Experimental Ragdoll integration

src/configuration/configuration.rb

@@ -90,7 +90,7 @@ module Configuration
   # Simulation Properties
   WORLD_GRAVITY         = -9.8 # in m/s/s
   WORLD_SOLVER_MODEL    = 8 # 1 - 64
-  WORLD_TIMESTEP        = 1.0 / 60 # in seconds
+  WORLD_TIMESTEP        = 1.0 / 120 # in seconds
   WORLD_NUM_ITERATIONS  = ((1.0 / 60) / WORLD_TIMESTEP).to_i
   JOINT_SOLVER_MODEL    = 2 # 0 or 2
   JOINT_STIFFNESS       = 0.95 # ratio (0.0 - 1.0)

src/sketchup_objects/spring_link.rb

@@ -3,10 +3,11 @@
 
 # PhysicsLink that behaves like a gas spring
 class SpringLink < ActuatorLink
-  attr_reader :spring_parameter_k, :initial_spring_length
+  attr_accessor :spring_parameter_k
+  attr_reader :edge, :initial_spring_length
 
   def initialize(first_node, second_node, edge, id: nil)
-    @spring_parameter_k = 200
+    @spring_parameter_k = 7000
     super(first_node, second_node, edge, id: id)
     @first_elongation_length =
       @second_elongation_length = Configuration::MINIMUM_ELONGATION

src/geometry_animation.rb → src/system_simulation/geometry_animation.rb

@@ -1,3 +1,5 @@
+require 'src/system_simulation/ragdoll.rb'
+
 class GeometryAnimation
   attr_accessor :factor, :running
   def initialize(data, index = 0)
@@ -6,25 +8,35 @@ def initialize(data, index = 0)
     @running = true
     @factor = 1
 
+    @ragdoll = Ragdoll.new
   end
 
   def toggle_running
-    @running = !@running;
+    @running = !@running
+
+    @ragdoll.clear
+    @ragdoll = Ragdoll.new
+    puts "new ragdoll"
   end
 
   def nextFrame(view)
+    Sketchup.active_model.start_operation('visualize export result', true)
     unless (@running)
       # last frame before animation stops – so we set value to last data sample and reset index to reset animation
       @index = 0
     end
+    # @index = 8 # Disables animation to debug ragdoll
     current_data_sample = @data[@index]
 
-    Graph.instance.nodes.each do | node_id, node|
+    Graph.instance.nodes.each do |node_id, node|
       node.update_position(current_data_sample.position_data[node_id.to_s])
       node.hub.update_position(current_data_sample.position_data[node_id.to_s])
-      node.hub.update_user_indicator()
+      node.hub.update_user_indicator
     end
 
+    @ragdoll.position = Graph.instance.nodes.values[0].position
+    @ragdoll.advance
+
     Graph.instance.edges.each do |_, edge|
       link = edge.link
       link.update_link_transformations
@@ -44,13 +56,14 @@ def nextFrame(view)
     #  link = edge.link
     #  link.update_link_transformations
     #end
+    Sketchup.active_model.commit_operation
     view.refresh
     @index = @index + @factor
     if @index + @factor >= @data.length
       @index = 0
       sleep(1)
     end
 
-    return @running
+    @running
   end
 end

src/system_simulation/modelica_simulation.rb

@@ -6,7 +6,9 @@ def self.run_simulation(simulation_name="seesaw3")
 
     result_file = simulation_name + "_res.csv"
 
+    puts 'Searching in:'
     directory = File.dirname(__FILE__)
+    puts directory
 
     Open3.popen2e("rm #{result_file}", :chdir => directory) do |i, o, t|
       o.each {|l| puts l }

