int main(int argc, char* argv[]) {
GetLog() << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << "\n\n";
// Create a ChronoENGINE physical system
ChSystemNSC mphysicalSystem;
// Create all the rigid bodies.
create_some_falling_items(mphysicalSystem);
// Modify some setting of the physical system for the simulation, if you want
mphysicalSystem.SetSolverType(ChSolver::Type::SOR);
mphysicalSystem.SetMaxItersSolverSpeed(20);
// mphysicalSystem.SetMaxItersSolverStab(5);
// Cohesion in a contact depends on the cohesion in the surface property of
// the touching bodies, but the user can override this value when each contact is created,
// by instancing a callback as in the following example:
class MyContactCallback : public ChContactContainer::AddContactCallback {
public:
virtual void OnAddContact(const collision::ChCollisionInfo& contactinfo,
ChMaterialComposite* const material) override {
// Downcast to appropriate composite material type
auto mat = static_cast<ChMaterialCompositeNSC* const>(material);
// Set friction according to user setting:
mat->static_friction = GLOBAL_friction;
// Set compliance (normal and tangential at once)
mat->compliance = GLOBAL_compliance;
mat->complianceT = GLOBAL_compliance;
mat->dampingf = GLOBAL_dampingf;
// Set cohesion according to user setting:
// Note that we must scale the cohesion force value by time step, because
// the material 'cohesion' value has the dimension of an impulse.
float my_cohesion_force = GLOBAL_cohesion;
mat->cohesion = (float)msystem->GetStep() * my_cohesion_force; //<- all contacts will have this cohesion!
if (contactinfo.distance > 0.12)
mat->cohesion = 0;
// Note that here you might decide to modify the cohesion
// depending on object sizes, type, time, position, etc. etc.
// For example, after some time disable cohesion at all, just
// add here:
// if (msystem->GetChTime() > 10) mat->cohesion = 0;
};
ChSystemNSC* msystem;
};
MyContactCallback mycontact_callback; // create the callback object
mycontact_callback.msystem = &mphysicalSystem; // will be used by callback
// Use the above callback to process each contact as it is created.
mphysicalSystem.GetContactContainer()->RegisterAddContactCallback(&mycontact_callback);
//
// THE SOFT-REAL-TIME CYCLE
//
opengl::ChOpenGLWindow& gl_window = opengl::ChOpenGLWindow::getInstance();
gl_window.Initialize(1280, 720, "Demo_Cohesion_GL", &mphysicalSystem);
gl_window.SetCamera(ChVector<>(0, 0, -10), ChVector<>(0, 0, 0), ChVector<>(0, 1, 0));
gl_window.Pause();
while (gl_window.Active()) {
if (gl_window.DoStepDynamics(0.01)) {
// Add code here that will only run after a step is taken
}
gl_window.Render();
}
return 0;
}
int main(int argc, char* argv[]) {
GetLog() << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << "\n\n";
// Create a ChronoENGINE physical system
ChSystemNSC mphysicalSystem;
// Create the Irrlicht visualization (open the Irrlicht device,
// bind a simple user interface, etc. etc.)
ChIrrApp application(&mphysicalSystem, L"Contacts with cohesion", 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, 14, -20));
// Create all the rigid bodies.
create_some_falling_items(mphysicalSystem);
// 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();
// This is for GUI tweaking of system parameters..
MyEventReceiver receiver(&application);
// note how to add the custom event receiver to the default interface:
application.SetUserEventReceiver(&receiver);
// Modify some setting of the physical system for the simulation, if you want
mphysicalSystem.SetSolverType(ChSolver::Type::SOR_MULTITHREAD);
mphysicalSystem.SetMaxItersSolverSpeed(20);
// mphysicalSystem.SetMaxItersSolverStab(5);
// Cohesion in a contact depends on the cohesion in the surface property of the
// touching bodies, but the user can override this value when each contact is created,
// by instancing a callback as in the following example:
class MyContactCallback : public ChContactContainer::AddContactCallback {
public:
virtual void OnAddContact(const collision::ChCollisionInfo& contactinfo,
ChMaterialComposite* const material) override {
// Downcast to appropriate composite material type
auto mat = static_cast<ChMaterialCompositeNSC* const>(material);
// Set friction according to user setting:
mat->static_friction = GLOBAL_friction;
// Set compliance (normal and tangential at once)
mat->compliance = GLOBAL_compliance;
mat->complianceT = GLOBAL_compliance;
mat->dampingf = GLOBAL_dampingf;
// Set cohesion according to user setting:
// Note that we must scale the cohesion force value by time step, because
// the material 'cohesion' value has the dimension of an impulse.
float my_cohesion_force = GLOBAL_cohesion;
mat->cohesion = (float)msystem->GetStep() * my_cohesion_force; //<- all contacts will have this cohesion!
if (contactinfo.distance > 0.12)
mat->cohesion = 0;
// Note that here you might decide to modify the cohesion
// depending on object sizes, type, time, position, etc. etc.
// For example, after some time disable cohesion at all, just
// add here:
// if (msystem->GetChTime() > 10) mat->cohesion = 0;
};
ChSystemNSC* msystem;
};
MyContactCallback mycontact_callback; // create the callback object
mycontact_callback.msystem = &mphysicalSystem; // will be used by callback
// Use the above callback to process each contact as it is created.
mphysicalSystem.GetContactContainer()->RegisterAddContactCallback(&mycontact_callback);
//
// THE SOFT-REAL-TIME CYCLE
//
application.SetStepManage(true);
application.SetTimestep(0.01);
while (application.GetDevice()->run()) {
application.BeginScene(true, true, SColor(255, 140, 161, 192));
application.DrawAll();
application.DoStep();
application.EndScene();
}
return 0;
}
