Merge branch 'release/6.0.0'

.gitignore

@@ -2,8 +2,13 @@
 ## Directories
 ##---------------------------------------------------
 
+#large data used by sensors
+# /data/sensor/textures/
+*.hdr
+
 # Where you build the src
 /build
+.vscode
 
 ##---------------------------------------------------
 ## C++

.gitmodules

@@ -4,3 +4,6 @@
 [submodule "src/chrono_thirdparty/googlebenchmark"]
 	path = src/chrono_thirdparty/googlebenchmark
 	url = https://github.com/google/benchmark.git
+[submodule "src/chrono_thirdparty/flatbuffers"]
+	path = src/chrono_thirdparty/flatbuffers
+	url = https://github.com/google/flatbuffers.git

CMakeLists.txt

@@ -8,7 +8,7 @@
 # Check backward compatibility
 #-----------------------------------------------------------------------------
 
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.10)
 
 #-----------------------------------------------------------------------------
 # Prevent in-source builds.
@@ -41,7 +41,7 @@ set_property(GLOBAL PROPERTY USE_FOLDERS Off)
 # Define project name and specify version information
 #-----------------------------------------------------------------------------
 
-set(CHRONO_VERSION_MAJOR 5)
+set(CHRONO_VERSION_MAJOR 6)
 set(CHRONO_VERSION_MINOR 0)
 set(CHRONO_VERSION_PATCH 0)
 
@@ -55,7 +55,7 @@ set(CPACK_PACKAGE_VERSION_MINOR "${CHRONO_VERSION_MINOR}")
 set(CPACK_PACKAGE_VERSION_PATCH "${CHRONO_VERSION_PATCH}")
 
 # Version as a hexadecimal integer of the form 0x00MMmmPP
-set(CH_VERSION 0x00050000)
+set(CH_VERSION 0x00060000)
 
 #-----------------------------------------------------------------------------
 # Location of additional CMake scripts

README.md

@@ -1,12 +1,29 @@
 Project CHRONO
 ==============
 
-Project Chrono represents a community effort aimed at producing a physics-based modelling and simulation infrastructure based on a platform-independent, open-source design. The name of this software infrastructure is Chrono. Some of its features are listed below. More information is available at the [project website](http://www.projectchrono.org/). The applications areas in which Chrono is most often used are **vehicle dynamics**, **robotics**, and **machine design**. In vehicle dynamics, Chrono has mature support for tire/terrain interaction modeling and simulation.
+[![pipeline status](https://gitlab.com/uwsbel/chrono/badges/develop/pipeline.svg)](https://gitlab.com/uwsbel/chrono/commits/develop)
+[![BSD License](http://www.projectchrono.org/assets/logos/chrono-bsd.svg)](https://projectchrono.org/license-chrono.txt)
+
+Project Chrono represents a community effort aimed at producing a physics-based modelling and simulation infrastructure based on a platform-independent, open-source design. The name of this software infrastructure is Chrono. Some of its features are listed below. The applications areas in which Chrono is most often used are **vehicle dynamics**, **robotics**, and **machine design**. In vehicle dynamics, Chrono has mature support for tire/terrain interaction modeling and simulation.
+
+
+- [Project website](http://projectchrono.org/)
+- [Build and install instructions](http://api.projectchrono.org/4.0.0/tutorial_table_of_content_install.html)
+- Documentation
+	- [development branch](http://api.projectchrono.org/)
+	- [release 5.0.0](http://api.projectchrono.org/5.0.0/)
+	- [release 4.0.0](http://api.projectchrono.org/4.0.0/)
+
+
+
+
+Features
+========
 
 ### Physics modeling
 
 -   Rigid body support
--   Flexible body support via Chrono::FEA module - both for ANCF and co-rotational nonlinear finite element analysis
+-   Flexible body support - both for ANCF and co-rotational nonlinear finite element analysis
 -   Support for fluid-solid interaction problems, via Chrono::FSI module
 -   Coulomb friction model capturing stick-slip phenomena.
 -   Support for rolling friction and spinning friction.
@@ -70,8 +87,3 @@ Project Chrono represents a community effort aimed at producing a physics-based
 - Scripting via Python.
 - Makefile system based on CMake (cross-platform, on Windows 32/64 bit, Linux, OSX).
 
