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rover_simulationD.cpp
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rover_simulationD.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/ChTexture.h"
#include "chrono/assets/ChColorAsset.h"
#include "chrono_irrlicht/ChIrrApp.h"
#include "chrono/assets/ChPointPointDrawing.h"
#include <math.h>
// 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;
//I will clean this up and move the robot into its own class later. For now I don't want to waste that time
//Robot parameters -> robot is oriented with X forward, Y up, and Z right. Origin is at center of left front wheel
//double robotLength = .6096*2; //length from center front wheel to center rear wheel -> this is a function of other robot parameters
double robotWidth = .9144; //width from center wheel to center wheel
double wheelWidth = .15;
double wheelDia = .2286;
double wheelMass = 3;
double chassisW = .6096;
double chassisL = .6096;
double chassisH = .15;
double chassisMass = 30;
//connection points -> all angles are just angles at design configuration. The ride angles will change based on many robot parameters
//tibia is connector to front and rear wheels (larger bone in shin as it supports more direct weight ;) )
double tibiaLength = .3512;
double tibiaAngle = 30 * CH_C_PI / 180.0; //degrees to radians and from horizontal
double tibiaMass = .25;
//thigh is connector from knee to chassis
double conW = 0.025; //width of the square tube for thighs and shins -> no need to change this
double thighLength;
//double thighLength = .3244; //Thigh length is a result of angles and shin lengths
double thighAngle = 30 * CH_C_PI / 180.0; //degrees to radians and from horizontal
double thighMass = .25;
//tibia is connector to front and rear wheels (larger bone in shin as it supports more direct weight ;) )
double fibulaLength = .3512;
double fibulaAngle = 30 * CH_C_PI / 180.0; //degrees to radians and from horizontal
double fibulaMass = .25;
//Spring properties
double tibiaSpringPt = 0.15; //distance from knee to spring connection point on fibula
double fibulaSpringPt = 0.15; //distance from knee to spring connection point on tibia
double k = 10000; //spring constant between tibia and fibula
double c = 1000; //damping coefficient between tibia and fibula
double restLength = .22; //rest length of springs
//Torque values at wheels
double torqueLeftSide = 2;
double torqueRightSide = 2;
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, 1, -5),
core::vector3df(0, .5, 0)); // to change the position of camera
// 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.
//
// An example: a pendulum.
// 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 floorBody = std::make_shared<ChBodyEasyBox>(100, 2, 100, // x, y, z dimensions
1000, // density
true, // contact geometry - allow collision
true // enable visualization geometry
);
floorBody->SetPos(ChVector<>(0, -1.3, 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);
//-----------------------ROBOT----------------------------------//
//figure out thigh length
thighLength = ( tibiaLength*cos(tibiaAngle) ) / cos(thighAngle);
double robotLength = 2.0*tibiaLength*cos(tibiaAngle) + 2.0*fibulaLength*cos(fibulaAngle);
// Add chassis
auto chassis = std::make_shared<ChBodyEasyBox>(chassisL, chassisH, chassisW, // x,y,z size
200, // density
true, // collide enable?
true // visualization?
);
chassis->SetMass(chassisMass);
chassis->SetPos(ChVector<>(-(tibiaLength*cos(tibiaAngle) + thighLength*cos(thighAngle)), //X location
tibiaLength*sin(tibiaAngle) + thighLength*sin(thighAngle), //Y location
robotWidth/2.0));
mphysicalSystem.Add(chassis);
chassis->SetBodyFixed(false);
//create the attachments to the body
//left front thigh
auto thighLF = std::make_shared<ChBodyEasyBox>(thighLength, conW, conW, // x,y,z size
200, // density
false, // collide enable?
true // visualization?
);
thighLF->SetMass(thighMass);
thighLF->SetPos(ChVector<>(-(tibiaLength*cos(tibiaAngle) + .5*thighLength*cos(thighAngle)), //X direction
tibiaLength*sin(tibiaAngle)+.5*thighLength*sin(thighAngle),
wheelWidth/2.0+conW));
thighLF->SetRot(Q_from_AngZ(-thighAngle));
mphysicalSystem.Add(thighLF);
//left rear thigh
auto thighLR = std::make_shared<ChBodyEasyBox>(thighLength, conW, conW, // x,y,z size
200, // density
false, // collide enable?
true // visualization?
