From 2fefc7272b18dda0adbfb071066aace2a9c7d814 Mon Sep 17 00:00:00 2001
From: amiraa <amiraa@mit.edu>
Date: Tue, 10 Sep 2024 16:57:42 -0400
Subject: [PATCH] CHI
---
.../assembly/assembly.js | 11 +-
.../demos/indexSimulationCHI.html | 263 ++++++++++++++++++
.../setup/globals.js | 5 +-
.../simulation/app.js | 78 +++++-
.../simulation/fea/beamFea.js | 141 ++++++++--
.../simulation/visualization/geometry.js | 3 +
.../simulation/visualization/utils.js | 151 +++++++++-
.../threejs/grid.js | 13 +-
8 files changed, 634 insertions(+), 31 deletions(-)
create mode 100644 01_Code/physical_computing_interface/demos/indexSimulationCHI.html
diff --git a/01_Code/physical_computing_interface/assembly/assembly.js b/01_Code/physical_computing_interface/assembly/assembly.js
index 0337e2d..70b50fd 100644
--- a/01_Code/physical_computing_interface/assembly/assembly.js
+++ b/01_Code/physical_computing_interface/assembly/assembly.js
@@ -23,6 +23,7 @@ function Assembler(three,GLOBALS,numberOfRobots,speed,robotLocations,depositLoca
this.color2=GLOBALS.color2;//kohly
this.color3=GLOBALS.color3;///*teal*/
this.color4= GLOBALS.color4; //red/orange
+ this.viewRobotArm=GLOBALS.viewRobotArm;
///////////////////////////voxels///////////////////////////////
this.voxel;
@@ -442,7 +443,11 @@ Assembler.prototype.defaultRobot=function(robotIndex) {
};
this.THREESimulationRobot[robotIndex] = new THREE.Group();
+
+ this.THREESimulationRobot[robotIndex].visible=this.viewRobotArm;
+
this.scene.add(this.THREESimulationRobot[robotIndex]);
+
////////////////
@@ -643,6 +648,7 @@ Assembler.prototype.getNormalAdjustment=function(robotIndex,n,vnormal,forward){/
////////////////////////Taget Control////////////////////////////
Assembler.prototype.targetControl=function(robotIndex){
this.target[robotIndex] = new THREE.Group();
+ this.target[robotIndex].visible=this.viewRobotArm;
this.scene.add(this.target[robotIndex]);
this.control[robotIndex] = new THREE.TransformControls(this.camera, this.renderer.domElement);
@@ -673,6 +679,7 @@ Assembler.prototype.targetControl=function(robotIndex){
});
this.control[robotIndex].attach(this.target[robotIndex]);
+ this.control[robotIndex].visible=this.viewRobotArm;
this.scene.add(this.control[robotIndex]);
// control[robotIndex].visible = false;
}
@@ -1151,7 +1158,7 @@ Assembler.prototype.buildVoxelAt=function(loc){
// }
-
+
this.scene.add( object1 );
}
//////////////////////////path planing///////////////////////////
@@ -1230,6 +1237,7 @@ Assembler.prototype.buildHelperMeshes=function(robotIndex){
this.targetPositionMesh[robotIndex].scale.x=0.8;
this.targetPositionMesh[robotIndex].scale.y=0.8;
this.targetPositionMesh[robotIndex].scale.z=0.8;
+ // this.targetPositionMesh[robotIndex].visible=this.viewRobotArm;
this.scene.add(this.targetPositionMesh[robotIndex]);
for (var count=0; count<this.numberOfRobots;count++)
@@ -1239,6 +1247,7 @@ Assembler.prototype.buildHelperMeshes=function(robotIndex){
mesh.position.x=this.startLocations[count].x;
mesh.position.y=this.startLocations[count].y;
mesh.position.z=this.startLocations[count].z;
+ mesh.visible=this.viewRobotArm;
this.scene.add(mesh);
}
diff --git a/01_Code/physical_computing_interface/demos/indexSimulationCHI.html b/01_Code/physical_computing_interface/demos/indexSimulationCHI.html
new file mode 100644
index 0000000..de4ab6d
--- /dev/null
+++ b/01_Code/physical_computing_interface/demos/indexSimulationCHI.html
@@ -0,0 +1,263 @@
+<html>
+
+<head>
+ <title>Physical Computing Interface</title>
+ <link rel="stylesheet" type="text/css" href="../css/style.css" media="screen"/>
+ <link rel="stylesheet" type="text/css" href="../lib/jsoneditor/jsoneditor.css" >
+
+ <!-- assembler control css -->
+ <link rel="stylesheet" href="../css/bootstrap.min.css">
