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masonry.cpp
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//
// MASONRY
//
// Program that simulates masonry using the Chrono::Engine multibody library
// from www.chronoengine.info
//
#include "chrono/physics/ChSystemNSC.h"
#include "chrono/physics/ChContactContainerNSC.h"
#include "chrono/physics/ChLinkLock.h"
#include "chrono/physics/ChLinkMate.h"
#include "chrono/physics/ChLinkDistance.h"
#include "chrono/physics/ChBodyEasy.h"
#include "chrono/physics/ChLinkTSDA.h"
#include "chrono/assets/ChTexture.h"
#include "chrono/assets/ChVisualShapePointPoint.h"
#include "chrono/collision/bullet/ChCollisionSystemBullet.h"
#include "chrono/collision/ChCollisionShapeConvexHull.h"
#include "chrono/collision/bullet/ChCollisionUtilsBullet.h"
#include "chrono/solver/ChSolverBB.h"
#include "chrono_irrlicht/ChVisualSystemIrrlicht.h"
#include "chrono/utils/ChCompositeInertia.h"
#include <iostream>
#include <sstream>
#include <fstream>
#include <string>
#include <algorithm>
#include <functional>
#include <cctype>
#include <unordered_map>
#include "chrono_thirdparty/filesystem/path.h"
#include <stdexcept>
#include "chrono/core/ChRandom.h"
//#include <exception>
// Use the namespace of Chrono
using namespace chrono;
using namespace irrlicht;
// Use the main namespaces of Irrlicht
using namespace irr;
using namespace core;
using namespace scene;
using namespace video;
using namespace io;
using namespace gui;
//using namespace std;
// Some global variables
int GLOBAL_save_each = 50;
int GLOBAL_snapshot_each = 50;
double GLOBAL_max_simulation_time = 10;
bool GLOBAL_load_forces = true;
bool GLOBAL_swap_zy = false;
double GLOBAL_density = 1800; // density in Kg/m3
double SPHERE_density = 2700; // density in Kg/m3
float GLOBAL_friction = 0.5f;
float GLOBAL_friction_spheres = 0.3f;
float GLOBAL_damping = 0.07f; // original value = 0.2f
// float GLOBAL_compliance = 2e-8f;
float GLOBAL_compliance = 5e-9f;
float GLOBAL_compliance_spheres = 5e-9f;
float GLOBAL_rolling_friction = 0;
float GLOBAL_spinning_friction = 0;
float GLOBAL_rolling_compliance = 0;
float GLOBAL_spinning_compliance = 0;
double GLOBAL_penetrationrecovery = 0.005;
bool GLOBAL_warmstart = true;
std::shared_ptr<ChFunctionInterp> GLOBAL_motion_X; // motion on x direction
std::shared_ptr<ChFunctionInterp> GLOBAL_motion_Y; // motion on y (vertical) direction
std::shared_ptr<ChFunctionInterp> GLOBAL_motion_Z; // motion on z direction
//double GLOBAL_motion_timestep = 0.01; // timestep for sampled earthquake motion
double GLOBAL_motion_amplifier = 1.0; // scale x,y,z motion by this factor
double GLOBAL_timestep = 0.001; // timestep for timestepper integrator
bool GLOBAL_use_motions = false;
int GLOBAL_iterations = 5000;
double GLOBAL_tolerance = 1e-5;
double GLOBAL_totmass = 0;
int Spring_Counter = 0;
double Spring_Storage_K[300][2];
//double my_pos994[7][1];
// Load brick pattern from disk
// Create a bunch of ChronoENGINE rigid bodies
void load_brick_file(ChSystem& mphysicalSystem, const char* filename,
std::shared_ptr<ChContactMaterial> mmaterial,
std::unordered_map<int, std::shared_ptr<ChBody>>& my_body_map,
bool do_collide) {
std::cout << "Parsing " << filename << " brick file... \n";
GLOBAL_totmass = 0;
std::fstream fin(filename);
if (!fin.good())
throw std::runtime_error("ERROR opening .dat file with bricks: " + std::string(filename) + "\n");
int added_bricks = 0;
std::string line;
// Parse the file line-by-line
while(std::getline(fin, line))
{
//trims white space from the beginning of the string TODO: check if correct
line.erase(line.begin(), find_if(line.begin(), line.end(), [](int c) {return !std::isspace(c);} ));
// skip empty lines
if(line[0] == 0)
continue;
// skip comments
if(line[0] == '#') {
continue;
}
// a normal line should contain brick data:
if (true)
{
std::vector<double> tokenvals;
std::vector<bool> tokenasterisk;
int ntokens = 0;
std::string token;
std::istringstream ss(line);
// parse line in format:
// ID, fixed, visible, yielding, density, Fx Fy, Fz, Ref.x, Ref.y, Ref.z, x,y,z, x,y,z, x,y,z, ..,..,..
