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/Application/Examples/AirlinePassenger/Model/Environment.any
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--- a +++ b/Application/Examples/AirlinePassenger/Model/Environment.any @@ -0,0 +1,537 @@ +//--------------------------------------------------------------- +// Chair package +//--------------------------------------------------------------- + +// AnyFolder &RefPP = Main.PackageParameters; + +//------------------------------------------------------ +// Global Reference Frame +//------------------------------------------------------ + + + +AnyFixedRefFrame GlobalRef = { + + AnyFolder &Dim = .Seg.ChairDimensions; + + AnyRefNode GroundNode = { + sRel = {1/2*.Dim.SeatLength, -.Dim.BackRestHeight, 0}; + }; + + + /* + AnyRefNode CoMNode = { + sRel = {0.069568, -0.589986, -0.000000}; + AnyDrawRefFrame DrwRef = { + RGB = {0, 1, 0}; + ScaleXYZ = {0.3, 0.3, 0.3}; + }; + }; + */ + +}; // Global reference frame + +//----------------------------------------------------- +// Segments +//----------------------------------------------------- + +AnyFolder Seg = { + + AnyFolder ChairDimensions = { + + AnyVar FootRestLength = 0.50; + AnyVar FootRestWidth = 0.40; + AnyVar FootRestThickness = 0.05; + AnyVar BackRestHeight = 0.90; + AnyVar BackRestWidth = 0.40; + AnyVar BackRestThickness = 0.05; + AnyVar SeatLength = 0.50; + AnyVar SeatWidth = 0.40; + AnyVar SeatThickness = 0.05; + AnyVar HeadRestHeight = 0.2; + AnyVar HeadRestWidth = 0.2; + AnyVar HeadRestThickness = 0.05; + AnyVar LegRestLength = 0.6; + AnyVar LegRestWidth = 0.3; + AnyVar LegRestThickness = 0.05; + AnyVar ArmRestX = 0.30; + AnyVar ArmRestY = 0.3; + AnyVar ArmRestZ = 0.05; + AnyVar ArmRestHeight = 0.32; + }; // ChairDimensions + + //-------------------------------------------------------- + // BackRest + //-------------------------------------------------------- + + AnySeg BackRest = { + + AnyFolder &Dim = .ChairDimensions; + Mass = 0.0; + AnyVar Ixx = 1/12*(Dim.BackRestHeight^2+Dim.BackRestWidth^2); + AnyVar Iyy = 1/12*(Dim.BackRestThickness^2+Dim.BackRestWidth^2); + AnyVar Izz = 1/12*(Dim.BackRestHeight^2+Dim.BackRestThickness^2); + Jii = {Ixx, Iyy, Izz}; + + AnyRefNode BackRestSeatJntNode = { + sRel = {0, -1/2*.Dim.BackRestHeight, 0}; + }; + + AnyRefNode BackRestHeadRestJntNode = { + sRel = {0, 1/2*.Dim.BackRestHeight, 0}; + }; + AnyRefNode BackRestSupportNode = { + sRel = {-0.2, -0.2, 0}; + }; + + AnyRefNode BackArmRestRightJntNode = { + sRel = {0, .Dim.ArmRestHeight-1/2*.Dim.BackRestHeight, 1/2*.Dim.BackRestWidth}; + }; + + AnyRefNode BackArmRestLeftJntNode = { + sRel = {0, .Dim.ArmRestHeight-1/2*.Dim.BackRestHeight, -1/2*.Dim.BackRestWidth}; + }; + + AnyDrawSTL BackRest = { + FileName = "../Input/BackRest.stl"; + RGB = {0, 0, 1}; + Opacity = 0.2; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + