The OS shouldn’t make that much of a difference. There’s no reason to try this on Windows, if Linux is your primary OS.
Your modified code looks fine, which suggests the problem is with Irrlicht. Maybe you installed a debug Irrlicht library? To enable run-time visualization (and interactive driving), you have two options: 1. Make sure you get a release build (optimized) Irrlicht library, or 2. Use the newer Chrono::VSG run-time visualization system. Ideally, you would have both options available in your Chrono build (some demos use one, some the other, with a few allowing both). VSG is a more modern graphics engine and quality is better. I strongly encourage you to test it out. Installation instructions for Chrono::VSG are provided at: https://api.projectchrono.org/module_vsg_installation.html. It is important to use the script-based approach to building the necessary VSG dependencies. So *not* use the “VSG framework” (compatibility issues). --Radu From: [email protected] <[email protected]> On Behalf Of Bean Young Sent: Thursday, August 10, 2023 4:54 AM To: ProjectChrono <[email protected]> Subject: Re: [chrono] Re: why can't the vehicle in demo_VEH_WheeledJSON move? Hi Radu, I don't have any PC installed with Windows, so I couldn't verify it on Windows, maybe I can use a docker container with Ubuntu 20.04 and newer compiler for verification later. My newest compile command is: cmake -G"Unix Makefiles" -H/root/chrono -B/root/build_chrono -DBUILD_DEMOS=ON -DBUILD_BENCHMARKING=ON -DENABLE_MODULE_IRRLICHT=ON -DENABLE_MODULE_POSTPROCESS=ON -DENABLE_MODULE_VEHICLE=ON -DENABLE_MODULE_OPENGL=ON -DENABLE_MODULE_GPU=ON -DENABLE_MODULE_SYNCHRONO=ON -DCMAKE_BUILD_TYPE=Release --install-prefix=/usr/local/chrono make -j4 make install Now, I have removed all the code related to Irrlicht from demo_VEH_WheeledJSON.cpp, and I provide a constant throttle value (0.5) and print vehicle speed, simulation time and RTF to console in each iteration. In this case, the RTF was reduced from 50-70 to about 0.75, so I feel that Irrlicht cost a huge resource, but I don't know whether my modification is correct, the modified demo_VEH_WheeledJSON.cpp is in attachment. Thanks for help! 在2023年8月9日星期三 UTC+8 19:01:03<Radu Serban> 写道： Hi Bean, While you may want to consider upgrading your Ubuntu distribution and GCC compiler, I don’t see any particular issues with your hardware or software. I still suspect that you have not really built Chrono in Release mode. You may want to do a fresh build and also enable CMAKE_VERBOSE_MAKEFILE so that you can check that the appropriate optimization flags are being used during the build process. For reference, demo_VEH_WheeledJSON runs at an RTF of around 0.5 (so twice faster than real time) on my AMD Ryzen 7 3700X desktop and an Nvidia RTX 2060 (Windows). Even on my Surface 8 Pro with an Intel Core i7-1185GT and integrated graphics, I get an RTF of 0.9-1.1 for that demo. By the way, the reported RTF does not include rendering; an RTF 50-70 points to a non-release build (I get an RTF of around 55 with Debug code on my desktop). --Radu From: [email protected] <[email protected]> On Behalf Of Bean Young Sent: Wednesday, August 9, 2023 9:09 AM To: ProjectChrono <[email protected]> Subject: Re: [chrono] Re: why can't the vehicle in demo_VEH_WheeledJSON move? Hi Radu, I had switched to main branch, and added -DCMAKE_BUILD_TYPE=Release to my cmake command, after compilation finished, then I ran demo_VEH_WheeledJSON again, but above problems still remain: 1. RTF (real time factor) is too large, about 50 - 70 2. frame rate is too low, it looks like Irrlicht doesn't use GPU for rendering, run nvidia-smi command, there is no demo process in output My compiling and running env is as follows: CPU: Intel(R) Xeon(R) Silver 4210R CPU @ 2.40GHz GPU: Quadro RTX 4000 OS: Ubuntu 18.04 x86_64 cmake: 3.25.2 GCC & G++: 7.5.0 Is there any problem in my env or compilation process? 