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C++ ChSharedPtr类代码示例

本文整理汇总了C++中ChSharedPtr类的典型用法代码示例。如果您正苦于以下问题：C++ ChSharedPtr类的具体用法？C++ ChSharedPtr怎么用？C++ ChSharedPtr使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。


在下文中一共展示了ChSharedPtr类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: onCallback

  virtual void onCallback(ChSharedPtr<ChBody> wheelBody, double radius, double width) {
    wheelBody->GetCollisionModel()->ClearModel();
    wheelBody->GetCollisionModel()->AddCylinder(0.46, 0.46, width / 2);
    wheelBody->GetCollisionModel()->BuildModel();

    wheelBody->GetMaterialSurfaceDEM()->SetFriction(mu_t);
    wheelBody->GetMaterialSurfaceDEM()->SetYoungModulus(Y_t);
    wheelBody->GetMaterialSurfaceDEM()->SetRestitution(cr_t);
  }
开发者ID:rserban，项目名称:chrono-projects，代码行数:9，代码来源:hmmwvDEM.cpp

示例2: align_spheres

void align_spheres(ChIrrAppInterface& application)
{
	for (unsigned int i = 0; i< mspheres.size(); ++i)
	{
		ChSharedPtr<ChBody> body = mspheres[i];
		ChVector<> mpos = body->GetPos();
		mpos.x = 0.5;
		mpos.z = 0.7;
		body->SetPos(mpos);
		body->SetRot(QUNIT);
	}
}
开发者ID:globus000，项目名称:cew，代码行数:12，代码来源:demo_convergence.cpp

示例3: AddWall

// -----------------------------------------------------------------------------
// Utility for adding (visible or invisible) walls
// -----------------------------------------------------------------------------
void AddWall(ChSharedPtr<ChBody>& body, const ChVector<>& dim, const ChVector<>& loc, bool visible) {
    body->GetCollisionModel()->AddBox(dim.x, dim.y, dim.z, loc);

    if (visible == true) {
        ChSharedPtr<ChBoxShape> box(new ChBoxShape);
        box->GetBoxGeometry().Size = dim;
        box->Pos = loc;
        box->SetColor(ChColor(1, 0, 0));
        box->SetFading(0.6f);
        body->AddAsset(box);
    }
}
开发者ID:rserban，项目名称:chrono-projects，代码行数:15，代码来源:demo_shear.cpp

示例4: Initialize

int ChShaftsMotor::Initialize(ChSharedPtr<ChShaft>& mshaft1, ChSharedPtr<ChShaft>& mshaft2)
{
	// Parent class initialize
	if (!ChShaftsCouple::Initialize(mshaft1, mshaft2)) return false;

	ChShaft* mm1 = mshaft1.get_ptr();
	ChShaft* mm2 = mshaft2.get_ptr();

	this->constraint.SetVariables(&mm1->Variables(), &mm2->Variables());

	this->SetSystem(this->shaft1->GetSystem());
	return true;
}
开发者ID:DavidHammen，项目名称:chrono，代码行数:13，代码来源:ChShaftsMotor.cpp

示例5: Setup

void ChFunction_Sequence::Setup()
{
	double basetime = this->start;
	double lastIy = 0;
	double lastIy_dt = 0;
	double lastIy_dtdt = 0;

	for (ChNode<ChFseqNode>* mnode = functions.GetHead(); mnode != NULL; mnode= mnode->next)
	{
		mnode->data->t_start = basetime;
		mnode->data->t_end   = basetime + mnode->data->duration;
		mnode->data->Iy		= 0;
		mnode->data->Iydt	= 0;
		mnode->data->Iydtdt = 0;

		if (mnode->data->fx.IsType<ChFunction_Fillet3>())	// C0 C1 fillet
		{
			ChSharedPtr<ChFunction_Fillet3> mfillet = mnode->data->fx.DynamicCastTo<ChFunction_Fillet3>();
			mfillet->Set_y1(lastIy);
			mfillet->Set_dy1(lastIy_dt);
			if (mnode->next)
			{
				mfillet->Set_y2(mnode->next->data->fx->Get_y(0));
				mfillet->Set_dy2(mnode->next->data->fx->Get_y_dx(0));
			}else
			{
				mfillet->Set_y2(0);
				mfillet->Set_dy2(0);
			}
			mfillet->Set_end(mnode->data->duration);
			mnode->data->Iy = mnode->data->Iydt = mnode->data->Iydtdt = 0;
		}
		else	// generic continuity conditions
		{
			if (mnode->data->y_cont)
				mnode->data->Iy = lastIy - mnode->data->fx->Get_y(0);
			if (mnode->data->ydt_cont)
				mnode->data->Iydt = lastIy_dt - mnode->data->fx->Get_y_dx(0);
			if (mnode->data->ydtdt_cont)
				mnode->data->Iydtdt = lastIy_dtdt - mnode->data->fx->Get_y_dxdx(0);
		}

		lastIy = mnode->data->fx->Get_y(mnode->data->duration) +
				 mnode->data->Iy +
				 mnode->data->Iydt *  mnode->data->duration +
				 mnode->data->Iydtdt *  mnode->data->duration *  mnode->data->duration;
		lastIy_dt =
				 mnode->data->fx->Get_y_dx(mnode->data->duration) +
				 mnode->data->Iydt +
				 mnode->data->Iydtdt *  mnode->data->duration;
		lastIy_dtdt =
				 mnode->data->fx->Get_y_dxdx(mnode->data->duration) +
				 mnode->data->Iydtdt;

		basetime += mnode->data->duration;
	}
}
开发者ID:globus000，项目名称:cew，代码行数:57，代码来源:ChFunction_Sequence.cpp

