58 lines
1.7 KiB
OCaml
58 lines
1.7 KiB
OCaml
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open Hsim.Types
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open Solvers.Zls
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(* let hybrid bouncing () = (x, y) where
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rec der y = y' init y0
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and der y' = -g init y'0
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and der x = x' init x0
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and der x' = .0 init x'0 *)
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let of_array = Bigarray.Array1.of_array Bigarray.Float64 Bigarray.c_layout
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type state =
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{ zin : zarray;
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lx : carray; (* [h';h;x';x] *)
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i : bool }
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let g = -9.81
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let y0 = 50.0
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let y'0 = 0.0
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let x0 = 0.0
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let x'0 = 1.0
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let zsize = 1
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let csize = 4
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let fder y yd =
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if true (* y.{1} >= 0.0 *) then
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begin yd.{0} <- g; yd.{1} <- y.{0}; yd.{2} <- 0.0; yd.{3} <- y.{2} end
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else begin yd.{0} <- 0.0; yd.{1} <- 0.0; yd.{2} <- 0.0; yd.{3} <- 0.0 end;
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yd
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let fzer y zo = zo.{0} <- -. y.{1}; zo
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let fout _ _ y = of_array [| y.{1} |]
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let jump _ = true
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let horizon _ = max_float
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let cget s = s.lx
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let cset s lx = { s with lx }
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let zset s zin = { s with zin }
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let step ({ zin; lx; _ } as s) zfalse =
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let lx = if zin.{0} = 1l then
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of_array [| -. 0.8 *. lx.{0}; 0.0; lx.{2}; lx.{3} |] else lx in
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of_array [| s.lx.{1} |], { zin=zfalse; lx; i=false }
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let bouncing_ball () : (_, _, carray, carray, carray, zarray, carray) hnode =
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let yd = cmake csize in
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let zout = cmake zsize in
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let zfalse = zmake 1 in
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let fder _ _ y = fder y yd in
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let fzer _ _ y = fzer y zout in
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let step s _ = step s zfalse in
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let state = { zin=zfalse; lx=of_array [|y'0;y0;x'0;x0|]; i=true } in
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let reset _ _ = state in
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HNode { state; fder; fzer; fout; step; reset; horizon;
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jump; cset; cget; zset; csize; zsize }
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let errmsg = "Too many arguments for the model (needed: 0)"
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let init = function
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| [] -> bouncing_ball ()
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| _ -> raise (Invalid_argument errmsg)
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