def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# Create systems
# Create the HMMWV vehicle, set parameters, and initialize
my_hmmwv = veh.HMMWV_Full()
my_hmmwv.SetContactMethod(contact_method)
my_hmmwv.SetChassisCollisionType(chassis_collision_type)
my_hmmwv.SetChassisFixed(False)
my_hmmwv.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
my_hmmwv.SetPowertrainType(powertrain_model)
my_hmmwv.SetDriveType(drive_type)
my_hmmwv.SetSteeringType(steering_type)
my_hmmwv.SetTireType(tire_model)
my_hmmwv.SetTireStepSize(tire_step_size)
my_hmmwv.Initialize()
my_hmmwv.SetChassisVisualizationType(chassis_vis_type)
my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type)
my_hmmwv.SetSteeringVisualizationType(steering_vis_type)
my_hmmwv.SetWheelVisualizationType(wheel_vis_type)
my_hmmwv.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_hmmwv.GetSystem())
patch = terrain.AddPatch(chrono.ChCoordsysD(chrono.ChVectorD(0, 0, terrainHeight - 5), chrono.QUNIT), chrono.ChVectorD(terrainLength, terrainWidth, 10))
patch.SetContactFrictionCoefficient(0.9)
patch.SetContactRestitutionCoefficient(0.01)
patch.SetContactMaterialProperties(2e7, 0.3)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
# please note that wchar_t conversion requres some workaround
app = veh.ChWheeledVehicleIrrApp(my_hmmwv.GetVehicle())
app.SetSkyBox()
app.AddTypicalLights(chronoirr.vector3df(30, -30, 100), chronoirr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Initialize output
try:
os.mkdir(out_dir)
except:
print("Error creating directory " )
# Set up vehicle output
my_hmmwv.GetVehicle().SetChassisOutput(True);
my_hmmwv.GetVehicle().SetSuspensionOutput(0, True);
my_hmmwv.GetVehicle().SetSteeringOutput(0, True);
my_hmmwv.GetVehicle().SetOutput(veh.ChVehicleOutput.ASCII , out_dir, "output", 0.1);
# Generate JSON information with available output channels
my_hmmwv.GetVehicle().ExportComponentList(out_dir + "/component_list.json");
# Create the interactive driver system
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
steering_time = 1.0 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
driver.Initialize()
# Simulation loop
# Number of simulation steps between miscellaneous events
render_steps = m.ceil(render_step_size / step_size)
debug_steps = m.ceil(debug_step_size / step_size)
# Initialize simulation frame counter and simulation time
step_number = 0
render_frame = 0
if (contact_vis):
app.SetSymbolscale(1e-4);
#app.SetContactsDrawMode(chronoirr.eCh_ContactsDrawMode::CONTACT_FORCES);
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = my_hmmwv.GetSystem().GetChTime()
#End simulation
if (time >= t_end):
break
app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
#Debug logging
if (debug_output and step_number % debug_steps == 0) :
print("\n\n============ System Information ============\n")
print( "Time = " << time << "\n\n")
#my_hmmwv.DebugLog(OUT_SPRINGS | OUT_SHOCKS | OUT_CONSTRAINTS)
marker_driver = my_hmmwv.GetChassis().GetMarkers()[0].GetAbsCoord().pos
marker_com = my_hmmwv.GetChassis().GetMarkers()[1].GetAbsCoord().pos
print( "Markers\n")
print( " Driver loc: " , marker_driver.x , " " , marker_driver.y , " " , marker_driver.z)
print( " Chassis COM loc: " , marker_com.x, " ", marker_com.y, " ",marker_com.z)
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_hmmwv.Synchronize(time, driver_inputs, terrain)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
my_hmmwv.Advance(step_size)
app.Advance(step_size)
# Increment frame number
step_number += 1
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# Create the HMMWV vehicle, set parameters, and initialize
my_hmmwv = veh.HMMWV_Full()
my_hmmwv.SetContactMethod(contact_method)
my_hmmwv.SetChassisFixed(False)
my_hmmwv.SetInitPosition(
chrono.ChCoordsysD(initLoc, chrono.ChQuaternionD(1, 0, 0, 0)))
my_hmmwv.SetPowertrainType(powertrain_model)
