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;
}
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;
}
int main(int argc, char* argv[]) {
DLL_CreateGlobals();
ChSystem * system = new ChSystem();
system->SetMaxiter(100);
system->SetIterLCPmaxItersSpeed(100);
system->SetTol(0);
system->SetTolSpeeds(0);
ChLcpSystemDescriptor *mdescriptor = new ChLcpSystemDescriptor();
ChContactContainer *mcontactcontainer = new ChContactContainer();
//ChCollisionSystemBulletGPU *mcollisionengine = new ChCollisionSystemBulletGPU();
ChCollisionSystemBullet *mcollisionengine = new ChCollisionSystemBullet();
system->ChangeLcpSystemDescriptor(mdescriptor);
system->ChangeContactContainer(mcontactcontainer);
system->ChangeCollisionSystem(mcollisionengine);
system->SetIntegrationType(ChSystem::INT_ANITESCU);
system->SetLcpSolverType(ChSystem::LCP_ITERATIVE_APGD);
system->SetStep(timestep);
system->Set_G_acc(ChVector<>(0, gravity, 0));
ChSharedBodyPtr floor(new ChBody);
ChSharedBodyPtr chassis(new ChBody);
ChSharedBodyPtr axle_F(new ChBody);
ChSharedBodyPtr axle_C(new ChBody);
ChSharedBodyPtr axle_R(new ChBody);
ChSharedBodyPtr leg_FR(new ChBody);
ChSharedBodyPtr leg_FL(new ChBody);
ChSharedBodyPtr leg_CR(new ChBody);
ChSharedBodyPtr leg_CL(new ChBody);
ChSharedBodyPtr leg_RR(new ChBody);
ChSharedBodyPtr leg_RL(new ChBody);
InitObject(floor, 1.0, ChVector<>(0, -3.5, 0), Quaternion(1, 0, 0, 0), 1, 1, 0, true, true, -20, -20);
InitObject(chassis, 1, ChVector<>(0, 0, 0), Quaternion(1, 0, 0, 0), 1, 1, 0, true, false, 0, 1);
InitObject(axle_F, 1, ChVector<>(0, 0, chassisL / 2), Q_from_AngZ(CH_C_PI / 2.0), 1, 1, 0, false, false, -2, -2);
InitObject(axle_C, 1, ChVector<>(0, 0, 0), Q_from_AngZ(CH_C_PI / 2.0), 1, 1, 0, false, false, -2, -2);
InitObject(axle_R, 1, ChVector<>(0, 0, -chassisL / 2), Q_from_AngZ(CH_C_PI / 2.0), 1, 1, 0, false, false, -2, -2);
InitObject(leg_FR, 1, ChVector<>((axleL + legW) / 2.0, -legL / 2.0, chassisL / 2), Quaternion(1, 0, 0, 0), 1, 1, 0, true, false, 2, 2);
InitObject(leg_FL, 1, ChVector<>(-(axleL + legW) / 2.0, legL / 2.0, chassisL / 2), Quaternion(1, 0, 0, 0), 1, 1, 0, true, false, 2, 2);
InitObject(leg_CR, 1, ChVector<>(-(axleL + legW) / 2.0, -legL / 2.0, 0), Quaternion(1, 0, 0, 0), 1, 1, 0, true, false, 2, 2);
InitObject(leg_CL, 1, ChVector<>((axleL + legW) / 2.0, legL / 2.0, 0), Quaternion(1, 0, 0, 0), 1, 1, 0, true, false, 2, 2);
InitObject(leg_RR, 1, ChVector<>((axleL + legW) / 2.0, -legL / 2.0, -chassisL / 2), Quaternion(1, 0, 0, 0), 1, 1, 0, true, false, 2, 2);
InitObject(leg_RL, 1, ChVector<>(-(axleL + legW) / 2.0, legL / 2.0, -chassisL / 2), Quaternion(1, 0, 0, 0), 1, 1, 0, true, false, 2, 2);
AddCollisionGeometry(floor, BOX, ChVector<>(10, 1 / 2.0, 10), Vector(0, 0, 0), Quaternion(1, 0, 0, 0));
AddCollisionGeometry(chassis, ELLIPSOID, ChVector<>(1, 1, 1), Vector(0, 0, 0), Quaternion(1, 0, 0, 0));
