Gh result elements

docs/make.jl

@@ -22,6 +22,7 @@ makedocs(
         "Components/Materials.md"
         "Components/GravityField.md"
         "Components/ForceElements.md"
+        "Components/ResultElements.md"
      ],
      "Functions" => "Functions.md",
      "Internal" => [

docs/src/Components/ResultElements.md

@@ -0,0 +1,11 @@
+# Result Elements
+
+```@meta
+CurrentModule = Modia3D.Composition
+```
+
+## ContactResult
+
+```@docs
+ContactResult
+```

src/Composition/ResultElements/ContactResult.jl

@@ -0,0 +1,133 @@
+
+"""
+    result = ContactResult(; object1, object2, objectCoordinateRef)
+
+Return a `result` providing results of elastic MPR contacts between
+`object1::`[`Object3D`](@ref) and `object2::`[`Object3D`](@ref).
+If `objectCoordinateRef::`[`Object3D`](@ref) is defined, all vector
+results are resolved in `objectCoordinateRef`, otherwise in world.
+
+# Results
+
+- `penetration` is the normal contact penetration (positive in case of contact).
+- `penetrationVelocity` is the normal contact penetration velocity (positive for compression).
+- `tangentialVelocity` is the absolute value of the tangential relative velocity.
+- `angularVelocity` it the absolute value of the relative angular velocity.
+- `normalForce` is the normal contact force (positive for pressure).
+- `tangentialForce` is the absolute value of the tangential contact force.
+- `torque` is the absolute value of the contact torque.
+- `positionVector` is the absolute position vector of the contact point, resolved in `objectCoordinateRef`.
+- `normalVector` is the unit vector in contact normal direction, pointing into `object1`, resolved in `objectCoordinateRef`.
+- `forceVector` is the total contact force vector acting at the contact point on object1, resolved in `objectCoordinateRef`.
+   On `object2` the same force vector is applied in inverse direction.
+- `torqueVector` is the total contact torque vector acting at the contact point on object1, resolved in `objectCoordinateRef`.
+   On `object2` the same torque vector is applied in inverse direction.
+"""
+mutable struct ContactResult{F <: Modia3D.VarFloatType} <: Modia3D.AbstractResultElement
+
+    path::String
+
+    object1::Object3D{F}
+    object2::Object3D{F}
+    objectCoordinateRef::Union{Object3D{F}, Nothing}
+
+    penetrationResultIndex::Int
+    penetrationVelocityResultIndex::Int
+    tangentialVelocityResultIndex::Int
+    angularVelocityResultIndex::Int
+    normalForceResultIndex::Int
+    tangentialForceResultIndex::Int
+    torqueResultIndex::Int
+    positionVectorResultIndex::Int
+    normalVectorResultIndex::Int
+    forceVectorResultIndex::Int
+    torqueVectorResultIndex::Int
+
+    function ContactResult{F}(; path::String = "",
+                                object1::Object3D{F},
+                                object2::Object3D{F},
+                                objectCoordinateRef::Union{Object3D{F}, Nothing}=nothing ) where F <: Modia3D.VarFloatType
+        return new(path, object1, object2, objectCoordinateRef)
+    end
+end
+ContactResult(; kwargs...) = ContactResult{Float64}(; kwargs...)
+
+
+function initializeResultElement(model::Modia.InstantiatedModel{F,TimeType}, result::ContactResult{F}) where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
+
+    result.penetrationResultIndex         = Modia.new_w_segmented_variable!(model, result.path*".penetration"        , F(0), "m")
+    result.penetrationVelocityResultIndex = Modia.new_w_segmented_variable!(model, result.path*".penetrationVelocity", F(0), "m/s")
+    result.tangentialVelocityResultIndex  = Modia.new_w_segmented_variable!(model, result.path*".tangentialVelocity" , F(0), "m/s")
+    result.angularVelocityResultIndex     = Modia.new_w_segmented_variable!(model, result.path*".angularVelocity"    , F(0), "rad/s")
+    result.normalForceResultIndex         = Modia.new_w_segmented_variable!(model, result.path*".normalForce"        , F(0), "N")
+    result.tangentialForceResultIndex     = Modia.new_w_segmented_variable!(model, result.path*".tangentialForce"    , F(0), "N")
+    result.torqueResultIndex              = Modia.new_w_segmented_variable!(model, result.path*".torque"             , F(0), "N*m")
+    result.positionVectorResultIndex      = Modia.new_w_segmented_variable!(model, result.path*".positionVector"     , SVector{3,F}(0, 0, 0), "m")
+    result.normalVectorResultIndex        = Modia.new_w_segmented_variable!(model, result.path*".normalVector"       , SVector{3,F}(0, 0, 0))
+    result.forceVectorResultIndex         = Modia.new_w_segmented_variable!(model, result.path*".forceVector"        , SVector{3,F}(0, 0, 0), "N")
+    result.torqueVectorResultIndex        = Modia.new_w_segmented_variable!(model, result.path*".torqueVector"       , SVector{3,F}(0, 0, 0), "N*m")
+
+    return nothing
+end
+
+function evaluateResultElement(model::Modia.InstantiatedModel{F,TimeType}, scene::Modia3D.Composition.Scene{F}, result::ContactResult{F}, time::TimeType) where {F <: Modia3D.VarFloatType, TimeType <: AbstractFloat}
+
+    (contactPair, converse) = getElasticContactPair(scene, result.object1, result.object2)
+    if !isnothing(contactPair)
+        pair::ContactPair{F} = contactPair
+        penetration = pair.results.penetration
+        penetrationVelocity = pair.results.penetrationVelocity
+        tangentialVelocity = pair.results.tangentialVelocity
+        angularVelocity = pair.results.angularVelocity
+        normalForce = pair.results.normalForce
+        tangentialForce = pair.results.tangentialForce
+        torque = pair.results.torque
+        positionVector = pair.results.positionVector
+        normalVector = pair.results.normalVector
+        forceVector = pair.results.forceVector
+        torqueVector = pair.results.torqueVector
+        if converse
+            normalVector = -normalVector
+            forceVector = -forceVector
+            torqueVector = -torqueVector
+        end
+        if !isnothing(result.objectCoordinateRef)
+            positionVector = result.objectCoordinateRef.R_abs * positionVector
+            normalVector = result.objectCoordinateRef.R_abs * normalVector
+            forceVector = result.objectCoordinateRef.R_abs * forceVector
+            torqueVector = result.objectCoordinateRef.R_abs * torqueVector
+        end
+    else
+        penetration = F(0)
+        penetrationVelocity = F(0)
+        tangentialVelocity = F(0)
+        angularVelocity = F(0)
+        normalForce = F(0)
+        tangentialForce = F(0)
+        torque = F(0)
+        positionVector = SVector{3,F}(0, 0, 0)
+        normalVector = SVector{3,F}(0, 0, 0)
+        forceVector = SVector{3,F}(0, 0, 0)
+        torqueVector = SVector{3,F}(0, 0, 0)
+    end
+
+    if Modia.storeResults(model)
+        Modia.copy_w_segmented_value_to_result(model, result.penetrationResultIndex, penetration)
+        Modia.copy_w_segmented_value_to_result(model, result.penetrationVelocityResultIndex, penetrationVelocity)
+        Modia.copy_w_segmented_value_to_result(model, result.tangentialVelocityResultIndex, tangentialVelocity)
+        Modia.copy_w_segmented_value_to_result(model, result.angularVelocityResultIndex, angularVelocity)
+        Modia.copy_w_segmented_value_to_result(model, result.normalForceResultIndex, normalForce)
+        Modia.copy_w_segmented_value_to_result(model, result.tangentialForceResultIndex, tangentialForce)
+        Modia.copy_w_segmented_value_to_result(model, result.torqueResultIndex, torque)
+        Modia.copy_w_segmented_value_to_result(model, result.positionVectorResultIndex, positionVector)
+        Modia.copy_w_segmented_value_to_result(model, result.normalVectorResultIndex, normalVector)
+        Modia.copy_w_segmented_value_to_result(model, result.forceVectorResultIndex, forceVector)
+        Modia.copy_w_segmented_value_to_result(model, result.torqueVectorResultIndex, torqueVector)
+    end
+
+    return nothing
+end
+
+function terminateResultElement(result::ContactResult{F}) where F <: Modia3D.VarFloatType
+    return nothing
+end

