Description

Runtime visualization with Irrlicht.

This module can be used to provide 3D realtime rendering in Chrono::Engine.

For additional information, see:

the installation guide
the tutorials

Namespaces
	chrono::irrlicht
	Namespace with classes for the Irrlicht module.

Classes
class	chrono::irrlicht::ChBodySceneNode
	Irrlicht scene node for a body. More...

class	chrono::irrlicht::ChIrrApp
	Class to add some GUI to Irrlicht+ChronoEngine applications. More...

class	chrono::irrlicht::ChIrrAppInterface
	Class to add some GUI to Irrlicht + ChronoEngine applications. More...

class	chrono::irrlicht::ChIrrAssetConverter
	Class with static functions which allow creation of Irrlicht frequent 'scene nodes' like lights, camera, sky box etc. More...

class	chrono::irrlicht::RTSCamera
	Class to create an interactive videocamera in Irrlicht, that is similar to the Maya camera but hasn't the problems that the Maya camera has in Irrlicht 1.5. More...

class	chrono::irrlicht::CShaderPreprocessor
	CShaderPreprocessor. More...

class	chrono::irrlicht::DepthShaderCB
	DepthShaderCB. More...

class	chrono::irrlicht::ShadowShaderCB
	ShadowShaderCB. More...

class	chrono::irrlicht::ScreenQuadCB
	ScreenQuadCB. More...

class	chrono::irrlicht::CScreenQuad
	CScreenQuad. More...

class	chrono::irrlicht::EffectHandler
	Main effect handling class, use this to apply shadows and effects. More...

class	chrono::irrlicht::ChIrrNode
	Class for Irrlicht visualization. More...

class	chrono::irrlicht::ChIrrNodeAsset
	Class for adding Irrlicht visualization to a ChPhysicsItem. More...

class	chrono::irrlicht::ChIrrNodeProxyToAsset
	Class for proxy to ChAsset, it is a node with mesh in Irrlicht system and a shared pointer to the ChAsset to whom it corresponds. More...

class	chrono::irrlicht::ChIrrParticlesSceneNode
	Definition of an Irrlicht scene node for particles. More...

class	chrono::irrlicht::ChIrrTools
	Class with static functions which help with the integration of Chrono and Irrlicht 3D rendering library. More...

class	chrono::irrlicht::ChIrrWizard
	Class with static functions which allow creation of Irrlicht frequent 'scene nodes' like lights, camera, sky box etc. More...

Enumerations
enum	E_SHADER_EXTENSION { ESE_GLSL, ESE_HLSL, ESE_COUNT }

enum	chrono::irrlicht::E_SHADOW_MODE { ESM_RECEIVE, ESM_CAST, ESM_BOTH, ESM_EXCLUDE, ESM_COUNT }
	Shadow mode enums, sets whether a node recieves shadows, casts shadows, or both. More...

enum	chrono::irrlicht::E_FILTER_TYPE { EFT_NONE, EFT_4PCF, EFT_8PCF, EFT_12PCF, EFT_16PCF, EFT_COUNT }
	Various filter types, up to 16 samples PCF.

Functions
ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChBodySceneNode (ChSystem asystem, irr::scene::ISceneManager amanager, irr::scene::IAnimatedMesh amesh, double mmass=1.0, const ChVector<> &position=ChVector<>(0, 0, 0), const ChQuaternion<> &rotation=ChQuaternion<>(1, 0, 0, 0), irr::scene::ISceneNode aparent=0, irr::s32 mid=-1)
	Easy-to-use function which creates a ChBodySceneNode with given position of COG, inserts it into the Irrlicht scene etc.

ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChBodySceneNode_offsetCOG (ChSystem asystem, irr::scene::ISceneManager amanager, irr::scene::IAnimatedMesh amesh, double mmass=1.0, const ChVector<> &mesh_position=ChVector<>(0, 0, 0), const ChQuaternion<> &rotation=ChQuaternion<>(1, 0, 0, 0), const ChVector<> &COG_offset=ChVector<>(0, 0, 0), irr::scene::ISceneNode aparent=0, irr::s32 mid=-1)
	Same as above, but allow user to specify an offset distance between COG and mesh location. More...

ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChBodySceneNode_easySphere (ChSystem asystem, irr::scene::ISceneManager amanager, double mmass=1.0, const ChVector<> &position=ChVector<>(0, 0, 0), double mradius=1.0, int Hslices=15, int Vslices=8, irr::scene::ISceneNode *aparent=0, irr::s32 mid=-1)
	Easy-to-use function which creates a ChBodySceneNode representing a sphere, ready to use for collisions (otherwise you could use addChBodySceneNode() and add collision geometry by hand, but the following is easier). More...

ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChBodySceneNode_easyBox (ChSystem asystem, irr::scene::ISceneManager amanager, double mmass=1.0, const ChVector<> &position=ChVector<>(0, 0, 0), const ChQuaternion<> &rotation=ChQuaternion<>(1, 0, 0, 0), const ChVector<> &size=ChVector<>(1, 1, 1), irr::scene::ISceneNode *aparent=0, irr::s32 mid=-1)
	Easy-to-use function which creates a ChBodySceneNode representing a box, ready to use for collisions (otherwise you could use addChBodySceneNode() and add collision geometry by hand, but the following is easier). More...

ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChBodySceneNode_easyCylinder (ChSystem asystem, irr::scene::ISceneManager amanager, double mmass=1.0, const ChVector<> &position=ChVector<>(0, 0, 0), const ChQuaternion<> &rotation=ChQuaternion<>(1, 0, 0, 0), const ChVector<> &size=ChVector<>(1, 1, 1), irr::scene::ISceneNode *aparent=0, irr::s32 mid=-1)
	Easy-to-use function which creates a ChBodySceneNode representing a cylinder, ready to use for collisions (otherwise you could use addChBodySceneNode() and add collision geometry by hand, but the following is easier). More...

ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChBodySceneNode_easyBarrel (ChSystem asystem, irr::scene::ISceneManager amanager, double mmass=1.0, const ChVector<> &position=ChVector<>(0, 0, 0), double mradiusH=1.0, double mradiusV=1.0, double mYlow=-0.5, double mYhigh=0.8, double mOffset=0.0, int Hslices=15, int Vslices=10, irr::scene::ISceneNode *aparent=0, irr::s32 mid=-1)
	Easy-to-use function which creates a ChBodySceneNode representing a barrel, ready to use for collisions (otherwise you could use addChBodySceneNode() and add collision geometry by hand, but the following is easier). More...

ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChBodySceneNode_easyClone (ChSystem asystem, irr::scene::ISceneManager amanager, ChBodySceneNode source, const ChVector<> &position=ChVector<>(0, 0, 0), const ChQuaternion<> &rotation=ChQuaternion<>(1, 0, 0, 0), irr::scene::ISceneNode aparent=0, irr::s32 mid=-1)
	Easy-to-use function that creates a ChBodySceneNode representing a clone of another ChBodySceneNode, but at a different position and rotation. More...

ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChBodySceneNode_easyGenericMesh (ChSystem asystem, irr::scene::ISceneManager amanager, double mmass=1.0, const ChVector<> &position=ChVector<>(0, 0, 0), const ChQuaternion<> &rotation=ChQuaternion<>(1, 0, 0, 0), const char mesh_filemane=0, bool is_static=true, bool is_convex=true, irr::scene::ISceneNode aparent=0, irr::s32 mid=-1)
	Easy-to-use function which creates a ChBodySceneNode representing a GENERIC mesh of arbitrary shape, loaded from file using the Irrlicht formats (.obj, .3ds, .X, etc) ready to use for collisions. More...

ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChBodySceneNode_easyStaticMesh (ChSystem asystem, irr::scene::ISceneManager amanager, const char mesh_filename, const ChVector<> &position=ChVector<>(0, 0, 0), const ChQuaternion<> &rotation=ChQuaternion<>(1, 0, 0, 0), irr::scene::ISceneNode aparent=0, irr::s32 mid=-1)
	Easy-to-use function which creates a ChBodySceneNode representing a STATIC shape, as a mesh loaded from file using the Irrlicht formats (.obj, .3ds, .X, etc). More...

ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChBodySceneNode_easyConvexMesh (ChSystem asystem, irr::scene::ISceneManager amanager, const char mesh_filename, double mmass, const ChVector<> &position=ChVector<>(0, 0, 0), const ChQuaternion<> &rotation=ChQuaternion<>(1, 0, 0, 0), irr::scene::ISceneNode aparent=0, irr::s32 mid=-1)
	Easy-to-use function which creates a ChBodySceneNode representing a CONVEX shape, as a mesh loaded from file using the Irrlicht formats (.obj, .3ds, .X, etc). More...

ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChBodySceneNode_easyConcaveMesh (ChSystem asystem, irr::scene::ISceneManager amanager, const char mesh_filename, double mmass, const ChVector<> &position=ChVector<>(0, 0, 0), const ChQuaternion<> &rotation=ChQuaternion<>(1, 0, 0, 0), irr::scene::ISceneNode aparent=0, irr::s32 mid=-1)
	Easy-to-use function which creates a ChBodySceneNode representing a CONCAVE shape, as a mesh loaded from file using the Irrlicht formats (.obj, .3ds, .X, etc). More...

irr::core::array< SDefineExp >	chrono::irrlicht::grabDefineExpressions (irr::core::stringc &shaderProgram)

std::string	chrono::irrlicht::getFileContent (const std::string pFile)

ChApiIrr irr::scene::IAnimatedMesh *	chrono::irrlicht::createEllipticalMesh (irr::f32 radiusH, irr::f32 radiusV, irr::f32 Ylow, irr::f32 Yhigh, irr::f32 offset, irr::u32 polyCountX, irr::u32 polyCountY)
	Some functions to allow easy creation of meshes for Irrlicht visualization. More...

IMesh *	chrono::irrlicht::createCubeMesh (const irr::core::vector3df &size)
	Create an Irrlicht mesh representing a box. More...

ChApiIrr irr::scene::IMesh *	chrono::irrlicht::createCylinderMesh (irr::f32 radius, irr::f32 height, irr::u32 tesselation)
	Create an Irrlicht mesh representing a cylinder. More...

ChApiIrr irr::scene::IMesh *	chrono::irrlicht::createTruncatedConeMesh (irr::f32 radius_top, irr::f32 radius_low, irr::f32 height, irr::u32 tesselation)
	Create an Irrlicht mesh representing a truncated cone. More...

ChApiIrr irr::scene::IMesh *	chrono::irrlicht::createConeMesh (irr::f32 radius_low, irr::f32 height, irr::u32 tesselation)
	Create an Irrlicht mesh representing a cone. More...

ChApiIrr void	chrono::irrlicht::fillChTrimeshFromIrlichtMesh (geometry::ChTriangleMesh chTrimesh, irr::scene::IMesh pMesh)
	This function is based on a modified version of the irrlicht_bullet demo, see http://www.continuousphysics.com It is used to convert an Irrlicht mesh into a ChTriangleMesh, which is used for collision detection in Chrono. More...

