przecze / regolith

Exploring Bullet Physics as a tool to simulate regolith behavior

The regolith project

Exploring Bullet Physics as a tool to simulate behavior of regolith and granular soils.
Currently it allows to show qualitative dependence between resistance and external pressure during Cone Penetration Testing

Note about requirements and build steps

Complete set-up and build instructions for Ubuntu 20.04 are provided in the Dockerfile. Dockerfile should be treated as reference for setting up and building the project on your machine. You can verify the correctness of the steps in Dockerfile by:

docker build -t regolith .
docker run regolith

Note, that these commands will take long time and won't install anything on your local machine.
They will only allow you to run one example from simulations directory without gui.
They will not provide an easy way to modify and rebuild code or modify the configuration.
Execute the commands used inside Dockerfile on your local machine to have fully prepared environment.

In case of any problems with the installation, feel free to open an issue in Github

Requirements

All packages listed below must be installed in a fashion that they are discoverable by cmake find_package function. For example installation steps, refer to the Dockerfile

Bullet Physics

Bullet Physics installed from source Note: bullet installed via apt install libbullet-dev will not work
because CommonInterfaces (used for examples) are not included in the package

yaml-cpp

Required for configuration files

packgen

Packgen is a library created by authors of the "An efficient algorithm to generate random sphere packs in arbitrary domains" paper. Original code is here: https://git.tecgraf.puc-rio.br/elozano/packgen However to install it use this fork: https://github.com/przecze/pacgen where cmake support is added Packgen is used for generating the samples for simulations.

nlohmann_json

Required for saving and analysing profiler output

python3

Following python3 libraries are used for plots:

• plotly
• numpy

Build instructions

mkdir build
cd build
cmake ..
make

Run simulations

For ConePenetrationTest, link example config to current directory:

ln -s simulations/ConePenetrationTest/config.example.yaml build/config.yaml

Executables for simulations will be in build/simulations subdirectories