示例6: Initialize

int ChLinkDistance::Initialize(ChSharedPtr<ChBody>& mbody1,   ///< first body to link
						   ChSharedPtr<ChBody>& mbody2,		 ///< second body to link
						   bool pos_are_relative,///< true: following posit. are considered relative to bodies. false: pos.are absolute
						   ChVector<> mpos1,	 ///< position of distance endpoint, for 1st body (rel. or abs., see flag above)
						   ChVector<> mpos2,	 ///< position of distance endpoint, for 2nd body (rel. or abs., see flag above) 
						   bool auto_distance,///< if true, initializes the imposed distance as the distance between mpos1 and mpos2
						   double mdistance   ///< imposed distance (no need to define, if auto_distance=true.)
						   )
{
	this->Body1 = mbody1.get_ptr();
	this->Body2 = mbody2.get_ptr();
	this->Cx.SetVariables(&this->Body1->Variables(),&this->Body2->Variables());

	if (pos_are_relative)
	{
		this->pos1 = mpos1;
		this->pos2 = mpos2;
	}
	else
	{
		this->pos1 = this->Body1->Point_World2Body(&mpos1);
		this->pos2 = this->Body2->Point_World2Body(&mpos2);
	}
	
	ChVector<> AbsDist = Body1->Point_Body2World(&pos1)-Body2->Point_Body2World(&pos2);
	this->curr_dist = AbsDist.Length();

	if (auto_distance)
	{
		this->distance = this->curr_dist;
	}
	else
	{
		this->distance = mdistance;
	}

	return true;
}
开发者ID:DavidHammen，项目名称:chrono，代码行数:38，代码来源:ChLinkDistance.cpp

示例7: add_fancy_items

void add_fancy_items(ChSystemMPI& mySys, double prad, double pmass, double width, double g, double h, int n_batch, int n_curr_spheres)
{
	int id_offset=10;
	double particle_mass =4.0; 
	if (pmass>0.0){
		particle_mass=pmass;
	}

	ChSharedPtr<ChBodyDEMMPI> mybody;

	double spacing = (width-8*prad)/(n_batch-1);
	double first = -(width-8*prad)/2;

	for(int jj=0; jj<n_batch; jj++)
	{
		ChVector<> particle_pos(-g+(ChRandom()*2*prad-prad), h, first+jj*spacing);
		if (mySys.nodeMPI->IsInto(particle_pos))
		{
			ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
			mybody->SetIdentifier(id_offset+n_curr_spheres+jj);
			mySys.Add(mybody);
			mybody->GetCollisionModel()->ClearModel();
			mybody->GetCollisionModel()->AddSphere(prad);
			mybody->GetCollisionModel()->BuildModel();
			mybody->SetCollide(true);
			mybody->SetPos(particle_pos);
			mybody->SetInertiaXX((2.0/5.0)*particle_mass*pow(prad,2)*ChVector<>(1,1,1));
			mybody->SetMass(particle_mass);
			mybody->GetCollisionModel()->SyncPosition(); // really necessary?
			mybody->Update(); // really necessary?
		}
	}
}
开发者ID:DavidHammen，项目名称:chrono，代码行数:33，代码来源:demo_DEM_MPI.cpp

示例8: add_batch

void add_batch(ChSystemMPI& mySys, double prad, double box_dim, double pmass, int n_batch, int n_curr_spheres)
{
	int id_offset=10;
	double particle_mass =4.0; 
	if (pmass>0.0){
		particle_mass=pmass;
	}

	ChSharedPtr<ChBodyDEMMPI> mybody;

	double boxxx=box_dim-4*prad;
	double spacing = (boxxx-8*prad)/((n_batch/4)-1);
	double first = -boxxx/2;
	int cid = 0;

	for(int ii=0; ii<n_batch/4; ii++)
	{
		ChVector<> particle_pos(boxxx/2-2*prad,box_dim/2+2*prad, first+ii*spacing+0.0001);
		if (mySys.nodeMPI->IsInto(particle_pos))
		{
			ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
			mybody->SetIdentifier(id_offset+n_curr_spheres+cid);
			mybody->SetCollide(true);
			mybody->GetCollisionModel()->ClearModel();
			mybody->GetCollisionModel()->AddSphere(prad);
			mybody->GetCollisionModel()->BuildModel();
			mySys.Add(mybody);
			mybody->SetPos(particle_pos);
			mybody->SetInertiaXX((2.0/5.0)*particle_mass*pow(prad,2)*ChVector<>(1,1,1));
			mybody->SetMass(particle_mass);
			mybody->GetCollisionModel()->SyncPosition(); // really necessary?
			mybody->Update(); // really necessary?
		}
		cid++;
	}

	for(int ii=0; ii<n_batch/4; ii++)
	{
		ChVector<> particle_pos(boxxx/2-6*prad,box_dim/2+2*prad, first+ii*spacing+0.0001);
		if (mySys.nodeMPI->IsInto(particle_pos))
		{
			ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
			mybody->SetIdentifier(id_offset+n_curr_spheres+cid);
			mybody->SetCollide(true);
			mybody->GetCollisionModel()->ClearModel();
			mybody->GetCollisionModel()->AddSphere(prad);
			mybody->GetCollisionModel()->BuildModel();
			mySys.Add(mybody);
			mybody->SetPos(particle_pos);
			mybody->SetInertiaXX((2.0/5.0)*particle_mass*pow(prad,2)*ChVector<>(1,1,1));
			mybody->SetMass(particle_mass);
			mybody->GetCollisionModel()->SyncPosition(); // really necessary?
			mybody->Update(); // really necessary?
		}
		cid++;
	}

