Tracked vehicle example (demo_MBS_tracks.cpp)
Simulate a simplified vehicle with tracks, that interact with obstacles, and that can be driven by the user.
This tutorial shows how to:
- create different 'families' of collision objects (ex. to avoid that unnecessry contacts are created between adjacent track shoes).
- make custom compound collision shapes.
- load a non-concave collision mesh that is decomposed in convex parts
// =============================================================================
// PROJECT CHRONO - http://projectchrono.org
//
// Copyright (c) 2014 projectchrono.org
// All rights reserved.
//
// Use of this source code is governed by a BSD-style license that can be found
// in the LICENSE file at the top level of the distribution and at
// http://projectchrono.org/license-chrono.txt.
//
// =============================================================================
// Authors: Alessandro Tasora
// =============================================================================
//
// Demo code about
// - modeling tracks with articulated shoes (as an example of complex model with
// collisions and constraints)
// - using different meshes for collision and visualization
// - using clones of collision shapes
// - using SetFamilyMaskNoCollisionWithFamily, SetFamily etc. to avoid
// collisions between different families of bodies.
//
// =============================================================================
#include "chrono/core/ChRealtimeStep.h"
#include "chrono/geometry/ChTriangleMeshSoup.h"
#include "chrono/physics/ChBodyEasy.h"
#include "chrono/physics/ChLinkMotorRotationSpeed.h"
#include "chrono/physics/ChSystemNSC.h"
#include "chrono/core/ChRealtimeStep.h"
#include "chrono_irrlicht/ChVisualSystemIrrlicht.h"
#include "chrono_irrlicht/ChIrrMeshTools.h"
// Use the namespaces of Chrono
using namespace chrono;
using namespace chrono::geometry;
using namespace chrono::irrlicht;
// Use the main namespaces of Irrlicht
using namespace irr;
using namespace irr::core;
using namespace irr::scene;
using namespace irr::video;
using namespace irr::io;
using namespace irr::gui;
// First of all, define a class for the 'tank' (that is, a set of
// bodies and links which are grouped within this class; so it is
// easier to manage data structures in this example).
class MySimpleTank {
public:
// THE DATA
double throttleL; // actual value 0...1 of gas throttle (left).
double throttleR; // actual value 0...1 of gas throttle (right).
double max_motor_speed; // the max rotation speed of the motor [rads/s]
// The parts making the tank, as 3d Irrlicht scene nodes, each containing
// the ChBody object
// .. truss:
std::shared_ptr<ChBody> truss;
// .. right front suspension:
std::shared_ptr<ChBody> wheelRF;
std::shared_ptr<ChLinkLockRevolute> link_revoluteRF;
// .. left front suspension:
std::shared_ptr<ChBody> wheelLF;
std::shared_ptr<ChLinkLockRevolute> link_revoluteLF;
// .. right back suspension:
std::shared_ptr<ChBody> wheelRB;
std::shared_ptr<ChLinkMotorRotationSpeed> link_motorRB;
// .. left back suspension:
std::shared_ptr<ChBody> wheelLB;
std::shared_ptr<ChLinkMotorRotationSpeed> link_motorLB;
// THE FUNCTIONS
// Build and initialize the tank, creating all bodies corresponding to
// the various parts and adding them to the physical system - also creating
// and adding constraints to the system.
MySimpleTank(ChSystemNSC& sys) {
throttleL = throttleR = 0; // initially, gas throttle is 0.
