Description

Utility class for a generic chase camera which can be associated with any ChBody in a Chrono system.

This camera tracks a given point on the associated body (typically the chassis of a vehicle).

#include <ChUtilsChaseCamera.h>

Public Types
enum	State { Chase, Follow, Track, Inside, Free }
	Chase camera operation mode. More...

Public Member Functions
	ChChaseCamera (std::shared_ptr< ChBody > chassis)
	Construct a chase camera associated with the given body.

void	Initialize (const ChVector<> &ptOnChassis, const ChCoordsys<> &driverCoordsys, double chaseDist, double chaseHeight, const ChVector<> &up=ChVector<>(0, 0, 1), const ChVector<> &fwd=ChVector<>(1, 0, 0))
	Initialize the chase camera. More...

void	Update (double step)
	Update internal dynamics.

void	Zoom (int val)
	Control chase distance.

void	Turn (int val)
	Control angle (in horizontal plane) around target point.

void	Raise (int val)
	Control camera height (for `Free` mode).

void	SetState (State s)
	Set the chase camera operation mode.

void	SetCameraPos (const ChVector<> &pos)
	Overwrite chase camera position.

void	SetCameraAngle (double angle)
	Overwrite chase camera angle (in horizontal plane).

State	GetState () const
	Get the current operation mode.

const std::string &	GetStateName () const
	Return a string description of the current operation mode.

ChVector	GetCameraPos () const
	Get current camera location (expressed in the world frame).

ChVector	GetTargetPos () const
	Get current location of the target point (expressed in the world frame).

void	SetHorizGain (double g)
	Set internal dynamics gain for camera movement in the horizontal plane.

void	SetVertGain (double g)
	Set internal dynamics gain for camera movement in the vertical direction.

void	SetMultLimits (double minMult, double maxMult)
	Set zoom limits.

void	SetChassis (std::shared_ptr< ChBody > chassis)
	Change the associated body.

void	SetTargetPoint (const ChVector<> &point)
	Set the target point on the associated body.

void	SetChaseDistance (double dist)
	Set the chase distance.

void	SetChaseHeight (double height)
	Set the chase height.

Member Enumeration Documentation

◆ State

enum chrono::utils::ChChaseCamera::State

Chase camera operation mode.

Enumerator
Chase	camera attached to a "flexible cantilever" behind the body
Follow	camera attached to a "flexible beam" articulated on the body
Track	camera is fixed and tracks the body
Inside	camera is rigidly fixed at a given point on the body
Free	detached camera

Member Function Documentation

◆ Initialize()

void chrono::utils::ChChaseCamera::Initialize	(	const ChVector<> &	ptOnChassis,
		const ChCoordsys<> &	driverCoordsys,
		double	chaseDist,
		double	chaseHeight,
		const ChVector<> &	up = `ChVector<>(0, 0, 1)`,
		const ChVector<> &	fwd = `ChVector<>(1, 0, 0)`
	)

Initialize the chase camera.

Parameters

ptOnChassis	target point on associated body
driverCoordsys	local driver position (for `Inside` mode)
chaseDist	base value for distance behind target point on associated body
chaseHeight	base value for height above target point on associated body
up	vertical direction of the world frame
fwd	forward direction of the world frame

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

/builds/uwsbel/chrono/src/chrono/utils/ChUtilsChaseCamera.h
/builds/uwsbel/chrono/src/chrono/utils/ChUtilsChaseCamera.cpp

Description

Public Types

Public Member Functions

Member Enumeration Documentation

◆ State

Member Function Documentation

◆ Initialize()