	//other edge
	for(int ii=0; ii<n_batch/4; ii++)
	{
		ChVector<> particle_pos(first+ii*spacing+0.0001,box_dim/2+2*prad,boxxx/2-2*prad);
		if (mySys.nodeMPI->IsInto(particle_pos))
		{
			ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
			mybody->SetIdentifier(id_offset+n_curr_spheres+cid);
			mybody->SetCollide(true);
			mybody->GetCollisionModel()->ClearModel();
			mybody->GetCollisionModel()->AddSphere(prad);
			mybody->GetCollisionModel()->BuildModel();
			mySys.Add(mybody);
			mybody->SetPos(particle_pos);
			mybody->SetInertiaXX((2.0/5.0)*particle_mass*pow(prad,2)*ChVector<>(1,1,1));
			mybody->SetMass(particle_mass);
			mybody->GetCollisionModel()->SyncPosition(); // really necessary?
			mybody->Update(); // really necessary?
		}
		cid++;
	}

	for(int ii=0; ii<n_batch/4; ii++)
	{
		ChVector<> particle_pos(first+ii*spacing+0.0001,box_dim/2+2*prad,boxxx/2-6*prad);
		if (mySys.nodeMPI->IsInto(particle_pos))
		{
			ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
			mybody->SetIdentifier(id_offset+n_curr_spheres+cid);
			mybody->SetCollide(true);
			mybody->GetCollisionModel()->ClearModel();
			mybody->GetCollisionModel()->AddSphere(prad);
			mybody->GetCollisionModel()->BuildModel();
			mySys.Add(mybody);
			mybody->SetPos(particle_pos);
			mybody->SetInertiaXX((2.0/5.0)*particle_mass*pow(prad,2)*ChVector<>(1,1,1));
			mybody->SetMass(particle_mass);
			mybody->GetCollisionModel()->SyncPosition(); // really necessary?
			mybody->Update(); // really necessary?
		}
		cid++;
	}
}
开发者ID:DavidHammen，项目名称:chrono，代码行数:100，代码来源:demo_DEM_MPI.cpp

示例9: create_falling_items

void create_falling_items(ChSystemMPI& mySys, double prad, int n_bodies,double box_dim, double pmass){	
	double particle_mass =4.0; 
	if (pmass>0.0){
		particle_mass=pmass;
	}

	ChSharedPtr<ChBodyDEMMPI> mybody;

	double boxxx=box_dim-2*prad;
	for (int ii=0; ii<n_bodies; ii++){
		ChVector<> particle_pos(ChRandom()*boxxx-boxxx/2,ChRandom()*boxxx/2+boxxx/2+prad, ChRandom()*boxxx-boxxx/2);
		if (mySys.nodeMPI->IsInto(particle_pos))
		{
			ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
			mybody->SetIdentifier(10+ii);
			mySys.Add(mybody);
			mybody->GetCollisionModel()->ClearModel();
			mybody->GetCollisionModel()->AddSphere(prad);
			mybody->GetCollisionModel()->BuildModel();
			mybody->SetCollide(true);
			mybody->SetPos(particle_pos);
			mybody->SetInertiaXX((2.0/5.0)*particle_mass*pow(prad,2)*ChVector<>(1,1,1));
			mybody->SetMass(particle_mass);
			mybody->GetCollisionModel()->SyncPosition(); // really necessary?
			mybody->Update(); // really necessary?
		}
	}

	/*
	ChVector<> pp1(0.5*box_dim/2,box_dim/2,0.5*box_dim/2);
	if (mySys.nodeMPI->IsInto(pp1))
	{
		mybody = ChSharedPtr<ChBodyDEMMPI>(new ChBodyDEMMPI);
		mybody->SetIdentifier(11);
		mySys.Add(mybody);
		mybody->GetCollisionModel()->ClearModel();
		mybody->GetCollisionModel()->AddSphere(prad);
		mybody->GetCollisionModel()->BuildModel();
		mybody->SetCollide(true);
		mybody->SetPos(pp1);
		mybody->SetMass(particle_mass);
		mybody->SetInertiaXX((2.0/5.0)*particle_mass*prad*prad*ChVector<>(1.0,1.0,1.0));
	}

	ChVector<> pp2(-0.5*box_dim/2,box_dim/2,0.5*box_dim/2);
	if (mySys.nodeMPI->IsInto(pp2))
	{
		mybody = ChSharedPtr<ChBodyDEMMPI>(new ChBodyDEMMPI);
		mybody->SetIdentifier(22);
		mySys.Add(mybody);
		mybody->GetCollisionModel()->ClearModel();
		mybody->GetCollisionModel()->AddSphere(prad);
		mybody->GetCollisionModel()->BuildModel();
		mybody->SetCollide(true);
		mybody->SetPos(pp2);
		mybody->SetMass(particle_mass);
		mybody->SetInertiaXX((2.0/5.0)*particle_mass*prad*prad*ChVector<>(1.0,1.0,1.0));
	}

	ChVector<> pp3(0.5*box_dim/2,box_dim/2,-0.5*box_dim/2);
	if (mySys.nodeMPI->IsInto(pp3))
	{
		mybody = ChSharedPtr<ChBodyDEMMPI>(new ChBodyDEMMPI);
		mybody->SetIdentifier(33);
		mySys.Add(mybody);
		mybody->GetCollisionModel()->ClearModel();
		mybody->GetCollisionModel()->AddSphere(prad);
		mybody->GetCollisionModel()->BuildModel();
		mybody->SetCollide(true);
		mybody->SetPos(pp3);
		mybody->SetMass(particle_mass);
		mybody->SetInertiaXX((2.0/5.0)*particle_mass*prad*prad*ChVector<>(1.0,1.0,1.0));
	}

	ChVector<> pp4(-0.5*box_dim/2,box_dim/2,-0.5*box_dim/2);
	if (mySys.nodeMPI->IsInto(pp4))
	{
		mybody = ChSharedPtr<ChBodyDEMMPI>(new ChBodyDEMMPI);
		mybody->SetIdentifier(44);
		mySys.Add(mybody);
		mybody->GetCollisionModel()->ClearModel();
		mybody->GetCollisionModel()->AddSphere(prad);
		mybody->GetCollisionModel()->BuildModel();
		mybody->SetCollide(true);
		mybody->SetPos(pp4);
		mybody->SetMass(particle_mass);
		mybody->SetInertiaXX((2.0/5.0)*particle_mass*prad*prad*ChVector<>(1.0,1.0,1.0));
	}
	*/

