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rover_simulationA.cpp
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rover_simulationA.cpp
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// =============================================================================
// PROJECT CHRONO - http://projectchrono.org
//
// Copyright (c) 2014 projectchrono.org
// All rights reserved.
//
// Use of this source code is governed by a BSD-style license that can be found
// in the LICENSE file at the top level of the distribution and at
// http://projectchrono.org/license-chrono.txt.
//
// =============================================================================
// A very simple example that can be used as template project for
// a Chrono::Engine simulator with 3D view.
// =============================================================================
#include "chrono/physics/ChSystemNSC.h"
#include "chrono/physics/ChBodyEasy.h"
#include "chrono/physics/ChLinkMate.h"
#include "chrono/assets/ChPointPointDrawing.h"
#include "chrono/assets/ChTexture.h"
#include "chrono/assets/ChColorAsset.h"
#include "chrono_irrlicht/ChIrrApp.h"
double inTom = 1. / 39.3701; // converting inches to meters
// Use the namespace of Chrono
using namespace chrono;
using namespace chrono::irrlicht;
// Use the main namespaces of Irrlicht
using namespace irr;
using namespace irr::core;
using namespace irr::scene;
using namespace irr::video;
using namespace irr::io;
using namespace irr::gui;
int main(int argc, char* argv[]) {
// Set path to Chrono data directory
SetChronoDataPath(CHRONO_DATA_DIR);
// Create a Chrono physical system
ChSystemNSC mphysicalSystem;
// Create the Irrlicht visualization (open the Irrlicht device,
// bind a simple user interface, etc. etc.)
ChIrrApp application(&mphysicalSystem, L"A simple project template", core::dimension2d<u32>(1280,920),
false); // screen dimensions
// Easy shortcuts to add camera, lights, logo and sky in Irrlicht scene:
application.AddTypicalLights();
application.AddTypicalCamera(core::vector3df(4, 2, 5), // position of camera
core::vector3df(0, 1, 0)); // where camera is looking
// application.AddLightWithShadow(vector3df(1,25,-5), vector3df(0,0,0), 35, 0.2,35, 55, 512, video::SColorf(1,1,1));
//======================================================================
// HERE YOU CAN POPULATE THE PHYSICAL SYSTEM WITH BODIES AND LINKS.
// 1-Create a floor that is fixed (that is used also to represent the absolute reference)
// Create a material that will be used for the floor
//auto mmaterial = std::make_shared<ChMaterialSurfaceNSC>();
//mmaterial->SetFriction(0.4f);
//mmaterial->SetCompliance(0.0000005f);
//mmaterial->SetComplianceT(0.0000005f);
//mmaterial->SetDampingF(0.2f);
auto wheelTexture = std::make_shared<ChTexture>();
wheelTexture->SetTextureFilename(GetChronoDataFile("redwhite.png")); // texture in ../data
auto floorBody = std::make_shared<ChBodyEasyBox>(100, 1, 100, // x, y, z dimensions
1000, // density
true, // contact geometry - allow collision
true // enable visualization geometry
);
floorBody->SetPos(ChVector<>(0, -.5, 0));
//floorBody->SetMaterialSurface(mmaterial);
floorBody->SetBodyFixed(true);
mphysicalSystem.Add(floorBody);
// Optionally, attach a RGB color asset to the floor, for better visualization
/*auto color = std::make_shared<ChColorAsset>();
color->SetColor(ChColor(0.2f, 0.25f, 0.25f));
floorBody->AddAsset(color);
*/
auto floorTexture = std::make_shared<ChTexture>();
floorTexture->SetTextureFilename(GetChronoDataFile("rock.jpg")); // texture in ../data
floorBody->AddAsset(floorTexture);
// ===============================
// Create Chassis
auto frameBox = std::make_shared<ChBodyEasyBox>(48.*inTom, 2.*inTom, 36.*inTom, // x,y,z size
100, // density
true, // collide enable?
true // visualization?
