PrototypeJoint,CableJoint}) get_numbertype(joint.hen2egg.hen.body) end diff --git a/src/structures/connectivity.jl b/src/structures/connectivity.jl index 767a569..cd8ad70 100644 --- a/src/structures/connectivity.jl +++ b/src/structures/connectivity.jl @@ -36,6 +36,7 @@ function connect_clusters(bodies, cluster_sps, cluster_segs, cms) rbs_sorted = sort(bodies) j = 0 clusterID += 1 + beginIdx = 0 ret = [ begin rbid1, pid1, rbid2, pid2 = row @@ -44,7 +45,7 @@ function connect_clusters(bodies, cluster_sps, cluster_segs, cms) Hen2Egg(Signifier(rbs_sorted[rbid1], pid1), Signifier(rbs_sorted[rbid2], pid2)), 0, ) - full_coords_idx, free_coords_idx = get_joint_idx(joint) + beginIdx, full_coords_idx, free_coords_idx = get_joint_idx(beginIdx, joint) segs = Apparatus( j, joint, @@ -53,7 +54,6 @@ function connect_clusters(bodies, cluster_sps, cluster_segs, cms) full_coords_idx, free_coords_idx ) - # push!(ret, segs) segs end for row in eachrow(cm) diff --git a/src/structures/linearization.jl b/src/structures/linearization.jl index 8893fd4..dc459c5 100644 --- a/src/structures/linearization.jl +++ b/src/structures/linearization.jl @@ -753,38 +753,68 @@ function build_∂Q̌∂s̄!(∂Q̌∂s̄, cluster_cache, st) num_of_free_coords, bodyid2sys_free_coords, bodyid2sys_full_coords, - apparid2sys_free_coords_idx + apparid2sys_free_coords_idx, + apparid2sys_add_var_idx ) = indexed (;T, num_of_dim, ns, kc, N) = cluster_cache D = zeros(T, num_of_dim) - lkn = zeros(T, 2ns, num_of_dim) - J̌ = zeros(T, num_of_dim, num_of_free_coords) + # lkn = zeros(T, 2ns, num_of_dim) + # J̌ = zeros(T, num_of_dim, num_of_free_coords) foreach(apparatuses) do appar if isa(appar.joint, ClusterJoint) + appar_free_coords_idx = apparid2sys_free_coords_idx[appar.id] (; segs) = appar.force + clustercable_id = appar.id + nsegs = length(segs) foreach(segs) do seg - idx = seg.id + seg.num_of_add_var + (; free_coords_idx, id, num_of_add_var) = seg (; hen, egg) = seg.joint.hen2egg + if id == 1 + cluster_idx = collect(1:2) + elseif id == nsegs + cluster_idx = collect(2nsegs-3:2nsegs-2) + else + cluster_idx = collect(2id-3:2id) + end + num_of_cluster_idx = length(cluster_idx) + num_free_coords_idx = length(free_coords_idx) + seg_free_coords_idx = appar_free_coords_idx[free_coords_idx] + J̌ = zeros(T,num_of_dim,num_free_coords_idx) + lkn = zeros(T, num_of_cluster_idx, num_of_dim) + idx = id + num_of_add_var + cluster_idx .+= apparid2sys_add_var_idx[clustercable_id][1]-1 body_hen = hen.body body_egg = egg.body C_hen = body_hen.cache.Cps[hen.pid] C_egg = body_egg.cache.Cps[egg.pid] free_idx_hen = body_hen.coords.free_idx free_idx_egg = body_egg.coords.free_idx - mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] - mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] + ncoords_hen = length(free_idx_hen) + ncoords_egg = length(free_idx_egg) + # mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] + # mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] (; k, c, state) = seg.force (; direction, tension) = state if tension == 0 - ∂Q̌∂s̄ .-= 0 + # ∂Q̌∂s̄ .-= 0 else D .= direction J̌ .= 0 - J̌[:, mfree_egg] .+= C_egg[:, free_idx_egg] - J̌[:, mfree_hen] .-= C_hen[:, free_idx_hen] - kN = kc[idx] .* N[idx, :] + # J̌[:, mfree_egg] .+= C_egg[:, free_idx_egg] + # J̌[:, mfree_hen] .-= C_hen[:, free_idx_hen] + J̌[:,free_idx_hen] .-= C_hen[:,free_idx_hen] + J̌[:,ncoords_hen.+free_idx_egg] .+= C_egg[:,free_idx_egg] + # @show cluster_idx + kN = kc[idx] .* N[idx, cluster_idx] @tullio lkn[k, l] = D[l] * kN[k] - ∂Q̌∂s̄ .-= lkn * J̌ + # if idx <= 3 + # @show idx + # @show size(lkn), size(J̌) + # display(lkn) + # display(J̌) + # end + ∂Q̌∂s̄[cluster_idx, seg_free_coords_idx] .-= lkn * J̌ + # ∂Q̌∂s̄[appar_free_coords_idx, appar_free_coords_idx] .-= lkn * J̌ end end end diff --git a/yard/jixiebi/Group2_1 copy.jl b/yard/jixiebi/Group2_1 copy.jl index 9e169ee..6869a49 100644 --- a/yard/jixiebi/Group2_1 copy.jl +++ b/yard/jixiebi/Group2_1 copy.jl @@ -17,7 +17,7 @@ include(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) includet(joinpath(pathof(RB),"../../examples/robots/jixiebi.jl")) #jl -dt = 2e-3 +dt = 5e-3 A = 0.1 policy = RB.TimePolicy( @@ -50,7 +50,7 @@ fig = plot_traj!(bot1; ) -RB.solve!( +@profview_allocs RB.solve!( RB.DynamicsProblem( bot1,policy, rigid_contacts, @@ -69,7 +69,7 @@ RB.solve!( RB.SmoothedFischerBurmeister() ), ); - tspan=(0.0, 3.0), + tspan=(0.0, 1.0), dt, ftol=1e-7,verbose=true, maxiters=50 From 8b654b37374ce82d0243855bbab7d829444d27ec Mon Sep 17 00:00:00 2001 From: Jacob <88961633+jacobleft@users.noreply.github.com> Date: Sun, 12 May 2024 20:15:27 +0800 Subject: [PATCH 10/20] implement torsional spring-dampers with an angle as the additional variable; the additional variables a new independent variables in the dynamics introduce auxiliary equality equations; tested on slider-crank example; add types: `TorsionalSpringDamperState`; `TorsionalSpringDamper`; modify update_apparatus; `update_apparatus!` and `update_apparatuses!` with `s`; `build_tangent_damping_matrix!` signature for apparatuses and bodies; add new functions: `auxi_function!`; `auxi_jacobian!`; `get_num_of_add_var` `has_gravity`; `get_apparatuses`; move codes: `rotation2angles` to `utils`; remove codes: `function update_apparatuses!(st, @eponymargs(clustered,))` --- examples/robots/slider_crank.jl | 29 +++- src/control/control.jl | 5 +- src/get.jl | 2 + src/mechanics/contact.jl | 3 + src/mechanics/dynamics.jl | 38 ++++- .../Zhong06_CCP_constant_mass.jl | 2 +- .../Zhong06_family/Zhong06_constant_mass.jl | 114 +++++++------ src/mechanics/solvers.jl | 4 + src/members/apparatus.jl | 4 +- src/members/forces/spring_dampers.jl | 69 ++++++++ src/members/rigids/rigid_body.jl | 4 +- src/robots/robot.jl | 7 +- src/structures/clustertensegrity.jl | 44 ----- src/structures/constraints.jl | 154 +++++++++++++++++- src/structures/linearization.jl | 123 ++++++++++++-- src/structures/mutate.jl | 104 ++++++++---- src/structures/structure.jl | 76 +++++++-- src/utils.jl | 12 ++ yard/nonsmooth/slider_crank.jl | 31 +++- 19 files changed, 642 insertions(+), 183 deletions(-) diff --git a/examples/robots/slider_crank.jl b/examples/robots/slider_crank.jl index 2d75274..280da46 100644 --- a/examples/robots/slider_crank.jl +++ b/examples/robots/slider_crank.jl @@ -14,7 +14,7 @@ function slider_crank(;θ = 0, coordsType = RB.NCF.NC) ω0 = [ 150.0, -75.0, - ]./100 + ]./100*0.0 b = 0.05 a = 0.025 d = 0.05 @@ -221,9 +221,18 @@ function slider_crank(;θ = 0, coordsType = RB.NCF.NC) rigdibodies = TypeSortedCollection(rbs) j1 = RB.FixedBodyConstraint(1,base) - j2 = RB.RevoluteJoint(2,RB.Hen2Egg(RB.Signifier(base ,1,1),RB.Signifier(link1,1,1))) - j3 = RB.RevoluteJoint(3,RB.Hen2Egg(RB.Signifier(link1,2,2),RB.Signifier(link2,1,1))) - j4 = RB.RevoluteJoint(4,RB.Hen2Egg(RB.Signifier(link2,2,2),RB.Signifier(slider1,5,5))) + j2 = RB.RevoluteJoint(2, + RB.Hen2Egg(RB.Signifier(base ,1,1),RB.Signifier(link1,1,1)), + RB.TorsionalSpringDamper(0.0,100.0;) + ) + j3 = RB.RevoluteJoint(3, + RB.Hen2Egg(RB.Signifier(link1,2,2),RB.Signifier(link2,1,1)), + ## RB.TorsionalSpringDamper(0.0,100.0;), + ) + j4 = RB.RevoluteJoint(4, + RB.Hen2Egg(RB.Signifier(link2,2,2),RB.Signifier(slider1,5,5)), + ## RB.TorsionalSpringDamper(0.0,100.0;) + ) apparatuses = TypeSortedCollection([j1,j2,j3,j4]) @@ -231,5 +240,15 @@ function slider_crank(;θ = 0, coordsType = RB.NCF.NC) indexed = RB.index(rigdibodies,apparatuses) cnt = RB.Connectivity(numbered,indexed) st = RB.Structure(rigdibodies,apparatuses,cnt) - RB.Robot(st,) + # 测量器/传感器， 可测量误差， 之后用于定义cost函数， 实现优化或反馈控制， 目前暂时用不到。 + gauges = Int[] + # 作动器， 依附于一个或多个bodies或apparatuses， 其类型分派给execute!来施加不同的驱动力 + actuators = Int[] + hub = RB.ControlHub( + st, + gauges, + actuators, + RB.Coalition(st, gauges, actuators,) + ) + RB.Robot(st,hub) end \ No newline at end of file diff --git a/src/control/control.jl b/src/control/control.jl index e26d2ff..1f0bf18 100644 --- a/src/control/control.jl +++ b/src/control/control.jl @@ -282,7 +282,10 @@ function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure::Structur ∂F∂q̌̇ .= ∂F∂u*∂u∂q̌̇ end -function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure::Structure,hub,policy::TimePolicy,q::AbstractVector,q̇::AbstractVector,t::Real;gravity=false) +function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure::Structure,hub,policy::TimePolicy,q,q̇,t::Real,∂F∂s=nothing,s=nothing;gravity=false) +end + +function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure::Structure,hub,policy::NoPolicy,q,q̇,t::Real,∂F∂s=nothing,s=nothing;gravity=false) end function set_restlen!(structure,u) diff --git a/src/get.jl b/src/get.jl index 60b8932..cbaf256 100644 --- a/src/get.jl +++ b/src/get.jl @@ -208,6 +208,8 @@ get_cables_force_density(bot::Robot) = get_cables_force_density(bot.structure) get_bodies(bot::Robot) = get_bodies(bot.structure) get_bodies(st::AbstractStructure) = sort(st.bodies) +get_apparatuses(bot::Robot) = get_apparatuses(bot.structure) +get_apparatuses(st::AbstractStructure) = sort(st.apparatuses) get_rigidbars(bot::Robot) = get_rigidbars(bot.structure) diff --git a/src/mechanics/contact.jl b/src/mechanics/contact.jl index bbbafb0..e026db1 100644 --- a/src/mechanics/contact.jl +++ b/src/mechanics/contact.jl @@ -95,6 +95,9 @@ struct GravitySpace{T} <: StaticContactEnvironment gravity::T end +has_gravity(env::AbstractContactEnvironment) = false +has_gravity(env::GravitySpace) = env.gravity + abstract type ContactGeometry end abstract type ContactPrimitive <: ContactGeometry end abstract type ConvexContactPrimitive <: ContactPrimitive end diff --git a/src/mechanics/dynamics.jl b/src/mechanics/dynamics.jl index 2d7404c..f7a0232 100644 --- a/src/mechanics/dynamics.jl +++ b/src/mechanics/dynamics.jl @@ -51,7 +51,7 @@ function generalized_force!(F,bot::Robot,::NoPolicy,q,q̇,t,s=nothing;gravity=tr (;structure) = bot clear_forces!(structure) lazy_update_bodies!(structure,q,q̇) - update_apparatuses!(structure) + update_apparatuses!(structure, s) if gravity apply_gravity!(structure;factor=1) end @@ -73,17 +73,19 @@ function generalized_force!(F,bot::Robot,policy::AbstractPolicy,q,q̇,t,s=nothin user_defined_force!(F,t) end -function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,q,q̇,t,s=nothing) - generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,NoPolicy(),q,q̇,t,s=nothing) +function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,q,q̇,t,∂F∂s=nothing,s=nothing) + generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,NoPolicy(),q,q̇,t,∂F∂s,s) end -function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy::AbstractPolicy,q,q̇,t,s=nothing) +function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy::AbstractPolicy,q,q̇,t,∂F∂s=nothing,s=nothing) (;structure,hub) = bot ∂F∂q̌ .= 0 ∂F∂q̌̇ .= 0 + ∂F∂s .= 0 clear_forces!(structure) lazy_update_bodies!(structure,q,q̇) - update_apparatuses!(structure) + update_apparatuses!(structure, s) + generalized_force_jacobian!(∂F∂s,structure,q,q̇,t,s,) generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure,hub,policy,q,q̇,t) build_tangent_stiffness_matrix!(∂F∂q̌,structure) build_tangent_damping_matrix!(∂F∂q̌̇,structure) @@ -98,7 +100,7 @@ function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,∂F∂s̄,∂ζ∂ ζ .= 0 clear_forces!(structure) lazy_update_bodies!(structure,q,q̇) - update_apparatuses!(structure) + update_apparatuses!(structure, s) generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure,hub,policy,q,q̇,t) build_tangent_stiffness_matrix!(∂F∂q̌,structure) build_tangent_damping_matrix!(∂F∂q̌̇,structure) @@ -107,6 +109,26 @@ function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,∂F∂s̄,∂ζ∂ build_∂ζ∂q!(∂ζ∂q, cluster_cache, structure) end + +function generalized_force_jacobian!(∂F∂s,structure,q,q̇,t,s,) + (;apparatuses,connectivity) = structure + (; + apparid2sys_add_var_idx, + apparid2sys_free_coords_idx + ) = connectivity.indexed + foreach(apparatuses) do appar + appar_add_var_idx = apparid2sys_add_var_idx[appar.id] + appar_free_coords_idx = apparid2sys_free_coords_idx[appar.id] + generalized_force_jacobian!( + (@view ∂F∂s[appar_free_coords_idx,appar_add_var_idx]), + appar, + structure, + q,q̇,t, + (@view s[appar_add_var_idx]), + ) + end +end + struct ContactCache{cacheType} cache::cacheType end @@ -205,8 +227,8 @@ function activate_frictional_contacts!(structure,contact_env::ContactRigidBodies (;nmcs) = ibody.coords ncoords = get_num_of_coords(nmcs) iq = @MVector zeros(ncoords) - c(x) = NCF.to_local_coords(nmcs,x) - C(c) = NCF.to_position_jacobian(nmcs,iq,c) + c(x) = to_local_coords(nmcs,x) + C(c) = to_position_jacobian(nmcs,iq,c) ibody.cache.Cps[ipid] = C(c(local_pos)) diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl index d95052f..ec19b34 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl @@ -21,7 +21,7 @@ function generate_cache( (;bot,policy,env) = prob (;structure) = bot options = merge( - (gravity=true,factor=1,checkpersist=true), #default + (gravity=has_gravity(env),factor=1,checkpersist=true), #default prob.options, solver.options, ) diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl index 4484b3b..96be820 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl @@ -10,19 +10,20 @@ function generate_cache( dt,kargs... ) (;prob) = simulator - (;bot,policy) = prob + (;bot,policy,env) = prob (;traj,structure) = bot options = merge( - (gravity=true,factor=1,checkpersist=true), #default + (gravity=has_gravity(env),factor=1,checkpersist=true), #default prob.options, solver.options, ) (;M,M⁻¹,M̌,M̌⁻¹,Ḿ,M̄)= build_mass_matrices(structure) A = make_cstr_jacobian(structure) Φ = make_cstr_function(structure) - F!(F,q,q̇,t) = generalized_force!(F,bot,policy,q,q̇,t;gravity=options.gravity) - Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,policy,q,q̇,t) + F!(F,q,q̇,t,s) = generalized_force!(F,bot,policy,q,q̇,t,s;gravity=options.gravity) + Jac_F!(∂F∂q̌,∂F∂q̌̇, ∂F∂s, q,q̇,t, s) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,policy,q,q̇,t,∂F∂s,s) q̌0 = traj.q̌[begin] + s0 = traj.s[begin] λ0 = traj.λ[begin] q̇0 = traj.q̇[begin] q̇0 = traj.q̇[begin] @@ -30,21 +31,24 @@ function generate_cache( T = eltype(q̌0) nq̌ = length(q̌0) nλ = length(λ0) + ns = length(s0) ∂F∂q̌ = zeros(T,nq̌,nq̌) ∂F∂q̌̇ = zeros(T,nq̌,nq̌) - nx = nq̌ + nλ - xₖ = vcat(q̌0,λ0) + ∂F∂s = zeros(T,nq̌,ns) + ∂S∂q̌ = zeros(T,ns,nq̌) + ∂S∂s = zeros(T,ns,ns) + nx = nq̌ + nλ + ns + xₖ = vcat(q̌0,λ0,s0) Res = zero(xₖ) Jac = Res*transpose(Res) Zhong06_Constant_Mass_Cache(solver, @eponymtuple( F!,Jac_F!, Ḿ,M̌,M̄,M̌⁻¹,A,Φ, - ∂F∂q̌,∂F∂q̌̇, - nq̌,nλ,nx, + ∂F∂q̌,∂F∂q̌̇,∂F∂s,∂S∂q̌,∂S∂s, + nq̌,nλ,ns,nx, xₖ, - Res, - Jac, + Res,Jac, options ) ) @@ -59,12 +63,12 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cache; progress=true,exception=true) (;prob,controller,tspan,restart,totalstep) = sim (;bot,) = prob - (;traj) = bot + (;structure,traj) = bot (; F!,Jac_F!, Ḿ,M̌,M̄,M̌⁻¹,A,Φ, - ∂F∂q̌,∂F∂q̌̇, - nq̌,nλ,nx, + ∂F∂q̌,∂F∂q̌̇,∂F∂s,∂S∂q̌,∂S∂s, + nq̌,nλ,ns,nx, xₖ, Res, Jac @@ -73,32 +77,44 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cache; mass_norm = mr h = dt T = get_numbertype(bot) - function make_Res_stepk(qₖ,q̌ₖ,λₖ,qₖ₋₁,p̌ₖ₋₁,F̌,Aᵀₖ₋₁,tₖ₋₁) - @inline @inbounds function inner_Res_stepk!(Res,x) + function make_stepk(qₖ,q̌ₖ,λₖ,sₖ,sₖ₋₁,qₖ₋₁,p̌ₖ₋₁,F̌,∂F∂q̌,∂F∂q̌̇,∂F∂s,∂S∂q̌,∂S∂s,Aᵀₖ₋₁,tₖ₋₁) + S = make_auxi_function(structure,deepcopy(sₖ₋₁)) + Jac_S! = make_auxi_jacobian(structure,deepcopy(sₖ₋₁)) + function inner_Res_stepk!(Res,x) q̌ₖ .= x[ 1:nq̌ ] λₖ .= x[nq̌+1:nq̌+nλ] + sₖ .= x[nq̌+nλ+1:nx] qₘ = (qₖ.+qₖ₋₁)./2 q̇ₘ = (qₖ.-qₖ₋₁)./h tₘ = tₖ₋₁+h/2 - F!(F̌,qₘ, q̇ₘ, tₘ) + sₘ = (sₖ .+ sₖ₋₁)./2 + F!(F̌,qₘ, q̇ₘ, tₘ, sₘ) Res[ 1:nq̌ ] .= Ḿ*(qₖ.-qₖ₋₁) .- h.*p̌ₖ₋₁ .- (h^2)/2 .*F̌ .+ mass_norm.*Aᵀₖ₋₁*λₖ Res[nq̌+1:nq̌+nλ] .= mass_norm.*Φ(qₖ) + Res[nq̌+nλ+1:nx] .= S(qₖ,sₖ) end - end - function Jac_stepk!(Jac,x,qₖ,q̌ₖ,qₖ₋₁,∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) - q̌ₖ .= x[1:nq̌] - qₘ = (qₖ.+qₖ₋₁)./2 - q̇ₘ = (qₖ.-qₖ₋₁)./h - tₘ = tₖ₋₁+h/2 - Jac_F!(∂F∂q̌,∂F∂q̌̇,qₘ,q̇ₘ,tₘ) - Jac[ 1:nq̌ , 1:nq̌ ] .= M̌.-(h^2)/2 .*(1/2 .*∂F∂q̌.+1/h.*∂F∂q̌̇) - Jac[ 1:nq̌ ,nq̌+1:end] .= mass_norm.*Aᵀₖ₋₁ - Jac[nq̌+1:end, 1:nq̌ ] .= mass_norm.*A(qₖ) - Jac[nq̌+1:end,nq̌+1:end] .= 0.0 + function inner_Jac_stepk!(Jac,x,) + q̌ₖ .= x[1:nq̌] + qₘ = (qₖ.+qₖ₋₁)./2 + q̇ₘ = (qₖ.-qₖ₋₁)./h + tₘ = tₖ₋₁+h/2 + sₘ = (sₖ .+ sₖ₋₁)./2 + + Jac_F!(∂F∂q̌,∂F∂q̌̇,∂F∂s,qₘ,q̇ₘ,tₘ,sₘ) + Jac_S!(∂S∂q̌,∂S∂s,qₖ,sₖ) + Jac[ 1:nq̌ , 1:nq̌ ] .= M̌.-(h^2)/2 .*(1/2 .*∂F∂q̌.+1/h.*∂F∂q̌̇) + Jac[ 1:nq̌ ,nq̌+1:nq̌+nλ] .= mass_norm.*Aᵀₖ₋₁ + Jac[nq̌+1:nq̌+nλ, 1:nq̌ ] .= mass_norm.*A(qₖ) + Jac[nq̌+1:nq̌+nλ,nq̌+1:nq̌+nλ] .= 0.0 + Jac[ 1:nq̌, nq̌+nλ+1:nx] .= -(h^2)/2 .*(1/2 .*∂F∂s) + Jac[nq̌+nλ+1:nx,1:nq̌] .= ∂S∂q̌ + Jac[nq̌+nλ+1:nx,nq̌+nλ+1:nx] .= ∂S∂s + end + inner_Res_stepk!, inner_Jac_stepk! end iteration_break = 0 @@ -117,18 +133,20 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cache; qₖ₋₁ = traj.q[timestep] q̌ₖ₋₁ = traj.q̌[timestep] q̌̇ₖ₋₁ = traj.q̌̇[timestep] - p̌ₖ₋₁ = traj.p̌[timestep] + p̌ₖ₋₁ = traj.p̌[timestep] + sₖ₋₁ = traj.s[timestep] qₖ = traj.q[timestep+1] q̌ₖ = traj.q̌[timestep+1] q̌̇ₖ = traj.q̌̇[timestep+1] q̃̇ₖ = traj.q̃̇[timestep+1] λₖ = traj.λ[timestep+1] + sₖ = traj.s[timestep+1] p̌ₖ = traj.p̌[timestep+1] F̌ = traj.F̌[timestep+1] xₖ[ 1:nq̌] .= q̌ₖ₋₁ .+ h.*q̌̇ₖ₋₁ xₖ[nq̌+1:nq̌+nλ] .= 0 Aᵀₖ₋₁ = transpose(A(qₖ₋₁)) - Res_stepk! = make_Res_stepk(qₖ,q̌ₖ,λₖ,qₖ₋₁,p̌ₖ₋₁,F̌,Aᵀₖ₋₁,tₖ₋₁) + Res_stepk!,Jac_stepk! = make_stepk(qₖ,q̌ₖ,λₖ,sₖ,sₖ₋₁,qₖ₋₁,p̌ₖ₋₁,F̌,∂F∂q̌,∂F∂q̌̇,∂F∂s,∂S∂q̌,∂S∂s,Aᵀₖ₋₁,tₖ₋₁) isconverged = false normRes = typemax(T) if false #Jac_F! isa Missing @@ -139,23 +157,23 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cache; Res_stepk_result.iterations xₖ .= Res_stepk_result.zero else - # if timestep == 10 - # Jac_ref = zeros(nq̌+nλ,nq̌+nλ) - # FiniteDiff.finite_difference_jacobian!(Jac_ref,Res_stepk!,xₖ) - # Jac_my = zeros(nq̌+nλ,nq̌+nλ) - # Jac_stepk!(Jac_my,xₖ) - # diff_Jac = Jac_my .- Jac_ref - # diff_Jac[abs.(diff_Jac).<1e-5] .= 0.0 - # diff_rowidx = findall((x)-> x>1e-5,norm.(eachrow(diff_Jac))) - # @show diff_rowidx .- length(q̌ₖ) - # @show diff_Jac[end-4:end-3,:] - # @show findall((x)->abs(x)>0,diff_Jac[114+length(q̌ₖ),:]) - # @show findall((x)->abs(x)>0,diff_Jac[115+length(q̌ₖ),:]) - # @show Jac_my[end-4:end-3,:] - # @show Jac_ref[end-4:end-3,:] - # end - # @show maximum(abs.(diff_Jac))for iteration = 1:maxiters - # @show iteration,D,ηs,restitution_coefficients,gaps + ## if timestep == 100 + ## Jac_ref = zeros(nx,nx) + ## FiniteDiff.finite_difference_jacobian!(Jac_ref,Res_stepk!,xₖ) + ## Jac_my = zeros(nx,nx) + ## Jac_stepk!(Jac_my,xₖ) + ## diff_Jac = Jac_my .- Jac_ref + ## diff_Jac[abs.(diff_Jac).<1e-5] .= 0.0 + ## diff_rowidx = findall((x)-> x>1e-5,norm.(eachrow(diff_Jac))) + ## @show diff_rowidx .- length(q̌ₖ) + ## @show diff_Jac[end-4:end-3,:] + ## @show findall((x)->abs(x)>0,diff_Jac[114+length(q̌ₖ),:]) + ## @show findall((x)->abs(x)>0,diff_Jac[115+length(q̌ₖ),:]) + ## @show Jac_my[ 1:nq̌, nq̌+nλ+1:nx] + ## @show Jac_ref[ 1:nq̌, nq̌+nλ+1:nx] + ## end + ## @show maximum(abs.(diff_Jac))for iteration = 1:maxiters + ## @show iteration,D,ηs,restitution_coefficients,gaps for iteration = 1:maxiters Res_stepk!(Res,xₖ) # @show Res @@ -166,7 +184,7 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cache; break end # FiniteDiff.finite_difference_jacobian!(Jac,Res_stepk!,xₖ,Val{:central}) - Jac_stepk!(Jac,xₖ,qₖ,q̌ₖ,qₖ₋₁,∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) + Jac_stepk!(Jac,xₖ) xₖ .+= Jac\(-Res) end # dfk = OnceDifferentiable(Res_stepk!,Jac_stepk!,xₖ,Res) @@ -182,6 +200,8 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cache; end q̌ₖ .= xₖ[ 1:nq̌ ] λₖ .= xₖ[nq̌+1:nq̌+nλ] + sₖ .= xₖ[nq̌+nλ+1:nx] + @show timestep, sₖ, sₖ₋₁ Momentum_k!(p̌ₖ,p̌ₖ₋₁,qₖ,qₖ₋₁,λₖ,Ḿ,A,Aᵀₖ₋₁,mass_norm,h) q̌̇ₖ .= M̌⁻¹*(p̌ₖ.-M̄*q̃̇ₖ ) #---------Step k finisher----------- diff --git a/src/mechanics/solvers.jl b/src/mechanics/solvers.jl index 91d6ac0..67eae81 100644 --- a/src/mechanics/solvers.jl +++ b/src/mechanics/solvers.jl @@ -130,6 +130,10 @@ function DynamicsProblem(bot::Robot;options...) DynamicsProblem(bot::Robot,NoPolicy(),GravitySpace(true),Contactless(),Naive(),values(options)) end +function DynamicsProblem(bot::Robot,env::AbstractContactEnvironment;options...) + DynamicsProblem(bot::Robot,NoPolicy(),env,Contactless(),Naive(),values(options)) +end + function DynamicsProblem(bot::Robot,policy::AbstractPolicy;options...) DynamicsProblem(bot::Robot,policy,GravitySpace(true),Contactless(),Naive(),values(options)) end diff --git a/src/members/apparatus.jl b/src/members/apparatus.jl index 5056fa8..2018585 100644 --- a/src/members/apparatus.jl +++ b/src/members/apparatus.jl @@ -97,7 +97,6 @@ function get_appar_idx(appar::Apparatus,bodyid2sys_free_coords) Int[] end - function FixedIndicesConstraint(id::Int,body,idx,violations) num_of_cstr = length(idx) num_of_coords = get_num_of_coords(body) @@ -174,11 +173,12 @@ function PrototypeJoint(id,hen2egg,force,joint_type::Symbol) cache ) full_idx, free_idx = get_joint_idx(joint) + num_add_var = get_num_of_add_var(force) Apparatus( id, joint, force, - 0, + num_add_var, full_idx, free_idx ) end diff --git a/src/members/forces/spring_dampers.jl b/src/members/forces/spring_dampers.jl index b7d5fe7..9b16d69 100644 --- a/src/members/forces/spring_dampers.jl +++ b/src/members/forces/spring_dampers.jl @@ -1,6 +1,8 @@ abstract type AbstractForce end struct NoForce <: AbstractForce end +get_num_of_add_var(::AbstractForce) = 0 + """ $(TYPEDEF) """ @@ -109,6 +111,73 @@ function potential_energy(cab::DistanceSpringDamper) pe = 1/2*k*Δ^2 end + +""" +$(TYPEDEF) +""" +mutable struct TorsionalSpringDamperState{T} + rest_angle::T + angle::T + angular_velocity::T + torque::T +end + +""" +$(TYPEDSIGNATURES) +""" +function TorsionalSpringDamperState(rest_angle) + TorsionalSpringDamperState( + rest_angle, + zero(rest_angle), + zero(rest_angle), + zero(rest_angle), + ) +end + +""" +$(TYPEDEF) +""" +struct TorsionalSpringDamper{T} <: AbstractForce + k::T + c::T + slack::Bool + state::TorsionalSpringDamperState{T} +end + +""" +$(TYPEDSIGNATURES) +""" +function TorsionalSpringDamper(rest_angle::T,k::T,c=zero(k);slack=false) where T + state = TorsionalSpringDamperState(rest_angle) + TorsionalSpringDamper(k,c,slack,state) +end + +get_num_of_add_var(::TorsionalSpringDamper) = 1 + +""" +$(TYPEDSIGNATURES) +""" +function update!(sd::TorsionalSpringDamper,angle,angular_velocity=zero(angle)) + (;k,c,state) = sd + deformation = angle - rest_angle + state.angle = angle + state.angular_velocity = angular_velocity + state.torque = k*deformation + c*state.angular_velocity +end + +""" +$(TYPEDSIGNATURES) +""" +function potential_energy(sd::TorsionalSpringDamper) + (;k,c,state,slack) = sd + Δ⁺ = (state.angle - state.rest_angle) + Δ = ifelse(slack,max(0,Δ⁺),Δ⁺) + ## Δ = Δ⁺ + pe = 1/2*k*(Δ^2) +end + + + """ $(TYPEDEF) """ diff --git a/src/members/rigids/rigid_body.jl b/src/members/rigids/rigid_body.jl index 9a7b9c8..9cfc8c0 100644 --- a/src/members/rigids/rigid_body.jl +++ b/src/members/rigids/rigid_body.jl @@ -160,8 +160,8 @@ function BodyCache(prop::RigidBodyProperty{N,T}, q = @MVector zeros(T,size(M,2)) Ṁq̇ = @MVector zeros(T,size(M,2)) ∂T∂qᵀ = @MVector zeros(T,size(M,2)) - c(x) = NCF.to_local_coords(nmcs,x) - C(c) = NCF.to_position_jacobian(nmcs,q,c) + c(x) = to_local_coords(nmcs,x) + C(c) = to_position_jacobian(nmcs,q,c) Co = C(c(zero(mass_center))) Cg = C(c(mass_center)) Cps = [typeof(Cg)(C(c(loci[i].position))) for i in 1:num_of_loci] diff --git a/src/robots/robot.jl b/src/robots/robot.jl index 8336203..b2d3c81 100644 --- a/src/robots/robot.jl +++ b/src/robots/robot.jl @@ -41,6 +41,8 @@ end make_cstr_jacobian(bot::Robot) = (q) -> cstr_jacobian(bot.structure,q) make_cstr_function(bot::Robot) = (q) -> cstr_function(bot.structure,q) +make_auxi_function(bot::Robot) = (q,s) -> auxi_function(bot.structure,q,s) +make_auxi_jacobian(bot::Robot) = (q,s) -> auxi_jacobian(bot.structure,q,s) build_mass_matrices(bot::Robot) = build_mass_matrices(bot.structure) @@ -73,10 +75,10 @@ $(TYPEDSIGNATURES) """ function reset!(bot::Robot) (;structure, traj) = bot - (;q, q̇) = traj + (;q, q̇, s) = traj clear_forces!(structure) update_bodies!(structure,q[begin],q̇[begin]) - update_apparatuses!(structure) + update_apparatuses!(structure, s) resize!(traj,1) end @@ -107,7 +109,6 @@ function goto_step!(bot::Robot,that_step;actuate=false) bot end - function mechanical_energy!(bot::Robot;actuate=false,gravity=true) (;structure,traj) = bot StructArray([ diff --git a/src/structures/clustertensegrity.jl b/src/structures/clustertensegrity.jl index 94a343f..be98e82 100644 --- a/src/structures/clustertensegrity.jl +++ b/src/structures/clustertensegrity.jl @@ -1,47 +1,3 @@ - - -function update_apparatuses!(st, @eponymargs(clustered,)) - (;clustercables) = st.apparatuses - id = 0 - foreach(clustered) do scnt - id += 1 - clustercable = clustercables[id] - (;s) = clustercable.sps - for (segid, seg) in enumerate(clustercable.segs) - (;state, k, c, original_restlen, prestress) = seg - (;restlen) = state - state1 = scnt[segid].hen.body.state - state2 = scnt[segid].egg.body.state - pid1 = scnt[segid].hen.pid - pid2 = scnt[segid].egg.pid - p1 = state1.loci_states[pid1] - ṗ1 = state1.ṙps[pid1] - f1 = state1.fps[pid1] - p2 = state2.loci_states[pid2] - ṗ2 = state2.ṙps[pid2] - f2 = state2.fps[pid2] - Δr = p2 - p1 - Δṙ = ṗ2 - ṗ1 - state.length,state.direction = lengthdir(p2-p1) - l = state.length - τ = state.direction - state.lengthdot = (transpose(Δr)*Δṙ)/l - if segid == 1 - u = restlen + s[segid] - elseif segid == length(clustercable.segs) - u = restlen - s[segid-1] - else - u = restlen + s[segid] - s[segid-1] - end - state.tension = k*(l-u) + prestress - state.tension = max(state.tension, 0) - f1 .+= τ*state.tension - f2 .-= τ*state.tension - # state.force = τ*state.tension - end - end -end - function distribute_s̄!(st::AbstractStructure, s̄) s⁺ = @view s̄[begin:2:end] s⁻ = @view s̄[begin+1:2:end] diff --git a/src/structures/constraints.jl b/src/structures/constraints.jl index 4573400..325df2f 100644 --- a/src/structures/constraints.jl +++ b/src/structures/constraints.jl @@ -204,4 +204,156 @@ function cstr_velocity_jacobian(appar::Apparatus{<:PrototypeJoint},structure,q,q q̇_hen,q̇_egg, ) @view ret[:,free_idx] -end \ No newline at end of file +end + +function auxi_function!(ret, appar::Apparatus,structure::Structure,q, s, s0) + #default do nothing +end + +function auxi_function!(ret, + appar::Apparatus{<:PrototypeJoint,<:TorsionalSpringDamper}, + structure::Structure, + q, s, s0 + ) + (;indexed,numbered) = structure.connectivity + (;bodyid2sys_full_coords) = indexed + (;joint,force) = appar + (; + hen2egg, + violations, + cache, + mask_1st,mask_2nd,mask_3rd,mask_4th + ) = joint + (; + relative_core + ) = cache + ## (; + + ## ) = force + num_of_add_var = get_num_of_add_var(force) + (;hen,egg) = hen2egg + id_hen = hen.body.prop.id + id_egg = egg.body.prop.id + nmcs_hen = hen.body.coords.nmcs + nmcs_egg = egg.body.coords.nmcs + q_hen = @view q[bodyid2sys_full_coords[id_hen]] + q_egg = @view q[bodyid2sys_full_coords[id_egg]] + # cstr violations + # @show joint.id + + X_hen = NCF.get_X(nmcs_hen,q_hen) + X_egg = NCF.get_X(nmcs_egg,q_egg) + invX̄_hen = nmcs_hen.data.invX̄ + invX̄_egg = nmcs_egg.data.invX̄ + axes_rot_hen = invX̄_hen*hen.body.prop.loci[hen.rotid].axes + axes_rot_egg = invX̄_egg*egg.body.prop.loci[egg.rotid].axes + R = (transpose((X_hen*axes_rot_hen).X)*X_egg*axes_rot_egg).X + ## @show R + θ0 = s0[1] + θ = s[1] + modθ0 = mod2pi(θ0+π/4) + if modθ0 < π/2 + ## @show θ0, "sin" + ret[1] = sin(θ)-R[2,1] + elseif modθ0 < π + ## @show θ0, "cos" + ret[1] = cos(θ)-R[1,1] + elseif modθ0 < 3π/2 + ## @show θ0, "-sin" + ret[1] = sin(θ)-R[2,1] + else + ## @show θ0, "-cos" + ret[1] = cos(θ)-R[1,1] + end + + ## c1 = [1.0,0,0]×(R[:,1]/norm(R[:,1])) + ## c2 = [0,1.0,0]×(R[:,2]/norm(R[:,2])) + ## c3 = [0,0,1.0]×(R[:,3]/norm(R[:,3])) + ## asin.( [0,0,c3[1]]) + ## @show R[2,2:3], rad2deg(θ) +end + +function auxi_jacobian!(∂S∂q̌,∂S∂s, appar::Apparatus, structure::AbstractStructure, q, s, s0) + #default do nothing +end + +function auxi_jacobian!(∂S∂q̌,∂S∂s, + appar::Apparatus{<:PrototypeJoint,<:TorsionalSpringDamper}, + structure::AbstractStructure, + q, s, s0 + ) + (;indexed,numbered) = structure.connectivity + (;bodyid2sys_full_coords) = indexed + (;joint,force) = appar + (; + hen2egg, + violations, + cache, + mask_1st,mask_2nd,mask_3rd,mask_4th + ) = joint + (; + relative_core + ) = cache + full_idx = appar.full_coords_idx + free_idx = appar.free_coords_idx + num_of_add_var = get_num_of_add_var(force) + (;hen,egg) = hen2egg + id_hen = hen.body.prop.id + id_egg = egg.body.prop.id + nmcs_hen = hen.body.coords.nmcs + nmcs_egg = egg.body.coords.nmcs + q_hen = @view q[bodyid2sys_full_coords[id_hen]] + q_egg = @view q[bodyid2sys_full_coords[id_egg]] + q_appar = vcat(q_hen,q_egg) + # cstr violations + # @show joint.id + + X_hen = NCF.get_X(nmcs_hen,q_hen) + X_egg = NCF.get_X(nmcs_egg,q_egg) + invX̄_hen = nmcs_hen.data.invX̄ + invX̄_egg = nmcs_egg.data.invX̄ + axes_rot_hen = invX̄_hen*hen.body.prop.loci[hen.rotid].axes + axes_rot_egg = invX̄_egg*egg.body.prop.loci[egg.rotid].axes + select_uvw_hen = BlockDiagonal([nmcs_hen.conversion_to_X,zero(nmcs_egg.conversion_to_X)]) + select_uvw_egg = BlockDiagonal([zero(nmcs_hen.conversion_to_X),nmcs_egg.conversion_to_X]) + + ## R = (transpose((X_hen*axes_rot_hen).X)*X_egg*axes_rot_egg).X + + axis_zero = zero(axes_rot_hen.X[:,1]) + + half_11 = select_uvw_hen'* + kron(vcat(0,axes_rot_hen.X[:,1],0,axis_zero),I(3))* + kron(vcat(0,axis_zero,0,axes_rot_egg.X[:,1]),I(3))'* + select_uvw_egg + half_21 = select_uvw_hen'* + kron(vcat(0,axes_rot_hen.X[:,2],0,axis_zero),I(3))* + kron(vcat(0,axis_zero,0,axes_rot_egg.X[:,1]),I(3))'* + select_uvw_egg + hess_11 = Symmetric(half_11 + half_11') + hess_21 = Symmetric(half_21 + half_21') + θ0 = s0[1] + θ = s[1] + modθ0 = mod2pi(θ0+π/4) + if modθ0 < π/2 + ## @show θ0, "sin" + ∂S∂q̌[1,:] .= -(q_appar'*hess_21)[free_idx] #R[2,1] + ∂S∂s[1,1] = cos(θ) + elseif modθ0 < π + ## @show θ0, "cos" + ∂S∂q̌[1,:] .= -(q_appar'*hess_11)[free_idx] #R[1,1] + ∂S∂s[1,1] = sin(θ) + elseif modθ0 < 3π/2 + ## @show θ0, "-sin" + ∂S∂q̌[1,:] .= -(q_appar'*hess_21)[free_idx] #R[2,1] + ∂S∂s[1,1] = cos(θ) + else + ## @show θ0, "-cos" + ∂S∂q̌[1,:] .= -(q_appar'*hess_11)[free_idx] #R[1,1] + ∂S∂s[1,1] = sin(θ) + end + + ## c1 = [1.0,0,0]×(R[:,1]/norm(R[:,1])) + ## c2 = [0,1.0,0]×(R[:,2]/norm(R[:,2])) + ## c3 = [0,0,1.0]×(R[:,3]/norm(R[:,3])) + ## asin.( [0,0,c3[1]]) +end diff --git a/src/structures/linearization.jl b/src/structures/linearization.jl index 4cfdfb6..7937db2 100644 --- a/src/structures/linearization.jl +++ b/src/structures/linearization.jl @@ -425,15 +425,15 @@ function make_S(st,q0) end # In-place ∂Q̌∂q̌ for cables and flexible bodies -function build_tangent_stiffness_matrix!(∂Q̌∂q̌,body::AbstractBody,q,st) +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,body::AbstractBody,st::AbstractStructure,q,s=nothing) #default do nothing end -function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus,q,st) +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus,st::AbstractStructure,q,s=nothing) #default do nothing end -function build_tangent_stiffness_matrix!(∂Q̌∂q̌,body::FlexibleBody,q,st) +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,body::FlexibleBody,st::AbstractStructure,q,s=nothing) (;coords,cache) = body (;e,) = cache ancs = coords.nmcs @@ -443,7 +443,7 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,body::FlexibleBody,q,st) ∂Q̌∂q̌[mfree,mfree] .-= ∂Q∂e[free_idx,free_idx] end -function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJoint},q,st) +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJoint},st::AbstractStructure,q,s=nothing) (;indexed,numbered) = st.connectivity (; @@ -489,7 +489,7 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJo end end -function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJoint,<:DistanceSpringDamperSegment},q,st) +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJoint,<:DistanceSpringDamperSegment},st::AbstractStructure,q,s=nothing) (;indexed,numbered) = st.connectivity (; @@ -534,13 +534,13 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:CableJo ∂Q̌∂q̌[appar_free_coords_idx,appar_free_coords_idx] .+= force_cache.K end -function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:ClusterJoint},q,st) +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{<:ClusterJoint},st::AbstractStructure,q,s=nothing) foreach(appar.force.segs) do seg - build_tangent_stiffness_matrix!(∂Q̌∂q̌,seg,q,st) + build_tangent_stiffness_matrix!(∂Q̌∂q̌,seg,st,q) end end -function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{JointType,<:RotationalSpringDamper},q,st) where {JointType} +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{JointType,<:RotationalSpringDamper},st::AbstractStructure,q,s=nothing) where {JointType} (; num_of_cstr, hen2egg, @@ -584,30 +584,123 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{JointType end end +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus{JointType,<:TorsionalSpringDamper},st::AbstractStructure,q,s=nothing) where {JointType} + (; + bodyid2sys_full_coords, + bodyid2sys_free_coords, + ) = st.connectivity.indexed + (; + num_of_cstr, + hen2egg, + cache, + mask_1st,mask_2nd,mask_3rd,mask_4th + ) = appar.joint + (;k,state) = appar.force + (; + relative_core + ) = cache + (;hen,egg) = hen2egg + nmcs_egg = egg.body.coords.nmcs + free_idx_egg = egg.body.coords.free_idx + num_of_coords_egg = get_num_of_coords(nmcs_egg) + id_egg = egg.body.prop.id + egg_sys_full_idx = bodyid2sys_full_coords[id_egg] + egg_sys_free_idx = bodyid2sys_free_coords[id_egg] + invX̄_egg = nmcs_egg.data.invX̄ + q_egg = @view q[egg_sys_full_idx] + state.angle = s[1] + deformation = state.angle - state.rest_angle + state.torque = -k*deformation/100 + loci_axes_rot_egg = egg.body.prop.loci[egg.rotid].axes + axes_rot_egg = invX̄_egg*loci_axes_rot_egg + + r̄_home = egg.body.prop.loci[egg.pid].position + r̄_away = r̄_home + loci_axes_rot_egg.X[:,1] + C_home = to_position_jacobian(nmcs_egg,q_egg,to_local_coords(nmcs_egg,r̄_home)) + C_away = to_position_jacobian(nmcs_egg,q_egg,to_local_coords(nmcs_egg,r̄_away)) + + ∂F∂q = state.torque*(-transpose(C_home) + transpose(C_away))*kron(hcat(0,transpose(axes_rot_egg.X[:,2])),I(3)) + ∂Q̌∂q̌[egg_sys_free_idx,egg_sys_free_idx] .+= ∂F∂q[free_idx_egg,free_idx_egg] +end + +function generalized_force_jacobian!(∂Q̌∂s,appar::Apparatus,st,q,q̇,t, s=nothing) + #default do nothing +end + +function generalized_force_jacobian!(∂Q̌∂s,appar::Apparatus{JointType,<:TorsionalSpringDamper},st::AbstractStructure,q,q̇,t,s) where {JointType} + (; + bodyid2sys_full_coords, + bodyid2sys_free_coords, + ) = st.connectivity.indexed + (; + num_of_cstr, + hen2egg, + cache, + mask_1st,mask_2nd,mask_3rd,mask_4th + ) = appar.joint + (;k,state) = appar.force + (; + relative_core + ) = cache + (;hen,egg) = hen2egg + nmcs_egg = egg.body.coords.nmcs + free_idx_egg = egg.body.coords.free_idx + num_of_coords_egg = get_num_of_coords(nmcs_egg) + id_egg = egg.body.prop.id + egg_sys_full_idx = bodyid2sys_full_coords[id_egg] + egg_sys_free_idx = bodyid2sys_free_coords[id_egg] + invX̄_egg = nmcs_egg.data.invX̄ + q_egg = @view q[egg_sys_full_idx] + state.angle = s[1] + deformation = state.angle - state.rest_angle + state.torque = -k*deformation/100 + loci_axes_rot_egg = egg.body.prop.loci[egg.rotid].axes + axes_rot_egg = invX̄_egg*loci_axes_rot_egg + + r̄_home = egg.body.prop.loci[egg.pid].position + r̄_away = r̄_home + loci_axes_rot_egg.X[:,1] + C_home = to_position_jacobian(nmcs_egg,q_egg,to_local_coords(nmcs_egg,r̄_home)) + C_away = to_position_jacobian(nmcs_egg,q_egg,to_local_coords(nmcs_egg,r̄_away)) + + ∂F∂s = -k/100*(-transpose(C_home) + transpose(C_away))*axes_rot_egg.X[:,2] + ## @show ∂F∂s + ∂Q̌∂s[egg_sys_free_idx,:] .+= ∂F∂s[free_idx_egg,:] +end + # In-place ∂Q̌∂q̌ for cables and flexible bodies function build_tangent_stiffness_matrix!(∂Q̌∂q̌,st) (;bodies,apparatuses,connectivity) = st - + (; + apparid2sys_add_var_idx + ) = connectivity.indexed q = get_coords(st) + ## s = get_add_vars(st) + s = st.state.system.s foreach(bodies) do body - build_tangent_stiffness_matrix!(∂Q̌∂q̌,body,q,st) + build_tangent_stiffness_matrix!(∂Q̌∂q̌,body,st,q) end foreach(apparatuses) do appar - build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar,q,st) + build_tangent_stiffness_matrix!( + ∂Q̌∂q̌, + appar, + st, + q, + (@view s[apparid2sys_add_var_idx[appar.id]]) + ) end end # In-place ∂Q̌∂q̌̇ for cables and flexible bodies -function build_tangent_damping_matrix!(∂Q̌∂q̌̇,body::AbstractBody,q,st) +function build_tangent_damping_matrix!(∂Q̌∂q̌̇,body::AbstractBody,st::AbstractStructure,q) #default do nothing end -function build_tangent_damping_matrix!(∂Q̌∂q̌̇,appar::Apparatus,q,st) +function build_tangent_damping_matrix!(∂Q̌∂q̌̇,appar::Apparatus,st::AbstractStructure,q) #default do nothing end -function build_tangent_damping_matrix!(∂Q̌∂q̌̇,appar::Apparatus{<:CableJoint},q,st) +function build_tangent_damping_matrix!(∂Q̌∂q̌̇,appar::Apparatus{<:CableJoint},st::AbstractStructure,q) (;indexed,numbered) = st.connectivity (; @@ -659,7 +752,7 @@ function build_tangent_damping_matrix!(∂Q̌∂q̌̇,st) q = get_coords(st) foreach(apparatuses) do appar - build_tangent_damping_matrix!(∂Q̌∂q̌̇,appar,q,st) + build_tangent_damping_matrix!(∂Q̌∂q̌̇,appar,st::AbstractStructure,q) end end diff --git a/src/structures/mutate.jl b/src/structures/mutate.jl index e72f268..28d089c 100644 --- a/src/structures/mutate.jl +++ b/src/structures/mutate.jl @@ -9,18 +9,6 @@ function clear_forces!(bodies::TypeSortedCollection) foreach(clear_forces!,bodies) end - -function rotation2angles(R::AbstractVector{T}) where {T} - rotation2angles(reshape(R,3,:)) -end - -function rotation2angles(R::AbstractMatrix{T}) where {T} - c1 = [1.0,0,0]×(R[:,1]/norm(R[:,1])) - c2 = [0,1.0,0]×(R[:,2]/norm(R[:,2])) - c3 = [0,0,1.0]×(R[:,3]/norm(R[:,3])) - asin.( [0,0,c3[1]]) -end - function make_jointed2angles(hen2egg,relative_core) (;hen,egg) = hen2egg nmcs_hen = hen.body.coords.nmcs @@ -40,39 +28,29 @@ function make_jointed2angles(hen2egg,relative_core) end """ -Update DistanceSpringDamper Tension +Update apparatuses of a structure $(TYPEDSIGNATURES) """ -function update_apparatuses!(st::AbstractStructure, s=nothing) - (;apparatuses) = st - foreach(apparatuses) do appar - update_apparatus!(st, appar) - end +function update_apparatuses!(st::AbstractStructure, s::AbstractVector{T}) where {T} + st.state.system.s .= s + update_apparatuses!(st) end -function update_apparatuses!(st::AbstractStructure, s̄::AbstractVector{T}) where {T} +function update_apparatuses!(st::AbstractStructure, s=nothing) (;apparatuses) = st - st.state.system.s .= s̄ - foreach(apparatuses) do appar - if isa(appar, Apparatus{<:ClusterJoint}) - (;id) = appar - (;sps) = appar.joint - idx = st.connectivity.indexed.apparid2sys_add_var_idx[id] - for (i, sp) in enumerate(sps) - sp.s⁺ = s̄[idx[2i-1]] - sp.s⁻ = s̄[idx[2i]] - sp.s = sp.s⁺ - sp.s⁻ - end - end + foreach(apparatuses) do appar + appar_add_var_idx = st.connectivity.indexed.apparid2sys_add_var_idx[appar.id] + update_apparatus!(st, appar, + (@view st.state.system.s[appar_add_var_idx]) + ) end - update_apparatuses!(st) end -function update_apparatus!(st::AbstractStructure, appar::Apparatus) +function update_apparatus!(st::AbstractStructure, appar::Apparatus, s) #default no update end -function update_apparatus!(st::AbstractStructure, appar::Apparatus{<:CableJoint}) +function update_apparatus!(st::AbstractStructure, appar::Apparatus{<:CableJoint}, s) (;id,joint,force) = appar (;hen,egg) = joint.hen2egg locus_state_hen = hen.body.state.loci_states[hen.pid] @@ -88,11 +66,16 @@ function update_apparatus!(st::AbstractStructure, appar::Apparatus{<:CableJoint} f_egg .-= force.state.force end -function update_apparatus!(st::AbstractStructure, appar::Apparatus{<:ClusterJoint}) +function update_apparatus!(st::AbstractStructure, appar::Apparatus{<:ClusterJoint},s) (;id, joint, force) = appar (;sps) = joint (;segs) = force nAppar = length(segs) + for (i, sp) in enumerate(sps) + sp.s⁺ = s[2i-1] + sp.s⁻ = s[2i] + sp.s = sp.s⁺ - sp.s⁻ + end for (idx, iappar) in enumerate(segs) ijoint = iappar.joint iforce = iappar.force @@ -122,7 +105,7 @@ function update_apparatus!(st::AbstractStructure, appar::Apparatus{<:ClusterJoin end end -function update_apparatus!(st::AbstractStructure, appar::Apparatus{<:PrototypeJoint,<:RotationalSpringDamper}) +function update_apparatus!(st::AbstractStructure, appar::Apparatus{<:PrototypeJoint,<:RotationalSpringDamper}, s) (;indexed,numbered) = st.connectivity (;system) = st.state (;bodyid2sys_free_coords, @@ -170,6 +153,55 @@ function update_apparatus!(st::AbstractStructure, appar::Apparatus{<:PrototypeJo end end +function update_apparatus!(st::AbstractStructure, appar::Apparatus{<:PrototypeJoint,<:TorsionalSpringDamper}, s) + (;indexed,numbered) = st.connectivity + (;system,members) = st.state + (;bodyid2sys_free_coords, + bodyid2sys_full_coords, + num_of_free_coords, + num_of_full_coords, + apparid2sys_free_coords_idx + ) = indexed + (; + num_of_cstr, + hen2egg, + cache, + mask_1st,mask_2nd,mask_3rd,mask_4th + ) = appar.joint + (; + relative_core + ) = cache + (;hen,egg) = hen2egg + full_idx = appar.full_coords_idx + free_idx = appar.free_coords_idx + appar_sys_free_idx = apparid2sys_free_coords_idx[appar.id] + spring_damper = appar.force + (;state,k) = spring_damper + id_egg = egg.body.prop.id + q_egg = @view system.q[bodyid2sys_full_coords[id_egg]] + nmcs_egg = egg.body.coords.nmcs + X_egg = NCF.get_X(nmcs_egg,q_egg) + invX̄_egg = nmcs_egg.data.invX̄ + state.angle = s[1] + deformation = state.angle - state.rest_angle + ## @show asin.(angles) .