[MBDyn-users] Blender and MBDyn - Promoted to Beta Code

Doug Baldwin doug at baldwintechnology.com
Thu Mar 11 04:29:04 CET 2010


Blender and MBDyn v0.4.0 is released.  Promotion from Alpha to Beta is
justified for the following reasons:

a) The data model is stable, and MBDyn model creation is clean and flawless
(so far as I have tested it).

b) Pilot-in-the-loop interactive flight is stable.

c) An undergraduate student with no background in either Blender or MBDyn
installed this code on his Linux workstation, and after I sent him the
Blender file of an MBDyn linearized flight dynamic model, he was operating
pilot-in-the-loop with his USB joystick.  Again, no background in either
Blender or MBDyn!

d) Practically all Elements and features of MBDyn are supported in the
Blender and MBDyn script (at least for my needs).  If anyone needs a new or
obscure feature, it would be easy to add and can be done without impacting
the data model in most cases.  I would gladly add features as may be needed.

I'm using the code in production (contracted and funded research).  I'd like
to receive reports from others who are using the code, so that I could
confidently promote it from Beta to Production.

The Blender and MBDyn code is available at
http://sourceforge.net/projects/blenderandmbdyn/
README installation instructions are included.

An example of the kind of model this script can generate is provided below.
This is a flight dynamic linear trim condition model based on 6x6 mass,
damping, and stiffness matrices, and includes feedback loops for pitch, yaw,
and roll damping.  Operation of this model in Blender is just like flying a
Remote Control helicopter flight simulator.

This Blender and MBDyn model is available for download at
www.baldwintechnology.com/blender/ ... download the file named aircraft.zip
.  This zip file includes an Excel spreadsheet of the linearized model
specifications, so you can compare it with the MBDyn model.

The automatically generated MBDyn model for the Hover trim condition begins
here, starting with a comment block listing the Nodes, Drives, Drivers, and
Elements.  I've also attached a copy of the MBDyn model to this e-mail.

Doug

###


/* Label Indexes

Nodes:
	0	- Aircraft (Mesh, users=65)
	1	- dummy (Mesh, users=50)