);
frameBox->SetMass(10.0);
frameBox->SetPos(ChVector<>(0, 30.*inTom, 0));
mphysicalSystem.Add(frameBox);
//frameBox->SetBodyFixed(true); //suspend in the air
// ===============================
// Create Right Side Drive System
// Create component 1 (attached to frame) on right side
auto frameSideRight_1 = std::make_shared<ChBodyEasyBox>(12.*sqrt(2.)*inTom, 1.*inTom, 1.*inTom, // x,y,z size
100, // density
false, // collide enable?
true // visualization?
);
frameSideRight_1->SetMass(1.0);
frameSideRight_1->SetPos(ChVector<>(19.757*inTom, 22.652*inTom, (36./2.+.5)*inTom));
frameSideRight_1->SetRot(Q_from_AngZ(CH_C_PI / 3.));
mphysicalSystem.Add(frameSideRight_1);
auto frameSideRightPivot_1 = std::make_shared<ChLinkLockRevolute>();
frameSideRightPivot_1->Initialize(frameSideRight_1, frameBox, ChCoordsys<>(ChVector<>(24.*inTom, 30.*inTom, (36. / 2. + .5)*inTom), Q_from_AngY(0)));
mphysicalSystem.Add(frameSideRightPivot_1);
// Create component 2 (attached to frame) on right side
auto frameSideRight_2 = std::make_shared<ChBodyEasyBox>(12.*sqrt(2.)*inTom, 1. * inTom, 1. * inTom, // x,y,z size
100, // density
false, // collide enable?
true // visualization?
);
frameSideRight_2->SetMass(1.0);
frameSideRight_2->SetPos(ChVector<>(-19.757*inTom, 22.652*inTom, (36. / 2. + .5)*inTom));
frameSideRight_2->SetRot(Q_from_AngZ(-CH_C_PI / 3.));
mphysicalSystem.Add(frameSideRight_2);
auto frameSideRightPivot_2 = std::make_shared<ChLinkLockRevolute>();
frameSideRightPivot_2->Initialize(frameSideRight_2, frameBox, ChCoordsys<>(ChVector<>(-24.*inTom, 30.*inTom, (36. / 2. + .5)*inTom), Q_from_AngY(0)));
mphysicalSystem.Add(frameSideRightPivot_2);
// Create component 3 (attached to middle wheel) on right side
auto frameSideRight_3 = std::make_shared<ChBodyEasyBox>(12.*sqrt(2.)*inTom, 1. * inTom, 1. * inTom, // x,y,z size
100, // density
false, // collide enable?
true // visualization?
);
frameSideRight_3->SetMass(1.0);
frameSideRight_3->SetPos(ChVector<>(7.757*inTom, 11.865*inTom, (36./2.+.5)*inTom));
frameSideRight_3->SetRot(Q_from_AngZ(23.91*CH_C_PI/180.));
mphysicalSystem.Add(frameSideRight_3);
auto frameSideRightPivot_3 = std::make_shared<ChLinkLockRevolute>();
frameSideRightPivot_3->Initialize(frameSideRight_1, frameSideRight_3, ChCoordsys<>(ChVector<>(15.515*inTom, 15.303*inTom, (36./2.+.5)*inTom), Q_from_AngY(0)));
mphysicalSystem.Add(frameSideRightPivot_3);
// Create component 4 (attached to middle wheel) on right side
auto frameSideRight_4 = std::make_shared<ChBodyEasyBox>(12.*sqrt(2.)*inTom, 1. * inTom, 1. * inTom, // x,y,z size
100, // density
false, // collide enable?
true // visualization?
);
frameSideRight_4->SetMass(1.0);
frameSideRight_4->SetPos(ChVector<>(-7.757*inTom, 11.865*inTom, (36./2.+.5)*inTom));
frameSideRight_4->SetRot(Q_from_AngZ(-23.91*CH_C_PI / 180.));
mphysicalSystem.Add(frameSideRight_4);
auto frameSideRightPivot_4 = std::make_shared<ChLinkLockRevolute>();
frameSideRightPivot_4->Initialize(frameSideRight_2, frameSideRight_4, ChCoordsys<>(ChVector<>(-15.515*inTom, 15.303*inTom, (36. / 2. + .5)*inTom), Q_from_AngY(0)));
mphysicalSystem.Add(frameSideRightPivot_4);
// Create component 5 (attached to middle wheel) on right side
auto frameSideRight_5 = std::make_shared<ChBodyEasyBox>(12.*sqrt(2.)*inTom, 1. * inTom, 1. * inTom, // x,y,z size
100, // density
false, // collide enable?
true // visualization?