-## CI/CD Status
-| Branch | Status |
-| ------ | ------ |
-| develop | [![pipeline status](https://gitlab.com/uwsbel/chrono/badges/develop/pipeline.svg)](https://gitlab.com/uwsbel/chrono/commits/develop) |
-

cmake/ChronoConfig.cmake.in

@@ -1,15 +1,16 @@
 #===============================================================================
 # Chrono project configuration file
-# 
+#
 # This file is automatically generated when Chrono is configured and contains
 # information on how the project was configured.  It can be used by third party
 # projects in their own CMakeLists files to find the Chrono package and obtain
 # information on how to link to the Chrono libraries.
-# 
+#
 # In the call to find_package(), the following Chrono components can be
 # requested (case insensitive): Cascade, Cosimulation, Irrlicht, Matlab,
-# Parallel, Postprocess, Python, Vehicle.  These can be requested either as
-# required or optional (see the CMake documentation for find_package).
+# Multicore, Gpu, PardisoMKL, PardisoProject, Postprocess, Python, Vehicle.  
+# A component can be requested either as required or optional
+# (see the CMake documentation for find_package).
 # 
 # Variables set by this script:
 # CHRONO_FOUND
@@ -31,11 +32,11 @@
 #       path to the Chrono::Vehicle data directory
 # CHRONO_FSI_DATA_DIR
 #       path to the Chrono::FSI data directory
-# 
+#
 # In addition, for each requested component [COMPONENT], the following variable
 # is set to true (ON) or false (OFF):
 # CHRONO_[COMPONENT]_FOUND
-# 
+#
 # Other variables:
 # CHRONO_SSE_FOUND
 #       set to true is SSE support is available
@@ -66,14 +67,15 @@ else()
 endif()
 
 list(APPEND CHRONO_INCLUDE_DIRS "@CH_INCLUDE_DIRS@")
-list(APPEND CHRONO_LIBRARIES "")
+list(APPEND CHRONO_LIBRARIES "@OPENMP_LIBRARIES@")
 list(APPEND CHRONO_LIB_NAMES "ChronoEngine")
 list(APPEND CHRONO_DLLS "")
 list(APPEND CHRONO_DLL_NAMES "ChronoEngine.dll")
 
 set(CHRONO_DATA_DIR "@CH_DATA_DIR@")
 set(CHRONO_VEHICLE_DATA_DIR "@CH_DATA_DIR@vehicle/")
 set(CHRONO_FSI_DATA_DIR "@CH_DATA_DIR@fsi/")
+set(SYNCHRONO_DATA_DIR "@CH_DATA_DIR@synchrono/")
 
 set(CHRONO_SSE_FOUND "@SSE_FOUND@")
 set(CHRONO_AVX_FOUND "@AVX_FOUND@")
@@ -86,22 +88,25 @@ set(Chrono_HAS_cascade @ENABLE_MODULE_CASCADE@)
 set(Chrono_HAS_cosimulation @ENABLE_MODULE_COSIMULATION@)
 set(Chrono_HAS_irrlicht @ENABLE_MODULE_IRRLICHT@)
 set(Chrono_HAS_matlab @ENABLE_MODULE_MATLAB@)
-set(Chrono_HAS_mkl @ENABLE_MODULE_MKL@)
+set(Chrono_HAS_pardisomkl @ENABLE_MODULE_PARDISO_MKL@)
 set(Chrono_HAS_mumps @ENABLE_MODULE_MUMPS@)
-set(Chrono_HAS_parallel @ENABLE_MODULE_PARALLEL@)
+set(Chrono_HAS_multicore @ENABLE_MODULE_MULTICORE@)
 set(Chrono_HAS_opengl @ENABLE_MODULE_OPENGL@)
 set(Chrono_HAS_postprocess @ENABLE_MODULE_POSTPROCESS@)
 set(Chrono_HAS_python @ENABLE_MODULE_PYTHON@)
 set(Chrono_HAS_vehicle @ENABLE_MODULE_VEHICLE@)
 set(Chrono_HAS_fsi @ENABLE_MODULE_FSI@)
-set(Chrono_HAS_granular @ENABLE_MODULE_GRANULAR@)
+set(Chrono_HAS_gpu @ENABLE_MODULE_GPU@)
+set(Chrono_HAS_sensor @ENABLE_MODULE_SENSOR@)
+set(Chrono_HAS_pardisoproject @ENABLE_MODULE_PARDISO_PROJECT@)
+set(Chrono_HAS_synchrono @ENABLE_MODULE_SYNCHRONO@)
 
 #-------------------------------------------------------------------------------
 # Loop over the list of requested components
 #-------------------------------------------------------------------------------
 
 foreach(COMPONENT ${Chrono_FIND_COMPONENTS})
- 
+
   string(TOLOWER ${COMPONENT} COMPONENT_LOWER)
   string(TOUPPER ${COMPONENT} COMPONENT_UPPER)
 
