chrono::utils Namespace Reference

Description

Chrono core utilities.

Classes

class  ChAnalogueFilter
 Abstract Base class for simulated analogue filters in the time domain. More...
 
class  ChBenchmarkFixture
 Generic benchmark fixture for Chrono tests. More...
 
class  ChBenchmarkTest
 Base class for a Chrono benchmark test. More...
 
class  ChChaseCamera
 Utility class for a generic chase camera which can be associated with any ChBody in a Chrono system. More...
 
class  ChConvexHull2D
 Simple 2D convex hull class. More...
 
class  ChMovingAverage
 Moving average filter for smoothing a data array. More...
 
class  ChParserAdams
 ADAMS input file parser. More...
 
class  ChParserOpenSim
 OpenSim input file parser. More...
 
class  ChProfileIterator
 An iterator to navigate through the tree. More...
 
class  ChProfileManager
 The Manager for the Profile system. More...
 
class  ChProfileNode
 A node in the Profile Hierarchy Tree. More...
 
class  ChRunningAverage
 Moving average filter for smoothing running data. More...
 
class  ChValidation
 This class provides functionality for validation of simulation results. More...
 
class  CompositeInertia
 Utility class for calculating inertia properties of a composite body. More...
 
class  CProfileSample
 ProfileSampleClass is a simple way to profile a function's scope Use the BT_PROFILE macro at the start of scope to time. More...
 
class  Generator
 Provides functionality for generating sets of bodies with positions drawn from a specified sampler and various mixture properties. More...
 
class  GridSampler
 Sampler for 3D volumes using a regular (equidistant) grid. More...
 
class  HCPSampler
 Sampler for 3D volumes using a Hexagonally Close Packed structure. More...
 
class  MixtureIngredient
 Encapsulation of an ingredient of one of the supported types in a mixture. More...
 
class  PDGrid
 Simple 3D grid utility class for use by the Poisson Disk sampler. More...
 
class  PDSampler
 Sampler for 3D domains (box, sphere, or cylinder) using Poisson Disk Sampling. More...
 
class  Sampler
 Base class for different types of point samplers. More...
 

Typedefs

typedef Types< double >::PointVector PointVectorD
 
typedef Types< float >::PointVector PointVectorF
 
typedef std::vector< std::string > Headers
 Vector of data file headers.
 
typedef std::valarray< double > DataVector
 Vector of data points.
 
typedef std::vector< DataVectorData
 Data table.
 

Enumerations

enum  MixtureType {
  SPHERE, ELLIPSOID, BOX, CYLINDER,
  CONE, CAPSULE, BISPHERE, ROUNDEDCYLINDER
}
 Enumeration of various geometric shapes available for mixtures.
 
enum  POVRayShapeType {
  SPHERE = 0, SPHERE, ELLIPSOID = 1, ELLIPSOID,
  BOX = 2, BOX, CYLINDER = 3, CYLINDER,
  CONVEXHULL = 4, TRIANGLEMESH = 5, BARREL = 6, CAPSULE = 7,
  CAPSULE, CONE = 8, CONE, ROUNDEDBOX = 9,
  ROUNDEDCYL = 10, ROUNDEDCONE = 11, BEZIER = 12
}
 
enum  POVRayLinkType {
  REVOLUTE = 0, SPHERICAL = 1, PRISMATIC = 2, UNIVERSAL = 3,
  DISTANCE = 4, ENGINE = 5, SPRING = 6, TSDA = 7,
  CYLINDRICAL = 8, REV_SPH = 9
}
 
enum  POVRayLineType { SEGMENT = 0, COIL = 1 }
 
enum  SamplingType { SamplingType::REGULAR_GRID, SamplingType::POISSON_DISK, SamplingType::HCP_PACK }
 Volumetric sampling method. More...
 
enum  ChNormType { L2_NORM, RMS_NORM, INF_NORM }
 Norm types for validation.
 