my_hmmwv.SetDriveType(drive_type)
my_hmmwv.SetSteeringType(steering_type)
my_hmmwv.SetTireType(tire_model)
my_hmmwv.SetTireStepSize(tire_step_size)
my_hmmwv.Initialize()
my_hmmwv.SetChassisVisualizationType(chassis_vis_type)
my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type)
my_hmmwv.SetSteeringVisualizationType(steering_vis_type)
my_hmmwv.SetWheelVisualizationType(wheel_vis_type)
my_hmmwv.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_hmmwv.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), 300, 50)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the path-follower, cruise-control driver
# Use a parameterized ISO double lane change (to left)
path = veh.DoubleLaneChangePath(initLoc, 13.5, 4.0, 11.0, 50.0, True)
driver = veh.ChPathFollowerDriver(my_hmmwv.GetVehicle(), path, "my_path",
target_speed)
driver.GetSteeringController().SetLookAheadDistance(5)
driver.GetSteeringController().SetGains(0.8, 0, 0)
driver.GetSpeedController().SetGains(0.4, 0, 0)
driver.Initialize()
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(my_hmmwv.GetVehicle(), 'HMMWV',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(-60, -30, 100),
irr.vector3df(60, 30, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(chrono.ChVectorD(0.0, 0.0, 1.75), 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Visualization of controller points (sentinel & target)
ballS = app.GetSceneManager().addSphereSceneNode(0.1)
ballT = app.GetSceneManager().addSphereSceneNode(0.1)
ballS.getMaterial(0).EmissiveColor = irr.SColor(0, 255, 0, 0)
ballT.getMaterial(0).EmissiveColor = irr.SColor(0, 0, 255, 0)
# Simulation loop
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = my_hmmwv.GetSystem().GetChTime()
# End simulation
if (time >= t_end):
break
# Update sentinel and target location markers for the path-follower controller.
pS = driver.GetSteeringController().GetSentinelLocation()
pT = driver.GetSteeringController().GetTargetLocation()
ballS.setPosition(irr.vector3df(pS.x, pS.y, pS.z))
ballT.setPosition(irr.vector3df(pT.x, pT.y, pT.z))
# Draw scene
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_hmmwv.Synchronize(time, driver_inputs, terrain)
app.Synchronize("", driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
my_hmmwv.Advance(step_size)
app.Advance(step_size)
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0
# ============================================================================= import pychrono as chrono import pychrono.vehicle as veh import pychrono.irrlicht as chronoirr import numpy as np # ============================================================================= step_size = 2e-3 throttle_value = 0.3 # ============================================================================= # Create the HMMWV vehicle my_hmmwv = veh.HMMWV_Full() my_hmmwv.SetContactMethod(chrono.ChContactMethod_SMC) my_hmmwv.SetChassisFixed(False) my_hmmwv.SetInitPosition(chrono.ChCoordsysD(chrono.ChVectorD(-75, 0, 0.5),chrono.QUNIT)) my_hmmwv.SetPowertrainType(veh.PowertrainModelType_SHAFTS) my_hmmwv.SetDriveType(veh.DrivelineType_RWD) my_hmmwv.SetSteeringType(veh.SteeringType_PITMAN_ARM) my_hmmwv.SetTireType(veh.TireModelType_TMEASY) my_hmmwv.SetTireStepSize(step_size) my_hmmwv.Initialize() my_hmmwv.SetChassisVisualizationType(veh.VisualizationType_PRIMITIVES) my_hmmwv.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES) my_hmmwv.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES) my_hmmwv.SetWheelVisualizationType(veh.VisualizationType_NONE) my_hmmwv.SetTireVisualizationType(veh.VisualizationType_PRIMITIVES)
def main():
#print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")
# Create the HMMWV vehicle, set parameters, and initialize
my_hmmwv = veh.HMMWV_Full()
my_hmmwv.SetContactMethod(chrono.ChContactMethod_SMC)
my_hmmwv.SetInitPosition(
chrono.ChCoordsysD(chrono.ChVectorD(-5, -2, 0.6),