}
开发者ID:DavidHammen，项目名称:chrono，代码行数:91，代码来源:demo_DEM_MPI.cpp

示例10: add_other_falling_item

void add_other_falling_item(ChSystemMPI& mySys, double prad, double box_dim, double rho, int n_curr_bodies)
{
	int id_offset=10;
	double m_s = (2/3)*CH_C_PI*pow(prad,3)*rho; 
	double m_c = CH_C_PI*pow(prad,2)*(2*prad)*rho;
	double m_cube = prad*prad*prad*rho;

	ChVector<> pos1(0,prad,0);
	ChVector<> pos2(0,-prad,0);

	ChSharedPtr<ChBodyDEMMPI> mybody;

	double boxxx=box_dim-2*prad;
	ChVector<> particle_pos(0.8*boxxx/2,box_dim/2+2*prad, 0.6*boxxx/2);
	if (mySys.nodeMPI->IsInto(particle_pos))
	{
		ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
		mybody->SetIdentifier(id_offset+n_curr_bodies+1);
		mySys.Add(mybody);
		mybody->GetCollisionModel()->ClearModel();
		mybody->GetCollisionModel()->AddBox(prad,prad,prad);
		//mybody->GetCollisionModel()->AddSphere(prad, &pos1);
		//mybody->GetCollisionModel()->AddCylinder(prad,prad,prad);
		//mybody->GetCollisionModel()->AddSphere(prad, &pos2);
		mybody->GetCollisionModel()->BuildModel();
		mybody->SetCollide(true);
		mybody->SetPos(particle_pos);
		//mybody->SetInertiaXX(ChVector<>(((7.0/12)*m_c+4.3*m_s)*pow(prad,2),(0.5*m_c+0.8*m_s)*pow(prad,2),((7.0/12)*m_c+4.3*m_s)*pow(prad,2)));
		//mybody->SetMass(m_c+2*m_s);
		mybody->SetInertiaXX((1.0/6.0)*m_cube*pow(prad,2)*ChVector<>(1.0,1.0,1.0));
		mybody->SetMass(m_cube);
		mybody->GetCollisionModel()->SyncPosition(); // really necessary?
		mybody->Update(); // really necessary?
	}
	ChVector<> particle_pos2(0.8*boxxx/2,box_dim/2+2*prad, 0.2*boxxx/2);
	if (mySys.nodeMPI->IsInto(particle_pos2))
	{
		ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
		mybody->SetIdentifier(id_offset+n_curr_bodies+2);
		mySys.Add(mybody);
		mybody->GetCollisionModel()->ClearModel();
		mybody->GetCollisionModel()->AddBox(prad,prad,prad);
		//mybody->GetCollisionModel()->AddSphere(prad, &pos1);
		//mybody->GetCollisionModel()->AddCylinder(prad,prad,prad);
		//mybody->GetCollisionModel()->AddSphere(prad, &pos2);
		mybody->GetCollisionModel()->BuildModel();
		mybody->SetCollide(true);
		mybody->SetPos(particle_pos2);
		//mybody->SetInertiaXX(ChVector<>(((7.0/12)*m_c+4.3*m_s)*pow(prad,2),(0.5*m_c+0.8*m_s)*pow(prad,2),((7.0/12)*m_c+4.3*m_s)*pow(prad,2)));
		//mybody->SetMass(m_c+2*m_s);
		mybody->SetInertiaXX((1.0/6.0)*m_cube*pow(prad,2)*ChVector<>(1.0,1.0,1.0));
		mybody->SetMass(m_cube);
		mybody->GetCollisionModel()->SyncPosition(); // really necessary?
		mybody->Update(); // really necessary?
	}
	ChVector<> particle_pos3(0.8*boxxx/2,box_dim/2+2*prad, -0.2*boxxx/2);
	if (mySys.nodeMPI->IsInto(particle_pos3))
	{
		ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
		mybody->SetIdentifier(id_offset+n_curr_bodies+3);
		mySys.Add(mybody);
		mybody->GetCollisionModel()->ClearModel();
		mybody->GetCollisionModel()->AddBox(prad,prad,prad);
		//mybody->GetCollisionModel()->AddSphere(prad, &pos1);
		//mybody->GetCollisionModel()->AddCylinder(prad,prad,prad);
		//mybody->GetCollisionModel()->AddSphere(prad, &pos2);
		mybody->GetCollisionModel()->BuildModel();
		mybody->SetCollide(true);
		mybody->SetPos(particle_pos3);
		//mybody->SetInertiaXX(ChVector<>(((7.0/12)*m_c+4.3*m_s)*pow(prad,2),(0.5*m_c+0.8*m_s)*pow(prad,2),((7.0/12)*m_c+4.3*m_s)*pow(prad,2)));
		//mybody->SetMass(m_c+2*m_s);
		mybody->SetInertiaXX((1.0/6.0)*m_cube*pow(prad,2)*ChVector<>(1.0,1.0,1.0));
		mybody->SetMass(m_cube);
		mybody->GetCollisionModel()->SyncPosition(); // really necessary?
		mybody->Update(); // really necessary?
	}
	ChVector<> particle_pos4(0.8*boxxx/2,box_dim/2+2*prad, -0.6*boxxx/2);
	if (mySys.nodeMPI->IsInto(particle_pos4))
	{
		ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
		mybody->SetIdentifier(id_offset+n_curr_bodies+4);
		mySys.Add(mybody);
		mybody->GetCollisionModel()->ClearModel();
		mybody->GetCollisionModel()->AddBox(prad,prad,prad);
		//mybody->GetCollisionModel()->AddSphere(prad, &pos1);
		//mybody->GetCollisionModel()->AddCylinder(prad,prad,prad);
		//mybody->GetCollisionModel()->AddSphere(prad, &pos2);
		mybody->GetCollisionModel()->BuildModel();
		mybody->SetCollide(true);
		mybody->SetPos(particle_pos4);
		//mybody->SetInertiaXX(ChVector<>(((7.0/12)*m_c+4.3*m_s)*pow(prad,2),(0.5*m_c+0.8*m_s)*pow(prad,2),((7.0/12)*m_c+4.3*m_s)*pow(prad,2)));
		//mybody->SetMass(m_c+2*m_s);
		mybody->SetInertiaXX((1.0/6.0)*m_cube*pow(prad,2)*ChVector<>(1.0,1.0,1.0));
		mybody->SetMass(m_cube);
		mybody->GetCollisionModel()->SyncPosition(); // really necessary?
		mybody->Update(); // really necessary?
	}
}
开发者ID:DavidHammen，项目名称:chrono，代码行数:98，代码来源:demo_DEM_MPI.cpp

