demo_dynamic_simulation.m

% Example of dynamic simulation

% -----------------------------------------------------------------------------
% This file is part of MBDE-MATLAB.  See: https://github.com/MBDS/mbde-matlab
% 
%     MBDE-MATLAB is free software: you can redistribute it and/or modify
%     it under the terms of the GNU General Public License as published by
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%     (at your option) any later version.
% 
%     MBDE-MATLAB is distributed in the hope that it will be useful,
%     but WITHOUT ANY WARRANTY; without even the implied warranty of
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%     You should have received a copy of the GNU General Public License
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%%
addpath('toolbox_mbe');

%% Instance of multibody model:
mbs = mbeMechModelFourBars1();
%mbs = mbeMechModelFourBars2();
%mbs = mbeMechModelFiveBars1();
%mbs = mbeMechModelRodArray1dof();
%mbs = mbeMechModelPendulum1();

%% Instance of dynamical simulator: 
% sim = mbeDynFormulationMatrixR();
sim = mbeDynFormulationI3AL();
% sim = mbeDynFormulationPenalty();
% sim = mbeDynFormulationLagrangeBaumgarte();

%% Select integrator: 
% See options in mbeIntegratorTypes: intEuler, intTrapezoidal,...
% sim.integrator_type = mbeIntegratorTypes.intTrapezoidal;
sim.integrator_type = mbeIntegratorTypes.intI3AL;

% (Read the docs of mbeDynFormulationBase on this variable!)
%sim.integrate_indep_coords = 1;  % Default
%sim.integrate_indep_coords = 0; 

%% Run batch dyn simulation:
t_ini = 0.0;
t_end = 5;
dt    = 5e-3;
[states,perf_stats]=sim.batch_dyn_solve(mbs,t_ini,t_end,dt);

%% Plot results:
figure, 
ts=states.t(:); % time vector
plot(ts,states.q(:, mbs.indep_idxs(1) )),title('z(t) (1st DOF)');

% Show performance stats:
sim.plot_perf_stats(perf_stats);