AddCollisionGeometry(axle_F, ELLIPSOID, ChVector<>(0.5 / 2.0, axleL / 2.0, 0.5 / 2.0), Vector(0, 0, 0), Quaternion(1, 0, 0, 0));
AddCollisionGeometry(axle_C, ELLIPSOID, ChVector<>(0.5 / 2.0, axleL / 2.0, 0.5 / 2.0), Vector(0, 0, 0), Quaternion(1, 0, 0, 0));
AddCollisionGeometry(axle_R, ELLIPSOID, ChVector<>(0.5 / 2.0, axleL / 2.0, 0.5 / 2.0), Vector(0, 0, 0), Quaternion(1, 0, 0, 0));
AddCollisionGeometry(leg_FR, ELLIPSOID, ChVector<>(legW / 2.0, legL / 2.0, 0.5 / 2.0), Vector(0, 0, 0), Quaternion(1, 0, 0, 0));
AddCollisionGeometry(leg_FL, ELLIPSOID, ChVector<>(legW / 2.0, legL / 2.0, 0.5 / 2.0), Vector(0, 0, 0), Quaternion(1, 0, 0, 0));
AddCollisionGeometry(leg_CR, ELLIPSOID, ChVector<>(legW / 2.0, legL / 2.0, 0.5 / 2.0), Vector(0, 0, 0), Quaternion(1, 0, 0, 0));
AddCollisionGeometry(leg_CL, ELLIPSOID, ChVector<>(legW / 2.0, legL / 2.0, 0.5 / 2.0), Vector(0, 0, 0), Quaternion(1, 0, 0, 0));
AddCollisionGeometry(leg_RR, ELLIPSOID, ChVector<>(legW / 2.0, legL / 2.0, 0.5 / 2.0), Vector(0, 0, 0), Quaternion(1, 0, 0, 0));
AddCollisionGeometry(leg_RL, ELLIPSOID, ChVector<>(legW / 2.0, legL / 2.0, 0.5 / 2.0), Vector(0, 0, 0), Quaternion(1, 0, 0, 0));
floor->SetInertiaXX(Vector(1,1,1));
chassis->SetInertiaXX(Vector(1,1,1));
axle_F->SetInertiaXX(Vector(1,1,1));
axle_C->SetInertiaXX(Vector(1,1,1));
axle_R->SetInertiaXX(Vector(1,1,1));
leg_FR->SetInertiaXX(Vector(1,1,1));
leg_FL->SetInertiaXX(Vector(1,1,1));
leg_CR->SetInertiaXX(Vector(1,1,1));
leg_CL->SetInertiaXX(Vector(1,1,1));
leg_RR->SetInertiaXX(Vector(1,1,1));
leg_RL->SetInertiaXX(Vector(1,1,1));
FinalizeObject(floor, (ChSystem *) system);
FinalizeObject(chassis, (ChSystem *) system);
FinalizeObject(axle_F, (ChSystem *) system);
FinalizeObject(axle_C, (ChSystem *) system);
FinalizeObject(axle_R, (ChSystem *) system);
FinalizeObject(leg_FR, (ChSystem *) system);
FinalizeObject(leg_FL, (ChSystem *) system);
FinalizeObject(leg_CR, (ChSystem *) system);
FinalizeObject(leg_CL, (ChSystem *) system);
FinalizeObject(leg_RR, (ChSystem *) system);
FinalizeObject(leg_RL, (ChSystem *) system);
ChSharedBodyPtr chassis_ptr = ChSharedBodyPtr(chassis);
ChSharedBodyPtr axle_F_ptr = ChSharedBodyPtr(axle_F);
ChSharedBodyPtr axle_C_ptr = ChSharedBodyPtr(axle_C);
ChSharedBodyPtr axle_R_ptr = ChSharedBodyPtr(axle_R);
ChSharedBodyPtr leg_FR_ptr = ChSharedBodyPtr(leg_FR);
ChSharedBodyPtr leg_FL_ptr = ChSharedBodyPtr(leg_FL);
ChSharedBodyPtr leg_CR_ptr = ChSharedBodyPtr(leg_CR);
ChSharedBodyPtr leg_CL_ptr = ChSharedBodyPtr(leg_CL);
ChSharedBodyPtr leg_RR_ptr = ChSharedBodyPtr(leg_RR);
ChSharedBodyPtr leg_RL_ptr = ChSharedBodyPtr(leg_RL);
// ChSharedPtr<ChLinkLockLock> axle_FR(new ChLinkLockLock);
// axle_FR->Initialize(leg_FR_ptr, axle_F_ptr, ChCoordsys<>(VNULL));
// system->AddLink(axle_FR);
////
// ChSharedPtr<ChLinkLockLock> axle_FL(new ChLinkLockLock);
