o
    g'                     @   s   d dl mZ d dlmZ d dlmZmZ d dlmZ d dl	m
Z
 d dlmZmZmZmZmZmZmZmZmZ d dlmZmZ d dlmZmZ d d	lmZ d d
lmZ d dlm Z  ej!Z"dd Z#dd Z$dd Z%dd Z&dd Z'dd Z(dd Z)dd Z*dS )    )expand)symbols)cossin)Matrix)trigsimp)	PinJointJointsMethod	RigidBodyParticleBodyKanesMethodPrismaticJointLagrangesMethodinertia)dynamicsymbolsReferenceFrame)raiseswarns_deprecated_sympy)zeros)lambdify)solvec            	      C   s  t   td} td}W d    n1 sw   Y  td| |}td\}}td\}}| || j  t   t| |}W d    n1 sHw   Y  |j| jksUJ |j	|| gks^J |j
| j|| jj fgksmJ |jt|gkswJ |jt|gksJ |jt||  gksJ | }|t| |  ggksJ |jt|gdggksJ |jtddgd|ggksJ t|jtsJ d S )NPCP1zC_ixx gz
q_P1, u_P1r      )r   r   r   r   r   apply_forceyr	   framebodiesloads
masscenterqr   ukdesdiff	form_eomsforcing_fullmass_matrix_full
isinstancemethodr   )	r   r   PinC_ixxgr"   r#   r*   soln r/   f/var/www/visachat/venv/lib/python3.10/site-packages/sympy/physics/mechanics/tests/test_jointsmethod.pytest_jointsmethod   s,   
r1   c               
   C   s   t d\} }}td}td|d}td}td\}}td||||||  |j |jd}t  t	||}	W d    n1 s?w   Y  |	j
|j|| |j f |	  |	 }
|
d	 | t| |  ksiJ d S )
Nl m gr   bmassb_frameq ur   )coordinatesspeedschild_interframechild_point
joint_axisr   )r   r
   r   r   r   r   xzr   r	   r    appendr!   r&   rhsr   )lmr-   r   r3   r6   r"   r#   r   r*   r@   r/   r/   r0   &test_rigid_body_particle_compatibility*   s   "rC   c                     s`  t   td td} td}W d    n1 sw   Y  td\}}td | |td| ||t   tt fdd W d    n1 sLw   Y  td | |d	td| ||d	t   tt fd
d W d    n1 szw   Y  td | ||td| |||t   tt fdd W d    d S 1 sw   Y  d S )Nr   r   Tr7   r   P2c                         t  S Nr	   r/   r   r   rE   r/   r0   <lambda>C       z?test_jointmethod_duplicate_coordinates_speeds.<locals>.<lambda>)r9   c                      rF   rG   rH   r/   rI   r/   r0   rJ   H   rK   c                      rF   rG   rH   r/   rI   r/   r0   rJ   M   rK   )r   r   r   r   r   r   
ValueError)r   rD   r"   r#   r/   rI   r0   -test_jointmethod_duplicate_coordinates_speeds:   s*   
"rM   c               
   C   s`  t d\} }t d\}}td\}}}t  td}td|d}td|d}	W d    n1 s1w   Y  td|||| | |j |jd	}
td
||	||| |	j |jd	}||| |j  |	|| |j  t  t||
|}W d    n1 s~w   Y  |	  t
|jtg dg dddd|d  | t| d|d  |  |d | t| |d |  gdd|d | t| |d |  |d | ggksJ t|jtt|g|g| | | t| | t|   || | t|   |d | d| |  | t|  g| | | t| |  |d | |d  t|  ggks.J d S )Nzq1 q2zu1 u2zm l gr   r   r4   RJ1r9   r8   r;   r<   J2)r   r   r   r   )r   r   r   r   r         )r   r   r   r   r   r=   r>   r   r	   r&   r   r(   r   r   r   r'   r   )q1q2u1u2rB   rA   r-   r   PartPPartRrO   rQ   r*   r/   r/   r0   $test_complete_simple_double_pendulumO   s@   J.4"6rZ   c                  C   s  t d\} }}}td\}}}}}t  td}	td|d}
td|d}W d    n1 s/w   Y  td|	|
| |d}td	|
|||d}|	j||  |	j |
d
 |	j|| |	j |
d
 |
j|| |	j |d
 |
j|| |	j |d
 t  t|	||}W d    n1 sw   Y  |  |j	}|j
}||}t|d t| |  ||  ||  ||  | ksJ t|d t||  ||  d| |  d| |  | ksJ d S )Nzq1 q2 u1 u2zm c1 c2 k1 k2WB1r4   B2rO   )r8   r9   rQ   )reaction_bodyr   r   rR   )r   r   r   r   r   r   r=   r	   r&   mass_matrixforcingLUsolver   )rT   rU   rV   rW   rB   c1c2k1k2r[   r\   r]   rO   rQ   r*   MMr`   r@   r/   r/   r0   test_two_dof_jointsk   s8   
