2d:null 2e:["$","title",null,{"children":"Pendulum Load in Lifting Operation | Icaro Fonseca | Observable"}] 33:T6fc,e2 = { const height = 400; const aspect = width / height; const camera = new THREE.PerspectiveCamera(50, aspect); camera.up.set(0, 0, 1); scene.add(camera); const LOA = ship.structure.hull.attributes.LOA; camera.position.set(0.3 * LOA, 0.7 * LOA, 0.7 * LOA); const renderer = new THREE.WebGLRenderer({ antialias: true }); const controls = new THREE.OrbitControls(camera, renderer.domElement); controls.target = new THREE.Vector3(0, 0, 0); controls.update(); invalidation.then(() => renderer.dispose()); renderer.setSize(width, height); renderer.setPixelRatio(devicePixelRatio); const clock = new THREE.Clock(); var tprev = 0; var animate = function() { var time = clock.getElapsedTime(); var dt = time - tprev; ship3D.heave = states.discrete.WaveMotion.state.heaveAmp * Math.cos(wavCre.waveDef.waveFreq * time); ship3D.roll = -states.discrete.WaveMotion.state.rollAmp * Math.cos(wavCre.waveDef.waveFreq * time); states.continuous.motion.heave = ship3D.heave; states.continuous.motion.roll = ship3D.roll; states.continuous.motion.pitch = 0; loadGroup.position.z = ship3D.heave + zDiff + zLever * Math.cos(ship3D.roll) + yLever * Math.sin(ship3D.roll); loadGroup.position.y = -zLever * Math.sin(ship3D.roll) + yLever * Math.cos(ship3D.roll); if (dt !== 0) { // solve the pendulum ODE: pend.movePendulum(tprev, dt); } var tprev = time; const rotAngles = new THREE.Euler( states.continuous.phi[0], states.continuous.phi[1], 0, 'XYZ' ); loadGroup.setRotationFromEuler(rotAngles); requestAnimationFrame(animate); renderer.render(scene, camera); }; animate(); yield renderer.domElement; }34:T6f4,{ var tmax = 100; var t = numeric.linspace(0, tmax, 5000); var initzl = deckHeight - L; var heave = []; var heaveCoeff = states.discrete.WaveMotion.state.heaveAmp; for (var index = 0; index < t.length; index++) { heave.push(heaveCoeff * Math.cos(wavCre.waveDef.waveFreq * t[index])); } var roll = []; var rollCoeff = states.discrete.WaveMotion.state.rollAmp; for (index = 0; index < t.length; index++) { roll.push(rollCoeff * Math.cos(wavCre.waveDef.waveFreq * t[index])); } var ship_xz = [{data: numeric.transpose([t, heave]), label: "Heave"}, {data: numeric.transpose([t, roll]), label: "Roll"}]; $.plot("#ship_xz", ship_xz, {xaxis: {tickFormatter: function(val, axis) {return val < axis.max ? val.toFixed(2) : "time (s)";}}}); var yDisp = []; for (index = 0; index < t.length; index++) { yDisp.push(initzl * (roll[index] - roll[0])); } var zDisp = []; for (index = 0; index < t.length; index++) { zDisp.push(heave[index] - (yLever - states.discrete.FloatingCondition.state.w.cg.y) * roll[index] - (heave[0] - (yLever - states.discrete.FloatingCondition.state.w.cg.y) * roll[0])); } var frame_tip_yz = [{data: numeric.transpose([t, yDisp]), label: "yDisp"}, {data: numeric.transpose([t, zDisp]), label: "zDisp"}]; $.plot("#frame_tip_yz", frame_tip_yz, {xaxis: {tickFormatter: function(val, axis) {return val < axis.max ? val.toFixed(2) : "time (s)";}}}); var sol = numeric.dopri(0, tmax, [0, 0, 0, 0], pend.f); //max x, min x, init X var load_phi = numeric.rep([sol.x.length, 2], 0); for (var i = 0; i < sol.x.length; i++) { load_phi[i][0] = sol.x[i]; load_phi[i][1] = sol.y[i][0]; } $.plot("#load_phi", [load_phi], {xaxis: {tickFormatter: function(val, axis) {return val < axis.max ? val.toFixed(2) : "time (s)";}}}); }35:T4d70,Ship3D = {//@EliasHasle /* Draft for new version. More modularized, and interacts with a ship state. Uses an additional coordinate system for motions. The position.xy and rotation.z of the Ship3D object plae the ship in the 3D world. (Not geographically) position.z is the (negative) draft. fluctCont is a "fluctuations container" to be used for dynamically changing motions like heave, pitch, roll. cmContainer centers the motion on the center of gravity. normalizer nulls out the center of gravity height before the draft is applied. THREE.js Object3D constructed from Vessel.js Ship object. There are some serious limitations to this: 1. null values encountered are assumed to be either at the top or bottom of the given station. 