Functions

double SignedArea (const ChVector2<> &p1, const ChVector2<> &p2, const ChVector2<> &p3)
 
int Orientation (const ChVector2<> &p1, const ChVector2<> &p2, const ChVector2<> &p3)
 
bool InBetween (const ChVector2<> &p1, const ChVector2<> &p2, const ChVector2<> &p3)
 
void tokenParseError (int expected, std::pair< int, std::string > &got)
 
void parseADMPart (std::string ID, std::vector< std::pair< int, std::string >> &tokens, ChSystem &sys)
 
void parseADMJoint (std::string ID, std::vector< std::pair< int, std::string >> &tokens, ChSystem &sys)
 
void parseADMMarker (std::string ID, std::vector< std::pair< int, std::string >> &tokens, ChSystem &sys)
 
ChQuaternion Q_from_313_angles (double q1, double q2, double q3)
 
void Profile_Get_Ticks (unsigned long int *ticks)
 
float Profile_Get_Tick_Rate (void)
 
void AddSphereGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
 Add a sphere collision shape and optionally a corresponding visualization asset to the specified body.
 
void AddEllipsoidGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const ChVector<> &size, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
 Add an ellipsoid collision shape and optionally a corresponding visualization asset to the specified body.
 
void AddBoxGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const ChVector<> &size, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
 Add a box collision shape and optionally a corresponding visualization asset to the specified body.
 
void AddBiSphereGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double cDist, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
 Add a bisphere collision shape and optionally a corresponding visualization asset to the specified body.
 
void AddCapsuleGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double hlen, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
 Add a box capsule shape and optionally a corresponding visualization asset to the specified body.
 
void AddCylinderGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double hlen, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
 Add a box cylinder shape and optionally a corresponding visualization asset to the specified body.
 
void AddConeGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double height, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
 Add a box cone shape and optionally a corresponding visualization asset to the specified body.
 
void AddTriangleMeshGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
 Add a triangular mesh collision shape and optionally a corresponding visualization asset to the specified body.
 
void AddTriangleMeshConvexDecomposition (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), float skin_thickness=0.0f, bool use_original_asset=true)
 Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.
 
void AddTriangleMeshConvexDecompositionV2 (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool use_original_asset=true)
 Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.
 
void AddTriangleMeshConvexDecompositionSplit (ChSystem *system, std::shared_ptr< ChMaterialSurface > material, const std::string &obj_filename, const std::string &name, const ChVector<> &pos, const ChQuaternion<> &rot, double total_mass)
 Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.
 
void AddTriangleGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const ChVector<> &vertA, const ChVector<> &vertB, const ChVector<> &vertC, const std::string &name, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
 Add a triangle collision shape and optionally a corresponding visualization asset to the specified body.
 
void AddRoundedBoxGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, const ChVector<> &size, double srad, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
 Add a rounded box (sphere-swept box) collision shape and optionally a corresponding visualization asset to the specified body.
 
void AddRoundedCylinderGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double hlen, double srad, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
 Add a rounded cylinder (sphere-swept cylinder) collision shape and optionally a corresponding visualization asset to the specified body.
 
void AddTorusGeometry (ChBody *body, std::shared_ptr< ChMaterialSurface > material, double radius, double thickness, int segments=20, int angle=360, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool visualization=true)
 Add a torus collision shape (compound object created with capsules) and optionally a corresponding visualization asset to the specified body.
 
std::shared_ptr< ChBodyCreateBoxContainer (ChSystem *system, int id, std::shared_ptr< ChMaterialSurface > mat, const ChVector<> &hdim, double hthick, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool collide=true, bool y_up=false, bool overlap=true, bool closed=false)
 Create a fixed body with contact and asset geometry representing a box with 5 walls (no top).
 
std::shared_ptr< ChBodyCreateCylindricalContainerFromBoxes (ChSystem *system, int id, std::shared_ptr< ChMaterialSurface > mat, const ChVector<> &hdim, double hthick, int numBoxes, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool collide=true, bool overlap=true, bool closed=false, bool isBoxBase=true, bool partialVisualization=true)
 Create a cylindrical container body with contact and asset geometry representing a cylindrical container modeled with boxes. More...
 
