void ChEmitterAsset::Update(ChPhysicsItem* updater, const ChCoordsys<>& coords) {
ChSystem* msys = updater->GetSystem();
if (!msys)
return;
double mt = msys->GetChTime();
if (mt < this->last_t)
last_t = mt;
double dt = mt - last_t;
last_t = mt;
if (dt == 0)
return;
//***TODO*** a better way to deduce dt, ex. by using flags in Update(),
// to know if Update really follows a t+dt update, etc.
// Create the particles!
ChFrameMoving<> mframe(coords);
// special case: the owner is a body? so use also speed info
if(ChBody* mbody = dynamic_cast<ChBody*>(updater)) {
ChFrameMoving<> bodyframe = mbody->GetFrame_REF_to_abs();
ChFrameMoving<> relcoords;
bodyframe.TransformParentToLocal(mframe, relcoords);
relcoords.SetCoord_dt(CSYSNULL);
relcoords.SetCoord_dtdt(CSYSNULL);
bodyframe.TransformLocalToParent(relcoords, mframe);
}
this->memitter.EmitParticles(*msys, dt, mframe);
}
int main(int argc, char* argv[])
{
ChSystem system;
// Disable gravity
system.Set_G_acc(ChVector<>(0, 0, 0));
// Set the half-length of the two shafts
double hl = 2;
// Set the bend angle between the two shafts (positive rotation about the
// global X axis)
double angle = CH_C_PI / 6;
double cosa = std::cos(angle);
double sina = std::sin(angle);
ChQuaternion<> rot = Q_from_AngX(angle);
// Create the ground (fixed) body
// ------------------------------
ChSharedPtr<ChBody> ground(new ChBody);
system.AddBody(ground);
ground->SetIdentifier(-1);
ground->SetBodyFixed(true);
ground->SetCollide(false);
// attach visualization assets to represent the revolute and cylindrical
// joints that connect the two shafts to ground
{
ChSharedPtr<ChCylinderShape> cyl_1(new ChCylinderShape);
cyl_1->GetCylinderGeometry().p1 = ChVector<>(0, 0, -hl - 0.2);
cyl_1->GetCylinderGeometry().p2 = ChVector<>(0, 0, -hl + 0.2);
cyl_1->GetCylinderGeometry().rad = 0.3;
ground->AddAsset(cyl_1);
ChSharedPtr<ChCylinderShape> cyl_2(new ChCylinderShape);
cyl_2->GetCylinderGeometry().p1 = ChVector<>(0, -(hl - 0.2) * sina, (hl - 0.2) * cosa);
cyl_2->GetCylinderGeometry().p2 = ChVector<>(0, -(hl + 0.2) * sina, (hl + 0.2) * cosa);
cyl_2->GetCylinderGeometry().rad = 0.3;
ground->AddAsset(cyl_2);
}
// Create the first shaft body
// ---------------------------
ChSharedPtr<ChBody> shaft_1(new ChBody);
system.AddBody(shaft_1);
shaft_1->SetIdentifier(1);
shaft_1->SetBodyFixed(false);
shaft_1->SetCollide(false);
shaft_1->SetMass(1);
shaft_1->SetInertiaXX(ChVector<>(1, 1, 0.2));
shaft_1->SetPos(ChVector<>(0, 0, -hl));
shaft_1->SetRot(ChQuaternion<>(1, 0, 0, 0));
// Add visualization assets to represent the shaft (a box) and the arm of the
// universal joint's cross associated with this shaft (a cylinder)
{
ChSharedPtr<ChBoxShape> box_1(new ChBoxShape);
box_1->GetBoxGeometry().Size = ChVector<>(0.15, 0.15, 0.9 * hl);
shaft_1->AddAsset(box_1);
ChSharedPtr<ChCylinderShape> cyl_2(new ChCylinderShape);
cyl_2->GetCylinderGeometry().p1 = ChVector<>(-0.2, 0, hl);
cyl_2->GetCylinderGeometry().p2 = ChVector<>(0.2, 0, hl);
cyl_2->GetCylinderGeometry().rad = 0.05;
shaft_1->AddAsset(cyl_2);
ChSharedPtr<ChColorAsset> col(new ChColorAsset);
col->SetColor(ChColor(0.6f, 0, 0));
shaft_1->AddAsset(col);
}
// Create the second shaft body
// ----------------------------
// The second shaft is identical to the first one, but initialized at an angle
// equal to the specified bend angle.
