walkingRobot.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=2
latticeSizeY=8
latticeSizeZ=5

gridSize=10

setup["gridSize"]=gridSize

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


setup["latticeSizeX"]=latticeSizeX
setup["latticeSizeY"]=latticeSizeY
setup["latticeSizeZ"]=latticeSizeZ

######################### 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"]=30000; #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"]=true; #if there is change in temperature
setup["globalDamping"]=0.15; # (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"]=50
material1["stiffness"]=1e6
material1["poissonRatio"]=0.0
material1["cTE"]=0.0 #coefficient of thermal expansion

#large bounding box for default material
boundingBoxMaterial1=Dict()
boundingBoxMaterial1["min"]=Dict()
boundingBoxMaterial1["max"]=Dict()

boundingBoxMaterial1["min"]["x"]=-voxelSize*gridSize;
boundingBoxMaterial1["min"]["y"]=-voxelSize*gridSize;
boundingBoxMaterial1["min"]["z"]=-voxelSize*gridSize;

boundingBoxMaterial1["max"]["x"]= voxelSize*gridSize;
boundingBoxMaterial1["max"]["y"]= voxelSize*gridSize;
boundingBoxMaterial1["max"]["z"]= voxelSize*gridSize;

#second material
material2= Dict()
material2["area"]=voxelSize*voxelSize
material2["density"]=50
material2["stiffness"]=1e6
material2["poissonRatio"]=0.0
material2["cTE"]=0.1 #coefficient of thermal expansion

#bounding box material 2
boundingBoxMaterial2=Dict()
boundingBoxMaterial2["min"]=Dict()
boundingBoxMaterial2["max"]=Dict()


boundingBoxMaterial2["min"]["x"]=voxelSize;
boundingBoxMaterial2["min"]["y"]=0;
boundingBoxMaterial2["min"]["z"]=0;

boundingBoxMaterial2["max"]["x"]= voxelSize*(latticeSizeX);
boundingBoxMaterial2["max"]["y"]= voxelSize*((latticeSizeY-1)/2);
boundingBoxMaterial2["max"]["z"]= voxelSize*(latticeSizeZ);


#third material
material3= Dict()
material3["area"]=voxelSize*voxelSize
material3["density"]=50
material3["stiffness"]=1e6
material3["poissonRatio"]=0.0
material3["cTE"]=0.2 #coefficient of thermal expansion

#bounding box material 3
boundingBoxMaterial3=Dict()
boundingBoxMaterial3["min"]=Dict()
boundingBoxMaterial3["max"]=Dict()


boundingBoxMaterial3["min"]["x"]=0;
boundingBoxMaterial3["min"]["y"]=voxelSize*((latticeSizeY-1)/2);
boundingBoxMaterial3["min"]["z"]=0;

boundingBoxMaterial3["max"]["x"]= voxelSize;
boundingBoxMaterial3["max"]["y"]= voxelSize*(latticeSizeY);
boundingBoxMaterial3["max"]["z"]= voxelSize*(latticeSizeZ);


setup["materials"]=[
    # [boundingBoxMaterial1,material1],
    # [boundingBoxMaterial2,material2],
    # [boundingBoxMaterial3,material3]

];


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

    [[0,7,0],material1],#top
    [[1,7,0],material1],#top
    [[0,7,1],material1],#top
    [[1,7,1],material1],#top
    [[0,7,2],material1],#top
    [[1,7,2],material1],#top
    [[0,7,3],material1],#top
    [[1,7,3],material1],#top
    [[0,7,4],material1],#top
    [[1,7,4],material1],#top

    [[0,6,0],material1],#top
    [[1,6,0],material1],#top
    [[0,6,1],material1],#top
    [[1,6,1],material1],#top
    [[0,6,2],material1],#top
    [[1,6,2],material1],#top
    [[0,6,3],material1],#top
    [[1,6,3],material1],#top
    [[0,6,4],material1],#top
    [[1,6,4],material1],#top

    [[0,5,0],material2],#leg1
    [[1,5,0],material1],#leg1
    [[0,5,1],material2],#leg1
    [[1,5,1],material1],#leg1

    [[0,5,3],material1],#leg2
    [[1,5,3],material2],#leg2
    [[0,5,4],material1],#leg2
    [[1,5,4],material2],#leg2


    [[0,4,0],material2],#leg1
    [[1,4,0],material1],#leg1
    [[0,4,1],material2],#leg1
    [[1,4,1],material1],#leg1