void LoadConvexMesh (const std::string &file_name, geometry::ChTriangleMeshConnected &convex_mesh, collision::ChConvexDecompositionHACDv2 &convex_shape, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), int hacd_maxhullcount=1024, int hacd_maxhullmerge=256, int hacd_maxhullvertexes=64, float hacd_concavity=0.01f, float hacd_smallclusterthreshold=0.0f, float hacd_fusetolerance=1e-6f)
 Load an object from a Wavefront OBJ file and generate its convex decomposition.
 
void LoadConvexHulls (const std::string &file_name, geometry::ChTriangleMeshConnected &convex_mesh, std::vector< std::vector< ChVector< double >>> &convex_hulls)
 Given a path to an obj file, loads the obj assuming that the individual objects in the obj are convex hulls, useful when loading a precomputed set of convex hulls. More...
 
void AddConvexCollisionModel (std::shared_ptr< ChBody > body, std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< ChTriangleMeshConnected > convex_mesh, ChConvexDecompositionHACDv2 &convex_shape, const ChVector<> &pos, const ChQuaternion<> &rot, bool use_original_asset)
 
void AddConvexCollisionModel (std::shared_ptr< ChBody > body, std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< ChTriangleMeshConnected > convex_mesh, std::vector< std::vector< ChVector< double >>> &convex_hulls, const ChVector<> &pos, const ChQuaternion<> &rot)
 
ChApi void AddConvexCollisionModel (std::shared_ptr< ChBody > body, std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< geometry::ChTriangleMeshConnected > convex_mesh, collision::ChConvexDecompositionHACDv2 &convex_shape, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool use_original_asset=true)
 Given a convex mesh and its decomposition add it to a ChBody use_original_asset can be used to specify if the mesh or the convex decomp should be used for visualization.
 
ChApi void AddConvexCollisionModel (std::shared_ptr< ChBody > body, std::shared_ptr< ChMaterialSurface > material, std::shared_ptr< geometry::ChTriangleMeshConnected > convex_mesh, std::vector< std::vector< ChVector< double >>> &convex_hulls, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
 Add a convex mesh to an object based on a set of points. More...
 
double CalcSphereBradius (double radius)
 
double CalcEllipsoidBradius (const ChVector<> &hdims)
 
double CalcBoxBradius (const ChVector<> &hdims)
 
double CalcCapsuleBradius (double radius, double hlen)
 
double CalcCylinderBradius (double radius, double hlen)
 
double CalcConeBradius (double radius, double hlen)
 
double CalcRoundedCylinderBradius (double radius, double hlen, double srad)
 
double CalcRoundedBoxBradius (const ChVector<> &hdims, double srad)
 
double CalcTorusBradius (double radius, double thickness)
 
double CalcSphereVolume (double radius)
 
double CalcEllipsoidVolume (const ChVector<> &hdims)
 
double CalcBoxVolume (const ChVector<> &hdims)
 
double CalcBiSphereVolume (double radius, double cDist)
 
double CalcCapsuleVolume (double radius, double hlen)
 
double CalcCylinderVolume (double radius, double hlen)
 
double CalcConeVolume (double radius, double len)
 
double CalcRoundedCylinderVolume (double radius, double hlen, double srad)
 
double CalcRoundedBoxVolume (const ChVector<> &hdims, double srad)
 
double CalcTorusVolume (double radius, double thickness)
 
void TransformGyration (ChMatrix33<> &J, const ChVector<> &pos, const ChQuaternion<> &rot)
 
ChMatrix33 CalcSphereGyration (double radius, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
 
ChMatrix33 CalcEllipsoidGyration (const ChVector<> &hdims, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
 
ChMatrix33 CalcBoxGyration (const ChVector<> &hdims, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
 
ChMatrix33 CalcBiSphereGyration (double radius, double cDist, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
 
ChMatrix33 CalcCapsuleGyration (double radius, double hlen, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
 
ChMatrix33 CalcCylinderGyration (double radius, double hlen, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
 
ChMatrix33 CalcConeGyration (double radius, double len, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
 
ChMatrix33 CalcRoundedCylinderGyration (double radius, double hlen, double srad, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
 