);
frameSideRight_5->SetMass(1.0);
frameSideRight_5->SetPos(ChVector<>(23.272*inTom, 11.865*inTom, (36. / 2. + .5)*inTom));
frameSideRight_5->SetRot(Q_from_AngZ(-23.91*CH_C_PI / 180.));
mphysicalSystem.Add(frameSideRight_5);
auto frameSideRightPivot_5 = std::make_shared<ChLinkLockRevolute>();
frameSideRightPivot_5->Initialize(frameSideRight_1, frameSideRight_5, ChCoordsys<>(ChVector<>(15.515*inTom, 15.303*inTom, (36. / 2. + .5)*inTom), Q_from_AngY(0)));
mphysicalSystem.Add(frameSideRightPivot_5);
// Create component 6 (attached to middle wheel) on right side
auto frameSideRight_6 = std::make_shared<ChBodyEasyBox>(12.*sqrt(2.)*inTom, 1. * inTom, 1. * inTom, // x,y,z size
100, // density
false, // collide enable?
true // visualization?
);
frameSideRight_6->SetMass(1.0);
frameSideRight_6->SetPos(ChVector<>(-23.272*inTom, 11.865*inTom, (36. / 2. + .5)*inTom));
frameSideRight_6->SetRot(Q_from_AngZ(23.91*CH_C_PI / 180.));
mphysicalSystem.Add(frameSideRight_6);
auto frameSideRightPivot_6 = std::make_shared<ChLinkLockRevolute>();
frameSideRightPivot_6->Initialize(frameSideRight_2, frameSideRight_6, ChCoordsys<>(ChVector<>(-15.515*inTom, 15.303*inTom, (36. / 2. + .5)*inTom), Q_from_AngY(0)));
mphysicalSystem.Add(frameSideRightPivot_6);
// add wheels on the right side
// add wheelRight_1
auto wheelRight_1 = std::make_shared<ChBodyEasyCylinder>(
6 * inTom, // radius
6 * inTom, // height
100,// density
true,// collide
true// visualization
);
wheelRight_1->SetPos(ChVector<>(31.029*inTom, 8.426*inTom, (36. / 2. + .5)*inTom));
wheelRight_1->SetRot(Q_from_AngX(CH_C_PI / 2.0));
mphysicalSystem.Add(wheelRight_1);
wheelRight_1->AddAsset(wheelTexture);
//create a revolute joint for wheel 1 and chassis
auto wheelRightJoint_1 = std::make_shared<ChLinkLockRevolute>();
wheelRightJoint_1->Initialize(frameSideRight_5, wheelRight_1, ChCoordsys<>(wheelRight_1->GetPos(), Q_from_AngY(0)));
mphysicalSystem.Add(wheelRightJoint_1);
// add wheelRight_2
auto wheelRight_2 = std::make_shared<ChBodyEasyCylinder>(
6*inTom, // radius
6*inTom, // height
100,// density
true,// collide
true// visualization
);
wheelRight_2->SetPos(ChVector<>(0, 8.426*inTom, (36./2.+.5)*inTom));
wheelRight_2->SetRot(Q_from_AngX(CH_C_PI / 2.0));
mphysicalSystem.Add(wheelRight_2);
wheelRight_2->AddAsset(wheelTexture);
//create a revolute joint for wheel 2 and chassis
auto wheelRightJoint_2 = std::make_shared<ChLinkLockRevolute>();
wheelRightJoint_2->Initialize(frameSideRight_3, wheelRight_2, ChCoordsys<>(wheelRight_2->GetPos(), Q_from_AngY(0)));
mphysicalSystem.Add(wheelRightJoint_2);
auto wheelRightJoint_2_2 = std::make_shared<ChLinkLockRevolute>();
wheelRightJoint_2_2->Initialize(frameSideRight_4, wheelRight_2, ChCoordsys<>(wheelRight_2->GetPos(), Q_from_AngY(0)));
mphysicalSystem.Add(wheelRightJoint_2_2);
// add wheelRight_3
auto wheelRight_3 = std::make_shared<ChBodyEasyCylinder>(
6 * inTom, // radius
6 * inTom, // height
100,// density
true,// collide