Drives:
	0	- Col_L-rate (Linear drive, users=1)
	1	- Col_M-rate (Linear drive, users=1)
	2	- Col_N-rate (Linear drive, users=1)
	3	- Col_X-rate (Linear drive, users=1)
	4	- Col_Y-rate (Linear drive, users=1)
	5	- Col_Z-rate (Linear drive, users=1)
	6	- Collective (File drive, users=1)
	7	- Collective_Cubic (Cubic drive, users=1)
	8	- Collective_Drive (Drive drive, users=6)
	9	- Cosine drive (Cosine drive)
	10	- FA_L-rate (Linear drive, users=1)
	11	- FA_M-rate (Linear drive, users=1)
	12	- FA_N-rate (Linear drive, users=1)
	13	- FA_X-rate (Linear drive, users=1)
	14	- FA_Y-rate (Linear drive, users=1)
	15	- FA_Z-rate (Linear drive, users=1)
	16	- Feedback_FA (Element drive, users=1)
	17	- Feedback_FA_rate (Cubic drive, users=1)
	18	- Feedback_Lat (Element drive, users=1)
	19	- Feedback_Lat_rate (Cubic drive, users=1)
	20	- Feedback_Ped (Element drive, users=1)
	21	- Feedback_Ped_rate (Cubic drive, users=1)
	22	- Fore_Aft (File drive, users=1)
	23	- Fore_Aft_Cubic (Cubic drive, users=1)
	24	- Fore_Aft_Drive (Drive drive, users=6)
	25	- Fore_Aft_wFeedback (Array drive, users=1)
	26	- L-Moment (Array drive, users=1)
	27	- L_Col (Drive drive, users=1)
	28	- L_FA (Drive drive, users=1)
	29	- L_Lat (Drive drive, users=1)
	30	- L_Ped (Drive drive, users=1)
	31	- Lat_L-rate (Linear drive, users=1)
	32	- Lat_M-rate (Linear drive, users=1)
	33	- Lat_N-rate (Linear drive, users=1)
	34	- Lat_X-rate (Linear drive, users=1)
	35	- Lat_Y-rate (Linear drive, users=1)
	36	- Lat_Z-rate (Linear drive, users=1)
	37	- Lateral (File drive, users=1)
	38	- Lateral_Cubic (Cubic drive, users=1)
	39	- Lateral_Drive (Drive drive, users=6)
	40	- Lateral_wFeedback (Array drive, users=1)
	41	- M-Moment (Array drive, users=1)
	42	- M_Col (Drive drive, users=1)
	43	- M_FA (Drive drive, users=1)
	44	- M_Lat (Drive drive, users=1)
	45	- M_Ped (Drive drive, users=1)
	46	- N-Moment (Array drive, users=1)
	47	- N_Col (Drive drive, users=1)
	48	- N_FA (Drive drive, users=1)
	49	- N_Lat (Drive drive, users=1)
	50	- N_Ped (Drive drive, users=1)
	51	- Null drive (Null drive)
	52	- Ped_L-rate (Linear drive, users=1)
	53	- Ped_M-rate (Linear drive, users=1)
	54	- Ped_N-rate (Linear drive, users=1)
	55	- Ped_X-rate (Linear drive, users=1)
	56	- Ped_Y-rate (Linear drive, users=1)
	57	- Ped_Z-rate (Linear drive, users=1)
	58	- Pedal (File drive, users=1)
	59	- Pedal_Cubic (Cubic drive, users=1)
	60	- Pedal_Drive (Drive drive, users=6)
	61	- Pedal_wFeedback (Array drive, users=1)
	62	- Stiff_X2_rate (Linear drive, users=1)
	63	- Stiff_Y2_rate (Linear drive, users=1)
	64	- Stiff_Y3_rate (Linear drive, users=1)
	65	- Stiff_Z2_rate (Linear drive, users=1)
	66	- Stiff_Z3_rate (Linear drive, users=1)
	67	- X-Force (Array drive, users=1)
	68	- X_Col (Drive drive, users=1)
	69	- X_FA (Drive drive, users=1)
	70	- X_Lat (Drive drive, users=1)
	71	- X_Ped (Drive drive, users=1)
	72	- X_Stiff_2 (Node drive, users=1)
	73	- Y-Force (Array drive, users=1)
	74	- Y_Col (Drive drive, users=1)
	75	- Y_FA (Drive drive, users=1)
	76	- Y_Lat (Drive drive, users=1)
	77	- Y_Ped (Drive drive, users=1)
	78	- Y_Stiff_2 (Node drive, users=1)
	79	- Y_Stiff_3 (Node drive, users=1)
	80	- Z-Force (Array drive, users=1)
	81	- Z_Col (Drive drive, users=1)
	82	- Z_FA (Drive drive, users=1)
	83	- Z_Lat (Drive drive, users=1)
	84	- Z_Ped (Drive drive, users=1)
	85	- Z_Stiff_2 (Node drive, users=1)
	86	- Z_Stiff_3 (Node drive, users=1)
	87	- gravNegate (Constant drive, users=1)
	88	- gravity (Constant drive, users=1)
	89	- pod_force (Constant drive)

Drivers:
	0	- File (File, users=4)

Elements:
	0	- Body (Body)
	1	- Dummy (Dummy)
	2	- Gravity (Gravity)
	3	- L-Moment (Force)
	4	- M-Moment (Force)
	5	- N-Moment (Force)
	6	- Rigid-X (Rigid)
	7	- Rigid-Y (Rigid)
	8	- Rigid-Z (Rigid)
	9	- Structural force (Force)
	10	- Viscous body (Joint, users=3)
	11	- X-Force (Force)
	12	- Y-Force (Force)
	13	- Z-Force (Force)
	14	- Stream motion output (Output)