ChApiIrr void	chrono::irrlicht::fillIrlichtMeshFromChTrimesh (irr::scene::IMesh pMesh, geometry::ChTriangleMesh chTrimesh, irr::video::SColor clr=irr::video::SColor(255, 255, 255, 255))
	Given a ChTriangleMesh object, computes an Irrlicht mesh. More...

ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChParticlesSceneNode (ChSystem asystem, irr::scene::ISceneManager amanager, irr::scene::IAnimatedMesh amesh, irr::core::vector3df amesh_scale, double mmass=1.0, irr::scene::ISceneNode aparent=0, irr::s32 mid=-1)
	Easy-to-use function which creates a ChIrrParticlesSceneNode and inserts it into the Irrlicht scene.

ChApiIrr irr::scene::ISceneNode *	chrono::irrlicht::addChParticlesSceneNode_easySpheres (ChSystem asystem, irr::scene::ISceneManager amanager, double mmass=1.0, double mradius=1.0, int Hslices=12, int Vslices=6, irr::scene::ISceneNode *aparent=0, irr::s32 mid=-1)
	Easy-to-use function which creates a ChIrrParticlesSceneNode representing a cluster of particles, ready to use for collisions (otherwise you could use addChBodySceneNode() and add collision geometry by hand, but the following is easier). More...

	chrono::irrlicht::CShaderPreprocessor::CShaderPreprocessor (irr::video::IVideoDriver *driverIn)

void	chrono::irrlicht::CShaderPreprocessor::addShaderDefine (const irr::core::stringc name, const irr::core::stringc value="")

void	chrono::irrlicht::CShaderPreprocessor::removeShaderDefine (const irr::core::stringc name)

irr::core::stringc	chrono::irrlicht::CShaderPreprocessor::ppShader (irr::core::stringc shaderProgram)
	PreProcesses a shader using Irrlicht's built-in shader preprocessor.

irr::core::stringc	chrono::irrlicht::CShaderPreprocessor::ppShaderFF (irr::core::stringc shaderProgram)
	PreProcesses a shader using Irrlicht's built-in shader preprocessor.

	chrono::irrlicht::EffectHandler::EffectHandler (irr::IrrlichtDevice *irrlichtDevice, const irr::core::dimension2du &screenRTTSize=irr::core::dimension2du(0, 0), const bool useVSMShadows=false, const bool useRoundSpotLights=false, const bool use32BitDepthBuffers=false)

	chrono::irrlicht::EffectHandler::~EffectHandler ()
	Destructor.

void	chrono::irrlicht::EffectHandler::setScreenRenderTargetResolution (const irr::core::dimension2du &resolution)
	Sets a new screen render target resolution.

void	chrono::irrlicht::EffectHandler::enableDepthPass (bool enableDepthPass)
	Enables/disables an additional pass before applying post processing effects (If there are any) which records screen depth info to the depth buffer for use with post processing effects that require screen depth info, such as SSAO or DOF. More...

void	chrono::irrlicht::EffectHandler::addPostProcessingEffect (irr::s32 MaterialType, IPostProcessingRenderCallback *callback=0)
	A very easy to use post processing function. More...

void	chrono::irrlicht::EffectHandler::addShadowToNode (irr::scene::ISceneNode *node, E_FILTER_TYPE filterType=EFT_NONE, E_SHADOW_MODE shadowMode=ESM_BOTH)
	Adds a shadow to the scene node. More...

void	chrono::irrlicht::EffectHandler::addNodeToDepthPass (irr::scene::ISceneNode *node)
	This function is now unrelated to shadow mapping. More...

void	chrono::irrlicht::EffectHandler::removeNodeFromDepthPass (irr::scene::ISceneNode *node)
	This function is now unrelated to shadow mapping. More...

void	chrono::irrlicht::EffectHandler::update (irr::video::ITexture *outputTarget=0)
	Updates the effects handler. More...

irr::video::ITexture *	chrono::irrlicht::EffectHandler::getShadowMapTexture (const irr::u32 resolution, const bool secondary=false)
	Retrieves the shadow map texture for the specified square shadow map resolution. More...

irr::video::ITexture *	chrono::irrlicht::EffectHandler::generateRandomVectorTexture (const irr::core::dimension2du &dimensions, const irr::core::stringc &name="randVec")
	Generates a randomized texture composed of uniformly distributed 3 dimensional vectors.

void	chrono::irrlicht::EffectHandler::setPostProcessingEffectConstant (const irr::s32 materialType, const irr::core::stringc &name, const irr::f32 *data, const irr::u32 count)
	Sets a shader parameter for a post-processing effect. More...

irr::s32	chrono::irrlicht::EffectHandler::addPostProcessingEffectFromFile (const irr::core::stringc &filename, IPostProcessingRenderCallback *callback=0)
	Adds a post processing effect by reading a pixel shader from a file. More...

virtual void	chrono::irrlicht::ScreenQuadCB::OnSetConstants (irr::video::IMaterialRendererServices *services, irr::s32 userData)

Variables
const char *const	chrono::irrlicht::LIGHT_MODULATE_P [ESE_COUNT]

const char *const	chrono::irrlicht::SHADOW_PASS_1P [ESE_COUNT]

const char *const	chrono::irrlicht::SHADOW_PASS_1PT [ESE_COUNT]

const char *const	chrono::irrlicht::SHADOW_PASS_1V [ESE_COUNT]

const char *const	chrono::irrlicht::SHADOW_PASS_2P [ESE_COUNT]

const char *const	chrono::irrlicht::SHADOW_PASS_2V [ESE_COUNT]

const char *const	chrono::irrlicht::SIMPLE_P [ESE_COUNT]

const char *const	chrono::irrlicht::WHITE_WASH_P [ESE_COUNT]

const char *const	chrono::irrlicht::WHITE_WASH_P_ADD [ESE_COUNT]

const char *const	chrono::irrlicht::SCREEN_QUAD_V [ESE_COUNT]

const char *const	chrono::irrlicht::VSM_BLUR_P [ESE_COUNT]

Enumeration Type Documentation

◆ E_SHADOW_MODE

enum chrono::irrlicht::E_SHADOW_MODE

Shadow mode enums, sets whether a node recieves shadows, casts shadows, or both.

