added exudyn to pypi.org, added GeneralContact, added beam-circle con…

…tact, etc. see Issues and Bugs for new features

docs/howTo/Python_spyder.txt

@@ -28,14 +28,7 @@ COMPATIBILITY:
 
 RUNNING Exudyn in SPYDER:
 
-2a) running Exudyn in Spyder may cause problems with the GLFW visualization, which does not always close
-	the GLFW window appropriatly; runing Exudyn a second time, causes a crash
-    ==> WORKAROUND:
-	1) restart kernel in current console by mouse click on "x" (closing button)
-	2) preferences->Run: Set "Execute in an external system terminal" ==> in this way multiple runs are possible with graphics
-
-
-3) Anaconda3-5.2.0-Windows-x86_64.exe: in Microsoft Surface book 2: spyder crashes on startup if installed in parallel to VS2017 python
+2) Anaconda3-5.2.0-Windows-x86_64.exe: in Microsoft Surface book 2: spyder crashes on startup if installed in parallel to VS2017 python
 ==> use Anaconda3-5.1.0-Windows-x86_64.exe instead (works!)
 
 

docs/howTo/WSL.txt

@@ -53,6 +53,13 @@ wsl --setdefault Ubuntu-18.04
 #run unix command from powershell, runs in local (windows) directory:
 wsl python3 test.py
 
+#+++++++++++++++++++++++++++
+#PATH (set always when logged in):
+#extend  ~/.bashrc e.g. with  nano ~/.bashrc and at at the end:
+export PATH="$PATH:~johannes/additionalPath"
+#+press CTRL O, ENTER, CTRL X
+
+#+++++++++++++++++++++++++++
 #build linux wheel with WSL:
 sudo python3 setup.py bdist_wheel
 #==> if [Errno 13] Permission denied: 'build/bdist.linux-x86_64/wheel/exudyn... occures:

docs/howTo/matplotlibExamples.txt

@@ -121,6 +121,54 @@ plt.xticks((-1, 0, 1), ('$-1$', r'$\pm 0$', '$+1$'), color='k', size=20)
 plt.text(-1, .30, r'gamma: $\gamma$', {'color': 'r', 'fontsize': 20})
 #see: https://matplotlib.org/3.1.0/gallery/text_labels_and_annotations/usetex_demo.html
 
+#plot lines with markers
+import matplotlib.pyplot as plt
+import numpy as np
+plt.close('all')
+data = np.loadtxt('solution/node.txt', comments='#', delimiter=',')
+# plt.plot(data[:,0], data[:,1], color='red', marker='o',
+#          linestyle='dashed',linewidth=2, markersize=12)
+plt.plot(data[:,0], data[:,1], color='blue', marker='o',
+         linestyle='-',linewidth=2,markersize=10, label='asdf')
+plt.plot(data[:,0], data[:,1], color='white', marker='o',
+          linestyle='none',markersize=14)
+plt.plot(data[:,0], data[:,1], color='blue', marker='o',
+          linestyle='none',markersize=10)
+plt.legend()
+plt.show()
+
+
+from exudyn.plot import PlotSensor
+
+#PlotSensor(mbs, sensorNumbers=s, components=[1], componentsX=[0])
+import matplotlib.pyplot as plt
+import numpy as np
+plt.close('all')
+data = np.loadtxt('solution/node.txt', comments='#', delimiter=',')
+# plt.plot(data[:,0], data[:,1], color='red', marker='o',
+#          linestyle='dashed',linewidth=2, markersize=12)
+plt.plot(data[:,0], data[:,1], color='blue',
+         linestyle='-',linewidth=2)
+plt.plot(data[:,0], data[:,1], color='white', marker='o',
+          linestyle='none',markersize=14)
+plt.plot(data[:,0], data[:,1], color='blue', marker='o',
+          linestyle='none',markersize=10)
+
+from matplotlib.lines import Line2D
+
+#custom legend with line+marker:
+legend_elements = [Line2D([0], [0.1], color='b', marker='o', markersize=10, lw=2, label='Line'),
+                   # Line2D([0], [0], marker='o', color='w', label='Scatter',
+                   #        markerfacecolor='g', markersize=15),
+                   # Patch(facecolor='orange', edgecolor='r',
+                   #       label='Color Patch')
+                   ]
+
+plt.legend(handles=legend_elements)#, loc='center')
+
+#plt.legend()
+plt.show()
+
 
