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"))