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added openVR lib, enhanced visualization settings, renderState, initial accelerations, graphics data, Python3.11; for details see theDoc.pdf section issues
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‎INSTALL.txt

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for installation use:
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pip install exudyn
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pre-compiled binaries are available via pypi.org
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For building instructions and detailed information on installation see docs/theDoc/theDoc.pdf
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for installation of pre-release versions, use:
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pip install exudyn --pre
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For Examples see:
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https://github.com/jgerstmayr/EXUDYN/tree/master/main/pythonDev/Examples
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https://github.com/jgerstmayr/EXUDYN/tree/master/main/pythonDev/TestModels
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For building instructions and detailed information on installation see:
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https://github.com/jgerstmayr/EXUDYN/tree/master/docs/theDoc/theDoc.pdf
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‎LICENSE.txt

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derivative works thereof, in binary and source code form.
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======================================
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OpenVR: Exudyn includes a link to OpenVR, using basic interfacing libraries from Valve:
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Copyright (c) 2015, Valve Corporation
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation and/or
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other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its contributors
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may be used to endorse or promote products derived from this software without
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specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
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ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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======================================
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LEST - Copyright 2013-2018 by Martin Moene
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Boost Software License - Version 1.0 - August 17th, 2003

‎README.rst

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**A flexible multibody dynamics systems simulation code with Python and C++**
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+ Exudyn version = 1.5.65.dev1 (Fitzgerald)
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+ build date and time=2023-01-12 22:42
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+ Exudyn version = 1.5.75.dev1 (Fitzgerald)
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+ build date and time=2023-01-19 08:08
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+ **University of Innsbruck**, Austria, Department of Mechatronics
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Exudyn 1.5 is out! It includes now Python 3.7/8 - 3.10 wheels for MacOS (since 1.5.11.dev1 also showing tkinter dialogs!), improved compatibility for AVX2, simple reeving system, improved Lie group integration, improved RollingDisc, DistanceSensor, and many fixes; further features are multi-threading support; minimum coordinate formulation (KinematicTree); machine learning and artificial intelligence interface (openAI gym); improved explicit and implicit solvers; sparse matrix support; basic hydraulic actuator; creation of beams along curves; extended robotics modules; contact module; **PlotSensor** for simple post processing, and some improved 3D visualization, ... See theDoc.pdf chapter **Issues and Bugs** for changes!
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The following people have contributed to Python and C++ library implementations (as well as to testing, examples, theory, ...):
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+ Joachim Schöberl, TU Vienna (Providing specialized NGsolve core library with \ ``taskmanager``\ for \ **multi-threaded parallelization**\ ; NGsolve mesh and FE-matrices import; highly efficient eigenvector computations)
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+ Stefan Holzinger, University of Innsbruck (Lie group solvers in Python, Lie group node)
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+ Stefan Holzinger, University of Innsbruck (Lie group module and solvers in Python, Lie group node, testing)
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+ Andreas Zwölfer, Technical University Munich (FFRF and CMS formulation)
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+ Peter Manzl, University of Innsbruck (ConvexRoll Python and C++ implementation / pip install on linux / wsl with graphics)
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+ Peter Manzl, University of Innsbruck (ConvexRoll Python and C++ implementation, pip install on linux, wsl with graphics)
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+ Martin Sereinig, University of Innsbruck (special robotics functionality)
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+ Michael Pieber, University of Innsbruck (helped in several Python libraries)
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+ Grzegorz Orzechowski, Lappeenranta University of Technology (coupling with openAI gym and running machine learning algorithms)
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+ Aaron Bacher, University of Innsbruck (helped to integrated OpenVR, connection with Franka Emika Panda)
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The following people have contributed to examples, testing and theory:
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+ Michael Pieber, Konstantina Ntarladima, Manuel Schieferle, Martin Knapp, Lukas March, Dominik Sponring, David Wibmer, Simon Scheiber
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+ Konstantina Ntarladima, Manuel Schieferle, Martin Knapp, Lukas March, Dominik Sponring, David Wibmer, Simon Scheiber
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-- thanks a lot! --
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Renderer and 3D graphics
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========================