ChSharedPtr<ChBody> shaft_2(new ChBody);
system.AddBody(shaft_2);
shaft_2->SetIdentifier(1);
shaft_2->SetBodyFixed(false);
shaft_2->SetCollide(false);
shaft_2->SetMass(1);
shaft_2->SetInertiaXX(ChVector<>(1, 1, 0.2));
shaft_2->SetPos(ChVector<>(0, -hl * sina, hl * cosa));
shaft_2->SetRot(rot);
// Add visualization assets to represent the shaft (a box) and the arm of the
// universal joint's cross associated with this shaft (a cylinder)
{
ChSharedPtr<ChBoxShape> box_1(new ChBoxShape);
box_1->GetBoxGeometry().Size = ChVector<>(0.15, 0.15, 0.9 * hl);
shaft_2->AddAsset(box_1);
ChSharedPtr<ChCylinderShape> cyl_2(new ChCylinderShape);
cyl_2->GetCylinderGeometry().p1 = ChVector<>(0, -0.2, -hl);
cyl_2->GetCylinderGeometry().p2 = ChVector<>(0, 0.2, -hl);
cyl_2->GetCylinderGeometry().rad = 0.05;
shaft_2->AddAsset(cyl_2);
ChSharedPtr<ChColorAsset> col(new ChColorAsset);
col->SetColor(ChColor(0, 0, 0.6f));
shaft_2->AddAsset(col);
}
// Connect the first shaft to ground
// ---------------------------------
// Use a ChLinkEngine to impose both the revolute joint constraints, as well
// as constant angular velocity. The joint is located at the origin of the
// first shaft.
ChSharedPtr<ChLinkEngine> motor(new ChLinkEngine);
system.AddLink(motor);
motor->Initialize(ground, shaft_1, ChCoordsys<>(ChVector<>(0, 0, -hl), ChQuaternion<>(1, 0, 0, 0)));
motor->Set_eng_mode(ChLinkEngine::ENG_MODE_ROTATION);
motor->Set_rot_funct(ChSharedPtr<ChFunction>(new ChFunction_Ramp(0, 1)));
// Connect the second shaft to ground through a cylindrical joint
// --------------------------------------------------------------
// Use a cylindrical joint so that we do not have redundant constraints
// (note that, technically Chrono could deal with a revolute joint here).
// the joint is located at the origin of the second shaft.
ChSharedPtr<ChLinkLockCylindrical> cyljoint(new ChLinkLockCylindrical);
system.AddLink(cyljoint);
cyljoint->Initialize(ground, shaft_2, ChCoordsys<>(ChVector<>(0, -hl * sina, hl * cosa), rot));
// Connect the two shafts through a universal joint
// ------------------------------------------------
// The joint is located at the global origin. Its kinematic constraints will
// enforce orthogonality of the associated cross.
ChSharedPtr<ChLinkUniversal> ujoint(new ChLinkUniversal);
system.AddLink(ujoint);
ujoint->Initialize(shaft_1, shaft_2, ChFrame<>(ChVector<>(0, 0, 0), rot));
// Create the Irrlicht application
// -------------------------------
ChIrrApp application(&system, L"ChBodyAuxRef demo", core::dimension2d<u32>(800, 600), false, true);
application.AddTypicalLogo();
application.AddTypicalSky();
application.AddTypicalLights();
application.AddTypicalCamera(core::vector3df(3, 1, -1.5));
application.AssetBindAll();
application.AssetUpdateAll();
// Simulation loop
application.SetTimestep(0.001);
int frame = 0;
while (application.GetDevice()->run())
{
application.BeginScene();
application.DrawAll();
application.DoStep();
application.EndScene();
frame++;
if (frame % 20 == 0) {
// Output the shaft angular velocities at the current time
double omega_1 = shaft_1->GetWvel_loc().z;
double omega_2 = shaft_2->GetWvel_loc().z;
GetLog() << system.GetChTime() << " " << omega_1 << " " << omega_2 << "\n";
}
}
return 0;
}
int main(int argc, char* argv[])
{
// In CHRONO engine, The DLL_CreateGlobals() - DLL_DeleteGlobals(); pair is needed if
// global functions are needed.
