// -----------------------------------------------------------------------------
// -----------------------------------------------------------------------------
void ChTrackTestRig::AddVisualize_post(std::shared_ptr<ChBody> post_body,
std::shared_ptr<ChBody> chassis_body,
double length,
double width,
double height,
const ChColor& color) {
// Platform (on post body)
auto base_box = std::make_shared<ChBoxShape>();
base_box->GetBoxGeometry().SetLengths(ChVector<>(length, width, height));
post_body->AddAsset(base_box);
auto col = std::make_shared<ChColorAsset>();
col->SetColor(color);
post_body->AddAsset(col);
// Piston (on post body)
auto piston = std::make_shared<ChCylinderShape>();
piston->GetCylinderGeometry().rad = width / 6.0;
piston->GetCylinderGeometry().p1 = ChVector<>(0, 0, -height / 2.0);
piston->GetCylinderGeometry().p2 = ChVector<>(0, 0, -height * 12.0);
post_body->AddAsset(piston); // add asset to post body
// Post sleeve (on chassis/ground body)
auto cyl = std::make_shared<ChCylinderShape>();
cyl->GetCylinderGeometry().rad = width / 4.0;
cyl->GetCylinderGeometry().p1 = post_body->GetPos() - ChVector<>(0, 0, 8 * height);
cyl->GetCylinderGeometry().p2 = post_body->GetPos() - ChVector<>(0, 0, 16 * height);
chassis_body->AddAsset(cyl);
}
// -----------------------------------------------------------------------------
// -----------------------------------------------------------------------------
void ChLinearDamperRWAssembly::AddVisualizationAssets(VisualizationType vis) {
if (vis == VisualizationType::NONE)
return;
static const double threshold2 = 1e-6;
double radius = GetArmVisRadius();
if ((m_pA - m_pAW).Length2() > threshold2) {
auto cyl = std::make_shared<ChCylinderShape>();
cyl->GetCylinderGeometry().p1 = m_pA;
cyl->GetCylinderGeometry().p2 = m_pAW;
cyl->GetCylinderGeometry().rad = radius;
m_arm->AddAsset(cyl);
}
if ((m_pA - m_pAC).Length2() > threshold2) {
auto cyl = std::make_shared<ChCylinderShape>();
cyl->GetCylinderGeometry().p1 = m_pA;
cyl->GetCylinderGeometry().p2 = m_pAC;
cyl->GetCylinderGeometry().rad = radius;
m_arm->AddAsset(cyl);
}
if ((m_pA - m_pAS).Length2() > threshold2) {
auto cyl = std::make_shared<ChCylinderShape>();
cyl->GetCylinderGeometry().p1 = m_pA;
cyl->GetCylinderGeometry().p2 = m_pAS;
cyl->GetCylinderGeometry().rad = 0.75 * radius;
m_arm->AddAsset(cyl);
}
// Revolute joint (arm-chassis)
{
auto cyl = std::make_shared<ChCylinderShape>();
cyl->GetCylinderGeometry().p1 = m_pAC - radius * m_dY;
cyl->GetCylinderGeometry().p2 = m_pAC + radius * m_dY;
cyl->GetCylinderGeometry().rad = 1.5 * radius;
m_arm->AddAsset(cyl);
}
// Revolute joint (arm-wheel)
if ((m_pO - m_pAW).Length2() > threshold2) {
auto cyl = std::make_shared<ChCylinderShape>();
double len = (m_pO - m_pAW).Length();
cyl->GetCylinderGeometry().p1 = m_pO;
cyl->GetCylinderGeometry().p2 = m_pAW + (m_pAW - m_pO) * radius/len;
cyl->GetCylinderGeometry().rad = radius;
m_arm->AddAsset(cyl);
}
auto col = std::make_shared<ChColorAsset>();
col->SetColor(ChColor(0.2f, 0.6f, 0.3f));
m_arm->AddAsset(col);
// Visualization of the shock (with default color)
if (m_has_shock) {
m_shock->AddAsset(std::make_shared<ChPointPointSegment>());
}
}
void ChTrackShoeBandBushing::AddWebVisualization(std::shared_ptr<ChBody> segment) {
