void purge_debris(ChIrrAppInterface& application, int nmaxparticles = 100) {
while (particlelist.size() > nmaxparticles) {
application.GetSystem()->Remove(particlelist[0]); // remove from physical simulation
particlelist.erase(particlelist.begin()); // remove also from our particle list (will also automatically delete
// object thank to shared pointer)
}
}
void create_items(ChIrrAppInterface& application)
{
// Create some spheres in a vertical stack
bool do_wall = false;
bool do_stack = true;
bool do_oddmass = true;
bool do_spheres = true;
bool do_heavyonside = true;
double sphrad = 0.2;
double dens= 1000;
double sphmass = dens * (4./3.) * CH_C_PI * pow(sphrad,3);
double sphinertia = (2./5.) * sphmass * pow(sphrad,2);
if (do_stack)
{
int nbodies = 15;
double totmass= 0;
double level = 0;
double sphrad_base = 0.2;
double oddfactor = 100;
for (int bi = 0; bi < nbodies; bi++) // N. of vert. bricks
{
double sphrad = sphrad_base;
if (do_oddmass && bi==(nbodies-1))
sphrad = sphrad*pow(oddfactor, 1./3.);
double dens= 1000;
ChSharedPtr<ChBody> mrigidBody;
if (do_spheres)
{
mrigidBody = ChSharedPtr<ChBodyEasySphere>(new ChBodyEasySphere(
sphrad, // radius
dens, // density
true, // collide enable?
true)); // visualization?
mrigidBody->SetPos(ChVector<>(0.5, sphrad+level, 0.7));
mrigidBody->AddAsset(ChSharedPtr<ChTexture>(new ChTexture(GetChronoDataFile("bluwhite.png"))));
application.GetSystem()->Add(mrigidBody);
}
else
{
mrigidBody = ChSharedPtr<ChBodyEasyBox>(new ChBodyEasyBox(
sphrad,sphrad,sphrad, // x,y,z size
dens, // density
true, // collide enable?
true)); // visualization?
mrigidBody->SetPos(ChVector<>(0.5, sphrad+level, 0.7));
mrigidBody->AddAsset(ChSharedPtr<ChTexture>(new ChTexture(GetChronoDataFile("cubetexture_bluwhite.png"))));
application.GetSystem()->Add(mrigidBody);
}
mrigidBody->GetMaterialSurface()->SetFriction(0.5f);
mrigidBody->GetMaterialSurface()->SetRestitution(0.0f);
mspheres.push_back(mrigidBody);
level +=sphrad*2;
totmass +=mrigidBody->GetMass();
}
GetLog() << "Expected contact force at bottom F=" << (totmass *application.GetSystem()->Get_G_acc().y) << "\n";
}
if (do_wall)
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> mrigidWall (new ChBodyEasyBox(
3.96,2,4, // radius
dens, // density
true, // collide enable?
true)); // visualization?
mrigidWall->SetPos(ChVector<>(-8+ui*4.0+2*(bi%2), 1.0+bi*2.0, -5+ ai*6));
mrigidWall->GetMaterialSurface()->SetFriction(0.4f);
mrigidWall->AddAsset(ChSharedPtr<ChTexture>(new ChTexture(GetChronoDataFile("cubetexture_bluwhite.png"))));
application.GetSystem()->Add(mrigidWall);
}
}
}
if (do_heavyonside)
{
double sphrad = 0.2;
double dens= 1000;
double hfactor = 100;
ChSharedPtr<ChBodyEasySphere> mrigidHeavy(new ChBodyEasySphere(
sphrad, // radius
dens*hfactor,// density
true, // collide enable?
true)); // visualization?
mrigidHeavy->SetPos(ChVector<>(0.5, sphrad+0.1, -1));
mrigidHeavy->AddAsset(ChSharedPtr<ChTexture>(new ChTexture(GetChronoDataFile("pinkwhite.png"))));
application.GetSystem()->Add(mrigidHeavy);
GetLog() << "Expected contact deformation at side sphere=" <<
(mrigidHeavy->GetMass() *application.GetSystem()->Get_G_acc().y)*STATIC_COMPLIANCE << "\n";
}
// Create the floor using a fixed rigid body of 'box' type:
ChSharedPtr<ChBodyEasyBox> mrigidFloor (new ChBodyEasyBox(
50,4,50, // radius
dens, // density
true, // collide enable?
true)); // visualization?