);
thighLR->SetMass(thighMass);
thighLR->SetPos(ChVector<>(-(tibiaLength*cos(tibiaAngle) + 1.5*thighLength*cos(thighAngle)), //X direction
tibiaLength*sin(tibiaAngle) + .5*thighLength*sin(thighAngle),
wheelWidth / 2.0 + conW));
thighLR->SetRot(Q_from_AngZ(thighAngle));
mphysicalSystem.Add(thighLR);
//right front thigh
auto thighRF = std::make_shared<ChBodyEasyBox>(thighLength, conW, conW, // x,y,z size
200, // density
false, // collide enable?
true // visualization?
);
thighRF->SetMass(thighMass);
thighRF->SetPos(ChVector<>(-(tibiaLength*cos(tibiaAngle) + .5*thighLength*cos(thighAngle)), //X direction
tibiaLength*sin(tibiaAngle) + .5*thighLength*sin(thighAngle),
robotWidth - (wheelWidth / 2.0 + conW)));
thighRF->SetRot(Q_from_AngZ(-thighAngle));
mphysicalSystem.Add(thighRF);
//right front thigh
auto thighRR = std::make_shared<ChBodyEasyBox>(thighLength, conW, conW, // x,y,z size
200, // density
false, // collide enable?
true // visualization?
);
thighRR->SetMass(thighMass);
thighRR->SetPos(ChVector<>(-(tibiaLength*cos(tibiaAngle) + 1.5*thighLength*cos(thighAngle)), //X direction
tibiaLength*sin(tibiaAngle) + .5*thighLength*sin(thighAngle),
robotWidth - (wheelWidth / 2.0 + conW)));
thighRR->SetRot(Q_from_AngZ(thighAngle));
mphysicalSystem.Add(thighRR);
//connect the thighs to the chassis
auto thighLFJoint = std::make_shared<ChLinkLockRevolute>();
thighLFJoint->Initialize(chassis, thighLF, ChCoordsys<>(ChVector<>(-(tibiaLength*cos(tibiaAngle) + thighLength*cos(thighAngle)), //X location
tibiaLength*sin(tibiaAngle) + thighLength*sin(thighAngle), //Y location
thighLF->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(thighLFJoint);
auto thighLRJoint = std::make_shared<ChLinkLockRevolute>();
thighLRJoint->Initialize(chassis, thighLR, ChCoordsys<>(ChVector<>(-(tibiaLength*cos(tibiaAngle) + thighLength*cos(thighAngle)), //X location
tibiaLength*sin(tibiaAngle) + thighLength*sin(thighAngle), //Y location
thighLR->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(thighLRJoint);
auto thighRFJoint = std::make_shared<ChLinkLockRevolute>();
thighRFJoint->Initialize(chassis, thighRF, ChCoordsys<>(ChVector<>(-(tibiaLength*cos(tibiaAngle) + thighLength*cos(thighAngle)), //X location
tibiaLength*sin(tibiaAngle) + thighLength*sin(thighAngle), //Y location
thighRF->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(thighRFJoint);
auto thighRRJoint = std::make_shared<ChLinkLockRevolute>();
thighRRJoint->Initialize(chassis, thighRR, ChCoordsys<>(ChVector<>(-(tibiaLength*cos(tibiaAngle) + thighLength*cos(thighAngle)), //X location
tibiaLength*sin(tibiaAngle) + thighLength*sin(thighAngle), //Y location
thighRR->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(thighRRJoint);
//Add shins
//left front tibia
auto tibiaLF = std::make_shared<ChBodyEasyBox>(tibiaLength, conW, conW, // x,y,z size
200, // density
false, // collide enable?
true // visualization?
