Visualize FEA meshes (demo_FEA_visualize.cpp)
Tutorials to illustrate how to use the FEA module to perform FEA dynamics in a 3D view.
- Learn how to visualize FEA in the realtime view,
- Learn to use tetrahedrons and hexahedrons for nonlinear dynamics.
// =============================================================================
// 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
// =============================================================================
//
// FEA visualization using Irrlicht
//
// =============================================================================
#include "chrono/physics/ChSystemSMC.h"
#include "chrono/solver/ChIterativeSolverLS.h"
#include "chrono/fea/ChElementSpring.h"
#include "chrono/fea/ChElementBar.h"
#include "chrono/fea/ChElementTetraCorot_4.h"
#include "chrono/fea/ChElementTetraCorot_10.h"
#include "chrono/fea/ChElementHexaCorot_8.h"
#include "chrono/fea/ChElementHexaCorot_20.h"
#include "chrono/fea/ChMesh.h"
#include "chrono/fea/ChMeshFileLoader.h"
#include "chrono/fea/ChLinkNodeFrame.h"
#include "chrono/assets/ChVisualShapeFEA.h"
#include "chrono_irrlicht/ChVisualSystemIrrlicht.h"
using namespace chrono;
using namespace chrono::fea;
using namespace chrono::irrlicht;
int main(int argc, char* argv[]) {
std::cout << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << std::endl;
// Create a Chrono::Engine physical system
ChSystemSMC sys;
// Create a mesh, that is a container for groups of elements and their referenced nodes.
auto mesh = chrono_types::make_shared<ChMesh>();
// Create a material, that must be assigned to each element and set its parameters
auto material = chrono_types::make_shared<ChContinuumElastic>();
material->SetYoungModulus(0.01e9); // rubber 0.01e9, steel 200e9
material->SetPoissonRatio(0.3);
material->SetRayleighDampingBeta(0.001);
material->SetDensity(1000);
// Add some TETAHEDRONS from .nmode and .ele input files
try {
GetChronoDataFile("fea/beam.ele").c_str(), material);
} catch (std::exception myerr) {
std::cerr << myerr.what() << std::endl;
return 0;
}
// Apply a force to a node
auto nodelast = std::dynamic_pointer_cast<ChNodeFEAxyz>(mesh->GetNode(mesh->GetNumNodes() - 1));
nodelast->SetForce(ChVector3d(50, 0, 50));
// Add some HEXAHEDRONS (isoparametric bricks)
ChVector3d hexpos(0, 0, 0);
double sx = 0.1;
double sz = 0.1;
for (int e = 0; e < 6; ++e) {
double angle = e * (2 * CH_PI / 8.0);
hexpos.z() = 0.3 * cos(angle);
hexpos.x() = 0.3 * sin(angle);
ChMatrix33<> hexrot(QuatFromAngleY(angle));
std::shared_ptr<ChNodeFEAxyz> hnode1_lower;
std::shared_ptr<ChNodeFEAxyz> hnode2_lower;
std::shared_ptr<ChNodeFEAxyz> hnode3_lower;
std::shared_ptr<ChNodeFEAxyz> hnode4_lower;
for (int ilayer = 0; ilayer < 6; ++ilayer) {
double hy = ilayer * sz;
auto hnode1 = chrono_types::make_shared<ChNodeFEAxyz>(hexpos + hexrot * ChVector3d(0, hy, 0));
auto hnode2 = chrono_types::make_shared<ChNodeFEAxyz>(hexpos + hexrot * ChVector3d(0, hy, sz));
auto hnode3 = chrono_types::make_shared<ChNodeFEAxyz>(hexpos + hexrot * ChVector3d(sx, hy, sz));
auto hnode4 = chrono_types::make_shared<ChNodeFEAxyz>(hexpos + hexrot * ChVector3d(sx, hy, 0));
mesh->AddNode(hnode1);
mesh->AddNode(hnode2);
mesh->AddNode(hnode3);
mesh->AddNode(hnode4);
if (ilayer > 0) {
auto helement1 = chrono_types::make_shared<ChElementHexaCorot_8>();
helement1->SetNodes(hnode1_lower, hnode2_lower, hnode3_lower, hnode4_lower, hnode1, hnode2, hnode3,
hnode4);
helement1->SetMaterial(material);
mesh->AddElement(helement1);
}
hnode1_lower = hnode1;
hnode2_lower = hnode2;
