BulletDS::BulletDS(SP::BulletWeightedShape weightedShape,
SP::SiconosVector position,
SP::SiconosVector velocity,
SP::SiconosVector relative_position,
SP::SiconosVector relative_orientation,
int group) :
NewtonEulerDS(position, velocity, weightedShape->mass(),
weightedShape->inertia()),
_weightedShape(weightedShape),
_collisionObjects(new CollisionObjects())
{
SiconosVector& q = *_q;
/* with 32bits input ... 1e-7 */
if (fabs(sqrt(pow(q(3), 2) + pow(q(4), 2) +
pow(q(5), 2) + pow(q(6), 2)) - 1.) >= 1e-7)
{
RuntimeException::selfThrow(
"BulletDS: quaternion in position parameter is not a unit quaternion "
);
}
/* initialisation is done with the weighted shape as the only one
* collision object */
if (! relative_position)
{
relative_position.reset(new SiconosVector(3));
relative_position->zero();
}
if (! relative_orientation)
{
relative_orientation.reset(new SiconosVector(4));
relative_orientation->zero();
(*relative_orientation)(1) = 1;
}
addCollisionShape(weightedShape->collisionShape(), relative_position,
relative_orientation, group);
}
// ================= Creation of the model =======================
void Disks::init()
{
SP::TimeDiscretisation timedisc_;
SP::TimeStepping simulation_;
SP::FrictionContact osnspb_;
// User-defined main parameters
double t0 = 0; // initial computation time
double T = std::numeric_limits<double>::infinity();
double h = 0.01; // time step
double g = 9.81;
double theta = 0.5; // theta for MoreauJeanOSI integrator
std::string solverName = "NSGS";
// -----------------------------------------
// --- Dynamical systems && interactions ---
// -----------------------------------------
double R;
double m;
try
{
// ------------
// --- Init ---
// ------------
std::cout << "====> Model loading ..." << std::endl << std::endl;
_plans.reset(new SimpleMatrix("plans.dat", true));
if (_plans->size(0) == 0)
{
/* default plans */
double A1 = P1A;
double B1 = P1B;
double C1 = P1C;
double A2 = P2A;
double B2 = P2B;
double C2 = P2C;
_plans.reset(new SimpleMatrix(6, 6));
_plans->zero();
(*_plans)(0, 0) = 0;
(*_plans)(0, 1) = 1;
(*_plans)(0, 2) = -GROUND;
(*_plans)(1, 0) = 1;
(*_plans)(1, 1) = 0;
(*_plans)(1, 2) = WALL;
(*_plans)(2, 0) = 1;
(*_plans)(2, 1) = 0;
(*_plans)(2, 2) = -WALL;
(*_plans)(3, 0) = 0;
(*_plans)(3, 1) = 1;
(*_plans)(3, 2) = -TOP;
(*_plans)(4, 0) = A1;
(*_plans)(4, 1) = B1;
(*_plans)(4, 2) = C1;
(*_plans)(5, 0) = A2;
(*_plans)(5, 1) = B2;
(*_plans)(5, 2) = C2;
}
/* set center positions */
for (unsigned int i = 0 ; i < _plans->size(0); ++i)
{
SP::DiskPlanR tmpr;
tmpr.reset(new DiskPlanR(1, (*_plans)(i, 0), (*_plans)(i, 1), (*_plans)(i, 2),
(*_plans)(i, 3), (*_plans)(i, 4), (*_plans)(i, 5)));
(*_plans)(i, 3) = tmpr->getXCenter();
