ChronoEngine:Features

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The following is a short list of main features of Chrono::Engine.


Contents

Core features

  • Fully ANSI-compliant C++ syntax.
  • Optimized custom classes for vectors, quaternions, matrices. All math classes implement operator overloading and type templates.
  • 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.
  • Linear algebra functions for LU decomposition, products, Choleski, Von Kauffmann, LDLt and SVD decompositions, etc.
  • 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) files easily.


Physical modeling

  • Rigid bodies, markers, forces, torques
  • Bodies can be activated/deactivated, and can selectively enter collision detection.
  • If markers or bodies are moved by external routines, a BDF method will update kinematic data.
  • Speed and angular speed of rigid bodies can be clamped in order to increase stability (for VR simulations).
  • Resting rigid bodies can automatically enter the 'frozen' mode, to allow real-time simulations of complex scenarios.
  • Exact Coloumb friction model, for precise stick-slip of bodies.
  • Parts can collide and rebounce, depending on restitution coefficients.
  • Springs and dampers, even with non-linear features
  • Wide set of joints (spherical, revolute joint, prismatic, universal joint, glyph, etc.)
  • Unilateral constraints.
  • Constraints to impose trajectories, or to force motion on splines, curves, surfaces, etc.
  • Special joints for modeling screws.
  • Constraints for bevel or spur gears.
  • Constraints can have limits (ex. elbow) and can be rheonomic, motorized
  • Custom constraint for linear motors.
  • Custom constraint for pneumatic cylinders.
  • Custom constraint for motors, with reducers, learning mode, etc.
  • All joints can report the reaction force.
  • Constraints can be activated/deactivated.
  • Brakes and clutches, with precise stick-slip effect.
  • Lot of non-linear properties of items (ex. time-dependant force) can be set with modular 'function' objects, with GUI.
  • Polymorphic interface to solver, to include particles, SPH and FEM (bricks, tetrahedrons, etc.).
  • Monodimensional dynamic items (ex.for powertrains, with clutches, brakes, torques, torsional stiffness, etc.)
  • Constraints for pulleys.
  • Rolling friction and spinning friction.
  • All physical items can have an arbitrary number of 'assets' attached to them.
  • Attached assets can be used for defining visualization shapes, custom properties, etc.


Solver

  • Custom HyperOCTANT technology for efficient real-time solution of large LCP problems, even with critical cases of friction, collision and stacking.
  • A special iterative solver can handle real-time massive simulations, with more than one million of constraints.
  • Handling of redundant/ill posed constraints.
  • Modern 'real-time' integration exploiting differential inclusions, with speed-impulse LCP.
  • Stabilization or projection methods to avoid constraint drifting.
  • Static solution, even with strong geometric nonlinearities.
  • Inverse kinematics and interactive manipulation.


Collision features

  • Supports compounds of spheres, cubes, convex geometries, triangle meshes, etc.
  • Advanced collision methods are available thank to 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 depht, distance, etc.
  • Conveyor belts.


Other

  • Modular libraries, based on units:
    • interface with Matlab
    • cosimulation with Simulink
    • import STEP cad files
    • use the Python language
    • perform postprocessing and visualize animations in POV, Irrlicht, etc.
    • etc.
  • Classes for genetic & local optimization.
  • Classes for Newton-Raphson solution of non-linear equations.
  • Classes for interfacing foreign geometric data (NURBS, splines).
  • The multibody engine can be scripted via Python.
  • Makefile system based on CMake (cross-platform, on Windows 32/64 bit, Linux,etc.).
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