);
tibiaLF->SetMass(tibiaMass);
tibiaLF->SetPos(ChVector<>(-.5*tibiaLength*cos(tibiaAngle), //X direction
.5*tibiaLength*sin(tibiaAngle),
wheelWidth / 2.0 + conW));
tibiaLF->SetRot(Q_from_AngZ(-tibiaAngle));
mphysicalSystem.Add(tibiaLF);
//left rear tibia
auto tibiaLR = std::make_shared<ChBodyEasyBox>(tibiaLength, conW, conW, // x,y,z size
200, // density
false, // collide enable?
true // visualization?
);
tibiaLR->SetMass(tibiaMass);
tibiaLR->SetPos(ChVector<>(-(1.5*tibiaLength*cos(tibiaAngle) + 2 * thighLength*cos(thighAngle)), //X direction
.5*tibiaLength*sin(tibiaAngle),
wheelWidth / 2.0 + conW));
tibiaLR->SetRot(Q_from_AngZ(tibiaAngle));
mphysicalSystem.Add(tibiaLR);
//right front tibia
auto tibiaRF = std::make_shared<ChBodyEasyBox>(tibiaLength, conW, conW, // x,y,z size
200, // density
false, // collide enable?
true // visualization?
);
tibiaRF->SetMass(tibiaMass);
tibiaRF->SetPos(ChVector<>(-.5*tibiaLength*cos(tibiaAngle), //X direction
.5*tibiaLength*sin(tibiaAngle),
robotWidth - (wheelWidth / 2.0 + conW)));
tibiaRF->SetRot(Q_from_AngZ(-tibiaAngle));
mphysicalSystem.Add(tibiaRF);
//right rear tibia
auto tibiaRR = std::make_shared<ChBodyEasyBox>(tibiaLength, conW, conW, // x,y,z size
200, // density
false, // collide enable?
true // visualization?
);
tibiaRR->SetMass(tibiaMass);
tibiaRR->SetPos(ChVector<>(-(1.5*tibiaLength*cos(tibiaAngle) + 2 * thighLength*cos(thighAngle)), //X direction
.5*tibiaLength*sin(tibiaAngle),
robotWidth - (wheelWidth / 2.0 + conW)));
tibiaRR->SetRot(Q_from_AngZ(tibiaAngle));
mphysicalSystem.Add(tibiaRR);
//connect the thighs to the tibias
auto tibiaLFJoint = std::make_shared<ChLinkLockRevolute>();
tibiaLFJoint->Initialize(thighLF, tibiaLF, ChCoordsys<>(ChVector<>(-(tibiaLength*cos(tibiaAngle)), //X location
tibiaLength*sin(tibiaAngle), //Y location
tibiaLF->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(tibiaLFJoint);
auto tibiaLRJoint = std::make_shared<ChLinkLockRevolute>();
tibiaLRJoint->Initialize(thighLR, tibiaLR, ChCoordsys<>(ChVector<>(-(2.0*thighLength*cos(thighAngle)+tibiaLength*cos(tibiaAngle)), //X location
tibiaLength*sin(tibiaAngle), //Y location
tibiaLR->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(tibiaLRJoint);
auto tibiaRFJoint = std::make_shared<ChLinkLockRevolute>();
tibiaRFJoint->Initialize(thighRF, tibiaRF, ChCoordsys<>(ChVector<>(-(tibiaLength*cos(tibiaAngle)), //X location
tibiaLength*sin(tibiaAngle), //Y location
tibiaRF->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(tibiaRFJoint);
auto tibiaRRJoint = std::make_shared<ChLinkLockRevolute>();
tibiaRRJoint->Initialize(thighRR, tibiaRR, ChCoordsys<>(ChVector<>(-(2.0*thighLength*cos(thighAngle) + tibiaLength*cos(tibiaAngle)), //X location
tibiaLength*sin(tibiaAngle), //Y location
tibiaRR->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(tibiaRRJoint);
//left front fibula
auto fibulaLF = std::make_shared<ChBodyEasyBox>(fibulaLength, conW, conW, // x,y,z size
200, // density
false, // collide enable?
true // visualization?