// axle_FL->Initialize(leg_FL_ptr, axle_F_ptr, ChCoordsys<>(VNULL));
// system->AddLink(axle_FL);
//
// ChSharedPtr<ChLinkLockLock> axle_CR(new ChLinkLockLock);
// axle_CR->Initialize(leg_CR_ptr, axle_C_ptr, ChCoordsys<>(VNULL));
// system->AddLink(axle_CR);
//
// ChSharedPtr<ChLinkLockLock> axle_CL(new ChLinkLockLock);
// axle_CL->Initialize(leg_CL_ptr, axle_C_ptr, ChCoordsys<>(VNULL));
// system->AddLink(axle_CL);
//
// ChSharedPtr<ChLinkLockLock> axle_RR(new ChLinkLockLock);
// axle_RR->Initialize(leg_RR_ptr, axle_R_ptr, ChCoordsys<>(VNULL));
// system->AddLink(axle_RR);
//
// ChSharedPtr<ChLinkLockLock> axle_RL(new ChLinkLockLock);
// axle_RL->Initialize(leg_RL_ptr, axle_R_ptr, ChCoordsys<>(VNULL));
// system->AddLink(axle_RL);
// Create engine between axles and chassis
GetLog() << "Creating Motors\n";
// ChSharedPtr<ChLinkEngine> eng_F(new ChLinkEngine);
// eng_F->Initialize(axle_F_ptr, chassis_ptr, ChCoordsys<>(ChVector<>(0, 0, chassisL / 2), Q_from_AngY(CH_C_PI / 2)));
// eng_F->Set_shaft_mode(ChLinkEngine::ENG_SHAFT_LOCK); // also works as revolute support
// eng_F->Set_eng_mode(ChLinkEngine::ENG_MODE_SPEED);
// if (ChFunction_Const* mfun = dynamic_cast<ChFunction_Const*>(eng_F->Get_spe_funct()))
// mfun->Set_yconst(1); // rad/s angular speed
// system->AddLink(eng_F);
ChSharedPtr<ChLinkEngine> eng_C(new ChLinkEngine);
eng_C->Initialize(axle_C_ptr, chassis_ptr, ChCoordsys<>(ChVector<>(0, 0, 0), Q_from_AngY(CH_C_PI / 2)));
eng_C->Set_shaft_mode(ChLinkEngine::ENG_SHAFT_LOCK); // also works as revolute support
eng_C->Set_eng_mode(ChLinkEngine::ENG_MODE_SPEED);
if (ChFunction_Const* mfun = dynamic_cast<ChFunction_Const*>(eng_C->Get_spe_funct()))
mfun->Set_yconst(1); // rad/s angular speed
system->AddLink(eng_C);
// ChSharedPtr<ChLinkEngine> eng_R(new ChLinkEngine);
// eng_R->Initialize(axle_R_ptr, chassis_ptr, ChCoordsys<>(ChVector<>(0, 0, -chassisL / 2), Q_from_AngY(CH_C_PI / 2)));
// eng_R->Set_shaft_mode(ChLinkEngine::ENG_SHAFT_LOCK); // also works as revolute support
// eng_R->Set_eng_mode(ChLinkEngine::ENG_MODE_SPEED);
// if (ChFunction_Const* mfun = dynamic_cast<ChFunction_Const*>(eng_R->Get_spe_funct()))
// mfun->Set_yconst(1); // rad/s angular speed
// system->AddLink(eng_R);
system->DoStepDynamics(timestep);
system->DoStepDynamics(timestep);
exit(0);
ChOpenGLManager * window_manager = new ChOpenGLManager();
ChOpenGL openGLView(window_manager, system, 800, 600, 0, 0, "Test_Solvers");
openGLView.render_camera->camera_position = glm::vec3(0, -5, -10);
openGLView.render_camera->camera_look_at = glm::vec3(0, -5, 0);
openGLView.render_camera->camera_scale = .5;
openGLView.SetCustomCallback(RunTimeStep);
openGLView.StartSpinning(window_manager);
window_manager->CallGlutMainLoop();
DLL_DeleteGlobals();
return 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.)
