def CreateSliderGuide(material, msystem, mpos):
mguide = chrono.ChBodyEasyBox(4, 0.3, 0.6, 1000, True, True, material)
mguide.SetPos(mpos)
mguide.SetBodyFixed(True)
msystem.Add(mguide)
mslider = chrono.ChBodyEasyBox(0.4, 0.2, 0.5, 1000, True, True, material)
mslider.SetPos(mpos + chrono.ChVectorD(0, 0.3, 0))
msystem.Add(mslider)
mcolor = chrono.ChColorAsset(0.6, 0.6, 0.0)
mslider.AddAsset(mcolor)
obstacle = chrono.ChBodyEasyBox(0.4, 0.4, 0.4, 8000, True, True, material)
obstacle.SetPos(mpos + chrono.ChVectorD(1.5, 0.4, 0))
msystem.Add(obstacle)
mcolorobstacle = chrono.ChColorAsset(0.2, 0.2, 0.2)
mslider.AddAsset(mcolorobstacle)
return mguide, mslider
def GetVisualization(self):
level = chrono.ChAssetLevel()
cyl = chrono.ChCylinderShape()
cyl.GetCylinderGeometry().rad = self.radius
cyl.GetCylinderGeometry().p1 = self.center + chrono.ChVectorD(0, 0, 0)
cyl.GetCylinderGeometry().p2 = self.center + chrono.ChVectorD(
0, 1.1, 0)
level.AddAsset(cyl)
level.AddAsset(chrono.ChColorAsset(0.6, 0.3, 0.0))
return level
def CreateStatorRotor(material, msystem, mpos):
mstator = chrono.ChBodyEasyCylinder(0.5, 0.1, 1000, True, True, material)
mstator.SetPos(mpos)
mstator.SetRot(chrono.Q_from_AngAxis(chrono.CH_C_PI_2, chrono.VECT_X))
mstator.SetBodyFixed(True)
msystem.Add(mstator)
mrotor = chrono.ChBodyEasyBox(1, 0.1, 0.1, 1000, True, True, material)
mrotor.SetPos(mpos + chrono.ChVectorD(0.5, 0, -0.15))
msystem.Add(mrotor)
mcolor = chrono.ChColorAsset(0.6, 0.6, 0.0)
mrotor.AddAsset(mcolor)
return mstator, mrotor
shaft_1.SetPos(chrono.ChVectorD(0, 0, -hl)) shaft_1.SetRot(chrono.ChQuaternionD(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) box_1 = chrono.ChBoxShape() box_1.GetBoxGeometry().Size = chrono.ChVectorD(0.15, 0.15, 0.9 * hl) shaft_1.AddAsset(box_1) cyl_2 = chrono.ChCylinderShape() cyl_2.GetCylinderGeometry().p1 = chrono.ChVectorD(-0.2, 0, hl) cyl_2.GetCylinderGeometry().p2 = chrono.ChVectorD(0.2, 0, hl) cyl_2.GetCylinderGeometry().rad = 0.05 shaft_1.AddAsset(cyl_2) col = chrono.ChColorAsset() col.SetColor(chrono.ChColor(0.9, 0.4, 0.1)) 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. shaft_2 = chrono.ChBody() mysystem.AddBody(shaft_2) shaft_2.SetIdentifier(1) shaft_2.SetBodyFixed(False) shaft_2.SetCollide(False) shaft_2.SetMass(1)
def LoadFromObj(filename, density=1000, color=[1,0.1,0.1]):
body = chrono.ChBodyEasyMesh(filename, density, True, True)
body.AddAsset(chrono.ChColorAsset(chrono.ChColor(color[0], color[1], color[2])))
return body
# given the CAD shape. Also visualize it.
my_body = cascade.ChBodyEasyCascade(
my_shape, # the CAD shape
1000, # the density
True, # must collide using the triangle mesh geometry?
True) # must be visualized?
mysystem.Add(my_body)
# Create a large cube as a floor.
my_floor = chrono.ChBodyEasyBox(1, 0.2, 1, 1000, True)
my_floor.SetPos(chrono.ChVectorD(0, -0.3, 0))
my_floor.SetBodyFixed(True)
mysystem.Add(my_floor)
my_color = chrono.ChColorAsset(0.2, 0.2, 0.5)
my_floor.AddAsset(my_color)
# ---------------------------------------------------------------------
#
# Create an Irrlicht application to visualize the system
#
myapplication = chronoirr.ChIrrApp(mysystem, 'Use OpenCascade shapes',
chronoirr.dimension2du(1024, 768))
myapplication.AddTypicalSky(chrono.GetChronoDataPath() + 'skybox/')
myapplication.AddTypicalLogo(chrono.GetChronoDataPath() +
'logo_pychrono_alpha.png')
myapplication.AddTypicalCamera(chronoirr.vector3df(0.2, 0.2, -0.2))
myapplication.AddTypicalLights()
body = chrono.ChBody()
mysystem.Add(body)
body.SetMass(500)
body.SetInertiaXX(chrono.ChVectorD(20, 20, 20))
body.SetPos(tire_center + chrono.ChVectorD(0, 0.3, 0))
# Load mesh
mesh = chrono.ChTriangleMeshConnected()
mesh.LoadWavefrontMesh(
chrono.GetChronoDataFile('models/tractor_wheel/tractor_wheel.obj'))
# Set visualization assets
vis_shape = chrono.ChTriangleMeshShape()
vis_shape.SetMesh(mesh)
body.AddAsset(vis_shape)
body.AddAsset(chrono.ChColorAsset(0.3, 0.3, 0.3))
# Set collision shape
material = chrono.ChMaterialSurfaceSMC()
body.GetCollisionModel().ClearModel()
body.GetCollisionModel().AddTriangleMesh(
material, # contact material
mesh, # the mesh
False, # is it static?
