adapted TestModels and Examples to new mainSystemExtensions

Author: jgerstmayr

INSTALL.txt

@@ -3,13 +3,26 @@ for installation use:
 
 pre-compiled binaries are available via pypi.org
 
-for installation of pre-release versions, use:
+for installation of pre-release versions, which is in line with 
+the latest code on GitHub, use:
   pip install exudyn --pre
 
+for building wheel, go to 'main' folder and inside a Python shell, type:
+  python setup.py bdist_wheel
+
+For detailed, platform-specific installation instructions, see:
+Documentation on ReadTheDocs:
+https://exudyn.readthedocs.io/en/latest/docs/RST/Exudyn.html
+
+PDF documentation:
+https://github.com/jgerstmayr/EXUDYN/tree/master/docs/theDoc/theDoc.pdf
+
 For Examples see: 
+https://exudyn.readthedocs.io/en/latest/docs/RST/ExamplesIndex.html
+https://exudyn.readthedocs.io/en/latest/docs/RST/TestModelsIndex.html
+
+or 
+
 https://github.com/jgerstmayr/EXUDYN/tree/master/main/pythonDev/Examples
 https://github.com/jgerstmayr/EXUDYN/tree/master/main/pythonDev/TestModels
 
-For building instructions and detailed information on installation see:
-https://github.com/jgerstmayr/EXUDYN/tree/master/docs/theDoc/theDoc.pdf
-

README.rst

@@ -37,7 +37,7 @@ Exudyn
 
 **A flexible multibody dynamics systems simulation code with Python and C++**
 
-Exudyn version = 1.6.110.dev1 (Gillespie)
+Exudyn version = 1.6.118.dev1 (Gillespie)
 
 +  **University of Innsbruck**, Department of Mechatronics, Innsbruck, Austria
 

docs/RST/Examples/3SpringsDistance.rst

@@ -120,7 +120,7 @@ You can view and download this file on Github: `3SpringsDistance.py <https://git
        simulationSettings.timeIntegration.generalizedAlpha.useIndex2Constraints = True
        simulationSettings.displayStatistics = True
    
-       exu.SolveDynamic(mbs, simulationSettings)
+       mbs.SolveDynamic(simulationSettings)
    
    else:
        simulationSettings.solutionSettings.coordinatesSolutionFileName = "staticSolution.txt"
@@ -130,7 +130,7 @@ You can view and download this file on Github: `3SpringsDistance.py <https://git
        simulationSettings.staticSolver.newton.absoluteTolerance = 1e-1
        simulationSettings.staticSolver.verboseMode = 2
    
-       exu.SolveStatic(mbs, simulationSettings)
+       mbs.SolveStatic(simulationSettings)
    
    SC.WaitForRenderEngineStopFlag()
    exu.StopRenderer() #safely close rendering window!

docs/RST/Examples/ALEANCFpipe.rst

@@ -190,7 +190,7 @@ You can view and download this file on Github: `ALEANCFpipe.py <https://github.c
        exu.StartRenderer()
        #mbs.WaitForUserToContinue()
    
-       exu.SolveDynamic(mbs, simulationSettings, 
+       mbs.SolveDynamic(simulationSettings, 
                         solverType=exu.DynamicSolverType.TrapezoidalIndex2)
    
        SC.WaitForRenderEngineStopFlag()
@@ -215,7 +215,7 @@ You can view and download this file on Github: `ALEANCFpipe.py <https://github.c
    
        exu.StartRenderer()
    
-       exu.SolveStatic(mbs, simulationSettings)
+       mbs.SolveStatic(simulationSettings)
    
        sol = mbs.systemData.GetODE2Coordinates()
        n = len(sol)

docs/RST/Examples/ANCFALEtest.rst

@@ -186,7 +186,7 @@ You can view and download this file on Github: `ANCFALEtest.py <https://github.c
    #static step
    simulationSettings.staticSolver.numberOfLoadSteps=10
    
-   success = exu.SolveStatic(mbs, simulationSettings, updateInitialValues=True)
+   success = mbs.SolveStatic(simulationSettings, updateInitialValues=True)
    
