Description

Irrlicht-based Chrono run-time visualization system.

#include <ChVisualSystemIrrlicht.h>

Inheritance diagram for chrono::irrlicht::ChVisualSystemIrrlicht:

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Collaboration diagram for chrono::irrlicht::ChVisualSystemIrrlicht:

Public Member Functions
virtual void	AttachSystem (ChSystem *sys) override
	Attach another Chrono system to the run-time visualization system. More...

void	SetAntialias (bool val)
	Enable/disable antialias (default true). More...

void	SetFullscreen (bool val)
	Enable/disable full-screen mode (default false). More...

void	SetShadows (bool val)
	Enable/disable shadows (default false). More...

void	SetDriverType (irr::video::E_DRIVER_TYPE driver_type)
	Set the device driver type (default irr::video::EDT_DIRECT3D9). More...

void	SetWindowSize (unsigned int width, unsigned int height)
	Set the window size (default 640x480). More...

void	SetWindowTitle (const std::string &win_title)
	Set the windoiw title (default ""). More...

void	SetCameraVertical (CameraVerticalDir vert)
	Use Y-up camera rendering (default CameraVerticalDir::Y). More...

void	SetLogLevel (irr::ELOG_LEVEL log_level)
	Set the Irrlicht logging level (default irr::ELL_INFORMATION). More...

void	SetSymbolScale (double scale)
	Set the scale for symbol drawing (default: 1).

virtual void	Initialize ()
	Initialize the visualization system. More...

void	AddLogo (const std::string &logo_filename=GetChronoDataFile("logo_chronoengine_alpha.png"))
	Add a logo in a 3D scene. More...

void	AddCamera (const ChVector<> &pos, ChVector<> targ=VNULL)
	Add a camera in an Irrlicht 3D scene. More...

void	AddSkyBox (const std::string &texture_dir=GetChronoDataFile("skybox/"))
	Add a sky box in a 3D scene. More...

irr::scene::ILightSceneNode *	AddLightDirectional (double elevation=60, double azimuth=60, ChColor ambient=ChColor(0.5f, 0.5f, 0.5f), ChColor specular=ChColor(0.2f, 0.2f, 0.2f), ChColor diffuse=ChColor(1.0f, 1.0f, 1.0f))
	Add a directional light to the scene. More...

irr::scene::ILightSceneNode *	AddLight (const ChVector<> &pos, double radius, ChColor color=ChColor(0.7f, 0.7f, 0.7f))
	Add a point light to the scene. More...

irr::scene::ILightSceneNode *	AddLightWithShadow (const ChVector<> &pos, const ChVector<> &aim, double radius, double near_value, double far_value, double angle, unsigned int resolution=512, ChColor color=ChColor(1, 1, 1), 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 close 'near_value' and 'far_value' are to the bounding box of the scene. More...

void	AddTypicalLights ()
	Simple shortcut to set two point lights in the scene. More...

void	AddUserEventReceiver (irr::IEventReceiver *receiver)
	Attach a custom event receiver to the application.

void	EnableShadows (std::shared_ptr< ChPhysicsItem > item=nullptr)
	Enable shadow maps for all visual models in a scene or only for a single physics item. More...

void	EnableContactDrawing (ContactsDrawMode mode)
	Enable contact rendering (default: none). More...

void	EnableLinkDrawing (LinkDrawMode mode)
	Enable rendering of link (joint) frames (default: none). More...

void	EnableBodyFrameDrawing (bool val)
	Enable rendering of body frames (default: false). More...

void	EnableLinkFrameDrawing (bool val)
	Enable rendering of link frames (default: false). More...

void	EnableCollisionShapeDrawing (bool val)
	Enable rendering of collision shapes (default: false). More...

virtual void	EnableModalAnalysis (bool val) override
	Enable modal analysis visualization (default: false). More...

virtual void	SetModalModeNumber (int val) override
	Set the mode to be shown (only if some ChModalAssembly is found).

