void AddBall(T* mSystem, double Px, double Py, double Pz, double Vy, double bRad, double bMass, float mu1) { CHBODYSHAREDPTR theBall = CHBODYSHAREDPTR(new CHBODY); theBall->SetIdentifier(-1); theBall->GetCollisionModel()->SetDefaultSuggestedEnvelope(0.1 * bRad); InitObject(theBall, bMass, Vector(Px, Py, Pz), QUNIT, mu1, mu1, 0, true, false, 8, 16); ChVector<> inertias((2.0 / 5.0) * bMass * bRad * bRad, (2.0 / 5.0) * bMass * bRad * bRad, (2.0 / 5.0) * bMass * bRad * bRad); theBall->SetInertiaXX(inertias); AddCollisionGeometry(theBall, SPHERE, Vector(bRad, bRad, bRad), VNULL, QUNIT); theBall->SetPos_dt(Vector(0.0, Vy, 0.0)); FinalizeObject(theBall, (CHSYS*) mSystem); }
void System::DoTimeStep() { if (mNumCurrentObjects < mNumObjects && mFrameNumber % 100 == 0) { float x = 1, y = numY, z = 1; float posX = 0, posY = -8, posZ = 0; srand(1); float mass = .01, mu = .5, rest = 0; ShapeType type = SPHERE; CHBODYSHAREDPTR mrigidBody; mNumCurrentObjects += x * y * z; int mobjNum = 0; for (int xx = 0; xx < x; xx++) { for (int yy = 0; yy < y; yy++) { for (int zz = 0; zz < z; zz++) { type = CYLINDER;//rand()%2;e float radius = .5;//(rand()%1000)/3000.0+.05; ChVector<> mParticlePos((xx - (x - 1) / 2.0) + posX, (yy) + posY, (zz - (z - 1) / 2.0) + posZ); //mParticlePos += ChVector<> (rand() % 1000 / 10000.0 - .05, rand() % 1000 / 10000.0 - .05, rand() % 1000 / 10000.0 - .05); ChQuaternion<> quat = ChQuaternion<> (1, 0, 0, 0);// (rand() % 1000 / 1000., rand() % 1000 / 1000., rand() % 1000 / 1000., rand() % 1000 / 1000.); ChVector<> dim; ChVector<> lpos(0, 0, 0); quat.Normalize(); mrigidBody = CHBODYSHAREDPTR(new CHBODY); InitObject(mrigidBody, mass, mParticlePos * 1.1, quat, mu, mu, rest, true, false, 0, 1); mrigidBody->SetPos_dt(ChVector<> (0, 0, 0)); switch (type) { case SPHERE: dim = ChVector<> (radius, 0, 0); case ELLIPSOID: dim = ChVector<> (radius * 1.3, radius, radius * 1.3); case BOX: dim = ChVector<> (radius, radius, radius); case CYLINDER: dim = ChVector<> (radius, radius*2, radius); } AddCollisionGeometry(mrigidBody, type, dim, lpos, quat); FinalizeObject(mrigidBody); mobjNum++; } } } } mFrameNumber++; mSystem->DoStepDynamics(mTimeStep); mCurrentTime += mTimeStep; GPUSystem->PrintStats(); }
int add_particles_fromFile_V2(T* mSystem, int n_load, double body_radius, double particle_mass, float fric, std::string tfilename) { CHBODYSHAREDPTR mrigidBody; cout << tfilename; ChStreamInAsciiFile terrain_file(tfilename.c_str()); int num_p = 0; printf("Loading particles..."); int pid = 0; double xx = 0.0; double yy = 0.0; double zz = 0.0; double r1 = 0.0; double r2 = 0.0; double r3 = 0.0; double v1 = 0.0; double v2 = 0.0; double v3 = 0.0; while (num_p < n_load) { terrain_file >> pid; terrain_file >> xx; terrain_file >> yy; terrain_file >> zz; terrain_file >> r1; terrain_file >> r2; terrain_file >> r3; terrain_file >> v1; terrain_file >> v2; terrain_file >> v3; if (pid > 5) // { mrigidBody = CHBODYSHAREDPTR(new CHBODY); mrigidBody->SetIdentifier(num_p + 10); mrigidBody->GetCollisionModel()->SetDefaultSuggestedEnvelope(0.1 * body_radius); InitObject(mrigidBody, particle_mass, Vector(xx, yy, zz), QUNIT, fric, fric, 0, true, false, 32, 64); AddCollisionGeometry(mrigidBody, SPHERE, Vector(body_radius, body_radius, body_radius), VNULL, QUNIT); mrigidBody->SetInertiaXX((2.0 / 5.0) * particle_mass * pow(body_radius, 2) * ChVector<>(1, 1, 1)); mrigidBody->SetPos_dt(Vector(v1, v2, v3)); FinalizeObject(mrigidBody, (CHSYS*) mSystem); num_p++; } if (num_p % 4000 == 0) printf("loaded %i\n", num_p); } printf("Done loading %i particles\n", num_p); return num_p; }