void AddBoundary(T* mSystem, double L, double W, double H, double th, float mu1) {
ChVector<> pos_p0(0, 0, 0);
CHBODYSHAREDPTR BTM = CHBODYSHAREDPTR(new CHBODY);
BTM->SetIdentifier(1);
InitObject(BTM, 100, Vector(0, 0, 0), QUNIT, mu1, mu1, 0, true, true, -20, -20);
AddCollisionGeometry(BTM, BOX, Vector(L / 2.0, th / 2.0, W / 2.0), VNULL, QUNIT);
FinalizeObject(BTM, (CHSYS*) mSystem);
CHBODYSHAREDPTR RIGHT = CHBODYSHAREDPTR(new CHBODY);
RIGHT->SetIdentifier(2);
InitObject(RIGHT, 100, Vector(L / 2.0, H / 2.0, 0), QUNIT, mu1, mu1, 0, true, true, -20, -20);
AddCollisionGeometry(RIGHT, BOX, Vector(th / 2.0, H / 2.0, W / 2.0), VNULL, QUNIT);
FinalizeObject(RIGHT, (CHSYS*) mSystem);
CHBODYSHAREDPTR LEFT = CHBODYSHAREDPTR(new CHBODY);
LEFT->SetIdentifier(3);
InitObject(LEFT, 100, Vector(-L / 2.0, H / 2.0, 0), QUNIT, mu1, mu1, 0, true, true, -20, -20);
AddCollisionGeometry(LEFT, BOX, Vector(th / 2.0, H / 2.0, W / 2.0), VNULL, QUNIT);
FinalizeObject(LEFT, (CHSYS*) mSystem);
CHBODYSHAREDPTR FRONT = CHBODYSHAREDPTR(new CHBODY);
FRONT->SetIdentifier(4);
InitObject(FRONT, 100, Vector(0.0, H / 2.0, W / 2.0), QUNIT, mu1, mu1, 0, true, true, -20, -20);
AddCollisionGeometry(FRONT, BOX, Vector(L / 2.0, H / 2.0, th / 2.0), VNULL, QUNIT);
FinalizeObject(FRONT, (CHSYS*) mSystem);
CHBODYSHAREDPTR BACK = CHBODYSHAREDPTR(new CHBODY);
BACK->SetIdentifier(5);
InitObject(BACK, 100, Vector(0.0, H / 2.0, -W / 2.0), QUNIT, mu1, mu1, 0, true, true, -20, -20);
AddCollisionGeometry(BACK, BOX, Vector(L / 2.0, H / 2.0, th / 2.0), VNULL, QUNIT);
FinalizeObject(BACK, (CHSYS*) mSystem);
}
void AddBall(T* mSystem, double Px, double Py, double Pz, double Vy, double bRad, double bMass, float mu1) {
CHBODYSHAREDPTR theBall = CHBODYSHAREDPTR(new CHBODY);
theBall->SetIdentifier(-1);
theBall->GetCollisionModel()->SetDefaultSuggestedEnvelope(0.1 * bRad);
InitObject(theBall, bMass, Vector(Px, Py, Pz), QUNIT, mu1, mu1, 0, true, false, 8, 16);
ChVector<> inertias((2.0 / 5.0) * bMass * bRad * bRad, (2.0 / 5.0) * bMass * bRad * bRad, (2.0 / 5.0) * bMass * bRad * bRad);
theBall->SetInertiaXX(inertias);
AddCollisionGeometry(theBall, SPHERE, Vector(bRad, bRad, bRad), VNULL, QUNIT);
theBall->SetPos_dt(Vector(0.0, Vy, 0.0));
FinalizeObject(theBall, (CHSYS*) mSystem);
}
int add_particles_fromFile_V2(T* mSystem, int n_load, double body_radius, double particle_mass, float fric, std::string tfilename) {
CHBODYSHAREDPTR mrigidBody;
cout << tfilename;
ChStreamInAsciiFile terrain_file(tfilename.c_str());
int num_p = 0;
printf("Loading particles...");
int pid = 0;
double xx = 0.0;
double yy = 0.0;
double zz = 0.0;
double r1 = 0.0;
double r2 = 0.0;
double r3 = 0.0;
double v1 = 0.0;
double v2 = 0.0;
double v3 = 0.0;
while (num_p < n_load) {
terrain_file >> pid;
terrain_file >> xx;
terrain_file >> yy;
terrain_file >> zz;
terrain_file >> r1;
terrain_file >> r2;
terrain_file >> r3;
terrain_file >> v1;
terrain_file >> v2;
terrain_file >> v3;
if (pid > 5) //
{
mrigidBody = CHBODYSHAREDPTR(new CHBODY);
mrigidBody->SetIdentifier(num_p + 10);
mrigidBody->GetCollisionModel()->SetDefaultSuggestedEnvelope(0.1 * body_radius);
InitObject(mrigidBody, particle_mass, Vector(xx, yy, zz), QUNIT, fric, fric, 0, true, false, 32, 64);
AddCollisionGeometry(mrigidBody, SPHERE, Vector(body_radius, body_radius, body_radius), VNULL, QUNIT);
mrigidBody->SetInertiaXX((2.0 / 5.0) * particle_mass * pow(body_radius, 2) * ChVector<>(1, 1, 1));
mrigidBody->SetPos_dt(Vector(v1, v2, v3));
FinalizeObject(mrigidBody, (CHSYS*) mSystem);
num_p++;
}
if (num_p % 4000 == 0)
printf("loaded %i\n", num_p);
}
printf("Done loading %i particles\n", num_p);
return num_p;
}