 
 

docs/theDoc/GUI.tex

@@ -0,0 +1,218 @@
+%+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+%+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+%everything belong to gui: 3D visualization, mouse, keys, ...
+%
+\mysection{3D Graphics Visualization}
+%
+The 3D graphics visualization window is kept simple, but useful to see the animated results of the multibody system.
+The graphics output is restricted to a 3D window (renderwindow) into which the renderer draws the visualization state of the \texttt{MainSystem} \texttt{mbs}.
+
+%+++++++++++++++++++++++++++++++++++++++++++++++++++++++
+%+++++++++++++++++++++++++++++++++++++++++++++++++++++++
+\mysubsection{Mouse input}
+The following table includes the mouse functions. 
+
+\begin{center}
+  \footnotesize
+  \begin{longtable}{| p{4cm} | p{4cm} | p{8cm} |} 
+	\hline
+  \bf Button & action & \bf remarks \\ \hline
+  \bf left mouse button & move model & keep left mouse button pressed to move the model in the current x/y plane\\ \hline
+  \bf left mouse button & select item & mouse click on any node, object, etc.\ to see its basic information in status line \\ \hline
+  \bf right mouse button & rotate model & keep right mouse button pressed to rotate model around current current $X_1$/$X_2$ axes\\
+	\bf right mouse button & show item dictionary & [EXPERIMENTAL, must be activated in visualizationSettings.interactive] (short) press and release right mouse button \\ \hline
+\hline
+  \bf mouse wheel & zoom & use mouse wheel to zoom (on touch screens 'pinch-to-zoom' might work as well) \\ \hline
+  \end{longtable}
+\end{center}
+Note that current mouse coordinates can be obtained via 
+\texttt{SystemContainer.GetCurrentMouseCoordinates()}.
+%+++++++++++++++++++++++++++++++++++++++++++++++++++++++
+%+++++++++++++++++++++++++++++++++++++++++++++++++++++++
+\mysubsection{Keyboard input}
+The following table includes the keyboard shortcuts available in the window. 
+
+\begin{center}
+  \footnotesize
+  \begin{longtable}{| p{4cm} | p{4cm} | p{8cm} |} 
+	\hline
+  \bf Key(s) & action & \bf remarks \\ \hline
+  \bf 1,2,3,4 or 5 & visualization update speed & the entered digit controls the visualization update, ranging within 0.02, 0.1 (default), 0.5, 2, and 100 seconds \\ \hline
+	%
+  %\bf 0 or KEYPAD 0& reset rotation & set rotation such that the scene is oriented in the x/y plane \\ \hline
+  \bf CTRL+1 or SHIFT+CTRL+1& change view& set view in 1/2-plane (+SHIFT: view from opposite side) \\ \hline
+  \bf CTRL+2 or SHIFT+CTRL+2& change view& set view in 1/3-plane (+SHIFT: view from opposite side) \\ \hline
+  \bf CTRL+3 or SHIFT+CTRL+3& change view& set view in 2/3-plane (+SHIFT: view from opposite side) \\ \hline
+  \bf CTRL+4 or SHIFT+CTRL+4& change view& set view in 2/1-plane (+SHIFT: view from opposite side) \\ \hline
+  \bf CTRL+5 or SHIFT+CTRL+5& change view& set view in 3/1-plane (+SHIFT: view from opposite side) \\ \hline
+  \bf CTRL+6 or SHIFT+CTRL+6& change view& set view in 3/2-plane (+SHIFT: view from opposite side) \\ \hline
+
+  \bf A & zoom all & set zoom such that the whole scene is visible \\ \hline
+  \bf CURSOR UP, DOWN, ... & move scene& use coursor keys to move the scene up, down, left, and right (use CTRL for small movements)\\ \hline
+	%
+  \bf C & show/hide connectors & pressing this key switches the visibility of connectors \\ \hline
+  \bf CTRL+C & show/hide connector numbers & pressing this key switches the visibility of connector numbers \\ \hline
+  %
+	\bf B & show/hide bodies & pressing this key switches the visibility of bodies \\ \hline
+  \bf CTRL+B & show/hide body numbers & pressing this key switches the visibility of body numbers \\ \hline
+  %
+	\bf L & show/hide loads & pressing this key switches the visibility of loads \\ \hline