virtual void	SetModalAmplitude (double val) override
	Set the amplitude of the shown mode (only if some ChModalAssembly is found).

virtual void	SetModalSpeed (double val) override
	Set the speed of the shown mode (only if some ChModalAssembly is found).

void	ShowProfiler (bool val)
	Show the realtime profiler in the 3D view.

void	ShowExplorer (bool val)
	Show the object explorer.

void	ShowInfoPanel (bool val)
	Show the info panel in the 3D view.

void	SetInfoTab (int ntab)
	Set the active tab on the info panel. More...

irr::IrrlichtDevice *	GetDevice ()

irr::video::IVideoDriver *	GetVideoDriver ()

irr::scene::ISceneManager *	GetSceneManager ()

irr::scene::ICameraSceneNode *	GetActiveCamera ()

irr::gui::IGUIEnvironment *	GetGUIEnvironment ()

virtual void	BindAll () override
	Process all visual assets in the associated ChSystem. More...

virtual void	BindItem (std::shared_ptr< ChPhysicsItem > item) override
	Process the visual assets for the spcified physics item. More...

bool	Run ()
	Run the Irrlicht device. More...

virtual void	BeginScene (bool backBuffer=true, bool zBuffer=true, ChColor color=ChColor(0, 0, 0))
	Clean the canvas at the beginning of each animation frame.

virtual void	Render ()
	Draw all 3D shapes and GUI elements at the current frame. More...

virtual void	EndScene ()
	End the scene draw at the end of each animation frame.

irr::gui::IGUIFont *	GetMonospaceFont () const
	Return a fixed-size font for rendering GUI.

virtual void	WriteImageToFile (const std::string &filename) override
	Create a snapshot of the last rendered frame and save it to the provided file. More...

Public Member Functions inherited from chrono::ChVisualSystem
std::vector< ChSystem * >	GetSystems () const
	Get the list of associated Chrono systems.

ChSystem &	GetSystem (int i) const
	Get the specified associated Chrono system.

Additional Inherited Members
Protected Attributes inherited from chrono::ChVisualSystem
std::vector< ChSystem * >	m_systems
	associated Chrono system(s)

Member Function Documentation

◆ AddCamera()

void chrono::irrlicht::ChVisualSystemIrrlicht::AddCamera	(	const ChVector<> &	pos,
		ChVector<>	targ = `VNULL`
	)

Add a camera in an Irrlicht 3D scene.

The camera rotation/pan is controlled by mouse left and right buttons, the zoom is controlled by mouse wheel or rmb+lmb+mouse, the position can be changed also with keyboard up/down/left/right arrows, the height can be changed with keyboard 'PgUp' and 'PgDn' keys. Optional parameters are position and target. Has no effect, unles called after Initialize().

◆ AddLight()

irr::scene::ILightSceneNode * chrono::irrlicht::ChVisualSystemIrrlicht::AddLight	(	const ChVector<> &	pos,
		double	radius,
		ChColor	color = `ChColor(0.7f, 0.7f, 0.7f)`
	)

Add a point light to the scene.

Has no effect, unles called after Initialize().

◆ AddLightDirectional()

irr::scene::ILightSceneNode * chrono::irrlicht::ChVisualSystemIrrlicht::AddLightDirectional	(	double	elevation = `60`,
		double	azimuth = `60`,
		ChColor	ambient = `ChColor(0.5f, 0.5f, 0.5f)`,
		ChColor	specular = `ChColor(0.2f, 0.2f, 0.2f)`,
		ChColor	diffuse = `ChColor(1.0f, 1.0f, 1.0f)`
	)

Add a directional light to the scene.