true// visualization
);
wheelRight_3->SetPos(ChVector<>(-31.029*inTom, 8.426*inTom, (36. / 2. + .5)*inTom));
wheelRight_3->SetRot(Q_from_AngX(CH_C_PI / 2.0));
mphysicalSystem.Add(wheelRight_3);
wheelRight_3->AddAsset(wheelTexture);
//create a revolute joint for wheel 1 and chassis
auto wheelRightJoint_3 = std::make_shared<ChLinkLockRevolute>();
wheelRightJoint_3->Initialize(frameSideRight_6, wheelRight_3, ChCoordsys<>(wheelRight_3->GetPos(), Q_from_AngY(0)));
mphysicalSystem.Add(wheelRightJoint_3);
// ===============================
// Create Left Side Drive System
// Create component 1 (attached to frame) on left side
auto frameSideLeft_1 = std::make_shared<ChBodyEasyBox>(12.*sqrt(2.)*inTom, 1. * inTom, 1. * inTom, // x,y,z size
100, // density
false, // collide enable?
true // visualization?
);
frameSideLeft_1->SetMass(1.0);
frameSideLeft_1->SetPos(ChVector<>(19.757*inTom, 22.652*inTom, -(36. / 2. + .5)*inTom));
frameSideLeft_1->SetRot(Q_from_AngZ(CH_C_PI / 3.));
mphysicalSystem.Add(frameSideLeft_1);
auto frameSideLeftPivot_1 = std::make_shared<ChLinkLockRevolute>();
frameSideLeftPivot_1->Initialize(frameSideLeft_1, frameBox, ChCoordsys<>(ChVector<>(24.*inTom, 30.*inTom, -(36. / 2. + .5)*inTom), Q_from_AngY(0)));
mphysicalSystem.Add(frameSideLeftPivot_1);
// Create component 2 (attached to frame) on left side
auto frameSideLeft_2 = std::make_shared<ChBodyEasyBox>(12.*sqrt(2.)*inTom, 1. * inTom, 1. * inTom, // x,y,z size
100, // density
false, // collide enable?
true // visualization?
);
frameSideLeft_2->SetMass(1.0);
frameSideLeft_2->SetPos(ChVector<>(-19.757*inTom, 22.652*inTom, -(36. / 2. + .5)*inTom));
frameSideLeft_2->SetRot(Q_from_AngZ(-CH_C_PI / 3.));
mphysicalSystem.Add(frameSideLeft_2);
auto frameSideLeftPivot_2 = std::make_shared<ChLinkLockRevolute>();
frameSideLeftPivot_2->Initialize(frameSideLeft_2, frameBox, ChCoordsys<>(ChVector<>(-24.*inTom, 30.*inTom, -(36. / 2. + .5)*inTom), Q_from_AngY(0)));
mphysicalSystem.Add(frameSideLeftPivot_2);
// Create component 3 (attached to middle wheel) on left side
auto frameSideLeft_3 = std::make_shared<ChBodyEasyBox>(12.*sqrt(2.)*inTom, 1. * inTom, 1. * inTom, // x,y,z size
100, // density
false, // collide enable?
true // visualization?
);
frameSideLeft_3->SetMass(1.0);
frameSideLeft_3->SetPos(ChVector<>(7.757*inTom, 11.865*inTom, -(36. / 2. + .5)*inTom));
frameSideLeft_3->SetRot(Q_from_AngZ(23.91*CH_C_PI / 180));
mphysicalSystem.Add(frameSideLeft_3);
auto frameSideLeftPivot_3 = std::make_shared<ChLinkLockRevolute>();
frameSideLeftPivot_3->Initialize(frameSideLeft_1, frameSideLeft_3, ChCoordsys<>(ChVector<>(15.515*inTom, 15.303*inTom, -(36. / 2. + .5)*inTom), Q_from_AngY(0)));
mphysicalSystem.Add(frameSideLeftPivot_3);
// Create component 4 (attached to middle wheel) on left side
auto frameSideLeft_4 = std::make_shared<ChBodyEasyBox>(12.*sqrt(2.)*inTom, 1. * inTom, 1. * inTom, // x,y,z size
100, // density
false, // collide enable?
true // visualization?
