def AddFallingItems(sys):
# Shared contact materials for falling objects
mat = chrono.ChMaterialSurfaceSMC()
# Create falling rigid bodies (spheres and boxes etc.)
for ix in range(-2, 3):
for iz in range(-2, 3):
# add spheres
mass = 1
radius = 1.1
body = chrono.ChBody()
comp = (2.0 / 5.0) * mass * radius**2
body.SetInertiaXX(chrono.ChVectorD(comp, comp, comp))
body.SetMass(mass)
body.SetPos(chrono.ChVectorD(4.0 * ix + 0.1, 4.0, 4.0 * iz))
body.GetCollisionModel().ClearModel()
body.GetCollisionModel().AddSphere(mat, radius)
body.GetCollisionModel().BuildModel()
body.SetCollide(True)
sphere = chrono.ChSphereShape()
sphere.GetSphereGeometry().rad = radius
body.AddAsset(sphere)
texture = chrono.ChTexture()
texture.SetTextureFilename(
chrono.GetChronoDataFile("textures/bluewhite.png"))
body.AddAsset(texture)
sys.AddBody(body)
# add boxes
mass = 1
hsize = chrono.ChVectorD(0.75, 0.75, 0.75)
body = chrono.ChBody()
body.SetMass(mass)
body.SetPos(chrono.ChVectorD(4.0 * ix, 6.0, 4.0 * iz))
body.GetCollisionModel().ClearModel()
body.GetCollisionModel().AddBox(mat, hsize.x, hsize.y, hsize.z)
body.GetCollisionModel().BuildModel()
body.SetCollide(True)
box = chrono.ChBoxShape()
box.GetBoxGeometry().Size = hsize
body.AddAsset(box)
texture = chrono.ChTexture()
texture.SetTextureFilename(
chrono.GetChronoDataFile("textures/pinkwhite.png"))
body.AddAsset(texture)
sys.AddBody(body)
tire_vis_type = veh.VisualizationType_MESH # : VisualizationType::PRIMITIVES
my_bus.SetChassisVisualizationType(chassis_vis_type)
my_bus.SetSuspensionVisualizationType(suspension_vis_type)
my_bus.SetSteeringVisualizationType(steering_vis_type)
my_bus.SetWheelVisualizationType(wheel_vis_type)
my_bus.SetTireVisualizationType(tire_vis_type)
# Create the terrain
terrain = veh.RigidTerrain(my_bus.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_bus.GetVehicle(), 'Citybus',
irr.dimension2du(1000, 800))
app.SetSkyBox()
app.AddTypicalLights(irr.vector3df(30, -30, 100), irr.vector3df(30, 50, 100),
b_mat.SetFriction(0.5)
o_mat = chrono.ChMaterialSurfaceNSC()
o_mat.SetRestitution(0.9)
o_mat.SetFriction(0.4)
ground_mat = g_mat
ball_mat = b_mat
obst_mat = o_mat
time_step = 1e-3
frame_skip = 10
else: # use SMC contact method
sys = chrono.ChSystemSMC()
g_mat = chrono.ChMaterialSurfaceSMC()
g_mat.SetRestitution(0.9)
g_mat.SetFriction(0.4)
b_mat = chrono.ChMaterialSurfaceSMC()
b_mat.SetRestitution(0.9)
b_mat.SetFriction(0.5)
o_mat = chrono.ChMaterialSurfaceSMC()
o_mat.SetRestitution(0.9)
o_mat.SetFriction(0.4)
ground_mat = g_mat
ball_mat = b_mat
obst_mat = o_mat
time_step = 1e-4
frame_skip = 100
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)
# Create motor
motor = chrono.ChLinkMotorRotationAngle()
def AddContainer(sys):
# The fixed body (5 walls)
fixedBody = chrono.ChBody()
fixedBody.SetMass(1.0)
fixedBody.SetBodyFixed(True)
