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{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# MetaVoxel Tutorial"
]
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
"# Amira Abdel-Rahman\n",
"# (c) Massachusetts Institute of Technology 2020\n",
"\n",
"# tested using julia 1.5.2 and windows Nvidia geforce gtx 1070 Ti"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Import Julia Libraries"
]
},
{
"cell_type": "code",
"source": [
"using LinearAlgebra\n",
"import JSON\n",
"using StaticArrays, BenchmarkTools\n",
"using Base.Threads\n",
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"axialStrain (generic function with 1 method)"
]
},
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"include(\"./julia/include/vector.jl\") #utils for vectors and quaternions\n",
"include(\"./julia/include/material.jl\") #utils for node and edge material\n",
"include(\"./julia/include/export.jl\") #export simulation data to json\n",
"include(\"./julia/include/run.jl\") #turn setup to cuda arrays and run simulation\n",
"include(\"./julia/include/updateEdges.jl\") #edges properties update\n",
"include(\"./julia/include/externalForces.jl\") #external forces applied to the system\n",
"include(\"./julia/include/forces.jl\") #force integration\n",
"include(\"./julia/include/updateNodes.jl\") #nodes properties update"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"\"tutorial\""
]
},
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"name= \"tutorial\" # set name for simulation"
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## 1. Voxel Design"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 1.a. Import lines from Rhino (.3dm)"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [],
"source": [
"rhino=true\n",
"\n",
"setup = Dict()\n",
"\n",
"setup[\"rhino\"]=rhino\n",
"setup[\"rhinoFileName\"]=\"./julia/examples/trial.3dm\";\n",
"setup[\"layerIndex\"]=\"1\"; #layer index to import, only lines from these layer will get imported\n",
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"\n",
"# make sure to divide curves into smaller lines, it will only add nodes at the start and end of each line/curve\n",
"\n",
"voxelSize=75 #in case you want to array the base rhino curve, what is the size of the voxel\n",
"latticeSizeX=2 # if you don't want to copy/array make this 1\n",
"latticeSizeY=2 # if you don't want to copy/array make this 1\n",
"latticeSizeZ=2 # if you don't want to copy/array make this 1\n",
"\n",
"setup[\"latticeSizeX\"]=latticeSizeX\n",
"setup[\"latticeSizeY\"]=latticeSizeY\n",
"setup[\"latticeSizeZ\"]=latticeSizeZ\n",
"\n",
"gridSize=10 #lattice size\n",
"setup[\"gridSize\"]=gridSize\n",
"\n",
"#scaling params\n",
"setup[\"voxelSize\"]=voxelSize; #voxel size\n",
"setup[\"scale\"]=1e4; #scale for visualization\n",
"setup[\"hierarchical\"]=false; #hierachical simualtion\n"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 1.b Draw Lattice"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [],
"source": [
"rhino=false\n",
"\n",
"voxelSize=0.001\n",
"latticeSizeX=7\n",
"latticeSizeY=2\n",
"latticeSizeZ=2\n",
"\n",
"gridSize=10\n",
"\n",
"setup = Dict()\n",
"setup[\"gridSize\"]=gridSize\n",
"\n",
"setup[\"rhino\"]=false\n",
"\n",
"setup[\"latticeSizeX\"]=latticeSizeX\n",
"setup[\"latticeSizeY\"]=latticeSizeY\n",
"setup[\"latticeSizeZ\"]=latticeSizeZ\n",
"\n",
"#scaling params\n",
"setup[\"voxelSize\"]=voxelSize; #voxel size\n",
"setup[\"scale\"]=1e4; #scale for visualization\n",
"setup[\"hierarchical\"]=true; #hierachical simualtion \n",
"# if setup[\"hierarchical\"] is true it will assume each voxel is one node, \n",
"# else it will assume each voxel is a detailed cuboct"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 1.c. Fill mesh with voxels (wip)"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [],
"source": [
"# rhino=false\n",
"# rhinoFileName= \"./trial.stl\"\n",
"# voxelSize=5.0"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 1.c. Draw from voxel list"
]
},
{