max_motor_speed = 10;
double my = 0.5; // left back hub pos
double mx = 0;
double shoelength = 0.2;
double shoemass = 2;
double radiustrack = 0.31;
double wheeldiameter = 0.280 * 2;
int nwrap = 6;
int ntiles = 7;
double rlwidth = 1.20;
double passo = (ntiles + 1) * shoelength;
ChVector<> cyl_displA(0, 0.075 + 0.02, 0);
ChVector<> cyl_displB(0, -0.075 - 0.02, 0);
double cyl_hthickness = 0.045;
// --- The tank body ---
truss = chrono_types::make_shared<ChBodyEasyMesh>( //
1000, // density
false, // do not evaluate mass automatically
true, // create visualization asset
false, // do not collide
nullptr, // no need for contact material
0 // swept sphere radius
);
sys.Add(truss);
truss->SetPos(ChVector<>(mx + passo / 2, my + radiustrack, rlwidth / 2));
truss->SetMass(350);
truss->SetInertiaXX(ChVector<>(13.8, 13.5, 10));
// --- Contact and visualization materials for wheels ---
auto wheel_mat = chrono_types::make_shared<ChMaterialSurfaceNSC>();
wheel_mat->SetFriction(1.0);
auto wheel_mat_vis = chrono_types::make_shared<ChVisualMaterial>();
wheel_mat_vis->SetDiffuseColor(ChColor(0.2f, 0.2f, 0.2f));
// --- Right Front suspension ---
// ..the tank right-front wheel
wheelRF = chrono_types::make_shared<ChBodyEasyMesh>( //
1000, // density
false, // do not compute mass and inertia
true, // visualization?
false, // collision?
nullptr, // no need for contact material
0); // mesh sweep sphere radius
sys.Add(wheelRF);
wheelRF->SetPos(ChVector<>(mx + passo, my + radiustrack, 0));
wheelRF->SetRot(Q_from_AngAxis(CH_C_PI / 2, VECT_X));
wheelRF->SetMass(9.0);
wheelRF->SetInertiaXX(ChVector<>(1.2, 1.2, 1.2));
wheelRF->GetCollisionModel()->ClearModel();
wheelRF->GetCollisionModel()->AddCylinder(wheel_mat, wheeldiameter / 2, wheeldiameter / 2, cyl_hthickness,
cyl_displA);
wheelRF->GetCollisionModel()->AddCylinder(wheel_mat, wheeldiameter / 2, wheeldiameter / 2, cyl_hthickness,
cyl_displB);
wheelRF->GetCollisionModel()->BuildModel();
wheelRF->SetCollide(true);
wheelRF->GetVisualShape(0)->SetMaterial(0, wheel_mat_vis);
// .. create the revolute joint between the wheel and the truss
link_revoluteRF = chrono_types::make_shared<ChLinkLockRevolute>(); // right, front, upper, 1
link_revoluteRF->Initialize(wheelRF, truss, ChCoordsys<>(ChVector<>(mx + passo, my + radiustrack, 0), QUNIT));
sys.AddLink(link_revoluteRF);
// --- Left Front suspension ---
// ..the tank left-front wheel
wheelLF = chrono_types::make_shared<ChBodyEasyMesh>( //
1000, // density
false, // do not compute mass and inertia
true, // visualization?
false, // collision?
nullptr, // no need for contact material
0); // mesh sweep sphere radius
sys.Add(wheelLF);
wheelLF->SetPos(ChVector<>(mx + passo, my + radiustrack, rlwidth));
wheelLF->SetRot(Q_from_AngAxis(CH_C_PI / 2, VECT_X));
wheelLF->SetMass(9.0);
wheelLF->SetInertiaXX(ChVector<>(1.2, 1.2, 1.2));
wheelLF->GetCollisionModel()->ClearModel();
wheelLF->GetCollisionModel()->AddCylinder(wheel_mat, wheeldiameter / 2, wheeldiameter / 2, cyl_hthickness,
cyl_displA);
wheelLF->GetCollisionModel()->AddCylinder(wheel_mat, wheeldiameter / 2, wheeldiameter / 2, cyl_hthickness,
cyl_displB);
wheelLF->GetCollisionModel()->BuildModel();
wheelLF->SetCollide(true);
wheelLF->GetVisualShape(0)->SetMaterial(0, wheel_mat_vis);
// .. create the revolute joint between the wheel and the truss
link_revoluteLF = chrono_types::make_shared<ChLinkLockRevolute>(); // left, front, upper, 1
link_revoluteLF->Initialize(wheelLF, truss,
sys.AddLink(link_revoluteLF);
// --- Right Back suspension ---
// ..the tank right-back wheel
wheelRB = chrono_types::make_shared<ChBodyEasyMesh>( //
1000, // density
false, // do not compute mass and inertia
true, // visualization?
