Description

Utilities for interfacing Chrono and Irrlicht.

Functions
void	alignIrrlichtNodeToChronoCsys (scene::ISceneNode *mnode, const ChCoordsys<> &mcoords)

int	drawAllContactPoints (std::shared_ptr< ChContactContainer > mcontactcontainer, irr::video::IVideoDriver *driver, double mlen=1.0, IrrContactsDrawMode drawtype=IrrContactsDrawMode::CONTACT_NORMALS)
	Easy-to-use function which draws contact points used by a ChSystem in the current Irrlicht viewer (the IVideoDriver). More...

int	drawAllContactLabels (std::shared_ptr< ChContactContainer > mcontactcontainer, irr::IrrlichtDevice *device, IrrContactsLabelMode labeltype=IrrContactsLabelMode::CONTACT_FORCES_N_VAL, irr::video::SColor mcol=irr::video::SColor(255, 255, 255, 255))
	Easy-to-use function which draws contact informations as labels at the contact point.

int	drawAllLinks (ChSystem &mphysicalSystem, irr::video::IVideoDriver *driver, double mlen=1.0, IrrLinkDrawMode drawtype=IrrLinkDrawMode::LINK_REACT_FORCE)
	Easy-to-use function which draws reaction forces in all contacts in current Irrlicht viewer (the IVideoDriver).

int	drawAllLinkLabels (ChSystem &mphysicalSystem, irr::IrrlichtDevice *device, IrrLinkLabelMode labeltype=IrrLinkLabelMode::LINK_REACT_FORCE_X, irr::video::SColor mcol=irr::video::SColor(255, 255, 255, 255))
	Easy-to-use function which draws contact informations as labels at the contact point.

int	drawAllBoundingBoxes (ChSystem &mphysicalSystem, irr::video::IVideoDriver *driver)
	Easy-to-use function which draws collision objects bounding boxes for rigid bodies - if they have a collision shape.

int	drawAllCOGs (ChSystem &mphysicalSystem, irr::video::IVideoDriver *driver, double scale=0.01)
	Easy-to-use function which draws coordinate systems of ChBody objects.

int	drawAllLinkframes (ChSystem &mphysicalSystem, irr::video::IVideoDriver *driver, double scale=0.01)
	Easy-to-use function which draws coordinate systems of link frames.

void	drawHUDviolation (irr::video::IVideoDriver driver, IrrlichtDevice mdevice, ChSystem &asystem, int mx, int my, int sx, int sy, double spfact)

void	drawChFunction (IrrlichtDevice mdevice, ChFunction fx, double xmin, double xmax, double ymin, double ymax, int mx, int my, int sx, int sy)

void	drawSegment (irr::video::IVideoDriver *driver, ChVector<> mstart, ChVector<> mend, irr::video::SColor mcol=irr::video::SColor(255, 0, 0, 0), bool use_Zbuffer=false)
	Easy-to-use function to draw segment lines in 3D space, with given color.

void	drawPolyline (irr::video::IVideoDriver *driver, std::vector< ChVector<> > &mpoints, irr::video::SColor mcol=irr::video::SColor(255, 0, 0, 0), bool use_Zbuffer=false)
	Easy-to-use function to draw a polyline in 3D space, given the array of points as a std::vector.

void	drawCircle (irr::video::IVideoDriver *driver, double radius, ChCoordsys<> mpos=CSYSNORM, irr::video::SColor mcol=irr::video::SColor(255, 0, 0, 0), int mresolution=36, bool use_Zbuffer=false)
	Easy-to-use function to draw a circle line in 3D space, with given color. More...

void	drawSpring (irr::video::IVideoDriver *driver, double radius, ChVector<> start, ChVector<> end, irr::video::SColor mcol=irr::video::SColor(255, 0, 0, 0), int mresolution=65, double turns=5, bool use_Zbuffer=false)
	Easy-to-use function to draw a spring in 3D space, with given color. More...

void	drawGrid (irr::video::IVideoDriver *driver, double ustep=0.1, double vstep=0.1, int nu=20, int nv=20, ChCoordsys<> mpos=CSYSNORM, irr::video::SColor mcol=irr::video::SColor(50, 80, 110, 110), bool use_Zbuffer=false)
	Easy-to-use function to draw grids in 3D space, with given orientation, color and spacing.

void	drawColorbar (double vmin, double vmax, const std::string &label, IrrlichtDevice *mdevice, int mx, int my, int sx, int sy)
	Easy-to-use function to draw color map 2D legend.

void	drawCollisionShapes (ChSystem &asystem, irr::IrrlichtDevice *mdevice, irr::video::SColor mcol=irr::video::SColor(50, 0, 0, 110))
	Draw the collision shapes as wireframe, overlayed to shapes. More...

void	drawPlot3D (irr::video::IVideoDriver *driver, ChMatrixConstRef X, ChMatrixConstRef Y, ChMatrixConstRef Z, ChCoordsys<> mpos=CSYSNORM, irr::video::SColor mcol=irr::video::SColor(50, 80, 110, 110), bool use_Zbuffer=false)
	–

void	drawProfilerRecursive (utils::ChProfileIterator profileIterator, irr::IrrlichtDevice device, int mx, int my, int sx, int sy, int xspacing, int &ypos)

void	drawProfiler (irr::IrrlichtDevice *device)
	Draw run-time profiler infos.

