bullet3/examples/MultiBody/pendulum_gold.h
Erwin Coumans 6bc3f94f52 add a Pendulum example that is also used as unit test.
Gold data is created by numerically solving a second-order non-linear differential equation.
(see examples/MultiBody/pendulum_gold.h)
2016-01-06 18:08:49 -08:00

2059 lines
38 KiB
C

#ifndef PENDULUM_GOLD_H
#define PENDULUM_GOLD_H
#include "LinearMath/btScalar.h"
/*
sPendulumGold data was created using the Python script,
thanks to Andreas Bihlmaier for the script.
#!/usr/bin/env python
from __future__ import print_function
import numpy as np
from scipy import integrate
import pylab as pl
import math
import argparse
theta_pos = 0
dtheta_pos = 1
def pendulum_system(Y, t):
m = 10 # [kg]
g = 9.81 # [m/s^2]
l = 0.5 # [m]
tau = 20 # [Nm]
I = m * pow(l, 2) # inertia
return [Y[dtheta_pos], (tau - m*g*l*math.sin(Y[theta_pos])) / I]
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--plot', action='store_true', default=False, help='Plot results')
args = parser.parse_args()
t = np.arange(0, 2, 0.001) # [s]
theta0 = 0
dtheta0 = 0
theta = integrate.odeint(pendulum_system, [theta0, dtheta0], t) # [rad]
print("timestamp;theta;")
for i in range(theta.shape[0]):
print("%f;%f;" % (t[i], theta[i,theta_pos]))
if args.plot:
pl.plot(t, theta[:,theta_pos], '+')
pl.show()
if __name__ == '__main__':
main()
*/
//sPendulumGold stores scalar values of a simulated pendulum in tuples 'timestamp' and 'theta joint angle'
static btScalar sPendulumGold[]=
{
0.000000,0.000000,
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1.884000,0.446474,
1.885000,0.448290,
1.886000,0.450105,
1.887000,0.451919,
1.888000,0.453733,
1.889000,0.455547,
1.890000,0.457359,
1.891000,0.459171,
1.892000,0.460983,
1.893000,0.462793,
1.894000,0.464603,
1.895000,0.466412,
1.896000,0.468221,
1.897000,0.470028,
1.898000,0.471834,
1.899000,0.473640,
1.900000,0.475445,
1.901000,0.477248,
1.902000,0.479051,
1.903000,0.480853,
1.904000,0.482653,
1.905000,0.484453,
1.906000,0.486251,
1.907000,0.488048,
1.908000,0.489844,
1.909000,0.491639,
1.910000,0.493432,
1.911000,0.495224,
1.912000,0.497015,
1.913000,0.498804,
1.914000,0.500592,
1.915000,0.502379,
1.916000,0.504164,
1.917000,0.505948,
1.918000,0.507730,
1.919000,0.509511,
1.920000,0.511290,
1.921000,0.513067,
1.922000,0.514843,
1.923000,0.516618,
1.924000,0.518390,
1.925000,0.520161,
1.926000,0.521930,
1.927000,0.523697,
1.928000,0.525463,
1.929000,0.527226,
1.930000,0.528988,
1.931000,0.530748,
1.932000,0.532506,
1.933000,0.534262,
1.934000,0.536016,
1.935000,0.537768,
1.936000,0.539518,
1.937000,0.541265,
1.938000,0.543011,
1.939000,0.544755,
1.940000,0.546496,
1.941000,0.548235,
1.942000,0.549972,
1.943000,0.551707,
1.944000,0.553439,
1.945000,0.555169,
1.946000,0.556897,
1.947000,0.558623,
1.948000,0.560346,
1.949000,0.562066,
1.950000,0.563784,
1.951000,0.565500,
1.952000,0.567213,
1.953000,0.568924,
1.954000,0.570632,
1.955000,0.572337,
1.956000,0.574040,
1.957000,0.575740,
1.958000,0.577438,
1.959000,0.579132,
1.960000,0.580824,
1.961000,0.582514,
1.962000,0.584200,
1.963000,0.585884,
1.964000,0.587565,
1.965000,0.589242,
1.966000,0.590917,
1.967000,0.592589,
1.968000,0.594259,
1.969000,0.595925,
1.970000,0.597588,
1.971000,0.599248,
1.972000,0.600905,
1.973000,0.602559,
1.974000,0.604210,
1.975000,0.605857,
1.976000,0.607502,
1.977000,0.609143,
1.978000,0.610781,
1.979000,0.612416,
1.980000,0.614047,
1.981000,0.615676,
1.982000,0.617301,
1.983000,0.618922,
1.984000,0.620540,
1.985000,0.622155,
1.986000,0.623766,
1.987000,0.625374,
1.988000,0.626979,
1.989000,0.628579,
1.990000,0.630177,
1.991000,0.631770,
1.992000,0.633361,
1.993000,0.634947,
1.994000,0.636530,
1.995000,0.638109,
1.996000,0.639685,
1.997000,0.641257,
1.998000,0.642825,
1.999000,0.644389
};
#endif //PENDULUM_GOLD_H