(*_plans)(i, 4) = tmpr->getYCenter();
}
/* _moving_plans.reset(new FMatrix(1,6));
(*_moving_plans)(0,0) = &A;
(*_moving_plans)(0,1) = &B;
(*_moving_plans)(0,2) = &C;
(*_moving_plans)(0,3) = &DA;
(*_moving_plans)(0,4) = &DB;
(*_moving_plans)(0,5) = &DC;*/
SP::SiconosMatrix Disks;
Disks.reset(new SimpleMatrix("disks.dat", true));
// -- OneStepIntegrators --
SP::OneStepIntegrator osi;
osi.reset(new MoreauJeanOSI(theta));
// -- Model --
_model.reset(new Model(t0, T));
for (unsigned int i = 0; i < Disks->size(0); i++)
{
R = Disks->getValue(i, 2);
m = Disks->getValue(i, 3);
SP::SiconosVector qTmp;
SP::SiconosVector vTmp;
qTmp.reset(new SiconosVector(NDOF));
vTmp.reset(new SiconosVector(NDOF));
vTmp->zero();
(*qTmp)(0) = (*Disks)(i, 0);
(*qTmp)(1) = (*Disks)(i, 1);
SP::LagrangianDS body;
if (R > 0)
body.reset(new Disk(R, m, qTmp, vTmp));
else
body.reset(new Circle(-R, m, qTmp, vTmp));
// -- Set external forces (weight) --
SP::SiconosVector FExt;
FExt.reset(new SiconosVector(NDOF));
FExt->zero();
FExt->setValue(1, -m * g);
body->setFExtPtr(FExt);
// add the dynamical system to the one step integrator
osi->insertDynamicalSystem(body);
// add the dynamical system in the non smooth dynamical system
_model->nonSmoothDynamicalSystem()->insertDynamicalSystem(body);
}
_model->nonSmoothDynamicalSystem()->setSymmetric(true);
// ------------------
// --- Simulation ---
// ------------------
// -- Time discretisation --
timedisc_.reset(new TimeDiscretisation(t0, h));
// -- OneStepNsProblem --
osnspb_.reset(new FrictionContact(2));
osnspb_->numericsSolverOptions()->iparam[0] = 100; // Max number of
// iterations
osnspb_->numericsSolverOptions()->iparam[1] = 20; // compute error
// iterations
osnspb_->numericsSolverOptions()->dparam[0] = 1e-3; // Tolerance
osnspb_->setMaxSize(6 * ((3 * Ll * Ll + 3 * Ll) / 2 - Ll));
osnspb_->setMStorageType(1); // Sparse storage
osnspb_->setNumericsVerboseMode(0);
osnspb_->setKeepLambdaAndYState(true); // inject previous solution
// -- Simulation --
simulation_.reset(new TimeStepping(timedisc_));
std11::static_pointer_cast<TimeStepping>(simulation_)->setNewtonMaxIteration(3);
simulation_->insertIntegrator(osi);
simulation_->insertNonSmoothProblem(osnspb_);
simulation_->setCheckSolverFunction(localCheckSolverOuput);
// --- Simulation initialization ---
std::cout << "====> Simulation initialisation ..." << std::endl << std::endl;
SP::NonSmoothLaw nslaw(new NewtonImpactFrictionNSL(0, 0, 0.3, 2));
_playground.reset(new SpaceFilter(3, 6, _model, _plans, _moving_plans));
_playground->insert(nslaw, 0, 0);
_model->initialize(simulation_);
}
catch (SiconosException e)
{
std::cout << e.report() << std::endl;
exit(1);
}
catch (...)