ChApiIrr void	alignIrrlichtNodeToChronoCsys (irr::scene::ISceneNode *mnode, const ChCoordsys<> &mcoords)
	Function to align an Irrlicht object to a Chrono coordsys.

ChApiIrr void	drawHUDviolation (irr::video::IVideoDriver driver, irr::IrrlichtDevice mdevice, ChSystem &asystem, int mx=10, int my=290, int sx=300, int sy=100, double spfact=100.0)
	–

ChApiIrr void	drawChFunction (irr::IrrlichtDevice mdevice, ChFunction fx, double xmin=0, double xmax=1, double ymin=-1, double ymax=1, int mx=10, int my=290, int sx=300, int sy=100)
	–

ChApiIrr void	drawColorbar (double vmin, double vmax, const std::string &label, irr::IrrlichtDevice *mdevice, int mx=740, int my=20, int sx=30, int sy=300)
	Easy-to-use function to draw color bar with a color map and 2D legend.

void	add_typical_Logo (IrrlichtDevice *device, const std::string &mlogofilename)

void	add_typical_Lights (IrrlichtDevice *device, irr::core::vector3df pos1, irr::core::vector3df pos2, double rad1, double rad2, irr::video::SColorf col1, irr::video::SColorf col2)

void	add_typical_Sky (IrrlichtDevice *device, bool y_up, const std::string &mtexturedir)

void	add_typical_Camera (IrrlichtDevice *device, irr::core::vector3df pos, irr::core::vector3df targ, bool y_up)

ChApiIrr void	add_typical_Logo (irr::IrrlichtDevice *device, const std::string &mlogofilename=GetChronoDataFile("logo_chronoengine_alpha.png"))
	A very basic and simple function which is just a shortcut to avoid lot of typing when someone wants to add a logo in a 3D scene, using Irrlicht.

ChApiIrr void	add_typical_Lights (irr::IrrlichtDevice *device, 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))
	A very basic and simple function which is just a shortcut to avoid lot of typing when someone wants to add two lights in a 3D scene, using Irrlicht. More...

ChApiIrr void	add_typical_Sky (irr::IrrlichtDevice *device, bool y_up=true, const std::string &mtexturedir=GetChronoDataFile("skybox/"))
	A very basic and simple function which is just a shortcut to avoid lot of typing when someone wants to add a sky dome (sky box) in a 3D scene, using Irrlicht. More...

ChApiIrr void	add_typical_Camera (irr::IrrlichtDevice *device, irr::core::vector3df pos=irr::core::vector3df(0, 0, -8), irr::core::vector3df targ=irr::core::vector3df(0, 0, 0), bool y_up=true)
	A very basic and simple function which is just a shortcut to avoid lot of typing when someone wants to add a Maya-like camera in a Irrlicht 3D scene. More...

Function Documentation

◆ drawAllContactPoints()

ChApiIrr int chrono::irrlicht::tools::drawAllContactPoints	(	std::shared_ptr< ChContactContainer >	mcontactcontainer,
		irr::video::IVideoDriver *	driver,
		double	mlen = `1.0`,
		IrrContactsDrawMode	drawtype = `IrrContactsDrawMode::CONTACT_NORMALS`
	)

Easy-to-use function which draws contact points used by a ChSystem in the current Irrlicht viewer (the IVideoDriver).

The contact points are visually represented with short lines, of length mlen, aligned to contact normals.

◆ drawCircle()

ChApiIrr void chrono::irrlicht::tools::drawCircle	(	irr::video::IVideoDriver *	driver,
		double	radius,
		ChCoordsys<>	mpos = `CSYSNORM`,
		irr::video::SColor	mcol = `irr::video::SColor(255, 0, 0, 0)`,
		int	mresolution = `36`,
		bool	use_Zbuffer = `false`
	)

Easy-to-use function to draw a circle line in 3D space, with given color.

Specify the center as coordsys position. Orientation as coordsys quaternion (default in xy plane)

◆ drawCollisionShapes()

ChApiIrr void chrono::irrlicht::tools::drawCollisionShapes	(	ChSystem &	asystem,
		irr::IrrlichtDevice *	mdevice,
		irr::video::SColor	mcol = `irr::video::SColor(50, 0, 0, 110)`
	)

Draw the collision shapes as wireframe, overlayed to shapes.

Note: this works only for the Bullet collision system (i.e. not working for Chrono::Multicore)

◆ drawSpring()

ChApiIrr void chrono::irrlicht::tools::drawSpring	(	irr::video::IVideoDriver *	driver,
		double	radius,
		ChVector<>	start,
		ChVector<>	end,
		irr::video::SColor	mcol = `irr::video::SColor(255, 0, 0, 0)`,
		int	mresolution = `65`,
		double	turns = `5`,
		bool	use_Zbuffer = `false`
	)

Easy-to-use function to draw a spring in 3D space, with given color.

Specify the radius, the end points in absolute space, the resolution (i.e. the number of segments approximating the helix) and the number of turns.