|> rad2deg + state.torque = -k/100*deformation + ## angles_jacobian = ForwardDiff.jacobian(jointed2angles,q_jointed) + ## @show q_jointed + ## @show angles_jacobian + # couple of forces + loci_axes_rot_egg = egg.body.prop.loci[egg.rotid].axes + axes_rot_egg = X_egg*invX̄_egg*loci_axes_rot_egg + # X_hen*invX̄_hen*loci_axes_rot_hen == X_egg*invX̄_egg*loci_axes_rot_egg + # R_hen*loci_axes_rot_hen == R_egg*loci_axes_rot_egg + r̄_home = egg.body.prop.loci[egg.pid].position + r̄_away = r̄_home + loci_axes_rot_egg.X[:,1] + C_home = to_position_jacobian(nmcs_egg,q_egg,to_local_coords(nmcs_egg,r̄_home)) + C_away = to_position_jacobian(nmcs_egg,q_egg,to_local_coords(nmcs_egg,r̄_away)) + (;F) = members[egg.body.prop.id] + F .+= state.torque*(-transpose(C_home)+transpose(C_away))*axes_rot_egg.X[:,2] +end + function stretch_rigids!(st::AbstractStructure,c) st.state.system.c .= c stretch_rigids!(st) diff --git a/src/structures/structure.jl b/src/structures/structure.jl index 7e17aa8..60c5f2b 100644 --- a/src/structures/structure.jl +++ b/src/structures/structure.jl @@ -44,16 +44,7 @@ function StructureState(bodies,apparatuses,cnt::Connectivity) q̈ = zero(q) F = zero(q) λ = Vector{T}(undef,num_of_cstr) - s = Vector{Float64}() - foreach(apparatuses) do appar - (;joint) = appar - if isa(joint, ClusterJoint) - for sp in joint.sps - append!(s, sp.s⁺) - append!(s, sp.s⁻) - end - end - end + s = Vector{T}(undef,num_of_add_var) c = get_local_coords(bodies,numbered) p = zero(q) p̌ = Vector{T}(undef,num_of_free_coords) @@ -84,6 +75,16 @@ function StructureState(bodies,apparatuses,cnt::Connectivity) members[body.prop.id].q .= q members[body.prop.id].q̇ .= q̇ end + #fixme assign to the right places + ## foreach(apparatuses) do appar + ## (;joint) = appar + ## if isa(joint, ClusterJoint) + ## for sp in joint.sps + ## append!(s, sp.s⁺) + ## append!(s, sp.s⁻) + ## end + ## end + ## end StructureState(system,members) end @@ -334,6 +335,61 @@ function cstr_function(structure::AbstractStructure,q,c=get_local_coords(structu ret end +function make_auxi_function(structure::AbstractStructure,s0) + (q,s) -> auxi_function(structure,q,s,deepcopy(s0)) +end + +function auxi_function(structure::AbstractStructure,q,s,s0) + (;apparatuses,connectivity) = structure + (;numbered,indexed,) = connectivity + (; + num_of_free_coords, + num_of_full_coords, + sys_pres_coords_idx, + sys_free_coords_idx, + num_of_add_var, + apparid2sys_add_var_idx + ) = indexed + + ret = Vector{eltype(q)}(undef,num_of_add_var) + foreach(apparatuses) do appar + appar_add_var_idx = apparid2sys_add_var_idx[appar.id] + auxi_function!( + (@view ret[appar_add_var_idx]), + appar,structure, + q, + (@view s[appar_add_var_idx]), + (@view s0[appar_add_var_idx]) + ) + end + ret +end + +function make_auxi_jacobian(structure::AbstractStructure,s0) + function inner_auxi_jacobian!(∂S∂q̌,∂S∂s,q,s) + (;apparatuses,connectivity) = structure + (;indexed,) = connectivity + (; + apparid2sys_free_coords_idx, + apparid2sys_add_var_idx + ) = indexed + + foreach(apparatuses) do appar + appar_add_var_idx = apparid2sys_add_var_idx[appar.id] + appar_sys_free_idx = apparid2sys_free_coords_idx[appar.id] + auxi_jacobian!( + (@view ∂S∂q̌[appar_add_var_idx,appar_sys_free_idx]), + (@view ∂S∂s[appar_add_var_idx,appar_add_var_idx]), + appar,structure, + q, + (@view s[appar_add_var_idx]), + (@view s0[appar_add_var_idx]) + ) + end + end +end + + function cstr_jacobian(structure::AbstractStructure,q,c=get_local_coords(structure)) (;bodies,apparatuses,connectivity) = structure (;indexed,numbered) = connectivity diff --git a/src/utils.jl b/src/utils.jl index 02f10a2..06d1a28 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -199,4 +199,16 @@ function check_id_sanity(things) @assert allunique(ids) end ids,num_of_things +end + + +function rotation2angles(R::AbstractVector{T}) where {T} + rotation2angles(reshape(R,3,:)) +end + +function rotation2angles(R::AbstractMatrix{T}) where {T} + c1 = [1.0,0,0]×(R[:,1]/norm(R[:,1])) + c2 = [0,1.0,0]×(R[:,2]/norm(R[:,2])) + c3 = [0,0,1.0]×(R[:,3]/norm(R[:,3])) + asin.( [0,0,c3[1]]) end \ No newline at end of file diff --git a/yard/nonsmooth/slider_crank.jl b/yard/nonsmooth/slider_crank.jl index 9f38a57..2173fe8 100644 --- a/yard/nonsmooth/slider_crank.jl +++ b/yard/nonsmooth/slider_crank.jl @@ -30,8 +30,8 @@ sc = slider_crank(;coordsType=RB.QCF.QC) # Contact Surfaces planes = RB.StaticContactSurfaces( [ - RB.Plane([0,0, 1.0],[0,0,-0.026]), - RB.Plane([0,0,-1.0],[0,0, 0.026]) + RB.HalfSpace([0,0, 1.0],[0,0,-0.026]), + RB.HalfSpace([0,0,-1.0],[0,0, 0.026]) ] ) @@ -45,24 +45,42 @@ tspan = (0.0,1.0) # No Contact Dynamics sc = slider_crank(;coordsType=RB.NCF.NC) +(;q,s) = sc.structure.state.system +RB.auxi_function(sc.structure,q,s) + +get_add_var(sc) + +appars = RB.get_apparatuses(sc) +appars[2].num_of_add_var + +prob = RB.DynamicsProblem(sc,RB.GravitySpace(true)) -prob = RB.DynamicsProblem(sc,) RB.solve!( prob, RB.DynamicsSolver( RB.Zhong06() - # RB.Moreau(0.5) + # RB.Moreau(0.5); ); dt,tspan,ftol=1e-12,maxiters=50,verbose=true,exception=true,progress=false, ) + GM.activate!(;scalefactor=1); plot_traj!(sc;showground=false) RB.solve!( prob, RB.DynamicsSolver(RB.Moreau(0.5)); - dt,tspan,ftol=1e-12,maxiters=3,verbose=true,exception=true,progress=false, + dt,tspan, + ftol=1e-12,maxiters=3,verbose=true,exception=true,progress=false, ) +me = RB.mechanical_energy!(sc) +fig = Figure() +ax = Axis(fig[1,1]) +lines!(ax,me.E) +lines!(ax,me.V) +lines!(ax,me.T) +fig + dts = [ 1e-3,5e-4,2e-4,1e-4,1e-5 @@ -452,6 +470,3 @@ RB.solve!( ) GM.activate!(;px_per_unit=2,scalefactor = 2);plot_traj!(sc;showground=false) - -me = RB.mechanical_energy!(sc) -Makie.lines(me.E) \ No newline at end of file From b54fd1d6ad6a00f68aa3edcdd0bbe8b62632d5c2 Mon Sep 17 00:00:00 2001 From: Jacob <88961633+jacobleft@users.noreply.github.com> Date: Wed, 15 May 2024 10:20:13 +0800 Subject: [PATCH 11/20] implement additional variables into `Zhong06_CCP_constant_mass.jl`; add `AbstractEnvironment` and `StaticEnvironment`, which includes `Gravity` as `AbstractGravity` as `AbstractField`; --- src/mechanics/contact.jl | 51 ++++++++---- src/mechanics/dynamics.jl | 14 +++- .../Zhong06_CCP_constant_mass.jl | 82 +++++++++++-------- .../Zhong06_family/Zhong06_constant_mass.jl | 2 +- src/mechanics/solvers.jl | 19 +++-- yard/nonsmooth/slider_crank.jl | 13 +-- 6 files changed, 109 insertions(+), 72 deletions(-) diff --git a/src/mechanics/contact.jl b/src/mechanics/contact.jl index e026db1..4e99109 100644 --- a/src/mechanics/contact.jl +++ b/src/mechanics/contact.jl @@ -1,3 +1,36 @@ +abstract type AbstractField end +abstract type AbstractGravity <: AbstractField end +struct NoGravity <: AbstractGravity end +struct EarthSurfaceGravity{T} <: AbstractGravity + acceleration::T +end + +Gravity(g=9.81) = EarthSurfaceGravity(g) + + +has_gravity(::NoGravity) = false +has_gravity(::EarthSurfaceGravity) = true + +abstract type AbstractGeometry end + +abstract type AbstractEnvironment end +struct StaticEnvironment{geometryType,fieldType} <: AbstractEnvironment + geometry::geometryType + field::fieldType +end +abstract type AbstractContactEnvironment <: AbstractEnvironment end +abstract type RigidBodyContactEnvironment <: AbstractContactEnvironment end + +function StaticContactSurfaces(surfaces,gravity=Gravity()) + StaticEnvironment( + surfaces, + gravity + ) +end + +has_gravity(env::AbstractEnvironment) = has_gravity(env.field) + + struct Contact{T} id::Int μ::T @@ -52,8 +85,6 @@ function ApproxFrictionalContact(ϵ::T,μ::T,m::Int) where T ) end -abstract type AbstractContactEnvironment end -abstract type RigidBodyContactEnvironment<: AbstractContactEnvironment end struct ContactRigidBodies{bodiesType} <: RigidBodyContactEnvironment contact_bodies::bodiesType end @@ -84,21 +115,7 @@ function RigidCube(id) return RigidCube(id, one(id), one(id)) end - -abstract type StaticContactEnvironment <: AbstractContactEnvironment end -struct StaticContactSurfaces{surfacesType} <: StaticContactEnvironment - surfaces::surfacesType -end - -struct EmptySpace <: StaticContactEnvironment end -struct GravitySpace{T} <: StaticContactEnvironment - gravity::T -end - -has_gravity(env::AbstractContactEnvironment) = false -has_gravity(env::GravitySpace) = env.gravity - -abstract type ContactGeometry end +abstract type ContactGeometry <: AbstractGeometry end abstract type ContactPrimitive <: ContactGeometry end abstract type ConvexContactPrimitive <: ContactPrimitive end diff --git a/src/mechanics/dynamics.jl b/src/mechanics/dynamics.jl index f7a0232..cfb24d5 100644 --- a/src/mechanics/dynamics.jl +++ b/src/mechanics/dynamics.jl @@ -77,7 +77,19 @@ function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,q,q̇,t, generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,NoPolicy(),q,q̇,t,∂F∂s,s) end -function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy::AbstractPolicy,q,q̇,t,∂F∂s=nothing,s=nothing) +function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy::AbstractPolicy,q,q̇,t,) + (;structure,hub) = bot + ∂F∂q̌ .= 0 + ∂F∂q̌̇ .= 0 + clear_forces!(structure) + lazy_update_bodies!(structure,q,q̇) + update_apparatuses!(structure,) + generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure,hub,policy,q,q̇,t) + build_tangent_stiffness_matrix!(∂F∂q̌,structure) + build_tangent_damping_matrix!(∂F∂q̌̇,structure) +end + +function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy::AbstractPolicy,q,q̇,t,∂F∂s,s) (;structure,hub) = bot ∂F∂q̌ .= 0 ∂F∂q̌̇ .= 0 diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl index ec19b34..b71db18 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl @@ -25,8 +25,8 @@ function generate_cache( prob.options, solver.options, ) - F!(F,q,q̇,t) = generalized_force!(F,bot,policy,q,q̇,t;gravity=options.gravity) - Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,policy,q,q̇,t) + F!(F,q,q̇,t,s) = generalized_force!(F,bot,policy,q,q̇,t,s;gravity=options.gravity) + Jac_F!(∂F∂q̌,∂F∂q̌̇, ∂F∂s,q,q̇,t, s) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,policy,q,q̇,t,∂F∂s,s) M = Matrix(assemble_M(structure)) Φ = make_cstr_function(bot) @@ -64,50 +64,57 @@ function generate_cache( end function make_step_k( + structure, solver_cache::Zhong06_CCP_Constant_Mass_Cache, - nq,nλ,na, - qₖ₋₁,vₖ₋₁,pₖ₋₁,tₖ₋₁, + nq,nλ,ns,na, + qₖ₋₁,vₖ₋₁,pₖ₋₁,tₖ₋₁,sₖ₋₁, pₖ,vₖ, invM, h,mass_norm) (;F!,Jac_F!,M,Φ,A,∂Aᵀλ∂q) = solver_cache.cache - n1 = nq - n2 = nq+nλ nΛ = 3na - nx = n2 + nx = nq+nλ+ns + S = make_auxi_function(structure,deepcopy(sₖ₋₁)) + Jac_S! = make_auxi_jacobian(structure,deepcopy(sₖ₋₁)) function ns_stepk!( 𝐫𝐞𝐬,𝐉, - Fₘ,∂F∂q,∂F∂q̇, + Fₘ,∂F∂q,∂F∂q̇,∂F∂s,∂S∂q,∂S∂s, 𝐁,𝐛,𝐜ᵀ,𝐲, x,Λₖ, - structure, contact_cache, timestep,iteration,doin=true ) # @show timestep, iteration, na - qₖ = @view x[ 1:n1] - λₘ = @view x[n1+1:n2] + qₖ = @view x[ 1:nq] + λₘ = @view x[nq+1:nq+nλ] + sₖ = @view x[nq+nλ+1:nx] qₘ = (qₖ.+qₖ₋₁)./2 q̇ₘ = (qₖ.-qₖ₋₁)./h + sₘ = (sₖ .+ sₖ₋₁)./2 vₘ = q̇ₘ tₘ = tₖ₋₁+h/2 - F!(Fₘ,qₘ,q̇ₘ,tₘ) - Jac_F!(∂F∂q,∂F∂q̇,qₘ,q̇ₘ,tₘ) - + F!(Fₘ,qₘ,q̇ₘ,tₘ,sₘ) + Jac_F!(∂F∂q,∂F∂q̇,∂F∂s,qₘ,q̇ₘ,tₘ,sₘ) + Jac_S!(∂S∂q,∂S∂s,qₖ,sₖ) Aₖ₋₁ = A(qₖ₋₁) Aₖ = A(qₖ) - 𝐫𝐞𝐬[ 1:n1] .= -h.*pₖ₋₁ .+ M*(qₖ.-qₖ₋₁) .- + 𝐫𝐞𝐬[ 1:nq] .= -h.*pₖ₋₁ .+ M*(qₖ.-qₖ₋₁) .- mass_norm.*transpose(Aₖ₋₁)*λₘ .- (h^2)/2 .*Fₘ - 𝐫𝐞𝐬[n1+1:n2] .= -mass_norm.*Φ(qₖ) + 𝐫𝐞𝐬[nq+1:nq+nλ] .= -mass_norm.*Φ(qₖ) + 𝐫𝐞𝐬[nq+nλ+1:nx] .= S(qₖ,sₖ) 𝐉 .= 0.0 - 𝐉[ 1:n1, 1:n1] .= M .-h^2/2 .*(1/2 .*∂F∂q .+ 1/h.*∂F∂q̇) - 𝐉[ 1:n1,n1+1:n2] .= -mass_norm.*transpose(Aₖ₋₁) + 𝐉[ 1:nq, 1:nq] .= M .-h^2/2 .*(1/2 .*∂F∂q .+ 1/h.*∂F∂q̇) + 𝐉[ 1:nq,nq+1:nq+nλ] .= -mass_norm.*transpose(Aₖ₋₁) + + 𝐉[nq+1:nq+nλ, 1:nq] .= -mass_norm.*Aₖ - 𝐉[n1+1:n2, 1:n1] .= -mass_norm.*Aₖ + 𝐉[ 1:nq, nq+nλ+1:nx] .= -(h^2)/2 .*(1/2 .*∂F∂s) + 𝐉[nq+nλ+1:nx,1:nq] .= ∂S∂q + 𝐉[nq+nλ+1:nx,nq+nλ+1:nx] .= ∂S∂s lu𝐉 = lu(𝐉) @@ -120,7 +127,7 @@ function make_step_k( Dₘ = contact_cache.cache.Dper Dₖ = contact_cache.cache.Dimp 𝐁 .= 0 - 𝐁[ 1:n1,1:nΛ] .= h.*mass_norm.*transpose(D)*H + 𝐁[ 1:nq,1:nΛ] .= h.*mass_norm.*transpose(D)*H 𝐫𝐞𝐬 .-= 𝐁*Λₖ if doin @@ -146,9 +153,9 @@ function make_step_k( 𝐛[is+1:is+3] .= [v́ₜⁱ,0,0] Dⁱₘ = @view Dₘ[is+1:is+3,:] Dⁱₖ = @view Dₖ[is+1:is+3,:] - 𝐜ᵀ[is+1 , 1:n1] .= 1/(norm(v́⁺[is+2:is+3])+1e-14)*(v́⁺[is+2]*∂v́⁺∂qₖ[is+2,:] .+ v́⁺[is+3]*∂v́⁺∂qₖ[is+3,:]) - 𝐜ᵀ[is+1:is+3, 1:n1] .+= ∂v́⁺∂qₖ[is+1:is+3,:] - 𝐜ᵀ[is+1:is+3,n1+1:n2] .= Dⁱₖ*∂vₖ∂λₘ + 𝐜ᵀ[is+1 , 1:nq ] .= 1/(norm(v́⁺[is+2:is+3])+1e-14)*(v́⁺[is+2]*∂v́⁺∂qₖ[is+2,:] .+ v́⁺[is+3]*∂v́⁺∂qₖ[is+3,:]) + 𝐜ᵀ[is+1:is+3, 1:nq ] .+= ∂v́⁺∂qₖ[is+1:is+3,:] + 𝐜ᵀ[is+1:is+3,nq+1:nq+nλ] .= Dⁱₖ*∂vₖ∂λₘ end if timestep == 3092 ## @show v́⁺, (v́⁺+𝐛), α @@ -183,6 +190,7 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cache; (;M,A,contacts_bits,options) = solver_cache.cache q0 = traj.q[begin] λ0 = traj.λ[begin] + s0 = traj.s[begin] q̇0 = traj.q̇[begin] activate_contacts!(structure,env,solver_cache,q0) invM = inv(M) @@ -191,10 +199,14 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cache; T = eltype(q0) nq = length(q0) nλ = length(λ0) + ns = length(s0) F = zeros(T,nq) ∂F∂q = zeros(T,nq,nq) ∂F∂q̇ = zeros(T,nq,nq) - nx = nq + nλ + ∂F∂s = zeros(T,nq,ns) + ∂S∂q = zeros(T,ns,nq) + ∂S∂s = zeros(T,ns,ns) + nx = nq + nλ + ns Δx = zeros(T,nx) x = zero(Δx) Res = zero(Δx) @@ -219,12 +231,12 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cache; cₖ = contacts_traj[timestep+1] qₖ₋₁ = traj.q[timestep] q̇ₖ₋₁ = traj.q̇[timestep] - # pₖ₋₁ = traj.p[timestep] + sₖ₋₁ = traj.s[timestep] # λₖ₋₁ = traj.λ[timestep] tₖ₋₁ = traj.t[timestep] qₖ = traj.q[timestep+1] q̇ₖ = traj.q̇[timestep+1] - # pₖ = traj.p[timestep+1] + sₖ = traj.s[timestep+1] λₘ = traj.λ[timestep+1] pₖ₋₁ = M*q̇ₖ₋₁ qˣ = qₖ₋₁ .+ dt./2 .*q̇ₖ₋₁ @@ -248,9 +260,10 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cache; 𝐲 = zeros(T,nΛ) get_frictional_directions_and_positions!(structure, contact_cache, qₖ₋₁, q̇ₖ₋₁, Λₖ) ns_stepk! = make_step_k( + structure, solver_cache, - nq,nλ,na, - qₖ₋₁,q̇ₖ₋₁,pₖ₋₁,tₖ₋₁, + nq,nλ,ns,na, + qₖ₋₁,q̇ₖ₋₁,pₖ₋₁,tₖ₋₁,sₖ₋₁, pₖ,q̇ₖ, invM, dt,mass_norm @@ -264,20 +277,19 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cache; Λʳₖ .= Λₖ Nmax = 50 for iteration = 1:maxiters - if timestep == 3092 + ## if timestep == 3092 ## @show L # @show timestep, iteration ## @show 𝐍 - @show iteration + ## @show iteration # @show qr(L).R |> diag ## @show :befor, size(𝐍), rank(𝐍), cond(𝐍) - end + ## end luJac = ns_stepk!( Res,Jac, - F,∂F∂q,∂F∂q̇, + F,∂F∂q,∂F∂q̇,∂F∂s,∂S∂q,∂S∂s, 𝐁,𝐛,𝐜ᵀ,𝐲, x,Λʳₖ, - structure, contact_cache, timestep,iteration ) @@ -328,10 +340,9 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cache; Δx .= luJac\minusResΛ ns_stepk!( Res_α0,Jac_α0, - F,∂F∂q,∂F∂q̇, + F,∂F∂q,∂F∂q̇,∂F∂s,∂S∂q,∂S∂s, 𝐁t,𝐛,𝐜ᵀ,𝐲, x.+Δx,Λʳₖ.+ΔΛₖ, - structure, contact_cache, timestep,iteration,false ) @@ -355,6 +366,7 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cache; end qₖ .= x[ 1:nq] λₘ .= x[ nq+1:nq+nλ] + sₖ .= x[nq+nλ+1:nx] pₖ .= Momentum_k(qₖ₋₁,pₖ₋₁,qₖ,λₘ,M,A,mass_norm,dt) q̇ₖ .= invM*pₖ Dₘ = contact_cache.cache.Dper diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl index 96be820..51bf1e8 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl @@ -111,7 +111,7 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cache; Jac[nq̌+1:nq̌+nλ, 1:nq̌ ] .= mass_norm.*A(qₖ) Jac[nq̌+1:nq̌+nλ,nq̌+1:nq̌+nλ] .= 0.0 Jac[ 1:nq̌, nq̌+nλ+1:nx] .= -(h^2)/2 .*(1/2 .*∂F∂s) - Jac[nq̌+nλ+1:nx,1:nq̌] .= ∂S∂q̌ + Jac[nq̌+nλ+1:nx,1:nq̌] .= ∂S∂q̌ Jac[nq̌+nλ+1:nx,nq̌+nλ+1:nx] .= ∂S∂s end inner_Res_stepk!, inner_Jac_stepk! diff --git a/src/mechanics/solvers.jl b/src/mechanics/solvers.jl index 67eae81..a60727c 100644 --- a/src/mechanics/solvers.jl +++ b/src/mechanics/solvers.jl @@ -127,7 +127,11 @@ struct DynamicsProblem{RobotType,policyType,envType,contact_modelType,apparatus_ end function DynamicsProblem(bot::Robot;options...) - DynamicsProblem(bot::Robot,NoPolicy(),GravitySpace(true),Contactless(),Naive(),values(options)) + DynamicsProblem(bot::Robot,NoPolicy(),Gravity(true),Contactless(),Naive(),values(options)) +end + +function DynamicsProblem(bot::Robot,env::AbstractEnvironment;options...) + DynamicsProblem(bot::Robot,NoPolicy(),env,Contactless(),Naive(),values(options)) end function DynamicsProblem(bot::Robot,env::AbstractContactEnvironment;options...) @@ -135,28 +139,27 @@ function DynamicsProblem(bot::Robot,env::AbstractContactEnvironment;options...) end function DynamicsProblem(bot::Robot,policy::AbstractPolicy;options...) - DynamicsProblem(bot::Robot,policy,GravitySpace(true),Contactless(),Naive(),values(options)) + DynamicsProblem(bot::Robot,policy,Gravity(true),Contactless(),Naive(),values(options)) end function DynamicsProblem(bot::Robot,policy::AbstractPolicy,appar_model::AbstractApparatusModel;options...) - DynamicsProblem(bot::Robot,policy,GravitySpace(true),Contactless(),appar_model,values(options)) + DynamicsProblem(bot::Robot,policy,Gravity(true),Contactless(),appar_model,values(options)) end function DynamicsProblem(bot::Robot,appar_model::AbstractApparatusModel;options...) - DynamicsProblem(bot::Robot,NoPolicy(),GravitySpace(true),Contactless(),appar_model,values(options)) + DynamicsProblem(bot::Robot,NoPolicy(),Gravity(true),Contactless(),appar_model,values(options)) end function DynamicsProblem(bot::Robot,contact_model::AbstractContactModel;options...) - DynamicsProblem(bot::Robot,NoPolicy(),GravitySpace(true),contact_model,Naive(),values(options)) + DynamicsProblem(bot::Robot,NoPolicy(),Gravity(true),contact_model,Naive(),values(options)) end -function DynamicsProblem(bot::Robot,env::AbstractContactEnvironment,contact_model::AbstractContactModel;options...) +function DynamicsProblem(bot::Robot,env::StaticEnvironment,contact_model::AbstractContactModel;options...) DynamicsProblem(bot::Robot,NoPolicy(),env,contact_model,Naive(),values(options)) end - function DynamicsProblem(bot::Robot,policy::AbstractPolicy, - env::AbstractContactEnvironment, + env::StaticEnvironment, contact_model::AbstractContactModel, appar_model::AbstractApparatusModel=Naive(),; options... diff --git a/yard/nonsmooth/slider_crank.jl b/yard/nonsmooth/slider_crank.jl index 2173fe8..4ca5daf 100644 --- a/yard/nonsmooth/slider_crank.jl +++ b/yard/nonsmooth/slider_crank.jl @@ -30,8 +30,8 @@ sc = slider_crank(;coordsType=RB.QCF.QC) # Contact Surfaces planes = RB.StaticContactSurfaces( [ - RB.HalfSpace([0,0, 1.0],[0,0,-0.026]), - RB.HalfSpace([0,0,-1.0],[0,0, 0.026]) + RB.Plane([0,0, 1.0],[0,0,-0.026]), + RB.Plane([0,0,-1.0],[0,0, 0.026]) ] ) @@ -45,15 +45,8 @@ tspan = (0.0,1.0) # No Contact Dynamics sc = slider_crank(;coordsType=RB.NCF.NC) -(;q,s) = sc.structure.state.system -RB.auxi_function(sc.structure,q,s) -get_add_var(sc) - -appars = RB.get_apparatuses(sc) -appars[2].num_of_add_var - -prob = RB.DynamicsProblem(sc,RB.GravitySpace(true)) +prob = RB.DynamicsProblem(sc,RB.Gravity(true)) RB.solve!( prob, From 72e9565c6e5664f4a96d04082aecf9e157a9c91f Mon Sep 17 00:00:00 2001 From: Perseus Date: Thu, 16 May 2024 12:01:51 +0800 Subject: [PATCH 12/20] update cable-hole --- src/mechanics/dynamics.jl | 33 +- ...hong06_CCP_constant_mass_cluster_cables.jl | 14 +- .../Zhong06_CCP_constant_mass_hole.jl | 415 ++++++++++++++++++ .../Zhong06_constant_mass_hole.jl | 226 ++++++++++ src/mechanics/solvers.jl | 3 + src/structures/linearization.jl | 23 + src/structures/mutate.jl | 20 + src/structures/structure.jl | 45 ++ yard/ex1/define.jl | 83 ++++ yard/ex1/main1.jl | 108 +++++ yard/ex1/main2.jl | 108 +++++ 11 files changed, 1071 insertions(+), 7 deletions(-) create mode 100644 src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_hole.jl create mode 100644 src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_hole.jl create mode 100644 yard/ex1/define.jl create mode 100644 yard/ex1/main1.jl create mode 100644 yard/ex1/main2.jl diff --git a/src/mechanics/dynamics.jl b/src/mechanics/dynamics.jl index 2d7404c..abc2d31 100644 --- a/src/mechanics/dynamics.jl +++ b/src/mechanics/dynamics.jl @@ -73,6 +73,20 @@ function generalized_force!(F,bot::Robot,policy::AbstractPolicy,q,q̇,t,s=nothin user_defined_force!(F,t) end +function generalized_force_hole!(F,bot::Robot,policy::AbstractPolicy,q,q̇,t,s,s_temp;gravity=true,(user_defined_force!)=(F,t)->nothing) + (;structure) = bot + clear_forces!(structure) + actuate!(bot,policy,q,q̇,t) + lazy_update_bodies!(structure,q,q̇) + # update_apparatuses!(structure) + update_apparatuses_hole!(structure, s, s_temp) + if gravity + apply_gravity!(structure;factor=1) + end + assemble_forces!(F,structure) + user_defined_force!(F,t) +end + function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,q,q̇,t,s=nothing) generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,NoPolicy(),q,q̇,t,s=nothing) end @@ -98,7 +112,7 @@ function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,∂F∂s̄,∂ζ∂ ζ .= 0 clear_forces!(structure) lazy_update_bodies!(structure,q,q̇) - update_apparatuses!(structure) + update_apparatuses!(structure,s) generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure,hub,policy,q,q̇,t) build_tangent_stiffness_matrix!(∂F∂q̌,structure) build_tangent_damping_matrix!(∂F∂q̌̇,structure) @@ -107,6 +121,23 @@ function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,∂F∂s̄,∂ζ∂ build_∂ζ∂q!(∂ζ∂q, cluster_cache, structure) end +function generalized_force_jacobian_hole!(∂F∂q̌,∂F∂q̌̇,∂F∂s̄,∂ζ∂q,ζ,bot::Robot,policy::AbstractPolicy,q,q̇,t,cluster_cache,s=nothing) + (;structure,hub) = bot + ∂F∂q̌ .= 0 + ∂F∂q̌̇ .= 0 + ∂F∂s̄ .= 0 + ∂ζ∂q .= 0 + ζ .= 0 + clear_forces!(structure) + lazy_update_bodies!(structure,q,q̇) + update_apparatuses!(structure) + generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure,hub,policy,q,q̇,t) + build_tangent_stiffness_matrix!(∂F∂q̌,structure) + build_tangent_damping_matrix!(∂F∂q̌̇,structure) + build_ζ_hole!(ζ, cluster_cache, structure) + build_∂ζ∂q!(∂ζ∂q, cluster_cache, structure) +end + struct ContactCache{cacheType} cache::cacheType end diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl index 08af31c..4fd4889 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl @@ -14,7 +14,7 @@ function generate_cache( solver::DynamicsSolver{ Zhong06, <:InnerLayerContactSolver, - <:MonolithicApparatusSolver + <:MonolithicApparatusSolver{SmoothedFischerBurmeister} }, ::Val{true}; dt,kargs... @@ -23,7 +23,7 @@ function generate_cache( (;bot,policy,env) = prob (;structure) = bot options = merge( - (gravity=false,factor=1,checkpersist=true), #default + (gravity=true,factor=1,checkpersist=true), #default prob.options, solver.options, ) @@ -229,6 +229,8 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C Jac_α1 = zeros(T,nx,nx) Res_α2 = zero(Δx) Jac_α2 = zeros(T,nx,nx) + s_bak = deepcopy(s0) + s_temp = deepcopy(s0) mr = norm(M,Inf) mass_norm = mr α0 = 1.0 @@ -303,10 +305,10 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C cluster_cache, timestep,iteration ) - if (tₖ₋₁ == 0.096) & (iteration == 1) - @show size(Jac) - write("jac1.bin", Jac) - end + # if (tₖ₋₁ == 0.096) & (iteration == 1) + # @show size(Jac) + # write("jac1.bin", Jac) + # end if na == 0 normRes = norm(Res) if normRes < ftol diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_hole.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_hole.jl new file mode 100644 index 0000000..a8ab251 --- /dev/null +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_hole.jl @@ -0,0 +1,415 @@ +struct Zhong06_CCP_Constant_Mass_Hole_Cache{solT, cacheType} + solver::solT + cache::cacheType +end + +function generate_cache( + simulator::Simulator{<:DynamicsProblem{ + RobotType, + policyType, + EnvType, + RestitutionFrictionCombined{NewtonRestitution,CoulombFriction}, + EulerEytelwein, + }}, + solver::DynamicsSolver{ + Zhong06, + <:InnerLayerContactSolver, + <:MonolithicApparatusSolver{CableHole} + }, + ::Val{true}; + dt,kargs... + ) where {RobotType,policyType,EnvType} + (;prob) = simulator + (;bot,policy,env) = prob + (;structure) = bot + options = merge( + (gravity=true,factor=1,checkpersist=true), #default + prob.options, + solver.options, + ) + F!(F,q,q̇,t) = generalized_force_hole!(F,bot,policy,q,q̇,t;gravity=options.gravity) + Jac_F!(∂F∂q,∂F∂q̇,∂Q̌∂s̄,∂ζ∂q,ζ,qₘ,q̇ₘ,tₘ,cluster_cache) = generalized_force_jacobian_hole!(∂F∂q,∂F∂q̇,∂Q̌∂s̄,∂ζ∂q,ζ,bot,policy,qₘ,q̇ₘ,tₘ,cluster_cache) + + M = Matrix(assemble_M(structure)) + Φ = make_cstr_function(bot) + A = make_cstr_jacobian(bot) + ψ = build_ψ_hole(structure) + + nq = size(M,2) + T = get_numbertype(bot) + Ψ(q,q̇) = Vector{T}() + ∂Ψ∂q(q,q̇) = Matrix{T}(undef,0,nq) + B(q) = Matrix{T}(undef,0,nq) + + # ∂𝐌𝐚∂𝐪(q,a) = zeros(T,nq,nq) + ∂Aᵀλ∂q(q::AbstractVector,λ) = cstr_forces_jacobian(structure,q,λ) + # ∂𝚽𝐪𝐯∂𝒒(q,v) = RB.∂Aq̇∂q(structure,v) + ∂Bᵀμ∂q(q,μ) = zeros(T,nq,nq) + (; + contacts_bits, + persistent_bits, + μs_sys, + es_sys, + gaps_sys + ) = prepare_contacts(bot,env) + + cache = @eponymtuple( + F!,Jac_F!, + M,Φ,A,Ψ,B,∂Ψ∂q,∂Aᵀλ∂q,∂Bᵀμ∂q,ψ, + contacts_bits, + persistent_bits, + μs_sys, + es_sys, + gaps_sys, + options, + ) + Zhong06_CCP_Constant_Mass_Hole_Cache(solver, cache) +end + +function make_step_k( + solver_cache::Zhong06_CCP_Constant_Mass_Hole_Cache, + nq,nλ,ns,na, + qₖ₋₁,sₖ₋₁,vₖ₋₁,pₖ₋₁,tₖ₋₁, + pₖ,vₖ, + invM, + h,mass_norm) + (;F!,Jac_F!,M,Φ,A,ψ,∂Aᵀλ∂q) = solver_cache.cache + + n1 = nq + n2 = nq+nλ + n3 = nq+nλ+ns + nΛ = 3na + nx = n3 + function ns_stepk!( + 𝐫𝐞𝐬,𝐉, + Fₘ,∂F∂q,∂F∂q̇, + ∂Q̌∂s̄, ∂ζ∂q, ∂ζ∂s̄, ζ, + 𝐁,𝐛,𝐜ᵀ,𝐲, + x,Λₖ, + structure, + contact_cache, + cluster_cache, + timestep,iteration,doin=true + ) + qₖ = @view x[ 1:n1] + λₘ = @view x[n1+1:n2] + sₖ = @view x[nq+nλ+1:nx] + qₘ = (qₖ.+qₖ₋₁)./2 + sₘ = (sₖ.+sₖ₋₁)./2 + q̇ₘ = (qₖ.-qₖ₋₁)./h + vₘ = q̇ₘ + tₘ = tₖ₋₁+h/2 + F!(Fₘ,qₘ,q̇ₘ,tₘ) + Jac_F!(∂F∂q, ∂F∂q̇, ∂Q̌∂s̄, ∂ζ∂q, ζ, qₘ,q̇ₘ,tₘ, cluster_cache) + + ∂F∂s̄ = transpose(∂Q̌∂s̄) + + Aₖ₋₁ = A(qₖ₋₁) + Aᵀₖ₋₁ = transpose(Aₖ₋₁) + Aₖ = A(qₖ) + + 𝐫𝐞𝐬[ 1:nq ] .= M*(qₖ.-qₖ₋₁) .- + h.*pₖ₋₁ .- + (h^2)/2 .*Fₘ .+ + mass_norm.*Aᵀₖ₋₁*λₘ + 𝐫𝐞𝐬[nq+1:nq+nλ] .= mass_norm.*Φ(qₖ) + 𝐫𝐞𝐬[nq+nλ+1:nx] .= ψ(sₖ) + + n = length(ζ) + ∂s̄∂s̄ = I(n) + κ₁ = 10; κ₂ = 10 + cosₘ = 1/2 + coqₘ = 1/2 + coes = [((ζ[i]/κ₁)^2 + (κ₂*sₖ[i])^2)^(-1/2) for i in 1:n] + coζ = diagm(coes.*[ζ[i]/κ₁^2 for i in 1:n] .- [1/κ₁ for i in 1:n]) + cos̄ = diagm(coes.*[κ₂^2*sₖ[i] for i in 1:n] .- [κ₂ for i in 1:n]) + + 𝐉 .= 0.0 + 𝐉[ 1:nq , 1:nq ] .= M.-(h^2)/2 .*(1/2 .*∂F∂q.+1/h.*∂F∂q̇) + 𝐉[ 1:nq ,nq+1:nq+nλ] .= mass_norm.*transpose(Aₖ₋₁) + 𝐉[ 1:nq ,nq+nλ+1:end] .= 0.0 + + 𝐉[nq+1:nq+nλ, 1:nq ] .= mass_norm.*Aₖ + 𝐉[nq+1:nq+nλ, nq+1:nq+nλ ] .= 0.0 + 𝐉[nq+1:nq+nλ, nq+nλ+1:end ] .= 0.0 + + 𝐉[nq+nλ+1:end,1:nq] .= coqₘ*coζ*∂ζ∂q + 𝐉[nq+nλ+1:end,nq+1:nq+nλ] .= 0.0 + 𝐉[nq+nλ+1:end,nq+nλ+1:end] .= cos̄*∂s̄∂s̄ + + lu𝐉 = lu(𝐉) + + if (na != 0) + (; + H, + restitution_coefficients, + D, + ) = contact_cache.cache + Dₘ = contact_cache.cache.Dper + Dₖ = contact_cache.cache.Dimp + 𝐁 .= 0 + 𝐁[ 1:n1,1:nΛ] .= h.*mass_norm.*transpose(D)*H + 𝐫𝐞𝐬 .-= 𝐁*Λₖ + + if doin + pₖ .= Momentum_k(qₖ₋₁,pₖ₋₁,qₖ,λₘ,M,A,mass_norm,h) + vₖ .= invM*pₖ + ∂vₘ∂qₖ = 1/h*I + ∂vₖ∂qₖ = 2/h*I + mass_norm/(h).*invM*(∂Aᵀλ∂q(qₖ,λₘ)) + ∂vₖ∂λₘ = mass_norm.*invM*transpose(Aₖ-Aₖ₋₁)/(h) + + v́⁺ = Dₘ*vₘ .+ Dₖ*vₖ + ∂v́⁺∂qₖ = Dₘ*∂vₘ∂qₖ .+ Dₖ*∂vₖ∂qₖ + 𝐜ᵀ .= 0 + v́ₖ₋₁ = Dₖ*vₖ₋₁ + for i = 1:na + is = 3(i-1) + vⁱₖ₋₁ = @view v́ₖ₋₁[is+1:is+3] + vⁱ⁺ = @view v́⁺[is+1:is+3] + vₜⁱₖ₋₁ = norm(vⁱₖ₋₁[2:3]) + vₜⁱ⁺ = norm(vⁱ⁺[2:3]) + vₙⁱₖ₋₁ = vⁱₖ₋₁[1] + vₙⁱ = vⁱ⁺[1] + v́ₜⁱ = vₜⁱ⁺ + restitution_coefficients[i]*min(vₙⁱₖ₋₁,0) + 𝐛[is+1:is+3] .= [v́ₜⁱ,0,0] + Dⁱₘ = @view Dₘ[is+1:is+3,:] + Dⁱₖ = @view Dₖ[is+1:is+3,:] + 𝐜ᵀ[is+1 , 1:n1] .= 1/(norm(v́⁺[is+2:is+3])+1e-14)*(v́⁺[is+2]*∂v́⁺∂qₖ[is+2,:] .+ v́⁺[is+3]*∂v́⁺∂qₖ[is+3,:]) + 𝐜ᵀ[is+1:is+3, 1:n1] .+= ∂v́⁺∂qₖ[is+1:is+3,:] + 𝐜ᵀ[is+1:is+3,n1+1:n2] .= Dⁱₖ*∂vₖ∂λₘ + end + # 𝐜ᵀinv𝐉 = 𝐜ᵀ*inv(𝐉) + 𝐲 .= (v́⁺ + 𝐛) + end + end + lu𝐉 + end + ns_stepk! +end + +function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Hole_Cache; + dt, + ftol=1e-14,xtol=ftol, + verbose=false,verbose_contact=false, + maxiters=50, + max_restart=3, + progress=true,exception=true) + (;prob,controller,tspan,restart,totalstep) = sim + (;bot,env) = prob + (;structure,traj,contacts_traj) = bot + (;M,A,contacts_bits,options) = solver_cache.cache + q0 = traj.q[begin] + λ0 = traj.λ[begin] + s0 = traj.s[begin] + q̇0 = traj.q̇[begin] + activate_frictional_contacts!(structure,env,solver_cache,q0) + invM = inv(M) + pₖ₋₁ = M*q̇0 + pₖ = zero(pₖ₋₁) + T = eltype(q0) + nq = length(q0) + nλ = length(λ0) + ns = length(s0) + F = zeros(T,nq) + ∂F∂q = zeros(T,nq,nq) + ∂F∂q̇ = zeros(T,nq,nq) + nx = nq + nλ + ns + Δx = zeros(T,nx) + x = zero(Δx) + Res = zero(Δx) + Jac = zeros(T,nx,nx) + Res_α0 = zero(Δx) + Jac_α0 = zeros(T,nx,nx) + Res_α1 = zero(Δx) + Jac_α1 = zeros(T,nx,nx) + Res_α2 = zero(Δx) + Jac_α2 = zeros(T,nx,nx) + mr = norm(M,Inf) + mass_norm = mr + α0 = 1.0 + ∂Q̌∂s̄, ∂ζ∂q, ∂ζ∂s̄, ζ, cluster_cache = init_cluster_matrix(structure) + + iteration = 0 + prog = Progress(totalstep; dt=1.0, enabled=progress) + for timestep = 1:totalstep + #---------Time Step k Control----------- + # control!(sim,cache) + #---------Time Step k Control----------- + cₖ₋₁ = contacts_traj[timestep] + cₖ = contacts_traj[timestep+1] + qₖ₋₁ = traj.q[timestep] + sₖ₋₁ = traj.s[timestep] + q̇ₖ₋₁ = traj.q̇[timestep] + # pₖ₋₁ = traj.p[timestep] + # λₖ₋₁ = traj.λ[timestep] + tₖ₋₁ = traj.t[timestep] + qₖ = traj.q[timestep+1] + sₖ = traj.s[timestep+1] + q̇ₖ = traj.q̇[timestep+1] + # pₖ = traj.p[timestep+1] + λₘ = traj.λ[timestep+1] + pₖ₋₁ = M*q̇ₖ₋₁ + qˣ = qₖ₋₁ .+ dt./2 .*q̇ₖ₋₁ + qₖ .= qₖ₋₁ .+ dt .*q̇ₖ₋₁ + q̇ₖ .= q̇ₖ₋₁ + contact_cache = activate_frictional_contacts!(structure,env,solver_cache,qˣ;checkpersist=options.checkpersist) + (;na,L) = contact_cache.cache + isconverged = false + normRes = typemax(T) + iteration_break = 0 + isconverged = false + nΛ = 3na + Λₖ = zeros(T,nΛ) + Λʳₖ = copy(Λₖ) + ΔΛₖ = copy(Λₖ) + 𝐁 = zeros(T,nx,nΛ) + 𝐁t = zeros(T,nx,nΛ) + 𝐛 = zeros(T,nΛ) + 𝐜ᵀ = zeros(T,nΛ,nx) + 𝐍 = zeros(T,nΛ,nΛ) + 𝐲 = zeros(T,nΛ) + get_frictional_directions_and_positions!(structure, contact_cache, qₖ₋₁, q̇ₖ₋₁, Λₖ) + ns_stepk! = make_step_k( + solver_cache, + nq,nλ,ns,na, + qₖ₋₁,sₖ₋₁,q̇ₖ₋₁,pₖ₋₁,tₖ₋₁, + pₖ,q̇ₖ, + invM, + dt,mass_norm + ) + restart_count = 0 + Λ_guess = 0.1 + while restart_count < max_restart + Λₖ .= repeat([Λ_guess,0,0],na) + x[ 1:nq] .= qₖ + x[ nq+1:nq+nλ] .= 0.0 + x[nq+nλ+1:nx] .= sₖ₋₁ + Λʳₖ .= Λₖ + Nmax = maxiters + for iteration = 1:maxiters + luJac = ns_stepk!( + Res,Jac, + F,∂F∂q,∂F∂q̇, + ∂Q̌∂s̄, ∂ζ∂q, ∂ζ∂s̄, ζ, + 𝐁,𝐛,𝐜ᵀ,𝐲, + x,Λʳₖ, + structure, + contact_cache, + cluster_cache, + timestep,iteration + ) + # if (tₖ₋₁ == 0.096) & (iteration == 1) + # @show size(Jac) + # write("jac1.bin", Jac) + # end + if na == 0 + normRes = norm(Res) + if normRes < ftol + isconverged = true + iteration_break = iteration-1 + break + end + Δx .= luJac\(-Res) + x .+= Δx + else # na!=0 + normRes = norm(Res) + if normRes < ftol + isconverged = true + iteration_break = iteration-1 + break + elseif normRes > 1e10 + # force restart + iteration_break = iteration-1 + isconverged = false + break + elseif iteration == maxiters + iteration_break = iteration-1 + isconverged = false + end + get_distribution_law!(structure,contact_cache,x[1:nq]) + sd = 1/norm(Res)^2*I + ϕ0 = 0.5 + dϕ0 = -1.0 + c1 = 0.2 + α0 = 2.0 + 𝐍 .= 𝐜ᵀ*(luJac\𝐁) + for line_search_step = 1:5 + α0 /= 2 + 𝐡 = 𝐲 .-𝐜ᵀ*(luJac\(Res + (1/α0) .*𝐁*Λʳₖ)) + yₖini = 1/α0 .*𝐍*Λʳₖ + 𝐡 + Λₖini = deepcopy(Λʳₖ) + Λₖini[begin+1:3:end] .= 0.0 + Λₖini[begin+2:3:end] .= 0.0 + yₖini .= abs.(yₖini) + yₖini[begin+1:3:end] .= 0.0 + yₖini[begin+2:3:end] .= 0.0 + IPM!(Λₖ,na,nΛ,Λₖini,yₖini,(1/α0).*𝐍 .+ L,𝐡;ftol,Nmax) + ΔΛₖ .= (Λₖ - Λʳₖ) + minusResΛ = -Res + 𝐁*((1/α0).*ΔΛₖ) + Δx .= luJac\minusResΛ + ns_stepk!( + Res_α0,Jac_α0, + F,∂F∂q,∂F∂q̇, + ∂Q̌∂s̄, ∂ζ∂q, ∂ζ∂s̄, ζ, + 𝐁t,𝐛,𝐜ᵀ,𝐲, + x.+Δx,Λʳₖ.+ΔΛₖ, + structure, + contact_cache, + cluster_cache, + timestep,iteration,false + ) + ϕα0 = (transpose(Res_α0)*sd*Res_α0)/2 + if ϕα0 <= ϕ0 + c1*α0*dϕ0 + break + end + end + Λₖ .= Λʳₖ .+ ΔΛₖ + Λʳₖ .= Λₖ + x .+= Δx + end + end + if isconverged + break + end + restart_count += 1 + if na > 0 + Λ_guess = max(Λ_guess/10,maximum(abs.(Λₖ[begin:3:end]))) + end + end + qₖ .= x[ 1:nq] + λₘ .= x[ nq+1:nq+nλ] + sₖ .= x[nq+nλ+1:nx] + pₖ .= Momentum_k(qₖ₋₁,pₖ₋₁,qₖ,λₘ,M,A,mass_norm,dt) + q̇ₖ .= invM*pₖ + Dₘ = contact_cache.cache.Dper + Dₖ = contact_cache.cache.Dimp + if na != 0 + update_contacts!(cₖ[contacts_bits],cₖ₋₁[contacts_bits],Dₘ*(qₖ.-qₖ₋₁).+Dₖ*q̇ₖ,2*Λₖ./(mass_norm*dt)) + end + + if !isconverged + @warn "Newton max iterations $maxiters, at timestep=$timestep, normRes=$(normRes), restart_count=$(restart_count), num_active_contacts=$(na), α0=$(α0)" + if exception + @error "Not converged!" + break + else + # sim.convergence = false + # break + end + end + + #---------Time Step k finisher----------- + if verbose || (na > 0 && verbose_contact) + dg_step = ceil(Int,log10(totalstep))+1 + dg_dt = max(1,-floor(Int,log10(dt))) + wd_t = ceil(Int,log10(traj.t[end]))+dg_dt+1+1 + progfmt = Printf.Format("Prog.: %5.1f%%, step: %$(dg_step)u, time: %$(wd_t).$(dg_dt)f, iters: %s, contacts: %s \n") + progstr = Printf.format(progfmt, + floor(timestep/totalstep*100;digits=1), timestep, traj.t[timestep], iteration_break, na + ) + print(progstr) + end + next!(prog) + end + bot +end diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_hole.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_hole.jl new file mode 100644 index 0000000..9a5f172 --- /dev/null +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_hole.jl @@ -0,0 +1,226 @@ +struct Zhong06_Constant_Mass_Hole_Cache{solT,cacheType} + solver::solT + cache::cacheType +end + +function generate_cache( + simulator::Simulator{<:AbstractDynamicsProblem}, + solver::DynamicsSolver{Zhong06,Nothing,MonolithicApparatusSolver{CableHole}}, + ::Val{true}; + dt,kargs... + ) + (;prob) = simulator + (;bot,policy) = prob + (;traj,structure) = bot + options = merge( + (gravity=false,factor=1,checkpersist=true), #default + prob.options, + solver.options, + ) + @show "Yes" + (;M,M⁻¹,M̌,M̌⁻¹,Ḿ,M̄)= build_mass_matrices(structure) + A = make_cstr_jacobian(structure) + Φ = make_cstr_function(structure) + ψ = build_ψ_hole(structure) + F!(F,q,s,s_temp,q̇,t) = generalized_force_hole!(F,bot,policy,q,q̇,t,s,s_temp;gravity=options.gravity) + Jac_F!(∂F∂q,∂F∂q̇,∂Q̌∂s̄,∂ζ∂q,ζ,qₘ,q̇ₘ,tₘ,cluster_cache) = generalized_force_jacobian_hole!(∂F∂q,∂F∂q̇,∂Q̌∂s̄,∂ζ∂q,ζ,bot,policy,qₘ,q̇ₘ,tₘ,cluster_cache) + q̌0 = traj.q̌[begin] + λ0 = traj.λ[begin] + q̇0 = traj.q̇[begin] + q̇0 = traj.q̇[begin] + p̌0 = traj.p̌[begin] .= Ḿ*q̇0 + s0 = traj.s[begin] + T = eltype(q̌0) + nq̌ = length(q̌0) + nλ = length(λ0) + ns = length(s0) + ∂F∂q̌ = zeros(T,nq̌,nq̌) + ∂F∂q̌̇ = zeros(T,nq̌,nq̌) + nx = nq̌ + nλ + ns + xₖ = vcat(q̌0,λ0,s0) + Res = zero(xₖ) + Jac = Res*transpose(Res) + Zhong06_Constant_Mass_Hole_Cache( + solver, + @eponymtuple( + F!,Jac_F!, + Ḿ,M̌,M̄,M̌⁻¹,A,Φ,ψ, + ∂F∂q̌,∂F∂q̌̇, + nq̌,nλ,nx, + xₖ, + Res, + Jac, + options + ) + ) +end + +function retrieve!(sim,cache::Zhong06_Constant_Mass_Hole_Cache) + +end + +function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Hole_Cache; + dt,ftol=1e-14,verbose=false,maxiters=50, + progress=true,exception=true) + (;prob,controller,tspan,restart,totalstep) = sim + (;bot,) = prob + (;traj) = bot + (; + F!,Jac_F!, + Ḿ,M̌,M̄,M̌⁻¹,A,Φ,ψ, + ∂F∂q̌,∂F∂q̌̇, + nq̌,nλ,nx, + xₖ, + Res, + Jac + ) = cache.cache + mr = norm(Ḿ,Inf) + mass_norm = mr + s_temp = zeros(nx-nλ-nq̌) + h = dt + T = get_numbertype(bot) + function make_Res_stepk(qₖ,q̌ₖ,λₖ,sₖ,s_temp,qₖ₋₁,sₖ₋₁, p̌ₖ₋₁,F̌,Aᵀₖ₋₁,tₖ₋₁) + @inline @inbounds function inner_Res_stepk!(Res,x) + q̌ₖ .= x[ 1:nq̌ ] + λₖ .= x[nq̌+1:nq̌+nλ] + sₖ .= x[nq̌+nλ+1:nx] + qₘ = (qₖ.+qₖ₋₁)./2 + sₘ = (sₖ.+sₖ₋₁)./2 + q̇ₘ = (qₖ.-qₖ₋₁)./h + tₘ = tₖ₋₁+h/2 + F!(F̌,qₘ, sₖ, s_temp, q̇ₘ, tₘ) + Res[ 1:nq̌ ] .= Ḿ*(qₖ.-qₖ₋₁) .- + h.*p̌ₖ₋₁ .- + (h^2)/2 .*F̌ .+ + mass_norm.*Aᵀₖ₋₁*λₖ + Res[nq̌+1:nq̌+nλ] .= mass_norm.*Φ(qₖ) + Res[nq̌+nλ+1:nx] .= ψ(sₖ) + end + end + + function Jac_stepk!(Jac,x,qₖ,sₖ,q̌ₖ,qₖ₋₁,sₖ₋₁,∂F∂q̌,∂F∂q̌̇,∂Q̌∂s̄,∂ζ∂q,∂ζ∂s̄,ζ,Aᵀₖ₋₁,tₖ₋₁,cluster_cache) + q̌ₖ .= x[1:nq̌] + sₖ .= x[nq̌+nλ+1:end] + qₘ = (qₖ.+qₖ₋₁)./2 + q̇ₘ = (qₖ.-qₖ₋₁)./h + tₘ = tₖ₋₁+h/2 + sₘ = (sₖ.+sₖ₋₁)./2 + Jac_F!(∂F∂q̌, ∂F∂q̌̇, ∂Q̌∂s̄, ∂ζ∂q, ζ, qₘ,q̇ₘ,tₘ, cluster_cache) + n = length(ζ) + ∂s̄∂s̄ = I(n) + ∂F∂s̄ = transpose(∂Q̌∂s̄) + + κ₁ = 10; κ₂ = 10 + cosₘ = 1/2 + coqₘ = 1/2 + coes = [((ζ[i]/κ₁)^2 + (κ₂*sₖ[i])^2)^(-1/2) for i in 1:n] + coζ = diagm(coes.*[ζ[i]/κ₁^2 for i in 1:n] .- [1/κ₁ for i in 1:n]) + cos̄ = diagm(coes.*[κ₂^2*sₖ[i] for i in 1:n] .- [κ₂ for i in 1:n]) + + Jac[ 1:nq̌ , 1:nq̌ ] .= M̌.-(h^2)/2 .*(1/2 .*∂F∂q̌.+1/h.*∂F∂q̌̇) + Jac[ 1:nq̌ ,nq̌+1:nq̌+nλ] .= mass_norm.*Aᵀₖ₋₁ + Jac[ 1:nq̌ ,nq̌+nλ+1:end] .= 0.0 + + Jac[nq̌+1:nq̌+nλ, 1:nq̌ ] .= mass_norm.*A(qₖ) + Jac[nq̌+1:nq̌+nλ, nq̌+1:nq̌+nλ ] .= 0.0 + Jac[nq̌+1:nq̌+nλ, nq̌+nλ+1:end ] .= 0.0 + + Jac[nq̌+nλ+1:end,1:nq̌] .= coζ*∂ζ∂q*coqₘ + Jac[nq̌+nλ+1:end,nq̌+1:nq̌+nλ] .= 0.0 + Jac[nq̌+nλ+1:end,nq̌+nλ+1:end] .= cos̄*∂s̄∂s̄ + end + + iteration_break = 0 + prog = Progress(totalstep; dt=1.0, enabled=progress) + dg_step = ceil(Int,log10(totalstep))+1 + dg_dt = max(1,-floor(Int,log10(h))) + wd_t = ceil(Int,log10(traj.t[end]))+dg_dt+1+1 + progfmt = Printf.Format("Progress: %5.1f%%, step: %$(dg_step)u, time: %$(wd_t).$(dg_dt)f, iterations: %s \n") + + ∂Q̌∂s̄, ∂ζ∂q, ∂ζ∂s̄, ζ, cluster_cache = init_cluster_matrix(bot.structure) + + for timestep = 1:totalstep + #---------Step k Control----------- + # control!(sim,cache) + #---------Step k Control----------- + tₖ₋₁ = traj.t[timestep] + tₖ = traj.t[timestep+1] + qₖ₋₁ = traj.q[timestep] + sₖ₋₁ = traj.s[timestep] + q̌ₖ₋₁ = traj.q̌[timestep] + q̌̇ₖ₋₁ = traj.q̌̇[timestep] + p̌ₖ₋₁ = traj.p̌[timestep] + qₖ = traj.q[timestep+1] + sₖ = traj.s[timestep+1] + q̌ₖ = traj.q̌[timestep+1] + q̌̇ₖ = traj.q̌̇[timestep+1] + q̃̇ₖ = traj.q̃̇[timestep+1] + λₖ = traj.λ[timestep+1] + p̌ₖ = traj.p̌[timestep+1] + F̌ = traj.F̌[timestep+1] + xₖ[ 1:nq̌] .= q̌ₖ₋₁ .+ h.*q̌̇ₖ₋₁ + xₖ[nq̌+1:nq̌+nλ] .= 0 + xₖ[nq̌+nλ+1:nx] .= sₖ₋₁ + Aᵀₖ₋₁ = transpose(A(qₖ₋₁)) + @show 0, s_temp + Res_stepk! = make_Res_stepk(qₖ,q̌ₖ,λₖ,sₖ,s_temp,qₖ₋₁,sₖ₋₁,p̌ₖ₋₁,F̌,Aᵀₖ₋₁,tₖ₋₁) + isconverged = false + normRes = typemax(T) + if true#Jac_F! isa Missing + dfk = OnceDifferentiable(Res_stepk!,xₖ,Res) + Res_stepk_result = nlsolve(dfk, xₖ; ftol, iterations=maxiters, method=:newton) + isconverged = converged(Res_stepk_result) + iteration_break = Res_stepk_result.iterations + Res_stepk_result.iterations + xₖ .= Res_stepk_result.zero + else + for iteration = 1:maxiters + Res_stepk!(Res,xₖ) + normRes = norm(Res) + if normRes < ftol + isconverged = true + iteration_break = iteration-1 + break + end + # FiniteDiff.finite_difference_jacobian!(Jac,Res_stepk!,xₖ,Val{:central}) + Jac_stepk!(Jac,xₖ,qₖ,sₖ,q̌ₖ,qₖ₋₁,sₖ₋₁,∂F∂q̌,∂F∂q̌̇,∂Q̌∂s̄,∂ζ∂q,∂ζ∂s̄,ζ,Aᵀₖ₋₁,tₖ₋₁,cluster_cache) + xₖ .+= Jac\(-Res) + end + # dfk = OnceDifferentiable(Res_stepk!,Jac_stepk!,xₖ,Res) + end + @show xₖ[nq̌+nλ+1:end] + s_temp += xₖ[nq̌+nλ+1:end] * dt + @show 1, s_temp + + if !isconverged + # Res_stepk!(Res,xₖ) + # Jac_stepk!(Jac,xₖ,qₖ,sₖ,q̌ₖ,qₖ₋₁,sₖ₋₁,∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) + # write("j1.bin", Jac) + # FiniteDiff.finite_difference_jacobian!(Jac,Res_stepk!,xₖ,Val{:central}) + # write("j2.bin", Jac) + if exception + error("Not Converged! Step=$timestep, normRes=$normRes") + else + # sim.convergence = false + break + end + end + q̌ₖ .= xₖ[ 1:nq̌ ] + λₖ .= xₖ[nq̌+1:nq̌+nλ] + sₖ .= xₖ[nq̌+nλ+1:nx] + Momentum_k!(p̌ₖ,p̌ₖ₋₁,qₖ,qₖ₋₁,λₖ,Ḿ,A,Aᵀₖ₋₁,mass_norm,h) + q̌̇ₖ .= M̌⁻¹*(p̌ₖ.-M̄*q̃̇ₖ ) + #---------Step k finisher----------- + #---------Step k finisher----------- + if verbose + progstr = Printf.format( + progfmt, + floor(timestep/totalstep*100;digits=1), timestep, tₖ, iteration_break + ) + print(progstr) + end + next!(prog) + end + + bot +end diff --git a/src/mechanics/solvers.jl b/src/mechanics/solvers.jl index 91d6ac0..94e7fa7 100644 --- a/src/mechanics/solvers.jl +++ b/src/mechanics/solvers.jl @@ -37,6 +37,7 @@ struct ProjectedGaussJacobi <: AbstractComplementaritySolver end const PGJ = ProjectedGaussJacobi struct SmoothedFischerBurmeister <: AbstractComplementaritySolver end struct SemismoothNewton <: AbstractComplementaritySolver end +struct CableHole <: AbstractComplementaritySolver end abstract type AbstractContactSolver <: AbstractSolver end @@ -411,10 +412,12 @@ include("dynamics_solvers/Zhong06_family/Zhong06_nonconstant_mass.jl") include("dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl") include("dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_mono.jl") include("dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl") +include("dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_hole.jl") include("dynamics_solvers/Zhong06_family/Zhong06_CCP_nonconstant_mass.jl") include("dynamics_solvers/Zhong06_family/Zhong06_frictionless_nonconstant_mass.jl") include("dynamics_solvers/Zhong06_family/Zhong06_frictionless_nonconstant_mass_mono.jl") include("dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl") +include("dynamics_solvers/Zhong06_family/Zhong06_constant_mass_hole.jl") # include("dynamics_solvers/Zhong06_family/Zhong06_nonholonomic_nonsmooth.jl") include("dynamics_solvers/Zhong06_family/Adjoint_Zhong06_nonconstant_mass.jl") diff --git a/src/structures/linearization.jl b/src/structures/linearization.jl index dc459c5..20df6b4 100644 --- a/src/structures/linearization.jl +++ b/src/structures/linearization.jl @@ -918,6 +918,29 @@ function build_ζ!(ζ, cluster_cache, st) end end +function build_ζ_hole!(ζ, cluster_cache, st) + (; apparatuses, connectivity) = st + (; apparid2sys_add_var_idx) = connectivity.indexed + ζ⁺ = @view ζ[begin:2:end] + ζ⁻ = @view ζ[begin+1:2:end] + foreach(apparatuses) do appar + if isa(appar.joint, ClusterJoint) + (; force, joint, id) = appar + (; sps) = joint + (; segs) = force + nsp = length(sps) + idx_begin = Int((apparid2sys_add_var_idx[id][1]-1) / 2) + for i in 1:nsp + Fₙ = norm(segs[i+1].force.state.force + segs[i].force.state.force) + Fᵢ₊₁ = segs[i+1].force.state.tension + Fᵢ = segs[i].force.state.tension + ζ⁺[idx_begin+i] = sps[i].μ*Fₙ - Fᵢ₊₁ + Fᵢ + ζ⁻[idx_begin+i] = Fᵢ₊₁ - Fᵢ + sps[i].