+ <link rel="stylesheet" type="text/css" href="../css/styleAssemblerControl.css" media="screen"/>
+
+ <!-- <link href="https://unpkg.com/font-awesome@5.8.0/css/font-awesome.min.css" rel="stylesheet" type="text/css" /> -->
+ <!-- <link href="//netdna.bootstrapcdn.com/font-awesome/3.2.1/css/font-awesome.css" rel="stylesheet"> -->
+ <script src="https://kit.fontawesome.com/99c302ff33.js" crossorigin="anonymous"></script>
+ <!-- <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/4.7.0/css/font-awesome.min.css"> -->
+
+
+</head>
+
+<body>
+
+ <div id="threejs">
+ <div id="threejs1">
+ <div class="header1">
+ <i> Assembly</i>
+ <!-- Three.js -->
+ </div>
+
+ <div id="webgl"></div>
+ </div>
+ <div class="slidecontainer">
+ <input type="range" min="0" max="0" value="1" class="slider" id="time">
+ </div>
+
+ </div>
+
+ <div id="simulation">
+ <div id="threejs1">
+ <div class="header2">
+
+ <i> Simulation </i>
+
+ <!-- <div class="dropdown" style="float: right;" >
+ <button onclick="simulationFidelity()" class="dropbtn" >Fidelity</button>
+ <div id="myDropdown" class="dropdown-content" >
+ <a class="High" href="#">High (slow)</a>
+ <a class="Medium" href="#">Medium</a>
+ <a class="Low" href="#">Low (Fast)</a>
+ </div>
+ </div > -->
+ </div>
+ <div class="dragbar2"></div>
+ <div id="webgl1"></div>
+
+
+ </div>
+
+ </div>
+
+
+
+ <div id="graph">
+ <div class="header2">
+ <div class="dragbar"></div>
+ <i> Graph</i>
+ </div>
+ <div id=jsondiveditor>
+
+ <div id="cy"></div>
+ </div>
+ <div class="dragbar"></div>
+
+
+ </div>
+
+ <div id="json">
+
+
+ <div class="header2">
+ <div class="dragbar"></div>
+ <i> Node</i>
+ </div>
+
+
+ <div id=jsondiveditor>
+
+ <br></br>
+ <!-- <p>
+ <button class="button" id="setJSON">Get Info</button>
+ <button class="button" id="getJSON">Set Info</button>
+ </p> -->
+
+ <div id="jsoneditor"></div>
+ </div>
+ <div class="dragbar"></div>
+ <div class="dragbar1"></div>
+
+
+
+ </div>
+
+ <div class="footer1" id="instructions0">
+ <strong>left-click</strong>: place voxel/orbit, <strong>right-click</strong>: radial menu with more options
+ </div>
+
+ <div class="footer2" id="instructions">
+ <!-- update change to more instructions/feedback -->
+ <i>instructions</i>
+ </div>
+
+</body>
+
+
+
+<!-- TODO:
+ Clean structure to modules?
+ Add another footer
+
+-->
+
+
+<!-- libraries -->
+<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.4.1/jquery.min.js"></script>
+<script src="../lib/cytoscape.min.js"></script>
+<script src="../lib/cytoscape-cxtmenu1.js"></script>
+<script src="https://unpkg.com/layout-base/layout-base.js"></script>
+<script src="https://unpkg.com/cose-base/cose-base.js"></script>
+<script src="https://unpkg.com/cytoscape-cose-bilkent/cytoscape-cose-bilkent.js"></script>
+<script src="../lib/cytoscape-expand-collapse.js"></script>
+
+
+<script src="../lib/jsoneditor/jsoneditor.js"></script>
+
+<script src="../lib/opencv.js"></script>
+
+
+<script src="../lib/three.min.js"></script>
+<script src="../lib/OrbitControls.js"></script>
+<script src="../lib/dat.gui.min.js"></script>
+<script src="../lib/TransformControls.js"></script>
+
+<script src="../assembly/InverseKinematic.js"></script><!-- TODO LOCATION -->
+<script src="../assembly/voxel.js"></script><!-- TODO CHANGE TO DICE PIECES -->
+
+<!-- simulation stuff -->
+<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.4.1/jquery.min.js"></script>
+
+<script type="text/javascript" src="https://files.mcneel.com/rhino3dm/js/latest/rhino3dm.js"></script>
+<!-- <script type="text/javascript" src="../simulation/demos/rhino3dm.js"></script> -->
+
+
+<!-- <script src="https://cdn.jsdelivr.net/npm/@tensorflow/tfjs@1.0.0/dist/tf.min.js"></script> -->
