chrono::vehicle::ChVehicleIrrApp Class Reference

Description

custom event receiver for chase-cam control

Customized Chrono Irrlicht application for vehicle visualization. This class implements an Irrlicht-based visualization wrapper for vehicles. This class is a wrapper around a ChIrrApp object and provides the following functionality:

• rendering of the entire Irrlicht scene
• implements a custom chase-camera (which can be controlled with keyboard)
• optional rendering of links, springs, stats, etc.

#include <ChVehicleIrrApp.h>

Inheritance diagram for chrono::vehicle::ChVehicleIrrApp:

Collaboration diagram for chrono::vehicle::ChVehicleIrrApp:

Public Member Functions
	ChVehicleIrrApp (ChVehicle *vehicle, const std::wstring &title=L"Chrono::Vehicle", const irr::core::dimension2d< irr::u32 > &dims=irr::core::dimension2d< irr::u32 >(1000, 800), irr::ELOG_LEVEL log_level=irr::ELL_INFORMATION)
	Construct a vehicle Irrlicht application. More...
void	SetSkyBox ()
	Create a skybox that has Z pointing up. More...
void	SetChaseCamera (const ChVector<> &ptOnChassis, double chaseDist, double chaseHeight)
	Set parameters for the underlying chase camera. More...
void	SetStepsize (double val)
	Set the step size for integration of the chase-cam dynamics.
void	SetChaseCameraState (utils::ChChaseCamera::State state)
	Set camera state (mode).
void	SetChaseCameraPosition (const ChVector<> &pos)
	Set camera position. More...
void	SetChaseCameraAngle (double angle)
	Set camera angle.
void	SetChaseCameraMultipliers (double minMult, double maxMult)
	Set camera zoom multipliers.
void	SetHUDLocation (int HUD_x, int HUD_y)
	Set the upper-left point of HUD elements.
void	EnableStats (bool val)
	Turn on/off rendering of stats (HUD).
void	EnableSound (bool sound)
	Turn on/off Irrklang sound generation. More...
virtual void	DrawAll () override
	Render the Irrlicht scene and additional visual elements.
void	RenderGrid (const ChVector<> &loc, int num_divs, double delta)
	Render a horizontal grid at the specified location.
void	RenderFrame (const ChVector<> &loc, double axis_length=1)
	Render a reference frame (aligned with the world frame) at the specified location.
void	Synchronize (const std::string &msg, const ChDriver::Inputs &driver_inputs)
	Update information related to driver inputs.
void	Advance (double step)
	Advance the dynamics of the chase camera. More...
void	WriteImageToFile (const std::string &filename)
	Save a snapshot of the last rendered frame to file. More...
Public Member Functions inherited from chrono::irrlicht::ChIrrApp
	ChIrrApp (ChSystem *psystem, const std::wstring &title=L"Chrono", const irr::core::dimension2d< irr::u32 > &dimens=irr::core::dimension2d< irr::u32 >(640, 480), bool do_fullscreen=false, bool do_shadows=false, bool do_antialias=true, irr::video::E_DRIVER_TYPE mydriver=irr::video::EDT_DIRECT3D9, irr::ELOG_LEVEL log_level=irr::ELL_INFORMATION)
	Create the application with Irrlicht context (3D view, device, etc.).
virtual	~ChIrrApp ()
	Safely delete every Irrlicht item (including the Irrlicht scene nodes).
ChIrrAssetConverter *	GetAssetConverter ()
	Gets the asset converter.
void	AssetBind (std::shared_ptr< ChPhysicsItem > mitem)
	Shortcut to add and bind a ChIrrNodeAsset to an item, if it has not been added previously.
void	AssetBindAll ()
	Shortcut to add and bind a ChIrrNodeAsset to all items in a ChSystem. More...
void	AssetUpdate (std::shared_ptr< ChPhysicsItem > mitem)
	This function sets up the Irrlicht nodes corresponding to the geometric assets that are found in the ChPhysicsItem 'mitem'. More...
void	AssetUpdateAll ()
	For all items in a ChSystem, this function sets up the Irrlicht nodes corresponding to the geometric assets that have been added to the items. More...
void	AddShadow (std::shared_ptr< ChPhysicsItem > mitem)
	Shortcut to enable shadow maps for an item. More...
void	AddShadowAll ()
	Shortcut to enable shadow maps for all items in scene. More...
Public Member Functions inherited from chrono::irrlicht::ChIrrAppInterface
	ChIrrAppInterface (ChSystem *psystem, const std::wstring &title=L"Chrono", const irr::core::dimension2d< irr::u32 > &dimens=irr::core::dimension2d< irr::u32 >(640, 480), bool do_fullscreen=false, bool do_shadows=false, bool do_antialias=true, irr::video::E_DRIVER_TYPE mydriver=irr::video::EDT_DIRECT3D9, irr::ELOG_LEVEL log_level=irr::ELL_INFORMATION)
	Create the IRRLICHT context (device, etc.)
virtual	~ChIrrAppInterface ()
	Safely delete all Irrlicht items (including the Irrlicht scene nodes)
