chrono::robosimian::RoboSimianVisualSystemIrrlicht Class Reference
Description
Customized Chrono Irrlicht visualization system for RoboSimian.
Provides a simple GUI with various stats and encapsulates an event receiver to allow visualizing the collision shapes (toggle with the 'C' key).
#include <RoboSimianVisualSystemIrrlicht.h>
Inheritance diagram for chrono::robosimian::RoboSimianVisualSystemIrrlicht:
Collaboration diagram for chrono::robosimian::RoboSimianVisualSystemIrrlicht:
Public Member Functions | |
| RoboSimianVisualSystemIrrlicht (RoboSimian *robot, RS_Driver *driver) | |
| Construct a RoboSimian Irrlicht application. More... | |
| virtual void | Render () override |
| Render the Irrlicht scene and additional visual elements. | |
 Public Member Functions inherited from chrono::irrlicht::ChVisualSystemIrrlicht | |
| 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 | 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. | |
Friends | |
| class | RS_IEventReceiver |
Additional Inherited Members | |
| Protected Attributes inherited from chrono::ChVisualSystem | |
| std::vector< ChSystem * > | m_systems |
| associated Chrono system(s) | |
Constructor & Destructor Documentation
◆ RoboSimianVisualSystemIrrlicht()
| chrono::robosimian::RoboSimianVisualSystemIrrlicht::RoboSimianVisualSystemIrrlicht | ( | RoboSimian * | robot, |
| RS_Driver * | driver | ||
| ) |
Construct a RoboSimian Irrlicht application.
- Parameters
-
robot associated RoboSimian robot driver associated robot driver
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/robot/robosimian/RoboSimianVisualSystemIrrlicht.h
- /builds/uwsbel/chrono/src/chrono_models/robot/robosimian/RoboSimianVisualSystemIrrlicht.cpp