@@ -129,26 +134,26 @@ foreach(COMPONENT ${Chrono_FIND_COMPONENTS})
     endif()
 
   else()
-  
+
     # The component is available. Append to output variables.
     set(CHRONO_${COMPONENT_UPPER}_FOUND ON)
 
-    if(${COMPONENT_UPPER} MATCHES "PARALLEL")
+    if(${COMPONENT_UPPER} MATCHES "MULTICORE")
 
-      set(CHRONO_CXX_FLAGS "${CHRONO_CXX_FLAGS} @CH_PARALLEL_CXX_FLAGS@")
-      set(CHRONO_C_FLAGS "${CHRONO_C_FLAGS} @CH_PARALLEL_C_FLAGS@")
+      set(CHRONO_CXX_FLAGS "${CHRONO_CXX_FLAGS} @CH_MULTICORE_CXX_FLAGS@")
+      set(CHRONO_C_FLAGS "${CHRONO_C_FLAGS} @CH_MULTICORE_C_FLAGS@")
 
-      list(APPEND CHRONO_INCLUDE_DIRS "@CH_PARALLEL_INCLUDES@")
-      list(APPEND CHRONO_LIB_NAMES "ChronoEngine_parallel")
-      list(APPEND CHRONO_DLL_NAMES "ChronoEngine_parallel.dll")
+      list(APPEND CHRONO_INCLUDE_DIRS "@CH_MULTICORE_INCLUDES@")
+      list(APPEND CHRONO_LIB_NAMES "ChronoEngine_multicore")
+      list(APPEND CHRONO_DLL_NAMES "ChronoEngine_multicore.dll")
 
     elseif(${COMPONENT_UPPER} MATCHES "OPENGL")
 
       list(APPEND CHRONO_INCLUDE_DIRS "@CH_OPENGL_INCLUDES@")
       list(APPEND CHRONO_LIB_NAMES "ChronoEngine_opengl")
       list(APPEND CHRONO_LIBRARIES "@GLEW_LIBRARY@")
       list(APPEND CHRONO_LIBRARIES "@GLFW_LIBRARY@")
-      list(APPEND CHRONO_LIBRARIES "@OPENGL_LIBRARY@")        
+      list(APPEND CHRONO_LIBRARIES "@OPENGL_LIBRARY@")
       list(APPEND CHRONO_DLL_NAMES "ChronoEngine_opengl.dll")
       list(APPEND CHRONO_DLLS "@GLEW_DLL@")
       list(APPEND CHRONO_DLLS "@GLFW_DLL@")
@@ -165,33 +170,56 @@ foreach(COMPONENT ${Chrono_FIND_COMPONENTS})
       list(APPEND CHRONO_DLLS "@CH_IRRLICHT_DLL@")
 
     elseif(${COMPONENT_UPPER} MATCHES "VEHICLE")
- 
+
       list(APPEND CHRONO_LIB_NAMES "ChronoEngine_vehicle")
       list(APPEND CHRONO_DLL_NAMES "ChronoEngine_vehicle.dll")
       list(APPEND CHRONO_LIB_NAMES "ChronoModels_vehicle")
       list(APPEND CHRONO_DLL_NAMES "ChronoModels_vehicle.dll")
-
+
+      if(${Chrono_HAS_irrlicht})
+        list(APPEND CHRONO_LIB_NAMES "ChronoEngine_vehicle_irrlicht")
+        list(APPEND CHRONO_DLL_NAMES "ChronoEngine_vehicle_irrlicht.dll")
+      endif()
+
     elseif(${COMPONENT_UPPER} MATCHES "FSI")
- 
+
       list(APPEND CHRONO_INCLUDE_DIRS "@CH_FSI_INCLUDES@")
       list(APPEND CHRONO_LIB_NAMES "ChronoEngine_fsi")
       list(APPEND CHRONO_DLL_NAMES "ChronoEngine_fsi.dll")
 