mrigidFloor->SetPos( ChVector<>(0,-2,0) );
mrigidFloor->SetBodyFixed(true);
mrigidFloor->GetMaterialSurface()->SetFriction(0.6f);
mrigidFloor->AddAsset(ChSharedPtr<ChTexture>(new ChTexture(GetChronoDataFile("concrete.jpg"))));
application.GetSystem()->Add(mrigidFloor);
}
void create_items(ChIrrAppInterface& application)
{
ChBodySceneNode* mrigidBody;
// Create some spheres in a vertical stack, and put them into 'parent' level
video::ITexture* sphereMap = application.GetVideoDriver()->getTexture("../data/bluwhite.png");
bool do_wall = false;
bool do_stack = true;
bool do_oddmass = true;
bool do_spheres = true;
bool do_heavyonside = true;
double sphrad = 0.2;
double dens= 1000;
double sphmass = dens * (4./3.) * CH_C_PI * pow(sphrad,3);
double sphinertia = (2./5.) * sphmass * pow(sphrad,2);
if (do_stack)
{
int nbodies = 15;
double totmass= 0;
double level = 0;
double sphrad_base = 0.2;
double oddfactor = 100;
for (int bi = 0; bi < nbodies; bi++) // N. of vert. bricks
{
double sphrad = sphrad_base;
if (do_oddmass && bi==(nbodies-1))
sphrad = sphrad*pow(oddfactor, 1./3.);
double dens= 1000;
double sphmass = dens * (4./3.) * CH_C_PI * pow(sphrad,3);
double sphinertia = (2./5.) * sphmass * pow(sphrad,2);
if (do_spheres)
mrigidBody = (ChBodySceneNode*)addChBodySceneNode_easySphere(
application.GetSystem(), application.GetSceneManager(),
sphmass,
ChVector<>(0.5, sphrad+level, 0.7),
sphrad);
else
mrigidBody = (ChBodySceneNode*)addChBodySceneNode_easyBox(
application.GetSystem(), application.GetSceneManager(),
sphmass,
ChVector<>(0.5, sphrad+level, 0.7),
ChQuaternion<>(1,0,0,0),
ChVector<>(sphrad,sphrad,sphrad) );
mrigidBody->GetBody()->SetInertiaXX(ChVector<>(sphinertia,sphinertia,sphinertia));
mrigidBody->GetBody()->SetFriction(0.5f);
mrigidBody->GetBody()->SetImpactC(0.0f);
mrigidBody->addShadowVolumeSceneNode();
mrigidBody->setMaterialTexture(0, sphereMap);
mspheres.push_back(mrigidBody);
level +=sphrad*2;
totmass +=sphmass;
}
GetLog() << "Expected contact force at bottom F=" << (totmass *application.GetSystem()->Get_G_acc().y) << "\n";
}
if (do_wall)
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
{
mrigidBody = (ChBodySceneNode*)addChBodySceneNode_easyBox(
application.GetSystem(), application.GetSceneManager(),
0.8,
ChVector<>(-8+ui*4.0+2*(bi%2), 1.0+bi*2.0, -5+ ai*6),
ChQuaternion<>(1,0,0,0),
ChVector<>(3.96,2,4) );
mrigidBody->GetBody()->SetFriction(0.4f);
mrigidBody->setMaterialTexture(0, sphereMap);
}
}
}
if (do_heavyonside)
{
double sphrad = 0.2;
double dens= 1000;
double sphmass = dens * (4./3.) * CH_C_PI * pow(sphrad,3);
double sphinertia = (2./5.) * sphmass * pow(sphrad,2);
double hfactor = 100;
mrigidBody = (ChBodySceneNode*)addChBodySceneNode_easySphere(
application.GetSystem(), application.GetSceneManager(),
sphmass*hfactor,
ChVector<>(0.5, sphrad+0.1, -1),
sphrad);
mrigidBody->GetBody()->SetInertiaXX(ChVector<>(sphinertia*hfactor,sphinertia*hfactor,sphinertia*hfactor));
mrigidBody->addShadowVolumeSceneNode();
mrigidBody->setMaterialTexture(0, sphereMap);
GetLog() << "Expected contact deformation at side sphere=" <<
(sphmass*hfactor *application.GetSystem()->Get_G_acc().y)*STATIC_COMPLIANCE << "\n";
}
// Create the floor using a fixed rigid body of 'box' type:
mrigidBody = (ChBodySceneNode*)addChBodySceneNode_easyBox(
application.GetSystem(), application.GetSceneManager(),
1.0,
ChVector<>(0,-2,0),
ChQuaternion<>(1,0,0,0),
ChVector<>(50,4,50) );
mrigidBody->GetBody()->SetBodyFixed(true);
mrigidBody->GetBody()->SetFriction(0.6f);
video::ITexture* cubeMap = application.GetVideoDriver()->getTexture("../data/concrete.jpg");
mrigidBody->setMaterialTexture(0, cubeMap);
/*
// Create rotating stuff
ChBodySceneNode* rotatingBody = (ChBodySceneNode*)addChBodySceneNode_easyBox(
application.GetSystem(), application.GetSceneManager(),
1.0,
ChVector<>(0,12,0),
ChQuaternion<>(1,0,0,0),
ChVector<>(10,2.5,1) );
rotatingBody->GetBody()->SetMass(100);
rotatingBody->GetBody()->SetInertiaXX(ChVector<>(500,500,500));
rotatingBody->GetBody()->SetFriction(0.4f);
rotatingBody->addShadowVolumeSceneNode();
// .. an engine between mixer and truss
ChSharedPtr<ChLinkEngine> my_motor(new ChLinkEngine);
my_motor->Initialize(rotatingBody->GetBody(), mrigidBody->GetBody(),
ChCoordsys<>(ChVector<>(0,15,0),
Q_from_AngAxis(CH_C_PI_2, VECT_X)) );
my_motor->Set_eng_mode(ChLinkEngine::ENG_MODE_SPEED);
if (ChFunction_Const* mfun = dynamic_cast<ChFunction_Const*>(my_motor->Get_spe_funct()))
mfun->Set_yconst(CH_C_PI/2.0); // speed w=90°/s
application.GetSystem()->AddLink(my_motor);
*/
}