false, // collision?
nullptr, // no need for contact material
0); // mesh sweep sphere radius
sys.Add(wheelRB);
wheelRB->SetPos(ChVector<>(mx, my + radiustrack, 0));
wheelRB->SetRot(Q_from_AngAxis(CH_C_PI / 2, VECT_X));
wheelRB->SetMass(9.0);
wheelRB->SetInertiaXX(ChVector<>(1.2, 1.2, 1.2));
wheelRB->GetCollisionModel()->ClearModel();
wheelRB->GetCollisionModel()->AddCylinder(wheel_mat, wheeldiameter / 2, wheeldiameter / 2, cyl_hthickness,
cyl_displA);
wheelRB->GetCollisionModel()->AddCylinder(wheel_mat, wheeldiameter / 2, wheeldiameter / 2, cyl_hthickness,
cyl_displB);
wheelRB->GetCollisionModel()->BuildModel();
wheelRB->SetCollide(true);
wheelRB->GetVisualShape(0)->SetMaterial(0, wheel_mat_vis);
// .. create the motor joint between the wheel and the truss (simplified motor model: just impose speed..)
link_motorRB = chrono_types::make_shared<ChLinkMotorRotationSpeed>();
link_motorRB->SetSpeedFunction(
chrono_types::make_shared<ChFunction_Const>()); // actually, default function type
sys.AddLink(link_motorRB);
// --- Left Back suspension ---
// ..the tank left-back wheel
wheelLB = chrono_types::make_shared<ChBodyEasyMesh>( //
1000, // density
false, // do not compute mass and inertia
true, // visualization?
false, // collision?
nullptr, // no need for contact material
0); // mesh sweep sphere radius
sys.Add(wheelLB);
wheelLB->SetPos(ChVector<>(mx, my + radiustrack, rlwidth));
wheelLB->SetRot(Q_from_AngAxis(CH_C_PI / 2, VECT_X));
wheelLB->SetMass(9.0);
wheelLB->SetInertiaXX(ChVector<>(1.2, 1.2, 1.2));
wheelLB->GetCollisionModel()->ClearModel();
wheelLB->GetCollisionModel()->AddCylinder(wheel_mat, wheeldiameter / 2, wheeldiameter / 2, cyl_hthickness,
cyl_displA);
wheelLB->GetCollisionModel()->AddCylinder(wheel_mat, wheeldiameter / 2, wheeldiameter / 2, cyl_hthickness,
cyl_displB);
wheelLB->GetCollisionModel()->BuildModel();
wheelLB->SetCollide(true);
wheelLB->GetVisualShape(0)->SetMaterial(0, wheel_mat_vis);
// .. create the motor joint between the wheel and the truss (simplified motor model: just impose speed..)
link_motorLB = chrono_types::make_shared<ChLinkMotorRotationSpeed>();
link_motorLB->SetSpeedFunction(
chrono_types::make_shared<ChFunction_Const>()); // actually, default function type
link_motorLB->Initialize(wheelLB, truss, ChFrame<>(ChVector<>(mx, my + radiustrack, rlwidth), QUNIT));
sys.AddLink(link_motorLB);
//--- TRACKS ---
// Shared visualization models
auto shoe_trimesh =
ChTriangleMeshConnected::CreateFromWavefrontFile(GetChronoDataFile("models/bulldozer/shoe_view.obj"));
auto shoe_mesh = chrono_types::make_shared<ChTriangleMeshShape>();
shoe_mesh->SetMesh(shoe_trimesh);
shoe_mesh->SetVisible(true);
auto shoe_coll_trimesh =
ChTriangleMeshConnected::CreateFromWavefrontFile(GetChronoDataFile("models/bulldozer/shoe_collision.obj"));
auto shoe_coll_mesh = chrono_types::make_shared<ChTriangleMeshShape>();
shoe_coll_mesh->SetMesh(shoe_coll_trimesh);
shoe_coll_mesh->SetVisible(false);
// Load a triangle mesh for collision
auto trimesh =
ChTriangleMeshConnected::CreateFromWavefrontFile(GetChronoDataFile("models/bulldozer/shoe_collision.obj"));
ChVector<> mesh_displacement(shoelength * 0.5, 0, 0); // as mesh origin is not in body center of mass
ChVector<> joint_displacement(-shoelength * 0.5, 0, 0); // pos. of shoe-shoe constraint, relative to COG.