);
fibulaLF->SetMass(fibulaMass);
fibulaLF->SetPos(ChVector<>(-(tibiaLength*cos(tibiaAngle) + .5*fibulaLength*cos(fibulaAngle)), //X direction
.5*fibulaLength*sin(fibulaAngle),
wheelWidth / 2.0 + conW));
fibulaLF->SetRot(Q_from_AngZ(fibulaAngle));
mphysicalSystem.Add(fibulaLF);
//left front fibula
auto fibulaLR = std::make_shared<ChBodyEasyBox>(fibulaLength, conW, conW, // x,y,z size
200, // density
false, // collide enable?
true // visualization?
);
fibulaLR->SetMass(fibulaMass);
fibulaLR->SetPos(ChVector<>(-(tibiaLength*cos(tibiaAngle) + 1.5*fibulaLength*cos(fibulaAngle)), //X direction
.5*fibulaLength*sin(fibulaAngle),
wheelWidth / 2.0 + conW));
fibulaLR->SetRot(Q_from_AngZ(-fibulaAngle));
mphysicalSystem.Add(fibulaLR);
//left front fibula
auto fibulaRF = std::make_shared<ChBodyEasyBox>(fibulaLength, conW, conW, // x,y,z size
200, // density
false, // collide enable?
true // visualization?
);
fibulaRF->SetMass(fibulaMass);
fibulaRF->SetPos(ChVector<>(-(tibiaLength*cos(tibiaAngle) + .5*fibulaLength*cos(fibulaAngle)), //X direction
.5*fibulaLength*sin(fibulaAngle),
robotWidth - (wheelWidth / 2.0 + conW)));
fibulaRF->SetRot(Q_from_AngZ(fibulaAngle));
mphysicalSystem.Add(fibulaRF);
//right rear fibula
auto fibulaRR = std::make_shared<ChBodyEasyBox>(fibulaLength, conW, conW, // x,y,z size
200, // density
false, // collide enable?
true // visualization?
);
fibulaRR->SetMass(fibulaMass);
fibulaRR->SetPos(ChVector<>(-(tibiaLength*cos(tibiaAngle) + 1.5*fibulaLength*cos(fibulaAngle)), //X direction
.5*fibulaLength*sin(fibulaAngle),
robotWidth - (wheelWidth / 2.0 + conW)));
fibulaRR->SetRot(Q_from_AngZ(-fibulaAngle));
mphysicalSystem.Add(fibulaRR);
//connect fibulas to thighs and each other
auto fibulaLFJoint = std::make_shared<ChLinkLockRevolute>();
fibulaLFJoint->Initialize(thighLF, fibulaLF, ChCoordsys<>(ChVector<>(-tibiaLength*cos(tibiaAngle), //X location
tibiaLength*sin(tibiaAngle), //Y location
fibulaLF->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(fibulaLFJoint);
auto fibulaLRJoint = std::make_shared<ChLinkLockRevolute>();
fibulaLRJoint->Initialize(thighLR, fibulaLR, ChCoordsys<>(ChVector<>(-(2.0*thighLength*cos(thighAngle) + tibiaLength*cos(tibiaAngle)), //X location
tibiaLength*sin(tibiaAngle), //Y location
fibulaLR->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(fibulaLRJoint);
auto fibulaRFJoint = std::make_shared<ChLinkLockRevolute>();
fibulaRFJoint->Initialize(thighRF, fibulaRF, ChCoordsys<>(ChVector<>(-tibiaLength*cos(tibiaAngle), //X location
tibiaLength*sin(tibiaAngle), //Y location
fibulaRF->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(fibulaRFJoint);
auto fibulaRRJoint = std::make_shared<ChLinkLockRevolute>();
fibulaRRJoint->Initialize(thighRR, fibulaRR, ChCoordsys<>(ChVector<>(-(2.0*thighLength*cos(thighAngle) + tibiaLength*cos(tibiaAngle)), //X location
tibiaLength*sin(tibiaAngle), //Y location
fibulaRR->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(fibulaRRJoint);
//to each other
auto fibulasLeftJoint = std::make_shared<ChLinkLockRevolute>();
