def test_xml3():
''' DryFriction '''
# --- buildModelXML loading from xml file ---
oscillator = buildModelXML(os.path.join(working_dir,
'data/DryFriction.xml'))
# --- Get the simulation ---
s = oscillator.simulation()
k = 0
T = oscillator.finalT()
t0 = oscillator.t0()
h = s.timeStep()
N = np.ceil((T - t0) / h)
# --- Get the values to be plotted ---
# . saved in a matrix dataPlot
dataPlot = np.zeros((N + 1, 5))
print("Prepare data for plotting ... ")
# For the initial time step:
# time
dataPlot[k, 0] = t0
# state q for the first dynamical system (ball)
dsN = SK.dynamicalSystems(oscillator.nonSmoothDynamicalSystem().topology().dSG(0))[0].number()
oscillo = oscillator.nonSmoothDynamicalSystem().dynamicalSystem(dsN)
inter = SK.interactions(oscillator.nonSmoothDynamicalSystem().topology().indexSet(0))[0]
dataPlot[k, 1] = oscillo.q()[0]
# velocity for the oscillo
dataPlot[k, 2] = oscillo.velocity()[0]
dataPlot[k, 3] = inter.lambda_(1)[0]
dataPlot[k, 4] = inter.lambda_(1)[1]
# --- Compute elapsed time ---
print("Computation ... ")
# --- Time loop ---
while k < N:
# get current time step
k += 1
# print( " Pas " << k
# solve ...
s.computeOneStep()
# --- Get values to be plotted ---
# time
dataPlot[k, 0] = s.nextTime()
# Oscillo: state q
dataPlot[k, 1] = oscillo.q()[0]
# Oscillo: velocity
dataPlot[k, 2] = oscillo.velocity()[0]
dataPlot[k, 3] = inter.lambda_(1)[0]
dataPlot[k, 4] = inter.lambda_(1)[1]
# transfer of state i+1 into state i and time incrementation
s.nextStep()
# Number of time iterations
print("Number of iterations done: {:}".format(k))
# dataPlot (ascii) output
np.savetxt("DryFriction.dat", dataPlot)
bouncingBox.nonSmoothDynamicalSystem().insertDynamicalSystem(ds)
simulation.prepareIntegratorForDS(osi, ds, bouncingBox,
simulation.nextTime())
simulation.computeOneStep()
dataPlot[k, 0] = simulation.nextTime()
dataPlot[k, 1] = q[2]
dataPlot[k, 2] = v[2]
#if (broadphase.collisionWorld().getDispatcher().getNumManifolds() > 0):
if (broadphase.statistics().new_interactions_created +
broadphase.statistics().existing_interactions_processed) > 0:
if bouncingBox.nonSmoothDynamicalSystem().topology().\
numberOfIndexSet() == 2:
index1 = sk.interactions(simulation.indexSet(1))
if (len(index1) == 4):
dataPlot[k, 3] = norm(index1[0].lambda_(1)) + \
norm(index1[1].lambda_(1)) + norm(index1[2].lambda_(1)) + \
norm(index1[3].lambda_(1))
k += 1
simulation.nextStep()
#
# comparison with the reference file
#
from siconos.kernel import SimpleMatrix, getMatrix
from numpy.linalg import norm
ref = getMatrix(SimpleMatrix("result_dynamic.ref"))
# Add a second box dynamically to the simulation
if k == 100:
broadphase.addDynamicObject(makeBox(pos=3), simulation)
broadphase.buildInteractions(bouncingBox.currentTime())
simulation.computeOneStep()
dataPlot[k, 0] = simulation.nextTime()
dataPlot[k, 1] = q[2]
dataPlot[k, 2] = v[2]
if (broadphase.collisionWorld().getDispatcher().getNumManifolds() > 0):
if bouncingBox.nonSmoothDynamicalSystem().topology().\
numberOfIndexSet() > 1:
index1 = sk.interactions(simulation.indexSet(1))
if (len(index1) == 4):
dataPlot[k, 3] = norm(index1[0].lambda_(1)) + \
norm(index1[1].lambda_(1)) + norm(index1[2].lambda_(1)) + \
norm(index1[3].lambda_(1))
k += 1
simulation.nextStep()
#
# comparison with the reference file
#
from siconos.kernel import SimpleMatrix, getMatrix
from numpy.linalg import norm
ref = getMatrix(SimpleMatrix("result_dynamic.ref"))