chrono::ChVector<> position;
chrono::ChQuaternion<> rotation;
for (int side = 0; side < 2; side++) {
mx = 0;
mx += shoelength;
double mz = 0;
if (side == 0)
mz = 0;
else
mz = rlwidth;
position.Set(mx, my, mz);
rotation = QUNIT;
// Create sample body (with empty collision shape; later create the collision model by adding the
// coll.shapes)
auto firstBodyShoe = chrono_types::make_shared<ChBody>();
sys.Add(firstBodyShoe);
firstBodyShoe->SetMass(shoemass);
firstBodyShoe->SetPos(position);
firstBodyShoe->SetRot(rotation);
firstBodyShoe->SetInertiaXX(ChVector<>(0.1, 0.1, 0.1));
// Visualization:
firstBodyShoe->AddVisualShape(shoe_mesh, ChFrame<>(-mesh_displacement, ChMatrix33<>(1)));
firstBodyShoe->AddVisualShape(shoe_coll_mesh, ChFrame<>(-mesh_displacement, ChMatrix33<>(1)));
// Collision:
firstBodyShoe->GetCollisionModel()->SetSafeMargin(0.004); // inward safe margin
firstBodyShoe->GetCollisionModel()->SetEnvelope(0.010); // distance of the outward "collision envelope"
firstBodyShoe->GetCollisionModel()->ClearModel();
firstBodyShoe->GetCollisionModel()->AddTriangleMesh(chrono_types::make_shared<ChMaterialSurfaceNSC>(),
trimesh, false, false, mesh_displacement,
ChMatrix33<>(1), 0.005);
firstBodyShoe->GetCollisionModel()->BuildModel(); // Creates the collision model
firstBodyShoe->SetCollide(true);
// Avoid creation of contacts with neighbouring shoes, using
// a collision family (=3) that does not collide with itself
firstBodyShoe->GetCollisionModel()->SetFamily(3);
firstBodyShoe->GetCollisionModel()->SetFamilyMaskNoCollisionWithFamily(3);
std::shared_ptr<ChBody> previous_rigidBodyShoe;
previous_rigidBodyShoe = firstBodyShoe;
for (int nshoe = 1; nshoe < ntiles; nshoe++) {
mx += shoelength;
position.Set(mx, my, mz);
auto rigidBodyShoe =
MakeShoe(previous_rigidBodyShoe, firstBodyShoe, position, rotation, sys, joint_displacement);
rigidBodyShoe->AddVisualShape(shoe_mesh, ChFrame<>(-mesh_displacement, ChMatrix33<>(1)));
rigidBodyShoe->AddVisualShape(shoe_coll_mesh, ChFrame<>(-mesh_displacement, ChMatrix33<>(1)));
previous_rigidBodyShoe = rigidBodyShoe;
}
for (int nshoe = 0; nshoe < nwrap; nshoe++) {
double alpha = (CH_C_PI / ((double)(nwrap - 1.0))) * ((double)nshoe);
double lx = mx + shoelength + radiustrack * sin(alpha);
double ly = my + radiustrack - radiustrack * cos(alpha);
position.Set(lx, ly, mz);
rotation = chrono::Q_from_AngAxis(alpha, ChVector<>(0, 0, 1));
auto rigidBodyShoe =
MakeShoe(previous_rigidBodyShoe, firstBodyShoe, position, rotation, sys, joint_displacement);
rigidBodyShoe->AddVisualShape(shoe_mesh, ChFrame<>(-mesh_displacement, ChMatrix33<>(1)));
rigidBodyShoe->AddVisualShape(shoe_coll_mesh, ChFrame<>(-mesh_displacement, ChMatrix33<>(1)));
previous_rigidBodyShoe = rigidBodyShoe;
}
for (int nshoe = (ntiles - 1); nshoe >= 0; nshoe--) {
position.Set(mx, my + 2 * radiustrack, mz);
auto rigidBodyShoe =
