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Merge branch 'experiment'
Organize and update the Cannon Sims for Trick Tutorial Changes Ref#338
This commit is contained in:
John M. Penn
commit
3511800234
@ -1,6 +0,0 @@
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#execfile("Modified_data/realtime.py")
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execfile("Modified_data/cannon.dr")
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dyn_integloop.getIntegrator(trick.Runge_Kutta_4, 4)
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trick.exec_set_terminate_time(5.2)
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@ -1,3 +0,0 @@
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dyn_integloop.getIntegrator(trick.Runge_Kutta_4, 4)
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trick.exec_set_terminate_time(5.2)
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@ -1,17 +0,0 @@
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global DR_GROUP_ID
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global drg
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try:
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if DR_GROUP_ID >= 0:
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DR_GROUP_ID += 1
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except NameError:
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DR_GROUP_ID = 0
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drg = []
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drg.append(trick.DRAscii("cannon"))
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drg[DR_GROUP_ID].set_freq(trick.DR_Always)
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drg[DR_GROUP_ID].set_cycle(0.01)
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drg[DR_GROUP_ID].set_single_prec_only(False)
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drg[DR_GROUP_ID].add_variable("dyn.cannon.pos[0]")
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drg[DR_GROUP_ID].add_variable("dyn.cannon.pos[1]")
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trick.add_data_record_group(drg[DR_GROUP_ID], trick.DR_Buffer)
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drg[DR_GROUP_ID].enable()
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@ -1,11 +0,0 @@
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trick.frame_log_on()
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trick.real_time_enable()
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trick.exec_set_software_frame(0.1)
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trick.itimer_enable()
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trick.exec_set_enable_freeze(True)
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trick.exec_set_freeze_command(True)
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simControlPanel = trick.SimControlPanel()
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trick.add_external_application(simControlPanel)
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@ -1,2 +0,0 @@
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trick.exec_set_terminate_time(5.2)
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@ -1,34 +0,0 @@
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/************************TRICK HEADER*************************
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PURPOSE:
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(This S_define is used with the RUN_dt input file)
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LIBRARY_DEPENDENCY:
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(
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(cannon/gravity/src/cannon_dt.c)
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(cannon/gravity/src/cannon_init.c)
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(cannon/gravity/src/cannon_default_data.c)
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)
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*************************************************************/
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#include "sim_objects/default_trick_sys.sm"
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##include "cannon/gravity/include/cannon.h"
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##include "cannon/gravity/include/cannon_dt_proto.h"
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class CannonSimObject : public Trick::SimObject {
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public:
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CANNON cannon ;
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CannonSimObject() {
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("default_data") cannon_default_data( &cannon ) ;
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("initialization") cannon_init( &cannon ) ;
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(0.01, "scheduled") cannon_dt( &cannon ) ;
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}
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} ;
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// Instantiations
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CannonSimObject dyn ;
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@ -1,4 +0,0 @@
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TRICK_CFLAGS += -I../models
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TRICK_CXXFLAGS += -I../models
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@ -1,9 +0,0 @@
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Stripchart:
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title = "Cannon Trajectory"
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geometry = 800x800+300+0
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x_min = 0.0
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x_max = 250.0
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y_min = 0.0
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y_max = 40.0
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x_variable = dyn.cannon.pos[0]
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dyn.cannon.pos[1]
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@ -1,3 +0,0 @@
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dyn.baseball.pos[0] 16 m NUMBER
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dyn.baseball.pos[1] 0.1 m NUMBER
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dyn.baseball.pos[2] 2 m NUMBER
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@ -1,17 +0,0 @@
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global DR_GROUP_ID
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global drg
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try:
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if DR_GROUP_ID >= 0:
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DR_GROUP_ID += 1
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except NameError:
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DR_GROUP_ID = 0
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drg = []
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drg.append(trick.DRAscii("cannon"))
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drg[DR_GROUP_ID].set_freq(trick.DR_Always)
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drg[DR_GROUP_ID].set_cycle(0.01)
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drg[DR_GROUP_ID].set_single_prec_only(False)
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drg[DR_GROUP_ID].add_variable("dyn.cannon.pos[0]")
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drg[DR_GROUP_ID].add_variable("dyn.cannon.pos[1]")
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trick.add_data_record_group(drg[DR_GROUP_ID], trick.DR_Buffer)
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drg[DR_GROUP_ID].enable()
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@ -1,9 +0,0 @@
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#execfile("Modified_data/realtime.py")
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execfile("Modified_data/cannon.dr")
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trick.TMM_reduced_checkpoint(0)
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dyn_integloop.getIntegrator(trick.Runge_Kutta_4, 4)
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trick.stop(6)
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@ -1,3 +0,0 @@
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dyn_integloop.getIntegrator(trick.Runge_Kutta_4, 4)
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trick.exec_set_terminate_time(5.2)
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@ -1,36 +0,0 @@
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/************************TRICK HEADER*************************
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PURPOSE:
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(This S_define is used with RUN_integ input file)
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LIBRARY DEPENDENCIES:
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(
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(cannon/gravity/src/cannon_default_data.c)
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(cannon/gravity/src/cannon_init.c)
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(cannon/gravity/src/cannon_deriv.c)
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(cannon/gravity/src/cannon_integ.c)
