int main(
int argc,
char* argv[]) {
double time_step = .00001;
ChVector<> gravity = ChVector<>(0, -9.80665, 0);
ChSystemParallelDVI msystem;
msystem.Set_G_acc(gravity);
msystem.SetStep(time_step);
ChSharedBodyPtr ball(new ChBody(new ChCollisionModelParallel));
double mass = 1;
ChVector<> pos = ChVector<>(0, 0, 0);
ChVector<> vel = ChVector<>(2, 2, 0);
ball->SetMass(mass);
ball->SetPos(pos);
ball->SetPos_dt(vel);
msystem.AddBody(ball);
real t = .01;
real3 a = ToReal3(gravity);
real3 p_final = ToReal3(vel) * t + .5 * a * t * t;
double time = 0;
for (int i = 0; i < 1000; i++) {
msystem.DoStepDynamics(time_step);
time = time + time_step;
}
WeakEqual(ToReal3(ball->GetPos()), p_final, 1e-6);
return 0;
}
// -----------------------------------------------------------------------------
// Create the system, specify simulation parameters, and run simulation loop.
// -----------------------------------------------------------------------------
int main(int argc,
char* argv[]) {
int threads = 8;
// Simulation parameters
// ---------------------
double gravity = 9.81;
double time_step = 1e-3;
double time_end = 100;
double out_fps = 50;
uint max_iteration = 30;
real tolerance = 1e-3;
// Create system
// -------------
ChSystemParallelDVI msystem;
// Set number of threads.
int max_threads = msystem.GetParallelThreadNumber();
if (threads > max_threads)
threads = max_threads;
msystem.SetParallelThreadNumber(threads);
omp_set_num_threads(threads);
// Set gravitational acceleration
msystem.Set_G_acc(ChVector<>(0, 0, -gravity));
// Set solver parameters
msystem.GetSettings()->solver.solver_mode = SLIDING;
msystem.GetSettings()->solver.max_iteration_normal = max_iteration / 3;
msystem.GetSettings()->solver.max_iteration_sliding = max_iteration / 3;
msystem.GetSettings()->solver.max_iteration_spinning = 0;
msystem.GetSettings()->solver.max_iteration_bilateral = max_iteration / 3;
msystem.GetSettings()->solver.tolerance = tolerance;
msystem.GetSettings()->solver.alpha = 0;
msystem.GetSettings()->solver.contact_recovery_speed = 10000;
msystem.ChangeSolverType(APGDREF);
msystem.GetSettings()->collision.narrowphase_algorithm = NARROWPHASE_HYBRID_MPR;
msystem.GetSettings()->collision.collision_envelope = 0.01;
msystem.GetSettings()->collision.bins_per_axis = I3(10, 10, 10);
// Create the fixed and moving bodies
// ----------------------------------
AddContainer(&msystem);
AddFallingBalls(&msystem);
// Perform the simulation
// ----------------------
#ifdef CHRONO_PARALLEL_HAS_OPENGL
opengl::ChOpenGLWindow &gl_window = opengl::ChOpenGLWindow::getInstance();
gl_window.Initialize(1280, 720, "mixerDVI", &msystem);
gl_window.SetCamera(ChVector<>(0, -10, 0), ChVector<>(0, 0, 0), ChVector<>(0, 0, 1));
// Uncomment the following two lines for the OpenGL manager to automatically
// run the simulation in an infinite loop.
//gl_window.StartDrawLoop(time_step);
//return 0;
#endif
// Run simulation for specified time
int num_steps = std::ceil(time_end / time_step);
int out_steps = std::ceil((1 / time_step) / out_fps);
double time = 0;
int out_frame = 0;
for (int i = 0; i < num_steps; i++) {
if (i % out_steps == 0) {
OutputData(&msystem, out_frame, time);
out_frame++;
}
#ifdef CHRONO_PARALLEL_HAS_OPENGL
if (gl_window.Active()) {
gl_window.DoStepDynamics(time_step);
gl_window.Render();
}
#else
msystem.DoStepDynamics(time_step);
#endif
time += time_step;
}
return 0;
}