segment->AddAsset(std::make_shared<ChColorAsset>(GetColor(m_index)));
auto box = std::make_shared<ChBoxShape>();
box->GetBoxGeometry().SetLengths(ChVector<>(m_seg_length, GetBeltWidth(), GetWebThickness()));
segment->AddAsset(box);
auto cyl = std::make_shared<ChCylinderShape>();
double radius = GetWebThickness() / 4;
cyl->GetCylinderGeometry().rad = radius;
cyl->GetCylinderGeometry().p1 = ChVector<>(m_seg_length / 2, -GetBeltWidth() / 2 - 2 * radius, 0);
cyl->GetCylinderGeometry().p2 = ChVector<>(m_seg_length / 2, +GetBeltWidth() / 2 + 2 * radius, 0);
segment->AddAsset(cyl);
}
// -----------------------------------------------------------------------------
// -----------------------------------------------------------------------------
void ChSingleIdler::AddVisualizationAssets(VisualizationType vis) {
ChIdler::AddVisualizationAssets(vis);
if (vis != VisualizationType::PRIMITIVES)
return;
double radius = GetWheelRadius();
double width = GetWheelWidth();
auto cyl = std::make_shared<ChCylinderShape>();
cyl->GetCylinderGeometry().p1 = ChVector<>(0, width / 2, 0);
cyl->GetCylinderGeometry().p2 = ChVector<>(0, -width / 2, 0);
cyl->GetCylinderGeometry().rad = radius;
m_wheel->AddAsset(cyl);
auto tex = std::make_shared<ChTexture>();
tex->SetTextureFilename(chrono::GetChronoDataFile("bluwhite.png"));
m_wheel->AddAsset(tex);
}
// -----------------------------------------------------------------------------
// -----------------------------------------------------------------------------
void ChPitmanArm::AddVisualizationAssets(VisualizationType vis) {
if (vis == VisualizationType::NONE)
return;
// Visualization for link
{
auto cyl = std::make_shared<ChCylinderShape>();
cyl->GetCylinderGeometry().p1 = m_pP;
cyl->GetCylinderGeometry().p2 = m_pI;
cyl->GetCylinderGeometry().rad = getSteeringLinkRadius();
m_link->AddAsset(cyl);
auto cyl_P = std::make_shared<ChCylinderShape>();
cyl_P->GetCylinderGeometry().p1 = m_pP;
cyl_P->GetCylinderGeometry().p2 = m_pTP;
cyl_P->GetCylinderGeometry().rad = getSteeringLinkRadius();
m_link->AddAsset(cyl_P);
auto cyl_I = std::make_shared<ChCylinderShape>();
cyl_I->GetCylinderGeometry().p1 = m_pI;
cyl_I->GetCylinderGeometry().p2 = m_pTI;
cyl_I->GetCylinderGeometry().rad = getSteeringLinkRadius();
m_link->AddAsset(cyl_I);
auto col = std::make_shared<ChColorAsset>();
col->SetColor(ChColor(0.2f, 0.7f, 0.7f));
m_link->AddAsset(col);
}
// Visualization for arm
{
auto cyl = std::make_shared<ChCylinderShape>();
cyl->GetCylinderGeometry().p1 = m_pC;
cyl->GetCylinderGeometry().p2 = m_pL;
cyl->GetCylinderGeometry().rad = getPitmanArmRadius();
m_arm->AddAsset(cyl);
auto col = std::make_shared<ChColorAsset>();
col->SetColor(ChColor(0.7f, 0.7f, 0.2f));
m_arm->AddAsset(col);
}
// Visualization for rev-sph link
m_revsph->AddAsset(std::make_shared<ChPointPointSegment>());
}
// -----------------------------------------------------------------------------
// -----------------------------------------------------------------------------
void ChDoubleWishboneReduced::AddVisualizationUpright(std::shared_ptr<ChBody> upright,
const ChVector<> pt_C,
const ChVector<> pt_U,
const ChVector<> pt_L,
const ChVector<> pt_T,
double radius) {
static const double threshold2 = 1e-6;
// Express hardpoint locations in body frame.