+  \bf CTRL+L & show/hide load numbers & pressing this key switches the visibility of load numbers \\ \hline
+  %
+	\bf M & show/hide markers & pressing this key switches the visibility of markers \\ \hline
+  \bf CTRL+M & show/hide marker numbers & pressing this key switches the visibility of marker numbers \\ \hline
+  %
+	\bf N & show/hide nodes & pressing this key switches the visibility of nodes \\ \hline
+  \bf CTRL+N & show/hide node numbers & pressing this key switches the visibility of node numbers \\ \hline
+  %
+	\bf S & show/hide sensors & pressing this key switches the visibility of sensors \\ \hline
+  \bf CTRL+S & show/hide sensor numbers & pressing this key switches the visibility of sensor numbers \\ \hline
+  %
+	\bf T & faces / edges mode & switch between faces transparent/ faces transparent + edges / only face edges / full faces with edges / only faces visible \\ \hline
+  %
+	\bf Q & stop solver & current solver is stopped (proceeds to next simulation or end of file) \\ \hline
+	%
+	\bf X & execute command & open dialog to enter a python command (in global python scope); dialog may appear behind the visualization window! User errors may lead to crash -- be careful! 
+	Examples: '\texttt{print(mbs)}', '\texttt{x=5}', '\texttt{mbs.GetObject(0)}',etc.\\ \hline
+	%
+	\bf V & visualization settings & open dialog to modify visualization settings; dialog may appear behind the visualization window! \\ \hline
+	%
+	\bf F3 & show mouse coordinates & shown in status line \\ \hline
+  \bf ESCAPE & close simulation & stops the simulation (and further simulations) and closes the render window (same as close window) \\ \hline
+  \bf SPACE & continue simulation & if simulation is paused, it can be continued by pressing space; use SHIFT+SPACE to continuously activate 'continue simulation'\\ \hline
+%
+	%\bf F2 & ignore keys &  \\ \hline
+  %\bf KEYPAD 2/8,4/6,1/9 & rotate scene & about 1, 2 and 3-axis (use CTRL for small rotations) \\ \hline
+  %\bf '.' or KEYPAD + & zoom in & zoom one step into scene (additionally press CTRL to perform small zoom step)\\ \hline
+  %\bf ',' or KEYPAD - & zoom out & zoom one step out of scene (additionally press CTRL to perform small zoom step)\\ \hline
+  \end{longtable}
+\end{center}
+
+Special keys:
+\begin{center}
+  \footnotesize
+  \begin{longtable}{| p{4cm} | p{4cm} | p{8cm} |} 
+	\hline
+	\bf F2 & ignore keys & ignore all keyboard input, except for KeyPress user function, F2 and escape \\ \hline
+  \bf KEYPAD 2/8,4/6,1/9 & rotate scene & about 1, 2 and 3-axis (use CTRL for small rotations) \\ \hline
+  \bf '.' or KEYPAD + & zoom in & zoom one step into scene (additionally press CTRL to perform small zoom step)\\ \hline
+  \bf ',' or KEYPAD - & zoom out & zoom one step out of scene (additionally press CTRL to perform small zoom step)\\ \hline
+  \end{longtable}
+\end{center}
+
+%+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+\mysubsection{GraphicsData}
+\label{sec:graphicsData}
+All graphics objects are defined by a \texttt{GraphicsData} structure.%, see \refSection{sec:graphicsData}.
+Note that currently the visualization is based on a very simple and ancient OpenGL implementation, as there is currently no simple platform independent alternative. However, most of the heavy load triangle-based operations are implemented in C++ and are realized by very efficient OpenGL commands. However, note that the number of triangles to represent the object should be kept in a feasible range ($<1000000$) in order to obtain a fast response of the renderer.
+
+Many objects include a \texttt{GraphicsData} dictionary structure for definition of attached visualization of the object. Typically, you can use primitives (cube, sphere, ...) or STL-data to define the objects appearance.