If the mode is ESM_CAST, it will not be affected by shadows or lighting.

Function Documentation

◆ addChBodySceneNode_easyBarrel()

ChApiIrr irr::scene::ISceneNode* chrono::irrlicht::addChBodySceneNode_easyBarrel	(	ChSystem *	asystem,
		irr::scene::ISceneManager *	amanager,
		double	mmass = `1.0`,
		const ChVector<> &	position = `ChVector<>(0, 0, 0)`,
		double	mradiusH = `1.0`,
		double	mradiusV = `1.0`,
		double	mYlow = `-0.5`,
		double	mYhigh = `0.8`,
		double	mOffset = `0.0`,
		int	Hslices = `15`,
		int	Vslices = `10`,
		irr::scene::ISceneNode *	aparent = `0`,
		irr::s32	mid = `-1`
	)

Easy-to-use function which creates a ChBodySceneNode representing a barrel, ready to use for collisions (otherwise you could use addChBodySceneNode() and add collision geometry by hand, but the following is easier).

The returned object has collision detection turned ON by default.

◆ addChBodySceneNode_easyBox()

ChApiIrr irr::scene::ISceneNode* chrono::irrlicht::addChBodySceneNode_easyBox	(	ChSystem *	asystem,
		irr::scene::ISceneManager *	amanager,
		double	mmass = `1.0`,
		const ChVector<> &	position = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rotation = `ChQuaternion<>(1, 0, 0, 0)`,
		const ChVector<> &	size = `ChVector<>(1, 1, 1)`,
		irr::scene::ISceneNode *	aparent = `0`,
		irr::s32	mid = `-1`
	)

Easy-to-use function which creates a ChBodySceneNode representing a box, ready to use for collisions (otherwise you could use addChBodySceneNode() and add collision geometry by hand, but the following is easier).

The returned object has collision detection turned ON by default.

◆ addChBodySceneNode_easyClone()

ChApiIrr irr::scene::ISceneNode* chrono::irrlicht::addChBodySceneNode_easyClone	(	ChSystem *	asystem,
		irr::scene::ISceneManager *	amanager,
		ChBodySceneNode *	source,
		const ChVector<> &	position = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rotation = `ChQuaternion<>(1, 0, 0, 0)`,
		irr::scene::ISceneNode *	aparent = `0`,
		irr::s32	mid = `-1`
	)

Easy-to-use function that creates a ChBodySceneNode representing a clone of another ChBodySceneNode, but at a different position and rotation.

NOTE! the collision shapes (if any) in the source object will be shared with the cloned object, so if you have to create for exampe 1000 identical objects (ex. cubes) this function will allow you to replicate 999 times a single cube that you once created calling addChBodySceneNode_easyBox(): this will be more memory-efficient than calling many times the function addChBodySceneNode_easyBox(). Shared geometries will be deallocated automatically thank to shared pointers.

◆ addChBodySceneNode_easyConcaveMesh()

ChApiIrr irr::scene::ISceneNode* chrono::irrlicht::addChBodySceneNode_easyConcaveMesh	(	ChSystem *	asystem,
		irr::scene::ISceneManager *	amanager,
		const char *	mesh_filename,
		double	mmass,
		const ChVector<> &	position = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rotation = `ChQuaternion<>(1, 0, 0, 0)`,
		irr::scene::ISceneNode *	aparent = `0`,
		irr::s32	mid = `-1`
	)

Easy-to-use function which creates a ChBodySceneNode representing a CONCAVE shape, as a mesh loaded from file using the Irrlicht formats (.obj, .3ds, .X, etc).

The mesh can be moving. The loaded mesh is used BOTH for display in Irrlicht 3d view and for collision. The returned object has collision detection turned ON by default. Works also for convex shapes, but the performance is not as fast and robust as in case of native convex cases, so whenever possible use addChBodySceneNode_easyConvexMesh.

◆ addChBodySceneNode_easyConvexMesh()

ChApiIrr irr::scene::ISceneNode* chrono::irrlicht::addChBodySceneNode_easyConvexMesh	(	ChSystem *	asystem,
		irr::scene::ISceneManager *	amanager,
		const char *	mesh_filename,
		double	mmass,
		const ChVector<> &	position = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rotation = `ChQuaternion<>(1, 0, 0, 0)`,
		irr::scene::ISceneNode *	aparent = `0`,
		irr::s32	mid = `-1`
	)

Easy-to-use function which creates a ChBodySceneNode representing a CONVEX shape, as a mesh loaded from file using the Irrlicht formats (.obj, .3ds, .X, etc).

The mesh can be moving. If mesh is not concave or has holes/gaps, its convex hull is used anyway. Best used with simple meshes, not too many points. The loaded mesh is used BOTH for display in Irrlicht 3d view and for collision. The returned object has collision detection turned ON by default.

