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;
}