static void start_integ(double nb)
{
char *str;
printf("%s%d%s\n", "n=", (int) nb, " Rectangles\tTrapezes\tSimpson");
str = integ(1, nb);
printf("%s\t%s\n", "F1:", str);
free(str);
str = integ(2, nb);
printf("%s\t%s\n", "F2:", str);
free(str);
str = integ(3, nb);
printf("%s\t%s\n", "F3:", str);
free(str);
str = integ(4, nb);
printf("%s\t%s\n", "F4:", str);
free(str);
str = integ(5, nb);
printf("%s\t%s\n", "F5:", str);
free(str);
str = integ(6, nb);
printf("%s\t%s\n", "F6:", str);
free(str);
str = integ(7, nb);
printf("%s\t%s\n", "F7:", str);
free(str);
str = integ(8, nb);
printf("%s\t%s\n", "F8:", str);
free(str);
str = integ(9, nb);
printf("%s\t%s\n", "F9:", str);
free(str);
str = integ(10, nb);
printf("%s\t%s\n", "F10:", str);
free(str);
}
int main () {
try {
PendulumSystem sys;
sys.addEventHandler(new ZeroVelocityHandler(sys));
sys.addEventHandler(PeriodicHandler::handler = new PeriodicHandler());
sys.addEventHandler(new ZeroPositionHandler(sys));
sys.addEventReporter(PeriodicReporter::reporter = new PeriodicReporter(sys));
sys.addEventReporter(new OnceOnlyEventReporter());
sys.addEventReporter(new DiscontinuousReporter());
sys.realizeTopology();
// Test with various intervals for the event handler and event reporter, ones that are either
// large or small compared to the expected internal step size of the integrator.
for (int i = 0; i < 4; ++i) {
PeriodicHandler::handler->setEventInterval(i == 0 || i == 1 ? 0.01 : 2.0);
PeriodicReporter::reporter->setEventInterval(i == 0 || i == 2 ? 0.015 : 1.5);
// Test the integrator in both normal and single step modes.
VerletIntegrator integ(sys);
testIntegrator(integ, sys);
integ.setReturnEveryInternalStep(true);
testIntegrator(integ, sys);
}
cout << "Done" << endl;
return 0;
}
catch (std::exception& e) {
std::printf("FAILED: %s\n", e.what());
return 1;
}
}
inline Eigen::VectorXd
integrate(const Model & model,
const Eigen::VectorXd & q,
const Eigen::VectorXd & v)
{
Eigen::VectorXd integ(model.nq);
for( Model::JointIndex i=1; i<(Model::JointIndex) model.nbody; ++i )
{
IntegrateStep::run(model.joints[i],
IntegrateStep::ArgsType (q, v, integ)
);
}
return integ;
}
void IBall_sim( Integrator_type Alg,
std::ostream& dataout) {
BALL ball;
long tick;
double sim_time;
REGULA_FALSI rf;
const double seconds_per_tick = 0.01;
const double initial_angle = 30.0;
const double initial_speed = 50.0;
const int doing_dynamic_events = 1;
dataout.width(16);
dataout.precision(14);
// ========================================
// Initialization
// ========================================
tick = 0;
sim_time = 0.0;
ball.pos[0] = 0.0;
ball.pos[1] = 0.0;
ball.vel[0] = initial_speed * cos( initial_angle * RAD_PER_DEG);
ball.vel[1] = initial_speed * sin( initial_angle * RAD_PER_DEG);
Trick::Integrator *I = Trick::getIntegrator( Alg, 4, seconds_per_tick );
sim_time = tick * seconds_per_tick ;
// Initialize Regula Falsi.
reset_regula_falsi(sim_time, &rf);
rf.error_tol = 1.0e-15;
rf.mode = Any;
// Note: We don't care what the tgo estimate is because here,
// we are just initializing the bounds.
rf.error = ball.pos[0];
regula_falsi(sim_time, &rf);
// ========================================
// Simulation loop
// ========================================
do {
dataout << sim_time << " " << ball.pos[0] << " " << ball.pos[1] << std::endl;
I->time = sim_time;
// ###I### Integrate over the time step.
integ(I, &ball);
// Advance time.
tick++;
sim_time = tick * seconds_per_tick ;
// If we are looking for roots ...
if ( doing_dynamic_events ) {
double tgo;
// ###RF### Given the current error, estimate how far (in time) we are from a root.
rf.error = ball.pos[0];
tgo = regula_falsi(sim_time, &rf);
// If regula_falsi found a root in the last interval ...
if ( tgo < seconds_per_tick) {
int root_found = 0;
double t_test = sim_time;
// Iterate until we find the root.