fibulasLeftJoint->Initialize(fibulaLF, fibulaLR, ChCoordsys<>(ChVector<>(-(fibulaLength*cos(fibulaAngle) + tibiaLength*cos(tibiaAngle)), //X location
tibiaLength*sin(tibiaAngle) - fibulaLength*sin(fibulaAngle), //Y location
fibulaLR->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(fibulasLeftJoint);
auto fibulasRightJoint = std::make_shared<ChLinkLockRevolute>();
fibulasRightJoint->Initialize(fibulaRF, fibulaRR, ChCoordsys<>(ChVector<>(-(fibulaLength*cos(fibulaAngle) + tibiaLength*cos(tibiaAngle)), //X location
tibiaLength*sin(tibiaAngle) - fibulaLength*sin(fibulaAngle), //Y location
fibulaRR->GetPos().z()), //Z location
{ 1,0,0,0 })); //rotation
mphysicalSystem.Add(fibulasRightJoint);
// Add wheels as cylinders
auto texture = std::make_shared<ChTexture>();
texture->SetTextureFilename(GetChronoDataFile("redwhite.png")); // texture in ../data
auto wheel_0 = std::make_shared<ChBodyEasyCylinder>(wheelDia / 2.0, wheelWidth, 300,// density
true,// collide
true// visualization
);
wheel_0->SetMass(wheelMass);
wheel_0->SetPos(ChVector<>(0, 0, 0));
wheel_0->SetRot(Q_from_AngX(CH_C_PI / 2.0));
mphysicalSystem.Add(wheel_0);
wheel_0->AddAsset(texture);
auto wheel_1 = std::make_shared<ChBodyEasyCylinder>(wheelDia/2.0, wheelWidth, 300,// density
true,// collide
true// visualization
);
wheel_1->SetMass(wheelMass);
wheel_1->SetPos(ChVector<>(-(tibiaLength*cos(tibiaAngle) + fibulaLength*cos(fibulaAngle)),0,0));
wheel_1->SetRot(Q_from_AngX(CH_C_PI / 2.0));
mphysicalSystem.Add(wheel_1);
wheel_1->AddAsset(texture);
auto wheel_2 = std::make_shared<ChBodyEasyCylinder>(wheelDia / 2.0, wheelWidth, 300,// density
true,// collide
true// visualization
);
wheel_2->SetMass(wheelMass);
wheel_2->SetPos(ChVector<>(-(2.0*tibiaLength*cos(tibiaAngle) + 2.0*fibulaLength*cos(fibulaAngle)), 0, 0));
wheel_2->SetRot(Q_from_AngX(CH_C_PI / 2.0));
mphysicalSystem.Add(wheel_2);
wheel_2->AddAsset(texture);
auto wheel_3 = std::make_shared<ChBodyEasyCylinder>(wheelDia / 2.0, wheelWidth, 300,// density
true,// collide
true// visualization
);
wheel_3->SetMass(wheelMass);
wheel_3->SetPos(ChVector<>(0, 0, robotWidth));
wheel_3->SetRot(Q_from_AngX(CH_C_PI / 2.0));
mphysicalSystem.Add(wheel_3);
wheel_3->AddAsset(texture);
auto wheel_4 = std::make_shared<ChBodyEasyCylinder>(wheelDia / 2.0, wheelWidth, 300,// density
true,// collide
true// visualization
);
wheel_4->SetMass(wheelMass);
wheel_4->SetPos(ChVector<>(-(tibiaLength*cos(tibiaAngle) + fibulaLength*cos(fibulaAngle)), 0, robotWidth));
wheel_4->SetRot(Q_from_AngX(CH_C_PI / 2.0));
mphysicalSystem.Add(wheel_4);
wheel_4->AddAsset(texture);
auto wheel_5 = std::make_shared<ChBodyEasyCylinder>(wheelDia / 2.0, wheelWidth, 300,// density
true,// collide
true// visualization
);
wheel_5->SetMass(wheelMass);
wheel_5->SetPos(ChVector<>(-(2.0*tibiaLength*cos(tibiaAngle) + 2.0*fibulaLength*cos(fibulaAngle)), 0, robotWidth));
wheel_5->SetRot(Q_from_AngX(CH_C_PI / 2.0));
mphysicalSystem.Add(wheel_5);
wheel_5->AddAsset(texture);
//connect wheels to shins
auto wheel0joint = std::make_shared<ChLinkLockRevolute>();