+<script src="https://cdn.jsdelivr.net/npm/@tensorflow/tfjs@4.15.0/dist/tf.min.js"></script>
+
+<!-- simulation -->
+<script src="../simulation/lib/stats.js"></script>
+<script src="../simulation/lib/SVGRenderer.js"></script>
+<script src="../simulation/lib/js-colormaps.js"></script>
+<script src="../simulation/lib/LineSegments2.js"></script>
+<script src="../simulation/lib/LineSegmentsGeometry.js"></script>
+<script src="../simulation/lib/Line2.js"></script>
+<script src="../simulation/lib/LineMaterial.js"></script>
+<script src="../simulation/lib/LineGeometry.js"></script>
+<script src="../simulation/lib/GeometryUtils.js"></script>
+
+
+<!-- <script src="./metavoxels/01_Code/191115_NodeJsJulia/fea/beamFea.js"></script> -->
+<!-- <script src="./simulation/visualization/geometry.js"></script> -->
+
+<script src="../simulation/visualization/utils.js"></script>
+<script src="../simulation/visualization/geometry.js"></script>
+
+<script src="../simulation/visualization/main.js"></script>
+
+<script src="../simulation/fea/parallelFea.js"></script>
+<script src="../simulation/fea/beamFea.js"></script>
+<!-- assembler control -->
+<!-- <script src="./assembly/assemblerControl/utils.js" type="text/javascript"></script>
+<script src="./assembly/assemblerControl/setup.js" type="text/javascript"></script>
+<script src="./assembly/assemblerControl/processing.js" type="text/javascript"></script>
+<script src="./assembly/assemblerControl/serialMonitor.js" type="text/javascript"></script>
+<script type="text/javascript" src="./assembly/assemblerControl/bootstrap-multiselect.js"></script> -->
+<script>
+ var i = 0;
+
+
+ var viewRobotArm=false;
+
+ var startPos=0.8
+ $('#threejs').css("width",window.innerWidth*startPos);
+ $('#simulation').css("width",window.innerWidth*startPos);
+ $('#graph').css("left",window.innerWidth*startPos);
+ $('#json').css("left",window.innerWidth*startPos);
+ $('.footer1').css("width",window.innerWidth*startPos);
+ $('.footer2').css("left",window.innerWidth*startPos);
+ // onWindowResize();
+</script>
+
+<!-- code -->
+<script src="../setup/globals.js"></script> <!-- event handling and GLOBALS,UTILS -->
+<script src="../threejs/grid.js"></script><!-- threejs visualization -->
+<script src="../assembly/assembly.js"></script><!-- robot assembly -->
+<script src="../assembly/replay.js"></script><!-- assembly and timestep handling -->
+<script src="../graph/graph.js"></script><!-- graph flow visualization-->
+<script src="../json/json.js"></script><!-- json -->
+
+<script src="../simulation/app.js"></script><!-- threejs visualization -->
+
+<!-- windows control -->
+<script>
+
+
+ $('.dragbar').mousedown(function(e){
+
+ e.preventDefault();
+ $(document).mousemove(function(e){
+ // $('#position').html(e.pageX +', '+ e.pageY);
+ $('#threejs').css("width",e.pageX+2);
+
+ $('#simulation').css("width",e.pageX+2);
+
+ $('#graph').css("left",e.pageX+2);
+ $('#json').css("left",e.pageX+2);
+ $('.footer1').css("width",e.pageX+2);
+ $('.footer2').css("left",e.pageX+2);
+
+ })
+ // onWindowResize();//todo change location
+ });
+
+ $('.dragbar1').mousedown(function(e){
+ e.preventDefault();
+ // $('#mousestatus').html("mousedown" + i++);
+ $(document).mousemove(function(e){
+ $('#graph').css("height",e.pageY+2);
+ $('#json').css("top",e.pageY+2);
+
+ })
+ });
+
+ $('.dragbar2').mousedown(function(e){
+ e.preventDefault();
+ // $('#mousestatus').html("mousedown" + i++);
+ $(document).mousemove(function(e){
+ $('#threejs').css("height",e.pageY+2);
+ $('#simulation').css("top",e.pageY+2);
+
+ })
+ // onWindowResize();//todo change location
+ });
+
+ $(document).mouseup(function(e){
+ $(document).unbind('mousemove');
+ });
+
+
+
+</script>
+
+
+
+
+</html>
\ No newline at end of file