"cell_type": "code",
"outputs": [
{
"data": {
"text/plain": [
"false"
]
},
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"setup[\"useVoxelList\"]=false\n"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## 2. Boundary Conditions"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 2.a. Global Settings"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [],
"source": [
"#simulation params\n",
"setup[\"numTimeSteps\"]=5000; #num of saved timesteps for simulation\n",
"\n",
"setup[\"poisson\"]=false; # account for poisson ration (only for hierarchical)\n",
"setup[\"linear\"]=true; # linear vs non-linear\n",
"setup[\"thermal\"]=true; #if there is change in temperature\n",
"setup[\"globalDamping\"]=0.15; # (usually from 0.1 to 0.4)\n",
"\n",
"\n",
"#visualization params\n",
"setup[\"maxNumFiles\"]=200; #num of saved timesteps for visualization, make sure it's bigger than numTimeSteps\n"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 2.b. Materials"
]
},
{
"cell_type": "code",
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"metadata": {},
"outputs": [],
"source": [
"#default material\n",
"material1= Dict()\n",
"material1[\"area\"]=voxelSize*voxelSize\n",
"material1[\"density\"]=1e3\n",
"material1[\"stiffness\"]=1e6\n",
"material1[\"poissonRatio\"]=0.0\n",
"material1[\"cTE\"]=0.0 #coefficient of thermal expansion\n",
"\n",
"#large bounding box for default material\n",
"boundingBoxMaterial1=Dict()\n",
"boundingBoxMaterial1[\"min\"]=Dict()\n",
"boundingBoxMaterial1[\"max\"]=Dict()\n",
"\n",
"boundingBoxMaterial1[\"min\"][\"x\"]=-voxelSize*gridSize;\n",
"boundingBoxMaterial1[\"min\"][\"y\"]=-voxelSize*gridSize;\n",
"boundingBoxMaterial1[\"min\"][\"z\"]=-voxelSize*gridSize;\n",
"\n",
"boundingBoxMaterial1[\"max\"][\"x\"]= voxelSize*gridSize;\n",
"boundingBoxMaterial1[\"max\"][\"y\"]= voxelSize*gridSize;\n",
"boundingBoxMaterial1[\"max\"][\"z\"]= voxelSize*gridSize;"
]
},
{
"cell_type": "code",
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"metadata": {},
"outputs": [],
"source": [
"#second material\n",
"material2= Dict()\n",
"material2[\"area\"]=voxelSize*voxelSize\n",
"material2[\"density\"]=1e3\n",
"material2[\"stiffness\"]=1e6\n",
"material2[\"poissonRatio\"]=0.0\n",
"material2[\"cTE\"]=0.1 #coefficient of thermal expansion\n",
"\n",
"#bounding box material 2\n",
"boundingBoxMaterial2=Dict()\n",
"boundingBoxMaterial2[\"min\"]=Dict()\n",
"boundingBoxMaterial2[\"max\"]=Dict()\n",
"\n",
"\n",
"boundingBoxMaterial2[\"min\"][\"x\"]=0;\n",
"boundingBoxMaterial2[\"min\"][\"y\"]=voxelSize;\n",
"boundingBoxMaterial2[\"min\"][\"z\"]=0;\n",
"\n",
"boundingBoxMaterial2[\"max\"][\"x\"]= voxelSize*(latticeSizeX);\n",
"boundingBoxMaterial2[\"max\"][\"y\"]= voxelSize*(latticeSizeY);\n",
"boundingBoxMaterial2[\"max\"][\"z\"]= voxelSize*(latticeSizeZ);"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [],
"source": [
"setup[\"materials\"]=[\n",
" [boundingBoxMaterial1,material1],\n",
" [boundingBoxMaterial2,material2]\n",
"];"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 2.c. Supports"
]
},
{
"cell_type": "code",
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"metadata": {},
"outputs": [],
"source": [
"#x,y,z,rx,ry,rz (default is pinned joing i.e [false,false,false,true,true,true])\n",
"dof=[true,true,true,true,true,true]\n",
"\n",
"boundingBoxSupport1=Dict()\n",
"boundingBoxSupport1[\"min\"]=Dict()\n",
"boundingBoxSupport1[\"max\"]=Dict()\n",
"\n",
"\n",
"boundingBoxSupport1[\"min\"][\"x\"]= 0;\n",
"boundingBoxSupport1[\"min\"][\"y\"]= 0;\n",
"boundingBoxSupport1[\"min\"][\"z\"]= 0;\n",
"\n",
"boundingBoxSupport1[\"max\"][\"x\"]= voxelSize;\n",
"boundingBoxSupport1[\"max\"][\"y\"]= voxelSize*(latticeSizeY);\n",
"boundingBoxSupport1[\"max\"][\"z\"]= voxelSize*(latticeSizeZ);\n",
"\n",
"setup[\"supports\"]=[\n",
" [boundingBoxSupport1,dof]\n",
" ];"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 2.d. Loads"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"#### 2.d.1 Static Loads"
]
},
{
"cell_type": "code",
