mr = chrono.ChMatrix33D() mr[0,0]=-0.841992572625772; mr[1,0]=0; mr[2,0]=0.539489117260983 mr[0,1]=-0.539489117260985; mr[1,1]=0; mr[2,1]=-0.841992572625771 mr[0,2]=0; mr[1,2]=-1; mr[2,2]=0 body_2.GetCollisionModel().AddBox(0.00239999309720335,0.00250923730353967,0.00280857758415823,chrono.ChVectorD(-0.0401200925870508,0.0350388268103799,-0.178717071200898),mr) mr = chrono.ChMatrix33D() mr[0,0]=0.529523859525646; mr[1,0]=0; mr[2,0]=0.848295044305379 mr[0,1]=-0.848295044305379; mr[1,1]=0; mr[2,1]=0.529523859525645 mr[0,2]=0; mr[1,2]=-1; mr[2,2]=0 body_2.GetCollisionModel().AddBox(0.00250923730353971,0.00239999309720335,0.00280857758415823,chrono.ChVectorD(-0.0494110785736743,0.0350388268103799,-0.172841038928428),mr) mr = chrono.ChMatrix33D() mr[0,0]=0.845149386603263; mr[1,0]=0; mr[2,0]=-0.53453018092913 mr[0,1]=0.534530180929129; mr[1,1]=0; mr[2,1]=0.845149386603264 mr[0,2]=0; mr[1,2]=-1; mr[2,2]=0 body_2.GetCollisionModel().AddBox(0.00350000000000001,0.0243835708612008,0.00280857758415823,chrono.ChVectorD(-0.0224331359558976,0.0350388268103799,-0.140469187277248),mr) pt_vect = chrono.vector_ChVectorD() pt_vect.push_back(chrono.ChVectorD(0.0521295297003961,0.0258474043945381,-0.109787208704166)) pt_vect.push_back(chrono.ChVectorD(0.0585680663475354,0.0258474043945381,-0.13676931754083)) pt_vect.push_back(chrono.ChVectorD(0.0702403529187583,0.0258474043945381,-0.133984048038744)) pt_vect.push_back(chrono.ChVectorD(0.0633542807043835,0.0258474043945381,-0.10512644263427)) pt_vect.push_back(chrono.ChVectorD(0.0521295297003961,0.0398474043945381,-0.109787208704166)) pt_vect.push_back(chrono.ChVectorD(0.0585680663475354,0.0398474043945381,-0.13676931754083)) pt_vect.push_back(chrono.ChVectorD(0.0702403529187583,0.0398474043945381,-0.133984048038744)) pt_vect.push_back(chrono.ChVectorD(0.0633542807043835,0.0398474043945381,-0.10512644263427)) body_2.GetCollisionModel().AddConvexHull(pt_vect) pt_vect = chrono.vector_ChVectorD() pt_vect.push_back(chrono.ChVectorD(-0.0448398581045523,0.0258474043945381,-0.0794862238349664)) pt_vect.push_back(chrono.ChVectorD(-0.0362924460942842,0.0258474043945381,-0.0879089162742476)) pt_vect.push_back(chrono.ChVectorD(-0.0169874992605579,0.0258474043945381,-0.0683181101735014)) pt_vect.push_back(chrono.ChVectorD(-0.026134463034664,0.0258474043945381,-0.0605038474001435)) pt_vect.push_back(chrono.ChVectorD(-0.0448398581045523,0.0398474043945381,-0.0794862238349664))
# Chrono::Engine Python script from SolidWorks
# Assembly: C:\tasora\code\dynamics\papers\contact_rolling\plots\conveyor\assembly_conveyor.SLDASM
import ChronoEngine_PYTHON_core as chrono
import builtins
shapes_dir = 'cad_conveyor_shapes/'
if hasattr(builtins, 'exported_system_relpath'):
shapes_dir = builtins.exported_system_relpath + shapes_dir
exported_items = []
body_0= chrono.ChBodyAuxRefShared()
body_0.SetName('ground')
body_0.SetBodyFixed(1)
exported_items.append(body_0)
# Rigid body part
body_1= chrono.ChBodyAuxRefShared()
body_1.SetName('conveyor^assembly_conveyor-1')
body_1.SetPos(chrono.ChVectorD(-1.5,1,0))
body_1.SetRot(chrono.ChQuaternionD(1,0,0,0))
body_1.SetMass(62.5596464664722)
body_1.SetInertiaXX(chrono.ChVectorD(2.4969698065779,43.2055331519538,41.4723890032672))
body_1.SetInertiaXY(chrono.ChVectorD(-0.00109264755200904,4.73037407855426e-16,-5.11743425413158e-17))
body_1.SetFrame_COG_to_REF(chrono.ChFrameD(chrono.ChVectorD(-0.000365893287965613,-0.0560030560102842,-3.54932640234839e-18),chrono.ChQuaternionD(1,0,0,0)))
body_1.SetBodyFixed(1)
