yade-dev team mailing list archive

[eudoxos at BerliOS <eudoxos@xxxxxxxxxxxxxxx>]

Author: eudoxos
Date: 2009-01-12 19:17:06 +0100 (Mon, 12 Jan 2009)
New Revision: 1622

Added:
   trunk/scripts/test-spiral.py
Modified:
   trunk/pkg/common/Engine/DeusExMachina/RotationEngine.cpp
   trunk/pkg/common/Engine/DeusExMachina/RotationEngine.hpp
   trunk/pkg/common/SConscript
Log:
1. SpiralEngine that does both rotation and translation along the same axis
2. InterpolatingSpiralEngine for variable rotation+translation speed (replaces InterpolationgRotationEngine)
3. scripts/test-spiral.py for rudimentary functionality testing.


Modified: trunk/pkg/common/Engine/DeusExMachina/RotationEngine.cpp
===================================================================
--- trunk/pkg/common/Engine/DeusExMachina/RotationEngine.cpp	2009-01-10 10:42:40 UTC (rev 1621)
+++ trunk/pkg/common/Engine/DeusExMachina/RotationEngine.cpp	2009-01-12 18:17:06 UTC (rev 1622)
@@ -13,16 +13,39 @@
 #include<yade/pkg-common/RigidBodyParameters.hpp>
 #include<yade/core/MetaBody.hpp>
 #include<yade/lib-base/yadeWm3Extra.hpp>
+#include<yade/extra/Shop.hpp>
 
 #include<yade/pkg-common/LinearInterpolate.hpp>
 
-YADE_PLUGIN("RotationEngine","InterpolatingRotationEngine");
+YADE_PLUGIN("RotationEngine","SpiralEngine","InterpolatingSpiralEngine");
 
-void InterpolatingRotationEngine::applyCondition(MetaBody* rb){
-	angularVelocity=linearInterpolate<Real>(rb->simulationTime,times,velocities,pos);
-	RotationEngine::applyCondition(rb);
+
+void InterpolatingSpiralEngine::applyCondition(MetaBody* rb){
+	Real virtTime=period>0 ? Shop::periodicWrap(rb->simulationTime,0,period) : rb->simulationTime;
+	angularVelocity=linearInterpolate<Real>(virtTime,times,angularVelocities,pos);
+	linearVelocity=angularVelocity*slope;
+	SpiralEngine::applyCondition(rb);
 }
 
+void SpiralEngine::applyCondition(MetaBody* rb){
+	Real dt=Omega::instance().getTimeStep();
+	axis.Normalize();
+	Quaternionr q;
+	q.FromAxisAngle(axis,angularVelocity*dt);
+	FOREACH(body_id_t id,subscribedBodies){
+		assert(id<bodies->size());
+		Body* b=Body::byId(id,rb).get();
+		ParticleParameters* rbp=YADE_CAST<RigidBodyParameters*>(b->physicalParameters.get());
+		assert(rbp);
+		// translation
+		rbp->se3.position+=dt*linearVelocity*axis;
+		// rotation
+		rbp->se3.position=q*(rbp->se3.position-axisPt)+axisPt;
+		rbp->se3.orientation=q*rbp->se3.orientation;
+		rbp->se3.orientation.Normalize(); // to make sure
+	}
+}
+
 RotationEngine::RotationEngine()
 {
 	rotateAroundZero = false;

Modified: trunk/pkg/common/Engine/DeusExMachina/RotationEngine.hpp
===================================================================
--- trunk/pkg/common/Engine/DeusExMachina/RotationEngine.hpp	2009-01-10 10:42:40 UTC (rev 1621)
+++ trunk/pkg/common/Engine/DeusExMachina/RotationEngine.hpp	2009-01-12 18:17:06 UTC (rev 1622)
@@ -29,21 +29,49 @@
 };
 REGISTER_SERIALIZABLE(RotationEngine);
 