示例11: add_falling_item

void add_falling_item(ChSystemMPI& mySys, double prad, double box_dim, double pmass, int n_curr_spheres)
{
	int id_offset=10;
	double particle_mass =4.0; 
	if (pmass>0.0){
		particle_mass=pmass;
	}

	ChSharedPtr<ChBodyDEMMPI> mybody;

	double boxxx=box_dim-2*prad;
	ChVector<> particle_pos(0.8*boxxx/2,box_dim/2+2*prad, 0.6*boxxx/2);
	if (mySys.nodeMPI->IsInto(particle_pos))
	{
		ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
		mybody->SetIdentifier(id_offset+n_curr_spheres+1);
		mySys.Add(mybody);
		mybody->GetCollisionModel()->ClearModel();
		mybody->GetCollisionModel()->AddSphere(prad);
		mybody->GetCollisionModel()->BuildModel();
		mybody->SetCollide(true);
		mybody->SetPos(particle_pos);
		mybody->SetInertiaXX((2.0/5.0)*particle_mass*pow(prad,2)*ChVector<>(1,1,1));
		mybody->SetMass(particle_mass);
		mybody->GetCollisionModel()->SyncPosition(); // really necessary?
		mybody->Update(); // really necessary?
	}
	ChVector<> particle_pos2(0.8*boxxx/2,box_dim/2+2*prad, 0.2*boxxx/2);
	if (mySys.nodeMPI->IsInto(particle_pos2))
	{
		ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
		mybody->SetIdentifier(id_offset+n_curr_spheres+2);
		mySys.Add(mybody);
		mybody->GetCollisionModel()->ClearModel();
		mybody->GetCollisionModel()->AddSphere(prad);
		mybody->GetCollisionModel()->BuildModel();
		mybody->SetCollide(true);
		mybody->SetPos(particle_pos2);
		mybody->SetInertiaXX((2.0/5.0)*particle_mass*pow(prad,2)*ChVector<>(1,1,1));
		mybody->SetMass(particle_mass);
		mybody->GetCollisionModel()->SyncPosition(); // really necessary?
		mybody->Update(); // really necessary?
	}
	ChVector<> particle_pos3(0.8*boxxx/2,box_dim/2+2*prad, -0.2*boxxx/2);
	if (mySys.nodeMPI->IsInto(particle_pos3))
	{
		ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
		mybody->SetIdentifier(id_offset+n_curr_spheres+3);
		mySys.Add(mybody);
		mybody->GetCollisionModel()->ClearModel();
		mybody->GetCollisionModel()->AddSphere(prad);
		mybody->GetCollisionModel()->BuildModel();
		mybody->SetCollide(true);
		mybody->SetPos(particle_pos3);
		mybody->SetInertiaXX((2.0/5.0)*particle_mass*pow(prad,2)*ChVector<>(1,1,1));
		mybody->SetMass(particle_mass);
		mybody->GetCollisionModel()->SyncPosition(); // really necessary?
		mybody->Update(); // really necessary?
	}
	ChVector<> particle_pos4(0.8*boxxx/2,box_dim/2+2*prad, -0.6*boxxx/2);
	if (mySys.nodeMPI->IsInto(particle_pos4))
	{
		ChSharedPtr<ChBodyDEMMPI> mybody(new ChBodyDEMMPI);
		mybody->SetIdentifier(id_offset+n_curr_spheres+4);
		mySys.Add(mybody);
		mybody->GetCollisionModel()->ClearModel();
		mybody->GetCollisionModel()->AddSphere(prad);
		mybody->GetCollisionModel()->BuildModel();
		mybody->SetCollide(true);
		mybody->SetPos(particle_pos4);
		mybody->SetInertiaXX((2.0/5.0)*particle_mass*pow(prad,2)*ChVector<>(1,1,1));
		mybody->SetMass(particle_mass);
		mybody->GetCollisionModel()->SyncPosition(); // really necessary?
		mybody->Update(); // really necessary?
	}
}
开发者ID:DavidHammen，项目名称:chrono，代码行数:76，代码来源:demo_DEM_MPI.cpp

示例12: main


//.........这里部分代码省略.........
    my_system->GetSettings()->perform_thread_tuning = thread_tuning;

    // Edit system settings

    my_system->GetSettings()->solver.use_full_inertia_tensor = false;
    my_system->GetSettings()->solver.tolerance = tolerance;
    my_system->GetSettings()->solver.max_iteration_bilateral = max_iteration_bilateral;
    my_system->GetSettings()->solver.clamp_bilaterals = clamp_bilaterals;
    my_system->GetSettings()->solver.bilateral_clamp_speed = bilateral_clamp_speed;

#ifdef USE_DEM
    my_system->GetSettings()->solver.contact_force_model = HERTZ;
    my_system->GetSettings()->solver.tangential_displ_mode = MULTI_STEP;
#else
    my_system->GetSettings()->solver.solver_mode = SLIDING;
    my_system->GetSettings()->solver.max_iteration_normal = max_iteration_normal;
    my_system->GetSettings()->solver.max_iteration_sliding = max_iteration_sliding;
    my_system->GetSettings()->solver.max_iteration_spinning = max_iteration_spinning;
    my_system->GetSettings()->solver.alpha = 0;
    my_system->GetSettings()->solver.contact_recovery_speed = contact_recovery_speed;
    my_system->ChangeSolverType(APGD);

    my_system->GetSettings()->collision.collision_envelope = 0.05 * radius;
#endif

    my_system->GetSettings()->collision.bins_per_axis = I3(10, 10, 10);
    my_system->GetSettings()->collision.narrowphase_algorithm = NARROWPHASE_HYBRID_MPR;



