Update to Chrono 8ff3488

configuration_tests/cascade/demo_CAS_robot.cpp

@@ -83,9 +83,9 @@ int main(int argc, char* argv[]) {
     // Note, In most CADs the Y axis is horizontal, but we want it vertical.
     // So define a root transformation for rotating all the imported objects.
     ChQuaternion<> rotation1;
-    rotation1.SetFromAngleX(-CH_C_PI_2);  // 1: rotate 90 deg on X axis
+    rotation1.SetFromAngleX(-CH_PI_2);  // 1: rotate 90 deg on X axis
     ChQuaternion<> rotation2;
-    rotation2.SetFromAngleY(CH_C_PI);                     // 2: rotate 180 deg on vertical Y axis
+    rotation2.SetFromAngleY(CH_PI);                     // 2: rotate 180 deg on vertical Y axis
     ChQuaternion<> tot_rotation = rotation2 * rotation1;  // rotate on 1 then on 2, using quaternion product
     ChFrameMoving<> root_frame(ChVector3d(0, 0, 0), tot_rotation);
 
@@ -309,7 +309,7 @@ int main(int argc, char* argv[]) {
     body_base->AddMarker(my_marker_move);
 
     ChQuaternion<> rot_on_x;
-    rot_on_x.SetFromAngleX(CH_C_PI_2);
+    rot_on_x.SetFromAngleX(CH_PI_2);
     ChFrame<> frame_marker_move = ChFrame<>(VNULL, rot_on_x) >> frame_marker_wrist_hand;
 
     my_marker_hand->ImposeAbsoluteTransform(frame_marker_wrist_hand);

configuration_tests/fsi/demo_FSI_cylinderDrop.cpp

@@ -172,7 +172,7 @@ void CreateSolidPhase(ChSystemSMC& sysMBS, ChSystemFsi& sysFSI) {
     cylinder->EnableCollision(true);
     cylinder->SetFixed(false);
     chrono::utils::AddCylinderGeometry(cylinder.get(), cmaterial, cyl_radius, cyl_length, VNULL,
-                                       QuatFromAngleX(CH_C_PI_2));
+                                       QuatFromAngleX(CH_PI_2));
     cylinder->GetCollisionModel()->SetSafeMargin(initSpace0);
 
     cylinder->GetVisualShape(0)->SetColor(ChColor(0.65f, 0.20f, 0.10f));
@@ -184,7 +184,7 @@ void CreateSolidPhase(ChSystemSMC& sysMBS, ChSystemFsi& sysFSI) {
     sysFSI.AddFsiBody(cylinder);
 
     // Add BCE particles attached on the cylinder into FSI system
-    sysFSI.AddCylinderBCE(cylinder, ChFrame<>(VNULL, QuatFromAngleX(CH_C_PI_2)), cyl_radius, cyl_length,
+    sysFSI.AddCylinderBCE(cylinder, ChFrame<>(VNULL, QuatFromAngleX(CH_PI_2)), cyl_radius, cyl_length,
                           true);
 }
 

configuration_tests/gpu/demo_GPU_ballcosim.cpp

@@ -51,7 +51,7 @@ void runBallDrop(ChSystemGpuMesh& gpu_sys, ChGpuSimulationParameters& params) {
     // Add a ball mesh to the GPU system
     float ball_radius = 20.f;
     float ball_density = params.sphere_density;
-    float ball_mass = 4.0f * (float)CH_C_PI * ball_radius * ball_radius * ball_radius * ball_density / 3.f;
+    float ball_mass = 4.0f * (float)CH_PI * ball_radius * ball_radius * ball_radius * ball_density / 3.f;
     gpu_sys.AddMesh(GetChronoDataFile("models/sphere.obj"), ChVector3f(0), ChMatrix33<float>(ball_radius),
                     ball_mass);
 
