Added DEM example with ThreeParticle/CAE

Models/Cosim/B3D_Bucket/Models_SLX/Excavator_Motion_plot1DEMforces.m

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+% Code to plot simulation results from Excavator_Motion
+%% Plot Description:
+%
+% The plot below shows the force required of the actuators to complete the test.
+
+% Copyright 2016-2023 The MathWorks, Inc.
+
+% Generate new simulation results if they don't exist or if they need to be updated
+%if ~exist('simlog', 'var')) 
+%    sim('Excavator_Motion')
+%    % Model StopFcn callback adds a timestamp to the Simscape simulation data log
+%end
+
+
+% Get simulation results
+simlog_DEMLoads_f = simOut.logsout_Excavator_Motion_B3D.get('DEMLoads_f');
+simlog_DEMLoads_m = simOut.logsout_Excavator_Motion_B3D.get('DEMLoads_m');
+
+% Reuse figure if it exists, else create new figure
+if ~exist('h1_Excavator_B3D_DEM', 'var') || ...
+        ~isgraphics(h1_Excavator_B3D_DEM, 'figure')
+    h1_Excavator_B3D_DEM = figure('Name', 'Excavator_B3D_DEM');
+end
+figure(h1_Excavator_B3D_DEM)
+clf(h1_Excavator_B3D_DEM)
+
+temp_colororder = get(gca,'defaultAxesColorOrder');
+
+% Plot results
+simlog_handles(1) = subplot(2, 1, 1);
+plot(simlog_DEMLoads_f.Values.Time, squeeze(simlog_DEMLoads_f.Values.Data(:,1)),...
+    'LineWidth', 1,'DisplayName','Lateral');
+hold on
+plot(simlog_DEMLoads_f.Values.Time, squeeze(simlog_DEMLoads_f.Values.Data(:,2)),...
+    'LineWidth', 1,'DisplayName','Longitudinal');
+plot(simlog_DEMLoads_f.Values.Time, squeeze(simlog_DEMLoads_f.Values.Data(:,3)),...
+    'LineWidth', 1,'DisplayName','Vertical');
+hold off
+grid on
+title('DEM Loads on Bucket CG')
+ylabel('Force (N)')
+legend('Location','Best')
+
+simlog_handles(2) = subplot(2, 1, 2);
+plot(simlog_DEMLoads_m.Values.Time, squeeze(simlog_DEMLoads_m.Values.Data(:,1)),...
+    'LineWidth', 1,'DisplayName','Global X');
+hold on
+plot(simlog_DEMLoads_m.Values.Time, squeeze(simlog_DEMLoads_m.Values.Data(:,2)),...
+    'LineWidth', 1,'DisplayName','Global Y');
+plot(simlog_DEMLoads_m.Values.Time, squeeze(simlog_DEMLoads_m.Values.Data(:,3)),...
+    'LineWidth', 1,'DisplayName','Global Z');
+hold off
+grid on
+ylabel('Moment (N*m)')
+xlabel('Time (s)')
+linkaxes(simlog_handles,'x')
+legend('Location','Best')
+
+% Remove temporary variables
+clear simlog_t simlog_handles temp_colororder