while(std::getline(ss, token,',') && ntokens < 300)
{
tokenvals.push_back(0);
tokenasterisk.push_back(false);
std::istringstream stoken(token);
//std::cout << " token n." << ntokens << " is: "<< stoken.str().c_str() << "\n";
/* if (token == "*") {
tokenasterisk[ntokens] = true;
tokenvals[ntokens] = 0;
}
else {
tokenasterisk[ntokens] = false;
stoken >> tokenvals[ntokens];
} */
tokenasterisk[ntokens] = false;
stoken >> tokenvals[ntokens];
if (tokenvals[ntokens] == 9999) {
tokenasterisk[ntokens] = true;
}
++ntokens;
}
++added_bricks;
int my_ID = (int)tokenvals[0];
bool my_fixed = (bool)tokenvals[1];
bool my_visible = (bool)tokenvals[2];
int my_yielding = (int)tokenvals[3];
double my_density = (double)tokenvals[4];
int token_stride = 5;
ChVector3<> my_force;
if (GLOBAL_load_forces) {
my_force.x() = tokenvals[token_stride+0];
my_force.y() = tokenvals[token_stride+1];
my_force.z() = tokenvals[token_stride+2];
token_stride += 3;
if (GLOBAL_swap_zy) std::swap(my_force.y(), my_force.z());
}
ChVector3<> my_reference;
my_reference.x() = tokenvals[token_stride+0];
my_reference.y() = tokenvals[token_stride+1];
my_reference.z() = tokenvals[token_stride+2];
if (GLOBAL_swap_zy) std::swap(my_reference.y(), my_reference.z());
token_stride += 3;
std::vector< std::vector< ChVector3<> > > my_vertexes;
my_vertexes.push_back(std::vector< ChVector3<> >());
while (true) {
if (tokenasterisk[token_stride] == true) {
token_stride += 1; // skip asterisk separator or 9999, if any
my_vertexes.push_back(std::vector< ChVector3<> >()); // begin other list of convex hulls
}
if (token_stride+2 >= ntokens) {
throw std::runtime_error("ERROR in .dat file, format is: ID, fixed, visible, yielding, density, Fx, Fy, Fz, Refx,Refy,Refz, and three x y z coords, each per brick corner, see line:\n"+ line+"\n");
break;
}
ChVector3<> my_point;
my_point.x() = tokenvals[token_stride+0];
my_point.y() = tokenvals[token_stride+1];
my_point.z() = tokenvals[token_stride+2];
if (GLOBAL_swap_zy) std::swap(my_point.y(), my_point.z());
my_point = my_point - my_reference; // chrono want these points in reference system, but in file are in absolute system
my_vertexes.back().push_back(my_point);
token_stride += 3;
if (token_stride == ntokens)
break;
}
// Create a polygonal body:
//std::shared_ptr<ChBodyEasyConvexHullAuxRef> my_body (new ChBodyEasyConvexHullAuxRef(my_vertexes[0],1800,true, my_visible));
auto my_body = chrono_types::make_shared<ChBodyAuxRef>();
utils::CompositeInertia composite_inertia;
for (int ih = 0 ; ih < my_vertexes.size() ; ++ih) {
auto vshape = chrono_types::make_shared<ChVisualShapeTriangleMesh>();
bt_utils::ChConvexHullLibraryWrapper lh;
lh.ComputeHull(my_vertexes[ih], *vshape->GetMesh());
if (my_visible) {
my_body->AddVisualShape(vshape);
}
double i_mass;
ChVector3<> i_baricenter;
ChMatrix33<> i_inertia;
vshape->GetMesh()->ComputeMassProperties(true, i_mass, i_baricenter, i_inertia);
composite_inertia.AddComponent(ChFrame<>(i_baricenter), i_mass, i_inertia);
// if collide required
if (true) {
// avoid passing to collision the inner points discarded by convex hull
// processor, so use mesh vertexes instead of all argument points
std::vector<ChVector3<> > points_reduced;
points_reduced.resize(vshape->GetMesh()->GetCoordsVertices().size());
for (unsigned int i = 0; i < vshape->GetMesh()->GetCoordsVertices().size(); ++i)
points_reduced[i] = vshape->GetMesh()->GetCoordsVertices()[i];
auto cshape = chrono_types::make_shared<ChCollisionShapeConvexHull>(mmaterial, points_reduced);
my_body->AddCollisionShape(cshape, ChFrame<>()); // TODO: check ChFrame
}
}
ChMatrix33<> principal_inertia_csys;
Eigen::Vector3d principal_I;
composite_inertia.GetInertia().SelfAdjointEigenSolve(principal_inertia_csys, principal_I);
if (principal_inertia_csys.determinant() < 0)
principal_inertia_csys.col(0) *= -1;
//my_body->SetDensity((float)GLOBAL_density);
my_body->SetMass(composite_inertia.GetMass() * GLOBAL_density);
my_body->SetInertiaXX(ChVector3<>(principal_I[0] * GLOBAL_density, principal_I[1] * GLOBAL_density, principal_I[2] * GLOBAL_density));
if (!my_fixed) {
GLOBAL_totmass += my_body->GetMass();
}
//std::cout << " block mass=" << my_body->GetMass() << " volume=" << composite_inertia.GetMass() << "\n";
// Set the COG coordinates to barycenter, without displacing the REF reference
my_body->SetFrameCOMToRef(ChFrame<>(composite_inertia.GetCOM(), principal_inertia_csys));
if (do_collide)
my_body->EnableCollision(true);
my_body->SetTag(my_ID);
my_body->AccumulateForce(my_force, VNULL, true); // add force to COG of body.
