void ChPythonEngine::ImportSolidWorksSystem(const char* solidworks_py_file, ChSystem& msystem) throw(ChException)
{
std::ostringstream sstream;
//sstream << "from " << std::string(solidworks_py_file) << " import exported_items\n";
sstream << "import builtins \n";
sstream << "import imp \n";
sstream << "import os \n";
sstream << "mdirname, mmodulename= os.path.split('" << std::string(solidworks_py_file) << "') \n";
sstream << "builtins.exported_system_relpath = mdirname + '/' \n";
sstream << "fp, pathname, description = imp.find_module(mmodulename,[builtins.exported_system_relpath]) \n";
sstream << "try: \n";
sstream << " imported_mod = imp.load_module('imported_mod', fp, pathname, description) \n";
sstream << "finally: \n";
sstream << " if fp: \n";
sstream << " fp.close() \n";
sstream << "exported_items = imported_mod.exported_items \n";
this->Run(sstream.str().c_str());
PyObject * module = PyImport_AddModule("__main__"); // borrowed reference
if (!module)
throw ChException("ERROR. No Python __main__ module?");
PyObject * dictionary = PyModule_GetDict(module); // borrowed reference
if (!dictionary)
throw ChException("ERROR. No Python dictionary?");
PyObject * result = PyDict_GetItemString(dictionary, "exported_items"); // borrowed reference
if (!result)
throw ChException("ERROR. Missing Python object 'exported_items' in SolidWorks file");
if (PyList_Check(result))
{
int nitems = PyList_Size(result);
//GetLog() << "N.of list items: " << nitems << "\n";
for (int i = 0; i< nitems; i++)
{
PyObject* mobj = PyList_GetItem(result,i);
if (mobj)
{
// GetLog() << " Python type: " << mobj->ob_type->tp_name << "\n";
SwigPyObject * mswigobj = SWIG_Python_GetSwigThis(mobj);
if (mswigobj)
{
void* objptr = mswigobj->ptr;
ChSharedPtr<ChPhysicsItem>* pt_to_shp = (ChSharedPtr<ChPhysicsItem>*)objptr;
/// Add the ChPhysicsItem to the ChSystem
msystem.Add( (*pt_to_shp) );
}
else
{
throw ChException("ERROR. Only shared pointers to ChPhysicsItem subclasses can be inside exported_items.");
}
}
}
msystem.Setup();
msystem.Update();
}
else
{
throw ChException("ERROR. exported_items python object is not a list.");
}
}
void create_wall_bodies(ChSystem& mphysicalSystem)
{
// Create a material that will be shared between bricks
ChSharedPtr<ChMaterialSurface> mmaterial(new ChMaterialSurface);
mmaterial->SetFriction(0.4f);
mmaterial->SetCompliance (0.0000005f);
mmaterial->SetComplianceT(0.0000005f);
mmaterial->SetDampingF(0.2f);
// Create bricks
for (int ai = 0; ai < 1; ai++) // N. of walls
{
for (int bi = 0; bi < 10; bi++) // N. of vert. bricks
{
for (int ui = 0; ui < 15; ui++) // N. of hor. bricks
{
ChSharedPtr<ChBodyEasyBox> mrigidBody(new ChBodyEasyBox(
3.96, 2, 4, // x,y,z size
100, // density
true, // collide enable?
true)); // visualization?
mrigidBody->SetPos(ChVector<>(-8+ui*4.0+2*(bi%2), 1.0+bi*2.0, ai*9));
mrigidBody->SetMaterialSurface(mmaterial); // use shared surface properties
mphysicalSystem.Add(mrigidBody);
// optional, attach a texture for better visualization
ChSharedPtr<ChTexture> mtexture(new ChTexture());
mtexture->SetTextureFilename("../data/cubetexture_borders.png");
mrigidBody->AddAsset(mtexture);
}
}
}
// Create the floor using
// fixed rigid body of 'box' type:
ChSharedPtr<ChBodyEasyBox> mrigidFloor(new ChBodyEasyBox(
250, 4, 250, // x,y,z size
1000, // density
true, // collide enable?
true)); // visualization?
mrigidFloor->SetPos(ChVector<>(0,-2,0));
mrigidFloor->SetMaterialSurface(mmaterial);
mrigidFloor->SetBodyFixed(true);
mphysicalSystem.Add(mrigidFloor);
// Create a ball that will collide with wall
ChSharedPtr<ChBodyEasySphere> mrigidBall(new ChBodyEasySphere(
4, // radius
8000, // density
true, // collide enable?
