Description

Irrlicht-based Chrono run-time visualization system.

#include <ChVisualSystemIrrlicht.h>

Inheritance diagram for chrono::irrlicht::ChVisualSystemIrrlicht:

[legend]

Collaboration diagram for chrono::irrlicht::ChVisualSystemIrrlicht:

Public Member Functions
	ChVisualSystemIrrlicht (ChSystem *sys, const ChVector3d &camera_pos=ChVector3d(2, 2, 2), const ChVector3d &camera_targ=ChVector3d(0, 0, 0))
	Auto-initialized run-time visualization system, with default settings.

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	SetWindowId (void *window_id)
	Set the window ID. More...

void	SetCameraVertical (CameraVerticalDir vert)
	Use Y-up camera rendering (default CameraVerticalDir::Y). More...

CameraVerticalDir	GetCameraVertical ()
	Tells if the current camera vertical mode is Y or Z.

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 () override
	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...

virtual int	AddCamera (const ChVector3d &pos, ChVector3d targ=VNULL) override
	Add a camera in an Irrlicht 3D scene. More...

virtual void	AddGrid (double x_step, double y_step, int nx, int ny, ChCoordsys<> pos=CSYSNORM, ChColor col=ChColor(0.1f, 0.1f, 0.1f)) override
	Add a grid with specified parameters in the x-y plane of the given frame. More...

void	UpdateGrid (int id, const ChCoordsys<> &csys)

virtual void	SetCameraPosition (int id, const ChVector3d &pos) override
	Set the location of the specified camera.

virtual void	SetCameraTarget (int id, const ChVector3d &target) override
	Set the target (look-at) point of the specified camera.

virtual void	SetCameraPosition (const ChVector3d &pos) override
	Set the location of the current (active) camera.

virtual void	SetCameraTarget (const ChVector3d &target) override
	Set the target (look-at) point of the current (active) camera.

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 ChVector3d &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 ChVector3d &pos, const ChVector3d &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...

void	EnableAbsCoordsysDrawing (bool val)
	Enable rendering of the absolute coordinate system (default: none). 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).

virtual void	SetModalModesMax (int maxModes) override
	Set the maximum number of modes selectable (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 ()

void *	GetWindowId () const
	Get the window ID.

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...

virtual void	UnbindItem (std::shared_ptr< ChPhysicsItem > item) override
	Remove the visual assets for the specified physics item from this visualization system.

virtual int	AddVisualModel (std::shared_ptr< ChVisualModel > model, const ChFrame<> &frame) override
	Add a visual model not associated with a physical item. More...

virtual int	AddVisualModel (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame) override
	Add a visual model not associated with a physical item. More...

virtual void	UpdateVisualModel (int id, const ChFrame<> &frame) override
	Update the position of the specified visualization-only model.

virtual bool	Run () override
	Run the Irrlicht device. More...

virtual void	Quit () override
	Terminate the visualization system.

virtual void	BeginScene () override
	Perform any necessary operations at the beginning of each rendering frame.

virtual void	BeginScene (bool backBuffer, bool zBuffer, ChColor color)
	Clean the canvas at the beginning of each rendering frame.

virtual void	Render () override
	Draw all 3D shapes and GUI elements at the current frame. More...

virtual void	RenderFrame (const ChFrame<> &frame, double axis_length=1) override
	Render the specified reference frame.

virtual void	RenderCOGFrames (double axis_length=1) override
	Render COG frames for all bodies in the system.

virtual void	EndScene () override
	End the scene draw at the end of each animation frame.

irr::gui::IGUIFont *	GetMonospaceFont () const
	Return a fixed-size font for rendering GUI.

void	SetJPEGQuality (unsigned int quality)
	Set the JPEG quality level (between 0 and 100) for saved snapshots (default: 0). More...

virtual void	WriteImageToFile (const std::string &filename) override
	Create a snapshot of the last rendered frame and save it to the provided file. More...

bool	GetUtilityFlag () const
	Get internal utility flag value.

void	SetUtilityFlag (bool flag)
	Set internal utility flag value.

irr::SIrrlichtCreationParameters	GetCreationParameters () const
	Get device creation parameters.

void	SetCreationParameters (const irr::SIrrlichtCreationParameters &device_params)
	Set device creation parameters.

