tutorial_pychrono_demo_vehicle.html

# =============================================================================

# 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.

#

# =============================================================================

# Authors: Simone Benatti, Radu Serban

# =============================================================================

#

# Main driver function for the HMMWV full model.

#

# The vehicle reference frame has Z up, X towards the front of the vehicle, and

# Y pointing to the left.

#

# =============================================================================


import pychrono as chrono

import pychrono.vehicle as veh

import pychrono.irrlicht as irr

import os

import math as m


#// =============================================================================


def main():

    #print("Copyright (c) 2017 projectchrono.org\nChrono version: ", CHRONO_VERSION , "\n\n")


    # Create systems


    #  Create the HMMWV vehicle, set parameters, and initialize

    my_hmmwv = veh.HMMWV_Full()

    my_hmmwv.SetContactMethod(contact_method)

    my_hmmwv.SetChassisCollisionType(chassis_collision_type)

    my_hmmwv.SetChassisFixed(False)

    my_hmmwv.SetInitPosition(chrono.ChCoordsysD(initLoc, initRot))

    my_hmmwv.SetPowertrainType(powertrain_model)

    my_hmmwv.SetDriveType(drive_type)

    my_hmmwv.SetSteeringType(steering_type)

    my_hmmwv.SetTireType(tire_model)

    my_hmmwv.SetTireStepSize(tire_step_size)

    my_hmmwv.Initialize()


    my_hmmwv.SetChassisVisualizationType(chassis_vis_type)

    my_hmmwv.SetSuspensionVisualizationType(suspension_vis_type)

    my_hmmwv.SetSteeringVisualizationType(steering_vis_type)

    my_hmmwv.SetWheelVisualizationType(wheel_vis_type)

    my_hmmwv.SetTireVisualizationType(tire_vis_type)


    # Create the terrain


    terrain = veh.RigidTerrain(my_hmmwv.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_hmmwv.GetVehicle(), 'HMMWV', irr.dimension2du(1000,800))


    app.SetSkyBox()

    app.AddTypicalLights(irr.vector3df(30, -30, 100), irr.vector3df(30, 50, 100), 250, 130)

    app.AddTypicalLogo(chrono.GetChronoDataFile('logo_pychrono_alpha.png'))

    app.SetChaseCamera(trackPoint, 6.0, 0.5)

    app.SetTimestep(step_size)

    app.AssetBindAll()

    app.AssetUpdateAll()


    # Initialize output


    try:

           os.mkdir(out_dir)

    except:

           print("Error creating directory " )


    # Set up vehicle output

    my_hmmwv.GetVehicle().SetChassisOutput(True);

    my_hmmwv.GetVehicle().SetSuspensionOutput(0, True);

    my_hmmwv.GetVehicle().SetSteeringOutput(0, True);

    my_hmmwv.GetVehicle().SetOutput(veh.ChVehicleOutput.ASCII , out_dir, "output", 0.1);


    # Generate JSON information with available output channels

    my_hmmwv.GetVehicle().ExportComponentList(out_dir + "/component_list.json");


    # Create the interactive driver system

    driver = veh.ChIrrGuiDriver(app)


    # Set the time response for steering and throttle keyboard inputs.

    steering_time = 1.0  # time to go from 0 to +1 (or from 0 to -1)

    throttle_time = 1.0  # time to go from 0 to +1

    braking_time = 0.3   # time to go from 0 to +1

    driver.SetSteeringDelta(render_step_size / steering_time)

    driver.SetThrottleDelta(render_step_size / throttle_time)

    driver.SetBrakingDelta(render_step_size / braking_time)


    driver.Initialize()


    # Simulation loop


    # Number of simulation steps between miscellaneous events

    render_steps = m.ceil(render_step_size / step_size)

    debug_steps = m.ceil(debug_step_size / step_size)


    # Initialize simulation frame counter and simulation time

    step_number = 0

    render_frame = 0


    if (contact_vis):

        app.SetSymbolscale(1e-4);

        #app.SetContactsDrawMode(irr.eCh_ContactsDrawMode::CONTACT_FORCES);


    realtime_timer = chrono.ChRealtimeStepTimer()

    while (app.GetDevice().run()):

        time = my_hmmwv.GetSystem().GetChTime()