DLL_CreateGlobals();
// Create a ChronoENGINE physical system
ChSystem mphysicalSystem;
// Create the Irrlicht visualization (open the Irrlicht device,
// bind a simple user interface, etc. etc.)
ChIrrAppInterface application(&mphysicalSystem, L"Benchmark application",core::dimension2d<u32>(800,600),false);
// Easy shortcuts to add logo, camera, lights and sky in Irrlicht scene:
ChIrrWizard::add_typical_Lights(application.GetDevice());
ChIrrWizard::add_typical_Camera(application.GetDevice(), core::vector3df(0,14,-40));
//
// CREATE THE MECHANICAL SYSTEM OF CHRONO...
//
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.GetVideoDriver()->endScene();
GetLog() << " ** PLEASE WAIT FOR INITIALIZATION! \n ** This may take seconds or minutes..\n\n";
// Prepare the physical system for the simulation
mphysicalSystem.SetIntegrationType(ChSystem::INT_ANITESCU);
//mphysicalSystem.SetIntegrationType(ChSystem::INT_TASORA);
//mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SYMMSOR); // here would be the better choiche since the wall is build ground up.
//mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
//mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_JACOBI);
//mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR_MULTITHREAD);
//mphysicalSystem.SetParallelThreadNumber(4);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(1.6); // used by Anitescu stepper only
mphysicalSystem.SetIterLCPmaxItersSpeed(20);
mphysicalSystem.SetIterLCPmaxItersStab(10); // unuseful for Anitescu, only Tasora uses this
//mphysicalSystem.SetIterLCPwarmStarting(true);
// Test convergence for varying omega
//
// (solver:SOR)
//
if (false)
{
ChStreamOutAsciiFile data_err_SOR_Niter("data_err_SOR_Niter.dat");
ChStreamOutAsciiFile data_dgamma_SOR_Niter("data_dgamma_SOR_Niter.dat");
int plotframe = 500;
int ntestspheres = 220;
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPmaxItersSpeed(80);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
msolver->SetRecordViolation(true);
for (double momega = 0.2; (momega <= 1.401 && application.GetDevice()->run()); momega +=0.2)
{
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
mphysicalSystem.SetIterLCPomega(0.8);
mphysicalSystem.SetIterLCPsharpnessLambda(1.0);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
// create spheres and walls, and insert into that scene node
ChSetRandomSeed(123);
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, ntestspheres, 1.6, 10);
int totframes = 0;
// ------- begin simulation loop -----
while(application.GetDevice()->run())
{
totframes++;
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
if (totframes==plotframe)
{
mphysicalSystem.SetIterLCPomega(momega);
mphysicalSystem.SetIterLCPsharpnessLambda(0.7);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(0.0);
}
// integrate
mphysicalSystem.DoStepDynamics(0.01);
application.GetVideoDriver()->endScene();
//***PLOT***
if (totframes==plotframe)
{
GetLog()<< "Saving data\n";
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
for (int k=0; k< msolver->GetViolationHistory().size(); k++)
{
data_err_SOR_Niter << msolver->GetViolationHistory()[k] << " ";
}
for (int j=0; j< msolver->GetDeltalambdaHistory().size(); j++)
{
data_dgamma_SOR_Niter << msolver->GetDeltalambdaHistory()[j] << " ";
}
}
if(totframes>plotframe) break;
} // ------- end of simulation loop -----
GetLog()<< " num contacts " << mphysicalSystem.GetNcontacts() << "\n";
data_err_SOR_Niter << "\n";
data_dgamma_SOR_Niter << "\n";
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
} // end test
// Test convergence for varying omega
//
// (solver:JACOBI)
//
if (false)
{
ChStreamOutAsciiFile data_err_JACOBI_Niter("data_err_JACOBI_Niter_L10_at500_ok.dat");
ChStreamOutAsciiFile data_dgamma_JACOBI_Niter("data_dgamma_JACOBI_Niter_L10_at500_ok.dat");