wheel0joint->Initialize(tibiaLF, wheel_0, ChCoordsys<>(ChVector<>(wheel_0->GetPos().x(), wheel_0->GetPos().y(), .5*wheelWidth), { 1,0,0,0 }));
mphysicalSystem.Add(wheel0joint);
auto wheel1joint = std::make_shared<ChLinkLockRevolute>();
wheel1joint->Initialize(fibulaLF, wheel_1, ChCoordsys<>(ChVector<>(wheel_1->GetPos().x(), wheel_1->GetPos().y(), .5*wheelWidth), { 1,0,0,0 }));
mphysicalSystem.Add(wheel1joint);
auto wheel2joint = std::make_shared<ChLinkLockRevolute>();
wheel2joint->Initialize(tibiaLR, wheel_2, ChCoordsys<>(ChVector<>(wheel_2->GetPos().x(), wheel_2->GetPos().y(), .5*wheelWidth), { 1,0,0,0 }));
mphysicalSystem.Add(wheel2joint);
auto wheel3joint = std::make_shared<ChLinkLockRevolute>();
wheel3joint->Initialize(tibiaRF, wheel_3, ChCoordsys<>(ChVector<>(wheel_3->GetPos().x(), wheel_3->GetPos().y(), robotWidth - .5*wheelWidth), { 1,0,0,0 }));
mphysicalSystem.Add(wheel3joint);
auto wheel4joint = std::make_shared<ChLinkLockRevolute>();
wheel4joint->Initialize(fibulaRF, wheel_4, ChCoordsys<>(ChVector<>(wheel_4->GetPos().x(), wheel_4->GetPos().y(), robotWidth - .5*wheelWidth), { 1,0,0,0 }));
mphysicalSystem.Add(wheel4joint);
auto wheel5joint = std::make_shared<ChLinkLockRevolute>();
wheel5joint->Initialize(tibiaRR, wheel_5, ChCoordsys<>(ChVector<>(wheel_5->GetPos().x(), wheel_5->GetPos().y(), robotWidth - .5*wheelWidth), { 1,0,0,0 }));
mphysicalSystem.Add(wheel5joint);
//Add springs between tibia and fibulas
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 springtLF = std::make_shared<ChLinkSpring>();
springtLF->Initialize(tibiaLF, // first body to link it with
fibulaLF, // second body to link it with
false, // pos absolute
ChVector<>(-((tibiaLength- tibiaSpringPt)*cos(tibiaAngle)) ,
(tibiaLength - tibiaSpringPt)*sin(tibiaAngle), tibiaLF->GetPos().z()), // position of first end of spring
ChVector<>(-(tibiaLength*cos(tibiaAngle) + fibulaSpringPt*cos(fibulaAngle)),
tibiaLength*sin(tibiaAngle) - fibulaSpringPt*sin(fibulaAngle), tibiaLF->GetPos().z()), // position of second end of spring
false, // rest length not original length
restLength); // rest length
mphysicalSystem.Add(springtLF);
springtLF->Set_SpringK(k);
springtLF->Set_SpringR(c);
// Attach a visualization asset.
springtLF->AddAsset(col_1);
springtLF->AddAsset(std::make_shared<ChPointPointSpring>(.0125, 20, 10));
auto springtLR = std::make_shared<ChLinkSpring>();
springtLR->Initialize(tibiaLR, // first body to link it with
fibulaLR, // second body to link it with
false, // pos absolute
ChVector<>(-(2.0*fibulaLength*cos(fibulaAngle) + (tibiaLength + tibiaSpringPt)*cos(tibiaAngle)),
(tibiaLength - tibiaSpringPt)*sin(tibiaAngle), tibiaLR->GetPos().z()), // position of first end of spring
ChVector<>(-(tibiaLength*cos(tibiaAngle) + (2.0*fibulaLength - fibulaSpringPt)*cos(fibulaAngle)),
tibiaLength*sin(tibiaAngle) - fibulaSpringPt*sin(fibulaAngle), tibiaLR->GetPos().z()), // position of second end of spring
false, // rest length not original length
restLength); // rest length
mphysicalSystem.Add(springtLR);
springtLR->Set_SpringK(k);
springtLR->Set_SpringR(c);
// Attach a visualization asset.