# Visualization shape
# Chrono::Engine Python script from SolidWorks
# Assembly: C:\Program Files\SolidWorks Corp\SolidWorks\chronoengine\examples\collisions\portal.SLDASM
import ChronoEngine_PYTHON_core as chrono
import builtins
shapes_dir = 'collisions_shapes/'
if hasattr(builtins, 'exported_system_relpath'):
shapes_dir = builtins.exported_system_relpath + shapes_dir
exported_items = []
body_0 = chrono.ChBodyAuxRefShared()
body_0.SetName('ground')
body_0.SetBodyFixed(1)
exported_items.append(body_0)
# Rigid body part
body_1 = chrono.ChBodyAuxRefShared()
body_1.SetName('column-1')
body_1.SetPos(chrono.ChVectorD(0.1, 0.1, -2.77555756156289e-17))
body_1.SetRot(chrono.ChQuaternionD(1, 0, 0, 0))
body_1.SetMass(5.94162890340754)
body_1.SetInertiaXX(
chrono.ChVectorD(0.0828656280407889, 0.0140634491293917,
0.0828656280407889))
body_1.SetInertiaXY(
chrono.ChVectorD(7.3359262007676e-38, -3.61798264958413e-19,
-2.89120579226739e-18))
body_1.SetFrame_COG_to_REF(
print(" file to load is ", m_filename)
print(" timestep is ", m_timestep)
print(" length is ", m_length)
# ---------------------------------------------------------------------
#
# load the file generated by the SolidWorks CAD plugin
# and add it to the ChSystem.
#
# This is usually done as
# from my_module import exported_items
# but here is 'my_module' is a string, so there's a workaround with 'exec'
print("Loading C::E scene...")
exported_items = chrono.ImportSolidWorksSystem(modulename)
print("...loading done!")
# Print exported items
for my_item in exported_items:
print(my_item.GetName())
# Add items to the physical system
my_system = chrono.ChSystem()
for my_item in exported_items:
my_system.Add(my_item)
# ---------------------------------------------------------------------
#
# Render a short animation by generating scripts
def main():
pass
if __name__ == '__main__':
main()
print ("First tutorial about Chrono::Engine in Python");
# Load the Chrono::Engine unit!!!
import ChronoEngine_PYTHON_core as chrono
# Test logging
chrono.GetLog().Bar()
chrono.GetLog() << "result is: " << 11+1.5 << "\n"
chrono.GetLog().Bar()
# Test vectors
my_vect1 = chrono.ChVectorD()
my_vect1.x=5
my_vect1.y=2
my_vect1.z=3
my_vect2 = chrono.ChVectorD(3,4,5)
my_vect4 = my_vect1*10 + my_vect2
my_len = my_vect4.Length()
print ('vect sum =', my_vect1 + my_vect2)
print ('vect cross =', my_vect1 % my_vect2)
print ('vect dot =', my_vect1 ^ my_vect2)
# Load the Chrono::Engine unit and the postprocessing unit!!! import ChronoEngine_PYTHON_core as chrono import ChronoEngine_PYTHON_postprocess as postprocess import ChronoEngine_PYTHON_irrlicht as chronoirr # We will create two directories for saving some files, we need this: import os import math # --------------------------------------------------------------------- # # Create the simulation system and add items # my_system = chrono.ChSystem() # Set the default outward/inward shape margins for collision detection, # this is epecially important for very large or very small objects. chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001) chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001) # Maybe you want to change some settings for the solver. For example you # might want to use SetIterLCPmaxItersSpeed to set the number of iterations # per timestep, etc. #my_system.SetLcpSolverType(chrono.ChSystem.LCP_ITERATIVE_BARZILAIBORWEIN) # precise, more slow my_system.SetIterLCPmaxItersSpeed(70) # Create a contact material (surface property)to share between all objects. # The rolling and spinning parameters are optional - if enabled they double
if __name__ == '__main__':
main()
