def __init__(self,
configuration,
visualization: bool = False,
output: Optional = None) -> None:
# TODO a copy of the configuration is better
self._conf = configuration
self._visualization = visualization
self._output = output
self._app = None
# TODO not sure about the meaning of theese two parameters, take them from the configuation
chrono.ChCollisionInfo.SetDefaultEffectiveCurvatureRadius(1)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.006)
# TODO look into the parameters of the system
# e.g. MinBounceSpeed, Gravity
self._system = chrono.ChSystemSMC()
if self._visualization:
# TODO take the data path, the title, the dimension and do_[something] from the configuration
chrono.SetChronoDataPath(
"/home/gianluca/anaconda3/envs/chrono/share/chrono/data/")
self._app = irr.ChIrrApp(
self._system,
"Artificial Skin",
irr.dimension2du(1024, 768),
do_fullscreen=False,
do_shadows=True,
do_antialias=True,
)
self._app.AddTypicalSky()
self._app.AddTypicalLights()
# TODO take the info for the came and lighs from the configuation
self._app.AddTypicalCamera(irr.vector3df(-1, -1, 0),
irr.vector3df(0, 0, 0))
# TODO this has too many parameters and it is not that important
self._app.AddLightWithShadow(
irr.vector3df(1.5, 5.5, -2.5),
irr.vector3df(0, 0, 0),
3,
2.2,
7.2,
40,
512,
irr.SColorf(1, 1, 1),
)
self._app.AddShadowAll()
self._app.SetTimestep(0.004)
self._make_sheets()
self._make_sensors()
# TODO make the load class -> it takes a node / pair of indexes and time and return the force
self._add_forces()
# TODO look at all the parameters of the solver and the stepper
# TODO consider also mkl.ChSolverMKL
# TODO take the parameters from the configuration
self._solver = chrono.ChSolverMINRES()
self._system.SetSolver(self._solver)
self._solver.SetMaxIterations(1000)
self._solver.SetTolerance(1e-12)
self._solver.EnableDiagonalPreconditioner(True)
self._solver.SetVerbose(
False) # don't take this from the configuration
# HHT implicit integrator for II order systems, adaptive
# TODO take the parameters from the configuaration
self._stepper = chrono.ChTimestepperHHT(self._system)
self._system.SetTimestepper(self._stepper)
self._stepper.SetAlpha(-0.2)
self._stepper.SetMaxiters(100)
self._stepper.SetAbsTolerances(1e-5)
self._stepper.SetMode(chrono.ChTimestepperHHT.POSITION)
self._stepper.SetScaling(True)
# TODO from configuarion
# length of the simulation
self._life = 5 # seconds
mvisualizemeshD.SetColorscaleMinMax(-0.5, 5)
mvisualizemeshD.SetZbufferHide(False)
my_mesh.AddAsset(mvisualizemeshD)
application.AssetBindAll()
application.AssetUpdateAll()
# Perform a dynamic time integration:
solver = chrono.ChSolverMINRES()
my_system.SetSolver(solver)
solver.SetMaxIterations(1000)
solver.SetTolerance(1e-10)
solver.EnableDiagonalPreconditioner(True)
solver.SetVerbose(False)
mystepper = chrono.ChTimestepperHHT(my_system)
my_system.SetTimestepper(mystepper)
mystepper.SetAlpha(-0.2)
mystepper.SetMaxiters(100)
mystepper.SetAbsTolerances(1e-5)
mystepper.SetMode(chrono.ChTimestepperHHT.POSITION)
mystepper.SetScaling(True)
application.SetTimestep(0.004)
while application.GetDevice().run():
application.BeginScene()
application.DrawAll()
application.DoStep()
application.EndScene()