MakeShoe(previous_rigidBodyShoe, firstBodyShoe, position, rotation, sys, joint_displacement);
rigidBodyShoe->AddVisualShape(shoe_mesh, ChFrame<>(-mesh_displacement, ChMatrix33<>(1)));
rigidBodyShoe->AddVisualShape(shoe_coll_mesh, ChFrame<>(-mesh_displacement, ChMatrix33<>(1)));
previous_rigidBodyShoe = rigidBodyShoe;
mx -= shoelength;
}
for (int nshoe = 0; nshoe < nwrap; nshoe++) {
double alpha = CH_C_PI + (CH_C_PI / ((double)(nwrap - 1.0))) * ((double)nshoe);
double lx = mx + 0 + radiustrack * sin(alpha);
double ly = my + radiustrack - radiustrack * cos(alpha);
position.Set(lx, ly, mz);
rotation = chrono::Q_from_AngAxis(alpha, ChVector<>(0, 0, 1));
auto rigidBodyShoe =
MakeShoe(previous_rigidBodyShoe, firstBodyShoe, position, rotation, sys, joint_displacement);
rigidBodyShoe->AddVisualShape(shoe_mesh, ChFrame<>(-mesh_displacement, ChMatrix33<>(1)));
rigidBodyShoe->AddVisualShape(shoe_coll_mesh, ChFrame<>(-mesh_displacement, ChMatrix33<>(1)));
previous_rigidBodyShoe = rigidBodyShoe;
}
// close track
ChVector<> linkpos = firstBodyShoe->Point_Body2World(joint_displacement);
auto link_revolute_shoeshoe = chrono_types::make_shared<ChLinkLockRevolute>();
link_revolute_shoeshoe->Initialize(firstBodyShoe, previous_rigidBodyShoe, ChCoordsys<>(linkpos, QUNIT));
sys.AddLink(link_revolute_shoeshoe);
}
}
// Delete the tank object, deleting also all bodies corresponding to
// the various parts and removing them from the physical system. Also
// removes constraints from the system.
~MySimpleTank() {
ChSystem* mysystem = truss->GetSystem(); // trick to get the system here
mysystem->Remove(link_revoluteRF);
mysystem->Remove(link_revoluteLF);
mysystem->Remove(link_motorRB);
mysystem->Remove(link_motorLB);
mysystem->Remove(truss);
mysystem->Remove(wheelRF);
mysystem->Remove(wheelLF);
mysystem->Remove(wheelRB);
mysystem->Remove(wheelLB);
}
// Utility function to create quickly a track shoe connected to the previous one
std::shared_ptr<ChBody> MakeShoe(
std::shared_ptr<ChBody> previous_shoe, // will be linked with this one with revolute joint
std::shared_ptr<ChBody> template_shoe, // collision geometry will be shared with this body
ChVector<> position, // position
ChQuaternion<> rotation, // orientation
ChSystemNSC& sys, // the physical system
chrono::ChVector<> joint_displacement // position of shoe-shoe constraint, relative to COG.
) {
auto rigidBodyShoe = std::shared_ptr<ChBody>(template_shoe.get()->Clone());
rigidBodyShoe->SetPos(position);
rigidBodyShoe->SetRot(rotation);
sys.Add(rigidBodyShoe);
rigidBodyShoe->GetCollisionModel()->ClearModel();
rigidBodyShoe->GetCollisionModel()->AddCopyOfAnotherModel(template_shoe->GetCollisionModel().get());
rigidBodyShoe->GetCollisionModel()->BuildModel();
rigidBodyShoe->SetCollide(true);
// Other settings are already copied from template_shoe, except for family and mask.
