Update to Chrono v9.0.1 (#59)

* Updated to Chrono v9.0.1

* Set CHRONO_DATA_DIR in demos

* Fix sphere_decay test

* Remove set of max iterations for demos with direct solver

* Properly export CHRONO_DATA_DIR definition

Author: dariomangoni

CMakeLists.txt

@@ -5,6 +5,8 @@
 #--------------------------------------------------------------
 
 cmake_minimum_required(VERSION 3.18.2)
+cmake_policy(SET CMP0091 NEW)
+
 
 # guard against in-source builds
 if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
@@ -41,6 +43,14 @@ project(HydroChrono
 # Add the cmake folder so the FindSphinx module is found
 set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 
+#--------------------------------------------------------------
+# Important! To ensure ABI compatibility, use the same C++ standard
+# as the one used to build the Chrono libraries.
+#--------------------------------------------------------------
+
+set(CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_STANDARD ${CHRONO_CXX_STANDARD})
+
 # ===================
 # OPTIONS
 # ===================
@@ -125,9 +135,9 @@ target_include_directories(
 target_compile_definitions(HydroChrono
 
 	PUBLIC
-
-	PRIVATE 
 		CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\"
+	PRIVATE 
+		
 )
 
 target_compile_options(HydroChrono BEFORE 

demos/CMakeLists.txt

@@ -14,6 +14,7 @@ if(HYDROCHRONO_ENABLE_IRRLICHT)
 	target_compile_definitions(demo_sphere_decay 
 		PRIVATE 
 		HYDROCHRONO_HAVE_IRRLICHT=1
+		"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\""
 	)
 endif()
 
@@ -49,6 +50,7 @@ if(HYDROCHRONO_ENABLE_IRRLICHT)
 	target_compile_definitions(demo_sphere_reg_waves 
 		PRIVATE 
 		HYDROCHRONO_HAVE_IRRLICHT=1
+		"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\""
 	)
 endif()
 
@@ -83,6 +85,7 @@ if(HYDROCHRONO_ENABLE_IRRLICHT)
 	target_compile_definitions(demo_sphere_irreg_waves 
 		PRIVATE 
 		HYDROCHRONO_HAVE_IRRLICHT=1
+		"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\""
 	)
 endif()
 
@@ -116,6 +119,7 @@ if(HYDROCHRONO_ENABLE_IRRLICHT)
 	target_compile_definitions(demo_sphere_irreg_waves_eta_import 
 		PRIVATE 
 		HYDROCHRONO_HAVE_IRRLICHT=1
+		"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\""
 	)
 endif()
 
@@ -148,6 +152,7 @@ if(HYDROCHRONO_ENABLE_IRRLICHT)
 	target_compile_definitions(demo_rm3_decay
 		PRIVATE 
 		HYDROCHRONO_HAVE_IRRLICHT=1
+		"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\""
 	)
 endif()
 
@@ -182,6 +187,7 @@ if(HYDROCHRONO_ENABLE_IRRLICHT)
 	target_compile_definitions(demo_rm3_reg_waves
 		PRIVATE 
 		HYDROCHRONO_HAVE_IRRLICHT=1
+		"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\""
 	)
 endif()
 
@@ -216,6 +222,7 @@ if(HYDROCHRONO_ENABLE_IRRLICHT)
 	target_compile_definitions(demo_oswec_decay
 		PRIVATE 
 		HYDROCHRONO_HAVE_IRRLICHT=1
+		"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\""
 	)
 endif()
 
@@ -249,6 +256,7 @@ if(HYDROCHRONO_ENABLE_IRRLICHT)
 	target_compile_definitions(demo_oswec_reg_waves
 		PRIVATE 
 		HYDROCHRONO_HAVE_IRRLICHT=1
+		"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\""
 	)
 endif()
 
@@ -282,6 +290,7 @@ if(HYDROCHRONO_ENABLE_IRRLICHT)
 	target_compile_definitions(demo_f3of_DT1
 		PRIVATE
 		HYDROCHRONO_HAVE_IRRLICHT=1
+		"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\""
 	)
 endif()
 
@@ -315,6 +324,7 @@ if(HYDROCHRONO_ENABLE_IRRLICHT)
 	target_compile_definitions(demo_f3of_DT2
 		PRIVATE
 		HYDROCHRONO_HAVE_IRRLICHT=1
+		"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\""
 	)
 endif()
 
@@ -347,6 +357,7 @@ if(HYDROCHRONO_ENABLE_IRRLICHT)
 	target_compile_definitions(demo_f3of_DT3
 		PRIVATE
 		HYDROCHRONO_HAVE_IRRLICHT=1
+		"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\""
 	)
 endif()
 