Models/Cosim/B3D_Bucket/Overview/Excavator_Motion_B3D.m

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+%% Excavator Design with Simscape(TM): Model Soil Loads 
+% 
+% <<Excavator_Motion_B3D_Overview.png>>
+%
+% (<matlab:web('Excavator_Design_Overview.html') return to Excavator Design Overview>)
+%
+% This example models an excavator acting against soil loads modeled using
+% discrete element modeling in ThreeParticle/CAE(TM) software. The motion of the
+% actuators is prescribed, and the simulation calculates the amount of force
+% or torque required to execute the motion.  Cosimulation is used to
+% connect the Simscape Multibody model to ThreeParticle/CAE(TM).
+%
+% *If you have downloaded the correct release from GitHub*, you can follow
+% the steps below to set up cosimulation on your machine.  All of the files
+% you need to set up the cosimulation are provided in a specific release
+% you must obtain from the <https://github.com/simscape/Excavator-Simscape
+% GitHub repository>.  You will also need <https://www.becker3d.com/
+% ThreeParticle/CAE(TM) software> R6.1 and API version 3.1.1 which you can
+% obtain in a trial license from BECKER 3D.
+% 
+% Note that the compiled files provided will only work with MATLAB R2023a
+% on a Windows 64-bit operating system. To set up this example for other
+% versions or operating systems, please contact the authors of this
+% submission on the MATLAB Central File Exchange.  We worked with
+% <https://simutopia.com/ Simutopia(R)> to create this example.
+%
+% <matlab:try,open_system('Excavator_Motion_B3D'),catch,warning('Model%20Excavator_Motion_B3D.slx%20not%20found.%20Please%20obtain%20the%20correct%20release%20from%20GitHub.'),end Open Excavator with
+% ThreeParticle DEM Soil Loads Model>
+%
+% Copyright 2022-2023 The MathWorks, Inc.
+
+%% Cosimulation Setup
+%
+% (Note: the compiled files will only work with MATLAB R2023a on a Windows
+% 64 bit operating system.)
+%
+% *1. Copy |\Models\Cosim\util_zmq\zmqdll\libzmq-v143-mt-4_3_5.dll| to the
+% "Bin" subfolder within your ThreeParticle installation directory.*
+%
+% <<Excavator_Motion_B3D_CopyZMQDLL.png>>
+%
+% *2. Copy |\Models\Cosim\B3D_Bucket\CosimDLL\API_CoSimulation.dll| to the
+% |"Bin\API"| subfolder within your ThreeParticle installation directory.*
+%
+% <<Excavator_Motion_B3D_CopyAPICosimDLL.png>>
+%
+% *3. Open ThreeParticle/CAE(TM) Software*
+%
+% *4. Import keyword file
+% |\Models\Cosim\B3D_Bucket\Models_B3D\Bucket_Dig_Cycle.inp|*
+%
+% <<Excavator_Motion_B3D_LoadBucketDigCycle.png>>
+%
+% *5. In MATLAB, open Simulink model Excavator_Motion_B3D.slx*
+%
+% *6. Start the simulation in ThreeParticle/CAE(TM) software*
+%
+% <<Excavator_Motion_B3D_StartThreeParticleSim.png>>
+%
+% *7. Start the simulation in Simulink*
+%
+% <<Excavator_Motion_B3D_StartSimulinkSim.png>>
+%
+% *8. Monitor the progress in animation*
+%
+% <<Excavator_Motion_B3D_ProgressAnimation.png>>
+
+
+%% Model
+open_system('Excavator_Motion_B3D')
+ann_h = find_system('Excavator_Motion_B3D','MatchFilter',@Simulink.match.allVariants,'FindAll', 'on','type','annotation','Tag','ModelFeatures');
+for i=1:length(ann_h)
+    set_param(ann_h(i),'Interpreter','off');
+end
+
+%% Excavator Machine Subsystem
+%
+% <matlab:open_system('Excavator_Motion_B3D');open_system('Excavator_Motion_B3D/Excavator/Machine','force'); Open Subsystem>
+
+set_param('Excavator_Motion_B3D/Excavator/Machine','LinkStatus','none')
+open_system('Excavator_Motion_B3D/Excavator/Machine','force')
+
+%% DEM Loads Subsystem
+%
+% <matlab:open_system('Excavator_Motion_B3D');open_system('Excavator_Motion_B3D/DEM%20Loads','force'); Open Subsystem>
+
+set_param('Excavator_Motion_B3D/DEM Loads','LinkStatus','none')
+open_system('Excavator_Motion_B3D/DEM Loads','force')
+
+
+%% Dig Test
+%
+% The simulation actuates the excavator arm to dig the bucket into the bed
+% of particles which models the soil.  The soil loads are plotted below.
+%   
+% <<Excavator_Motion_B3D_results_soil_loads.png>>
+
+
+
+%%
+
+%clear all
+close all
+bdclose all
+