irr::IrrlichtDevice *	GetDevice ()
irr::video::IVideoDriver *	GetVideoDriver ()
irr::scene::ISceneManager *	GetSceneManager ()
irr::gui::IGUIEnvironment *	GetIGUIEnvironment ()
EffectHandler *	GetEffects ()
irr::scene::ISceneNode *	GetContainer ()
ChSystem *	GetSystem ()
void	SetShowInfos (bool val)
	Show the info panel in the 3D view.
bool	GetShowInfos ()
void	SetShowProfiler (bool val)
	Show the realtime profiler in the 3D view.
bool	GetShowProfiler ()
void	SetShowExplorer (bool val)
	Show the object explorer.
bool	GetShowExplorer ()
void	SetTimestep (double val)
	Set/Get the time step for time integration. More...
double	GetTimestep ()
void	SetStepManage (bool val)
	If set to true, you can use DoStep() in the simulation loop to advance the simulation by one timestep. More...
void	SetTryRealtime (bool val)
	If enabled, the function DoStep() will enforce soft real-time, by spinning in place until simulation time catches up with real time.
void	SetPaused (bool val)
	Set/Get the simulation state (running or paused)
bool	GetPaused ()
void	SetVideoframeSave (bool val)
	If set to true, each frame of the animation will be saved on the disk as snapshot0001.bmp, snapshot0002.bmp, etc.
bool	GetVideoframeSave ()
void	SetVideoframeSaveInterval (int val)
	Set to 1 if you need to save on disk all simulation steps, set to 2 for saving each 2 steps, etc.
int	GetVideoframeSaveInterval ()
void	SetContactsLabelMode (ChIrrTools::eCh_ContactsLabelMode mm)
	Set the label mode for contacts.
void	SetContactsDrawMode (ChIrrTools::eCh_ContactsDrawMode mm)
	Set the draw mode for contacts.
void	SetLinksLabelMode (ChIrrTools::eCh_LinkLabelMode mm)
	Set the label mode for links.
void	SetLinksDrawMode (ChIrrTools::eCh_LinkDrawMode mm)
	Set the draw mode for links.
void	SetPlotAABB (bool val)
	Set if the AABB collision shapes will be plotted.
void	SetPlotCOGFrames (bool val)
	Set if the COG frames will be plotted.
void	SetPlotCollisionShapes (bool val)
	Set if the Bullet collision shapes will be plotted.
void	SetPlotLinkFrames (bool val)
	Set if the link frames will be plotted.
void	SetPlotConvergence (bool val)
	Set if the COG frames will be plotted.
void	SetSymbolscale (double val)
	Set the scale for symbol drawing (link frames, COGs, etc.) More...
double	GetSymbolscale ()
void	SetUserEventReceiver (irr::IEventReceiver *mreceiver)
	Use this function to hook a custom event receiver to the application.
void	SetFonts (const std::string &mfontdir=GetChronoDataFile("fonts/arial8.xml"))
	Set the fonts to be used from now on. More...
virtual void	BeginScene (bool backBuffer=true, bool zBuffer=true, irr::video::SColor color=irr::video::SColor(255, 0, 0, 0))
	Call this to clean the canvas at the beginning of each animation frame.
virtual void	DoStep ()
	Call this function inside a loop such as. More...
virtual void	EndScene ()
	Call this to end the scene draw at the end of each animation frame.
void	DumpSystemMatrices ()
	Dump the last used system matrices and vectors in the current directory, as 'dump_xxxx.dat' files that can be loaded with Matlab for debugging, benchmarking etc. More...
void	AddTypicalLogo (const std::string &mlogofilename=GetChronoDataFile("logo_chronoengine_alpha.png"))
void	AddTypicalCamera (irr::core::vector3df mpos=irr::core::vector3df(0, 0, -8), irr::core::vector3df mtarg=irr::core::vector3df(0, 0, 0))
void	AddTypicalLights (irr::core::vector3df pos1=irr::core::vector3df(30.f, 100.f, 30.f), irr::core::vector3df pos2=irr::core::vector3df(30.f, 80.f, -30.f), double rad1=290, double rad2=190, irr::video::SColorf col1=irr::video::SColorf(0.7f, 0.7f, 0.7f, 1.0f), irr::video::SColorf col2=irr::video::SColorf(0.7f, 0.8f, 0.8f, 1.0f))
void	AddTypicalSky (const std::string &mtexturedir=GetChronoDataFile("skybox/"))
irr::scene::ILightSceneNode *	AddLight (irr::core::vector3df pos, double radius, irr::video::SColorf color=irr::video::SColorf(0.7f, 0.7f, 0.7f, 1.0f))
	Add a point light to the scene.
irr::scene::ILightSceneNode *	AddLightWithShadow (irr::core::vector3df pos, irr::core::vector3df aim, double radius, double mnear, double mfar, double angle, irr::u32 resolution=512, irr::video::SColorf color=irr::video::SColorf(1.f, 1.f, 1.f, 1.f), bool directional=false, bool clipborder=true)
	Add a point light that cast shadow (using soft shadows/shadow maps) Note that the quality of the shadow strictly depends on how you set 'mnear' and 'mfar' parameters as close as possible to the bounding box of the scene. More...