my_body->GetCollisionModel()->SetAllShapesMaterial(mmaterial); //TODO: check if correct. Was my_body->SetMaterialSurface(mmaterial);
my_body->SetFrameRefToAbs(ChFrame<>(my_reference));
if (my_body->GetVisualModel()){
if (my_density > 1750) {
if (my_density == 2500) {
//create a blue color for the glass block
for (auto s_sel = 0; s_sel < my_body->GetVisualModel()->GetNumShapes(); ++s_sel){
my_body->GetVisualShape(s_sel)->SetColor(ChColor(0.549f, 0.929f, 1.0f));
}
}
else {
if (my_density != 2000) {
// Set the color of body by randomizing a gray shade (if high density)
float mgray = 0.6 + 0.4*ChRandom::Get();
for (auto s_sel = 0; s_sel < my_body->GetVisualModel()->GetNumShapes(); ++s_sel){
my_body->GetVisualShape(s_sel)->SetColor(ChColor(mgray, mgray, mgray));
}
}
else {
//create a color for the specific density
for (auto s_sel = 0; s_sel < my_body->GetVisualModel()->GetNumShapes(); ++s_sel){
my_body->GetVisualShape(s_sel)->SetColor(ChColor(0.91f, 0.047f, 0.376f));
}
}
}
}
else {
//create a color for the low density block
for (auto s_sel = 0; s_sel < my_body->GetVisualModel()->GetNumShapes(); ++s_sel){
my_body->GetVisualShape(s_sel)->SetColor(ChColor(0.388f, 0.227f, 0.004f));
}
}
}
mphysicalSystem.Add(my_body);
//auto my_ground = chrono_types::make_shared<ChBodyEasyBox>(10, 1, 10, 1800, true, true);
//mphysicalSystem.Add(my_ground);
//my_ground->SetBodyFixed(true);
//my_ground->SetPos(ChVector3<>(0, -5, 0));
//my_ground->SetMaterialSurface(mmaterial);
//my_ground->GetMaterialSurfaceNSC()->SetKfriction(1.0);
//auto mmmtexture = chrono_types::make_shared<ChTexture>(GetChronoDataFile("concrete.jpg"));
//my_ground->AddAsset(mmmtexture);
// Fix to ground
if(my_fixed) {
if (GLOBAL_use_motions) {
if (my_yielding == 1) {
my_body->SetFixed(true);
}
else {
if (my_yielding == 2) {
auto my_force = chrono_types::make_shared<ChForce>();
my_force->SetF_x(GLOBAL_motion_X);
my_force->SetF_y(GLOBAL_motion_Y);
my_force->SetF_z(GLOBAL_motion_Z);
my_body->AddForce(my_force);
}
if (my_yielding == 3) {
auto absolute_body = chrono_types::make_shared<ChBody>();
absolute_body->SetFixed(true);
mphysicalSystem.Add(absolute_body);
std::shared_ptr<ChLinkLockPrismatic> my_constr(new ChLinkLockPrismatic);
my_constr->Initialize(my_body, absolute_body, ChFrame<>(ChVector3<>(0, 0, 0), QuatFromAngleAxis(CH_PI / 2, VECT_Y)));
mphysicalSystem.Add(my_constr);
}
else {
// earthquake motion required: so "fixed" means "impose motion respect to a fixed body"
auto absolute_body = chrono_types::make_shared<ChBody>();
absolute_body->SetFixed(true);
mphysicalSystem.Add(absolute_body);
auto link_earthquake = chrono_types::make_shared<ChLinkLockLock>();
link_earthquake->Initialize(my_body, absolute_body, ChFrame<>(my_body->GetPos()) );
link_earthquake->SetMotionX(GLOBAL_motion_X);
link_earthquake->SetMotionY(GLOBAL_motion_Y);
link_earthquake->SetMotionZ(GLOBAL_motion_Z);
mphysicalSystem.Add(link_earthquake);
}
}
}
else {
// simplier approach: no earthquake motion, just fix body
my_body->SetFixed(true);
}
}
// add body to map
my_body_map[my_ID] = my_body;
}
} // end while
std::cout << " ...ok, parsed " << filename << " brick file successfully, created " << added_bricks << " bricks.\n";
std::cout << " TOTAL MASS OF NOT FIXED BRICKS: " << GLOBAL_totmass << "\n\n";
}
// Load sphere pattern from disk
// Create a bunch of ChronoENGINE rigid spheres
// ID number must contiunue the list of rigid bodies!!!
