patch = terrain.AddPatch(patch_mat,
chrono.ChVectorD(0, 0, 0), chrono.ChVectorD(0, 0, 1),
600, 600)
patch.SetColor(chrono.ChColor(0.8, 0.8, 1.0))
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 1200, 1200)
terrain.Initialize()
# -------------------------------------
# Create the vehicle Irrlicht interface
# Create the driver system
# -------------------------------------
app = veh.ChWheeledVehicleIrrApp(gator.GetVehicle(), 'Gator', irr.dimension2du(1000,800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(+130, +130, 150), irr.vector3df(-130, +130, 150), 120,
120, irr.SColorf(0.7, 0.7, 0.7, 1.0), irr.SColorf(0.7, 0.7, 0.7, 1.0))
app.AddTypicalLights(irr.vector3df(+130, -130, 150), irr.vector3df(-130, -130, 150), 120,
120, irr.SColorf(0.7, 0.7, 0.7, 1.0), irr.SColorf(0.7, 0.7, 0.7, 1.0))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# 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
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
True)
myapplication.AddTypicalSky()
myapplication.AddTypicalLogo(
chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
myapplication.AddTypicalCamera(chronoirr.vector3df(2.0, 1.4, 0.0),
chronoirr.vector3df(0, tire_rad, 0))
myapplication.AddTypicalLights()
myapplication.AddLightWithShadow(
chronoirr.vector3df(1.5, 5.5, -2.5), # point
chronoirr.vector3df(0, 0, 0), # aim point
3, # radius (power)
2.2,
7.2, # near, far
40, # angle of FOV
512, # resoluition
chronoirr.SColorf(0.8, 0.8, 1)) # light color
myapplication.AssetBindAll()
myapplication.AssetUpdateAll()
myapplication.AddShadowAll()
# ------------------
# Run the simulation
# ------------------
myapplication.SetTimestep(0.002)
while (myapplication.GetDevice().run()):
myapplication.BeginScene()
myapplication.GetSceneManager().getActiveCamera().setTarget(
chronoirr.vector3dfCH(body.GetPos()))
myapplication.DrawAll()
chrono.ChVectorD(0, 0, 1), 600, 600)
patch.SetColor(chrono.ChColor(0.8, 0.8, 1.0))
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 1200, 1200)
terrain.Initialize()
# -------------------------------------
# Create the vehicle Irrlicht interface
# Create the driver system
# -------------------------------------
app = veh.ChWheeledVehicleIrrApp(uaz.GetVehicle(), 'UAZBUS',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(+130, +130, 150),
irr.vector3df(-130, +130, 150), 120, 120,
irr.SColorf(0.7, 0.7, 0.7, 1.0),
irr.SColorf(0.7, 0.7, 0.7, 1.0))
app.AddTypicalLights(irr.vector3df(+130, -130, 150),
irr.vector3df(-130, -130, 150), 120, 120,
irr.SColorf(0.7, 0.7, 0.7, 1.0),
irr.SColorf(0.7, 0.7, 0.7, 1.0))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Create the interactive driver system
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
patch.SetContactRestitutionCoefficient(0.01)
patch.SetContactMaterialProperties(2e7, 0.3)
patch.SetColor(chrono.ChColor(0.8, 0.8, 1.0))
patch.SetTexture(veh.GetDataFile("terrain/textures/tile4.jpg"), 1200, 1200)
terrain.Initialize()
# -------------------------------------
# Create the vehicle Irrlicht interface
# Create the driver system
# -------------------------------------
app = veh.ChWheeledVehicleIrrApp(uaz.GetVehicle()) #, "UAZBUS demo")
app.SetSkyBox()
app.AddTypicalLights(chronoirr.vector3df(+130, +130, 150),
chronoirr.vector3df(-130, +130, 150), 120, 120,
chronoirr.SColorf(0.7, 0.7, 0.7, 1.0),
chronoirr.SColorf(0.7, 0.7, 0.7, 1.0))
app.AddTypicalLights(chronoirr.vector3df(+130, -130, 150),
chronoirr.vector3df(-130, -130, 150), 120, 120,
chronoirr.SColorf(0.7, 0.7, 0.7, 1.0),
chronoirr.SColorf(0.7, 0.7, 0.7, 1.0))
app.SetChaseCamera(trackPoint, 6.0, 0.5)
app.SetTimestep(step_size)
app.AssetBindAll()
app.AssetUpdateAll()
# Create the interactive driver system
driver = veh.ChIrrGuiDriver(app)
# Set the time response for steering and throttle keyboard inputs.
# THE VISUALIZATION SYSTEM
#
# Create the Irrlicht visualization (open the Irrlicht device,
# bind a simple user interface, etc. etc.)
application = chronoirr.ChIrrApp(mphysicalSystem, "Motors",
chronoirr.dimension2du(800, 600), False)
# Easy shortcuts to add camera, lights, logo and sky in Irrlicht scene:
application.AddTypicalLogo()
application.AddTypicalSky()
application.AddTypicalLights()
application.AddTypicalCamera(chronoirr.vector3df(1, 3, -7))
application.AddLightWithShadow(chronoirr.vector3df(20.0, 35.0, -25.0),
chronoirr.vector3df(0, 0, 0), 55, 20, 55, 35,
512, chronoirr.SColorf(0.6, 0.8, 1.0))
# Use this function for adding a ChIrrNodeAsset to all items
# Otherwise use application.AssetBind(myitem) on a per-item basis.
application.AssetBindAll()
# Use this function for 'converting' assets into Irrlicht meshes
application.AssetUpdateAll()
# This is to enable shadow maps (shadow casting with soft shadows) in Irrlicht
# for all objects (or use application.AddShadow(..) for enable shadow on a per-item basis)
application.AddShadowAll()
#
# THE SOFT-REAL-TIME CYCLE
#
my_system = chrono.ChSystemSMC()
# Create the Irrlicht visualization (open the Irrlicht device,
# bind a simple user interface, etc. etc.)
application = chronoirr.ChIrrApp(my_system, "FEA contacts",
chronoirr.dimension2du(1024, 768), False,
True)
# Easy shortcuts to add camera, lights, logo and sky in Irrlicht scene:
application.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))
application.AddTypicalSky()
application.AddTypicalLights()
application.AddTypicalCamera(chronoirr.vector3df(0, 0.6, -1))
application.AddLightWithShadow(chronoirr.vector3df(1.5, 5.5, -2.5),
chronoirr.vector3df(0, 0, 0), 3, 2.2, 7.2, 40,
512, chronoirr.SColorf(1, 1, 1))
application.SetContactsDrawMode(chronoirr.ChIrrTools.CONTACT_DISTANCES)
#
# CREATE THE PHYSICAL SYSTEM
#
# Set default effective radius of curvature for all SCM contacts.
chrono.ChCollisionInfo.SetDefaultEffectiveCurvatureRadius(1)
# collision::ChCollisionModel::SetDefaultSuggestedEnvelope(0.0) # not needed, already 0 when using ChSystemSMC
chrono.ChCollisionModel.SetDefaultSuggestedMargin(
0.006
) # max inside penetration - if not enough stiffness in material: troubles