Protected Member Functions
virtual void	renderOtherGraphics ()
	Render additional graphics.
virtual void	renderOtherStats (int left, int top)
	Render additional vehicle information.
void	renderLinGauge (const std::string &msg, double factor, bool sym, int xpos, int ypos, int length=120, int height=15)
void	renderTextBox (const std::string &msg, int xpos, int ypos, int length=120, int height=15, irr::video::SColor color=irr::video::SColor(255, 20, 20, 20))
void	renderStats ()

Protected Attributes
ChVehicle *	m_vehicle
	pointer to the associated vehicle system
utils::ChChaseCamera	m_camera
	chase camera
ChCameraEventReceiver *	m_camera_control
	event receiver for chase-cam control
double	m_stepsize
	integration step size for chase-cam dynamics
bool	m_renderStats
	turn on/off rendering of stats
int	m_HUD_x
	x-coordinate of upper-left corner of HUD elements
int	m_HUD_y
	y-coordinate of upper-left corner of HUD elements
std::string	m_driver_msg
	HUD message from driver system.
double	m_steering
	driver steering input
double	m_throttle
	driver throttle input
double	m_braking
	driver braking input

Friends
class	ChCameraEventReceiver
class	ChIrrGuiDriver
class	ChIrrGuiDriverSTR

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

• /builds/uwsbel/chrono/src/chrono_vehicle/utils/ChVehicleIrrApp.h
• /builds/uwsbel/chrono/src/chrono_vehicle/utils/ChVehicleIrrApp.cpp