diff --git a/01_Code/physical_computing_interface/setup/globals.js b/01_Code/physical_computing_interface/setup/globals.js
index 56150d8..b761c8c 100644
--- a/01_Code/physical_computing_interface/setup/globals.js
+++ b/01_Code/physical_computing_interface/setup/globals.js
@@ -1,6 +1,8 @@
// Amira Abdel-Rahman
// (c) Massachusetts Institute of Technology 2019
-
+if (viewRobotArm === undefined) {
+ var viewRobotArm=true;
+}
function globals(utils){
this.gridSize=20;
this.voxelSpacing=50;
@@ -11,6 +13,7 @@ function globals(utils){
this.color5=0x380152; //purple
this.color6=0x696767; //grey
this.color7=0x42f2f5; //light blue
+ this.viewRobotArm=viewRobotArm;
this.gridPresets={
Cubic : {
diff --git a/01_Code/physical_computing_interface/simulation/app.js b/01_Code/physical_computing_interface/simulation/app.js
index 32dc56a..6f64774 100644
--- a/01_Code/physical_computing_interface/simulation/app.js
+++ b/01_Code/physical_computing_interface/simulation/app.js
@@ -72,7 +72,7 @@ var static=true;
var latticeSize=10;
var voxelSize=5;
var globalSetup={
- exaggeration:10e1,
+ exaggeration:1,
speed:3.0,
updateStress:false
@@ -84,9 +84,10 @@ setup.voxelSize=voxelSize;
setup.gridSize=GLOBALS.gridSize
document.addEventListener('runNode', function (e) {
- x = document.getElementById("instructions");x.innerHTML = "Simulation Started, wait a few seconds for the results!";
+ // x = document.getElementById("instructions");x.innerHTML = "Simulation Started, wait a few seconds for the results!";
- solveParallel(GLOBALS.globalJson.simulationSteps);
+ // solveParallel(GLOBALS.globalJson.simulationSteps);
+ solveFEA();
}, false);
@@ -100,7 +101,7 @@ document.addEventListener('changeNodeColor', function (e) {
voxelSize/2+voxelSize*e.detail.z,
voxelSize/2+voxelSize*e.detail.y]);
console.log(load1)
- loads.push([load1,{x:0,y:-100*5,z:0}]);
+ loads.push([load1,{x:0,y:-100,z:0}]);
}
resetMetavoxels(e);
}, false);
@@ -152,6 +153,8 @@ function resetMetavoxels(e){
sim.update(setup);
+ setup.animation.exaggeration=1.0;
+
@@ -169,6 +172,12 @@ rhino3dm().then(async m => {
density:0.028,
stiffness:10000000
};
+
+ material={
+ area:1.6*6,
+ density:0.028,
+ stiffness:10000
+ };
var material2={
area:1.0,
@@ -201,6 +210,7 @@ rhino3dm().then(async m => {
var dof=[true,true,true,true,true,true];
supports=[[support,dof]];
loads=[[load,{x:0,y:-100,z:0}]];
+ loads=[[load,{x:0,y:-1,z:0}]];
// var diffMaterialBox=[[matB,material2]];
setup.loads=loads
setup.supports=supports
@@ -219,10 +229,14 @@ rhino3dm().then(async m => {
// restrainFromBox(setup,supports);
setup.viz.colorMaps=[YlGnBu,coolwarm, winter ,jet];
+ // setup.viz.colorMaps=[coolwarm,YlGnBu, winter ,jet];
setup.viz.minStress=10e6;
setup.viz.maxStress=-10e6;
+
+
setup.viz.exaggeration=globalSetup.exaggeration;
+
setup.solve=solveParallel;
setup.numTimeSteps=100;
// setup.supports=supports;
@@ -231,6 +245,7 @@ rhino3dm().then(async m => {
sim= new threejs1(setup,"webgl1","graph",static);
sim.init();
+
// three.drawConstraintBoundingBoxes([support],[load]);
@@ -272,3 +287,58 @@ function solveParallel(numTimeSteps){
/////////////////////
}
+
+function solveFEA(){
+
+ // const a = tf.tensor2d([1, 3, 3, 1, 4, 3, 1, 3, 4], [3, 3])
+ // const b = tf.tensor2d([1, 3, 3], [3, 1])
+ // console.log("matrix a")
+ // a.print()
+ // console.log("matrix d")
+ // var d=det11(a)
+ // console.log(d)
+ // var d=det(a)
+ // console.log(d)
+ // // d.print()
+
+ // const i = invertMatrix(a)
+ // console.log("inverse i")
+ // i.print()
+ // const prod = i.dot(b)
+ // console.log("b * i")
+ // prod.print()
+
+ // var displacements=lusolve(a.arraySync(), b.arraySync(),false);
+ // console.log("b * i")
+ // console.log(displacements)
+
+ // console.log(setup.viz.colorMap)