    // Create a ball material (will be used by balls only)

#ifdef USE_DEM
    ChSharedPtr<ChMaterialSurfaceDEM> material;
    material = ChSharedPtr<ChMaterialSurfaceDEM>(new ChMaterialSurfaceDEM);
    material->SetYoungModulus(Y);
    material->SetPoissonRatio(nu);
    material->SetRestitution(COR);
    material->SetFriction(mu);
#else
    ChSharedPtr<ChMaterialSurface> material;
    material = ChSharedPtr<ChMaterialSurface>(new ChMaterialSurface);
    material->SetRestitution(COR);
    material->SetFriction(mu);
#endif

    // Create a material for all objects other than balls

#ifdef USE_DEM
    ChSharedPtr<ChMaterialSurfaceDEM> mat_ext;
    mat_ext = ChSharedPtr<ChMaterialSurfaceDEM>(new ChMaterialSurfaceDEM);
    mat_ext->SetYoungModulus(Y);
    mat_ext->SetPoissonRatio(nu);
    mat_ext->SetRestitution(COR);
    mat_ext->SetFriction(mu_ext);
#else
    ChSharedPtr<ChMaterialSurface> mat_ext;
    mat_ext = ChSharedPtr<ChMaterialSurface>(new ChMaterialSurface);
    mat_ext->SetRestitution(COR);
    mat_ext->SetFriction(mu_ext);
#endif

    // Create lower bin

    ChSharedPtr<ChBody> bin(new ChBody(new ChCollisionModelParallel, contact_method));
开发者ID:rserban，项目名称:chrono-projects，代码行数:66，代码来源:demo_shear.cpp

示例13: MySimpleTank

		// 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(ChSystem&  my_system,	///< the chrono::engine physical system 
				ISceneManager* msceneManager, ///< the Irrlicht scene manager for 3d shapes
				IVideoDriver* mdriver	///< the Irrlicht video driver
				)
			{
				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 shoethickness = 0.06;
				double shoewidth = 0.3;
				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 --- 

				IAnimatedMesh*	bulldozer_bodyMesh = msceneManager->getMesh("../data/bulldozerB10.obj");
				truss = (ChBodySceneNode*)addChBodySceneNode(
														&my_system, msceneManager, bulldozer_bodyMesh,
														350.0,
														ChVector<>(mx + passo/2, my + radiustrack , rlwidth/2),
														QUNIT);
				truss->GetBody()->SetInertiaXX(ChVector<>(13.8, 13.5, 10));
				truss->GetBody()->SetBodyFixed(false);
			    //truss->addShadowVolumeSceneNode();

				// --- Right Front suspension --- 

				// Load a triangle mesh for wheel visualization
				IAnimatedMesh* irmesh_wheel_view = msceneManager->getMesh("../data/wheel_view.obj");

				// ..the tank right-front wheel
				wheelRF = (ChBodySceneNode*) addChBodySceneNode(
													    &my_system, msceneManager, irmesh_wheel_view,
														9.0,
														ChVector<>(mx + passo, my+ radiustrack , 0),
														chrono::Q_from_AngAxis(CH_C_PI/2, VECT_X) );
				
				wheelRF->GetBody()->GetCollisionModel()->ClearModel();
				wheelRF->GetBody()->GetCollisionModel()->AddCylinder(wheeldiameter/2,wheeldiameter/2, cyl_hthickness, &cyl_displA);
				wheelRF->GetBody()->GetCollisionModel()->AddCylinder(wheeldiameter/2,wheeldiameter/2, cyl_hthickness, &cyl_displB);
				wheelRF->GetBody()->GetCollisionModel()->BuildModel();			// Creates the collision model
				wheelRF->GetBody()->SetCollide(true);
				wheelRF->GetBody()->SetInertiaXX(ChVector<>(1.2, 1.2, 1.2));
				wheelRF->GetBody()->SetFriction(1.0);
					video::ITexture* cylinderMap = mdriver->getTexture("../data/bluwhite.png");
				wheelRF->setMaterialTexture(0,	cylinderMap);
				wheelRF->addShadowVolumeSceneNode();

				// .. create the revolute joint between the wheel and the truss
				link_revoluteRF = ChSharedPtr<ChLinkLockRevolute>(new ChLinkLockRevolute); // right, front, upper, 1
				link_revoluteRF->Initialize(wheelRF->GetBody(), truss->GetBody(), 
					ChCoordsys<>(ChVector<>(mx + passo, my+ radiustrack , 0) , QUNIT ) );
				my_system.AddLink(link_revoluteRF);


				// --- Left Front suspension --- 

				// ..the tank left-front wheel

				wheelLF = (ChBodySceneNode*) addChBodySceneNode(
													    &my_system, msceneManager, irmesh_wheel_view,
														9.0,
														ChVector<>(mx + passo, my+ radiustrack , rlwidth),
														chrono::Q_from_AngAxis(CH_C_PI/2, VECT_X) );

				wheelLF->GetBody()->GetCollisionModel()->ClearModel();
				wheelLF->GetBody()->GetCollisionModel()->AddCylinder(wheeldiameter/2,wheeldiameter/2, cyl_hthickness, &cyl_displA);
				wheelLF->GetBody()->GetCollisionModel()->AddCylinder(wheeldiameter/2,wheeldiameter/2, cyl_hthickness, &cyl_displB);
				wheelLF->GetBody()->GetCollisionModel()->BuildModel();			// Creates the collision model
				wheelLF->GetBody()->SetCollide(true);
				wheelLF->GetBody()->SetInertiaXX(ChVector<>(1.2, 1.2, 1.2));
				wheelLF->GetBody()->SetFriction(1.0);
				wheelLF->setMaterialTexture(0,	cylinderMap);
				wheelLF->addShadowVolumeSceneNode();