@@ -269,7 +269,7 @@ int main(int argc, char* argv[]) {
         double3 pos = {0, 0, 0};
 
         double t0 = 0.5;
-        double freq = CH_C_PI / 4;
+        double freq = CH_PI / 4;
 
         if (t > t0) {
             pos.x = 0.1 * params.box_X * std::sin((t - t0) * freq);

configuration_tests/mbs/demo_IRR_collisionNSC.cpp

@@ -124,8 +124,8 @@ std::shared_ptr<ChBody> AddContainer(ChSystemNSC& sys) {
     // .. a motor between mixer and truss
 
     auto my_motor = chrono_types::make_shared<ChLinkMotorRotationSpeed>();
-    my_motor->Initialize(rotatingBody, floorBody, ChFrame<>(ChVector3d(0, 0, 0), QuatFromAngleAxis(CH_C_PI_2, VECT_X)));
-    auto mfun = chrono_types::make_shared<ChFunctionConst>(CH_C_PI / 4.0);  // speed 45 deg/s
+    my_motor->Initialize(rotatingBody, floorBody, ChFrame<>(ChVector3d(0, 0, 0), QuatFromAngleAxis(CH_PI_2, VECT_X)));
+    auto mfun = chrono_types::make_shared<ChFunctionConst>(CH_PI / 4.0);  // speed 45 deg/s
     my_motor->SetSpeedFunction(mfun);
     sys.AddLink(my_motor);
 

configuration_tests/mbs/demo_IRR_invPendulum.cpp

@@ -232,7 +232,7 @@ int main(int argc, char* argv[]) {
     // Translational joint ground-cart
     // -------------------------------
     auto prismatic = chrono_types::make_shared<ChLinkLockPrismatic>();
-    prismatic->Initialize(ground, cart, ChFrame<>(ChVector3d(0, 0, 0), QuatFromAngleY(CH_C_PI_2)));
+    prismatic->Initialize(ground, cart, ChFrame<>(ChVector3d(0, 0, 0), QuatFromAngleY(CH_PI_2)));
     system.AddLink(prismatic);
 
     // Revolute joint cart-pendulum

configuration_tests/mbs/demo_IRR_sliderCrank.cpp

@@ -132,8 +132,8 @@ int main(int   argc,
   // - a rotation of -90 degrees around x (z2y)
   ChQuaternion<> y2x;
   ChQuaternion<> z2y;
-  y2x.Q_from_AngAxis(-CH_C_PI/2, ChVector<>(0, 0, 1));
-  z2y.Q_from_AngAxis(-CH_C_PI/2, ChVector<>(1, 0, 0));
+  y2x.Q_from_AngAxis(-CH_PI/2, ChVector<>(0, 0, 1));
+  z2y.Q_from_AngAxis(-CH_PI/2, ChVector<>(1, 0, 0));
 
   // Ground
   ChSharedBodyPtr  ground(new ChBody);
@@ -191,7 +191,7 @@ int main(int   argc,
   engine_ground_crank->Initialize(ground, crank, ChCoordsys<>(ChVector<>(0, 0, 0), z2y));
   engine_ground_crank->Set_eng_mode(ChLinkEngine::ENG_MODE_SPEED);
   if (ChSharedPtr<ChFunction_Const> mfun = engine_ground_crank->Get_spe_funct().DynamicCastTo<ChFunction_Const>())
-    mfun->Set_yconst(CH_C_PI);
+    mfun->Set_yconst(CH_PI);
   system.AddLink(engine_ground_crank);
 #else
   // Revolute between ground and crank.