fixedBody.SetPos(chrono.ChVectorD())
fixedBody.SetCollide(True)
# Contact material for container
fixed_mat = chrono.ChMaterialSurfaceSMC()
fixedBody.GetCollisionModel().ClearModel()
AddContainerWall(fixedBody, fixed_mat, chrono.ChVectorD(20, 1, 20),
chrono.ChVectorD(0, -5, 0))
AddContainerWall(fixedBody, fixed_mat, chrono.ChVectorD(1, 10, 20.99),
chrono.ChVectorD(-10, 0, 0))
AddContainerWall(fixedBody, fixed_mat, chrono.ChVectorD(1, 10, 20.99),
chrono.ChVectorD(10, 0, 0))
AddContainerWall(fixedBody, fixed_mat, chrono.ChVectorD(20.99, 10, 1),
chrono.ChVectorD(0, 0, -10), False)
AddContainerWall(fixedBody, fixed_mat, chrono.ChVectorD(20.99, 10, 1),
chrono.ChVectorD(0, 0, 10))
fixedBody.GetCollisionModel().BuildModel()
texture = chrono.ChTexture()
texture.SetTextureFilename(
chrono.GetChronoDataFile("textures/concrete.jpg"))
fixedBody.AddAsset(texture)
sys.AddBody(fixedBody)
# The rotating mixer body
rotatingBody = chrono.ChBody()
rotatingBody.SetMass(10.0)
rotatingBody.SetInertiaXX(chrono.ChVectorD(50, 50, 50))
rotatingBody.SetPos(chrono.ChVectorD(0, -1.6, 0))
rotatingBody.SetCollide(True)
# Contact material for mixer body
rot_mat = chrono.ChMaterialSurfaceSMC()
hsize = chrono.ChVectorD(5, 2.75, 0.5)
rotatingBody.GetCollisionModel().ClearModel()
rotatingBody.GetCollisionModel().AddBox(rot_mat, hsize.x, hsize.y, hsize.z)
rotatingBody.GetCollisionModel().BuildModel()
box = chrono.ChBoxShape()
box.GetBoxGeometry().Size = hsize
rotatingBody.AddAsset(box)
rotatingBody.AddAsset(texture)
sys.AddBody(rotatingBody)
# A motor between the two
my_motor = chrono.ChLinkMotorRotationSpeed()
my_motor.Initialize(
rotatingBody, fixedBody,
chrono.ChFrameD(chrono.ChVectorD(0, 0, 0),
chrono.Q_from_AngAxis(chrono.CH_C_PI_2,
chrono.VECT_X)))
mfun = chrono.ChFunction_Const(chrono.CH_C_PI / 2.0) # speed w=90°/s
my_motor.SetSpeedFunction(mfun)
sys.AddLink(my_motor)
return rotatingBody
cloth_radius,
NNODES_ANGLE,
NNODES_LENGTH,
NEIGHBOURS,
cloth_material,
node_mass,
sleeve_thickness,
alphadamp,
shift_z=-bb_dz / 2. - offset)
# Set the rest position as the actual position
sleeve.relax()
cloth_mesh = sleeve.get_mesh()
# Add a contact surface mesh with material properties
contact_material = chrono.ChMaterialSurfaceSMC()
# contact_material.SetFriction(0.1)
# contact_material.SetAdhesion(0.5)
contact_material.SetYoungModulus(30e5)
sphere_swept_thickness = 0.008
mcontact = fea.ChContactSurfaceMesh()
cloth_mesh.AddContactSurface(mcontact)
mcontact.AddFacesFromBoundary(sphere_swept_thickness)
mcontact.SetMaterialSurface(contact_material)
# Fix the extremities of the sleeve to the disks
sleeve.fix_extremities(left_cyl, right_cyl, mysystem)
# Extend the sleeve. It will be released after some iterations.
# TODO check for a generic way of computing the expanding force
sleeve.expand(1 / (NNODES_ANGLE * NNODES_LENGTH) * 7000000. * UNIT_FACTOR *