μ*Fₙ + end + end + end +end + function build_ζ(st) (; apparatuses, connectivity) = st (; apparid2sys_add_var_idx) = connectivity.indexed diff --git a/src/structures/mutate.jl b/src/structures/mutate.jl index e72f268..188fa49 100644 --- a/src/structures/mutate.jl +++ b/src/structures/mutate.jl @@ -68,6 +68,26 @@ function update_apparatuses!(st::AbstractStructure, s̄::AbstractVector{T}) wher update_apparatuses!(st) end +function update_apparatuses_hole!(st::AbstractStructure, s̄::AbstractVector{T}, s_temp::AbstractVector{T}) where {T} + (;apparatuses) = st + dt = 1e-3 + st.state.system.s .= s̄*dt + s_temp + @show s̄, s_temp + foreach(apparatuses) do appar + if isa(appar, Apparatus{<:ClusterJoint}) + (;id) = appar + (;sps) = appar.joint + idx = st.connectivity.indexed.apparid2sys_add_var_idx[id] + for (i, sp) in enumerate(sps) + sp.s⁺ = s̄[idx[2i-1]] * dt + s_temp[idx[2i-1]] + sp.s⁻ = s̄[idx[2i]] * dt + s_temp[idx[2i]] + sp.s = sp.s⁺ - sp.s⁻ + end + end + end + update_apparatuses!(st) +end + function update_apparatus!(st::AbstractStructure, appar::Apparatus) #default no update end diff --git a/src/structures/structure.jl b/src/structures/structure.jl index 7e17aa8..d789b71 100644 --- a/src/structures/structure.jl +++ b/src/structures/structure.jl @@ -462,6 +462,51 @@ function build_ψ(structure::AbstractStructure) inner_ψ end +function build_ψ_hole(structure::AbstractStructure) + (;apparatuses) = structure + nholes = 0 + nh = 0 + FB = FischerBurmeister(1e-14, 10., 10.) + foreach(apparatuses) do appar + if isa(appar, Apparatus{<:ClusterJoint}) + nholes += 1 + nh += length(appar.joint.sps) + end + end + function _inner_ψ(s̄) + ψ = Vector{eltype(s̄)}(undef,2nh) + ψ⁺ = @view ψ[begin:2:end] + ψ⁻ = @view ψ[begin+1:2:end] + s⁺ = @view s̄[begin:2:end] + s⁻ = @view s̄[begin+1:2:end] + ih = 0 + foreach(apparatuses) do appar + if isa(appar, Apparatus{<:ClusterJoint}) + (;sps) = appar.joint + (;segs) = appar.force + nsi = length(sps) + for (i, sp) in enumerate(sps) + Fₙ = norm(segs[i+1].force.state.force + segs[i].force.state.force) + Fᵢ₊₁ = segs[i+1].force.state.tension + Fᵢ = segs[i].force.state.tension + ζ⁺ = sp.μ*Fₙ - Fᵢ₊₁ + Fᵢ + ζ⁻ = Fᵢ₊₁ - Fᵢ + sp.μ*Fₙ + ψ⁺[ih+i] = FB(ζ⁺, s⁺[ih+i]) + ψ⁻[ih+i] = FB(ζ⁻, s⁻[ih+i]) + # @show ζ⁺, ζ⁻ + end + ih += nsi + end + end + ψ + end + + function inner_ψ(s̄) + _inner_ψ(s̄) + end + inner_ψ +end + function build_F̌(st,bodyid,pid,f) T = get_numbertype(st) (;num_of_free_coords,bodyid2sys_free_coords) = st.connectivity.indexed diff --git a/yard/ex1/define.jl b/yard/ex1/define.jl new file mode 100644 index 0000000..661b760 --- /dev/null +++ b/yard/ex1/define.jl @@ -0,0 +1,83 @@ +function build_structure() + pos_list = [[-sqrt(3), 0.0, 1.0+0.2/sqrt(3)] [1-sqrt(3), 0, 1.0+0.2/sqrt(3)] [1.0, 0, 0.2/sqrt(3)]] + nb = length(pos_list[1, :]) + + function rigidbody(id, pos) + if id <= 2 + contactable = false + else + contactable = true + end + visible = true + cᵢ = Int[] + Φᵢ = collect(1:6) + + rᵢ = pos + if id == 3 + radius = 0.1 + # aps = vcat([[0.0 0.0 0.0]], [radius*[-sin(β) 0.0 -cos(β)] for β in 0:0.1:π/2]) + aps = [[0.0 0.0 0.0], radius*[-sin(π/6) 0.0 -cos(π/6)]] + else + aps = [[0.0 0.0 0.0]] + end + θ = 0 + α = [cos(θ) -sin(θ) 0; sin(θ) cos(θ) 0; 0 0 1] + r̄g = [0.0 0.0 0.0] + m = 2.0 + I = [1.0 0 0; 0 1.0 0; 0 0 1.0] + nrp = length(aps) + ṙₒ = zeros(3) + ω = zeros(Float64, 3) + prop = RB.RigidBodyProperty( + id, contactable, m, SMatrix{3, 3}(I), SVector{3}(r̄g), [SVector{3}(aps[i]) for i in 1:nrp]; visible + ) + + state = RB.RigidBodyState(prop, rᵢ, α, ṙₒ, ω) + nmcs = RB.NCF.NC1P3V(SVector{3}(rᵢ)) + coords = RB.NonminimalCoordinates(nmcs, cᵢ, Φᵢ) + sphere = Meshes.Sphere((0.0, 0.0, 0.0), 0.1) + simple_mesh = Meshes.discretize(sphere, Meshes.RegularDiscretization(30, 30)) + mesh = simple_mesh |> RB.simple2mesh + RB.RigidBody(prop, state, coords, mesh) + end + + rbs = [rigidbody(i, pos_list[:, i]) for i in 1:nb] + bodies = TypeSortedCollection(rbs) + + pre = 9.8*6 + restlens = [1.0 2.0] + kc = 1e3 + ncluster = 1 + cluster_segs = [[RB.DistanceSpringDamperSegment(restlens[i], kc, prestress=pre) for i in 1:2] for _ in 1:ncluster] + cluster_sps = [[RB.SlidingPoint(0.4) for i in 1:1] for _ in 1:ncluster] + + cluster_matrix = [[1 1 2 1; 2 1 3 1]] + clusters = RB.connect_clusters(bodies, cluster_sps, cluster_segs, cluster_matrix) + cst1 = RB.FixedBodyConstraint(ncluster+1, rbs[1]) + cst2 = RB.FixedBodyConstraint(ncluster+2, rbs[2]) + apparatuses = TypeSortedCollection(vcat([cst1], [cst2], clusters)) + + indexed = RB.index(bodies, apparatuses) + numbered = RB.number(bodies, apparatuses) + cnt = RB.Connectivity(numbered, indexed) + structure = RB.Structure(bodies, apparatuses, cnt) + + gauges = Int[] + actuators = [ + RB.ExternalForceActuator( + i, + cluster, + RB.NaiveOperator(1), + 0.0, + [0.0] + ) + for (i, cluster) in enumerate(clusters) + ] + hub = RB.ControlHub( + structure, + gauges, + actuators, + RB.Coalition(structure, gauges, actuators,) + ) + bot = RB.Robot(structure, hub) +end \ No newline at end of file diff --git a/yard/ex1/main1.jl b/yard/ex1/main1.jl new file mode 100644 index 0000000..6627d4f --- /dev/null +++ b/yard/ex1/main1.jl @@ -0,0 +1,108 @@ +using TestEnv +TestEnv.activate() + +using Revise #jl +import Rible as RB +include(joinpath(pathof(RB),"../../yard/tensegrity.jl")) +using AbbreviatedStackTraces #jl +ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl +ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl + +figdir::String = joinpath(pathof(RB),"../../tmp") +include(joinpath(pathof(RB),"../../test/vis.jl")) +includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl + +include(joinpath(pathof(RB),"../../yard/ex1/define.jl")) +includet(joinpath(pathof(RB),"../../yard/ex1/define.jl")) + +θ = pi / 6 +ground_plane = RB.StaticContactSurfaces( + [ + RB.HalfSpace([tan(θ),0,1], [1.0,0.0,0.0]) + ] +); + +test = build_structure() +# plot_traj!(test; +# ground=ground_plane) + +policy = RB.TimePolicy( + @eponymtuple( + f = (t) -> [2t] + ) +) + + +RB.solve!( + RB.DynamicsProblem( + test, policy, + ground_plane, + RB.RestitutionFrictionCombined( + RB.NewtonRestitution(), + RB.CoulombFriction(), + ), + RB.EulerEytelwein(); + ), + RB.DynamicsSolver( + RB.Zhong06(), + # RB.InnerLayerContactSolver( + # RB.InteriorPointMethod() + # ), + RB.MonolithicApparatusSolver( + RB.CableHole() + # RB.SmoothedFischerBurmeister() + ), + ); + tspan = (0.0, 0.031), + dt = 1e-3, + ftol = 1e-9, + verbose = true +) + +test = build_structure() +plot_traj!(test; + ground=ground_plane) + +dts = [1e-2, + 9e-3, 8e-3, 7e-3, 6e-3, 5e-3, 4e-3, 3e-3, 2e-3, 1e-3, + 9e-4, 8e-4, 7e-4, 6e-4, 5e-4, 4e-4, 3e-4, 2e-4, 1e-4, + 1e-5] +pm_dts = [] +for dt in dts + @show dt + RB.solve!( + RB.DynamicsProblem( + test, policy, + ground_plane, + RB.RestitutionFrictionCombined( + RB.NewtonRestitution(), + RB.CoulombFriction(), + ), + RB.EulerEytelwein(); + ), + RB.DynamicsSolver( + RB.Zhong06(), + RB.InnerLayerContactSolver( + RB.InteriorPointMethod() + ), + RB.MonolithicApparatusSolver( + RB.SmoothedFischerBurmeister() + ), + ); + tspan = (0.0, 0.5), + dt, + ftol = dt==1e-5 ? 1e-12 : 1e-9, + verbose = true + ) + push!(pm_dts, deepcopy(test)) +end + + +idx = [1,2,3,4,5,6,9,10,14,15,17] +idx = collect(8:19) +fig = Figure() +ax = Axis(fig[1,1],ylabel = "Abs. Err.") +_,err_nmsi = RB.get_err_avg(pm_dts;bid=3,pid=1,di=3) +plot_convergence_order!(ax,dts[begin:end-1][idx],err_nmsi[idx];orders=[1, 2],label="NMSI") +# plot_convergence_order!(ax,dts[begin:end-1],err_nmsi;orders=[1, 2],label="NMSI") +fig \ No newline at end of file diff --git a/yard/ex1/main2.jl b/yard/ex1/main2.jl new file mode 100644 index 0000000..14ea717 --- /dev/null +++ b/yard/ex1/main2.jl @@ -0,0 +1,108 @@ +using TestEnv +TestEnv.activate() + +using Revise #jl +import Rible as RB +include(joinpath(pathof(RB),"../../yard/tensegrity.jl")) +using AbbreviatedStackTraces #jl +ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl +ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl + +figdir::String = joinpath(pathof(RB),"../../tmp") +include(joinpath(pathof(RB),"../../test/vis.jl")) +includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl + +include(joinpath(pathof(RB),"../../yard/ex1/define.jl")) +includet(joinpath(pathof(RB),"../../yard/ex1/define.jl")) + +θ = pi / 6 +ground_plane = RB.StaticContactSurfaces( + [ + RB.HalfSpace([tan(θ),0,1], [1.0,0.0,0.0]) + ] +); + +test = build_structure() +# plot_traj!(test; +# ground=ground_plane) + +policy = RB.TimePolicy( + @eponymtuple( + f = (t) -> [t] + ) +) + + +RB.solve!( + RB.DynamicsProblem( + test, policy, + ground_plane, + RB.RestitutionFrictionCombined( + RB.NewtonRestitution(), + RB.CoulombFriction(), + ), + RB.EulerEytelwein(); + ), + RB.DynamicsSolver( + RB.Zhong06(), + # RB.InnerLayerContactSolver( + # RB.InteriorPointMethod() + # ), + RB.MonolithicApparatusSolver( + RB.CableHole() + # RB.SmoothedFischerBurmeister() + ), + ); + tspan = (0.0, 0.061), + dt = 1e-3, + ftol = 1e-9, + verbose = true +) + +test = build_structure() +plot_traj!(test; + ground=ground_plane) + +dts = [1e-2, + 9e-3, 8e-3, 7e-3, 6e-3, 5e-3, 4e-3, 3e-3, 2e-3, 1e-3, + 9e-4, 8e-4, 7e-4, 6e-4, 5e-4, 4e-4, 3e-4, 2e-4, 1e-4, + 1e-5] +pm_dts = [] +for dt in dts + @show dt + RB.solve!( + RB.DynamicsProblem( + test, policy, + ground_plane, + RB.RestitutionFrictionCombined( + RB.NewtonRestitution(), + RB.CoulombFriction(), + ), + RB.EulerEytelwein(); + ), + RB.DynamicsSolver( + RB.Zhong06(), + RB.InnerLayerContactSolver( + RB.InteriorPointMethod() + ), + RB.MonolithicApparatusSolver( + RB.SmoothedFischerBurmeister() + ), + ); + tspan = (0.0, 0.5), + dt, + ftol = dt==1e-5 ? 1e-12 : 1e-9, + verbose = true + ) + push!(pm_dts, deepcopy(test)) +end + + +idx = [1,2,3,4,5,6,9,10,14,15,17] +idx = collect(8:19) +fig = Figure() +ax = Axis(fig[1,1],ylabel = "Abs. Err.") +_,err_nmsi = RB.get_err_avg(pm_dts;bid=3,pid=1,di=3) +plot_convergence_order!(ax,dts[begin:end-1][idx],err_nmsi[idx];orders=[1, 2],label="NMSI") +# plot_convergence_order!(ax,dts[begin:end-1],err_nmsi;orders=[1, 2],label="NMSI") +fig \ No newline at end of file From 8b849e8c533ee7c3a38fa070c1f523492a6755ba Mon Sep 17 00:00:00 2001 From: Perseus Date: Thu, 16 May 2024 12:53:15 +0800 Subject: [PATCH 13/20] fix small bugs --- src/mechanics/dynamics.jl | 12 ++++++------ src/postprocess/vis.jl | 2 +- src/structures/mutate.jl | 1 + src/structures/structure.jl | 2 +- yard/ex1/main1.jl | 18 +++++++++--------- 5 files changed, 18 insertions(+), 17 deletions(-) diff --git a/src/mechanics/dynamics.jl b/src/mechanics/dynamics.jl index fa796d9..e18868f 100644 --- a/src/mechanics/dynamics.jl +++ b/src/mechanics/dynamics.jl @@ -87,8 +87,8 @@ function generalized_force_hole!(F,bot::Robot,policy::AbstractPolicy,q,q̇,t,s,s user_defined_force!(F,t) end -function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,q,q̇,t,s=nothing) - generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,NoPolicy(),q,q̇,t,s=nothing) +function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,q,q̇,t,∂F∂s,s=nothing) + generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,NoPolicy(),q,q̇,t,∂F∂s,s) end function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy::AbstractPolicy,q,q̇,t,) @@ -341,7 +341,7 @@ function activate_frictional_contacts!(structure,contact_env::StaticEnvironment, (;indexed,numbered) = structure.connectivity (;bodyid2sys_loci_idx) = numbered (;num_of_bodies) = indexed - (;surfaces) = contact_env + (;geometry) = contact_env T = eltype(q) nq = length(q) na = 0 @@ -356,7 +356,7 @@ function activate_frictional_contacts!(structure,contact_env::StaticEnvironment, for pid in eachindex(loci_states) locus_state = loci_states[pid] (;frame,contact_state) = locus_state - gap, normal = contact_gap_and_normal(frame.position,surfaces) + gap, normal = contact_gap_and_normal(frame.position,geometry) if !checkpersist contact_state.active = false end @@ -503,7 +503,7 @@ function activate_contacts!(structure,contact_env::StaticEnvironment,solver_cach (;indexed,numbered) = structure.connectivity (;bodyid2sys_loci_idx) = numbered (;num_of_bodies) = indexed - (;surfaces) = contact_env + (;geometry) = contact_env T = eltype(q) nq = length(q) na = 0 @@ -518,7 +518,7 @@ function activate_contacts!(structure,contact_env::StaticEnvironment,solver_cach for pid in eachindex(loci_states) locus_state = loci_states[pid] (;frame,contact_state) = locus_state - gap, normal = contact_gap_and_normal(frame.position,surfaces) + gap, normal = contact_gap_and_normal(frame.position,geometry) if !checkpersist contact_state.active = false end diff --git a/src/postprocess/vis.jl b/src/postprocess/vis.jl index 7757425..0d0745e 100644 --- a/src/postprocess/vis.jl +++ b/src/postprocess/vis.jl @@ -307,7 +307,7 @@ function get_groundmesh(plane::Plane,rect) end function get_groundmesh(static_env::StaticEnvironment,rect) - map(static_env.surfaces) do surface + map(static_env.geometry) do surface GB.Mesh(rect, Meshing.MarchingCubes()) do v signed_distance(v,surface) end diff --git a/src/structures/mutate.jl b/src/structures/mutate.jl index ab46f38..b3446ba 100644 --- a/src/structures/mutate.jl +++ b/src/structures/mutate.jl @@ -320,3 +320,4 @@ function apply_gravity!(st;factor=1) foreach(bodies) do body body.state.mass_locus_state.force .+= gravity_acceleration*body.prop.mass end +end diff --git a/src/structures/structure.jl b/src/structures/structure.jl index 27b678d..b4862f4 100644 --- a/src/structures/structure.jl +++ b/src/structures/structure.jl @@ -411,7 +411,7 @@ function make_auxi_jacobian(structure::AbstractStructure,s0) T = get_numbertype(structure) num_of_dim = get_num_of_dims(structure) - κ₁ = 10; κ₂ = 100 + κ₁ = 10; κ₂ = 10 ζ = zeros(T, num_of_add_var) diff --git a/yard/ex1/main1.jl b/yard/ex1/main1.jl index 6627d4f..2bf1168 100644 --- a/yard/ex1/main1.jl +++ b/yard/ex1/main1.jl @@ -23,12 +23,12 @@ ground_plane = RB.StaticContactSurfaces( ); test = build_structure() -# plot_traj!(test; -# ground=ground_plane) +plot_traj!(test; + ground=ground_plane) policy = RB.TimePolicy( @eponymtuple( - f = (t) -> [2t] + f = (t) -> [0.1t] ) ) @@ -45,15 +45,15 @@ RB.solve!( ), RB.DynamicsSolver( RB.Zhong06(), - # RB.InnerLayerContactSolver( - # RB.InteriorPointMethod() - # ), + RB.InnerLayerContactSolver( + RB.InteriorPointMethod() + ), RB.MonolithicApparatusSolver( - RB.CableHole() - # RB.SmoothedFischerBurmeister() + # RB.CableHole() + RB.SmoothedFischerBurmeister() ), ); - tspan = (0.0, 0.031), + tspan = (0.0, 0.5), dt = 1e-3, ftol = 1e-9, verbose = true From d2bf6dedc3b1f973c9e44dd04d62813f85587858 Mon Sep 17 00:00:00 2001 From: Perseus Date: Fri, 17 May 2024 13:52:14 +0800 Subject: [PATCH 14/20] fix bugs --- src/mechanics/dynamics.jl | 2 +- ...hong06_CCP_constant_mass_cluster_cables.jl | 3 +-- src/structures/structure.jl | 23 ++++++++++--------- yard/ex1/main1.jl | 2 +- 4 files changed, 15 insertions(+), 15 deletions(-) diff --git a/src/mechanics/dynamics.jl b/src/mechanics/dynamics.jl index e18868f..1b1120c 100644 --- a/src/mechanics/dynamics.jl +++ b/src/mechanics/dynamics.jl @@ -103,7 +103,7 @@ function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy:: build_tangent_damping_matrix!(∂F∂q̌̇,structure) end -function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy::AbstractPolicy,q,q̇,t,∂F∂s,s) +function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy::AbstractPolicy,q,q̇,t,∂F∂s,s::AbstractVector) (;structure,hub) = bot ∂F∂q̌ .= 0 ∂F∂q̌̇ .= 0 diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl index 5d9f8c7..88e866f 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl @@ -117,8 +117,7 @@ function make_step_k( 𝐉[ 1:nq , 1:nq ] .= M.-(h^2)/2 .*(1/2 .*∂F∂q.+1/h.*∂F∂q̇) 𝐉[ 1:nq , nq+1:nq+nλ] .= mass_norm.*transpose(Aₖ₋₁) 𝐉[ 1:nq ,nq+nλ+1:nx] .= - (h^2)/2 * 1/2 .*∂F∂s - - 𝐉[nq+1:nq+nλ, 1:nq ] .= mass_norm.*Aₖ + 𝐉[nq+1:nq+nλ, 1:nq] .= mass_norm.*Aₖ 𝐉[nq+nλ+1:nx,1:nq] .= ∂S∂q# 1/2 * coζ*∂ζ∂q 𝐉[nq+nλ+1:nx,nq+nλ+1:nx] .= ∂S∂s# 1/2 *coζ*∂ζ∂s + cos̄*I diff --git a/src/structures/structure.jl b/src/structures/structure.jl index b4862f4..c19ae4f 100644 --- a/src/structures/structure.jl +++ b/src/structures/structure.jl @@ -44,7 +44,8 @@ function StructureState(bodies,apparatuses,cnt::Connectivity) q̈ = zero(q) F = zero(q) λ = Vector{T}(undef,num_of_cstr) - s = Vector{T}(undef,num_of_add_var) + # s = Vector{T}(undef,num_of_add_var) + s = zeros(T, num_of_add_var) c = get_local_coords(bodies,numbered) p = zero(q) p̌ = Vector{T}(undef,num_of_free_coords) @@ -76,15 +77,15 @@ function StructureState(bodies,apparatuses,cnt::Connectivity) members[body.prop.id].q̇ .= q̇ end #fixme assign to the right places - ## foreach(apparatuses) do appar - ## (;joint) = appar - ## if isa(joint, ClusterJoint) - ## for sp in joint.sps - ## append!(s, sp.s⁺) - ## append!(s, sp.s⁻) - ## end - ## end - ## end + # foreach(apparatuses) do appar + # (;joint) = appar + # if isa(joint, ClusterJoint) + # for sp in joint.sps + # append!(s, sp.s⁺) + # append!(s, sp.s⁻) + # end + # end + # end StructureState(system,members) end @@ -411,7 +412,7 @@ function make_auxi_jacobian(structure::AbstractStructure,s0) T = get_numbertype(structure) num_of_dim = get_num_of_dims(structure) - κ₁ = 10; κ₂ = 10 + κ₁ = 10; κ₂ = 100 ζ = zeros(T, num_of_add_var) diff --git a/yard/ex1/main1.jl b/yard/ex1/main1.jl index 2bf1168..db0f1c5 100644 --- a/yard/ex1/main1.jl +++ b/yard/ex1/main1.jl @@ -28,7 +28,7 @@ plot_traj!(test; policy = RB.TimePolicy( @eponymtuple( - f = (t) -> [0.1t] + f = (t) -> [t] ) ) From 82739c9f12079fdf719bbd2b64c522ca2548a09f Mon Sep 17 00:00:00 2001 From: Perseus Date: Sat, 18 May 2024 09:16:34 +0800 Subject: [PATCH 15/20] remove cluster_cache --- src/mechanics/dynamics.jl | 18 ++++- ...hong06_CCP_constant_mass_cluster_cables.jl | 17 ++-- src/members/apparatus.jl | 77 +++++++++++++++++++ src/structures/constraints.jl | 56 +++++++++++++- src/structures/linearization.jl | 49 ++++++++++++ src/structures/structure.jl | 7 +- yard/ex1/main1.jl | 2 +- yard/jixiebi/Group2_1.jl | 2 +- 8 files changed, 214 insertions(+), 14 deletions(-) diff --git a/src/mechanics/dynamics.jl b/src/mechanics/dynamics.jl index 1b1120c..d116f9e 100644 --- a/src/mechanics/dynamics.jl +++ b/src/mechanics/dynamics.jl @@ -131,7 +131,21 @@ function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy:: build_tangent_damping_matrix!(∂F∂q̌̇,structure) end -function generalized_force_jacobian!(∂F∂s,structure,q,q̇,t,s,) +function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,∂F∂s,bot::Robot,policy::AbstractPolicy,q,q̇,t,s::AbstractVector) + (;structure,hub) = bot + ∂F∂q̌ .= 0 + ∂F∂q̌̇ .= 0 + ∂F∂s .= 0 + # clear_forces!(structure) + # lazy_update_bodies!(structure,q,q̇) + # update_apparatuses!(structure) + generalized_force_jacobian!(∂F∂s, structure, q, q̇, t, s) + generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure,hub,policy,q,q̇,t) + build_tangent_stiffness_matrix!(∂F∂q̌,structure) + build_tangent_damping_matrix!(∂F∂q̌̇,structure) +end + +function generalized_force_jacobian!(∂F∂s,structure::AbstractStructure,q,q̇,t,s) (;apparatuses,connectivity) = structure (; apparid2sys_add_var_idx, @@ -141,7 +155,7 @@ function generalized_force_jacobian!(∂F∂s,structure,q,q̇,t,s,) appar_add_var_idx = apparid2sys_add_var_idx[appar.id] appar_free_coords_idx = apparid2sys_free_coords_idx[appar.id] generalized_force_jacobian!( - (@view ∂F∂s[appar_free_coords_idx,appar_add_var_idx]), + (@view ∂F∂s[unique(appar_free_coords_idx),appar_add_var_idx]), appar, structure, q,q̇,t, diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl index 88e866f..44b1d2e 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl @@ -28,7 +28,8 @@ function generate_cache( solver.options, ) F!(F,q,q̇,t,s) = generalized_force!(F,bot,policy,q,q̇,t,s;gravity=options.gravity) - Jac_F!(∂F∂q, ∂F∂q̇, ∂F∂s, q,q̇,t, cluster_cache) = generalized_force_jacobian!(∂F∂q, ∂F∂q̇, bot,policy, q,q̇,t, ∂F∂s, cluster_cache) + # Jac_F!(∂F∂q, ∂F∂q̇, ∂F∂s, q,q̇,t, cluster_cache) = generalized_force_jacobian!(∂F∂q, ∂F∂q̇, bot,policy, q,q̇,t, ∂F∂s, cluster_cache) + Jac_F!(∂F∂q, ∂F∂q̇, ∂F∂s, q,q̇,t,s) = generalized_force_jacobian!(∂F∂q, ∂F∂q̇, ∂F∂s, bot,policy, q,q̇,t, s) M = Matrix(assemble_M(structure)) Φ = make_cstr_function(bot) @@ -88,7 +89,7 @@ function make_step_k( x,Λₖ, structure, contact_cache, - cluster_cache, + # cluster_cache, timestep,iteration,doin=true ) qₖ = @view x[ 1:nq] @@ -100,8 +101,10 @@ function make_step_k( vₘ = q̇ₘ tₘ = tₖ₋₁+h/2 F!(Fₘ,qₘ,q̇ₘ,tₘ,sₘ,) - Jac_F!(∂F∂q, ∂F∂q̇, ∂F∂s, qₘ,q̇ₘ,tₘ, cluster_cache) - Jac_S!(∂S∂q, ∂S∂s, qₖ, sₖ, cluster_cache) + # Jac_F!(∂F∂q, ∂F∂q̇, ∂F∂s, qₘ,q̇ₘ,tₘ, cluster_cache) + Jac_F!(∂F∂q, ∂F∂q̇, ∂F∂s, qₘ,q̇ₘ,tₘ, sₖ) + # Jac_S!(∂S∂q, ∂S∂s, qₖ, sₖ, cluster_cache) + Jac_S!(∂S∂q, ∂S∂s, qₖ, sₖ) Aₖ₋₁ = A(qₖ₋₁) Aᵀₖ₋₁ = transpose(Aₖ₋₁) Aₖ = A(qₖ) @@ -217,7 +220,7 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C mr = norm(M,Inf) mass_norm = mr α0 = 1.0 - cluster_cache = init_cluster_matrix(structure) + # cluster_cache = init_cluster_matrix(structure) iteration = 0 prog = Progress(totalstep; dt=1.0, enabled=progress) @@ -285,7 +288,7 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C x,Λʳₖ, structure, contact_cache, - cluster_cache, + # cluster_cache, timestep,iteration ) # if (tₖ₋₁ == 0.096) & (iteration == 1) @@ -345,7 +348,7 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C x.+Δx,Λʳₖ.+ΔΛₖ, structure, contact_cache, - cluster_cache, + # cluster_cache, timestep,iteration,false ) ϕα0 = (transpose(Res_α0)*sd*Res_α0)/2 diff --git a/src/members/apparatus.jl b/src/members/apparatus.jl index 5a581c3..5ebd243 100644 --- a/src/members/apparatus.jl +++ b/src/members/apparatus.jl @@ -22,6 +22,19 @@ struct ApparatusCache{JCache,FCache} force_cache::FCache end +struct ApparatusClusterCache{INT, FLO, MAT} + ns::INT + nsegs::INT + nsp::INT + κ₁::FLO + κ₂::FLO + ∂ζ∂s::MAT + ∂s∂s::MAT + Tb::MAT + N::MAT +end + + struct Apparatus{jointType,forceType,cacheType} id::Int joint::jointType @@ -32,6 +45,70 @@ struct Apparatus{jointType,forceType,cacheType} cache::cacheType end +function Apparatus(id::Int,joint::ClusterJoint,force::ClusterDistanceSpringDampers, + num_of_add_var::Int,full_coords_idx,free_coords_idx + ) + T = get_numbertype(joint) + ## T = get_numbertype(force) + (;num_of_cstr,) = joint + num_appar_free_idx = length(free_coords_idx) + + (;segs) = force + (;sps) = joint + Type = Float64 + nsp = length(sps) + ns = 2 * nsp + nsegs = length(segs) + κ₁ = 10. + κ₂ = 100. + # n = length(sps) + ap = [-segs[i+1].force.k for i in 1:nsp-1] + ap0 = [segs[i].force.k + segs[i+1].force.k/sps[i].α for i in 1:nsp] + ap1 = [-segs[i+1].force.k/sps[i].α for i in 1:nsp-1] + an0 = [segs[i].force.k + segs[i+1].force.k*sps[i].α for i in 1:nsp] + an1 = [-segs[i+1].force.k*sps[i].α for i in 1:nsp-1] + A⁺ = diagm(-1=>ap, 0=>ap0, 1=>ap1) + A⁻ = diagm(-1=>ap, 0=>an0, 1=>an1) + A = [A⁺ -A⁺; -A⁻ A⁻] + T = get_TransMatrix(nsegs-1) + + N = zeros(Type, nsegs, 2nsegs-2) + N[1, 1:2] = [1 -1] + N[end, end-1:end] = [-1 1] + for i in 2:nsegs-1 + N[i, 2i-3:2i] = [-1 1 1 -1] + end + + b⁺ = zeros(Type, nsegs-1, nsegs) + b⁻ = zeros(Type, nsegs-1, nsegs) + for i in 1:nsp + k1 = segs[i].force.k + k2 = segs[i+1].force.k + α = sps[i].α + b⁺[i, i:i+1] = [-k1 k2/α] + b⁻[i, i:i+1] = [k1 -k2*α] + end + b = vcat(b⁺, b⁻) + Tb = T * b + ∂ζ∂s = T * A * T' + ∂s∂s = diagm(0=>ones(Type, ns)) + + cache = ApparatusClusterCache( + ns, + nsegs, + nsp, + κ₁, + κ₂, + ∂ζ∂s, + ∂s∂s, + Tb, + N + ) + + + Apparatus(id,joint,force,num_of_add_var,full_coords_idx,free_coords_idx,cache) +end + function Apparatus(id::Int,joint::AbstractJoint,force::AbstractForce, num_of_add_var::Int,full_coords_idx,free_coords_idx ) diff --git a/src/structures/constraints.jl b/src/structures/constraints.jl index a331e57..0bb3a44 100644 --- a/src/structures/constraints.jl +++ b/src/structures/constraints.jl @@ -278,8 +278,9 @@ function auxi_function!(ret, structure::Structure, q, s, s0 ) + (;κ₁,κ₂) = appar.cache - FB = FischerBurmeister(1e-14, 10., 100.) + FB = FischerBurmeister(1e-14, κ₁, κ₂) (;sps) = appar.joint (;segs) = appar.force @@ -300,6 +301,59 @@ function auxi_jacobian!(∂S∂q̌,∂S∂s, appar::Apparatus, structure::Abstra #default do nothing end +function auxi_jacobian!(∂S∂q̌,∂S∂s, + appar::Apparatus{<:ClusterJoint, <:ClusterDistanceSpringDampers}, + structure::AbstractStructure, + q, s, s0 + ) + (;apparatuses, connectivity) = structure + (;indexed) = connectivity + (;num_of_free_coords, apparid2sys_add_var_idx, bodyid2sys_free_coords) = indexed + (;ns, nsegs, nsp, κ₁, κ₂, ∂ζ∂s, ∂s∂s, Tb) = appar.cache + (; force, joint, id) = appar + (; sps) = joint + (; segs) = force + + T = get_numbertype(structure) + ndim = get_num_of_dims(structure) + + ζ = zeros(T, ns) + + ζ⁺ = @view ζ[begin:2:end] + ζ⁻ = @view ζ[begin+1:2:end] + for i in 1:nsp + ζ⁺[i] = segs[i+1].force.state.tension / sps[i].α - segs[i].force.state.tension + ζ⁻[i] = segs[i].force.state.tension - sps[i].α * segs[i+1].force.state.tension + end + coes = [((ζ[i]/κ₁)^2 + (κ₂*s[i])^2)^(-1/2) for i in 1:ns] + coζ = diagm(coes.*[ζ[i]/κ₁^2 for i in 1:ns] .- [1/κ₁ for i in 1:ns]) + cos̄ = diagm(coes.*[κ₂^2*s[i] for i in 1:ns] .- [κ₂ for i in 1:ns]) + + num_of_free = size(∂S∂q̌, 2) + ∂l∂q = zeros(T, nsegs, num_of_free) + foreach(segs) do seg + idx = seg.id + J̌ = zeros(T, ndim, num_of_free) + (; hen, egg) = seg.joint.hen2egg + body_hen = hen.body + body_egg = egg.body + C_hen = body_hen.cache.Cps[hen.pid] + C_egg = body_egg.cache.Cps[egg.pid] + free_idx_hen = body_hen.coords.free_idx + free_idx_egg = body_egg.coords.free_idx + mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] + mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] + (; direction) = seg.force.state + J̌[:, mfree_egg] .+= C_egg[:, free_idx_egg] + J̌[:, mfree_hen] .-= C_hen[:, free_idx_hen] + ∂l∂q[idx, :] = direction'*J̌ + end + + ∂ζ∂q = Tb * ∂l∂q + ∂S∂q̌ .= 1/2 * coζ * ∂ζ∂q + ∂S∂s .= 1/2 * coζ * ∂ζ∂s + cos̄ * ∂s∂s +end + function auxi_jacobian!(∂S∂q̌,∂S∂s, appar::Apparatus{<:PrototypeJoint,<:TorsionalSpringDamper}, structure::AbstractStructure, diff --git a/src/structures/linearization.jl b/src/structures/linearization.jl index ec4ab37..82a8263 100644 --- a/src/structures/linearization.jl +++ b/src/structures/linearization.jl @@ -756,6 +756,7 @@ function build_tangent_damping_matrix!(∂Q̌∂q̌̇,st) end end + function init_cluster_matrix(st) (; bodies, apparatuses, connectivity) = st (; indexed, numbered) = connectivity @@ -899,6 +900,54 @@ function generalized_force_jacobian!(∂F∂s, cluster_cache, st) end end +function generalized_force_jacobian!(∂F∂s, appar::Apparatus{<:ClusterJoint}, st::AbstractStructure,q,q̇,t,s) + (; indexed) = st.connectivity + (; apparid2sys_free_coords_idx, apparid2sys_add_var_idx) = indexed + (; N, nsegs) = appar.cache + (; segs) = appar.force + + T = get_numbertype(st) + ndim = get_num_of_dims(st) + D = zeros(T, ndim) + appar_free_coords_idx = apparid2sys_free_coords_idx[appar.id] + kc = [seg.force.k for seg in segs] + foreach(segs) do seg + (; free_coords_idx, id) = seg + (; hen, egg) = seg.joint.hen2egg + if id == 1 + cluster_idx = collect(1:2) + elseif id == nsegs + cluster_idx = collect(2nsegs-3:2nsegs-2) + else + cluster_idx = collect(2id-3:2id) + end + num_of_cluster_idx = length(cluster_idx) + num_free_coords_idx = length(free_coords_idx) + seg_free_coords_idx = appar_free_coords_idx[free_coords_idx] + J̌ = zeros(T,ndim,num_free_coords_idx) + lkn = zeros(T, num_of_cluster_idx, ndim) + body_hen = hen.body + body_egg = egg.body + C_hen = body_hen.cache.Cps[hen.pid] + C_egg = body_egg.cache.Cps[egg.pid] + free_idx_hen = body_hen.coords.free_idx + free_idx_egg = body_egg.coords.free_idx + ncoords_hen = length(free_idx_hen) + (; k, c, state) = seg.force + (; direction, tension) = state + if tension == 0 + else + D .= direction + J̌ .= 0 + J̌[:,free_idx_hen] .-= C_hen[:,free_idx_hen] + J̌[:,ncoords_hen.+free_idx_egg] .+= C_egg[:,free_idx_egg] + kN = kc[id] .* N[id, cluster_idx] + @tullio lkn[k, l] = D[l] * kN[k] + ∂F∂s[seg_free_coords_idx, cluster_idx] .-= transpose(lkn * J̌) + end + end +end + function build_Ǩ(st) _,λ = check_static_equilibrium_output_multipliers(st) build_Ǩ(st,λ) diff --git a/src/structures/structure.jl b/src/structures/structure.jl index c19ae4f..0e4229f 100644 --- a/src/structures/structure.jl +++ b/src/structures/structure.jl @@ -383,14 +383,15 @@ function make_auxi_jacobian(structure::AbstractStructure,s0) (;indexed,) = connectivity (; apparid2sys_free_coords_idx, - apparid2sys_add_var_idx + apparid2sys_add_var_idx, + num_of_free_coords ) = indexed foreach(apparatuses) do appar appar_add_var_idx = apparid2sys_add_var_idx[appar.id] appar_sys_free_idx = apparid2sys_free_coords_idx[appar.id] auxi_jacobian!( - (@view ∂S∂q̌[appar_add_var_idx,appar_sys_free_idx]), + (@view ∂S∂q̌[appar_add_var_idx,unique(appar_sys_free_idx)]), (@view ∂S∂s[appar_add_var_idx,appar_add_var_idx]), appar,structure, q, @@ -515,6 +516,8 @@ function make_auxi_jacobian(structure::AbstractStructure,s0) # @show maximum(∂ζ∂q) ∂ζ∂s = reduce(blockdiag, A_list) + # @show Tb + # @show ∂ζ∂s ∂S∂q .= 1/2 * coζ*∂ζ∂q ∂S∂s .= 1/2 *coζ*∂ζ∂s + cos̄*I diff --git a/yard/ex1/main1.jl b/yard/ex1/main1.jl index db0f1c5..2ce79dd 100644 --- a/yard/ex1/main1.jl +++ b/yard/ex1/main1.jl @@ -28,7 +28,7 @@ plot_traj!(test; policy = RB.TimePolicy( @eponymtuple( - f = (t) -> [t] + f = (t) -> [0] ) ) diff --git a/yard/jixiebi/Group2_1.jl b/yard/jixiebi/Group2_1.jl index f691edf..d7b40a7 100644 --- a/yard/jixiebi/Group2_1.jl +++ b/yard/jixiebi/Group2_1.jl @@ -84,7 +84,7 @@ RB.solve!( RB.SmoothedFischerBurmeister() ), ); - tspan=(0.0, 15.0), + tspan=(0.0, 1.0), dt, ftol=1e-7,verbose=true, maxiters=50 From ed3c9daf222aaec6a6ee07c9f367fb6977921f7c Mon Sep 17 00:00:00 2001 From: Jacob <88961633+jacobleft@users.noreply.github.com> Date: Tue, 21 May 2024 12:27:26 +0800 Subject: [PATCH 16/20] fix type instability in `generalized_force_jacobian!`, `auxi_jacobian!`, and `assemble_forces!`; --- src/structures/constraints.jl | 3 ++- src/structures/linearization.jl | 12 +++++------- src/structures/mutate.jl | 4 ++-- 3 files changed, 9 insertions(+), 10 deletions(-) diff --git a/src/structures/constraints.jl b/src/structures/constraints.jl index 0bb3a44..e4170bd 100644 --- a/src/structures/constraints.jl +++ b/src/structures/constraints.jl @@ -331,9 +331,9 @@ function auxi_jacobian!(∂S∂q̌,∂S∂s, num_of_free = size(∂S∂q̌, 2) ∂l∂q = zeros(T, nsegs, num_of_free) + J̌ = zeros(T, ndim, num_of_free) foreach(segs) do seg idx = seg.id - J̌ = zeros(T, ndim, num_of_free) (; hen, egg) = seg.joint.hen2egg body_hen = hen.body body_egg = egg.body @@ -344,6 +344,7 @@ function auxi_jacobian!(∂S∂q̌,∂S∂s, mfree_hen = bodyid2sys_free_coords[body_hen.prop.id] mfree_egg = bodyid2sys_free_coords[body_egg.prop.id] (; direction) = seg.force.state + J̌ .= 0 J̌[:, mfree_egg] .+= C_egg[:, free_idx_egg] J̌[:, mfree_hen] .-= C_hen[:, free_idx_hen] ∂l∂q[idx, :] = direction'*J̌ diff --git a/src/structures/linearization.jl b/src/structures/linearization.jl index 82a8263..4de3cec 100644 --- a/src/structures/linearization.jl +++ b/src/structures/linearization.jl @@ -906,9 +906,6 @@ function generalized_force_jacobian!(∂F∂s, appar::Apparatus{<:ClusterJoint}, (; N, nsegs) = appar.cache (; segs) = appar.force - T = get_numbertype(st) - ndim = get_num_of_dims(st) - D = zeros(T, ndim) appar_free_coords_idx = apparid2sys_free_coords_idx[appar.id] kc = [seg.force.k for seg in segs] foreach(segs) do seg @@ -924,10 +921,12 @@ function generalized_force_jacobian!(∂F∂s, appar::Apparatus{<:ClusterJoint}, num_of_cluster_idx = length(cluster_idx) num_free_coords_idx = length(free_coords_idx) seg_free_coords_idx = appar_free_coords_idx[free_coords_idx] - J̌ = zeros(T,ndim,num_free_coords_idx) - lkn = zeros(T, num_of_cluster_idx, ndim) body_hen = hen.body body_egg = egg.body + T = get_numbertype(body_hen) + ndim = get_num_of_dims(body_hen) + J̌ = zeros(T,ndim,num_free_coords_idx) + lkn = zeros(T, num_of_cluster_idx, ndim) C_hen = body_hen.cache.Cps[hen.pid] C_egg = body_egg.cache.Cps[egg.pid] free_idx_hen = body_hen.coords.free_idx @@ -937,12 +936,11 @@ function generalized_force_jacobian!(∂F∂s, appar::Apparatus{<:ClusterJoint}, (; direction, tension) = state if tension == 0 else - D .= direction J̌ .= 0 J̌[:,free_idx_hen] .-= C_hen[:,free_idx_hen] J̌[:,ncoords_hen.+free_idx_egg] .+= C_egg[:,free_idx_egg] kN = kc[id] .* N[id, cluster_idx] - @tullio lkn[k, l] = D[l] * kN[k] + @tullio lkn[k, l] = direction[l] * kN[k] ∂F∂s[seg_free_coords_idx, cluster_idx] .-= transpose(lkn * J̌) end end diff --git a/src/structures/mutate.jl b/src/structures/mutate.jl index b3446ba..a88d753 100644 --- a/src/structures/mutate.jl +++ b/src/structures/mutate.jl @@ -290,8 +290,8 @@ end $(TYPEDSIGNATURES) """ function assemble_forces!(st::Structure) - (;bodies,state) = st - (;system,members) = state + (;bodies,) = st + (;system,members) = st.state foreach(bodies) do body (;F) = members[body.prop.id] (;state,cache) = body From 535c9b7691278f76f47cdb85f0c697aaca3af15a Mon Sep 17 00:00:00 2001 From: Jacob <88961633+jacobleft@users.noreply.github.com> Date: Tue, 21 May 2024 13:54:31 +0800 Subject: [PATCH 17/20] add `contact_gap_and_normal!` for dispatch on `contact_body`; 15s-simulation runs 1:40; --- src/mechanics/contact.jl | 184 ++++++++++++++++++++++----------------- yard/jixiebi/Group2_1.jl | 11 ++- 2 files changed, 111 insertions(+), 84 deletions(-) diff --git a/src/mechanics/contact.jl b/src/mechanics/contact.jl index 3f93309..2be7947 100644 --- a/src/mechanics/contact.jl +++ b/src/mechanics/contact.jl @@ -290,7 +290,7 @@ function contact_gap_and_normal(x::AbstractVector,halvspaces::Vector{<:HalfSpace end function contact_gap_and_normal(x::AbstractVector,contact::RigidSphere,bodies) - (;bid) = contact + (;bid) = contact_body foreach(bodies) do body if body.prop.id == bid radius = body.prop.loci[1].position[1] @@ -302,101 +302,121 @@ function contact_gap_and_normal(x::AbstractVector,contact::RigidSphere,bodies) end end +function contact_gap_and_normal!( + gaps, normals, local_positions, contact_ids, + x::AbstractVector, i, contact_body::RigidSphere, bodies, + ) + (; bid) = contact_body + foreach(bodies) do body + if (body.prop.id == bid) + (;X) = body.state.origin_frame.axes + r = body.state.origin_frame.position + radius = body.prop.loci[1].position[1] + gap = norm(x - r) - radius + normal = (x - r) / norm(x - r) + gaps[i] = gap + normals[i] = normal + contact_ids[i] = i + local_positions[i] = X\(x - r) + end + end +end + +function contact_gap_and_normal!( + gaps, normals, local_positions, contact_ids, + x::AbstractVector, i, contact_body::RigidCylinder, bodies, + ) + (; bid) = contact_body + foreach(bodies) do body + if (body.prop.id == bid) + (;X) = body.state.origin_frame.axes + rc = body.state.origin_frame.position + p = x - rc + p̄ = X\p + px, py, pz = p̄ + radius = body.prop.loci[1].position[1] + halflen = body.prop.loci[1].position[2] + if abs(px) > halflen + gap = 1.0 + normal = SVector(1.0, 0.0, 0.0) + elseif norm(SVector(py, pz)) > radius + gap = 1.0 + normal = SVector(1.0, 0.0, 0.0) + else + gap = norm(SVector(py, pz)) - radius + normal = X*SVector(0.0, py, pz) + end + if gap < 0 + ## @show gap + end + gaps[i] = gap + normals[i] = normal / norm(normal) + contact_ids[i] = i + local_positions[i] = p̄ + end + end +end + +function contact_gap_and_normal!( + gaps, normals, local_positions, contact_ids, + x::AbstractVector, i, contact_body::RigidCube, bodies, + ) + (; bid) = contact_body + foreach(bodies) do body + if (body.prop.id == bid) + (;X) = body.state.origin_frame.axes + rc = body.state.origin_frame.position + p = x - rc + p̄ = X\p + px, py, pz = p̄ + hx, hy, hz= body.prop.loci[1].position + if (abs(px) > hx) || (abs(py) > hy) || (abs(pz) > hz) + gap = 1.0 + normal = SVector(1.0, 0.0, 0.0) + else + normal_vector = [SVector(1.0, 0.0, 0.0), + SVector(-1.0, 0.0, 0.0), + SVector(0.0, 1.0, 0.0), + SVector(0.0, -1.0, 0.0), + SVector(0.0, 0.0, 1.0), + SVector(0.0, 0.0, -1.0)] + gap_vector = [hx-px, px+hx, hy-py, py+hy, hz-pz, pz+hz] + min_idx = argmin(gap_vector) + gap = - gap_vector[min_idx] + normal = X*normal_vector[min_idx] + # @show px, py, pz + # @show gap + end + gaps[i] = gap + normals[i] = normal + contact_ids[i] = i + local_positions[i] = p̄ + end + end +end + function contact_gap_and_normal(x::AbstractVector, contact_bodies::Vector{<:ContactRigid}, bodies) ncb = length(contact_bodies) gaps = zeros(Float64, ncb) normals = Vector{SVector{3,Float64}}(undef, ncb) - local_poss = Vector{SVector{3,Float64}}(undef, ncb) + local_positions = Vector{SVector{3,Float64}}(undef, ncb) contact_ids = Vector{Int}(undef, ncb) - for (i, contact) in enumerate(contact_bodies) - if isa(contact, RigidSphere) - (; bid) = contact - foreach(bodies) do body - if (body.prop.id == bid) - (;X) = body.state.origin_frame.axes - r = body.state.origin_frame.position - radius = body.prop.loci[1].position[1] - gap = norm(x - r) - radius - normal = (x - r) / norm(x - r) - gaps[i] = gap - normals[i] = normal - contact_ids[i] = i - local_poss[i] = inv(X)*(x - r) - end - end - elseif isa(contact, RigidCylinder) - (; bid) = contact - foreach(bodies) do body - if (body.prop.id == bid) - (;X) = body.state.origin_frame.axes - rc = body.state.origin_frame.position - p = x - rc - px, py, pz = inv(X) * p - radius = body.prop.loci[1].position[1] - halflen = body.prop.loci[1].position[2] - if abs(px) > halflen - gap = 1.0 - normal = SVector(1.0, 0.0, 0.0) - elseif norm(SVector(py, pz)) > radius - gap = 1.0 - normal = SVector(1.0, 0.0, 0.0) - else - gap = norm(SVector(py, pz)) - radius - normal = X*SVector(0.0, py, pz) - end - if gap < 0 - @show gap - end - gaps[i] = gap - normals[i] = normal / norm(normal) - contact_ids[i] = i - local_poss[i] = SVector(px, py, pz) - end - end - elseif isa(contact, RigidCube) - (; bid) = contact - foreach(bodies) do body - if (body.prop.id == bid) - (;X) = body.state.origin_frame.axes - rc = body.state.origin_frame.position - p = x - rc - px, py, pz = inv(X) * p - hx, hy, hz= body.prop.loci[1].position - if (abs(px) > hx) || (abs(py) > hy) || (abs(pz) > hz) - gap = 1.0 - normal = SVector(1.0, 0.0, 0.0) - else - normal_vector = [SVector(1.0, 0.0, 0.0), - SVector(-1.0, 0.0, 0.0), - SVector(0.0, 1.0, 0.0), - SVector(0.0, -1.0, 0.0), - SVector(0.0, 0.0, 1.0), - SVector(0.0, 0.0, -1.0)] - gap_vector = [hx-px, px+hx, hy-py, py+hy, hz-pz, pz+hz] - min_idx = argmin(gap_vector) - gap = - gap_vector[min_idx] - normal = X*normal_vector[min_idx] - # @show px, py, pz - # @show gap - end - gaps[i] = gap - normals[i] = normal - contact_ids[i] = i - local_poss[i] = SVector(px, py, pz) - end - end - end + for (i, contact_body) in enumerate(contact_bodies) + contact_gap_and_normal!( + gaps, normals, local_positions, contact_ids, + x, i,contact_body, bodies, + ) end if all(gaps .< 0) icb = argmax(gaps) contact_bodies[icb].pid += 1 - return gaps[icb], normals[icb], contact_ids[icb], local_poss[icb] + return gaps[icb], normals[icb], contact_ids[icb], local_positions[icb] else idx = findall((x) -> x >= 0, gaps) positive_gaps = @view gaps[idx] positive_normals = @view normals[idx] positive_contact_body_ids = @view contact_ids[idx] icb = argmin(positive_gaps) - return positive_gaps[icb], positive_normals[icb], positive_contact_body_ids[icb], local_poss[icb] + return positive_gaps[icb], positive_normals[icb], positive_contact_body_ids[icb], local_positions[icb] end end diff --git a/yard/jixiebi/Group2_1.jl b/yard/jixiebi/Group2_1.jl index d7b40a7..9850eda 100644 --- a/yard/jixiebi/Group2_1.jl +++ b/yard/jixiebi/Group2_1.jl @@ -54,7 +54,14 @@ C = zeros(nq,nq) RB.build_tangent_damping_matrix!(K,bot1.structure) @time RB.build_tangent_damping_matrix!(K,bot1.structure) -bot1.structure.connectivity.indexed.apparid2sys_add_var_idx +appars = sort(bot1.structure.apparatuses) +appars[1].force.segs |> eltype |> isconcretetype +(;q,q̇,t,s) = bot1.structure.state.system +RB.generalized_force_jacobian!(K,bot1.structure,q,q̇,t,s) + +RB.contact_gap_and_normal( + zeros(3), rigid_contacts.contact_bodies, bot1.structure.bodies +) fig = plot_traj!(bot1; # atsteps=[3320], @@ -84,7 +91,7 @@ RB.solve!( RB.SmoothedFischerBurmeister() ), ); - tspan=(0.0, 1.0), + tspan=(0.0, 15.0), dt, ftol=1e-7,verbose=true, maxiters=50 From 2086767d8321f71bcf05306ca5e8490b644b00e7 Mon Sep 17 00:00:00 2001 From: Jacob <88961633+jacobleft@users.noreply.github.com> Date: Tue, 21 May 2024 17:30:31 +0800 Subject: [PATCH 18/20] remove unused `generalized_force_jacobian!`; ready to ditch `Zhong06_CCP_constant_mass_cluster_cables.jl`; 4s-simulations on Win run 25s; --- src/mechanics/dynamics.jl | 28 -------- .../Zhong06_CCP_constant_mass.jl | 2 +- ...hong06_CCP_constant_mass_cluster_cables.jl | 72 ++++++++----------- yard/jixiebi/Group2_1.jl | 4 +- 4 files changed, 33 insertions(+), 73 deletions(-) diff --git a/src/mechanics/dynamics.jl b/src/mechanics/dynamics.jl index d116f9e..136908e 100644 --- a/src/mechanics/dynamics.jl +++ b/src/mechanics/dynamics.jl @@ -117,34 +117,6 @@ function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy:: build_tangent_damping_matrix!(∂F∂q̌̇,structure) end -function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,policy::AbstractPolicy,q,q̇,t,∂F∂s,cluster_cache,s=nothing) - (;structure,hub) = bot - ∂F∂q̌ .= 0 - ∂F∂q̌̇ .= 0 - ∂F∂s .= 0 - clear_forces!(structure) - lazy_update_bodies!(structure,q,q̇) - update_apparatuses!(structure, s) - generalized_force_jacobian!(∂F∂s, cluster_cache, structure) - generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure,hub,policy,q,q̇,t) - build_tangent_stiffness_matrix!(∂F∂q̌,structure) - build_tangent_damping_matrix!(∂F∂q̌̇,structure) -end - -function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,∂F∂s,bot::Robot,policy::AbstractPolicy,q,q̇,t,s::AbstractVector) - (;structure,hub) = bot - ∂F∂q̌ .= 0 - ∂F∂q̌̇ .= 0 - ∂F∂s .= 0 - # clear_forces!(structure) - # lazy_update_bodies!(structure,q,q̇) - # update_apparatuses!