ChMatrix33 CalcRoundedBoxGyration (const ChVector<> &hdims, double srad, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
 
ChMatrix33 CalcTorusGyration (double radius, double thickness, const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
 
void WriteBodies (ChSystem *system, const std::string &filename, bool active_only=false, bool dump_vel=false, const std::string &delim=",")
 This function dumps to a CSV file pody position, orientation, and optionally linear and angular velocity. More...
 
bool WriteCheckpoint (ChSystem *system, const std::string &filename)
 Create a CSV file with a checkpoint.
 
void ReadCheckpoint (ChSystem *system, const std::string &filename)
 Read a CSV file with a checkpoint.
 
void WriteShapesPovray (ChSystem *system, const std::string &filename, bool body_info=true, const std::string &delim=",")
 Write CSV output file for PovRay. More...
 
void WriteMeshPovray (geometry::ChTriangleMeshConnected &trimesh, const std::string &mesh_name, const std::string &out_dir, const ChColor &color=ChColor(0.4f, 0.4f, 0.4f), const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool smoothed=false)
 Write the specified mesh as a macro in a PovRay include file. More...
 
void WriteMeshPovray (const std::string &obj_filename, const std::string &mesh_name, const std::string &out_dir, const ChColor &color=ChColor(0.4f, 0.4f, 0.4f), const ChVector<> &pos=ChVector<>(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
 Write the triangular mesh from the specified OBJ file as a macro in a PovRay include file. More...
 
void WriteCurvePovray (const ChBezierCurve &curve, const std::string &curve_name, const std::string &out_dir, double radius=0.03, const ChColor &col=ChColor(0.8f, 0.8f, 0.2f))
 Write the specified Bezier curve as a macro in a PovRay include file.
 
template<typename T >
CSV_writer & operator<< (CSV_writer &out, const ChVector< T > &v)
 
template<typename T >
CSV_writer & operator<< (CSV_writer &out, const ChQuaternion< T > &q)
 
CSV_writer & operator<< (CSV_writer &out, const ChColor &c)
 
template<typename T >
CSV_writer & operator<< (CSV_writer &out, const std::vector< T > &vec)
 
std::default_random_engine & rengine ()
 
template<typename T >
sampleTruncatedDist (std::normal_distribution< T > &distribution, T minVal, T maxVal)
 
template<typename T >
std::vector< ChVector< T > > PDLayerSampler_BOX (ChVector< T > center, ChVector< T > hdims, T diam, T padding_factor=1.02, bool verbose=false)
 Poisson Disk sampler for sampling a 3D box in layers. More...
 
bool Validate (const std::string &sim_filename, const std::string &ref_filename, ChNormType norm_type, double tolerance, DataVector &norms)
 Compare the data in the two specified files. More...
 
ChApi bool Validate (const Data &sim_data, const Data &ref_data, ChNormType norm_type, double tolerance, DataVector &norms)
 Compare the data in the two specified structures The comparison is done using the specified norm type and tolerance. More...
 
bool Validate (const std::string &sim_filename, ChNormType norm_type, double tolerance, DataVector &norms)
 Validation of a constraint violation data file. More...
 
ChApi bool Validate (const Data &sim_data, ChNormType norm_type, double tolerance, DataVector &norms)
 Validation of a constraint violation data structure. More...
 
void SetValidationDataPath (const std::string &path)
 Set the path to the reference validation data directory. More...
 
const std::string & GetValidationDataPath ()
 Obtain the current path to the reference validation data directory. More...
 
std::string GetValidationDataFile (const std::string &filename)
 Obtain the complete path to the specified filename. More...
 

Variables

std::map< std::string, adams_part_struct > parts_map
 
std::map< std::string, adams_joint_struct > joints_map
 
std::map< std::string, adams_marker_struct > markers_map
 
std::vector< std::vector< std::pair< int, std::string > > > graphics_token_list
 
template<class T >
constexpr T Pi = T(3.1415926535897932385L)
 

Function Documentation

◆ GetValidationDataFile()

ChApi std::string chrono::utils::GetValidationDataFile ( const std::string &  filename)

Obtain the complete path to the specified filename.