@@ -380,6 +391,7 @@ if(HYDROCHRONO_ENABLE_IRRLICHT)
 	target_compile_definitions(demo_DeepCWind_decay
 		PRIVATE
 		HYDROCHRONO_HAVE_IRRLICHT=1
+		"CHRONO_DATA_DIR=\"${CHRONO_DATA_DIR}\""
 	)
 endif()
 

demos/DeepCWind/demo_DeepCWind_decay.cpp

@@ -3,15 +3,13 @@
 #include <hydroc/hydro_forces.h>
 
 #include <chrono/core/ChRealtimeStep.h>
-#include <chrono/physics/ChLinkMate.h>
 
 #include <chrono>   // std::chrono::high_resolution_clock::now
 #include <iomanip>  // std::setprecision
 #include <vector>   // std::vector<double>
 
 // Use the namespaces of Chrono
 using namespace chrono;
-using namespace chrono::geometry;
 
 // usage: ./sphere_deca.exe [DATADIR] [--nogui]
 //
@@ -20,7 +18,9 @@ using namespace chrono::geometry;
 //
 int main(int argc, char* argv[]) {
     // auto start = std::chrono::high_resolution_clock::now();
-    GetLog() << "Chrono version: " << CHRONO_VERSION << "\n\n";
+    std::cout << "Chrono version: " << CHRONO_VERSION << "\n\n";
+
+    SetChronoDataPath(CHRONO_DATA_DIR);
 
     if (hydroc::SetInitialEnvironment(argc, argv) != 0) {
         return 1;
@@ -39,21 +39,21 @@ int main(int argc, char* argv[]) {
 
     // system/solver settings
     ChSystemSMC system;
-    system.Set_G_acc(ChVector<>(0.0, 0.0, -9.81));
+    system.SetGravitationalAcceleration(ChVector3d(0.0, 0.0, -9.81));
     double timestep = 0.08;
     system.SetTimestepperType(ChTimestepper::Type::HHT);
     system.SetSolverType(ChSolver::Type::GMRES);
-    system.SetSolverMaxIterations(300);  // the higher, the easier to keep the constraints satisfied.
-    system.SetStep(timestep);
+    system.GetSolver()->AsIterative()->SetMaxIterations(
+        300);  // the higher, the easier to keep the constraints satisfied.
     double simulationDuration = 1000.0;
 
     // Create user interface
     std::shared_ptr<hydroc::gui::UI> pui = hydroc::gui::CreateUI(visualizationOn);
-    hydroc::gui::UI& ui = *pui.get();
+    hydroc::gui::UI& ui                  = *pui.get();
 
     // some io/viz options
-    bool profilingOn     = true;
-    bool saveDataOn      = true;
+    bool profilingOn = true;
+    bool saveDataOn  = true;
     std::vector<double> time_vector;
     std::vector<double> base_pitch;
     std::vector<double> base_surge;
@@ -70,33 +70,33 @@ int main(int argc, char* argv[]) {
 
     // define the base's initial conditions
     system.Add(base);
-    base->SetNameString("body1");
-    auto cg = ChVector<>(0.0, 0.0, -7.53);
+    base->SetName("body1");
+    auto cg = ChVector3d(0.0, 0.0, -7.53);
     // offset used for heave/surge decay test
-    auto offset = ChVector<>(0.0, 0.0, 0.0);
+    auto offset = ChVector3d(0.0, 0.0, 0.0);
     base->SetPos(cg + offset);
     // Use for pitch decay test
-    double ang_rad = -3.95 * CH_C_PI / 180.0;
-    base->SetRot(Q_from_AngAxis(ang_rad, VECT_Y));
+    double ang_rad = -3.95 * CH_PI / 180.0;
+    base->SetRot(QuatFromAngleY(ang_rad));
     base->SetMass(1.419625e7);
-    base->SetInertiaXX(ChVector<>(1.2898e10, 1.2851e10, 1.4189e10));
+    base->SetInertiaXX(ChVector3d(1.2898e10, 1.2851e10, 1.4189e10));
 
     // add fixed ground for linear damping (surge or pitch)
     auto ground = chrono_types::make_shared<ChBody>();
     system.AddBody(ground);
     ground->SetPos(cg);
-    ground->SetRot(Q_from_AngAxis(CH_C_PI / 2.0, VECT_X));
-    ground->SetIdentifier(-1);
-    ground->SetBodyFixed(true);
-    ground->SetCollide(false);
+    ground->SetRot(QuatFromAngleX(CH_PI / 2.0));
+    ground->SetTag(-1);
+    ground->SetFixed(true);
+    ground->EnableCollision(false);
 