False, # is it convex?
chrono.ChVectorD(0, 0, 0), # position on body
chrono.ChMatrix33D(1), # orientation on body
0.01) # "thickness" for increased robustness
body.GetCollisionModel().BuildModel()
body.SetCollide(True)
root_frame.TransformPointLocalToParent(measured_joint_pos_mm * scale))
# transform because we rotated everything
if (mrigidBody1 and mrigidBody2):
my_link = chrono.ChLinkLockRevolute()
my_link.Initialize(mrigidBody1, mrigidBody2, chrono.ChCoordsysD(joint_pos))
mysystem.Add(my_link)
# Create a large cube as a floor.
mfloor = chrono.ChBodyEasyBox(1, 0.2, 1, 1000)
mfloor.SetPos(chrono.ChVectorD(0, -0.3, 0))
mfloor.SetBodyFixed(True)
mysystem.Add(mfloor)
mcolor = chrono.ChColorAsset(0.3, 0.3, 0.8)
mfloor.AddAsset(mcolor)
# ---------------------------------------------------------------------
#
# Create an Irrlicht application to visualize the system
#
myapplication = chronoirr.ChIrrApp(mysystem, 'Test',
chronoirr.dimension2du(1024, 768))
myapplication.AddTypicalSky()
myapplication.AddTypicalLogo(chrono.GetChronoDataPath() +
'logo_pychrono_alpha.png')
myapplication.AddTypicalCamera(chronoirr.vector3df(0.2, 0.2, -0.2))
myapplication.AddTypicalLights()
system.AddBody(pend_1) pend_1.SetIdentifier(1) pend_1.SetBodyFixed(False) pend_1.SetCollide(False) pend_1.SetMass(1) pend_1.SetInertiaXX(chrono.ChVectorD(0.2, 1, 1)) # Attach a visualization asset. Note that the cylinder is defined with # respect to the centroidal reference frame (which is the body reference # frame for a ChBody) cyl_1 = chrono.ChCylinderShape() cyl_1.GetCylinderGeometry().p1 = chrono.ChVectorD(-1, 0, 0) cyl_1.GetCylinderGeometry().p2 = chrono.ChVectorD(1, 0, 0) cyl_1.GetCylinderGeometry().rad = 0.2 pend_1.AddAsset(cyl_1) col_1 = chrono.ChColorAsset(0.6, 0, 0) pend_1.AddAsset(col_1) # Specify the intial position of the pendulum (horizontal, pointing towards # positive X). In this case, we set the absolute position of its center of # mass pend_1.SetPos(chrono.ChVectorD(1, 0, 1)) # Create a revolute joint to connect pendulum to ground. We specify the link # coordinate frame in the absolute frame. rev_1 = chrono.ChLinkLockRevolute() rev_1.Initialize(ground, pend_1, chrono.ChCoordsysD(chrono.ChVectorD(0, 0, 1), chrono.ChQuaternionD(1, 0, 0, 0))) system.AddLink(rev_1) # Create a pendulum modeled using ChBodyAuxRef
mysystem.Set_G_acc(chrono.ChVectorD(0, 0, 0))
# Create the ground body
ground = chrono.ChBodyEasyBox(3, 2, 0.1, 10, True, False)
ground.SetBodyFixed(True)
mysystem.Add(ground)
# Create the sliding body
# Give an initial angular velocity
body = chrono.ChBodyEasyBox(0.5, 0.5, 0.5, 10, True, False)
body.SetBodyFixed(False)
mysystem.Add(body)
body.SetPos(chrono.ChVectorD(-1.25, -0.75, 0.1))
body.SetWvel_loc(chrono.ChVectorD(0.1, 0.1, 0.1))
body_col = chrono.ChColorAsset()
body_col.SetColor(chrono.ChColor(0.9, 0.4, 0.1))
body.AddAsset(body_col)
# Create the plane-plane constraint
# Constrain the sliding body to move and rotate in the x-y plane
# (i.e. the plane whose normal is the z-axis of the specified coord sys)
plane_plane = chrono.ChLinkLockPlanePlane()
plane_plane.Initialize(ground,
body,
chrono.ChCoordsysD(chrono.ChVectorD(-1.25, -0.75, 0), chrono.ChQuaternionD(1, 0, 0, 0)))
mysystem.AddLink(plane_plane)
# Create a linear spring (with default sprint & damping coefficients)
spring = chrono.ChLinkTSDA()
spring.SetSpringCoefficient(100)