Has no effect, unles called after Initialize(). Light direction is defined by:

elevation (deg) between 0 (at the horizon) and 90 (above)
azimuth (deg) between 0 and 360, with 0 = South (-X), 90 = East (-Y), 180 = North (+X), 270 = West (+Y)

Parameters

elevation	light elevation
azimuth	light azimuth
ambient	ambient color
specular	specular color
diffuse	diffuse color

◆ AddLightWithShadow()

irr::scene::ILightSceneNode * chrono::irrlicht::ChVisualSystemIrrlicht::AddLightWithShadow	(	const ChVector<> &	pos,
		const ChVector<> &	aim,
		double	radius,
		double	near_value,
		double	far_value,
		double	angle,
		unsigned int	resolution = `512`,
		ChColor	color = `ChColor(1, 1, 1)`,
		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 close 'near_value' and 'far_value' are to the bounding box of the scene.

Use AddShadow() to enable shadows for an object or for the entire scene. Has no effect, unless called after Initialize().

◆ AddLogo()

void chrono::irrlicht::ChVisualSystemIrrlicht::AddLogo ( const std::string & logo_filename = GetChronoDataFile("logo_chronoengine_alpha.png") )

Add a logo in a 3D scene.

Has no effect, unles called after Initialize().

◆ AddSkyBox()

void chrono::irrlicht::ChVisualSystemIrrlicht::AddSkyBox ( const std::string & texture_dir = GetChronoDataFile("skybox/") )

Add a sky box in a 3D scene.

Note: it is assumed that the specified "texture_dir" directory contains the following three texture images: sky_lf.jpg, sky_up.jpg, sky_dn.jpg. Has no effect, unless called after Initialize().

◆ AddTypicalLights()

void chrono::irrlicht::ChVisualSystemIrrlicht::AddTypicalLights ( )

Simple shortcut to set two point lights in the scene.

For more precise control on lights, use AddLight() or just use Irrlicht directly. Has no effect, unless called after Initialize().

◆ AttachSystem()

void chrono::irrlicht::ChVisualSystemIrrlicht::AttachSystem ( ChSystem * sys )

overridevirtual

Attach another Chrono system to the run-time visualization system.

Currently only the first associated Chrono system is rendered.

Reimplemented from chrono::ChVisualSystem.

◆ BindAll()

void chrono::irrlicht::ChVisualSystemIrrlicht::BindAll ( )

overridevirtual

Process all visual assets in the associated ChSystem.

This function is called by default by Initialize(), but can also be called later if further modifications to visualization assets occur.

Reimplemented from chrono::ChVisualSystem.

◆ BindItem()

void chrono::irrlicht::ChVisualSystemIrrlicht::BindItem ( std::shared_ptr< ChPhysicsItem > item )

overridevirtual

Process the visual assets for the spcified physics item.

This function must be called if a new physics item is added to the system or if changes to its visual model occur after the call to Initialize().

Reimplemented from chrono::ChVisualSystem.

◆ EnableBodyFrameDrawing()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableBodyFrameDrawing ( bool val )

Enable rendering of body frames (default: false).

Has no effect, unless called after the visual system is initialized and attached.

◆ EnableCollisionShapeDrawing()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableCollisionShapeDrawing ( bool val )

Enable rendering of collision shapes (default: false).

Has no effect, unless called after the visual system is initialized and attached.

◆ EnableContactDrawing()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableContactDrawing ( ContactsDrawMode mode )

Enable contact rendering (default: none).

Has no effect, unless called after the visual system is initialized and attached.

◆ EnableLinkDrawing()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableLinkDrawing ( LinkDrawMode mode )

Enable rendering of link (joint) frames (default: none).

Has no effect, unless called after the visual system is initialized and attached.

◆ EnableLinkFrameDrawing()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableLinkFrameDrawing ( bool val )

Enable rendering of link frames (default: false).

Has no effect, unless called after the visual system is initialized and attached.

◆ EnableModalAnalysis()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableModalAnalysis ( bool val )

overridevirtual

Enable modal analysis visualization (default: false).

If true, visualize an oscillatory motion of the n-th mode (only if some ChModalAssembly is found). Otherwise, visualize the dynamic evolution of the associated system.

Reimplemented from chrono::ChVisualSystem.

◆ EnableShadows()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableShadows ( std::shared_ptr< ChPhysicsItem > item = nullptr )

Enable shadow maps for all visual models in a scene or only for a single physics item.

