chrono::sensor::ChOptixEngine Class Reference

Description

Optix Engine that is responsible for managing all render-based sensors.

The is the interface between the dynamic simulation and the rendering/ray tracing. All ray tracing code is setup and managed via this class.

#include <ChOptixEngine.h>

Public Member Functions
	ChOptixEngine (ChSystem *sys, int device_id, int max_scene_reflections=9, bool verbose=false, int max_keyframes=2)
	Class constructor. More...
	~ChOptixEngine ()
	Class destructor.
void	AssignSensor (std::shared_ptr< ChOptixSensor > sensor)
	Add a sensor for this engine to manage and update. More...
void	UpdateSensors (std::shared_ptr< ChScene > scene)
	Updates the sensors if they need to be updated based on simulation time and last update time. More...
void	ConstructScene ()
	Tells the optix manager to construct the scene from scratch, translating all objects from Chrono to Optix.
void	AddInstancedStaticSceneMeshes (std::vector< ChFrame<>> &frames, std::shared_ptr< ChTriangleMeshShape > mesh)
	adds a static triangle mesh to the scene that is external to Chrono. More...
int	GetDevice ()
	Way to query the device ID on which the engine is running. More...
int	GetNumSensor ()
	Query the number of sensors for which this engine is responsible. More...
optix::Context	GetContext ()
	Gives the user the optix context. More...
std::vector< std::shared_ptr< ChOptixSensor > >	GetSensor ()
	Gives the user access to the list of sensors being managed by this engine. More...

Constructor & Destructor Documentation

ChOptixEngine()

chrono::sensor::ChOptixEngine::ChOptixEngine	(	ChSystem *	sys,
		int	device_id,
		int	max_scene_reflections = 9,
		bool	verbose = false,
		int	max_keyframes = 2
	)

Class constructor.

Parameters

sys	Pointer to the ChSystem that defines the simulation
device_id	The id of the GPU which this engine is running on
max_scene_reflections	The maximum number of ray recursions that should be allowed by this engine
verbose	Sets verbose level for the engine
max_keyframes	The number of keyframes to used for motion blur. Defaults to minimum of 2 which is smallest that enables interpolation.

Member Function Documentation

AddInstancedStaticSceneMeshes()

void chrono::sensor::ChOptixEngine::AddInstancedStaticSceneMeshes	(	std::vector< ChFrame<>> &	frames,
		std::shared_ptr< ChTriangleMeshShape >	mesh
	)

adds a static triangle mesh to the scene that is external to Chrono.

This is a way to add complex environment that includes trees, etc

Parameters

frames	The reference frames that encode location, orientation, and scale. One for each object that should be added to the environment
mesh	The mesh that should be added at each reference frame.

AssignSensor()

void chrono::sensor::ChOptixEngine::AssignSensor

(

std::shared_ptr< ChOptixSensor >

sensor

)

Add a sensor for this engine to manage and update.

Parameters

sensor

A shared pointer to an Optix-based sensor

GetContext()

optix::Context chrono::sensor::ChOptixEngine::GetContext ( )

inline

Gives the user the optix context.

This should be used with caution and should not be required for typical simulations.

Returns

The Optix context

GetDevice()

int chrono::sensor::ChOptixEngine::GetDevice ( )

inline

Way to query the device ID on which the engine is running.

CANNOT BE MODIFIED since the engine will have been already constructed

Returns

the GPU ID

GetNumSensor()

int chrono::sensor::ChOptixEngine::GetNumSensor ( )

inline

Query the number of sensors for which this engine is responsible.

Returns

The number of sensors managed by this engine

GetSensor()

std::vector<std::shared_ptr<ChOptixSensor> > chrono::sensor::ChOptixEngine::GetSensor ( )

inline

Gives the user access to the list of sensors being managed by this engine.

Returns

the vector of Chrono sensors

UpdateSensors()

void chrono::sensor::ChOptixEngine::UpdateSensors

(

std::shared_ptr< ChScene >

scene

)

Updates the sensors if they need to be updated based on simulation time and last update time.

Parameters

scene

The scene that should be rendered with.

create and set the noise buffer here

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

• /builds/uwsbel/chrono/src/chrono_sensor/optixcpp/ChOptixEngine.h
• /builds/uwsbel/chrono/src/chrono_sensor/optixcpp/ChOptixEngine.cpp