true)); // visualization?
mrigidBall->SetPos(ChVector<>(0,-2,0));
mrigidBall->SetMaterialSurface(mmaterial);
mrigidBall->SetPos(ChVector<>(0, 3, -8));
mrigidBall->SetPos_dt(ChVector<>(0,0,16)); // set initial speed
mrigidBall->GetMaterialSurface()->SetFriction(0.4f); // use own (not shared) matrial properties
mrigidBall->GetMaterialSurface()->SetCompliance(0.0);
mrigidBall->GetMaterialSurface()->SetComplianceT(0.0);
mrigidBall->GetMaterialSurface()->SetDampingF(0.2f);
mphysicalSystem.Add(mrigidBall);
// optional, attach a texture for better visualization
ChSharedPtr<ChTexture> mtextureball(new ChTexture());
mtextureball->SetTextureFilename("../data/bluwhite.png");
mrigidBall->AddAsset(mtextureball);
}
int main(int argc, char* argv[]) {
// Create a ChronoENGINE physical system
ChSystem mphysicalSystem;
// Create the Irrlicht visualization (open the Irrlicht device,
// bind a simple user interface, etc. etc.)
ChIrrApp application(&mphysicalSystem, L"Meshless deformable material", core::dimension2d<u32>(800, 600), false);
// Easy shortcuts to add camera, lights, logo and sky in Irrlicht scene:
ChIrrWizard::add_typical_Logo(application.GetDevice());
ChIrrWizard::add_typical_Sky(application.GetDevice());
ChIrrWizard::add_typical_Lights(application.GetDevice());
ChIrrWizard::add_typical_Camera(application.GetDevice(), core::vector3df(0, 3, -3));
// CREATE A FLOOR
ChSharedPtr<ChBodyEasyBox> mfloorBody( new ChBodyEasyBox(20,1,20,1000,true,true));
my_system.Add(mfloorBody);
mfloorBody->SetBodyFixed(true);
mfloorBody->SetPos(ChVector<>(0, -5, 0));
ChSharedPtr<ChTexture> mtexture( new ChTexture(GetChronoDataFile("concrete.jpg").c_str()));
mfloorBody->AddAsset(mtexture);
// CREATE THE ELASTOPLASTIC MESHLESS CONTINUUM
// Create elastoplastic matter
ChSharedPtr<ChMatterMeshless> mymatter(new ChMatterMeshless);
// Use the FillBox easy way to create the set of nodes in the meshless matter
mymatter->FillBox(ChVector<>(4, 2, 4), // size of box
4.0 / 10.0, // resolution step
1000, // initial density
ChCoordsys<>(ChVector<>(0, -3.9, 0), QUNIT), // position & rotation of box
true, // do a centered cubic lattice initial arrangement
2.1); // set the kernel radius (as multiples of step)
GetLog() << "Added " << mymatter->GetNnodes() << " nodes \n";
// Set some material properties of the meshless matter
ChSharedPtr<ChContinuumDruckerPrager> mmaterial(new ChContinuumDruckerPrager);
mymatter->ReplaceMaterial(mmaterial);
mmaterial->Set_v(0.35);
mmaterial->Set_E(30000.0);
mmaterial->Set_elastic_yeld(0);
mmaterial->Set_alpha(30 * CH_C_DEG_TO_RAD);
// mmaterial->Set_from_MohrCoulomb(30 * CH_C_DEG_TO_RAD, 1000);
mmaterial->Set_dilatancy(30 * CH_C_DEG_TO_RAD);
mmaterial->Set_flow_rate(50000000.0);
mmaterial->Set_hardening_limit(mmaterial->Get_elastic_yeld());
mmaterial->Set_hardening_speed(100000000);
/*
ChSharedPtr<ChContinuumPlasticVonMises> mmaterial(new ChContinuumPlasticVonMises);
mymatter->ReplaceMaterial(mmaterial);
mmaterial->Set_v(0.38);
mmaterial->Set_E(60000.0);
mmaterial->Set_elastic_yeld(0.06);
mmaterial->Set_flow_rate(300);
*/
mymatter->SetViscosity(5000);
// Add the matter to the physical system
mymatter->SetCollide(true);
mphysicalSystem.Add(mymatter);
// Join some nodes of meshless matter to a ChBody
/*
ChSharedPtr<ChIndexedNodes> mnodes = mymatter;
for (int ij = 0; ij < 120; ij++)
{
ChSharedPtr<ChLinkPointFrame> myjointnodebody(new ChLinkPointFrame);
myjointnodebody->Initialize(mnodes,
ij,
mfloorBody->GetBody());
mphysicalSystem.Add(myjointnodebody);
}
*/
// IMPORTANT!