ChVector<> p_C = upright->TransformPointParentToLocal(pt_C);
ChVector<> p_U = upright->TransformPointParentToLocal(pt_U);
ChVector<> p_L = upright->TransformPointParentToLocal(pt_L);
ChVector<> p_T = upright->TransformPointParentToLocal(pt_T);
if ((p_L - p_C).Length2() > threshold2) {
auto cyl_L = std::make_shared<ChCylinderShape>();
cyl_L->GetCylinderGeometry().p1 = p_L;
cyl_L->GetCylinderGeometry().p2 = p_C;
cyl_L->GetCylinderGeometry().rad = radius;
upright->AddAsset(cyl_L);
}
if ((p_U - p_C).Length2() > threshold2) {
auto cyl_U = std::make_shared<ChCylinderShape>();
cyl_U->GetCylinderGeometry().p1 = p_U;
cyl_U->GetCylinderGeometry().p2 = p_C;
cyl_U->GetCylinderGeometry().rad = radius;
upright->AddAsset(cyl_U);
}
if ((p_T - p_C).Length2() > threshold2) {
auto cyl_T = std::make_shared<ChCylinderShape>();
cyl_T->GetCylinderGeometry().p1 = p_T;
cyl_T->GetCylinderGeometry().p2 = p_C;
cyl_T->GetCylinderGeometry().rad = radius;
upright->AddAsset(cyl_T);
}
auto col = std::make_shared<ChColorAsset>();
col->SetColor(ChColor(0.2f, 0.2f, 0.6f));
upright->AddAsset(col);
}
float csBulletCollider::GetVolume ()
{
switch (geomType)
{
case BOX_COLLIDER_GEOMETRY:
{
csVector3 size;
GetBoxGeometry (size);
return size[0] * size[1] * size[2];
}
case SPHERE_COLLIDER_GEOMETRY:
{
csSphere sphere;
GetSphereGeometry (sphere);
return 1.333333f * PI * sphere.GetRadius () * sphere.GetRadius ()
* sphere.GetRadius ();
}
case CYLINDER_COLLIDER_GEOMETRY:
{
float length;
float radius;
GetCylinderGeometry (length, radius);
return PI * radius * radius * length;
}
case CAPSULE_COLLIDER_GEOMETRY:
{
float length;
float radius;
GetCapsuleGeometry (length, radius);
return PI * radius * radius * length
+ 1.333333f * PI * radius * radius * radius;
}
case CONVEXMESH_COLLIDER_GEOMETRY:
{
if (vertexCount == 0)
return 0.0f;
float volume = 0.0f;
int faceCount = (int)vertexCount / 3;
btVector3 origin = vertices[indices[0]];
for (int i = 1; i < faceCount; i++)
{
int index = i * 3;
volume += fabsl (btDot
(vertices[indices[index]] - origin,
btCross (vertices[indices[index + 1]] - origin,
vertices[indices[index + 2]] - origin)));
}
return volume / 6.0f;
}
case TRIMESH_COLLIDER_GEOMETRY:
{
if (vertexCount == 0)
return 0.0f;
// TODO: this is a really rough estimation
btVector3 center;
btScalar radius;
shape->getBoundingSphere (center, radius);
return 1.333333f * PI * radius * radius * radius;
}
default:
return 0.0f;
}
return 0.0f;
}
// -----------------------------------------------------------------------------
// -----------------------------------------------------------------------------
void ChTrackShoeSinglePin::AddVisualizationAssets(VisualizationType vis) {
if (vis == VisualizationType::NONE)
return;
double pitch = GetPitch();
double front_cyl_loc = GetFrontCylinderLoc();
double rear_cyl_loc = GetRearCylinderLoc();
double cyl_radius = GetCylinderRadius();
const ChVector<>& pad_box_dims = GetPadBoxDimensions();