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"metadata": {},
"outputs": [],
"source": [
"load1=Dict()\n",
"load1[\"x\"]=0.0\n",
"load1[\"y\"]=0.0\n",
"load1[\"z\"]=0.0\n",
"\n",
"boundingBoxLoad1=Dict()\n",
"boundingBoxLoad1[\"min\"]=Dict()\n",
"boundingBoxLoad1[\"max\"]=Dict()\n",
"\n",
"boundingBoxLoad1[\"min\"][\"x\"]=voxelSize*(latticeSizeX-1);\n",
"boundingBoxLoad1[\"min\"][\"y\"]=0;\n",
"boundingBoxLoad1[\"min\"][\"z\"]=0;\n",
"\n",
"boundingBoxLoad1[\"max\"][\"x\"]=voxelSize*(latticeSizeX);\n",
"boundingBoxLoad1[\"max\"][\"y\"]=voxelSize*(latticeSizeY);\n",
"boundingBoxLoad1[\"max\"][\"z\"]=voxelSize*(latticeSizeZ);\n",
"\n",
"\n",
"setup[\"loads\"]=[\n",
" [boundingBoxLoad1,load1]\n",
" ];"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"#### 2.d.2 Fixed Displacements"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [],
"source": [
"setup[\"fixedDisplacements\"]=[];"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"#### 2.d.3 Dynamic Loads"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"updateTemperature (generic function with 1 method)"
]
},
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"function floorEnabled()\n",
" return false\n",
"end\n",
"\n",
"function gravityEnabled()\n",
" return false\n",
"end\n",
"\n",
"function externalDisplacement(currentTimeStep,N_position,N_fixedDisplacement)\n",
" return N_fixedDisplacement\n",
"end\n",
"\n",
"function externalForce(currentTimeStep,N_position,N_force)\n",
" return Vector3(0,0,0)\n",
" else\n",
" return N_force\n",
" end\n",
"end\n",
"\n",
"# function externalForce(currentTimeStep,N_position,N_force)\n",
"# return N_force\n",
"# end\n",
"\n",
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"# if no temperature:\n",
"# function updateTemperature(currentRestLength,currentTimeStep,mat)\n",
"# return currentRestLength\n",
"# end\n",
"\n",
"function updateTemperature(currentRestLength,currentTimeStep,mat)\n",
" if currentTimeStep<1000\n",
" temp=-5.0*currentTimeStep/1000\n",
" currentRestLength=0.5*mat.L*(2.0+temp*mat.cTE)\n",
" elseif currentTimeStep==2500\n",
" temp=0\n",
" currentRestLength=0.5*mat.L*(2.0+temp*mat.cTE)\n",
" end\n",
" return currentRestLength\n",
"end"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## 3. Export setup to json"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"axialStrain (generic function with 1 method)"
]
},
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"# alternativly you can get a saved setup from an external julia file\n",
"include(\"./julia/examples/thermalTest.jl\") #template for multimaterial hierarchical voxels with different thermal coefficient of thermal expansion \n",
"# include(\"./julia/examples/poissonTest.jl\") #template for hierarchical voxels with global poisson ratio\n",
"# include(\"./julia/examples/latticeTest.jl\") #template for lattice voxel (small scale)\n",
"# include(\"./julia/examples/latticeTest2.jl\") #template for lattice voxel (big scale with real params)\n",
"# include(\"./julia/examples/rhinoTest.jl\") #template for importing geometry from rhino\n",
"# include(\"./julia/examples/rhinoTestChiral.jl\") #template for importing chiral array\n",
"# include(\"./julia/examples/rover.jl\") #template for importing chiral array\n",
"# include(\"./julia/examples/wing.jl\") #template for importing chiral array\n",
"# include(\"./julia/examples/walkingRobot.jl\") #template for importing chiral array\n",
"\n",
"\n",
"## rerun these just for sanity check for dynamic loads\n",
"include(\"./julia/include/run.jl\") #turn setup to cuda arrays and run simulation\n",
"include(\"./julia/include/updateEdges.jl\") #edges properties update\n",
"# include(\"./julia/include/forces.jl\") #force integration\n",
"include(\"./julia/include/updateNodes.jl\") #nodes properties update"
]
},
{
"cell_type": "code",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Loaded rhino3dm.\n",
"Success!\n"
]
},
{
"data": {
"text/plain": [
