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v0.6.6
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@jauhl
jauhl committed Jan 6, 2019
1 parent 4e1b344 commit 601e24a
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Showing 3 changed files with 31 additions and 13 deletions.
36 changes: 27 additions & 9 deletions scripts/mec.constraint.js
View file
Original file line number Diff line number Diff line change
Expand Up @@ -157,6 +157,7 @@ mec.constraint = {
* Reset constraint
*/
reset() {
// console.log('reset')
this.r0 = this.len.hasOwnProperty('r0') ? this.len.r0 : Math.hypot(this.ay,this.ax);
this.w0 = this.ori.hasOwnProperty('w0') ? this.angle(this.ori.w0) : this.angle(Math.atan2(this.ay,this.ax));
this._angle = this.w0;
Expand All @@ -183,9 +184,9 @@ mec.constraint = {
*/
get forceAbs() { return -this.lambda_r; },
/**
* Moment value in [Nm]
* Moment value in [N*u]
*/
get moment() { return -this.lambda_w/this.r; },
get moment() { return -this.lambda_w*this.r; },

/**
* Check constraint for unfinished drives.
Expand All @@ -212,6 +213,22 @@ mec.constraint = {
|| this.ori && this.ori.ref === elem
|| this.len && this.len.ref === elem;
},
/**
* Check constraint for deep (indirect) dependency on another element.
* @method
* @param {object} elem - element to test deep dependency for.
* @returns {boolean} dependency exists.
*/
/*
deepDependsOn(target) {
return this === target
|| this.dependsOn(target)
|| this.model.deepDependsOn(this.p1,target)
|| this.model.deepDependsOn(this.p2,target)
|| this.ori && this.model.deepDependsOn(this.ori.ref,target)
|| this.len && this.model.deepDependsOn(this.len.ref,target);
},
*/
// privates
get ax() { return this.p2.x - this.p1.x },
get ay() { return this.p2.y - this.p1.y },
Expand Down Expand Up @@ -243,9 +260,9 @@ mec.constraint = {
// perfect location to update trig. cache
this.cw = Math.cos(w);
this.sw = Math.sin(w);
// apply angular impulse
// apply angular impulse (warmstarting)
this.ori_impulse_vel(this.lambda_w * dt);
// apply axial impulse
// apply axial impulse (warmstarting)
this.len_impulse_vel(this.lambda_r * dt);

this.dlambda_r = this.dlambda_w = 0; // important !!
Expand Down Expand Up @@ -310,6 +327,7 @@ mec.constraint = {

this.ori_impulse_vel(impulse);
this.dlambda_w += impulse/dt;
// console.log(this.id+'; dlambda_w='+this.dlambda_w)
if (this.ori.ref) {
const ref = this.ori.ref,
ratio = this.ori.ratio || 1;
Expand All @@ -323,6 +341,7 @@ mec.constraint = {
}
}

// return Math.abs(impulse/dt) < mec.forceTol; // orientation constraint satisfied .. !
return mec.isEps(Ct*dt, mec.lenTol); // orientation constraint satisfied .. !
},
/**
Expand Down Expand Up @@ -462,7 +481,7 @@ mec.constraint = {
w: () => this.w0 + ratio*(ref.w - ref.w0),
wt: () => ratio*ref.wt,
wtt:() => ratio*ref.wtt,
ori_C: () => this.r*(this.angle(Math.atan2(this.ay,this.ax)) - this.w0) - ratio*this.r*(ref.angle(Math.atan2(ref.ay,ref.ax)) - ref.w0),
ori_C: () => this.r*(this.angle(Math.atan2(this.ay,this.ax)) - this.w0) - ratio*this.r*(ref.w - ref.w0),
ori_Ct: () => this.ayt*this.cw - this.axt*this.sw - ratio*this.r/ref.r*(ref.ayt*ref.cw - ref.axt*ref.sw),
ori_mc: () => {
let imc = mec.toZero(this.p1.im + this.p2.im) + ratio**2*this.r**2/ref.r**2*mec.toZero(ref.p1.im + ref.p2.im);
Expand Down Expand Up @@ -505,7 +524,7 @@ mec.constraint = {
if (ori.input) {
// maintain a local input controlled time 'local_t'.
ori.local_t = 0;
ori.t = () => ori.local_t;
ori.t = () => !this.model.state.preview ? ori.local_t : this.model.timer.t;
ori.inputCallbk = (w) => { ori.local_t = w*Math.PI/180*ori.Dt/ori.Dw; };
}
else
Expand Down Expand Up @@ -534,7 +553,7 @@ mec.constraint = {
wt: () => ref.wt + ori.drive.ft(),
wtt:() => ref.wtt + ori.drive.ftt(),
ori_C: () => this.r*(this.angle(Math.atan2(this.ay,this.ax)) - this.w0) -this.r*(ref.angle(Math.atan2(ref.ay,ref.ax)) - ref.w0) - this.r*ori.drive.f(),
ori_Ct: () => this.ayt*this.cw - this.axt*this.sw - this.r/ref.r*(ref.ayt*ref.cw - ref.axt*ref.sw) - this.r*ori.drive.ft(),
ori_Ct: () => {console.log('ft='+ori.drive.ft()); return this.ayt*this.cw - this.axt*this.sw - this.r/ref.r*(ref.ayt*ref.cw - ref.axt*ref.sw) - this.r*ori.drive.ft()},
ori_mc: () => {
let imc = mec.toZero(this.p1.im + this.p2.im) + this.r**2/ref.r**2*mec.toZero(ref.p1.im + ref.p2.im);
return imc ? 1/imc : 0;
Expand Down Expand Up @@ -735,13 +754,12 @@ mec.constraint = {
// drawing
get color() { return this.model.valid
? this.model.env.show.validConstraintColor
: this.model.env.show.colors.invalidConstraintColor;
: this.model.env.show.colors.invalidConstraintColor; // due to 'this.model.env.show.invalidConstraintColor' undefined
},
g2() {
let g = g2();
if (this.model.env.show.constraints) {
const {p1,p2,w,r,type,ls,ls2,lw,id,idloc} = this;

g.beg({x:p1.x,y:p1.y,w,scl:1,lw:2,
ls:this.model.env.show.constraintVectorColor,fs:'@ls',lc:'round',sh:()=>this.sh})
.stroke({d:`M50,0 ${r},0`,ls:()=>this.color,
Expand Down
6 changes: 3 additions & 3 deletions scripts/mec2.js
View file
Original file line number Diff line number Diff line change
Expand Up @@ -769,9 +769,9 @@ mec.constraint = {
*/
get forceAbs() { return -this.lambda_r; },
/**
* Moment value in [Nm]
* Moment value in [N*u]
*/
get moment() { return -this.lambda_w/this.r; },
get moment() { return -this.lambda_w*this.r; },

/**
* Check constraint for unfinished drives.
Expand Down Expand Up @@ -1581,7 +1581,7 @@ mec.load.force = {
else
this.wref = this.model.constraintById(this.wref);

if (typeof this.value === 'number' && mec.isEps(this.value))
if (typeof this.value === 'number' && mec.isEps(this.value))
return { mid:'E_FORCE_VALUE_INVALID',val:this.value,id:this.id };

return warn;
Expand Down
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