+\texttt{GraphicsData} dictionaries can be created with functions provided in the utilities module \texttt{exudyn.graphicsDataUtilities.py}, see \refSection{sec:module:graphicsDataUtilities}.
+
+\texttt{GraphicsData} can be transformed into points and triangles (mesh) and can be used for contact computation, as well.
+\mybold{NOTE} that for correct rendering and correct contact computations, all triangle nodes must follow a strict local order and triangle normals -- if defined -- must point outwards, see \fig{fig:triangleNormals}.
+\begin{figure}[tbh]%
+\begin{center}
+\includegraphics[width=0.25\columnwidth]{figures/triangleNormal}%
+\end{center}
+\caption{Definition of triangle normals and outside/inside regions in Exudyn: the normal to a triangle with vertex positions $\pv_0$, $\pv_1$, $\pv_2$ is computed from cross product as $\nv = \frac{(\pv_1-\pv_0) \times (\pv_2-\pv_0)}{|(\pv_1-\pv_0) \times (\pv_2-\pv_0)|}$;
+the normal $\nv$ then points to the outside region of the mesh or body; the direction of $\nv$ just depends on the ordering of the vertex points (interchange of two points changes the normal direction); correct normals are needed for contact computations as well as for correct shading effects in visualization.}%
+\label{fig:triangleNormals}%
+\end{figure}
+
+\texttt{BodyGraphicsData} contains a list of \texttt{GraphicsData} items, i.e.\ bodyGraphicsData = [graphicsItem1, graphicsItem2, ...]. Every single \texttt{graphicsItem} may be defined as one of the following structures using a specific 'type':
+\begin{center}
+  \footnotesize
+  \begin{longtable}{| p{3cm} | p{2cm} | p{3cm} | p{7.5cm} |} 
+	\hline
+  \bf Name & \bf type & \bf default value & \bf description \\ \hline
+%
+%LINE
+	\multicolumn{3}{l}{\parbox{8cm}{\bf type = 'Line': }} & \multicolumn{1}{l}{\parbox{7.5cm}{\it draws a polygonal line between all specified points}}\\ \hline
+  color & list & [0,0,0,1] & list of 4 floats to define RGB-color and transparency\\ \hline
+  data & list &  mandatory & list of float triples of x,y,z coordinates of the line floats to define RGB-color and transparency; Example: data=[0,0,0, 1,0,0, 1,1,0, 0,1,0, 0,0,0] ... draws a rectangle with side length 1\\ \hline
+%
+%CIRCLE
+	\multicolumn{3}{l}{\parbox{8cm}{\bf type = 'Circle': }} & \multicolumn{1}{l}{\parbox{7.5cm}{\it draws a circle with center point, normal (defines plane of circle) and radius}}\\ \hline
+  color & list & [0,0,0,1] & list of 4 floats to define RGB-color and transparency\\ \hline
+  radius & float & mandatory & radius\\ \hline
+  position & list & mandatory & list of float triples of x,y,z coordinates of center point of the circle\\ \hline
+  normal & list & [0,0,1] & list of float triples of x,y,z coordinates of normal to the plane of the circle; the default value gives a circle in the ($x,y$)-plane\\ \hline
+%TEXT
+	\multicolumn{3}{l}{\parbox{8cm}{\bf type = 'Text': }} & \multicolumn{1}{l}{\parbox{7.5cm}{\it places the given text at position}}\\ \hline
+  color & list & [0,0,0,1] & list of 4 floats to define RGB-color and transparency\\ \hline
+  text & string & mandatory & text to be displayed, using UTF-8 encoding (see \refSection{sec:utf8})\\ \hline
+  position & list & mandatory & list of float triples of [x,y,z] coordinates of the left upper position of the text; e.g.\ position=[20,10,0] \\ \hline
+%TRIANGLELIST
+	\multicolumn{3}{l}{\parbox{8cm}{\bf type = 'TriangleList': }} & \multicolumn{1}{l}{\parbox{7.5cm}{\it draws a flat triangle mesh for given points and connectivity}}\\ \hline
+  points & list & mandatory & list [x0,y0,z0, x1,y1,z1, ...] containing $n \times 3$ floats (grouped x0,y0,z0, x1,y1,z1, ...) to define x,y,z coordinates of points, $n$ being the number of points (=vertices)\\ \hline