    [[0,4,3],material1],#leg2
    [[1,4,3],material2],#leg2
    [[0,4,4],material1],#leg2
    [[1,4,4],material2],#leg2


    [[0,3,0],material2],#leg1
    [[1,3,0],material1],#leg1
    [[0,3,1],material2],#leg1
    [[1,3,1],material1],#leg1

    [[0,3,3],material1],#leg2
    [[1,3,3],material2],#leg2
    [[0,3,4],material1],#leg2
    [[1,3,4],material2],#leg2


    [[0,2,0],material1],#leg1
    [[1,2,0],material2],#leg1
    [[0,2,1],material1],#leg1
    [[1,2,1],material2],#leg1

    [[0,2,3],material2],#leg2
    [[1,2,3],material1],#leg2
    [[0,2,4],material2],#leg2
    [[1,2,4],material1],#leg2
    

    [[0,1,0],material1],#leg1
    [[1,1,0],material2],#leg1
    [[0,1,1],material1],#leg1
    [[1,1,1],material2],#leg1

    [[0,1,3],material2],#leg2
    [[1,1,3],material1],#leg2
    [[0,1,4],material2],#leg2
    [[1,1,4],material1],#leg2


    [[0,0,0],material1],#leg1
    [[1,0,0],material2],#leg1
    [[0,0,1],material1],#leg1
    [[1,0,1],material2],#leg1

    [[0,0,3],material2],#leg2
    [[1,0,3],material1],#leg2
    [[0,0,4],material2],#leg2
    [[1,0,4],material1],#leg2
        


        
];
######################### 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"]=voxelSize*(latticeSizeY-2);
boundingBoxSupport1["min"]["z"]=0;

boundingBoxSupport1["max"]["x"]=voxelSize*(latticeSizeX);
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"]=0.0

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

boundingBoxLoad1["min"]["x"]=0
boundingBoxLoad1["min"]["y"]=voxelSize*(latticeSizeY-1);
boundingBoxLoad1["min"]["z"]=0;

boundingBoxLoad1["max"]["x"]=voxelSize*(latticeSizeX);
boundingBoxLoad1["max"]["y"]=voxelSize*(latticeSizeY);
boundingBoxLoad1["max"]["z"]=voxelSize*(latticeSizeZ);


setup["loads"]=[
        # [boundingBoxLoad1,load1]
    ];

setup["fixedDisplacements"]=[];
#### 2.d.2 Dynamic Loads
function floorEnabled()
    return false
end

function gravityEnabled()
    return false
end

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

function externalForce(currentTimeStep,N_position,N_force)
    if currentTimeStep>1000
        return Vector3(0,0,0)
    else
        return N_force
    end
end

# if no temperature:
# function updateTemperature(currentRestLength,currentTimeStep,mat)
#     return currentRestLength
# end

# function updateTemperature(currentRestLength,currentTimeStep,mat)
#     if currentTimeStep<1000
#         temp=-5.0*currentTimeStep/1000
#         currentRestLength=0.5*mat.L*(2.0+temp*mat.cTE)
#     elseif currentTimeStep==2500
#         temp=0
#         currentRestLength=0.5*mat.L*(2.0+temp*mat.cTE)
#     end
#     return currentRestLength
# end


function updateTemperature(currentRestLength,currentTimeStep,mat)
    cte=mat.cTE
    factor=0.4;
    t=floor(currentTimeStep/2000)
    t1=currentTimeStep-t*2000
    if currentTimeStep<1000
        if (cte>0.01)
            currentRestLength=mat.L-factor*mat.L*(t1/1000.0);
        else
            currentRestLength=mat.L-factor*mat.L*(1.0-(t1)/1000.0);
        end
    elseif currentTimeStep<2000
        if (cte>0.01)
            currentRestLength=mat.L-factor*mat.L*(1.0-(currentTimeStep-1000.0)/1000.0);
        else
            currentRestLength=mat.L-factor*mat.L*((currentTimeStep-1000.0)/1000.0);
        end
    elseif t%2.0!=0.0
        if (cte<0.01)
            currentRestLength=mat.L-factor*mat.L*(1.0-(t1)/2000.0);
        else
            currentRestLength=mat.L-factor*mat.L*((t1)/2000.0);
        end
    else
        if (cte>0.01)
            currentRestLength=mat.L-factor*mat.L*(1.0-(t1)/2000.0);
        else
            currentRestLength=mat.L-factor*mat.L*((t1)/2000.0);
        end
    end
    return currentRestLength
end