Description

OpenGL-based Chrono run-time visualization system.

#include <ChVisualSystemOpenGL.h>

Inheritance diagram for chrono::opengl::ChVisualSystemOpenGL:

Collaboration diagram for chrono::opengl::ChVisualSystemOpenGL:

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

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

void	SetCameraVertical (CameraVerticalDir vert)
	Set camera vertical direction (default CameraVerticalDir::Z).

void	SetCameraVertical (const ChVector<> &up)
	Set camera vertical direction (default (0,0,1)).

void	SetCameraProperties (float scale=0.5f, float near_clip_dist=0.1f, float far_clip_dist=1000.0f)
	Set camera scale and clip distances. More...

void	SetRenderMode (RenderMode mode)
	Set render mode for solid objects (default: SOLID)

void	SetParticleRenderMode (float radius, RenderMode mode)
	Set render mode for particle systems (default: POINTS)

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

void	AttachStatsRenderer (std::shared_ptr< ChOpenGLStats > renderer)
	Attach a user-defined text renderer for stats overlay. More...

void	EnableStats (bool state)
	Enable/disable stats overlay display (default: true).

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

void	SetCameraPosition (const ChVector<> &pos, ChVector<> targ=VNULL)
	Set camera position and look-at point. More...

void	AddUserEventReceiver (ChOpenGLEventCB *receiver)
	Attach a custom event receiver to the application.

void	AttachParticleSelector (std::shared_ptr< ChOpenGLParticleCB > selector)
	Attach a custom particle rendering selector.

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.

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
virtual void	EnableModalAnalysis (bool val)
	Enable modal analysis visualization. More...

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

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

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

std::vector< ChSystem * >	GetSystems () const
	Get the list of associated Chrono systems.

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

Static Public Member Functions
static void	WrapRenderStep (void *stepFunction)
	Callback wrapper for steps of the render loop. Works with Emscripten.

Friends
class	ChOpenGLViewer

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

Member Function Documentation

◆ AttachStatsRenderer()

void chrono::opengl::ChVisualSystemOpenGL::AttachStatsRenderer ( std::shared_ptr< ChOpenGLStats > renderer )

Attach a user-defined text renderer for stats overlay.

This overwrites the default stats overlay renderer.

◆ AttachSystem()

void chrono::opengl::ChVisualSystemOpenGL::AttachSystem ( ChSystem * sys )

overridevirtual

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

ChVisualSystemOpenGL allows simultaneous rendering of multiple Chrono systems.

Reimplemented from chrono::ChVisualSystem.

◆ BindAll()

void chrono::opengl::ChVisualSystemOpenGL::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::opengl::ChVisualSystemOpenGL::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.

◆ Initialize()

void chrono::opengl::ChVisualSystemOpenGL::Initialize ( )

virtual

Initialize the visualization system.

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

◆ Render()

void chrono::opengl::ChVisualSystemOpenGL::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()) {...}

◆ Run()

bool chrono::opengl::ChVisualSystemOpenGL::Run ( )

Run the Irrlicht device.

Returns false if the device wants to be deleted.

◆ SetCameraPosition()

void chrono::opengl::ChVisualSystemOpenGL::SetCameraPosition	(	const ChVector<> &	pos,
		ChVector<>	targ = `VNULL`
	)

Set camera position and look-at point.

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.

◆ SetCameraProperties()

void chrono::opengl::ChVisualSystemOpenGL::SetCameraProperties	(	float	scale = `0.5f`,
		float	near_clip_dist = `0.1f`,
		float	far_clip_dist = `1000.0f`
	)

Set camera scale and clip distances.

Parameters

scale	zoom level (default 0.5)
near_clip_dist	near clipping distance (default 0.1)
far_clip_dist	far clipping distance (default 1000)

◆ SetWindowSize()

void chrono::opengl::ChVisualSystemOpenGL::SetWindowSize	(	unsigned int	width,
		unsigned int	height
	)

Set the window size (default 640x480).

Must be called before Initialize().

◆ SetWindowTitle()

void chrono::opengl::ChVisualSystemOpenGL::SetWindowTitle ( const std::string & win_title )

Set the window title (default "").

Must be called before Initialize().

◆ WriteImageToFile()

void chrono::opengl::ChVisualSystemOpenGL::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_opengl/ChVisualSystemOpenGL.h
/builds/uwsbel/chrono/src/chrono_opengl/ChVisualSystemOpenGL.cpp

Description

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Member Function Documentation

◆ AttachStatsRenderer()

◆ AttachSystem()

◆ BindAll()

◆ BindItem()

◆ Initialize()

◆ Render()

◆ Run()

◆ SetCameraPosition()

◆ SetCameraProperties()

◆ SetWindowSize()

◆ SetWindowTitle()

◆ WriteImageToFile()