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Add test programs relocated from main Chrono repository
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,31 @@ | ||
| { | ||
| "sphere_radius": 0.5, | ||
| "sphere_density": 2.5, | ||
| "box_X": 10, | ||
| "box_Y": 10 , | ||
| "box_Z": 20 , | ||
| "step_size": 5e-5, | ||
| "time_end": 5, | ||
| "grav_X": 0, | ||
| "grav_Y": 0, | ||
| "grav_Z": -980, | ||
| "normalStiffS2S": 1e7, | ||
| "normalStiffS2W": 1e7, | ||
| "normalDampS2S": 1e4, | ||
| "normalDampS2W": 1e4, | ||
| "tangentStiffS2S" : 2e6, | ||
| "tangentStiffS2W" : 1e6, | ||
| "tangentDampS2S": 50, | ||
| "tangentDampS2W": 50, | ||
| "cohesion_ratio": 0, | ||
| "adhesion_ratio_s2w": 0, | ||
| "static_friction_coeffS2S": 0.2, | ||
| "static_friction_coeffS2W": 0.25, | ||
| "verbose": false, | ||
|
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| "psi_T": 32, | ||
| "psi_L": 16, | ||
|
|
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| "output_dir": "compression", | ||
| "write_mode": "csv" | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,39 @@ | ||
| { | ||
| "sphere_radius": 0.5, | ||
| "sphere_density": 2.5, | ||
|
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| "box_X": 100, | ||
| "box_Y": 100, | ||
| "box_Z": 50, | ||
|
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| "step_size": 1e-5, | ||
| "time_end": 1, | ||
|
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| "grav_X": 0, | ||
| "grav_Y": 0, | ||
| "grav_Z": -980, | ||
|
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| "normalStiffS2S": 1e7, | ||
| "normalStiffS2W": 1e7, | ||
| "normalDampS2S": 5e3, | ||
| "normalDampS2W": 5e3, | ||
|
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| "tangentStiffS2S" : 1e5, | ||
| "tangentStiffS2W" : 1e5, | ||
| "tangentDampS2S": 0, | ||
| "tangentDampS2W": 0, | ||
|
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| "static_friction_coeffS2S" : 0.5, | ||
| "static_friction_coeffS2W" : 0.5, | ||
|
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| "cohesion_ratio": 0, | ||
| "adhesion_ratio_s2w": 0, | ||
|
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| "verbose": 0, | ||
| "psi_T": 32, | ||
| "psi_L": 16, | ||
|
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| "output_dir": "soilBin", | ||
| "write_mode": "csv", | ||
| "run_mode": "one_step" | ||
| } |
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| @@ -0,0 +1,29 @@ | ||
| { | ||
| "sphere_radius": 0.5, | ||
| "sphere_density": 2.5, | ||
| "box_X": 600, | ||
| "box_Y": 600, | ||
| "box_Z": 100, | ||
| "step_size": 2e-5, | ||
| "time_end": 1, | ||
| "grav_X": 0, | ||
| "grav_Y": 0, | ||
| "grav_Z": -980, | ||
| "normalStiffS2S": 1e8, | ||
| "normalStiffS2W": 1e8, | ||
| "normalDampS2S": 1000, | ||
| "normalDampS2W": 1000, | ||
| "tangentStiffS2S" : 1e8, | ||
| "tangentStiffS2W" : 1e8, | ||
| "tangentDampS2S": 1000, | ||
| "tangentDampS2W": 1000, | ||
| "static_friction_coeffS2S": 0.7, | ||
| "static_friction_coeffS2W": 0.7, | ||
| "cohesion_ratio": 0, | ||
| "verbose": false, | ||
|
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||
| "psi_T": 32, | ||
| "psi_L": 16, | ||
| "output_dir": "soilBin", | ||
| "write_mode": "binary" | ||
| } |
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| @@ -0,0 +1,164 @@ | ||
| // ============================================================================= | ||
| // PROJECT CHRONO - http://projectchrono.org | ||
| // | ||
| // Copyright (c) 2021 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: Luning Fang | ||
| // ============================================================================= | ||
| // Impact test: Granular material settling in a cylindrical container | ||
