Hello,
We have a working demo that combines Vehicle, ANCF tires and deformable terrain (CRM-based) in this branch: https://github.com/uwsbel/chrono-wisc/tree/testing/benchmark3. The build instructions are the same as those for Project Chrono with FSI and Vehicle modules enabled. The name of the demo is *./benchmark_DemoOFTech_VEH_CRMTerrain_DefTIre_Pressure *and it accepts the following CLI parameters: --soil_type: soft/hard/rigid --tire_type: rigid/deformable --tire_pressure: pressure in kPa (for deformable tires) --control_type: speed_control/throttle Let me know if you have any questions! Ganesh On Saturday, August 2, 2025 at 8:48:19 AM UTC-5 Dan Negrut wrote: > Thanks for your email. > > You say “such as sand, snow, or grass”. > > I doubt that there is any deformable tire model in the world that will > allow you to gauge its interplay with grass. Snow is hard too, but more > plausible. > > Sand is possible in Chrono, as are other homogenized terrain types, e.g., > silt, clay. You’ll need reasonable material properties to capture these > soil types. This is not trivial. > > That being said, in many cases, for off-road mobility one can do ok with > rigid wheels. The wheels can have features (lugs, tread pattern, etc.) – > the sim is much faster in that case (compared to deformable tires). > > > > We’ll send you in this thread an example of how to combine deformable > terrain (CRM-based) and vehicle dynamics, when the vehicle uses deformable > tires. The tires are modeled using ANCF shell elements. This relies on GPU > computing, you will need an NVIDIA GPU to run the sim. > > Hopefully that’ll happen early next week. > > 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 <(608)%20772-0914> > > http://sbel.wisc.edu/ > > http://projectchrono.org/ > > --------------------------------------------- > > > > *From:* projec...@googlegroups.com <projec...@googlegroups.com> *On > Behalf Of *juju > *Sent:* Friday, August 1, 2025 8:05 AM > *To:* ProjectChrono <projec...@googlegroups.com> > *Subject:* Re: [chrono] HMMWV with ANCF tire > > > > Hello, > > I would like to study the interactions between a tire and various terrain > obstacles while the vehicle is in motion. I saw that several tire models > are available, such as TMeasy, Pacejka02, ANCF, and Reissner. > > According to the documentation, force-based tire models (e.g., Pac02, > TMeasy) cannot be used with soft obstacles or deformable terrain (such as > sand, snow, or grass). On the other hand, the ANCF tire model is > specifically designed to accurately capture soil–tire interactions. > > Therefore, for my use case, the ANCF tire model seems to be the most > appropriate choice. > > I tried using it with the demo script > demo_VEH_SCMTerrain_WheeledVehicle.cpp, but after just a few milliseconds > of simulation, the tire explodes, and the simulation is extremely slow > (even with SetNumThreads set to the maximum number of available threads). > > I’m wondering if anyone has successfully run the ANCF tire model with the > HMMWV (or other vehicles) in a simulation that utilizes hardware resources > efficiently (CPU, GPU, etc.). > > Thank you for your help! 😊 > > > > Le jeudi 31 juillet 2025 à 19:43:55 UTC+2, Dan Negrut a écrit : > > Hi there - can you please describe what you try to accomplish? > > We might be able to help with the ANCF tire model, but before that, please > tell us what you want to accomplish since there might be easier paths > forward. ANCF is heavy duty. > > 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 <(608)%20772-0914> > > http://sbel.wisc.edu/ > > http://projectchrono.org/ > <https://urldefense.com/v3/__http:/projectchrono.org/__;!!Mak6IKo!JSDXJGQygVKiAauWzjHvBuoag6QwX4RYazzFgeUhHoZ0yDuDP7k6mOzrfl1Br70yqS1nGYMZXSetmqNA$> > > > --------------------------------------------- > > > > *From:* projec...@googlegroups.com <projec...@googlegroups.com> *On > Behalf Of *juju > *Sent:* Thursday, July 31, 2025 11:41 AM > *To:* ProjectChrono <projec...@googlegroups.com> > *Subject:* [chrono] HMMWV with ANCF tire > > > > Good morning, > > I am a PhD student working on off-road vehicle navigation, and I found > ProjectChrono very interesting for testing my algorithms. > > I would like to use the HMMWV vehicle with ANCF tires for more realistic > behavior. However, when I run the demo script > demo_VEH_SCMTerrain_WheeledVehicle.cpp with TireType::FEA, the simulation > becomes unstable and extremely slow. It runs fine with other tire types. > > Does anyone have a demo script using HMMWV with ANCF tires that is both > stable and performs well (accelerated and reliable)? > > Thank you very much! > > -- > You received this message because you are subscribed to the Google Groups > "ProjectChrono" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to projectchron...@googlegroups.com. > To view this discussion visit > https://groups.google.com/d/msgid/projectchrono/18ae5673-3e2f-40fe-80a4-ceac72d16a63n%40googlegroups.com > > <https://urldefense.com/v3/__https:/groups.google.com/d/msgid/projectchrono/18ae5673-3e2f-40fe-80a4-ceac72d16a63n*40googlegroups.com?utm_medium=email&utm_source=footer__;JQ!!Mak6IKo!JNvqHAR3wRVRusJdp9o7q-21GOJFi79d_DrmD3hkYcRW_7Zt7MXQJVR3DC8iuN4-hzbB98xTJXyflWry$> > . > > -- > 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 projectchron...@googlegroups.com. > > To view this discussion visit > https://groups.google.com/d/msgid/projectchrono/c1db45a5-6d82-49bd-b5b1-d771300481d6n%40googlegroups.com > > <https://urldefense.com/v3/__https:/groups.google.com/d/msgid/projectchrono/c1db45a5-6d82-49bd-b5b1-d771300481d6n*40googlegroups.com?utm_medium=email&utm_source=footer__;JQ!!Mak6IKo!JSDXJGQygVKiAauWzjHvBuoag6QwX4RYazzFgeUhHoZ0yDuDP7k6mOzrfl1Br70yqS1nGYMZXeWOHOze$> > . > -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. 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