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 all the rigid bodies. create_some_falling_items(mphysicalSystem); // Modify some setting of the physical system for the simulation, if you want mphysicalSystem.SetSolverType(ChSolver::Type::SOR); mphysicalSystem.SetMaxItersSolverSpeed(20); // mphysicalSystem.SetMaxItersSolverStab(5); // Cohesion in a contact depends on the cohesion in the surface property of // the touching bodies, but the user can override this value when each contact is created, // by instancing a callback as in the following example: class MyContactCallback : public ChContactContainer::AddContactCallback { public: virtual void OnAddContact(const collision::ChCollisionInfo& contactinfo, ChMaterialComposite* const material) override { // Downcast to appropriate composite material type auto mat = static_cast<ChMaterialCompositeNSC* const>(material); // Set friction according to user setting: mat->static_friction = GLOBAL_friction; // Set compliance (normal and tangential at once) mat->compliance = GLOBAL_compliance; mat->complianceT = GLOBAL_compliance; mat->dampingf = GLOBAL_dampingf; // Set cohesion according to user setting: // Note that we must scale the cohesion force value by time step, because // the material 'cohesion' value has the dimension of an impulse. float my_cohesion_force = GLOBAL_cohesion; mat->cohesion = (float)msystem->GetStep() * my_cohesion_force; //<- all contacts will have this cohesion! if (contactinfo.distance > 0.12) mat->cohesion = 0; // Note that here you might decide to modify the cohesion // depending on object sizes, type, time, position, etc. etc. // For example, after some time disable cohesion at all, just // add here: // if (msystem->GetChTime() > 10) mat->cohesion = 0; }; ChSystemNSC* msystem; }; MyContactCallback mycontact_callback; // create the callback object mycontact_callback.msystem = &mphysicalSystem; // will be used by callback // Use the above callback to process each contact as it is created. mphysicalSystem.GetContactContainer()->RegisterAddContactCallback(&mycontact_callback); // // THE SOFT-REAL-TIME CYCLE // opengl::ChOpenGLWindow& gl_window = opengl::ChOpenGLWindow::getInstance(); gl_window.Initialize(1280, 720, "Demo_Cohesion_GL", &mphysicalSystem); gl_window.SetCamera(ChVector<>(0, 0, -10), ChVector<>(0, 0, 0), ChVector<>(0, 1, 0)); gl_window.Pause(); while (gl_window.Active()) { if (gl_window.DoStepDynamics(0.01)) { // Add code here that will only run after a step is taken } gl_window.Render(); } 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; // Create the Irrlicht visualization (open the Irrlicht device, // bind a simple user interface, etc. etc.) ChIrrApp application(&mphysicalSystem, L"Contacts with cohesion", core::dimension2d<u32>(800, 600), false); // 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, 14, -20)); // Create all the rigid bodies. create_some_falling_items(mphysicalSystem); // Use this function for adding a ChIrrNodeAsset to all items // Otherwise use application.AssetBind(myitem); on a per-item basis. application.AssetBindAll(); // Use this function for 'converting' assets into Irrlicht meshes application.AssetUpdateAll(); // This is for GUI tweaking of system parameters.. MyEventReceiver receiver(&application); // note how to add the custom event receiver to the default interface: application.SetUserEventReceiver(&receiver); // Modify some setting of the physical system for the simulation, if you want mphysicalSystem.SetSolverType(ChSolver::Type::SOR_MULTITHREAD); mphysicalSystem.SetMaxItersSolverSpeed(20); // mphysicalSystem.SetMaxItersSolverStab(5); // Cohesion in a contact depends on the cohesion in the surface property of the // touching bodies, but the user can override this value when each contact is created, // by instancing a callback as in the following example: class MyContactCallback : public ChContactContainer::AddContactCallback { public: virtual void OnAddContact(const collision::ChCollisionInfo& contactinfo, ChMaterialComposite* const material) override { // Downcast to appropriate composite material type auto mat = static_cast<ChMaterialCompositeNSC* const>(material); // Set friction according to user setting: mat->static_friction = GLOBAL_friction; // Set compliance (normal and tangential at once) mat->compliance = GLOBAL_compliance; mat->complianceT = GLOBAL_compliance; mat->dampingf = GLOBAL_dampingf; // Set cohesion according to user setting: // Note that we must scale the cohesion force value by time step, because // the material 'cohesion' value has the dimension of an impulse. float my_cohesion_force = GLOBAL_cohesion; mat->cohesion = (float)msystem->GetStep() * my_cohesion_force; //<- all contacts will have this cohesion! if (contactinfo.distance > 0.12) mat->cohesion = 0; // Note that here you might decide to modify the cohesion // depending on object sizes, type, time, position, etc. etc. // For example, after some time disable cohesion at all, just // add here: // if (msystem->GetChTime() > 10) mat->cohesion = 0; }; ChSystemNSC* msystem; }; MyContactCallback mycontact_callback; // create the callback object mycontact_callback.msystem = &mphysicalSystem; // will be used by callback // Use the above callback to process each contact as it is created. mphysicalSystem.GetContactContainer()->RegisterAddContactCallback(&mycontact_callback); // // THE SOFT-REAL-TIME CYCLE // application.SetStepManage(true); application.SetTimestep(0.01); while (application.GetDevice()->run()) { application.BeginScene(true, true, SColor(255, 140, 161, 192)); application.DrawAll(); application.DoStep(); application.EndScene(); } return 0; }