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A 3D renderer is attached to the simulation. Visualization is started with \ ``exu.StartRenderer()``\ , see the examples and tutorials.
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The renderer uses an OpenGL window of a library called GLFW, which is platform-independent.
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The renderer is set up in a minimalistic way, just to ensure that you can check that the modeling is correct. There is no way to contruct models with the renderer. Try to avoid huge number of triangles in STL files or by creating large number of complex objects, such as spheres or cylinders.
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There are some main features in the renderer, using keyboard and mouse:
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+ press key H to show help in renderer
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+ move model by pressing left mouse button and drag
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+ rotate model by pressing right mouse button and drag
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+ change visibility (wire frame, solid, transparent, ...) by pressing T
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+ zoom all: key A
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+ open visualization dialog: key V
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+ show item number: click on graphics element with left mouse button
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+ show item dictionary: click on graphics element with right mouse button
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+ ... (see theDoc.pdfff.)
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Depending on your model (size, place, ...), you may need to adjust the following \ ``openGL``\ parameters in \ ``visualizationSettings``\ :
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+ light and light position
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+ shadow (turned off by using 0; turned on by using, e.g., a value of 0.3) and shadow polygon offset; shadow slows down graphics performance by a factor of 2-3, depending on your graphics card
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+ visibility of nodes, markers, etc. in according bodies, nodes, markers, ..., \ ``visualizationSettings``\
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+ move camera with a selected marker: adjust \ ``trackMarker``\ in \ ``visualizationSettings.interactive``\
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+ ... (see theDoc.pdfff.)
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Graphics pipeline
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=================
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There are basically two loops during simulation, which feed the graphics pipeline.
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The solver runs a loop:
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+ compute step (or set up initial values)
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+ finish computation step; results are in current state
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+ copy current state to visualization state (thread safe)
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+ signal graphics pipeline that new visualization data is available
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+ the renderer may update the visualization depending on \ ``graphicsUpdateInterval``\ in \ \ ``visualizationSettings.general``\
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The openGL graphics thread (=separate thread) runs the following loop:
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+ render openGL scene with a given graphicsData structure (containing lines, faces, text, ...)
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+ go idle for some milliseconds
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+ check if openGL rendering needs an update (e.g. due to user interaction)
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=> if update is needed, the visualization of all items is updated -- stored in a graphicsData structure)
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+ check if new visualization data is available and the time since last update is larger than a presribed value, the graphicsData structure is updated with the new visualization state
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Storing the model view
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----------------------
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======================
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There is a simple way to store the current view (zoom, centerpoint, orientation, etc.) by using \ ``SC.GetRenderState()``\ and \ ``SC.SetRenderState()``\ ,
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see also theDoc.pdf.
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Renderer and 3D graphics
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========================
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A 3D renderer is attached to the simulation. Visualization is started with \ ``exu.StartRenderer()``\ , see the examples and tutorials.
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The renderer uses an OpenGL window of a library called GLFW, which is platform-independent.
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The renderer is set up in a minimalistic way, just to ensure that you can check that the modeling is correct. There is no way to contruct models with the renderer. Try to avoid huge number of triangles in STL files or by creating large number of complex objects, such as spheres or cylinders.
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There are some main features in the renderer, using keyboard and mouse:
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+ press key H to show help in renderer
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+ move model by pressing left mouse button and drag
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+ rotate model by pressing right mouse button and drag
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+ change visibility (wire frame, solid, transparent, ...) by pressing T
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+ zoom all: key A
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+ open visualization dialog: key V
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+ show item number: click on graphics element with left mouse button
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+ show item dictionary: click on graphics element with right mouse button