2. The end caps and bulkheads are sometimes corrected with zeros where they should perhaps have been clipped because of null values. TODO: Use calculated draft for position.z, and place the ship model in a motion container centered at the calculated metacenter. */ //var hMat; //global for debugging function Ship3D(ship, {shipState, stlPath, deckOpacity = 0.2, objectOpacity = 0.5}) { THREE.Group.call(this); this.normalizer = new THREE.Group(); this.fluctCont = new THREE.Group(); this.fluctCont.rotation.order = "ZYX"; //right? this.cmContainer = new THREE.Group(); this.fluctCont.add(this.cmContainer); this.normalizer.add(this.fluctCont); this.add(this.normalizer); Object.defineProperty(this, "draft", { get: function() { return -this.position.z; }/*, set: function(value) { this.position.z = -value; }*/ }); Object.defineProperty(this, "surge", { get: function() { return this.fluctCont.position.x; }, set: function(value) { this.fluctCont.position.x = value; //this.shipState.motion.surge = value; } }); Object.defineProperty(this, "sway", { get: function() { return this.fluctCont.position.y; }, set: function(value) { this.fluctCont.position.y = value; //this.shipState.motion.sway = value; } }); Object.defineProperty(this, "heave", { get: function() { return this.fluctCont.position.z; }, set: function(value) { this.fluctCont.position.z = value; //this.shipState.motion.heave = value; } }); Object.defineProperty(this, "yaw", { get: function() { return this.fluctCont.rotation.z; }, set: function(value) { this.fluctCont.rotation.z = value; //this.shipState.motion.yaw = value; } }); Object.defineProperty(this, "pitch", { get: function() { return this.fluctCont.rotation.y; }, set: function(value) { this.fluctCont.rotation.y = value; //this.shipState.motion.pitch = value; } }); Object.defineProperty(this, "roll", { get: function() { return this.fluctCont.rotation.x; }, set: function(value) { this.fluctCont.rotation.x = value; //this.shipState.motion.roll = value; } }); this.objectOpacity = objectOpacity; this.ship = ship; this.shipState = shipState || ship.designState.clone(); let hull = ship.structure.hull; let LOA = hull.attributes.LOA; let BOA = hull.attributes.BOA; let Depth = hull.attributes.Depth; //console.log("LOA:%.1f, BOA:%.1f, Depth:%.1f",LOA,BOA,Depth); let {w: {cg, mass}, T, GMt, GMl} = ship.calculateStability(this.shipState); this.cmContainer.position.set(-cg.x, -cg.y, -cg.z); this.normalizer.position.z = cg.z; this.position.z = -T; let designDraft = ship.designState.calculationParameters.Draft_design; this.hull3D = new Hull3D(hull, designDraft); this.cmContainer.add(this.hull3D); //DEBUG, to show only hull: //return; let stations = hull.halfBreadths.stations; //Decks: var decks = new THREE.Group(); let deckMat = new THREE.MeshPhongMaterial({color: 0xcccccc/*this.randomColor()*/, transparent: true, opacity: deckOpacity, side: THREE.DoubleSide}); //deckGeom.translate(0,0,-0.5); let ds = ship.structure.decks; //let dk = Object.keys(ds); let stss = stations.map(st => LOA * st); //use scaled stations for now //console.log(dk); //for (let i = 0; i < dk.length; i++) { for (let dk in ds) { //let d = ds[dk[i]]; //deck in ship structure let d = ds[dk]; //Will eventually use BoxBufferGeometry, but that is harder, because vertices are duplicated in the face planes. let deckGeom = new THREE.PlaneBufferGeometry(1, 1, stss.length, 1);//new THREE.BoxBufferGeometry(1,1,1,sts.length,1,1); //console.log("d.zFloor=%.1f", d.zFloor); //DEBUG let zHigh = d.zFloor; let zLow = d.zFloor - d.thickness; let wlHigh = hull.getWaterline(zHigh); let wlLow = hull.getWaterline(zLow); let pos = deckGeom.getAttribute("position"); let pa = pos.array; for (let j = 0; j < stss.length + 1; j++) { //This was totally wrong, and still would benefit from //not mapping directly to stations, as shorter decks will //Get zero-width sections let x = stss[j];//d.xAft+(j/stss.length)*(d.xFwd-d.xAft); if (isNaN(x)) x = stss[j-1]; x = Math.max(d.xAft, Math.min(d.xFwd, x)); let y1 = Vessel.f.linearFromArrays(stss, wlHigh, x); let y2 = Vessel.f.linearFromArrays(stss, wlLow, x); let y = Math.min(0.5 * d.breadth, y1, y2); pa[3 * j] = x; pa[3 * j + 1] = y; pa[3 * (stss.length + 1) + 3 * j] = x; pa[3 * (stss.length + 1) + 3 * j + 1] = -y; //test } pos.needsUpdate = true; //DEBUG //console.log("d.xFwd=%.1f, d.xAft=%.1f, 0.5*d.breadth=%.1f", d.xFwd, d.xAft, 0.5*d.breadth); //console.log(pa); let mat = deckMat; if (d.style) { mat = new THREE.MeshPhongMaterial({color: typeof d.style.color !