// Avoid creation of contacts with neighbouring shoes:
rigidBodyShoe->GetCollisionModel()->SetFamily(3);
rigidBodyShoe->GetCollisionModel()->SetFamilyMaskNoCollisionWithFamily(3);
// Create revolute constraint
if (previous_shoe) {
ChVector<> linkpos = rigidBodyShoe->Point_Body2World(joint_displacement);
auto link_revolute_shoeshoe = chrono_types::make_shared<ChLinkLockRevolute>();
link_revolute_shoeshoe->Initialize(rigidBodyShoe, previous_shoe, ChCoordsys<>(linkpos, QUNIT));
sys.AddLink(link_revolute_shoeshoe);
}
return rigidBodyShoe;
}
};
// Define a MyEventReceiver class which will be used to manage input
// from the GUI graphical user interface (the interface will
// be created with the basic -yet flexible- platform
// independent toolset of Irrlicht).
class MyEventReceiver : public IEventReceiver {
public:
MyEventReceiver(ChVisualSystemIrrlicht* vsys, MySimpleTank* atank) {
// store pointer application
vis = vsys;
// store pointer to other stuff
mtank = atank;
// ..add a GUI slider to control throttle right via mouse
scrollbar_throttleR = vis->GetGUIEnvironment()->addScrollBar(true, rect<s32>(510, 20, 650, 35), 0, 101);
scrollbar_throttleR->setMax(100);
scrollbar_throttleR->setPos(50);
text_throttleR =
vis->GetGUIEnvironment()->addStaticText(L"Right throttle ", rect<s32>(650, 20, 750, 35), false);
// ..add a GUI slider to control gas throttle left via mouse
scrollbar_throttleL = vis->GetGUIEnvironment()->addScrollBar(true, rect<s32>(510, 45, 650, 60), 0, 102);
scrollbar_throttleL->setMax(100);
scrollbar_throttleL->setPos(50);
text_throttleL = vis->GetGUIEnvironment()->addStaticText(L"Left throttle", rect<s32>(650, 45, 750, 60), false);
}
bool OnEvent(const SEvent& event) {
// check if user moved the sliders with mouse..
if (event.EventType == EET_GUI_EVENT) {
s32 id = event.GUIEvent.Caller->getID();
switch (event.GUIEvent.EventType) {
case EGET_SCROLL_BAR_CHANGED:
if (id == 101) { // id of 'throttleR' slider..
s32 pos = ((IGUIScrollBar*)event.GUIEvent.Caller)->getPos();
double newthrottle = ((double)(pos)-50) / 50.0;
this->mtank->throttleR = newthrottle;
auto mfun = std::static_pointer_cast<ChFunction_Const>(mtank->link_motorRB->GetSpeedFunction());
mfun->Set_yconst(newthrottle * 6);
return true;
}
if (id == 102) { // id of 'throttleL' slider..
s32 pos = ((IGUIScrollBar*)event.GUIEvent.Caller)->getPos();
double newthrottle = ((double)(pos)-50) / 50.0;
this->mtank->throttleL = newthrottle;
auto mfun = std::static_pointer_cast<ChFunction_Const>(mtank->link_motorLB->GetSpeedFunction());
mfun->Set_yconst(newthrottle * 6);
return true;
}
break;
default:
break;
}
}
return false;
}
private:
ChVisualSystemIrrlicht* vis;
MySimpleTank* mtank;
IGUIStaticText* text_throttleL;
IGUIScrollBar* scrollbar_throttleL;
IGUIStaticText* text_throttleR;
IGUIScrollBar* scrollbar_throttleR;
};
//
// This is the program which is executed
//
int main(int argc, char* argv[]) {
// 1- Create a ChronoENGINE physical system: all bodies and constraints
// will be handled by this ChSystemNSC object.
ChSystemNSC sys;
// 2- Create the rigid bodies of the simpified tank suspension mechanical system
// maybe setting position/mass/inertias of
// their center of mass (COG) etc.