chrono.ChQuaternionD(1, 0, 0, 0)))
my_hmmwv.SetPowertrainType(veh.PowertrainModelType_SHAFTS)
my_hmmwv.SetDriveType(veh.DrivelineType_AWD)
my_hmmwv.SetTireType(veh.TireModelType_RIGID)
my_hmmwv.Initialize()
my_hmmwv.SetChassisVisualizationType(veh.VisualizationType_NONE)
my_hmmwv.SetSuspensionVisualizationType(veh.VisualizationType_PRIMITIVES)
my_hmmwv.SetSteeringVisualizationType(veh.VisualizationType_PRIMITIVES)
my_hmmwv.SetWheelVisualizationType(veh.VisualizationType_NONE)
my_hmmwv.SetTireVisualizationType(veh.VisualizationType_MESH)
# Create the (custom) driver
driver = MyDriver(my_hmmwv.GetVehicle(), 0.5)
driver.Initialize()
# Create the SCM deformable terrain patch
terrain = veh.SCMDeformableTerrain(my_hmmwv.GetSystem())
terrain.SetSoilParameters(
2e6, # Bekker Kphi
0, # Bekker Kc
1.1, # Bekker n exponent
0, # Mohr cohesive limit (Pa)
30, # Mohr friction limit (degrees)
0.01, # Janosi shear coefficient (m)
2e8, # Elastic stiffness (Pa/m), before plastic yield
3e4 # Damping (Pa s/m), proportional to negative vertical speed (optional)
)
# Optionally, enable moving patch feature (single patch around vehicle chassis)
terrain.AddMovingPatch(my_hmmwv.GetChassisBody(),
chrono.ChVectorD(0, 0,
0), chrono.ChVectorD(5, 3, 1))
# Set plot type for SCM (false color plotting)
terrain.SetPlotType(veh.SCMDeformableTerrain.PLOT_SINKAGE, 0, 0.1)
# Initialize the SCM terrain, specifying the initial mesh grid
terrain.Initialize(terrainLength, terrainWidth, delta)
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(my_hmmwv.GetVehicle(),
'HMMWV Deformable Soil Demo',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(chrono.ChVectorD(0.0, 0.0, 1.75), 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Simulation loop
while (app.GetDevice().run()):
time = my_hmmwv.GetSystem().GetChTime()
# End simulation
if (time >= 4):
break
# Draw scene
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_hmmwv.Synchronize(time, driver_inputs, terrain)
app.Synchronize("", driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
my_hmmwv.Advance(step_size)
app.Advance(step_size)
return 0
def main():
# Create systems
# Create the HMMWV vehicle, set parameters, and initialize
my_hmmwv = veh.HMMWV_Full()
my_hmmwv.SetContactMethod(contact_method)
my_hmmwv.SetChassisCollisionType(chassis_collision_type)
my_hmmwv.SetChassisFixed(False)
my_hmmwv.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
my_hmmwv.SetPowertrainType(powertrain_model)
my_hmmwv.SetDriveType(drive_type)
my_hmmwv.SetSteeringType(steering_type)
my_hmmwv.SetTireType(tire_model)
my_hmmwv.SetTireStepSize(tire_step_size)
my_hmmwv.SetVehicleStepSize(step_size)
my_hmmwv.Initialize()
#VisualizationType tire_vis_type =
# (tire_model == TireModelType::RIGID_MESH) ? VisualizationType::MESH : VisualizationType::NONE;
tire_vis_type = veh.VisualizationType_MESH # if tire_model == veh.TireModelType_RIGID_MESH else tire_vis_type = veh.VisualizationType_NONE
my_hmmwv.SetChassisVisualizationType(chassis_vis_type)
my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type)
my_hmmwv.SetSteeringVisualizationType(steering_vis_type)
my_hmmwv.SetWheelVisualizationType(wheel_vis_type)
my_hmmwv.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_hmmwv.GetSystem())
#patch = veh.Patch()
"""
switch (terrain_model) {
case RigidTerrain::BOX:
patch = terrain.AddPatch(ChCoordsys<>(ChVector<>(0, 0, terrainHeight - 5), QUNIT),
ChVector<>(terrainLength, terrainWidth, 10));
patch->SetTexture(vehicle::GetDataFile("terrain/textures/tile4.jpg"), 200, 200);
break;
case RigidTerrain::HEIGHT_MAP:
patch = terrain.AddPatch(CSYSNORM, vehicle::GetDataFile("terrain/height_maps/test64.bmp"), "test64", 128,
128, 0, 4);
patch->SetTexture(vehicle::GetDataFile("terrain/textures/grass.jpg"), 16, 16);
break;
case RigidTerrain::MESH:
patch = terrain.AddPatch(CSYSNORM, vehicle::GetDataFile("terrain/meshes/test.obj"), "test_mesh");