int plotframe = 500;
int ntestspheres = 220;
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPomega(0.8);
mphysicalSystem.SetIterLCPmaxItersSpeed(80);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
msolver->SetRecordViolation(true);
for (double momega = 0.1; (momega <= 0.71 && application.GetDevice()->run()); momega +=0.1)
{
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPomega(0.8);
mphysicalSystem.SetIterLCPmaxItersSpeed(80);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
mphysicalSystem.SetIterLCPsharpnessLambda(1.0);
// create spheres and walls, and insert into that scene node
ChSetRandomSeed(123);
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, ntestspheres, 1.6, 10);
int totframes = 0;
// ------- begin simulation loop -----
while(application.GetDevice()->run())
{
totframes++;
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
if (totframes==plotframe)
{
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_JACOBI);
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
msolver->SetRecordViolation(true);
mphysicalSystem.SetIterLCPomega(momega);
mphysicalSystem.SetIterLCPsharpnessLambda(1.0);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(0.0);
}
// integrate
mphysicalSystem.DoStepDynamics(0.01);
application.GetVideoDriver()->endScene();
//***PLOT***
if (totframes==plotframe)
{
GetLog()<< "Saving data\n";
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
for (int k=0; k< msolver->GetViolationHistory().size(); k++)
{
data_err_JACOBI_Niter << msolver->GetViolationHistory()[k] << " ";
}
for (int j=0; j< msolver->GetDeltalambdaHistory().size(); j++)
{
data_dgamma_JACOBI_Niter << msolver->GetDeltalambdaHistory()[j] << " ";
}
}
if(totframes>plotframe) break;
} // ------- end of simulation loop -----
GetLog()<< " num contacts " << mphysicalSystem.GetNcontacts() << "\n";
data_err_JACOBI_Niter << "\n";
data_dgamma_JACOBI_Niter << "\n";
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
} // end test
// Test lambda effect
//
// Velocity error vs. Num. velocity iterations vs. Lambda
// (solver:SOR)
//
if (false)
{
ChStreamOutAsciiFile data_err_SOR_Niter("data_err_SOR_Niter_om1.dat");
ChStreamOutAsciiFile data_dgamma_SOR_Niter("data_dgamma_SOR_Niter_om1.dat");
int plotframe = 500;
int ntestspheres = 220;
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPmaxItersSpeed(80);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
msolver->SetRecordViolation(true);
for (double mlambda = 0.2; (mlambda <= 1.01 && application.GetDevice()->run()); mlambda +=0.2)
{
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
mphysicalSystem.SetIterLCPomega(0.8);
mphysicalSystem.SetIterLCPsharpnessLambda(1.0);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
// create spheres and walls, and insert into that scene node
ChSetRandomSeed(123);
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, ntestspheres, 1.6, 10);
int totframes = 0;
// ------- begin simulation loop -----
while(application.GetDevice()->run())
{
totframes++;
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
if (totframes==plotframe)
{
mphysicalSystem.SetIterLCPomega(1.0);
mphysicalSystem.SetIterLCPsharpnessLambda(mlambda);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(0.0);
}
// integrate
mphysicalSystem.DoStepDynamics(0.01);
application.GetVideoDriver()->endScene();
//***PLOT***
if (totframes==plotframe)
{
GetLog()<< "Saving data\n";
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
for (int k=0; k< msolver->GetViolationHistory().size(); k++)
{
data_err_SOR_Niter << msolver->GetViolationHistory()[k] << " ";
}
for (int j=0; j< msolver->GetDeltalambdaHistory().size(); j++)
{
data_dgamma_SOR_Niter << msolver->GetDeltalambdaHistory()[j] << " ";
}
}
if(totframes>plotframe) break;