// This takes care of the interaction between the particles of the meshless material
ChSharedPtr<ChProximityContainerMeshless> my_sph_proximity(new ChProximityContainerMeshless);
mphysicalSystem.Add(my_sph_proximity);
// CREATE A SPHERE PRESSING THE MATERIAL:
ChSharedPtr<ChBodyEasySphere> msphere( new ChBodyEasySphere(2, 7000, true,true));
my_system.Add(msphere);
msphere->SetPos(ChVector<>(0, -0.5, 0));
// Use this function for adding a ChIrrNodeAsset to all items
// Otherwise use application.AssetBind(myitem); on a per-item basis.
application.AssetBindAll();
// Use this function for 'converting' assets into Irrlicht meshes
application.AssetUpdateAll();
// Modify some setting of the physical system for the simulation, if you want
mphysicalSystem.SetMaxItersSolverSpeed(25); // lower the LCP iters, no needed here
//
// THE SOFT-REAL-TIME CYCLE
//
static int printed_prox = 0;
application.SetStepManage(true);
application.SetTimestep(0.002);
while (application.GetDevice()->run()) {
application.BeginScene(true, true, SColor(255, 140, 161, 192));
application.DrawAll();
ChSystem::IteratorOtherPhysicsItems myiter = mphysicalSystem.IterBeginOtherPhysicsItems();
while (myiter != mphysicalSystem.IterEndOtherPhysicsItems()) {
if ((*myiter).IsType<ChMatterMeshless>()) {
ChSharedPtr<ChMatterMeshless> mymatter((*myiter).DynamicCastTo<ChMatterMeshless>());
for (unsigned int ip = 0; ip < mymatter->GetNnodes(); ip++) {
ChSharedPtr<ChNodeMeshless> mnode(mymatter->GetNode(ip).DynamicCastTo<ChNodeMeshless>());
ChVector<> mv = mnode->GetPos();
float rad = (float)mnode->GetKernelRadius();
core::vector3df mpos((irr::f32)mv.x, (irr::f32)mv.y, (irr::f32)mv.z);
core::position2d<s32> spos =
application.GetSceneManager()->getSceneCollisionManager()->getScreenCoordinatesFrom3DPosition(
mpos);
application.GetVideoDriver()->draw2DRectangle(
video::SColor(100, 200, 200, 230),
core::rect<s32>(spos.X - 2, spos.Y - 2, spos.X + 2, spos.Y + 2));
/*
application.GetVideoDriver()->setTransform(video::ETS_WORLD, core::matrix4());
application.GetVideoDriver()->draw3DBox( core::aabbox3d<f32>(
(irr::f32)mv.x-rad ,(irr::f32)mv.y-rad , (irr::f32)mv.z-rad ,
(irr::f32)mv.x+rad ,(irr::f32)mv.y+rad , (irr::f32)mv.z+rad ) ,
video::SColor(300,200,200,230) );
*/
/*
double strain_scale =10;
ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
mnode->GetPos()+(VECT_X*mnode->p_strain.XX()* strain_scale), video::SColor(255,255,0,0),false);
ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
mnode->GetPos()+(VECT_Y*mnode->p_strain.YY()* strain_scale), video::SColor(255,0,255,0),false);
ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
mnode->GetPos()+(VECT_Z*mnode->p_strain.ZZ()* strain_scale), video::SColor(255,0,0,255),false);
*/
/*
double stress_scale =0.008;
ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
mnode->GetPos()+(VECT_X*mnode->e_stress.XX()* stress_scale), video::SColor(100,255,0,0),false);
ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
mnode->GetPos()+(VECT_Y*mnode->e_stress.YY()* stress_scale), video::SColor(100,0,255,0),false);
ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
mnode->GetPos()+(VECT_Z*mnode->e_stress.ZZ()* stress_scale), video::SColor(100,0,0,255),false);
*/
double stress_scale = 0.00001;
ChIrrTools::drawSegment(
application.GetVideoDriver(), mnode->GetPos(),
mnode->GetPos() + (VECT_X * mnode->e_stress.GetInvariant_I1() * stress_scale),
video::SColor(100, 255, 0, 0), false);
// GetLog() << "Mass i="<< ip << " m=" << mnode->GetMass() << "\n";
// ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
// mnode->GetPos()+(mnode->UserForce * 0.1), video::SColor(100,0,0,0),false);
}
}
++myiter;
}
application.DoStep();
application.EndScene();
}
return 0;
}
void create_jengatower_bodies(ChSystem& mphysicalSystem)
{
// Create a material that will be shared between bricks
ChSharedPtr<ChMaterialSurface> mmaterial(new ChMaterialSurface);
mmaterial->SetFriction(0.4f);
mmaterial->SetCompliance (0.0000005f);
mmaterial->SetComplianceT(0.0000005f);
mmaterial->SetDampingF(0.2f);
// Create bricks
for (int bi = 0; bi < 12; bi+=2)
{
ChSharedPtr<ChBodyEasyBox> mrigidBody1(new ChBodyEasyBox(
2, 2, 14, // x,y,z size
100, // density
true, // collide enable?