springtLR->AddAsset(col_1);
springtLR->AddAsset(std::make_shared<ChPointPointSpring>(.0125, 20, 10));
auto springtRF = std::make_shared<ChLinkSpring>();
springtRF->Initialize(tibiaRF, // first body to link it with
fibulaRF, // second body to link it with
false, // pos absolute
ChVector<>(-((tibiaLength - tibiaSpringPt)*cos(tibiaAngle)),
(tibiaLength - tibiaSpringPt)*sin(tibiaAngle), tibiaRF->GetPos().z()), // position of first end of spring
ChVector<>(-(tibiaLength*cos(tibiaAngle) + fibulaSpringPt*cos(fibulaAngle)),
tibiaLength*sin(tibiaAngle) - fibulaSpringPt*sin(fibulaAngle), tibiaRF->GetPos().z()), // position of second end of spring
false, // rest length not original length
restLength); // rest length
mphysicalSystem.Add(springtRF);
springtRF->Set_SpringK(k);
springtRF->Set_SpringR(c);
// Attach a visualization asset.
springtRF->AddAsset(col_1);
springtRF->AddAsset(std::make_shared<ChPointPointSpring>(.0125, 20, 10));
auto springtRR = std::make_shared<ChLinkSpring>();
springtRR->Initialize(tibiaRR, // first body to link it with
fibulaRR, // second body to link it with
false, // pos absolute
ChVector<>(-(2.0*fibulaLength*cos(fibulaAngle) + (tibiaLength + tibiaSpringPt)*cos(tibiaAngle)),
(tibiaLength - tibiaSpringPt)*sin(tibiaAngle), tibiaRR->GetPos().z()), // position of first end of spring
ChVector<>(-(tibiaLength*cos(tibiaAngle) + (2.0*fibulaLength-fibulaSpringPt)*cos(fibulaAngle)),
tibiaLength*sin(tibiaAngle) - fibulaSpringPt*sin(fibulaAngle), tibiaRR->GetPos().z()), // position of second end of spring
false, // rest length not original length
restLength); // rest length
mphysicalSystem.Add(springtRR);
springtRR->Set_SpringK(k);
springtRR->Set_SpringR(c);
// Attach a visualization asset.
springtRR->AddAsset(col_1);
springtRR->AddAsset(std::make_shared<ChPointPointSpring>(.0125, 20, 10));
auto obstacleBox1 = std::make_shared<ChBodyEasyBox>(.2, .1, 1.22, 1000, true, true);
obstacleBox1->SetMass(10.0);
obstacleBox1->SetPos(ChVector<>(2.0, -.3, 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);
//set torque on the wheels
wheel0joint->Set_Scr_torque(torqueLeftSide);
wheel1joint->Set_Scr_torque(torqueLeftSide);
wheel2joint->Set_Scr_torque(torqueLeftSide);
wheel3joint->Set_Scr_torque(torqueRightSide);
wheel4joint->Set_Scr_torque(torqueRightSide);
wheel5joint->Set_Scr_torque(torqueRightSide);
//======================================================================
// 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(5000);
//
// THE SOFT-REAL-TIME CYCLE
//
//calculate robot mass as given from parameters
double robotMass = 6 * wheelMass + 4 * tibiaMass + 4 * fibulaMass + 4 * thighMass + chassisMass;
std::cout << "ROBOT LENGTH: " << robotLength << std::endl;
std::cout << "ROBOT MASS: " << robotMass << std::endl;
bool sim = true;
while (application.GetDevice()->run()) {
application.BeginScene();
application.DrawAll();
// This performs the integration timestep!
//application.DoStep();
if (sim) {
mphysicalSystem.DoStepDynamics(step_size);
sim = false;
}
mphysicalSystem.DoStepDynamics(step_size);
application.EndScene();
}
return 0;
}