◆ addChBodySceneNode_easyCylinder()

ChApiIrr irr::scene::ISceneNode* chrono::irrlicht::addChBodySceneNode_easyCylinder	(	ChSystem *	asystem,
		irr::scene::ISceneManager *	amanager,
		double	mmass = `1.0`,
		const ChVector<> &	position = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rotation = `ChQuaternion<>(1, 0, 0, 0)`,
		const ChVector<> &	size = `ChVector<>(1, 1, 1)`,
		irr::scene::ISceneNode *	aparent = `0`,
		irr::s32	mid = `-1`
	)

Easy-to-use function which creates a ChBodySceneNode representing a cylinder, ready to use for collisions (otherwise you could use addChBodySceneNode() and add collision geometry by hand, but the following is easier).

The returned object has collision detection turned ON by default.

◆ addChBodySceneNode_easyGenericMesh()

ChApiIrr irr::scene::ISceneNode* chrono::irrlicht::addChBodySceneNode_easyGenericMesh	(	ChSystem *	asystem,
		irr::scene::ISceneManager *	amanager,
		double	mmass = `1.0`,
		const ChVector<> &	position = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rotation = `ChQuaternion<>(1, 0, 0, 0)`,
		const char *	mesh_filemane = `0`,
		bool	is_static = `true`,
		bool	is_convex = `true`,
		irr::scene::ISceneNode *	aparent = `0`,
		irr::s32	mid = `-1`
	)

Easy-to-use function which creates a ChBodySceneNode representing a GENERIC mesh of arbitrary shape, loaded from file using the Irrlicht formats (.obj, .3ds, .X, etc) ready to use for collisions.

The loaded mesh is used BOTH for display in Irrlicht 3d view and for collision. The returned object has collision detection turned ON by default.

◆ addChBodySceneNode_easySphere()

ChApiIrr irr::scene::ISceneNode* chrono::irrlicht::addChBodySceneNode_easySphere	(	ChSystem *	asystem,
		irr::scene::ISceneManager *	amanager,
		double	mmass = `1.0`,
		const ChVector<> &	position = `ChVector<>(0, 0, 0)`,
		double	mradius = `1.0`,
		int	Hslices = `15`,
		int	Vslices = `8`,
		irr::scene::ISceneNode *	aparent = `0`,
		irr::s32	mid = `-1`
	)

Easy-to-use function which creates a ChBodySceneNode representing a sphere, ready to use for collisions (otherwise you could use addChBodySceneNode() and add collision geometry by hand, but the following is easier).

The returned object has collision detection turned ON by default.

◆ addChBodySceneNode_easyStaticMesh()

ChApiIrr irr::scene::ISceneNode* chrono::irrlicht::addChBodySceneNode_easyStaticMesh	(	ChSystem *	asystem,
		irr::scene::ISceneManager *	amanager,
		const char *	mesh_filename,
		const ChVector<> &	position = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rotation = `ChQuaternion<>(1, 0, 0, 0)`,
		irr::scene::ISceneNode *	aparent = `0`,
		irr::s32	mid = `-1`
	)

Easy-to-use function which creates a ChBodySceneNode representing a STATIC shape, as a mesh loaded from file using the Irrlicht formats (.obj, .3ds, .X, etc).

The mesh can be either convex or concave: it works anyway (but it should NOT move!) The loaded mesh is used BOTH for display in Irrlicht 3d view and for collision. The returned object has collision detection turned ON by default. The returned object is fixed by default (no need to do SetBodyFixed(true) ).

◆ addChBodySceneNode_offsetCOG()

ChApiIrr irr::scene::ISceneNode* chrono::irrlicht::addChBodySceneNode_offsetCOG	(	ChSystem *	asystem,
		irr::scene::ISceneManager *	amanager,
		irr::scene::IAnimatedMesh *	amesh,
		double	mmass = `1.0`,
		const ChVector<> &	mesh_position = `ChVector<>(0, 0, 0)`,
		const ChQuaternion<> &	rotation = `ChQuaternion<>(1, 0, 0, 0)`,
		const ChVector<> &	COG_offset = `ChVector<>(0, 0, 0)`,
		irr::scene::ISceneNode *	aparent = `0`,
		irr::s32	mid = `-1`
	)

Same as above, but allow user to specify an offset distance between COG and mesh location.

Note: the mesh remains in the same location, but the COG of the rigid body changes by the offset amount.

◆ addChParticlesSceneNode_easySpheres()

ChApiIrr irr::scene::ISceneNode* chrono::irrlicht::addChParticlesSceneNode_easySpheres	(	ChSystem *	asystem,
		irr::scene::ISceneManager *	amanager,
		double	mmass = `1.0`,
		double	mradius = `1.0`,
		int	Hslices = `12`,
		int	Vslices = `6`,
		irr::scene::ISceneNode *	aparent = `0`,
		irr::s32	mid = `-1`
	)

Easy-to-use function which creates a ChIrrParticlesSceneNode representing a cluster of particles, ready to use for collisions (otherwise you could use addChBodySceneNode() and add collision geometry by hand, but the following is easier).

The returned object has collision detection turned ON by default.

◆ addNodeToDepthPass()

void chrono::irrlicht::EffectHandler::addNodeToDepthPass ( irr::scene::ISceneNode * node )

inline

This function is now unrelated to shadow mapping.

It simply adds a node to the screen space depth map render, for use with post processing effects that require screen depth info. If you want the functionality of the old method (A node that only casts but does not receive shadows, use addShadowToNode with the ESM_CAST shadow mode.