+ // console.log(sim.setup.viz.colorMap)
+ sim.setup.viz.colorMap=1; //coolwarm
+ setup.animation.exaggeration=10;
+
+ console.log("exaggeration "+setup.animation.exaggeration)
+ var ins = document.getElementById("instructions0");
+ ins.innerHTML = "Simulation running, wait a few seconds for the results!";
+ setTimeout(function() {
+ var ins = document.getElementById("instructions0");
+ ins.innerHTML = "Simulation running, wait a few seconds for the results!";
+ }, 1);
+
+ setTimeout(function() {
+ solveFea(setup,2)
+ // simulateParallel( setup,numTimeSteps,dt,static,2);
+ }, 2);
+
+ setTimeout(function() {
+ var alumnimYieldStress=120;
+ var ins = document.getElementById("instructions0");
+ var txt = "Done! Displacement min:"+setup.viz.minDisplacement.toFixed(3)+" , max:"+ setup.viz.maxDisplacement.toFixed(3)+" mm.";
+ var txt1 = " Stress min:"+setup.viz.minStress.toFixed(3)+" , max:"+ setup.viz.maxStress.toFixed(3)+" MPa.";
+ var safety=alumnimYieldStress/Math.max(Math.abs(setup.viz.minStress),Math.abs(setup.viz.maxStress))
+ var txt2 = " Safety factor is :"+safety.toFixed(2)+".";
+ ins.innerHTML = txt+txt1+txt2;
+
+ }, 3);
+
+}
diff --git a/01_Code/physical_computing_interface/simulation/fea/beamFea.js b/01_Code/physical_computing_interface/simulation/fea/beamFea.js
index dfab386..4141afa 100644
--- a/01_Code/physical_computing_interface/simulation/fea/beamFea.js
+++ b/01_Code/physical_computing_interface/simulation/fea/beamFea.js
@@ -2,7 +2,9 @@
// (c) Massachusetts Institute of Technology 2019
////////////3D bar-truss fea/////////////////////
-function solveFea(){
+function solveFea(setup,method){
+
+
// # determine the global matrices
var M,K,F;
var t0 = performance.now();
@@ -18,24 +20,56 @@ function solveFea(){
// M, K, F = get_matrices(properties)
// [Q,R]=tf.linalg.qr(K);
- t0 = performance.now();
- var displacements=lusolve(K.arraySync(), F.arraySync(),false);
- t1 = performance.now();
- console.log("Call to invert " + (t1 - t0) + " milliseconds.");
- // console.log(displacements);
+ if (method==0){ //not working todo fix
+ t0 = performance.now();
+ console.log(K.shape)
+ K.print();
+ F.print();
+ // var d = det(K);
+ // console.log(d);
+ // d.print()
+ var inv = invertM(K);
+ console.log("hena");
+ var prod = inv.dot(F);
+ var displacements=prod.arraySync();
+ t1 = performance.now();
+ console.log("Call to invert jordan-gauss " + (t1 - t0) + " milliseconds.");
+
+
+ }else if( (method==1)){ //not working todo fix
+ t0 = performance.now();
+ var inv = invertMatrix(K)
+ var prod = inv.dot(F)
+ var displacements=prod.arraySync();
+ t1 = performance.now();
+ console.log("Call to invert matrix adjoint method " + (t1 - t0) + " milliseconds.");
+
+
+ }else if( (method==2)){
+ t0 = performance.now();
+ var displacements=lusolve(K.arraySync(), F.arraySync(),false);
+ t1 = performance.now();
+ console.log("Call to invert (math.js) " + (t1 - t0) + " milliseconds.");
+ // console.log(displacements);
+ }
+
+
+
+
updateDisplacement(displacements);
var X= tf.tensor(displacements);//change later to more effecient solver
console.log("Displacements:");
- X.print();
+ // X.print();
// # determine the stresses in each element
var stresses = get_stresses(setup, displacements);
- updateStresses(stresses.arraySync());
-
console.log("Stresses:");
- stresses.print();
+ // stresses.print();
+ updateStresses(stresses.arraySync());
+
+
// console.log(setup);
// console.log(setup);
@@ -64,11 +98,27 @@ function getMatrices(setup){
var rho = tf.scalar(element.density);
var A = element.area;
var E = element.stiffness;// youngs modulus
- var G=1.0;//todo shear_modulus
- var ixx = 1.0;//todo section ixx
- var iyy = 1.0;//todo section.iyy//
+
+
+ var b=Math.sqrt(A);
+ var h=b;
+
