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 AddSomeParticles(T* mSystem, double rad, double mass, double L, double W, double h, int n_x, int n_z, int n_curr_spheres, float mu2) {
int id_offset = 300;
double box_x = L - 5 * rad;
double box_z = W - 5 * rad;
double spacing_x = box_x / (n_x - 1);
double spacing_z = box_z / (n_z - 1);
double first_x = -box_x / 2;
double first_z = -box_z / 2;
int cid = 0;
for (int ii = 0; ii < n_x; ii++) {
for (int jj = 0; jj < n_z; jj++) {
double perturb_x = CHrandom() * rad - rad / 2;
double perturb_z = CHrandom() * rad - rad / 2;
Vector particle_pos(first_x + ii * spacing_x + perturb_x, h, first_z + jj * spacing_z + perturb_z);
CHBODYSHAREDPTR mybody = CHBODYSHAREDPTR(new CHBODY);
mybody->GetCollisionModel()->SetDefaultSuggestedEnvelope(0.1 * rad);
InitObject(mybody, mass, particle_pos, QUNIT, mu2, mu2, 0, true, false, 32, 64);
AddCollisionGeometry(mybody, SPHERE, Vector(rad, rad, rad), VNULL, QUNIT);
mybody->SetInertiaXX((2.0 / 5.0) * mass * pow(rad, 2) * ChVector<>(1, 1, 1));
FinalizeObject(mybody, (CHSYS*) mSystem);
cid++;
}
}
}
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);
}
void System::DoTimeStep() {
if (mNumCurrentObjects < mNumObjects && mFrameNumber % 100 == 0) {
float x = 1, y = numY, z = 1;
float posX = 0, posY = -8, posZ = 0;
srand(1);
float mass = .01, mu = .5, rest = 0;
ShapeType type = SPHERE;
CHBODYSHAREDPTR mrigidBody;
mNumCurrentObjects += x * y * z;
int mobjNum = 0;
for (int xx = 0; xx < x; xx++) {
for (int yy = 0; yy < y; yy++) {
for (int zz = 0; zz < z; zz++) {
type = CYLINDER;//rand()%2;e
float radius = .5;//(rand()%1000)/3000.0+.05;
ChVector<> mParticlePos((xx - (x - 1) / 2.0) + posX, (yy) + posY, (zz - (z - 1) / 2.0) + posZ);
//mParticlePos += ChVector<> (rand() % 1000 / 10000.0 - .05, rand() % 1000 / 10000.0 - .05, rand() % 1000 / 10000.0 - .05);
ChQuaternion<> quat = ChQuaternion<> (1, 0, 0, 0);// (rand() % 1000 / 1000., rand() % 1000 / 1000., rand() % 1000 / 1000., rand() % 1000 / 1000.);
ChVector<> dim;
ChVector<> lpos(0, 0, 0);
quat.Normalize();
mrigidBody = CHBODYSHAREDPTR(new CHBODY);
InitObject(mrigidBody, mass, mParticlePos * 1.1, quat, mu, mu, rest, true, false, 0, 1);
mrigidBody->SetPos_dt(ChVector<> (0, 0, 0));
switch (type) {
case SPHERE:
dim = ChVector<> (radius, 0, 0);
case ELLIPSOID:
dim = ChVector<> (radius * 1.3, radius, radius * 1.3);
case BOX:
dim = ChVector<> (radius, radius, radius);
case CYLINDER:
dim = ChVector<> (radius, radius*2, radius);
}
AddCollisionGeometry(mrigidBody, type, dim, lpos, quat);
FinalizeObject(mrigidBody);
mobjNum++;
}
}
}
}
mFrameNumber++;
mSystem->DoStepDynamics(mTimeStep);
mCurrentTime += mTimeStep;
GPUSystem->PrintStats();
}
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;
}
