Description

Customized Chrono Irrlicht application for RoboSimian visualization.

Provides a simple GUI with various stats and encapsulates an event receiver to allow visualizing the collision shapes (toggle with the 'C' key).

#include <RoboSimianIrrApp.h>

Inheritance diagram for chrono::robosimian::RoboSimianIrrApp:

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Collaboration diagram for chrono::robosimian::RoboSimianIrrApp:

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Public Member Functions
	RoboSimianIrrApp (RoboSimian robot, RS_Driver driver, const wchar_t *title=L"RoboSimian", irr::core::dimension2d< irr::u32 > dims=irr::core::dimension2d< irr::u32 >(1000, 800))
	Construct a RoboSimian Irrlicht application. More...

virtual void	DrawAll () override
	Render the Irrlicht scene and additional visual elements.

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), VerticalDir vert=VerticalDir::Y, 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), VerticalDir vert=VerticalDir::Y, 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::scene::ICameraSceneNode *	GetActiveCamera ()

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 (IrrContactsLabelMode mm)
	Set the label mode for contacts.

void	SetContactsDrawMode (IrrContactsDrawMode mm)
	Set the draw mode for contacts.

void	SetLinksLabelMode (IrrLinkLabelMode mm)
	Set the label mode for links.

void	SetLinksDrawMode (IrrLinkDrawMode 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 pos=irr::core::vector3df(0, 0, -8), irr::core::vector3df targ=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...

Friends
class	RS_IEventReceiver

Constructor & Destructor Documentation

◆ RoboSimianIrrApp()

chrono::robosimian::RoboSimianIrrApp::RoboSimianIrrApp	(	RoboSimian *	robot,
		RS_Driver *	driver,
		const wchar_t *	title = `L"RoboSimian"`,
		irr::core::dimension2d< irr::u32 >	dims = `irr::core::dimension2d<irr::u32>(1000, 800)`
	)

Construct a RoboSimian Irrlicht application.

Parameters

robot	associated RoboSimian robot
driver	associated robot driver
title	visualization window title
dims	window size

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

/builds/uwsbel/chrono/src/chrono_models/robot/robosimian/RoboSimianIrrApp.h
/builds/uwsbel/chrono/src/chrono_models/robot/robosimian/RoboSimianIrrApp.cpp

Description

Public Member Functions

Friends

Constructor & Destructor Documentation

◆ RoboSimianIrrApp()