+ var ixx=b*h**3/12;//rectangle filled
+ var iyy=h*b**3/12; //rectangle filled
+
+ var G = E * 1 / 3;
+ var j=b*h*(b*b+h*h)/12;//rectangle filled #polar moment of inertia
+
+
+
+ // var G=1.0;//todo shear_modulus
+ // var ixx = 1.0;//todo section ixx
+ // var iyy = 1.0;//todo section.iyy//
+ // var j=1.0;//todo check
+
+
var l0=length.dataSync();
- var j=1.0;//todo check
+
var l02 = l0 * l0;
var l03 = l0 * l0 * l0;
@@ -94,12 +144,14 @@ function getMatrices(setup){
[0, 0, -6*E*iyy/l02, 0, 2*E*iyy/l0, 0, 0, 0, 6*E*iyy/l02, 0, 4*E*iyy/l0, 0],
[0, 6*E*ixx/l02, 0, 0, 0, 2*E*ixx/l0, 0, -6*E*ixx/l02, 0, 0, 0, 4*E*ixx/l0]
]);
+
var x_axis=tf.tensor ([1,0,0]);
var y_axis=tf.tensor ([0,1,0]);
var z_axis=tf.tensor ([0,0,1]);
// # find rotated mass and stifness matrices
+ var tau = rotation_matrix_old(element_vector, x_axis,y_axis,z_axis);
var tau = rotation_matrix(element_vector, x_axis,y_axis,z_axis);
// var m_r=tf.matMul(tau,tf.matMul(m,tau) ,true ,false) //tau.T.dot(m).dot(tau)
var k_r=tf.matMul(tau,tf.matMul(k,tau) ,true ,false) //tau.T.dot(k).dot(tau)
@@ -188,6 +240,7 @@ function get_stresses(setup,X){
var z_axis=tf.tensor ([0,0,1]);
// # find rotated mass and stifness matrices
+ var tau = rotation_matrix_old(element_vector, x_axis,y_axis,z_axis);
var tau = rotation_matrix(element_vector, x_axis,y_axis,z_axis);
var global_displacements=tf.tensor([setup.nodes[element.source].displacement.x,setup.nodes[element.source].displacement.y,setup.nodes[element.source].displacement.z,
@@ -214,7 +267,7 @@ function get_stresses(setup,X){
///////utils////////
-function rotation_matrix(element_vector,x_axis, y_axis, z_axis){ //todo check again
+function rotation_matrix_old(element_vector,x_axis, y_axis, z_axis){ //todo check again
var L=element_vector.norm().arraySync();
element_vector=element_vector.arraySync();
@@ -268,10 +321,66 @@ function rotation_matrix(element_vector,x_axis, y_axis, z_axis){ //todo check ag
// transMatrix[3:6, 3:6] = dirCos
// transMatrix[6:9, 6:9] = dirCos
// transMatrix[9:12, 9:12] = dirCos
-
+ // console.log(transMatrix)
+ // transMatrix.print()
return transMatrix;
}
+
+
function direction_cosine(vec1, vec2){
return tf.div(tf.dot(vec1,vec2) ,tf.mul( vec1.norm() , vec2.norm()));
+}
+
+function rotation_matrix(dx,x_axis, y_axis, z_axis){
+ var l0 = dx.norm().arraySync();
+ element_vector=dx.arraySync();
+ // c = dx / l0;
+
+ var cxx = element_vector[0]/ l0;
+ var cyx = element_vector[1]/ l0;
+ var czx = element_vector[2]/ l0;
+ var d = Math.sqrt(cxx * cxx + cyx * cyx + czx * czx); //todo check if correct later
+ //try to use this to fix calcAelem https://github.com/latture/threed-beam-fea/blob/master/src/threed_beam_fea.cpp
+ // var d = Math.sqrt(cxx * cxx + cyx * cyx);
+ var cxy = -cyx / d;
+ var cyy = cxx / d;
+ var czy = 0;
+ var cxz = -cxx * czx / d;
+ var cyz = -cyx * czx / d;
+ var czz = d;
+
+ // if (isNaN(cxy)) {
+ // var dd=direction_cosine(dx, x_axis)
+ // dd.print()
+ // var dd=direction_cosine(dx, y_axis)
+ // dd.print()
+ // var dd=direction_cosine(dx, z_axis)
+ // dd.print()
+ // console.log(d)
+ // console.log(element_vector)
+ // var gamma=tf.tensor([
+ // [cxx,cyx,czx],
+ // [cxy,cyy,czy],
+ // [cxz,cyz,czz]])
+ // gamma.print()
+ // }
+
+ var T=tf.tensor([
+ [cxx,cyx,czx, 0, 0, 0, 0, 0, 0, 0, 0, 0],
+ [cxy,cyy,czy, 0, 0, 0, 0, 0, 0, 0, 0, 0],
+ [cxz,cyz,czz, 0, 0, 0, 0, 0, 0, 0, 0, 0],
+ [ 0, 0, 0,cxx,cyx,czx, 0, 0, 0, 0, 0, 0],
+ [ 0, 0, 0,cxy,cyy,czy, 0, 0, 0, 0, 0, 0],
+ [ 0, 0, 0,cxz,cyz,czz, 0, 0, 0, 0, 0, 0],
+ [ 0, 0, 0, 0, 0, 0,cxx,cyx,czx, 0, 0, 0],
+ [ 0, 0, 0, 0, 0, 0,cxy,cyy,czy, 0, 0, 0],
+ [ 0, 0, 0, 0, 0, 0,cxz,cyz,czz, 0, 0, 0],
+ [ 0, 0, 0, 0, 0, 0, 0, 0, 0,cxx,cyx,czx],
+ [ 0, 0, 0, 0, 0, 0, 0, 0, 0,cxy,cyy,czy],
+ [ 0, 0, 0, 0, 0, 0, 0, 0, 0,cxz,cyz,czz]
