Description

Scene class used for camera renderings. Includes environment colors, lights, etc.

#include <ChScene.h>

Public Member Functions
	ChScene ()
	Class constructor.

	~ChScene ()
	Class destructor.

unsigned int	AddPointLight (ChVector< float > pos, ChColor color, float max_range)
	Add a point light that emits light in all directions. More...

unsigned int	AddPointLight (const PointLight &p)
	Add a point light that emits light in all directions. More...

std::vector< PointLight >	GetPointLights ()
	Function for gaining access to the vector of point lights and can be used to modify lighting dynamically. More...

void	ModifyPointLight (unsigned int id, PointLight p)
	Function for gaining access to the vector of point lights and can be used to modify lighting dynamically. More...

Background	GetBackground ()
	Function for gaining access to the background. More...

void	SetBackground (Background b)
	Function for gaining access to the background. More...

void	SetAmbientLight (ChVector< float > color)
	Function for setting the ambient light color. More...

ChVector< float >	GetAmbientLight ()
	Function for setting the ambient light color. More...

void	ResetLightsChanged ()
	Function for resetting the lights changed variable.

bool	GetLightsChanged ()
	Function for getting the lights changed variable.

void	ResetBackgroundChanged ()
	Function for resetting the background changed variable.

bool	GetBackgroundChanged ()
	Function for getting the background changed variable.

void	SetFogColor (ChVector< float > color)
	Function to set the fog color.

ChVector< float >	GetFogColor ()
	Function to get the fog color.

void	SetFogScattering (float coefficient)
	Function to set the fog scattering coefficient.

void	SetFogScatteringFromDistance (float distance)
	Function to set the fog scattering coefficient from max visible distance. More...

float	GetFogScattering ()
	Function to get the fog scattering coefficient.

void	SetSceneEpsilon (float e)
	Allows setting the scene epsilon used for traversal checks. More...

float	GetSceneEpsilon ()
	Accessor to the scene epsilon value. More...

void	UpdateOriginOffset (ChVector< float > sensor_pos, bool force=false)
	Function to change the origin offset if necessary. More...

bool	GetOriginChanged ()

void	ResetOriginChanged ()

ChVector< float >	GetOriginOffset ()
	Access function for the origin offset. More...

void	SetOriginOffsetThreshold (float threshold)
	Set the threshold for moving the origin. More...

void	EnableDynamicOrigin (bool enable)
	Enable dynamic moving of the scene origin. More...

Member Function Documentation

◆ AddPointLight() [1/2]

CH_SENSOR_API unsigned int chrono::sensor::ChScene::AddPointLight	(	ChVector< float >	pos,
		ChColor	color,
		float	max_range
	)

Add a point light that emits light in all directions.

Parameters

pos	The global position of the light source
color	The golor of the light source
max_range	the range at which the light intensity is equal to 1% of its maximum intensity

Returns: the index of the light that has been added

◆ AddPointLight() [2/2]

CH_SENSOR_API unsigned int chrono::sensor::ChScene::AddPointLight ( const PointLight & p )

Add a point light that emits light in all directions.

Parameters

p	A point light the will be added directly

Returns: the index of the light that has been added

◆ EnableDynamicOrigin()

void chrono::sensor::ChScene::EnableDynamicOrigin ( bool enable )

inline

Enable dynamic moving of the scene origin.

Parameters

enable whether to enable to the moving origin

◆ GetAmbientLight()

ChVector<float> chrono::sensor::ChScene::GetAmbientLight ( )

inline

Function for setting the ambient light color.

Returns: the ambient light in the scene

◆ GetBackground()

Background chrono::sensor::ChScene::GetBackground ( )

inline

Function for gaining access to the background.

Can be used to dynamically change the background color, or texture

Returns: m_background the background used for rendering

◆ GetOriginOffset()

ChVector<float> chrono::sensor::ChScene::GetOriginOffset ( )

inline

Access function for the origin offset.

Returns: the origin offset

◆ GetPointLights()

std::vector<PointLight> chrono::sensor::ChScene::GetPointLights ( )

inline

Function for gaining access to the vector of point lights and can be used to modify lighting dynamically.

Returns: m_pointlights A vector of point lights in the scene currently

◆ GetSceneEpsilon()

float chrono::sensor::ChScene::GetSceneEpsilon ( )

inline

Accessor to the scene epsilon value.

Returns: the scene epsilon

◆ ModifyPointLight()

CH_SENSOR_API void chrono::sensor::ChScene::ModifyPointLight	(	unsigned int	id,
		PointLight	p
	)

Function for gaining access to the vector of point lights and can be used to modify lighting dynamically.

Parameters

id	the index of the point light to be modified
p	the new point light that will replace the values at the given index

◆ SetAmbientLight()

void chrono::sensor::ChScene::SetAmbientLight ( ChVector< float > color )

inline

Function for setting the ambient light color.

Parameters

color the color+intensity of ambient light

◆ SetBackground()

CH_SENSOR_API void chrono::sensor::ChScene::SetBackground ( Background b )

Function for gaining access to the background.

Can be used to dynamically change the background color, or texture

Parameters

b	a new background for the scene

◆ SetFogScatteringFromDistance()

CH_SENSOR_API void chrono::sensor::ChScene::SetFogScatteringFromDistance ( float distance )

Function to set the fog scattering coefficient from max visible distance.

Function to set the fog scattering coefficient.

◆ SetOriginOffsetThreshold()

void chrono::sensor::ChScene::SetOriginOffsetThreshold ( float threshold )

inline

Set the threshold for moving the origin.

Parameters

threshold the threshold outside of which to move the scene origin

◆ SetSceneEpsilon()

CH_SENSOR_API void chrono::sensor::ChScene::SetSceneEpsilon ( float e )

Allows setting the scene epsilon used for traversal checks.

Parameters

e	the epsilon value

◆ UpdateOriginOffset()

void chrono::sensor::ChScene::UpdateOriginOffset	(	ChVector< float >	sensor_pos,
		bool	force = `false`
	)

Function to change the origin offset if necessary.

Parameters

sensor_pos	the position of the sensor
force	whether to force updating even if threshold is not met

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

/builds/uwsbel/chrono/src/chrono_sensor/optix/scene/ChScene.h
/builds/uwsbel/chrono/src/chrono_sensor/optix/scene/ChScene.cpp

Description

Public Member Functions

Member Function Documentation

◆ AddPointLight() [1/2]

◆ AddPointLight() [2/2]

◆ EnableDynamicOrigin()

◆ GetAmbientLight()

◆ GetBackground()

◆ GetOriginOffset()

◆ GetPointLights()

◆ GetSceneEpsilon()

◆ ModifyPointLight()

◆ SetAmbientLight()

◆ SetBackground()

◆ SetFogScatteringFromDistance()

◆ SetOriginOffsetThreshold()

◆ SetSceneEpsilon()

◆ UpdateOriginOffset()