| // to generate the bed for balldrop test. Once particles are settled, | ||
| // a projectile modeled as boundary condition is dropped | ||
| // with impact velocity 1m/s | ||
| // ============================================================================= | ||
|
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| #include <iostream> | ||
| #include <string> | ||
|
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| #include "chrono/core/ChGlobal.h" | ||
| #include "chrono/utils/ChUtilsSamplers.h" | ||
|
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| #include "chrono_thirdparty/filesystem/path.h" | ||
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| #include "chrono_gpu/physics/ChSystemGpu.h" | ||
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| using namespace chrono; | ||
| using namespace chrono::gpu; | ||
|
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| void setMaterialProperty(ChSystemGpu& gran_sys) { | ||
| double cor_p = 0.5; // use cor_p = 0.9 for sand or glass beads | ||
| double cor_w = 0.5; | ||
| double youngs_modulus = 1e8; | ||
| double mu_s2s = 0.16; | ||
| double mu_s2w = 0.45; | ||
| double mu_roll = 0.09; | ||
| double poisson_ratio = 0.24; | ||
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| gran_sys.UseMaterialBasedModel(true); | ||
| gran_sys.SetYoungModulus_SPH(youngs_modulus); | ||
| gran_sys.SetYoungModulus_WALL(youngs_modulus); | ||
| gran_sys.SetRestitution_SPH(cor_p); | ||
| gran_sys.SetRestitution_WALL(cor_w); | ||
| gran_sys.SetPoissonRatio_SPH(poisson_ratio); | ||
| gran_sys.SetPoissonRatio_WALL(poisson_ratio); | ||
| gran_sys.SetRollingMode(CHGPU_ROLLING_MODE::SCHWARTZ); | ||
| gran_sys.SetRollingCoeff_SPH2SPH(mu_roll); | ||
| gran_sys.SetRollingCoeff_SPH2WALL(mu_roll); | ||
| gran_sys.SetFrictionMode(CHGPU_FRICTION_MODE::MULTI_STEP); | ||
| gran_sys.SetStaticFrictionCoeff_SPH2SPH(mu_s2s); | ||
| gran_sys.SetStaticFrictionCoeff_SPH2WALL(mu_s2w); | ||
| } | ||
|
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| int main(int argc, char* argv[]) { | ||
| // unit gcm | ||
| double sphere_radius = 0.5f; | ||
| double sphere_density = 2.48; | ||
| double box_X = 31.5; | ||
| double box_Y = 31.5; | ||
| double box_Z = 30.0; | ||
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| double grav_X = 0.0f; | ||
| double grav_Y = 0.0f; | ||
| double grav_Z = -980.0f; | ||
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| float step_size = 1e-5f; | ||
| float time_settle = 1.5f; | ||
| float time_impact = 0.5f; | ||
| float time_end = time_settle + time_impact; | ||
|
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| ChSystemGpu gran_sys(sphere_radius, sphere_density, ChVector<float>(box_X, box_Y, box_Z)); | ||
| gran_sys.SetBDFixed(true); | ||
|
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| // create cylinder containter | ||
| ChVector<float> cyl_center(0.0f, 0.0f, 0.0f); | ||
| float cyl_rad = std::min(box_X, box_Y) / 2.0f; | ||
| gran_sys.CreateBCCylinderZ(cyl_center, cyl_rad, false, true); | ||
|
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| // generate a cloud of particles | ||
| std::vector<chrono::ChVector<float>> body_points; | ||
| utils::PDSampler<float> sampler(2.001 * sphere_radius); | ||
| ChVector<float> sampler_center(0.0f, 0.0f, 0.0f); | ||
| body_points = sampler.SampleCylinderZ(sampler_center, cyl_rad - 4 * sphere_radius, box_Z / 2 - 4 * sphere_radius); | ||
| auto numSpheres = body_points.size(); | ||
| std::cout << "Numbers of particles created: " << numSpheres << std::endl; | ||
| gran_sys.SetParticles(body_points); | ||
|
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| // set up material properties | ||
| setMaterialProperty(gran_sys); | ||
|