src/system_simulation/ragdoll.rb

@@ -0,0 +1,121 @@
+class Ragdoll
+  attr_reader :position
+
+  def initialize
+    @group = Sketchup.active_model.entities.add_group
+    @world = TrussFab::World.new
+    @world.set_gravity(0.0, 0.0, -9.81)
+
+    position = Geom::Point3d.new( 0, 0, 0)
+
+    frontHub = Hub.new(frontBodyPosition(position), incidents: [])
+    frontHub.create_body @world
+    frontHub.body.static = true
+    frontHub.body.mass = 10
+    backHub = Hub.new(backBodyPosition(position), incidents: [])
+    backHub.create_body @world
+    backHub.body.static = true
+    backHub.body.mass = 10
+    downHub = Hub.new(downBodyPosition(position), incidents: [])
+    downHub.create_body @world
+    downHub.body.static = true
+    downHub.body.mass = 10
+
+    rightArmHub = Hub.new(rightArmBodyPosition(position), incidents: [])
+    rightArmHub.create_body @world
+    rightArmHub.body.static = false
+    rightArmHub.body.mass = 10
+
+    @frontRightJoint = TrussFab::PointToPoint.new(@world, frontHub.body, rightArmHub.body, frontBodyPosition(position), rightArmBodyPosition(position), nil)
+    @backRightJoint = TrussFab::PointToPoint.new(@world, backHub.body, rightArmHub.body, backBodyPosition(position), rightArmBodyPosition(position), nil)
+    @rightArmDownJoint = TrussFab::PointToPointGasSpring.new(@world, rightArmHub.body, downHub.body, rightArmBodyPosition(position), downBodyPosition(position), nil)
+
+    [@frontRightJoint, @backRightJoint].each do |joint|
+      joint.solver_model = Configuration::JOINT_SOLVER_MODEL
+      joint.stiffness = 0.9
+      joint.breaking_force = 0
+      joint.start_distance = 0.4
+      joint.bodies_collidable = false
+    end
+
+    @rightArmDownJoint.solver_model = Configuration::JOINT_SOLVER_MODEL
+    @rightArmDownJoint.extended_length = 0.56
+    @rightArmDownJoint.stroke_length = 0.15
+    @rightArmDownJoint.extended_force = 0.0001
+    @rightArmDownJoint.threshold = 0.2
+    @rightArmDownJoint.damp = 0
+    puts "Current length: #{@rightArmDownJoint.cur_length}"
+  end
+
+  def position=(position)
+    @position = position
+    @rightArmDownJoint.set_point2 downBodyPosition @position
+    @frontRightJoint.set_point1 frontBodyPosition @position
+    @backRightJoint.set_point1 backBodyPosition @position
+  end
+
+  def clear
+    Sketchup.active_model.active_entities.erase_entities(@group.entities.to_a) unless @group.deleted?
+  end
+
+  def redraw
+    Sketchup.active_model.start_operation('', true)
+    clear
+    draw
+    Sketchup.active_model.commit_operation
+  end
+
+  def draw
+    @group = Sketchup.active_model.entities.add_group
+
+    @group.entities.add_face(@frontRightJoint.get_point1, @frontRightJoint.get_point2, @backRightJoint.get_point1)
+    puts "Lengt: #{(@frontRightJoint.get_point1 - @frontRightJoint.get_point2).length}"
+    # cylinder_from_points(@backRightJoint.get_point1, @backRightJoint.get_point2, 2)
+    # cylinder_from_points(@backRightJoint.get_point1, @rightArmDownJoint.get_point1, 2)
+    # cylinder_from_points(@frontRightJoint.get_point1, @rightArmDownJoint.get_point1, 2)
+    # This would visualize the spring:
+    @group.entities.add_line(@rightArmDownJoint.get_point1, @rightArmDownJoint.get_point2)
+  end
+
+  def cylinder_from_points(point1, point2, radius)
+    vec = point2 - point1
+    draw_cylinder point1, radius, vec if vec.length > 1
+  end
+
+  def draw_cylinder(center, radius, direction)
+    # This is actually harder than I thought, and does not work right now,
+    # cause after pushpull, the references
+    # to the faces are gone
+    @group = Sketchup.active_model.entities.add_group if @group.deleted?
+    entities = @group.entities
+    normal = direction.normalize
+    edges = entities.add_circle(center, normal, radius, 10)
+    face = entities.add_face(edges)
+    face.pushpull direction.length if face
+  end
+
+  def advance
+    2.times do
+      @world.advance
+        puts "Current force: #{@rightArmDownJoint.linear_tension}"
+    end
+    redraw
+  end
+
+  def frontBodyPosition position
+    position
+  end
+
+  def backBodyPosition position
+    position + Geom::Vector3d.new(-10, 0, 0)
+  end
+
+  def downBodyPosition position
+    position + Geom::Vector3d.new(-5, 0, -10)
+  end
+
+  def rightArmBodyPosition position
+    position + Geom::Vector3d.new(-5, -20, 0)
+  end
+
+end