== "undefined" ? d.style.color : 0xcccccc, transparent: true, opacity: typeof d.style.opacity !== "undefined" ? d.style.opacity : deckOpacity, side: THREE.DoubleSide}); } let deck = new THREE.Mesh(deckGeom, mat); deck.name = dk;//[i]; deck.position.z = d.zFloor; //deck.scale.set(d.xFwd-d.xAft, d.breadth, d.thickness); //deck.position.set(0.5*(d.xFwd+d.xAft), 0, d.zFloor); decks.add(deck); } this.decks = decks; this.cmContainer.add(decks); //Bulkheads: var bulkheads = new THREE.Group(); bulkheads.scale.set(1, 0.5 * BOA, Depth); //Should have individually trimmed geometries like the decks let bhGeom = new THREE.BoxBufferGeometry(1, 1, 1); bhGeom.translate(0, 0, 0.5); let bhMat = new THREE.MeshPhongMaterial({color: 0xcccccc/*this.randomColor()*/, transparent: true, opacity: deckOpacity, side: THREE.DoubleSide}); bhGeom.translate(0.5, 0, 0); let bhs = ship.structure.bulkheads; //let bhk = Object.keys(bhs); //for (let i = 0; i < bhk.length; i++) { for (let bhk in bhs) { let bh = bhs[bhk];//bhs[bhk[i]]; let mat = bhMat; if (bh.style) { mat = new THREE.MeshPhongMaterial({color: typeof bh.style.color !== "undefined" ? bh.style.color : 0xcccccc, transparent: true, opacity: typeof bh.style.opacity !== "undefined" ? bh.style.opacity : deckOpacity, side: THREE.DoubleSide}); } let bulkhead = new THREE.Mesh(bhGeom, mat); bulkhead.name = bhk;//[i]; bulkhead.scale.set(bh.thickness, 1, 1); bulkhead.position.set(bh.xAft, 0, 0); bulkheads.add(bulkhead); } this.bulkheads = bulkheads; this.cmContainer.add(bulkheads); //Objects this.materials = {}; this.stlPath = stlPath; let stlManager = new THREE.LoadingManager(); this.stlLoader = new THREE.STLLoader(stlManager); /*stlManager.onLoad = function() { createGUI(materials, deckMat); }*/ this.blocks = new THREE.Group(); this.cmContainer.add(this.blocks); //Default placeholder geometry this.boxGeom = new THREE.BoxBufferGeometry(1, 1, 1); this.boxGeom.translate(0, 0, 0.5); let objects = Object.values(ship.derivedObjects); for (let i = 0; i < objects.length; i++) { this.addObject(objects[i]); } //console.log("Reached end of Ship3D constructor."); } Ship3D.prototype = Object.create(THREE.Group.prototype); Object.assign(Ship3D.prototype, { constructor: Ship3D, addObject: function(object) { let mat; if (typeof object.style.color !== "undefined" || typeof object.style.opacity !== "undefined") { let color = typeof object.style.color !== "undefined" ? object.style.color : this.randomColor(); let opacity = typeof object.style.opacity !== "undefined" ? object.style.opacity : this.objectOpacity; mat = new THREE.MeshPhongMaterial({color, transparent: true, opacity}); } else { let name = this.stripName(object.id); if (this.materials[name] !== undefined) { mat = this.materials[name]; } else { mat = new THREE.MeshPhongMaterial({color: this.randomColor(), transparent: true, opacity: this.objectOpacity}); this.materials[name] = mat; } } let bo = object.baseObject; //Position let s = this.ship.designState.getObjectState(object); let x = s.xCentre; let y = s.yCentre; let z = s.zBase; //Small position jitter to avoid z-fighting let n = 0.01*(2*Math.random()-1); x += n; y += n; z += n; //Scale let d = bo.boxDimensions; if (bo.file3D) { let self = this; this.stlLoader.load( this.stlPath + "/" + bo.file3D, function onLoad(geometry) { //Normalize: geometry.computeBoundingBox(); let b = geometry.boundingBox; geometry.translate(-b.min.x, -b.min.y, -b.min.z); geometry.scale(1 / (b.max.x - b.min.x), 1 / (b.max.y - b.min.y), 1 / (b.max.z - b.min.z)); //Align with the same coordinate system as placeholder blocks: geometry.translate(-0.5, -0.5, 0); let m = new THREE.Mesh(geometry, mat); m.position.set(x, y, z); m.scale.set(d.length, d.breadth, d.height); m.name = object.id; self.blocks.add(m); }, undefined, function onError() { console.warn("Error loading STL file " + bo.file3D + ". Falling back on placeholder."); let m = new THREE.Mesh(this.boxGeom, mat); m.position.set(x, y, z); m.scale.set(d.length, d.breadth, d.height); m.name = object.id; this.blocks.add(m); } ); } else { //Placeholder: let m = new THREE.Mesh(this.boxGeom, mat); m.position.set(x, y, z); m.scale.set(d.length, d.breadth, d.height); m.name = object.id; this.blocks.add(m); } }, //this function is used as a temporary hack to group similar objects by color stripName: function(s) { s = s.replace(/[0-9]/g, ""); s = s.trim(); return s; }, randomColor: function() { let r = Math.round(Math.random() * 0xff); let g = Math.round(Math.random() * 0xff); let b = Math.round(Math.random() * 0xff); return ((r << 16) | (g << 8) | b); } }); //Class to contain the geometry of a hull side. //(Should perhaps be replaced by a HullGeometry class, but then //it cannot be a simple subclass of PlaneBufferGeometry.) //After instantiation, stations, waterlines and table can be modified or replaced, //but the data dimensions NxM must remain the same. function HullSideGeometry(stations, waterlines, table) { this.stations = stations; this.waterlines = waterlines; this.table = table; this.N = stations.length; this.M = waterlines.length; //Hull side, in principle Y offsets on an XZ plane: //Even though a plane geometry is usually defined in terms of Z offsets on an XY plane, the order of the coordinates for each vertex is not so important. What is important is to get the topology right. This is ensured by working with the right order of the vertices. THREE.PlaneBufferGeometry.call(this, undefined, undefined, this.N - 1, this.M - 1); this.update(); } HullSideGeometry.prototype = Object.create(THREE.PlaneBufferGeometry.prototype); Object.assign(HullSideGeometry.prototype, { update: function() { let pos = this.getAttribute("position"); let pa = pos.array; const N = this.N; const M = this.M; //loop1: //zs let c = 0; //Iterate over waterlines for (let j = 0; j < M; j++) { //loop2: //xs //iterate over stations for (let i = 0; i < N; i++) { //if (table[j][i] === null) continue;// loop1; pa[c] = this.stations[i]; //x //DEBUG, OK. No attempts to read outside of table /*if(typeof table[j] === "undefined") console.error("table[%d] is undefined", j); else if (typeof table[j][i] === "undefined") console.error("table[%d][%d] is undefined", j, i);*/ //y pa[c + 1] = this.table[j][i]; //y pa[c + 2] = this.waterlines[j]; //z c += 3; } } //console.error("c-pa.length = %d", c-pa.length); //OK, sets all cells //Get rid of nulls by merging their points with the closest non-null point in the same station: /*I am joining some uvs too. Then an applied texture will be cropped, not distorted, where the hull is cropped.*/ let uv = this.getAttribute("uv"); let uva = uv.array; //Iterate over stations for (let i = 0; i < N; i++) { let firstNumberJ; let lastNumberJ; //Iterate over waterlines let j; for (j = 0; j < M; j++) { let y = this.table[j][i]; //If this condition is satisfied (number found), //the loop will be quitted //after the extra logic below: if (y !== null) { firstNumberJ = j; lastNumberJ = j; //copy vector for i,j to positions for all null cells below: let c = firstNumberJ * N + i; let x = pa[3 * c]; let y = pa[3 * c + 1]; let z = pa[3 * c + 2]; let d = c; while (firstNumberJ > 0) { firstNumberJ--; d -= N; pa[3 * d] = x; pa[3 * d + 1] = y; pa[3 * d + 2] = z; uva[2 * d] = uva[2 * c]; uva[2 * d + 1] = uva[2 * c + 1]; } break; } //console.log("null encountered."); } //Continue up the hull (with same j counter), searching for upper number. This does not account for the existence of numbers above the first null encountered. for (; j < M; j++) { let y = this.table[j][i]; if (y === null) { //console.log("null encountered."); break; } //else not null: lastNumberJ = j; } //copy vector for i,j to positions for all null cells above: let c = lastNumberJ * N + i; let x = pa[3 * c]; let y = pa[3 * c + 1]; let z = pa[3 * c + 2]; let d = c; while (lastNumberJ < M - 1) { lastNumberJ++; d += N; pa[3 * d] = x; pa[3 * d + 1] = y; pa[3 * d + 2] = z; uva[2 * d] = uva[2 * c]; uva[2 * d + 1] = uva[2 * c + 1]; } ////////// } //console.log(pa); pos.needsUpdate = true; uv.needsUpdate = true; this.computeVertexNormals(); } }); function Hull3D(hull, design_draft) { THREE.Group.call(this); this.hull = hull; this.design_draft = design_draft !