+  colors & list & empty & list [R0,G0,B0,A0, R1,G2,B1,A1, ...] containing $n \times 4$ floats to define RGB-color and transparency A, where $n$ must be according to number of points; if field 'colors' does not exist, default colors will be used\\ \hline
+  normals & list & empty & list [n0x,n0y,n0z, ...] containing $n \times 3$ floats to define normal direction of triangles per point, where $n$ must be according to number of points; if field 'normals' does not exist, default normals [0,0,0] will be used\\ \hline
+  triangles & list &  mandatory & list [T0point0, T0point1, T0point2, ...] containing $n_{trig} \times 3$ floats to define point indices of each vertex of the triangles (=connectivity); point indices start with index 0; the maximum index must be $\le$ points.size()\\ \hline
+\end{longtable}
+%
+\end{center}
+%
+Examples of \texttt{GraphicsData} can be found in the Python examples and in \texttt{exudynUtilities.py}.
+
+%+++++++++++++++++++++++++++++++++++++++++++++++++++++++
+%+++++++++++++++++++++++++++++++++++++++++++++++++++++++
+\mysubsection{Character encoding: UTF-8}
+\label{sec:utf8}
+Character encoding is a major issue in computer systems, as different languages need a huge amount of different characters,
+see the amusing blog of Joel Spolsky:\\
+\exuUrl{https://www.joelonsoftware.com/2003/10/08/the-absolute-minimum-every-software-developer-absolutely-positively-must-know-about-unicode-and-character-sets-no-excuses/}{The Absolute Minimum Every Software Developer Absolutely, Positively Must Know About Unicode ...}\\
+More about encoding can be found in \exuUrl{https://en.wikipedia.org/wiki/UTF-8}{Wikipedia:UTF-8}. UTF-8 encoding tables can be found within the wikipedia article and a comparison with the first 256 characters of unicode is provided at \exuUrl{https://www.utf8-chartable.de/}{UTF-8 char table}.
+
+For short, \codeName\ uses UTF-8 character encoding in texts / strings drawn in OpenGL renderer window.
+However, the set of available UTF-8 characters in \codeName\ is restricted to a very small set of characters (as compared to available characters in UTF-8), see the following table of available characters (using hex codes, e.g. \texttt{0x20} = \texttt{32}):
+\begin{center}
+  \footnotesize
+  \begin{longtable}{| p{2cm} | p{4cm} | p{8cm} |} 
+	\hline
+  \bf unicode (hex code) & UTF-8 (hex code) & character \\ \hline
+  20 & 20 & ' '\\
+  21 & 21 & '!'\\
+  $\ldots$ & $\ldots$ & $\ldots$\\
+  30 & 30 & '0'\\
+  $\ldots$ & $\ldots$ & $\ldots$\\
+  39 & 39 & '9'\\
+  40 & 40 & '@'\\
+  41 & 41 & 'A'\\
+  $\ldots$ & $\ldots$ & $\ldots$\\
+  5A & 5A & 'Z'\\
+  $\ldots$ & $\ldots$ & $\ldots$\\
+  7E & 7E & '\textasciitilde{}'\\
+  7F & 7F & control, not shown\\
+  $\ldots$ & $\ldots$ & $\ldots$\\
+  A0 & C2 A0 & no-break space\\
+  A1 & C2 A1 & inverted exclamation mark: '!`'\\
+  $\ldots$ & $\ldots$ & $\ldots$\\
+  BF & C2 BF & inverted '?`'\\
+  C0 & C3 80 & A with grave\\
+  $\ldots$ & $\ldots$ & $\ldots$\\
+  FF & C3 BF & y with diaeresis: '$\ddot{\mathrm{y}}$' \\ \hline
+	%++++++++++
+	\multicolumn{3}{l}{special characters (selected):} \\ \hline
+  %char80:
+	 & E2 89 88 & $\approx$ \\
+	 & E2 88 82 & $\partial$ \\
+	 & E2 88 AB & $\int{}$ \\
+	 & E2 88 9A & $\sqrt{}$ \\
+	 & CE B1 & $\alpha$ \\
+	 & CE B2 & $\beta$ \\
+	 & $\ldots$ & (complete list of greek letters see below) \\
+   & F0 9F 99 82 & smiley \\
+   & F0 9F 98 92 & frowney \\
+	 & E2 88 9e & infinity: $\infty$ \\ \hline
+  %char90:
+	\hline
+	%++++++++++
+  \end{longtable}
+\end{center}
+Greek characters include: $\alpha, \beta, \gamma, \delta, \varepsilon, \zeta, \eta, \theta, 
+\kappa, \lambda, \nu, \xi, \pi, \rho, \sigma, \varphi, \Delta, \Pi, \Sigma, \Omega$.
+Note, that unicode character codes are shown only for completeness, but they {\bf cannot be encoded by \codeName}!
+
+
+