        #End simulation

        if (time >= t_end):

            break


        app.BeginScene(True, True, irr.SColor(255, 140, 161, 192))

        app.DrawAll()

        app.EndScene()


        #Debug logging

        if (debug_output and step_number % debug_steps == 0) :

            print("\n\n============ System Information ============\n")

            print( "Time = " << time << "\n\n")

            #my_hmmwv.DebugLog(OUT_SPRINGS | OUT_SHOCKS | OUT_CONSTRAINTS)


            marker_driver = my_hmmwv.GetChassis().GetMarkers()[0].GetAbsCoord().pos

            marker_com = my_hmmwv.GetChassis().GetMarkers()[1].GetAbsCoord().pos

            print( "Markers\n")

            print( "  Driver loc:      " , marker_driver.x , " " , marker_driver.y , " " , marker_driver.z)

            print( "  Chassis COM loc: " , marker_com.x, " ", marker_com.y, " ",marker_com.z)


        # Get driver inputs

        driver_inputs = driver.GetInputs()


        # Update modules (process inputs from other modules)

        driver.Synchronize(time)

        terrain.Synchronize(time)

        my_hmmwv.Synchronize(time, driver_inputs, terrain)

        app.Synchronize(driver.GetInputModeAsString(), driver_inputs)


        # Advance simulation for one timestep for all modules

        driver.Advance(step_size)

        terrain.Advance(step_size)

        my_hmmwv.Advance(step_size)

        app.Advance(step_size)


        # Increment frame number

        step_number += 1


        # Spin in place for real time to catch up

        realtime_timer.Spin(step_size)


    return 0


# The path to the Chrono data directory containing various assets (meshes, textures, data files)

# is automatically set, relative to the default location of this demo.

# If running from a different directory, you must change the path to the data directory with:

#chrono.SetChronoDataPath('path/to/data')


veh.SetDataPath(chrono.GetChronoDataPath() + 'vehicle/')


# Initial vehicle location and orientation

initLoc = chrono.ChVectorD(0, 0, 1.6)

initRot = chrono.ChQuaternionD(1, 0, 0, 0)


# Visualization type for vehicle parts (PRIMITIVES, MESH, or NONE)

chassis_vis_type = veh.VisualizationType_MESH

suspension_vis_type =  veh.VisualizationType_PRIMITIVES

steering_vis_type = veh.VisualizationType_PRIMITIVES

wheel_vis_type = veh.VisualizationType_MESH

tire_vis_type = veh.VisualizationType_MESH


# Collision type for chassis (PRIMITIVES, MESH, or NONE)

chassis_collision_type = veh.ChassisCollisionType_NONE


# Type of powertrain model (SHAFTS, SIMPLE)

powertrain_model = veh.PowertrainModelType_SHAFTS


# Drive type (FWD, RWD, or AWD)

drive_type = veh.DrivelineType_AWD


# Steering type (PITMAN_ARM or PITMAN_ARM_SHAFTS)

steering_type = veh.SteeringType_PITMAN_ARM


# Type of tire model (RIGID, RIGID_MESH, PACEJKA, LUGRE, FIALA, PAC89)

tire_model = veh.TireModelType_TMEASY


# Rigid terrain

terrainHeight = 0;      # terrain height (FLAT terrain only)

terrainLength = 100.0;  # size in X direction

terrainWidth = 100.0;   # size in Y direction


# Point on chassis tracked by the camera

trackPoint = chrono.ChVectorD(0.0, 0.0, 1.75)


# Contact method

contact_method = chrono.ChContactMethod_SMC

contact_vis = False;


# Simulation step sizes

step_size = 3e-3;

tire_step_size = 1e-3;


# Simulation end time

t_end = 1000;


# Time interval between two render frames

render_step_size = 1.0 / 50;  # FPS = 50


# Output directories

out_dir = os.path.join(os.path.dirname(__file__), "HMMWV_demo")


# Debug logging

debug_output = False

debug_step_size = 1.0 / 1  # FPS = 1


# POV-Ray output

povray_output = False


main()