void load_spheres_file(ChSystem& mphysicalSystem, std::string& filename, std::shared_ptr<ChContactMaterial> mmateriall,
std::unordered_map<int, std::shared_ptr<ChBody>>& my_body_map) {
std::cout << "Parsing " << filename << " sphere file... \n";
GLOBAL_totmass = 0;
std::fstream fin(filename);
if (!fin.good())
throw std::runtime_error("ERROR opening .dat file with spheres: " + std::string(filename) + "\n");
int added_spheres = 0;
std::string line;
// Parse the file line-by-line
while (std::getline(fin, line))
{
//trims white space from the beginning of the string TODO: check if correct
//line.erase(line.begin(), find_if(line.begin(), line.end(), std::not1(std::ptr_fun<int, int>(std::isspace))));
line.erase(line.begin(), std::find_if(line.begin(), line.end(), [](int ch) { return !std::isspace(ch); }));
// skip empty lines
if (line[0] == 0)
continue;
// skip comments
if (line[0] == '#') {
continue;
}
// a normal line should contain sphere data:
if (true)
{
std::vector<double> tokenvals;
std::vector<bool> tokenasterisk;
int ntokens = 0;
std::string token;
std::istringstream ss(line);
// parse line in format:
// ID, fixed, visible, density, Ref.x, Ref.y, Ref.z, radius
while (std::getline(ss, token, ',') && ntokens < 300)
{
tokenvals.push_back(0);
tokenasterisk.push_back(false);
std::istringstream stoken(token);
//std::cout << " token n." << ntokens << " is: "<< stoken.str().c_str() << "\n";
if (token == "*") {
tokenasterisk[ntokens] = true;
tokenvals[ntokens] = 0;
}
else {
tokenasterisk[ntokens] = false;
stoken >> tokenvals[ntokens];
}
++ntokens;
}
++added_spheres;
if (ntokens != 8)
throw std::runtime_error("ERROR in .dat file of spheres, format is: ID, Fixed, Visible, Density, Ref.x, Ref.y, Ref.z, Radius :\n" + line + "\n");
int my_ID = (int)tokenvals[0];
bool my_fixed = (bool)tokenvals[1];
bool my_visible = (bool)tokenvals[2];
double my_SPHERE_density = (double)tokenvals[3];
int token_stride = 4;
ChVector3<> my_reference;
my_reference.x() = tokenvals[token_stride + 0];
my_reference.y() = tokenvals[token_stride + 1];
my_reference.z() = tokenvals[token_stride + 2];
if (GLOBAL_swap_zy) std::swap(my_reference.y(), my_reference.z());
token_stride += 3;
double my_radius = (double)tokenvals[token_stride + 0];
// Create a sphere:
auto my_sphere = chrono_types::make_shared<ChBodyEasySphere>(my_radius, my_SPHERE_density, my_visible, true, mmateriall);
float colore = 0.10 * ChRandom::Get();
my_sphere->GetVisualShape(0)->SetColor(ChColor(0.80+colore, 0.45+colore, 0.32+3*colore));
my_sphere->SetPos(my_reference);
my_sphere->SetTag(my_ID);
mphysicalSystem.Add(my_sphere);
// Fix to ground
if (my_fixed) {
my_sphere->SetFixed(true);
}
// add body to map
my_body_map[my_ID] = my_sphere;
}
} // end while
std::cout << " ...ok, parsed " << filename << " sphere file successfully, created " << added_spheres << " spheres.\n\n";
}
// Load springs from disk
void load_spring_file(ChSystem& mphysicalSystem, std::string& filename, std::unordered_map<int, std::shared_ptr<ChBody>>& my_body_map) {
std::cout << "Parsing " << filename << " spring file... \n";
std::fstream fin(filename);
if (!fin.good())
throw std::runtime_error("ERROR opening .dat file with springs: " + filename + "\n");
int added_springs = 0;
std::string line;
// Parse the file line-by-line
while(std::getline(fin, line))
{
//trims white space from the beginning of the string
line.erase(line.begin(), find_if(line.begin(), line.end(), [](int c) {return !std::isspace(c);} ));
// skip empty lines
if(line[0] == 0)
continue;
// skip comments
if(line[0] == '#') {
continue;
}
// a normal line should contain spring data:
if (true)
{
double tokenvals[300];
int ntokens = 0;
std::string token;
std::istringstream ss(line);
// parse line in format:
// ID, IDbodyA, x,y,z, IDbodyB, x,y,z, k, L0
while(std::getline(ss, token,',') && ntokens < 300)