    
    #turn on moving beam:
@@ -199,7 +199,7 @@ You can view and download this file on Github: `ANCFALEtest.py <https://github.c
    #rope decelerates due to gravity and then runs backwards
    simulationSettings.timeIntegration.numberOfSteps = int(1/h)
    simulationSettings.timeIntegration.endTime = 1
-   success = exu.SolveDynamic(mbs, simulationSettings, 
+   success = mbs.SolveDynamic(simulationSettings, 
                                exudyn.DynamicSolverType.TrapezoidalIndex2,
                                updateInitialValues=True)
    mbs.systemData.SetODE2Coordinates_tt(coordinates = mbs.systemData.GetODE2Coordinates_tt(), 
@@ -219,7 +219,7 @@ You can view and download this file on Github: `ANCFALEtest.py <https://github.c
    simulationSettings.solutionSettings.appendToFile = True #continue solution
    simulationSettings.timeIntegration.endTime = tEnd
    
-   success = exu.SolveDynamic(mbs, simulationSettings, 
+   success = mbs.SolveDynamic(simulationSettings, 
                               exudyn.DynamicSolverType.TrapezoidalIndex2
                               )
    
@@ -229,9 +229,9 @@ You can view and download this file on Github: `ANCFALEtest.py <https://github.c
    
        plt.close('all')
        if True:
-           from exudyn.plot import PlotSensor
+           
            plt.figure("ALE pos/vel")
-           PlotSensor(mbs, sensorNumbers=[mbs.variables['sALEpos'],mbs.variables['sALEvel']], components=[0,0])
+           mbs.PlotSensor(sensorNumbers=[mbs.variables['sALEpos'],mbs.variables['sALEvel']], components=[0,0])
        
        plt.figure("midpoint")
        data0 = np.loadtxt('solution/beamALEmidPoint.txt', comments='#', delimiter=',') 

docs/RST/Examples/ANCFcantileverTest.rst

@@ -110,7 +110,7 @@ You can view and download this file on Github: `ANCFcantileverTest.py <https://g
    
    if doDynamicSimulation:
        exu.StartRenderer()
-       exu.SolveDynamic(mbs, simulationSettings)
+       mbs.SolveDynamic(simulationSettings)
        SC.WaitForRenderEngineStopFlag()
        exu.StopRenderer() #safely close rendering window!
    else:
@@ -129,8 +129,8 @@ You can view and download this file on Github: `ANCFcantileverTest.py <https://g
            mbs.SetLoadParameter(nLoad, 'loadVector', [0, -loadValue,0])
            print('load vector=' + str(mbs.GetLoadParameter(nLoad, 'loadVector')) )
        
-           exu.SolveStatic(mbs, simulationSettings, updateInitialValues=True)
-           #exu.SolveStatic(mbs, simulationSettings, updateInitialValues=False) #second solve to increase accuracy
+           mbs.SolveStatic(simulationSettings, updateInitialValues=True)
+           #mbs.SolveStatic(simulationSettings, updateInitialValues=False) #second solve to increase accuracy
        
            sol = mbs.systemData.GetODE2Coordinates()
            

docs/RST/Examples/ANCFcantileverTestDyn.rst

@@ -138,7 +138,7 @@ You can view and download this file on Github: `ANCFcantileverTestDyn.py <https:
    simulationSettings.solutionSettings.solutionInformation = "nonlinear beam oscillations"
    
    exu.StartRenderer()
-   exu.SolveDynamic(mbs, simulationSettings)
+   mbs.SolveDynamic(simulationSettings)
    SC.WaitForRenderEngineStopFlag()
    exu.StopRenderer() #safely close rendering window!
    

docs/RST/Examples/ANCFcontactCircle.rst

@@ -187,7 +187,7 @@ You can view and download this file on Github: `ANCFcontactCircle.py <https://gi
    if solveDynamic: 
        exu.StartRenderer()
    
-       exu.SolveDynamic(mbs, simulationSettings)
+       mbs.SolveDynamic(simulationSettings)
    