// ..the world
auto ground_mat = chrono_types::make_shared<ChMaterialSurfaceNSC>();
ground_mat->SetFriction(1.0);
auto my_ground = chrono_types::make_shared<ChBodyEasyBox>(60, 2, 60, 1000, true, true, ground_mat);
my_ground->SetPos(ChVector<>(0, -1, 0));
my_ground->SetBodyFixed(true);
my_ground->GetVisualShape(0)->SetTexture(GetChronoDataFile("textures/blue.png"));
sys.AddBody(my_ground);
// ..some obstacles on the ground:
auto obst_mat = chrono_types::make_shared<ChMaterialSurfaceNSC>();
for (int i = 0; i < 50; i++) {
auto my_obstacle = chrono_types::make_shared<ChBodyEasyBox>(
my_obstacle->SetMass(3);
my_obstacle->SetRot(Q_from_AngAxis(ChRandom() * CH_C_PI, VECT_Y));
sys.AddBody(my_obstacle);
}
// ..the tank (this class - see above - is a 'set' of bodies and links, automatically added at creation)
MySimpleTank* mytank = new MySimpleTank(sys);
// Create the Irrlicht visualization sys
auto vis = chrono_types::make_shared<ChVisualSystemIrrlicht>();
vis->AttachSystem(&sys);
vis->SetWindowSize(800, 600);
vis->SetWindowTitle("Modeling a simplified trackjed vehicle");
vis->Initialize();
vis->AddLogo();
vis->AddSkyBox();
vis->AddTypicalLights();
// Create some graphical-user-interface (GUI) items to show on the screen.
// This requires an event receiver object.
MyEventReceiver receiver(vis.get(), mytank);
// note how to add the custom event receiver to the default interface:
vis->AddUserEventReceiver(&receiver);
// Solver settings
sys.SetSolverMaxIterations(100); // the higher, the easier to keep the constraints satisfied.
// Simulation loop
double timestep = 0.03;
ChRealtimeStepTimer realtime_timer;
while (vis->Run()) {
vis->BeginScene();
vis->Render();
tools::drawGrid(vis.get(), 2, 2, 30, 30, ChCoordsys<>(ChVector<>(0, 0.01, 0), Q_from_AngX(CH_C_PI_2)),
ChColor(0.3f, 0.3f, 0.3f), true);
vis->EndScene();
sys.DoStepDynamics(timestep);
realtime_timer.Spin(timestep);
}
if (mytank)
delete mytank;
return 0;
}
void AddTypicalLights()
Simple shortcut to set two point lights in the scene.
Definition: ChVisualSystemIrrlicht.cpp:286
std::string GetChronoDataFile(const std::string &filename)
Obtain the complete path to the specified filename, given relative to the Chrono data directory (thre...
Definition: ChGlobal.cpp:95
void Add(std::shared_ptr< ChPhysicsItem > item)
Attach an arbitrary ChPhysicsItem (e.g.
Definition: ChSystem.cpp:179
void AddSkyBox(const std::string &texture_dir=GetChronoDataFile("skybox/"))
Add a sky box in a 3D scene.
Definition: ChVisualSystemIrrlicht.cpp:299
virtual void Initialize()
Initialize the visualization system.
Definition: ChVisualSystemIrrlicht.cpp:160
ChLog & GetLog()
Global function to get the current ChLog object.
Definition: ChLog.cpp:39
Definition of a 3x3 fixed size matrix to represent 3D rotations and inertia tensors.
Definition: ChMatrix33.h:31
static std::shared_ptr< ChTriangleMeshConnected > CreateFromWavefrontFile(const std::string &filename, bool load_normals=true, bool load_uv=false)
Create and return a ChTriangleMeshConnected from a Wavefront OBJ file.
Definition: ChTriangleMeshConnected.cpp:231
bool Run()
Run the Irrlicht device.
Definition: ChVisualSystemIrrlicht.cpp:217
virtual void AddLink(std::shared_ptr< ChLinkBase > link)
Attach a link to the underlying assembly.