{
std::istringstream stoken(token);
stoken >> tokenvals[ntokens];
++ntokens;
}
++added_springs;
if (ntokens != 11)
throw std::runtime_error("ERROR in .dat file of springs, format is: ID, IDbodyA, x,y,z, IDbodyB, x,y,z, k, L0 :\n"+ line+"\n");
int my_ID = (int)tokenvals[0];
int my_IDbodyA = (int)tokenvals[1];
if (my_body_map.find(my_IDbodyA) == my_body_map.end())
throw std::runtime_error("ERROR in .dat file of springs, body with identifier bodyA=" + std::to_string(my_IDbodyA) + " not found :\n"+ line+"\n");
ChVector3<> my_referenceA;
my_referenceA.x() = tokenvals[2];
my_referenceA.y() = tokenvals[3];
my_referenceA.z() = tokenvals[4];
if (GLOBAL_swap_zy) std::swap(my_referenceA.y(), my_referenceA.z());
int my_IDbodyB = (int)tokenvals[5];
if (my_body_map.find(my_IDbodyB) == my_body_map.end())
throw std::runtime_error("ERROR in .dat file of springs, body with identifier bodyB=" + std::to_string(my_IDbodyB) + " not found :\n"+ line+"\n");
ChVector3<> my_referenceB;
my_referenceB.x() = tokenvals[6];
my_referenceB.y() = tokenvals[7];
my_referenceB.z() = tokenvals[8];
if (GLOBAL_swap_zy) std::swap(my_referenceB.y(), my_referenceB.z());
double my_k = tokenvals[9];
double my_L0 = tokenvals[10];
Spring_Storage_K[added_springs-1][1] = tokenvals[0];
Spring_Storage_K[added_springs-1][2] = tokenvals[9];
// Create a spring:
auto my_spring = chrono_types::make_shared<ChLinkTSDA>();
my_spring->SetTag(my_ID);
std::shared_ptr<ChBody> mbodyA = my_body_map[my_IDbodyA];
std::shared_ptr<ChBody> mbodyB = my_body_map[my_IDbodyB];
std::cout << "mbodyA ID: " << mbodyA->GetTag() << " for ID " << my_IDbodyA << " pos: " << mbodyA->GetPos() << "\n";
std::cout << "mbodyB ID: " << mbodyB->GetTag() << " for ID " << my_IDbodyB << " pos: " << mbodyB->GetPos() << "\n";
my_spring->Initialize(mbodyA, mbodyB, false, my_referenceA, my_referenceB);
my_spring->SetRestLength(my_L0);
my_spring->SetSpringCoefficient(my_k);
mphysicalSystem.Add(my_spring);
auto my_line = chrono_types::make_shared<ChVisualShapeSegment>();
my_line->SetColor(ChColor(0.2f, 0.2f, 1.0f));
my_spring->AddVisualShape(my_line);
}
} // end while
std::cout << " ...ok, parsed " << filename << " spring file successfully, created " << added_springs << " springs.\n";
std::cout << " ID and corresponding spring constant: \n ";
int ck = 0;
for (int ck = 0; ck < added_springs; ck ++)
{
std::cout << Spring_Storage_K[ck] [1] << " ... " << Spring_Storage_K[ck][2] << " \n ";
}
Spring_Counter = added_springs;
}
// Load rigid links (distance contraint) from disk
void load_distance_file(ChSystem& mphysicalSystem, std::string& filename, std::unordered_map<int, std::shared_ptr<ChBody>>& my_body_map) {
std::cout << "Parsing " << filename << " distance file... \n";
std::fstream fin(filename);
if (!fin.good())
throw std::runtime_error("ERROR opening .dat file with distances: " + filename + "\n");
int added_dist = 0;
std::string line;
// Parse the file line-by-line
while (std::getline(fin, line))
{
//trims white space from the beginning of the string
//line.erase(line.begin(), find_if(line.begin(), line.end(), std::not1(std::ptr_fun<int, int>(std::isspace))));
line.erase(line.begin(), std::find_if(line.begin(), line.end(), [](int ch) { return !std::isspace(ch); }));
// skip empty lines
if (line[0] == 0)
continue;
// skip comments
if (line[0] == '#') {
continue;
}
// a normal line should contain distance data:
if (true)
{
double tokenvals[300];
int ntokens = 0;
std::string token;
std::istringstream ss(line);
// parse line in format:
// ID, IDbodyA, x,y,z, IDbodyB, x,y,z
while (std::getline(ss, token, ',') && ntokens < 300)
{
std::istringstream stoken(token);
stoken >> tokenvals[ntokens];
++ntokens;
}
++added_dist;
if (ntokens != 9)
throw std::runtime_error("ERROR in .dat file of distances, format is: ID, IDbodyA, x,y,z, IDbodyB, x,y,z :\n" + line + "\n");