        SC.WaitForRenderEngineStopFlag()
        exu.StopRenderer() #safely close rendering window!
@@ -207,7 +207,7 @@ You can view and download this file on Github: `ANCFcontactCircle.py <https://gi
        exu.StartRenderer()
    
        #mbs.WaitForUserToContinue()
-       exu.SolveStatic(mbs, simulationSettings)
+       mbs.SolveStatic(simulationSettings)
    
        sol = mbs.systemData.GetODE2Coordinates()
        n = len(sol)

docs/RST/Examples/ANCFcontactCircle2.rst

@@ -204,7 +204,7 @@ You can view and download this file on Github: `ANCFcontactCircle2.py <https://g
    if solveDynamic: 
        exu.StartRenderer()
    
-       exu.SolveDynamic(mbs, simulationSettings)
+       mbs.SolveDynamic(simulationSettings)
    
        SC.WaitForRenderEngineStopFlag()
        exu.StopRenderer() #safely close rendering window!
@@ -229,7 +229,7 @@ You can view and download this file on Github: `ANCFcontactCircle2.py <https://g
        exu.StartRenderer()
    
        mbs.WaitForUserToContinue()
-       exu.SolveStatic(mbs, simulationSettings)
+       mbs.SolveStatic(simulationSettings)
    
        #sol = mbs.systemData.GetODE2Coordinates()
        #n = len(sol)

docs/RST/Examples/ANCFmovingRigidbody.rst

@@ -254,7 +254,7 @@ You can view and download this file on Github: `ANCFmovingRigidbody.py <https://
    if solveDynamic: 
        exu.StartRenderer()
    
-       exu.SolveDynamic(mbs, simulationSettings)
+       mbs.SolveDynamic(simulationSettings)
    
        SC.WaitForRenderEngineStopFlag()
        exu.StopRenderer() #safely close rendering window!
@@ -277,7 +277,7 @@ You can view and download this file on Github: `ANCFmovingRigidbody.py <https://
    
        exu.StartRenderer()
    
-       exu.SolveStatic(mbs, simulationSettings)
+       mbs.SolveStatic(simulationSettings)
    
        sol = mbs.systemData.GetODE2Coordinates()
        n = len(sol)

docs/RST/Examples/ANCFslidingJoint2D.rst

@@ -243,7 +243,7 @@ You can view and download this file on Github: `ANCFslidingJoint2D.py <https://g
    if solveDynamic: 
        exu.StartRenderer()
    
-       exu.SolveDynamic(mbs, simulationSettings)
+       mbs.SolveDynamic(simulationSettings)
    
        SC.WaitForRenderEngineStopFlag()
        exu.StopRenderer() #safely close rendering window!
@@ -266,7 +266,7 @@ You can view and download this file on Github: `ANCFslidingJoint2D.py <https://g
    
        exu.StartRenderer()
    
-       exu.SolveStatic(mbs, simulationSettings)
+       mbs.SolveStatic(simulationSettings)
    
        #sol = mbs.systemData.GetODE2Coordinates()
        #n = len(sol)

docs/RST/Examples/ANCFslidingJoint2Drigid.rst

@@ -192,7 +192,7 @@ You can view and download this file on Github: `ANCFslidingJoint2Drigid.py <http
        exu.StartRenderer()
        mbs.WaitForUserToContinue()
    
-       exu.SolveDynamic(mbs, simulationSettings)
+       mbs.SolveDynamic(simulationSettings)
    
        SC.WaitForRenderEngineStopFlag()
        exu.StopRenderer() #safely close rendering window!
@@ -217,7 +217,7 @@ You can view and download this file on Github: `ANCFslidingJoint2Drigid.py <http
    
        exu.StartRenderer()
    
-       exu.SolveStatic(mbs, simulationSettings)
+       mbs.SolveStatic(simulationSettings)
    