ChIrrAppInterface application(&mphysicalSystem, L"Benchmark application",core::dimension2d<u32>(800,600),false);
// Easy shortcuts to add logo, camera, lights and sky in Irrlicht scene:
ChIrrWizard::add_typical_Lights(application.GetDevice());
ChIrrWizard::add_typical_Camera(application.GetDevice(), core::vector3df(0,14,-40));
//
// CREATE THE MECHANICAL SYSTEM OF CHRONO...
//
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.GetVideoDriver()->endScene();
GetLog() << " ** PLEASE WAIT FOR INITIALIZATION! \n ** This may take seconds or minutes..\n\n";
// Prepare the physical system for the simulation
mphysicalSystem.SetIntegrationType(ChSystem::INT_ANITESCU);
//mphysicalSystem.SetIntegrationType(ChSystem::INT_TASORA);
//mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SYMMSOR); // here would be the better choiche since the wall is build ground up.
//mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
//mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_JACOBI);
//mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR_MULTITHREAD);
//mphysicalSystem.SetParallelThreadNumber(4);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(1.6); // used by Anitescu stepper only
mphysicalSystem.SetIterLCPmaxItersSpeed(20);
mphysicalSystem.SetIterLCPmaxItersStab(10); // unuseful for Anitescu, only Tasora uses this
//mphysicalSystem.SetIterLCPwarmStarting(true);
// Test convergence for varying omega
//
// (solver:SOR)
//
if (false)
{
ChStreamOutAsciiFile data_err_SOR_Niter("data_err_SOR_Niter.dat");
ChStreamOutAsciiFile data_dgamma_SOR_Niter("data_dgamma_SOR_Niter.dat");
int plotframe = 500;
int ntestspheres = 220;
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPmaxItersSpeed(80);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
msolver->SetRecordViolation(true);
for (double momega = 0.2; (momega <= 1.401 && application.GetDevice()->run()); momega +=0.2)
{
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
mphysicalSystem.SetIterLCPomega(0.8);
mphysicalSystem.SetIterLCPsharpnessLambda(1.0);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
// create spheres and walls, and insert into that scene node
ChSetRandomSeed(123);
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, ntestspheres, 1.6, 10);
int totframes = 0;
// ------- begin simulation loop -----
while(application.GetDevice()->run())
{
totframes++;
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
if (totframes==plotframe)
{
mphysicalSystem.SetIterLCPomega(momega);
mphysicalSystem.SetIterLCPsharpnessLambda(0.7);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(0.0);
}
// integrate
mphysicalSystem.DoStepDynamics(0.01);
application.GetVideoDriver()->endScene();
//***PLOT***
if (totframes==plotframe)
{
GetLog()<< "Saving data\n";
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
for (int k=0; k< msolver->GetViolationHistory().size(); k++)
{
data_err_SOR_Niter << msolver->GetViolationHistory()[k] << " ";
}
for (int j=0; j< msolver->GetDeltalambdaHistory().size(); j++)
{
data_dgamma_SOR_Niter << msolver->GetDeltalambdaHistory()[j] << " ";
}
}
if(totframes>plotframe) break;
} // ------- end of simulation loop -----
GetLog()<< " num contacts " << mphysicalSystem.GetNcontacts() << "\n";
data_err_SOR_Niter << "\n";
data_dgamma_SOR_Niter << "\n";
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
} // end test
// Test convergence for varying omega
//
// (solver:JACOBI)
//
if (false)
{
ChStreamOutAsciiFile data_err_JACOBI_Niter("data_err_JACOBI_Niter_L10_at500_ok.dat");
ChStreamOutAsciiFile data_dgamma_JACOBI_Niter("data_dgamma_JACOBI_Niter_L10_at500_ok.dat");
int plotframe = 500;