				// .. create the revolute joint between the wheel and the truss
				link_revoluteLF = ChSharedPtr<ChLinkLockRevolute>(new ChLinkLockRevolute); // left, front, upper, 1
				link_revoluteLF->Initialize(wheelLF->GetBody(), truss->GetBody(), 
					ChCoordsys<>(ChVector<>(mx + passo, my+ radiustrack , rlwidth) , QUNIT ) );
				my_system.AddLink(link_revoluteLF);


				// --- Right Back suspension --- 

//.........这里部分代码省略.........
开发者ID:DavidHammen，项目名称:chrono，代码行数:101，代码来源:demo_tracks.cpp

示例14: main

int main(int argc, char* argv[]) {
  // Set path to ChronoVehicle data files
  vehicle::SetDataPath(CHRONO_VEHICLE_DATA_DIR);

  // --------------------------
  // Create output directories.
  // --------------------------

  if (povray_output) {
    if (ChFileutils::MakeDirectory(out_dir.c_str()) < 0) {
      cout << "Error creating directory " << out_dir << endl;
      return 1;
    }
    if (ChFileutils::MakeDirectory(pov_dir.c_str()) < 0) {
      cout << "Error creating directory " << pov_dir << endl;
      return 1;
    }
  }

  // --------------
  // Create system.
  // --------------

  ChSystemParallelDEM* system = new ChSystemParallelDEM();

  system->Set_G_acc(ChVector<>(0, 0, -9.81));

  // ----------------------
  // Enable debug log
  // ----------------------

  ////system->SetLoggingLevel(LOG_INFO, true);
  ////system->SetLoggingLevel(LOG_TRACE, true);

  // ----------------------
  // Set number of threads.
  // ----------------------

  int max_threads = omp_get_num_procs();
  if (threads > max_threads)
    threads = max_threads;
  system->SetParallelThreadNumber(threads);
  omp_set_num_threads(threads);
  cout << "Using " << threads << " threads" << endl;

  system->GetSettings()->perform_thread_tuning = thread_tuning;

  // ---------------------
  // Edit system settings.
  // ---------------------

  system->GetSettings()->solver.use_full_inertia_tensor = false;

  system->GetSettings()->solver.tolerance = tolerance;
  system->GetSettings()->solver.max_iteration_bilateral = max_iteration_bilateral;

  system->GetSettings()->solver.contact_force_model = contact_force_model;
  system->GetSettings()->solver.tangential_displ_mode = tangential_displ_mode;

  system->GetSettings()->collision.narrowphase_algorithm = NARROWPHASE_HYBRID_MPR;
  system->GetSettings()->collision.bins_per_axis = I3(20, 20, 10);

  // -------------------
  // Create the terrain.
  // -------------------

  // Ground body
  ChSharedPtr<ChBody> ground = ChSharedPtr<ChBody>(new ChBody(new collision::ChCollisionModelParallel, ChBody::DEM));
  ground->SetIdentifier(-1);
  ground->SetMass(1000);
  ground->SetBodyFixed(true);
  ground->SetCollide(true);

  ground->GetMaterialSurfaceDEM()->SetFriction(mu_g);
  ground->GetMaterialSurfaceDEM()->SetYoungModulus(Y_g);
  ground->GetMaterialSurfaceDEM()->SetRestitution(cr_g);
  ground->GetMaterialSurfaceDEM()->SetCohesion(cohesion_g);

  ground->GetCollisionModel()->ClearModel();

  // Bottom box
  utils::AddBoxGeometry(ground.get_ptr(), ChVector<>(hdimX, hdimY, hthick), ChVector<>(0, 0, -hthick),
                        ChQuaternion<>(1, 0, 0, 0), true);
  if (terrain_type == GRANULAR) {
    // Front box
    utils::AddBoxGeometry(ground.get_ptr(), ChVector<>(hthick, hdimY, hdimZ + hthick),
                          ChVector<>(hdimX + hthick, 0, hdimZ - hthick), ChQuaternion<>(1, 0, 0, 0), visible_walls);
    // Rear box
    utils::AddBoxGeometry(ground.get_ptr(), ChVector<>(hthick, hdimY, hdimZ + hthick),
                          ChVector<>(-hdimX - hthick, 0, hdimZ - hthick), ChQuaternion<>(1, 0, 0, 0), visible_walls);
    // Left box
    utils::AddBoxGeometry(ground.get_ptr(), ChVector<>(hdimX, hthick, hdimZ + hthick),
                          ChVector<>(0, hdimY + hthick, hdimZ - hthick), ChQuaternion<>(1, 0, 0, 0), visible_walls);
    // Right box
    utils::AddBoxGeometry(ground.get_ptr(), ChVector<>(hdimX, hthick, hdimZ + hthick),
                          ChVector<>(0, -hdimY - hthick, hdimZ - hthick), ChQuaternion<>(1, 0, 0, 0), visible_walls);
  }

  ground->GetCollisionModel()->BuildModel();

//.........这里部分代码省略.........
开发者ID:rserban，项目名称:chrono-projects，代码行数:101，代码来源:hmmwvDEM.cpp

示例15: MySimpleForklift

		// Build and initialize the forklift, creating all bodies corresponding to
		// the various parts and adding them to the physical system - also creating
		// and adding constraints to the system.
	MySimpleForklift(ChIrrAppInterface* app, ChVector<> offset = ChVector<>(0,0,0))
			{
				throttle = 0; // initially, gas throttle is 0.
				steer = 0;
				lift =0;

