carla-simulator/carla_chrono

How carla-simulator/carla_chrono works

Chrono is a multiphysics simulation library. An engineer models a physical system, advances its dynamics, and inspects or exchanges simulation results; optional modules extend this workflow to sensors, vehicles, fluids, parallel execution, and co-simulation. The excerpts show selected solver, vehicle-engine, sensor-rendering, and synchronization internals, but not the main simulation implementation. Therefore, links for broader capabilities are limited to those documented in the README; unsampled modules are represented at existing directory paths.

Main entry points: physics System model · timestepper Dynamics solver · collision Collision detection · chrono_vehicle Vehicle simulation

Components 19

Simulation core

System model src/chrono/physics
Dynamics solver src/chrono/timestepper
Collision detection src/chrono/collision
Contact mechanics src/chrono/physics

Physics extensions

Deformable bodies src/chrono/fea
Granular dynamics src/chrono_multicore
Fluid-solid interaction src/chrono_fsi
Vehicle simulation src/chrono_vehicle
Shaft engine src/chrono_vehicle/powertrain/ChEngineShafts.h

Sensors and output

Sensor manager src/chrono_sensor/ChSensorManager.h
OptiX renderer src/chrono_sensor/optix/ChOptixEngine.cpp
Render pipeline src/chrono_sensor/optix/ChOptixPipeline.cpp
Post-processing src/chrono_postprocess

Integration and compute

Model import src/chrono_parsers
Co-simulation src/chrono_synchrono/SynChronoManager.cpp
Parallel compute src/chrono_multicore/ChDataManager.h
GPU compute src/chrono_gpu
External solvers src/chrono_mumps/ChMumpsEngine.h

Other components

Engineer

Connections 18

Engineer → System model: defines model
System model → Dynamics solver: simulates src/chrono/physics/ChSystem.h
System model → Collision detection: uses contacts src/chrono/physics/ChSystem.h
Collision detection → Contact mechanics: produces contacts src/chrono/collision/multicore/ChCollisionData.h
System model → Deformable bodies: extends to FEA
System model → Granular dynamics: simulates grains src/chrono_multicore/ChDataManager.h
System model → Fluid-solid interaction: couples fluid
System model → Vehicle simulation: models vehicles src/chrono_vehicle/powertrain/ChEngineShafts.cpp
Vehicle simulation → Shaft engine: uses engine src/chrono_vehicle/powertrain/ChEngineShafts.cpp
System model → Sensor manager: visualizes runtime src/chrono_sensor/ChSensorManager.h
Sensor manager → OptiX renderer: manages renderer src/chrono_sensor/ChSensorManager.h
OptiX renderer → Render pipeline: uses pipeline
System model → Post-processing: post-processes results
Engineer → Model import: imports models
System model → Co-simulation: co-simulates
System model → Parallel compute: uses parallel compute src/chrono_multicore/ChDataManager.h
System model → GPU compute: uses GPU compute
Dynamics solver → External solvers: solves systems

More C++ diagrams: suifei/asm2hex2 · tanvir-ahmed-m4/hub4com · thecosmictangerine-cloud/dishonored-2-vr · tsjakka/weatherstation · vldtecno/ptn-engine

Drawn by GitDiagram on September 30, 2026 from the repository's file tree, README and source files. Read as Markdown ·