rover.jl

# Amira Abdel-Rahman
# (c) Massachusetts Institute of Technology 2020

######################### 1. Voxel Design ###########################
setup = Dict()

### 1.b Draw Lattice

rhino=false

voxelSize=0.001
latticeSizeX=1
latticeSizeY=1
latticeSizeZ=1
setup["latticeSizeX"]=latticeSizeX
setup["latticeSizeY"]=latticeSizeY
setup["latticeSizeZ"]=latticeSizeZ
gridSize=10
setup["gridSize"]=gridSize

setup["rhino"]=false;
setup["useVoxelList"]=true;

######################### 2. Boundary Conditions #########################

######################### 2.a. Global Settings #########################

#scaling params
setup["voxelSize"]=voxelSize; #voxel size
setup["scale"]=1e4; #scale for visualization
setup["hierarchical"]=true; #hierachical simualtion


#simulation params
setup["numTimeSteps"]=20000; #num of saved timesteps for simulation

setup["poisson"]=false; # account for poisson ration (only for hierarchical)
setup["linear"]=true; # linear vs non-linear
setup["thermal"]=false; #if there is change in temperature
setup["globalDamping"]=0.2; # (usually from 0.1 to 0.4)


#visualization params
setup["maxNumFiles"]=200; #num of saved timesteps for visualization


######################### 2.b. Materials #########################

#default material
material1= Dict()
material1["area"]=voxelSize*voxelSize
material1["density"]=1e3
material1["stiffness"]=1e6
material1["poissonRatio"]=0.0
material1["cTE"]=0.0 #coefficient of thermal expansion


#second material
material2= Dict()
material2["area"]=voxelSize*voxelSize
material2["density"]=1e3
material2["stiffness"]=1e6
material2["poissonRatio"]=0.0
material2["cTE"]=0.0 #coefficient of thermal expansion

#//allowed x, yand z are from -gridSize to +gridSize (floor is at 0)
setup["voxelList"]=[
        [[0,1,0],material1],#spine
        [[0,1,1],material1],#spine
        [[0,1,2],material1],#spine
        [[0,1,3],material1],#spine
        [[0,1,4],material1],#spine

        [[-1,1,0],material2],#leg1
        [[-2,1,0],material2],#leg1
        [[-3,1,0],material2],#leg1

        [[1,1,0],material2],#leg2
        [[2,1,0],material2],#leg2
        [[3,1,0],material2],#leg2

        [[-1,1,4],material2],#leg3
        [[-2,1,4],material2],#leg3
        [[-3,1,4],material2],#leg3

        [[1,1,4],material2],#leg4
        [[2,1,4],material2],#leg4
        [[3,1,4],material1] #leg4
    ];


###############################################################

setup["materials"]=[
    # [boundingBoxMaterial1,material1],
    # [boundingBoxMaterial2,material2]
];

######################### 2.c. Supports #########################

#x,y,z,rx,ry,rz (default is pinned joing i.e [false,false,false,true,true,true])
dof=[true,true,true,true,true,true]

# boundingBoxSupport1=Dict()
# boundingBoxSupport1["min"]=Dict()
# boundingBoxSupport1["max"]=Dict()


# boundingBoxSupport1["min"]["x"]= 0;
# boundingBoxSupport1["min"]["y"]= 0;
# boundingBoxSupport1["min"]["z"]= 0;

# boundingBoxSupport1["max"]["x"]= voxelSize;
# boundingBoxSupport1["max"]["y"]= voxelSize*(latticeSizeY);
# boundingBoxSupport1["max"]["z"]= voxelSize*(latticeSizeZ);

setup["supports"]=[
        # [boundingBoxSupport1,dof]
    ];