     // define damping in pitch
     auto rot_damp = chrono_types::make_shared<ChLinkRSDA>();
     // need to set damping to 31 MN-m/(rad/s)
     rot_damp->SetDampingCoefficient(31e6);
     // puts Z axis for link into screen, keeping x axis the same (to the right)
-    ChQuaternion<> rev_rot = Q_from_AngAxis(CH_C_PI / 2.0, VECT_X);  // do not change
-    rot_damp->Initialize(base, ground, false, ChCoordsys(cg, rev_rot), ChCoordsys(cg, rev_rot));
+    ChQuaternion<> rev_rot = QuatFromAngleX(CH_PI / 2.0);  // do not change
+    rot_damp->Initialize(base, ground, false, ChFramed(cg, rev_rot), ChFramed(cg, rev_rot));
     system.AddLink(rot_damp);
 
     // set up hydro forces
@@ -120,7 +120,7 @@ int main(int argc, char* argv[]) {
             // append data to output vector
             time_vector.push_back(system.GetChTime());
             base_surge.push_back(base->GetPos().x());
-            base_pitch.push_back(base->GetRot().Q_to_Euler123().y());
+            base_pitch.push_back(base->GetRot().GetCardanAnglesXYZ().y());
         }
     }
 
@@ -153,8 +153,8 @@ int main(int argc, char* argv[]) {
         outputFile.open("./results/DeepCWind_decay.txt");
         if (!outputFile.is_open()) {
             if (!std::filesystem::exists("./results")) {
-                std::cout << "Path " << std::filesystem::absolute("./results")
-                          << " does not exist, creating it now..." << std::endl;
+                std::cout << "Path " << std::filesystem::absolute("./results") << " does not exist, creating it now..."
+                          << std::endl;
                 std::filesystem::create_directory("./results");
                 outputFile.open("./results/DeepCWind_decay.txt");
                 if (!outputFile.is_open()) {

demos/Test/Test_1.cpp

@@ -94,7 +94,7 @@ class MyEventReceiver : public IEventReceiver {
 // wheel and the many radial rollers, already lined to the wheel with revolute joints.)
 // The function returns the pointer to the central wheel.
 std::shared_ptr<ChBody> create_mecanum_wheel(ChSystemNSC& sys,
-                                             ChVector<> shaft_position,
+                                             ChVector3d shaft_position,
                                              ChQuaternion<> shaft_alignment,
                                              double wheel_radius,
                                              double wheel_width,
@@ -122,7 +122,7 @@ std::shared_ptr<ChBody> create_mecanum_wheel(ChSystemNSC& sys,
     double roller_elliptical_rad_Vert = wheel_radius * 1.0 / (cos(roller_angle));
 
     for (int iroller = 0; iroller < n_rollers; iroller++) {
-        double pitch = CH_C_2PI * ((double)iroller / (double)n_rollers);
+        double pitch = CH_2PI * ((double)iroller / (double)n_rollers);
 
         double Roffset = -(wheel_radius - roller_midradius);
 
@@ -131,9 +131,9 @@ std::shared_ptr<ChBody> create_mecanum_wheel(ChSystemNSC& sys,
         sys.Add(roller);
 
         // move it to slanted aligment
-        ChFrameMoving<> f1(ChVector<>(0, 0, -(wheel_radius - roller_midradius)),
-                           Q_from_AngAxis(roller_angle, ChVector<>(0, 0, 1)));
-        ChFrameMoving<> f2(ChVector<>(0, 0, 0), Q_from_AngAxis(pitch, ChVector<>(0, 1, 0)));
+        ChFrameMoving<> f1(ChVector3d(0, 0, -(wheel_radius - roller_midradius)),
+                           QuatFromAngleZ(roller_angle));
+        ChFrameMoving<> f2(ChVector3d(0, 0, 0), QuatFromAngleY(pitch));
         ChFrameMoving<> f3 = f1 >> f2 >> ftot;
         roller->ConcatenatePreTransformation(f3);
 
@@ -150,7 +150,7 @@ std::shared_ptr<ChBody> create_mecanum_wheel(ChSystemNSC& sys,
                                                roller_elliptical_rad_Vert, roller_elliptical_rad_Hor,  //
                                                Roffset);
         roller->GetCollisionModel()->BuildModel();
-        roller->SetCollide(true);
+        roller->EnableCollision(true);
 
         // add visualization shape
         auto rollershape =
@@ -161,7 +161,7 @@ std::shared_ptr<ChBody> create_mecanum_wheel(ChSystemNSC& sys,
 
         // Make the revolute joint between the roller and the central wheel
         // (preconcatenate rotation 90 degrees on X, to set axis of revolute joint)
-        ChFrameMoving<> fr(ChVector<>(0, 0, 0), Q_from_AngAxis(CH_C_PI / 2.0, ChVector<>(1, 0, 0)));
+        ChFrameMoving<> fr(ChVector3d(0, 0, 0), QuatFromAngleX(CH_PI / 2.0));
         ChFrameMoving<> frabs = fr >> f3;
         auto link_roller      = chrono_types::make_shared<ChLinkLockRevolute>();
         link_roller->Initialize(roller, centralWheel, frabs.GetCoord());
@@ -172,14 +172,14 @@ std::shared_ptr<ChBody> create_mecanum_wheel(ChSystemNSC& sys,
 }
 
 int main(int argc, char* argv[]) {
-    GetLog() << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << "\n\n";
+    std::cout << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << "\n\n";
 