);
frameSideLeft_4->SetMass(1.0);
frameSideLeft_4->SetPos(ChVector<>(-7.757*inTom, 11.865*inTom, -(36. / 2. + .5)*inTom));
frameSideLeft_4->SetRot(Q_from_AngZ(-23.91*CH_C_PI / 180.));
mphysicalSystem.Add(frameSideLeft_4);
auto frameSideLeftPivot_4 = std::make_shared<ChLinkLockRevolute>();
frameSideLeftPivot_4->Initialize(frameSideLeft_2, frameSideLeft_4, ChCoordsys<>(ChVector<>(-15.515*inTom, 15.303*inTom, -(36. / 2. + .5)*inTom), Q_from_AngY(0)));
mphysicalSystem.Add(frameSideLeftPivot_4);
// Create component 5 (attached to middle wheel) on left side
auto frameSideLeft_5 = std::make_shared<ChBodyEasyBox>(12.*sqrt(2.)*inTom, 1. * inTom, 1. * inTom, // x,y,z size
100, // density
false, // collide enable?
true // visualization?
);
frameSideLeft_5->SetMass(1.0);
frameSideLeft_5->SetPos(ChVector<>(23.272*inTom, 11.865*inTom, -(36. / 2. + .5)*inTom));
frameSideLeft_5->SetRot(Q_from_AngZ(-23.91*CH_C_PI / 180));
mphysicalSystem.Add(frameSideLeft_5);
auto frameSideLeftPivot_5 = std::make_shared<ChLinkLockRevolute>();
frameSideLeftPivot_5->Initialize(frameSideLeft_1, frameSideLeft_5, ChCoordsys<>(ChVector<>(15.515*inTom, 15.303*inTom, -(36. / 2. + .5)*inTom), Q_from_AngY(0)));
mphysicalSystem.Add(frameSideLeftPivot_5);
// Create component 6 (attached to middle wheel) on left side
auto frameSideLeft_6 = std::make_shared<ChBodyEasyBox>(12.*sqrt(2.)*inTom, 1. * inTom, 1. * inTom, // x,y,z size
100, // density
false, // collide enable?
true // visualization?
);
frameSideLeft_6->SetMass(1.0);
frameSideLeft_6->SetPos(ChVector<>(-23.272*inTom, 11.865*inTom, -(36. / 2. + .5)*inTom));
frameSideLeft_6->SetRot(Q_from_AngZ(23.91*CH_C_PI / 180));
mphysicalSystem.Add(frameSideLeft_6);
auto frameSideLeftPivot_6 = std::make_shared<ChLinkLockRevolute>();
frameSideLeftPivot_6->Initialize(frameSideLeft_2, frameSideLeft_6, ChCoordsys<>(ChVector<>(-15.515*inTom, 15.303*inTom, -(36. / 2. + .5)*inTom), Q_from_AngY(0)));
mphysicalSystem.Add(frameSideLeftPivot_6);
// add wheels on the left side
// add wheelLeft_1
auto wheelLeft_1 = std::make_shared<ChBodyEasyCylinder>(
6 * inTom, // radius
6 * inTom, // height
100,// density
true,// collide
true// visualization
);
wheelLeft_1->SetPos(ChVector<>(31.029*inTom, 8.426*inTom, -(36. / 2. + .5)*inTom));
wheelLeft_1->SetRot(Q_from_AngX(CH_C_PI / 2.0));
mphysicalSystem.Add(wheelLeft_1);
wheelLeft_1->AddAsset(wheelTexture);
//create a revolute joint for wheel 1 and chassis
auto wheelLeftJoint_1 = std::make_shared<ChLinkLockRevolute>();
wheelLeftJoint_1->Initialize(frameSideLeft_5, wheelLeft_1, ChCoordsys<>(wheelLeft_1->GetPos(), Q_from_AngY(0)));
mphysicalSystem.Add(wheelLeftJoint_1);
// add wheelLeft_2
auto wheelLeft_2 = std::make_shared<ChBodyEasyCylinder>(
6 * inTom, // radius
6 * inTom, // height
100,// density
true,// collide
true// visualization
);
wheelLeft_2->SetPos(ChVector<>(0, 8.426*inTom, -(36. / 2. + .5)*inTom));
wheelLeft_2->SetRot(Q_from_AngX(CH_C_PI / 2.0));
mphysicalSystem.Add(wheelLeft_2);
wheelLeft_2->AddAsset(wheelTexture);