The given filename is assumed to be relative to the reference validation data directory. (thread safe)

◆ GetValidationDataPath()

const ChApi std::string & chrono::utils::GetValidationDataPath ( )

Obtain the current path to the reference validation data directory.

(thread safe)

◆ SetValidationDataPath()

ChApi void chrono::utils::SetValidationDataPath ( const std::string &  path)

Set the path to the reference validation data directory.

(ATTENTION: not thread safe)

◆ Validate() [1/4]

ChApi bool chrono::utils::Validate ( const Data sim_data,
ChNormType  norm_type,
double  tolerance,
DataVector norms 
)

Validation of a constraint violation data structure.

The validation is done using the specified norm type and tolerance. The function returns true if the norms of all columns, excluding the first one, are below the given tolerance and false otherwise.

◆ Validate() [2/4]

ChApi bool chrono::utils::Validate ( const Data sim_data,
const Data ref_data,
ChNormType  norm_type,
double  tolerance,
DataVector norms 
)

Compare the data in the two specified structures The comparison is done using the specified norm type and tolerance.

The function returns true if the norms of all column differences are below the given tolerance and false otherwise.

◆ Validate() [3/4]

ChApi bool chrono::utils::Validate ( const std::string &  sim_filename,
ChNormType  norm_type,
double  tolerance,
DataVector norms 
)

Validation of a constraint violation data file.

The validation is done using the specified norm type and tolerance. The function returns true if the norms of all columns, excluding the first one, are below the given tolerance and false otherwise. It is assumed that the input file is TAB-delimited.

◆ Validate() [4/4]

ChApi bool chrono::utils::Validate ( const std::string &  sim_filename,
const std::string &  ref_filename,
ChNormType  norm_type,
double  tolerance,
DataVector norms 
)

Compare the data in the two specified files.

The comparison is done using the specified norm type and tolerance. The function returns true if the norms of all column differences are below the given tolerance and false otherwise. It is assumed that the input files are TAB-delimited.

◆ WriteBodies()

ChApi void chrono::utils::WriteBodies ( ChSystem system,
const std::string &  filename,
bool  active_only = false,
bool  dump_vel = false,
const std::string &  delim = "," 
)

This function dumps to a CSV file pody position, orientation, and optionally linear and angular velocity.

Optionally, only active bodies are processed.

◆ WriteMeshPovray() [1/2]

ChApi void chrono::utils::WriteMeshPovray ( const std::string &  obj_filename,
const std::string &  mesh_name,
const std::string &  out_dir,
const ChColor color = ChColor(0.4f, 0.4f, 0.4f),
const ChVector<> &  pos = ChVector<>(0, 0, 0),
const ChQuaternion<> &  rot = ChQuaternion<>(1, 0, 0, 0) 
)

Write the triangular mesh from the specified OBJ file as a macro in a PovRay include file.

The output file will be "[out_dir]/[mesh_name].inc". The mesh vertices will be transformed to the frame with specified offset and orientation.

◆ WriteMeshPovray() [2/2]

ChApi void chrono::utils::WriteMeshPovray ( geometry::ChTriangleMeshConnected trimesh,
const std::string &  mesh_name,
const std::string &  out_dir,
const ChColor color = ChColor(0.4f, 0.4f, 0.4f),
const ChVector<> &  pos = ChVector<>(0, 0, 0),
const ChQuaternion<> &  rot = ChQuaternion<>(1, 0, 0, 0),
bool  smoothed = false 
)

Write the specified mesh as a macro in a PovRay include file.

The output file will be "[out_dir]/[mesh_name].inc". The mesh vertices will be transformed to the frame with specified offset and orientation.

◆ WriteShapesPovray()

ChApi void chrono::utils::WriteShapesPovray ( ChSystem system,
const std::string &  filename,
bool  body_info = true,
const std::string &  delim = "," 
)

Write CSV output file for PovRay.

Each line contains information about one visualization asset shape, as follows:

   index, x, y, z, e0, e1, e2, e3, type, geometry

where 'geometry' depends on 'type' (an enum).