configuration_tests/multicore/demo_MCORE_mixerSMC.cpp

@@ -102,7 +102,7 @@ std::shared_ptr<ChBody> AddContainer(ChSystemMulticoreSMC* sys) {
     // Create a motor between the two bodies, constrained to rotate at 90 deg/s
     auto motor = chrono_types::make_shared<ChLinkMotorRotationAngle>();
     motor->Initialize(mixer, bin, ChFrame<>(ChVector3d(0, 0, 0), ChQuaternion<>(1, 0, 0, 0)));
-    motor->SetAngleFunction(chrono_types::make_shared<ChFunctionRamp>(0, CH_C_PI / 2));
+    motor->SetAngleFunction(chrono_types::make_shared<ChFunctionRamp>(0, CH_PI / 2));
     sys->AddLink(motor);
 
     return mixer;

configuration_tests/synchrono/demo_SYN_scm.cpp

@@ -129,7 +129,7 @@ int main(int argc, char* argv[]) {
     } else {
         // Start odd vehicles staggered going up the west edge, driving east
         initLoc = offset + ChVector3d(2.0 * (node_id - 1), -5.0 - 2.0 * (node_id - 1), 0.5);
-        initRot = QuatFromAngleZ(CH_C_PI / 2);
+        initRot = QuatFromAngleZ(CH_PI / 2);
         curve_pts = {initLoc, initLoc + ChVector3d(0, 100, 0)};
     }
 
@@ -259,13 +259,13 @@ int main(int argc, char* argv[]) {
         ChQuaternion<> rotation = QUNIT;
         const bool USE_ISO_VIEW = true;
         if (USE_ISO_VIEW) {
-            ChQuaternion<> qA = QuatFromAngleAxis(35 * CH_C_DEG_TO_RAD, VECT_Y);
-            ChQuaternion<> qB = QuatFromAngleAxis(135 * CH_C_DEG_TO_RAD, VECT_Z);
+            ChQuaternion<> qA = QuatFromAngleAxis(35 * CH_DEG_TO_RAD, VECT_Y);
+            ChQuaternion<> qB = QuatFromAngleAxis(135 * CH_DEG_TO_RAD, VECT_Z);
             rotation = rotation >> qA >> qB;
         } else {
             // Top down view
-            ChQuaternion<> qA = QuatFromAngleAxis(90 * CH_C_DEG_TO_RAD, VECT_Y);
-            ChQuaternion<> qB = QuatFromAngleAxis(180 * CH_C_DEG_TO_RAD, VECT_Z);
+            ChQuaternion<> qA = QuatFromAngleAxis(90 * CH_DEG_TO_RAD, VECT_Y);
+            ChQuaternion<> qB = QuatFromAngleAxis(180 * CH_DEG_TO_RAD, VECT_Z);
             rotation = rotation >> qA >> qB;
         }
 
@@ -275,7 +275,7 @@ int main(int argc, char* argv[]) {
             chrono::ChFrame<double>(camera_loc, rotation),  // offset pose
             cam_res_width,                                  // image width
             cam_res_height,                                 // image height
-            (float)CH_C_PI / 3                              // FOV
+            (float)CH_PI / 3                              // FOV
         );
 
         overhead_camera->SetName("Overhead Cam");

configuration_tests/urdf/demo_PARSER_URDF_RoboSimian.cpp

@@ -207,7 +207,7 @@ int main(int argc, char* argv[]) {
     vis->SetUseSkyBox(false);
     vis->SetCameraAngleDeg(40.0);
     vis->SetLightIntensity(1.0f);
-    vis->SetLightDirection(1.5 * CH_C_PI_2, CH_C_PI_4);
+    vis->SetLightDirection(1.5 * CH_PI_2, CH_PI_4);
     vis->SetWireFrameMode(false);
     vis->Initialize();
 

