Description

Utilities for interfacing Chrono and Irrlicht.

Functions
video::SColorf	ToIrrlichtSColorf (const ChColor &col)
	Convert a ChColor to an Irrlicht SColorf.

video::SColor	ToIrrlichtSColor (const ChColor &col, float alpha=1.0)
	Convert an RGB set and an opacity value to an Irrlicht SColor.

video::SMaterial	ToIrrlichtMaterial (std::shared_ptr< ChVisualMaterial > mat, video::IVideoDriver *driver)

void	alignIrrlichtNode (scene::ISceneNode *mnode, const ChCoordsys<> &mcoords)

int	drawAllContactPoints (ChVisualSystemIrrlicht *vis, double mlen=1.0, ContactsDrawMode drawtype=ContactsDrawMode::CONTACT_NORMALS)
	Draw contact points used by a ChSystem in the current Irrlicht viewer. More...

int	drawAllContactLabels (ChVisualSystemIrrlicht *vis, ContactsLabelMode labeltype=ContactsLabelMode::CONTACT_FORCES_N_VAL, ChColor col=ChColor(1, 1, 1))
	Draw contact informations as labels at the contact point.

int	drawAllLinks (ChVisualSystemIrrlicht *vis, double mlen=1.0, LinkDrawMode drawtype=LinkDrawMode::LINK_REACT_FORCE)
	Draw reaction forces in all contacts in current Irrlicht viewer.

int	drawAllLinkLabels (ChVisualSystemIrrlicht *vis, LinkLabelMode labeltype=LinkLabelMode::LINK_REACT_FORCE_X, ChColor col=ChColor(1, 1, 1))
	Draw contact informations as labels at the contact point.

int	drawAllBoundingBoxes (ChVisualSystemIrrlicht *vis)
	Draw collision objects bounding boxes for rigid bodies (if they have a collision shape).

int	drawAllCOGs (ChVisualSystemIrrlicht *vis, double scale=0.01)
	Draw coordinate systems of ChBody objects.

int	drawAllLinkframes (ChVisualSystemIrrlicht *vis, double scale=0.01)
	Draw coordinate systems of link frames.

void	drawHUDviolation (ChVisualSystemIrrlicht *vis, int mx, int my, int sx, int sy, double spfact)

void	drawChFunction (ChVisualSystemIrrlicht vis, std::shared_ptr< chrono::ChFunction > fx, double xmin, double xmax, double ymin, double ymax, int mx, int my, int sx, int sy, chrono::ChColor col, const char title)

void	drawSegment (ChVisualSystemIrrlicht *vis, ChVector<> start, ChVector<> end, ChColor col=ChColor(1, 1, 1), bool use_Zbuffer=false)
	Draw line segments in 3D space with given color.

void	drawPolyline (ChVisualSystemIrrlicht *vis, std::vector< ChVector<> > &points, ChColor col=ChColor(1, 1, 1), bool use_Zbuffer=false)
	Draw a polyline in 3D space, given the array of points.

void	drawCircle (ChVisualSystemIrrlicht *vis, double radius, ChCoordsys<> pos=CSYSNORM, ChColor col=ChColor(1, 1, 1), int resolution=36, bool use_Zbuffer=false)
	Draw a circle line in 3D space with given color. More...

void	drawSpring (ChVisualSystemIrrlicht *vis, double radius, ChVector<> start, ChVector<> end, ChColor col=ChColor(1, 1, 1), int resolution=65, double turns=5, bool use_Zbuffer=false)
	Draw a spring in 3D space with given color. More...

void	drawRotSpring (ChVisualSystemIrrlicht *vis, ChCoordsys<> pos, double radius, double start_angle, double end_angle, chrono::ChColor col, int resolution, bool use_Zbuffer)

void	drawGrid (ChVisualSystemIrrlicht *vis, double ustep=0.1, double vstep=0.1, int nu=20, int nv=20, ChCoordsys<> pos=CSYSNORM, ChColor col=ChColor(0.7f, 0.7f, 0.7f), bool use_Zbuffer=false)
	Draw grids in 3D space with given orientation, color, and spacing.

void	drawColorbar (ChVisualSystemIrrlicht *vis, double vmin, double vmax, const std::string &label, int mx, int my, int sx, int sy)
	Easy-to-use function to draw color map 2D legend. More...

void	drawPlot3D (ChVisualSystemIrrlicht *vis, ChMatrixConstRef X, ChMatrixConstRef Y, ChMatrixConstRef Z, ChCoordsys<> pos, chrono::ChColor col, bool use_Zbuffer)

void	drawProfilerRecursive (utils::ChProfileIterator profileIterator, irr::IrrlichtDevice device, int mx, int my, int sx, int sy, int xspacing, int &ypos)

void	drawProfiler (ChVisualSystemIrrlicht *vis)
	Render run-time profiler info.

void	drawCoordsys (ChVisualSystemIrrlicht *vis, const ChCoordsys<> &coord=CSYSNORM, double scale=1)
	Draw RGB coordinate system.

ChApiIrr irr::video::SMaterial	ToIrrlichtMaterial (std::shared_ptr< ChVisualMaterial > mat, irr::video::IVideoDriver *driver)
	Convert a ChVisualMaterial to an Irrlicht material.

ChApiIrr void	alignIrrlichtNode (irr::scene::ISceneNode *mnode, const ChCoordsys<> &mcoords)
	Align an Irrlicht object to a the specified coordinate system.

ChApiIrr void	drawChFunction (ChVisualSystemIrrlicht vis, std::shared_ptr< ChFunction > fx, double xmin=0, double xmax=1, double ymin=-1, double ymax=1, int mx=10, int my=290, int sx=300, int sy=100, ChColor col=ChColor(1, 0, 0), const char title=0)

Function Documentation

◆ drawAllContactPoints()

ChApiIrr int chrono::irrlicht::tools::drawAllContactPoints	(	ChVisualSystemIrrlicht *	vis,
		double	mlen = `1.0`,
		ContactsDrawMode	drawtype = `ContactsDrawMode::CONTACT_NORMALS`
	)

Draw contact points used by a ChSystem in the current Irrlicht viewer.

The contact points are visually represented with short lines, of length mlen, aligned to contact normals.

◆ drawCircle()

ChApiIrr void chrono::irrlicht::tools::drawCircle	(	ChVisualSystemIrrlicht *	vis,
		double	radius,
		ChCoordsys<>	pos = `CSYSNORM`,
		ChColor	col = `ChColor(1, 1, 1)`,
		int	resolution = `36`,
		bool	use_Zbuffer = `false`
	)

Draw a circle line in 3D space with given color.

The circle is centered in the X-Y plane of the provided coordinate system.

◆ drawColorbar()

ChApiIrr void chrono::irrlicht::tools::drawColorbar	(	ChVisualSystemIrrlicht *	vis,
		double	vmin,
		double	vmax,
		const std::string &	label,
		int	mx,
		int	my,
		int	sx,
		int	sy
	)

Easy-to-use function to draw color map 2D legend.

Draw color bar with a color map and 2D legend.

◆ drawSpring()

ChApiIrr void chrono::irrlicht::tools::drawSpring	(	ChVisualSystemIrrlicht *	vis,
		double	radius,
		ChVector<>	start,
		ChVector<>	end,
		ChColor	col = `ChColor(1, 1, 1)`,
		int	resolution = `65`,
		double	turns = `5`,
		bool	use_Zbuffer = `false`
	)

Draw a spring in 3D space with given color.

Specify the radius, the end points in absolute space, the resolution (i.e. the number of segments approximating the helix) and the number of turns.