A shadow-enabled light must be added to the scene with Shadow maps in Irrlicht may slow visualization a bit. Also, one must remember to add shadow-enabled light, using AddLightWithShadow(). Has no effect, unless called after Initialize().

◆ Initialize()

void chrono::irrlicht::ChVisualSystemIrrlicht::Initialize ( )

virtual

Initialize the visualization system.

This creates the Irrlicht device using the current values for the optional device parameters.

Reimplemented in chrono::vehicle::ChVehicleVisualSystemIrrlicht.

◆ Render()

void chrono::irrlicht::ChVisualSystemIrrlicht::Render ( )

virtual

Draw all 3D shapes and GUI elements at the current frame.

This function is typically called inside a loop such as

   while(vis->Run()) {...}

Reimplemented in chrono::vehicle::ChVehicleVisualSystemIrrlicht, and chrono::robosimian::RoboSimianVisualSystemIrrlicht.

◆ Run()

bool chrono::irrlicht::ChVisualSystemIrrlicht::Run ( )

Run the Irrlicht device.

Returns false if the device wants to be deleted.

◆ SetAntialias()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetAntialias ( bool val )

Enable/disable antialias (default true).

Must be called before Initialize().

◆ SetCameraVertical()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetCameraVertical ( CameraVerticalDir vert )

Use Y-up camera rendering (default CameraVerticalDir::Y).

Must be called before Initialize().

◆ SetDriverType()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetDriverType ( irr::video::E_DRIVER_TYPE driver_type )

Set the device driver type (default irr::video::EDT_DIRECT3D9).

Must be called before Initialize().

◆ SetFullscreen()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetFullscreen ( bool val )

Enable/disable full-screen mode (default false).

Must be called before Initialize().

◆ SetInfoTab()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetInfoTab ( int ntab )

Set the active tab on the info panel.

Has no effect, unless called after the visual system is initialized and attached.

◆ SetLogLevel()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetLogLevel ( irr::ELOG_LEVEL log_level )

Set the Irrlicht logging level (default irr::ELL_INFORMATION).

Must be called before Initialize().

◆ SetShadows()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetShadows ( bool val )

Enable/disable shadows (default false).

Must be called before Initialize().

◆ SetWindowSize()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetWindowSize	(	unsigned int	width,
		unsigned int	height
	)

Set the window size (default 640x480).

Must be called before Initialize().

◆ SetWindowTitle()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetWindowTitle ( const std::string & win_title )

Set the windoiw title (default "").

Must be called before Initialize().

◆ WriteImageToFile()

void chrono::irrlicht::ChVisualSystemIrrlicht::WriteImageToFile ( const std::string & filename )

overridevirtual

Create a snapshot of the last rendered frame and save it to the provided file.

The file extension determines the image format.

Reimplemented from chrono::ChVisualSystem.

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

/builds/uwsbel/chrono/src/chrono_irrlicht/ChVisualSystemIrrlicht.h
/builds/uwsbel/chrono/src/chrono_irrlicht/ChVisualSystemIrrlicht.cpp

Description

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ AddCamera()

◆ AddLight()

◆ AddLightDirectional()

◆ AddLightWithShadow()

◆ AddLogo()

◆ AddSkyBox()

◆ AddTypicalLights()

◆ AttachSystem()

◆ BindAll()

◆ BindItem()

◆ EnableBodyFrameDrawing()

◆ EnableCollisionShapeDrawing()

◆ EnableContactDrawing()

◆ EnableLinkDrawing()

◆ EnableLinkFrameDrawing()

◆ EnableModalAnalysis()

◆ EnableShadows()

◆ Initialize()

◆ Render()

◆ Run()

◆ SetAntialias()

◆ SetCameraVertical()

◆ SetDriverType()

◆ SetFullscreen()

◆ SetInfoTab()

◆ SetLogLevel()

◆ SetShadows()

◆ SetWindowSize()

◆ SetWindowTitle()

◆ WriteImageToFile()