优化求解器重试并校正AMESim机械端口

app/simulation/components/amesim/mechanical/translational.py

@@ -87,6 +87,7 @@ class AmesimForc(AlgebraicComponent):
         self.set_parameter_values({})
         self.res = self.register_declared_port("res")
         self.port_2 = self.register_declared_port("port_2")
+        self._orientation_sign = 1.0
 
     @classmethod
     def create(
@@ -98,6 +99,15 @@ class AmesimForc(AlgebraicComponent):
     ) -> "AmesimForc":
         return cls(name=name)
 
+    def apply_layout_transform(self, *, rotation: int, mirrored: bool) -> None:
+        """Apply the AMESim icon direction to the signed force output."""
+
+        normalized_rotation = int(rotation) % 360
+        if normalized_rotation not in {0, 90, 180, 270}:
+            raise ValueError("FORC rotation must be a multiple of 90 degrees.")
+        direction = -1.0 if normalized_rotation in {180, 270} else 1.0
+        self._orientation_sign = -direction if mirrored else direction
+
     @property
     def output_force(self) -> float:
         return float(self.res.signal)
@@ -111,7 +121,7 @@ class AmesimForc(AlgebraicComponent):
                 relation="constitutive",
                 variables=(f"{self.name}.port_2.f", f"{self.name}.res.signal"),
                 role="flow",
-                value=self.port_2.f + self.output_force,
+                value=self.port_2.f + self._orientation_sign * self.output_force,
             ),
         )
 
@@ -170,8 +180,8 @@ class AmesimMecmas21(DynamicComponent):
         category_id="mechanical",
         symbol="amesim_mecmas21",
         ports=(
-            PortDisplaySpec("port_1", "left", order=10),
-            PortDisplaySpec("port_2", "right", order=20),
+            PortDisplaySpec("port_2", "left", order=10),
+            PortDisplaySpec("port_1", "right", order=20),
         ),
         order=30,
     )
@@ -426,11 +436,11 @@ class AmesimLstp00a(AlgebraicComponent):
             assert self._causal_port_2_x is not None
             penetration = (
                 self._causal_penetration
-                + (self.port_2.x - self._causal_port_2_x)
-                - (self.port_1.x - self._causal_port_1_x)
+                + (self.port_1.x - self._causal_port_1_x)
+                - (self.port_2.x - self._causal_port_2_x)
             )
             return -penetration
-        return self.gap0 - (self.port_2.x - self.port_1.x)
+        return self.gap0 + (self.port_2.x - self.port_1.x)
 
     @property
     def penetration(self) -> float:
@@ -438,7 +448,7 @@ class AmesimLstp00a(AlgebraicComponent):
 
     @property
     def penetration_velocity(self) -> float:
-        return self.port_2.v - self.port_1.v
+        return self.port_1.v - self.port_2.v
 
     @property
     def contact_force(self) -> float:
@@ -516,7 +526,7 @@ class AmesimLstp00a(AlgebraicComponent):
                     f"{self.name}.port_2.v",
                 ),
                 role="flow",
-                value=self.port_1.f + force,
+                value=self.port_1.f - force,
             ),
             EquationResidual(
                 id=f"{self.name}:port_2_contact_force",
@@ -531,7 +541,7 @@ class AmesimLstp00a(AlgebraicComponent):
                     f"{self.name}.port_2.v",
                 ),
                 role="flow",
-                value=self.port_2.f - force,
+                value=self.port_2.f + force,
             ),
         )