} // ------- end of simulation loop -----
GetLog()<< " num contacts " << mphysicalSystem.GetNcontacts() << "\n";
data_err_SOR_Niter << "\n";
data_dgamma_SOR_Niter << "\n";
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
} // end test
// Test stack aspect ratio
//
//
if (false)
{
ChStreamOutAsciiFile data_err_SOR_Niter("data_err_aspectratio3.dat");
int plotframe = 500;
int ntestspheres = 220;
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPmaxItersSpeed(30);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
msolver->SetRecordViolation(true);
for (double mspheres=10; (mspheres <= 330 && application.GetDevice()->run()); mspheres +=40)
{
for (int nviters = 20; (nviters <= 101 && application.GetDevice()->run()); nviters +=20)
{
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
mphysicalSystem.SetIterLCPomega(0.9);
mphysicalSystem.SetIterLCPsharpnessLambda(1.0);
mphysicalSystem.SetIterLCPmaxItersSpeed(30);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
// create spheres and walls, and insert into that scene node
ChSetRandomSeed(13);
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, mspheres, 1.6, 10,20.1);
int totframes = 0;
// ------- begin simulation loop -----
while(application.GetDevice()->run())
{
totframes++;
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
if (totframes==plotframe)
{
mphysicalSystem.SetIterLCPomega(0.9);
mphysicalSystem.SetIterLCPmaxItersSpeed(nviters);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(0.0);
}
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
// integrate
mphysicalSystem.DoStepDynamics(0.01);
application.GetVideoDriver()->endScene();
//***PLOT***
if (totframes==plotframe)
{
GetLog()<< "Saving data\n";
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
data_err_SOR_Niter << msolver->GetViolationHistory()[msolver->GetViolationHistory().size()-1] << " ";
}
if(totframes>plotframe) break;
} // ------- end of simulation loop -----
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
data_err_SOR_Niter << "\n";
}
} // end test
// Test pos error
//
//
if (false)
{
ChStreamOutAsciiFile data_err_pos("data_err_pos.dat");
int plotframe = 500;
int ntestspheres = 120;
double mystep= 0;
for (double mdt=0.01; (mdt>0.00015 && application.GetDevice()->run()); mdt*=0.5)
{
GetLog() << "\n\nDT = " << mdt << "\n";
for (int nviters = 20; (nviters <= 81 && application.GetDevice()->run()); nviters +=20)
{
GetLog() << " nviters = " << nviters << "\n";
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
mystep = 0.01;
mphysicalSystem.SetChTime(0.0);
mphysicalSystem.SetIterLCPsharpnessLambda(0.8);
mphysicalSystem.SetIterLCPomega(0.8);
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPmaxItersSpeed(30);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(2.0);
// create spheres and walls, and insert into that scene node
ChSetRandomSeed(13);
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, ntestspheres, 1.6, 10);
int totframes = 0;
int averagecnt = 0;
double average = 0;
// ------- begin simulation loop -----
while(application.GetDevice()->run())
{
totframes++;
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
// start mode
if (mphysicalSystem.GetChTime()>2.4)
{
mphysicalSystem.SetIterLCPmaxItersSpeed(nviters);
mystep=mdt;
}
//start average
if (mphysicalSystem.GetChTime()>2.6)
{
class _label_reporter_class : public chrono::ChReportContactCallback
{
public:
virtual bool ReportContactCallback (
const chrono::ChVector<>& pA,
const chrono::ChVector<>& pB,
const chrono::ChMatrix33<>& plane_coord,
const double& distance,
const float& mfriction,
const chrono::ChVector<>& react_forces,
const chrono::ChVector<>& react_torques,
chrono::collision::ChCollisionModel* modA,
chrono::collision::ChCollisionModel* modB)
{
if (distance<maxpen)
maxpen = distance;