== undefined ? design_draft : 0.5 * hull.attributes.Depth; this.upperColor = typeof hull.style.upperColor !== "undefined" ? hull.style.upperColor : 0x33aa33; this.lowerColor = typeof hull.style.lowerColor !== "undefined" ? hull.style.lowerColor : 0xaa3333; this.opacity = typeof hull.style.opacity !== "undefined" ? hull.style.opacity : 0.5; this.update(); } Hull3D.prototype = Object.create(THREE.Group.prototype); Object.assign(Hull3D.prototype, { //Experimental addition. Broken. addStation: function(p) { const hb = this.hull.halfBreadths; const {index, mu} = Vessel.f.bisectionSearch(hb.stations, p); hb.stations.splice(index, 0, p); for (let i = 0; i < hb.waterlines.length; i++) { hb.table[i].splice(index, 0, 0); } this.update(); }, //Experimental addition addWaterline: function(p) { const hb = this.hull.halfBreadths; const {index, mu} = Vessel.f.bisectionSearch(hb.waterlines, p); hb.waterlines.splice(index, 0, p); hb.table.splice(index, 0, new Array(hb.stations.length).fill(0)); this.update(); }, //or updateGeometries? update: function() { const hull = this.hull; const upperColor = this.upperColor; const lowerColor = this.lowerColor; const design_draft = this.design_draft; const opacity = this.opacity; let LOA = hull.attributes.LOA; let BOA = hull.attributes.BOA; let Depth = hull.attributes.Depth; //None of these are changed during correction of the geometry. let stations = hull.halfBreadths.stations; let waterlines = hull.halfBreadths.waterlines; let table = hull.halfBreadths.table; if (this.hGeom) this.hGeom.dispose(); this.hGeom = new HullSideGeometry(stations, waterlines, table); let N = stations.length; let M = waterlines.length; //Bow cap: let bowPlaneOffsets = hull.getStation(LOA).map(str => str / (0.5 * BOA)); //normalized if (this.bowCapG) this.bowCapG.dispose(); this.bowCapG = new THREE.PlaneBufferGeometry(undefined, undefined, 1, M - 1); let pos = this.bowCapG.getAttribute("position"); let pa = pos.array; //constant x-offset yz plane for (let j = 0; j < M; j++) { pa[3 * (2 * j)] = 1; pa[3 * (2 * j) + 1] = bowPlaneOffsets[j]; pa[3 * (2 * j) + 2] = waterlines[j]; pa[3 * (2 * j + 1)] = 1; pa[3 * (2 * j + 1) + 1] = -bowPlaneOffsets[j]; pa[3 * (2 * j + 1) + 2] = waterlines[j]; } pos.needsUpdate = true; //Aft cap: let aftPlaneOffsets = hull.getStation(0).map(str => str / (0.5 * BOA)); //normalized if (this.aftCapG) this.aftCapG.dispose(); this.aftCapG = new THREE.PlaneBufferGeometry(undefined, undefined, 1, M - 1); pos = this.aftCapG.getAttribute("position"); pa = pos.array; //constant x-offset yz plane for (let j = 0; j < M; j++) { pa[3 * (2 * j)] = 0; pa[3 * (2 * j) + 1] = -aftPlaneOffsets[j]; pa[3 * (2 * j) + 2] = waterlines[j]; pa[3 * (2 * j + 1)] = 0; pa[3 * (2 * j + 1) + 1] = aftPlaneOffsets[j]; pa[3 * (2 * j + 1) + 2] = waterlines[j]; } pos.needsUpdate = true; //Bottom cap: let bottomPlaneOffsets = hull.getWaterline(0).map(hw => hw / (0.5 * BOA)); //normalized if (this.bottomCapG) this.bottomCapG.dispose(); this.bottomCapG = new THREE.PlaneBufferGeometry(undefined, undefined, N - 1, 1); pos = this.bottomCapG.getAttribute("position"); pa = pos.array; //constant z-offset xy plane for (let i = 0; i < N; i++) { pa[3 * (i)] = stations[i]; pa[3 * (i) + 1] = -bottomPlaneOffsets[i]; pa[3 * (i) + 2] = 0; pa[3 * (N + i)] = stations[i]; pa[3 * (N + i) + 1] = bottomPlaneOffsets[i]; pa[3 * (N + i) + 2] = 0; } pos.needsUpdate = true; //Hull material if (!this.hMat) { let phong = THREE.ShaderLib.phong; let commonDecl = "uniform float wlThreshold;uniform vec3 aboveWL; uniform vec3 belowWL;\nvarying float vZ;"; this.hMat = new THREE.ShaderMaterial({ uniforms: THREE.UniformsUtils.merge([phong.uniforms, { wlThreshold: new THREE.Uniform(0.5), aboveWL: new THREE.Uniform(new THREE.Color()), belowWL: new THREE.Uniform(new THREE.Color()) }]), vertexShader: commonDecl + phong.vertexShader.replace("main() {", "main() {\nvZ = position.z;").replace("#define PHONG", ""), fragmentShader: commonDecl + phong.fragmentShader.replace("vec4 diffuseColor = vec4( diffuse, opacity );", "vec4 diffuseColor = vec4( (vZ>wlThreshold)? aboveWL.rgb : belowWL.rgb, opacity );").replace("#define PHONG", ""), side: THREE.DoubleSide, lights: true, transparent: true }); } this.hMat.uniforms.wlThreshold.value = this.design_draft / Depth; this.hMat.uniforms.aboveWL.value = new THREE.Color(upperColor); this.hMat.uniforms.belowWL.value = new THREE.Color(lowerColor); this.hMat.uniforms.opacity.value = opacity; if (this.port) this.remove(this.port); this.port = new THREE.Mesh(this.hGeom, this.hMat); if (this.starboard) this.remove(this.starboard); this.starboard = new THREE.Mesh(this.hGeom, this.hMat); this.starboard.scale.y = -1; this.add(this.port, this.starboard); //Caps: if (this.bowCap) this.remove(this.bowCap); this.bowCap = new THREE.Mesh(this.bowCapG, this.hMat) if (this.aftCap) this.remove(this.aftCap); this.aftCap = new THREE.Mesh(this.aftCapG, this.hMat) if (this.bottomCap) this.remove(this.bottomCap); this.bottomCap = new THREE.Mesh(this.bottomCapG, this.hMat) this.add(this.bowCap, this.aftCap, this.bottomCap); this.scale.set(LOA, 0.5 * BOA, Depth); } }); return Ship3D; }36:T450,AFrame3D = {function AFrame3D(aFrame) { THREE.Group.call(this); this.aFrame = aFrame; var frameGroup = new THREE.Group(); var geometry1 = new THREE.CylinderGeometry(aFrame.radiusVert, aFrame.radiusVert, aFrame.height, 32); var material = new THREE.MeshBasicMaterial({color: 0xffff00}); var cylinder1 = new THREE.Mesh(geometry1, material); cylinder1.position.y = aFrame.span / 2; cylinder1.position.z = aFrame.height / 2; cylinder1.rotation.x = Math.PI / 2; frameGroup.add(cylinder1); var cylinder2 = new THREE.Mesh(geometry1, material); cylinder2.position.y = -aFrame.span / 2; cylinder2.position.z = aFrame.height / 2; cylinder2.rotation.x = Math.PI / 2; frameGroup.add(cylinder2); var geoSpan = aFrame.span - 2 * aFrame.radiusVert; var geometry2 = new THREE.CylinderGeometry(aFrame.radiusHor, aFrame.radiusHor, geoSpan, 32); var cylinder3 = new THREE.Mesh(geometry2, material); cylinder3.position.z = aFrame.height - aFrame.radiusHor; frameGroup.add(cylinder3); this.add(frameGroup); } AFrame3D.prototype = Object.create(THREE.Group.prototype); return AFrame3D; }37:T78d,// solver of 3D pendulum with moving pivot using Lagrangian equations and Euler angles // based on http://nbviewer.jupyter.org/url/www.torsteinmyhre.name/snippets/spherical_pendulum/spherical_pendulum_with_moving_pivot_point.ipynb // the position phi is in the format: // [phix, phiy, phixdot, phiydot] // depends on numeric.js function Pendulum(ship, aFrame, states, wavCre, xLever, yLever, zLever, cableLength, g = 9.81, phiInit = [0, 0, 0, 0]) { this.ship = ship; this.aFrame = aFrame; this.states = states; this.wavCre = wavCre; this.states.continuous.phi = phiInit; this.f = function(t, phi) { let xRotAcc = - Math.sign(states.continuous.motion.roll) * states.discrete.WaveMotion.state.rollAmp * Math.pow(wavCre.waveDef.waveFreq, 2) * Math.cos(wavCre.waveDef.waveFreq * t); let yRotAcc = - Math.sign(states.continuous.motion.pitch) * states.discrete.WaveMotion.state.pitchAmp * Math.pow(wavCre.waveDef.waveFreq, 2) * Math.cos(wavCre.waveDef.waveFreq * t); let zTransAcc = - states.discrete.WaveMotion.state.heaveAmp * Math.pow(wavCre.waveDef.waveFreq, 2) * Math.cos(wavCre.waveDef.waveFreq * t); let xdotdot = zLever * yRotAcc; let ydotdot = - zLever * xRotAcc; let zdotdot = zTransAcc + yLever * xRotAcc - xLever * yRotAcc; let phixdotdot = 1 / (cableLength * Math.cos(phi[1])) * (-g * Math.sin(phi[0]) + 2 * cableLength * phi[2] * phi[3] * Math.sin(phi[1]) - ydotdot * Math.cos(phi[0]) - zdotdot * Math.sin(phi[0])); let phiydotdot = 1 / cableLength * (-g * Math.sin(phi[1]) * Math.cos(phi[0]) - 0.5 * cableLength * phi[0] ** 2 * Math.sin(2 * phi[1]) + xdotdot * Math.cos(phi[1]) + ydotdot * Math.sin(phi[0]) * Math.sin(phi[1]) - zdotdot * Math.sin(phi[1]) * Math.cos(phi[0])); return [phi[2], phi[3], phixdotdot, phiydotdot]; }; this.movePendulum = function(tprev, dt) { this.states.continuous.phi = numeric.dopri(tprev, tprev + dt, this.states.continuous.phi, this.f).at(tprev + dt); }; }38:[] 31:{"id":"d9622d94c6d81838","slug":"pendulum-load-in-lifting-operation","title":"Pendulum Load in Lifting Operation","thumbnail":"93958e0e464ee8e82a5152e1408af57d257142dd72b4674916034fd90eeb9901","access_level":"public","create_time":"$D2020-05-08T12:57:50.212Z","update_time":"$D2021-11-03T17:40:10.518Z","view_time":null,"first_public_time":"$D2020-05-08T15:07:42.231Z","fork":false,"stars":0,"starred":false,"owner":{"type":"team","id":"45fe56d5093061eb","login":"icarofonseca","name":"Icaro