1 // =============================================================================
2 // PROJECT CHRONO - http://projectchrono.org
3 //
4 // Copyright (c) 2014 projectchrono.org
5 // All rights reserved.
6 //
7 // Use of this source code is governed by a BSD-style license that can be found
8 // in the LICENSE file at the top level of the distribution and at
9 // http://projectchrono.org/license-chrono.txt.
10 //
11 // =============================================================================
12
13 #include "chrono/physics/ChSystem.h"
14 #include "chrono/core/ChRealtimeStep.h"
15
16 #include "chrono/fea/ChMatterMeshless.h"
17 #include "chrono/fea/ChProximityContainerMeshless.h"
18
19 #include "chrono_irrlicht/ChBodySceneNode.h"
20 #include "chrono_irrlicht/ChBodySceneNodeTools.h"
21 #include "chrono_irrlicht/ChIrrApp.h"
22
23 #include <irrlicht.h>
24
25 // Use the namespace of Chrono
26
27 using namespace chrono;
28 using namespace fea;
29
30 // Use the main namespaces of Irrlicht
31 using namespace irr;
32
33 using namespace core;
34 using namespace scene;
35 using namespace video;
36 using namespace io;
37 using namespace gui;
38
main(int argc,char * argv[])39 int main(int argc, char* argv[]) {
40 // Create a ChronoENGINE physical system
41 ChSystem mphysicalSystem;
42
43 // Create the Irrlicht visualization (open the Irrlicht device,
44 // bind a simple user interface, etc. etc.)
45 ChIrrApp application(&mphysicalSystem, L"Meshless deformable material", core::dimension2d<u32>(800, 600), false);
46 application.AddTypicalLogo();
47 application.AddTypicalSky();
48 application.AddTypicalLights();
49 application.AddTypicalCamera(core::vector3df(0, 3, -3));
50
51 // CREATE A FLOOR
52
53 ChSharedPtr<ChBodyEasyBox> mfloorBody( new ChBodyEasyBox(20,1,20,1000,true,true));
54 my_system.Add(mfloorBody);
55 mfloorBody->SetBodyFixed(true);
56 mfloorBody->SetPos(ChVector<>(0, -5, 0));
57
58 ChSharedPtr<ChTexture> mtexture( new ChTexture(GetChronoDataFile("textures/concrete.jpg").c_str()));
59 mfloorBody->AddAsset(mtexture);
60
61
62 // CREATE THE ELASTOPLASTIC MESHLESS CONTINUUM
63
64 // Create elastoplastic matter
65 ChSharedPtr<ChMatterMeshless> mymatter(new ChMatterMeshless);
66
67 // Use the FillBox easy way to create the set of nodes in the meshless matter
68 mymatter->FillBox(ChVector<>(4, 2, 4), // size of box
69 4.0 / 10.0, // resolution step
70 1000, // initial density
71 ChCoordsys<>(ChVector<>(0, -3.9, 0), QUNIT), // position & rotation of box
72 true, // do a centered cubic lattice initial arrangement
73 2.1); // set the kernel radius (as multiples of step)
74
75 GetLog() << "Added " << mymatter->GetNnodes() << " nodes \n";
76
77 // Set some material properties of the meshless matter
78
79 ChSharedPtr<ChContinuumDruckerPrager> mmaterial(new ChContinuumDruckerPrager);
80 mymatter->ReplaceMaterial(mmaterial);
81 mmaterial->Set_v(0.35);
82 mmaterial->Set_E(30000.0);
83 mmaterial->Set_elastic_yeld(0);
84 mmaterial->Set_alpha(30 * CH_C_DEG_TO_RAD);
85 // mmaterial->Set_from_MohrCoulomb(30 * CH_C_DEG_TO_RAD, 1000);
86 mmaterial->Set_dilatancy(30 * CH_C_DEG_TO_RAD);
87 mmaterial->Set_flow_rate(50000000.0);
88 mmaterial->Set_hardening_limit(mmaterial->Get_elastic_yeld());
89 mmaterial->Set_hardening_speed(100000000);
90
91 /*
92 ChSharedPtr<ChContinuumPlasticVonMises> mmaterial(new ChContinuumPlasticVonMises);
93 mymatter->ReplaceMaterial(mmaterial);
94 mmaterial->Set_v(0.38);
95 mmaterial->Set_E(60000.0);
96 mmaterial->Set_elastic_yeld(0.06);
97 mmaterial->Set_flow_rate(300);
98 */
99
100 mymatter->SetViscosity(5000);
101
102 // Add the matter to the physical system
103 mymatter->SetCollide(true);
104 mphysicalSystem.Add(mymatter);
105
106 // Join some nodes of meshless matter to a ChBody
107 /*
108 ChSharedPtr<ChIndexedNodes> mnodes = mymatter;
109 for (int ij = 0; ij < 120; ij++)
110 {
111 ChSharedPtr<ChLinkPointFrame> myjointnodebody(new ChLinkPointFrame);
112 myjointnodebody->Initialize(mnodes,
113 ij,
114 mfloorBody->GetBody());
115 mphysicalSystem.Add(myjointnodebody);
116 }
117 */
118
119 // IMPORTANT!