				ChVector<> COG_truss(0, 0.4, 0.5);
				ChVector<> COG_wheelRF( 0.566, 0.282, 1.608);
				ChVector<> COG_wheelLF(-0.566, 0.282, 1.608);
				ChVector<> COG_arm(0, 1.300, 1.855);
				ChVector<> COG_fork(0, 0.362, 2.100);
				ChVector<> COG_wheelB(0, 0.282, 0.003);
				ChVector<> POS_pivotarm(0, 0.150, 1.855);
				ChVector<> POS_prismatic(0, 0.150, 1.855);
				double RAD_back_wheel =0.28;
				double RAD_front_wheel = 0.28;

				forkliftTiremap = app->GetVideoDriver()->getTexture("../data/tire_truck.png");
				

				// --- The car body --- 

				IAnimatedMesh*	forklift_bodyMesh = app->GetSceneManager()->getMesh("../data/forklift_body.obj");
				 truss = (ChBodySceneNode*)addChBodySceneNode(
														app->GetSystem(), app->GetSceneManager(), forklift_bodyMesh,
														200.0,
														COG_truss,
														QUNIT);
				truss->GetBody()->SetInertiaXX(ChVector<>(100, 100, 100));
				truss->setMaterialFlag(irr::video::EMF_NORMALIZE_NORMALS, true);
				truss->setMaterialTexture(0,	forkliftTiremap);
				truss->GetChildMesh()->setPosition(-vector3df(COG_truss.x, COG_truss.y, COG_truss.z));// offset the mesh
				truss->addShadowVolumeSceneNode();
				truss->GetBody()->GetCollisionModel()->ClearModel();
				truss->GetBody()->GetCollisionModel()->AddBox(1.227/2., 1.621/2., 1.864/2., &ChVector<>(-0.003, 1.019, 0.192));
				truss->GetBody()->GetCollisionModel()->AddBox(0.187/2., 0.773/2., 1.201/2., &ChVector<>( 0.486 , 0.153,-0.047));
				truss->GetBody()->GetCollisionModel()->AddBox(0.187/2., 0.773/2., 1.201/2., &ChVector<>(-0.486 , 0.153,-0.047));
				truss->GetBody()->GetCollisionModel()->BuildModel();
				truss->GetBody()->SetCollide(true);

				// ..the right-front wheel
				IAnimatedMesh*	forklift_wheelMesh = app->GetSceneManager()->getMesh("../data/wheel.obj");
				wheelRF = (ChBodySceneNode*)addChBodySceneNode(
														app->GetSystem(), app->GetSceneManager(), forklift_wheelMesh,
														20.0,
														COG_wheelRF,
														QUNIT);
				wheelRF->GetBody()->SetInertiaXX(ChVector<>(2, 2, 2));
				wheelRF->setMaterialFlag(irr::video::EMF_NORMALIZE_NORMALS, true);
				wheelRF->setMaterialTexture(0,	forkliftTiremap);
				wheelRF->GetChildMesh()->setPosition(-vector3df(COG_wheelRF.x, COG_wheelRF.y, COG_wheelRF.z));// offset the mesh
				// Describe the (invisible) colliding shape
				ChMatrix33<>Arot(chrono::Q_from_AngAxis(CH_C_PI/2, VECT_Z));
				wheelRF->GetBody()->GetCollisionModel()->ClearModel();
				wheelRF->GetBody()->GetCollisionModel()->AddCylinder(RAD_front_wheel,RAD_front_wheel, 0.1, &ChVector<>(0,0,0), &Arot); 
				wheelRF->GetBody()->GetCollisionModel()->BuildModel();
				wheelRF->GetBody()->SetCollide(true);

				// .. create the revolute joint between the wheel and the truss
				link_revoluteRF = ChSharedPtr<ChLinkLockRevolute>(new ChLinkLockRevolute); // right, front, upper, 1
				link_revoluteRF->Initialize(wheelRF->GetBody(), truss->GetBody(), 
					ChCoordsys<>(COG_wheelRF , chrono::Q_from_AngAxis(CH_C_PI/2, VECT_Y)) );
				app->GetSystem()->AddLink(link_revoluteRF);


		
				// ..the left-front wheel
				wheelLF = (ChBodySceneNode*)addChBodySceneNode(
														app->GetSystem(), app->GetSceneManager(), forklift_wheelMesh,
														20.0,
														COG_wheelLF,
														chrono::Q_from_AngAxis(CH_C_PI, VECT_Y)); // reuse RF wheel shape, flipped
				wheelLF->GetBody()->SetInertiaXX(ChVector<>(2, 2, 2));
				wheelLF->setMaterialFlag(irr::video::EMF_NORMALIZE_NORMALS, true);
				wheelLF->setMaterialTexture(0,	forkliftTiremap);
				wheelLF->GetChildMesh()->setPosition(-vector3df(COG_wheelRF.x, COG_wheelRF.y, COG_wheelRF.z));// offset the mesh (reuse RF)
				// Describe the (invisible) colliding shape
				wheelLF->GetBody()->GetCollisionModel()->ClearModel();
				wheelLF->GetBody()->GetCollisionModel()->AddCylinder(RAD_front_wheel,RAD_front_wheel, 0.1, &ChVector<>(0,0,0), &Arot); 
				wheelLF->GetBody()->GetCollisionModel()->BuildModel();
				wheelLF->GetBody()->SetCollide(true);

				// .. create the revolute joint between the wheel and the truss
				link_revoluteLF = ChSharedPtr<ChLinkLockRevolute>(new ChLinkLockRevolute); // right, front, upper, 1
				link_revoluteLF->Initialize(wheelLF->GetBody(), truss->GetBody(), 
					ChCoordsys<>(COG_wheelLF , chrono::Q_from_AngAxis(CH_C_PI/2, VECT_Y)) );
				app->GetSystem()->AddLink(link_revoluteLF);



						
				// ..the back steering spindle (invisible, no mesh)
				spindleB = (ChBodySceneNode*)addChBodySceneNode(
														app->GetSystem(), app->GetSceneManager(), 0,
														10.0,
														COG_wheelB,
														QUNIT); 
//.........这里部分代码省略.........
开发者ID:DavidHammen，项目名称:chrono，代码行数:101，代码来源:demo_forklift.cpp


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