configuration_tests/vsg/demo_VSG_assets.cpp

@@ -75,7 +75,7 @@ int main(int argc, char* argv[]) {
     pathfloor->GetPathGeometry()->AddSubLine(mseg1);
     ChLineSegment mseg2(ChVector3d(1, 3, 0), ChVector3d(2, 3, 0));
     pathfloor->GetPathGeometry()->AddSubLine(mseg2);
-    ChLineArc marc1(ChCoordsys<>(ChVector3d(2, 3.5, 0)), 0.5, -CH_C_PI_2, CH_C_PI_2);
+    ChLineArc marc1(ChCoordsys<>(ChVector3d(2, 3.5, 0)), 0.5, -CH_PI_2, CH_PI_2);
     pathfloor->GetPathGeometry()->AddSubLine(marc1);
     pathfloor->SetColor(ChColor(0.0f, 0.5f, 0.8f));
     floor->AddVisualShape(pathfloor);
@@ -138,7 +138,7 @@ int main(int argc, char* argv[]) {
     // Attach also a 'cylinder' shape
     auto cyl = chrono_types::make_shared<ChVisualShapeCylinder>(0.3, 0.7);
     cyl->AddMaterial(orange_mat);
-    body->AddVisualShape(cyl, ChFrame<>(ChVector3d(2, 0.15, 0), QuatFromAngleX(CH_C_PI_2)));
+    body->AddVisualShape(cyl, ChFrame<>(ChVector3d(2, 0.15, 0), QuatFromAngleX(CH_PI_2)));
     body->AddVisualShape(chrono_types::make_shared<ChVisualShapeSphere>(0.03), ChFrame<>(ChVector3d(2, -0.2, 0), QUNIT));
     body->AddVisualShape(chrono_types::make_shared<ChVisualShapeSphere>(0.03), ChFrame<>(ChVector3d(2, +0.5, 0), QUNIT));
 
@@ -162,15 +162,15 @@ int main(int argc, char* argv[]) {
     body->AddVisualShape(objmesh, ChFrame<>(ChVector3d(0, 0.0, 2)));
     body->AddVisualShape(objmesh, ChFrame<>(ChVector3d(3, 0.0, 2.5)));
     body->AddVisualShape(objmesh, ChFrame<>(ChVector3d(5, 0.0, 3)));
-    body->AddVisualShape(objmesh, ChFrame<>(ChVector3d(4, 0.0, -3), QuatFromAngleY(0.5 * CH_C_PI)));
-    body->AddVisualShape(objmesh, ChFrame<>(ChVector3d(0, 0.0, -5), QuatFromAngleY(CH_C_PI)));
-    body->AddVisualShape(objmesh, ChFrame<>(ChVector3d(-4, 0.0, -6), QuatFromAngleY(-CH_C_PI_4)));
+    body->AddVisualShape(objmesh, ChFrame<>(ChVector3d(4, 0.0, -3), QuatFromAngleY(0.5 * CH_PI)));
+    body->AddVisualShape(objmesh, ChFrame<>(ChVector3d(0, 0.0, -5), QuatFromAngleY(CH_PI)));
+    body->AddVisualShape(objmesh, ChFrame<>(ChVector3d(-4, 0.0, -6), QuatFromAngleY(-CH_PI_4)));
 
     // Attach an array of boxes, each rotated to make a spiral
     for (int j = 0; j < 20; j++) {
         auto smallbox = chrono_types::make_shared<ChVisualShapeBox>(0.2, 0.2, 0.02);
         smallbox->SetColor(ChColor(j * 0.05f, 1 - j * 0.05f, 0.0f));
-        ChMatrix33<> rot(QuatFromAngleY(j * 21 * CH_C_DEG_TO_RAD));
+        ChMatrix33<> rot(QuatFromAngleY(j * 21 * CH_DEG_TO_RAD));
         ChVector3d pos = rot * ChVector3d(0.4, 0, 0) + ChVector3d(0, j * 0.02, 0);
         body->AddVisualShape(smallbox, ChFrame<>(pos, rot));
     }
@@ -297,12 +297,12 @@ int main(int argc, char* argv[]) {
     vis->AddCamera(ChVector3d(-8, 8, -16));
     vis->SetCameraAngleDeg(40);
     vis->SetLightIntensity(1.0f);
-    vis->SetLightDirection(1.5 * CH_C_PI_2, CH_C_PI_4);
-    vis->AddGrid(0.5, 0.5, 12, 12, ChCoordsys<>(ChVector3d(0, -0.49, 0), QuatFromAngleX(CH_C_PI_2)),
+    vis->SetLightDirection(1.5 * CH_PI_2, CH_PI_4);
+    vis->AddGrid(0.5, 0.5, 12, 12, ChCoordsys<>(ChVector3d(0, -0.49, 0), QuatFromAngleX(CH_PI_2)),
                  ChColor(0.31f, 0.43f, 0.43f));
 