{
std::cout << "Exception caught in Disks::init()" << std::endl;
exit(1);
}
}
// ================= Creation of the model =======================
void Spheres::init()
{
SP::TimeDiscretisation timedisc_;
SP::Simulation simulation_;
SP::FrictionContact osnspb_;
// User-defined main parameters
double t0 = 0; // initial computation time
double T = std::numeric_limits<double>::infinity();
double h = 0.01; // time step
double g = 9.81;
double theta = 0.5; // theta for MoreauJeanOSI integrator
std::string solverName = "NSGS";
// -----------------------------------------
// --- Dynamical systems && interactions ---
// -----------------------------------------
double R;
double m;
try
{
// ------------
// --- Init ---
// ------------
std::cout << "====> Model loading ..." << std::endl << std::endl;
_plans.reset(new SimpleMatrix("plans.dat", true));
SP::SiconosMatrix Spheres;
Spheres.reset(new SimpleMatrix("spheres.dat", true));
// -- OneStepIntegrators --
SP::OneStepIntegrator osi;
osi.reset(new MoreauJeanOSI(theta));
// -- Model --
_model.reset(new Model(t0, T));
for (unsigned int i = 0; i < Spheres->size(0); i++)
{
R = Spheres->getValue(i, 3);
m = Spheres->getValue(i, 4);
SP::SiconosVector qTmp;
SP::SiconosVector vTmp;
qTmp.reset(new SiconosVector(NDOF));
vTmp.reset(new SiconosVector(NDOF));
vTmp->zero();
(*qTmp)(0) = (*Spheres)(i, 0);
(*qTmp)(1) = (*Spheres)(i, 1);
(*qTmp)(2) = (*Spheres)(i, 2);
(*qTmp)(3) = M_PI / 2;
(*qTmp)(4) = M_PI / 4;
(*qTmp)(5) = M_PI / 2;
(*vTmp)(0) = 0;
(*vTmp)(1) = 0;
(*vTmp)(2) = 0;
(*vTmp)(3) = 0;
(*vTmp)(4) = 0;
(*vTmp)(5) = 0;
SP::LagrangianDS body;
body.reset(new SphereLDS(R, m, std11::shared_ptr<SiconosVector>(qTmp), std11::shared_ptr<SiconosVector>(vTmp)));
// -- Set external forces (weight) --
SP::SiconosVector FExt;
FExt.reset(new SiconosVector(NDOF));
FExt->zero();
FExt->setValue(2, -m * g);
body->setFExtPtr(FExt);
// add the dynamical system to the one step integrator
osi->insertDynamicalSystem(body);
// add the dynamical system in the non smooth dynamical system
_model->nonSmoothDynamicalSystem()->insertDynamicalSystem(body);
}
// ------------------
// --- Simulation ---
// ------------------
// -- Time discretisation --
timedisc_.reset(new TimeDiscretisation(t0, h));
// -- OneStepNsProblem --
osnspb_.reset(new FrictionContact(3));
osnspb_->numericsSolverOptions()->iparam[0] = 100; // Max number of
// iterations
osnspb_->numericsSolverOptions()->iparam[1] = 20; // compute error
// iterations
osnspb_->numericsSolverOptions()->iparam[4] = 2; // projection
osnspb_->numericsSolverOptions()->dparam[0] = 1e-6; // Tolerance
osnspb_->numericsSolverOptions()->dparam[2] = 1e-8; // Local tolerance
osnspb_->setMaxSize(16384); // max number of interactions
osnspb_->setMStorageType(1); // Sparse storage
osnspb_->setNumericsVerboseMode(0); // 0 silent, 1 verbose
osnspb_->setKeepLambdaAndYState(true); // inject previous solution
simulation_.reset(new TimeStepping(timedisc_));
simulation_->insertIntegrator(osi);
simulation_->insertNonSmoothProblem(osnspb_);
// simulation_->setCheckSolverFunction(localCheckSolverOuput);
// --- Simulation initialization ---
std::cout << "====> Simulation initialisation ..." << std::endl << std::endl;
SP::NonSmoothLaw nslaw(new NewtonImpactFrictionNSL(0, 0, 0.8, 3));
_playground.reset(new SpaceFilter(3, 6, _model, _plans, _moving_plans));
_playground->insert(nslaw, 0, 0);
_model->initialize(simulation_);
}
catch (SiconosException e)
{
std::cout << e.report() << std::endl;
exit(1);
}
catch (...)
{
std::cout << "Exception caught in Spheres::init()" << std::endl;
exit(1);
}
}
int main()
{
// User-defined main parameters
double t0 = 0; // initial computation time
double T = 20.0; // end of computation time
double h = 0.005; // time step
double position_init = 10.0; // initial position
double velocity_init = 0.0; // initial velocity
double g = 9.81;
double theta = 0.5; // theta for MoreauJeanOSI integrator
// -----------------------------------------
// --- Dynamical systems && interactions ---
// -----------------------------------------
try
{
// ------------
// --- Init ---
// ------------
std::cout << "====> Model loading ..." << std::endl << std::endl;
// -- OneStepIntegrators --
SP::OneStepIntegrator osi;
osi.reset(new MoreauJeanOSI(theta));
// -- Model --
SP::Model model(new Model(t0, T));
std::vector<SP::BulletWeightedShape> shapes;
// note: no rebound with a simple Bullet Box, why ?