// NOTE: the regula_falsi function gives up and returns with tgo=0 if
// it hasn't converged on a root after 20 iterations.
while (! root_found) {
// ###I### Integrate over the time-correction.
I->dt = tgo;
integ(I, &ball);
t_test += tgo;
// ###RF### Given the current error, estimate how far (in time) we are from the root.
rf.error = ball.pos[0];
tgo = regula_falsi( t_test, &rf);
// If the estimated time-to-go is less than the chosen tolerance, then we have our root.
if (fabs( tgo) < rf.error_tol) {
printf("ROOT@ %18.14g\n", t_test);
root_found = 1;
reset_regula_falsi(t_test, &rf);
}
}
root_found = 0;
// ###I### Integrate from t=t_test back (forward actually) to t=sim_time.
I->dt = sim_time - t_test ;
integ(I, &ball);
// Restore the normal time-step.
I->dt = seconds_per_tick;
}
} // End of doing_dynamic_events.
} while (ball.pos[0] >= -3.0);
dataout << sim_time << " " << ball.pos[0] << " " << ball.pos[1] << std::endl;
delete( I);
}
int
main (int argc, char **argv)
{
int nt,nzt,nxt,nz,nxo,nxs,ns,nx,nr,is,ixo,ixs;
int ls,jtr,mtr,tracl,mzmax;
off_t nseek;
float ft,fzt,fxt,fz,fx,fxo,fs,fxs,dt,dzt,dxt,dz,dx,dxo,ds,dxs,
ext,ezt,es,ex,ez,xo,s,xs,xg,fpeak;
float v0,dvz;
float fmax,angmax,offmax,rmax,aperx;
float **mig,**migi,***ttab,**tb,**pb,**cosb,**sigb,**tsum,**tt;
char *infile="stdin",*outfile="stdout",*ttfile,*jpfile;
FILE *infp,*outfp,*ttfp,*jpfp;
Wavelet *w;
/* hook up getpar to handle the parameters */
initargs(argc, argv);
requestdoc(1);
/* open input and output files */
if( !getparstring("infile",&infile)) {
infp = stdin;
} else
if ((infp=fopen(infile,"r"))==NULL)
err("cannot open infile=%s\n",infile);
if( !getparstring("outfile",&outfile)) {
outfp = stdout;
} else {
outfp = fopen(outfile,"w");
}
efseeko(infp,(off_t) 0,SEEK_CUR);
warn("Got A");
efseeko(outfp,(off_t) 0,SEEK_CUR);
if( !getparstring("ttfile",&ttfile))
err("must specify ttfile!\n");
if ((ttfp=fopen(ttfile,"r"))==NULL)
err("cannot open ttfile=%s\n",ttfile);
if( !getparstring("jpfile",&jpfile)) {
jpfp = stderr;
} else
jpfp = fopen(jpfile,"w");
/* get information for seismogram traces */
if (!getparint("nt",&nt)) nt = 501;
if (!getparfloat("dt",&dt)) dt = 0.004;
if (!getparfloat("ft",&ft)) ft = 0.0;
if (!getparfloat("fmax",&fmax)) fmax = 1.0/(4*dt);
fpeak = 0.2/dt;
if (!getparint("nxs",&nxs)) nxs = 101;
if (!getparfloat("dxs",&dxs)) dxs = 15;
if (!getparfloat("fxs",&fxs)) fxs = 0.0;
if (!getparint("nxo",&nxo)) nxo = 1;
if (!getparfloat("dxo",&dxo)) dxo = 50;
if (!getparfloat("fxo",&fxo)) fxo = 0.0;
/* get traveltime table parameters */
if (!getparint("nxt",&nxt)) err("must specify nxt!\n");