(structure) - generalized_force_jacobian!(∂F∂s, structure, q, q̇, t, s) - generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure,hub,policy,q,q̇,t) - build_tangent_stiffness_matrix!(∂F∂q̌,structure) - build_tangent_damping_matrix!(∂F∂q̌̇,structure) -end - function generalized_force_jacobian!(∂F∂s,structure::AbstractStructure,q,q̇,t,s) (;apparatuses,connectivity) = structure (; diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl index 00dd2c3..dbe6f00 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl @@ -192,7 +192,7 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cache; λ0 = traj.λ[begin] s0 = traj.s[begin] q̇0 = traj.q̇[begin] - activate_contacts!(structure,env,solver_cache,q0) + activate_frictional_contacts!(structure,env,solver_cache,q0) invM = inv(M) pₖ₋₁ = M*q̇0 pₖ = zero(pₖ₋₁) diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl index 44b1d2e..e595b5b 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl @@ -28,8 +28,7 @@ function generate_cache( solver.options, ) F!(F,q,q̇,t,s) = generalized_force!(F,bot,policy,q,q̇,t,s;gravity=options.gravity) - # Jac_F!(∂F∂q, ∂F∂q̇, ∂F∂s, q,q̇,t, cluster_cache) = generalized_force_jacobian!(∂F∂q, ∂F∂q̇, bot,policy, q,q̇,t, ∂F∂s, cluster_cache) - Jac_F!(∂F∂q, ∂F∂q̇, ∂F∂s, q,q̇,t,s) = generalized_force_jacobian!(∂F∂q, ∂F∂q̇, ∂F∂s, bot,policy, q,q̇,t, s) + Jac_F!(∂F∂q, ∂F∂q̇,∂F∂s, q,q̇,t,s) = generalized_force_jacobian!(∂F∂q, ∂F∂q̇, bot,policy, q,q̇,t, ∂F∂s, s) M = Matrix(assemble_M(structure)) Φ = make_cstr_function(bot) @@ -70,60 +69,58 @@ function make_step_k( structure, solver_cache::Zhong06_CCP_Constant_Mass_Cluster_Cables_Cache, nq,nλ,ns,na, - qₖ₋₁,sₖ₋₁,vₖ₋₁,pₖ₋₁,tₖ₋₁, + qₖ₋₁,vₖ₋₁,pₖ₋₁,tₖ₋₁,sₖ₋₁, pₖ,vₖ, invM, h,mass_norm) (;F!,Jac_F!,M,Φ,A,∂Aᵀλ∂q) = solver_cache.cache - nx = nq+nλ+ns nΛ = 3na + nx = nq+nλ+ns + - S = make_auxi_function(structure,sₖ₋₁) - Jac_S! = make_auxi_jacobian(structure,sₖ₋₁) + S = make_auxi_function(structure,deepcopy(sₖ₋₁)) + Jac_S! = make_auxi_jacobian(structure,deepcopy(sₖ₋₁)) function ns_stepk!( 𝐫𝐞𝐬,𝐉, - Fₘ,∂F∂q,∂F∂q̇, - ∂F∂s, ∂S∂q, ∂S∂s, + Fₘ,∂F∂q,∂F∂q̇,∂F∂s,∂S∂q,∂S∂s, 𝐁,𝐛,𝐜ᵀ,𝐲, x,Λₖ, - structure, contact_cache, - # cluster_cache, timestep,iteration,doin=true ) - qₖ = @view x[ 1:nq] + # @show timestep, iteration, na + qₖ = @view x[ 1:nq] λₘ = @view x[nq+1:nq+nλ] sₖ = @view x[nq+nλ+1:nx] qₘ = (qₖ.+qₖ₋₁)./2 - sₘ = (sₖ.+sₖ₋₁)./2 q̇ₘ = (qₖ.-qₖ₋₁)./h + sₘ = (sₖ .+ sₖ₋₁)./2 vₘ = q̇ₘ tₘ = tₖ₋₁+h/2 - F!(Fₘ,qₘ,q̇ₘ,tₘ,sₘ,) - # Jac_F!(∂F∂q, ∂F∂q̇, ∂F∂s, qₘ,q̇ₘ,tₘ, cluster_cache) - Jac_F!(∂F∂q, ∂F∂q̇, ∂F∂s, qₘ,q̇ₘ,tₘ, sₖ) - # Jac_S!(∂S∂q, ∂S∂s, qₖ, sₖ, cluster_cache) - Jac_S!(∂S∂q, ∂S∂s, qₖ, sₖ) + F!(Fₘ,qₘ,q̇ₘ,tₘ,sₘ) + Jac_F!(∂F∂q,∂F∂q̇,∂F∂s,qₘ,q̇ₘ,tₘ,sₘ) + Jac_S!(∂S∂q,∂S∂s,qₖ,sₖ) Aₖ₋₁ = A(qₖ₋₁) Aᵀₖ₋₁ = transpose(Aₖ₋₁) Aₖ = A(qₖ) 𝐫𝐞𝐬[ 1:nq ] .= M*(qₖ.-qₖ₋₁) .- h.*pₖ₋₁ .- - (h^2)/2 .*Fₘ .+ + (h^2)/2 .*Fₘ .- mass_norm.*Aᵀₖ₋₁*λₘ - 𝐫𝐞𝐬[nq+1:nq+nλ] .= mass_norm.*Φ(qₖ) + 𝐫𝐞𝐬[nq+1:nq+nλ] .= -mass_norm.*Φ(qₖ) 𝐫𝐞𝐬[nq+nλ+1:nx] .= S(qₖ,sₖ) 𝐉 .= 0.0 - 𝐉[ 1:nq , 1:nq ] .= M.-(h^2)/2 .*(1/2 .*∂F∂q.+1/h.*∂F∂q̇) - 𝐉[ 1:nq , nq+1:nq+nλ] .= mass_norm.*transpose(Aₖ₋₁) - 𝐉[ 1:nq ,nq+nλ+1:nx] .= - (h^2)/2 * 1/2 .*∂F∂s - 𝐉[nq+1:nq+nλ, 1:nq] .= mass_norm.*Aₖ + 𝐉[ 1:nq, 1:nq] .= M .-h^2/2 .*(1/2 .*∂F∂q .+ 1/h.*∂F∂q̇) + 𝐉[ 1:nq,nq+1:nq+nλ] .= -mass_norm.*transpose(Aₖ₋₁) + 𝐉[ 1:nq, nq+nλ+1:nx] .= -(h^2)/2 .*(1/2 .*∂F∂s) + + 𝐉[nq+1:nq+nλ, 1:nq] .= -mass_norm.*Aₖ - 𝐉[nq+nλ+1:nx,1:nq] .= ∂S∂q# 1/2 * coζ*∂ζ∂q - 𝐉[nq+nλ+1:nx,nq+nλ+1:nx] .= ∂S∂s# 1/2 *coζ*∂ζ∂s + cos̄*I + 𝐉[nq+nλ+1:nx,1:nq] .= ∂S∂q + 𝐉[nq+nλ+1:nx,nq+nλ+1:nx] .= ∂S∂s lu𝐉 = lu(𝐉) @@ -162,9 +159,9 @@ function make_step_k( 𝐛[is+1:is+3] .= [v́ₜⁱ,0,0] Dⁱₘ = @view Dₘ[is+1:is+3,:] Dⁱₖ = @view Dₖ[is+1:is+3,:] - 𝐜ᵀ[is+1 , 1:nq] .= 1/(norm(v́⁺[is+2:is+3])+1e-14)*(v́⁺[is+2]*∂v́⁺∂qₖ[is+2,:] .+ v́⁺[is+3]*∂v́⁺∂qₖ[is+3,:]) - 𝐜ᵀ[is+1:is+3, 1:nq] .+= ∂v́⁺∂qₖ[is+1:is+3,:] - 𝐜ᵀ[is+1:is+3,nq+1:nq+nλ] .= Dⁱₖ*∂vₖ∂λₘ + 𝐜ᵀ[is+1 , 1:nq ] .= 1/(norm(v́⁺[is+2:is+3])+1e-14)*(v́⁺[is+2]*∂v́⁺∂qₖ[is+2,:] .+ v́⁺[is+3]*∂v́⁺∂qₖ[is+3,:]) + 𝐜ᵀ[is+1:is+3, 1:nq ] .+= ∂v́⁺∂qₖ[is+1:is+3,:] + 𝐜ᵀ[is+1:is+3,nq+1:nq+nλ] .= Dⁱₖ*∂vₖ∂λₘ end # 𝐜ᵀinv𝐉 = 𝐜ᵀ*inv(𝐉) 𝐲 .= (v́⁺ + 𝐛) @@ -201,9 +198,9 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C F = zeros(T,nq) ∂F∂q = zeros(T,nq,nq) ∂F∂q̇ = zeros(T,nq,nq) + ∂F∂s = zeros(T,nq,ns) ∂S∂q = zeros(T,ns,nq) - ∂S∂s = zeros(T,ns,ns) - ∂F∂s = zeros(T, nq, ns) + ∂S∂s = zeros(T,ns,ns) nx = nq + nλ + ns Δx = zeros(T,nx) x = zero(Δx) @@ -215,12 +212,9 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C Jac_α1 = zeros(T,nx,nx) Res_α2 = zero(Δx) Jac_α2 = zeros(T,nx,nx) - s_bak = deepcopy(s0) - s_temp = deepcopy(s0) mr = norm(M,Inf) mass_norm = mr α0 = 1.0 - # cluster_cache = init_cluster_matrix(structure) iteration = 0 prog = Progress(totalstep; dt=1.0, enabled=progress) @@ -231,7 +225,6 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C cₖ₋₁ = contacts_traj[timestep] cₖ = contacts_traj[timestep+1] qₖ₋₁ = traj.q[timestep] - sₖ₋₁ = traj.s[timestep] q̇ₖ₋₁ = traj.q̇[timestep] sₖ₋₁ = traj.s[timestep] # λₖ₋₁ = traj.λ[timestep] @@ -265,7 +258,7 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C structure, solver_cache, nq,nλ,ns,na, - qₖ₋₁,sₖ₋₁,q̇ₖ₋₁,pₖ₋₁,tₖ₋₁, + qₖ₋₁,q̇ₖ₋₁,pₖ₋₁,tₖ₋₁,sₖ₋₁, pₖ,q̇ₖ, invM, dt,mass_norm @@ -283,12 +276,10 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C luJac = ns_stepk!( Res,Jac, F,∂F∂q,∂F∂q̇, - ∂F∂s, ∂S∂q, ∂S∂s, + ∂F∂s,∂S∂q,∂S∂s, 𝐁,𝐛,𝐜ᵀ,𝐲, x,Λʳₖ, - structure, contact_cache, - # cluster_cache, timestep,iteration ) # if (tₖ₋₁ == 0.096) & (iteration == 1) @@ -342,13 +333,10 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_C Δx .= luJac\minusResΛ ns_stepk!( Res_α0,Jac_α0, - F,∂F∂q,∂F∂q̇, - ∂F∂s, ∂S∂q, ∂S∂s, + F,∂F∂q,∂F∂q̇,∂F∂s,∂S∂q,∂S∂s, 𝐁t,𝐛,𝐜ᵀ,𝐲, x.+Δx,Λʳₖ.+ΔΛₖ, - structure, contact_cache, - # cluster_cache, timestep,iteration,false ) ϕα0 = (transpose(Res_α0)*sd*Res_α0)/2 diff --git a/yard/jixiebi/Group2_1.jl b/yard/jixiebi/Group2_1.jl index 9850eda..7b3f74e 100644 --- a/yard/jixiebi/Group2_1.jl +++ b/yard/jixiebi/Group2_1.jl @@ -71,6 +71,7 @@ fig = plot_traj!(bot1; # doslide = false, ) +BLAS.set_num_threads(1) RB.solve!( RB.DynamicsProblem( bot1,policy, @@ -91,12 +92,11 @@ RB.solve!( RB.SmoothedFischerBurmeister() ), ); - tspan=(0.0, 15.0), + tspan=(0.0, 4.0), dt, ftol=1e-7,verbose=true, maxiters=50 ) - tw = 468 fontsize = 10 GM.activate!(scalefactor=4.0) From 5d8a997024dd504c3b5e468c98f34593b7cfec8b Mon Sep 17 00:00:00 2001 From: Jacob <88961633+jacobleft@users.noreply.github.com> Date: Tue, 21 May 2024 18:55:52 +0800 Subject: [PATCH 19/20] remove files: `Zhong06_CCP_constant_mass_cluster_cables.jl`; `Zhong06_constant_mass_cluster_cables.jl`; `Zhong06_sliding_cable_FB.jl`; 4s-simulations on Win runs 27s; --- ...hong06_CCP_constant_mass_cluster_cables.jl | 396 ------------------ .../Zhong06_constant_mass_cluster_cables.jl | 221 ---------- .../Zhong06_sliding_cable_FB.jl | 234 ----------- src/mechanics/solvers.jl | 2 - 4 files changed, 853 deletions(-) delete mode 100644 src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl delete mode 100644 src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl delete mode 100644 src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_sliding_cable_FB.jl diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl deleted file mode 100644 index e595b5b..0000000 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl +++ /dev/null @@ -1,396 +0,0 @@ -struct Zhong06_CCP_Constant_Mass_Cluster_Cables_Cache{solT, cacheType} - solver::solT - cache::cacheType -end - -function generate_cache( - simulator::Simulator{<:DynamicsProblem{ - RobotType, - policyType, - EnvType, - RestitutionFrictionCombined{NewtonRestitution,CoulombFriction}, - EulerEytelwein, - }}, - solver::DynamicsSolver{ - Zhong06, - <:InnerLayerContactSolver, - <:MonolithicApparatusSolver{SmoothedFischerBurmeister} - }, - ::Val{true}; - dt,kargs... - ) where {RobotType,policyType,EnvType} - (;prob) = simulator - (;bot,policy,env) = prob - (;structure) = bot - options = merge( - (gravity=has_gravity(env),factor=1,checkpersist=true), #default - prob.options, - solver.options, - ) - F!(F,q,q̇,t,s) = generalized_force!(F,bot,policy,q,q̇,t,s;gravity=options.gravity) - Jac_F!(∂F∂q, ∂F∂q̇,∂F∂s, q,q̇,t,s) = generalized_force_jacobian!(∂F∂q, ∂F∂q̇, bot,policy, q,q̇,t, ∂F∂s, s) - - M = Matrix(assemble_M(structure)) - Φ = make_cstr_function(bot) - A = make_cstr_jacobian(bot) - - nq = size(M,2) - T = get_numbertype(bot) - Ψ(q,q̇) = Vector{T}() - ∂Ψ∂q(q,q̇) = Matrix{T}(undef,0,nq) - B(q) = Matrix{T}(undef,0,nq) - - # ∂𝐌𝐚∂𝐪(q,a) = zeros(T,nq,nq) - ∂Aᵀλ∂q(q::AbstractVector,λ) = cstr_forces_jacobian(structure,q,λ) - # ∂𝚽𝐪𝐯∂𝒒(q,v) = RB.∂Aq̇∂q(structure,v) - ∂Bᵀμ∂q(q,μ) = zeros(T,nq,nq) - (; - contacts_bits, - persistent_bits, - μs_sys, - es_sys, - gaps_sys - ) = prepare_contacts(bot,env) - - cache = @eponymtuple( - F!,Jac_F!, - M,Φ,A,Ψ,B,∂Ψ∂q,∂Aᵀλ∂q,∂Bᵀμ∂q, - contacts_bits, - persistent_bits, - μs_sys, - es_sys, - gaps_sys, - options, - ) - Zhong06_CCP_Constant_Mass_Cluster_Cables_Cache(solver, cache) -end - -function make_step_k( - structure, - solver_cache::Zhong06_CCP_Constant_Mass_Cluster_Cables_Cache, - nq,nλ,ns,na, - qₖ₋₁,vₖ₋₁,pₖ₋₁,tₖ₋₁,sₖ₋₁, - pₖ,vₖ, - invM, - h,mass_norm) - (;F!,Jac_F!,M,Φ,A,∂Aᵀλ∂q) = solver_cache.cache - - nΛ = 3na - nx = nq+nλ+ns - - - S = make_auxi_function(structure,deepcopy(sₖ₋₁)) - Jac_S! = make_auxi_jacobian(structure,deepcopy(sₖ₋₁)) - function ns_stepk!( - 𝐫𝐞𝐬,𝐉, - Fₘ,∂F∂q,∂F∂q̇,∂F∂s,∂S∂q,∂S∂s, - 𝐁,𝐛,𝐜ᵀ,𝐲, - x,Λₖ, - contact_cache, - timestep,iteration,doin=true - ) - # @show timestep, iteration, na - qₖ = @view x[ 1:nq] - λₘ = @view x[nq+1:nq+nλ] - sₖ = @view x[nq+nλ+1:nx] - qₘ = (qₖ.+qₖ₋₁)./2 - q̇ₘ = (qₖ.-qₖ₋₁)./h - sₘ = (sₖ .+ sₖ₋₁)./2 - vₘ = q̇ₘ - tₘ = tₖ₋₁+h/2 - F!(Fₘ,qₘ,q̇ₘ,tₘ,sₘ) - Jac_F!(∂F∂q,∂F∂q̇,∂F∂s,qₘ,q̇ₘ,tₘ,sₘ) - Jac_S!(∂S∂q,∂S∂s,qₖ,sₖ) - Aₖ₋₁ = A(qₖ₋₁) - Aᵀₖ₋₁ = transpose(Aₖ₋₁) - Aₖ = A(qₖ) - - 𝐫𝐞𝐬[ 1:nq ] .= M*(qₖ.-qₖ₋₁) .- - h.*pₖ₋₁ .- - (h^2)/2 .*Fₘ .- - mass_norm.*Aᵀₖ₋₁*λₘ - 𝐫𝐞𝐬[nq+1:nq+nλ] .= -mass_norm.*Φ(qₖ) - 𝐫𝐞𝐬[nq+nλ+1:nx] .= S(qₖ,sₖ) - - 𝐉 .= 0.0 - 𝐉[ 1:nq, 1:nq] .= M .-h^2/2 .*(1/2 .*∂F∂q .+ 1/h.*∂F∂q̇) - 𝐉[ 1:nq,nq+1:nq+nλ] .= -mass_norm.*transpose(Aₖ₋₁) - 𝐉[ 1:nq, nq+nλ+1:nx] .= -(h^2)/2 .*(1/2 .*∂F∂s) - - 𝐉[nq+1:nq+nλ, 1:nq] .= -mass_norm.*Aₖ - - 𝐉[nq+nλ+1:nx,1:nq] .= ∂S∂q - 𝐉[nq+nλ+1:nx,nq+nλ+1:nx] .= ∂S∂s - - lu𝐉 = lu(𝐉) - - if (na != 0) - (; - H, - restitution_coefficients, - D, - ) = contact_cache.cache - Dₘ = contact_cache.cache.Dper - Dₖ = contact_cache.cache.Dimp - 𝐁 .= 0 - 𝐁[ 1:nq,1:nΛ] .= h.*mass_norm.*transpose(D)*H - 𝐫𝐞𝐬 .-= 𝐁*Λₖ - - if doin - pₖ .= Momentum_k(qₖ₋₁,pₖ₋₁,qₖ,λₘ,M,A,mass_norm,h) - vₖ .= invM*pₖ - ∂vₘ∂qₖ = 1/h*I - ∂vₖ∂qₖ = 2/h*I + mass_norm/(h).*invM*(∂Aᵀλ∂q(qₖ,λₘ)) - ∂vₖ∂λₘ = mass_norm.*invM*transpose(Aₖ-Aₖ₋₁)/(h) - - v́⁺ = Dₘ*vₘ .+ Dₖ*vₖ - ∂v́⁺∂qₖ = Dₘ*∂vₘ∂qₖ .+ Dₖ*∂vₖ∂qₖ - 𝐜ᵀ .= 0 - v́ₖ₋₁ = Dₖ*vₖ₋₁ - for i = 1:na - is = 3(i-1) - vⁱₖ₋₁ = @view v́ₖ₋₁[is+1:is+3] - vⁱ⁺ = @view v́⁺[is+1:is+3] - vₜⁱₖ₋₁ = norm(vⁱₖ₋₁[2:3]) - vₜⁱ⁺ = norm(vⁱ⁺[2:3]) - vₙⁱₖ₋₁ = vⁱₖ₋₁[1] - vₙⁱ = vⁱ⁺[1] - v́ₜⁱ = vₜⁱ⁺ + restitution_coefficients[i]*min(vₙⁱₖ₋₁,0) - 𝐛[is+1:is+3] .= [v́ₜⁱ,0,0] - Dⁱₘ = @view Dₘ[is+1:is+3,:] - Dⁱₖ = @view Dₖ[is+1:is+3,:] - 𝐜ᵀ[is+1 , 1:nq ] .= 1/(norm(v́⁺[is+2:is+3])+1e-14)*(v́⁺[is+2]*∂v́⁺∂qₖ[is+2,:] .+ v́⁺[is+3]*∂v́⁺∂qₖ[is+3,:]) - 𝐜ᵀ[is+1:is+3, 1:nq ] .+= ∂v́⁺∂qₖ[is+1:is+3,:] - 𝐜ᵀ[is+1:is+3,nq+1:nq+nλ] .= Dⁱₖ*∂vₖ∂λₘ - end - # 𝐜ᵀinv𝐉 = 𝐜ᵀ*inv(𝐉) - 𝐲 .= (v́⁺ + 𝐛) - end - end - lu𝐉 - end - ns_stepk! -end - -function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Cluster_Cables_Cache; - dt, - ftol=1e-14,xtol=ftol, - verbose=false,verbose_contact=false, - maxiters=50, - max_restart=3, - progress=true,exception=true) - (;prob,controller,tspan,restart,totalstep) = sim - (;bot,env) = prob - (;structure,traj,contacts_traj) = bot - (;M,A,contacts_bits,options) = solver_cache.cache - q0 = traj.q[begin] - λ0 = traj.λ[begin] - s0 = traj.s[begin] - q̇0 = traj.q̇[begin] - activate_frictional_contacts!(structure,env,solver_cache,q0) - invM = inv(M) - pₖ₋₁ = M*q̇0 - pₖ = zero(pₖ₋₁) - T = eltype(q0) - nq = length(q0) - nλ = length(λ0) - ns = length(s0) - F = zeros(T,nq) - ∂F∂q = zeros(T,nq,nq) - ∂F∂q̇ = zeros(T,nq,nq) - ∂F∂s = zeros(T,nq,ns) - ∂S∂q = zeros(T,ns,nq) - ∂S∂s = zeros(T,ns,ns) - nx = nq + nλ + ns - Δx = zeros(T,nx) - x = zero(Δx) - Res = zero(Δx) - Jac = zeros(T,nx,nx) - Res_α0 = zero(Δx) - Jac_α0 = zeros(T,nx,nx) - Res_α1 = zero(Δx) - Jac_α1 = zeros(T,nx,nx) - Res_α2 = zero(Δx) - Jac_α2 = zeros(T,nx,nx) - mr = norm(M,Inf) - mass_norm = mr - α0 = 1.0 - - iteration = 0 - prog = Progress(totalstep; dt=1.0, enabled=progress) - for timestep = 1:totalstep - #---------Time Step k Control----------- - # control!(sim,cache) - #---------Time Step k Control----------- - cₖ₋₁ = contacts_traj[timestep] - cₖ = contacts_traj[timestep+1] - qₖ₋₁ = traj.q[timestep] - q̇ₖ₋₁ = traj.q̇[timestep] - sₖ₋₁ = traj.s[timestep] - # λₖ₋₁ = traj.λ[timestep] - tₖ₋₁ = traj.t[timestep] - qₖ = traj.q[timestep+1] - q̇ₖ = traj.q̇[timestep+1] - sₖ = traj.s[timestep+1] - λₘ = traj.λ[timestep+1] - pₖ₋₁ = M*q̇ₖ₋₁ - qˣ = qₖ₋₁ .+ dt./2 .*q̇ₖ₋₁ - qₖ .= qₖ₋₁ .+ dt .*q̇ₖ₋₁ - q̇ₖ .= q̇ₖ₋₁ - contact_cache = activate_frictional_contacts!(structure,env,solver_cache,qˣ;checkpersist=options.checkpersist) - (;na,L) = contact_cache.cache - isconverged = false - normRes = typemax(T) - iteration_break = 0 - isconverged = false - nΛ = 3na - Λₖ = zeros(T,nΛ) - Λʳₖ = copy(Λₖ) - ΔΛₖ = copy(Λₖ) - 𝐁 = zeros(T,nx,nΛ) - 𝐁t = zeros(T,nx,nΛ) - 𝐛 = zeros(T,nΛ) - 𝐜ᵀ = zeros(T,nΛ,nx) - 𝐍 = zeros(T,nΛ,nΛ) - 𝐲 = zeros(T,nΛ) - get_frictional_directions_and_positions!(structure, contact_cache, qₖ₋₁, q̇ₖ₋₁, Λₖ) - ns_stepk! = make_step_k( - structure, - solver_cache, - nq,nλ,ns,na, - qₖ₋₁,q̇ₖ₋₁,pₖ₋₁,tₖ₋₁,sₖ₋₁, - pₖ,q̇ₖ, - invM, - dt,mass_norm - ) - restart_count = 0 - Λ_guess = 0.1 - while restart_count < max_restart - Λₖ .= repeat([Λ_guess,0,0],na) - x[ 1:nq] .= qₖ - x[ nq+1:nq+nλ] .= 0.0 - x[nq+nλ+1:nx] .= sₖ₋₁ - Λʳₖ .= Λₖ - Nmax = maxiters - for iteration = 1:maxiters - luJac = ns_stepk!( - Res,Jac, - F,∂F∂q,∂F∂q̇, - ∂F∂s,∂S∂q,∂S∂s, - 𝐁,𝐛,𝐜ᵀ,𝐲, - x,Λʳₖ, - contact_cache, - timestep,iteration - ) - # if (tₖ₋₁ == 0.096) & (iteration == 1) - # @show size(Jac) - # write("jac1.bin", Jac) - # end - if na == 0 - normRes = norm(Res) - if normRes < ftol - isconverged = true - iteration_break = iteration-1 - break - end - Δx .= luJac\(-Res) - x .+= Δx - else # na!=0 - normRes = norm(Res) - if normRes < ftol - isconverged = true - iteration_break = iteration-1 - break - elseif normRes > 1e10 - # force restart - iteration_break = iteration-1 - isconverged = false - break - elseif iteration == maxiters - iteration_break = iteration-1 - isconverged = false - end - get_distribution_law!(structure,contact_cache,x[1:nq]) - sd = 1/norm(Res)^2*I - ϕ0 = 0.5 - dϕ0 = -1.0 - c1 = 0.2 - α0 = 2.0 - 𝐍 .= 𝐜ᵀ*(luJac\𝐁) - for line_search_step = 1:5 - α0 /= 2 - 𝐡 = 𝐲 .-𝐜ᵀ*(luJac\(Res + (1/α0) .*𝐁*Λʳₖ)) - yₖini = 1/α0 .*𝐍*Λʳₖ + 𝐡 - Λₖini = deepcopy(Λʳₖ) - Λₖini[begin+1:3:end] .= 0.0 - Λₖini[begin+2:3:end] .= 0.0 - yₖini .= abs.(yₖini) - yₖini[begin+1:3:end] .= 0.0 - yₖini[begin+2:3:end] .= 0.0 - IPM!(Λₖ,na,nΛ,Λₖini,yₖini,(1/α0).*𝐍 .+ L,𝐡;ftol,Nmax) - ΔΛₖ .= (Λₖ - Λʳₖ) - minusResΛ = -Res + 𝐁*((1/α0).*ΔΛₖ) - Δx .= luJac\minusResΛ - ns_stepk!( - Res_α0,Jac_α0, - F,∂F∂q,∂F∂q̇,∂F∂s,∂S∂q,∂S∂s, - 𝐁t,𝐛,𝐜ᵀ,𝐲, - x.+Δx,Λʳₖ.+ΔΛₖ, - contact_cache, - timestep,iteration,false - ) - ϕα0 = (transpose(Res_α0)*sd*Res_α0)/2 - if ϕα0 <= ϕ0 + c1*α0*dϕ0 - break - end - end - Λₖ .= Λʳₖ .+ ΔΛₖ - Λʳₖ .= Λₖ - x .+= Δx - end - end - if isconverged - break - end - restart_count += 1 - if na > 0 - Λ_guess = max(Λ_guess/10,maximum(abs.(Λₖ[begin:3:end]))) - end - end - qₖ .= x[ 1:nq] - λₘ .= x[ nq+1:nq+nλ] - sₖ .= x[nq+nλ+1:nx] - pₖ .= Momentum_k(qₖ₋₁,pₖ₋₁,qₖ,λₘ,M,A,mass_norm,dt) - q̇ₖ .= invM*pₖ - Dₘ = contact_cache.cache.Dper - Dₖ = contact_cache.cache.Dimp - if na != 0 - update_contacts!(cₖ[contacts_bits],cₖ₋₁[contacts_bits],Dₘ*(qₖ.-qₖ₋₁).+Dₖ*q̇ₖ,2*Λₖ./(mass_norm*dt)) - end - - if !isconverged - @warn "Newton max iterations $maxiters, at timestep=$timestep, normRes=$(normRes), restart_count=$(restart_count), num_active_contacts=$(na), α0=$(α0)" - if exception - @error "Not converged!" - break - else - # sim.convergence = false - # break - end - end - - #---------Time Step k finisher----------- - if verbose || (na > 0 && verbose_contact) - dg_step = ceil(Int,log10(totalstep))+1 - dg_dt = max(1,-floor(Int,log10(dt))) - wd_t = ceil(Int,log10(traj.t[end]))+dg_dt+1+1 - progfmt = Printf.Format("Prog.: %5.1f%%, step: %$(dg_step)u, time: %$(wd_t).$(dg_dt)f, iters: %s, contacts: %s \n") - progstr = Printf.format(progfmt, - floor(timestep/totalstep*100;digits=1), timestep, traj.t[timestep], iteration_break, na - ) - print(progstr) - end - next!(prog) - end - bot -end diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl deleted file mode 100644 index 5367c6b..0000000 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl +++ /dev/null @@ -1,221 +0,0 @@ -struct Zhong06_Constant_Mass_Cluster_Cables_Cache{solT,cacheType} - solver::solT - cache::cacheType -end - -function generate_cache( - simulator::Simulator{<:AbstractDynamicsProblem}, - solver::DynamicsSolver{Zhong06,Nothing,MonolithicApparatusSolver{SmoothedFischerBurmeister}}, - ::Val{true}; - dt,kargs... - ) - (;prob) = simulator - (;bot,policy) = prob - (;traj,structure) = bot - options = merge( - (gravity=false,factor=1,checkpersist=true), #default - prob.options, - solver.options, - ) - @show "Yes" - (;M,M⁻¹,M̌,M̌⁻¹,Ḿ,M̄)= build_mass_matrices(structure) - A = make_cstr_jacobian(structure) - Φ = make_cstr_function(structure) - ψ = make_auxi_function_cluster(structure) - F!(F,q,s,q̇,t) = generalized_force!(F,bot,policy,q,q̇,t,s;gravity=options.gravity) - Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,policy,q,q̇,t) - q̌0 = traj.q̌[begin] - λ0 = traj.λ[begin] - q̇0 = traj.q̇[begin] - q̇0 = traj.q̇[begin] - p̌0 = traj.p̌[begin] .= Ḿ*q̇0 - s0 = traj.s[begin] - T = eltype(q̌0) - nq̌ = length(q̌0) - nλ = length(λ0) - ns = length(s0) - ∂F∂q̌ = zeros(T,nq̌,nq̌) - ∂F∂q̌̇ = zeros(T,nq̌,nq̌) - nx = nq̌ + nλ + ns - xₖ = vcat(q̌0,λ0,s0) - Res = zero(xₖ) - Jac = Res*transpose(Res) - Zhong06_Constant_Mass_Cluster_Cables_Cache( - solver, - @eponymtuple( - F!,Jac_F!, - Ḿ,M̌,M̄,M̌⁻¹,A,Φ,ψ, - ∂F∂q̌,∂F∂q̌̇, - nq̌,nλ,nx, - xₖ, - Res, - Jac, - options - ) - ) -end - -function retrieve!(sim,cache::Zhong06_Constant_Mass_Cluster_Cables_Cache) - -end - -function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cluster_Cables_Cache; - dt,ftol=1e-14,verbose=false,maxiters=50, - progress=true,exception=true) - (;prob,controller,tspan,restart,totalstep) = sim - (;bot,) = prob - (;traj) = bot - (; - F!,Jac_F!, - Ḿ,M̌,M̄,M̌⁻¹,A,Φ,ψ, - ∂F∂q̌,∂F∂q̌̇, - nq̌,nλ,nx, - xₖ, - Res, - Jac - ) = cache.cache - mr = norm(Ḿ,Inf) - mass_norm = mr - h = dt - T = get_numbertype(bot) - function make_Res_stepk(qₖ,q̌ₖ,λₖ,sₖ,qₖ₋₁,sₖ₋₁, p̌ₖ₋₁,F̌,Aᵀₖ₋₁,tₖ₋₁) - @inline @inbounds function inner_Res_stepk!(Res,x) - q̌ₖ .= x[ 1:nq̌ ] - λₖ .= x[nq̌+1:nq̌+nλ] - sₖ .= x[nq̌+nλ+1:nx] - qₘ = (qₖ.+qₖ₋₁)./2 - sₘ = (sₖ.+sₖ₋₁)./2 - q̇ₘ = (qₖ.-qₖ₋₁)./h - tₘ = tₖ₋₁+h/2 - F!(F̌,qₘ, sₘ, q̇ₘ, tₘ) - Res[ 1:nq̌ ] .= Ḿ*(qₖ.-qₖ₋₁) .- - h.*p̌ₖ₋₁ .- - (h^2)/2 .*F̌ .+ - mass_norm.*Aᵀₖ₋₁*λₖ - Res[nq̌+1:nq̌+nλ] .= mass_norm.*Φ(qₖ) - Res[nq̌+nλ+1:nx] .= ψ(sₖ) - end - end - - function Jac_stepk!(Jac,x,qₖ,sₖ,q̌ₖ,qₖ₋₁,sₖ₋₁, ∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) - q̌ₖ .= x[1:nq̌] - sₖ .= x[nq̌+nλ+1:end] - qₘ = (qₖ.+qₖ₋₁)./2 - q̇ₘ = (qₖ.-qₖ₋₁)./h - tₘ = tₖ₋₁+h/2 - sₘ = (sₖ.+sₖ₋₁)./2 - Jac_F!(∂F∂q̌,∂F∂q̌̇,qₘ,q̇ₘ,tₘ) - ζ = build_ζ(bot.structure) - ∂ζ∂q = build_∂ζ∂q(bot.structure) - ∂ζ∂s = build_∂ζ∂s̄(bot.structure) - n = length(ζ) - ∂s̄∂s̄ = I(n) - ∂F∂s̄ = build_∂Q̌∂s̄(bot.structure) - κ₁ = 10; κ₂ = 100 - cosₘ = 1/2 - coqₘ = 1/2 - coes = diagm([((ζ[i]/κ₁)^2 + (κ₂*sₖ[i])^2)^(-1/2) for i in 1:n]) - coζ = coes*diagm([ζ[i]/κ₁^2 for i in 1:n]) - diagm([1/κ₁ for i in 1:n]) - cos̄ = coes*diagm([κ₂^2*sₖ[i] for i in 1:n]) - diagm([κ₂ for i in 1:n]) - - Jac[ 1:nq̌ , 1:nq̌ ] .= M̌.-(h^2)/2 .*(1/2 .*∂F∂q̌.+1/h.*∂F∂q̌̇) - Jac[ 1:nq̌ ,nq̌+1:nq̌+nλ] .= mass_norm.*Aᵀₖ₋₁ - Jac[ 1:nq̌ ,nq̌+nλ+1:end] .= -1/2 * h^2 .* ∂F∂s̄ * cosₘ - - Jac[nq̌+1:nq̌+nλ, 1:nq̌ ] .= mass_norm.*A(qₖ) - Jac[nq̌+1:nq̌+nλ, nq̌+1:nq̌+nλ ] .= 0.0 - Jac[nq̌+1:nq̌+nλ, nq̌+nλ+1:end ] .= 0.0 - - Jac[nq̌+nλ+1:end,1:nq̌] .= coζ*∂ζ∂q*coqₘ - Jac[nq̌+nλ+1:end,nq̌+1:nq̌+nλ] .= 0.0 - Jac[nq̌+nλ+1:end,nq̌+nλ+1:end] .= coζ*∂ζ∂s*cosₘ + cos̄*∂s̄∂s̄ - end - - iteration_break = 0 - prog = Progress(totalstep; dt=1.0, enabled=progress) - dg_step = ceil(Int,log10(totalstep))+1 - dg_dt = max(1,-floor(Int,log10(h))) - wd_t = ceil(Int,log10(traj.t[end]))+dg_dt+1+1 - progfmt = Printf.Format("Progress: %5.1f%%, step: %$(dg_step)u, time: %$(wd_t).$(dg_dt)f, iterations: %s \n") - - for timestep = 1:totalstep - #---------Step k Control----------- - # control!(sim,cache) - #---------Step k Control----------- - tₖ₋₁ = traj.t[timestep] - tₖ = traj.t[timestep+1] - qₖ₋₁ = traj.q[timestep] - sₖ₋₁ = traj.s[timestep] - q̌ₖ₋₁ = traj.q̌[timestep] - q̌̇ₖ₋₁ = traj.q̌̇[timestep] - p̌ₖ₋₁ = traj.p̌[timestep] - qₖ = traj.q[timestep+1] - sₖ = traj.s[timestep+1] - q̌ₖ = traj.q̌[timestep+1] - q̌̇ₖ = traj.q̌̇[timestep+1] - q̃̇ₖ = traj.q̃̇[timestep+1] - λₖ = traj.λ[timestep+1] - p̌ₖ = traj.p̌[timestep+1] - F̌ = traj.F̌[timestep+1] - xₖ[ 1:nq̌] .= q̌ₖ₋₁ .+ h.*q̌̇ₖ₋₁ - xₖ[nq̌+1:nq̌+nλ] .= 0 - xₖ[nq̌+nλ+1:nx] .= sₖ₋₁ - Aᵀₖ₋₁ = transpose(A(qₖ₋₁)) - Res_stepk! = make_Res_stepk(qₖ,q̌ₖ,λₖ,sₖ,qₖ₋₁,sₖ₋₁,p̌ₖ₋₁,F̌,Aᵀₖ₋₁,tₖ₋₁) - isconverged = false - normRes = typemax(T) - if false#Jac_F! isa Missing - dfk = OnceDifferentiable(Res_stepk!,xₖ,Res) - Res_stepk_result = nlsolve(dfk, xₖ; ftol, iterations=maxiters, method=:newton) - isconverged = converged(Res_stepk_result) - iteration_break = Res_stepk_result.iterations - Res_stepk_result.iterations - xₖ .= Res_stepk_result.zero - else - for iteration = 1:maxiters - Res_stepk!(Res,xₖ) - normRes = norm(Res) - if normRes < ftol - isconverged = true - iteration_break = iteration-1 - break - end - # FiniteDiff.finite_difference_jacobian!(Jac,Res_stepk!,xₖ,Val{:central}) - Jac_stepk!(Jac,xₖ,qₖ,sₖ,q̌ₖ,qₖ₋₁,sₖ₋₁,∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) - xₖ .+= Jac\(-Res) - end - # dfk = OnceDifferentiable(Res_stepk!,Jac_stepk!,xₖ,Res) - end - - if !isconverged - # Res_stepk!(Res,xₖ) - # Jac_stepk!(Jac,xₖ,qₖ,sₖ,q̌ₖ,qₖ₋₁,sₖ₋₁,∂F∂q̌,∂F∂q̌̇,Aᵀₖ₋₁,tₖ₋₁) - # write("j1.bin", Jac) - # FiniteDiff.finite_difference_jacobian!(Jac,Res_stepk!,xₖ,Val{:central}) - # write("j2.bin", Jac) - if exception - error("Not Converged! Step=$timestep, normRes=$normRes") - else - # sim.convergence = false - break - end - end - q̌ₖ .= xₖ[ 1:nq̌ ] - λₖ .= xₖ[nq̌+1:nq̌+nλ] - sₖ .= xₖ[nq̌+nλ+1:nx] - Momentum_k!(p̌ₖ,p̌ₖ₋₁,qₖ,qₖ₋₁,λₖ,Ḿ,A,Aᵀₖ₋₁,mass_norm,h) - q̌̇ₖ .= M̌⁻¹*(p̌ₖ.-M̄*q̃̇ₖ ) - #---------Step k finisher----------- - #---------Step k finisher----------- - if verbose - progstr = Printf.format( - progfmt, - floor(timestep/totalstep*100;digits=1), timestep, tₖ, iteration_break - ) - print(progstr) - end - next!(prog) - end - - bot -end diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_sliding_cable_FB.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_sliding_cable_FB.jl deleted file mode 100644 index c624ed2..0000000 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_sliding_cable_FB.jl +++ /dev/null @@ -1,234 +0,0 @@ - - -struct FBZhong06Cache{MMT, AT, ΦT, ΨT} - mass_matrices::MMT - A::AT - Φ::ΦT - Ψ::ΨT -end - -function generate_cache( - simulator::Simulator{DynamicsProblem{RobotType,Contactless,SlidingTendon}}, - solver::DynamicsSolver{Zhong06}; - dt,kargs... - ) where RobotType - (;prob) = simulator - (;bot,dynfuncs) = prob - # F!,_ = dynfuncs - mm = build_mass_matrices(bot) - # (;M) = mm - A = make_cstr_jacobian(bot) - Φ = make_cstr_function(bot) - Ψ = make_Ψ(bot.structure) - FBZhong06Cache(mm,A,Φ,Ψ) -end - -function solve!(simulator::Simulator,cache::FBZhong06Cache; - dt,ftol=1e-14,verbose=false,iterations=50, - progress=true,exception=true) - (;prob,controller,tspan,restart,totalstep) = simulator - (;bot,dynfuncs) = prob - (;traj) = bot - (;F!,Jac_F!) = dynfuncs - (;actuate!) = controller - (;mass_matrices,A,Φ,Ψ) = cache - (;Ḿ,M̌,M̄,M̌⁻¹) = mass_matrices - q̌0 = traj.q̌[begin] - λ0 = traj.λ[begin] - q̇0 = traj.q̇[begin] - s0 = traj.s[begin] - T = eltype(q̌0) - nq̌ = length(q̌0) - nλ = length(λ0) - ns = length(s0) - ∂F∂q̌ = zeros(T,nq̌,nq̌) - ∂F∂q̌̇ = zeros(T,nq̌,nq̌) - p̌ᵏ⁻¹ = Ḿ*q̇0 - p̌ᵏ = zero(p̌ᵏ⁻¹) - step = 0 - initial_x = vcat(q̌0,λ0,s0) - initial_Res = zero(initial_x) - nx = length(initial_x) - mr = norm(Ḿ,Inf) - scaling = mr - - function make_Res_stepk(qᵏ,q̌ᵏ,λᵏ,sᵏ,qᵏ⁻¹,p̌ᵏ⁻¹,F̌,Aᵀ,tᵏ⁻¹) - @inline @inbounds function inner_Res_stepk!(Res,x) - h = dt - q̌ᵏ .= x[ 1:nq̌ ] - λᵏ .= x[nq̌+1:nq̌+nλ] - sᵏ .= x[nq̌+nλ+1:nx] - F!(F̌,(qᵏ.+qᵏ⁻¹)./2,(qᵏ.-qᵏ⁻¹)./h,sᵏ,tᵏ⁻¹+h/2) - Res[ 1:nq̌ ] .= Ḿ*(qᵏ.-qᵏ⁻¹) .- - h.*p̌ᵏ⁻¹ .- - (h^2)/2 .*F̌ .+ - scaling.*Aᵀ*λᵏ - Res[nq̌+1:nq̌+nλ] .= scaling.*Φ(qᵏ) - # Res[1:nq̌] .-= (h^2)/2 .* F̌ - Res[nq̌+nλ+1:nx] .= Ψ(sᵏ) - end - end - - - - function make_Jac_stepk(qᵏ,q̌ᵏ,sᵏ,qᵏ⁻¹,∂F∂q̌,∂F∂q̌̇,Aᵀ,tᵏ⁻¹) - @inline @inbounds function inner_Jac_stepk!(Jac,x) - h = dt - q̌ᵏ .= x[1:nq̌] - sᵏ .= x[nq̌+nλ+1:nx] - ζ = build_ζ(bot.structure) - ∂ζ∂q = build_∂ζ∂q(bot.structure, q̌ᵏ) - ∂ζ∂s = build_∂ζ∂s̄(bot.structure) - n = length(ζ) - ∂s̄∂s̄ = I(n) - κ₁ = 10; κ₂ = 10 - coes = diagm([((ζ[i]/κ₁)^2 + (κ₂*sᵏ[i])^2)^(-1/2) for i in 1:n]) - coζ = coes*diagm([ζ[i]/κ₁^2 for i in 1:n]) - diagm([1/κ₁ for i in 1:n]) - cos̄ = coes*diagm([κ₂^2*sᵏ[i] for i in 1:n]) - diagm([κ₂ for i in 1:n]) - # Jac_F!(∂F∂q̌,∂F∂q̌̇,(qᵏ.+qᵏ⁻¹)./2,(qᵏ.-qᵏ⁻¹)./h,tᵏ⁻¹+h/2) - ∂Q̌∂q̌̇ = build_tangent_stiffness_matriẋ(bot.structure) - ∂Q̌∂q̌ = build_tangent_stiffness_matrix(bot.structure) - ∂Q̌∂s̄ = build_∂Q̌∂s̄(bot.structure) - Jac[ 1:nq̌ , 1:nq̌ ] .= M̌.-h^2/2 .*(1/2 .*∂Q̌∂q̌.+1/h.*∂Q̌∂q̌̇) - Jac[ 1:nq̌ , nq̌+1:nq̌+nλ ] .= scaling.*Aᵀ - # @show nq̌, length(Jac[1, nq̌+nλ+1:end]) - # @show size(∂Q̌∂s̄) - Jac[ 1:nq̌ , nq̌+nλ+1:end] .= -1/2 * dt^2 .* ∂Q̌∂s̄ - Jac[nq̌+1:nq̌+nλ, 1:nq̌ ] .= scaling.*A(qᵏ) - Jac[nq̌+1:nq̌+nλ,nq̌+1:nq̌+nλ] .= 0.0 - Jac[nq̌+1:nq̌+nλ,nq̌+nλ+1:end] .= 0.0 - Jac[nq̌+nλ+1:end,1:nq̌] .= 1/2 * coζ*∂ζ∂q - Jac[nq̌+nλ+1:end,nq̌+1:nq̌+nλ+1] .= 0.0 - Jac[nq̌+nλ+1:end,nq̌+nλ+1:end] .= coζ *∂ζ∂s + cos̄*∂s̄∂s̄ - end - end - - function test(qᵏ,q̌ᵏ,sᵏ,qᵏ⁻¹,∂F∂q̌,∂F∂q̌̇,Aᵀ,tᵏ⁻¹) - @inline @inbounds function inner_Jac_stepk!(x) - h = dt - q̌ᵏ .= x[1:nq̌] - sᵏ .= x[nq̌+nλ+1:nx] - ζ = build_ζ(bot.structure) - ∂ζ∂q = Record_build_∂ζ∂q(bot.structure, q̌ᵏ,"t1.xlsx","t1") - ∂ζ∂s = build_∂ζ∂s̄(bot.structure) - n = length(ζ) - ∂s̄∂s̄ = I(n) - κ₁ = 10; κ₂ = 10 - coes = diagm([((ζ[i]/κ₁)^2 + (κ₂*sᵏ[i])^2)^(-1/2) for i in 1:n]) - coζ = coes*diagm([ζ[i]/κ₁^2 for i in 1:n]) - diagm([1/κ₁ for i in 1:n]) - cos̄ = coes*diagm([κ₂^2*sᵏ[i] for i in 1:n]) - diagm([κ₂ for i in 1:n]) - # Jac_F!(∂F∂q̌,∂F∂q̌̇,(qᵏ.+qᵏ⁻¹)./2,(qᵏ.-qᵏ⁻¹)./h,tᵏ⁻¹+h/2) - ∂Q̌∂q̌̇ = build_tangent_stiffness_matriẋ(bot.structure) - ∂Q̌∂q̌ = build_tangent_stiffness_matrix(bot.structure) - ∂Q̌∂s̄ = build_∂Q̌∂s̄(bot.structure) - # @show nq̌, length(Jac[1, nq̌+nλ+1:end]) - # @show size(∂Q̌∂s̄) - return coζ, ∂ζ∂q, q̌ᵏ - end - end - - total_iterations = 0 - prog = Progress(totalstep; dt=1.0, enabled=progress) - for timestep = 1:totalstep - #---------Step k Control----------- - # control!(sim,cache) - #---------Step k Control----------- - tᵏ⁻¹ = traj.t[timestep] - tᵏ = traj.t[timestep+1] - qᵏ⁻¹ = traj.q[timestep] - sᵏ⁻¹ = traj.s[timestep] - sᵏ = traj.s[timestep+1] - qᵏ = traj.q[timestep+1] - q̌ᵏ = traj.q̌[timestep+1] - q̌̇ᵏ = traj.q̌̇[timestep+1] - q̃̇ᵏ = traj.q̃̇[timestep+1] - λᵏ = traj.λ[timestep+1] - F̌ = traj.F̌[timestep+1] - initial_x[ 1:nq̌] .= traj.q̌[timestep] - initial_x[nq̌+1:nq̌+nλ] .= traj.λ[timestep] - initial_x[nq̌+nλ+1:nx] .= traj.s[timestep] - initial_x - Aᵀ = transpose(A(qᵏ⁻¹)) - if !(actuate! isa Missing) - actuate!(bot.structure, tᵏ⁻¹; dt) - end - Res_stepk! = make_Res_stepk(qᵏ,q̌ᵏ,λᵏ,sᵏ,qᵏ⁻¹,p̌ᵏ⁻¹,F̌,Aᵀ,tᵏ⁻¹) - if Jac_F! isa Missing - dfk = OnceDifferentiable(Res_stepk!,initial_x,initial_Res) - else - - Jac_stepk! = make_Jac_stepk(qᵏ,q̌ᵏ,sᵏ,qᵏ⁻¹,∂F∂q̌,∂F∂q̌̇,Aᵀ,tᵏ⁻¹) - dfk = OnceDifferentiable(Res_stepk!,Jac_stepk!,initial_x,initial_Res) - end - - # if timestep==totalstep - # nx = length(initial_x) - # output = zeros(nx, nx) - # FiniteDiff.finite_difference_jacobian!(output, Res_stepk!, initial_x) - # J = zeros(Float64, nx, nx) - # J[findall(x->abs(x)<1e-7, J)] .= 0 - # Jac_stepk!(J, initial_x) - # diff = J - output - - # test! = test(qᵏ,q̌ᵏ,sᵏ,qᵏ⁻¹,∂F∂q̌,∂F∂q̌̇,Aᵀ,tᵏ⁻¹) - # global coζ, dζdq, q̌ = test!(initial_x) - # h1,w1 = size(coζ); h2, w2 = size(dζdq) - # w3 = length(q̌) - # XLSX.openxlsx("t1.xlsx", mode="rw") do xf - # s1 = xf["前向差分"] - # s2 = xf["精确值"] - # s3 = xf["两者之差"] - # s4 = xf["Temp"] - # for i in 1:nx - # s1[i, 1:nx] = output[i, :] - # s2[i, 1:nx] = J[i, :] - # s3[i, 1:nx] = diff[i, :] - # end - # for i in 1:h1 - # s4[i, 1:w1] = coζ[i, :] - # end - # for i in h1+1:h1+h2 - # s4[i, 1:w2] = dζdq[i-h1, :] - # end - # for i in h1+h2+1 - # s4[i, 1:w3] = q̌[1:w3] - # end - # end - # end - - Res_stepk_result = nlsolve(dfk, initial_x; ftol, iterations, method=:newton) - - if converged(Res_stepk_result) == false - if exception - error("Not Converged! Step=$timestep") - else - # sim.convergence = false - break - end - end - total_iterations += Res_stepk_result.iterations - xᵏ = Res_stepk_result.zero - q̌ᵏ .= xᵏ[ 1:nq̌ ] - λᵏ .= xᵏ[nq̌+1:nq̌+nλ] - sᵏ .= xᵏ[nq̌+nλ+1:nx] - Momentum_k!(p̌ᵏ,p̌ᵏ⁻¹,qᵏ,qᵏ⁻¹,λᵏ,Ḿ,A,Aᵀ,dt) - q̌̇ᵏ .= M̌⁻¹*(p̌ᵏ.-M̄*q̃̇ᵏ ) - #---------Step k finisher----------- - step += 1 - p̌ᵏ,p̌ᵏ⁻¹ = p̌ᵏ⁻¹,p̌ᵏ - #---------Step k finisher----------- - if verbose - dg_step = ceil(Int,log10(totalstep))+1 - dg_dt = max(1,-floor(Int,log10(dt))) - wd_t = ceil(Int,log10(traj.t[end]))+dg_dt+1+1 - progfmt = Printf.Format("Progress: %5.1f%%, step: %$(dg_step)u, time: %$(wd_t).$(dg_dt)f, iterations: %s \n") - progstr = Printf.format(progfmt, - floor(timestep/totalstep*100;digits=1), timestep, tᵏ, Res_stepk_result.iterations - ) - print(progstr) - end - next!(prog) - end - - bot -end diff --git a/src/mechanics/solvers.jl b/src/mechanics/solvers.jl index f932472..4d83cc2 100644 --- a/src/mechanics/solvers.jl +++ b/src/mechanics/solvers.jl @@ -418,12 +418,10 @@ include("dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl") include("dynamics_solvers/Zhong06_family/Zhong06_nonconstant_mass.jl") include("dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass.jl") include("dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_mono.jl") -include("dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_cluster_cables.jl") include("dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_hole.jl") include("dynamics_solvers/Zhong06_family/Zhong06_CCP_nonconstant_mass.jl") include("dynamics_solvers/Zhong06_family/Zhong06_frictionless_nonconstant_mass.jl") include("dynamics_solvers/Zhong06_family/Zhong06_frictionless_nonconstant_mass_mono.jl") -include("dynamics_solvers/Zhong06_family/Zhong06_constant_mass_cluster_cables.jl") include("dynamics_solvers/Zhong06_family/Zhong06_constant_mass_hole.jl") # include("dynamics_solvers/Zhong06_family/Zhong06_nonholonomic_nonsmooth.jl") From 7432a13077ac63b536809eaee7a200f82daed582 Mon Sep 17 00:00:00 2001 From: Jacob <88961633+jacobleft@users.noreply.github.com> Date: Tue, 21 May 2024 19:31:26 +0800 Subject: [PATCH 20/20] merge branch 'dev'; # Conflicts: # examples/robots/jixiebi.jl # src/control/control.jl # src/get.jl # src/mechanics/contact.jl # src/mechanics/dynamics.jl # src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_hole.jl # src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl # src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass_hole.jl # src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_sliding_cable_FB.jl # src/members/apparatus.jl # src/postprocess/vis.jl # src/structures/constraints.jl # src/structures/linearization.jl # src/structures/mutate.jl # src/structures/structure.jl # test/vis.jl # yard/jixiebi/Group2_1.jl --- ...351\235\242\345\275\242\347\212\266-1.STL" | Bin ...-\351\232\217\345\212\250\346\256\265.STL" | Bin 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test/Project.toml | 2 +- test/vis.jl | 50 +- yard/DualTriangles/static_stability.jl | 2 +- yard/ES/main.jl | 2 +- yard/EWei/main.jl | 59 +-- yard/EWei/t2.jl | 2 +- yard/EWei/test1.jl | 2 +- yard/LC/free_copy.jl | 2 +- yard/URDF/urdf.jl | 2 +- yard/adjoint.jl | 3 +- yard/adjoint/diffcontact.jl | 155 ++++++ yard/gravitational/cube.jl | 176 +++++++ yard/jixiebi/Group2_1.jl | 2 +- yard/jixiebi/dyfun.jl | 2 +- yard/links/dynamics.jl | 2 +- yard/links/link2.jl | 4 +- yard/manipulator/controller_Lya.jl | 2 +- yard/manipulator/eigen.jl | 2 +- yard/manipulator/free.jl | 2 +- yard/manipulator/man_vibra.jl | 2 +- yard/manipulator/planning.jl | 2 +- yard/manipulator/static_stability.jl | 2 +- yard/ming/ming.jl | 2 +- yard/ming/verify.jl | 2 +- yard/nonsmooth/cube.jl | 50 -- yard/nonsmooth/make_notebooks.jl | 22 +- yard/nonsmooth/superball.jl | 65 ++- yard/spine3d/main.jl | 2 +- .../deps.jl => stability_stiffness.jl} | 0 yard/stiffness/Tbars.jl | 76 +-- yard/stiffness/main.jl | 288 +++++++---- yard/tail/bai.jl | 401 +++++++------- yard/tail/curve.jl | 23 - yard/tail/dynamics.jl | 2 +- yard/tail/plotting.jl | 65 --- yard/tail/swing.jl | 74 --- yard/tail/test.jl | 53 -- 103 files changed, 2419 insertions(+), 1404 deletions(-) rename "yard/EWei/STL/\346\210\252\351\235\242\345\275\242\347\212\266-1.STL" => "assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-1.STL" (100%) rename "yard/EWei/STL/\346\210\252\351\235\242\345\275\242\347\212\266-10-\351\232\217\345\212\250\346\256\265.STL" => "assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-10-\351\232\217\345\212\250\346\256\265.STL" (100%) create mode 100644 "assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-2.STL" rename "yard/EWei/STL/\346\210\252\351\235\242\345\275\242\347\212\266-3.STL" => "assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-3.STL" (100%) rename "yard/EWei/STL/\346\210\252\351\235\242\345\275\242\347\212\266-4-\351\232\217\345\212\250\346\256\265.STL" => "assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-4-\351\232\217\345\212\250\346\256\265.STL" (100%) create mode 100644 "assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-5-\351\232\217\345\212\250\346\256\265.STL" rename "yard/EWei/STL/\346\210\252\351\235\242\345\275\242\347\212\266-6-\351\232\217\345\212\250\346\256\265.STL" => "assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-6-\351\232\217\345\212\250\346\256\265.STL" (100%) rename "yard/EWei/STL/\346\210\252\351\235\242\345\275\242\347\212\266-7-\351\232\217\345\212\250\346\256\265.STL" => "assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-7-\351\232\217\345\212\250\346\256\265.STL" (100%) rename "yard/EWei/STL/\346\210\252\351\235\242\345\275\242\347\212\266-8-\351\232\217\345\212\250\346\256\265.STL" => "assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-8-\351\232\217\345\212\250\346\256\265.STL" (100%) create mode 100644 "assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-9-\351\232\217\345\212\250\346\256\265.STL" create mode 100644 "assets/EWei_STL/\350\243\205\351\205\215\344\275\223-\344\270\255\351\227\264\346\242\2016.0-32.STL" create mode 100644 "assets/EWei_STL/\350\243\205\351\205\215\344\275\223-\344\270\255\351\227\264\346\242\2016.0-40.STL" rename "yard/EWei/STL/\350\243\205\351\205\215\344\275\223-\344\270\255\351\227\264\351\203\250\345\210\206.STL" => "assets/EWei_STL/\350\243\205\351\205\215\344\275\223-\344\270\255\351\227\264\351\203\250\345\210\206.STL" (100%) rename "yard/EWei/STL/\350\243\205\351\205\215\344\275\223-\344\270\273\345\212\250-\351\232\217\345\212\250.STL" => "assets/EWei_STL/\350\243\205\351\205\215\344\275\223-\344\270\273\345\212\250-\351\232\217\345\212\250.STL" (100%) create mode 100644 "assets/EWei_STL/\350\243\205\351\205\215\344\275\223-\347\224\265\346\234\272.STL" rename "yard/tail/\345\260\276\351\263\215-v1 - \347\241\254.STL" => "assets/tail/\345\260\276\351\263\215-v1 - \347\241\254.STL" (100%) rename "yard/tail/\345\260\276\351\263\215-v1-\350\275\257.STL" => "assets/tail/\345\260\276\351\263\215-v1-\350\275\257.STL" (100%) rename "yard/tail/\346\221\206\346\235\206-v1.2.2.STL" => "assets/tail/\346\221\206\346\235\206-v1.2.2.STL" (100%) rename "yard/tail/\346\226\260\345\273\272\346\226\207\346\234\254\346\226\207\346\241\243.txt" => "assets/tail/\346\226\260\345\273\272\346\226\207\346\234\254\346\226\207\346\241\243.txt" (100%) rename "yard/tail/\350\202\213\347\211\207-3.STL" => "assets/tail/\350\202\213\347\211\207-3.STL" (100%) rename "yard/tail/\350\202\213\347\211\207-4.STL" => "assets/tail/\350\202\213\347\211\207-4.STL" (100%) rename "yard/tail/\350\202\213\347\211\207-5 - \345\211\257\346\234\254.STL" => "assets/tail/\350\202\213\347\211\207-5 - \345\211\257\346\234\254.STL" (100%) rename "yard/tail/\350\202\213\347\211\207-7 - \345\211\257\346\234\254.STL" => "assets/tail/\350\202\213\347\211\207-7 - \345\211\257\346\234\254.STL" (100%) rename "yard/tail/\350\202\213\347\211\207-7 - \347\241\254\350\277\236\346\216\245.STL" => "assets/tail/\350\202\213\347\211\207-7 - \347\241\254\350\277\236\346\216\245.STL" (100%) rename "yard/tail/\350\243\205\351\205\215\344\275\223\345\244\264\351\203\250-1.2.3.STL" => "assets/tail/\350\243\205\351\205\215\344\275\223\345\244\264\351\203\250-1.2.3.STL" (100%) rename yard/EWei/define.jl => examples/robots/EWei.jl (81%) create mode 100644 examples/robots/bai.jl create mode 100644 examples/robots/cube.jl create mode 100644 src/members/forces/gravitational.jl create mode 100644 yard/adjoint/diffcontact.jl create mode 100644 yard/gravitational/cube.jl rename yard/{stiffness/deps.jl => stability_stiffness.jl} (100%) delete mode 100644 yard/tail/curve.jl delete mode 100644 yard/tail/plotting.jl delete mode 100644 yard/tail/swing.jl delete mode 100644 yard/tail/test.jl diff --git "a/yard/EWei/STL/\346\210\252\351\235\242\345\275\242\347\212\266-1.STL" "b/assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-1.STL" similarity index 100% rename from "yard/EWei/STL/\346\210\252\351\235\242\345\275\242\347\212\266-1.STL" rename to "assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-1.STL" diff --git "a/yard/EWei/STL/\346\210\252\351\235\242\345\275\242\347\212\266-10-\351\232\217\345\212\250\346\256\265.STL" "b/assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-10-\351\232\217\345\212\250\346\256\265.STL" similarity index 100% rename from "yard/EWei/STL/\346\210\252\351\235\242\345\275\242\347\212\266-10-\351\232\217\345\212\250\346\256\265.STL" rename to "assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-10-\351\232\217\345\212\250\346\256\265.STL" diff --git "a/assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-2.STL" "b/assets/EWei_STL/\346\210\252\351\235\242\345\275\242\347\212\266-2.STL" new 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zt$5C4OL0WEqFG>joKa2Rbsmq7fK`s?%(4{ctdv9FH@Wt5vBS9RbUuXRwvX^Cjqc=RF?H0^1{BX&#S`faTG@0In}V zPfra?xtayG$9dAvsaJ;Qi(1nl~m9wQ!`qJOb~?U6olJf4v| zZ+gCXY>H-q?U9~(JURkaInsm2V^cH>Y>$jMuN@#cx;M{S7BLkd3^nK*NTk0 zQS0=UALpzTJ&C<;0M@P`Rs_65Xj3!`?5oOLbXrtLz{<;tfIT)vv%vP~lTSJVR$kT+ z?6E1D1-8e(XVm;Bt+pdzH-q?QzQR^IX|Hi5&qu zuiw2JZ;C!I6>N{^$tU-Fd|1lM+j@I!ie`cBk-6xUqa$GDWfj04o1$6Zl*1<+jYmho z&im(?m;RDHg{L*?Or#G5tBb98c>Hu5oLpIbF|Kl)y`0+V7>^G{u4-7|M_rAgBVgrC zy~QJS^`U4MIOV8QtvUkswa>FaITl5qMhmt_p2U>gxg5Fk<~feXrf3$}nbM-hqa$FI zBkeIBo1$4@d!%O=kB)%lk$xo}o1$4@d!&c^ThCQT!174{7>`ZSEU-P&Q;$bS!172x zpM9^JqFG>jWW<>_EFA&MgS|$^o8rm3_ZrQ)eQ&j@X@k9QAy|1?UA{cNDw+kp>WWhl zUmXD}FKf{DICb?^(Jb(F&pF-k)e*4rvTALQbI-pjngzCp#tyYA)m2Bp%FAlFJvK$N z!1g#TieHegj)2FbPK3Yy$vRgBOSxD-Z-qTh8QyADDhI6pEBbWk^EJFh@nqd=>DNh3 z;{nU=X6dR}OLtx6q^1u=v%t=jx#%c50#;tu= zN<212v%vO94>!L*Is%qQ`p0-|ie`cBk)C=yIs%qQ`uY5uV^cH>Y!A&U)ehA make_patch(;scale=1/1000,color=:mediumpurple4) + load(RB.assetpath("零件1 - 副本.STL")) |> RB.make_patch(;scale=1/1000,color=:mediumpurple4) else - load(RB.assetpath("零件1.STL")) |> make_patch(;scale=1/1000,color=:slategray4) + load(RB.assetpath("零件1.STL")) |> RB.make_patch(;scale=1/1000,color=:slategray4) end end body = RB.RigidBody(prop,state,coords,trimesh) diff --git a/examples/bodies/make_3d_tri.jl b/examples/bodies/make_3d_tri.jl index 6335306..cab66d4 100644 --- a/examples/bodies/make_3d_tri.jl +++ b/examples/bodies/make_3d_tri.jl @@ -92,7 +92,7 @@ if loadmesh else trimesh = GB.merge( [ - endpoints2mesh(loci_positions[i],loci_positions[j]; + RB.endpoints2mesh(loci_positions[i],loci_positions[j]; radius,color) for (i,j) in [ [1,2],[1,3],[1,4], diff --git a/yard/EWei/define.jl b/examples/robots/EWei.jl similarity index 81% rename from yard/EWei/define.jl rename to examples/robots/EWei.jl index a2832e7..c4acce8 100644 --- a/yard/EWei/define.jl +++ b/examples/robots/EWei.jl @@ -40,7 +40,7 @@ function BuildTail() function Get_apsAB(r̄, mass_locus) ri = r̄ rj = r̄ + 2* [mass_locus[2], mass_locus[1]] - aps = [[0.0, 0.0], 2r̄g, [15.1, 0.0]] + aps = [[0.0, 0.0], 2r̄, [15.1, 0.0]] return ri, rj, aps end @@ -161,7 +161,8 @@ function BuildTail() α = atan(u[2], u[1]) mass_locus = rdsi.mass_locus m = rdsi.m*1e-3 - I = rdsi.i + ## I = rdsi.i + @show m nrp = length(aps) ṙo = zeros(2); ω = 0.0 prop = RB.RigidBodyProperty( @@ -169,8 +170,8 @@ function BuildTail() contactable, m, SMatrix{2, 2}([ - I 0 - 0 0 + m 0 + 0 m ]), SVector{2}(mass_locus), [SVector{2}(aps[i]) for i in 1:nrp], @@ -178,34 +179,20 @@ function BuildTail() ) ro = SVector{2}(ri) if i in rigidIndex - nmcs = RB.NCF.NC2P1V(SVector{2}(ri), SVector{2}(rj), ro, α) + @show i, "NC2P1V", ri, rj + nmcs = RB.NCF.NC2P1V(SVector{2}(ri), SVector{2}(rj), ro, RB.rotation_matrix(α)) else - nmcs = RB.NCF.NC2D2P(SVector{2}(ri), SVector{2}(rj), ro, α) + @show i, "NC2D2P" + nmcs = RB.NCF.NC2D2P(SVector{2}(ri), SVector{2}(rj), ro, RB.rotation_matrix(α)) end - state = RB.RigidBodyState(prop, nmcs, ri, α, ṙo, ω, ci, cstr_idx) - body = RB.RigidBody(prop, state) + state = RB.RigidBodyState(prop, ri, α, ṙo, ω, ) + coords = RB.NonminimalCoordinates(nmcs, ci, cstr_idx) + body = RB.RigidBody(prop, state,coords) end rbs = [rigidbody(i, rds[i], r̄s[i]) for i in 1:nb] rigdibodies = TypeSortedCollection(rbs) - numbered = RB.number(rigdibodies) - matrix_sharing_raw = Vector{Matrix{Int}}() - for i in 1:nb-1 - s = zeros(2, nb) - if i == 1 - s[1:2, 1] = 3:4 - s[1:2, 2] = 1:2 - elseif i in 2:2:16 - s[1:2, i] = 1:2 - s[1:2, i+1] = 1:2 - else - s[1:2, i] = 3:4 - s[1:2, i+1] = 1:2 - end - push!