void RunTimeStep(T* mSys, const int frame) {
if (!save) {
Vector force = engine_anchor->Get_react_force();
Vector torque = engine_anchor->Get_react_torque();
double motor_torque = engine_anchor->Get_mot_torque();
cout << force.x << " " << force.y << " " << force.z << " " << torque.x << " " << torque.y << " " << torque.z << " " << motor_torque << " " << ANCHOR->GetPos().y << " "
<< ANCHOR->GetPos_dt().y << endl;
ANCHOR->SetPos(ChVector<>(REFERENCE->GetPos().x, ANCHOR->GetPos().y, REFERENCE->GetPos().z));
ANCHOR->SetPos_dt(ChVector<>(REFERENCE->GetPos_dt().x, ANCHOR->GetPos_dt().y, REFERENCE->GetPos_dt().z));
ANCHOR->SetRot(REFERENCE->GetRot());
ANCHOR->SetWvel_loc(REFERENCE->GetWvel_loc());
REFERENCE->SetPos(ChVector<>(REFERENCE->GetPos().x, ANCHOR->GetPos().y, REFERENCE->GetPos().z));
REFERENCE->SetPos_dt(ChVector<>(REFERENCE->GetPos_dt().x, ANCHOR->GetPos_dt().y, REFERENCE->GetPos_dt().z));
}
// real t = frame * timestep * PI * 2 * frequency;
//
// BLOCK->SetRot(ChQuaternion<>(1, 0, 0, 0));
// BLOCK->SetWvel_loc(ChVector<>(0, 0, 0));
// BLOCK->SetPos(ChVector<>(sin(t) * amplitude, BLOCK->GetPos().y, 0));
// BLOCK->SetPos_dt(ChVector<>(cos(t) * amplitude * 2 * PI * frequency, BLOCK->GetPos_dt().y, 0));
//
// CONTAINER->SetPos(ChVector<>(sin(t) * amplitude, 0, 0));
// CONTAINER->SetPos_dt(ChVector<>(cos(t) * amplitude * 2 * PI * frequency, 0, 0));
// CONTAINER->SetWvel_loc(ChVector<>(0, 0, 0));
// CONTAINER->SetRot(ChQuaternion<>(1, 0, 0, 0));
//
//
// real cont_vol = (container_size.x - container_thickness * 2) * 2 * (BLOCK->GetPos().y + container_size.y - 2 * container_thickness) * (container_size.z - container_thickness * 2) * 2;
// cout << layer_gen->total_volume << " " << layer_gen->total_mass << " " << cont_vol << " " << layer_gen->total_mass / cont_vol << endl;
//
if (save) {
if (layers < 130 && frame % 80 == 0) {
cout << layers << endl;
layer_gen->addPerturbedVolumeMixture(R3(0, -container_size.y + container_thickness + particle_radius * 5 + frame / 14.0, 0), I3(32, 1, 32), R3(0, 0, 0), R3(0, 0, 0));
layers++;
}
} else {
//300 - 457.2
// double time = actuator_anchor->GetChTime();
// if (ANCHOR->GetPos().y <= 300 - 457.2 && once) {
// motionFunc1->Set_y0(time * -anchor_vel);
// motionFunc1->Set_ang(-2);
//// motionFunc2->Set_y0(time * -anchor_rot * 1 / 60.0 * 2 * CH_C_PI);
//// motionFunc2->Set_ang(0);
// if (ChFunction_Const* mfun = dynamic_cast<ChFunction_Const*>(engine_anchor->Get_spe_funct())) {
// mfun->Set_yconst(0); // rad/s angular speed
// }
// once = false;
// }
}
}
void createTerrain(ChSystem & sys, double dia, double W, double H, double L)
{
int x = W/dia-3;
int y = H/dia;
int z = L/dia-3;
double mass = 0.05 * 4/3*CH_C_PI*pow(particleDiameter/2.0,3.0);// density * volume
double inertia = 0.4*mass*particleDiameter*particleDiameter/4.0;
ChSharedBodyPtr particle;
for (int i=3; i<x; i++)
{
for (int j=0; j<y; j++)
{
for (int k=3; k<z; k++)
{
particle=ChSharedBodyPtr(new ChBody);
particle->SetPos(ChVector<>(-W/2.0,-boxDrop,-(chassisL/2.0)-2.0) + ChVector<>(i+ChRandom()-0.5,j,k+ChRandom()-0.5) * dia);
particle->SetMass(mass);
particle->SetInertiaXX(ChVector<>(inertia,inertia,inertia));
particle->GetCollisionModel()->AddSphere(dia/2.0);
particle->SetCollide(true);
particle->SetPos_dt(ChVector<>(ChRandom()-0.5,-ChRandom(),ChRandom()-0.5)*10 );
sys.AddBody(particle);
}
}
}
}
void RunTimeStep(T* mSys, const int frame) {
if (mSys->GetNbodies() < max_particles) {
if (frame % int(100*particle_radius/.2) == 0) {
layer_gen->addPerturbedVolumeMixture(R3(0, 0, 0), I3(100, 1, 100), R3(.1, 0, .1), R3(0, -5, 0));
}
}
ang -= CH_C_PI * timestep / 2.0;
if (ang <= 0) {
ang = 2 * CH_C_PI;
}
Quaternion q1;
q1.Q_from_AngY(ang);
spinner->SetPos(Vector(0, container_height - container_size.y + 2, 0));
spinner->SetPos_dt(Vector(0, 0, 0));
//spinner->SetRot(q1);
//spinner->SetWvel_loc(Vector(0, -CH_C_PI / 2.0, 0));
}
