From b5a33b1b445928bf7c897e279fa33b7bd401a37c Mon Sep 17 00:00:00 2001 From: "Penn, John M 047828115" Date: Wed, 27 Jan 2021 12:27:01 -0600 Subject: [PATCH] Add BouncyCannonBall example to demonstrate dynamic events. #1097 --- .../BouncyCannonBall/BouncyCannonBall.cpp | 57 ++++++++++++++++++ .../examples/BouncyCannonBall/README.md | 34 +++++++++++ .../BouncyCannonBall/images/Cannon.png | Bin 0 -> 163624 bytes .../examples/BouncyCannonBall/makefile | 27 +++++++++ .../BouncyCannonBall/plot_trajectory.py | 18 ++++++ 5 files changed, 136 insertions(+) create mode 100644 trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/BouncyCannonBall.cpp create mode 100644 trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/README.md create mode 100644 trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/images/Cannon.png create mode 100644 trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/makefile create mode 100755 trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/plot_trajectory.py diff --git a/trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/BouncyCannonBall.cpp b/trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/BouncyCannonBall.cpp new file mode 100644 index 00000000..ffb53ab2 --- /dev/null +++ b/trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/BouncyCannonBall.cpp @@ -0,0 +1,57 @@ +#include +#include +#include "SAIntegrator.hh" + +struct Cannon { + double pos[2]; + double vel[2]; + Cannon(double px, double py, double vx, double vy); +}; +Cannon::Cannon(double px, double py, double vx, double vy) { + pos[0] = px; pos[1] = py; + vel[0] = vx; vel[1] = vy; +} +void CSV_header() { + printf ("t, cannon.pos[0], cannon.pos[1], cannon.vel[0], cannon.vel[1]\n"); +} +void CSV_state( double t, Cannon& cannon) { + printf ("%5.3f, %5.10f, %5.10f, %5.10f, %5.10f\n", + t, cannon.pos[0], cannon.pos[1], cannon.vel[0], cannon.vel[1]); +} +void calc_derivs( double t, double state[], double derivs[], void* udata) { + derivs[0] = state[2]; + derivs[1] = state[3]; + derivs[2] = 0.0; + derivs[3] = -9.81; +} +double impact( double t, double state[], RootFinder* root_finder, void* udata) { + double root_error = root_finder->find_roots(t, state[1]); + if (root_error == 0.0) { + root_finder->init(); + state[2] = 0.9 * state[2]; + state[3] = -0.9 * state[3]; + } + return (root_error); +} +int main ( int argc, char* argv[]) { + const double muzzle_speed = 50; // m/s + const double muzzle_angle = 30; // degrees + double vx0 = muzzle_speed * cos(muzzle_angle * M_PI / 180.0); + double vy0 = muzzle_speed * sin(muzzle_angle * M_PI / 180.0); + Cannon cannon(0.0, 0.0, vx0, vy0); + + double* state_var_p[4] = { &(cannon.pos[0]), &(cannon.pos[1]), + &(cannon.vel[0]), &(cannon.vel[1]) }; + double dt = 0.01; + SA::RK2Integrator integ(dt, 4, state_var_p, calc_derivs, NULL); + integ.add_Rootfinder(1.0e-10, Negative, &impact); + + double t = 0.0; + CSV_header(); + CSV_state( t, cannon); + while (t < 20.0) { + integ.integrate(); + t = integ.getIndyVar(); + CSV_state( t, cannon); + } +} diff --git a/trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/README.md b/trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/README.md new file mode 100644 index 00000000..8becb9f4 --- /dev/null +++ b/trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/README.md @@ -0,0 +1,34 @@ +# BouncyCannonBall + +The BouncyCannonBall program adds dynamic events to the Cannonball simulation. +using a rootfinder with our integrator to detect contact with the ground, and +bounce the cannonball. + +For each numerical integration time-step, the simulation program prints: + +1. time (s) +2. 2D position vector (m) +3. 2D velocity vector (m/s) + +to ```stdout```, in Comma Separated Values (CSV) format. + +### Building & Running the Simulation Program + +Generate the results as follows: + +``` +$ make +$ ./BouncyCannonBall > cannon.csv +``` +### Plotting the Results +The Python script, ```plot_trajectory.py``` is provided to plot the results +in ```cannon.csv``` using (Python) matplotlib. + +Plot the cannon ball trajectory as follows: + +``` +$ python plot_trajectory.py +``` + +![Cannon](images/Cannon.png) + diff --git a/trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/images/Cannon.png b/trick_source/trick_utils/SAIntegrator/examples/BouncyCannonBall/images/Cannon.png new file mode 100644 index 0000000000000000000000000000000000000000..20d91876e03d05d659057b2e641e63327d34c09b GIT binary patch literal 163624 zcmeFZby!v1)&~kmY(S+&Q93218@6;K-QC^Y3MwL9(h4FX-OUE1Q=~QxlG5FAC+~aC zcaFa2e&>Amxqlv?M_7CAxz?I<%rVCNjo%oP&}RygcQA-B5D*aVNK1(+BOpLz5D;z& zKu|%8OyHOs0>W)6D^byB(xRed&zv31t!&K@5TrumHPAFwy6&axC`(%gL8QE*qCoaD288-b5gAeV!11cgjdnJg?4Vk9pmZxT&{bbA$v-Vw!Hpi#Fw zA}kE`8S3_R9JdByX1#&4lCz)iwSl-IS=>G%^aoi#cIT-V_BASkeoJCE1_Id`wBhgo 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