Definition: ChSystem.cpp:164
void AddCamera(const ChVector<> &pos, ChVector<> targ=VNULL)
Add a camera in an Irrlicht 3D scene.
Definition: ChVisualSystemIrrlicht.cpp:268
void Remove(std::shared_ptr< ChPhysicsItem > item)
Remove arbitrary ChPhysicsItem that was added to the underlying assembly.
Definition: ChSystem.cpp:203
ChQuaternion< double > Q_from_AngAxis(double angle, const ChVector< double > &axis)
Get the quaternion from an angle of rotation and an axis, defined in abs coords.
Definition: ChQuaternion.cpp:99
virtual void BeginScene(bool backBuffer=true, bool zBuffer=true, ChColor color=ChColor(0, 0, 0))
Clean the canvas at the beginning of each animation frame.
Definition: ChVisualSystemIrrlicht.cpp:501
Class for a timer which attempts to enforce soft real-time.
Definition: ChRealtimeStep.h:25
Projected SOR (Successive Over-Relaxation)
Namespace for classes which represent basic geometric objects.
Definition: ChBasisToolsBspline.h:24
void Spin(double step)
Call this function INSIDE the simulation loop, just ONCE per loop (preferably as the last call in the...
Definition: ChRealtimeStep.h:34
void Set(Real x, Real y, Real z)
Set the three values of the vector at once.
Definition: ChVector.h:743
const ChQuaternion< double > QUNIT(1., 0., 0., 0.)
Constant unit quaternion: {1, 0, 0, 0} , corresponds to no rotation (diagonal rotation matrix)
Definition: ChQuaternion.h:451
Definition of general purpose 3d vector variables, such as points in 3D.
Definition: ChVector.h:35
void AddUserEventReceiver(irr::IEventReceiver *receiver)
Attach a custom event receiver to the application.
Definition: ChVisualSystemIrrlicht.cpp:380
void SetSolverType(ChSolver::Type type)
Choose the solver type, to be used for the simultaneous solution of the constraints in dynamical simu...
Definition: ChSystem.cpp:255
int DoStepDynamics(double step_size)
Advances the dynamical simulation for a single step, of length step_size.
Definition: ChSystem.cpp:1422
virtual void EndScene()
End the scene draw at the end of each animation frame.
Definition: ChVisualSystemIrrlicht.cpp:546
void SetSolverMaxIterations(int max_iters)
Set the maximum number of iterations, if using an iterative solver.
Definition: ChSystem.cpp:229
void SetWindowTitle(const std::string &win_title)
Set the windoiw title (default "").
Definition: ChVisualSystemIrrlicht.cpp:124
double ChRandom()
Returns random value in (0..1) interval with Park-Miller method.
Definition: ChMathematics.cpp:53
virtual void AttachSystem(ChSystem *sys) override
Attach another Chrono system to the run-time visualization system.
Definition: ChVisualSystemIrrlicht.cpp:144
Class defining quaternion objects, that is four-dimensional numbers, also known as Euler parameters.
Definition: ChQuaternion.h:45
virtual void Render()
Draw all 3D shapes and GUI elements at the current frame.
Definition: ChVisualSystemIrrlicht.cpp:556
void AddLogo(const std::string &logo_filename=GetChronoDataFile("logo_chronoengine_alpha.png"))
Add a logo in a 3D scene.
Definition: ChVisualSystemIrrlicht.cpp:260
virtual void AddBody(std::shared_ptr< ChBody > body)
Attach a body to the underlying assembly.
Definition: ChSystem.cpp:154
Class for a physical system in which contact is modeled using a non-smooth (complementarity-based) me...
Definition: ChSystemNSC.h:29
void SetWindowSize(unsigned int width, unsigned int height)
Set the window size (default 640x480).
Definition: ChVisualSystemIrrlicht.cpp:120
Irrlicht-based Chrono run-time visualization system.
Definition: ChVisualSystemIrrlicht.h:47