######################### 2.d. Loads #########################
#### 2.d.1 Static Loads
load1=Dict()
load1["x"]=0.0
load1["y"]=0.0
load1["z"]=1.0

load2=Dict()
load2["x"]=0.0
load2["y"]=0.0
load2["z"]=2.0

boundingBoxLoad1=Dict()
boundingBoxLoad1["min"]=Dict()
boundingBoxLoad1["max"]=Dict()

boundingBoxLoad1["min"]["x"]=voxelSize;
boundingBoxLoad1["min"]["y"]=voxelSize;
boundingBoxLoad1["min"]["z"]=-voxelSize/2;

boundingBoxLoad1["max"]["x"]=voxelSize*2.0;
boundingBoxLoad1["max"]["y"]=2*voxelSize;
boundingBoxLoad1["max"]["z"]=voxelSize/2+voxelSize*5.0;


boundingBoxLoad2=Dict()
boundingBoxLoad2["min"]=Dict()
boundingBoxLoad2["max"]=Dict()

boundingBoxLoad2["min"]["x"]=-voxelSize
boundingBoxLoad2["min"]["y"]=voxelSize;
boundingBoxLoad2["min"]["z"]=-voxelSize/2;

boundingBoxLoad2["max"]["x"]=0;
boundingBoxLoad2["max"]["y"]=2*voxelSize;
boundingBoxLoad2["max"]["z"]=voxelSize/2+voxelSize*5.0;


setup["loads"]=[
        [boundingBoxLoad1,load1],
        [boundingBoxLoad2,load2],
    ];

setup["fixedDisplacements"]=[

];


#### 2.d.2 Dynamic Loads
function floorEnabled()
    return true
end

function gravityEnabled()
    return true
end

function externalDisplacement(currentTimeStep,N_position,N_fixedDisplacement)
    return N_fixedDisplacement
end


function externalForce(currentTimeStep,N_position,N_force)
    return Vector3(0,0,0);
    return N_force
end

function externalForce(currentTimeStep,N_position,N_force)
    if(convert(Float64,N_force.z)>0.0)
        pi=3.14159265359

        a0=0.1;
        f=5.0/10000.0;
        t=currentTimeStep;

        ampZ=0.0;

        z= a0* CUDAnative.cos(2.0*3.14159265359*(f*t+ampZ))

        ampY=0.25;
        
        y= a0* CUDAnative.sin(2.0*3.14159265359*(f*t+ampY))

        if(convert(Float64,N_force.z)>1.5)
            z=-z
            y=-y
        end

        return Vector3(0.0,y,z)
    else
        return Vector3(0.0,0.0,0.0)
    end

end

function externalForce(currentTimeStep,N_position,N_force)
    if(convert(Float64,N_force.z)>0.0)
        pi=3.14159265359

        Bx=convert(Float64,N_position.x) 
        By=convert(Float64,N_position.y) 
        voxelSize=5.0*15.0
        d=0.000000001 #magnitude

        Ax= ( Bx ÷ voxelSize)*voxelSize
        Ay= ( By ÷ voxelSize)*voxelSize
        # Ay=0.0

        x=Bx+d*(Ay-By)/CUDAnative.sqrt((Ax-Bx)*(Ax-Bx)+(Ay-By)*(Ay-By))
        y=By-d*(Ax-Bx)/CUDAnative.sqrt((Ax-Bx)*(Ax-Bx)+(Ay-By)*(Ay-By))

        a0=0.1;
        l=1.0 ;
        f=5.0;
        amp=0.25;
        amp=0.0;
        max=10000.0;
        t=currentTimeStep/max;

        z= a0* CUDAnative.cos(2.0*3.14159265359*(f*t+amp))
        amp=0.25;
        y= a0* CUDAnative.sin(2.0*3.14159265359*(f*t+amp))
        if(convert(Float64,N_force.z)>1.5)
            z=-z
            y=-y
        end

        return Vector3(0.0,y,z)
    else
        return Vector3(0.0,0.0,0.0)
    end

end



function updateTemperature(currentRestLength,currentTimeStep,mat)
    return currentRestLength
end