:(rg   c            	   	   C   s   t d\} }}t  td}td|d}W d    n1 sw   Y  td}td|||t||  |j |jd}| | |  t	| |_
t  t||}W d    n1 sZw   Y  |t | }|d | t| |  kswJ d S )	Nr2   r   r3   r4   r"   r   rP   r   )r   r   r   r   r   r%   tr=   r>   r   potential_energyr	   r&   r   r@   r   )	rA   rB   r-   r   r3   r"   r   r*   r@   r/   r/   r0   test_simple_pedulum   s    
"rj   c               
   C   sV  t d\	} }}}}}}}}td\}	}
}}td}td}t & td| |t|||dd}td||t||||d}td	}W d    n1 sIw   Y  td
|||	|| |j |jd}td|||
||| |j |jd}|	| | |j  |	|| |j  t  t
|||}W d    n1 sw   Y  |  |j}|j}||}d| | | t|
 t|
 d| | | t|
 t|
  || |  t|	  || | t|	  ||t|
d   |t|
d   |d |   |d |   }|d |  dks
J || |d  t|
 t|
 | }|d |  dks)J d S )Nz)mA, mB, lA, lB, IAxx, IBxx, IByy, IBzz, gztheta phi omega alphaABrodr   )r5   r   central_inertiaplater   rO   )r8   r9   r;   r<   rQ   )r8   r9   parent_pointr<   rR   r   )r   r   r   r   r   r   r   r>   r   r   r	   r&   r_   r`   ra   r   r   simplify)mAmBlAlBIAxxIBxxIByyIBzzr-   thetaphiomegaalphark   rl   rm   ro   r   rO   rQ   r*   rf   r`   r@   xdr/   r/   r0   test_chaos_pendulum   s`   

4


$r   c            &         s  t d\} }}}}}td\}}}}	td  fdd||||	fD }
t 5 td | |
d d}td	| |
d
 d}td| |
d d}td|	 |
d d}W d    n1 s`w   Y  td||| ||j|d |j | d |j d}td|||||j|d |j | d |j d}td|||||j|d |j |	 d |j d}|j	|j|d |j  |	d |j  }t
||j||jg}t  t||||}W d    n1 sw   Y  t j}t|j| |||||g}|||}t|j| g|g||g||g|j|||j|jd
}| \}}|td
ks.J t
||||	g}t
| ||g}t
|||g}t||f|j}t|||f|j}t|||f|} g d}!g d}"g d}#t
g dg dg dg}$t
dgdgdgg}%dtfdd | |"|#|!D sJ tfd!d t
||"|!|$ D sJ tfd"d t
||"|#|!|% D sJ d S )#Nz
q1:4, u1:4z	l1:5, rhoNc              	      s&   g | ]}t  d d |d  d qS )r   rS      )r   ).0rA   )r   rhor/   r0   
<listcomp>   s   & zAtest_four_bar_linkage_with_manual_constraints.<locals>.<listcomp>Link1r   )r   r5   rn   Link2r   )r5   rn   Link3rR   Link4rS   rO   )r8   r9   r<   rp   r;   rQ   J3)	q_indu_indq_dependentu_dependentkd_eqsconfiguration_constraintsvelocity_constraints	forcelistr   )gp=
ף?gQ?gzG?g(\?i  )g @gtM)L?gF!8@)g?g68[ƿgൄ?)gDwCA@g_'@gY>)g    gTB?gv1?)g_r=
ףg0 Sg;?gLgd`Egop]?g|=c                 3       | ]	}t | k V  qd S rG   absr   r=   epsr/   r0   	<genexpr>       z@test_four_bar_linkage_with_manual_constraints.<locals>.<genexpr>c                 3   r   rG   r   r   r   r/   r0   r      r   c                 3   r   rG   r   r   r   r/   r0   r      r   )r   r   r   r   r   r   r>   r=   r!   pos_fromr   dotr   r	   _tr   r$   r%   subsr   r   r    r   kanes_equationsr   r   r_   r`   all)&rT   rU   q3rV   rW   u3l1l2l3l4inertiaslink1link2link3link4joint1joint2joint3loopfhr*   rh   qdotsfhdkanefrfrspr"   r#   eval_meval_feval_fhdp_valsq_valsu_vals
mass_checkforcing_checkr/   )r   r   r   r0   -test_four_bar_linkage_with_manual_constraints   s   $$r   N)+sympy.core.functionr   sympy.core.symbolr   (sympy.functions.elementary.trigonometricr   r   sympy.matrices.denser   sympy.simplify.trigsimpr   sympy.physics.mechanicsr   r	   r
   r   r   r   r   r   r   sympy.physics.vectorr   r   sympy.testing.pytestr   r   sympyr   sympy.utilities.lambdifyr   sympy.solvers.solversr   r   rh   r1   rC   rM   rZ   rg   rj   r   r   r/   r/   r/   r0   <module>   s(    ,$