*/

begin: data;
	integrator: initial value;
end: data;

begin: initial value;
	initial time: 0.0;
	final time: forever;
	time step: 0.0005;
	max iterations: 100;
	tolerance: 5.36999464035e-07;
	derivatives tolerance: 0.0010000000475;
	derivatives coefficient: 1.0000000475e-06;
	output: none;
end: initial value;

begin: control data;
	default orientation: orientation matrix;
	output meter: meter, 0., forever, steps, 67;
	structural nodes: 2;
	joints: 1;
	forces: 7;
	rigid bodies: 1;
	gravity;
	file drivers: 1;
	output elements: 1;
	default output: none;
end: control data;

begin: nodes;
	structural: 0, dynamic,
		reference, global, 0.0, 0.0, 0.0,
		reference, global, matr,
			1.0, -9.43900520481e-38, -3.35278033177e-23,
			-2.93109365914e-30, -1.0, -8.74227765735e-08,
			-3.35278033177e-23, 8.74227765735e-08, -1.0,
		reference, global, null,
		reference, global, null;
	structural: 1, dummy,
		0, offset,
			0.0, 0.0, 0.0,
			matr,
				1.0, -2.93109365914e-30, -3.35278033177e-23,
				-9.43900520481e-38, -1.0, 8.74227765735e-08,
				-3.35278033177e-23, -8.74227765735e-08,
-1.0;
end: nodes;

begin: drivers;
	file: 0, stream,
		stream drive name, "BX0000",
			port, 5500,
			host, "127.0.0.1",
		blocking,
		input every, 66,
		echo, "/home/doug/mbdyn/models/matrix/9400_hover.echo_File",
		4;
end: drivers;