+ ]);
+ // T.print()
+ return T
+
}
\ No newline at end of file
diff --git a/01_Code/physical_computing_interface/simulation/visualization/geometry.js b/01_Code/physical_computing_interface/simulation/visualization/geometry.js
index 72e36cd..ac31d6a 100644
--- a/01_Code/physical_computing_interface/simulation/visualization/geometry.js
+++ b/01_Code/physical_computing_interface/simulation/visualization/geometry.js
@@ -649,6 +649,9 @@ function linkNodes(setup,nodesIndices,area, density, stiffness){ //create square
}
add_Edge(setup,nodesIndices[nodesIndices.length-1], nodesIndices[0], area, density , stiffness);
+ //chi voxel
+ add_Edge(setup,nodesIndices[0], nodesIndices[2], area, density , stiffness);
+ add_Edge(setup,nodesIndices[1], nodesIndices[3], area, density , stiffness);
}
function restrain(setup,name){
diff --git a/01_Code/physical_computing_interface/simulation/visualization/utils.js b/01_Code/physical_computing_interface/simulation/visualization/utils.js
index d86fdb2..6868964 100644
--- a/01_Code/physical_computing_interface/simulation/visualization/utils.js
+++ b/01_Code/physical_computing_interface/simulation/visualization/utils.js
@@ -93,6 +93,10 @@ function edgeNeeded(setup,source,target){
//////////////
function updateDisplacement(X){
+
+ setup.viz.minDisplacement=Math.min(...X);
+ setup.viz.maxDisplacement=Math.max(...X);
+
var count=0;
for(var i=0;i<setup.nodes.length;i++){
if(!setup.nodes[i].restrained_degrees_of_freedom[0]){
@@ -120,17 +124,19 @@ function updateDisplacement(X){
function updateStresses(S){
- setup.viz.minStress=Math.min(...S)*1.1;
- setup.viz.maxStress=Math.max(...S)*1.1;
+ setup.viz.minStress=Math.min(...S);
+ setup.viz.maxStress=Math.max(...S);
var count=0;
for(var ii=0;ii<setup.edges.length;ii++){
var element=setup.edges[ii];
element.stress=S[ii];
}
- if(!node){
- three.colorEdges(); //todo check!!
- }
+ updateColors()
+ // three.colorEdges(); //todo check!!
+ // if(!node){
+ // three.colorEdges(); //todo check!!
+ // }
}
@@ -243,4 +249,139 @@ function lubksb(lu, b, update) {
b[i] = sum / A[i][i]
}
return b // solution vector x
+}
+
+/////////////////////////
+
+//from https://stackoverflow.com/questions/51805389/how-do-i-invert-a-matrix-in-tensorflow-js
+
+
+// calculate the determinant of a matrix m
+function det11(m) {
+ return tf.tidy(() => {
+ const [r, _] = m.shape
+ if (r === 2) {
+ const t = m.as1D()
+ const a = t.slice([0], [1]).dataSync()[0]
+ const b = t.slice([1], [1]).dataSync()[0]
+ const c = t.slice([2], [1]).dataSync()[0]
+ const d = t.slice([3], [1]).dataSync()[0]
+ result = a * d - b * c
+ return result
+
+ } else {
+ let s = 0;
+ rows = [...Array(r).keys()]
+ for (let i = 0; i < r; i++) {
+ sub_m = m.gather(tf.tensor1d(rows.filter(e => e !== i), 'int32'))
+ sli = sub_m.slice([0, 1], [r - 1, r - 1])
+ s += Math.pow(-1, i) * det11(sli)
+ }
+ return s
+ }
+ })
+}
+
+function det( /*tf.Tensor*/a ) {
+ const a_shape = a.shape,
+ [m,n] = a_shape.slice(-2);
+ if( m !== n )
+ throw new Error('det(): Matrix/matrices must be square.');
+
+ return tf.tidy(() => {
+ return tf.stack(
+ a.reshape([-1,n,n]).unstack().map( a => {
+ const [q,r] = tf.linalg.qr(a),
+ diag_r = r.flatten().stridedSlice([0],[n*n],[n+1]),
+ det_r = diag_r.prod(),
+ det_q = n%2===0 ? +1 : -1; // <- q is product of n Householder
+ // reflections, i.e. det(q) = (-1)^n
+ return tf.mul(det_q, det_r);
+ })
+ ).reshape( a_shape.slice(0,-2) ).arraySync();
+ })
+}
+
+// the inverse of the matrix : jordan-gauss method
+function invertM(m) {
+ return tf.tidy(() => {
+ if (det(m) === 0) {
+ return
+ }
+ const [r, _] = m.shape
+ let inv = m.concat(tf.eye(r), 1)
+ rows = [...Array(r).keys()]
+ for (let i = 0; i < r; i++) {
+ inv = tf.tidy(() => {