patch->SetTexture(vehicle::GetDataFile("terrain/textures/grass.jpg"), 100, 100);
break;
}
"""
patch = terrain.AddPatch(
chrono.ChCoordsysD(chrono.ChVectorD(0, 0, terrainHeight - 5),
chrono.QUNIT),
chrono.ChVectorD(terrainLength, terrainWidth, 10))
patch.SetContactFrictionCoefficient(0.9)
patch.SetContactRestitutionCoefficient(0.01)
patch.SetContactMaterialProperties(2e7, 0.3)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
# please note that wchar_t conversion requres some workaround
app = veh.ChWheeledVehicleIrrApp(
my_hmmwv.GetVehicle(), my_hmmwv.GetPowertrain()) #, "HMMWV Demo")
app.SetSkyBox()
app.AddTypicalLights(chronoirr.vector3df(30, -30, 100),
chronoirr.vector3df(30, 50, 100), 250, 130)
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Initialize output
try:
os.mkdir(out_dir)
except:
print("Error creating directory ")
if (povray_output):
try:
os.mkdir(pov_dir)
except:
print("Error creating POV directory ")
terrain.ExportMeshPovray(out_dir)
# Initialize output file for driver inputs
#driver_file = out_dir + "/driver_inputs.txt"
# no RECORD so far
#utils::CSV_writer driver_csv(" ");
# Set up vehicle output
my_hmmwv.GetVehicle().SetChassisOutput(True)
my_hmmwv.GetVehicle().SetSuspensionOutput(0, True)
my_hmmwv.GetVehicle().SetSteeringOutput(0, True)
my_hmmwv.GetVehicle().SetOutput(veh.ChVehicleOutput.ASCII, out_dir,
"output", 0.1)
# Generate JSON information with available output channels
my_hmmwv.GetVehicle().ExportComponentList(out_dir + "/component_list.json")
# Create the driver system
# Create the interactive driver system
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
steering_time = 1.0 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
# If in playback mode, attach the data file to the driver system and
# force it to playback the driver inputs.
if (driver_mode == "PLAYBACK"):
#driver.SetInputDataFile(driver_file)
driver.SetInputMode(veh.ChIrrGuiDriver.DATAFILE)
driver.Initialize()
# Simulation loop
"""
if (debug_output) :
GetLog() << "\n\n============ System Configuration ============\n"
my_hmmwv.LogHardpointLocations()"""
# Number of simulation steps between miscellaneous events
render_steps = m.ceil(render_step_size / step_size)
debug_steps = m.ceil(debug_step_size / step_size)
# Initialize simulation frame counter and simulation time
realtime_timer = chrono.ChRealtimeStepTimer()
step_number = 0
render_frame = 0
time = 0
if (contact_vis):
app.SetSymbolscale(1e-4)
#app.SetContactsDrawMode(chronoirr.eCh_ContactsDrawMode::CONTACT_FORCES);
while (app.GetDevice().run()):
time = my_hmmwv.GetSystem().GetChTime()
#End simulation
if (time >= t_end):
break
app.BeginScene(True, True, chronoirr.SColor(255, 140, 161, 192))
app.DrawAll()
app.AddTypicalLogo(chrono.GetChronoDataPath() +
'logo_pychrono_alpha.png')
# Output POV-Ray data
if (povray_output and step_number % render_steps == 0):
#char filename[100];
print('filename', "%s/data_%03d.dat", pov_dir.c_str(),
render_frame + 1)
#utils::WriteShapesPovray(my_hmmwv.GetSystem(), filename);
#render_frame++;
#Debug logging
if (debug_output and step_number % debug_steps == 0):
print("\n\n============ System Information ============\n")
print("Time = " << time << "\n\n")
#my_hmmwv.DebugLog(OUT_SPRINGS | OUT_SHOCKS | OUT_CONSTRAINTS)
marker_driver = my_hmmwv.GetChassis().GetMarkers()[0].GetAbsCoord(
).pos
marker_com = my_hmmwv.GetChassis().GetMarkers()[1].GetAbsCoord(
).pos
print("Markers\n")
print(" Driver loc: ", marker_driver.x, " ", marker_driver.y,
" ", marker_driver.z)
print(" Chassis COM loc: ", marker_com.x, " ", marker_com.y, " ",
marker_com.z)
# Collect output data from modules (for inter-module communication)
throttle_input = driver.GetThrottle()
steering_input = driver.GetSteering()
braking_input = driver.GetBraking()
# Driver output
"""
if (driver_mode == RECORD) {