◆ addPostProcessingEffect()

void chrono::irrlicht::EffectHandler::addPostProcessingEffect	(	irr::s32	MaterialType,
		IPostProcessingRenderCallback *	callback = `0`
	)

inline

A very easy to use post processing function.

Simply add a material type to apply to the screen as a post processing effect and it will be applied. You can add as many material types as you desire, and they will be double buffered and executed in sequence.

For the material types, I recommend using "ScreenQuadCB" as the callback and referring to the texture names that are passed (When using OpenGL, in DirectX uniforms are not required to bind textures). Please note that this will only work in OpenGL on vanilla Irrlicht, DX requires the large RTT patch to be able to create sufficiently sized render targets for post processing. (Or you can just remove the engine check for Pow2).

The structure of the textures is as follows:

Texture1 - "ColorMapSampler" This is passed on from the previous post processing effect as they are executed in sequence. For example, if you do a horizontal blur on the first post processing material, then a vertical blur in the second material, you will use this sampler to access the post processed data of the horizontal blur when it is time to do the vertical blur. If accessed from the first post processing material, it will just contain the untainted screen map data.

Texture2 - "ScreenMapSampler" The second texture will always contain the untainted screen map data, from when the scene is first rendered. It will remain unchanged no matter how many post processing materials are applied. This kind of data is necessary, for example in bloom or DOF, you would require a copy of the blurred scene data and a copy of the normal untainted, unblurred screen data, and mix between them based on certain factors such as depth or luminance.

Texture3 - "DepthMapSampler" If a depth pass has been enabled using enableDepthPass, then this sampler will contain the screen space depth information. For better quality this is encoded to 16bits, and can be decoded like so: Texture.red + (Texture.green / 256.0f); That is by adding the red channel to the green channel which is first divided by 256. The data can still be used without decoding, in 8 bit precision, by just accessing the red component of the texture. Though this is not recommended as 8 bit precision is usually not sufficient for modern post processing effects.

Texture4 - "UserMapSampler" A custom texture that can be set by the user using setPostProcessingUserTexture(irr::video::ITexture* userTexture).

The last parameter is the render callback, you may pass 0 if you do not need one. Please see IPostProcessingRenderCallback for more info about this callback.

◆ addPostProcessingEffectFromFile()

irr::s32 chrono::irrlicht::EffectHandler::addPostProcessingEffectFromFile	(	const irr::core::stringc &	filename,
		IPostProcessingRenderCallback *	callback = `0`
	)

inline

Adds a post processing effect by reading a pixel shader from a file.

The vertex shader is taken care of. The vertex shader will pass the correct screen quad texture coordinates via the TEXCOORD0 semantic in Direct3D or the gl_TexCoord[0] varying in OpenGL. See addPostProcessingEffect for more info. Returns the Irrlicht material type of the post processing effect.

◆ addShadowToNode()

void chrono::irrlicht::EffectHandler::addShadowToNode	(	irr::scene::ISceneNode *	node,
		E_FILTER_TYPE	filterType = `EFT_NONE`,
		E_SHADOW_MODE	shadowMode = `ESM_BOTH`
	)

inline

Adds a shadow to the scene node.

The filter type specifies how many shadow map samples to take, a higher value can produce a smoother or softer result. The shadow mode can be either ESM_BOTH, ESM_CAST, or ESM_RECEIVE. ESM_BOTH casts and receives shadows, ESM_CAST only casts shadows, and is unaffected by shadows or lighting, and ESM_RECEIVE only receives but does not cast shadows.

◆ createConeMesh()

ChApiIrr irr::scene::IMesh* chrono::irrlicht::createConeMesh	(	irr::f32	radius_low,
		irr::f32	height,
		irr::u32	tesselation
	)

Create an Irrlicht mesh representing a cone.

Truncated cone axis is in Y direction, centered in origin. Truncated cone tot length is 2*height, ranging from y=-height to y=+height.

◆ createCubeMesh()

ChApiIrr irr::scene::IMesh * chrono::irrlicht::createCubeMesh ( const irr::core::vector3df & size )

Create an Irrlicht mesh representing a box.

Box is centered in origin, extending +/- size in each direction.

◆ createCylinderMesh()

ChApiIrr irr::scene::IMesh* chrono::irrlicht::createCylinderMesh	(	irr::f32	radius,
		irr::f32	height,
		irr::u32	tesselation
	)

Create an Irrlicht mesh representing a cylinder.

Cylinder axis is in Y direction, centered in origin. Cylinder tot length is 2*height, ranging from y=-height to y=+height.

◆ createEllipticalMesh()

ChApiIrr irr::scene::IAnimatedMesh* chrono::irrlicht::createEllipticalMesh	(	irr::f32	radiusH,
		irr::f32	radiusV,
		irr::f32	Ylow,
		irr::f32	Yhigh,
		irr::f32	offset,
		irr::u32	polyCountX,
		irr::u32	polyCountY
	)

Some functions to allow easy creation of meshes for Irrlicht visualization.

Create an Irrlicht mesh representing an ellipsoid. Ellispoid is centered in the origin.

◆ createTruncatedConeMesh()

ChApiIrr irr::scene::IMesh* chrono::irrlicht::createTruncatedConeMesh	(	irr::f32	radius_top,
		irr::f32	radius_low,
		irr::f32	height,
		irr::u32	tesselation
	)

Create an Irrlicht mesh representing a truncated cone.

Truncated cone axis is in Y direction, centered in origin. Truncated cone tot length is 2*height, ranging from y=-height to y=+height.