120 // This takes care of the interaction between the particles of the meshless material
121 ChSharedPtr<ChProximityContainerMeshless> my_sph_proximity(new ChProximityContainerMeshless);
122 mphysicalSystem.Add(my_sph_proximity);
123
124
125 // CREATE A SPHERE PRESSING THE MATERIAL:
126
127 ChSharedPtr<ChBodyEasySphere> msphere( new ChBodyEasySphere(2, 7000, true,true));
128 my_system.Add(msphere);
129 msphere->SetPos(ChVector<>(0, -0.5, 0));
130
131
132
133 // Use this function for adding a ChIrrNodeAsset to all items
134 // Otherwise use application.AssetBind(myitem); on a per-item basis.
135 application.AssetBindAll();
136
137 // Use this function for 'converting' assets into Irrlicht meshes
138 application.AssetUpdateAll();
139
140
141 // Modify some setting of the physical system for the simulation, if you want
142
143 mphysicalSystem.SetSolverMaxIterations(25); // lower the LCP iters, no needed here
144
145 //
146 // THE SOFT-REAL-TIME CYCLE
147 //
148
149 static int printed_prox = 0;
150 application.SetTimestep(0.002);
151
152 while (application.GetDevice()->run()) {
153 application.BeginScene(true, true, SColor(255, 140, 161, 192));
154
155 application.DrawAll();
156
157 ChSystem::IteratorOtherPhysicsItems myiter = mphysicalSystem.IterBeginOtherPhysicsItems();
158
159 while (myiter != mphysicalSystem.IterEndOtherPhysicsItems()) {
160 if ((*myiter).IsType<ChMatterMeshless>()) {
161 ChSharedPtr<ChMatterMeshless> mymatter((*myiter).DynamicCastTo<ChMatterMeshless>());
162
163 for (unsigned int ip = 0; ip < mymatter->GetNnodes(); ip++) {
164 ChSharedPtr<ChNodeMeshless> mnode(mymatter->GetNode(ip).DynamicCastTo<ChNodeMeshless>());
165 ChVector<> mv = mnode->GetPos();
166 float rad = (float)mnode->GetKernelRadius();
167 core::vector3df mpos((irr::f32)mv.x, (irr::f32)mv.y, (irr::f32)mv.z);
168 core::position2d<s32> spos =
169 application.GetSceneManager()->getSceneCollisionManager()->getScreenCoordinatesFrom3DPosition(
170 mpos);
171 application.GetVideoDriver()->draw2DRectangle(
172 video::SColor(100, 200, 200, 230),
173 core::rect<s32>(spos.X - 2, spos.Y - 2, spos.X + 2, spos.Y + 2));
174 /*
175 application.GetVideoDriver()->setTransform(video::ETS_WORLD, core::matrix4());
176 application.GetVideoDriver()->draw3DBox( core::aabbox3d<f32>(
177 (irr::f32)mv.x-rad ,(irr::f32)mv.y-rad , (irr::f32)mv.z-rad ,
178 (irr::f32)mv.x+rad ,(irr::f32)mv.y+rad , (irr::f32)mv.z+rad ) ,
179 video::SColor(300,200,200,230) );
180 */
181
182 /*
183 double strain_scale =10;
184 ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
185 mnode->GetPos()+(VECT_X*mnode->p_strain.XX()* strain_scale), video::SColor(255,255,0,0),false);
186 ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
187 mnode->GetPos()+(VECT_Y*mnode->p_strain.YY()* strain_scale), video::SColor(255,0,255,0),false);
188 ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
189 mnode->GetPos()+(VECT_Z*mnode->p_strain.ZZ()* strain_scale), video::SColor(255,0,0,255),false);
190 */
191
192 /*
193 double stress_scale =0.008;
194 ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
195 mnode->GetPos()+(VECT_X*mnode->e_stress.XX()* stress_scale), video::SColor(100,255,0,0),false);
196 ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
197 mnode->GetPos()+(VECT_Y*mnode->e_stress.YY()* stress_scale), video::SColor(100,0,255,0),false);
198 ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
199 mnode->GetPos()+(VECT_Z*mnode->e_stress.ZZ()* stress_scale), video::SColor(100,0,0,255),false);
200 */
201
202 double stress_scale = 0.00001;
203 ChIrrTools::drawSegment(
204 application.GetVideoDriver(), mnode->GetPos(),
205 mnode->GetPos() + (VECT_X * mnode->e_stress.GetInvariant_I1() * stress_scale),
206 video::SColor(100, 255, 0, 0), false);
207
208 // GetLog() << "Mass i="<< ip << " m=" << mnode->GetMass() << "\n";
209 // ChIrrTools::drawSegment(application.GetVideoDriver(), mnode->GetPos(),
210 // mnode->GetPos()+(mnode->UserForce * 0.1), video::SColor(100,0,0,0),false);
211 }
212 }
213 ++myiter;
214 }
215
216 application.DoStep();
217
218 application.EndScene();
219 }
220
221 return 0;
222 }
223