     // add scenery objects, not bound to bodies
-    auto Zup = QuatFromAngleX(-CH_C_PI_2);
+    auto Zup = QuatFromAngleX(-CH_PI_2);
 
     auto sceneMesh1 = chrono_types::make_shared<ChVisualShapeModelFile>();
     sceneMesh1->SetFilename(GetChronoDataFile("models/red_teapot.obj"));
@@ -380,7 +380,7 @@ int main(int argc, char* argv[]) {
             vis->WriteImageToFile(out_dir + "/newshot.png");  // does not work with frame == 0!
         }
 
-        vis->UpdateVisualModel(teapotId1, ChFrame<>(ChVector3d(0, 3.5 + 0.5 * sin(CH_C_PI * time / 10), 3), Zup));
+        vis->UpdateVisualModel(teapotId1, ChFrame<>(ChVector3d(0, 3.5 + 0.5 * sin(CH_PI * time / 10), 3), Zup));
         vis->UpdateVisualModel(teapotId2, ChFrame<>(ChVector3d(-5, 3.5, 3), Zup * QuatFromAngleY(time / 20)));
         vis->UpdateVisualModel(boxId, ChFrame<>(ChVector3d(0, 0.01 * time, 0), QUNIT));
         vis->UpdateVisualModel(ellId, ChFrame<>(ellPos, Zup * QuatFromAngleY(0.2 * time) * QuatFromAngleZ(0.1 * time)));

misc/mpi_tests/demo_DEM_MPI.cpp

@@ -125,8 +125,8 @@ void create_falling_items(ChSystemMPI& mySys, double prad, int n_bodies, double
 
 void add_other_falling_item(ChSystemMPI& mySys, double prad, double box_dim, double rho, int n_curr_bodies) {
     int id_offset = 10;
-    double m_s = (2 / 3) * CH_C_PI * pow(prad, 3) * rho;
-    double m_c = CH_C_PI * pow(prad, 2) * (2 * prad) * rho;
+    double m_s = (2 / 3) * CH_PI * pow(prad, 3) * rho;
+    double m_c = CH_PI * pow(prad, 2) * (2 * prad) * rho;
     double m_cube = prad * prad * prad * rho;
 
     ChVector<> pos1(0, prad, 0);

misc/multicore_tests/test_NSC.cpp

@@ -76,7 +76,7 @@ int max_iteration_sliding = 10000;
 
 double radius = 0.0025 * UNIT_SCALE;
 double density = 2500 / (UNIT_SCALE * UNIT_SCALE * UNIT_SCALE);
-double mass = density * (4.0 / 3) * CH_C_PI * radius * radius * radius;
+double mass = density * (4.0 / 3) * CH_PI * radius * radius * radius;
 float COR = 0.9f;
 float mu = 0.5f;
 
@@ -290,7 +290,7 @@ int main(int argc, char* argv[]) {
   // align it with the Y axis of the global reference frame.
 
   ChQuaternion<> z2y;
-  z2y.Q_from_AngX(-CH_C_PI / 2);
+  z2y.Q_from_AngX(-CH_PI / 2);
 
   ChSharedPtr<ChLinkLockPrismatic> prismatic(new ChLinkLockPrismatic);
   prismatic->Initialize(plate, ground, ChCoordsys<>(ChVector<>(0, 0, 0), z2y));

misc/multicore_tests/test_ball.cpp

@@ -86,7 +86,7 @@ bool clamp_bilaterals = false;
 double bilateral_clamp_speed = 0.1;
 
 // Tilt angle (about global Y axis) of the container.
-double tilt_angle = 45.0 * CH_C_PI / 180;
+double tilt_angle = 45.0 * CH_PI / 180;
 