-/*! Engine applying rotation, finding current angular velocity by interpolating in times and velocities */
-class InterpolatingRotationEngine: public RotationEngine{
+/* Engine applying both rotation and translation, along the same axis, whence the name SpiralEngine
+ */
+class SpiralEngine:public DeusExMachina{
 	public:
+		SpiralEngine():angularVelocity(0.),linearVelocity(0.),axis(Vector3r::UNIT_X),axisPt(0,0,0){}
+		Real angularVelocity;
+		Real linearVelocity;
+		//! axis of translation and rotation (direction); will be normalized by the engine
+		Vector3r axis;
+		//! a point on the axis, to position it in space properly
+		Vector3r axisPt;
+	virtual void applyCondition(MetaBody*);
+	REGISTER_CLASS_AND_BASE(SpiralEngine,DeusExMachina);
+	REGISTER_ATTRIBUTES(DeusExMachina,(angularVelocity)(linearVelocity)(axis)(axisPt));
+};
+REGISTER_SERIALIZABLE(SpiralEngine);
+
+/*! Engine applying spiral motion, finding current angular velocity by linearly interpolating in
+ * times and velocities and translation by using slope parameter.
+ *
+ * The interpolation assumes the margin value before the first time point and last value
+ * after the last time point. If period is specified, time will wrap around, but no interpolation
+ * between last and first values is done!
+ * */
+class InterpolatingSpiralEngine: public SpiralEngine{
+	public:
 		//! list of times at which velocities are given; must be increasing
 		vector<Real> times;
-		//! list of angular velocities
-		vector<Real> velocities;
+		//! list of angular velocities; manadatorily of same length as times
+		vector<Real> angularVelocities;
+		//! period after which we will wrap time to zero (no wrapping if period<=0)
+		Real period;
+		//! axial translation per radian turn (can be negative)
+		Real slope;
 		//! holder of interpolation state, should not be touched by the user.
 		size_t pos;
-		InterpolatingRotationEngine(){pos=0;}
-		void registerAttributes(){ RotationEngine::registerAttributes(); REGISTER_ATTRIBUTE(times); REGISTER_ATTRIBUTE(velocities); REGISTER_ATTRIBUTE(pos); }
-		void applyCondition(MetaBody* rb);
-	REGISTER_CLASS_NAME(InterpolatingRotationEngine);
-	REGISTER_BASE_CLASS_NAME(RotationEngine);
+		InterpolatingSpiralEngine(): period(-1), slope(0), pos(0){}
+		virtual void applyCondition(MetaBody* rb);
+	REGISTER_CLASS_AND_BASE(InterpolatingSpiralEngine,SpiralEngine);
+	REGISTER_ATTRIBUTES(SpiralEngine,(times)(angularVelocities)(period)(slope)(pos));
 };
-REGISTER_SERIALIZABLE(InterpolatingRotationEngine);
+REGISTER_SERIALIZABLE(InterpolatingSpiralEngine);
 
 
+
+

Modified: trunk/pkg/common/SConscript
===================================================================
--- trunk/pkg/common/SConscript	2009-01-10 10:42:40 UTC (rev 1621)
+++ trunk/pkg/common/SConscript	2009-01-12 18:17:06 UTC (rev 1622)
@@ -58,7 +58,7 @@
 	env.SharedLibrary('JumpChangeSe3',['Engine/DeusExMachina/JumpChangeSe3.cpp'], LIBS=env['LIBS']+['RigidBodyParameters']),
 	env.SharedLibrary('Se3Interpolator',['Engine/DeusExMachina/Se3Interpolator.cpp'], LIBS=env['LIBS']+['RigidBodyParameters']),
 	env.SharedLibrary('RotationEngine',['Engine/DeusExMachina/RotationEngine.cpp'],
-		LIBS=env['LIBS']+['ParticleParameters','RigidBodyParameters']),
+		LIBS=env['LIBS']+['ParticleParameters','RigidBodyParameters','Shop']),
 	env.SharedLibrary('TranslationEngine',['Engine/DeusExMachina/TranslationEngine.cpp'],
 		LIBS=env['LIBS']+['ParticleParameters']),
 	env.SharedLibrary('CinemDNCEngine',['Engine/DeusExMachina/CinemDNCEngine.cpp'],

Added: trunk/scripts/test-spiral.py
===================================================================
--- trunk/scripts/test-spiral.py	2009-01-10 10:42:40 UTC (rev 1621)
+++ trunk/scripts/test-spiral.py	2009-01-12 18:17:06 UTC (rev 1622)
@@ -0,0 +1,9 @@
+# script for testing InterpolatingSpiralEngine: sphere going in a sphere-like motion around bar
+O.bodies.append([utils.box([0,0,0],[.005,.005,1],dynamic=False),utils.sphere([0,.1,-1],.04,dynamic=False)])
+O.engines=[
+	DeusExMachina('InterpolatingSpiralEngine',{'subscribedBodies':[1],'times':[10,20,30,40,50,60,70,80,90,100],'angularVelocities':[1,2,3,4,5,3,1,-1,-3,0],'axis':[0,0,1],'axisPt':[0,0,0],'period':-1,'slope':.003,'label':'spiral'}),
+]
+O.dt=5e-4
+O.saveTmp('initial')
+from yade import qt
+qt.Controller()