◆ enableDepthPass()

void chrono::irrlicht::EffectHandler::enableDepthPass ( bool enableDepthPass )

inline

Enables/disables an additional pass before applying post processing effects (If there are any) which records screen depth info to the depth buffer for use with post processing effects that require screen depth info, such as SSAO or DOF.

For nodes to be rendered in this pass, they must first be added using addNodeToDepthPass(SceneNode).

◆ fillChTrimeshFromIrlichtMesh()

ChApiIrr void chrono::irrlicht::fillChTrimeshFromIrlichtMesh	(	geometry::ChTriangleMesh *	chTrimesh,
		irr::scene::IMesh *	pMesh
	)

This function is based on a modified version of the irrlicht_bullet demo, see http://www.continuousphysics.com It is used to convert an Irrlicht mesh into a ChTriangleMesh, which is used for collision detection in Chrono.

OBSOLETE

◆ fillIrlichtMeshFromChTrimesh()

ChApiIrr void chrono::irrlicht::fillIrlichtMeshFromChTrimesh	(	irr::scene::IMesh *	pMesh,
		geometry::ChTriangleMesh *	chTrimesh,
		irr::video::SColor	clr = `irr::video::SColor(255, 255, 255, 255)`
	)

Given a ChTriangleMesh object, computes an Irrlicht mesh.

Note: the ChTriangleMesh is a 'triangle soup', so no connectivity is used. As a consequence, no Gourad/Phong shading is possible and all triangles will look flat.

OBSOLETE

◆ getShadowMapTexture()

irr::video::ITexture * chrono::irrlicht::EffectHandler::getShadowMapTexture	(	const irr::u32	resolution,
		const bool	secondary = `false`
	)

inline

Retrieves the shadow map texture for the specified square shadow map resolution.

Only one shadow map is kept for each resolution, so if multiple lights are using the same resolution, you will only see the last light drawn's output. The secondary param specifies whether to retrieve the secondary shadow map used in blurring.

◆ OnSetConstants()

void chrono::irrlicht::ScreenQuadCB::OnSetConstants	(	irr::video::IMaterialRendererServices *	services,
		irr::s32	userData
	)

inlinevirtual

Version for Irrlicht 1.7.3

◆ removeNodeFromDepthPass()

void chrono::irrlicht::EffectHandler::removeNodeFromDepthPass ( irr::scene::ISceneNode * node )

inline

This function is now unrelated to shadow mapping.

It simply removes a node to the screen space depth map render, for use with post processing effects that require screen depth info.

◆ setPostProcessingEffectConstant()

void chrono::irrlicht::EffectHandler::setPostProcessingEffectConstant	(	const irr::s32	materialType,
		const irr::core::stringc &	name,
		const irr::f32 *	data,
		const irr::u32	count
	)

inline

Sets a shader parameter for a post-processing effect.

The first parameter is the material type, the second is the uniform paratmeter name, the third is a float pointer that points to the data and the last is the component count of the data. Please note that the float pointer must remain valid during render time. To disable the setting of a parameter you may simply pass a null float pointer.

◆ update()

void chrono::irrlicht::EffectHandler::update ( irr::video::ITexture * outputTarget = 0 )

inline

Updates the effects handler.

This must be done between IVideoDriver::beginScene and IVideoDriver::endScene. This function now replaces smgr->drawAll(). So place it where smgr->drawAll() would normally go. Please note that the clear color from IVideoDriver::beginScene is not preserved, so you must instead specify the clear color using EffectHandler::setClearColour(Color). A render target may be passed as the output target, else rendering will commence on the backbuffer.

Variable Documentation

◆ LIGHT_MODULATE_P

const char* const chrono::irrlicht::LIGHT_MODULATE_P[ESE_COUNT]

Initial value:

= {
    "uniform sampler2D ColorMapSampler;\n"
    "uniform sampler2D ScreenMapSampler;\n"
    ""
    "void main() "
    "{      "
    "   vec4 finalCol = texture2D(ColorMapSampler, gl_TexCoord[0].xy);\n"
    "   vec4 lightCol = texture2D(ScreenMapSampler, gl_TexCoord[0].xy);\n"
    ""
    "   gl_FragColor = finalCol * lightCol;\n"
    "}",
    "sampler2D ColorMapSampler : register(s0);\n"
    "sampler2D ScreenMapSampler : register(s1);\n"
    ""
    "float4 pixelMain(float2 TexCoords : TEXCOORD0) : COLOR0"
    "{      "
    "   float4 finalCol = tex2D(ColorMapSampler, TexCoords);\n"
    "   float4 lightCol = tex2D(ScreenMapSampler, TexCoords);\n"
    ""
    "   return finalCol * lightCol;\n"
    "}"}

◆ SHADOW_PASS_1P

const char* const chrono::irrlicht::SHADOW_PASS_1P[ESE_COUNT]

Initial value:

= {
    "void main() "
    "{"
    "   vec4 vInfo = gl_TexCoord[0];\n"
    "   float depth = vInfo.z / vInfo.x;\n"
    "   gl_FragColor = vec4(depth, depth * depth, 0.0, 0.0);\n"
    "}",
    "float4 pixelMain(float4 ClipPos: TEXCOORD0) : COLOR0"
    "{"
    "   float depth = ClipPos.z / ClipPos.x;\n"
    "   return float4(depth, depth * depth, 0.0, 0.0);\n"
    "}"}

◆ SHADOW_PASS_1PT

const char* const chrono::irrlicht::SHADOW_PASS_1PT[ESE_COUNT]

Initial value:

= {
    "uniform sampler2D ColorMapSampler;\n"
    ""
    "void main() "
    "{"
    "   vec4 vInfo = gl_TexCoord[0];\n"
    ""
    "   float depth = vInfo.z / vInfo.x;\n"
    ""
    "   float alpha = texture2D(ColorMapSampler, gl_TexCoord[1].xy).a;\n"
    ""
    "    gl_FragColor = vec4(depth, depth * depth, 0.0, alpha);\n"
    "}",
    "sampler2D ColorMapSampler : register(s0);\n"
    ""
    "float4 pixelMain(float4 Color: TEXCOORD0, float2 Texcoords: TEXCOORD1) : COLOR0"
    "{"
    "   float depth = Color.z / Color.w;\n"
    "   "
    "   float alpha = tex2D(ColorMapSampler, Texcoords).a;\n"
    "   "
    "   return float4(depth, depth * depth, 0.0, alpha);\n"
    "}"}

◆ SIMPLE_P

const char* const chrono::irrlicht::SIMPLE_P[ESE_COUNT]

Initial value:

= {
    "uniform sampler2D ColorMapSampler;\n"
    ""
    "void main() "
    "{      "
    "   vec4 finalCol = texture2D(ColorMapSampler, gl_TexCoord[0].xy);\n"
    "   gl_FragColor = finalCol;\n"
    "}",
    "sampler2D ColorMapSampler : register(s0);\n"
    ""
    "float4 pixelMain(float2 TexCoords : TEXCOORD0) : COLOR0"
    "{      "
    "   float4 finalCol = tex2D(ColorMapSampler, TexCoords);\n"
    "   return finalCol;\n"
    "}"}

◆ WHITE_WASH_P

const char* const chrono::irrlicht::WHITE_WASH_P[ESE_COUNT]

Initial value:

= {
    "uniform sampler2D ColorMapSampler;\n"
    ""
    "void main() "
    "{"
    "   float alpha = texture2D(ColorMapSampler, gl_TexCoord[1].xy).a;\n"
    ""
    "    gl_FragColor = vec4(1.0, 1.0, 1.0, alpha);\n"
    "}",
    "sampler2D ColorMapSampler : register(s0);\n"
    ""
    "float4 pixelMain(float4 Color: TEXCOORD0, float2 Texcoords: TEXCOORD1) : COLOR0"
    "{"
    "   float alpha = tex2D(ColorMapSampler, Texcoords).a;\n"
    ""
    "   return float4(1.0, 1.0, 1.0, alpha);\n"
    "}"}

◆ WHITE_WASH_P_ADD

const char* const chrono::irrlicht::WHITE_WASH_P_ADD[ESE_COUNT]

Initial value:

= {
    "uniform sampler2D ColorMapSampler;\n"
    "float luminance(vec3 color)"
    "{"
    "   return clamp(color.r * 0.3 + color.g * 0.59 + color.b * 0.11, 0.0, 1.0);\n"
    "}"
    "void main() "
    "{"
    "   vec4 diffuseTex = texture2D(ColorMapSampler, gl_TexCoord[1].xy);\n"
    "   //diffuseTex *= gl_TexCoord[2];\n"
    ""
    "    gl_FragColor = vec4(1.0, 1.0, 1.0, luminance(diffuseTex.rgb));\n"
    "}",
    "sampler2D ColorMapSampler : register(s0);\n"
    ""
    "float luminance(float3 color)"
    "{"
    "   return clamp(color.r * 0.3 + color.g * 0.59 + color.b * 0.11, 0.0, 1.0);\n"
    "}"
    ""
    "float4 pixelMain(float4 Color : TEXCOORD0, float2 Texcoords : TEXCOORD1, float4 VColor : TEXCOORD2) : COLOR0"
    "{"
    "   float4 diffuseTex = tex2D(ColorMapSampler, Texcoords);\n"
    "   diffuseTex *= VColor;\n"
    ""
    "   return float4(1.0, 1.0, 1.0, luminance(diffuseTex.rgb));\n"
    "}"}

Description

Namespaces

Classes

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ E_SHADOW_MODE

Function Documentation

◆ addChBodySceneNode_easyBarrel()

◆ addChBodySceneNode_easyBox()

◆ addChBodySceneNode_easyClone()

◆ addChBodySceneNode_easyConcaveMesh()

◆ addChBodySceneNode_easyConvexMesh()

◆ addChBodySceneNode_easyCylinder()

◆ addChBodySceneNode_easyGenericMesh()

◆ addChBodySceneNode_easySphere()

◆ addChBodySceneNode_easyStaticMesh()

◆ addChBodySceneNode_offsetCOG()

◆ addChParticlesSceneNode_easySpheres()

◆ addNodeToDepthPass()

◆ addPostProcessingEffect()

◆ addPostProcessingEffectFromFile()

◆ addShadowToNode()

◆ createConeMesh()

◆ createCubeMesh()

◆ createCylinderMesh()

◆ createEllipticalMesh()

◆ createTruncatedConeMesh()

◆ enableDepthPass()

◆ fillChTrimeshFromIrlichtMesh()

◆ fillIrlichtMeshFromChTrimesh()

◆ getShadowMapTexture()

◆ OnSetConstants()

◆ removeNodeFromDepthPass()

◆ setPostProcessingEffectConstant()

◆ update()

Variable Documentation

◆ LIGHT_MODULATE_P

◆ SHADOW_PASS_1P

◆ SHADOW_PASS_1PT

◆ SIMPLE_P

◆ WHITE_WASH_P

◆ WHITE_WASH_P_ADD