# ------------- impactingBar = NonSmoothDynamicalSystem(t0, T) # add the dynamical system in the non smooth dynamical system impactingBar.insertDynamicalSystem(bar); # link the interaction and the dynamical system impactingBar.link(inter,bar); # ------------------ # --- Simulation --- # ------------------ # -- (1) OneStepIntegrators -- OSI = MoreauJeanOSI(theta,0.5) # -- (2) Time discretisation -- t = TimeDiscretisation(t0,h) # -- (3) one step non smooth problem osnspb = LCP() s = TimeStepping(impactingBar, t,OSI,osnspb) k =0 N = int((T-t0)/h) dataPlot = np.zeros((N+1, 5)) q = bar.q()
# bouncingBall = Model(t0, T) # add the dynamical system to the non smooth dynamical system bouncingBall.nonSmoothDynamicalSystem().insertDynamicalSystem(ball) # link the interaction and the dynamical system bouncingBall.nonSmoothDynamicalSystem().link(inter, ball) # # Simulation # # (1) OneStepIntegrators OSI = MoreauJeanOSI(theta) OSI.insertDynamicalSystem(ball) # (2) Time discretisation -- t = TimeDiscretisation(t0, h) # (3) one step non smooth problem osnspb = LCP() # (4) Simulation setup with (1) (2) (3) s = TimeStepping(t, OSI, osnspb) # end of model definition #
body.setFExtPtr(weight) # # Model # bouncingBox = Model(t0, T) # add the dynamical system to the non smooth dynamical system bouncingBox.nonSmoothDynamicalSystem().insertDynamicalSystem(body) # # Simulation # # (1) OneStepIntegrators osi = MoreauJeanOSI(theta) ground = SiconosPlane() groundOffset = [0, 0, -0.5, 1, 0, 0, 0] # (2) Time discretisation -- timedisc = TimeDiscretisation(t0, h) # (3) one step non smooth problem osnspb = FrictionContact(3) osnspb.numericsSolverOptions().iparam[0] = 1000 osnspb.numericsSolverOptions().dparam[0] = 1e-5 osnspb.setMaxSize(16384) osnspb.setMStorageType(1) osnspb.setNumericsVerboseMode(False)
def test_bouncing_ball1():
from siconos.kernel import LagrangianLinearTIDS, NewtonImpactNSL, \
LagrangianLinearTIR, Interaction, Model, MoreauJeanOSI, TimeDiscretisation, LCP, TimeStepping
from numpy import array, eye, empty
t0 = 0 # start time
T = 10 # end time
h = 0.005 # time step
r = 0.1 # ball radius
g = 9.81 # gravity
m = 1 # ball mass
e = 0.9 # restitution coeficient
theta = 0.5 # theta scheme
#
# dynamical system
#
x = array([1, 0, 0]) # initial position
v = array([0, 0, 0]) # initial velocity
mass = eye(3) # mass matrix
mass[2, 2] = 3./5 * r * r
# the dynamical system
ball = LagrangianLinearTIDS(x, v, mass)
# set external forces
weight = array([-m * g, 0, 0])
ball.setFExtPtr(weight)
#
# Interactions
#
# ball-floor
H = array([[1, 0, 0]])
nslaw = NewtonImpactNSL(e)
relation = LagrangianLinearTIR(H)
inter = Interaction(1, nslaw, relation)
#
# Model
#
bouncingBall = Model(t0, T)
# add the dynamical system to the non smooth dynamical system
bouncingBall.nonSmoothDynamicalSystem().insertDynamicalSystem(ball)
# link the interaction and the dynamical system
bouncingBall.nonSmoothDynamicalSystem().link(inter, ball)
#
# Simulation
#
# (1) OneStepIntegrators
OSI = MoreauJeanOSI(theta)
OSI.insertDynamicalSystem(ball)
# (2) Time discretisation --
t = TimeDiscretisation(t0, h)
# (3) one step non smooth problem
osnspb = LCP()
# (4) Simulation setup with (1) (2) (3)
s = TimeStepping(t)
s.insertIntegrator(OSI)
s.insertNonSmoothProblem(osnspb)
# end of model definition
#
# computation
#
# simulation initialization
bouncingBall.initialize(s)
#
# save and load data from xml and .dat
#
try:
from siconos.io import save
save(bouncingBall, "bouncingBall.xml")
save(bouncingBall, "bouncingBall.bin")
except:
print("Warning : could not import save from siconos.io")
# the number of time steps
N = (T-t0)/h+1
# Get the values to be plotted
# ->saved in a matrix dataPlot
dataPlot = empty((N, 5))
#
# numpy pointers on dense Siconos vectors
#
q = ball.q()
v = ball.velocity()
p = ball.p(1)
lambda_ = inter.lambda_(1)
#
# initial data
#
dataPlot[0, 0] = t0
dataPlot[0, 1] = q[0]
dataPlot[0, 2] = v[0]
dataPlot[0, 3] = p[0]
dataPlot[0, 4] = lambda_[0]
k = 1
# time loop
while(s.hasNextEvent()):
s.computeOneStep()
dataPlot[k, 0] = s.nextTime()
dataPlot[k, 1] = q[0]
dataPlot[k, 2] = v[0]
dataPlot[k, 3] = p[0]
dataPlot[k, 4] = lambda_[0]
k += 1
#print(s.nextTime())
s.nextStep()
#
# comparison with the reference file
#
from siconos.kernel import SimpleMatrix, getMatrix
from numpy.linalg import norm
ref = getMatrix(SimpleMatrix(os.path.join(working_dir, "data/result.ref")))
assert (norm(dataPlot - ref) < 1e-12)
# Model # bouncingBall = NonSmoothDynamicalSystem(t0, T) # add the dynamical system to the non smooth dynamical system bouncingBall.insertDynamicalSystem(ball) # link the interaction and the dynamical system bouncingBall.link(inter, ball) # # Simulation # # (1) OneStepIntegrators OSI = MoreauJeanOSI(theta) # (2) Time discretisation -- t = TimeDiscretisation(t0, h) # (3) one step non smooth problem osnspb = LCP() # (4) Simulation setup with (1) (2) (3) s = TimeStepping(bouncingBall, t, OSI, osnspb) # end of model definition # # computation #
body = makeBox() # # Model # bouncingBox = Model(t0, T) # add the dynamical system to the non smooth dynamical system bouncingBox.nonSmoothDynamicalSystem().insertDynamicalSystem(body) # # Simulation # # (1) OneStepIntegrators osi = MoreauJeanOSI(theta) osi.insertDynamicalSystem(body) ground = btCollisionObject() ground.setCollisionFlags(btCollisionObject.CF_STATIC_OBJECT) groundShape = btBoxShape(btVector3(30, 30, .5)) basis = btMatrix3x3() basis.setIdentity() ground.getWorldTransform().setBasis(basis) ground.setCollisionShape(groundShape) ground.getWorldTransform().getOrigin().setZ(-.5) # (2) Time discretisation -- timedisc = TimeDiscretisation(t0, h) # (3) one step non smooth problem
