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"Collisions between objects", 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, application.GetSceneManager(), application.GetVideoDriver());

    // 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();

    // Modify some setting of the physical system for the simulation, if you want
    mphysicalSystem.SetSolverType(ChSolver::Type::SOR);
    mphysicalSystem.SetMaxItersSolverSpeed(20);
    mphysicalSystem.SetMaxItersSolverStab(5);

    // mphysicalSystem.SetUseSleeping(true);

    application.SetStepManage(true);
    application.SetTimestep(0.02);

    //
    // THE SOFT-REAL-TIME CYCLE
    //
   

    while (application.GetDevice()->run()) {

        application.BeginScene(true, true, SColor(255, 140, 161, 192));

        application.DrawAll();

        application.DoStep();
        
        application.EndScene();
    }

    return 0;
}
Exemplo n.º 2
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 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;
}
Exemplo n.º 3
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;
}
Exemplo n.º 4
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"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.SetSolverType(ChSolver::Type::SOR_MULTITHREAD);

    //mphysicalSystem.SetUseSleeping(true);

    mphysicalSystem.SetMaxPenetrationRecoverySpeed(1.6);  // used by Anitescu stepper only
    mphysicalSystem.SetMaxItersSolverSpeed(40);
    mphysicalSystem.SetMaxItersSolverStab(20);  // unuseful for Anitescu, only Tasora uses this
    mphysicalSystem.SetSolverWarmStarting(true);
    mphysicalSystem.SetParallelThreadNumber(4);

    //
    // THE SOFT-REAL-TIME CYCLE
    //

    application.SetStepManage(true);
    application.SetTimestep(0.02);

    while (application.GetDevice()->run()) {
        application.BeginScene(true, true, SColor(255, 140, 161, 192));

        ChIrrTools::drawGrid(application.GetVideoDriver(), 5, 5, 20, 20,
                             ChCoordsys<>(ChVector<>(0, 0.04, 0), Q_from_AngAxis(CH_C_PI / 2, VECT_X)),
                             video::SColor(50, 90, 90, 150), true);

        application.DrawAll();

        application.DoStep();

        application.EndScene();
    }

    return 0;
}
Exemplo n.º 5
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;

    // ** user input
    double wheelMass = 5.0;  // mass of wheel
    double suspMass = 10.0;  // mass of suspended weight

    // Create the Irrlicht visualization (open the Irrlicht device,
    // bind a simple user interface, etc. etc.)
    ChIrrApp application(&mphysicalSystem, L"Soil bin demo", core::dimension2d<u32>(1024, 768), false);
    ChIrrWizard::add_typical_Logo(application.GetDevice());
    ChIrrWizard::add_typical_Sky(application.GetDevice());
    ChIrrWizard::add_typical_Lights(application.GetDevice(), irr::core::vector3df(20., 30., 25.),
                                    irr::core::vector3df(25., 25., -25.), 65.0, 75.);
    ChIrrWizard::add_typical_Camera(application.GetDevice(), core::vector3df(3.5f, 2.5f, -2.4f));

    // ******* SOIL BIN WHEEL
    // Create the wheel
    ChVector<> wheelCMpos = ChVector<>(0, 0.5, 0);
    ChVector<> wheelInertia = ChVector<>(1.0, 1.0, 1.0);
    SoilbinWheel* mwheel = new SoilbinWheel(&mphysicalSystem, wheelCMpos, wheelMass, wheelInertia);

    // ***** TESTING MECHANISM
    // now, create the testing mechanism and attach the wheel to it
    double binWidth = 1.0;
    double binLen = 2.4;
    TestMech* mTestMechanism = new TestMech(&mphysicalSystem, mwheel->wheel, binWidth, binLen, suspMass, 2500., 10.);

    // ***** PARTICLE GENERATOR
    // make a particle generator, that the sceneManager can use to easily dump a bunch of dirt in the bin
    ParticleGenerator* mParticleGen = new ParticleGenerator(&application, &mphysicalSystem, binWidth, binLen);

    // Bind visualization assets.
    application.AssetBindAll();
    application.AssetUpdateAll();

    // ***** Create the User - GUI
    double torqueMax = 50.;
    MyEventReceiver receiver(&application, mwheel, mTestMechanism, mParticleGen, 0.02, 0.02, torqueMax);
    // add a custom event receiver to the default interface:
    application.SetUserEventReceiver(&receiver);

    // Set some integrator settings
    // mphysicalSystem.SetSolverType(ChSolver::Type::APGD);
    mphysicalSystem.SetSolverType(ChSolver::Type::SOR_MULTITHREAD);
    mphysicalSystem.SetMaxItersSolverSpeed(70);
    mphysicalSystem.SetMaxItersSolverStab(15);
    mphysicalSystem.SetParallelThreadNumber(4);

    // Use real-time step of the simulation, OR...
    application.SetStepManage(true);
    application.SetTimestep(0.01);
    application.SetTryRealtime(true);

    while (application.GetDevice()->run()) {
        application.BeginScene(true, true, SColor(255, 140, 161, 192));
        application.DrawAll();

        // draw the custom links
        receiver.drawSprings();
        receiver.drawGrid();

        // output relevant soil, wheel data if the tab is selected
        if (receiver.gad_tab_soil->isVisible())
            receiver.drawSoilOutput();
        if (receiver.gad_tab_wheel->isVisible())
            receiver.drawWheelOutput();
        receiver.drawWheelOutput();

        // apply torque to the wheel
        mTestMechanism->applyTorque();

        application.DoStep();

        if (!application.GetPaused()) {
            // add bodies to the system?
            if (receiver.createParticles()) {
                receiver.genParticles();
            }
        }

        application.EndScene();
    }

    return 0;
}