begin: elements;
	body: 0,
		0,
			4263.89990234,
			0.0, 0.0, 0.0,
			matr,
				4547.41015625, 0.0, -2573.340087890625,
				0.0, 21100.58984375, 0.0,
				-2573.340087890625, 0.0, 18757.740234375,
			inertial, matr,
				1.0, -9.43900520481e-38, 2.58608757181e-37,
				-9.43900520481e-38, 1.0, 0.0,
				2.58608757181e-37, 0.0, 1.0;
	joint: 10, viscous body,
		0,
		position, reference, node, null,
		Linear viscous generic,
			matr,
				108.37000274658203, 20.200000762939453,
-76.650001525878906, -211.21000671386719, -1855.489990234375,
131.22999572753906,
				-22.780000686645508, 257.19000244140625,
24.440000534057617, 2088.31005859375, -227.8800048828125,
-869.4000244140625,
				-40.389999389648438, 25.930000305175781,
1518.7900390625, -57.819999694824219, 266.41000366210938, -2917.22998046875,
				-185.89999389648438, 692.40997314453125,
22.059999465942383, 10028.169921875, 693.989990234375, -1569.77001953125,
				-390.07000732421875, -185.89999389648438,
73.760002136230469, 1000.9099731445312, 9652.75, 63.860000610351562,
				-16.309999465942383, -1217.969970703125,
186.25, 667.53997802734375, -4240.31982421875, 9639.0498046875;
	couple: 3, follower,
		0,
			0.999999940395, -5.12713718595e-14,
3.02946261854e-07,
		array, 4,
			drive,
				linear, 0.0, -352.57000732421875,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					file, 0, 1,
			drive,
				linear, 0.0, 533.78997802734375,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 2,
						element, 10, Joint, string,
"wy",
							cubic, 0.0, 0.25,
0.0, 1.0,
			drive,
				linear, 0.0, 728.6199951171875,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 3,
						element, 10, Joint, string,
"wx",
							cubic, 0.0, -0.5,
0.0, -2.0,
			drive,
				linear, 0.0, -1801.530029296875,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 4,
						element, 10, Joint, string,
"wz",
							cubic, 0.0, 0.0,
0.0, -2.0;
	couple: 4, follower,
		0,
			2.22044578455e-16, 0.999999940395,
2.21781618848e-07,
		array, 4,
			drive,
				linear, 0.0, -241.80999755859375,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					file, 0, 1,
			drive,
				linear, 0.0, -1086.260009765625,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 2,
						element, 10, Joint, string,
"wy",
							cubic, 0.0, 0.25,
0.0, 1.0,
			drive,
				linear, 0.0, 358.54000854492188,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 3,
						element, 10, Joint, string,
"wx",
							cubic, 0.0, -0.5,
0.0, -2.0,
			drive,
				linear, 0.0, 77.19000244140625,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 4,
						element, 10, Joint, string,
"wz",
							cubic, 0.0, 0.0,
0.0, -2.0;
	couple: 5, follower,
		0,
			-3.88235149269e-23, -1.74845553147e-07, 1.0,
		array, 4,
			drive,
				linear, 0.0, 2273.929931640625,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					file, 0, 1,
			drive,
				linear, 0.0, 27.5,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 2,
						element, 10, Joint, string,
"wy",
							cubic, 0.0, 0.25,
0.0, 1.0,
			drive,
				linear, 0.0, 40.590000152587891,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 3,
						element, 10, Joint, string,
"wx",
							cubic, 0.0, -0.5,
0.0, -2.0,
			drive,
				linear, 0.0, 7254.16015625,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 4,
						element, 10, Joint, string,
"wz",
							cubic, 0.0, 0.0,
0.0, -2.0;
	force: 9, absolute,
		0,
			position, 0.0, 0.0, 0.0,
			-3.35278033177e-23, -8.74227765735e-08, -1.0,
		-42639.0;
	force: 11, follower,
		0,
			position, 0.0, 0.0, 0.0,
			0.999999940395, -5.12713718595e-14,
3.02946261854e-07,
		array, 5,
			drive,
				linear, 0.0, 253.58000183105469,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					file, 0, 1,
			drive,
				linear, 0.0, 295.260009765625,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 2,
						element, 10, Joint, string,
"wy",
							cubic, 0.0, 0.25,
0.0, 1.0,
			drive,
				linear, 0.0, -95.05999755859375,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 3,
						element, 10, Joint, string,
"wx",
							cubic, 0.0, -0.5,
0.0, -2.0,
			drive,
				linear, 0.0, 0.019999999552965164,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 4,
						element, 10, Joint, string,
"wz",
							cubic, 0.0, 0.0,
0.0, -2.0,
			node, 1, structural, string, "E321[2]",
				linear, 0.0, 41754.12109375;
	force: 12, follower,
		0,
			position, 0.0, 0.0, 0.0,
			2.22044578455e-16, 0.999999940395,
2.21781618848e-07,
		array, 6,
			drive,
				linear, 0.0, -77.949996948242188,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					file, 0, 1,
			drive,
				linear, 0.0, 142.53999328613281,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 2,
						element, 10, Joint, string,
"wy",
							cubic, 0.0, 0.25,
0.0, 1.0,
			drive,
				linear, 0.0, 199.28999328613281,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 3,
						element, 10, Joint, string,
"wx",
							cubic, 0.0, -0.5,
0.0, -2.0,
			drive,
				linear, 0.0, -829.75,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 4,
						element, 10, Joint, string,
"wz",
							cubic, 0.0, 0.0,
0.0, -2.0,
			node, 1, structural, string, "E321[2]",
				linear, 0.0, -58.520000457763672,
			node, 1, structural, string, "E321[3]",
				linear, 0.0, 41739.44140625;
	force: 13, follower,
		0,
			position, 0.0, 0.0, 0.0,
			-3.88235149269e-23, -1.74845553147e-07, 1.0,
		array, 6,
			drive,
				linear, 0.0, -4822.990234375,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					file, 0, 1,
			drive,
				linear, 0.0, 28.809999465942383,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 2,
						element, 10, Joint, string,
"wy",
							cubic, 0.0, 0.25,
0.0, 1.0,
			drive,
				linear, 0.0, -13.300000190734863,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 3,
						element, 10, Joint, string,
"wx",
							cubic, 0.0, -0.5,
0.0, -2.0,
			drive,
				linear, 0.0, 0.0099999997764825821,
				drive,
					cubic, 0.0, 40.0, 0.0, 40.0,
					array, 2,
						file, 0, 4,
						element, 10, Joint, string,
"wz",
							cubic, 0.0, 0.0,
0.0, -2.0,
			node, 1, structural, string, "E321[2]",
				linear, 0.0, 2225.39990234375,
			node, 1, structural, string, "E321[3]",
				linear, 0.0, 1097.510009765625;
	gravity:
			0.0, 0.0, -1.0, 10.0;
	stream output: 14,
		stream name, "MAILBX",
		create, no,
			port, 5501,
			host, "127.0.0.1",
		blocking,
		output every, 66,
		motion, output flags, position, orientation matrix,
velocity,
		0,1;
end: elements;