Models/Cosim/util_zmq/addZMQDLLtoSysPath.m

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+function success = addZMQDLLtoSysPath(varargin)
+
+% Defaults
+showResult = 0;
+success    = 0;
+
+% Check for caller inputs
+if(nargin>0)
+    showResult = varargin{1};
+end
+
+%% Add the ZMQ DLL to the system path:
+p = simulinkproject;
+if strcmp(mexext,'mexw64')
+    zmqdll_list = dir([p.RootFolder '/**/util_zmq/zmqdll/libzmq*.dll']);
+    if(length(zmqdll_list)==1)
+        %if exist(fullfile(p.RootFolder,'Models','Cosim','zmq','libzmq','bin','x64','bin','Release','libzmq-v143-mt-4_3_5.dll'),'file')
+        pathEnvVar = getenv('PATH');
+        pathcheck = strfind(pathEnvVar,zmqdll_list.folder);
+        if(isempty(pathcheck))
+            setenv('PATH',[pathEnvVar ';' zmqdll_list.folder]);
+            success = 1;
+            msg = sprintf('%s\n%s','libzmq DLL added to system PATH:',[zmqdll_list.folder filesep zmqdll_list.name]);
+        else
+            success = 1;
+            msg = sprintf('%s\n%s','libzmq DLL already on system PATH:',[zmqdll_list.folder]);
+        end
+    elseif(length(zmqdll_list)>1)
+        success = 0;
+        msg = ['ZMQ library not added to path. There were ' length(zmqdll_list') ' libzmq DLLs found in subfolders.'];
+    elseif(isempty(zmqdll_list))
+        msg = 'ZMQ library not found.';
+    end
+else
+    success = 0;
+    msg = 'Non-Windows OS, please add the ZMQ library to your PATH environment variable manually';
+end
+
+if(showResult)
+    disp(msg)
+end
+

Scripts_Data/initializeBoxDimensions.m

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+% This script initializes dimensions for the pick-up and dump boxes that
+% contain the DEM elements used for the cosimulation example model -
+% Excavator_Motion_DEMCosim.slx
+
+% Box outer wall dimensions
+boxOuterSurfaceLength = 6; % [m]
+boxOuterSurfaceWidth = 9; % [m]
+boxThickness = 0.1; % [m]
+boxHeight = 3; % [m]
+
+% box inner wall length, width
+boxInnerSurfaceLength = boxOuterSurfaceLength-2*boxThickness;
+boxInnerSurfaceWidth = boxOuterSurfaceWidth-2*boxThickness;
+
+% create cross-section for the box that is used within the extrude block
+% Each row represents a coordinate frame.
+% The order of the coordinate frames is such that we start with the outer
+% surface and close the loop and then for the inner surface, follow the
+% order (start with the closest point with the nearest outer surface point)
+% and go in CW direction (that way the left side always represents the
+% solid)
+boxCrossSectionCoords = [-boxOuterSurfaceLength/2 boxOuterSurfaceWidth/2;
+    -boxOuterSurfaceLength/2 -boxOuterSurfaceWidth/2;
+    boxOuterSurfaceLength/2 -boxOuterSurfaceWidth/2;
+    boxOuterSurfaceLength/2 boxOuterSurfaceWidth/2;
+    -boxOuterSurfaceLength/2 boxOuterSurfaceWidth/2;
+    -boxOuterSurfaceLength/2 -boxOuterSurfaceWidth/2+boxThickness;
+    -boxOuterSurfaceLength/2+boxThickness -boxOuterSurfaceWidth/2+boxThickness;
+    -boxOuterSurfaceLength/2+boxThickness boxOuterSurfaceWidth/2-boxThickness;
+    boxOuterSurfaceLength/2-boxThickness boxOuterSurfaceWidth/2-boxThickness;
+    boxOuterSurfaceLength/2-boxThickness -boxOuterSurfaceWidth/2+boxThickness;
+    -boxOuterSurfaceLength/2 -boxOuterSurfaceWidth/2+boxThickness];
+
+
+
+
+

resources/project/ArT8sf1fgSd8B_6am01Zf2uidOc/OFWqPYNVb05LJG1PCCFBcvLKBMgd.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="5f33d7fa-03ab-41f0-a6df-db1a57eec8f6"/>
+    </Category>
+</Info>

resources/project/ArT8sf1fgSd8B_6am01Zf2uidOc/OFWqPYNVb05LJG1PCCFBcvLKBMgp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="API_CoSimulation.dll" type="File"/>

resources/project/ArT8sf1fgSd8B_6am01Zf2uidOc/bKbc9jLzeXcsPod6x4OS_RxnHsMd.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>