在2023年8月9日星期三 UTC+8 13:05:36<Radu Serban> 写道： Bean, You are actually not building in Release mode. The default build type for CMake is the “empty” build type which does not use any optimization flags. Add -DCMAKE_BUILD_TYPE=Release to your cmake command. The delay you see in vehicle response is most likely due to processing and buffering of keyboard events combined with slow simulation (because the code was not built in release mode). Unless modified, that demo uses by default a HMMWV model and that vehicle is a bit more responsive than what you observe. Having said that, the proper way of testing vehicle performance (e.g., acceleration performance) is by setting driver inputs (throttle) programmatically and not interactively. See for example demo_VEH_HMMWV_Accel. Finally, unless you have a strong reason not to, I strongly suggest you checkout the ‘main’ branch of the Chrono repository. We continuously push fixes and improvements to the code and many of those occurred since the 8.0 release. Working with the current development code also makes it easier for people to test and check issues users report (few will keep around a clone of the released version). --Radu From: [email protected] <[email protected]> On Behalf Of Bean Young Sent: Wednesday, August 9, 2023 4:26 AM To: ProjectChrono <[email protected]> Subject: Re: [chrono] Re: why can't the vehicle in demo_VEH_WheeledJSON move? Hi Dan, I ran demo_VEH_WheeledJSON on my workstation with 20-core cpu (@2.40 Hz) and 32 GB RAM, and built the code in release mode, but this demo and others are running very slowly, and the frame rate is very slow, I don't know what went wrong. The compile command I used, is as follows: cmake -G"Unix Makefiles" -H/root/chrono -B/root/build_chrono -DENABLE_MODULE_IRRLICHT=ON -DENABLE_MODULE_POSTPROCESS=ON -DENABLE_MODULE_VEHICLE=ON -DENABLE_MODULE_OPENGL=ON -DENABLE_MODULE_GPU=ON --install-prefix=/usr/local/chrono make -j4 make install 在2023年8月9日星期三 UTC+8 09:53:24<Dan Negrut> 写道： Bean - I think it’s relatively reasonable to expect a vehicle to take 2 seconds to reach 5.15 m/s. That’s 18.5 km/h – this value depends on the mass of the vehicle and engine used (HMMWV, it seems). This vehicle simulation should be real time, unless you have an old laptop or so. Also, make sure you built the code in release mode, not debug mode. Dan --------------------------------------------- Bernard A. and Frances M. Weideman Professor NVIDIA CUDA Fellow Department of Mechanical Engineering Department of Computer Science University of Wisconsin - Madison 4150ME, 1513 University Avenue Madison, WI 53706-1572 608 772 0914<tel:(608)%20772-0914> http://sbel.wisc.edu/ http://projectchrono.org/ --------------------------------------------- From: [email protected] <[email protected]> On Behalf Of Bean Young Sent: Tuesday, August 8, 2023 8:45 PM To: ProjectChrono <[email protected]> Subject: [chrono] Re: why can't the vehicle in demo_VEH_WheeledJSON move? Hello! Yes, you are absolutely right! After I held down the W key for 2 seconds (in simulation time), I could see the vehicle get moving at 5.15 m/s: [Image removed by sender. Image removed by sender. Image removed by sender.] But 2 seconds of simulation time takes too long in real-world, and how can I make demo_VEH_WheeledJSON run in real time mode? Thankds for help! 在2023年8月8日星期二 UTC+8 20:45:28<[email protected]> 写道： Hello! Can you please try pressing the throttle for longer and seeing if the vehicle still does not move? It is normal that there is a lag between the application of the throttle and the movement of the vehicle. This can be due to two reasons 1) The torque converter slips (seen as Tconv slip). In the screenshot you can also see the T conv out RPM is only 10 and so it is expected that the vehicle does not move forward. This is similar to a vehicle in real life, even if you slam the throttle there will be a finite lag before the vehicle starts moving. 2) This lag might seem longer than usual because your simulation might not be running at Real Time. This means that even though you feel that you have been pressing the keyboard key for a long time, in simulation time, it is too low (and still within the lag period). From my experience, pressing the key for about 1 second simulation time is enough to get the vehicle moving. If you still face issues after pressing the key for longer, then there might be some problem and we can try looking at it together :) Best Huzaifa On Tuesday, August 8, 2023 at 4:46:03 AM UTC-5 [email protected] wrote: I have built Chrono 7.0.3 and 8.0.0 in Ubuntu 18.04, when I ran demo_VEH_WheeledJSON, I pressed A key on the keybord, I could see the throttle was increasing, but the vehicle was not moving and the speed was no change, the screenshot is as follows: [Image removed by sender. Image removed by sender. Image removed by sender.] Can someone help me explain this problem? -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. 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