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{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
"using LinearAlgebra\n",
"using Plots\n",
"import JSON\n",
"# using Quaternions\n",
"using StaticArrays, Rotations\n",
"using Distributed\n",
"using StaticArrays, BenchmarkTools\n",
"using Base.Threads\n",
"using CUDAnative\n",
"using CuArrays,CUDAdrv \n",
"using Test\n",
"import Base: +, * , -, ^\n"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
"struct Vector3\n",
" x::Float32\n",
" y::Float32\n",
" z::Float32\n",
" function Vector3()\n",
" x=0.0\n",
" y=0.0\n",
" z=0.0\n",
" new(x,y,z)\n",
" end\n",
" function Vector3(x,y,z)\n",
" new(x,y,z)\n",
" end\n",
"end\n",
"struct Quaternion\n",
" x::Float32\n",
" y::Float32\n",
" z::Float32\n",
" w::Float32\n",
" function Quaternion()\n",
" x=0.0\n",
" y=0.0\n",
" z=0.0\n",
" w=1.0\n",
" new(x,y,z,w)\n",
" end\n",
" function Quaternion(x,y,z,w)\n",
" new(x,y,z,w)\n",
" end\n",
"end\n",
"struct RotationMatrix\n",
" te1::Float32\n",
" te2::Float32\n",
" te3::Float32\n",
" te4::Float32\n",
" te5::Float32\n",
" te6::Float32\n",
" te7::Float32\n",
" te8::Float32\n",
" te9::Float32\n",
" te10::Float32\n",
" te11::Float32\n",
" te12::Float32\n",
" te13::Float32\n",
" te14::Float32\n",
" te15::Float32\n",
" te16::Float32\n",
" function RotationMatrix()\n",
" te1 =0.0\n",
" te2 =0.0\n",
" te3 =0.0\n",
" te4 =0.0\n",
" te5 =0.0\n",
" te6 =0.0\n",
" te7 =0.0\n",
" te8 =0.0\n",
" te9 =0.0\n",
" te10=0.0\n",
" te11=0.0\n",
" te12=0.0\n",
" te13=0.0\n",
" te14=0.0\n",
" te15=0.0\n",
" te16=0.0\n",
" new(te1,te2,te3,te4,te5,te6,te7,te8,te9,te10,te11,te12,te13,te14,te15,te16)\n",
" end\n",
" function RotationMatrix(te1,te2,te3,te4,te5,te6,te7,te8,te9,te10,te11,te12,te13,te14,te15,te16)\n",
" new(te1,te2,te3,te4,te5,te6,te7,te8,te9,te10,te11,te12,te13,te14,te15,te16)\n",
" end\n",
"end\n",
"\n",
"+(f::Vector3, g::Vector3)=Vector3(f.x+g.x , f.y+g.y,f.z+g.z )\n",
"-(f::Vector3, g::Vector3)=Vector3(f.x-g.x , f.y-g.y,f.z-g.z )\n",
"*(f::Vector3, g::Vector3)=Vector3(f.x*g.x , f.y*g.y,f.z*g.z )\n",
"\n",
"+(f::Vector3, g::Number)=Vector3(f.x+g , f.y+g,f.z+g )\n",
"-(f::Vector3, g::Number)=Vector3(f.x-g , f.y-g,f.z-g )\n",
"*(f::Vector3, g::Number)=Vector3(f.x*g , f.y*g,f.z*g )\n",
"\n",
"+(g::Vector3, f::Number)=Vector3(f.x+g , f.y+g,f.z+g )\n",
"-(g::Vector3, f::Number)=Vector3(g-f.x , g-f.y,g-f.z )\n",
"*(g::Vector3, f::Number)=Vector3(f.x*g , f.y*g,f.z*g )\n",
"\n",
"addX(f::Vector3, g::Number)=Vector3(f.x+g , f.y,f.z)\n",
"addY(f::Vector3, g::Number)=Vector3(f.x , f.y+g,f.z )\n",
"addZ(f::Vector3, g::Number)=Vector3(f.x , f.y,f.z+g )\n",
"\n",
"function normalizeVector3(f::Vector3)\n",
" leng=sqrt((f.x * f.x) + (f.y * f.y) + (f.z * f.z))\n",
" return Vector3(f.x/leng,f.y/leng,f.z/leng)\n",
" \n",
"end\n",
"\n",
"\n",
"function normalizeQuaternion(f::Quaternion)\n",
" l = sqrt((f.x * f.x) + (f.y * f.y) + (f.z * f.z)+ (f.w * f.w))\n",
" if l === 0 \n",
" qx = 0\n",
" qy = 0\n",
" qz = 0\n",
" qw = 1\n",
" else \n",
" l = 1 / l\n",
" qx = f.x * l\n",
" qy = f.y * l\n",
" qz = f.z * l\n",
" qw = f.w * l\n",
" end\n",
" return Quaternion(qx,qy,qz,qw)\n",
"end\n",
"\n",
"function normalizeQuaternion1!(fx::Float32,fy::Float32,fz::Float32,fw::Float32)\n",
" l = sqrt((fx * fx) + (fy * fy) + (fz * fz)+ (fw * fw))\n",
" if l === 0 \n",
" qx = 0.0\n",
" qy = 0.0\n",
" qz = 0.0\n",
" qw = 1.0\n",
" else \n",
" l = 1.0 / l\n",
" qx = fx * l\n",
" qy = fy * l\n",
" qz = fz * l\n",
" qw = fw * l\n",
" end\n",
" return qx,qy,qz,qw\n",
"end\n",
"\n",
"\n",
"function dotVector3(f::Vector3, g::Vector3)\n",
" return (f.x * g.x) + (f.y * g.y) + (f.z * g.z)\n",
"end\n",
"\n",
"function Base.show(io::IO, v::Vector3)\n",
" print(io, \"x:$(v.x), y:$(v.y), z:$(v.z)\")\n",
"end\n",
"\n",
"function Base.show(io::IO, v::Quaternion)\n",
" print(io, \"x:$(v.x), y:$(v.y), z:$(v.z), w:$(v.z)\")\n",
"end\n",
"\n",
"Base.Broadcast.broadcastable(q::Vector3) = Ref(q)"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
"mutable struct Node\n",
" id::Int32\n",
" position::Vector3\n",
" restrained::Bool\n",
" displacement::Vector3\n",
" angle::Vector3\n",
" force::Vector3\n",
" currPosition::Vector3\n",
" orient::Quaternion\n",
" linMom::Vector3\n",
" angMom::Vector3\n",
" intForce::Vector3\n",
" intMoment::Vector3\n",
" moment::Vector3\n",
" function Node()\n",
" id=0\n",
" position=Vector3()\n",
" restrained=false\n",
" displacement=Vector3()\n",
" angle=Vector3()\n",
" force=Vector3()\n",
" currPosition=Vector3()\n",
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