return true; // to continue scanning contacts
}
// Data
double maxpen;
};
_label_reporter_class my_label_rep;
my_label_rep.maxpen = 0;
// scan all contacts
mphysicalSystem.GetContactContainer()->ReportAllContacts(&my_label_rep);
//GetLog() << " p: " << my_label_rep.maxpen << "\n";
averagecnt++;
average += my_label_rep.maxpen;
}
// stop average & loop
if(mphysicalSystem.GetChTime()>2.8)
{
average /= (double)averagecnt;
GetLog() << " avg.err: " << average << "\n";
data_err_pos << average << " ";
break;
}
// integrate
mphysicalSystem.DoStepDynamics(mystep);
application.GetVideoDriver()->endScene();
} // ------- end of simulation loop -----
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
data_err_pos << "\n";
}
} // end test
// Test pos error with Tasora stabilization
//
//
if (true)
{
ChStreamOutAsciiFile data_err_pos("data_err_tasora.dat");
int ntestspheres = 120;
for (int npiters = 20; (npiters <= 81 && application.GetDevice()->run()); npiters +=20)
{
GetLog() << " npiters = " << npiters << "\n";
for (int nviters = 20; (nviters <= 81 && application.GetDevice()->run()); nviters +=20)
{
GetLog() << " nviters = " << nviters << "\n";
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
mphysicalSystem.SetChTime(0.0);
mphysicalSystem.SetIterLCPsharpnessLambda(0.8);
mphysicalSystem.SetIterLCPomega(0.8);
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIntegrationType(ChSystem::INT_TASORA);
mphysicalSystem.SetIterLCPmaxItersSpeed(30);
mphysicalSystem.SetIterLCPmaxItersStab(30);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(0.0);
// create spheres and walls, and insert into that scene node
ChSetRandomSeed(13);
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, ntestspheres, 1.6, 10);
int totframes = 0;
int averagecnt = 0;
double average = 0;
// ------- begin simulation loop -----
while(application.GetDevice()->run())
{
totframes++;
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
// start mode
if (mphysicalSystem.GetChTime()>3)
{
mphysicalSystem.SetIterLCPmaxItersSpeed(nviters);
mphysicalSystem.SetIterLCPmaxItersStab(npiters);
}
//start average
if (mphysicalSystem.GetChTime()>4.2)
{
class _label_reporter_class : public chrono::ChReportContactCallback
{
public:
virtual bool ReportContactCallback (
const chrono::ChVector<>& pA,
const chrono::ChVector<>& pB,
const chrono::ChMatrix33<>& plane_coord,
const double& distance,
const float& mfriction,
const chrono::ChVector<>& react_forces,
const chrono::ChVector<>& react_torques,
chrono::collision::ChCollisionModel* modA,
chrono::collision::ChCollisionModel* modB)
{
if (distance<maxpen)
maxpen = distance;
return true; // to continue scanning contacts
}
// Data
double maxpen;
};
_label_reporter_class my_label_rep;
my_label_rep.maxpen = 0;
// scan all contacts
mphysicalSystem.GetContactContainer()->ReportAllContacts(&my_label_rep);
averagecnt++;
average += my_label_rep.maxpen;
}
// stop average & loop
if(mphysicalSystem.GetChTime()>4.5)
{
average /= (double)averagecnt;
GetLog() << " avg.err: " << average << "\n";
data_err_pos << average << " ";
break;
}
// integrate
mphysicalSystem.DoStepDynamics(0.01);
application.GetVideoDriver()->endScene();
} // ------- end of simulation loop -----
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
data_err_pos << "\n";
}
} // end test
getchar();
//
// loop of tests:each time test more spheres!
//
ChStreamOutAsciiFile data_spheres_times("data_spheres_times.dat");
ChStreamOutAsciiFile data_contacts_times("data_contact_times.dat");
ChStreamOutAsciiFile data_ncontacts("data_ncontacts.dat");
ChStreamOutAsciiFile data_timexconstr("data_timexconstr.dat");
for (int nspheres = 1; (nspheres <= 1 && application.GetDevice()->run()); nspheres +=1)
{
ChStreamOutAsciiFile data_timing("data_timing1k.dat");
//
// Create all the rigid bodies!!!!