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| // set up projectile radius, mass and impact velocity | ||
| float projectile_radius = 5.0f; | ||
| float projectile_mass = 1000; | ||
| ChVector<float> projectile_pos(0, 0, box_Z / 2.0f - projectile_radius); | ||
| ChVector<float> projectile_impact_velo(0.0, 0.0, -100.0f); | ||
| size_t projectile_id = gran_sys.CreateBCSphere(projectile_pos, projectile_radius, true, true, projectile_mass); | ||
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| gran_sys.SetGravitationalAcceleration(ChVector<float>(grav_X, grav_Y, grav_Z)); | ||
| gran_sys.SetPsiFactors(32.0f, 16.0f); | ||
| gran_sys.SetFixedStepSize(step_size); | ||
| gran_sys.SetTimeIntegrator(CHGPU_TIME_INTEGRATOR::FORWARD_EULER); | ||
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| std::string out_dir = GetChronoOutputPath() + "GPU/"; | ||
| filesystem::create_directory(filesystem::path(out_dir)); | ||
| out_dir = out_dir + "/ballDrop/"; | ||
| filesystem::create_directory(filesystem::path(out_dir)); | ||
|
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| gran_sys.SetParticleOutputFlags(ABSV); | ||
| gran_sys.SetParticleOutputMode(CHGPU_OUTPUT_MODE::CSV); | ||
|
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| gran_sys.Initialize(); | ||
| // Fix projectile until granular particles are settled | ||
| gran_sys.DisableBCbyID(projectile_id); | ||
|
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| double t = 0.0f; | ||
| int curr_step_settle = 0; | ||
|
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| double frame_step_settle = 0.01; | ||
| double frame_step_impact = 5e-4; | ||
| char filename[200]; | ||
|
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| // settling phase | ||
| while (t < time_settle) { | ||
| gran_sys.AdvanceSimulation(frame_step_settle); | ||
|
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| // write particle output | ||
| sprintf(filename, "%s/settling%06d.csv", out_dir.c_str(), curr_step_settle); | ||
| gran_sys.WriteParticleFile(std::string(filename)); | ||
|
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| curr_step_settle++; | ||
| t += frame_step_settle; | ||
| } | ||
|
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| double max_particle_z = gran_sys.GetMaxParticleZ(); | ||
|
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| // set projectile position and velocity | ||
| projectile_pos.z() = max_particle_z + sphere_radius + projectile_radius; | ||
| gran_sys.EnableBCbyID(projectile_id); | ||
| gran_sys.SetBCSpherePosition(projectile_id, projectile_pos); | ||
| gran_sys.SetBCSphereVelocity(projectile_id, projectile_impact_velo); | ||
|
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| ChVector<float> bc_pos(0.0f, 0.0f, 0.0f); | ||
| ChVector<float> bc_velo(0.0f, 0.0f, 0.0f); | ||
| ChVector<float> bc_force(0.0f, 0.0f, 0.0f); | ||
|
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| // impact phase | ||
| while (t < time_end) { | ||
| gran_sys.AdvanceSimulation(frame_step_impact); | ||
|
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| t += frame_step_impact; | ||
|
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| bc_pos = gran_sys.GetBCSpherePosition(projectile_id); | ||
| bc_velo = gran_sys.GetBCSphereVelocity(projectile_id); | ||
| gran_sys.GetBCReactionForces(projectile_id, bc_force); | ||
|
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| // output projectile position, velocity and acceleration in z direction | ||
| printf("%e, %e, %e, %e\n", t, bc_pos.z(), bc_velo.z(), bc_force.z() / projectile_mass + grav_Z); | ||
| } | ||
|
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| return 0; | ||
| } |
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