int main(int argc, char* argv[])
{
// Create a ChronoENGINE physical system
ChSystem mphysicalSystem;
// Create the Irrlicht visualization (open the Irrlicht device,
// bind a simple user interface, etc. etc.)
ChIrrApp application(&mphysicalSystem, L"Critical cases for solver convergence",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());
ChIrrWizard::add_typical_Camera(application.GetDevice(), core::vector3df(0,1.5,-3));
// Create all the rigid bodies.
create_items(application);
class MyContactCallback : public ChSystem::ChCustomCollisionPointCallback
{
public: virtual void ContactCallback(
const collision::ChCollisionInfo& mcontactinfo, ///< get info about contact (cannot change it)
ChMaterialCouple& material ) ///< you can modify this!
{
// Set compliance (normal and tangential at once)
material.compliance = STATIC_COMPLIANCE;
material.complianceT = material.compliance ;
material.dampingf = 0.2f;
};
ChSystem* msystem;
};
MyContactCallback mycontact_callback; // create the callback object
mycontact_callback.msystem = &mphysicalSystem; // will be used by callback
// Tell the system to use the callback above, per each created contact!
mphysicalSystem.SetCustomCollisionPointCallback(&mycontact_callback);
// Use this function for adding a ChIrrNodeAsset to all already created items (ex. a floor, a wall, etc.)
// Otherwise use application.AssetBind(myitem); on a per-item basis.
application.AssetBindAll();
application.AssetUpdateAll();
// Modify some setting of the physical system for the simulation, if you want
mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_BARZILAIBORWEIN);
//mphysicalSystem.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR);
mphysicalSystem.SetIterLCPmaxItersSpeed(60);
mphysicalSystem.SetIterLCPmaxItersStab(5);
mphysicalSystem.SetParallelThreadNumber(1);
//mphysicalSystem.SetUseSleeping(true);
application.SetStepManage(true);
application.SetTimestep(0.01);
application.SetPaused(true);
//
// THE SOFT-REAL-TIME CYCLE
//
while(application.GetDevice()->run())
{
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
application.DrawAll();
align_spheres(application); // just to simplify test, on y axis only
application.DoStep();
application.GetVideoDriver()->endScene();
}
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.)
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.SetLcpSolverType(ChSystem::LCP_ITERATIVE_SOR_MULTITHREAD);
mphysicalSystem.SetUseSleeping(false);
mphysicalSystem.SetMaxPenetrationRecoverySpeed(1.6); // used by Anitescu stepper only
mphysicalSystem.SetIterLCPmaxItersSpeed(40);
mphysicalSystem.SetIterLCPmaxItersStab(20); // unuseful for Anitescu, only Tasora uses this
mphysicalSystem.SetIterLCPwarmStarting(true);
mphysicalSystem.SetParallelThreadNumber(4);
//
// THE SOFT-REAL-TIME CYCLE
//
application.SetStepManage(true);
application.SetTimestep(0.02);
while(application.GetDevice()->run())
{
application.GetVideoDriver()->beginScene(true, true, SColor(255,140,161,192));
ChIrrTools::drawGrid(application.GetVideoDriver(), 5,5, 20,20,
ChCoordsys<>(ChVector<>(0,0.2,0),Q_from_AngAxis(CH_C_PI/2,VECT_X)), video::SColor(50,90,90,150),true);
application.DrawAll();
application.DoStep();
application.GetVideoDriver()->endScene();
}
// Remember this at the end of the program, if you started
// with DLL_CreateGlobals();
DLL_DeleteGlobals();
return 0;
}
