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| Original file line number | Diff line number | Diff line change |
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| @@ -1,36 +1,73 @@ | ||
| CHRONO::ENGINE | ||
| Project CHRONO | ||
| ============== | ||
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| Chrono::Engine is a part of [Project Chrono](http://www.projectchrono.org). It is a library for physical simulation of complex mechanisms with parts, constraints, contacts and collisions. | ||
| Project Chrono represents a community effort aimed at producing a physics-based modelling and simulation infrastructure based on a platform-independent, open-source design. The name of this software infrastructure is Chrono. Some of its features are listed below. More information is available at the [project website](http://www.projectchrono.org/) | ||
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| Main features | ||
| ------------- | ||
| ### Physical modeling | ||
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| * cross-platform C++ API | ||
| * fast and efficient multi-body dynamics | ||
| * wide set of constraints between parts | ||
| * motors and forces can be added to the mechanism | ||
| * collision shapes and frictional contact | ||
| * time integration based on non-smooth dynamics (DVI) | ||
| * real-time visualization or ray-tracing postprocessing | ||
| * modularity: optional units can be built for special purposes (postprocessing, cosimulation, FEM, etc.) | ||
| * wrapper for Python scripting | ||
| * demo code explaining how to develop third party applications | ||
| - Rigid body support | ||
| - Flexible body support via Chrono::FEA module - both for ANCF and co-rotational nonlinear finite element analysis | ||
| - Support for fluid-solid interaction problems, via Chrono::FSI module | ||
| - Coulomb friction model capturing stick-slip phenomena. | ||
| - Support for rolling friction and spinning friction. | ||
| - Support for handling frictional contact via two approaches: a complementarity approach and a penalty approach. | ||
| - Springs and dampers with non-linear response. Can be user defined. | ||
| - Large collection of joints and constraints: spherical, revolute, prismatic, universal, glyph, screw, bevel and spur gears, pulleys, etc. | ||
| - Unilateral constraints. | ||
| - Constraints to impose trajectories, or to force motion on splines, curves, surfaces, etc. | ||
| - Constraints can have limits (ex. elbow). | ||
| - Constraints can be rheonomic or holonomic | ||
| - Custom constraint for linear motors. | ||
| - Custom constraint for pneumatic cylinders. | ||
| - Custom constraint for motors, with reducers, learning mode, etc. | ||
| - On the fly constraint activation/deactivation. | ||
| - Simplified 1D dynamic models. Examples: powertrain, clutches, brakes, etc. For more sophisticated models see companion Chrono::Vehicle module. | ||
| - All physical items can have an arbitrary number of 'assets' used for defining visualization shapes, custom properties, etc. | ||
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| For more informations look at http://www.projectchrono.org | ||
| ### Solver | ||
| - HHT solver for index 3 differential algebraic equations. | ||
| - Symplectic first order half-implicit Euler solver for large frictional contact problems. | ||
| - Speed-impulse level solver for handling large frictional contact problems. | ||
| - Handling of redundant/ill posed constraints. | ||
| - Stabilization or projection methods to avoid constraint drifting. | ||
| - Static analysis solver. | ||
| - Inverse kinematics and interactive manipulation. | ||
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| ### Collision detection features | ||
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| How to install and build the library | ||
| ------------------------------------ | ||
| - Supports compounds of spheres, cubes, convex geometries, triangle meshes, etc. | ||
| - Additional collision support provided by the Bullet collision detection engine, which is wrapped inside Chrono::Engine. | ||
| - Broad phase collision detection: sweep-and-prune SAT. | ||
| - Narrow phase collision detection: AABB and/or OBB binary volume trees, to handle geometries with thousands of details. | ||
| - Detail phase with custom primitive-to-primitive fallbacks. | ||
| - Safety 'envelope' around objects. | ||
| - Report penetration depth, distance, etc. | ||
| - Bodies can be activated/deactivated, and can selectively enter collision detection. | ||
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| You can find instructions about the installation and the build toolchain at the [Wiki](http://www.projectchrono.org/mediawiki/index.php/Main_Page) | ||
| ### Implementation details | ||
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| How to develop your application based on Chrono::Engine | ||
| ------------------------------------------------------- | ||
| - ANSI-compliant C++ syntax. | ||
| - Optimized custom classes for vectors, quaternions, matrices. | ||
| - Optimized custom classes for coordinate systems and coordinate transformations, featuring a custom compact algebra via operator overloading. | ||
| - All operations on points/speeds/accelerations are based on quaternion algebra and have been profiled for fastest execution. | ||
| - Custom sparse matrix class. | ||
| - Custom redirectable stream classes, featuring platform independent file archiving and modern syntax. | ||
| - Special archive engine, with easy and reliable persistent/transient serialization. Includes versioning and deep pointers storage. | ||
| - Expandable run-time class factory. | ||
| - Custom pseudo-'run-time-type-information', to allow persistence even in case of name-mangling with different C++ compilers. | ||
| - High resolution timer, platform independent. | ||
| - Class to create PostScript(tm) output. | ||
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| See the [tutorials](http://www.projectchrono.org/mediawiki/index.php/Tutorials) for examples of C++ code using the Chrono:::Engine library. | ||
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| [API documentation](http://api.chrono.projectchrono.org/) is generated from `develop` on a nightly basis. | ||
| ### Other | ||
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| - Interface with MATLAB | ||
| - Cosimulation with Simulink | ||
| - Import STEP cad files to define complex geometries | ||
| - Online/offline visualization with Irrlicht and POV-Ray, respectively. | ||
| - Classes for genetic & classical optimization. | ||
| - Classes for interfacing external geometric data (NURBS, splines). | ||
| - Scripting via Python. | ||
| - Makefile system based on CMake (cross-platform, on Windows 32/64 bit, Linux, OSX). | ||
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| A place for discussions can be the [projectchrono group](https://groups.google.com/forum/#!forum/projectchrono). |
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