-    elseif(${COMPONENT_UPPER} MATCHES "GRANULAR")
-
-      set(CHRONO_CXX_FLAGS "${CHRONO_CXX_FLAGS} @CH_GRANULAR_CXX_FLAGS@")
+    elseif(${COMPONENT_UPPER} MATCHES "SENSOR")
+      set(CHRONO_CXX_FLAGS "${CHRONO_CXX_FLAGS} @CH_SENSOR_CXX_FLAGS@")
+      set(CHRONO_C_FLAGS "${CHRONO_C_FLAGS} @CH_SENSOR_C_FLAGS@")
+
+      list(APPEND CHRONO_INCLUDE_DIRS "@CH_SENSOR_INCLUDES@")
+      list(APPEND CHRONO_LIB_NAMES "ChronoEngine_sensor")
+      list(APPEND CHRONO_LIBRARIES "@SENSOR_LIBRARIES@")
+      list(APPEND CHRONO_DLL_NAMES "ChronoEngine_sensor.dll")
+      list(APPEND CHRONO_DLLS "@optix_DLL@")
+      list(APPEND CHRONO_DLLS "@CH_GLEW_DLL@")
+
+    elseif(${COMPONENT_UPPER} MATCHES "SYNCHRONO")
+
+      list(APPEND CHRONO_INCLUDE_DIRS "@SYN_INCLUDES@")
+      list(APPEND CHRONO_LIB_NAMES "ChronoEngine_synchrono")
+      list(APPEND CHRONO_LIBRARIES "@SYN_LIBRARIES@")
+      list(APPEND CHRONO_DLL_NAMES "ChronoEngine_synchrono.dll")
+
+    elseif(${COMPONENT_UPPER} MATCHES "GPU")
+
+      set(CHRONO_CXX_FLAGS "${CHRONO_CXX_FLAGS} @CH_GPU_CXX_FLAGS@")
 
-      list(APPEND CHRONO_INCLUDE_DIRS "@CH_GRANULAR_INCLUDES@")
-      list(APPEND CHRONO_LIB_NAMES "ChronoEngine_granular")
-      list(APPEND CHRONO_DLL_NAMES "ChronoEngine_granular.dll")
+      list(APPEND CHRONO_INCLUDE_DIRS "@CH_GPU_INCLUDES@")
+      list(APPEND CHRONO_LIB_NAMES "ChronoEngine_gpu")
+      list(APPEND CHRONO_DLL_NAMES "ChronoEngine_gpu.dll")
 
-    elseif(${COMPONENT_UPPER} MATCHES "MKL")
+    elseif(${COMPONENT_UPPER} MATCHES "PARDISOMKL")
 
       list(APPEND CHRONO_INCLUDE_DIRS "@CH_MKL_INCLUDES@")
       list(APPEND CHRONO_LINKER_FLAGS "@CH_MKL_LINK_FLAGS@")
       list(APPEND CHRONO_LIBRARIES "@CH_MKL_LIBRARIES@")
-      list(APPEND CHRONO_LIB_NAMES "ChronoEngine_mkl")
-      list(APPEND CHRONO_DLL_NAMES "ChronoEngine_mkl.dll")
+      list(APPEND CHRONO_LIB_NAMES "ChronoEngine_pardisomkl")
+      list(APPEND CHRONO_DLL_NAMES "ChronoEngine_pardisomkl.dll")
 
     elseif(${COMPONENT_UPPER} MATCHES "MUMPS")
 
@@ -238,6 +266,12 @@ foreach(COMPONENT ${Chrono_FIND_COMPONENTS})
       list(APPEND CHRONO_LIBRARIES "@CH_MATLABLIB@")
       list(APPEND CHRONO_DLL_NAMES "ChronoEngine_matlab.dll")
 
+    elseif(${COMPONENT_UPPER} MATCHES "PARDISOPROJECT")
+
+      list(APPEND CHRONO_LIB_NAMES "ChronoEngine_pardisoproject")
+      list(APPEND CHRONO_LIBRARIES "@PARDISOPROJECT_LIBRARIES@")
+      list(APPEND CHRONO_DLL_NAMES "ChronoEngine_pardisoproject.dll")
+
     endif()
 
   endif()
@@ -328,24 +362,24 @@ function(add_DLL_copy_command DLL_LIST)
     if(NOT ${CMAKE_SYSTEM_NAME} MATCHES "Windows")
       return()
     endif()
-    
+
     # Remove duplicates in the input list
     list(REMOVE_DUPLICATES DLL_LIST)
-    
+
     message(STATUS "==== Add custom commands for copying DLLs ====")
     message(STATUS "DLL list...")
-    
+
     # Create custom target for copying DLLs; add it to the default build target
     add_custom_target(COPY_DLLS ALL)
-    
+
     # Add custom command to create the destination folder
     add_custom_command(TARGET COPY_DLLS PRE_BUILD
       COMMAND ${CMAKE_COMMAND} -E make_directory "${EXECUTABLE_OUTPUT_PATH}/$<CONFIGURATION>/")
 
     # Loop over the list of all DLLs and create a custom command
     foreach(DLL ${DLL_LIST})
         message(STATUS "...${DLL}")
-    
+
         # Create custom commands, invoked pre-build to copy DLLs to the appropriate
         # directory (depending on the configuration selected at build time in VS)
         add_custom_command(