hnode3_lower = hnode3;
hnode4_lower = hnode4;
}
// For example, set an initial displacement to a node:
hnode4_lower->SetPos(hnode4_lower->GetX0() + hexrot * ChVector3d(0.1, 0.1, 0));
// Apply a force to a node
hnode4_lower->SetForce(hexrot * ChVector3d(500, 0, 0));
}
// Add the mesh to the system
sys.Add(mesh);
// Create a truss
auto truss = chrono_types::make_shared<ChBody>();
truss->SetFixed(true);
sys.Add(truss);
// Create constraints between nodes and truss
// (for example, fix to ground all nodes which are near y=0)
for (unsigned int inode = 0; inode < mesh->GetNumNodes(); ++inode) {
if (auto node = std::dynamic_pointer_cast<ChNodeFEAxyz>(mesh->GetNode(inode))) {
if (node->GetPos().y() < 0.01) {
auto constraint = chrono_types::make_shared<ChLinkNodeFrame>();
constraint->Initialize(node, truss);
sys.Add(constraint);
// Attach small cube to show the constraint
auto box = chrono_types::make_shared<ChVisualShapeBox>(0.01, 0.01, 0.01);
constraint->AddVisualShape(box);
// Easier method: set the node as fixed (but this does not provide information about reaction forces)
}
}
}
// Visualization of the FEM mesh.
{
// Mesh visualization - speed
auto vis_mesh = chrono_types::make_shared<ChVisualShapeFEA>(mesh);
vis_mesh->SetFEMdataType(ChVisualShapeFEA::DataType::NODE_SPEED_NORM);
vis_mesh->SetColorscaleMinMax(0.0, 5.50);
vis_mesh->SetShrinkElements(true, 0.85);
vis_mesh->SetSmoothFaces(true);
mesh->AddVisualShapeFEA(vis_mesh);
}
{
// Mesh visualization - reference configuration (wireframe)
auto vis_mesh = chrono_types::make_shared<ChVisualShapeFEA>(mesh);
vis_mesh->SetFEMdataType(ChVisualShapeFEA::DataType::SURFACE);
vis_mesh->SetWireframe(true);
vis_mesh->SetDrawInUndeformedReference(true);
mesh->AddVisualShapeFEA(vis_mesh);
}
{
// Node visualization - positions
auto vis_nodes = chrono_types::make_shared<ChVisualShapeFEA>(mesh);
vis_nodes->SetFEMglyphType(ChVisualShapeFEA::GlyphType::NODE_DOT_POS);
vis_nodes->SetFEMdataType(ChVisualShapeFEA::DataType::NONE);
vis_nodes->SetSymbolsThickness(0.006);
mesh->AddVisualShapeFEA(vis_nodes);
}
// Create the visualization system
vis.SetWindowSize(800, 600);
vis.SetWindowTitle("Irrlicht FEM visualization");
vis.Initialize();
vis.AddLogo();
vis.AddSkyBox();
vis.AddTypicalLights();
vis.AddCamera(ChVector3d(0.0, 0.6, -1.0));
vis.AttachSystem(&sys);
// Solver settings
sys.SetTimestepperType(chrono::ChTimestepper::Type::EULER_IMPLICIT_LINEARIZED);
auto solver = chrono_types::make_shared<ChSolverMINRES>();
sys.SetSolver(solver);
solver->SetMaxIterations(40);
solver->SetTolerance(1e-10);
solver->EnableDiagonalPreconditioner(true);
solver->EnableWarmStart(true);
solver->SetVerbose(false);
// Simulation loop
while (vis.Run()) {
vis.BeginScene();
vis.Render();
vis.EndScene();
sys.DoStepDynamics(0.001);
}
return 0;
}
// =============================================================================
// PROJECT CHRONO - http://projectchrono.org
//
// Copyright (c) 2023 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: Radu Serban
// =============================================================================
//
// FEA visualization using Chrono::VSG
//
// =============================================================================
#include "chrono/physics/ChSystemSMC.h"
#include "chrono/solver/ChIterativeSolverLS.h"
#include "chrono/fea/ChElementSpring.h"
#include "chrono/fea/ChElementBar.h"
#include "chrono/fea/ChElementTetraCorot_4.h"
#include "chrono/fea/ChElementTetraCorot_10.h"
#include "chrono/fea/ChElementHexaCorot_8.h"
#include "chrono/fea/ChElementHexaCorot_20.h"