driver_csv << time << steering_input << throttle_input << braking_input << std::endl;
}"""
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_hmmwv.Synchronize(time, steering_input, braking_input,
throttle_input, terrain)
app.Synchronize(driver.GetInputModeAsString(), steering_input,
throttle_input, braking_input)
# Advance simulation for one timestep for all modules
step = realtime_timer.SuggestSimulationStep(step_size)
driver.Advance(step)
terrain.Advance(step)
my_hmmwv.Advance(step)
app.Advance(step)
# Increment frame number
step_number += 1
app.EndScene()
"""
if (driver_mode == RECORD) {
driver_csv.write_to_file(driver_file);
}"""
return 0
def main():
print("Copyright (c) 2017 projectchrono.org" + "\n\n")
# Create systems
# Create the HMMWV vehicle, set parameters, and initialize
my_hmmwv = veh.HMMWV_Full()
my_hmmwv.SetContactMethod(contact_method)
my_hmmwv.SetChassisCollisionType(chassis_collision_type)
my_hmmwv.SetChassisFixed(False)
my_hmmwv.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))
my_hmmwv.SetPowertrainType(powertrain_model)
my_hmmwv.SetDriveType(drive_type)
my_hmmwv.SetSteeringType(steering_type)
my_hmmwv.SetTireType(tire_model)
my_hmmwv.SetTireStepSize(tire_step_size)
my_hmmwv.Initialize()
my_hmmwv.SetChassisVisualizationType(chassis_vis_type)
my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type)
my_hmmwv.SetSteeringVisualizationType(steering_vis_type)
my_hmmwv.SetWheelVisualizationType(wheel_vis_type)
my_hmmwv.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_hmmwv.GetSystem())
if (contact_method == chrono.ChContactMethod_NSC):
patch_mat = chrono.ChMaterialSurfaceNSC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
elif (contact_method == chrono.ChContactMethod_SMC):
patch_mat = chrono.ChMaterialSurfaceSMC()
patch_mat.SetFriction(0.9)
patch_mat.SetRestitution(0.01)
patch_mat.SetYoungModulus(2e7)
patch = terrain.AddPatch(patch_mat, chrono.ChVectorD(0, 0, 0),
chrono.ChVectorD(0, 0, 1), terrainLength,
terrainWidth)
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 200, 200)
patch.SetColor(chrono.ChColor(0.8, 0.8, 0.5))
terrain.Initialize()
# Create the vehicle Irrlicht interface
app = veh.ChWheeledVehicleIrrApp(my_hmmwv.GetVehicle(), 'HMMWV',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100),
irr.vector3df(30, 50, 100), 250, 130)
app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Initialize output
try:
os.mkdir(out_dir)
except:
print("Error creating directory ")
# Set up vehicle output
my_hmmwv.GetVehicle().SetChassisOutput(True)
my_hmmwv.GetVehicle().SetSuspensionOutput(0, True)
my_hmmwv.GetVehicle().SetSteeringOutput(0, True)
my_hmmwv.GetVehicle().SetOutput(veh.ChVehicleOutput.ASCII, out_dir,
"output", 0.1)
# Generate JSON information with available output channels
my_hmmwv.GetVehicle().ExportComponentList(out_dir + "/component_list.json")
# Create the interactive driver system
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
steering_time = 1.0 # time to go from 0 to +1 (or from 0 to -1)
throttle_time = 1.0 # time to go from 0 to +1
braking_time = 0.3 # time to go from 0 to +1
driver.SetSteeringDelta(render_step_size / steering_time)
driver.SetThrottleDelta(render_step_size / throttle_time)
driver.SetBrakingDelta(render_step_size / braking_time)
driver.Initialize()
# Simulation loop
# Number of simulation steps between miscellaneous events
render_steps = m.ceil(render_step_size / step_size)
debug_steps = m.ceil(debug_step_size / step_size)
# Initialize simulation frame counter and simulation time
step_number = 0
render_frame = 0
if (contact_vis):
app.SetSymbolscale(1e-4)
# app.SetContactsDrawMode(irr.eCh_ContactsDrawMode::CONTACT_FORCES);
# ---------------------------------------------
# Create a sensor manager and add a point light
# ---------------------------------------------
manager = sens.ChSensorManager(my_hmmwv.GetSystem())