(matrix_sharing_raw, s) - end - matrix_sharing = reduce(vcat, matrix_sharing_raw) - indexed = RB.index(rigdibodies, matrix_sharing) + nstrings = 8 * 4 + 8 * 2 ks = zeros(nstrings); restlens = zeros(nstrings) for i in 1:4*8 @@ -217,8 +204,7 @@ function BuildTail() restlens[i] = 25 ks[i] = 0.3 end - cables = [RB.DistanceSpringDamper2D( restlens[i], ks[i], 0.0) for i in 1:nstrings] - apparatuses = (cables=cables,) + spring_dampers = [RB.DistanceSpringDamper2D( restlens[i], ks[i], 0.0) for i in 1:nstrings] matrix_cnt_raw = Vector{Matrix{Int}}() s = zeros(4, nb) @@ -245,11 +231,45 @@ function BuildTail() s[2, i] = 2; s[2, i+1] = -2 push!(matrix_cnt_raw, s) end - matrix_cnt = reduce(vcat, matrix_cnt_raw) - tensiled = (connected=RB.connect(rigdibodies, matrix_cnt),) - cnt = RB.Connectivity(numbered, indexed, tensiled) + connecting_matrix = reduce(vcat, matrix_cnt_raw) + spring_dampers = RB.connect(rigdibodies, spring_dampers;connecting_matrix) + apparatuses = TypeSortedCollection( + spring_dampers + ) + + numbered = RB.number(rigdibodies, apparatuses) + + matrix_sharing_raw = Vector{Matrix{Int}}() + for i in 1:nb-1 + s = zeros(2, nb) + if i == 1 + s[1:2, 1] = 3:4 + s[1:2, 2] = 1:2 + elseif i in 2:2:16 + s[1:2, i] = 1:2 + s[1:2, i+1] = 1:2 + else + s[1:2, i] = 3:4 + s[1:2, i+1] = 1:2 + end + push!(matrix_sharing_raw, s) + end + sharing_matrix = reduce(vcat, matrix_sharing_raw) + indexed = RB.index(rigdibodies, apparatuses; sharing_matrix) + cnt = RB.Connectivity( + numbered, + indexed, + ) st = RB.Structure(rigdibodies, apparatuses, cnt) - bot = RB.Robot(st,) + gauges = Int[] + actuators = Int[] + hub = RB.ControlHub( + st, + gauges, + actuators, + RB.Coalition(st,gauges,actuators) + ) + bot = RB.Robot(st,hub) end """ @@ -291,7 +311,7 @@ function BuildTail(type; β=1.0, μ=0.02) function Get_apsAB(r̄, mass_locus) ri = r̄ rj = r̄ + 2* [mass_locus[2], mass_locus[1]] - aps = [[0.0, 0.0], 2r̄g, [15.1, 0.0]] + aps = [[0.0, 0.0], 2r̄, [15.1, 0.0]] return ri, rj, aps end @@ -325,23 +345,23 @@ function BuildTail(type; β=1.0, μ=0.02) 4 => Get_apsC() end end - asbMid = load("STL/装配体-中间部分.STL") |> make_patch(;trans=[0.0,0,0],rot=RotZ(deg2rad(-77))) - crSec1 = load("STL/截面形状-1.STL") |> make_patch(;trans=[0.0,-5,0]) |> (x)->merge([x,asbMid]) - crSec2 = load("STL/截面形状-2.STL") |> make_patch(;trans=[0.0,-5,0]) |> (x)->merge([x,asbMid]) - crSec3 = load("STL/截面形状-3.STL") |> make_patch(;trans=[0.0,-5,0]) |> (x)->merge([x,asbMid]) - crSec4f = load("STL/截面形状-4-随动段.STL") |> make_patch(;trans=[40,0,0.],rot=RotZ(-π/2)) - crSec5f = load("STL/截面形状-5-随动段.STL") |> make_patch(;trans=[40,0,0.],rot=RotZ(-π/2)) - crSec6f = load("STL/截面形状-6-随动段.STL") |> make_patch(;trans=[30,0,0.],rot=RotZ(-π/2)) - crSec7f = load("STL/截面形状-7-随动段.STL") |> make_patch(;trans=[25,0,0.],rot=RotZ(-π/2)) - crSec8f = load("STL/截面形状-8-随动段.STL") |> make_patch(;trans=[25,0,0.],rot=RotZ(-π/2)) - crSec9f = load("STL/截面形状-9-随动段.STL") |> make_patch(;trans=[25,0,0.],rot=RotZ(-π/2)) - crSec10f = load("STL/截面形状-10-随动段.STL") |> make_patch(;trans=[30,0,0.],rot=RotZ(-π/2)) - - asbMot = load("STL/装配体-电机.STL") |> make_patch(;trans=[45.0,0,0],rot=RotZ(π)) - - asbB32 = load("STL/装配体-中间梁6.0-32.STL") |> make_patch(;trans=[25.0,0,0]) - asbB40 = load("STL/装配体-中间梁6.0-40.STL") |> make_patch(;trans=[25.0,0,0]) - asbLF = load("STL/装配体-主动-随动.STL") |> make_patch(;trans=[55,0,0.],rot=RotZ( π/2)) + asbMid = load(RB.assetpath("EWei_STL/装配体-中间部分.STL")) |> RB.make_patch(;trans=[0.0,0,0],rot=RotZ(deg2rad(-77))) + crSec1 = load(RB.assetpath("EWei_STL/截面形状-1.STL")) |> RB.make_patch(;trans=[0.0,-5,0]) |> (x)->merge([x,asbMid]) + crSec2 = load(RB.assetpath("EWei_STL/截面形状-2.STL")) |> RB.make_patch(;trans=[0.0,-5,0]) |> (x)->merge([x,asbMid]) + crSec3 = load(RB.assetpath("EWei_STL/截面形状-3.STL")) |> RB.make_patch(;trans=[0.0,-5,0]) |> (x)->merge([x,asbMid]) + crSec4f = load(RB.assetpath("EWei_STL/截面形状-4-随动段.STL")) |> RB.make_patch(;trans=[40,0,0.],rot=RotZ(-π/2)) + crSec5f = load(RB.assetpath("EWei_STL/截面形状-5-随动段.STL")) |> RB.make_patch(;trans=[40,0,0.],rot=RotZ(-π/2)) + crSec6f = load(RB.assetpath("EWei_STL/截面形状-6-随动段.STL")) |> RB.make_patch(;trans=[30,0,0.],rot=RotZ(-π/2)) + crSec7f = load(RB.assetpath("EWei_STL/截面形状-7-随动段.STL")) |> RB.make_patch(;trans=[25,0,0.],rot=RotZ(-π/2)) + crSec8f = load(RB.assetpath("EWei_STL/截面形状-8-随动段.STL")) |> RB.make_patch(;trans=[25,0,0.],rot=RotZ(-π/2)) + crSec9f = load(RB.assetpath("EWei_STL/截面形状-9-随动段.STL")) |> RB.make_patch(;trans=[25,0,0.],rot=RotZ(-π/2)) + crSec10f = load(RB.assetpath("EWei_STL/截面形状-10-随动段.STL")) |> RB.make_patch(;trans=[30,0,0.],rot=RotZ(-π/2)) + + asbMot = load(RB.assetpath("EWei_STL/装配体-电机.STL")) |> RB.make_patch(;trans=[45.0,0,0],rot=RotZ(π)) + + asbB32 = load(RB.assetpath("EWei_STL/装配体-中间梁6.0-32.STL")) |> RB.make_patch(;trans=[25.0,0,0]) + asbB40 = load(RB.assetpath("EWei_STL/装配体-中间梁6.0-40.STL")) |> RB.make_patch(;trans=[25.0,0,0]) + asbLF = load(RB.assetpath("EWei_STL/装配体-主动-随动.STL")) |> RB.make_patch(;trans=[55,0,0.],rot=RotZ( π/2)) rds = [ RigidData(r̄gC, mC, iC, r̄lC, asbMot), #1 @@ -447,34 +467,18 @@ function BuildTail(type; β=1.0, μ=0.02) ) ro = SVector{2}(ri) if i in rigidIndex - nmcs = RB.NCF.NC2P1V(SVector{2}(ri), SVector{2}(rj), ro, α) + nmcs = RB.NCF.NC2P1V(SVector{2}(ri), SVector{2}(rj), ro, RB.rotation_matrix(α)) else - nmcs = RB.NCF.NC2D2P(SVector{2}(ri), SVector{2}(rj), ro, α) + nmcs = RB.NCF.NC2D2P(SVector{2}(ri), SVector{2}(rj), ro, RB.rotation_matrix(α)) end - state = RB.RigidBodyState(prop, nmcs, ri, α, ṙo, ω, ci, cstr_idx) - body = RB.RigidBody(prop, state, rdsi.mesh) + state = RB.RigidBodyState(prop, ri, α, ṙo, ω, ) + coords = RB.NonminimalCoordinates(nmcs, ci, cstr_idx) + body = RB.RigidBody(prop, state, coords, rdsi.mesh) end rbs = [rigidbody(i, rds[i], r̄s[i]) for i in 1:nb] rigdibodies = TypeSortedCollection(rbs) - numbered = RB.number(rigdibodies) - matrix_sharing_raw = Vector{Matrix{Int}}() - for i in 1:nb-1 - s = zeros(2, nb) - if i == 1 - s[1:2, 1] = 3:4 - s[1:2, 2] = 1:2 - elseif i in 2:2:16 - s[1:2, i] = 1:2 - s[1:2, i+1] = 1:2 - else - s[1:2, i] = 3:4 - s[1:2, i+1] = 1:2 - end - push!(matrix_sharing_raw, s) - end - matrix_sharing = reduce(vcat, matrix_sharing_raw) - indexed = RB.index(rigdibodies, matrix_sharing) + nstrings = 8 * 4 + 8 * 2 ks = zeros(nstrings); restlens = zeros(nstrings) for i in 1:4*8 @@ -486,7 +490,7 @@ function BuildTail(type; β=1.0, μ=0.02) restlens[i] = 25 ks[i] = 0.3 end - cables = [RB.DistanceSpringDamper2D( restlens[i], ks[i], 0.0) for i in 1:nstrings] + spring_dampers = [RB.DistanceSpringDamper2D( restlens[i], ks[i], 0.0) for i in 1:nstrings] @match type begin 1 => begin lens = [44.71, 50, 50] @@ -494,7 +498,7 @@ function BuildTail(type; β=1.0, μ=0.02) c_section = StructArray([RB.DistanceSpringDamperSegment(i, lens[i], 0.2, prestress=pre[i]) for i in 1:3]) cs1 = RB.ClusterDistanceSpringDampers(1, 2, deepcopy(c_section); μ=μ) cs2 = RB.ClusterDistanceSpringDampers(2, 2, deepcopy(c_section); μ=μ) - apparatuses = (cables=cables, clustercables=[cs1, cs2]) + apparatuses = (spring_dampers=spring_dampers, clustercables=[cs1, cs2]) s = zeros(Int, 2, nb) s[1, 1] = 3; s[1, 2] = 2; s[1, 4] = 2; s[1, 6] = 2 s[2, 1] = 2; s[2, 2] = 1; s[2, 4] = 1; s[2, 6] = 1 @@ -506,7 +510,7 @@ function BuildTail(type; β=1.0, μ=0.02) c_section = StructArray([RB.DistanceSpringDamperSegment(i, lens[i], 0.2, prestress=pre[i]) for i in 1:8]) cs1 = RB.ClusterDistanceSpringDampers(1, 7, deepcopy(c_section); μ=μ) cs2 = RB.ClusterDistanceSpringDampers(2, 7, deepcopy(c_section); μ=μ) - apparatuses = (cables=cables, clustercables=[cs1, cs2]) + apparatuses = (spring_dampers=spring_dampers, clustercables=[cs1, cs2]) s = zeros(Int, 2, nb) s[1, 1] = 3; s[2, 1] = 2 for i in 1:8 @@ -523,7 +527,7 @@ function BuildTail(type; β=1.0, μ=0.02) c_section2 = StructArray([RB.DistanceSpringDamperSegment(i, lens2[i], 0.2, prestress=pre2[i]) for i in 1:2]) cs1 = [RB.ClusterDistanceSpringDampers(i, 1, deepcopy(c_section1); μ=μ) for i in 1:2] cs2 = [RB.ClusterDistanceSpringDampers(i, 1, deepcopy(c_section2); μ=μ) for i in 3:8] - apparatuses = (cables=cables, clustercables=vcat(cs1, cs2)) + apparatuses = (spring_dampers=spring_dampers, clustercables=vcat(cs1, cs2)) s = zeros(Int, 8, nb) s[1, 1] = 3; s[1, 2] = 2; s[1, 4] = 2; s[2, 1] = 2; s[2, 2] = 1; s[2, 4] = 1; @@ -543,7 +547,7 @@ function BuildTail(type; β=1.0, μ=0.02) c_section2 = StructArray([RB.DistanceSpringDamperSegment(i, lens2[i], 0.2, prestress=pre2[i]) for i in 1:3]) cs1 = [RB.ClusterDistanceSpringDampers(i, 2, deepcopy(c_section1); μ=μ) for i in 1:2] cs2 = [RB.ClusterDistanceSpringDampers(i, 2, deepcopy(c_section2); μ=μ) for i in 3:6] - apparatuses = (cables=cables, clustercables=vcat(cs1, cs2)) + apparatuses = (spring_dampers=spring_dampers, clustercables=vcat(cs1, cs2)) s = zeros(Int, 6, nb) s[1, 1] = 3; s[1, 2] = 2; s[1, 4] = 2; s[1, 6] = 2 s[2, 1] = 2; s[2, 2] = 1; s[2, 4] = 1; s[2, 6] = 1 @@ -584,9 +588,42 @@ function BuildTail(type; β=1.0, μ=0.02) s[2, i] = 2; s[2, i+1] = -2 push!(matrix_cnt_raw, s) end - matrix_cnt = reduce(vcat, matrix_cnt_raw) - cc = RB.connect_and_cluster(rigdibodies, matrix_cnt, matrix_cnt2) - cnt = RB.Connectivity(numbered, indexed, cc) + connecting_matrix = reduce(vcat, matrix_cnt_raw) + + cc = RB.connect_and_cluster(rigdibodies, connecting_matrix, matrix_cnt2) + + matrix_sharing_raw = Vector{Matrix{Int}}() + for i in 1:nb-1 + s = zeros(2, nb) + if i == 1 + s[1:2, 1] = 3:4 + s[1:2, 2] = 1:2 + elseif i in 2:2:16 + s[1:2, i] = 1:2 + s[1:2, i+1] = 1:2 + else + s[1:2, i] = 3:4 + s[1:2, i+1] = 1:2 + end + push!(matrix_sharing_raw, s) + end + matrix_sharing = reduce(vcat, matrix_sharing_raw) + + numbered = RB.number(rigdibodies, apparatuses;) + indexed = RB.index(rigdibodies, apparatuses; matrix_sharing) + + cnt = RB.Connectivity(numbered, indexed) + st = RB.Structure(rigdibodies, apparatuses, cnt) - bot = RB.Robot(st,) + + gauges = Int[] + actuators = Int[] + hub = RB.ControlHub( + st, + gauges, + actuators, + RB.Coalition(st,gauges,actuators) + ) + + bot = RB.Robot(st,hub) end diff --git a/examples/robots/Tbars.jl b/examples/robots/Tbars.jl index 92f063e..a1b8476 100644 --- a/examples/robots/Tbars.jl +++ b/examples/robots/Tbars.jl @@ -132,14 +132,6 @@ function Tbars(;θ = 0, coordsType = RB.NCF.NC) rbs = [base,slider1,slider2,bar] rigdibodies = TypeSortedCollection(rbs) - j1 = RB.PrismaticJoint(1,RB.Hen2Egg(RB.Signifier(base,5,1),RB.Signifier(slider1,1,1))) - j2 = RB.PrismaticJoint(2,RB.Hen2Egg(RB.Signifier(base,5,2),RB.Signifier(slider2,1,1))) - - j3 = RB.PinJoint(3,RB.Hen2Egg(RB.Signifier(bar,1,1),RB.Signifier(slider1,2,1))) - j4 = RB.PinJoint(4,RB.Hen2Egg(RB.Signifier(bar,2,1),RB.Signifier(slider2,2,1))) - - js = [j1,j2,j3,j4] - ncables = 4 original_restlens = zeros(ncables) original_restlens = zeros(ncables) @@ -148,7 +140,7 @@ function Tbars(;θ = 0, coordsType = RB.NCF.NC) cs = zeros(ncables) spring_dampers = [RB.DistanceSpringDamper3D(original_restlens[i],ks[i],cs[i];slack=false) for i = 1:ncables] - cm = [ + connecting_matrix = [ 1 -1 0 0; 2 -1 0 0; # 3 0 -1 0; @@ -157,10 +149,19 @@ function Tbars(;θ = 0, coordsType = RB.NCF.NC) 7 -1 0 0; ] - cables = RB.connect(rigdibodies, spring_dampers, cm, 4) + cables = RB.connect(rigdibodies, spring_dampers; connecting_matrix,) + + + j1 = RB.PrismaticJoint(ncables+1,RB.Hen2Egg(RB.Signifier(base,5,1),RB.Signifier(slider1,1,1))) + j2 = RB.PrismaticJoint(ncables+2,RB.Hen2Egg(RB.Signifier(base,5,2),RB.Signifier(slider2,1,1))) + + j3 = RB.PinJoint(ncables+3,RB.Hen2Egg(RB.Signifier(bar,1,1),RB.Signifier(slider1,2,1))) + j4 = RB.PinJoint(ncables+4,RB.Hen2Egg(RB.Signifier(bar,2,1),RB.Signifier(slider2,2,1))) + + js = [j1,j2,j3,j4] apparatuses = TypeSortedCollection( - vcat(js,cables) + vcat(cables,js) ) # sm = [ @@ -173,5 +174,14 @@ function Tbars(;θ = 0, coordsType = RB.NCF.NC) # ] # indexed = RB.index(rigdibodies,sm) st = RB.Structure(rigdibodies,apparatuses,) - RB.Robot(st,) + gauges = Int[] + actuators = Int[] + hub = RB.ControlHub( + st, + gauges, + actuators, + RB.Coalition(st,gauges,actuators) + ) + + RB.Robot(st,hub) end \ No newline at end of file diff --git a/examples/robots/bai.jl b/examples/robots/bai.jl new file mode 100644 index 0000000..499f0b0 --- /dev/null +++ b/examples/robots/bai.jl @@ -0,0 +1,180 @@ + +# 定义一个函数来新建机器人 +function make_bai(meshes,质心,质量,惯量) + + nb = 6 + ver_lengths_raw = [ + # 0 43; + # 18 18; + 0 43+18+18-10; + 18 16; + 19.1 9; + 18 8; + 18 8; + 0 16.29; + 0 150 + ] + ver_lengths = sum(ver_lengths_raw,dims=2) + hor_lengths = [ + 32.61, + 26.21, + 20.64, + 14.71, + 13.24, + # 13.24, + 2.5 + ] + nhor = length(hor_lengths) + + θs = zeros(nhor+1) + for i = 2:nhor-1 + θs[i] = π/48*i + end + P = [ + zeros(2,) + for i = 1:nhor+1 + ] + for i = 2:nhor+1 + P[i] = P[i-1] + RB.rotation_matrix(θs[i])*[0.0,-ver_lengths[i-1]] + end + + function rigidbody(i,P) + if i == 1 + contactable = false + visible = true + ci = collect(1:6) + cstr_idx = Int[] + elseif i in [2,nb] + contactable = true + visible = true + ci = collect(1:2) + cstr_idx = collect(1:3) + else + contactable = true + visible = true + ci = Int[] + cstr_idx = collect(1:3) + end + α = -π/2 + θs[i] + if i == 1 + ri = SVector{2}(0.0, 0.0) + rj = SVector{2}(P[i+1] ) + elseif i < nb + ri = SVector{2}(P[i]) + rj = SVector{2}(P[i+1]) + else + ri = SVector{2}(0.0, 0.0) + rj = SVector{2}(0.0,-150.0) + end + b = hor_lengths[i] + offset_fix = begin + if i == 1 + ret = 43 + 10 + elseif i == nb + ret = 150 + else + ret = 0 + end + ret + end + offset = ver_lengths_raw[i,1] + ro = ri + SVector{2}(0.0,-offset) + mass_locus = SVector{2}(质心[i]) + m = 质量[i] + inertia = 惯量[i]/2 + Ī = SMatrix{2,2}([ + inertia 0 + 0 inertia + ]) + r̄p1 = SVector{2}(offset_fix,-b,) + r̄p2 = SVector{2}(offset_fix, b,) + r̄p3 = SVector{2}(-offset, 0.0) + r̄p4 = SVector{2}(norm(rj-ri)-offset, 0.0) + loci = [r̄p1,r̄p2,r̄p3,r̄p4] + nr̄p = length(loci) + ṙo = zeros(2); ω = 0.0 + prop = RB.RigidBodyProperty( + i, + contactable, + m, + Ī, + SVector{2}(mass_locus), + loci; + visible = visible, + ) + @show i, ri, rj + nmcs = RB.NCF.NC2P1V(ri, rj, ro, RB.rotation_matrix(α)) + state = RB.RigidBodyState(prop, ro, α, ṙo, ω, ) + coords = RB.NonminimalCoordinates(nmcs, ci, cstr_idx) + mesh_rigid = meshes[i] + body = RB.RigidBody(prop, state, coords, mesh_rigid) + end + rbs = [ + rigidbody(i, P) for i = 1:nb + ] + rigdibodies = TypeSortedCollection(rbs) + + ncables = 2(nb-1) + original_restlens = zeros(ncables) + ks = zeros(ncables) + for i = 1:ncables + original_restlens[i] = 22.0 + ks[i] = 1000.0 + end + spring_dampers = [RB.DistanceSpringDamper2D( original_restlens[i], ks[i], 0.0;slack=true) for i = 1:ncables] + + matrix_cnt_raw = Vector{Matrix{Int}}() + for i = 1:nb-2 + s = zeros(2, nb) + s[1, i ] = 1 + s[1, i+1] = -1 + s[2, i ] = 2 + s[2, i+1] = -2 + push!(matrix_cnt_raw, s) + end + connecting_matrix = reduce(vcat, matrix_cnt_raw) + # display(connecting_matrix) + cables = RB.connect(rigdibodies, spring_dampers; connecting_matrix) + apparatuses = TypeSortedCollection( + cables + ) + + numbered = RB.number(rigdibodies,apparatuses) + matrix_sharing_raw = Vector{Matrix{Int}}() + for i = 1:nb-2 + s = zeros(2, nb) + s[1:2, i] = 3:4 + s[1:2, i+1] = 1:2 + push!(matrix_sharing_raw, s) + end + s = zeros(2, nb) + s[1:2, 1] = 1:2 + s[1:2, nb] = 1:2 + push!(matrix_sharing_raw, s) + sharing_matrix = reduce(vcat, matrix_sharing_raw) + # display(sharing_matrix) + indexed = RB.index(rigdibodies, apparatuses; sharing_matrix) + + cnt = RB.Connectivity(numbered, indexed,) + + st = RB.Structure(rigdibodies, apparatuses, cnt) + + gauges = Int[] + actuators = Int[] + # + ## acs = [ + ## RB.RegisterActuator(1, + ## [1:2(nb-1)], + ## original_restlens, + ## ) + ## ] + + hub = RB.ControlHub( + st, + gauges, + actuators, + RB.Coalition(st,gauges,actuators) + ) + + bot = RB.Robot(st, hub) +end \ No newline at end of file diff --git a/examples/robots/cube.jl b/examples/robots/cube.jl new file mode 100644 index 0000000..92e8f62 --- /dev/null +++ b/examples/robots/cube.jl @@ -0,0 +1,65 @@ +function make_cube(origin_position = [0.0,0.0,0.5], + R = one(RotMatrix{3}), + origin_velocity = [2.0,0.0,0.0], + ω = [0.0,0.0,5.0]; + μ = 0.9, + e = 0.0 + ) + m = 1.0 + mass_locus = zeros(3) + inertia = SMatrix{3,3}(Matrix(1.0I,3,3)) + h = 5.0 + loci = [h.*[x,y,z] for z = [-1,1] for y = [-1,1] for x = [-1,1]] + axes = [SVector(1.0,0,0) for _ = 1:length(loci)] + friction_coefficients = [μ for _ = 1:length(loci)] + restitution_coefficients = [e for _ = 1:length(loci)] + pts = Point3.(loci) + fcs = GB.QuadFace.([ + [1,3,4,2], + [3,7,8,4], + [7,5,6,8], + [5,1,2,6], + [2,4,8,6], + [1,5,7,3] + ]) + nls = GB.normals(pts,fcs) + cube_mesh = GB.Mesh(GB.meta(pts,normals=nls),fcs) |> RB.make_patch(;color=:snow) + prop = RB.RigidBodyProperty( + 1,true,m,inertia, + mass_locus,loci,axes, + friction_coefficients,restitution_coefficients, + ) + ri = copy(origin_position) + state = RB.RigidBodyState(prop,origin_position,R,origin_velocity,ω) + + nmcs = RB.NCF.NC1P3V(ri,origin_position,R) + coords = RB.NonminimalCoordinates(nmcs,) + rb1 = RB.GravitationalRigidBody(prop,state,coords,cube_mesh) + rbs = TypeSortedCollection((rb1,)) + + apparatuses = Int[] + sharing_matrix = zeros(Int,0,0) + indexed = RB.index(rbs,apparatuses;sharing_matrix) + numbered = RB.number(rbs,apparatuses) + + cnt = RB.Connectivity(numbered,indexed,) + + st = RB.Structure(rbs,apparatuses,cnt,) + + gauges = Int[] + actuators = Int[] + ## actuators = [ + ## RB.RegisterActuator( + ## 1, + ## collect(1:ncables_prism), + ## zeros(ncables_prism) + ## ), + ## ] + hub = RB.ControlHub( + st, + gauges, + actuators, + RB.Coalition(st,gauges,actuators) + ) + bot = RB.Robot(st,hub) +end \ No newline at end of file diff --git a/examples/robots/pointmass.jl b/examples/robots/pointmass.jl index 1606140..7255608 100644 --- a/examples/robots/pointmass.jl +++ b/examples/robots/pointmass.jl @@ -36,5 +36,22 @@ function new_pointmass(; numbered = RB.number(rbs,apparatuses) cnt = RB.Connectivity(indexed,numbered,) st = RB.Structure(rbs,apparatuses,cnt,) - bot = RB.Robot(st) + + + gauges = Int[] + actuators = Int[] + ## actuators = [ + ## RB.RegisterActuator( + ## 1, + ## collect(1:ncables_prism), + ## zeros(ncables_prism) + ## ), + ## ] + hub = RB.ControlHub( + st, + gauges, + actuators, + RB.Coalition(st,gauges,actuators) + ) + bot = RB.Robot(st,hub) end diff --git a/examples/robots/prism.jl b/examples/robots/prism.jl index 38c7769..9d0488f 100644 --- a/examples/robots/prism.jl +++ b/examples/robots/prism.jl @@ -1,266 +1,276 @@ function prisms(; - κ = nothing, - r = 1.0, - r1 = 1.0, - b = 2.0, - m = 4, - α = 2π/m, - h = nothing, - n = 1, - θ = 1.25α, - hasplate = true, -) -if h isa Nothing - @assert θ>α - c = sqrt( - r^2 + r1^2 -2*r*r1*cos(θ) + κ = nothing, + r = 1.0, + r1 = 1.0, + b = 2.0, + m = 4, + α = 2π/m, + h = nothing, + n = 1, + θ = 1.25α, + hasplate = true, ) - h² = b^2-c^2 - @assert h² > 0 - h = sqrt(h²) -end -@show r,r1 -d, l = divrem(n,2) -@show θ |> rad2deg -bps = [ - begin - if j |> iseven - ps = [ - [r*cos(i*α),r*sin(i*α),j*h] - for i = 1:m - ] - else - ps = [ - [r1*cos(i*α+θ),r1*sin(i*α+θ),j*h] - for i = 1:m - ] - end - ps .|> SVector{3} |> CircularArray + if h isa Nothing + @assert θ>α + c = sqrt( + r^2 + r1^2 -2*r*r1*cos(θ) + ) + h² = b^2-c^2 + @assert h² > 0 + h = sqrt(h²) end - for j = 0:n -] -# fig = Figure() -# ax = Axis3(fig[1,1]) -# scatter!(ax,reduce(vcat,bps)) -# scatter!(ax,reduce(vcat,midps)) -# fig -# @myshow length(bps), length(midps) -bars = [ - begin - if j |> iseven - [ - make_3d_bar( - m*(j-1)+i, - bps[j][i], - bps[j+1][i]; - #ci = ifelse(j==1,[1,2,3],Int[]), - radius_ratio = 1/60, - ) for i = 1:m - ] - else - [ - make_3d_bar( - m*(j-1)+i, - bps[j][i-1], - bps[j+1][i-1]; - radius_ratio = 1/60, - ) for i = 1:m - ] + @show r,r1 + d, l = divrem(n,2) + @show θ |> rad2deg + bps = [ + begin + if j |> iseven + ps = [ + [r*cos(i*α),r*sin(i*α),j*h] + for i = 1:m + ] + else + ps = [ + [r1*cos(i*α+θ),r1*sin(i*α+θ),j*h] + for i = 1:m + ] + end + ps .|> SVector{3} |> CircularArray end - end - for j = 1:n -] + for j = 0:n + ] + # fig = Figure() + # ax = Axis3(fig[1,1]) + # scatter!(ax,reduce(vcat,bps)) + # scatter!(ax,reduce(vcat,midps)) + # fig + # @myshow length(bps), length(midps) + bars = [ + begin + if j |> iseven + [ + make_3d_bar( + m*(j-1)+i, + bps[j][i], + bps[j+1][i]; + #ci = ifelse(j==1,[1,2,3],Int[]), + radius_ratio = 1/60, + ) for i = 1:m + ] + else + [ + make_3d_bar( + m*(j-1)+i, + bps[j][i-1], + bps[j+1][i-1]; + radius_ratio = 1/60, + ) for i = 1:m + ] + end + end + for j = 1:n + ] -nbars = length.(bars) |> sum -nb = nbars + 1 + nbars = length.(bars) |> sum + nb = nbars + 1 -ro = SVector(0.0,0.0,0.0) -nodes_raw = bps[1] |> Array -loci = vcat(nodes_raw,) -# nodes_ext = [ -# SVector(3r̄p[1],3r̄p[2],0.0) -# for r̄p in nodes_raw -# ] -# loci = vcat(nodes_raw,nodes_ext) -if hasplate - plate = make_3d_plate( - nb, - loci, - ro, - RotZ(0.0), - ro; - radius=r, - contactable = true, - m=3, - height=1e-2, - ci = collect(1:12), - cstr_idx = Int[], - loadmesh = false, - meshvisible = true, - ) - rbs = vcat( - reduce(vcat,bars), - plate - ) |> TypeSortedCollection -else - rbs = vcat( - reduce(vcat,bars), - ) |> TypeSortedCollection -end -numbered = RB.number(rbs) -cm = CircularArray(collect(1:m)) -# sharing_elas = ElasticArray{Int}(undef, nb, 0) -# for j = 1:n -# is = 2m*(j-1) -# for i = 1:m -# for k = 1:p -# row = zeros(Int,nb) -# row[is+cm[i] ] = k+3 -# row[is+m+cm[i+1]] = k -# append!(sharing_elas,row) -# end -# end -# end -# for j = 2:n -# is = 2m*(j-2)+m -# for i = 1:m -# for k = 1:p -# row = zeros(Int,nb) -# row[is+cm[i] ] = k+3 -# row[is+m+cm[i+2]] = k -# append!(sharing_elas,row) -# end -# end -# end -# sharing = Matrix(sharing_elas') -# display(sharing) -# indexed = RB.index(rbs,sharing) -indexed = RB.index(rbs,) - -@myshow nb -connecting_elas = ElasticArray{Int}(undef, nb, 0) -for j = 0:n-1 - is = m*j - - # # lower - # for i = 1:m - # row = zeros(Int,nb) - # row[is+cm[i ]] = 1 - # row[is+cm[i+1]] = -1 - # append!(connecting_elas,row) + ro = SVector(0.0,0.0,0.0) + nodes_raw = bps[1] |> Array + loci = vcat(nodes_raw,) + # nodes_ext = [ + # SVector(3r̄p[1],3r̄p[2],0.0) + # for r̄p in nodes_raw + # ] + # loci = vcat(nodes_raw,nodes_ext) + if hasplate + plate = make_3d_plate( + nb, + loci, + ro, + RotZ(0.0), + ro; + radius=r, + contactable = true, + m=3, + height=1e-2, + ci = collect(1:12), + cstr_idx = Int[], + loadmesh = false, + meshvisible = true, + ) + rbs = vcat( + reduce(vcat,bars), + plate + ) |> TypeSortedCollection + else + rbs = vcat( + reduce(vcat,bars), + ) |> TypeSortedCollection + end + numbered = RB.number(rbs) + cm = CircularArray(collect(1:m)) + # sharing_elas = ElasticArray{Int}(undef, nb, 0) + # for j = 1:n + # is = 2m*(j-1) + # for i = 1:m + # for k = 1:p + # row = zeros(Int,nb) + # row[is+cm[i] ] = k+3 + # row[is+m+cm[i+1]] = k + # append!(sharing_elas,row) + # end + # end + # end + # for j = 2:n + # is = 2m*(j-2)+m + # for i = 1:m + # for k = 1:p + # row = zeros(Int,nb) + # row[is+cm[i] ] = k+3 + # row[is+m+cm[i+2]] = k + # append!(sharing_elas,row) + # end + # end # end - - # cross - if j |> iseven - for i = 1:m - row = zeros(Int,nb) - row[is+cm[i ]] = 1 - row[is+cm[i-1]] = -2 - append!(connecting_elas,row) - end - # additional cross + # sharing = Matrix(sharing_elas') + # display(sharing) + # indexed = RB.index(rbs,sharing) + indexed = RB.index(rbs,) + + @myshow nb + connecting_elas = ElasticArray{Int}(undef, nb, 0) + for j = 0:n-1 + is = m*j + + # # lower # for i = 1:m - # row = zeros(Int,nb) - # row[is+cm[i ]] = 1 - # row[is+cm[i-2]] = -2 - # append!(connecting_elas,row) + # row = zeros(Int,nb) + # row[is+cm[i ]] = 1 + # row[is+cm[i+1]] = -1 + # append!(connecting_elas,row) # end - else + + # cross + if j |> iseven + for i = 1:m + row = zeros(Int,nb) + row[is+cm[i ]] = 1 + row[is+cm[i-1]] = -2 + append!(connecting_elas,row) + end + # additional cross + # for i = 1:m + # row = zeros(Int,nb) + # row[is+cm[i ]] = 1 + # row[is+cm[i-2]] = -2 + # append!(connecting_elas,row) + # end + else + for i = 1:m + row = zeros(Int,nb) + row[is+cm[i+1]] = -2 + row[is+cm[i ]] = 1 + append!(connecting_elas,row) + end + # addtional cross + # for i = 1:m + # row = zeros(Int,nb) + # row[is+cm[i+1]] = -2 + # row[is+m+cm[i+1]] = 2 + # append!(connecting_elas,row) + # end + end + + # upper for i = 1:m row = zeros(Int,nb) + row[is+cm[i ]] = 2 row[is+cm[i+1]] = -2 - row[is+cm[i ]] = 1 append!(connecting_elas,row) end - # addtional cross - # for i = 1:m - # row = zeros(Int,nb) - # row[is+cm[i+1]] = -2 - # row[is+m+cm[i+1]] = 2 - # append!(connecting_elas,row) - # end end + ncables_prism = size(connecting_elas,2) + connecting_matrix = Matrix(connecting_elas') + ncables = size(connecting_matrix,1) + # @assert ncables == ncables_prism + ncables_outer + @show ncables + mat_cable = filter( + row->row.name == "Nylon 66", + RB.material_properties + )[1] + diameter = 1e-3Unitful.m + cable_length = 0.1Unitful.m + κ = (mat_cable.modulus_elas)*π*(diameter/2)^2/cable_length + # @show κ + @show uconvert(Unitful.N/Unitful.m,κ),ustrip(Unitful.N/Unitful.m,κ) + spring_dampers = [RB.DistanceSpringDamper3D(0.0, ustrip(Unitful.N/Unitful.m,κ),0.0;slack=true) for i = 1:ncables_prism] - # upper - for i = 1:m - row = zeros(Int,nb) - row[is+cm[i ]] = 2 - row[is+cm[i+1]] = -2 - append!(connecting_elas,row) - end -end -ncables_prism = size(connecting_elas,2) -connecting = Matrix(connecting_elas') -# display(connecting) -connected = RB.connect(rbs,connecting) - -ncables = size(connecting,1) -# @assert ncables == ncables_prism + ncables_outer -@show ncables -mat_cable = filter( - row->row.name == "Nylon 66", - material_properties -)[1] -diameter = 1e-3Unitful.m -cable_length = 0.1Unitful.m -κ = (mat_cable.modulus_elas)*π*(diameter/2)^2/cable_length -# @show κ -@show uconvert(Unitful.N/Unitful.m,κ),ustrip(Unitful.N/Unitful.m,κ) -cables_prism = [RB.DistanceSpringDamper3D(0.0, ustrip(Unitful.N/Unitful.m,κ),0.0;slack=true) for i = 1:ncables_prism] -cables = cables_prism -acs = [ - RB.RegisterActuator( - 1, - collect(1:ncables_prism), - zeros(ncables_prism) - ), -] -apparatuses = (cables = cables,) -hub = (actuators = acs,) + # display(connecting_matrix) + cables = RB.connect(rbs,spring_dampers;connecting_matrix,) + csts_bar2bar = [ + begin + hen = bars[j+1][cm[i+2]] + @show hen.prop.id + egg = bars[j][cm[i]] + @show egg.prop.id + RB.PinJoint( + ncables+i+m*(j-1), + RB.Hen2Egg( + RB.Signifier(hen,1,1), + RB.Signifier(egg,2,1) + ) + ) + end + for j = 1:d for i = 1:m + ] -csts_bar2bar = [ - begin - hen = bars[j+1][cm[i+2]] - @show hen.prop.id - egg = bars[j][cm[i]] - @show egg.prop.id - RB.PinJoint( - i+m*(j-1), - RB.Hen2Egg( - i+m*(j-1), - RB.Signifier(hen,1,1), - RB.Signifier(egg,2,1) + if hasplate + csts_bar2plate = [ + RB.PinJoint( + ncables+m*d+i, + RB.Hen2Egg( + RB.Signifier(plate,i,1), + RB.Signifier(bars[1][cm[i]],1,1), + ) ) + for i = 1:m + ] + csts = vcat( + csts_bar2plate, + csts_bar2bar, ) + else + csts = csts_bar2bar end - for j = 1:d for i = 1:m -] -if hasplate - csts_bar2plate = [ - RB.PinJoint( - m*d+i, - RB.Hen2Egg( - m*d+i, - RB.Signifier(plate,i,1), - RB.Signifier(bars[1][cm[i]],1,1), - ) - ) - for i = 1:m - ] - csts = vcat( - csts_bar2plate, - csts_bar2bar, + apparatuses = TypeSortedCollection( + vcat(cables,csts) ) -else - csts = csts_bar2bar -end -jointedmembers = RB.join(csts,indexed) + indexed = RB.index(rbs, apparatuses) + numbered = RB.number(rbs, apparatuses) + cnt = RB.Connectivity( + numbered, + indexed, + ) + st = RB.Structure(rbs,apparatuses,cnt) -cnt = RB.Connectivity(numbered,indexed,@eponymtuple(connected,),jointedmembers) + gauges = Int[] + actuators = Int[] + ## actuators = [ + ## RB.RegisterActuator( + ## 1, + ## collect(1:ncables_prism), + ## zeros(ncables_prism) + ## ), + ## ] + hub = RB.ControlHub( + st, + gauges, + actuators, + RB.Coalition(st,gauges,actuators) + ) -st = RB.Structure(rbs,apparatuses,cnt) -bot = RB.Robot(st,hub) + bot = RB.Robot(st,hub) end \ No newline at end of file diff --git a/examples/robots/superball.jl b/examples/robots/superball.jl index 235f509..e198da9 100644 --- a/examples/robots/superball.jl +++ b/examples/robots/superball.jl @@ -10,7 +10,8 @@ function superball(c=0.0; l = 1.7/2, d = l/2, k = 4000.0, - constrained = true, + visible = true, + constrained = false, loadmesh = true, ) @@ -40,7 +41,7 @@ function superball(c=0.0; m = 5.0, μ, e, - visible = ifelse(i==1 && constrained,true,false), + visible, ci = ifelse(i==1 && constrained,collect(1:6),Int[]), cstr_idx = ifelse(i==1 && constrained,Int[],[1]), loadmesh, @@ -81,19 +82,19 @@ function superball(c=0.0; [5,6] ] ) - matrix_cnt = zeros(Int,ncables,6) + connecting_matrix = zeros(Int,ncables,6) for lev = 1:3 - matrix_cnt[8(lev-1)+1, [nb[lev][1],nb[lev+1][1]]] = [1, -1] - matrix_cnt[8(lev-1)+2, [nb[lev][1],nb[lev+1][1]]] = [2, -1] - matrix_cnt[8(lev-1)+3, [nb[lev][1],nb[lev+1][2]]] = [1, -2] - matrix_cnt[8(lev-1)+4, [nb[lev][1],nb[lev+1][2]]] = [2, -2] - matrix_cnt[8(lev-1)+5, [nb[lev][2],nb[lev+1][2]]] = [1, -1] - matrix_cnt[8(lev-1)+6, [nb[lev][2],nb[lev+1][2]]] = [2, -1] - matrix_cnt[8(lev-1)+7, [nb[lev][2],nb[lev+1][1]]] = [1, -2] - matrix_cnt[8(lev-1)+8, [nb[lev][2],nb[lev+1][1]]] = [2, -2] + connecting_matrix[8(lev-1)+1, [nb[lev][1],nb[lev+1][1]]] = [1, -1] + connecting_matrix[8(lev-1)+2, [nb[lev][1],nb[lev+1][1]]] = [2, -1] + connecting_matrix[8(lev-1)+3, [nb[lev][1],nb[lev+1][2]]] = [1, -2] + connecting_matrix[8(lev-1)+4, [nb[lev][1],nb[lev+1][2]]] = [2, -2] + connecting_matrix[8(lev-1)+5, [nb[lev][2],nb[lev+1][2]]] = [1, -1] + connecting_matrix[8(lev-1)+6, [nb[lev][2],nb[lev+1][2]]] = [2, -1] + connecting_matrix[8(lev-1)+7, [nb[lev][2],nb[lev+1][1]]] = [1, -2] + connecting_matrix[8(lev-1)+8, [nb[lev][2],nb[lev+1][1]]] = [2, -2] end - # display(matrix_cnt) - cables = RB.connect(rigdibodies, spring_dampers, matrix_cnt, 0) + # display(connecting_matrix) + cables = RB.connect(rigdibodies, spring_dampers; connecting_matrix, istart=0) apparatuses = TypeSortedCollection( cables @@ -106,7 +107,14 @@ function superball(c=0.0; numbered, indexed, ) - st = RB.Structure(rigdibodies, apparatuses, cnt, ) - bot = RB.Robot(st,) + gauges = Int[] + actuators = Int[] + hub = RB.ControlHub( + st, + gauges, + actuators, + RB.Coalition(st,gauges,actuators) + ) + bot = RB.Robot(st,hub) end \ No newline at end of file diff --git a/examples/robots/tower.jl b/examples/robots/tower.jl index 0abe091..30a39b4 100644 --- a/examples/robots/tower.jl +++ b/examples/robots/tower.jl @@ -98,43 +98,49 @@ function tower(;k=nothing) end display(cnt_matrix_elas) - cnt_matrix = Matrix(cnt_matrix_elas') - ncables = size(cnt_matrix,1) + connecting_matrix = Matrix(cnt_matrix_elas') + ncables = size(connecting_matrix,1) if k isa Nothing - cables = [RB.DistanceSpringDamper3D(0.0,100.0,0.0;slack=false) for i = 1:ncables] + spring_dampers = [RB.DistanceSpringDamper3D(0.0,100.0,0.0;slack=false) for i = 1:ncables] else - cables = [RB.DistanceSpringDamper3D(0.0,k[i],0.0;slack=false) for i = 1:ncables] + spring_dampers = [RB.DistanceSpringDamper3D(0.0,k[i],0.0;slack=false) for i = 1:ncables] end - apparatuses = (cables = cables,) - connected = RB.connect(rbs,cnt_matrix) + cables = RB.connect(rbs,spring_dampers;connecting_matrix) cst1 = RB.PinJoint( - 1, + ncables+1, RB.Hen2Egg( - 1, RB.Signifier(base,1), RB.Signifier(bar,1), ) ) cst2 = RB.PinJoint( - 2, + ncables+2, RB.Hen2Egg( - 2, RB.Signifier(bar,2), RB.Signifier(top,1) ) ) - jointedmembers = RB.join((cst1,cst2,),indexed) + apparatuses = TypeSortedCollection( + vcat(cables,cst1,cst2) + ) + indexed = RB.index(rbs, apparatuses) + numbered = RB.number(rbs, apparatuses) cnt = RB.Connectivity( - numbered, - indexed, - @eponymtuple(connected,), - jointedmembers - ) - + numbered, + indexed, + ) st = RB.Structure(rbs,apparatuses,cnt) - bot = RB.Robot(st,) + gauges = Int[] + actuators = Int[] + hub = RB.ControlHub( + st, + gauges, + actuators, + RB.Coalition(st,gauges,actuators) + ) + bot = RB.Robot(st,hub) end \ No newline at end of file diff --git a/examples/robots/two_tri.jl b/examples/robots/two_tri.jl index 97098b9..6f4e3cb 100644 --- a/examples/robots/two_tri.jl +++ b/examples/robots/two_tri.jl @@ -15,23 +15,15 @@ function two_tri(;k=100.0,c=0.0,ratio=0.8) ) rbs = TypeSortedCollection((rb1,rb2)) - numbered = RB.number(rbs) - matrix_sharing = [ - 1 1; - 2 2; - ] - indexed = RB.index(rbs,matrix_sharing) # ncables = 4 restlen1 = 0.05 restlens = fill(restlen1,ncables) ks = fill(k,ncables) cs = fill(c,ncables) - cables = [RB.DistanceSpringDamper2D(restlens[i],ks[i],cs[i];slack=true) for i = 1:ncables] - acs = [RB.RegisterActuator(1,1:ncables,restlens,RB.Uncoupled())] - apparatuses = (cables = cables,) - hub = (actuators = acs,) - cnt_matrix_cables = [ + spring_dampers = [RB.DistanceSpringDamper2D(restlens[i],ks[i],cs[i];slack=true) for i = 1:ncables] + + connecting_matrix = [ 3 -2 ; -2 3 ; 5 -2 ; @@ -39,7 +31,7 @@ function two_tri(;k=100.0,c=0.0,ratio=0.8) # 5 -2 ; # 4 -3 ; ] - connected = RB.connect(rbs,cnt_matrix_cables) + cables = RB.connect(rbs,spring_dampers;connecting_matrix) # # cst1 = RB.PinJoint( # 1, @@ -63,13 +55,32 @@ function two_tri(;k=100.0,c=0.0,ratio=0.8) # jointedmembers = RB.join((cst1,),indexed) + apparatuses = TypeSortedCollection( + cables + ) + + numbered = RB.number(rbs,apparatuses) + sharing_matrix = [ + 1 1; + 2 2; + ] + indexed = RB.index(rbs,apparatuses;sharing_matrix) + cnt = RB.Connectivity( numbered, indexed, - @eponymtuple(connected,), - # jointedmembers ) st = RB.Structure(rbs,apparatuses,cnt) + ## acs = [RB.RegisterActuator(1,1:ncables,restlens,RB.Uncoupled())] + ## hub = (actuators = acs,) + gauges = Int[] + actuators = Int[] + hub = RB.ControlHub( + st, + gauges, + actuators, + RB.Coalition(st,gauges,actuators) + ) bot = RB.Robot(st,hub) end \ No newline at end of file diff --git a/src/Rible.jl b/src/Rible.jl index d072d5c..5a7431b 100644 --- a/src/Rible.jl +++ b/src/Rible.jl @@ -70,6 +70,8 @@ include("utils.jl") include("members/loci.jl") +include("members/forces/gravitational.jl") + function get_num_of_cstr end function get_num_of_coords end function get_num_of_dof end @@ -97,6 +99,7 @@ function get_joint_forces_jacobian! end function get_joint_velocity_jacobian! end function find_independent_free_idx end function nullspace_mat end +function kinetic_energy_coords end include("members/rigids/natural_coordinates/NCF.jl") # using .NCF diff --git a/src/control/control.jl b/src/control/control.jl index 1f0bf18..75d3435 100644 --- a/src/control/control.jl +++ b/src/control/control.jl @@ -191,7 +191,7 @@ function cost_jacobian!(∂ϕ∂qᵀ,∂ϕ∂q̇ᵀ,∂ϕ∂pᵀ,bot::Robot,q::A update_bodies!(structure) update_apparatuses!(structure) if gravity - apply_gravity!(structure) + apply_field!(structure) end assemble_forces!(structure) M⁻¹ = assemble_M⁻¹(structure) @@ -233,7 +233,7 @@ function generalized_force_jacobian!(∂F∂θ,structure::Structure,hub,policy:: update_bodies!(structure) update_apparatuses!(structure) if gravity - apply_gravity!(structure) + apply_field!(structure) end control = (x) -> Lux.apply(policy.nt.actor,x,policy.nt.ps,policy.nt.st)[1] actuate!(bot,control,q,q̇,t) @@ -288,6 +288,9 @@ end function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure::Structure,hub,policy::NoPolicy,q,q̇,t::Real,∂F∂s=nothing,s=nothing;gravity=false) end +function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure::Structure,hub,policy::NoPolicy,q::AbstractVector,q̇::AbstractVector,t::Real;gravity=false) +end + function set_restlen!(structure,u) for (i,s) in enumerate(structure.apparatuses.apparatuses) s.state.restlen = u[i] @@ -322,4 +325,8 @@ end function get_num_of_params(policy::AbstractPolicy) (;ps) = policy.nt length(ps) +end + +function get_num_of_params(policy::NoPolicy) + 0 end \ No newline at end of file diff --git a/src/get.jl b/src/get.jl index cbaf256..c96e04e 100644 --- a/src/get.jl +++ b/src/get.jl @@ -76,7 +76,7 @@ function get_local_coords(bodies,numbered::Numbered) ret end -function get_local_coords(body::RigidBody,r̄p) +function get_local_coords(body::AbstractRigidBody,r̄p) to_local_coords(body.coords.nmcs,r̄p) end @@ -210,6 +210,8 @@ get_bodies(bot::Robot) = get_bodies(bot.structure) get_bodies(st::AbstractStructure) = sort(st.bodies) get_apparatuses(bot::Robot) = get_apparatuses(bot.structure) get_apparatuses(st::AbstractStructure) = sort(st.apparatuses) +get_cables(bot::Robot) = get_cables(bot.structure) +get_cables(st::AbstractStructure) = filter!((x)->x.joint isa CableJoint, sort(st.apparatuses)) get_rigidbars(bot::Robot) = get_rigidbars(bot.structure) @@ -233,7 +235,8 @@ Return System DistanceSpringDamper stiffness coefficients $(TYPEDSIGNATURES) """ function get_cables_stiffness(st::Structure) - [s.k for s in st.apparatuses.cables] + cables = get_cables(st) + [s.force.k for s in cables] end """ @@ -241,11 +244,13 @@ Return System DistanceSpringDamper current Length. $(TYPEDSIGNATURES) """ function get_cables_len(st::Structure) - [s.state.length for s in st.apparatuses.cables] + cables = get_cables(st) + [s.force.state.length for s in cables] end function get_cables_len_dot(st::Structure) - [s.state.lengthdot for s in st.apparatuses.cables] + cables = get_cables(st) + [s.force.state.lengthdot for s in cables] end """ @@ -253,7 +258,8 @@ Return System DistanceSpringDamper deformation。 $(TYPEDSIGNATURES) """ function get_cables_deform(st::Structure) - [s.state.length - s.state.restlen for s in st.apparatuses.cables] + cables = get_cables(st) + [s.force.state.length - s.force.state.restlen for s in cables] end """ @@ -261,7 +267,8 @@ Return System DistanceSpringDamper Restlength。 $(TYPEDSIGNATURES) """ function get_cables_restlen(st::Structure) - [s.state.restlen for s in st.apparatuses.cables] + cables = get_cables(st) + [s.force.state.restlen for s in cables] end """ @@ -269,7 +276,8 @@ Return System DistanceSpringDamper Tension. $(TYPEDSIGNATURES) """ function get_cables_tension(st::Structure) - [s.state.tension for s in st.apparatuses.cables] + cables = get_cables(st) + [s.force.state.tension for s in cables] end """ @@ -277,8 +285,9 @@ Set cables' tension $(TYPEDSIGNATURES) """ function set_cables_tension!(st::Structure,fs) - for (s,f) in zip(st.apparatuses.cables,fs) - s.state.tension = f + cables = get_cables(st) + for (s,f) in zip(cables,fs) + s.force.state.tension = f end end @@ -288,7 +297,8 @@ Return System DistanceSpringDamper force density。 $(TYPEDSIGNATURES) """ function get_cables_force_density(st::Structure) - [s.state.tension/s.state.length for s in st.apparatuses.cables] + cables = get_cables(st) + [s.force.state.tension/s.force.state.length for s in cables] end """ @@ -303,13 +313,14 @@ function get_original_restlen(botinput::Robot) end function force_densities_to_restlen(st::Structure,γs) + cables = get_cables(st) [ begin - l = s.state.length - l̇ = s.state.lengthdot + l = s.force.state.length + l̇ = s.force.state.lengthdot k = s.k c = s.c u = l-(γ*l-c*l̇)/k end - for (γ,s) in zip(γs,st.apparatuses.cables)] + for (γ,s) in zip(γs,cables)] end diff --git a/src/mechanics/contact.jl b/src/mechanics/contact.jl index 2be7947..9e04743 100644 --- a/src/mechanics/contact.jl +++ b/src/mechanics/contact.jl @@ -1,17 +1,24 @@ abstract type AbstractField end +struct NoField <: AbstractField end abstract type AbstractGravity <: AbstractField end -struct NoGravity <: AbstractGravity end struct EarthSurfaceGravity{T} <: AbstractGravity acceleration::T + function EarthSurfaceGravity(g=9.81) + new{typeof(g)}(g) + end end -Gravity(g=9.81) = EarthSurfaceGravity(g) - +struct EarthGravitation{T} <: AbstractGravity + std_gra::T +end -has_gravity(::NoGravity) = false +has_gravity(::NoField) = false has_gravity(::EarthSurfaceGravity) = true +has_gravity(::EarthGravitation) = true abstract type AbstractGeometry end +struct NoGeometry <: AbstractGeometry end + abstract type AbstractEnvironment end @@ -21,7 +28,23 @@ struct StaticEnvironment{geometryType,fieldType} <: AbstractEnvironment geometry::geometryType field::fieldType end -function StaticContactSurfaces(surfaces,gravity=Gravity()) + +GravityEnv(g=9.81) = StaticEnvironment( + NoGeometry(), + EarthSurfaceGravity(g), +) + +EmptyEnv() = StaticEnvironment( + NoGeometry(), + NoField(), +) + +GravitationalEnv(std_gra=std_gra) = StaticEnvironment( + NoGeometry(), + EarthGravitation(std_gra), +) + +function StaticContactSurfaces(surfaces,gravity=EarthSurfaceGravity(9.81)) StaticEnvironment( surfaces, gravity @@ -52,7 +75,7 @@ end function Contact(id,μ,e) active = false - persistent = false + persistent = true i = one(μ) o = zero(μ) gap = i diff --git a/src/mechanics/dynamic_relax.jl b/src/mechanics/dynamic_relax.jl index 470274e..5aefaac 100644 --- a/src/mechanics/dynamic_relax.jl +++ b/src/mechanics/dynamic_relax.jl @@ -27,7 +27,7 @@ function initialize_GDR(structure,F::Nothing;gravity=true) update_bodies!(structure,x) update_apparatuses!(structure) if gravity - apply_gravity!(structure) + apply_field!(structure) end assemble_forces!(F,structure) # @show abs.(F-Q) |> maximum diff --git a/src/mechanics/dynamics.jl b/src/mechanics/dynamics.jl index 136908e..5c3265e 100644 --- a/src/mechanics/dynamics.jl +++ b/src/mechanics/dynamics.jl @@ -53,7 +53,7 @@ function generalized_force!