if (!getparfloat("fxt",&fxt)) err("must specify fxt!\n");
if (!getparfloat("dxt",&dxt)) err("must specify dxt!\n");
if (!getparint("nzt",&nzt)) err("must specify nzt!\n");
if (!getparfloat("fzt",&fzt)) err("must specify fzt!\n");
if (!getparfloat("dzt",&dzt)) err("must specify dzt!\n");
if (!getparint("ns",&ns)) err("must specify ns!\n");
if (!getparfloat("fs",&fs)) err("must specify fs!\n");
if (!getparfloat("ds",&ds)) err("must specify ds!\n");
ext = fxt+(nxt-1)*dxt;
ezt = fzt+(nzt-1)*dzt;
es = fs+(ns-1)*ds;
/* check source and receiver coordinates */
for (ixs=0; ixs<nxs; ++ixs) {
xs = fxs+ixs*dxs;
for (ixo=0; ixo<nxo; ++ixo) {
xg = xs+fxo+ixo*dxo;
if (fs>xs || es<xs || fs>xg || es<xg)
err("shot or receiver lie outside of specified (x,z) grid\n");
}
}
/* get migration section parameters */
if (!getparint("nx",&nx)) err("must specify nx!\n");
if (!getparfloat("fx",&fx)) err("must specify fx!\n");
if (!getparfloat("dx",&dx)) err("must specify dx!\n");
if (!getparint("nz",&nz)) err("must specify nz!\n");
if (!getparfloat("fz",&fz)) err("must specify fz!\n");
if (!getparfloat("dz",&dz)) err("must specify dz!\n");
ex = fx+(nx-1)*dx;
ez = fz+(nz-1)*dz;
if(fxt>fx || ext<ex || fzt>fz || ezt<ez)
err(" migration section is out of traveltime table!\n");
if (!getparfloat("v0",&v0)) v0 = 1500;
if (!getparfloat("dvz",&dvz)) dvz = 0;
if (!getparfloat("angmax",&angmax)) angmax = 60.;
if (angmax<0.00001) err("angmax must be positive!\n");
mzmax = dx*sin(angmax*PI/180.)/dz;
if(mzmax<1) mzmax = 1;
if (!getparfloat("aperx",&aperx)) aperx = 0.5*nxt*dxt;
if (!getparint("ls",&ls)) ls = 1;
if (!getparint("mtr",&mtr)) mtr = 100;
fprintf(jpfp,"\n");
fprintf(jpfp," Modeling parameters\n");
fprintf(jpfp," ================\n");
fprintf(jpfp," infile=%s \n",infile);
fprintf(jpfp," outfile=%s \n",outfile);
fprintf(jpfp," ttfile=%s \n",ttfile);
fprintf(jpfp," \n");
fprintf(jpfp," nzt=%d fzt=%g dzt=%g\n",nzt,fzt,dzt);
fprintf(jpfp," nxt=%d fxt=%g dxt=%g\n",nxt,fxt,dxt);
fprintf(jpfp," ns=%d fs=%g ds=%g\n",ns,fs,ds);
fprintf(jpfp," \n");
fprintf(jpfp," nz=%d fz=%g dz=%g\n",nz,fz,dz);
fprintf(jpfp," nx=%d fx=%g dx=%g\n",nx,fx,dx);
fprintf(jpfp," \n");
fprintf(jpfp," nxs=%d fxs=%g dxs=%g\n",nxs,fxs,dxs);
fprintf(jpfp," nxo=%d fxo=%g dxo=%g\n",nxo,fxo,dxo);
fprintf(jpfp," \n");
/* compute reference traveltime and slowness */
offmax = MAX(ABS(fxo),ABS(fxo+(nxo-1)*dxo));
rmax = MAX(es-fxt,ext-fs);
rmax = MIN(rmax,0.5*offmax+aperx);
nr = 2+(int)(rmax/dx);
tb = ealloc2float(nzt,nr);
pb = ealloc2float(nzt,nr);
sigb = ealloc2float(nzt,nr);
cosb = ealloc2float(nzt,nr);
timeb(nr,nzt,dx,dzt,fzt,dvz,v0,tb,pb,sigb,cosb);