#include "chrono/fea/ChMesh.h"
#include "chrono/fea/ChMeshFileLoader.h"
#include "chrono/fea/ChLinkNodeFrame.h"
#include "chrono/assets/ChVisualShapeFEA.h"
#include "chrono_vsg/ChVisualSystemVSG.h"
using namespace chrono;
using namespace chrono::fea;
using namespace chrono::vsg3d;
int main(int argc, char* argv[]) {
std::cout << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << std::endl;
// Create a Chrono system
ChSystemSMC sys;
// Create a mesh, a container for groups of elements and their referenced nodes
auto mesh = chrono_types::make_shared<ChMesh>();
// Create a material, assigned to each element, and set its parameters
auto material = chrono_types::make_shared<ChContinuumElastic>();
material->SetYoungModulus(0.01e9);
material->SetPoissonRatio(0.3);
material->SetRayleighDampingBeta(0.001);
material->SetDensity(1000);
// Add some TETAHEDRONS from .nmode and .ele input files
try {
GetChronoDataFile("fea/beam.ele").c_str(), material);
} catch (std::exception myerr) {
std::cerr << myerr.what() << std::endl;
return 0;
}
// Apply a force to a node
auto nodelast = std::dynamic_pointer_cast<ChNodeFEAxyz>(mesh->GetNode(mesh->GetNumNodes() - 1));
nodelast->SetForce(ChVector3d(50, 0, 50));
// Add some HEXAHEDRONS (isoparametric bricks)
ChVector3d hexpos(0, 0, 0);
double sx = 0.1;
double sz = 0.1;
for (int e = 0; e < 6; ++e) {
double angle = e * (2 * CH_PI / 8.0);
hexpos.z() = 0.3 * cos(angle);
hexpos.x() = 0.3 * sin(angle);
ChMatrix33<> hexrot(QuatFromAngleY(angle));
std::shared_ptr<ChNodeFEAxyz> hnode1_lower;
std::shared_ptr<ChNodeFEAxyz> hnode2_lower;
std::shared_ptr<ChNodeFEAxyz> hnode3_lower;
std::shared_ptr<ChNodeFEAxyz> hnode4_lower;
for (int ilayer = 0; ilayer < 6; ++ilayer) {
double hy = ilayer * sz;
auto hnode1 = chrono_types::make_shared<ChNodeFEAxyz>(hexpos + hexrot * ChVector3d(0, hy, 0));
auto hnode2 = chrono_types::make_shared<ChNodeFEAxyz>(hexpos + hexrot * ChVector3d(0, hy, sz));
auto hnode3 = chrono_types::make_shared<ChNodeFEAxyz>(hexpos + hexrot * ChVector3d(sx, hy, sz));
auto hnode4 = chrono_types::make_shared<ChNodeFEAxyz>(hexpos + hexrot * ChVector3d(sx, hy, 0));
mesh->AddNode(hnode1);
mesh->AddNode(hnode2);
mesh->AddNode(hnode3);
mesh->AddNode(hnode4);
if (ilayer > 0) {
auto helement1 = chrono_types::make_shared<ChElementHexaCorot_8>();
helement1->SetNodes(hnode1_lower, hnode2_lower, hnode3_lower, hnode4_lower, hnode1, hnode2, hnode3,
hnode4);
helement1->SetMaterial(material);
mesh->AddElement(helement1);
}
hnode1_lower = hnode1;
hnode2_lower = hnode2;
hnode3_lower = hnode3;
hnode4_lower = hnode4;
}
// Set an initial displacement to a node
hnode4_lower->SetPos(hnode4_lower->GetX0() + hexrot * ChVector3d(0.1, 0.1, 0));
// Apply a force to a node
hnode4_lower->SetForce(hexrot * ChVector3d(500, 0, 0));
}
// Add the mesh to the system
sys.Add(mesh);
// Create a truss
auto truss = chrono_types::make_shared<ChBody>();
truss->SetFixed(true);
sys.Add(truss);
// Create constraints between nodes and truss
// (for example, fix to ground all nodes which are near y=0)
for (unsigned int inode = 0; inode < mesh->GetNumNodes(); ++inode) {
if (auto node = std::dynamic_pointer_cast<ChNodeFEAxyz>(mesh->GetNode(inode))) {
if (node->GetPos().y() < 0.01) {
auto constraint = chrono_types::make_shared<ChLinkNodeFrame>();
constraint->Initialize(node, truss);
sys.Add(constraint);
// Attach small cube to show the constraint
auto box = chrono_types::make_shared<ChVisualShapeBox>(0.01, 0.01, 0.01);
constraint->AddVisualShape(box);
}
}
}
// Visualization of the FEM mesh.