"Process(`\u001b[4mnode\u001b[24m \u001b[4mapp1.js\u001b[24m \u001b[4mmultiscale\u001b[24m`, ProcessExited(0))"
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"#export prev. settings to json\n",
"fileName=\"./json/$(name)Init.json\"\n",
"setup1=Dict()\n",
"setup1[\"setup\"]=setup\n",
"stringdata = JSON.json(setup1)\n",
"open(fileName, \"w\") do f\n",
" write(f, stringdata)\n",
"end\n",
"#run node.js to draw the gerometry using rhino3dm\n",
"mycommand = `node app1.js $(name)`\n",
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## 4. Run Simulation"
]
},
{
"cell_type": "code",
"data": {
"text/plain": [
"axialStrain (generic function with 1 method)"
]
},
"metadata": {},
"output_type": "execute_result"
"include(\"./julia/include/vector.jl\") #utils for vectors and quaternions\n",
"include(\"./julia/include/material.jl\") #utils for node and edge material\n",
"include(\"./julia/include/export.jl\") #export simulation data to json\n",
"include(\"./julia/include/run.jl\") #turn setup to cuda arrays and run simulation\n",
"include(\"./julia/include/updateEdges.jl\") #edges properties update\n",
"include(\"./julia/include/externalForces.jl\") #external forces applied to the system\n",
"include(\"./julia/include/forces.jl\") #force integration\n",
"include(\"./julia/include/updateNodes.jl\") #nodes properties update"
"outputs": [
{
"data": {
"text/plain": [
"\"multiscale\""
]
},
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"# name=\"couponHex\"\n",
"# name=\"coupon\"\n",
"# name=\"tutorial\"\n",
"name=\"multiscale\""
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"dt: 1.2732396069827644e-5, s: 0.001, mass: 3.2e-6, momentInertiaInverse: 1.171875e11\n",
"first timestep took 3.6743186 seconds\n",
"ran 11 nodes and 2 edges for 100 time steps took 0.379095099 seconds\n"
]
}
],
"source": [
"folderPath=\"./json/tutorial/\" # make sure this folder exists\n",
"# folderPath=\"./json/multiscale/\" # make sure this folder exists\n",
"\n",
"setupSim=getSetup(name);\n",
"runMetavoxelGPULive!(setupSim,folderPath)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## 5. Visualize \n",
"(only need to run it once to open the server then press stop, the server will keep running and other changes will update automatically.. will change later)"
]
},
{
"cell_type": "code",
"name": "stdout",
"output_type": "stream",
"text": [
"Server listening on port 8080\n",
"Open http://localhost:8080/demos/indexTutorial.html in your browser\n"
]
},
{
"ename": "LoadError",
"evalue": "InterruptException:",
"output_type": "error",
"traceback": [
"InterruptException:",
"",
"Stacktrace:",
" [1] try_yieldto(::typeof(Base.ensure_rescheduled)) at .\\task.jl:656",
" [2] wait at .\\task.jl:713 [inlined]",
" [3] wait(::Base.GenericCondition{SpinLock}) at .\\condition.jl:106",
" [4] wait(::Base.Process) at .\\process.jl:621",
" [5] success at .\\process.jl:483 [inlined]",
" [6] run(::Cmd; wait::Bool) at .\\process.jl:440",
" [7] run(::Cmd) at .\\process.jl:438",
" [8] top-level scope at In[16]:3",
" [9] include_string(::Function, ::Module, ::String, ::String) at .\\loading.jl:1091"
]
}
],
"source": [
"#run node.js to serve the indexTutorial.html for visualizarion\n",
"mycommand = `node serve.js $(name)`\n",
"run(mycommand)\n",
"\n",
"# vis 1 stable\n",
"# http://localhost:8080/demos/indexTutorial.html\n",
"\n",
"# vis 2 faster for larger simulations\n",
"# http://localhost:8080/demos/indexTutorialGraph.html\n",
"\n",
"# vis 3 (GPU Shaders) even faster (max 40 timesteps)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 5.2 Plotting Node Displacements"
]
},
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"outputs": [
{
"data": {
"text/plain": [
"plotDisplacementTroughTimeSteps (generic function with 2 methods)"
]
},
"execution_count": 21,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"using Plots\n",
"include(\"./julia/include/plotViz.jl\") #plotting\n"
]
},
{
"cell_type": "code",
"execution_count": 338,
"metadata": {},
"outputs": [
{
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