int my_ID = (int)tokenvals[0];
int my_IDbodyA = (int)tokenvals[1];
if (my_body_map.find(my_IDbodyA) == my_body_map.end())
throw std::runtime_error("ERROR in .dat file of distances, body with identifier bodyA=" + std::to_string(my_IDbodyA) + " not found :\n" + line + "\n");
ChVector3<> my_referenceA;
my_referenceA.x() = tokenvals[2];
my_referenceA.y() = tokenvals[3];
my_referenceA.z() = tokenvals[4];
if (GLOBAL_swap_zy) std::swap(my_referenceA.y(), my_referenceA.z());
int my_IDbodyB = (int)tokenvals[5];
if (my_body_map.find(my_IDbodyB) == my_body_map.end())
throw std::runtime_error("ERROR in .dat file of distances, body with identifier bodyB=" + std::to_string(my_IDbodyB) + " not found :\n" + line + "\n");
ChVector3<> my_referenceB;
my_referenceB.x() = tokenvals[6];
my_referenceB.y() = tokenvals[7];
my_referenceB.z() = tokenvals[8];
if (GLOBAL_swap_zy) std::swap(my_referenceB.y(), my_referenceB.z());
// Create a rigid link:
std::shared_ptr<ChLinkDistance> my_dist(new ChLinkDistance());
my_dist->SetTag(my_ID);
std::shared_ptr<ChBody> mbodyA = my_body_map[my_IDbodyA];
std::shared_ptr<ChBody> mbodyB = my_body_map[my_IDbodyB];
std::cout << "mbodyA ID: " << mbodyA->GetTag() << " for ID " << my_IDbodyA << " pos: " << mbodyA->GetPos() << "\n";
std::cout << "mbodyB ID: " << mbodyB->GetTag() << " for ID " << my_IDbodyB << " pos: " << mbodyB->GetPos() << "\n";
my_dist->Initialize(mbodyA, mbodyB, false, my_referenceA, my_referenceB, true);
mphysicalSystem.Add(my_dist);
auto my_line = chrono_types::make_shared<ChVisualShapeSegment>();
my_line->SetColor(ChColor(1.0f, 0.0f, 0.0f));
my_dist->AddVisualShape(my_line);
}
} // end while
std::cout << " ...ok, parsed " << filename << " distance file successfully, created " << added_dist << " constraints.\n";
}
// load lines for graphical output
void load_line_file(ChSystem& mphysicalSystem, std::string& filename, std::unordered_map<int, std::shared_ptr<ChBody>>& my_body_map) {
std::cout << "Parsing " << filename << " line file... \n";
std::fstream fin(filename);
if (!fin.good())
throw std::runtime_error("ERROR opening .dat file with lines: " + filename + "\n");
int added_line = 0;
std::string line;
// Parse the file line-by-line
while (std::getline(fin, line))
{
//trims white space from the beginning of the string; TODO: check if correct
//line.erase(line.begin(), find_if(line.begin(), line.end(), std::not1(std::ptr_fun<int, int>(std::isspace))));
line.erase(line.begin(), std::find_if(line.begin(), line.end(), [](int ch) { return !std::isspace(ch); }));
// skip empty lines
if (line[0] == 0)
continue;
// skip comments
if (line[0] == '#') {
continue;
}
// a normal line should contain data to draw a line:
if (true)
{
double tokenvals[300];
int ntokens = 0;
std::string token;
std::istringstream ss(line);
// parse line in format:
// ID, IDbody, x,y,z, x,y,z
while (std::getline(ss, token, ',') && ntokens < 300)
{
std::istringstream stoken(token);
stoken >> tokenvals[ntokens];
++ntokens;
}
++added_line;
if (ntokens != 8)
throw std::runtime_error("ERROR in .dat file of lines, format is: ID, IDbody, x,y,z, x,y,z :\n" + line + "\n");
int my_ID = (int)tokenvals[0];
int my_IDbody = (int)tokenvals[1];
if (my_body_map.find(my_IDbody) == my_body_map.end())
throw std::runtime_error("ERROR in .dat file of lines, body with identifier " + std::to_string(my_IDbody) + " not found :\n" + line + "\n");
ChVector3<> my_referenceA;
my_referenceA.x() = tokenvals[2];
my_referenceA.y() = tokenvals[3];
my_referenceA.z() = tokenvals[4];
if (GLOBAL_swap_zy) std::swap(my_referenceA.y(), my_referenceA.z());
ChVector3<> my_referenceB;
my_referenceB.x() = tokenvals[5];
my_referenceB.y() = tokenvals[6];
my_referenceB.z() = tokenvals[7];
if (GLOBAL_swap_zy) std::swap(my_referenceB.y(), my_referenceB.z());