{
// Mesh visualization - speed
auto vis_mesh = chrono_types::make_shared<ChVisualShapeFEA>(mesh);
vis_mesh->SetFEMdataType(ChVisualShapeFEA::DataType::NODE_SPEED_NORM);
vis_mesh->SetColorscaleMinMax(0.0, 5.50);
vis_mesh->SetShrinkElements(true, 0.85);
vis_mesh->SetSmoothFaces(true);
mesh->AddVisualShapeFEA(vis_mesh);
}
{
// Mesh visualization - reference configuration (wireframe)
auto vis_mesh = chrono_types::make_shared<ChVisualShapeFEA>(mesh);
vis_mesh->SetFEMdataType(ChVisualShapeFEA::DataType::SURFACE);
vis_mesh->SetWireframe(true);
vis_mesh->SetDrawInUndeformedReference(true);
mesh->AddVisualShapeFEA(vis_mesh);
}
{
// Node visualization - positions
auto vis_nodes = chrono_types::make_shared<ChVisualShapeFEA>(mesh);
vis_nodes->SetFEMglyphType(ChVisualShapeFEA::GlyphType::NODE_DOT_POS);
vis_nodes->SetFEMdataType(ChVisualShapeFEA::DataType::NONE);
vis_nodes->SetSymbolsThickness(0.006);
mesh->AddVisualShapeFEA(vis_nodes);
}
// Create the visualization system
ChVisualSystemVSG vis;
vis.SetCameraVertical(CameraVerticalDir::Y);
vis.AttachSystem(&sys);
vis.SetWindowSize(800, 600);
vis.SetWindowTitle("VSG FEA visualization");
vis.SetUseSkyBox(true);
vis.SetLightIntensity(1.0f);
vis.SetLightDirection(1.5 * CH_PI_2, CH_PI_4);
vis.Initialize();
// Solver settings
sys.SetTimestepperType(chrono::ChTimestepper::Type::EULER_IMPLICIT_LINEARIZED);
auto solver = chrono_types::make_shared<ChSolverMINRES>();
sys.SetSolver(solver);
solver->SetMaxIterations(40);
solver->SetTolerance(1e-10);
solver->EnableDiagonalPreconditioner(true);
solver->EnableWarmStart(true);
solver->SetVerbose(false);
// Simulation loop
while (vis.Run()) {
vis.Render();
sys.DoStepDynamics(0.001);
}
return 0;
}
void AddTypicalLights()
Simple shortcut to set two point lights in the scene.
Definition: ChVisualSystemIrrlicht.cpp:345
std::string GetChronoDataFile(const std::string &filename)
Get the full path to the specified filename, given relative to the Chrono data directory (thread safe...
Definition: ChGlobal.cpp:37
void Add(std::shared_ptr< ChPhysicsItem > item)
Attach an arbitrary ChPhysicsItem (e.g.
Definition: ChSystem.cpp:196
virtual void Render() override
Draw all 3D shapes and GUI elements at the current frame.