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+ ... (see theDoc.pdfff.)
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Depending on your model (size, place, ...), you may need to adjust the following \ ``openGL``\ parameters in \ ``visualizationSettings``\ :
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+ light and light position
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+ shadow (turned off by using 0; turned on by using, e.g., a value of 0.3) and shadow polygon offset; shadow slows down graphics performance by a factor of 2-3, depending on your graphics card
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+ visibility of nodes, markers, etc. in according bodies, nodes, markers, ..., \ ``visualizationSettings``\
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+ move camera with a selected marker: adjust \ ``trackMarker``\ in \ ``visualizationSettings.interactive``\
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+ ... (see theDoc.pdfff.)
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Graphics pipeline
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=================
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There are basically two loops during simulation, which feed the graphics pipeline.
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The solver runs a loop:
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+ compute step (or set up initial values)
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+ finish computation step; results are in current state
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+ copy current state to visualization state (thread safe)
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+ signal graphics pipeline that new visualization data is available
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+ the renderer may update the visualization depending on \ ``graphicsUpdateInterval``\ in \ \ ``visualizationSettings.general``\
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The openGL graphics thread (=separate thread) runs the following loop:
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+ render openGL scene with a given graphicsData structure (containing lines, faces, text, ...)
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+ go idle for some milliseconds
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+ check if openGL rendering needs an update (e.g. due to user interaction)
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=> if update is needed, the visualization of all items is updated -- stored in a graphicsData structure)
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+ check if new visualization data is available and the time since last update is larger than a presribed value, the graphicsData structure is updated with the new visualization state
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Graphics user Python functions
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==============================
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Graphics user functions via Python
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==================================
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There are some user functions in order to customize drawing:
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---------------
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Advanced topics
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---------------
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This section covers some advanced topics, which may be only relevant for a smaller group of people.
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Functionality may be extended but also removed in future
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------
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OpenVR
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------
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The general open source libraries from Valve, see
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https://github.com/ValveSoftware/openvr
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have been linked to Exudyn . In order to get OpenVR fully integrated, you need to run \ ``setup.py``\ Exudyn with the \ ``--openvr``\ flag. For general installation instructions, see theDoc.pdf.
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Running OpenVR either requires an according head mounted display (HMD) or a virtualization using, e.g., Riftcat 2 to use a mobile phone with an according adapter. Visualization settings are available in \ ``interactive.openVR``\ , but need to be considered with care.
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An example is provided in \ ``engineOpenVR.py``\ , showing some optimal flags like locking the model rotation, zoom or translation.
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Everything is experimental, but contributions are welcome!
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----------------------------
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Interaction with other codes
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----------------------------
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Interaction with other codes and computers (E.g., MATLAB or other C++ codes, or other Python versions)
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is possible.
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To connect to any other code, it is convenient to use a TCP/IP connection. This is enabled via
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the \ ``exudyn.utilities``\ functions
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+ \ ``CreateTCPIPconnection``\
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+ \ `` TCPIPsendReceive ``\
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+ \ ``CloseTCPIPconnection ``\
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Basically, data can be transmitted in both directions, e.g., within a preStepUserFunction. In Examples, you can find
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TCPIPexudynMatlab.py which shows a basic example for such a connectivity.
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---
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ROS
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---
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Basic interaction with ROS has been tested. However, make sure to use Python 3, as there is (and will never be) a Python 2
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support for Exudyn .
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‎docs/howTo/WSL.txt

