K.setValue(i,i+1,-1.*E*S/l) M.setValue(i,i,2/3.*rho*S*l) M.setValue(i,i-1,1/6.*rho*S*l) M.setValue(i,i+1,1/6.*rho*S*l) K.setValue(nDof-1,nDof-2,-1.*E*S/l) K.setValue(nDof-1,nDof-1, 1.*E*S/l) M.setValue(nDof-1,nDof-2,1/6.*rho*S*l) M.setValue(nDof-1,nDof-1,1/3.*rho*S*l) q0 = np.full((nDof), position_init) v0 = np.full((nDof), velocity_init) bar = LagrangianLinearTIDS(q0,v0,M) bar.setKPtr(K) #bar.display() weight = np.full((nDof),-g*rho*S/l) bar.setFExtPtr(weight) e=0.0 H = np.zeros((1,nDof)) H[0,0]=1. nslaw = NewtonImpactNSL(e) relation = LagrangianLinearTIR(H) inter = Interaction(nslaw, relation)
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 = [1, 0, 0] # initial position v = [0, 0, 0] # initial velocity mass = eye(3) # mass matrix mass[2, 2] = 2. / 5 * r * r # the dynamical system ball = LagrangianLinearTIDS(x, v, mass) # set external forces weight = [-m * g, 0, 0] ball.setFExtPtr(weight) # # Interactions # # ball-floor H = [[1, 0, 0]] nslaw = NewtonImpactNSL(e) relation = LagrangianLinearTIR(H) inter = Interaction(nslaw, relation)
def test_serialization4(): 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 # first_bouncingBall = Model(t0, T) # add the dynamical system to the non smooth dynamical system first_bouncingBall.nonSmoothDynamicalSystem().insertDynamicalSystem(ball) # link the interaction and the dynamical system first_bouncingBall.nonSmoothDynamicalSystem().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(t) s.insertIntegrator(OSI) s.insertNonSmoothProblem(osnspb) # end of model definition # # computation # # simulation initialization first_bouncingBall.setSimulation(s) first_bouncingBall.initialize() # # save and load data from xml and .dat # from siconos.io.io_base import save, load save(first_bouncingBall, "bouncingBall.xml") bouncingBall = load("bouncingBall.xml") # 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)
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)
K.setValue(i, j, stiffness_mat_np[i, j]) M.setValue(i, j, mass_mat_np[i, j]) #print('nnz=', nnz) #M.display() print(' -- set initial conditions -- ') q_0 = u_old.vector().get_local() v_0 = v_old.vector().get_local() t0 = 0.0 print(' -- build dynamical system -- ') body = LagrangianLinearTIDS(q_0, v_0, M) body.setKPtr(K) applied_force = np.zeros(n_dof) applied_force[n_dof - 1] = 1. body.setFExtPtr(applied_force) # ------------- # --- Model --- # ------------- impactingBar = NonSmoothDynamicalSystem(t0, T) # add the dynamical system in the non smooth dynamical system impactingBar.insertDynamicalSystem(body) # link the interaction and the dynamical system
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 = [1, 0, 0] # initial position v = [0, 0, 0] # initial velocity mass = eye(3) # mass matrix mass[2, 2] = 2. / 5 * r * r # the dynamical system ball = LagrangianLinearTIDS(x, v, mass) # set external forces with a plugin ball.setComputeFExtFunction('BallPlugin', 'ballFExt') # # Interactions # # ball-floor H = [[1, 0, 0]] nslaw = NewtonImpactNSL(e) relation = LagrangianLinearTIR(H) inter = Interaction(nslaw, relation)