//create a revolute joint for wheel 2 and chassis
auto wheelLeftJoint_2 = std::make_shared<ChLinkLockRevolute>();
wheelLeftJoint_2->Initialize(frameSideLeft_3, wheelLeft_2, ChCoordsys<>(wheelLeft_2->GetPos(), Q_from_AngY(0)));
mphysicalSystem.Add(wheelLeftJoint_2);
auto wheelLeftJoint_2_2 = std::make_shared<ChLinkLockRevolute>();
wheelLeftJoint_2_2->Initialize(frameSideLeft_4, wheelLeft_2, ChCoordsys<>(wheelLeft_2->GetPos(), Q_from_AngY(0)));
mphysicalSystem.Add(wheelLeftJoint_2_2);
// add wheelLeft_3
auto wheelLeft_3 = std::make_shared<ChBodyEasyCylinder>(
6 * inTom, // radius
6 * inTom, // height
100,// density
true,// collide
true// visualization
);
wheelLeft_3->SetPos(ChVector<>(-31.029*inTom, 8.426*inTom, -(36. / 2. + .5)*inTom));
wheelLeft_3->SetRot(Q_from_AngX(CH_C_PI / 2.0));
mphysicalSystem.Add(wheelLeft_3);
wheelLeft_3->AddAsset(wheelTexture);
//create a revolute joint for wheel 1 and chassis
auto wheelLeftJoint_3 = std::make_shared<ChLinkLockRevolute>();
wheelLeftJoint_3->Initialize(frameSideLeft_6, wheelLeft_3, ChCoordsys<>(wheelLeft_3->GetPos(), Q_from_AngY(0)));
mphysicalSystem.Add(wheelLeftJoint_3);
// ===============================
double springCoefOutside = 700;
double springCoefInside = 3000;
double damping_coef = 80;
double restLengthOutside = 11 * inTom; //11.345 is original length
double restLengthInside = 26 * inTom; //21.356 is original length
auto col_1 = std::make_shared<ChColorAsset>();
col_1->SetColor(ChColor(0.6f, 0, 0));
// Create right side springs
// Create a spring between elements 1 and 5 on the right side
auto springRight1 = std::make_shared<ChLinkSpring>();
springRight1->Initialize(frameSideRight_1, // first body to link it with
frameSideRight_5, // second body to link it with
false, // pos absolute
ChVector<>(19.757*inTom, 20.625*inTom, (36. / 2. + .5)*inTom), // position of first end of spring
ChVector<>(23.272*inTom, 11.865*inTom, (36. / 2. + .5)*inTom), // position of second end of spring
false, // rest length not original length
restLengthOutside); // rest length
mphysicalSystem.Add(springRight1);
springRight1->Set_SpringK(springCoefOutside);
springRight1->Set_SpringR(damping_coef);
// Attach a visualization asset.
springRight1->AddAsset(col_1);
springRight1->AddAsset(std::make_shared<ChPointPointSpring>(.75*inTom, 20, 5));
// Create a spring between elements 2 and 6 on the right side
auto springRight2 = std::make_shared<ChLinkSpring>();
springRight2->Initialize(frameSideRight_2, // first body to link it with
frameSideRight_6, // second body to link it with
false, // pos absolute
ChVector<>(-19.757*inTom, 20.625*inTom, (36. / 2. + .5)*inTom), // position of first end of spring
ChVector<>(-23.272*inTom, 11.865*inTom, (36. / 2. + .5)*inTom), // position of second end of spring
false, // rest length not original length
restLengthOutside); // rest length
mphysicalSystem.Add(springRight2);
springRight2->Set_SpringK(springCoefOutside);
springRight2->Set_SpringR(damping_coef);
// Attach a visualization asset.