src/Composition/_module.jl

@@ -117,6 +117,7 @@ include("scene.jl") # must be included after superObjects.jl
 include(joinpath("joints", "joints.jl"))
 include(joinpath("joints", "changeJointState.jl"))
 
+include(joinpath("ResultElements", "ContactResult.jl"))
 include("sensors.jl")
 include("frameMeasurements.jl")
 include("frameForceTorque.jl")

src/Composition/dynamicCollision.jl

@@ -49,8 +49,8 @@ function dealWithContacts!(sim::Modia.InstantiatedModel{F, T}, scene::Scene{F},
 
     for (pairID::Int64, pair::ContactPair{F}) in ch.contactDict
         obj1 = pair.obj1
-        obj2= pair.obj2
-        rContact= (pair.contactPoint1 + pair.contactPoint2)/F(2.0)
+        obj2 = pair.obj2
+        rContact = (pair.contactPoint1 + pair.contactPoint2)/F(2.0)
         contactNormal = pair.contactNormal
         if Modia.isEvent(sim)
             # println("$(sim.time): ", obj1.path, " ", obj2.path)
@@ -65,7 +65,7 @@ function dealWithContacts!(sim::Modia.InstantiatedModel{F, T}, scene::Scene{F},
                             pair.distanceWithHysteresis, time, file, sim)
             elseif pair.pairKind == Modia3D.ElasticContactPairKind
                 elasticContactPairMaterial::Composition.ElasticContactPairResponseMaterial = pair.contactPairMaterial
-                (f1,f2,t1,t2) = responseCalculation(elasticContactPairMaterial, obj1, obj2,
+                (f1,f2,t1,t2,pair.results) = responseCalculation(elasticContactPairMaterial, obj1, obj2,
                     rContact, contactNormal,
                     pair.distanceWithHysteresis, time, file, sim)
             elseif pair.pairKind == Modia3D.ObserverContactPairKind
@@ -245,3 +245,21 @@ function setVisualizationContactProperties!(obj::Composition.Object3D{F}, transp
     obj.feature.visualMaterial.transparency = transparency
     return nothing
 end
+
+
+function getElasticContactPair(scene::Scene{F}, obj1::Composition.Object3D{F}, obj2::Composition.Object3D{F}) where F <: Modia3D.VarFloatType
+
+    if scene.options.enableContactDetection
+        for (pairID::Int64, pair::ContactPair{F}) in scene.options.contactDetection.contactDict
+            if pair.pairKind == Modia3D.ElasticContactPairKind
+                if (obj1 === pair.obj1 && obj2 === pair.obj2)
+                    return (pair, false)  # object 1/2 assignment consistent
+                elseif (obj2 === pair.obj1 && obj1 === pair.obj2)
+                    return (pair, true)  # object 1/2 assignment converse
+                end
+            end
+        end
+    end
+
+    return (nothing, false)
+end