Ejemplo n.º 1
0
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"Critical cases for solver convergence",core::dimension2d<u32>(800,600),false,true);


	// 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(0,1.5,-3));

 
	// Create all the rigid bodies.

	create_items(application);
 

	class MyContactCallback : public ChSystem::ChCustomCollisionPointCallback
	{
		public:	virtual void ContactCallback(
								const collision::ChCollisionInfo& mcontactinfo, ///< get info about contact (cannot change it)				
								ChMaterialCouple&  material )			  		///< you can modify this!	
		{
			// Set compliance (normal and tangential at once)
			material.compliance  = STATIC_COMPLIANCE; 
			material.complianceT = material.compliance ;
			material.dampingf = 0.2f;
		};
		ChSystem* msystem;
	};

	MyContactCallback mycontact_callback;  // create the callback object
	mycontact_callback.msystem = &mphysicalSystem; // will be used by callback
	// Tell the system to use the callback above, per each created contact!
	mphysicalSystem.SetCustomCollisionPointCallback(&mycontact_callback);
 

	// Use this function for adding a ChIrrNodeAsset to all already created items (ex. a floor, a wall, etc.)
	// Otherwise use application.AssetBind(myitem); on a per-item basis.
	application.AssetBindAll();
	application.AssetUpdateAll();

	
	// Modify some setting of the physical system for the simulation, if you want

	mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_BARZILAIBORWEIN);
	//mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
	mphysicalSystem.SetIterLCPmaxItersSpeed(60);
	mphysicalSystem.SetIterLCPmaxItersStab(5);
	mphysicalSystem.SetParallelThreadNumber(1);

	//mphysicalSystem.SetUseSleeping(true);

	application.SetStepManage(true);
	application.SetTimestep(0.01);
	application.SetPaused(true);

	// 
	// THE SOFT-REAL-TIME CYCLE
	//

	while(application.GetDevice()->run()) 
	{
		application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));

		application.DrawAll();
		
		align_spheres(application); // just to simplify test, on y axis only

		application.DoStep();
		
		application.GetVideoDriver()->endScene();  
	}
	

	return 0;
}
Ejemplo n.º 2
0
int main(int argc, char* argv[])
{ 

	// In CHRONO engine, The DLL_CreateGlobals() - DLL_DeleteGlobals(); pair is needed if
	// global functions are needed.
	DLL_CreateGlobals();

	// 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"Bricks test",core::dimension2d<u32>(800,600),false, true); 

 
	// 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(), core::vector3df(70.f, 120.f, -90.f), core::vector3df(30.f, 80.f, 60.f), 290,  190);
	ChIrrWizard::add_typical_Camera(application.GetDevice(), core::vector3df(-15,14,-30), core::vector3df(0,5,0)); 

	// 
	// HERE YOU POPULATE THE MECHANICAL SYSTEM OF CHRONO... 
	// 

 
	// Create all the rigid bodies.
    create_wall_bodies (mphysicalSystem);
	//create_jengatower_bodies (mphysicalSystem);


	// Use this function for adding a ChIrrNodeAsset to all items
	// If you need a finer control on which item really needs a visualization proxy in 
	// Irrlicht, just use application.AssetBind(myitem); on a per-item basis.
	application.AssetBindAll();

	// Use this function for 'converting' into Irrlicht meshes the assets 
	// into Irrlicht-visualizable meshes
	application.AssetUpdateAll();


  
	// Prepare the physical system for the simulation 

	mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR_MULTITHREAD);

	mphysicalSystem.SetUseSleeping(false);

	mphysicalSystem.SetMaxPenetrationRecoverySpeed(1.6); // used by Anitescu stepper only
	mphysicalSystem.SetIterLCPmaxItersSpeed(40);
	mphysicalSystem.SetIterLCPmaxItersStab(20); // unuseful for Anitescu, only Tasora uses this
	mphysicalSystem.SetIterLCPwarmStarting(true);
	mphysicalSystem.SetParallelThreadNumber(4);

	//
	// THE SOFT-REAL-TIME CYCLE
	//
 
	application.SetStepManage(true);
	application.SetTimestep(0.02);

	while(application.GetDevice()->run())
	{
		application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));

		ChIrrTools::drawGrid(application.GetVideoDriver(), 5,5, 20,20, 
			ChCoordsys<>(ChVector<>(0,0.2,0),Q_from_AngAxis(CH_C_PI/2,VECT_X)), video::SColor(50,90,90,150),true);

		application.DrawAll();

		application.DoStep();
 
		application.GetVideoDriver()->endScene();  
	}
	 

 	// Remember this at the end of the program, if you started
	// with DLL_CreateGlobals();
	DLL_DeleteGlobals();

	return 0;
}