int main(int argc, char* argv[]) {
GetLog() << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << "\n\n";
// Simulation and rendering time-step
double time_step = 1e-4;
double out_step = 0.02;
// Create a ChronoENGINE physical system
ChSystemSMC mphysicalSystem;
mphysicalSystem.Set_G_acc(0.38 * mphysicalSystem.Get_G_acc());
// Create the Irrlicht visualization (open the Irrlicht device,
// bind a simple user interface, etc. etc.)
ChIrrApp application(&mphysicalSystem, L"SMC collision demo", core::dimension2d<u32>(800, 600), false, true);
// Easy shortcuts to add camera, lights, logo and sky in Irrlicht scene:
application.AddTypicalLogo();
application.AddTypicalSky();
application.AddTypicalLights();
application.AddTypicalCamera(core::vector3df(0, 18, -20));
// Add fixed and moving bodies
AddContainer(application);
AddFallingItems(application);
// Complete asset specification: convert all assets to Irrlicht
application.AssetBindAll();
application.AssetUpdateAll();
// The soft-real-time cycle
double time = 0;
double out_time = 0;
while (application.GetDevice()->run()) {
application.BeginScene();
application.DrawAll();
while (time < out_time) {
mphysicalSystem.DoStepDynamics(time_step);
time += time_step;
}
out_time += out_step;
application.EndScene();
}
return 0;
}
int main(int argc, char* argv[]) {
GetLog() << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << "\n\n";
// Simulation parameters
double gravity = -9.81;
double time_step = 0.00001;
double out_step = 2000 * time_step;
// Parameters for the falling ball
int ballId = 100;
double radius = 1;
double mass = 1000;
ChVector<> pos(0, 2, 0);
ChQuaternion<> rot(1, 0, 0, 0);
ChVector<> init_vel(0, 0, 0);
// Parameters for the containing bin
int binId = 200;
double width = 2;
double length = 2;
double height = 1;
double thickness = 0.1;
// Create the system
ChSystemSMC msystem;
// The following two lines are optional, since they are the default options. They are added for future reference,
// i.e. when needed to change those models.
msystem.SetContactForceModel(ChSystemSMC::ContactForceModel::Hertz);
msystem.SetAdhesionForceModel(ChSystemSMC::AdhesionForceModel::Constant);
msystem.Set_G_acc(ChVector<>(0, gravity, 0));
// Change the default collision effective radius of curvature
collision::ChCollisionInfo::SetDefaultEffectiveCurvatureRadius(1);
// Create the Irrlicht visualization
ChIrrApp application(&msystem, L"SMC demo", core::dimension2d<u32>(800, 600), false, true);
// Easy shortcuts to add camera, lights, logo and sky in Irrlicht scene
application.AddTypicalLogo();
application.AddTypicalSky();
application.AddTypicalLights();
application.AddTypicalCamera(core::vector3df(0, 3, -6));
// This means that contactforces will be shown in Irrlicht application
application.SetSymbolscale(1e-4);
application.SetContactsDrawMode(ChIrrTools::eCh_ContactsDrawMode::CONTACT_FORCES);
// Create a material (will be used by both objects)
auto material = std::make_shared<ChMaterialSurfaceSMC>();
material->SetRestitution(0.1f);
material->SetFriction(0.4f);
material->SetAdhesion(0); // Magnitude of the adhesion in Constant adhesion model
// Create the falling ball
auto ball = std::make_shared<ChBody>(ChMaterialSurface::SMC);
ball->SetIdentifier(ballId);
ball->SetMass(mass);
ball->SetPos(pos);
ball->SetRot(rot);
ball->SetPos_dt(init_vel);
// ball->SetWvel_par(ChVector<>(0,0,3));
ball->SetBodyFixed(false);
ball->SetMaterialSurface(material);
ball->SetCollide(true);
ball->GetCollisionModel()->ClearModel();
ball->GetCollisionModel()->AddSphere(radius);
ball->GetCollisionModel()->BuildModel();
ball->SetInertiaXX(0.4 * mass * radius * radius * ChVector<>(1, 1, 1));
auto sphere = std::make_shared<ChSphereShape>();
sphere->GetSphereGeometry().rad = radius;
ball->AddAsset(sphere);
auto mtexture = std::make_shared<ChTexture>();
mtexture->SetTextureFilename(GetChronoDataFile("bluwhite.png"));
ball->AddAsset(mtexture);
msystem.AddBody(ball);
// Create container
auto bin = std::make_shared<ChBody>(ChMaterialSurface::SMC);
bin->SetIdentifier(binId);
bin->SetMass(1);
bin->SetPos(ChVector<>(0, 0, 0));
bin->SetRot(ChQuaternion<>(1, 0, 0, 0));
bin->SetCollide(true);
bin->SetBodyFixed(true);
bin->SetMaterialSurface(material);
bin->GetCollisionModel()->ClearModel();
AddWall(bin, ChVector<>(width, thickness, length), ChVector<>(0, 0, 0));
// AddWall(bin, ChVector<>(thickness, height, length), ChVector<>(-width + thickness, height, 0));
// AddWall(bin, ChVector<>(thickness, height, length), ChVector<>(width - thickness, height, 0));
// AddWall(bin, ChVector<>(width, height, thickness), ChVector<>(0, height, -length + thickness));
// AddWall(bin, ChVector<>(width, height, thickness), ChVector<>(0, height, length - thickness));
bin->GetCollisionModel()->BuildModel();
msystem.AddBody(bin);
// Complete asset construction
application.AssetBindAll();
application.AssetUpdateAll();
// The soft-real-time cycle
double time = 0.0;
double out_time = 0.0;
while (application.GetDevice()->run()) {
application.BeginScene();
application.DrawAll();
ChIrrTools::drawGrid(application.GetVideoDriver(), 0.2, 0.2, 20, 20,
ChCoordsys<>(ChVector<>(0, 0, 0), Q_from_AngX(CH_C_PI_2)),
video::SColor(255, 80, 100, 100), true);
while (time < out_time) {
msystem.DoStepDynamics(time_step);
time += time_step;
}
out_time += out_step;
application.EndScene();
}
return 0;
}