springRight2->AddAsset(col_1);
springRight2->AddAsset(std::make_shared<ChPointPointSpring>(.75*inTom, 20, 5));
// Create a spring between frame and element 3 on the right side
auto springRight3 = std::make_shared<ChLinkSpring>();
springRight3->Initialize(frameBox, // first body to link it with
frameSideRight_3, // second body to link it with
false, // pos absolute
ChVector<>(-8.*inTom, 30.*inTom, (36. / 2. + .5)*inTom), // position of first end of spring
ChVector<>(8.*inTom, 11.972*inTom, (36. / 2. + .5)*inTom), // position of second end of spring
false, // rest length not original length
restLengthInside); // rest length
mphysicalSystem.Add(springRight3);
springRight3->Set_SpringK(springCoefInside);
springRight3->Set_SpringR(damping_coef);
// Attach a visualization asset.
springRight3->AddAsset(col_1);
springRight3->AddAsset(std::make_shared<ChPointPointSpring>(.75*inTom, 40, 15));
// Create a spring between frame and element 4 on the right side
auto springRight4 = std::make_shared<ChLinkSpring>();
springRight4->Initialize(frameBox, // first body to link it with
frameSideRight_4, // second body to link it with
false, // pos absolute
ChVector<>(8.*inTom, 30.*inTom, (36. / 2. + .5)*inTom), // position of first end of spring
ChVector<>(-8.*inTom, 11.972*inTom, (36. / 2. + .5)*inTom), // position of second end of spring
false, // rest length not original length
restLengthInside); // rest length
mphysicalSystem.Add(springRight4);
springRight4->Set_SpringK(springCoefInside);
springRight4->Set_SpringR(damping_coef);
// Attach a visualization asset.
springRight4->AddAsset(col_1);
springRight4->AddAsset(std::make_shared<ChPointPointSpring>(.75*inTom, 40, 15));
// Create left side springs
// Create a spring between elements 1 and 5 on the left side
auto springLeft1 = std::make_shared<ChLinkSpring>();
springLeft1->Initialize(frameSideLeft_1, // first body to link it with
frameSideLeft_5, // second body to link it with
false, // pos absolute
ChVector<>(19.757*inTom, 20.625*inTom, -(36. / 2. + .5)*inTom), // position of first end of spring
ChVector<>(23.272*inTom, 11.865*inTom, -(36. / 2. + .5)*inTom), // position of second end of spring
false, // rest length not original length
restLengthOutside); // rest length
mphysicalSystem.Add(springLeft1);
springLeft1->Set_SpringK(springCoefOutside);
springLeft1->Set_SpringR(damping_coef);
// Attach a visualization asset.
springLeft1->AddAsset(col_1);
springLeft1->AddAsset(std::make_shared<ChPointPointSpring>(.75*inTom, 20, 5));
// Create a spring between elements 2 and 6 on the left side
auto springLeft2 = std::make_shared<ChLinkSpring>();
springLeft2->Initialize(frameSideLeft_2, // first body to link it with
frameSideLeft_6, // second body to link it with
false, // pos absolute
ChVector<>(-19.757*inTom, 20.625*inTom, -(36. / 2. + .5)*inTom), // position of first end of spring
ChVector<>(-23.272*inTom, 11.865*inTom, -(36. / 2. + .5)*inTom), // position of second end of spring
false, // rest length not original length
restLengthOutside); // rest length
mphysicalSystem.Add(springLeft2);
springLeft2->Set_SpringK(springCoefOutside);
springLeft2->Set_SpringR(damping_coef);
// Attach a visualization asset.
springLeft2->AddAsset(col_1);
springLeft2->AddAsset(std::make_shared<ChPointPointSpring>(.75*inTom, 20, 5));
// Create a spring between frame and element 3 on the left side
auto springLeft3 = std::make_shared<ChLinkSpring>();
springLeft3->Initialize(frameBox, // first body to link it with
frameSideLeft_3, // second body to link it with
false, // pos absolute
ChVector<>(-8.*inTom, 30.*inTom, -(36. / 2. + .5)*inTom), // position of first end of spring
ChVector<>(8.*inTom, 11.972*inTom, -(36. / 2. + .5)*inTom), // position of second end of spring
false, // rest length not original length
restLengthInside); // rest length
mphysicalSystem.Add(springLeft3);
springLeft3->Set_SpringK(springCoefInside);
springLeft3->Set_SpringR(damping_coef);
// Attach a visualization asset.