Definition: ChVisualSystemIrrlicht.cpp:630
virtual void Initialize() override
Initialize the visualization system.
Definition: ChVisualSystemIrrlicht.cpp:185
void AddSkyBox(const std::string &texture_dir=GetChronoDataFile("skybox/"))
Add a sky box in a 3D scene.
Definition: ChVisualSystemIrrlicht.cpp:358
Definition of a 3x3 fixed-size matrix to represent 3D rotations and inertia tensors.
Definition: ChMatrix33.h:31
virtual int AddCamera(const ChVector3d &pos, ChVector3d targ=VNULL) override
Add a camera to the VSG scene.
Definition: ChVisualSystemVSG.cpp:581
ChQuaterniond QuatFromAngleY(double angle)
Convert from a rotation about Y axis to a quaternion.
Definition: ChRotation.cpp:192
static void FromTetGenFile(std::shared_ptr< ChMesh > mesh, const char *filename_node, const char *filename_ele, std::shared_ptr< ChContinuumMaterial > my_material, ChVector3d pos_transform=VNULL, ChMatrix33<> rot_transform=ChMatrix33<>(1))
Load tetrahedrons from .node and .ele files as saved by TetGen.
Definition: ChMeshFileLoader.cpp:39
virtual void EndScene() override
End the scene draw at the end of each animation frame.
Definition: ChVisualSystemIrrlicht.cpp:620
virtual void BeginScene() override
Perform any necessary operations at the beginning of each rendering frame.
Definition: ChVisualSystemIrrlicht.cpp:571
virtual void Render() override
Draw all 3D shapes and GUI elements at the current frame.
Definition: ChVisualSystemVSG.cpp:929
virtual int AddCamera(const ChVector3d &pos, ChVector3d targ=VNULL) override
Add a camera in an Irrlicht 3D scene.
Definition: ChVisualSystemIrrlicht.cpp:291
int DoStepDynamics(double step_size)
Advance the dynamics simulation by a single time step of given length.
Definition: ChSystem.cpp:1632
Class for a physical system in which contact is modeled using a smooth (penalty-based) method.
Definition: ChSystemSMC.h:30
void SetCameraVertical(CameraVerticalDir upDir)
Set the camera up vector (default: Z).
Definition: ChVisualSystemVSG.cpp:642
ChVector3< double > ChVector3d
Alias for double-precision vectors.
Definition: ChVector3.h:283
virtual void Initialize() override
Initialize the visualization system.
Definition: ChVisualSystemVSG.cpp:672
void SetWindowTitle(const std::string &win_title)
Set the windoiw title (default "").
Definition: ChVisualSystemIrrlicht.cpp:142
virtual void AttachSystem(ChSystem *sys) override
Attach another Chrono system to the run-time visualization system.
Definition: ChVisualSystemIrrlicht.cpp:169
virtual void SetSolver(std::shared_ptr< ChSolver > newsolver)
Attach a solver (derived from ChSolver) for use by this system.
Definition: ChSystem.cpp:319
virtual bool Run() override
Run the Irrlicht device.
Definition: ChVisualSystemIrrlicht.cpp:244
VSG-based Chrono run-time visualization system.
Definition: ChVisualSystemVSG.h:61
void SetTimestepperType(ChTimestepper::Type type)
Set the method for time integration (time stepper type).
Definition: ChSystem.cpp:412
virtual void AttachSystem(ChSystem *sys)
Attach a Chrono system to this visualization system.
Definition: ChVisualSystem.cpp:26
void AddLogo(const std::string &logo_filename=GetChronoDataFile("logo_chronoengine_alpha.png"))
Add a logo in a 3D scene.
Definition: ChVisualSystemIrrlicht.cpp:337
virtual bool Run() override
Check if rendering is running.
Definition: ChVisualSystemVSG.cpp:925
void SetWindowSize(unsigned int width, unsigned int height)
Set the window size (default 640x480).
Definition: ChVisualSystemIrrlicht.cpp:138
Irrlicht-based Chrono run-time visualization system.
Definition: ChVisualSystemIrrlicht.h:52