int ntestspheres = 220;
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPomega(0.8);
mphysicalSystem.SetIterLCPmaxItersSpeed(80);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
msolver->SetRecordViolation(true);
for (double momega = 0.1; (momega <= 0.71 && application.GetDevice()->run()); momega +=0.1)
{
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPomega(0.8);
mphysicalSystem.SetIterLCPmaxItersSpeed(80);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
mphysicalSystem.SetIterLCPsharpnessLambda(1.0);
// create spheres and walls, and insert into that scene node
ChSetRandomSeed(123);
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, ntestspheres, 1.6, 10);
int totframes = 0;
// ------- begin simulation loop -----
while(application.GetDevice()->run())
{
totframes++;
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
if (totframes==plotframe)
{
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_JACOBI);
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
msolver->SetRecordViolation(true);
mphysicalSystem.SetIterLCPomega(momega);
mphysicalSystem.SetIterLCPsharpnessLambda(1.0);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(0.0);
}
// integrate
mphysicalSystem.DoStepDynamics(0.01);
application.GetVideoDriver()->endScene();
//***PLOT***
if (totframes==plotframe)
{
GetLog()<< "Saving data\n";
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
for (int k=0; k< msolver->GetViolationHistory().size(); k++)
{
data_err_JACOBI_Niter << msolver->GetViolationHistory()[k] << " ";
}
for (int j=0; j< msolver->GetDeltalambdaHistory().size(); j++)
{
data_dgamma_JACOBI_Niter << msolver->GetDeltalambdaHistory()[j] << " ";
}
}
if(totframes>plotframe) break;
} // ------- end of simulation loop -----
GetLog()<< " num contacts " << mphysicalSystem.GetNcontacts() << "\n";
data_err_JACOBI_Niter << "\n";
data_dgamma_JACOBI_Niter << "\n";
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
} // end test
// Test lambda effect
//
// Velocity error vs. Num. velocity iterations vs. Lambda
// (solver:SOR)
//
if (false)
{
ChStreamOutAsciiFile data_err_SOR_Niter("data_err_SOR_Niter_om1.dat");
ChStreamOutAsciiFile data_dgamma_SOR_Niter("data_dgamma_SOR_Niter_om1.dat");
int plotframe = 500;
int ntestspheres = 220;
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPmaxItersSpeed(80);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
msolver->SetRecordViolation(true);
for (double mlambda = 0.2; (mlambda <= 1.01 && application.GetDevice()->run()); mlambda +=0.2)
{
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
mphysicalSystem.SetIterLCPomega(0.8);
mphysicalSystem.SetIterLCPsharpnessLambda(1.0);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
// create spheres and walls, and insert into that scene node
ChSetRandomSeed(123);
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, ntestspheres, 1.6, 10);
int totframes = 0;
// ------- begin simulation loop -----
while(application.GetDevice()->run())
{
totframes++;
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
if (totframes==plotframe)
{
mphysicalSystem.SetIterLCPomega(1.0);
mphysicalSystem.SetIterLCPsharpnessLambda(mlambda);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(0.0);
}
// integrate
mphysicalSystem.DoStepDynamics(0.01);
application.GetVideoDriver()->endScene();
//***PLOT***
if (totframes==plotframe)
{
GetLog()<< "Saving data\n";
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
for (int k=0; k< msolver->GetViolationHistory().size(); k++)
{
data_err_SOR_Niter << msolver->GetViolationHistory()[k] << " ";
}
for (int j=0; j< msolver->GetDeltalambdaHistory().size(); j++)