const ChVector<>& guide_box_dims = GetGuideBoxDimensions();
double p0y = 2.1 * (pad_box_dims.y() / 2);
double p1y = 1.5 * (pad_box_dims.y() / 2);
double p2y = 0.5 * (pad_box_dims.y() / 2);
// Render the revolute pin
auto rev_axis = std::make_shared<ChCylinderShape>();
rev_axis->GetCylinderGeometry().p1 = ChVector<>(pitch / 2, -p0y, 0);
rev_axis->GetCylinderGeometry().p2 = ChVector<>(pitch / 2, p0y, 0);
rev_axis->GetCylinderGeometry().rad = cyl_radius / 1.5;
m_shoe->AddAsset(rev_axis);
// Render boxes between pins
auto box_L = std::make_shared<ChBoxShape>();
box_L->GetBoxGeometry().SetLengths(ChVector<>(pitch - 1.5 * cyl_radius, 0.95 * (p0y - p1y), pad_box_dims.z() / 3));
box_L->GetBoxGeometry().Pos = ChVector<>(0, +0.95 * (p0y + p1y) / 2, 0);
m_shoe->AddAsset(box_L);
auto box_R = std::make_shared<ChBoxShape>();
box_R->GetBoxGeometry().SetLengths(ChVector<>(pitch - 1.5 * cyl_radius, 0.95 * (p0y - p1y), pad_box_dims.z() / 3));
box_R->GetBoxGeometry().Pos = ChVector<>(0, -0.95 * (p0y + p1y) / 2, 0);
m_shoe->AddAsset(box_R);
// Render the contact cylinders (for contact with sprocket)
auto cyl_FR = std::make_shared<ChCylinderShape>();
cyl_FR->GetCylinderGeometry().p1 = ChVector<>(front_cyl_loc, -p1y, 0);
cyl_FR->GetCylinderGeometry().p2 = ChVector<>(front_cyl_loc, -p2y, 0);
cyl_FR->GetCylinderGeometry().rad = cyl_radius;
m_shoe->AddAsset(cyl_FR);
auto cyl_RR = std::make_shared<ChCylinderShape>();
cyl_RR->GetCylinderGeometry().p1 = ChVector<>(rear_cyl_loc, -p1y, 0);
cyl_RR->GetCylinderGeometry().p2 = ChVector<>(rear_cyl_loc, -p2y, 0);
cyl_RR->GetCylinderGeometry().rad = cyl_radius;
m_shoe->AddAsset(cyl_RR);
auto cyl_FL = std::make_shared<ChCylinderShape>();
cyl_FL->GetCylinderGeometry().p1 = ChVector<>(front_cyl_loc, p1y, 0);
cyl_FL->GetCylinderGeometry().p2 = ChVector<>(front_cyl_loc, p2y, 0);
cyl_FL->GetCylinderGeometry().rad = cyl_radius;
m_shoe->AddAsset(cyl_FL);
auto cyl_RL = std::make_shared<ChCylinderShape>();
cyl_RL->GetCylinderGeometry().p1 = ChVector<>(rear_cyl_loc, p1y, 0);
cyl_RL->GetCylinderGeometry().p2 = ChVector<>(rear_cyl_loc, p2y, 0);
cyl_RL->GetCylinderGeometry().rad = cyl_radius;
m_shoe->AddAsset(cyl_RL);
// Render the pad contact box
auto box_shoe = std::make_shared<ChBoxShape>();
box_shoe->GetBoxGeometry().SetLengths(pad_box_dims);
box_shoe->GetBoxGeometry().Pos = GetPadBoxLocation();
m_shoe->AddAsset(box_shoe);
// Render the guiding pin contact box
auto box_pin = std::make_shared<ChBoxShape>();
box_pin->GetBoxGeometry().SetLengths(guide_box_dims);
box_pin->GetBoxGeometry().Pos = GetGuideBoxLocation();
m_shoe->AddAsset(box_pin);
// Assign color (based on track shoe index)
auto col = std::make_shared<ChColorAsset>();
if (m_index == 0)
col->SetColor(ChColor(0.6f, 0.3f, 0.3f));
else if (m_index % 2 == 0)
col->SetColor(ChColor(0.3f, 0.6f, 0.3f));
else
col->SetColor(ChColor(0.3f, 0.3f, 0.6f));
m_shoe->AddAsset(col);
}