resources/project/ArT8sf1fgSd8B_6am01Zf2uidOc/bKbc9jLzeXcsPod6x4OS_RxnHsMp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/b5L1IW8ckze7nYlHYnFMFPaMH1Ed.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="Models/Cosim/B3D_Bucket/Models_SLX" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/b5L1IW8ckze7nYlHYnFMFPaMH1Ep.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="b203dfa0-65fc-4f25-8382-5e5f6cbae3ff" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/hAgGe_VBliA39dQquB1rBcWDrxUd.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="Models/Cosim/sfun1part" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/hAgGe_VBliA39dQquB1rBcWDrxUp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="4ed9ea98-9481-429b-a2e0-a3550e031eaa" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/iQCU--0_Kcqhi6195WfFl_cYMRYd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="Models/Cosim/util_zmq" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/iQCU--0_Kcqhi6195WfFl_cYMRYp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="af1921e4-c0d3-4626-8585-61715e9972b8" type="Reference"/>

resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/oCWvouvLYnIcQjEMT9f3-A0EhOwd.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info Type="Basic" GroupUUID="41c320d7-88cb-499c-99fe-a384464b2df6" Visible="1" Icon="" File="Models/Cosim/B3D_Bucket/Models_SLX/Excavator_Motion_B3D.slx" Name="2. Excavator DEM"/>

resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/oCWvouvLYnIcQjEMT9f3-A0EhOwp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="83bc32e2-f4ec-4c85-ba67-f67357c18028" type="EntryPoint"/>

resources/project/OaiQJNO6x8trcQ_hhJpkoo0X0Jo/Dja05FVDic6oOaZIm2Zbo9hl6nwd.xml

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resources/project/OaiQJNO6x8trcQ_hhJpkoo0X0Jo/Dja05FVDic6oOaZIm2Zbo9hl6nwp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
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resources/project/OaiQJNO6x8trcQ_hhJpkoo0X0Jo/VRhhKr7R8csuPnysplpJcd70bxsd.xml

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resources/project/OaiQJNO6x8trcQ_hhJpkoo0X0Jo/VRhhKr7R8csuPnysplpJcd70bxsp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
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resources/project/OaiQJNO6x8trcQ_hhJpkoo0X0Jo/a-PkFzQ033DZi0PC2UIZefjckVMd.xml

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resources/project/OaiQJNO6x8trcQ_hhJpkoo0X0Jo/a-PkFzQ033DZi0PC2UIZefjckVMp.xml

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resources/project/Q0od0_j9uWhemsQiR6T35M08GTw/ArT8sf1fgSd8B_6am01Zf2uidOcd.xml

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resources/project/Q0od0_j9uWhemsQiR6T35M08GTw/ArT8sf1fgSd8B_6am01Zf2uidOcp.xml

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resources/project/Q0od0_j9uWhemsQiR6T35M08GTw/iK9QbNt3FoFzl6aSguJDx2yLp0gp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Models_B3D" type="File"/>

resources/project/Q0od0_j9uWhemsQiR6T35M08GTw/uQR21UsD-jofnFlhN5qK_Il7mDsd.xml

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resources/project/Q0od0_j9uWhemsQiR6T35M08GTw/uQR21UsD-jofnFlhN5qK_Il7mDsp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
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resources/project/VRhhKr7R8csuPnysplpJcd70bxs/98A2EF0HJdyjpqVGngJmVP8_n-0d.xml

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resources/project/VRhhKr7R8csuPnysplpJcd70bxs/98A2EF0HJdyjpqVGngJmVP8_n-0p.xml

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resources/project/VRhhKr7R8csuPnysplpJcd70bxs/uWA1GK6F2dLOFZXm_Z20LoPAyBcd.xml

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resources/project/VRhhKr7R8csuPnysplpJcd70bxs/uWA1GK6F2dLOFZXm_Z20LoPAyBcp.xml

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resources/project/cDJTUhuRltpE1_gGwXXeNasww8I/OaiQJNO6x8trcQ_hhJpkoo0X0Jod.xml

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resources/project/cDJTUhuRltpE1_gGwXXeNasww8I/OaiQJNO6x8trcQ_hhJpkoo0X0Jop.xml

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