import os
import math
import ChronoEngine_PYTHON_core as chrono
import ChronoEngine_PYTHON_postprocess as postprocess
# ---------------------------------------------------------------------
#
# Create the simulation system.
# (Do not create parts and constraints programmatically here, we will
# load a mechanism from file)
my_system = chrono.ChSystem()
# Set the collision margins. This is expecially important for very large or
# very small objects (as in this example)! Do this before creating shapes.
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
# ---------------------------------------------------------------------
#
# load the file generated by the SolidWorks CAD plugin
# and add it to the ChSystem
#
print("Loading C::E scene...")
exported_items = chrono.ImportSolidWorksSystem(
import os
import imp
import math
import matplotlib
import csv
import random
import numpy as np
import matplotlib.cm as cm
import matplotlib.mlab as mlab
import matplotlib.pyplot as plt
import sys
#from PyQt4 import QtGui, QtCore
# Create a physical system,
my_system = chrono.ChSystem()
# Set the default outward/inward shape margins for collision detection,
# this is epecially important for very large or very small objects.
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.005)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.005)
# Load the CAD file
exported_items = chrono.ImportSolidWorksSystem('cad_conveyor')
# Add items to the physical system
my_system = chrono.ChSystem()
for my_item in exported_items:
my_system.Add(my_item)
main()
import os
import math
import ChronoEngine_PYTHON_core as chrono
import ChronoEngine_PYTHON_postprocess as postprocess
import ChronoEngine_PYTHON_irrlicht as chronoirr
print("Example: create a system and visualize it in realtime 3D")
# ---------------------------------------------------------------------
#
# Create the simulation system and add items
#
mysystem = chrono.ChSystem()
# Create rigid body
mbody1 = chrono.ChBodyShared()
mbody1.SetBodyFixed(False)
mysystem.Add(mbody1)
mboxasset = chrono.ChBoxShapeShared()
mboxasset.GetBoxGeometry().Size = chrono.ChVectorD(0.2, 0.5, 0.1)
mbody1.AddAsset(mboxasset)
mboxtexture = chrono.ChTextureShared()
mboxtexture.SetTextureFilename('../data/concrete.jpg')
mbody1.GetAssets().push_back(mboxtexture)
m_filename = ""
m_timestep = 0.001
m_length = 4.0
# ---------------------------------------------------------------------
#
# load the file generated by the SolidWorks CAD plugin
# and add it to the ChSystem.
#
# This is usually done as
# from my_module import exported_items
# but here is 'my_module' is a string, so there's a workaround with 'exec'
print("Loading C::E scene...")
exported_items = chrono.ImportSolidWorksSystem('collisions')
print("...loading done!")
# Print exported items
for my_item in exported_items:
print(my_item.GetName())
# Add items to the physical system
my_system = chrono.ChSystem()
for my_item in exported_items:
my_system.Add(my_item)
# TRICKS
# Set the default outward/inward shape margins for collision detection,
pass
if __name__ == '__main__':
main()
# Load the Chrono::Engine unit and the postprocessing unit!!!
import ChronoEngine_PYTHON_core as chrono
import ChronoEngine_PYTHON_postprocess as postprocess
# We will create two directories for saving some files, we need this:
import os
# Create a physical system,
my_system = chrono.ChSystem()
# Set the default margins for collision detection, this is epecially
# important for very large or very small objects.
chrono.ChCollisionModel.SetDefaultSuggestedEnvelope(0.001)
chrono.ChCollisionModel.SetDefaultSuggestedMargin(0.001)
# Create the set of the particle clones (many rigid bodies that
# share the same mass and collision shape, so they are memory efficient
# in case you want to simulate granular material)
body_particles = chrono.ChParticlesClonedShared()
body_particles.SetMass(0.01);
#-------------------------------------------------------------------------------
#!/usr/bin/env python
def main():
pass
if __name__ == '__main__':
main()