// Create a rigid link:
std::shared_ptr<ChLinkDistance> my_dist(new ChLinkDistance());
my_dist->SetTag(my_ID);
std::shared_ptr<ChBody> mbodyA = my_body_map[my_IDbody];
std::shared_ptr<ChBody> mbodyB = my_body_map[my_IDbody];
my_dist->Initialize(mbodyA, mbodyB, false, my_referenceA, my_referenceB, true);
mphysicalSystem.Add(my_dist);
auto my_line = chrono_types::make_shared<ChVisualShapeSegment>();
my_line->SetColor(ChColor(0.0f, 0.0f, 0.0f));
my_dist->AddVisualShape(my_line);
}
} // end while
std::cout << " ...ok, parsed " << filename << " line file successfully, created " << added_line << " constraints.\n";
}
// Load precomputed contact positions from disk
class PrecomputedContact {
public:
PrecomputedContact(const std::shared_ptr<ChBody> mbodyA, const std::shared_ptr<ChBody> mbodyB, const ChVector3<> mpos_t0, const ChVector3<> mnormal_t0)
: bodyA(mbodyA), bodyB(mbodyB), pos_t0(mpos_t0), normal_t0(mnormal_t0)
{
rel_pos_A = bodyA->TransformPointParentToLocal(pos_t0);
rel_pos_B = bodyB->TransformPointParentToLocal(pos_t0);
rel_normal_A = bodyA->TransformDirectionParentToLocal(mnormal_t0);
reaction_cache[0] = 0;
reaction_cache[1] = 0;
reaction_cache[2] = 0;
}
// For time different than t0, absolute position of contact points might change from the mpos_t0 initial
// value, ex. they can detach or compenetrate a bit, so this can be used to retrieve the two points given
// the current position of the two blocks.
void GetAbsolutePoints(ChVector3<>& abs_pos_A, ChVector3<>& abs_pos_B, ChVector3<>& abs_norm_A) {
abs_pos_A = bodyA->TransformPointLocalToParent(rel_pos_A);
abs_pos_B = bodyB->TransformPointLocalToParent(rel_pos_B);
abs_norm_A = bodyA->TransformDirectionLocalToParent(rel_normal_A);
}
ChCollisionInfo GetCollisionInfo() {
ChCollisionInfo minfo;
minfo.modelA = bodyA->GetCollisionModel().get();
minfo.modelB = bodyB->GetCollisionModel().get();
minfo.vpA = bodyA->TransformPointLocalToParent(rel_pos_A);
minfo.vpB = bodyB->TransformPointLocalToParent(rel_pos_B);
minfo.vN = bodyA->TransformDirectionLocalToParent(rel_normal_A);
minfo.distance = Vdot(minfo.vpB - minfo.vpA, minfo.vN);
minfo.reaction_cache = this->reaction_cache;
return minfo;
}
private:
float reaction_cache[3];
ChVector3<> pos_t0;
ChVector3<> normal_t0;
std::shared_ptr<ChBody> bodyA;
std::shared_ptr<ChBody> bodyB;
ChVector3<> rel_pos_A;
ChVector3<> rel_pos_B;
ChVector3<> rel_normal_A;
};
void load_contacts_file(ChSystem& mphysicalSystem, std::string& filename, std::unordered_map<int, std::shared_ptr<ChBody>>& my_body_map, std::vector<PrecomputedContact>& mprecomputed_contacts) {
std::cout << "Parsing " << filename << " file of precomputed contacts... \n";
std::fstream fin(filename);
if (!fin.good())
throw std::runtime_error("ERROR opening .dat file with precomputed contacts: " + filename + "\n");
int added_springs = 0;
std::string line;
// Parse the file line-by-line
while (std::getline(fin, line))
{
//trims white space from the beginning of the string TODO: check if correct
line.erase(line.begin(), find_if(line.begin(), line.end(), [](int c) {return !std::isspace(c);} ));
// skip empty lines
if (line[0] == 0)
continue;
// skip comments
if (line[0] == '#') {
continue;
}
// a normal line should contain contact data:
if (true)
{
double tokenvals[300];
int ntokens = 0;
std::string token;
std::istringstream ss(line);
// parse line in format:
// IDbodyA, x,y,z, IDbodyB, x,y,z, k, L0
while (std::getline(ss, token, ',') && ntokens < 300)
{
std::istringstream stoken(token);
stoken >> tokenvals[ntokens];
++ntokens;
}
++added_springs;
if (ntokens != 8)
throw std::runtime_error("ERROR in .dat file of contacts, format is: IDbodyA, IDbodyB, x,y,z, Nx,Ny,Nz but here is:\n" + line + "\n");
int my_IDbodyA = (int)tokenvals[0];
if (my_body_map.find(my_IDbodyA) == my_body_map.end())