Fonseca","avatar_url":"https://avatars-next.observableusercontent.com/74086e355d9bde53fd85227b6dd08934b5747470968c89184341654aa47c5050","tier":"starter_2024"},"version":257,"publish_version":null,"role":null,"authored":false,"authors":[{"type":"individual","id":"a91dfff54ae76357","login":"hmgaspar","name":"Henrique Gaspar","avatar_url":"https://avatars-next.observableusercontent.com/d261fd8e8091b2374febc872ea401770bf95cd78a7f0f0dbf1aaf85e023f116e","tier":null},{"type":"individual","id":"e2c2510ce71e416b","login":"icarofonseca","name":"Icaro Fonseca","avatar_url":"https://avatars-next.observableusercontent.com/74086e355d9bde53fd85227b6dd08934b5747470968c89184341654aa47c5050","tier":null}],"members":[{"type":"individual","id":"e2c2510ce71e416b","login":"icarofonseca","name":"Icaro Fonseca","avatar_url":"https://avatars-next.observableusercontent.com/74086e355d9bde53fd85227b6dd08934b5747470968c89184341654aa47c5050","tier":null,"role":"editor"}],"comments":[],"custom_thumbnail":false,"trashed":false,"lapsed":null,"subscribed":null,"forks":2,"collection":{"id":"89021f70c119f9be","slug":"vessel-js","title":"Vessel.js","owner":{"id":"45fe56d5093061eb","login":"icarofonseca","name":"Icaro Fonseca"}},"type":"notebook","body":{"title":"Pendulum Load in Lifting Operation","cells":[{"id":0,"value":"e1 = md`# Pendulum Load in Lifting Operation`","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":252,"value":"md`Ship motion amplitude is modelled with [closed-form expressions](https://www.sciencedirect.com/science/article/abs/pii/S0029801803001082) and then converted to a sinusoidal time series. The pendulum is solved in real-time with the equations of motion.\n\nFor simplification, the ship is assumed to be in beam waves with neglectable pitch motion. This confines the pendulum motion to a transversal plane. An [other example](https://shiplab.github.io/vesseljs/examples/Ship_with_aframe_in_regular_ocean.html) models the pendulum in 3D.`","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":26,"value":"$33","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":21,"value":"html`

Ship Heave and Roll (m and rad)

\n\t\t

\n\n\t\t

Frame Tip - Displacement From Original Position in Y and Z (m)

\n\t\t

\n\n\t\t

Load angle from neutral position (rad)

\n\t\t

`","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":27,"value":"spec = d3.json(\"https://shiplab.github.io/vesseljs/examples/ship_specs/PX121.json\");","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":29,"value":"ship3D = new Ship3D(ship, {\n\t\tshipState: states,\n\t\tstlPath: \"https://shiplab.github.io/vesseljs/examples/3D_models/STL/various\",\n\t\tupperColor: 0x33aa33,\n\t\tlowerColor: 0xaa3333,\n\t\thullOpacity: 1,\n\t\tdeckOpacity: 1,\n\t\tobjectOpacity: 1\n\t});","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":32,"value":"ship = new Vessel.Ship(spec);","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":91,"value":"scene = {\n const scene = new THREE.Scene();\n scene.background = new THREE.Color(0xA9CCE3);\n \n const ambientLight = new THREE.AmbientLight(0xffffff, 0.3);\n const mainLight = new THREE.DirectionalLight(0xffffff, 1);\n mainLight.position.set(1, 1, 1);\n scene.add(ambientLight, mainLight);\n \n ship3D.fluctCont.add(aFrame3D);\n scene.add(ship3D);\n scene.add(loadGroup);\n return scene;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":219,"value":"pend = new Pendulum(ship, aFrame, states, wavCre, xLever, yLever, zLever, L);","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":61,"value":"states = {\n const states = ship.designState.clone();\n \n // initiate the motion with fake values to allow solving of the pendulum equation\n\tstates.continuous.motion = {};\n\tstates.continuous.motion.heave = 1;\n\tstates.continuous.motion.roll = 1;\n\tstates.continuous.motion.pitch = 1;\n \n const wavMo = new Vessel.WaveMotion(ship, states, wavCre);\n\twavMo.output.push(\"rollAmp\");\n\twavMo.writeOutput();\n \n return states;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":63,"value":"wavCre = {\n const wavCre = new Vessel.WaveCreator();\n\twavCre.setWaveDef(0.8, 1.75, 270);\n return wavCre;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":148,"value":"deckHeight = 12.9;","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":179,"value":"xLever = {\n // x measured from the aft ship\n\tconst xAS = 35;\n\t// x measured from the center of gravity\n\tconst xLever = xAS - states.discrete.FloatingCondition.state.w.cg.x;\n return xLever;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":182,"value":"yLever = {\n // y measured from the centerline\n\tconst yCL = 6.5;\n\t// y measured from the center of gravity\n\tconst yLever = yCL - states.discrete.FloatingCondition.state.w.cg.y;\n return yLever;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":187,"value":"initzf = deckHeight - states.discrete.FloatingCondition.state.w.cg.z;","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":192,"value":"zLever = initzf + aFrame.height - 2 * aFrame.radiusVert;","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":195,"value":"zDiff = states.discrete.FloatingCondition.state.w.cg.z - states.discrete.FloatingCondition.state.T;","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":170,"value":"L = 4; // cable length","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":155,"value":"aFrame = {\n const aFrame = {\n radiusVert: 0.5,\n radiusHor: 0.5,\n height: 8,\n span: 8\n }\n return aFrame\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":57,"value":"aFrame3D = {\n\tconst aFrame3D = new AFrame3D(aFrame);\n\n\taFrame3D.applyMatrix(new THREE.Matrix4().makeTranslation(xLever, yLever, initzf));\n\taFrame3D.rotation.z = Math.PI / 2;\n\n\treturn aFrame3D;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":136,"value":"loadGroup = {\n const loadGroup = new THREE.Group();\n\n\tconst initzt = deckHeight + aFrame.height - states.discrete.FloatingCondition.state.T - 2 * aFrame.radiusVert;\n\n\tconst geometryCab = new THREE.CylinderGeometry(0.05, 0.05, L, 32);\n\tconst materialCab = new THREE.MeshBasicMaterial({color: \"black\"});\n\tconst cable = new THREE.Mesh(geometryCab, materialCab);\n\n\tcable.rotation.x = Math.PI / 2;\n\n\tcable.position.z = - L / 2;\n\n\tloadGroup.add(cable);\n\n\tconst geometryLoa = new THREE.BoxGeometry(2, 2, 2);\n\tconst materialLoa = new THREE.MeshBasicMaterial({color: 0x00ff00});\n\tconst load = new THREE.Mesh(geometryLoa, materialLoa);\n\n\tconst initzl = deckHeight - L;\n\n\tload.position.z = - L;\n\n\tloadGroup.add(load);\n\tloadGroup.applyMatrix(new THREE.Matrix4().makeTranslation(xLever, yLever, initzt));\n\n return loadGroup;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":22,"value":"$34","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":34,"value":"md`### Snippets`","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":35,"value":"$35","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":50,"value":"$36","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":46,"value":"$37","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2,"value":"md`### Libraries`","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":38,"value":"Vessel = require('ntnu-vessel@0.1.1/vessel.js').catch(() => window[\"Vessel\"]);","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":5,"value":"THREE = {\n const THREE = window.THREE = await require(\"three@0.99.0/build/three.min.js\");\n await require(\"three@0.99.0/examples/js/controls/OrbitControls.js\").catch(() => {});\n await require(\"three@0.99.0/examples/js/loaders/STLLoader.js\").catch(() => {});\n return THREE;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":39,"value":"d3 = require(\"d3@5\");","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":7,"value":"numeric = require(\"numeric@1.2.6/numeric-1.2.6.js\").catch(() => window[\"numeric\"]);","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":9,"value":"$$ = {\n const $ = window.$ = await require('jquery@1.11.1/dist/jquery.js').catch(() => window[\"$\"]);\n await require(\"flot@4.1.1/dist/es5/jquery.flot.js\").catch(() => window[\"_typeof\"]);\n return $;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"}],"files":"$W38","stdlib":"1","titling":"auto"}} 32:"$31:body"