+ for (let j = i + 1; j < r; j++) {
+ const elt = inv.slice([j, i], [1, 1]).as1D().asScalar()
+ const pivot = inv.slice([i, i], [1, 1]).as1D().asScalar()
+ let newrow
+ if (elt.dataSync()[0] !== 0) {
+ newrow = inv.gather(tf.tensor1d([i], 'int32')).sub(inv.gather(tf.tensor1d([j], 'int32')).div(elt).mul(pivot)).as1D()
+ const sli = inv.gather(rows.filter(e => e !== j))
+ const arr = []
+ if (j === 0) {
+ arr.push(newrow)
+ }
+ sli.unstack().forEach((t, ind) => {
+ if (ind !== j) {
+ arr.push(t)
+ } else {
+ arr.push(newrow)
+ arr.push(t)
+ }
+ })
+ if (j === r - 1) {
+ arr.push(newrow)
+ }
+ inv = tf.stack(arr)
+ }
+ }
+ return inv
+ })
+ }
+ const trian = tf.unstack(inv)
+ len = trian.length
+ trian[len - 1] = trian[len - 1].div(trian[len - 1].slice(trian[len - 1].shape[0] - 1, 1).asScalar())
+ for (let i = r - 2; i > -1; i--) {
+ for (j = r - 1; j > i; j--) {
+ trian[i] = trian[i].sub(trian[j].mul(trian[i].slice(j, 1).asScalar()))
+ }
+ trian[i] = trian[i].div(trian[i].slice(i, 1).asScalar())
+ }
+ return tf.split(tf.stack(trian), 2, 1)[1]
+ })
+}
+
+// the inverse of the matrix : matrix adjoint method
+function invertMatrix(m) {
+ return tf.tidy(() => {
+ const d = det(m)
+ if (d === 0) {
+ return
+ }
+ [r, _] = m.shape
+ rows = [...Array(r).keys()]
+ dets = [];
+ for (let i = 0; i < r; i++) {
+ for (let j = 0; j < r; j++) {
+ const sub_m = m.gather(tf.tensor1d(rows.filter(e => e !== i), 'int32'))
+ let sli
+ if (j === 0) {
+ sli = sub_m.slice([0, 1], [r - 1, r - 1])
+ } else if (j === r - 1) {
+ sli = sub_m.slice([0, 0], [r - 1, r - 1])
+ } else {
+ const [a, b, c] = tf.split(sub_m, [j, 1, r - (j + 1)], 1)
+ sli = tf.concat([a, c], 1)
+ }
+ dets.push(Math.pow(-1, (i + j)) * det(sli))
+ }
+ }
+ com = tf.tensor2d(dets, [r, r])
+ tr_com = com.transpose()
+ inv_m = tr_com.div(tf.scalar(d))
+ return inv_m
+ })
}
\ No newline at end of file
diff --git a/01_Code/physical_computing_interface/threejs/grid.js b/01_Code/physical_computing_interface/threejs/grid.js
index f4b0679..9cfba02 100644
--- a/01_Code/physical_computing_interface/threejs/grid.js
+++ b/01_Code/physical_computing_interface/threejs/grid.js
@@ -114,6 +114,7 @@ function threejs(GLOBALS,utils,containerName,container1Name){
type:"force",
locked:true
}
+ setup.animation.exaggeration=0.1;
GLOBALS.changeNodeColor(three.selectedNodeID.x,three.selectedNodeID.y,three.selectedNodeID.z,false,data);
GLOBALS.selectNode(three.selectedNodeID.x,three.selectedNodeID.y,three.selectedNodeID.z);
@@ -647,7 +648,7 @@ function onDocumentMouseDownThree( event ) {
var obj=utils.getXYZfromName(intersect.object.name);
obj=utils.getXYZfromName(three.rollOverMesh.name);
GLOBALS.addNode (obj.x, obj.y,obj.z);
- GLOBALS.selectNode (obj.x, obj.y,obj.z);
+ GLOBALS.selectNode (obj.x, obj.y, obj.z);
}
if ( intersects1.length > 0 && event.which==3){//right click
var intersect = intersects1[ 0 ];
@@ -779,8 +780,11 @@ document.addEventListener('changeNodeColor', function (e) {
document.addEventListener('selectNode', function (e) {
var obj=e.detail;
- three.selectedNodeID=obj
- [p_x ,p_y ,p_z ,s_x ,s_y,s_z,r_y]=utils.getTransforms(three.grid,obj.x, obj.y,obj.z);
+
+
+ three.selectedNodeID=obj;
+
+ [p_x ,p_y ,p_z ,s_x ,s_y,s_z,r_y]=utils.getTransforms(three.grid, obj.x, obj.y,obj.z);
// x = document.getElementById("instructions");x.innerHTML = "Selected node at x="+e.detail.x+", y="+e.detail.y+", z="+e.detail.y+".";
@@ -797,7 +801,8 @@ document.addEventListener('selectNode', function (e) {
three.highlight.position.z=p_z;
var selected = GLOBALS.globalJson.nodes.filter(selected => selected.x == obj.x&&selected.y == obj.y&&selected.z == obj.z)[0];
- // console.log(selected)
+
+
}, false);
--
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