springLeft3->AddAsset(col_1);
springLeft3->AddAsset(std::make_shared<ChPointPointSpring>(.75*inTom, 40, 15));
// Create a spring between frame and element 4 on the left side
auto springLeft4 = std::make_shared<ChLinkSpring>();
springLeft4->Initialize(frameBox, // first body to link it with
frameSideLeft_4, // second body to link it with
false, // pos absolute
ChVector<>(8.*inTom, 30.*inTom, -(36. / 2. + .5)*inTom), // position of first end of spring
ChVector<>(-8.*inTom, 11.972*inTom, -(36. / 2. + .5)*inTom), // position of second end of spring
false, // rest length not original length
restLengthInside); // rest length
mphysicalSystem.Add(springLeft4);
springLeft4->Set_SpringK(springCoefInside);
springLeft4->Set_SpringR(damping_coef);
// Attach a visualization asset.
springLeft4->AddAsset(col_1);
springLeft4->AddAsset(std::make_shared<ChPointPointSpring>(.75*inTom, 40, 15));
// ===============================
// Add motors to wheels
double torqueRightSide = 1.;
double torqueLeftSide = 1.;
wheelRightJoint_1->Set_Scr_torque(torqueRightSide);
wheelRightJoint_2->Set_Scr_torque(torqueRightSide);
wheelRightJoint_2_2->Set_Scr_torque(torqueRightSide);
wheelRightJoint_3->Set_Scr_torque(torqueRightSide);
wheelLeftJoint_1->Set_Scr_torque(torqueLeftSide);
wheelLeftJoint_2->Set_Scr_torque(torqueLeftSide);
wheelLeftJoint_2_2->Set_Scr_torque(torqueLeftSide);
wheelLeftJoint_3->Set_Scr_torque(torqueLeftSide);
// ===============================
/* combined into entire side?
auto frameSideRight_1 = std::make_shared<ChBody>();
mphysicalSystem.AddBody(frameSideRight_1);
frameSideRight_1->SetIdentifier(1);
frameSideRight_1->SetBodyFixed(false);
frameSideRight_1->SetCollide(false);
frameSideRight_1->SetMass(1);
//frameSideRight_1->SetInertiaXX(ChVector<>(0.2, 1, 1));
auto frameSideRightComp_1 = std::make_shared<ChBodyEasyBox>();
*/
// ===============================
// Add obstacles
auto obstacleBox1 = std::make_shared<ChBodyEasyBox>(8.*inTom, 4.*inTom, 48.*inTom, 100, true, true);
obstacleBox1->SetMass(10.0);
obstacleBox1->SetPos(ChVector<>(60.*inTom, 2.*inTom, 0));
mphysicalSystem.Add(obstacleBox1);
obstacleBox1->SetBodyFixed(true);
//auto obstacleColor = std::make_shared<ChColorAsset>();
//obstacleColor->SetColor(ChColor(0.2f, 0.1f, 0.1f));
auto obstacleTexture = std::make_shared<ChTexture>();
obstacleTexture->SetTextureFilename(GetChronoDataFile("cubetexture_wood.png")); // texture in ../data
obstacleBox1->AddAsset(obstacleTexture);
//======================================================================
// 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();
// Adjust some settings:
double step_size = 0.001;
application.SetTimestep(0.001);
application.SetTryRealtime(false);
mphysicalSystem.SetMaxItersSolverSpeed(1000);
//
// THE SOFT-REAL-TIME CYCLE
//
int i = 0;
while (application.GetDevice()->run()) {
application.BeginScene();
application.DrawAll();
// This performs the integration timestep!
//application.DoStep();
mphysicalSystem.DoStepDynamics(step_size);
std::cout << "Step number: " << i << std::endl;
i++;
application.EndScene();
}
return 0;
}