// the distance after the broadphase contact detection is negative
// and then stay negative.
// SP::btCollisionShape box(new btBoxShape(btVector3(1,1,1)));
// SP::BulletWeightedShape box1(new BulletWeightedShape(box,1.0));
// This is ok if we build one with btConveHullShape
SP::btCollisionShape box(new btConvexHullShape());
{
std11::static_pointer_cast<btConvexHullShape>(box)->addPoint(btVector3(-1.0, 1.0, -1.0));
std11::static_pointer_cast<btConvexHullShape>(box)->addPoint(btVector3(-1.0, -1.0, -1.0));
std11::static_pointer_cast<btConvexHullShape>(box)->addPoint(btVector3(-1.0, -1.0, 1.0));
std11::static_pointer_cast<btConvexHullShape>(box)->addPoint(btVector3(-1.0, 1.0, 1.0));
std11::static_pointer_cast<btConvexHullShape>(box)->addPoint(btVector3(1.0, 1.0, 1.0));
std11::static_pointer_cast<btConvexHullShape>(box)->addPoint(btVector3(1.0, 1.0, -1.0));
std11::static_pointer_cast<btConvexHullShape>(box)->addPoint(btVector3(1.0, -1.0, -1.0));
std11::static_pointer_cast<btConvexHullShape>(box)->addPoint(btVector3(1.0, -1.0, 1.0));
}
SP::BulletWeightedShape box1(new BulletWeightedShape(box, 1.0));
shapes.push_back(box1);
SP::SiconosVector q0(new SiconosVector(7));
SP::SiconosVector v0(new SiconosVector(6));
v0->zero();
q0->zero();
(*q0)(2) = position_init;
(*q0)(3) = 1.0;
(*v0)(2) = velocity_init;
// -- The dynamical system --
// -- the default contactor is the shape given in the constructor
// -- the contactor id is 0
SP::BulletDS body(new BulletDS(box1, q0, v0));
// -- Set external forces (weight) --
SP::SiconosVector FExt;
FExt.reset(new SiconosVector(3)); //
FExt->zero();
FExt->setValue(2, - g * box1->mass());
body->setFExtPtr(FExt);
// -- Add the dynamical system in the non smooth dynamical system
model->nonSmoothDynamicalSystem()->insertDynamicalSystem(body);
SP::btCollisionObject ground(new btCollisionObject());
ground->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);
SP::btCollisionShape groundShape(new btBoxShape(btVector3(30, 30, .5)));
btMatrix3x3 basis;
basis.setIdentity();
ground->getWorldTransform().setBasis(basis);
ground->setCollisionShape(&*groundShape);
ground->getWorldTransform().getOrigin().setZ(-.50);
// ------------------
// --- Simulation ---
// ------------------
// -- Time discretisation --
SP::TimeDiscretisation timedisc(new TimeDiscretisation(t0, h));
// -- OneStepNsProblem --
SP::FrictionContact osnspb(new FrictionContact(3));
// -- Some configuration
osnspb->numericsSolverOptions()->iparam[0] = 1000; // Max number of
// iterations
osnspb->numericsSolverOptions()->dparam[0] = 1e-5; // Tolerance
osnspb->setMaxSize(16384); // max number of
// interactions
osnspb->setMStorageType(1); // Sparse storage
osnspb->setNumericsVerboseMode(0); // 0 silent, 1
// verbose
osnspb->setKeepLambdaAndYState(true); // inject
// previous
// solution
// --- Simulation initialization ---
std::cout << "====> Simulation initialisation ..." << std::endl << std::endl;
int N = ceil((T - t0) / h); // Number of time steps
SP::NonSmoothLaw nslaw(new NewtonImpactFrictionNSL(0.8, 0., 0.0, 3));
// -- The space filter performs broadphase collision detection
SP::BulletSpaceFilter space_filter(new BulletSpaceFilter(model));
// -- insert a non smooth law for contactors id 0
space_filter->insert(nslaw, 0, 0);
// -- add multipoint iterations, this is needed to gather at least
// -- 3 contact points and avoid objects penetration, see Bullet
// -- documentation
space_filter->collisionConfiguration()->setConvexConvexMultipointIterations();
