chrono::sensor::ChOptixGeometry Class Reference

Description

Optix Geometry class that is responsible for managing all geometric information in the optix scene This handles the acceleration structure and transforms.

#include <ChOptixGeometry.h>

Public Member Functions
	ChOptixGeometry (OptixDeviceContext context)
	Class constructor. More...
	~ChOptixGeometry ()
	Class destructor.
void	AddBox (std::shared_ptr< ChBody > body, ChFrame< double > asset_frame, ChVector< double > scale, unsigned int mat_id)
	Add a box geometry to the optix scene. More...
void	AddSphere (std::shared_ptr< ChBody > body, ChFrame< double > asset_frame, ChVector< double > scale, unsigned int mat_id)
	Add a sphere geometry to the optix scene. More...
void	AddCylinder (std::shared_ptr< ChBody > body, ChFrame< double > asset_frame, ChVector< double > scale, unsigned int mat_id)
	Add a cylinder geometry to the optix scene. More...
unsigned int	AddRigidMesh (CUdeviceptr d_vertices, CUdeviceptr d_indices, std::shared_ptr< ChTriangleMeshShape > mesh_shape, std::shared_ptr< ChBody > body, ChFrame< double > asset_frame, ChVector< double > scale, unsigned int mat_id)
	Add a rigid mesh to the optix scene. More...
void	AddDeformableMesh (CUdeviceptr d_vertices, CUdeviceptr d_indices, std::shared_ptr< ChTriangleMeshShape > mesh_shape, std::shared_ptr< ChBody > body, ChFrame< double > asset_frame, ChVector< double > scale, unsigned int mat_id)
	Add a deformable mesh to the optix scene. More...
OptixTraversableHandle	CreateRootStructure ()
	Create the root node and acceleration structure of the scene. More...
void	RebuildRootStructure ()
	Rebuild the root acceleration structure for when the root changes.
void	UpdateBodyTransformsStart (float t_start, float t_target_end)
	Update the list of transforms associated with the bodies and assets at the start time.
void	UpdateBodyTransformsEnd (float t_end)
	Update the list of transforms associated with the bodies and assets at the end time.
void	UpdateDeformableMeshes ()
	Update the deformable meshes based on how the meshes changed in Chrono.
void	Cleanup ()
	Cleanup the entire optix geometry manager, cleans and frees device pointers and root structure.

Constructor & Destructor Documentation

ChOptixGeometry()

chrono::sensor::ChOptixGeometry::ChOptixGeometry

(

OptixDeviceContext

context

)

Class constructor.

Parameters

context

optix context for which the ChOptixGeometry maintains the scene

Member Function Documentation

AddBox()

void chrono::sensor::ChOptixGeometry::AddBox	(	std::shared_ptr< ChBody >	body,
		ChFrame< double >	asset_frame,
		ChVector< double >	scale,
		unsigned int	mat_id
	)

Add a box geometry to the optix scene.

Parameters

body	the Chrono Body that drives the box
asset_frame	the Chrono frame that specifies how the asset is attached to the body
scale	the scale of the box
mat_id	the material id associated with the box

AddCylinder()

void chrono::sensor::ChOptixGeometry::AddCylinder	(	std::shared_ptr< ChBody >	body,
		ChFrame< double >	asset_frame,
		ChVector< double >	scale,
		unsigned int	mat_id
	)

Add a cylinder geometry to the optix scene.

Parameters

body	the Chrono Body that drives the cylinder
asset_frame	the Chrono frame that specifies how the asset is attached to the body
scale	the scale of the cylinder
mat_id	the material id associated with the cylinder

AddDeformableMesh()

void chrono::sensor::ChOptixGeometry::AddDeformableMesh	(	CUdeviceptr	d_vertices,
		CUdeviceptr	d_indices,
		std::shared_ptr< ChTriangleMeshShape >	mesh_shape,
		std::shared_ptr< ChBody >	body,
		ChFrame< double >	asset_frame,
		ChVector< double >	scale,
		unsigned int	mat_id
	)

Add a deformable mesh to the optix scene.

Parameters

d_vertices	a device pointer to the vertices of the mesh
d_indices	a device pointer to the indices of the mesh
mesh_shape	the Chrono mesh shape that defines the mesh
body	the Chrono body on which the mesh is attached
asset_frame	the Chrono frame that specifies how the asset is attached to the body
scale	the scale of the mesh
mat_id	the material id associated with the mesh

AddRigidMesh()

unsigned int chrono::sensor::ChOptixGeometry::AddRigidMesh	(	CUdeviceptr	d_vertices,
		CUdeviceptr	d_indices,
		std::shared_ptr< ChTriangleMeshShape >	mesh_shape,
		std::shared_ptr< ChBody >	body,
		ChFrame< double >	asset_frame,
		ChVector< double >	scale,
		unsigned int	mat_id
	)

Add a rigid mesh to the optix scene.

Parameters

d_vertices	a device pointer to the vertices of the mesh
d_indices	a device pointer to the indices of the mesh
mesh_shape	the Chrono mesh shape that defines the mesh
body	the Chrono body on which the mesh is attached
asset_frame	the Chrono frame that specifies how the asset is attached to the body
scale	the scale of the mesh
mat_id	the material id associated with the mesh

AddSphere()

void chrono::sensor::ChOptixGeometry::AddSphere	(	std::shared_ptr< ChBody >	body,
		ChFrame< double >	asset_frame,
		ChVector< double >	scale,
		unsigned int	mat_id
	)

Add a sphere geometry to the optix scene.

Parameters

body	the Chrono Body that drives the sphere
asset_frame	the Chrono frame that specifies how the asset is attached to the body
scale	the scale of the sphere
mat_id	the material id associated with the sphere

CreateRootStructure()

OptixTraversableHandle chrono::sensor::ChOptixGeometry::CreateRootStructure

(

)

Create the root node and acceleration structure of the scene.

Returns

A traversable handle to the root node

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

• /builds/uwsbel/chrono/src/chrono_sensor/optix/ChOptixGeometry.h
• /builds/uwsbel/chrono/src/chrono_sensor/optix/ChOptixGeometry.cpp