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)
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*************************************************************/
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#include "sim_objects/default_trick_sys.sm"
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##include "cannon/gravity/include/cannon.h"
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##include "cannon/gravity/include/cannon_integ_proto.h"
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class CannonSimObject : public Trick::SimObject {
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public:
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CANNON cannon ;
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CannonSimObject() {
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("default_data") cannon_default_data( &cannon ) ;
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("initialization") cannon_init( &cannon ) ;
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("derivative") cannon_deriv( &cannon ) ;
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("integration") trick_ret = cannon_integ( &cannon ) ;
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}
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} ;
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// Instantiations
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CannonSimObject dyn ;
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IntegLoop dyn_integloop (0.01) dyn;
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@ -1,4 +0,0 @@
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TRICK_CFLAGS += -I../models
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TRICK_CXXFLAGS += -I../models
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21
trick_sims/Cannon/SIM_cannon_numeric/RUN_graphics/input.py
Normal file
21
trick_sims/Cannon/SIM_cannon_numeric/RUN_graphics/input.py
Normal file
@ -0,0 +1,21 @@
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execfile("Modified_data/realtime.py")
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dyn_integloop.getIntegrator(trick.Runge_Kutta_4, 5)
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#==========================================
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# Start the Cannonball Graphics Client
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#==========================================
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varServerPort = trick.var_server_get_port();
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CannonDisplay_path = "../models/graphics/dist/CannonDisplay.jar"
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if (os.path.isfile(CannonDisplay_path)) :
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CannonDisplay_cmd = "java -jar " \
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+ CannonDisplay_path \
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+ " " + str(varServerPort) + " &" ;
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print(CannonDisplay_cmd)
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os.system( CannonDisplay_cmd);
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else :
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print('==================================================================================')
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print('CannonDisplay needs to be built. Please \"cd\" into ../models/graphics and type \"make\".')
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print('==================================================================================')
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@ -2,4 +2,4 @@
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execfile("Modified_data/realtime.py")
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execfile("Modified_data/cannon.dr")
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trick.exec_set_terminate_time(5.2)
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dyn_integloop.getIntegrator(trick.Runge_Kutta_4, 5)
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@ -0,0 +1,3 @@
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dyn_integloop.getIntegrator(trick.Runge_Kutta_4, 5)
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trick.exec_set_terminate_time(5.2)
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@ -1,11 +1,11 @@
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/************************TRICK HEADER*************************
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PURPOSE:
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(This S_define is used with RUN_integ input file)
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(Cannon Numeric)
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LIBRARY DEPENDENCIES:
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(
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(cannon/gravity/src/cannon_default_data.c)
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(cannon/gravity/src/cannon_init.c)
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(cannon/gravity/src/cannon_deriv_impact.c)
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(cannon/gravity/src/cannon_deriv.c)
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(cannon/gravity/src/cannon_integ.c)
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(cannon/gravity/src/cannon_impact.c)
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)
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@ -23,12 +23,9 @@ class CannonSimObject : public Trick::SimObject {
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CannonSimObject() {
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("default_data") cannon_default_data( &cannon ) ;
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("initialization") cannon_init( &cannon ) ;
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("derivative") cannon_deriv_impact( &cannon ) ;
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("derivative") cannon_deriv( &cannon ) ;
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("integration") trick_ret = cannon_integ( &cannon ) ;
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("dynamic_event") cannon_impact( &cannon) ;
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}
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} ;
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Before Width: | Height: | Size: 44 KiB After Width: | Height: | Size: 44 KiB |
@ -23,12 +23,13 @@ typedef struct {
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double vel[2] ; /* m/s xy-velocity */
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double acc[2] ; /* m/s2 xy-acceleration */
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double impactTime;
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double time;
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double timeRate;
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/* Impact */
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REGULA_FALSI rf ; /* -- Dynamic event params for impact */
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int impact ; /* -- Has impact occured? */
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double impactTime;
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/* Communication Connection */
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TCDevice connection ; /* -- Socket connection for sending position */
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@ -13,8 +13,8 @@ extern "C" {
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#endif
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int cannon_integ(CANNON*) ;
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int cannon_deriv_impact(CANNON*) ;
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double cannon_impact(CANNON*) ;
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double cannon_deriv(CANNON*) ;
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int cannon_init(CANNON*) ;
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int cannon_default_data(CANNON*) ;
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@ -1,23 +0,0 @@
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/*************************************************************************
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PURPOSE: (Cannonball Prototypes)
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**************************************************************************/
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#ifndef CANNON_DT_PROTO
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#define CANNON_DT_PROTO
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#include <stdio.h>
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#include "cannon.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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int cannon_dt(CANNON*) ;
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int cannon_init(CANNON*) ;
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int cannon_default_data(CANNON*) ;
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#ifdef __cplusplus
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}
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#endif
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#endif