//
// the root scene node containing all dynamic objects
ISceneNode* parent = application.GetSceneManager()->addEmptySceneNode();
// create spheres and walls, and insert into that scene node
create_some_falling_items(mphysicalSystem, application.GetSceneManager(), application.GetVideoDriver(), parent, SPHERE_NUM,SPHERE_RAD,SPHERE_MASS);
//
// THE SOFT-REAL-TIME CYCLE
//
int mdelay=0;
int lastFPS = -1;
ChTimer<double>mtimer;
ChRealtimeStepTimer m_realtime_timer;
//ChStreamOutAsciiFile data_deltares("data_pNviolation_i80.dat");
int totframes = 0;
while(application.GetDevice()->run())
{
totframes++;
if (totframes == 400) mtimer.start();
// Irrlicht must prepare frame to draw
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
// Irrlicht draws all 3D objects and all GUI items
application.DrawAll();
// HERE CHRONO INTEGRATION IS PERFORMED: THE
// TIME OF THE SIMULATION ADVANCES FOR A SINGLE
// STEP:
mphysicalSystem.DoStepDynamics(0.01);
application.GetVideoDriver()->endScene();
if (totframes > 600)
data_timing << mphysicalSystem.GetChTime()-3.0 << " " \
<< mphysicalSystem.GetTimerStep() << " " \
<< mphysicalSystem.GetTimerLcp()+mphysicalSystem.GetTimerCollisionBroad() << " " \
<< mphysicalSystem.GetTimerLcp() << "\n";
/*
//***PLOT*** plot max constr.normal violation
if ((totframes<600)&&(totframes>300))
{
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverStab();
if (msolver->GetViolationHistory().size()>1)
data_deltares << msolver->GetViolationHistory()[msolver->GetViolationHistory().size()-1] << "\n";
}
//***PLOT*** plot deltalambda corrections for varying omega
if (totframes==999)
{
ChLcpIterativeSymmSOR* msolver = (ChLcpIterativeSymmSOR*)mphysicalSystem.GetLcpSolverSpeed();
msolver->SetOmega(1.0);
}
if (totframes==1000)
{
GetLog()<< "Saving plot data\n";
ChLcpIterativeSolver* msolver = (ChLcpIterativeSolver*)mphysicalSystem.GetLcpSolverSpeed();
ChStreamOutAsciiFile data_deltalambda("data_deltalambda_om80.dat");
for (int k=0; k< msolver->GetDeltalambdaHistory().size(); k++)
{
data_deltalambda << msolver->GetDeltalambdaHistory()[k] << "\n";
}
}
*/
if ((totframes>200)&&(totframes<=500))
{
//data_timexconstr << mphysicalSystem.GetTimerLcp()/(double)mphysicalSystem.GetNcontacts() << "\n";
//GetLog()<< " avg time/contacts " << mphysicalSystem.GetTimerLcp()/(double)mphysicalSystem.GetNcontacts() << "\n";
//GetLog()<< " ncontacts " << (double)mphysicalSystem.GetNcontacts() << "\n";
}
if(totframes>500) break;
} // ------- end of simulation loop -----
mtimer.stop();
GetLog()<< "Time used for simulating/viewing first 500 steps: " << mtimer() << "\n";
GetLog()<< " num contacts " << mphysicalSystem.GetNcontacts() << "\n";
GetLog()<< " avg time/contacts " << mtimer()/(double)mphysicalSystem.GetNcontacts() << "\n";
data_spheres_times << nspheres << " " << mtimer() << "\n";
data_contacts_times << mphysicalSystem.GetNcontacts() << " " << mtimer() << "\n";
// remove the root scene node (contains walls & spheres but no camera no lights)
// to reset and prepare for new scene at next for() loop.
parent->remove();
// Now the system should already have no bodies, because of full removal from Irrlicht scene.
// Then, the following clearing should be unuseful...(do it anyway..)
mphysicalSystem.Clear();
}
// Remember this at the end of the program, if you started
// with DLL_CreateGlobals();
DLL_DeleteGlobals();
getchar();
return 0;
}
