# Add a second box dynamically to the simulation
if k == 100:
ds = makeBox(pos=3.0, vel=0.0)
bouncingBox.insertDynamicalSystem(ds)
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.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