{
data_dgamma_SOR_Niter << msolver->GetDeltalambdaHistory()[j] << " ";
}
}
if(totframes>plotframe) break;
} // ------- end of simulation loop -----
GetLog()<< " num contacts " << mphysicalSystem.GetNcontacts() << "\n";
data_err_SOR_Niter << "\n";
data_dgamma_SOR_Niter << "\n";
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
} // end test
// Test stack aspect ratio
//
//
if (false)
{
ChStreamOutAsciiFile data_err_SOR_Niter("data_err_aspectratio3.dat");
int plotframe = 500;
int ntestspheres = 220;
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPmaxItersSpeed(30);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
msolver->SetRecordViolation(true);
for (double mspheres=10; (mspheres <= 330 && application.GetDevice()->run()); mspheres +=40)
{
for (int nviters = 20; (nviters <= 101 && application.GetDevice()->run()); nviters +=20)
{
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
mphysicalSystem.SetIterLCPomega(0.9);
mphysicalSystem.SetIterLCPsharpnessLambda(1.0);
mphysicalSystem.SetIterLCPmaxItersSpeed(30);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
// create spheres and walls, and insert into that scene node
ChSetRandomSeed(13);
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, mspheres, 1.6, 10,20.1);
int totframes = 0;
// ------- begin simulation loop -----
while(application.GetDevice()->run())
{
totframes++;
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
if (totframes==plotframe)
{
mphysicalSystem.SetIterLCPomega(0.9);
mphysicalSystem.SetIterLCPmaxItersSpeed(nviters);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(0.0);
}
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
// integrate
mphysicalSystem.DoStepDynamics(0.01);
application.GetVideoDriver()->endScene();
//***PLOT***
if (totframes==plotframe)
{
GetLog()<< "Saving data\n";
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
data_err_SOR_Niter << msolver->GetViolationHistory()[msolver->GetViolationHistory().size()-1] << " ";
}
if(totframes>plotframe) break;
} // ------- end of simulation loop -----
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
data_err_SOR_Niter << "\n";
}
} // end test
// Test pos error
//
//
if (false)
{
ChStreamOutAsciiFile data_err_pos("data_err_pos.dat");
int plotframe = 500;
int ntestspheres = 120;
double mystep= 0;
for (double mdt=0.01; (mdt>0.00015 && application.GetDevice()->run()); mdt*=0.5)
{
GetLog() << "\n\nDT = " << mdt << "\n";
for (int nviters = 20; (nviters <= 81 && application.GetDevice()->run()); nviters +=20)
{
GetLog() << " nviters = " << nviters << "\n";
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
mystep = 0.01;
mphysicalSystem.SetChTime(0.0);
mphysicalSystem.SetIterLCPsharpnessLambda(0.8);
mphysicalSystem.SetIterLCPomega(0.8);
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPmaxItersSpeed(30);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
// create spheres and walls, and insert into that scene node
ChSetRandomSeed(13);
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, ntestspheres, 1.6, 10);
int totframes = 0;
int averagecnt = 0;
double average = 0;
// ------- begin simulation loop -----
while(application.GetDevice()->run())
{
totframes++;
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
// start mode
if (mphysicalSystem.GetChTime()>2.4)
{
mphysicalSystem.SetIterLCPmaxItersSpeed(nviters);
mystep=mdt;
}
//start average
if (mphysicalSystem.GetChTime()>2.6)
{
class _label_reporter_class : public chrono::ChReportContactCallback
{
public:
virtual bool ReportContactCallback (
const chrono::ChVector<>& pA,
const chrono::ChVector<>& pB,
const chrono::ChMatrix33<>& plane_coord,
