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"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.SetSolverType(ChSolver::Type::SOR_MULTITHREAD);
//mphysicalSystem.SetUseSleeping(true);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(1.6); // used by Anitescu stepper only
mphysicalSystem.SetMaxItersSolverSpeed(40);
mphysicalSystem.SetMaxItersSolverStab(20); // unuseful for Anitescu, only Tasora uses this
mphysicalSystem.SetSolverWarmStarting(true);
mphysicalSystem.SetParallelThreadNumber(4);
//
// THE SOFT-REAL-TIME CYCLE
//
application.SetStepManage(true);
application.SetTimestep(0.02);
while (application.GetDevice()->run()) {
application.BeginScene(true, true, SColor(255, 140, 161, 192));
ChIrrTools::drawGrid(application.GetVideoDriver(), 5, 5, 20, 20,
ChCoordsys<>(ChVector<>(0, 0.04, 0), Q_from_AngAxis(CH_C_PI / 2, VECT_X)),
video::SColor(50, 90, 90, 150), true);
application.DrawAll();
application.DoStep();
application.EndScene();
}
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;
// ** user input
double wheelMass = 5.0; // mass of wheel
double suspMass = 10.0; // mass of suspended weight
// Create the Irrlicht visualization (open the Irrlicht device,
// bind a simple user interface, etc. etc.)
ChIrrApp application(&mphysicalSystem, L"Soil bin demo", core::dimension2d<u32>(1024, 768), false);
ChIrrWizard::add_typical_Logo(application.GetDevice());
ChIrrWizard::add_typical_Sky(application.GetDevice());
ChIrrWizard::add_typical_Lights(application.GetDevice(), irr::core::vector3df(20., 30., 25.),
irr::core::vector3df(25., 25., -25.), 65.0, 75.);
ChIrrWizard::add_typical_Camera(application.GetDevice(), core::vector3df(3.5f, 2.5f, -2.4f));
// ******* SOIL BIN WHEEL
// Create the wheel
ChVector<> wheelCMpos = ChVector<>(0, 0.5, 0);
ChVector<> wheelInertia = ChVector<>(1.0, 1.0, 1.0);
SoilbinWheel* mwheel = new SoilbinWheel(&mphysicalSystem, wheelCMpos, wheelMass, wheelInertia);
// ***** TESTING MECHANISM
// now, create the testing mechanism and attach the wheel to it
double binWidth = 1.0;
double binLen = 2.4;
TestMech* mTestMechanism = new TestMech(&mphysicalSystem, mwheel->wheel, binWidth, binLen, suspMass, 2500., 10.);
// ***** PARTICLE GENERATOR
// make a particle generator, that the sceneManager can use to easily dump a bunch of dirt in the bin
ParticleGenerator* mParticleGen = new ParticleGenerator(&application, &mphysicalSystem, binWidth, binLen);
// Bind visualization assets.
application.AssetBindAll();
application.AssetUpdateAll();
// ***** Create the User - GUI
double torqueMax = 50.;
MyEventReceiver receiver(&application, mwheel, mTestMechanism, mParticleGen, 0.02, 0.02, torqueMax);
// add a custom event receiver to the default interface:
application.SetUserEventReceiver(&receiver);
// Set some integrator settings
// mphysicalSystem.SetSolverType(ChSolver::Type::APGD);
mphysicalSystem.SetSolverType(ChSolver::Type::SOR_MULTITHREAD);
mphysicalSystem.SetMaxItersSolverSpeed(70);
mphysicalSystem.SetMaxItersSolverStab(15);
mphysicalSystem.SetParallelThreadNumber(4);
// Use real-time step of the simulation, OR...
application.SetStepManage(true);
application.SetTimestep(0.01);
application.SetTryRealtime(true);
while (application.GetDevice()->run()) {
application.BeginScene(true, true, SColor(255, 140, 161, 192));
application.DrawAll();
// draw the custom links
receiver.drawSprings();
receiver.drawGrid();
// output relevant soil, wheel data if the tab is selected
if (receiver.gad_tab_soil->isVisible())
receiver.drawSoilOutput();
if (receiver.gad_tab_wheel->isVisible())
receiver.drawWheelOutput();
receiver.drawWheelOutput();
// apply torque to the wheel
mTestMechanism->applyTorque();
application.DoStep();
if (!application.GetPaused()) {
// add bodies to the system?
if (receiver.createParticles()) {
receiver.genParticles();
}
}
application.EndScene();
}
return 0;
}