        #sol = mbs.systemData.GetODE2Coordinates()
        #n = len(sol)

docs/RST/Examples/ANCFswitchingSlidingJoint2D.rst

@@ -237,11 +237,11 @@ You can view and download this file on Github: `ANCFswitchingSlidingJoint2D.py <
    
    
    exu.StartRenderer()
-   exu.SolveDynamic(mbs, simulationSettings)
+   mbs.SolveDynamic(simulationSettings)
    
    if False:
        for i in range(5000): #2500
-           exu.SolveDynamic(mbs, simulationSettings)
+           mbs.SolveDynamic(simulationSettings)
    
            if mbs.GetRenderEngineStopFlag():
                print('stopped by user')

docs/RST/Examples/ANCFtestHalfcircle.rst

@@ -155,7 +155,7 @@ You can view and download this file on Github: `ANCFtestHalfcircle.py <https://g
        
        mbs.SetPreStepUserFunction(UFchangeLoad)
    
-       exu.SolveDynamic(mbs, simulationSettings)
+       mbs.SolveDynamic(simulationSettings)
        #v = mbs.CallObjectFunction(1,'GetAngularVelocity',{'localPosition':[L/2,0,0],'configuration':'Current'})
        #print('angular vel='+str(v))
        SC.WaitForRenderEngineStopFlag()
@@ -197,7 +197,7 @@ You can view and download this file on Github: `ANCFtestHalfcircle.py <https://g
                #    cableDict['physicsReferenceAxialStrain'] = 0.1*curvatureValue
                #    mbs.ModifyObject(nCable, cableDict)
            
-               exu.SolveStatic(mbs, simulationSettings)
+               mbs.SolveStatic(simulationSettings)
    
                sol = mbs.systemData.GetODE2Coords()
                mbs.systemData.SetODE2Coords(coords=sol, configurationType=exu.ConfigurationType.Initial) #set initial conditions for next step
@@ -214,7 +214,7 @@ You can view and download this file on Github: `ANCFtestHalfcircle.py <https://g
        else:
            simulationSettings.staticSolver.numberOfLoadSteps = 1
            simulationSettings.staticSolver.adaptiveStep = True
-           exu.SolveStatic(mbs, simulationSettings)
+           mbs.SolveStatic(simulationSettings)
    
    
        SC.WaitForRenderEngineStopFlag()

docs/RST/Examples/ANCFtests2.rst

@@ -165,7 +165,7 @@ You can view and download this file on Github: `ANCFtests2.py <https://github.co
    
        
    
-       exu.SolveDynamic(mbs, simulationSettings)
+       mbs.SolveDynamic(simulationSettings)
    
        SC.WaitForRenderEngineStopFlag()
        exu.StopRenderer() #safely close rendering window!
@@ -200,7 +200,7 @@ You can view and download this file on Github: `ANCFtests2.py <https://github.co
                #    cableDict['physicsReferenceAxialStrain'] = 0.1*curvatureValue
                #    mbs.ModifyObject(nCable, cableDict)
            
-               exu.SolveStatic(mbs, simulationSettings)
+               mbs.SolveStatic(simulationSettings)
    
                sol = mbs.systemData.GetODE2Coordinates()
                mbs.systemData.SetODE2Coordinates(coordinates=sol, configurationType=exu.ConfigurationType.Initial) #set initial conditions for next step
@@ -216,7 +216,7 @@ You can view and download this file on Github: `ANCFtests2.py <https://github.co
            simulationSettings.staticSolver.newton.relativeTolerance = 1e-7
            simulationSettings.staticSolver.verboseMode = 1
            simulationSettings.displayStatistics = True
-           exu.SolveStatic(mbs, simulationSettings)
+           mbs.SolveStatic(simulationSettings)
    
    
        SC.WaitForRenderEngineStopFlag()

docs/RST/Examples/CMSexampleCourse.rst

@@ -458,7 +458,7 @@ You can view and download this file on Github: `CMSexampleCourse.py <https://git
        if 'renderState' in exu.sys: SC.SetRenderState(exu.sys['renderState']) #load last model view
        mbs.WaitForUserToContinue() #press space to continue
            