# Load the Chrono::Engine unit!!!
import ChronoEngine_PYTHON_core as chrono
# Create a physical system,
my_system = chrono.ChSystem()
# Add two bodies
my_shbodyA = chrono.ChBodyShared()
my_shbodyA.SetMass(20)
my_shbodyA.SetInertiaXX(chrono.ChVectorD(10, 10, 10))
print(my_shbodyA.GetXInertia())
my_shbodyA.SetPos(chrono.ChVectorD(1, -1, 0))
my_shbodyA.GetCollisionModel().AddBox(10, 1, 10)
my_shbodyA.SetBodyFixed(1)
my_shbodyA.SetCollide(1)
my_shbodyB = chrono.ChBodyShared()
my_shbodyB.SetPos(chrono.ChVectorD(0, 2, 0))
my_shbodyB.GetCollisionModel().AddBox(1, 1, 1)
my_shbodyB.SetCollide(1)
# Chrono::Engine Python script from SolidWorks
# Assembly: C:\tasora\lavori\orologio_audemar\CAD_swiss_escapement\escapement.SLDASM
import ChronoEngine_PYTHON_core as chrono
import builtins
shapes_dir = 'swiss_escapement_shapes/'
if hasattr(builtins, 'exported_system_relpath'):
shapes_dir = builtins.exported_system_relpath + shapes_dir
exported_items = []
body_0= chrono.ChBodyAuxRefShared()
body_0.SetName('ground')
body_0.SetBodyFixed(1)
exported_items.append(body_0)
# Rigid body part
body_1= chrono.ChBodyAuxRefShared()
body_1.SetName('escape_wheel^escapement-1')
body_1.SetPos(chrono.ChVectorD(0,0.000381819559584939,0))
body_1.SetRot(chrono.ChQuaternionD(0,0,0.707106781186548,0.707106781186547))
body_1.SetMass(0.385093622816182)
body_1.SetInertiaXX(chrono.ChVectorD(0.000614655341550614,0.00114774663635329,0.000614655341550614))
body_1.SetInertiaXY(chrono.ChVectorD(1.04945260437012e-19,-5.29910899706164e-19,5.85921324575995e-19))
body_1.SetFrame_COG_to_REF(chrono.ChFrameD(chrono.ChVectorD(-1.29340068058665e-17,4.10138104133823e-17,0.00633921901294084),chrono.ChQuaternionD(1,0,0,0)))
# Visualization shape
body_1_1_shape = chrono.ChObjShapeFileShared()
def main():
pass
if __name__ == '__main__':
main()
# Load the Chrono::Engine unit and the postprocessing unit!!!
import ChronoEngine_PYTHON_core as chrono
import ChronoEngine_PYTHON_postprocess as postprocess
# We will create two directories for saving some files, we need this:
import os
# Create a physical system,
my_system = chrono.ChSystem()
my_systemB = my_system
my_system.SetTol(2)
print(my_systemB.GetTol())
# Create a body
body_1 = chrono.ChBodyAuxRefShared()
my_system.Add(body_1)
# Attach a visualization asset to the body (a Wavefront .obj mesh)
myasset = chrono.ChSphereShapeShared()
myasset.GetSphereGeometry().rad = 0.2
body_1.GetAssets().push_back(myasset)
# Assets can be shared, ex. to save memory...
body_2 = chrono.ChBodyAuxRefShared()
import sys, getopt, imp
import ChronoEngine_PYTHON_core as chrono
import ChronoEngine_PYTHON_postprocess as postprocess
m_timestep = 0.01
m_length = 1.0
# ---------------------------------------------------------------------
#
# load the file generated by the SolidWorks CAD plugin
# and add it to the ChSystem.
#
print("Loading C::E scene...")
exported_items = chrono.ImportSolidWorksSystem('engine4c')
print("...loading done!")
# Print exported items
for my_item in exported_items:
print(my_item.GetName())
# Add items to the physical system
my_system = chrono.ChSystem()
for my_item in exported_items:
my_system.Add(my_item)
# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
# SOME MODIFICATIONS....