SpecularRGB = 0.05*{1,1,1}; + }; + }; + }; // BackRest + + //-------------------------------------------------------- + // Seat + //-------------------------------------------------------- + + AnySeg Seat = { + + AnyFolder &Dim = .ChairDimensions; + Mass = 0.0; + AnyVar Ixx = 1/12*(Dim.SeatWidth^2+Dim.SeatThickness^2); + AnyVar Iyy = 1/12*(Dim.SeatLength^2+Dim.SeatWidth^2); + AnyVar Izz = 1/12*(Dim.SeatLength^2+Dim.SeatThickness^2); + Jii = {Ixx, Iyy, Izz}; + AnyRefNode SeatNode = { + sRel = {0, 0, 0}; + ARel = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 1}}; + + AnyDrawSTL Seat = { + FileName = "../Input/Seat.stl"; + RGB = {0, 0, 1}; + Opacity = 0.2; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + SpecularRGB = 0.05*{1,1,1}; + }; + }; + + }; + + AnyRefNode SeatBackRestJntNode = { + sRel = {0, 1/2*.Dim.SeatLength, 0}; + }; + + AnyRefNode SeatAdjNode = { + sRel = {0, 0, 0}; + }; + + AnyRefNode SeatLegRestJntNode = { + sRel = {0, -1/2*.Dim.SeatLength, 0}; + }; + }; // Seat + + //----------------------------------------------------- + // HeadRest + //----------------------------------------------------- + + AnySeg HeadRest = { + + AnyFolder &Dim = .ChairDimensions; + Mass = 0.0; + AnyVar Ixx = 1/12*(Dim.HeadRestHeight^2+Dim.HeadRestWidth^2); + AnyVar Iyy = 1/12*(Dim.HeadRestWidth^2+Dim.HeadRestThickness^2); + AnyVar Izz = 1/12*(Dim.HeadRestHeight^2+Dim.HeadRestThickness^2); + Jii = {Ixx, Iyy, Izz}; + + AnyRefNode HeadRestBackRestJntNode = { + sRel = {0, -1/2*.Dim.HeadRestHeight, 0}; + // AnyDrawNode DrwNode = {}; + }; + + // AnyDrawSeg HeadRest = {}; + /* + AnyDrawSTL HeadRest = { + FileName = "../Input/HeadRest.stl"; + RGB = {0, 0, 1}; + Opacity = 0.4; + }; + */ + }; // HeadRest + + //------------------------------------------------------- + // LegRest + //------------------------------------------------------- + + AnySeg LegRest = { + AnyFolder &Dim = .ChairDimensions; + Mass = 0.0; + AnyVar Ixx = 1/12*(Dim.LegRestLength^2+Dim.LegRestWidth^2); + AnyVar Iyy = 1/12*(Dim.LegRestWidth^2+Dim.LegRestThickness^2); + AnyVar Izz = 1/12*(Dim.LegRestLength^2+Dim.LegRestThickness^2); + Jii = {Ixx, Iyy, Izz}; + + AnyRefNode LegRestSeatJntNode = { + sRel = {0, 1/2*.Dim.LegRestLength, 0}; + }; + + AnyRefNode LegRestFootRestJntNode = { + sRel = {0, -1/2*.Dim.LegRestLength, 0}; + }; + + AnyDrawSTL LegRest = { + FileName = "../Input/LegRest.stl"; + RGB = {0, 0, 1}; + Opacity = 0.2; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + SpecularRGB = 0.05*{1,1,1}; + }; + }; + + }; // LegRest + + //--------------------------------------------------- + // FootRest + //--------------------------------------------------- + + AnySeg FootRest = { + + AnyFolder &Dim = .ChairDimensions; + Mass = 5.0; + AnyVar Ixx = 1/12*(Dim.FootRestThickness^2+Dim.FootRestWidth^2); + AnyVar Iyy = 1/12*(Dim.FootRestLength^2+Dim.FootRestWidth^2); + AnyVar