Description

Class with static functions which help with the integration of Chrono and Irrlicht 3D rendering library.

#include <ChIrrTools.h>

Public Types
enum	eCh_ContactsDrawMode { CONTACT_NORMALS = 0, CONTACT_DISTANCES, CONTACT_FORCES_N, CONTACT_FORCES, CONTACT_NONE }

enum	eCh_ContactsLabelMode { CONTACT_DISTANCES_VAL, CONTACT_FORCES_VAL, CONTACT_FORCES_N_VAL, CONTACT_FORCES_T_VAL, CONTACT_TORQUES_VAL, CONTACT_TORQUES_S_VAL, CONTACT_TORQUES_R_VAL, CONTACT_NONE_VAL }

enum	eCh_LinkDrawMode { LINK_REACT_FORCE = 0, LINK_REACT_TORQUE, LINK_NONE }

enum	eCh_LinkLabelMode { LINK_REACT_FORCE_VAL = 0, LINK_REACT_FORCE_X, LINK_REACT_FORCE_Y, LINK_REACT_FORCE_Z, LINK_REACT_TORQUE_VAL, LINK_REACT_TORQUE_X, LINK_REACT_TORQUE_Y, LINK_REACT_TORQUE_Z, LINK_NONE_VAL }

Static Public Member Functions
static void	alignIrrlichtNodeToChronoCsys (irr::scene::ISceneNode *mnode, const ChCoordsys<> &mcoords)
	Function to align an Irrlicht object to a Chrono coordsys.

static int	drawAllContactPoints (std::shared_ptr< ChContactContainer > mcontactcontainer, irr::video::IVideoDriver *driver, double mlen=1.0, eCh_ContactsDrawMode drawtype=CONTACT_NORMALS)
	Easy-to-use function which draws contact points used by a ChSystem in the current Irrlicht viewer (the IVideoDriver). More...

static int	drawAllContactLabels (std::shared_ptr< ChContactContainer > mcontactcontainer, irr::IrrlichtDevice *device, eCh_ContactsLabelMode labeltype=CONTACT_FORCES_N_VAL, irr::video::SColor mcol=irr::video::SColor(255, 255, 255, 255))
	Easy-to-use function which draws contact informations as labels at the contact point.

static int	drawAllLinks (ChSystem &mphysicalSystem, irr::video::IVideoDriver *driver, double mlen=1.0, eCh_LinkDrawMode drawtype=LINK_REACT_FORCE)
	Easy-to-use function which draws reaction forces in all contacts in current Irrlicht viewer (the IVideoDriver).

static int	drawAllLinkLabels (ChSystem &mphysicalSystem, irr::IrrlichtDevice *device, eCh_LinkLabelMode labeltype=LINK_REACT_FORCE_X, irr::video::SColor mcol=irr::video::SColor(255, 255, 255, 255))
	Easy-to-use function which draws contact informations as labels at the contact point.

static int	drawAllBoundingBoxes (ChSystem &mphysicalSystem, irr::video::IVideoDriver *driver)
	Easy-to-use function which draws collision objects bounding boxes for rigid bodies - if they have a collision shape.

static int	drawAllCOGs (ChSystem &mphysicalSystem, irr::video::IVideoDriver *driver, double scale=0.01)
	Easy-to-use function which draws coordinate systems of ChBody objects.

static int	drawAllLinkframes (ChSystem &mphysicalSystem, irr::video::IVideoDriver *driver, double scale=0.01)
	Easy-to-use function which draws coordinate systems of link frames.

static void	drawHUDviolation (irr::video::IVideoDriver driver, irr::IrrlichtDevice mdevice, ChSystem &asystem, int mx=10, int my=290, int sx=300, int sy=100, double spfact=100.0)
	–

static void	drawChFunction (irr::IrrlichtDevice mdevice, ChFunction fx, double xmin=0, double xmax=1, double ymin=-1, double ymax=1, int mx=10, int my=290, int sx=300, int sy=100)
	–

static void	drawSegment (irr::video::IVideoDriver *driver, ChVector<> mstart, ChVector<> mend, irr::video::SColor mcol=irr::video::SColor(255, 0, 0, 0), bool use_Zbuffer=false)
	Easy-to-use function to draw segment lines in 3D space, with given color.

static void	drawPolyline (irr::video::IVideoDriver *driver, std::vector< ChVector<> > &mpoints, irr::video::SColor mcol=irr::video::SColor(255, 0, 0, 0), bool use_Zbuffer=false)
	Easy-to-use function to draw a polyline in 3D space, given the array of points as a std::vector.

static void	drawCircle (irr::video::IVideoDriver *driver, double radius, ChCoordsys<> mpos=CSYSNORM, irr::video::SColor mcol=irr::video::SColor(255, 0, 0, 0), int mresolution=36, bool use_Zbuffer=false)
	Easy-to-use function to draw a circle line in 3D space, with given color. More...