docs/theDoc/bibliographyDoc.bib

@@ -116,9 +116,9 @@ @article{Qian2018
 year = {2018}
 }
 
-@article{Flores2008,
+@book{Flores2008,
 	title ={Kinematics and Dynamics of Multibody Systems with Imperfect Joints},
-	author = {Flores, P. and Ambrosio, J. and Pimenta Claro, J.C. and Lankarani, H.M.},
+	author = {Flores, P. and Ambr{\'o}sio, J. and Pimenta Claro, J.C. and Lankarani, H.M.},
 	isbn={ 978-3-540-74361-3},
 	year={2008},
 	publisher={Springer Berlin}
@@ -129,7 +129,7 @@ @book{woernle2016
 	author={Woernle, C.},
 	isbn={9783662466872},
 	year={2016},
-	publisher={Springer Berlin Heidelberg}
+	publisher={Lecture Notes in Applied and Computational Mechanics, Springer Berlin Heidelberg}
 }
 
 @article{Yoshikawa1985,
@@ -527,3 +527,9 @@ @book{Siciliano2016
 year = {2016}
 }
 
+@inproceedings{ManzlGerstmayr2021,
+  title={An Improved Dynamic Model of the Mecanum Wheel for Multibody Simulations},
+  author={Manzl, Peter and Gerstmayr, Johannes},
+  booktitle={ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
+  organization={American Society of Mechanical Engineers Digital Collection}
+}

docs/theDoc/buildDate.tex

@@ -0,0 +1 @@
+build date and time=2022-03-18  13:39

docs/theDoc/docincludes.sty

@@ -58,6 +58,7 @@
 
 \newcommand{\ra}{\rightarrow}
 \newcommand{\mybold}[1]{{\bf #1}} 
+%\newcommand{\myNewline}{\\} 
 
 \newcommand{\Rcal}{\mathbb{R}}
 \newcommand{\Ccal}{\mathbb{C}}
@@ -126,6 +127,9 @@
 
 \newcommand{\tp}{^\mathrm{T}} %transpose
 
+\newcommand{\diag}{\mathrm{diag}} %transpose
+\renewcommand{\vec}{\mathrm{vec}} %transpose
+
 \newcommand{\Null}{\mathbf{0}}
 
 %+++++++++++++++++++++++++++++++++++++++++++++