const double& distance,
const float& mfriction,
const chrono::ChVector<>& react_forces,
const chrono::ChVector<>& react_torques,
chrono::collision::ChCollisionModel* modA,
chrono::collision::ChCollisionModel* modB)
{
if (distance<maxpen)
maxpen = distance;
return true; // to continue scanning contacts
}
// Data
double maxpen;
};
_label_reporter_class my_label_rep;
my_label_rep.maxpen = 0;
// scan all contacts
mphysicalSystem.GetContactContainer()->ReportAllContacts(&my_label_rep);
//GetLog() << " p: " << my_label_rep.maxpen << "\n";
averagecnt++;
average += my_label_rep.maxpen;
}
// stop average & loop
if(mphysicalSystem.GetChTime()>2.8)
{
average /= (double)averagecnt;
GetLog() << " avg.err: " << average << "\n";
data_err_pos << average << " ";
break;
}
// integrate
mphysicalSystem.DoStepDynamics(mystep);
application.GetVideoDriver()->endScene();
} // ------- end of simulation loop -----
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
data_err_pos << "\n";
}
} // end test
// Test pos error with Tasora stabilization
//
//
if (true)
{
ChStreamOutAsciiFile data_err_pos("data_err_tasora.dat");
int ntestspheres = 120;
for (int npiters = 20; (npiters <= 81 && application.GetDevice()->run()); npiters +=20)
{
GetLog() << " npiters = " << npiters << "\n";
for (int nviters = 20; (nviters <= 81 && application.GetDevice()->run()); nviters +=20)
{
GetLog() << " nviters = " << nviters << "\n";
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
mphysicalSystem.SetChTime(0.0);
mphysicalSystem.SetIterLCPsharpnessLambda(0.8);
mphysicalSystem.SetIterLCPomega(0.8);
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIntegrationType(ChSystem::INT_TASORA);
mphysicalSystem.SetIterLCPmaxItersSpeed(30);
mphysicalSystem.SetIterLCPmaxItersStab(30);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(0.0);
// create spheres and walls, and insert into that scene node
ChSetRandomSeed(13);
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, ntestspheres, 1.6, 10);
int totframes = 0;
int averagecnt = 0;
double average = 0;
// ------- begin simulation loop -----
while(application.GetDevice()->run())
{
totframes++;
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
// start mode
if (mphysicalSystem.GetChTime()>3)
{
mphysicalSystem.SetIterLCPmaxItersSpeed(nviters);
mphysicalSystem.SetIterLCPmaxItersStab(npiters);
}
//start average
if (mphysicalSystem.GetChTime()>4.2)
{
class _label_reporter_class : public chrono::ChReportContactCallback
{
public:
virtual bool ReportContactCallback (
const chrono::ChVector<>& pA,
const chrono::ChVector<>& pB,
const chrono::ChMatrix33<>& plane_coord,
const double& distance,
const float& mfriction,
const chrono::ChVector<>& react_forces,
const chrono::ChVector<>& react_torques,
chrono::collision::ChCollisionModel* modA,
chrono::collision::ChCollisionModel* modB)
{
if (distance<maxpen)
maxpen = distance;
return true; // to continue scanning contacts
}
// Data
double maxpen;
};
_label_reporter_class my_label_rep;
my_label_rep.maxpen = 0;
// scan all contacts
mphysicalSystem.GetContactContainer()->ReportAllContacts(&my_label_rep);
averagecnt++;
average += my_label_rep.maxpen;
}
// stop average & loop
if(mphysicalSystem.GetChTime()>4.5)
{
average /= (double)averagecnt;
GetLog() << " avg.err: " << average << "\n";
data_err_pos << average << " ";
break;
}
// integrate
mphysicalSystem.DoStepDynamics(0.01);
application.GetVideoDriver()->endScene();
} // ------- end of simulation loop -----
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
data_err_pos << "\n";
}
} // end test
getchar();
//
// loop of tests:each time test more spheres!