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@ -2,6 +2,7 @@
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PURPOSE: ( Analytical Cannon )
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*****************************************************************************/
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#include <stdio.h>
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#include <math.h>
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#include "../include/cannon.h"
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#include "../include/cannon_analytic_proto.h"
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@ -15,11 +16,12 @@ int cannon_analytic( CANNON* C )
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C->pos[1] = C->pos0[1] + (C->vel0[1] + (0.5) * C->acc0[1] * C->time) * C->time ;
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if (C->pos[1] < 0.0) {
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C->impact = 1;
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C->impactTime = -(2 * C->vel0[1] / C->acc0[1]);
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C->impactTime = (- C->vel0[1] - sqrt( C->vel0[1] * C->vel0[1] - 2 * C->pos0[1]))/C->acc[1];
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C->pos[0] = C->impactTime * C->vel0[0];
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C->pos[1] = 0.0;
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C->vel[0] = 0.0;
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C->vel[1] = 0.0;
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fprintf(stderr, "\n\nIMPACT: ModelTime = %.9f, pos = %.9f\n\n", C->impactTime, C->pos[0] ) ;
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}
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/*
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@ -4,11 +4,12 @@ PURPOSE: ( Try Trick integration )
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#include "../include/cannon.h"
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#include "../include/cannon_integ_proto.h"
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int cannon_deriv(
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CANNON* C )
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{
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C->acc[0] = 0.0 ;
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C->acc[1] = -9.81 ;
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int cannon_deriv( CANNON* C ) {
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return 0 ;
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if (!C->impact) {
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C->acc[0] = 0.00 ;
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C->acc[1] = -9.81 ;
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C->timeRate = 1.00;
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}
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return 0 ;
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}
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@ -1,16 +0,0 @@
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/*****************************************************************************
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PURPOSE: ( Adding contact)
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*****************************************************************************/
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#include "../include/cannon.h"
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#include "../include/cannon_contact_proto.h"
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int cannon_deriv_impact( CANNON* C )
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{
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if ( ! C->impact ) {
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/* Still above ground and flying */
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C->acc[0] = 0.0 ;
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C->acc[1] = -9.81 ;
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}
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return 0 ;
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}
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@ -1,34 +0,0 @@
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/*****************************************************************************
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PURPOSE: ( Try dt )
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*****************************************************************************/
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#include "../include/cannon.h"
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#include "../include/cannon_dt_proto.h"
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int cannon_dt(
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CANNON* C )
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{
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double dt ;
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double pos0[2] ;
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double vel0[2] ;
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double acc0[2] ;
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/* This dt matches the frequency of this job */
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dt = 0.01 ;
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/* Save off last state */
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pos0[0] = C->pos[0] ; pos0[1] = C->pos[1] ;
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vel0[0] = C->vel[0] ; vel0[1] = C->vel[1] ;
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acc0[0] = C->acc[0] ; acc0[1] = C->acc[1] ;
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/* Calculate new state based on last state */
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C->acc[0] = acc0[0] ;
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C->acc[1] = acc0[1] ;
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C->vel[0] = vel0[0] + acc0[0]*dt ;
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C->vel[1] = vel0[1] + acc0[1]*dt ;
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C->pos[0] = pos0[0] + vel0[0]*dt + (0.5)*acc0[0]*dt*dt ;
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C->pos[1] = pos0[1] + vel0[1]*dt + (0.5)*acc0[1]*dt*dt ;
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return 0 ;
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}
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@ -26,8 +26,9 @@ double cannon_impact( CANNON* C )
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C->vel[0] = 0.0 ; C->vel[1] = 0.0 ;
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C->acc[0] = 0.0 ; C->acc[1] = 0.0 ;
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C->impactTime = C->time;
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fprintf(stderr, "\n\nIMPACT: time = %.9f, pos = %.9f\n\n", now, C->pos[0] ) ;
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fprintf(stderr, "\n\nIMPACT: SimTime = %.9f, ModelTime = %.9f, pos = %.9f\n\n", now, C->impactTime, C->pos[0] ) ;
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}
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return ( tgo ) ;
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@ -20,8 +20,8 @@ int cannon_init( CANNON* C) {
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C->acc[0] = C->acc0[0] ;
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C->acc[1] = C->acc0[1] ;
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C->impactTime = 0;
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C->impact = 0;
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C->impactTime = 1.0;
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C->impact = 0.0;
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return 0 ;
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}
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@ -19,6 +19,7 @@ int cannon_integ(
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&C->pos[1] ,
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&C->vel[0] ,
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&C->vel[1] ,
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&C->time ,
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NULL
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);
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@ -28,6 +29,7 @@ int cannon_integ(
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&C->vel[1] ,
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&C->acc[0] ,
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&C->acc[1] ,
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&C->timeRate ,
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NULL
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);
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@ -40,6 +42,7 @@ int cannon_integ(
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&C->pos[1] ,
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&C->vel[0] ,
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&C->vel[1] ,
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&C->time ,
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NULL
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||||
);
|
||||
|
||||
|
||||
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