-   exu.SolveDynamic(mbs, #solverType=exu.DynamicSolverType.TrapezoidalIndex2, 
+   mbs.SolveDynamic(#solverType=exu.DynamicSolverType.TrapezoidalIndex2, 
                      simulationSettings=simulationSettings)
                
    if addSensors:
@@ -478,8 +478,8 @@ You can view and download this file on Github: `CMSexampleCourse.py <https://git
    if False: #use this to reload the solution and use SolutionViewer
        SC.visualizationSettings.general.autoFitScene=False #if reloaded view settings
    
-       from exudyn.interactive import SolutionViewer
-       SolutionViewer(mbs) #can also be entered in IPython ...
+       
+       mbs.SolutionViewer() #can also be entered in IPython ...
    
    
    # # Plot sensor
@@ -488,8 +488,8 @@ You can view and download this file on Github: `CMSexampleCourse.py <https://git
    
    
    if addSensors:
-       from exudyn.plot import PlotSensor
-       PlotSensor(mbs, sensorNumbers=[sMidDispl,sMidDispl,sMidDispl], components=[0,1,2])
+       
+       mbs.PlotSensor(sensorNumbers=[sMidDispl,sMidDispl,sMidDispl], components=[0,1,2])
    
    
    # In[ ]:

docs/RST/Examples/ComputeSensitivitiesExample.rst

@@ -112,7 +112,7 @@ You can view and download this file on Github: `ComputeSensitivitiesExample.py <
        mbs.Assemble()
        
        #start solver:
-       exu.SolveDynamic(mbs, simulationSettings)
+       mbs.SolveDynamic(simulationSettings)
        
    
    

docs/RST/Examples/HydraulicActuator2Arms.rst

@@ -276,24 +276,24 @@ You can view and download this file on Github: `HydraulicActuator2Arms.py <https
    mbs.WaitForUserToContinue()
    
    #use %timeit to measure time!
-   exu.SolveDynamic(mbs, simulationSettings, showHints=False)
+   mbs.SolveDynamic(simulationSettings, showHints=False)
    
    
    if True: #use this to reload the solution and use SolutionViewer
        SC.visualizationSettings.general.autoFitScene = False
-       from exudyn.interactive import SolutionViewer
-       SolutionViewer(mbs) #can also be entered in IPython ...
+       
+       mbs.SolutionViewer() #can also be entered in IPython ...
    
    exu.StopRenderer() #safely close rendering window!
    
-   from exudyn.plot import PlotSensor
-   PlotSensor(mbs, sensorNumbers=[sForce,sForce2], components=[exudyn.plot.componentNorm]*2, labels=['connector force arm1','connector force arm1'], yLabel='force (N)', closeAll=True)
-   PlotSensor(mbs, sensorNumbers=[sDistance,sDistance2], components=0)
-   PlotSensor(mbs, sensorNumbers=[sPressures]*2+[sPressures2]*2, components=[0,1,0,1], labels=['p0 arm1', 'p1 arm1', 'p0 arm2', 'p1 arm2'], yLabel='pressure (N/m^2)')
+   
+   mbs.PlotSensor(sensorNumbers=[sForce,sForce2], components=[exudyn.plot.componentNorm]*2, labels=['connector force arm1','connector force arm1'], yLabel='force (N)', closeAll=True)
+   mbs.PlotSensor(sensorNumbers=[sDistance,sDistance2], components=0)
+   mbs.PlotSensor(sensorNumbers=[sPressures]*2+[sPressures2]*2, components=[0,1,0,1], labels=['p0 arm1', 'p1 arm1', 'p0 arm2', 'p1 arm2'], yLabel='pressure (N/m^2)')
    
    #p01 = mbs.GetSensorStoredData(sPressures)
    #p01[:,1] = A[0]*p01[:,1] - A[1]*p01[:,2]
-   #PlotSensor(mbs, sensorNumbers=p01, components=0, labels=['differential hydraulic force'], yLabel='hydraulic force (N)')
+   #mbs.PlotSensor(sensorNumbers=p01, components=0, labels=['differential hydraulic force'], yLabel='hydraulic force (N)')