(F,bot::Robot,::NoPolicy,q,q̇,t,s=nothing;gravity=tr lazy_update_bodies!(structure,q,q̇) update_apparatuses!(structure, s) if gravity - apply_gravity!(structure;factor=1) + apply_field!(structure;factor=1) end ## actuate!(bot,q,q̇,t) assemble_forces!(F,structure) @@ -67,27 +67,13 @@ function generalized_force!(F,bot::Robot,policy::AbstractPolicy,q,q̇,t,s=nothin lazy_update_bodies!(structure,q,q̇) update_apparatuses!(structure, s) if gravity - apply_gravity!(structure;factor=1) + apply_field!(structure;factor=1) end assemble_forces!(F,structure) user_defined_force!(F,t) end -function generalized_force_hole!(F,bot::Robot,policy::AbstractPolicy,q,q̇,t,s,s_temp;gravity=true,(user_defined_force!)=(F,t)->nothing) - (;structure) = bot - clear_forces!(structure) - actuate!(bot,policy,q,q̇,t) - lazy_update_bodies!(structure,q,q̇) - # update_apparatuses!(structure) - update_apparatuses_hole!(structure, s, s_temp) - if gravity - apply_gravity!(structure;factor=1) - end - assemble_forces!(F,structure) - user_defined_force!(F,t) -end - -function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,q,q̇,t,∂F∂s,s=nothing) +function generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot::Robot,q,q̇,t,∂F∂s=nothing,s=nothing) generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,NoPolicy(),q,q̇,t,∂F∂s,s) end @@ -136,23 +122,6 @@ function generalized_force_jacobian!(∂F∂s,structure::AbstractStructure,q,q̇ end end -function generalized_force_jacobian_hole!(∂F∂q̌,∂F∂q̌̇,∂F∂s̄,∂ζ∂q,ζ,bot::Robot,policy::AbstractPolicy,q,q̇,t,cluster_cache,s=nothing) - (;structure,hub) = bot - ∂F∂q̌ .= 0 - ∂F∂q̌̇ .= 0 - ∂F∂s̄ .= 0 - ∂ζ∂q .= 0 - ζ .= 0 - clear_forces!(structure) - lazy_update_bodies!(structure,q,q̇) - update_apparatuses!(structure) - generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,structure,hub,policy,q,q̇,t) - build_tangent_stiffness_matrix!(∂F∂q̌,structure) - build_tangent_damping_matrix!(∂F∂q̌̇,structure) - build_ζ_hole!(ζ, cluster_cache, structure) - build_∂ζ∂q!(∂ζ∂q, cluster_cache, structure) -end - struct ContactCache{cacheType} cache::cacheType end @@ -327,7 +296,7 @@ function activate_frictional_contacts!(structure,contact_env::StaticEnvironment, (;indexed,numbered) = structure.connectivity (;bodyid2sys_loci_idx) = numbered (;num_of_bodies) = indexed - (;geometry) = contact_env + surfaces = contact_env.geometry T = eltype(q) nq = length(q) na = 0 @@ -342,7 +311,7 @@ function activate_frictional_contacts!(structure,contact_env::StaticEnvironment, for pid in eachindex(loci_states) locus_state = loci_states[pid] (;frame,contact_state) = locus_state - gap, normal = contact_gap_and_normal(frame.position,geometry) + gap, normal = contact_gap_and_normal(frame.position,surfaces) if !checkpersist contact_state.active = false end @@ -489,7 +458,7 @@ function activate_contacts!(structure,contact_env::StaticEnvironment,solver_cach (;indexed,numbered) = structure.connectivity (;bodyid2sys_loci_idx) = numbered (;num_of_bodies) = indexed - (;geometry) = contact_env + surfaces = contact_env.geometry T = eltype(q) nq = length(q) na = 0 diff --git a/src/mechanics/dynamics_solvers/Moreau_family/Moreau_CCP_constant_mass.jl b/src/mechanics/dynamics_solvers/Moreau_family/Moreau_CCP_constant_mass.jl index 60c1a3a..3c14580 100644 --- a/src/mechanics/dynamics_solvers/Moreau_family/Moreau_CCP_constant_mass.jl +++ b/src/mechanics/dynamics_solvers/Moreau_family/Moreau_CCP_constant_mass.jl @@ -6,6 +6,7 @@ end function generate_cache( simulator::Simulator{<:DynamicsProblem{ RobotType, + policyType, EnvType, RestitutionFrictionCombined{NewtonRestitution,CoulombFriction} }}, @@ -15,12 +16,17 @@ function generate_cache( }, ::Val{true}; dt,kargs... - ) where {RobotType,EnvType} + ) where {RobotType,policyType,EnvType} (;prob) = simulator - (;bot,env) = prob + (;bot,policy,env) = prob (;structure) = bot - F!(F,q,q̇,t) = generalized_force!(F,bot,q,q̇,t;gravity=true) - Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobain!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) + options = merge( + (gravity=true,factor=1,checkpersist=true), #default + prob.options, + solver.options, + ) + F!(F,q,q̇,t) = generalized_force!(F,bot,policy,q,q̇,t;gravity=options.gravity) + Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,policy,q,q̇,t) M = Matrix(assemble_M(structure)) Φ = make_cstr_function(bot) diff --git a/src/mechanics/dynamics_solvers/Moreau_family/Moreau_constant_mass.jl b/src/mechanics/dynamics_solvers/Moreau_family/Moreau_constant_mass.jl index 7d58b17..7717f25 100644 --- a/src/mechanics/dynamics_solvers/Moreau_family/Moreau_constant_mass.jl +++ b/src/mechanics/dynamics_solvers/Moreau_family/Moreau_constant_mass.jl @@ -30,7 +30,7 @@ function generate_cache( A = make_cstr_jacobian(structure) Φ = make_cstr_function(structure) F!(F,q,q̇,t) = generalized_force!(F,bot,q,q̇,t) - Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobain!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) + Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) ∂Aᵀλ∂q(q::AbstractVector,λ) = cstr_forces_jacobian(structure,q,λ) ∂Aq̇∂q(q::AbstractVector,q̇) = cstr_velocity_jacobian(structure,q,q̇) q̌0 = traj.q̌[begin] diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Adjoint_Zhong06_constant_mass.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Adjoint_Zhong06_constant_mass.jl index c5a4573..ab67e38 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Adjoint_Zhong06_constant_mass.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Adjoint_Zhong06_constant_mass.jl @@ -199,7 +199,7 @@ function generate_cache( ∂Fₘ∂θ = zeros(T,nq,nθ) Jacᵏ⁺¹ₘ = zeros(T,nx,nθ) function ∂f∂θ!(Jacᵏ⁺¹ₘ,∂Fₘ∂θ,q,q̇,t,h) - generalized_force_jacobian!(∂Fₘ∂θ,bot,policy,q,q̇,t;gravity=options.gravity) + generalized_force_jacobian!(∂Fₘ∂θ,structure,policy,q,q̇,t;gravity=options.gravity) Jacᵏ⁺¹ₘ[ 1: nq,1:nθ] .= -h^2/2*∂Fₘ∂θ Jacᵏ⁺¹ₘ[ nq+1:2nq,1:nθ] .= -h^2/2*∂Fₘ∂θ Jacᵏ⁺¹ₘ[2nq+1:end,1:nθ] .= 0.0 diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Adjoint_Zhong06_nonconstant_mass.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Adjoint_Zhong06_nonconstant_mass.jl index 947ee3c..1c21431 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Adjoint_Zhong06_nonconstant_mass.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Adjoint_Zhong06_nonconstant_mass.jl @@ -19,7 +19,7 @@ function generate_cache( Φ = make_cstr_function(structure) A = make_cstr_jacobian(structure) F!(F,q,q̇,t) = generalized_force!(F,bot,q,q̇,t) - Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobain!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) + Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) ∂Aᵀλ∂q(q,λ) = cstr_forces_jacobian(structure,q,λ) adjoint_traj = StructArray( [ diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_mono.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_mono.jl index 1bbbe24..cda64b8 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_mono.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_constant_mass_mono.jl @@ -6,6 +6,7 @@ end function generate_cache( simulator::Simulator{<:DynamicsProblem{ RobotType, + policyType, EnvType, RestitutionFrictionCombined{NewtonRestitution,CoulombFriction} }}, @@ -15,12 +16,18 @@ function generate_cache( }, ::Val{true}; dt,kargs... - ) where {RobotType,EnvType} + ) where {RobotType,policyType,EnvType} (;prob) = simulator - (;bot,env) = prob + (;bot,policy,env) = prob (;structure) = bot - F!(F,q,q̇,t) = generalized_force!(F,bot,q,q̇,t;gravity=true) - Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobain!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) + options = merge( + (gravity=true,factor=1,checkpersist=true), #default + prob.options, + solver.options, + ) + F!(F,q,q̇,t) = generalized_force!(F,bot,policy,q,q̇,t;gravity=options.gravity) + Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,policy,q,q̇,t) + ## ∂F∂θ!(∂Fₘ∂θ,q,q̇,t) = generalized_force_jacobian!(∂Fₘ∂θ,structure,policy,q,q̇,t;) M = Matrix(assemble_M(structure)) Φ = make_cstr_function(bot) @@ -45,13 +52,14 @@ function generate_cache( ) = prepare_contacts(bot,env) cache = @eponymtuple( - F!,Jac_F!, + F!,Jac_F!,#∂F∂θ!, M,Φ,A,Ψ,B,∂Ψ∂q,∂Aᵀλ∂q,∂Bᵀμ∂q, contacts_bits, persistent_bits, μs_sys, es_sys, - gaps_sys + gaps_sys, + options ) Zhong06_CCP_Constant_Mass_Mono_Cache(cache) end @@ -59,19 +67,19 @@ end function make_step_k( solver_cache::Zhong06_CCP_Constant_Mass_Mono_Cache, nq,nλ,na, - qₖ₋₁,vₖ₋₁,pₖ₋₁,tₖ₋₁, + step_data,tₖ₋₁, pₖ,vₖ, invM, h,mass_norm) (;F!,Jac_F!,M,Φ,A,∂Aᵀλ∂q) = solver_cache.cache - + (;qₖ₋₁,vₖ₋₁,pₖ₋₁) = step_data n1 = nq n2 = nq+nλ nΛ = 3na nx = n2 function ns_stepk!( - 𝐫𝐞𝐬,𝐉, - Fₘ,∂F∂q,∂F∂q̇, + 𝐫𝐞𝐬,𝐉,𝐉_data, + Fₘ,∂F∂q,∂F∂q̇,#∂Fₘ∂θ, 𝐰,x,Λₖ,y,∂y∂x, Λ_split,y_split, structure, @@ -91,6 +99,7 @@ function make_step_k( Aₖ₋₁ = A(qₖ₋₁) Aₖ = A(qₖ) + # pₖ₋₁ = M*vₖ₋₁ 𝐫𝐞𝐬[ 1:n1] .= -h.*pₖ₋₁ .+ M*(qₖ.-qₖ₋₁) .- mass_norm.*transpose(Aₖ₋₁)*λₘ .- (h^2)/2 .*Fₘ @@ -101,6 +110,18 @@ function make_step_k( 𝐉[ 1:n1,n1+1:n2] .= -mass_norm.*transpose(Aₖ₋₁) 𝐉[n1+1:n2, 1:n1] .= -mass_norm.*Aₖ + 𝐉_data .= 0.0 + #position + 𝐉_data[ 1:nq, 1:nq] .= -M .-h^2/2 .*(1/2 .*∂F∂q .- 1/h.*∂F∂q̇) .- mass_norm.*∂Aᵀλ∂q(qₖ₋₁,λₘ) + #velocity + 𝐉_data[ 1:nq,nq+1:2nq] .= -h*M + #control + ## ∂F∂θ!(∂Fₘ∂θ,qₘ,q̇ₘ,tₘ) + ## 𝐉_data[ 1:nq,2nq+1:nθ] .= -h^2/2*∂Fₘ∂θ + #structural + ## 𝐉_data[ 1:n1,n1+1:n2] + #contact + ## 𝐉_data[ 1:n1,n1+1:n2] if na != 0 get_distribution_law!(structure,contact_cache,qₖ) @@ -130,7 +151,7 @@ function make_step_k( ∂y∂x[is+1:is+3, 1:n1] .= ∂v́⁺∂qₖ[is+1:is+3,:] ∂y∂x[is+1:is+3,n1+1:n2] .= Dⁱₖ*∂vₖ∂λₘ end - ∂y∂x .= (I+Lv)*∂y∂x + ## ∂y∂x .= (I+Lv)*∂y∂x for i = 1:na is = 3(i-1) vⁱₖ₋₁ = @view v́ₖ₋₁[is+1:is+3] @@ -143,15 +164,15 @@ function make_step_k( 𝐰[is+1:is+3] .= [v́ₜⁱ,0,0] ∂y∂x[is+1 , 1:n1] .+= 1/(norm(v́⁺[is+2:is+3])+1e-14)*(v́⁺[is+2]*∂v́⁺∂qₖ[is+2,:] .+ v́⁺[is+3]*∂v́⁺∂qₖ[is+3,:]) end - 𝐫𝐞𝐬[(n2 +1):(n2+ nΛ)] .= (h.*((I+Lv)*v́⁺ .+ 𝐰) .- h.*y) + 𝐫𝐞𝐬[(n2 +1):(n2+ nΛ)] .= (h.*(v́⁺ .+ 𝐰) .- h.*y) 𝐫𝐞𝐬[n2+nΛ+1:n2+2nΛ] .= reduce(vcat,Λ_split⊙y_split) 𝐉[ 1:n1 , n2+ 1:n2+ nΛ] .= -mass_norm*h .*transpose(D)*H*(I+L) 𝐉[n2+1:n2+ nΛ, 1:n2 ] .= h.*∂y∂x 𝐉[n2+1:n2+ nΛ, n2+nΛ+1:n2+2nΛ] .= -h.*I(nΛ) 𝐉[n2+nΛ+1:n2+2nΛ, n2+ 1:n2+ nΛ] .= BlockDiagonal(mat.(y_split)) 𝐉[n2+nΛ+1:n2+2nΛ, n2+nΛ+1:n2+2nΛ] .= BlockDiagonal(mat.(Λ_split)) - if timestep == 850 - @show 𝐉[n2+nΛ+1:n2+2nΛ,:] + if false + ## @show 𝐉[n2+nΛ+1:n2+2nΛ,:] end end # debug @@ -164,14 +185,14 @@ function make_step_k( end function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Mono_Cache; - dt, - ftol=1e-14,xtol=ftol, - verbose=false,verbose_contact=false, - maxiters=50, - max_restart=3, - progress=true,exception=true) + dt, + ftol=1e-14,xtol=ftol, + verbose=false,verbose_contact=false, + maxiters=50,max_restart=3, + progress=true,exception=true + ) (;prob,controller,tspan,restart,totalstep) = sim - (;bot,env) = prob + (;bot,policy,env) = prob (;structure,traj,contacts_traj) = bot (;M,A,contacts_bits) = solver_cache.cache q0 = traj.q[begin] @@ -187,11 +208,9 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Mono_Cach F = zeros(T,nq) ∂F∂q = zeros(T,nq,nq) ∂F∂q̇ = zeros(T,nq,nq) + nθ = get_num_of_params(policy) + ∂Fₘ∂θ = zeros(T,nq,nθ) nx = nq + nλ - Δx = zeros(T,nx) - x = zero(Δx) - Res = zero(Δx) - Jac = zeros(T,nx,nx) mr = norm(M,Inf) mass_norm = mr @@ -231,6 +250,7 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Mono_Cach x = zero(Δx) Res = zero(Δx) Jac = zeros(T,nx,nx) + Jac_data = zeros(T,nx,nq+nq+nθ) Λₖ = @view x[(n2+1):n2+nΛ] y = @view x[n2+nΛ+1:n2+2nΛ] 𝐰 = zeros(T,nΛ) @@ -252,13 +272,17 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Mono_Cach ΔΛc_split = split_by_lengths(ΔΛc,3) Δyc_split = split_by_lengths(Δyc,3) get_frictional_directions_and_positions!(structure, contact_cache, qₖ₋₁, q̇ₖ₋₁, Λₖ) + step_data = ComponentArray( + @eponymtuple( + qₖ₋₁,vₖ₋₁=q̇ₖ₋₁,pₖ₋₁, + ) + ) ns_stepk! = make_step_k( solver_cache, nq,nλ,na, - qₖ₋₁,q̇ₖ₋₁,pₖ₋₁,tₖ₋₁, + step_data,tₖ₋₁, pₖ,q̇ₖ, - invM, - dt,mass_norm + invM,dt,mass_norm ) restart_count = 0 Λ_guess = 0.1 @@ -269,8 +293,8 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Mono_Cach x[ nq+1:nq+nλ] .= 0.0 for iteration = 1:maxiters ns_stepk!( - Res,Jac, - F,∂F∂q,∂F∂q̇, + Res,Jac,Jac_data, + F,∂F∂q,∂F∂q̇,#∂Fₘ∂θ, 𝐰,x,Λₖ,y,∂y∂x, Λ_split,y_split, structure, @@ -290,6 +314,9 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Mono_Cach else # na!=0 μ = transpose(y)*Λₖ/nΛ Δxp .= lu𝐉\(-Res) + ## @show Res[n2+1:n2+2nΛ] + ## @show (Jac*Δxp)[n2+1:n2+2nΛ] + ## @show Δxp[n2+1:n2+2nΛ] αp_Λ = find_cone_step_length(Λ_split,ΔΛp_split,J) αp_y = find_cone_step_length(y_split,Δyp_split,J) αpmax = min(αp_Λ,αp_y) @@ -302,7 +329,15 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Mono_Cach break end τ = σ*μp - 𝐫𝐞𝐬_c_split = -τ.*𝐞_split.+((Δyp_split)⊙(ΔΛp_split)) + 𝐫𝐞𝐬_c_split = -τ.*𝐞_split#.+((Δyp_split)⊙(ΔΛp_split)) + if false + ## @show Λₖ, normRes, μ, cond(Jac) + ## @show qr(Jac).R |> diag + @show Res[1:n1] |> norm + @show Res[n1+1:n2] |> norm + @show Res[n2+1:n2+nΛ] |> norm + @show Res[n2+nΛ+1:n2+2nΛ] |> norm + end Res[n2+nΛ+1:n2+2nΛ] .+= reduce(vcat,𝐫𝐞𝐬_c_split) normRes = norm(Res) if normRes < ftol @@ -326,18 +361,25 @@ function solve!(sim::Simulator,solver_cache::Zhong06_CCP_Constant_Mass_Mono_Cach # α_record[iteration] = α x .+= α.*Δxc μ = transpose(y)*Λₖ/nΛ - if timestep == 850 - @show Λₖ, normRes, μ, cond(Jac) - @show qr(Jac).R |> diag + if false + ## @show Λₖ, normRes, μ, cond(Jac) + ## @show qr(Jac).R |> diag + @show Res[n2+nΛ+1:n2+2nΛ] |> norm + @show (y_split)⊙(Λ_split) + @show (Δyp_split)⊙(ΔΛp_split) end + @show lu𝐉\(-Jac_data) + ## @show Λₖ, μ end end if isconverged break end restart_count += 1 - Λ_guess /= 10 - # @warn "restarting step: $timestep, count: $restart_count, Λ_guess = $Λ_guess" + if na > 0 + Λ_guess = max(Λ_guess/10,maximum(abs.(Λₖ[begin:3:end]))) + end + ## @warn "restarting step: $timestep, count: $restart_count, Λ_guess = $Λ_guess" end qₖ .= x[ 1:nq] λₘ .= x[ nq+1:nq+nλ] diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_nonconstant_mass.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_nonconstant_mass.jl index 116823a..0a3686d 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_nonconstant_mass.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_CCP_nonconstant_mass.jl @@ -19,7 +19,7 @@ function generate_cache( (;bot,env) = simulator.prob (;structure) = bot F!(F,q,q̇,t) = generalized_force!(F,bot,q,q̇,t) - Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobain!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) + Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) Mₘ = assemble_M(structure) M⁻¹ₖ = assemble_M⁻¹(structure) ∂Mₘhq̇ₘ∂qₘ = assemble_∂Mq̇∂q(structure) diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl index 51bf1e8..922e5b0 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_constant_mass.jl @@ -162,17 +162,19 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cache; ## FiniteDiff.finite_difference_jacobian!(Jac_ref,Res_stepk!,xₖ) ## Jac_my = zeros(nx,nx) ## Jac_stepk!(Jac_my,xₖ) - ## diff_Jac = Jac_my .- Jac_ref - ## diff_Jac[abs.(diff_Jac).<1e-5] .= 0.0 - ## diff_rowidx = findall((x)-> x>1e-5,norm.(eachrow(diff_Jac))) - ## @show diff_rowidx .- length(q̌ₖ) - ## @show diff_Jac[end-4:end-3,:] - ## @show findall((x)->abs(x)>0,diff_Jac[114+length(q̌ₖ),:]) - ## @show findall((x)->abs(x)>0,diff_Jac[115+length(q̌ₖ),:]) - ## @show Jac_my[ 1:nq̌, nq̌+nλ+1:nx] - ## @show Jac_ref[ 1:nq̌, nq̌+nλ+1:nx] + ## diff_Jac = Jac_my .- Jac_ref .|> abs + ## diff_Jac[(diff_Jac).<1e-8] .= 0.0 + ## diff_rowidx = findall((x)-> x>1e-5,norm.(eachrow(diff_Jac))) + ## @show diff_rowidx .- length(q̌ₖ) + ## @show diff_Jac[end-4:end-3,:] + ## @show findall((x)->abs(x)>0,diff_Jac[114+length(q̌ₖ),:]) + ## @show findall((x)->abs(x)>0,diff_Jac[115+length(q̌ₖ),:]) + ## @show Jac_my + ## @show Jac_ref + @show diff_Jac |> maximum ## end - ## @show maximum(abs.(diff_Jac))for iteration = 1:maxiters + ## @show maximum(abs.(diff_Jac)) + ## for iteration = 1:maxiters ## @show iteration,D,ηs,restitution_coefficients,gaps for iteration = 1:maxiters Res_stepk!(Res,xₖ) @@ -201,7 +203,7 @@ function solve!(sim::Simulator,cache::Zhong06_Constant_Mass_Cache; q̌ₖ .= xₖ[ 1:nq̌ ] λₖ .= xₖ[nq̌+1:nq̌+nλ] sₖ .= xₖ[nq̌+nλ+1:nx] - @show timestep, sₖ, sₖ₋₁ + ## @show timestep, sₖ, sₖ₋₁ Momentum_k!(p̌ₖ,p̌ₖ₋₁,qₖ,qₖ₋₁,λₖ,Ḿ,A,Aᵀₖ₋₁,mass_norm,h) q̌̇ₖ .= M̌⁻¹*(p̌ₖ.-M̄*q̃̇ₖ ) #---------Step k finisher----------- diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_frictionless_nonconstant_mass.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_frictionless_nonconstant_mass.jl index 1a95783..0c5970f 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_frictionless_nonconstant_mass.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_frictionless_nonconstant_mass.jl @@ -19,7 +19,7 @@ function generate_cache( (;bot,env) = simulator.prob (;structure) = bot F!(F,q,q̇,t) = generalized_force!(F,bot,q,q̇,t) - Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobain!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) + Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) Mₘ = assemble_M(structure) M⁻¹ₖ = assemble_M⁻¹(structure) ∂Mₘq̇ₘ∂qₘ = assemble_∂Mq̇∂q(structure) diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_frictionless_nonconstant_mass_mono.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_frictionless_nonconstant_mass_mono.jl index bac4e71..27660e7 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_frictionless_nonconstant_mass_mono.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_frictionless_nonconstant_mass_mono.jl @@ -19,7 +19,7 @@ function generate_cache( (;bot,env) = simulator.prob (;structure) = bot F!(F,q,q̇,t) = generalized_force!(F,bot,q,q̇,t) - Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobain!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) + Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) Mₘ = assemble_M(structure) ∂Mₘhq̇ₘ∂qₘ = assemble_∂Mq̇∂q(structure) M⁻¹ₖ = assemble_M⁻¹(structure) diff --git a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_nonconstant_mass.jl b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_nonconstant_mass.jl index a2ea54b..a19673c 100644 --- a/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_nonconstant_mass.jl +++ b/src/mechanics/dynamics_solvers/Zhong06_family/Zhong06_nonconstant_mass.jl @@ -19,7 +19,7 @@ function generate_cache( Φ = make_cstr_function(structure) A = make_cstr_jacobian(structure) F!(F,q,q̇,t) = generalized_force!(F,bot,q,q̇,t) - Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobain!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) + Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) = generalized_force_jacobian!(∂F∂q̌,∂F∂q̌̇,bot,q,q̇,t) cache = @eponymtuple( F!,Jac_F!, Mₘ,M⁻¹ₖ, diff --git a/src/mechanics/inverse_statics.jl b/src/mechanics/inverse_statics.jl index 9350cba..45d94e1 100644 --- a/src/mechanics/inverse_statics.jl +++ b/src/mechanics/inverse_statics.jl @@ -25,7 +25,7 @@ function build_Q̃(structure) foreach(structure.apparatuses) do appar j = appar.id if appar.joint isa CableJoint - (;hen,egg) = appar.joint + (;hen,egg) = appar.joint.hen2egg C1 = hen.body.cache.Cps[hen.pid] C2 = egg.body.cache.Cps[egg.pid] uci1 = hen.body.coords.free_idx @@ -62,16 +62,14 @@ end function build_L̂(st) (;connectivity,num_of_dim) = st - (;connected) = connectivity.tensioned - (;cables) = st.apparatuses - ncables = length(cables) + cables = get_cables(st) + num_of_cables = length(cables) T = get_numbertype(st) - L̂ = spzeros(T, ncables*num_of_dim, ncables) - foreach(connected) do scnt - j = scnt.id - scable = cables[j] + L̂ = spzeros(T, num_of_cables*num_of_dim, num_of_cables) + foreach(cables) do cable + j = cable.id js = (j-1)*num_of_dim - L̂[js+1:js+num_of_dim,j] = scable.state.direction + L̂[js+1:js+num_of_dim,j] = cable.force.state.direction end L̂ end @@ -121,7 +119,7 @@ end function build_Ǧ(tginput;factor=1.0) st = deepcopy(tginput) clear_forces!(st) - apply_gravity!(st;factor) + apply_field!(st;factor) assemble_forces!(Ǧ,st) end @@ -452,7 +450,7 @@ function check_static_equilibrium(tg_input,q,λ,F=nothing;gravity=false) update_cables_apply_forces!(st) check_restlen(st,get_cables_restlen(st)) if gravity - apply_gravity!(st) + apply_field!(st) end generalized_forces = assemble_forces(st) if !isnothing(F) @@ -483,17 +481,16 @@ function check_static_equilibrium_output_multipliers!(st,q,F=nothing; # stpt = nothing ) clear_forces!(st) - update_bodies!(st) + update_bodies!(st,q) update_apparatuses!(st) # check_restlen(st,get_cables_restlen(st)) if gravity - apply_gravity!(st) + apply_field!(st) end - assemble_forces!(generalized_forces,st) + generalized_forces = assemble_forces!(st) if !isnothing(F) generalized_forces .+= F[:] end - q = get_coords(st) c = get_local_coords(st) q̌ = get_free_coords(st) A = make_cstr_jacobian(st,q)(q̌,c) diff --git a/src/mechanics/stiffness.jl b/src/mechanics/stiffness.jl index 2821a37..6d102d1 100644 --- a/src/mechanics/stiffness.jl +++ b/src/mechanics/stiffness.jl @@ -219,7 +219,7 @@ end # # μ = l .- (f./k) # λ = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f # # @show f,λ -# Ǩa = - RB.cstr_forces_jacobian(bot.structure,λ) +# Ǩa = RB.cstr_forces_jacobian(bot.structure,λ) # 𝒦a = transpose(Ň)*Ǩa*Ň |> sparse # D_𝒦a = ldl(𝒦a).D.diag |> sort diff --git a/src/members/abstract_body.jl b/src/members/abstract_body.jl index 2db2eab..1a524b1 100644 --- a/src/members/abstract_body.jl +++ b/src/members/abstract_body.jl @@ -17,6 +17,8 @@ update_state!(body::AbstractBody,q,q̇) = update_state!(body.state,body.coords,b update_loci_states!(body::AbstractBody,q,q̇) = update_loci_states!(body.state,body.coords,body.cache,body.prop,q,q̇) stretch_loci!(body::AbstractBody,c) = stretch_loci!(body.coords,body.cache,body.prop,c) update_transformations!(body::AbstractBody,q) = update_transformations!(body.coords,body.cache,body.state,body.prop,q) +kinetic_energy_coords(body::AbstractBody,q,q̇) = kinetic_energy(body.coords,body.cache,body.state,body.prop,q,q̇) + function body_state2coords_state(body::AbstractBody) body_state2coords_state(body.state,body.coords) end @@ -98,7 +100,6 @@ function cstr_velocity_jacobian(coords::NonminimalCoordinates,q̇) cstr_velocity_jacobian(coords.nmcs,coords.free_idx,coords.cstr_idx,q̇) end - struct InertiaCache{MType,JType,GType} M::MType M⁻¹::MType diff --git a/src/members/forces/gravitational.jl b/src/members/forces/gravitational.jl new file mode 100644 index 0000000..9bcef7f --- /dev/null +++ b/src/members/forces/gravitational.jl @@ -0,0 +1,2 @@ +const std_gra = 3.986e14#(m^3/s^-2) + diff --git a/src/members/loci.jl b/src/members/loci.jl index b75c609..4452113 100644 --- a/src/members/loci.jl +++ b/src/members/loci.jl @@ -108,6 +108,10 @@ end to_3D(frame::CartesianFrame{3}) = frame +function CartesianFrame{3}(frame::CartesianFrame{2}) + to_3D(frame) +end + function to_3D(frame::CartesianFrame{2,M,T}) where {M,T} (;position,velocity,axes,angular_velocity) = frame o = zero(T) diff --git a/src/members/rigids/natural_coordinates/NCF.jl b/src/members/rigids/natural_coordinates/NCF.jl index 4eea8df..7d86ddf 100644 --- a/src/members/rigids/natural_coordinates/NCF.jl +++ b/src/members/rigids/natural_coordinates/NCF.jl @@ -10,7 +10,7 @@ using EponymTuples using ForwardDiff using DocStringExtensions -import ..Rible: HouseholderOrthogonalization, skew, Axes, GECP, CartesianFrame +import ..Rible: HouseholderOrthogonalization, skew, Axes, GECP, CartesianFrame, rotation_matrix import ..Rible: get_num_of_cstr, get_num_of_coords import ..Rible: get_num_of_dof, get_num_of_local_dims @@ -27,8 +27,10 @@ import ..Rible: build_joint_cache, get_joint_violations! import ..Rible: get_joint_jacobian! import ..Rible: get_joint_forces_jacobian! import ..Rible: get_joint_velocity_jacobian! +import ..Rible: kinetic_energy_coords import ..Rible: find_independent_free_idx import ..Rible: nullspace_mat +import ..Rible: std_gra include("./LNC.jl") diff --git a/src/members/rigids/natural_coordinates/functions.jl b/src/members/rigids/natural_coordinates/functions.jl index e91500c..cd8bd19 100644 --- a/src/members/rigids/natural_coordinates/functions.jl +++ b/src/members/rigids/natural_coordinates/functions.jl @@ -94,7 +94,7 @@ function to_local_coords(nmcs::NC,r̄) invX̄*(r̄-r̄i) end -function to_position_jacobian(nmcs::NC,q,c) +function to_position_jacobian(nmcs::NC,c) num_of_dim = get_num_of_dims(nmcs) nlds = get_num_of_local_dims(nmcs) ncoords = get_num_of_coords(nmcs) @@ -103,6 +103,10 @@ function to_position_jacobian(nmcs::NC,q,c) SMatrix{num_of_dim,ncoords}(kron(C_raw,IMatrix(num_of_dim))*conversion) end +function to_position_jacobian(nmcs::NC,q,c) + to_position_jacobian(nmcs,c) +end + function to_velocity_jacobian(nmcs::NC,q,q̇,c) num_of_dim = get_num_of_dims(nmcs) nlds = get_num_of_local_dims(nmcs) diff --git a/src/members/rigids/natural_coordinates/mass_matrix.jl b/src/members/rigids/natural_coordinates/mass_matrix.jl index 92a8af3..c05285d 100644 --- a/src/members/rigids/natural_coordinates/mass_matrix.jl +++ b/src/members/rigids/natural_coordinates/mass_matrix.jl @@ -1,25 +1,61 @@ # Mass matrices -Ī2J̄(::Union{NC2D2C,NC3D3C,NC2D6C,NC3D6C},Ī) = Ī +Ī2J̄(::Union{NC2D2C,NC3D3C,NC2D4C,NC2D6C,NC3D6C},Ī) = Ī Ī2J̄(::NC3D12C,Ī) = 1/2*tr(Ī)*I-Ī -function Īg2az(nmcs,m,Īg,mass_center) +function Īg2z(nmcs,m,Īₘ,r̄ₘ) (;r̄i,invX̄) = nmcs.data - a = invX̄*(mass_center-r̄i) - J̄g = Ī2J̄(nmcs,Īg) - J̄o = J̄g + m*mass_center*transpose(mass_center) - J̄i = J̄o - m*r̄i*transpose(mass_center) - m*mass_center*transpose(r̄i) + m*r̄i*transpose(r̄i) + cₘ = to_local_coords(nmcs,r̄ₘ) + J̄g = Ī2J̄(nmcs,Īₘ) + J̄o = J̄g + m*r̄ₘ*transpose(r̄ₘ) + J̄i = J̄o - m*r̄i*transpose(r̄ₘ) - m*r̄ₘ*transpose(r̄i) + m*r̄i*transpose(r̄i) z = invX̄*J̄i*transpose(invX̄) #@assert issymmetric(z) - a,Symmetric(z) + Symmetric(z) end +const μ = std_gra ## Mass matrices: standard -function make_M(nmcs::NC,m::T,Īg,mass_center) where {T} # ami (area moment of inertia tensor) +function make_U(nmcs::NC,m::T,Īₘ,r̄ₘ,q) where {T} # ami (area moment of inertia tensor) num_of_dim = get_num_of_dims(nmcs) nld = get_num_of_local_dims(nmcs) ncoords = get_num_of_coords(nmcs) - a,z = Īg2az(nmcs,m,Īg,mass_center) + cₘ = to_local_coords(nmcs,r̄ₘ) + z = Īg2z(nmcs,m,Īₘ,r̄ₘ) + M̄ = zeros(T,1+nld,1+nld) + M̄[1,1] = m + M̄[2:1+nld,1] = m*cₘ + M̄[1,2:1+nld] = M̄[2:1+nld,1] + M̄[2:1+nld,2:1+nld] .= z + ## M_std = kron(M̄,IMatrix(num_of_dim)) + ## cv = nmcs.conversion_to_std + ## M = SMatrix{ncoords,ncoords}(transpose(cv)*M_std*cv) + cₘ = to_local_coords(nmcs,r̄ₘ) + ## to_position + Cₘ = to_position_jacobian(nmcs,cₘ) + 𝐜 = Cₘ*q + ## B̄ = M̄[[1],:] #\int S̄ + ## B = kron(B̄,I(3)) + ## @show size(B), size(q) + ## Bq = B*q + 𝐜ᵀ𝐜 = 𝐜'*𝐜 + + D = 3𝐜*𝐜' - 𝐜ᵀ𝐜*I + A = kron(M̄,D) + ## U_gra0 = -3m*μ/𝐜ᵀ𝐜^(1/2) + ## U_gra1 = 3m*μ/𝐜ᵀ𝐜^(3/2)*𝐜'*Bq + ## @show U_gra0, U_gra1, U_gra0+U_gra1 + U_gra2 =-1/2*μ/𝐜ᵀ𝐜^(5/2)*q'*A*q + ## @show U_gra2 + U_gra = U_gra2 +end + +function make_M(nmcs::NC,m::T,Īₘ,r̄ₘ) where {T} # ami (area moment of inertia tensor) + num_of_dim = get_num_of_dims(nmcs) + nld = get_num_of_local_dims(nmcs) + ncoords = get_num_of_coords(nmcs) + a = to_local_coords(nmcs,r̄ₘ) + z = Īg2z(nmcs,m,Īₘ,r̄ₘ) M_raw = zeros(T,1+nld,1+nld) M_raw[1,1] = m M_raw[2:1+nld,1] = m*a @@ -29,3 +65,227 @@ function make_M(nmcs::NC,m::T,Īg,mass_center) where {T} # ami (area moment of cv = nmcs.conversion_to_std M = SMatrix{ncoords,ncoords}(transpose(cv)*M_std*cv) end + +function gravitational_force(nmcs::NC,m::T,Īₘ,r̄ₘ,q) where {T} + nld = get_num_of_local_dims(nmcs) + a = to_local_coords(nmcs,r̄ₘ) + z = Īg2z(nmcs,m,Īₘ,r̄ₘ) + M̄ = zeros(T,1+nld,1+nld) + M̄[1,1] = m + M̄[2:1+nld,1] = m*a + M̄[1,2:1+nld] = M̄[2:1+nld,1] + M̄[2:1+nld,2:1+nld] .= z + + cₘ = to_local_coords(nmcs,r̄ₘ) + ## to_position + Cₘ = to_position_jacobian(nmcs,cₘ) + 𝐜 = Cₘ*q + 𝐜ᵀ𝐜 = 𝐜'*𝐜 + D = 3𝐜*𝐜' - 𝐜ᵀ𝐜*I + A = kron(M̄,D) + + B̄ = M̄[[1],:] #\int S̄ + B = kron(B̄,I(3)) + + FBᵀ = -3*(𝐜ᵀ𝐜)*𝐜'*B + ## @show size(A), size(FBᵀ) + F = μ/𝐜ᵀ𝐜^(5/2)*(A*q+FBᵀ') +end + +function gravitational_force_jacobian(nmcs::NC,m::T,Īₘ,r̄ₘ,q) where {T} + nld = get_num_of_local_dims(nmcs) + a = to_local_coords(nmcs,r̄ₘ) + z = Īg2z(nmcs,m,Īₘ,r̄ₘ) + M̄ = zeros(T,1+nld,1+nld) + M̄[1,1] = m + M̄[2:1+nld,1] = m*a + M̄[1,2:1+nld] = M̄[2:1+nld,1] + M̄[2:1+nld,2:1+nld] .= z + cₘ = to_local_coords(nmcs,r̄ₘ) + ## to_position + Cₘ = to_position_jacobian(nmcs,cₘ) + 𝐜 = Cₘ*q + 𝐜ᵀ𝐜 = 𝐜'*𝐜 + D = 3𝐜*𝐜' - 𝐜ᵀ𝐜*I + A = kron(M̄,D) + ∂F∂q = μ/𝐜ᵀ𝐜^(5/2)*A +end + +## Mass matrices: LACB + +function make_M_LACB(nmcs::NC,m::T,Īₘ,r̄ₘ) where {T} # ami (area moment of inertia tensor) + num_of_dim = get_num_of_dims(nmcs) + nld = get_num_of_local_dims(nmcs) + ncoords = get_num_of_coords(nmcs) + a = to_local_coords(nmcs,r̄ₘ) + z = Īg2z(nmcs,m,Īₘ,r̄ₘ) + M̄ = zeros(T,1+nld,1+nld) + M̄[1,1] = m + M̄[2:1+nld,1] = m*a + M̄[1,2:1+nld] = M̄[2:1+nld,1] + M̄[2:1+nld,2:1+nld] .= z + Id = IMatrix(num_of_dim) + M_std = kron(M̄,Id) + cv = nmcs.conversion_to_std + M = SMatrix{ncoords,ncoords}(transpose(cv)*M_std*cv) + B̄ = M̄[[1],:] + B = kron(B̄,Id) + M_LACB = [ + m*Id B; + B' M; + ] + M_LACB[4:6,4:6] .+= Id + M_LACB +end + +## Gravitational Potential: LACB +function make_U_LACB(nmcs::NC,m::T,Īₘ,r̄ₘ,ro,q̂) where {T} # ami (area moment of inertia tensor) + num_of_dim = get_num_of_dims(nmcs) + nld = get_num_of_local_dims(nmcs) + ncoords = get_num_of_coords(nmcs) + cₘ = to_local_coords(nmcs,r̄ₘ) + z = Īg2z(nmcs,m,Īₘ,r̄ₘ) + M̄ = zeros(T,1+nld,1+nld) + M̄[1,1] = m + M̄[2:1+nld,1] = m*cₘ + M̄[1,2:1+nld] = M̄[2:1+nld,1] + M̄[2:1+nld,2:1+nld] .= z + ## M_std = kron(M̄,IMatrix(num_of_dim)) + ## cv = nmcs.conversion_to_std + ## M = SMatrix{ncoords,ncoords}(transpose(cv)*M_std*cv) + B̄ = M̄[[1],:] #\int S̄ + B = kron(B̄,I(3)) + ## to_position + Cₘ = to_position_jacobian(nmcs,cₘ) + rc = Cₘ*q̂ + 𝐜 = ro + rc + 𝐜ᵀ𝐜 = 𝐜'*𝐜 + D = 3𝐜*𝐜' - 𝐜ᵀ𝐜*I + + ## FBᵀ = -3*(𝐜ᵀ𝐜)*𝐜'*B + + C = ro'*D*B + + A = kron(M̄,D) + + ## d = 3*m*𝐜ᵀ𝐜*𝐜'*rc + + e = 1/2*m*ro'*D*ro + U_gra2 = -μ/𝐜ᵀ𝐜^(5/2)*( + 1/2*q̂'*A*q̂ + + C*q̂ + + e + ) + ## @show FBᵀ*q̂ + d + ## @show U_gra2 + U_gra = U_gra2 +end + +function gravitational_force_LACB(nmcs::NC,m::T,Īₘ,r̄ₘ,ro,q̂) where {T} + num_of_dim = get_num_of_dims(nmcs) + nld = get_num_of_local_dims(nmcs) + cₘ = to_local_coords(nmcs,r̄ₘ) + z = Īg2z(nmcs,m,Īₘ,r̄ₘ) + M̄ = zeros(T,1+nld,1+nld) + M̄[1,1] = m + M̄[2:1+nld,1] = m*cₘ + M̄[1,2:1+nld] = M̄[2:1+nld,1] + M̄[2:1+nld,2:1+nld] .= z + ## to_position + Cₘ = to_position_jacobian(nmcs,cₘ) + ĉ = Cₘ*q̂ + 𝐜 = ro + ĉ + 𝐜ᵀ𝐜 = 𝐜'*𝐜 + D = 3𝐜*𝐜' - 𝐜ᵀ𝐜*I + + Id = IMatrix(num_of_dim) + ## M_std = kron(M̄,Id) + ## cv = nmcs.conversion_to_std + ## M = SMatrix{ncoords,ncoords}(transpose(cv)*M_std*cv) + B̄ = M̄[[1],:] #\int S̄ + B = kron(B̄,Id) + + ∂ĉᵀ∂q̂ᵀ = Cₘ' + + e = 1/2*m*ro'*D*ro + + C = ro'*D*B + + A = kron(M̄,D) + + Bq̂ = B*q̂ + + ∂Cq̂∂oᵀ = ( + 3ro'*𝐜*I + 3ro*𝐜' + 3𝐜*𝐜' - 2𝐜*ro' - 𝐜ᵀ𝐜*I + )*Bq̂ + + ∂Cq̂∂ĉᵀ = ( + 3ro'*𝐜*I + 3ro*𝐜' - 2𝐜*ro' + )*Bq̂ + + ∂e∂oᵀ = 3/2*m*(2(2ro+ĉ)*𝐜'*ro) - 1/2*m*(ro'*ro*2*𝐜 + 𝐜ᵀ𝐜*2*ro) + ∂e∂ĉᵀ = 3/2*m*(2( ro )*𝐜'*ro) - 1/2*m*(ro'*ro*2*𝐜) + + o = zero(𝐜) + ∂𝐜𝐜ᵀ∂x = hcat(𝐜,o,o) + vcat(𝐜',o',o') + ∂𝐜𝐜ᵀ∂y = hcat(o,𝐜,o) + vcat(o',𝐜',o') + ∂𝐜𝐜ᵀ∂z = hcat(o,o,𝐜) + vcat(o',o',𝐜') + + ∂q̂ᵀAq̂∂oᵀ = + ∂q̂ᵀAq̂∂ĉᵀ = 3*[ + q̂'*kron(M̄,∂𝐜𝐜ᵀ∂x)*q̂, + q̂'*kron(M̄,∂𝐜𝐜ᵀ∂y)*q̂, + q̂'*kron(M̄,∂𝐜𝐜ᵀ∂z)*q̂, + ] + 2𝐜*q̂'*kron(M̄,Id)*q̂ + + ∂U∂q̂ᵀ = -μ/𝐜ᵀ𝐜^(5/2)*( + A*q̂ + + C' + ) + + ∂U∂oᵀ = -μ/𝐜ᵀ𝐜^(5/2)*( + 1/2*∂q̂ᵀAq̂∂oᵀ + + ∂Cq̂∂oᵀ + + ∂e∂oᵀ + ) + 5μ*𝐜/𝐜ᵀ𝐜^(7/2)*( + 1/2*q̂'*A*q̂ + + C*q̂ + + e + ) + + ∂U∂ĉᵀ = -μ/𝐜ᵀ𝐜^(5/2)*( + 1/2*∂q̂ᵀAq̂∂ĉᵀ + + ∂Cq̂∂ĉᵀ + + ∂e∂ĉᵀ + ) + 5μ*𝐜/𝐜ᵀ𝐜^(7/2)*( + 1/2*q̂'*A*q̂ + + C*q̂ + + e + ) + ## ∂U∂qᵀ, ∂U∂oᵀ, ∂U∂ĉᵀ + + vcat( + -∂U∂oᵀ, + -∂U∂q̂ᵀ - + ∂ĉᵀ∂q̂ᵀ*∂U∂ĉᵀ + ) +end + +function gravitational_force_jacobian_LACB(nmcs::NC,m::T,Īₘ,r̄ₘ,𝐜) where {T} + nld = get_num_of_local_dims(nmcs) + a = to_local_coords(nmcs,r̄ₘ) + z = Īg2z(nmcs,m,Īₘ,r̄ₘ) + M̄ = zeros(T,1+nld,1+nld) + M̄[1,1] = m + M̄[2:1+nld,1] = m*a + M̄[1,2:1+nld] = M̄[2:1+nld,1] + M̄[2:1+nld,2:1+nld] .= z + 𝐜ᵀ𝐜 = 𝐜'*𝐜 + D = 3𝐜*𝐜' - 𝐜ᵀ𝐜*I + A = kron(M̄,D) + ## B̄ = M̄[:,1] + ## B = -3*(𝐜ᵀ𝐜)*kron(B̄,𝐜) + ∂f∂q = μ/𝐜ᵀ𝐜^(5/2)*A +end + + diff --git a/src/members/rigids/rigid_body.jl b/src/members/rigids/rigid_body.jl index 9cfc8c0..3b261e8 100644 --- a/src/members/rigids/rigid_body.jl +++ b/src/members/rigids/rigid_body.jl @@ -233,6 +233,31 @@ function RigidBody(prop,state,coords,mesh=nothing) RigidBody(prop,state,coords,cache,mesh) end +""" +通用Rigid Body Type +$(TYPEDEF) +--- +$(TYPEDFIELDS) +""" +struct GravitationalRigidBody{N,M,T,coordsType,cacheType,meshType} <: AbstractRigidBody{N,T} + "Rigid Body Property " + prop::RigidBodyProperty{N,T} + "Rigid Body State " + state::RigidBodyState{N,M,T} + "Coordinates State" + coords::NonminimalCoordinates{coordsType} + "Cache" + cache::cacheType + "Rigid Body Mesh" + mesh::meshType +end + +function GravitationalRigidBody(prop,state,coords,mesh=nothing) + (;nmcs,pres_idx,cstr_idx) = coords + cache = BodyCache(prop,nmcs,pres_idx,cstr_idx) + GravitationalRigidBody(prop,state,coords,cache,mesh) +end + function body_state2coords_state(state::RigidBodyState,coords::NonminimalCoordinates) (;origin_frame) = state cartesian_frame2coords(coords.nmcs,origin_frame) @@ -472,30 +497,83 @@ get_cstr_idx(::QCF.QC) = collect(1:1) # operations on rigid body """ -Return Rigid Body translational kinetic energy. +Return Rigid Body kinetic energy. $(TYPEDSIGNATURES) """ -function kinetic_energy_translation(body::AbstractRigidBody) +function kinetic_energy(body::AbstractRigidBody{3,T}) where {T} (;mass) = body.prop - (;mass_center_velocity) = body.state - T = 1/2*transpose(mass_center_velocity)*mass*mass_center_velocity + (;mass_locus_state) = body.state + mass_velocity = mass_locus_state.frame.velocity + Ω = to_3D(mass_locus_state.frame).local_angular_velocity + 1/2*transpose(mass_velocity)*mass*mass_velocity + 1/2*transpose(Ω)*inertia*Ω end """ -Return Rigid Body rotational kinetic energy. +Return Rigid Body kinetic energy. $(TYPEDSIGNATURES) """ -function kinetic_energy_rotation(body::AbstractRigidBody) - (;inertia) = body.prop - (;R,ω) = body.state - Ω = inv(R)*ω - T = 1/2*transpose(Ω)*inertia*Ω +function kinetic_energy(body::AbstractRigidBody{2,T}) where T + (;prop,state) = body + (;mass,mass_locus,inertia) = prop + o = zero(T) + i = one(T) + M = Diagonal(mass.*ones(3)) + c = vcat( + mass_locus.position, + o + ) + MS = M*skew(c) + + I3 = SMatrix{3,3}( + [ + inertia[1,1] inertia[1,2] o; + inertia[2,1] inertia[2,2] o; + o o inertia[1,1]+inertia[2,2]; + ] + ) + + inertia_tensor = [ + M -MS; + MS I3 + M*skew(c)*skew(c)' + ] + + origin_frame_3d = CartesianFrame{3}(state.origin_frame) + + R = origin_frame_3d.axes.X + Ω = origin_frame_3d.local_angular_velocity + v = origin_frame_3d.velocity + V = transpose(R)*v + + η = vcat( + V, + Ω + ) + + 0.5η'*inertia_tensor*η + +end + +function kinetic_energy( + coords::NonminimalCoordinates{<:NCF.NC},cache, + state::RigidBodyState, + prop::RigidBodyProperty, + q,q̇, + ) + (;M) = cache.inertia_cache + T = 1/2*transpose(q̇)*M*q̇ end """ Return Rigid Body gravity potential energy. $(TYPEDSIGNATURES) """ +function potential_energy_gravity(body::RigidBody) + (;mass) = body.prop + (;mass_locus_state) = body.state + gravity_acceleration = get_gravity(body) + -transpose(mass_locus_state.frame.position)*gravity_acceleration*mass +end + function potential_energy_gravity(body::AbstractRigidBody) (;mass) = body.prop (;mass_locus_state) = body.state diff --git a/src/postprocess/analysis.jl b/src/postprocess/analysis.jl index 819a6f0..046e339 100644 --- a/src/postprocess/analysis.jl +++ b/src/postprocess/analysis.jl @@ -143,6 +143,45 @@ function get_angular_velocity!(bot::Robot,bodyid::Int,step_range=:) angular_velocity_traj[step_range] |> VectorOfArray end +function get_kinetic_energy!(bot::Robot,bodyid::Int,step_range=:) + (; structure, traj)= bot + (; t, q, q̇) = traj + T = get_numbertype(bot) + N = get_num_of_dims(bot) + KE = [ + zero(T) + for _ in eachindex(traj) + ] + bodies = get_bodies(structure) + body = bodies[bodyid] + for (i,(qₖ,q̇ₖ)) in enumerate(zip(q, q̇)) + update_bodies!(structure,qₖ,q̇ₖ) + KE[i] = kinetic_energy(body,) + end + KE[step_range] +end + +function get_kinetic_energy_coords!(bot::Robot,bodyid::Int,step_range=:) + (; structure, traj)= bot + (; t, q, q̇) = traj + T = get_numbertype(bot) + N = get_num_of_dims(bot) + KE = [ + zero(T) + for _ in eachindex(traj) + ] + bodies = get_bodies(structure) + body = bodies[bodyid] + for (i,(qₖ,q̇ₖ)) in enumerate(zip(q, q̇)) + update_bodies!(structure,qₖ,q̇ₖ) + KE[i] = kinetic_energy_coords(body, + structure.state.members[bodyid].q, + structure.state.members[bodyid].q̇, + ) + end + KE[step_range] +end + function get_mid_times(bot::Robot) (;t) = bot.traj (t[begin+1:end] .+ t[begin:end-1])./2 diff --git a/src/postprocess/vis.jl b/src/postprocess/vis.jl index 0d0745e..397dbc4 100644 --- a/src/postprocess/vis.jl +++ b/src/postprocess/vis.jl @@ -21,10 +21,12 @@ MakieCore.@recipe(Viz, structure) do scene refcolor=:lightgrey, cablewidth=0.6, meshcolor=:slategrey, - fontsize = 15, + fontsize = 12, + linewidth = 1, ) end +# AbstractBody function MakieCore.plot!(viz::Viz{Tuple{S}}; ) where S <:AbstractBody body_ob = viz[:structure] @@ -75,7 +77,7 @@ function MakieCore.plot!(viz::Viz{Tuple{S}}; build_mesh(body_ob,color=viz.meshcolor[]) end if viz.showwire[] - strokewidth = linewidth + strokewidth = viz.linewidth[] else strokewidth = 0 end @@ -83,13 +85,14 @@ function MakieCore.plot!(viz::Viz{Tuple{S}}; MakieCore.mesh!(viz, meshes_ob; shading = MakieCore.Automatic()) else MakieCore.poly!(viz, meshes_ob; shading = MakieCore.Automatic(), - # strokewidth + strokewidth ) end end viz end +# ClusterJoint function MakieCore.plot!(viz::Viz{Tuple{S}}; ) where {S<:Apparatus{<:ClusterJoint}} cluster_cable_ob = viz[:structure] @@ -112,6 +115,7 @@ function MakieCore.plot!(viz::Viz{Tuple{S}}; end end +# CableJoint function MakieCore.plot!(viz::Viz{Tuple{S}}; ) where {S<:Apparatus{<:CableJoint}} cable_appar_ob = viz[:structure] @@ -165,6 +169,7 @@ function MakieCore.plot!(viz::Viz{Tuple{S}}; viz end +# AbstractStructure function MakieCore.plot!(viz::Viz{Tuple{S}}; ) where S <:AbstractStructure if viz.isref[] @@ -245,7 +250,7 @@ function MakieCore.plot!(viz::Viz{Tuple{S}}; meshcolor, pointcolor = viz.pointcolor[], showmesh = viz.showmesh[], - # showwire = viz.showwire[], + showwire = viz.showwire[], ) end end @@ -286,18 +291,18 @@ end function make_patch(;trans=[0.0,0,0],rot=RotX(0.0),scale=1,color=:slategrey) parsedcolor = parse(CT.RGBA{Float32},color) - function patch(mesh) + function patch(mesh::GB.Mesh{Dim,T}) where {Dim,T} ct = Translation(trans) ∘ LinearMap(rot) updated_pos = ct.(mesh.position.*scale) fac = GB.faces(mesh) - nls = GB.normals(updated_pos,fac) + nls = GB.normals(updated_pos,fac;normaltype=GB.Vec{Dim,Float32}) colors = fill(parsedcolor,length(updated_pos)) GB.Mesh(GB.meta(updated_pos,normals=nls,color=colors),fac) end end function get_groundmesh(f::Function,rect) - GeometryBasics.Mesh(f, rect, NaiveSurfaceNets()) |> make_patch(;color = :snow) + GB.Mesh(f, rect, Meshing.MarchingCubes()) |> make_patch(;color = :snow) end function get_groundmesh(plane::Plane,rect) @@ -349,16 +354,16 @@ function get_groundmesh(::Nothing,rect) end function get_linesegs_cables(structure;slackonly=false,noslackonly=false) - (;connected) = structure.connectivity.tensioned - (;cables) = structure.apparatuses + cables = get_cables(structure) ndim = get_num_of_dims(structure) T = get_numbertype(structure) - linesegs_cables = Vector{Tuple{Point{ndim,T},Point{ndim,T}}}() - foreach(connected) do scnt - scable = cables[scnt.id] - ret = (Point(scnt.hen.body.state.loci_states[scnt.hen.pid].position), - Point(scnt.egg.body.state.loci_states[scnt.egg.pid].position)) - slacking = scable.state.tension <= 0 + linesegs_cables = Vector{Tuple{GB.Point{ndim,T},GB.Point{ndim,T}}}() + foreach(cables) do cable + force = cable.force + (;hen,egg) = cable.joint.hen2egg + ret = (GB.Point(hen.body.state.loci_states[hen.pid].frame.position), + GB.Point(egg.body.state.loci_states[egg.pid].frame.position)) + slacking = force.state.tension <= 0 if (slackonly && slacking) || (noslackonly && !slacking) || (!slackonly && !noslackonly) diff --git a/src/structures/linearization.jl b/src/structures/linearization.jl index 4de3cec..23fbdea 100644 --- a/src/structures/linearization.jl +++ b/src/structures/linearization.jl @@ -217,77 +217,77 @@ end function build_material_stiffness_matrix!(st::Structure,q,k) (;num_of_dim) = st - (;indexed,tensioned) = st.connectivity + (;indexed,) = st.connectivity (;num_of_full_coords,num_of_free_coords,sys_free_coords_idx,bodyid2sys_full_coords) = indexed - (;connected) = tensioned - (;cables) = st.apparatuses update!(st,q) Jj = zeros(eltype(q),num_of_dim,num_of_full_coords) retǨm = zeros(eltype(q),num_of_free_coords,num_of_free_coords) - foreach(connected) do scnt - j = scnt.id - rb1 = scnt.hen.body - rb2 = scnt.egg.body - ap1id = scnt.hen.pid - ap2id = scnt.egg.pid - C1 = rb1.cache.Cps[ap1id] - C2 = rb2.cache.Cps[ap2id] - mfull1 = bodyid2sys_full_coords[rb1.prop.id] - mfull2 = bodyid2sys_full_coords[rb2.prop.id] - cable = cables[j] - (;state) = cable - (;length,) = state - s = 1/length - Jj .= 0 - Jj[:,mfull2] .+= C2 - Jj[:,mfull1] .-= C1 - Uj = transpose(Jj)*Jj - Ūjq = Uj[sys_free_coords_idx,:]*q - retǨm .+= k[j]*s^2*(Ūjq*transpose(Ūjq)) + foreach(st.apparatuses) do appar + if appar.joint isa CableJoint + j = appar.id + (;force,joint) = appar + (;hen,egg) = joint.hen2egg + rb1 = hen.body + rb2 = egg.body + ap1id = hen.pid + ap2id = egg.pid + C1 = rb1.cache.Cps[ap1id] + C2 = rb2.cache.Cps[ap2id] + mfull1 = bodyid2sys_full_coords[rb1.prop.id] + mfull2 = bodyid2sys_full_coords[rb2.prop.id] + (;state) = force + (;length,) = state + s = 1/length + Jj .= 0 + Jj[:,mfull2] .+= C2 + Jj[:,mfull1] .-= C1 + Uj = transpose(Jj)*Jj + Ūjq = Uj[sys_free_coords_idx,:]*q + retǨm .