manager.scene.AddPointLight(chrono.ChVectorF(0, 0, 100),
chrono.ChVectorF(2, 2, 2), 5000)
manager.SetKeyframeSizeFromTimeStep(.001, 1 / 5)
# ------------------------------------------------
# Create a camera and add it to the sensor manager
# ------------------------------------------------
fov = 1.408
lag = 0
update_rate = 5
exposure_time = 1 / update_rate
offset_pose = chrono.ChFrameD(chrono.ChVectorD(-5, 0, 2))
cam = sens.ChCameraSensor(
my_hmmwv.GetChassisBody(), # body camera is attached to
update_rate, # update rate in Hz
offset_pose, # offset pose
image_width, # image width
image_height, # image height
fov # camera's horizontal field of view
)
cam.SetName("Camera Sensor")
# cam.SetLag(0);
# cam.SetCollectionWindow(0);
# Visualizes the image
if vis:
cam.PushFilter(
sens.ChFilterVisualize(image_width, image_height, "HMMWV Camera"))
# Save the current image to a png file at the specified path
if save:
cam.PushFilter(sens.ChFilterSave(out_dir + "cam/"))
# Add a camera to a sensor manager
manager.AddSensor(cam)
# ----------------------------------------------
# Create an IMU sensor and add it to the manager
# ----------------------------------------------
offset_pose = chrono.ChFrameD(
chrono.ChVectorD(-8, 0, 1),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0)))
imu = sens.ChIMUSensor(
my_hmmwv.GetChassisBody(), # body imu is attached to
imu_update_rate, # update rate in Hz
offset_pose, # offset pose
imu_noise_none # noise model
)
imu.SetName("IMU Sensor")
imu.SetLag(imu_lag)
imu.SetCollectionWindow(imu_collection_time)
# Provides the host access to the imu data
imu.PushFilter(sens.ChFilterIMUAccess())
# Add the imu to the sensor manager
manager.AddSensor(imu)
# ----------------------------------------------
# Create an GPS sensor and add it to the manager
# ----------------------------------------------
offset_pose = chrono.ChFrameD(
chrono.ChVectorD(-8, 0, 1),
chrono.Q_from_AngAxis(0, chrono.ChVectorD(0, 1, 0)))
gps = sens.ChGPSSensor(
my_hmmwv.GetChassisBody(), # body imu is attached to
gps_update_rate, # update rate in Hz
offset_pose, # offset pose
gps_reference,
gps_noise_none # noise model
)
gps.SetName("GPS Sensor")
gps.SetLag(gps_lag)
gps.SetCollectionWindow(gps_collection_time)
# Provides the host access to the gps data
gps.PushFilter(sens.ChFilterGPSAccess())
# Add the gps to the sensor manager
manager.AddSensor(gps)
realtime_timer = chrono.ChRealtimeStepTimer()
while (app.GetDevice().run()):
time = my_hmmwv.GetSystem().GetChTime()
#End simulation
if (time >= t_end):
break
if (step_number % render_steps == 0):
app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))
app.DrawAll()
app.EndScene()
#Debug logging
if (debug_output and step_number % debug_steps == 0):
print("\n\n============ System Information ============\n")
print("Time = " << time << "\n\n")
#my_hmmwv.DebugLog(OUT_SPRINGS | OUT_SHOCKS | OUT_CONSTRAINTS)
marker_driver = my_hmmwv.GetChassis().GetMarkers()[0].GetAbsCoord(
).pos
marker_com = my_hmmwv.GetChassis().GetMarkers()[1].GetAbsCoord(
).pos
print("Markers\n")
print(" Driver loc: ", marker_driver.x, " ", marker_driver.y,
" ", marker_driver.z)
print(" Chassis COM loc: ", marker_com.x, " ", marker_com.y, " ",
marker_com.z)
# Get driver inputs
driver_inputs = driver.GetInputs()
# Update modules (process inputs from other modules)
driver.Synchronize(time)
terrain.Synchronize(time)
my_hmmwv.Synchronize(time, driver_inputs, terrain)
app.Synchronize(driver.GetInputModeAsString(), driver_inputs)
# Advance simulation for one timestep for all modules
driver.Advance(step_size)
terrain.Advance(step_size)
my_hmmwv.Advance(step_size)
app.Advance(step_size)
# Update sensor manager
# Will render/save/filter automatically
manager.Update()
# Increment frame number
step_number += 1
# Spin in place for real time to catch up
realtime_timer.Spin(step_size)
return 0