space_filter->collisionConfiguration()->setPlaneConvexMultipointIterations();
// -- The ground is a static object
// -- we give it a group contactor id : 0
space_filter->addStaticObject(ground, 0);
// -- MoreauJeanOSI Time Stepping with Bullet Dynamical Systems
SP::BulletTimeStepping simulation(new BulletTimeStepping(timedisc));
simulation->insertIntegrator(osi);
simulation->insertNonSmoothProblem(osnspb);
model->setSimulation(simulation);
model->initialize();
std::cout << "====> End of initialisation ..." << std::endl << std::endl;
// --- Get the values to be plotted ---
// -> saved in a matrix dataPlot
unsigned int outputSize = 4;
SimpleMatrix dataPlot(N + 1, outputSize);
dataPlot.zero();
SP::SiconosVector q = body->q();
SP::SiconosVector v = body->velocity();
dataPlot(0, 0) = model->t0();
dataPlot(0, 1) = (*q)(2);
dataPlot(0, 2) = (*v)(2);
// --- Time loop ---
std::cout << "====> Start computation ... " << std::endl << std::endl;
// ==== Simulation loop - Writing without explicit event handling =====
int k = 1;
boost::progress_display show_progress(N);
boost::timer time;
time.restart();
while (simulation->hasNextEvent())
{
space_filter->buildInteractions(model->currentTime());
simulation->computeOneStep();
// --- Get values to be plotted ---
dataPlot(k, 0) = simulation->nextTime();
dataPlot(k, 1) = (*q)(2);
dataPlot(k, 2) = (*v)(2);
// If broadphase collision detection shows some contacts then we may
// display contact forces.
if (space_filter->collisionWorld()->getDispatcher()->getNumManifolds() > 0)
{
// we *must* have an indexSet0, filled by Bullet broadphase
// collision detection and an indexSet1, filled by
// TimeStepping::updateIndexSet with the help of Bullet
// getDistance() function
if (model->nonSmoothDynamicalSystem()->topology()->numberOfIndexSet() == 2)
{
SP::InteractionsGraph index1 = simulation->indexSet(1);
// This is the narrow phase contact detection : if
// TimeStepping::updateIndexSet has filled indexSet1 then we
// have some contact forces to display
if (index1->size() > 0)
{
// Four contact points for a cube with a side facing the
// ground. Note : changing Bullet margin for collision
// detection may lead this assertion to be false.
if (index1->size() == 4)
{
InteractionsGraph::VIterator iur = index1->begin();
// different version of bullet may not gives the same
// contact points! So we only keep the summation.
dataPlot(k, 3) =
index1->bundle(*iur)-> lambda(1)->norm2() +
index1->bundle(*++iur)->lambda(1)->norm2() +
index1->bundle(*++iur)->lambda(1)->norm2() +
index1->bundle(*++iur)->lambda(1)->norm2();
}
}
}
}
simulation->nextStep();
++show_progress;
k++;
}
std::cout << std::endl << "End of computation - Number of iterations done: " << k - 1 << std::endl;
std::cout << "Computation Time " << time.elapsed() << std::endl;
// --- Output files ---
std::cout << "====> Output file writing ..." << std::endl;
dataPlot.resize(k, outputSize);
ioMatrix::write("result.dat", "ascii", dataPlot, "noDim");
// Comparison with a reference file
SimpleMatrix dataPlotRef(dataPlot);
dataPlotRef.zero();
ioMatrix::read("result.ref", "ascii", dataPlotRef);
if ((dataPlot - dataPlotRef).normInf() > 1e-12)
{
std::cout << "Warning. The result is rather different from the reference file : "
<< (dataPlot - dataPlotRef).normInf() << std::endl;
return 1;
}
}
catch (SiconosException e)
{
std::cout << e.report() << std::endl;
exit(1);
}
catch (...)
{
std::cout << "Exception caught in BulletBouncingBox" << std::endl;
exit(1);
}
return 0;
}