true)); // visualization?
mrigidBody1->SetPos( ChVector<>(-5, 1.0+bi*2.0, 0) );
mrigidBody1->SetMaterialSurface(mmaterial); // use shared surface properties
mphysicalSystem.Add(mrigidBody1);
ChSharedPtr<ChBodyEasyBox> mrigidBody2(new ChBodyEasyBox(
2, 2, 14, // x,y,z size
100, // density
true, // collide enable?
true)); // visualization?
mrigidBody2->SetPos( ChVector<>( 5, 1.0+bi*2.0, 0) );
mrigidBody2->SetMaterialSurface(mmaterial); // use shared surface properties
mphysicalSystem.Add(mrigidBody2);
ChSharedPtr<ChBodyEasyBox> mrigidBody3(new ChBodyEasyBox(
14, 2, 2, // x,y,z size
100, // density
true, // collide enable?
true)); // visualization?
mrigidBody3->SetPos( ChVector<>(0, 3.0+bi*2.0, 5) );
mrigidBody3->SetMaterialSurface(mmaterial); // use shared surface properties
mphysicalSystem.Add(mrigidBody3);
ChSharedPtr<ChBodyEasyBox> mrigidBody4(new ChBodyEasyBox(
14, 2, 2, // x,y,z size
100, // density
true, // collide enable?
true)); // visualization?
mrigidBody4->SetPos( ChVector<>(0, 3.0+bi*2.0, -5) );
mrigidBody4->SetMaterialSurface(mmaterial); // use shared surface properties
mphysicalSystem.Add(mrigidBody4);
}
// Create the floor using
// fixed rigid body of 'box' type:
ChSharedPtr<ChBodyEasyBox> mrigidFloor(new ChBodyEasyBox(
250, 4, 250, // x,y,z size
1000, // density
true, // collide enable?
true)); // visualization?
mrigidFloor->SetPos(ChVector<>(0,-2,0));
mrigidFloor->SetMaterialSurface(mmaterial);
mrigidFloor->SetBodyFixed(true);
mphysicalSystem.Add(mrigidFloor);
// Create a ball that will collide with tower
ChSharedPtr<ChBodyEasySphere> mrigidBall(new ChBodyEasySphere(
4, // radius
1000, // density
true, // collide enable?
true)); // visualization?
mrigidBall->SetMaterialSurface(mmaterial);
mrigidBall->SetPos(ChVector<>(0, 3, -8));
mrigidBall->SetPos_dt(ChVector<>(0,0,2)); // set initial speed
mrigidBall->GetMaterialSurface()->SetFriction(0.4f); // use own (not shared) matrial properties
mrigidBall->GetMaterialSurface()->SetCompliance(0.0);
mrigidBall->GetMaterialSurface()->SetComplianceT(0.0);
mrigidBall->GetMaterialSurface()->SetDampingF(0.2f);
mphysicalSystem.Add(mrigidBall);
// optional, attach a texture for better visualization
ChSharedPtr<ChTexture> mtextureball(new ChTexture());
mtextureball->SetTextureFilename("../data/bluwhite.png");
mrigidBall->AddAsset(mtextureball);
}