BitRL Example 13 Using chrono::ChSystemSMC

Example BitRL Example 11 Create a rigid body in Chrono discussed ChBody. Specifically, how to create a ChBodyEasyBox. Understanding rigid bodies is fundamental to robotics. In this example we will discuss ChSystem. This is the cornerstone of a Chrono simulation. Most information in this example can be found in the official doumentation here: Simulation system. A ChSystem is an abstract class. The Chrono library provides the following subclasses:

• ChSystemNSC for Non Smooth Contacts (NSC): in case of contacts a complementarity solver will take care of them using non-smooth dynamics; this is very efficient even with large time steps.
• ChSystemSMC for SMooth Contacts (SMC): contacts are handled using penalty methods, i.e. contacts are deformable

Note that if there are no contacts or collisions in your system, it is indifferent to use ChSystemNSC or ChSystemSMC. In this example we will create and simulate a differential drive system using Chrono