     // Create a ChronoENGINE physical system
     ChSystemNSC sys;
 
     double platform_radius = 8;
     double wheel_radius    = 3;
-    double roller_angle    = CH_C_PI / 4;
+    double roller_angle    = CH_PI / 4;
 
     // Create the robot truss, as a circular platform
     auto platform = chrono_types::make_shared<ChBodyEasyCylinder>(platform_radius * 0.7, 2,  // radius, height
@@ -193,11 +193,11 @@ int main(int argc, char* argv[]) {
 
     // create the wheels and link them to the platform
 
-    ChFrame<> f0(ChVector<>(0, 0, 0), Q_from_AngAxis(CH_C_PI / 2.0, ChVector<>(1, 0, 0)));
-    ChFrame<> f1(ChVector<>(0, 0, platform_radius), QUNIT);
-    ChFrame<> f2_wA(VNULL, Q_from_AngAxis(0 * (CH_C_2PI / 3.0), ChVector<>(0, 1, 0)));
-    ChFrame<> f2_wB(VNULL, Q_from_AngAxis(1 * (CH_C_2PI / 3.0), ChVector<>(0, 1, 0)));
-    ChFrame<> f2_wC(VNULL, Q_from_AngAxis(2 * (CH_C_2PI / 3.0), ChVector<>(0, 1, 0)));
+    ChFrame<> f0(ChVector3d(0, 0, 0), QuatFromAngleX(CH_PI / 2.0));
+    ChFrame<> f1(ChVector3d(0, 0, platform_radius), QUNIT);
+    ChFrame<> f2_wA(VNULL, QuatFromAngleY(0 * (CH_2PI / 3.0)));
+    ChFrame<> f2_wB(VNULL, QuatFromAngleY(1 * (CH_2PI / 3.0)));
+    ChFrame<> f2_wC(VNULL, QuatFromAngleY(2 * (CH_2PI / 3.0)));
     ChFrame<> ftot_wA = f0 >> f1 >> f2_wA;
     ChFrame<> ftot_wB = f0 >> f1 >> f2_wB;
     ChFrame<> ftot_wC = f0 >> f1 >> f2_wC;
@@ -259,8 +259,8 @@ int main(int argc, char* argv[]) {
                                                            true,         // visualize
                                                            true,         // collide
                                                            ground_mat);  // contact material
-    ground->SetPos(ChVector<>(0, -5, 0));
-    ground->SetBodyFixed(true);
+    ground->SetPos(ChVector3d(0, -5, 0));
+    ground->SetFixed(true);
     ground->GetVisualShape(0)->SetTexture(GetChronoDataFile("textures/concrete.jpg"), 100, 100);
     sys.Add(ground);
 
@@ -272,7 +272,7 @@ int main(int argc, char* argv[]) {
     vis->Initialize();
     vis->AddLogo();
     vis->AddSkyBox();
-    vis->AddCamera(ChVector<>(0, 14, -20));
+    vis->AddCamera(ChVector3d(0, 14, -20));
     vis->AddTypicalLights();
 
     vis->GetGUIEnvironment()->addStaticText(L"Use keys Q,W, A,Z, E,R to move the robot", rect<s32>(150, 10, 430, 40),
@@ -286,7 +286,7 @@ int main(int argc, char* argv[]) {
     sys.SetTimestepperType(ChTimestepper::Type::EULER_IMPLICIT_PROJECTED);
 
     sys.SetSolverType(ChSolver::Type::PSOR);
-    sys.SetSolverMaxIterations(30);
+    sys.GetSolver()->AsIterative()->SetMaxIterations(30);
 
     // Simulation loop
 
@@ -303,8 +303,8 @@ int main(int argc, char* argv[]) {
 
         // change motor speeds depending on user setpoints from GUI
 
-        ChVector<> imposed_speed(STATIC_x_speed, 0, STATIC_z_speed);
-        ChFrame<> roll_twist(ChVector<>(0, -wheel_radius, 0), Q_from_AngAxis(-roller_angle, ChVector<>(0, 1, 0)));
+        ChVector3d imposed_speed(STATIC_x_speed, 0, STATIC_z_speed);
+        ChFrame<> roll_twist(ChVector3d(0, -wheel_radius, 0), QuatFromAngleY(-roller_angle));
 
         ChFrame<> abs_roll_wA = roll_twist >> f2_wA >> ChFrame<>(platform->GetCoord());
         double wheel_A_rotspeed =