throw std::runtime_error("ERROR in .dat file of contacts, body with identifier bodyA=" + std::to_string(my_IDbodyA) + " not found :\n" + line + "\n");
int my_IDbodyB = (int)tokenvals[1];
if (my_body_map.find(my_IDbodyB) == my_body_map.end())
throw std::runtime_error("ERROR in .dat file of contacts, body with identifier bodyB=" + std::to_string(my_IDbodyB) + " not found :\n" + line + "\n");
ChVector3<> my_abspos;
my_abspos.x() = tokenvals[2];
my_abspos.y() = tokenvals[3];
my_abspos.z() = tokenvals[4];
if (GLOBAL_swap_zy) std::swap(my_abspos.y(), my_abspos.z());
ChVector3<> my_absnorm;
my_absnorm.x() = tokenvals[5];
my_absnorm.y() = tokenvals[6];
my_absnorm.z() = tokenvals[7];
if (GLOBAL_swap_zy) std::swap(my_absnorm.y(), my_absnorm.z());
// store the contact info
std::shared_ptr<ChBody> mbodyA = my_body_map[my_IDbodyA];
std::shared_ptr<ChBody> mbodyB = my_body_map[my_IDbodyB];
PrecomputedContact mcontact(mbodyA, mbodyB, my_abspos, my_absnorm); // TODO: my_absnorm.GetNormalized() ?
mprecomputed_contacts.push_back(mcontact);
}
} // end while
std::cout << " ...ok, parsed " << filename << " spring file successfully, created " << added_springs << " springs.\n";
}
// Load seismic displacement function
// from ascii file, each row is a value followed by CR. Time step is assumed constant.
void load_motion(std::shared_ptr<ChFunctionInterp> mrecorder, std::string filename_pos, double t_offset = 0, double factor = 1.0, double timestep = 0.01)
{
std::cout << "Parsing " << filename_pos << " motion file... \n";
//std::ifstream mstream(filename_pos.c_str());
std::fstream fin(filename_pos);
if (!fin.good())
throw std::runtime_error("ERROR opening .dat file with motion law: " + filename_pos + "\n");
mrecorder->Reset();
double time = 0;
double value = 0;
//while(!mstream.eof())
//{
// Parse the file line-by-line
std::string line;
while (std::getline(fin, line))
{
/*
double value = 0;
try
{
mstream >> time >> value;
std::cout << " t=" << time + t_offset << " p=" << value * factor << "\n";
mrecorder->AddPoint(time + t_offset, value * factor);
}
catch(std::runtime_error myerror)
{
std::cout << " End parsing file " << filename_pos.c_str() << " because: \n " << myerror.what() << "\n";
break;
}
*/
//trims white space from the beginning of the string TODO: check if correct
line.erase(line.begin(), find_if(line.begin(), line.end(), [](int c) {return !std::isspace(c); }));
// skip empty lines
if (line[0] == 0)
continue;
// skip comments
if (line[0] == '#') {
continue;
}
// a normal line should contain contact data:
if (true)
{
double tokenvals[30];
int ntokens = 0;
std::string token;
std::istringstream ss(line);
// parse line in format:
// time, value
while (std::getline(ss, token, ',') && ntokens < 300)
{
std::istringstream stoken(token);
stoken >> tokenvals[ntokens];
++ntokens;
}
if (ntokens != 2)
throw std::runtime_error("ERROR in .dat motion file, format is: time, value, but here is:\n" + line + "\n");
double time = (double)tokenvals[0];
double value = (double)tokenvals[1];
mrecorder->AddPoint(time + t_offset, value * factor);
//std::cout << " t=" << time + t_offset << " p=" << value * factor << "\n";
}
}
std::cout << " ...ok, parsed " << filename_pos << " motion file successfully: " << mrecorder->GetTable().size() << " samples \n";
}
// This is the contact reporter class, just for writing contacts on
// a file on disk
class _contact_reporter_class : public ChContactContainer::ReportContactCallback
{
public:
std::ofstream* mfile; // the file to save data into
virtual bool OnReportContact(
const ChVector3<>& pA, ///< contact pA
const ChVector3<>& pB, ///< contact pB
const ChMatrix33<>& plane_coord, ///< contact plane coordsystem (A column 'X' is contact normal)
const double& distance, ///< contact distance
const double& eff_radius, ///< effective radius of curvature at contact