+= k[j]*s^2*(Ūjq*transpose(Ūjq)) + end end retǨm end function build_geometric_stiffness_matrix!(st::Structure,q,f) (;num_of_dim) = st - (;indexed,tensioned) = st.connectivity + (;indexed,) = st.connectivity (;num_of_full_coords,num_of_free_coords,sys_free_coords_idx,bodyid2sys_full_coords) = indexed - (;connected) = tensioned - (;cables) = st.apparatuses update!(st,q) Jj = zeros(eltype(q),num_of_dim,num_of_full_coords) retǨg = zeros(eltype(q),num_of_free_coords,num_of_free_coords) - foreach(connected) do scnt - j = scnt.id - rb1 = scnt.hen.body - rb2 = scnt.egg.body - ap1id = scnt.hen.pid - ap2id = scnt.egg.pid - C1 = rb1.cache.Cps[ap1id] - C2 = rb2.cache.Cps[ap2id] - mfull1 = bodyid2sys_full_coords[rb1.prop.id] - mfull2 = bodyid2sys_full_coords[rb2.prop.id] - cable = cables[j] - (;state) = cable - (;length,) = state - s = 1/length - Jj .= 0 - Jj[:,mfull2] .+= C2 - Jj[:,mfull1] .-= C1 - Uj = transpose(Jj)*Jj - Ǔj = @view Uj[sys_free_coords_idx,sys_free_coords_idx] - Ūjq = Uj[sys_free_coords_idx,:]*q - retǨg .+= f[j]/length*(Ǔj-s^2*Ūjq*transpose(Ūjq)) + foreach(st.apparatuses) do appar + if appar.joint isa CableJoint + j = appar.id + (;force,joint) = appar + (;hen,egg) = joint.hen2egg + rb1 = hen.body + rb2 = egg.body + ap1id = hen.pid + ap2id = egg.pid + C1 = rb1.cache.Cps[ap1id] + C2 = rb2.cache.Cps[ap2id] + mfull1 = bodyid2sys_full_coords[rb1.prop.id] + mfull2 = bodyid2sys_full_coords[rb2.prop.id] + (;state) = force + (;length,) = state + s = 1/length + Jj .= 0 + Jj[:,mfull2] .+= C2 + Jj[:,mfull1] .-= C1 + Uj = transpose(Jj)*Jj + Ǔj = @view Uj[sys_free_coords_idx,sys_free_coords_idx] + Ūjq = Uj[sys_free_coords_idx,:]*q + retǨg .+= f[j]/length*(Ǔj-s^2*Ūjq*transpose(Ūjq)) + end end retǨg end function make_Ǩm_Ǩg(st,q0) (;num_of_dim) = st - (;numbered,indexed,tensioned) = st.connectivity + (;numbered,indexed,) = st.connectivity (;num_of_full_coords,num_of_free_coords,sys_pres_coords_idx,sys_free_coords_idx,bodyid2sys_full_coords) = indexed - (;connected) = tensioned - (;cables) = st.apparatuses (;bodyid2sys_loci_idx,sys_loci2coords_idx) = numbered function inner_Ǩm_Ǩg(q̌,s,μ,k,c) q = Vector{eltype(q̌)}(undef,num_of_full_coords) @@ -296,14 +296,15 @@ function make_Ǩm_Ǩg(st,q0) Jj = zeros(eltype(q̌),num_of_dim,num_of_full_coords) retǨm = zeros(eltype(q̌),num_of_free_coords,num_of_free_coords) retǨg = zeros(eltype(q̌),num_of_free_coords,num_of_free_coords) - foreach(connected) do scnt - j = scnt.id - rb1 = scnt.hen.body - rb2 = scnt.egg.body + foreach(st.apparatuses) do appar + j = appar.id + (;hen,egg) = appar.joint.hen2egg + rb1 = hen.body + rb2 = egg.body rb1id = rb1.prop.id rb2id = rb2.prop.id - ap1id = scnt.hen.pid - ap2id = scnt.egg.pid + ap1id = hen.pid + ap2id = egg.pid c1 = c[sys_loci2coords_idx[bodyid2sys_loci_idx[rb1id][ap1id]]] c2 = c[sys_loci2coords_idx[bodyid2sys_loci_idx[rb2id][ap2id]]] C1 = rb1.state.cache.funcs.C(c1) @@ -328,18 +329,19 @@ function make_Ǩm_Ǩg(st,q0) Jj = zeros(eltype(q̌),num_of_dim,num_of_full_coords) retǨm = zeros(eltype(q̌),num_of_free_coords,num_of_free_coords) retǨg = zeros(eltype(q̌),num_of_free_coords,num_of_free_coords) - foreach(connected) do scnt - j = scnt.id - rb1 = scnt.hen.body - rb2 = scnt.egg.body - ap1id = scnt.hen.pid - ap2id = scnt.egg.pid + foreach(st.apparatuses) do appar + j = appar.id + (;force,joint) = appar + (;hen,egg) = joint.hen2egg + rb1 = hen.body + rb2 = egg.body + ap1id = hen.pid + ap2id = egg.pid C1 = rb1.state.cache.Cps[ap1id] C2 = rb2.state.cache.Cps[ap2id] mfull1 = bodyid2sys_full_coords[rb1.prop.id] mfull2 = bodyid2sys_full_coords[rb2.prop.id] - cable = cables[j] - (;k,c,state,slack) = cable + (;k,c,state,slack) = force (;direction,tension,length,lengthdot) = state s = 1/length Jj .= 0 @@ -357,10 +359,9 @@ end function make_S(st,q0) (;num_of_dim) = st - (;numbered,indexed,tensioned) = st.connectivity + (;numbered,indexed,) = st.connectivity (;sys_pres_coords_idx,sys_free_coords_idx,num_of_full_coords,bodyid2sys_full_coords) = indexed (;bodyid2sys_loci_idx,sys_loci2coords_idx) = numbered - (;connected) = tensioned (;cables) = st.apparatuses ncables = length(cables) function inner_S(q̌,s) @@ -369,14 +370,16 @@ function make_S(st,q0) q[sys_free_coords_idx] .= q̌ ret = zeros(eltype(q̌),ncables) Jj = zeros(eltype(q̌),num_of_dim,num_of_full_coords) - foreach(connected) do scnt - j = scnt.id - rb1 = scnt.hen.body - rb2 = scnt.egg.body + foreach(st.apparatuses) do appar + j = appar.id + (;force,joint) = appar + (;hen,egg) = joint.hen2egg + rb1 = hen.body + rb2 = egg.body rb1id = rb1.prop.id rb2id = rb2.prop.id - ap1id = scnt.hen.pid - ap2id = scnt.egg.pid + ap1id = hen.pid + ap2id = egg.pid # c1 = c[sys_loci2coords_idx[bodyid2sys_loci_idx[rb1id][ap1id]]] # c2 = c[sys_loci2coords_idx[bodyid2sys_loci_idx[rb2id][ap2id]]] # C1 = rb1.state.cache.funcs.C(c1) @@ -399,14 +402,15 @@ function make_S(st,q0) q[sys_free_coords_idx] .= q̌ ret = zeros(eltype(q̌),ncables) Jj = zeros(eltype(q̌),num_of_dim,num_of_full_coords) - foreach(connected) do scnt - j = scnt.id - rb1 = scnt.hen.body - rb2 = scnt.egg.body + foreach(st.apparatuses) do appar + j = appar.id + (;hen,egg) = appar.joint.hen2egg + rb1 = hen.body + rb2 = egg.body rb1id = rb1.prop.id rb2id = rb2.prop.id - ap1id = scnt.hen.pid - ap2id = scnt.egg.pid + ap1id = hen.pid + ap2id = egg.pid c1 = c[sys_loci2coords_idx[bodyid2sys_loci_idx[rb1id][ap1id]]] c2 = c[sys_loci2coords_idx[bodyid2sys_loci_idx[rb2id][ap2id]]] C1 = rb1.state.cache.funcs.C(c1) @@ -433,6 +437,11 @@ function build_tangent_stiffness_matrix!(∂Q̌∂q̌,appar::Apparatus,st::Abstr #default do nothing end + +function build_tangent_stiffness_matrix!(∂Q̌∂q̌,body::GravitationalRigidBody,st::AbstractStructure,q,s=nothing) + field_jacobian!(∂Q̌∂q̌,body,st) +end + function build_tangent_stiffness_matrix!(∂Q̌∂q̌,body::FlexibleBody,st::AbstractStructure,q,s=nothing) (;coords,cache) = body (;e,) = cache @@ -756,7 +765,6 @@ function build_tangent_damping_matrix!(∂Q̌∂q̌̇,st) end end - function init_cluster_matrix(st) (; bodies, apparatuses, connectivity) = st (; indexed, numbered) = connectivity @@ -948,14 +956,17 @@ end function build_Ǩ(st) _,λ = check_static_equilibrium_output_multipliers(st) - build_Ǩ(st,λ) + q = get_coords(st) + build_Ǩ(st,q,λ) end -function build_Ǩ(st,λ) +function build_Ǩ(st,q,λ) (;num_of_free_coords) = st.connectivity.indexed T = get_numbertype(st) - # Ǩ = zeros(T,num_of_free_coords,num_of_free_coords) - Ǩ = -build_tangent_stiffness_matrix(st) .- cstr_forces_jacobian(st,λ) + ǨmǨg = zeros(T,num_of_free_coords,num_of_free_coords) + build_tangent_stiffness_matrix!(ǨmǨg,st) + Ǩa = cstr_forces_jacobian(st,q,λ) + Ǩ = - ǨmǨg .- Ǩa # Ǩ .= Ǩ Ǩ end @@ -975,7 +986,7 @@ function undamped_eigen(st;gravity=false) q = get_coords(st) q̌ = get_free_coords(st) M̌ = assemble_M̌(st) - Ǩ = build_Ǩ(st,λ) + Ǩ = build_Ǩ(st,q,λ) Ǎ = make_cstr_jacobian(st)(q) Ň = nullspace(Ǎ) ℳ = transpose(Ň)*M̌*Ň diff --git a/src/structures/mutate.jl b/src/structures/mutate.jl index a88d753..029be87 100644 --- a/src/structures/mutate.jl +++ b/src/structures/mutate.jl @@ -227,7 +227,7 @@ function move_rigids!(st) (;bodies,state) = st foreach(bodies) do body bodyid = body.prop.id - (;q,q̇) = state.parts[bodyid] + (;q,q̇) = state.members[bodyid] update_loci_states!(body,q,q̇) end end @@ -314,10 +314,71 @@ end """ $(TYPEDSIGNATURES) """ -function apply_gravity!(st;factor=1) - (;bodies) = st - gravity_acceleration = factor*get_gravity(st) +function apply_field!(st::AbstractStructure;factor=1) + (;bodies,state) = st + foreach(bodies) do body + (;id) = body.prop + state.members[id].q + apply_field!( + state.members[id].F, + body, + state.members[id].q; + factor + ) + end +end + +function apply_field!(F,body::RigidBody,q;factor=1) + gravity_acceleration = factor*get_gravity(body) + (;Cps,Cg,inertia_cache) = cache + f_gra = gravity_acceleration*body.prop.mass + mul!(F,transpose(Cg),f_gra,1,1) +end + +function apply_field!(F,body::GravitationalRigidBody,q;factor=1) + nmcs = body.coords.nmcs + m = body.prop.mass + Ī = body.prop.inertia + r̄g = body.prop.mass_locus.position + rg = body.state.mass_locus_state.frame.position + + F_gra = NCF.gravitational_force(nmcs,m,Ī,r̄g,rg,q) + ## @show size(F_gra) + F .+= F_gra +end + +""" +$(TYPEDSIGNATURES) +""" +function field_jacobian!(∂F∂q, st::AbstractStructure;factor=1) + (;bodies,state,connectivity) = st + (; + bodyid2sys_free_coords_idx, + bodyid2sys_full_coords_idx, + ) = connectivity.indexed foreach(bodies) do body - body.state.mass_locus_state.force .+= gravity_acceleration*body.prop.mass + (;id) = body.prop + state.members[id].q + field_jacobian!( + (@view ∂F∂q[bodyid2sys_free_coords_idx,bodyid2sys_free_coords_idx]), + body, + state.members[id].q; + factor + ) end end + +function field_jacobian!(∂F̌∂q̌,body::RigidBody,q;factor=1) +end + +function field_jacobian!(∂F̌∂q̌,body::GravitationalRigidBody,q;factor=1) + nmcs = body.coords.nmcs + m = body.prop.mass + Ī = body.prop.inertia + r̄g = body.prop.mass_locus.position + rg = body.state.mass_locus_state.frame.position + + ## @show size(∂f∂q) + ∂F̌∂q̌ .+= NCF.gravitational_force_jacobian(nmcs,m,Ī,r̄g,rg) +end + diff --git a/src/structures/structure.jl b/src/structures/structure.jl index 0e4229f..0dd360f 100644 --- a/src/structures/structure.jl +++ b/src/structures/structure.jl @@ -39,16 +39,15 @@ function StructureState(bodies,apparatuses,cnt::Connectivity) end T = get_numbertype(bodies) t = zero(T) - q = Vector{T}(undef,num_of_full_coords) + q = zeros(T,num_of_full_coords) q̇ = zero(q) q̈ = zero(q) F = zero(q) - λ = Vector{T}(undef,num_of_cstr) - # s = Vector{T}(undef,num_of_add_var) - s = zeros(T, num_of_add_var) - c = get_local_coords(bodies,numbered) + λ = zeros(T,num_of_cstr) + s = zeros(T,num_of_add_var) p = zero(q) - p̌ = Vector{T}(undef,num_of_free_coords) + p̌ = zeros(T,num_of_free_coords) + c = get_local_coords(bodies,numbered) system = NonminimalCoordinatesState(t,q,q̇,q̈,F,p,p̌,λ,s,sys_free_coords_idx,sys_pres_coords_idx,c) members = [ begin @@ -131,7 +130,7 @@ function update!(st::AbstractStructure; gravity=false) update_bodies!(st) update_apparatuses!(st) if gravity - apply_gravity!(st) + apply_field!(st) end assemble_forces!(st) end @@ -141,7 +140,7 @@ function lazy_update!(st::AbstractStructure; gravity=false) lazy_update_bodies!(st) update_apparatuses!(st) if gravity - apply_gravity!(st) + apply_field!(st) end assemble_forces!(st) end @@ -516,8 +515,6 @@ function make_auxi_jacobian(structure::AbstractStructure,s0) # @show maximum(∂ζ∂q) ∂ζ∂s = reduce(blockdiag, A_list) - # @show Tb - # @show ∂ζ∂s ∂S∂q .= 1/2 * coζ*∂ζ∂q ∂S∂s .= 1/2 *coζ*∂ζ∂s + cos̄*I @@ -604,51 +601,6 @@ function make_cstr_jacobian(structure::AbstractStructure,q0::AbstractVector) end -function build_ψ_hole(structure::AbstractStructure) - (;apparatuses) = structure - nholes = 0 - nh = 0 - FB = FischerBurmeister(1e-14, 10., 10.) - foreach(apparatuses) do appar - if isa(appar, Apparatus{<:ClusterJoint}) - nholes += 1 - nh += length(appar.joint.sps) - end - end - function _inner_ψ(s̄) - ψ = Vector{eltype(s̄)}(undef,2nh) - ψ⁺ = @view ψ[begin:2:end] - ψ⁻ = @view ψ[begin+1:2:end] - s⁺ = @view s̄[begin:2:end] - s⁻ = @view s̄[begin+1:2:end] - ih = 0 - foreach(apparatuses) do appar - if isa(appar, Apparatus{<:ClusterJoint}) - (;sps) = appar.joint - (;segs) = appar.force - nsi = length(sps) - for (i, sp) in enumerate(sps) - Fₙ = norm(segs[i+1].force.state.force + segs[i].force.state.force) - Fᵢ₊₁ = segs[i+1].force.state.tension - Fᵢ = segs[i].force.state.tension - ζ⁺ = sp.μ*Fₙ - Fᵢ₊₁ + Fᵢ - ζ⁻ = Fᵢ₊₁ - Fᵢ + sp.μ*Fₙ - ψ⁺[ih+i] = FB(ζ⁺, s⁺[ih+i]) - ψ⁻[ih+i] = FB(ζ⁻, s⁻[ih+i]) - # @show ζ⁺, ζ⁻ - end - ih += nsi - end - end - ψ - end - - function inner_ψ(s̄) - _inner_ψ(s̄) - end - inner_ψ -end - function build_F̌(st,bodyid,pid,f) T = get_numbertype(st) (;num_of_free_coords,bodyid2sys_free_coords) = st.connectivity.indexed @@ -710,7 +662,7 @@ function check_jacobian_singularity(st) A_body = cstr_jacobian(body.coords,q_body) body_rank = rank(A_body) if body_rank < minimum(size(A_body)) - @warn "The $(bodyid)th body's Jacobian is singular: rank(A(q))=$(body_rank)<$(minimum(size(A_rb)))" + @warn "The $(bodyid)th body's Jacobian is singular: rank(A(q))=$(body_rank)<$(minimum(size(A_body)))" end end end diff --git a/test/Project.toml b/test/Project.toml index faf8308..52f1b50 100644 --- a/test/Project.toml +++ b/test/Project.toml @@ -73,6 +73,7 @@ Revise = "295af30f-e4ad-537b-8983-00126c2a3abe" Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc" RowEchelon = "af85af4c-bcd5-5d23-b03a-a909639aa875" SafeTestsets = "1bc83da4-3b8d-516f-aca4-4fe02f6d838f" +SatelliteToolbox = "6ac157d9-b43d-51bb-8fab-48bf53814f4a" Setfield = "efcf1570-3423-57d1-acb7-fd33fddbac46" SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" @@ -92,5 +93,4 @@ XLSX = "fdbf4ff8-1666-58a4-91e7-1b58723a45e0" Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f" [compat] -Makie = "0.20" julia = "1.9" diff --git a/test/vis.jl b/test/vis.jl index a107e66..c57ec89 100644 --- a/test/vis.jl +++ b/test/vis.jl @@ -170,11 +170,14 @@ function plot_traj!(bot::RB.Robot; xlims=(-1.0,1.0), ylims=(-1.0,1.0), zlims=(-1e-3,1.0), + show_axis = true, showground=true, ground=nothing, showback=false, actuate=false, figname=nothing, + rowgap=0, + colgap=0, showinit=false, auto=false, titleformatfunc = (subgrid_idx,tt)-> begin @@ -207,7 +210,7 @@ function plot_traj!(bot::RB.Robot; 1 for subgrid_idx in eachindex(subgrids) ] (a,b::Nothing) => [ - time2step(a[subgrid_idx],traj.t) + RB.time2step(a[subgrid_idx],traj.t) for subgrid_idx in eachindex(subgrids) ] (a::Nothing,b) => b @@ -244,44 +247,17 @@ function plot_traj!(bot::RB.Robot; aspect=:data, # tellheight=false, ) - # scale = 1e3 - # m0_yellow = load("yard/jixiebi/m0_yellow.STL") |> RB.make_patch(;rot=RotY(pi/2),trans=[-0.50, 0.0, 0.8],scale=1/scale,color=:yellow) - # m0_blue1 = load("yard/jixiebi/m0_blue.STL") |> RB.make_patch(;rot=RotY(pi/2), trans=[-0.5,0.23,0.37], scale=1/scale,color=:blue) - # m0_blue2 = load("yard/jixiebi/m0_blue.STL") |> RB.make_patch(;rot=RotY(pi/2), trans=[0.5,0.23,0.37], scale=1/scale,color=:blue) - # m0_blue3 = load("yard/jixiebi/m0_blue.STL") |> RB.make_patch(;rot=RotY(pi/2)*RotX(-pi/2), trans=[-0.23,0.5,0.37], scale=1/scale,color=:blue) - # m0_blue4 = load("yard/jixiebi/m0_blue.STL") |> RB.make_patch(;rot=RotY(pi/2)*RotX(-pi/2), trans=[-0.23,-0.5,0.37], scale=1/scale,color=:blue) - # mesh!(ax, m0_yellow) - # mesh!(ax, m0_blue1) - # mesh!(ax, m0_blue2) - # mesh!(ax, m0_blue3) - # mesh!(ax, m0_blue4) - # hidezdecorations!(ax) - # hideydecorations!(ax) - xlims!(ax,xmin,xmax) ylims!(ax,ymin,ymax) zlims!(ax,zmin,zmax) elseif AxisType <: LScene showinfo = false # ax = LScene(fig[1,1], show_axis=false, scenekw = (clear=true,)) - ax = LScene(fig[1,1],) # - cam = Makie.camera(ax.scene) - cam = cam3d!(ax.scene, projectiontype=Makie.Orthographic) - update_cam!(ax.scene, cam, pi/2, pi/8) - - # update_cam!(ax.scene, cam, pi/5, pi/12) + ax = LScene(fig[1,1], show_axis=show_axis, scenekw = (show_axis = show_axis,)) # + # cam = Makie.camera(ax.scene) + # cam = cam3d!(ax.scene, projectiontype=Makie.Orthographic) + # update_cam!(ax.scene, cam) # ax = LScene(fig[1,1],show_axis=false) # - # scale = 1e3 - # m0_yellow = load("yard/jixiebi/m0_yellow.STL") |> RB.make_patch(;rot=RotY(pi/2),trans=[-0.50, 0.0, 0.8],scale=1/scale,color=:yellow) - # m0_blue1 = load("yard/jixiebi/m0_blue.STL") |> RB.make_patch(;rot=RotY(pi/2), trans=[-0.5,0.23,0.37], scale=1/scale,color=:blue) - # m0_blue2 = load("yard/jixiebi/m0_blue.STL") |> RB.make_patch(;rot=RotY(pi/2), trans=[0.5,0.23,0.37], scale=1/scale,color=:blue) - # m0_blue3 = load("yard/jixiebi/m0_blue.STL") |> RB.make_patch(;rot=RotY(pi/2)*RotX(-pi/2), trans=[-0.23,0.5,0.37], scale=1/scale,color=:blue) - # m0_blue4 = load("yard/jixiebi/m0_blue.STL") |> RB.make_patch(;rot=RotY(pi/2)*RotX(-pi/2), trans=[-0.23,-0.5,0.37], scale=1/scale,color=:blue) - # mesh!(ax, m0_yellow) - # mesh!(ax, m0_blue1) - # mesh!(ax, m0_blue2) - # mesh!(ax, m0_blue3) - # mesh!(ax, m0_blue4) else error("Unknown AxisType") end @@ -348,7 +324,7 @@ function plot_traj!(bot::RB.Robot; "fig. height" => map(string,ax.height), "fig. width" => map(string,ax.width) ] - if ndim == 3 && AxisType == Axis3 + if AxisType == Axis3 cam_info = [ "azimuth" => map(string,ax.azimuth), "elevation" => map(string,ax.elevation) @@ -379,7 +355,7 @@ function plot_traj!(bot::RB.Robot; framerate = 30 skipstep = round(Int,1/framerate/dt*speedup) recordsteps = 1:skipstep:length(traj.t) - record(fig, figname, recordsteps; + record(fig, figname, recordsteps; px_per_unit = 2, framerate) do this_step @show this_step / length(traj.t) if actuate @@ -422,15 +398,17 @@ function plot_traj!(bot::RB.Robot; end end end + colgap!(grid1,colgap) + rowgap!(grid1,rowgap) end - if fig isa Figure + if (fig isa Figure) && !dorecord savefig(fig,figname) DataInspector(fig) end fig end -function savefig(fig,figname=nothing;backend=GM) +function savefig(fig,figname=nothing;backend=Makie.current_backend()) if !isa(figname,Nothing) if isdefined(Main,:figdir) figpath = joinpath(figdir,figname) diff --git a/yard/DualTriangles/static_stability.jl b/yard/DualTriangles/static_stability.jl index 54e2701..94e9abf 100644 --- a/yard/DualTriangles/static_stability.jl +++ b/yard/DualTriangles/static_stability.jl @@ -103,7 +103,7 @@ function free(bot) RB.reset_forces!(st) RB.distribute_q_to_rbs!(st,q,q̇) RB.update_strings_apply_forces!(st) - # RB.apply_gravity!(st) + # RB.apply_field!(st) RB.assemble_forces!(F,st) # @show isapprox(F,Q̃*RB.fvector(st)) end diff --git a/yard/ES/main.jl b/yard/ES/main.jl index de102e8..68a18a1 100644 --- a/yard/ES/main.jl +++ b/yard/ES/main.jl @@ -1916,7 +1916,7 @@ S,D = RB.static_kinematic_determine(ℬᵀ) ns = size(S,2) nk = size(D,2) -λ = -inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f +λ = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f Ǩa = RB.cstr_forces_jacobian(bot.st,λ) 𝒦a = transpose(Ň)*Ǩa*Ň |> Symmetric vals_𝒦a,vecs_𝒦a = eigen(𝒦a) diff --git a/yard/EWei/main.jl b/yard/EWei/main.jl index f6b40b2..9514b17 100644 --- a/yard/EWei/main.jl +++ b/yard/EWei/main.jl @@ -1,47 +1,38 @@ -using LinearAlgebra -using SparseArrays -using StaticArrays -using BenchmarkTools -using FileIO, MeshIO -using Printf -using Makie -import GLMakie as GM -import CairoMakie as CM -GM.activate!() -using Unitful -using NLsolve -using Revise -using StructArrays -using EponymTuples -using LaTeXStrings -using StaticArrays -using GeometryBasics -using Rotations -using CoordinateTransformations -using Meshing -using TypeSortedCollections -using Match + +using Revise #jl import Rible as RB -cd("examples/EWei") -includet("define.jl") -includet("../vis.jl") + +include(joinpath(pathof(RB),"../../yard/stability_stiffness.jl")) +using AbbreviatedStackTraces #jl +ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl +ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl + +figdir::String = "" + +include(joinpath(pathof(RB),"../../test/vis.jl")) +includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl + +include(joinpath(pathof(RB),"../../examples/robots/EWei.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/EWei.jl")) #jl + bot1 = BuildTail() bot1 = BuildTail(1; β=.9) # rigid body mesh -RB.update!(bot1.st) -RB.update_orientations!(bot1.st) -rbs = RB.get_bodies(bot1.st) -rbs[5].state.R -rbs[5].state.cache.funcs.nmcs -plot_rigid(rbs[2];showmesh=true,showupdatemesh=false) +RB.update!(bot1.structure) +rbs = RB.get_bodies(bot1.structure) +rbs[5].state.origin_frame.axes +rbs[5].coords.nmcs +RB.viz(rbs[2];showmesh=true,showupdatemesh=false) # linearized dynamics -ω², δq̌ = RB.undamped_eigen(bot1.st) +ω², δq̌ = RB.undamped_eigen(bot1.structure) @show ω = [sqrt(ωi) for ωi in ω²[1:end]] +plot_traj!(bot1) + # nonlinear dynamics function dynfuncs(bot) (;st) = bot @@ -50,7 +41,7 @@ function dynfuncs(bot) RB.update_bodies!(st,q,q̇) RB.distribute_s̄!(st,s) RB.update_apparatuses!(st) - ## RB.apply_gravity!(st) + ## RB.apply_field!(st) RB.assemble_forces!(st) RB.get_force!(F,st) ## F .= 0 diff --git a/yard/EWei/t2.jl b/yard/EWei/t2.jl index 873981b..78324dc 100644 --- a/yard/EWei/t2.jl +++ b/yard/EWei/t2.jl @@ -312,7 +312,7 @@ bot = RB.Robot(st, hub) # RB.update_bodies!(st,q,q̇) # RB.distribute_s̄!(st,s) # RB.update_apparatuses!(st) -# ## RB.apply_gravity!(st) +# ## RB.apply_field!(st) # RB.assemble_forces!(st) # RB.get_force!(F,st) # ## F .= 0 diff --git a/yard/EWei/test1.jl b/yard/EWei/test1.jl index fe61ed1..aac3fd3 100644 --- a/yard/EWei/test1.jl +++ b/yard/EWei/test1.jl @@ -128,7 +128,7 @@ plot_traj!(bot) # RB.clear_forces!(st) # RB.update_bodies!(st,q,q̇) # RB.update_apparatuses!(st) -# # RB.apply_gravity!(st) +# # RB.apply_field!(st) # RB.assemble_forces!(st) # RB.get_force!(F,st) # ## F .= 0 diff --git a/yard/LC/free_copy.jl b/yard/LC/free_copy.jl index bcb85ae..334c5e3 100644 --- a/yard/LC/free_copy.jl +++ b/yard/LC/free_copy.jl @@ -40,7 +40,7 @@ function simulate_freevibra(num_of_dof;k,c,unit="mks",dt=0.01) RB.reset_forces!(st) RB.distribute_q_to_rbs!(st,q,q̇) RB.update_cables_apply_forces!(st) - # RB.apply_gravity!(st) + # RB.apply_field!(st) RB.assemble_forces!(F,st) # @show isapprox(F,Q̃*RB.fvector(st)) end diff --git a/yard/URDF/urdf.jl b/yard/URDF/urdf.jl index 6dc38a5..9c73053 100644 --- a/yard/URDF/urdf.jl +++ b/yard/URDF/urdf.jl @@ -586,7 +586,7 @@ function dynfuncs(bot) RB.clear_forces!(st) RB.update_rigids!(st,q,q̇) # RB.update_apparatuses!(st) - RB.apply_gravity!(st) + RB.apply_field!(st) F .= RB.generate_forces!(st) end function Jac_F!(∂F∂q̌,∂F∂q̌̇,q,q̇,t) diff --git a/yard/adjoint.jl b/yard/adjoint.jl index 5ce2207..253e015 100644 --- a/yard/adjoint.jl +++ b/yard/adjoint.jl @@ -33,7 +33,8 @@ import GeometryBasics as GB using Makie import GLMakie as GM import CairoMakie as CM -GM.activate!() +import WGLMakie as WM +WM.activate!() using LaTeXStrings using Meshing import Meshes diff --git a/yard/adjoint/diffcontact.jl b/yard/adjoint/diffcontact.jl new file mode 100644 index 0000000..302a680 --- /dev/null +++ b/yard/adjoint/diffcontact.jl @@ -0,0 +1,155 @@ +using Revise #jl +import Rible as RB +include(joinpath(pathof(RB),"../../yard/adjoint.jl")) + +using AbbreviatedStackTraces #jl +ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl +ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl + +figdir::String = joinpath(pathof(RB),"../../tmp") +include(joinpath(pathof(RB),"../../test/vis.jl")) +includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl +tw = 455.8843 #pt |> pt2px +scalefactor = 4 + + +#-- cube +include(joinpath(pathof(RB),"../../examples/robots/cube.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/cube.jl"))#jl + +include(joinpath(pathof(RB),"../../examples/robots/pointmass.jl")); +includet(joinpath(pathof(RB),"../../examples/robots/pointmass.jl")) #jl + +#-- cube +cubebot = make_cube() +plot_traj!(cubebot;showwire=true) + +plane_env = RB.StaticContactSurfaces( + [ + RB.HalfSpace([0,0,1.0],[0,0,0.0]) + ] +) + +ros = [[0,0,z] for z = 10.0:-0.1:0.0] +qs = [ + begin + cube = make_cube(origin_position,RotXY(π/4,π/4)) + q = RB.get_coords(cube.structure) + end + for origin_position in ros +] +# p = RB.generalized_alpha(1.0) +Ro = [ + 0.368869 -0.824063 0.429949; + 0.769524 0.011314 -0.638518; + 0.521314 0.566385 0.63831 +] +origin_velocity = [0.0,0.0,0.0] +ωo = [3.0,4.0,5.0] +# cube = make_cube() +# cube = make_cube(ros[1]) +cube = make_cube(ros[2],Ro,origin_velocity,0.1.*ωo) +tspan = (0.0,1.91) +tspan = (0.0,5.0) +dt = 1e-3 + +prob = RB.DynamicsProblem( + cube, + plane_env, + RB.RestitutionFrictionCombined( + RB.NewtonRestitution(), + RB.CoulombFriction(), + ) +) +RB.solve!(prob, + RB.DynamicsSolver( + RB.Zhong06(), + RB.InnerLayerContactSolver( + RB.InteriorPointMethod() + ) + ); + tspan,dt,ftol=1e-10,maxiters=50,exception=false +) +RB.solve!(prob, + RB.DynamicsSolver( + RB.Zhong06(), + RB.MonolithicContactSolver( + RB.InteriorPointMethod() + ) + ); + tspan,dt,ftol=1e-10,maxiters=50,exception=false +) + +plot_traj!(cube; + xlims = [-10,10], + ylims = [-10,10], + zlims = [-1e-3,10], + showinfo=false, + showwire=true +) + +ME = RB.mechanical_energy!(cube) +lines(cube.traj.t,ME.E) + + + +# ground plane +θ=0.0 +ground_plane = RB.StaticContactSurfaces( + [ + RB.HalfSpace([-tan(θ),0,1],zeros(3)), + ] +); + +# time +tspan = (0.0,1.5) +h = 1e-3; + +# parameters and initial conditions +restitution_coefficients = [0.5] +v0s = [1.0]; + +# pointmass +pm = new_pointmass(; + e = restitution_coefficients[1], + μ=0.1, + origin_velocity = [v0s[1],0,0] +); + +# frictional contact dynamics problem +prob = RB.DynamicsProblem( + pm, + ground_plane, + RB.RestitutionFrictionCombined( + RB.NewtonRestitution(), + RB.CoulombFriction(), + ) +); + +# simulate +RB.solve!( + prob, + RB.DynamicsSolver( + RB.Zhong06(), + RB.MonolithicContactSolver( + RB.InteriorPointMethod() + ) + ); + tspan,dt=h, + ftol=1e-14, + maxiters=50, + exception=false +); + +GM.activate!(;scalefactor=2); plot_traj!( + pm, + xlims=(-1e-3,1.0), + ylims=(-0.4,0.4), + zlims=(-1e-3,1.0), + showinfo =false, + showmesh=false, + showwire=false, + showlabels=false, + showcables=false, + showpoints=true, +) \ No newline at end of file diff --git a/yard/gravitational/cube.jl b/yard/gravitational/cube.jl new file mode 100644 index 0000000..476825e --- /dev/null +++ b/yard/gravitational/cube.jl @@ -0,0 +1,176 @@ +using Revise #jl +import Rible as RB +include(joinpath(pathof(RB),"../../yard/tensegrity.jl")) + +using ForwardDiff +import SatelliteToolbox as ST + +using AbbreviatedStackTraces #jl +ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl +ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl + +figdir::String = joinpath(pathof(RB),"../../tmp") +include(joinpath(pathof(RB),"../../test/vis.jl")) +includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl +tw = 455.8843 #pt |> pt2px +scalefactor = 4 + + +#-- cube +include(joinpath(pathof(RB),"../../examples/robots/cube.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/cube.jl"))#jl + +include(joinpath(pathof(RB),"../../examples/robots/pointmass.jl")); +includet(joinpath(pathof(RB),"../../examples/robots/pointmass.jl")) #jl + +#-- cube +cubebot = make_cube() +plot_traj!(cubebot;showwire=true) + +plane_env = RB.StaticContactSurfaces( + [ + RB.HalfSpace([0,0,1.0],[0,0,0.0]) + ] +) + +ros = [[0,0,z] for z = 10.0:-0.1:0.0] +qs = [ + begin + cube = make_cube(origin_position,RotXY(π/4,π/4)) + q = RB.get_coords(cube.structure) + end + for origin_position in ros +] + +Ro = [ + 0.368869 -0.824063 0.429949; + 0.769524 0.011314 -0.638518; + 0.521314 0.566385 0.63831 +] +origin_velocity = [0.0,0.0,0.0] +ωo = [3.0,4.0,5.0] +# cube = make_cube() +# cube = make_cube(ros[1]) +cube = make_cube(ros[2],Ro,origin_velocity,0.1.*ωo) +tspan = (0.0,1.91) +tspan = (0.0,5.0) +dt = 1e-3 + +prob = RB.DynamicsProblem( + cube, + plane_env, + RB.RestitutionFrictionCombined( + RB.NewtonRestitution(), + RB.CoulombFriction(), + ) +) +RB.solve!(prob, + RB.DynamicsSolver( + RB.Zhong06(), + RB.InnerLayerContactSolver( + RB.InteriorPointMethod() + ) + ); + tspan,dt,ftol=1e-10,maxiters=50,exception=false +) + + +ME = RB.mechanical_energy!(cube) +lines(cube.traj.t,ME.E) + +iss_tle = ST.tle""" + ISS (ZARYA) + 1 25544U 98067A 23138.86946505 -.00404279 00000+0 -74572-2 0 9994 + 2 25544 51.6431 113.8899 0006661 357.1286 88.0982 15.49924990397244""" +orbp = ST.Propagators.init(Val(:SGP4), iss_tle) +ST.Propagators.propagate_to_epoch!(orbp, ST.date_to_jd(2023, 5, 19, 12, 0, 0)) +kepler_elems = ST.Propagators.mean_elements(orbp) + +orbital_period = ST.orbital_period(kepler_elems) + +ro, vo = ST.Propagators.mean_elements(orbp) |> ST.kepler_to_rv +ro +vo + +Ro = [ + 0.368869 -0.824063 0.429949; + 0.769524 0.011314 -0.638518; + 0.521314 0.566385 0.63831 +] +ωo = [3.0,4.0,5.0] + +cube = make_cube(ro,Ro,vo,0.1.*ωo) + +tspan = (0.0,orbital_period) +dt = 1.0 + +prob = RB.DynamicsProblem( + cube, + RB.GravitationalEnv(), + ## RB.EmptyEnv() +) + +RB.solve!(prob, + RB.DynamicsSolver( + RB.Zhong06(), + ); + dt, + tspan,# = (0.0,2dt), + ftol=1e-9,maxiters=50,verbose=true,exception=true +) + +plot_traj!(cube; + xlims = [-10,10], + ylims = [-10,10], + zlims = [-1e-3,10], + showinfo=false, + showwire=true +) + +r1 = RB.get_trajectory!(cube,1,1) +lines(Matrix(r1)) + +q = RB.get_coords(cube.structure) +body = RB.get_bodies(cube)[1] +nmcs = body.coords.nmcs +m = body.prop.mass +Īₘ = body.prop.inertia +r̄ₘ = body.prop.mass_locus.position +rₘ = body.state.mass_locus_state.frame.position + +U_gra = RB.NCF.make_U(nmcs,m,Īₘ,r̄ₘ,q) +F_gra = RB.NCF.gravitational_force(nmcs,m,Īₘ,r̄ₘ,q) +∂F∂q_gra = RB.NCF.gravitational_force_jacobian(nmcs,m,Īₘ,r̄ₘ,q) +cond(∂F∂q_gra) + +M = RB.NCF.make_M(nmcs,m,Īₘ,r̄ₘ) + +re = q[1:3] + [1000.0,2000.0,3000.0] +rc = rₘ - re +q̂ = copy(q) +q̂[1:3] .-= re +q̂ + +qs = vcat(re,q̂) + +U_gra = RB.NCF.make_U_LACB(nmcs,m,Īₘ,r̄ₘ,re,q̂) + +F_gra_fd(_x) = ForwardDiff.gradient((x)-> RB.NCF.make_U_LACB(nmcs,m,Īₘ,r̄ₘ,x[1:3],x[4:end]),_x) +F_gra_Auto = F_gra_fd(qs) + +F_gra_LACB = RB.NCF.gravitational_force_LACB(nmcs,m,Īₘ,r̄ₘ,re,q̂) + +F_gra_Auto + F_gra_LACB + +∂F∂q_gra_fd(_x) = ForwardDiff.jacobian(F_gra_fd,_x) + +∂F∂q_gra_LACB = ∂F∂q_gra_fd(qs) + +cond(∂F∂q_gra_fd(qs)) + +M_LACB = RB.NCF.make_M_LACB(nmcs,m,Īₘ,r̄ₘ) + + +rank(M) +cond(Array(M)) + diff --git a/yard/jixiebi/Group2_1.jl b/yard/jixiebi/Group2_1.jl index 7b3f74e..ea8c419 100644 --- a/yard/jixiebi/Group2_1.jl +++ b/yard/jixiebi/Group2_1.jl @@ -34,7 +34,7 @@ rigid_contacts = RB.ContactRigidBodies( # RB.RigidCube(14) # RB.RigidSphere(14) ], - gravity=RB.NoGravity() + gravity=RB.NoField() ) # parameters diff --git a/yard/jixiebi/dyfun.jl b/yard/jixiebi/dyfun.jl index 2618efc..0a2cda5 100644 --- a/yard/jixiebi/dyfun.jl +++ b/yard/jixiebi/dyfun.jl @@ -5,7 +5,7 @@ function dynfuncs1(bot) TR.update_rigids!(tg,q,q̇) TR.distribute_s̄!(tg,s) TR.update_tensiles!(tg) - # TR.apply_gravity!(tg) + # TR.apply_field!(tg) TR.generate_forces!(tg) TR.get_force!(F,tg) end diff --git a/yard/links/dynamics.jl b/yard/links/dynamics.jl index 8cad4f9..9b51f79 100644 --- a/yard/links/dynamics.jl +++ b/yard/links/dynamics.jl @@ -51,7 +51,7 @@ function simulate_linkn(;dt=0.01,k=3e1,c=0.0,tend=10.0,verbose=false) RB.reset_forces!(st) RB.distribute_q_to_rbs!(st,q,q̇) RB.update_strings_apply_forces!(st) - RB.apply_gravity!(st) + RB.apply_field!(st) # F .= Q̃*RB.fvector(st) RB.assemble_forces!(F,st) end diff --git a/yard/links/link2.jl b/yard/links/link2.jl index fc653b9..0995762 100644 --- a/yard/links/link2.jl +++ b/yard/links/link2.jl @@ -202,7 +202,7 @@ function inverse(tgstruct,refstruct) RB.reset_forces!(tgstruct) RB.actuate!(tgstruct,u) RB.update_strings_apply_forces!(tgstruct) - RB.apply_gravity!(tgstruct) + RB.apply_field!(tgstruct) F .= 0 #F .= Q̃*RB.fvector(tgstruct) RB.assemble_forces!(F,tgstruct) @@ -241,7 +241,7 @@ function linearload(st,q0,initial_u,target_u,target_t) RB.update_strings_apply_forces!(st) # tensions = [s.state.tension for s in st.strings] # @show tensions - RB.apply_gravity!(st) + RB.apply_field!(st) #F .= Q̃*RB.fvector(st) F .= 0 RB.assemble_forces!(F,st) diff --git a/yard/manipulator/controller_Lya.jl b/yard/manipulator/controller_Lya.jl index a332584..da8211d 100644 --- a/yard/manipulator/controller_Lya.jl +++ b/yard/manipulator/controller_Lya.jl @@ -42,7 +42,7 @@ function free(bot) RB.reset_forces!(st) RB.distribute_q_to_rbs!(st,q,q̇) RB.update_cables_apply_forces!(st) - RB.apply_gravity!(st) + RB.apply_field!(st) RB.assemble_forces!(F,st) # @show isapprox(F,Q̃*RB.fvector(st)) end diff --git a/yard/manipulator/eigen.jl b/yard/manipulator/eigen.jl index 756d8c2..ca75975 100644 --- a/yard/manipulator/eigen.jl +++ b/yard/manipulator/eigen.jl @@ -137,7 +137,7 @@ function freevibra(tgstruct,q0) RB.distribute_q_to_rbs!(tgstruct,q,q̇) RB.update_cables_apply_forces!(tgstruct) # F .= Q̃*RB.fvector(tgstruct) - # RB.apply_gravity!(tgstruct,factor=0.01) + # RB.apply_field!(tgstruct,factor=0.01) # F .= G RB.assemble_forces!(F,tgstruct) # @show isapprox(F,Q̃*RB.fvector(tgstruct)) diff --git a/yard/manipulator/free.jl b/yard/manipulator/free.jl index 9d554a4..aa950c2 100644 --- a/yard/manipulator/free.jl +++ b/yard/manipulator/free.jl @@ -48,7 +48,7 @@ function simulate_free(num_of_dof;k,c,unit="mks",dt=0.01,tend=10.0,verbose=false RB.reset_forces!(st) RB.distribute_q_to_rbs!(st,q,q̇) RB.update_cables_apply_forces!(st) - RB.apply_gravity!(st) + RB.apply_field!(st) RB.assemble_forces!(F,st) # @show isapprox(F,Q̃*RB.fvector(st)) end diff --git a/yard/manipulator/man_vibra.jl b/yard/manipulator/man_vibra.jl index 8b70db9..de66bc9 100644 --- a/yard/manipulator/man_vibra.jl +++ b/yard/manipulator/man_vibra.jl @@ -40,7 +40,7 @@ function dynfuncs(tgstruct,q0) RB.reset_forces!(tgstruct) # RB.distribute_q_to_rbs!(tgstruct,q,q̇) # RB.update_cables_apply_forces!(tgstruct) - RB.apply_gravity!(tgstruct) + RB.apply_field!(tgstruct) #F .= Q̃*RB.fvector(tgstruct) F .= 0.0 RB.assemble_forces!(F,tgstruct) diff --git a/yard/manipulator/planning.jl b/yard/manipulator/planning.jl index 9d8270d..256da24 100644 --- a/yard/manipulator/planning.jl +++ b/yard/manipulator/planning.jl @@ -73,7 +73,7 @@ function dynamics(tr,action) RB.reset_forces!(st) RB.distribute_q_to_rbs!(st,q,q̇) RB.update_cables_apply_forces!(st) - RB.apply_gravity!(st;factor=0.1) + RB.apply_field!(st;factor=0.1) RB.assemble_forces!(F,st) end Jac_Γ = RB.build_Jac_Γ(st) diff --git a/yard/manipulator/static_stability.jl b/yard/manipulator/static_stability.jl index c2455ea..ca1cc9c 100644 --- a/yard/manipulator/static_stability.jl +++ b/yard/manipulator/static_stability.jl @@ -95,7 +95,7 @@ function free(bot) RB.reset_forces!(st) RB.distribute_q_to_rbs!(st,q,q̇) RB.update_cables_apply_forces!(st) - # RB.apply_gravity!(st) + # RB.apply_field!(st) RB.assemble_forces!(F,st) # @show isapprox(F,Q̃*RB.fvector(st)) end diff --git a/yard/ming/ming.jl b/yard/ming/ming.jl index 2d66bbd..8b96896 100644 --- a/yard/ming/ming.jl +++ b/yard/ming/ming.jl @@ -171,7 +171,7 @@ function simulate_linkn(linkn;dt=0.01,tend=10.0,target_temps=[40,40,40],verbose= RB.distribute_q_to_rbs!(st,q,q̇) RB.update_strings_apply_forces!(st) RB.update_SMA_strings_apply_forces!(st) - RB.apply_gravity!(st) + RB.apply_field!(st) # F .= Q̃*RB.fvector(st) # rb3 = st.rigidbodies[end] # f = [5.0,0.0,0.0] diff --git a/yard/ming/verify.jl b/yard/ming/verify.jl index 8095a9c..87c597b 100644 --- a/yard/ming/verify.jl +++ b/yard/ming/verify.jl @@ -113,7 +113,7 @@ function dynfuncs(tgbot) RB.reset_forces!(st) RB.distribute_q_to_rbs!(st,q,q̇) RB.update_strings_apply_forces!(st) - # RB.apply_gravity!(st) + # RB.apply_field!(st) RB.assemble_forces!(F,st) end M,Φ,A,F!,nothing diff --git a/yard/nonsmooth/cube.jl b/yard/nonsmooth/cube.jl index 1d2508c..d66fa6b 100644 --- a/yard/nonsmooth/cube.jl +++ b/yard/nonsmooth/cube.jl @@ -1,55 +1,5 @@ #-- cube -function make_cube(origin_position = [0.0,0.0,0.5], - R = one(RotMatrix{3}), - origin_velocity = [2.0,0.0,0.0], - ω = [0.0,0.0,5.0]; - μ = 0.9, - e = 0.0 -) -m = 1.0 -mass_locus = zeros(3) -inertia = SMatrix{3,3}(Matrix(1.0I,3,3)) -h = 5.0 -loci = [h.*[x,y,z] for z = [-1,1] for y = [-1,1] for x = [-1,1]] -axes = [SVector(1.0,0,0) for _ = 1:length(loci)] -friction_coefficients = [μ for _ = 1:length(loci)] -restitution_coefficients = [e for _ = 1:length(loci)] -pts = Point3.(loci) -fcs = GB.QuadFace.([ - [1,3,4,2], - [3,7,8,4], - [7,5,6,8], - [5,1,2,6], - [2,4,8,6], - [1,5,7,3] -]) -nls = GB.normals(pts,fcs) -cube_mesh = GB.Mesh(GB.meta(pts,normals=nls),fcs) -prop = RB.RigidBodyProperty( - 1,true,m,inertia, - mass_locus,loci,axes, - friction_coefficients,restitution_coefficients, - ) -ri = copy(origin_position) -nmcs = RB.NCF.NC1P3V(ri,origin_position,R) -state = RB.RigidBodyState(prop,origin_position,R,origin_velocity,ω) -rb1 = RB.RigidBody(prop,state,cube_mesh) -rbs = TypeSortedCollection((rb1,)) -numbered = RB.number(rbs) -matrix_sharing = zeros(Int,0,0) -indexed = RB.index(rbs,matrix_sharing) -ss = Int[] -apparatuses = (cables = ss,) -hub = nothing -# -connected = RB.connect(rbs,zeros(Int,0,0)) -tensioned = @eponymtuple(connected) -cnt = RB.Connectivity(numbered,indexed,tensioned) -st = RB.Structure(rbs,apparatuses,cnt,) -bot = RB.Robot(st,nothing) -end - cubebot = make_cube() plot_traj!(cubebot) diff --git a/yard/nonsmooth/make_notebooks.jl b/yard/nonsmooth/make_notebooks.jl index 9415ee1..76ce989 100644 --- a/yard/nonsmooth/make_notebooks.jl +++ b/yard/nonsmooth/make_notebooks.jl @@ -28,20 +28,20 @@ using GLMakie # ) -Literate.notebook( - joinpath(@__DIR__,"meteor_hammer.jl"), - joinpath(@__DIR__,"../../../notebooks/"); - name="meteor_hammer", - execute = true, - # documenter = false, -) - - ## Literate.notebook( -## joinpath(@__DIR__,"superball.jl"), +## joinpath(@__DIR__,"meteor_hammer.jl"), ## joinpath(@__DIR__,"../../../notebooks/"); -## name="superball", +## name="meteor_hammer", ## execute = true, ## # documenter = false, ## ) + + +Literate.notebook( + joinpath(@__DIR__,"superball.jl"), + joinpath(@__DIR__,"../../../notebooks/"); + name="superball", + execute = true, + # documenter = false, +) GLMakie.closeall() \ No newline at end of file diff --git a/yard/nonsmooth/superball.jl b/yard/nonsmooth/superball.jl index ab2dcc5..e8c0f32 100644 --- a/yard/nonsmooth/superball.jl +++ b/yard/nonsmooth/superball.jl @@ -48,9 +48,11 @@ ballbot = superball( e = 0.8, l,d, z0 = l^2/(sqrt(5)*d) + 2.0, + visible = true, constrained = false, loadmesh = false, ) + # time tspan = (0.0,5.0) h = 1e-2 @@ -125,7 +127,7 @@ GM.activate!(;scalefactor); with_theme(theme_pub; meshcolor = Makie.RGBAf(r,g,b,alphas[i])) end RB.hidey(ax) - lines!(ax,r2p1) + lines!(ax,Matrix(r2p1)) end ) ax31 = Axis(gd2[1,1], @@ -189,6 +191,37 @@ GM.activate!(;scalefactor); with_theme(theme_pub; fig end +GM.activate!(;scalefactor=4,px_per_unit=4); with_theme(theme_pub; + figure_padding = (0,0,0,-fontsize), + size = (1.0tw,0.30tw), + Axis3 = ( + azimuth = 4.7855306333269805, + elevation = 0.03269908169872391, + xlabeloffset = fontsize, + zlabeloffset = 0.6fontsize, + ) + ) do + plot_traj!(ballbot; + AxisType = Axis3, + figname = "ballbot_rolling.gif", + xlims = [-1,20], + ylims = [-1,8], + zlims = [-1e-3,3.0], + doslide = false, + dorecord = true, + showinfo = false, + showpoints = false, + showlabels = false, + showmesh = true, + showwire = true, + showtitle = false, + showcables = true, + sup! = (ax,_,_) -> begin + RB.hidey(ax) + end + ) +end + # ## Second Scenario ballbot = superball( 0.0; @@ -272,7 +305,7 @@ GM.activate!(;scalefactor); with_theme(theme_pub; cablecolor=Makie.RGBAf(db.r,db.g,db.b,Makie.N0f8(alphas[i])), meshcolor = Makie.RGBAf(r,g,b,alphas[i])) end - lines!(ax,r2p1) + lines!(ax,Matrix(r2p1)) end ) ax2 = Axis(gd2[1,1];tellheight=false,xlabel=tlabel,ylabel = "Energy (J)") @@ -295,6 +328,32 @@ GM.activate!(;scalefactor); with_theme(theme_pub; fig end +GM.activate!(;scalefactor=4,px_per_unit=4); with_theme(theme_pub; + size = (0.6tw,0.30tw), + figure_padding = (-2fontsize,0.5fontsize,0,0), + Axis3 = ( + azimuth = 4.825530633326982, + elevation = 0.6726990816987243 + ) + ) do + plot_traj!(ballbot; + AxisType = Axis3, + figname="ballbot_sliding.gif", + xlims = [-1,6], + ylims = [-1,3], + zlims = [-1e-3,1.55], + doslide = false, + dorecord = true, + showinfo = false, + showpoints = false, + showlabels = false, + showtitle = false, + showcables = true, + showmesh = true, + showwire = false, + ) +end + step_start = RB.time2step(1.6,ballbot.traj.t) #src step_stop = RB.time2step(2.5,ballbot.traj.t) #src r2p1 = RB.get_trajectory!(ballbot,2,1) #src @@ -325,7 +384,7 @@ stats_superballs_dt = [ ); tspan=(0.0,0.1),dt,ftol=ifelse(dt==5e-6,1e-14,1e-12), maxiters=500,exception=false - ).prob.bot + )[1].prob.bot end for dt in dts, solver in (RB.Zhong06(),RB.Moreau(0.5)) ]; diff --git a/yard/spine3d/main.jl b/yard/spine3d/main.jl index 7cae1ad..cfe1e73 100644 --- a/yard/spine3d/main.jl +++ b/yard/spine3d/main.jl @@ -184,7 +184,7 @@ function dynfuncs(bot) RB.reset_forces!(st) RB.distribute_q_to_rbs!(st,q,q̇) RB.update_cables_apply_forces!(st) - # RB.apply_gravity!(st,factor=0.001) + # RB.apply_field!(st,factor=0.001) # F .= Q̃*RB.fvector(st) F .= 0.0 RB.assemble_forces!(F,st) diff --git a/yard/stiffness/deps.jl b/yard/stability_stiffness.jl similarity index 100% rename from yard/stiffness/deps.jl rename to yard/stability_stiffness.jl diff --git a/yard/stiffness/Tbars.jl b/yard/stiffness/Tbars.jl index c85090d..0b94cd3 100644 --- a/yard/stiffness/Tbars.jl +++ b/yard/stiffness/Tbars.jl @@ -1,23 +1,28 @@ -include("deps.jl") + +using Revise #jl +import Rible as RB + +include(joinpath(pathof(RB),"../../yard/stability_stiffness.jl")) using AbbreviatedStackTraces #jl ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl -using Revise #jl -import Rible as RB -figdir::String = joinpath(pathof(RB),"../../tmp") -if Sys.iswindows() #src - figdir::String = raw"C:\Users\luo22\OneDrive\Papers\FrictionalContact\CMAME" #src -elseif Sys.isapple() #src - figdir::String = raw"/Users/jacob/Library/CloudStorage/OneDrive-SharedLibraries-onedrive/Papers/FrictionalContact/CMAME" #src -end #src -include("../../vis.jl") -includet("../../vis.jl") #jl + +figdir::String = "" +if Sys.iswindows() + figdir::String = raw"C:\Users\luo22\OneDrive\Papers\TensegrityStability" +elseif Sys.isapple() + figdir::String = raw"/Users/jacob/Library/CloudStorage/OneDrive-SharedLibraries-onedrive/Papers/TensegrityStability" +end + +include(joinpath(pathof(RB),"../../test/vis.jl")) +includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl #-- T bars -include("../../../examples/bodies/make_3d_bar.jl") -includet("../../../examples/bodies/make_3d_bar.jl") #jl -include("../../../examples/robots/Tbars.jl") -includet("../../../examples/robots/Tbars.jl")#jl +include(joinpath(pathof(RB),"../../examples/bodies/make_3d_bar.jl")) +includet(joinpath(pathof(RB),"../../examples/bodies/make_3d_bar.jl")) #jl +include(joinpath(pathof(RB),"../../examples/robots/Tbars.