Update chrono version

data/demos/run_seastack/5sa/WriteYamlModel_5sa.py

@@ -0,0 +1,176 @@
+
+# 5sa model YAML WRITER 
+
+import math
+import yaml
+from pathlib import Path
+
+# ----------------------------
+# Inputs
+# ----------------------------
+SEGMENT_LENGTH = 36.0
+GAP = 0.0
+N_SEGMENTS = 5
+DIAMETER = 4.0
+spacing = SEGMENT_LENGTH + GAP
+TSDA_radius = 1.5
+
+RHO = 1025.0
+G = 9.81
+
+TOTAL_MASS = 1.35e6 
+
+COG_Z_OFFSET = -0.2
+DRAFT = 0.259199 # center of object location (positive = below waterline)
+OUTPUT_FILE = Path(__file__).resolve().parent / "spreading" / "5sa_spreading_auto.model.yaml"
+
+#TSDA coefficients
+STIFFNESS = 100000
+DAMPING = 2000000
+FREE_LENGTH = 2.0
+
+#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+def inertia_cylinder(m, r, L):
+ Ixx = 0.5 * m * r**2
+ Iyy = (1/12) * m * (3*r**2 + L**2)
+ return [Ixx, Iyy, Iyy]
+
+
+def joint_location(i):
+ """i = 0 means joint between body1-body2"""
+ x = SEGMENT_LENGTH + i * spacing
+ return [x, 0.0, -DRAFT]
+
+
+def ram_points(i, y_offset, z_offset):
+ """Generate TSDA endpoints for a joint"""
+ x = SEGMENT_LENGTH + i * spacing
+ return (
+ [x - 1.0, y_offset, z_offset],
+ [x + 1.0, y_offset, z_offset],
+ )
+
+
+def build_yaml():
+ r = DIAMETER / 2.0
+ mass_per_segment = TOTAL_MASS / N_SEGMENTS
+
+ bodies = []
+ joints = []
+ tsdas = []
+
+ spacing = SEGMENT_LENGTH + GAP
+
+ for i in range(N_SEGMENTS):
+ cx = SEGMENT_LENGTH / 2 + i * spacing
+
+ body = {
+ "name": f"body{i+1}",
+ "location": [cx, 0.0, -DRAFT],
+ "mass": mass_per_segment,
+ "fixed": False,
+ "inertia": {
+ "moments": inertia_cylinder(mass_per_segment, r, SEGMENT_LENGTH),
+ "products": [0, 0, 0],
+ },
+ "com": {
+ "location": [0, 0, COG_Z_OFFSET],
+ "orientation": [0, 0, 0],
+ },
+ "visualization": {
+ "model_file": f"../assets/geometry/segment_{i+1}.obj",
+ "color": [0.15, 0.35 + 0.05*i, 0.7],
+ }} 
+
+ bodies.append(body) 
+
+ ground_body = {
+ "name": "ground",
+ "location": [90.0, 0.0, -10.0],
+ "mass": 1,
+ "fixed": True,
+ "inertia": {
+ "moments": [1, 1, 1],
+ "products": [0, 0, 0],
+ },
+ "com": {
+ "location": [0, 0, 0],
+ "orientation": [0, 0, 0],
+ },}
+
+ bodies.append(ground_body)
+
+ for i in range(N_SEGMENTS - 1):
+ xj = SEGMENT_LENGTH * (i + 1) + GAP * i
+
+ joints.append({
+ "name": f"joint_{i+1}{i+2}",
+ "type": "UNIVERSAL",
+ "body1": f"body{i+1}",
+ "body2": f"body{i+2}",
+ "location": [xj, 0.0, -DRAFT],
+ "axis1": [0, 1, 0],
+ "axis2": [0, 0, 1],
+ })
+
+ for name, y, z in [
+ ("top", 0.0, TSDA_radius),
+ ("bottom", 0.0, -TSDA_radius),
+ ("port", TSDA_radius, 0.0),
+ ("stbd", -TSDA_radius, 0.0),
+ ]:
+ p1 = [xj - 1.0, y, -DRAFT + z]
+ p2 = [xj + 1.0, y, -DRAFT + z]
+
+ tsdas.append({
+ "name": f"ram_{i+1}{i+2}_{name}",
+ "type": "TSDA",
+ "body1": f"body{i+1}",
+ "body2": f"body{i+2}",
+ "point1": p1,
+ "point2": p2,
+ "spring_coefficient": STIFFNESS,
+ "damping_coefficient": DAMPING,
+ "free_length": FREE_LENGTH,
+ "visualization": {
+ "type": "SPRING",
+ "radius": 0.15,
+ "resolution": 65,
+ "turns": 10,
+ },
+ })
+
+ model_name = OUTPUT_FILE.name.replace(".yaml", "").replace(".", "_")
+
+ yaml_data = {
+ "chrono-version": 10.0,
+ "model": {
+ "name": model_name,
+ "angle_degrees": False,
+ "data_path": {"type": "RELATIVE", "root": "."},
+ "bodies": bodies,
+ "joints": joints,
+ "tsdas": tsdas,
+ }
+ }
+
+ return yaml_data
+
+
+def write_yaml(data, path):
+ with open(path, "w") as f:
+ yaml.safe_dump(
+ data,
+ f,
+ sort_keys=False,
+ default_flow_style=None)
+
+
+if __name__ == "__main__":
+ data = build_yaml()
+
+ write_yaml(data, OUTPUT_FILE)
+
+ print(f"YAML written to: {OUTPUT_FILE}")
+

data/demos/run_seastack/5sa/assets/generate_meshes.py

@@ -27,7 +27,7 @@
 SEGMENT_LENGTH = 36.0 # m
 GAP = 0.0 # m between segment ends (0 = segments touch)
 N_SEGMENTS = 5
-DRAFT = 1.8 # m (CoG depth below waterline)
+DRAFT = 0.259199 # m (CoG depth below waterline)
 
 # Mesh resolution
 N_LONGITUDINAL = 40 # panels along segment length (x)