//
ChStreamOutAsciiFile data_spheres_times("data_spheres_times.dat");
ChStreamOutAsciiFile data_contacts_times("data_contact_times.dat");
ChStreamOutAsciiFile data_ncontacts("data_ncontacts.dat");
ChStreamOutAsciiFile data_timexconstr("data_timexconstr.dat");
for (int nspheres = 1; (nspheres <= 1 && application.GetDevice()->run()); nspheres +=1)
{
ChStreamOutAsciiFile data_timing("data_timing1k.dat");
//
// Create all the rigid bodies!!!!
//
// the root scene node containing all dynamic objects
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
// create spheres and walls, and insert into that scene node
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, SPHERE_NUM,SPHERE_RAD,SPHERE_MASS);
//
// THE SOFT-REAL-TIME CYCLE
//
int mdelay=0;
int lastFPS = -1;
ChTimer<double>mtimer;
ChRealtimeStepTimer m_realtime_timer;
//ChStreamOutAsciiFile data_deltares("data_pNviolation_i80.dat");
int totframes = 0;
while(application.GetDevice()->run())
{
totframes++;
if (totframes == 400) mtimer.start();
// Irrlicht must prepare frame to draw
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
// Irrlicht draws all 3D objects and all GUI items
application.DrawAll();
// HERE CHRONO INTEGRATION IS PERFORMED: THE
// TIME OF THE SIMULATION ADVANCES FOR A SINGLE
// STEP:
mphysicalSystem.DoStepDynamics(0.01);
application.GetVideoDriver()->endScene();
if (totframes > 600)
data_timing << mphysicalSystem.GetChTime()-3.0 << " " \
<< mphysicalSystem.GetTimerStep() << " " \
<< mphysicalSystem.GetTimerLcp()+mphysicalSystem.GetTimerCollisionBroad() << " " \
<< mphysicalSystem.GetTimerLcp() << "\n";
/*
//***PLOT*** plot max constr.normal violation
if ((totframes<600)&&(totframes>300))
{
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverStab();
if (msolver->GetViolationHistory().size()>1)
data_deltares << msolver->GetViolationHistory()[msolver->GetViolationHistory().size()-1] << "\n";
}
//***PLOT*** plot deltalambda corrections for varying omega
if (totframes==999)
{
ChLcpIterativeSymmSOR* msolver = (ChLcpIterativeSymmSOR*)mphysicalSystem.GetLcpSolverSpeed();
msolver->SetOmega(1.0);
}
if (totframes==1000)
{
GetLog()<< "Saving plot data\n";
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
ChStreamOutAsciiFile data_deltalambda("data_deltalambda_om80.dat");
for (int k=0; k< msolver->GetDeltalambdaHistory().size(); k++)
{
data_deltalambda << msolver->GetDeltalambdaHistory()[k] << "\n";
}
}
*/
if ((totframes>200)&&(totframes<=500))
{
//data_timexconstr << mphysicalSystem.GetTimerLcp()/(double)mphysicalSystem.GetNcontacts() << "\n";
//GetLog()<< " avg time/contacts " << mphysicalSystem.GetTimerLcp()/(double)mphysicalSystem.GetNcontacts() << "\n";
//GetLog()<< " ncontacts " << (double)mphysicalSystem.GetNcontacts() << "\n";
}
if(totframes>500) break;
} // ------- end of simulation loop -----
mtimer.stop();
GetLog()<< "Time used for simulating/viewing first 500 steps: " << mtimer() << "\n";
GetLog()<< " num contacts " << mphysicalSystem.GetNcontacts() << "\n";
GetLog()<< " avg time/contacts " << mtimer()/(double)mphysicalSystem.GetNcontacts() << "\n";
data_spheres_times << nspheres << " " << mtimer() << "\n";
data_contacts_times << mphysicalSystem.GetNcontacts() << " " << mtimer() << "\n";
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
// Remember this at the end of the program, if you started
// with DLL_CreateGlobals();
DLL_DeleteGlobals();
getchar();
return 0;
}