static void	drawSpring (irr::video::IVideoDriver *driver, double radius, ChVector<> start, ChVector<> end, irr::video::SColor mcol=irr::video::SColor(255, 0, 0, 0), int mresolution=65, double turns=5, bool use_Zbuffer=false)
	Easy-to-use function to draw a spring in 3D space, with given color. More...

static void	drawGrid (irr::video::IVideoDriver *driver, double ustep=0.1, double vstep=0.1, int nu=20, int nv=20, ChCoordsys<> mpos=CSYSNORM, irr::video::SColor mcol=irr::video::SColor(50, 80, 110, 110), bool use_Zbuffer=false)
	Easy-to-use function to draw grids in 3D space, with given orientation, color and spacing.

static void	drawColorbar (double vmin, double vmax, const std::string &label, irr::IrrlichtDevice *mdevice, int mx=740, int my=20, int sx=30, int sy=300)
	Easy-to-use function to draw color bar with a color map and 2D legend. More...

static void	drawCollisionShapes (ChSystem &asystem, irr::IrrlichtDevice *mdevice, irr::video::SColor mcol=irr::video::SColor(50, 0, 0, 110))
	Draw the collision shapes as wireframe, overlayed to shapes. More...

static void	drawPlot3D (irr::video::IVideoDriver *driver, ChMatrixConstRef X, ChMatrixConstRef Y, ChMatrixConstRef Z, ChCoordsys<> mpos=CSYSNORM, irr::video::SColor mcol=irr::video::SColor(50, 80, 110, 110), bool use_Zbuffer=false)
	–

static void	drawProfiler (irr::IrrlichtDevice *device)
	Draw run-time profiler infos.

Member Function Documentation

◆ drawAllContactPoints()

int chrono::irrlicht::ChIrrTools::drawAllContactPoints	(	std::shared_ptr< ChContactContainer >	mcontactcontainer,
		irr::video::IVideoDriver *	driver,
		double	mlen = `1.0`,
		eCh_ContactsDrawMode	drawtype = `CONTACT_NORMALS`
	)

static

Easy-to-use function which draws contact points used by a ChSystem in the current Irrlicht viewer (the IVideoDriver).

The contact points are visually represented with short lines, of length mlen, aligned to contact normals.

◆ drawCircle()

void chrono::irrlicht::ChIrrTools::drawCircle	(	irr::video::IVideoDriver *	driver,
		double	radius,
		ChCoordsys<>	mpos = `CSYSNORM`,
		irr::video::SColor	mcol = `irr::video::SColor(255, 0, 0, 0)`,
		int	mresolution = `36`,
		bool	use_Zbuffer = `false`
	)

static

Easy-to-use function to draw a circle line in 3D space, with given color.

Specify the center as coordsys position. Orientation as coordsys quaternion (default in xy plane)

◆ drawCollisionShapes()

void chrono::irrlicht::ChIrrTools::drawCollisionShapes	(	ChSystem &	asystem,
		irr::IrrlichtDevice *	mdevice,
		irr::video::SColor	mcol = `irr::video::SColor(50, 0, 0, 110)`
	)

static

Draw the collision shapes as wireframe, overlayed to shapes.

Note: this works only for the Bullet collision system (i.e. not working for Chrono Parallel)

◆ drawColorbar()

void chrono::irrlicht::ChIrrTools::drawColorbar	(	double	vmin,
		double	vmax,
		const std::string &	label,
		irr::IrrlichtDevice *	mdevice,
		int	mx = `740`,
		int	my = `20`,
		int	sx = `30`,
		int	sy = `300`
	)

static

Easy-to-use function to draw color bar with a color map and 2D legend.

Easy-to-use function to draw color map 2D legend.

◆ drawSpring()

void chrono::irrlicht::ChIrrTools::drawSpring	(	irr::video::IVideoDriver *	driver,
		double	radius,
		ChVector<>	start,
		ChVector<>	end,
		irr::video::SColor	mcol = `irr::video::SColor(255, 0, 0, 0)`,
		int	mresolution = `65`,
		double	turns = `5`,
		bool	use_Zbuffer = `false`
	)

static

Easy-to-use function to draw a spring in 3D space, with given color.

Specify the radius, the end points in absolute space, the resolution (i.e. the number of segments approximating the helix) and the number of turns.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_irrlicht/ChIrrTools.h
/builds/uwsbel/chrono/src/chrono_irrlicht/ChIrrTools.cpp

Description

Public Types

Static Public Member Functions

Member Function Documentation

◆ drawAllContactPoints()

◆ drawCircle()

◆ drawCollisionShapes()

◆ drawColorbar()

◆ drawSpring()