 // Simulation duration
 double end_simulation_time = 10;

misc/multicore_tests/test_constraints.cpp

@@ -59,7 +59,7 @@ int main(int argc, char* argv[]) {
   // Rotation of -90 degrees around z
   ChVector<> zero(0, 0, 0);
   ChQuaternion<> y2x(1, 0, 0, 0);
-  y2x.Q_from_AngAxis(-CH_C_PI / 2, ChVector<>(0, 0, 1));
+  y2x.Q_from_AngAxis(-CH_PI / 2, ChVector<>(0, 0, 1));
 
   // ground
   ChSharedPtr<ChBody> ground(new ChBody(new ChCollisionModelParallel, ChBody::DEM));
@@ -117,7 +117,7 @@ int main(int argc, char* argv[]) {
   ////engine_ground_crank->Initialize(ground_, crank_, ChCoordsys<>(ChVector<>(0,0,0)));
   ////engine_ground_crank->Set_eng_mode(ChLinkEngine::ENG_MODE_SPEED);
   ////if (ChFunction_Const* mfun = dynamic_cast<ChFunction_Const*>(engine_ground_crank->Get_spe_funct()))
-  ////	mfun->Set_yconst(CH_C_PI); // speed w=3.145 rad/sec
+  ////	mfun->Set_yconst(CH_PI); // speed w=3.145 rad/sec
   ////msystem->AddLink(engine_ground_crank);
 
   // Revolute between ground and crank

misc/multicore_tests/test_fill.cpp

@@ -445,7 +445,7 @@ int main(int argc, char* argv[]) {
         force = -calculateContactForceOnBody(msystem, 0);
       }
       double actualWeight =
-          (msystem->Get_bodylist()->size() - 1) * (4.0 / 3.0) * CH_C_PI * pow(r_g, 3.0) * rho_g * gravity;
+          (msystem->Get_bodylist()->size() - 1) * (4.0 / 3.0) * CH_PI * pow(r_g, 3.0) * rho_g * gravity;
 
       // get maximum body velocity
       double maxVelocity = 0;

misc/multicore_tests/test_mesh.cpp

@@ -51,10 +51,10 @@ int main(int argc, char* argv[]) {
   ChVector<> initVel2(0, 0, 0);
 
   ChQuaternion<> initRot1(1, 0, 0, 0);
-  initRot1.Q_from_AngAxis(CH_C_PI / 4, ChVector<>(1 / sqrt(2.0), 1 / sqrt(2.0), 0));
+  initRot1.Q_from_AngAxis(CH_PI / 4, ChVector<>(1 / sqrt(2.0), 1 / sqrt(2.0), 0));
 
   ChQuaternion<> initRot2(1, 0, 0, 0);
-  initRot2.Q_from_AngAxis(CH_C_PI / 4, ChVector<>(-1 / sqrt(2.0), -1 / sqrt(2.0), 0));
+  initRot2.Q_from_AngAxis(CH_PI / 4, ChVector<>(-1 / sqrt(2.0), -1 / sqrt(2.0), 0));
 
   // -------------
   // Create system

misc/multicore_tests/test_scaling.cpp

@@ -31,7 +31,7 @@ int max_iteration = 20;
 // Parameters for the mixture balls
 double radius = 0.1;
 double density = 2000;
-double vol = (4.0 / 3) * CH_C_PI * radius * radius * radius;
+double vol = (4.0 / 3) * CH_PI * radius * radius * radius;
 double mass = density * vol;
 ChVector<> inertia = 0.4 * mass * radius * radius * ChVector<>(1, 1, 1);
 

misc/multicore_tests/test_timing.cpp

@@ -31,7 +31,7 @@ int max_iteration = 50;
 // Parameters for the mixture balls
 double radius = 0.1;
 double density = 2000;
-double vol = (4.0 / 3) * CH_C_PI * radius * radius * radius;
+double vol = (4.0 / 3) * CH_PI * radius * radius * radius;
 double mass = density * vol;
 ChVector<> inertia = 0.4 * mass * radius * radius * ChVector<>(1, 1, 1);
 