Izz = 1/12*(Dim.FootRestLength^2+Dim.FootRestThickness^2); + Jii = {Ixx, Iyy, Izz}; + + AnyRefNode FootRestLegRestJntNode = { + sRel = {0, 1/2*.Dim.FootRestLength, 0}; + ARel = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 1}}; + /* + AnyDrawRefFrame DrwRefFrame = { + RGB = {1, 1, 0}; + ScaleXYZ = {0.3, 0.3, 0.3}; + }; + */ + }; + // AnyDrawSeg DrwSeg = {}; + + AnyDrawSTL DrwSTL = { + FileName = "../Input/FootRest2.stl"; + RGB = {0,0, 1}; + Opacity = 0.2; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + SpecularRGB = 0.05*{1,1,1}; + }; + }; + + }; // FootRest + +// //--------------------------------------------------- +// // ArmRestRight +// //--------------------------------------------------- +// +// AnyFolder Right = { +// +// AnySeg ArmRest = { +// +// AnyFolder &Dim = ..ChairDimensions; +// Mass = 1.0; +// AnyVar Ixx = 1/12*(Dim.ArmRestZ^2+Dim.ArmRestX^2); +// AnyVar Iyy = 1/12*(Dim.ArmRestY^2+Dim.ArmRestX^2); +// AnyVar Izz = 1/12*(Dim.ArmRestY^2+Dim.ArmRestZ^2); +// Jii = {Ixx, Iyy, Izz}; +// +// AnyRefNode BackArmRestJntNode = { +// sRel = {0, .Dim.ArmRestX, -1/2*.Dim.ArmRestZ}; +// }; +// +// AnyRefNode ArmRestUlnaJntNodeFront = { +// sRel = {0, -1/2*.Dim.ArmRestY, 0};//-1/2*.Dim.ArmRestZ}; +// }; +// +// AnyRefNode ArmRestUlnaJntNodeBack = { +// sRel = {0, 1/2*.Dim.ArmRestY, 0};//-1/2*.Dim.ArmRestZ}; +// }; +// +//// AnyDrawSeg DrwSeg = {}; +// +// AnyRefNode STLholder = { +// sRel = {-0.45, 0, 0}; +// AnyDrawSTL DrwSTL = { +// FileName = "../Input/ArmRest3.stl"; +// RGB = {0, 0, 1}; +// Opacity = 0.2; +// }; +// }; +// }; // ArmRest +// +// }; // Right +// +// AnyFolder Left = { +// +// AnySeg ArmRest = { +// +// AnyFolder &Dim = ..ChairDimensions; +// Mass = 1.0; +// AnyVar Ixx = 1/12*(Dim.ArmRestZ^2+Dim.ArmRestX^2); +// AnyVar Iyy = 1/12*(Dim.ArmRestY^2+Dim.ArmRestX^2); +// AnyVar Izz = 1/12*(Dim.ArmRestY^2+Dim.ArmRestZ^2); +// Jii = {Ixx, Iyy, Izz}; +// +// AnyRefNode BackArmRestJntNode = { +// sRel = {0, .Dim.ArmRestX, -1/2*.Dim.ArmRestZ}; +// }; +// +// AnyRefNode ArmRestUlnaJntNodeFront = { +// sRel = {0, -1/2*.Dim.ArmRestY, 0};//-1/2*.Dim.ArmRestZ}; +// }; +// +// AnyRefNode ArmRestUlnaJntNodeBack = { +// sRel = {0, 1/2*.Dim.ArmRestY, 0};//-1/2*.Dim.ArmRestZ}; +// }; +// +//// AnyDrawSeg DrwSeg = {}; +// +// AnyRefNode STLholder = { +// sRel = {-0.45, 0, 0}; +// AnyDrawSTL DrwSTL = { +// FileName = "../Input/ArmRest3.stl"; +// RGB = {0, 0, 1}; +// Opacity = 0.2; +// }; +// }; +// }; // ArmRest +// +// }; // Left + +}; // Seg + +//-------------------------------------- +// Joints +//-------------------------------------- + +AnyFolder Jnt = { + + AnyKinLinear SeatGlobalLinMeasure = { + AnyRefNode &SegNode = ..Seg.Seat.SeatAdjNode; + AnyRefNode &GroundNode = ..GlobalRef.GroundNode; + }; + + AnyKinRotational SeatGlobalRotMeasure = { + AnyRefNode &SegNode = ..Seg.Seat.SeatAdjNode; + AnyRefNode &GroundNode = ..GlobalRef.GroundNode; + Type = RotVector; + }; + + AnyKinEq SeatGlobalConst = { + AnyKinLinear &LinMeasure = .SeatGlobalLinMeasure; + AnyKinRotational &RotMeasure = .SeatGlobalRotMeasure; + MeasureOrganizer = {0, 2, 3, 4}; + Reaction.Type = {Off, Off, Off, Off}; + }; + + // Create reaction forces between the seat and the environment + AnyReacForce SeatSupport = { + AnyKinLinear SeatGlobalLinMeasure = { + AnyRefFrame &Seat = ...Seg.Seat; + AnyRefFrame &Ground = ...GlobalRef; + Ref = 0; // In the seat reference frame + }; + AnyKinRotational &Rot = .SeatGlobalRotMeasure; + }; + + + AnyRevoluteJoint SeatBackRestJnt = { + Axis = z; + AnyRefNode &Seatnode = ..Seg.Seat.SeatBackRestJntNode; + AnyRefNode &BackRestNode = ..Seg.BackRest.BackRestSeatJntNode; + Constraints.Reaction.Type = {Off, Off, Off, Off, Off}; + }; // SeatBackRestLink + + AnyRevoluteJoint BackRestHeadRestJnt = { + Axis = z; + AnyRefNode &BackRestNode = ..Seg.BackRest.BackRestHeadRestJntNode; + AnyRefNode &HeadRestNode = ..Seg.HeadRest.HeadRestBackRestJntNode; + }; // BackRestHeadRestLink + + AnyRevoluteJoint SeatLegRestJnt = { + Axis = z; + AnyRefNode &LegRestNode = ..Seg.LegRest.LegRestSeatJntNode; + AnyRefNode &SeatNode = ..Seg.Seat.SeatLegRestJntNode; + Constraints.Reaction.Type = {Off, Off, Off, Off, Off}; + }; // SeatLegRestLink + + AnyPrismaticJoint LegRestFootRestJnt = { + Axis = y; + Ref = 1; + AnyRefNode &LegRestNode = ..Seg.LegRest.LegRestFootRestJntNode; + AnyRefNode &FootRestNode = ..Seg.FootRest.FootRestLegRestJntNode; + }; + + // Additional reactions to tie the backrest and legrest to ground + AnyReacForce BackRestGrounding = { + AnyKinLinear Lin = { + AnyRefFrame &Ground = ...GlobalRef; + AnyRefFrame &BackRest = ...Seg.BackRest; + }; + AnyKinRotational Rot = { + AnyRefFrame &Ground = ...GlobalRef; + AnyRefFrame &BackRest = ...Seg.BackRest; + Type = RotAxesAngles; + }; + }; + + AnyReacForce LegRestGrounding = { + AnyKinLinear Lin = { + AnyRefFrame &Ground = ...GlobalRef; + AnyRefFrame &LegRest = ...Seg.LegRest; + }; + AnyKinRotational Rot = { + AnyRefFrame &Ground = ...GlobalRef; + AnyRefFrame &LegRest = ...Seg.LegRest; + Type = RotAxesAngles; + }; + }; + + // Arm rests +// AnyFolder Right = { +// +// AnyRevoluteJoint BackArmRestJoint = { +// AnyRefNode &BackNode = ...Seg.BackRest.BackArmRestRightJntNode; +// AnyRefNode &ArmRestNode = ...Seg.Right.ArmRest.BackArmRestJntNode; +// Ref = 1; +// }; +// +// AnyKinRotational GlobalArmRestRotMeasure = { +// AnyRefFrame &Global = Main.Model.EnvironmentModel.GlobalRef; +// AnyRefNode &ArmRestNode = ...Seg.Right.ArmRest.BackArmRestJntNode; +// Type = RotVector; +// }; +// +// AnyKinEqSimpleDriver GlobalArmRestAngle = { +// AnyKinRotational &RotMeasure = .GlobalArmRestRotMeasure; +// MeasureOrganizer = {2}; +// DriverPos = {90*pi/180}; +// DriverVel = {0}; +// }; +// +// }; // Right +// +// AnyFolder Left = { +// +// AnyRevoluteJoint BackArmRestJoint = { +// AnyRefNode &BackNode = ...Seg.BackRest.BackArmRestLeftJntNode; +// AnyRefNode &ArmRestNode = ...Seg.Left.ArmRest.BackArmRestJntNode; +// Ref = 1; +// }; +// +// AnyKinRotational GlobalArmRestRotMeasure = { +// AnyRefFrame &Global = Main.Model.EnvironmentModel.GlobalRef; +// AnyRefNode &ArmRestNode = ...Seg.Left.ArmRest.BackArmRestJntNode; +// Type = RotVector; +// }; +// +// AnyKinEqSimpleDriver GlobalArmRestAngle = { +// AnyKinRotational &RotMeasure = .GlobalArmRestRotMeasure; +// MeasureOrganizer = {2}; +// DriverPos = {90*pi/180}; +// DriverVel = {0}; +// }; +// }; // Left + +}; // Joints + + +AnyFolder Drivers={ + + + AnyFolder &DrvPos = Main.DrvPos; + AnyFolder &DrvVel = Main.DrvVel; + + +//-------------------------------------------------------- + // Drivers - Chair adjustments + //-------------------------------------------------------- + +// AnyKinEqSimpleDriver SeatBackRestDrv = { +// AnyRevoluteJoint &Jnt = ..Jnt.SeatBackRestJnt; +// DriverPos = {.DrvPos.SeatBackRestRotZPos}; +// DriverVel = {.DrvVel.SeatBackRestRotZVel}; +// Reaction.Type = {On}; +// }; + + AnyKinEqSimpleDriver GlobalBackRestDrv = { + AnyKinRotational rot = { + AnyRefFrame &Back = Main.Model.EnvironmentModel.Seg.BackRest; + Type = RotAxesAngles; + }; + MeasureOrganizer = {0}; + DriverPos = {.DrvPos.GlobalBackRestRotZPos*pi/180}; + DriverVel = {.DrvVel.GlobalBackRestRotZVel*pi/180}; + Reaction.Type = {Off}; + }; + + AnyKinEqSimpleDriver SeatGlobalDrv = { + AnyKinLinear &LinMeasure = ..Jnt.SeatGlobalLinMeasure; + AnyKinRotational &RotMeasure = ..Jnt.SeatGlobalRotMeasure; + MeasureOrganizer = {1,5}; + DriverPos = {.DrvPos.SeatGlobalLinYPos,(-90+.DrvPos.SeatGlobalRotZPos)*pi/180}; + DriverVel = {.DrvVel.SeatGlobalLinYVel,.DrvVel.SeatGlobalRotZVel*pi/180}; + Reaction.Type = {Off,Off}; + }; + + AnyKinEqSimpleDriver BackRestHeadRestDrv = { + AnyRevoluteJoint &Jnt = ..Jnt.BackRestHeadRestJnt; + DriverPos = {.DrvPos.BackRestHeadResRotZPos*pi/180}; + DriverVel = {0}; + Reaction.Type = {On}; + }; + +// AnyKinEqSimpleDriver SeatLegRestDrv = { +// AnyRevoluteJoint &Jnt = ..Jnt.SeatLegRestJnt; +// DriverPos = {.DrvPos.SeatLegRestRotZPos}; +// DriverVel = {.DrvVel.SeatLegRestRotZVel}; +// Reaction.Type = {On}; +// }; + + AnyKinEqSimpleDriver GlobalLegRestDrv = { + AnyKinRotational rot = { + AnyRefFrame &LegRest = Main.Model.EnvironmentModel.Seg.LegRest; + Type = RotAxesAngles; + }; + MeasureOrganizer = {0}; + DriverPos = {.DrvPos.GlobalLegRestRotZPos*pi/180}; + DriverVel = {.DrvVel.GlobalLegRestRotZVel*pi/180}; + Reaction.Type = {Off}; + }; + + AnyKinEqSimpleDriver LegRestFootRestDrv = { + AnyPrismaticJoint &Jnt = ..Jnt.LegRestFootRestJnt; + DriverPos = {.DrvPos.LegRestFootRestLinYPos}; + DriverVel = {.DrvVel.LegRestFootRestLinYVel}; + Reaction.Type = {On}; + }; +};