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/Tbars.jl"))#jl + tbbot = Tbars(;θ=π/4) bot = tbbot @myshow bot.structure.connectivity.indexed.num_of_dof @@ -39,8 +44,8 @@ plot_traj!(bot;showarrows = false, showground=false) #todo slider with no hook GM.activate!();with_theme(theme_pub; - size = (1tw,0.15tw), - figure_padding = (0,0,fontsize/2,0), + size = (1cw,0.6cw), + figure_padding = (0,0,-fontsize/2,0), Axis3 = ( # azimuth = -1.8701322643948965, # elevation = 0.6128666392948965, @@ -51,9 +56,10 @@ GM.activate!();with_theme(theme_pub; ) do fig = Figure() gd0 = fig[1,1] = GridLayout(;tellheight=false) - gd1 = fig[1,2] = GridLayout(;tellheight=false) + gd1 = fig[2,1] = GridLayout(;tellheight=false) # rowsize!(gd0,1,Fixed(0.15tw)) # rowsize!(gd1,1,Fixed(0.15tw)) + rowgap!(fig.layout,0) bot0 = Tbars(;θ=0) plot_traj!( bot0, @@ -75,7 +81,7 @@ GM.activate!();with_theme(theme_pub; end, sup! = (ax,tgob,sgi)-> begin # cables - hidez(ax) + RB.hidez(ax) end ) bot1 = Tbars(;θ=π/4) @@ -98,7 +104,7 @@ GM.activate!();with_theme(theme_pub; end, sup! = (ax,tgob,sgi)-> begin # cables - hidez(ax) + RB.hidez(ax) end ) savefig(fig,"Tbars") @@ -188,7 +194,7 @@ struct𝒦 = [ # @show s λ = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*s @show λ - Ǩa = - RB.cstr_forces_jacobian(bot.structure,q,λ) + Ǩa = RB.cstr_forces_jacobian(bot.structure,q,λ) Ǩg = RB.build_geometric_stiffness_matrix!(bot.structure,q,s) @@ -208,8 +214,9 @@ mat𝒦as = reduce(hcat,struct𝒦.𝒦a) mat𝒦ps = reduce(hcat,struct𝒦.𝒦p) GM.activate!();with_theme(theme_pub; - size = (0.95tw,0.18tw), - figure_padding = (0,0,0,0), + size = (1cw,0.72cw), + fontsize=6.5, + figure_padding = (-fontsize,-fontsize,-2fontsize,0), Axis3 = ( azimuth = -π/2-1e-10, elevation = π/2, @@ -226,7 +233,7 @@ GM.activate!();with_theme(theme_pub; bot0, fig = gd, AxisType=Axis3, - gridsize = (1,4), + gridsize = (2,2), showpoints = false, showlabels = false, showground = false, @@ -234,7 +241,7 @@ GM.activate!();with_theme(theme_pub; showcables = false, xlims = (-2.2,1.2), ylims = (-1.2,1.2), - rowgap=0, + rowgap=-fontsize, titleformatfunc = (sgi,tt)-> begin rich( rich("($(alphabet[sgi])) ", font=:bold), @@ -251,7 +258,7 @@ GM.activate!();with_theme(theme_pub; RB.hidexyz(ax) @myshow Sbool[:,sgi] linesegs_cables = @lift begin - get_linesegs_cables($tgob;)[Sbool[:,sgi]] + RB.get_linesegs_cables($tgob;)[Sbool[:,sgi]] end linesegments!(ax, linesegs_cables, @@ -259,18 +266,18 @@ GM.activate!();with_theme(theme_pub; # linewidth = cablewidth ) rcs_by_cables = @lift begin - (;tensioned) = $tgob.connectivity + cables = RB.get_cables($tgob) num_of_dim = RB.get_num_of_dims($tgob) T = RB.get_numbertype($tgob) ret = Vector{MVector{num_of_dim,T}}() mapreduce( - (scnt)-> + (cable)-> [( - scnt.hen.body.state.loci_states[scnt.hen.pid].position.+ - scnt.egg.body.state.loci_states[scnt.egg.pid].position + cable.joint.hen2egg.hen.body.state.loci_states[cable.joint.hen2egg.hen.pid].frame.position.+ + cable.joint.hen2egg.egg.body.state.loci_states[cable.joint.hen2egg.egg.pid].frame.position )./2], vcat, - tensioned.connected + cables ;init=ret ) end @@ -285,14 +292,14 @@ GM.activate!();with_theme(theme_pub; # ax, # rcs_by_cables[][Sbool[:,sgi]], # marker = :rect, - # markersize = 12 |> pt2px, + # markersize = 12 , # color = :white # ) text!( ax, Stext, position = rcs_by_cables[][Sbool[:,sgi]], - fontsize = 5 |> pt2px, + fontsize = 5 , color = :red, align = (:left, :top), offset = (fontsize/4, 0) @@ -327,7 +334,8 @@ Vals = [ ] |> VectorOfArray GM.activate!();with_theme(theme_pub; - size = (0.45tw,0.2tw), + size = (0.8cw,0.3cw), + fontsize = 6.5, figure_padding = (0,fontsize,0,fontsize), ) do fig = Figure() diff --git a/yard/stiffness/main.jl b/yard/stiffness/main.jl index db7b9d0..e2f98dc 100644 --- a/yard/stiffness/main.jl +++ b/yard/stiffness/main.jl @@ -1,3 +1,12 @@ + +using Revise #jl +import Rible as RB + +include(joinpath(pathof(RB),"../../yard/stability_stiffness.jl")) +using AbbreviatedStackTraces #jl +ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl +ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl + figdir::String = "" if Sys.iswindows() figdir::String = raw"C:\Users\luo22\OneDrive\Papers\TensegrityStability" @@ -5,14 +14,35 @@ elseif Sys.isapple() figdir::String = raw"/Users/jacob/Library/CloudStorage/OneDrive-SharedLibraries-onedrive/Papers/TensegrityStability" end -includet("deps.jl") -import Rible as RB -include("../../vis.jl") -includet("../../vis.jl") +include(joinpath(pathof(RB),"../../test/vis.jl")) +includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl + +include(joinpath(pathof(RB),"../../examples/bodies/rigidbar.jl")) +includet(joinpath(pathof(RB),"../../examples/bodies/rigidbar.jl")) #jl +include(joinpath(pathof(RB),"../../examples/robots/superball.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/superball.jl")) #jl -fontsize = 8 |> pt2px -tw = 468 |> pt2px -th = 622 |> pt2px + +include(joinpath(pathof(RB),"../../examples/bodies/make_3d_bar.jl")) +includet(joinpath(pathof(RB),"../../examples/bodies/make_3d_bar.jl")) #jl +include(joinpath(pathof(RB),"../../examples/bodies/make_3d_plate.jl")) +includet(joinpath(pathof(RB),"../../examples/bodies/make_3d_plate.jl")) #jl +include(joinpath(pathof(RB),"../../examples/robots/prism.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/prism.jl")) #jl + +include(joinpath(pathof(RB),"../../examples/bodies/make_3d_tri.jl")) +includet(joinpath(pathof(RB),"../../examples/bodies/make_3d_tri.jl")) #jl +include(joinpath(pathof(RB),"../../examples/robots/tower.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/tower.jl")) #jl + +include(joinpath(pathof(RB),"../../examples/bodies/build_2d_tri.jl")) +includet(joinpath(pathof(RB),"../../examples/bodies/build_2d_tri.jl")) #jl +include(joinpath(pathof(RB),"../../examples/robots/two_tri.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/two_tri.jl")) #jl + +fontsize = 8 +cw = 240.7103 +tw = 494.22432 #-- preamble end #-- one_tri_one_bar @@ -52,7 +82,7 @@ end function build_nullspace_on_free(st) (;sys_free_coords_idx,bodyid2sys_dof_idx) = st.connectivity.indexed q = RB.get_coords(bot.structure) - Nin = RB.make_intrinsic_nullspace(st,q)[ + Nin = RB.intrinsic_nullspace(st,q)[ sys_free_coords_idx, reduce(vcat,bodyid2sys_dof_idx[2:end]) ] @@ -75,13 +105,13 @@ f = RB.get_cables_tension(bot) function verify_lambda(st) T = RB.get_numbertype(st) - λs = zeros(T,st.num_of_bodies) + λs = zeros(T,st.connectivity.indexed.num_of_bodies) foreach(st.bodies) do body (;prop,state) = body - (;loci_states,origin_position) = state + (;loci_states,origin_frame) = state # @myshow prop.id for locus_state in loci_states - λs[prop.id] += -1/2*(locus_state.position-origin_position)'*locus_state.force + λs[prop.id] += -1/2*(locus_state.frame.position-origin_frame.position)'*locus_state.force end end λs @@ -118,7 +148,7 @@ l = RB.get_cables_len(bot.structure) λ = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f @myshow verify_lambda(bot.structure) @myshow λ -Ǩa = RB.cstr_forces_jacobian(bot.structure,λ) +Ǩa = RB.cstr_forces_jacobian(bot.structure,q,λ) 𝒦a = transpose(Ň)*Ǩa*Ň |> Symmetric vals_𝒦a,vecs_𝒦a = eigen(𝒦a) @myshow sort(vals_𝒦a) @@ -136,7 +166,7 @@ vec𝒦ps = [ # @show s λi = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*si # @show f,λ - Ǩai = - RB.cstr_forces_jacobian(bot.structure,λi) + Ǩai = RB.cstr_forces_jacobian(bot.structure,q,λi) Ǩgi = RB.build_geometric_stiffness_matrix!(bot.structure,q,si) @@ -171,10 +201,11 @@ v'*𝒦*v vm[:,1] = v orthovm = RB.modified_gram_schmidt(vm) -with_theme(theme_pub; - size = (0.9tw,0.3tw), - fontsize = 6.5 |> pt2px, - figure_padding = (2fontsize,fontsize,0,0), + +GM.activate!(;scalefactor=2);with_theme(theme_pub; + size = (1cw,0.9cw), + fontsize = 6.5 , + figure_padding = (0,0,-2.5fontsize,0), Axis3 = ( azimuth = 3.7555306333269844, elevation = 0.3726990816987242, @@ -190,12 +221,16 @@ with_theme(theme_pub; ratio = norm(δq̌i)/norm(q̌) botvis.traj.q̌[end] .= q̌ .+ scaling.*δq̌i/ratio end + fig = Figure() + gd1 = fig[1,1:2] = GridLayout() + gd2 = fig[2,1:2] = GridLayout() + rowgap!(fig.layout,0) plot_traj!( botvis; - figsize = (0.8tw,0.26tw), + fig = gd1, AxisType=Axis3, - gridsize=(1,nk+1), - atsteps=1:nk+1, + gridsize=(1,1), + atsteps=1:1, doslide=false, showlabels=false, showpoints=false, @@ -210,20 +245,42 @@ with_theme(theme_pub; rich("($(alphabet[sgi])) ", font=:bold), [ "Initial", + ][sgi] + ) + end, + ) + plot_traj!( + botvis; + fig = gd2, + AxisType=Axis3, + gridsize=(1,nk), + atsteps=2:nk+1, + doslide=false, + showlabels=false, + showpoints=false, + # showcables = false, + showground = false, + xlims = (-1e0,1e0), + ylims = (-1e0,1e0), + zlims = (-1e-5,2e0), + slack_linestyle = :solid, + showinit = true,titleformatfunc = (sgi,tt)-> begin + rich( + rich("($(alphabet[sgi+1])) ", font=:bold), + [ "Mechanism Mode 1", "Mechanism Mode 2" ][sgi] ) end, sup! = (ax,tgob,sgi)->begin - if sgi != 1 - hidedecorations!(ax) - xlims!(ax,-1.0e0,1.2e0) - ylims!(ax,-1.2e0,1.0e0) - end + hidedecorations!(ax) + xlims!(ax,-1.0e0,1.2e0) + ylims!(ax,-1.2e0,1.0e0) end, - figname="superball" ) + savefig(fig,"superball") + fig end Ňv = Ň*nullspace(v') @@ -254,7 +311,7 @@ vecr𝒦ps = [ # @show s λi = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*si # @show f,λ - Ǩai = RB.cstr_forces_jacobian(bot.structure,λi) + Ǩai = RB.cstr_forces_jacobian(bot.structure,q,λi) Ǩgi = RB.build_geometric_stiffness_matrix!(bot.structure,q,si) @@ -305,7 +362,7 @@ maxminmodes = hcat( ) with_theme(theme_pub; - fontsize = 6.5 |> pt2px, + fontsize = 6.5 , size = (0.8tw,0.18tw), figure_padding = (0,0,-fontsize,0), Axis3 = ( @@ -378,7 +435,7 @@ size(rρs,1) ] with_theme(theme_pub; - size = (0.3tw,0.2tw), + size = (0.6cw,0.35cw), figure_padding = (0,fontsize,0,fontsize), ) do fig = Figure() @@ -388,7 +445,7 @@ with_theme(theme_pub; ) lines!(ax,σs,rρs[1,:],) xlims!(ax,0,5500) - ylims!(ax,-400,600) + ylims!(ax,-200,600) # for i = axes(rρs,1) # lines!(ax,σs,rρs[i,:],) # end @@ -427,18 +484,17 @@ prism1 = prisms(; ) bot = prism1 rb1 = RB.get_bodies(bot)[1] -viz(rb1) + plot_traj!(bot;showground=false) RB.check_static_equilibrium_output_multipliers(bot.structure) -@myshow bot.structure.num_of_dof +@myshow bot.structure.connectivity.indexed.num_of_dof RB.update!(bot.structure) f = RB.get_cables_tension(bot) - # for use with Class-1 and the 1st rigid fixed function build_nullspace_on_free(st) (;sys_free_coords_idx,bodyid2sys_full_coords,bodyid2sys_dof_idx) = st.connectivity.indexed q = RB.get_coords(bot.structure) - Nin = RB.make_intrinsic_nullspace(st,q)[ + Nin = RB.intrinsic_nullspace(st,q)[ sys_free_coords_idx, reduce(vcat,bodyid2sys_dof_idx[begin:end-1]) ] @@ -487,10 +543,10 @@ D ns = size(S,2) nk = size(D,2) -GM.activate!();with_theme(theme_pub; - size = (0.95tw,0.24tw), - figure_padding = (2fontsize,0,0,0), - fontsize = 6.5 |> pt2px, +GM.activate!(;scalefactor=4);with_theme(theme_pub; + size = (1cw,0.30tw), + figure_padding = (0,0,-2fontsize,0), + fontsize = 6.5 , Axis3 = ( azimuth = 3.8255306333269843, elevation = 0.2026990816987241 @@ -503,7 +559,10 @@ GM.activate!();with_theme(theme_pub; fig = Figure() gd1 = fig[1,1] = GridLayout() gd2 = fig[1,2:3] = GridLayout() - gd3 = fig[1,4:5] = GridLayout() + gd3_holder = fig[2,1:3] = GridLayout() + gd3 = gd3_holder[1,1:2] = GridLayout() + colgap!(fig.layout,0) + rowgap!(fig.layout,-fontsize) botmm = deepcopy(bot) plot_traj!( bot; @@ -524,8 +583,8 @@ GM.activate!();with_theme(theme_pub; ) end, sup! = (ax,tgob,sgi)->begin - hidex(ax) - hidey(ax) + RB.hidex(ax) + RB.hidey(ax) # xlims!(ax,-1.0e0,1.2e0) # ylims!(ax,-1.2e0,1.0e0) end, @@ -560,10 +619,10 @@ GM.activate!();with_theme(theme_pub; ax.elevation = 0.18269908169872395 # azimuth = 4.665530633326984 # elevation = 0.16269908169872424 - hidexyz(ax) + RB.hidexyz(ax) @myshow Sbool[:,sgi] linesegs_cables = @lift begin - get_linesegs_cables($tgob;)[Sbool[:,sgi]] + RB.get_linesegs_cables($tgob;)[Sbool[:,sgi]] end linesegments!(ax, linesegs_cables, @@ -571,18 +630,18 @@ GM.activate!();with_theme(theme_pub; # linewidth = cablewidth ) rcs_by_cables = @lift begin - (;tensioned) = $tgob.connectivity + cables = RB.get_cables($tgob) num_of_dim = RB.get_num_of_dims($tgob) T = RB.get_numbertype($tgob) ret = Vector{MVector{num_of_dim,T}}() mapreduce( - (scnt)-> + (cable)-> [( - scnt.hen.body.state.loci_states[scnt.hen.pid].position.+ - scnt.egg.body.state.loci_states[scnt.egg.pid].position + cable.joint.hen2egg.hen.body.state.loci_states[cable.joint.hen2egg.hen.pid].frame.position.+ + cable.joint.hen2egg.egg.body.state.loci_states[cable.joint.hen2egg.egg.pid].frame.position )./2], vcat, - tensioned.connected + cables ;init=ret ) end @@ -597,14 +656,14 @@ GM.activate!();with_theme(theme_pub; # ax, # rcs_by_cables[][Sbool[:,sgi]], # marker = :rect, - # markersize = 12 |> pt2px, + # markersize = 12 , # color = :white # ) text!( ax, Stext, position = rcs_by_cables[][Sbool[:,sgi]], - fontsize = 5 |> pt2px, + fontsize = 5 , color = :red, align = (:center, :center), # offset = (-fontsize/2, 0) @@ -633,7 +692,7 @@ GM.activate!();with_theme(theme_pub; showground = false, xlims = (-8e-2,8e-2), ylims = (-8e-2,8e-2), - zlims = (-1e-5,2.5e-1), + zlims = (-1e-5,2.1e-1), slack_linestyle = :solid, showinit = true,titleformatfunc = (sgi,tt)-> begin rich( @@ -645,7 +704,7 @@ GM.activate!();with_theme(theme_pub; ) end, sup! = (ax,tgob,sgi)->begin - hidexyz(ax) + RB.hidexyz(ax) # xlims!(ax,-1.0e0,1.2e0) # ylims!(ax,-1.2e0,1.0e0) end, @@ -670,7 +729,7 @@ f = S*ᾱ λ = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f # @show f,λ -Ǩa = RB.cstr_forces_jacobian(bot.structure,λ) +Ǩa = RB.cstr_forces_jacobian(bot.structure,q,λ) 𝒦ain = transpose(Nin)*Ǩa*Nin 𝒦a = transpose(Ň)*Ǩa*Ň |> Symmetric vals_𝒦a,vecs_𝒦a = eigen(𝒦a) @@ -697,7 +756,7 @@ vec𝒦ps = [ # @show s λi = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*si # @show f,λ - Ǩai = RB.cstr_forces_jacobian(bot.structure,λi) + Ǩai = RB.cstr_forces_jacobian(bot.structure,q,λi) Ǩgi = RB.build_geometric_stiffness_matrix!(bot.structure,q,si) @@ -760,7 +819,8 @@ Vals = [ ] |> VectorOfArray with_theme(theme_pub; - size = (0.6tw,0.2tw), + size = (1cw,0.3cw), + fontsize = 6.5, figure_padding = (0,fontsize,0,0), ) do fig = Figure() @@ -865,7 +925,8 @@ Vals_α = [ ] |> VectorOfArray with_theme(theme_pub; - size = (0.6tw,0.2tw), + size = (1cw,0.3cw), + fontsize = 6.5, figure_padding = (0,fontsize,0,0), ) do fig = Figure() @@ -925,14 +986,14 @@ end two = two_tri() bot = two plot_traj!(bot;showground=false) -bot.structure.num_of_dof +bot.structure.connectivity.indexed.num_of_dof RB.check_static_equilibrium_output_multipliers(bot.structure) function make_nullspace_on_free(st) (;sys_free_coords_idx,bodyid2sys_dof_idx) = st.connectivity.indexed q = RB.get_coords(bot.structure) - Nin = RB.make_intrinsic_nullspace(st,q) + Nin = RB.intrinsic_nullspace(st,q) Nin[ sys_free_coords_idx, reduce(vcat,bodyid2sys_dof_idx[2:end]) @@ -985,9 +1046,9 @@ nk = size(D,2) ns = size(S,2) GM.activate!();with_theme(theme_pub; - size = (0.9tw,0.22tw), - figure_padding = (fontsize,0,0,0), - fontsize = 6.5 |> pt2px, + size = (1cw,0.6cw), + figure_padding = (-1fontsize,-1fontsize,-1fontsize,0), + fontsize = 6.5 , Axis3 = ( azimuth = -π/2-1e-10, elevation = π/2, @@ -1001,8 +1062,11 @@ GM.activate!();with_theme(theme_pub; Sbool = S.> maxS*rtol S[.!Sbool] .= 0.0 fig = Figure() - gd1 = fig[1,1] = GridLayout(;tellheight=false) - gd2 = fig[1,2:3] = GridLayout(;tellheight=false) + gd1 = fig[1,1:2] = GridLayout(;tellheight=false) + gd2 = fig[2,1:2] = GridLayout(;tellheight=false) + ## colgap!(gd2,-fontsize) + rowsize!(fig.layout,1,Relative(0.3)) + rowgap!(fig.layout,0fontsize) plot_traj!( bot, fig = gd1, @@ -1021,10 +1085,10 @@ GM.activate!();with_theme(theme_pub; end, sup! = (ax,tgob,sgi)-> begin # cables - hidez(ax) + RB.hidez(ax) end ) - rowsize!(gd1,1,Fixed(0.1tw)) + ## rowsize!(gd1,1,Fixed(0.3cw)) plot_traj!( bot, fig = gd2, @@ -1037,7 +1101,8 @@ GM.activate!();with_theme(theme_pub; showcables = false, xlims = (-0.5,0.5), ylims = (-0.15,0.15), - rowgap=0, + rowgap=-1fontsize, + colgap=-2fontsize, titleformatfunc = (sgi,tt)-> begin rich( rich("($(alphabet[sgi+1])) ", font=:bold), @@ -1051,10 +1116,10 @@ GM.activate!();with_theme(theme_pub; end, sup! = (ax,tgob,sgi)-> begin # cables - hidexyz(ax) + RB.hidexyz(ax) @myshow Sbool[:,sgi] linesegs_cables = @lift begin - get_linesegs_cables($tgob;)[Sbool[:,sgi]] + RB.get_linesegs_cables($tgob;)[Sbool[:,sgi]] end linesegments!(ax, linesegs_cables, @@ -1062,18 +1127,18 @@ GM.activate!();with_theme(theme_pub; # linewidth = cablewidth ) rcs_by_cables = @lift begin - (;tensioned) = $tgob.connectivity + cables = RB.get_cables($tgob) num_of_dim = RB.get_num_of_dims($tgob) T = RB.get_numbertype($tgob) ret = Vector{MVector{num_of_dim,T}}() mapreduce( - (scnt)-> + (cable)-> [( - scnt.hen.body.state.loci_states[scnt.hen.pid].position.+ - scnt.egg.body.state.loci_states[scnt.egg.pid].position + cable.joint.hen2egg.hen.body.state.loci_states[cable.joint.hen2egg.hen.pid].frame.position.+ + cable.joint.hen2egg.egg.body.state.loci_states[cable.joint.hen2egg.egg.pid].frame.position )./2], vcat, - tensioned.connected + cables ;init=ret ) end @@ -1088,14 +1153,14 @@ GM.activate!();with_theme(theme_pub; # ax, # rcs_by_cables[][Sbool[:,sgi]], # marker = :rect, - # markersize = 12 |> pt2px, + # markersize = 12 , # color = :white # ) text!( ax, Stext, position = rcs_by_cables[][Sbool[:,sgi]], - fontsize = 5 |> pt2px, + fontsize = 5 , color = :red, align = (:center, :center), # offset = (-fontsize/2, 0) @@ -1121,7 +1186,7 @@ struct𝒦 = [ # @show s λ = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*s # @show f,λ - Ǩa = RB.cstr_forces_jacobian(bot.structure,λ) + Ǩa = RB.cstr_forces_jacobian(bot.structure,q,λ) Ǩg = RB.build_geometric_stiffness_matrix!(bot.structure,q,s) @@ -1159,7 +1224,7 @@ Vals = [ ] |> VectorOfArray GM.activate!();with_theme(theme_pub; - size = (0.5tw,0.2tw), + size = (0.8cw,0.3cw), figure_padding = (0,fontsize,0,fontsize), ) do fig = Figure() @@ -1235,7 +1300,7 @@ f = sum(S,dims=2) # equivalent μ # μ = l .- (f./k) -λ = -inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f +λ = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f # @show f,λ Ǩa = RB.cstr_forces_jacobian(bot.structure,λ) 𝒦a = transpose(Ň)*Ǩa*Ň |> Symmetric @@ -1255,7 +1320,7 @@ vec𝒦ps = [ # @show s λi = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*si # @show f,λ - Ǩai = - RB.cstr_forces_jacobian(bot.structure,λi) + Ǩai = RB.cstr_forces_jacobian(bot.structure,λi) Ǩgi = RB.build_geometric_stiffness_matrix!(bot.structure,q,si) @@ -1380,14 +1445,14 @@ end towerbot = tower() bot = towerbot -@myshow bot.structure.num_of_dof +@myshow bot.structure.connectivity.indexed.num_of_dof plot_traj!(bot;showground=false) function build_nullspace_on_free(st) (;sys_free_coords_idx,bodyid2sys_full_coords,bodyid2sys_dof_idx) = st.connectivity.indexed q = RB.get_coords(bot.structure) - Nin = RB.make_intrinsic_nullspace(st,q)[ + Nin = RB.intrinsic_nullspace(st,q)[ sys_free_coords_idx, reduce(vcat,bodyid2sys_dof_idx[begin+1:end]) ] @@ -1416,7 +1481,7 @@ Ǎ = RB.make_cstr_jacobian(bot.structure)(q) Ň = build_nullspace_on_free(bot.structure) Q̃ = RB.build_Q̃(bot.structure) L̂ = RB.build_L̂(bot.structure) - +rank(Ň) Ǎ*Ň |> norm # Left hand side @@ -1436,9 +1501,9 @@ l = RB.get_cables_len(bot.structure) isis = [8,14,24] GM.activate!();with_theme(theme_pub; - size = (0.95tw,0.2tw), - figure_padding = (2fontsize,0,0,0), - fontsize = 6.5 |> pt2px, + size = (1cw,0.3tw), + figure_padding = (-fontsize,-fontsize,-2fontsize,0), + fontsize = 6.5 , Axis3 = ( azimuth = 3.8255306333269843, elevation = 0.2026990816987241 @@ -1450,7 +1515,10 @@ GM.activate!();with_theme(theme_pub; S[.!Sbool] .= 0.0 fig = Figure() gd1 = fig[1,1] = GridLayout() - gd2 = fig[1,2:3+1] = GridLayout() + gd2_holder = fig[2,:] = GridLayout() + gd2 = gd2_holder[1,1:3] = GridLayout() + ## rowsize!(fig.layout,1,Relative(0.3)) + rowgap!(fig.layout,-1fontsize) botmm = deepcopy(bot) plot_traj!( bot; @@ -1471,8 +1539,8 @@ GM.activate!();with_theme(theme_pub; ) end, sup! = (ax,tgob,sgi)->begin - hidex(ax) - hidey(ax) + RB.hidex(ax) + RB.hidey(ax) # xlims!(ax,-1.0e0,1.2e0) # ylims!(ax,-1.2e0,1.0e0) end, @@ -1489,12 +1557,13 @@ GM.activate!();with_theme(theme_pub; xlims = (-1.5e0,1.5e0), ylims = (-1.5e0,1.5e0), zlims = (-0.6e0,1.5e0), + colgap = -2fontsize, showground = false, showinit = true, titleformatfunc = (sgi,tt)-> begin rich( rich("($(alphabet[sgi+1])) ", font=:bold), - "Self-stress State $sgi" + "Self-stress State $(isis[sgi])" ) end, sup! = (ax,tgob,sgi_input)-> begin @@ -1504,10 +1573,10 @@ GM.activate!();with_theme(theme_pub; ax.elevation = 0.18269908169872395 # azimuth = 4.665530633326984 # elevation = 0.16269908169872424 - hidexyz(ax) + RB.hidexyz(ax) @myshow Sbool[:,sgi] linesegs_cables = @lift begin - get_linesegs_cables($tgob;)[Sbool[:,sgi]] + RB.get_linesegs_cables($tgob;)[Sbool[:,sgi]] end linesegments!(ax, linesegs_cables, @@ -1515,18 +1584,18 @@ GM.activate!();with_theme(theme_pub; # linewidth = cablewidth ) rcs_by_cables = @lift begin - (;tensioned) = $tgob.connectivity + cables = RB.get_cables($tgob) num_of_dim = RB.get_num_of_dims($tgob) T = RB.get_numbertype($tgob) ret = Vector{MVector{num_of_dim,T}}() mapreduce( - (scnt)-> + (cable)-> [( - scnt.hen.body.state.loci_states[scnt.hen.pid].+ - scnt.egg.body.state.loci_states[scnt.egg.pid] + cable.joint.hen2egg.hen.body.state.loci_states[cable.joint.hen2egg.hen.pid].frame.position.+ + cable.joint.hen2egg.egg.body.state.loci_states[cable.joint.hen2egg.egg.pid].frame.position )./2], vcat, - tensioned.connected + cables ;init=ret ) end @@ -1541,14 +1610,14 @@ GM.activate!();with_theme(theme_pub; # ax, # rcs_by_cables[][Sbool[:,sgi]], # marker = :rect, - # markersize = 12 |> pt2px, + # markersize = 12 , # color = :white # ) text!( ax, Stext, position = rcs_by_cables[][Sbool[:,sgi]], - fontsize = 5 |> pt2px, + fontsize = 5 , color = :red, align = (:center, :center), # offset = (-fontsize/2, 0) @@ -1566,9 +1635,9 @@ f = S*ᾱ # equivalent μ # μ = l .- (f./k) -λ = -inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f +λ = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f # @show f,λ -Ǩa = RB.cstr_forces_jacobian(bot.structure,λ) +Ǩa = RB.cstr_forces_jacobian(bot.structure,q,λ) 𝒦a = transpose(Ň)*Ǩa*Ň |> Symmetric vals_𝒦a,vecs_𝒦a = eigen(𝒦a) @myshow sort(vals_𝒦a) @@ -1588,7 +1657,7 @@ vec𝒦ps = [ # @show s λi = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*si # @show f,λ - Ǩai = - RB.cstr_forces_jacobian(bot.structure,λi) + Ǩai = RB.cstr_forces_jacobian(bot.structure,q,λi) Ǩgi = RB.build_geometric_stiffness_matrix!(bot.structure,q,si) @@ -1661,7 +1730,8 @@ Vals_alpha3 = [ with_theme(theme_pub; - size = (0.35tw,0.2tw), + size = (0.6cw,0.36cw), + fontsize = 6.5, figure_padding = (0,fontsize,0,fontsize), ) do fig = Figure() @@ -1779,7 +1849,7 @@ f = S*ᾱ GM.activate!();with_theme(theme_pub; size = (0.95tw,0.24tw), figure_padding = (2fontsize,0,0,0), - fontsize = 6.5 |> pt2px, + fontsize = 6.5 , Axis3 = ( azimuth = 3.8255306333269843, elevation = 0.2026990816987241 @@ -1844,7 +1914,7 @@ GM.activate!();with_theme(theme_pub; ax.elevation = 0.18269908169872395 # azimuth = 4.665530633326984 # elevation = 0.16269908169872424 - hidexyz(ax) + RB.hidexyz(ax) @myshow Sbool[:,sgi] linesegs_cables = @lift begin get_linesegs_cables($tgob;)[Sbool[:,sgi]] @@ -1881,14 +1951,14 @@ GM.activate!();with_theme(theme_pub; # ax, # rcs_by_cables[][Sbool[:,sgi]], # marker = :rect, - # markersize = 12 |> pt2px, + # markersize = 12 , # color = :white # ) text!( ax, Stext, position = rcs_by_cables[][Sbool[:,sgi]], - fontsize = 5 |> pt2px, + fontsize = 5 , color = :red, align = (:center, :center), # offset = (-fontsize/2, 0) @@ -1899,7 +1969,7 @@ GM.activate!();with_theme(theme_pub; fig end -λ = -inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f +λ = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f # @show f,λ Ǩa = RB.cstr_forces_jacobian(bot.structure,λ) 𝒦a = transpose(Ň)*Ǩa*Ň |> Symmetric @@ -1924,7 +1994,7 @@ struct𝒦p = [ # @show s λ = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*s # @show f,λ - Ǩa = - RB.cstr_forces_jacobian(bot.structure,λ) + Ǩa = RB.cstr_forces_jacobian(bot.structure,q,λ) 𝒦a = transpose(Ň)*Ǩa*Ň Ǩg = RB.build_geometric_stiffness_matrix!(bot.structure,q,s) @@ -2051,7 +2121,7 @@ with_theme(theme_pub; fig end -λ = -inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f +λ = inv(Ǎ*transpose(Ǎ))*Ǎ*Bᵀ*f # @show f,λ using Symbolics @variables λ[1:6] diff --git a/yard/tail/bai.jl b/yard/tail/bai.jl index 5d46ddb..fff835a 100644 --- a/yard/tail/bai.jl +++ b/yard/tail/bai.jl @@ -1,32 +1,29 @@ -using LinearAlgebra -using StaticArrays, SparseArrays, TypeSortedCollections -using EponymTuples -using Unitful, Match, Printf -using GeometryBasics, Meshing -using Rotations, CoordinateTransformations -using Unitful -using LaTeXStrings -using Makie -import GLMakie as GM -GM.activate!() -import GeometryBasics as GB -using FileIO, MeshIO -using Revise +using Revise #jl import Rible as RB -cd("examples/tail") -include("../vis.jl") -includet("../vis.jl") +include(joinpath(pathof(RB),"../../yard/stability_stiffness.jl")) +using AbbreviatedStackTraces #jl +ENV["JULIA_STACKTRACE_ABBREVIATED"] = true #jl +ENV["JULIA_STACKTRACE_MINIMAL"] = true #jl + +figdir::String = "" + +include(joinpath(pathof(RB),"../../test/vis.jl")) +includet(joinpath(pathof(RB),"../../test/vis.jl")) #jl + +include(joinpath(pathof(RB),"../../examples/robots/bai.jl")) +includet(joinpath(pathof(RB),"../../examples/robots/bai.jl")) #jl + #-- preamble -mesh_head = load("装配体头部-1.2.3.STL") |> make_patch(;trans = [10, 0, 0],rot=RotZYX(π/2,-π/2,π/2)) -mesh_rib3 = load("肋片-3.STL") |> make_patch(;trans = [43+10, 0, 0], rot=RotZYX(π/2,-π/2,π/2)) +mesh_head = load(RB.assetpath("tail/装配体头部-1.2.3.STL")) |> RB.make_patch(;trans = [10, 0, 0],rot=RotZYX(π/2,-π/2,π/2)) +mesh_rib3 = load(RB.assetpath("tail/肋片-3.STL")) |> RB.make_patch(;trans = [43+10, 0, 0], rot=RotZYX(π/2,-π/2,π/2)) mesh_headrib = GB.merge([mesh_head,mesh_rib3]) -mesh_rib4 = load("肋片-4.STL") |> make_patch(;rot=RotZYX(π/2,-π/2,π/2)) -mesh_rib5 = load("肋片-5 - 副本.STL") |> make_patch(;rot=RotZYX(π/2,-π/2,π/2)) -mesh_rib7 = load("肋片-7 - 副本.STL") |> make_patch(;rot=RotZYX(π/2,-π/2,π/2)) -mesh_fin = load("尾鳍-v1-软.STL") |> make_patch(;rot=RotZYX(π/2,-π/2,π/2)) -mesh_bar = load("摆杆-v1.2.2.STL") |> make_patch(;rot=RotZYX(π/2,-π/2,π/2)) +mesh_rib4 = load(RB.assetpath("tail/肋片-4.STL")) |> RB.make_patch(;rot=RotZYX(π/2,-π/2,π/2)) +mesh_rib5 = load(RB.assetpath("tail/肋片-5 - 副本.STL")) |> RB.make_patch(;rot=RotZYX(π/2,-π/2,π/2)) +mesh_rib7 = load(RB.assetpath("tail/肋片-7 - 副本.STL")) |> RB.make_patch(;rot=RotZYX(π/2,-π/2,π/2)) +mesh_fin = load(RB.assetpath("tail/尾鳍-v1-软.STL")) |> RB.make_patch(;rot=RotZYX(π/2,-π/2,π/2)) +mesh_bar = load(RB.assetpath("tail/摆杆-v1.2.2.STL")) |> RB.make_patch(;rot=RotZYX(π/2,-π/2,π/2)) mesh(mesh_fin,color=:slategrey) meshes = [ mesh_headrib, @@ -64,183 +61,205 @@ meshes = [ 308.454 #摆杆-v1.2.2 ] -# 定义一个函数来新建机器人 -function make_bai(meshes,质心,质量,惯量) - - nb = 6 - ver_lengths_raw = [ - # 0 43; - # 18 18; - 0 43+18+18-10; - 18 16; - 19.1 9; - 18 8; - 18 8; - 0 16.29; - 0 150 - ] - ver_lengths = sum(ver_lengths_raw,dims=2) - hor_lengths = [ - 32.61, - 26.21, - 20.64, - 14.71, - 13.24, - # 13.24, - 2.5 - ] - nhor = length(hor_lengths) - P = [ - zeros(2,) - for i = 1:nhor+1 - ] - for i = 2:nhor+1 - P[i] = P[i-1] + [0.0,-ver_lengths[i-1]] - end - - function rigidbody(i,P) - if i == 1 - contactable = false - visible = true - ci = collect(1:6) - cstr_idx = Int[] - elseif i in [2,nb] - contactable = true - visible = true - ci = collect(1:2) - cstr_idx = collect(1:3) - else - contactable = true - visible = true - ci = Int[] - cstr_idx = collect(1:3) - end - α = -π/2 - if i == 1 - ri = SVector{2}(0.0, 0.0) - rj = SVector{2}(P[i+1] ) - elseif i < nb - ri = SVector{2}(P[i]) - rj = SVector{2}(P[i+1]) - else - ri = SVector{2}(0.0, 0.0) - rj = SVector{2}(0.0,-150.0) - end - b = hor_lengths[i] - offset_fix = begin - if i == 1 - ret = 43 + 10 - elseif i == nb - ret = 150 - else - ret = 0 - end - ret - end - offset = ver_lengths_raw[i,1] - ro = ri + SVector{2}(0.0,-offset) - mass_locus = SVector{2}(质心[i]) - m = 质量[i] - inertia = 惯量[i]/2 - Ī = SMatrix{2,2}([ - inertia 0 - 0 inertia - ]) - r̄p1 = SVector{2}(offset_fix,-b,) - r̄p2 = SVector{2}(offset_fix, b,) - r̄p3 = SVector{2}(-offset, 0.0) - r̄p4 = SVector{2}(norm(rj-ri)-offset, 0.0) - loci = [r̄p1,r̄p2,r̄p3,r̄p4] - nr̄p = length(loci) - ṙo = zeros(2); ω = 0.0 - prop = RB.RigidBodyProperty( - i, - contactable, - m, - Ī, - SVector{2}(mass_locus), - loci; - visible = visible, - ) - nmcs = RB.NCF.NC2P1V(ri, rj, ro, α) - state = RB.RigidBodyState(prop, nmcs, ro, α, ṙo, ω, ci, cstr_idx) - mesh_rigid = meshes[i] - body = RB.RigidBody(prop, state, mesh_rigid) - rb - end - rbs = [ - rigidbody(i, P) for i = 1:nb - ] - rigdibodies = TypeSortedCollection(rbs) - numbered = RB.number(rigdibodies) - matrix_sharing_raw = Vector{Matrix{Int}}() - for i = 1:nb-2 - s = zeros(2, nb) - s[1:2, i] = 3:4 - s[1:2, i+1] = 1:2 - push!(matrix_sharing_raw, s) - end - s = zeros(2, nb) - s[1:2, 1] = 1:2 - s[1:2, nb] = 1:2 - push!(matrix_sharing_raw, s) - matrix_sharing = reduce(vcat, matrix_sharing_raw) - # display(matrix_sharing) - indexed = RB.index(rigdibodies, matrix_sharing) - # indexed = RB.index(rigdibodies, ) - - ncables = 2(nb-1) - original_restlens = zeros(ncables) - ks = zeros(ncables) - for i = 1:ncables - original_restlens[i] = 22.0 - ks[i] = 1000.0 - end - cables = - [RB.DistanceSpringDamper2D( original_restlens[i], ks[i], 0.0;slack=true) for i = 1:ncables] # - apparatuses = (cables = cables,) - acs = [ - RB.RegisterActuator(1, - [1:2(nb-1)], - original_restlens, - ) - ] - hub = (actuators = acs,) - - matrix_cnt_raw = Vector{Matrix{Int}}() - for i = 1:nb-1 - s = zeros(2, nb) - s[1, i ] = 1 - s[1, i+1] = -1 - s[2, i ] = 2 - s[2, i+1] = -2 - push!(matrix_cnt_raw, s) - end - matrix_cnt = reduce(vcat, matrix_cnt_raw) - # display(matrix_cnt) - connected = RB.connect(rigdibodies, matrix_cnt) - tensioned = @eponymtuple(connected,) - cnt = RB.Connectivity(numbered, indexed, tensioned) - - st = RB.Structure(rigdibodies, apparatuses, cnt) - bot = RB.Robot(st, hub) -end - tail = make_bai(meshes,质心,质量,惯量) +bot = tail +botvis = deepcopy(bot) plot_traj!( - tail; + botvis; fontsize = 14 |> pt2px, - showmesh = false, + show_axis = false, + showmesh = true, + showpoints = false, + showlabels = false, xlims = (-50,50), ylims = (-300,40), showground = false ) # 静力平衡 -RB.check_static_equilibrium_output_multipliers(tail.st;) +RB.check_static_equilibrium_output_multipliers(bot.structure;) # 刚度、稳定性分析 -RB.undamped_eigen(tail.st) +ω²,δq̌ = RB.undamped_eigen(bot.structure) + +## δq̌ = [Ň*orthovm[:,i] for i in axes(orthovm,2)] +scaling=0.2 +nk = 5 +RB.reset!(botvis) +for i = 1:nk + push!(botvis.traj,deepcopy(botvis.traj[end])) + botvis.traj.t[end] = i + δq̌i = δq̌[i] + ratio = norm(δq̌i)/norm(botvis.traj.q̌[begin]) + botvis.traj.q̌[end] .= botvis.traj.q̌[begin] .+ scaling.*δq̌i/ratio +end +with_theme(theme_pub; + fontsize = 16, + Axis3 = ( + azimuth = 4.7078743833269865, + elevation = 1.307620956698724 + ) + ) do + fig = Figure() + gd2 = fig[1,1:nk] = GridLayout() + plot_traj!( + botvis; + fig = gd2, + AxisType=Axis3, + showinfo = true, + gridsize=(1, nk), + atsteps=2:nk+1, + doslide=false, + showmesh = false, + showwire = false, + showlabels=true, + showpoints=true, + # showcables = false, + showground = false, + xlims = (-150,150), + ## ylims = (-400,300), + ylims = (-400,0), + zlims = (-1,0), + slack_linestyle = :solid, + ## showinit = true, + refcolor = Makie.RGBA{Float32}(0.5,0.5,0.5,0.5), + titleformatfunc = (sgi,tt)-> begin + rich( + rich("($(alphabet[sgi+1])) ", font=:bold), + "Mechanism Mode $sgi" + ) + end, + sup! = (ax,tgob,sgi)->begin + bodies = RB.get_bodies(tgob[]) + r1p3 = bodies[1].state.loci_states[3].frame.position + r1p4 = bodies[1].state.loci_states[4].frame.position + r2p4 = bodies[2].state.loci_states[4].frame.position + r3p4 = bodies[3].state.loci_states[4].frame.position + r4p4 = bodies[4].state.loci_states[4].frame.position + r5p4 = bodies[5].state.loci_states[4].frame.position + r5g = bodies[5].state.mass_locus_state.frame.position + @show r1p3, r1p4 + lines!(ax, + [ + r1p3,r1p4,r2p4,r3p4,r4p4,r5p4,r5g + ] + ) + ## hidedecorations!(ax) + ## xlims!(ax,-50,50) + ## RB.hidez(ax) + ## ylims!(ax,-300,40) + end, + ) + fig +end + + +# 动力学仿真问题 +prob = RB.DynamicsProblem(bot,) + +# 动力学仿真求解 +RB.solve!(prob, + RB.DynamicsSolver( + RB.Zhong06() + ); + dt=0.001,tspan=(0.0,100.0),ftol=1e-10,verbose=true +) + +plot_traj!(bot) + + +using BlockDiagonals + +body1 = RB.get_bodies(bot)[1] + +ke = RB.get_kinetic_energy!(bot,2,) +kec = RB.get_kinetic_energy_coords!(bot,2) +(ke.-kec)./kec + +β = vcat( + -Ω×(MS*Ω) + Ω×(M*V), + Ω×(I*Ω) + MS*(Ω×V) +) + +# Function for first forward recursion on kinematics +function forward_recursion_kinematics(Xsj, lj, Vj, ηj) + # Initialize velocities + Vj_plus_1 = zeros(3) + ηj_plus_1 = zeros(3) + + # Iterate over segment slices + for i in 1:size(Xsj, 2)-1 + ΔX = Xsj[:, i+1] - Xsj[:, i] + Vj_plus_1 += Vj[:, i] + cross(ΔX, ηj[:, i]) + ηj_plus_1 += ηj[:, i] + end + + return Vj_plus_1, ηj_plus_1 +end + +# Function for backward recursion on external dynamics +function backward_recursion_external(Mfj, Ifj, η, ηj, Xsj, lj, external_force) + # Initialize forces and torques + external_force = reverse(external_force, dims=2) # Reverse external force for backward recursion + F_ext = zeros(3) + τ_ext = zeros(3) + + # Iterate over segment slices in reverse order + for i in size(Xsj, 2):-1:1 + # Compute external forces and torques + ΔX = Xsj[:, i+1] - Xsj[:, i] + F_ext += external_force[:, i] * norm(ΔX) + τ_ext += cross(Xsj[:, i], external_force[:, i]) * norm(ΔX) + end + + # Compute fluid forces at endpoints + f_pres_0 = zeros(3) + f_pres_lj = cross(Xsj[:, end], Pfj[:, end]) + + # Compute linear and angular dynamics + dPf_dt = Mfj * (Vj_plus_1 - Vj[:, end]) - F_ext + f_pres_0 - f_pres_lj + dβf_dt = Ifj * (ηj_plus_1 - ηj[:, end]) - τ_ext + cross(Xsj[:, end], f_pres_lj) + + return dPf_dt, dβf_dt +end + +# Function for second forward recursion on internal dynamics +function forward_recursion_internal(dPf_dt, dβf_dt, Mfj, Ifj, Xsj, lj) + # Initialize forces and torques + Pfj = zeros(3, size(Xsj, 2)) + Pfj[:, end] = Mfj * Vj_plus_1 + βfj = zeros(3, size(Xsj, 2)) + βfj[:, end] = Ifj * ηj_plus_1 + + # Iterate over segment slices + for i in 1:size(Xsj, 2)-1 + ΔX = Xsj[:, i+1] - Xsj[:, i] + Pfj[:, i] = Pfj[:, i+1] + dPf_dt * norm(ΔX) + βfj[:, i] = βfj[:, i+1] + dβf_dt * norm(ΔX) + end + + return Pfj, βfj +end + +# Example inputs +Xsj = rand(3, 10) # Segment slice positions +lj = rand(10) # Segment lengths +Vj = rand(3, 10) # Segment velocities +ηj = rand(3, 10) # Segment angular velocities +Mfj = rand(3, 3) # Fluid added mass tensor +Ifj = rand(3, 3) # Fluid added inertia tensor +external_force = rand(3, 10) # External forces + +# First forward recursion on kinematics +Vj_plus_1, ηj_plus_1 = forward_recursion_kinematics(Xsj, lj, Vj, ηj) + +# Backward recursion on external dynamics +dPf_dt, dβf_dt = backward_recursion_external(Mfj, Ifj, η, ηj, Xsj, lj, external_force) + +# Second forward recursion on internal dynamics +Pfj, βfj = forward_recursion_internal(dPf_dt, dβf_dt, Mfj, Ifj, Xsj, lj) + +println("Linear fluid dynamics (Pfj): ", Pfj) +println("Angular fluid dynamics (βfj): ", βfj) -# 动力学分析 diff --git a/yard/tail/curve.jl b/yard/tail/curve.jl deleted file mode 100644 index 7b605da..0000000 --- a/yard/tail/curve.jl +++ /dev/null @@ -1,23 +0,0 @@ -using NLsolve -using Makie -AbstractPlotting.__init__() -n = 12 -function on_curve(n,d,f) - x = zeros(n) - y = zeros(n) - y[1] = f(x[1]) - for i = 2:n - function func!(func,unk) - xi,yi = unk - dy = yi - y[i-1] - dx = xi - x[i-1] - func[1] = dy^2 + dx^2 - d - func[2] = yi-f(xi) - end - soli = nlsolve(func!,[x[i-1]+d,f(x[i-1]+d)]) - x[i],y[i] = soli.zero - end - x,y -end -x,y = on_curve(12,0.1,sin) -plot(x,y) diff --git a/yard/tail/dynamics.jl b/yard/tail/dynamics.jl index 8fc814d..67b2dd3 100644 --- a/yard/tail/dynamics.jl +++ b/yard/tail/dynamics.jl @@ -189,7 +189,7 @@ function dynfuncs(bot) RB.clear_forces!(st) RB.update_bodies!(st,q,q̇) RB.update_apparatuses!(st) - ## RB.apply_gravity!(st) + ## RB.apply_field!(st) RB.assemble_forces!(st) RB.get_force!(F,st) end diff --git a/yard/tail/plotting.jl b/yard/tail/plotting.jl deleted file mode 100644 index b54875c..0000000 --- a/yard/tail/plotting.jl +++ /dev/null @@ -1,65 +0,0 @@ -rb_bars(body) = [Point(body.state.loci_states[1]) => Point(body.state.loci_states[2]);] - -function bars_and_cables(tgstruct) - bars = [Node(rb_bars(body)) for rb in tgstruct.rigidbodies] - cables = Node(RB.get_cables(tgstruct)) - bars, cables -end - -function plotstructure!(ax,tgstruct) - bars, cables = bars_and_cables(tgstruct) - function plot!(ax,bars,cables) - for (lineid,line) in enumerate(bars) - linesegments!(ax, line, color = :black, linewidth = 4) - end - linesegments!(ax, cables, color = :deepskyblue, linewidth = 2) - end - plot!(ax,bars,cables) - xlims!(ax,[-0.2,0.2]) - ylims!(ax,[-0.6,0.05]) - bars,cables -end - -function update_scene!(st,bars,cables,q) - cnt = st.connectivity - RB.distribute_q_to_rbs!(st,q) - for (id,rb) in enumerate(st.rigidbodies) - bars[id][] = rb_bars(body) - end - cables[] = RB.get_cables(st) - # angles = update_angles(st) - # @show angles -end - -function sliderplot(fig,tr,ax,cables) - @unpack st, traj = tr - ls_step = labelslider!(fig,"step",1:length(traj.ts)) - fig[2,1] = ls_step.layout - on(ls_step.slider.value) do this_step - # analyse_slackness(st,sol.qs[this_step]) - update_scene!(st,ax,cables,traj.qs[this_step]) - # show_camera(ax.scene) - end -end -function recordplot(fig,tr,ax,cables;record_name) - @unpack st, traj = tr - record(fig, record_name, 1:length(traj.ts); framerate = 30) do this_step - update_scene!(st,ax,cables,traj.qs[this_step]) - # update_cam!(ax.scene, eyepos,lookat) - end -end - - -function plotstructure(tr::RB.Robot;record_name="") - @unpack st, traj = tr - fig = Figure(resolution=(1000,1000)) - ax = fig[1, 1] = Axis(fig) - bars,cables = plotstructure!(ax,st) - ax.aspect = DataAspect() - if record_name=="" - sliderplot(fig,tr,ax,cables) - else - recordplot(fig,tr,ax,cables;record_name) - end - fig -end diff --git a/yard/tail/swing.jl b/yard/tail/swing.jl deleted file mode 100644 index 06f95d8..0000000 --- a/yard/tail/swing.jl +++ /dev/null @@ -1,74 +0,0 @@ -using LinearAlgebra -using SparseArrays -using Parameters -using StaticArrays -# using BenchmarkTools -# import PyPlot; const plt = PyPlot -# using LaTeXStrings -using Makie -AbstractPlotting.__init__() - -using NLsolve -using Revise -using TensegritySolvers; const TS = TensegritySolvers -using Robot -const TR = Robot -include("tail_define.jl") -include("plotting.jl") - -include("../analysis.jl") - -n = 13 -tail = make_curve_tail(n) -# Vy = make_curve_tail(n) -_,_,tailscene = plotstructure(tail) -tailscene -# @code_warntype make_tail(n) -q0,q̇0,λ0 = RB.get_initial(tail) -# q̇0[end-3:end] .= 5*[0.1,0.0,0.1,0.0] - -# RB.get_nbodycstr(tail) -# RB.get_nbodydof(tail) # RB.get_num_of_coords(tail) - - -function dynfuncs(tgstruct,q0) - - M = RB.build_massmatrix(tgstruct) - Φ = RB.build_Φ(tgstruct,q0) - A = RB.build_A(tgstruct) - - #Q̃=RB.build_Q̃(tgstruct) - - function F!(F,q,q̇,t) - # du = 0.01*sin(t) - # RB.actuate!(tgstruct.actuators[1],du) - RB.reset_forces!(tgstruct) - RB.distribute_q_to_rbs!(tgstruct,q,q̇) - RB.update_cables_apply_forces!(tgstruct) - # RB.apply_gravity!(tgstruct,factor=0.001) - # F .= Q̃*RB.fvector(tgstruct) - F .= 0.0 - RB.assemble_forces!(F,tgstruct) - end - - M,Φ,A,F!,nothing -end - -M,Φ,A,F!,Jacs = dynfuncs(tail,q0) -# Φ(q0) -# @code_warntype Φ(q0) -# A(q0) -# @code_warntype A(q0) -F = similar(q0) -# @code_warntype F!(F,q0,q̇0,0.0) -dt = 0.01 -prob = TS.DyProblem(dynfuncs(tail,q0),q0,q̇0,λ0,(0.0,10.0)) -sol = TS.solve(prob,TS.Zhong06(),dt=dt,ftol=1e-14,verbose=true) - -plotstructure(tail,sol,sliderplot) -plotstructure(tail,sol,recordplot) -# sol = TS.solve(prob,TS.ConstSPARK(1),dt=dt,ftol=1e-12,verbose=true) -@code_warntype TS.solve(prob,TS.Zhong06(),dt=dt,ftol=1e-14,verbose=true) -kes,epes,gpes,restitution_coefficients,es_err = analyse_energy(tail,sol;gravity=false,elasticity=true) -restitution_coefficients -plot(restitution_coefficients) diff --git a/yard/tail/test.jl b/yard/tail/test.jl deleted file mode 100644 index a20d694..0000000 --- a/yard/tail/test.jl +++ /dev/null @@ -1,53 +0,0 @@ -using LinearAlgebra -using SparseArrays -using Parameters -using StaticArrays -using Makie -#plot(rand(10)) -# using BenchmarkTools -# import PyPlot; const plt = PyPlot -# using LaTeXStrings -# using NLsolve -using Revise -using Rible; const TR = Rible -#cd("examples/tail") -includet("tail_define.jl") -includet("make_new_tail.jl") -includet("plotting.jl") -includet("../analysis.jl") - -n = 4 -tail = make_new_tail(n) -#plotstructure(tail) -#@code_warntype make_tail(n) -q0,q̇0,λ0 = RB.get_initial(tail.st) -q0=q =Vec{28,Float64}(0,0,2,0,0,-2,2,-2,0,-4,2,-4,0,-6,2,-6,0,-8,2,-8,0,-10,0,-12,0,-14,0,-16) -q̇0[end-3:end] .= 5*[0.1,0.0,0.1,0.0] -RB.set_new_initial!(tail,q0,q̇0) - -function dynfuncs(tr) - @unpack st = tr - M = RB.build_massmatrix(st) - Φ = RB.build_Φ(st) - A = RB.build_A(st) - - #Q̃=RB.build_Q̃(st) - - function F!(F,q,q̇,t) - RB.reset_forces!(st) - RB.distribute_q_to_rbs!(st,q,q̇) - RB.update_cables_apply_forces!(st) - # F .= Q̃*RB.fvector(tgstruct) - F .= 0.0 - RB.assemble_forces!(F,st) - end - - M,Φ,A,F!,nothing -end - -dt = 0.01 -prob = RB.DyProblem(dynfuncs(tail),tail,(0.0,20.0)) -RB.solve!(tail,prob,RB.Zhong06(),dt=dt,ftol=1e-14,verbose=true) -# sol = RB.solve(prob,RB.ConstSPARK(1),dt=dt,ftol=1e-12,verbose=true) -#@code_warntype RB.solve(prob,RB.Zhong06(),dt=dt,ftol=1e-14,verbose=true) -plotstructure(tail)