fprintf(jpfp," nt=%d ft=%g dt=%g fpeak=%g \n",nt,ft,dt,fpeak);
fprintf(jpfp," v0=%g dvz=%g \n",v0,dvz);
fprintf(jpfp," aperx=%g angmax=%g offmax=%g\n",aperx,angmax,offmax);
fprintf(jpfp," mtr=%d ls=%d\n",mtr,ls);
fprintf(jpfp," ================\n");
fflush(jpfp);
/* allocate space */
mig = ealloc2float(nz,nx);
migi = ealloc2float(nz+2*mzmax,nx);
ttab = ealloc3float(nzt,nxt,ns);
tt = ealloc2float(nzt,nxt);
tsum = ealloc2float(nzt,nxt);
/* make wavelet */
makericker(fpeak,dt,&w);
/* set constant segy trace header parameters */
memset((void *) &tr, 0, sizeof(segy));
tr.trid = 1;
tr.counit = 1;
tr.ns = nt;
tr.dt = 1.0e6*dt;
tr.delrt = 1.0e3*ft;
fprintf(jpfp," read traveltime tables \n");
fflush(jpfp);
/* compute traveltime residual */
for(is=0; is<ns; ++is){
nseek = (off_t) nxt*nzt*is;
efseeko(ttfp,nseek*((off_t) sizeof(float)),SEEK_SET);
fread(ttab[is][0],sizeof(float),nxt*nzt,ttfp);
s = fs+is*ds;
resit(nxt,fxt,dxt,nzt,nr,dx,tb,ttab[is],s);
}
fprintf(jpfp," read migration section \n");
fflush(jpfp);
/* read migration section */
fread(mig[0],sizeof(float),nx*nz,infp);
/* integrate migration section for constructing anti-aliasing
filter */
integ(mig,nz,dz,nx,mzmax,migi);
fprintf(jpfp," start synthesis ... \n");
fprintf(jpfp," \n");
fflush(jpfp);
jtr = 0;
/* loop over shots */
for (ixs=0,xs=fxs,tracl=0; ixs<nxs; ++ixs,xs+=dxs) {
/* loop over offsets */
for (ixo=0,xo=fxo; ixo<nxo; ++ixo,xo+=dxo) {
float as,res;
int is;
xg = xs+xo;
/* set segy trace header parameters */
tr.tracl = tr.tracr = ++tracl;
tr.fldr = 1+ixs;
tr.tracf = 1+ixo;
tr.offset = NINT(xo);
tr.sx = NINT(xs);
tr.gx = NINT(xg);
as = (xs-fs)/ds;
is = (int)as;
if(is==ns-1) is=ns-2;
res = as-is;
if(res<=0.01) res = 0.0;
if(res>=0.99) res = 1.0;
sum2(nxt,nzt,1-res,res,ttab[is],ttab[is+1],tsum);
as = (xg-fs)/ds;
is = (int)as;
if(is==ns-1) is=ns-2;
res = as-is;
if(res<=0.01) res = 0.0;
if(res>=0.99) res = 1.0;
sum2(nxt,nzt,1-res,res,ttab[is],ttab[is+1],tt);
sum2(nxt,nzt,1,1,tt,tsum,tsum);
fflush(jpfp);
/* make one trace */
maketrace(tr.data,nt,ft,dt,xs,xg,mig,migi,aperx,
nx,fx,dx,nz,fz,dz,mzmax,ls,angmax,v0,fmax,w,
tb,pb,sigb,cosb,nr,tsum,nxt,fxt,dxt,nzt,fzt,dzt);
/* write trace */
fputtr(outfp,&tr);
jtr++;
if((jtr-1)%mtr ==0 ){
fprintf(jpfp," generated trace %d\n",jtr);
fflush(jpfp);
}
}
}
fprintf(jpfp," generated %d traces in total\n",jtr);
fprintf(jpfp," \n");
fprintf(jpfp," output done\n");
fflush(jpfp);
efclose(jpfp);
efclose(outfp);
free2float(tsum);
free2float(tt);
free2float(pb);
free2float(tb);
free2float(cosb);
free2float(sigb);
free3float(ttab);
free2float(mig);
free2float(migi);
return(CWP_Exit());
}