src/system_simulation/seesaw3.mo

@@ -58,11 +58,11 @@ model seesaw3
     Placement(visible = true, transformation(origin = {-108, -108}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
   Modelica.Mechanics.MultiBody.Parts.Fixed fixed2(animation = false, r = N[2])  annotation(
     Placement(visible = true, transformation(origin = {74, -108}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
-  Modelica.Mechanics.MultiBody.Joints.Revolute revLeft(a(fixed = true), n = N[5] - N[7], w(fixed = true))  annotation(
+  Modelica.Mechanics.MultiBody.Joints.Revolute revLeft(a(fixed = false), n = N[5] - N[7], w(fixed = false))  annotation(
     Placement(visible = true, transformation(origin = {-72, -52}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
   Modelica.Mechanics.MultiBody.Joints.Revolute revRight(n = N[6] - N[4])  annotation(
     Placement(visible = true, transformation(origin = {98, -36}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
-  Modelica.Mechanics.MultiBody.Parts.PointMass childLeft(a_0(fixed = false),m = 70, r_0(fixed = false, start = N[20]), v_0(fixed = false, start = {0, 0, 0}))  annotation(
+  Modelica.Mechanics.MultiBody.Parts.PointMass childLeft(a_0(fixed = false),m = 70, r_0(fixed = true, start = N[20]), v_0(fixed = false, start = {0, 0, 0}))  annotation(
     Placement(visible = true, transformation(origin = {-6, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
   Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation(animation = false, r = N[5] - N[3])  annotation(
     Placement(visible = true, transformation(origin = {-108, -74}, extent = {{10, -10}, {-10, 10}}, rotation = -90)));
@@ -78,16 +78,14 @@ model seesaw3
     Placement(visible = true, transformation(origin = {142, -46}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
   Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder4(r = (-N[5]) + N[10]) annotation(
     Placement(visible = true, transformation(origin = {-32, -80}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
-  Modelica.Mechanics.MultiBody.Forces.SpringDamperParallel springDamperParallel1(c = 20000, d = 100, s_unstretched = .3) annotation(
+  Modelica.Mechanics.MultiBody.Forces.SpringDamperParallel springDamperParallel1(c = 7000, d = 100, s_unstretched = .7) annotation(
     Placement(visible = true, transformation(origin = {-62, -106}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
   Modelica.Mechanics.MultiBody.Parts.BodyCylinder bodyCylinder5(r = (-N[6]) + N[9]) annotation(
     Placement(visible = true, transformation(origin = {136, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
-  Modelica.Mechanics.MultiBody.Forces.SpringDamperParallel springDamperParallel2(c = 20000, d = 100, s_unstretched = .3) annotation(
+  Modelica.Mechanics.MultiBody.Forces.SpringDamperParallel springDamperParallel2(c = 7000, d = 100, s_unstretched = .7) annotation(
     Placement(visible = true, transformation(origin = {138, -98}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
   Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation1(animation = false, r =  N[6] -N[2]) annotation(
     Placement(visible = true, transformation(origin = {74, -56}, extent = {{10, -10}, {-10, 10}}, rotation = -90)));
-  Modelica.Mechanics.MultiBody.Forces.SpringDamperParallel springDamperParallel(c = 10000, d = 10, s_unstretched = 1) annotation(
-    Placement(visible = true, transformation(origin = {48, -76}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
   Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow arrow( r_head = node_pos[15] - N[15], r_tail = N[15])  annotation(
     Placement(visible = true, transformation(origin = {-38, 2}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
   Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow arrow1(r_head = node_pos[14] - N[14], r_tail = N[14]) annotation(
@@ -125,10 +123,6 @@ equation
     Line(points = {{74, -66}, {74, -66}, {74, -98}, {74, -98}}));
   connect(fixedTranslation1.frame_b, revRight.frame_a) annotation(
     Line(points = {{74, -46}, {74, -46}, {74, -36}, {88, -36}, {88, -36}}));
-  connect(bodyCylinder3.frame_b, springDamperParallel.frame_b) annotation(
-    Line(points = {{152, -46}, {156, -46}, {156, -76}, {58, -76}}, color = {95, 95, 95}));
-  connect(bodyCylinder.frame_b, springDamperParallel.frame_a) annotation(
-    Line(points = {{-22, -60}, {24, -60}, {24, -78}, {38, -78}, {38, -76}}, color = {95, 95, 95}));
   annotation(
     uses(Modelica(version = "3.2.2")));
 end seesaw3;