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=> now conda works!
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conda create -n venvP36 python=3.6 scipy matplotlib -y
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conda create -n venvP37 python=3.7 scipy matplotlib -y
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conda create -n venvP38 python=3.8 scipy matplotlib -y
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conda create -n venvP39 python=3.9 scipy matplotlib -y
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conda create -n venvP310 python=3.10 scipy matplotlib -y
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conda create -n venvP39 python=3.9 scipy matplotlib tqdm -y
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conda create -n venvP310 python=3.10 scipy matplotlib tqdm -y
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#not yet available: conda create -n venvP311 python=3.11 scipy matplotlib tqdm -y
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python 3.11 workaround (graphics does not work with wsl - even if it works with venvP39 !):
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conda create -n venvP311
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conda install -c conda-forge python=3.11 -y
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conda install tqdm -y
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conda install -c conda-forge numpy -y
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conda install -c conda-forge matplotlib -y
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#install windows terminal
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https://docs.microsoft.com/en-us/windows/terminal/get-started
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#++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

‎docs/theDoc/buildDate.tex

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build date and time=2023-01-12 22:42
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build date and time=2023-01-19 08:08

‎docs/theDoc/gettingStarted.tex

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The following people have contributed to Python and C++ library implementations (as well as to testing, examples, theory, ...):
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\bi
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\item Joachim Sch{\"o}berl, TU Vienna (Providing specialized NGsolve \cite{Schoeberl1997,NGsolve2014,NGsolve2022} core library with \texttt{taskmanager} for \mybold{multi-threaded parallelization}; NGsolve mesh and FE-matrices import; highly efficient eigenvector computations)
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\item Stefan Holzinger, University of Innsbruck (Lie group solvers in Python, Lie group node)
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\item Stefan Holzinger, University of Innsbruck (Lie group module and solvers in Python, Lie group node, testing)
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\item Andreas Zw{\"o}lfer, Technical University Munich (FFRF and CMS formulation)
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\item Peter Manzl, University of Innsbruck (ConvexRoll Python and C++ implementation / pip install on linux / wsl with graphics)
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\item Peter Manzl, University of Innsbruck (ConvexRoll Python and C++ implementation, pip install on linux, wsl with graphics)
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\item Martin Sereinig, University of Innsbruck (special robotics functionality)
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\item Michael Pieber, University of Innsbruck (helped in several Python libraries)
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\item Grzegorz Orzechowski, Lappeenranta University of Technology (coupling with openAI gym and running machine learning algorithms)
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\item Aaron Bacher, University of Innsbruck (helped to integrated OpenVR, connection with Franka Emika Panda)
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\ei
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The following people have contributed to examples, testing and theory:
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\bi
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\item Michael Pieber, Konstantina Ntarladima, Manuel Schieferle, Martin Knapp, Lukas March, Dominik Sponring, David Wibmer, Simon Scheiber
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\item Konstantina Ntarladima, Manuel Schieferle, Martin Knapp, Lukas March, Dominik Sponring, David Wibmer, Simon Scheiber
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\ei
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-- thanks a lot! --
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%

‎docs/theDoc/interfaces.tex

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\begin{longtable}{| p{4.2cm} | p{2.5cm} | p{0.3cm} | p{3.0cm} | p{6cm} |}
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\hline
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\bf Name & \bf type / function return type & \bf size & \bf default value / function args & \bf description \\ \hline
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actionManifestFileName & FileName & & 'C:/openVRactionsManifest.json' & \tabnewline This string must contain a string representing a valid absolute path to a vr\_actions.json manifest, which describes all HMD, tracker, etc. devices as given by openVR\\ \hline
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enable & bool & & False & True: openVR enabled (if compiled with according flag and installed openVR)\\ \hline
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logLevel & Int & & 1 & integer value setting log level of openVR: -1 (no output), 0 (error), 1 (warning), 2 (info), 3 (debug); increase log level to get more output\\ \hline
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showCompanionWindow & bool & & True & True: openVR will show companion window containing left and right eye view\\ \hline
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\end{longtable}
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\end{center}
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joystickScaleTranslation & float & & 6. & translation scaling factor for joystick input\\ \hline
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keypressRotationStep & float & & 5. & rotation increment per keypress in degree (full rotation = 360 degree)\\ \hline
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keypressTranslationStep & float & & 0.1 & translation increment per keypress relative to window size\\ \hline
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lockModelView & bool & & False & True: all movements (with mouse/keys), rotations, zoom are disabled; initial values are considered\\ \hline
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mouseMoveRotationFactor & float & & 1. & rotation increment per 1 pixel mouse movement in degree\\ \hline
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selectionHighlights & bool & & True & True: mouse click highlights item (default: red)\\ \hline
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selectionLeftMouse & bool & & True & True: left mouse click on items and show basic information\\ \hline

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