misc/multicore_tests/test_utils.cpp

@@ -97,7 +97,7 @@ void checkGenerators() {
   int ballId = 100;
   double radius = .1;
   double density = 2000;
-  double volume = (4.0 / 3) * CH_C_PI * radius * radius * radius;
+  double volume = (4.0 / 3) * CH_PI * radius * radius * radius;
   double mass = density * volume;
   ChVector<> inertia = 0.4 * mass * radius * radius * ChVector<>(1, 1, 1);
   ChVector<> init_vel(0, 0, 0);

projects/constraint_fluids/test_CNFL_humvee_water_tank.cpp

@@ -134,7 +134,7 @@ double hthick = 0.1;
 int Id_g = 100;
 double r_g = 0.02;
 double rho_g = 2500;
-double vol_g = (4.0 / 3) * CH_C_PI * r_g * r_g * r_g;
+double vol_g = (4.0 / 3) * CH_PI * r_g * r_g * r_g;
 double mass_g = rho_g * vol_g;
 ChVector<> inertia_g = 0.4 * mass_g * r_g * r_g * ChVector<>(1, 1, 1);
 
@@ -526,8 +526,8 @@ int main(int argc, char* argv[]) {
     }
 
     for (int j = 0; j < 30; j++) {
-        ChQuaternion<> qq = Q_from_AngAxis(j * 12 * CH_C_DEG_TO_RAD, VECT_Y);
-        ChVector<> ppp = ChVector<>(sin(12 * CH_C_DEG_TO_RAD * j), 0, cos(12 * CH_C_DEG_TO_RAD * j)) * .6;
+        ChQuaternion<> qq = Q_from_AngAxis(j * 12 * CH_DEG_TO_RAD, VECT_Y);
+        ChVector<> ppp = ChVector<>(sin(12 * CH_DEG_TO_RAD * j), 0, cos(12 * CH_DEG_TO_RAD * j)) * .6;
 
         utils::AddBoxGeometry(m_chassis.get(), material, hdim, ppp + ChVector<>(-1.9306 + .24, 0, 1.3011), qq);
     }

projects/constraint_fluids/test_CNFL_tracked_vehicle_fording.cpp

@@ -82,7 +82,7 @@ double hthick = 0.25;
 int Id_g = 100;
 double r_g = 0.02;
 double rho_g = 2500;
-double vol_g = (4.0 / 3) * CH_C_PI * r_g * r_g * r_g;
+double vol_g = (4.0 / 3) * CH_PI * r_g * r_g * r_g;
 double mass_g = rho_g * vol_g;
 ChVector<> inertia_g = 0.4 * mass_g * r_g * r_g * ChVector<>(1, 1, 1);
 

projects/core_tests/test_CH_function_recorder.cpp

@@ -26,7 +26,7 @@
 using namespace chrono;
 
 double Reference(double x) {
-    return std::cos(x * CH_C_2PI);
+    return std::cos(x * CH_2PI);
 }
 
 void Evaluate(const ChFunctionInterp& fun, double x) {

projects/core_tests/test_CH_integratorHHT.cpp

@@ -35,7 +35,7 @@ class OscillatorProblem : public ChIntegrableIIorder {
     }
 
     /// number of coordinates in the state, x position part:
-    virtual unsigned int GetNumCoordsPosLevel() override { return 1; }
+    virtual unsigned int GetNumCoordsPosLevel() const override { return 1; }
 
     /// number of coordinates in the state, x position part:
     virtual unsigned int GetNumCoordsVelLevel() override { return 1; }
@@ -178,7 +178,7 @@ class PendulumProblem : public ChIntegrableIIorder {
     }
 
     /// number of coordinates in the state, x position part:
-    virtual unsigned int GetNumCoordsPosLevel() override { return 2; }
+    virtual unsigned int GetNumCoordsPosLevel() const override { return 2; }
 
     /// number of coordinates at velocity level
     virtual unsigned int GetNumCoordsVelLevel() override { return 2; }