begin 666 9400_hover.mb2
M"B\J($QA8F5L($EN9&5X97,*"DYO9&5S. at H), DM($%I<F-R869T("A-97-H
M+"!U<V5R<STV-2D*"3$)+2!D=6UM>2 H365S:"P@=7-E<G,]-3 I"@I$<FEV
M97,Z"@DP"2T at 0V]L7TPM<F%T92 H3&EN96%R(&1R:79E+"!U<V5R<STQ*0H)
M,0DM($-O;%]-+7)A=&4@*$QI;F5A<B!D<FEV92P@=7-E<G,],2D*"3()+2!#
M;VQ?3BUR871E("A,:6YE87(@9')I=F4L('5S97)S/3$I"@DS"2T at 0V]L7U at M
M<F%T92 H3&EN96%R(&1R:79E+"!U<V5R<STQ*0H)- DM($-O;%]9+7)A=&4@
M*$QI;F5A<B!D<FEV92P@=7-E<G,],2D*"34)+2!#;VQ?6BUR871E("A,:6YE
M87(@9')I=F4L('5S97)S/3$I"@DV"2T at 0V]L;&5C=&EV92 H1FEL92!D<FEV
M92P@=7-E<G,],2D*"3<)+2!#;VQL96-T:79E7T-U8FEC("A#=6)I8R!D<FEV
M92P@=7-E<G,],2D*"3@)+2!#;VQL96-T:79E7T1R:79E("A$<FEV92!D<FEV
M92P@=7-E<G,]-BD*"3D)+2!#;W-I;F4 at 9')I=F4@*$-O<VEN92!D<FEV92D*
M"3$P"2T at 1D%?3"UR871E("A,:6YE87(@9')I=F4L('5S97)S/3$I"@DQ,0DM
M($9!7TTM<F%T92 H3&EN96%R(&1R:79E+"!U<V5R<STQ*0H),3()+2!&05].
M+7)A=&4@*$QI;F5A<B!D<FEV92P@=7-E<G,],2D*"3$S"2T at 1D%?6"UR871E
M("A,:6YE87(@9')I=F4L('5S97)S/3$I"@DQ- DM($9!7UDM<F%T92 H3&EN
M96%R(&1R:79E+"!U<V5R<STQ*0H),34)+2!&05]:+7)A=&4@*$QI;F5A<B!D
M<FEV92P@=7-E<G,],2D*"3$V"2T at 1F5E9&)A8VM?1D$@*$5L96UE;G0 at 9')I
M=F4L('5S97)S/3$I"@DQ-PDM($9E961B86-K7T9!7W)A=&4@*$-U8FEC(&1R
M:79E+"!U<V5R<STQ*0H),3@)+2!&965D8F%C:U],870@*$5L96UE;G0 at 9')I
M=F4L('5S97)S/3$I"@DQ.0DM($9E961B86-K7TQA=%]R871E("A#=6)I8R!D
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end



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