Public Member Functions inherited from chrono::ChVisualSystem
virtual ChVector3d	GetCameraPosition () const
	Get the location of the current (active) camera.

virtual ChVector3d	GetCameraTarget () const
	Get the target (look-at) point of the current (active) camera.

void	UpdateCamera (int id, const ChVector3d &pos, ChVector3d target)
	Update the location and/or target points of the specified camera.

void	UpdateCamera (const ChVector3d &pos, ChVector3d target)

virtual double	GetSimulationRTF () const
	Return the simulation real-time factor (simulation time / simulated time). More...

virtual double	GetSimulationTime () const
	Return the current simulated time. More...

void	SetImageOutputDirectory (const std::string &dir)
	Set output directory for saving frame snapshots (default: ".").

void	SetImageOutput (bool val)
	Enable/disable writing of frame snapshots to file.

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

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

Additional Inherited Members
Public Types inherited from chrono::ChVisualSystem
enum	Type { Type::IRRLICHT, Type::VSG, Type::OpenGL, Type::OptiX, NONE }
	Supported run-time visualization systems. More...

Protected Attributes inherited from chrono::ChVisualSystem
bool	m_initialized

std::vector< ChSystem * >	m_systems
	associated Chrono system(s)

bool	m_write_images
	if true, save snapshots

std::string	m_image_dir
	directory for image files

Member Function Documentation

◆ AddCamera()

int chrono::irrlicht::ChVisualSystemIrrlicht::AddCamera	(	const ChVector3d &	pos,
		ChVector3d	targ = `VNULL`
	)

overridevirtual

Add a camera in an Irrlicht 3D scene.

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. Has no effect, unles called after Initialize().

Reimplemented from chrono::ChVisualSystem.

◆ AddGrid()

void chrono::irrlicht::ChVisualSystemIrrlicht::AddGrid	(	double	x_step,
		double	y_step,
		int	nx,
		int	ny,
		ChCoordsys<>	pos = `CSYSNORM`,
		ChColor	col = `ChColor(0.1f, 0.1f, 0.1f)`
	)

overridevirtual

Add a grid with specified parameters in the x-y plane of the given frame.

Parameters

x_step	grid cell size in X direction
y_step	grid cell size in Y direction
nx	number of cells in X direction
ny	number of cells in Y direction
pos	grid reference frame
col	grid line color

Reimplemented from chrono::ChVisualSystem.

◆ AddLight()

ILightSceneNode * chrono::irrlicht::ChVisualSystemIrrlicht::AddLight	(	const ChVector3d &	pos,
		double	radius,
		ChColor	color = `ChColor(0.7f, 0.7f, 0.7f)`
	)

Add a point light to the scene.

Has no effect, unles called after Initialize().

◆ AddLightDirectional()

ILightSceneNode * chrono::irrlicht::ChVisualSystemIrrlicht::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.

Has no effect, unless called after Initialize(). Light direction is defined by:

elevation (deg) between 0 (at the horizon) and 90 (above)
azimuth (deg) between 0 and 360, with 0 = South (-X), 90 = East (-Y), 180 = North (+X), 270 = West (+Y)

Parameters

elevation	light elevation
azimuth	light azimuth
ambient	ambient color
specular	specular color
diffuse	diffuse color

◆ AddLightWithShadow()

ILightSceneNode * chrono::irrlicht::ChVisualSystemIrrlicht::AddLightWithShadow	(	const ChVector3d &	pos,
		const ChVector3d &	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.

Use AddShadow() to enable shadows for an object or for the entire scene. Has no effect, unless called after Initialize().

◆ AddLogo()

void chrono::irrlicht::ChVisualSystemIrrlicht::AddLogo ( const std::string & logo_filename = GetChronoDataFile("logo_chronoengine_alpha.png") )

Add a logo in a 3D scene.

Has no effect, unles called after Initialize().

◆ AddSkyBox()

void chrono::irrlicht::ChVisualSystemIrrlicht::AddSkyBox ( const std::string & texture_dir = GetChronoDataFile("skybox/") )

Add a sky box in a 3D scene.

Note: it is assumed that the specified "texture_dir" directory contains the following three texture images: sky_lf.jpg, sky_up.jpg, sky_dn.jpg. Has no effect, unless called after Initialize().

◆ AddTypicalLights()

void chrono::irrlicht::ChVisualSystemIrrlicht::AddTypicalLights ( )

Simple shortcut to set two point lights in the scene.

For more precise control on lights, use AddLight() or just use Irrlicht directly. Has no effect, unless called after Initialize().

◆ AddVisualModel() [1/2]

int chrono::irrlicht::ChVisualSystemIrrlicht::AddVisualModel	(	std::shared_ptr< ChVisualModel >	model,
		const ChFrame<> &	frame
	)

overridevirtual

Add a visual model not associated with a physical item.

Return a model ID which can be used later to modify the position of this visual model.

Reimplemented from chrono::ChVisualSystem.

◆ AddVisualModel() [2/2]

int chrono::irrlicht::ChVisualSystemIrrlicht::AddVisualModel	(	std::shared_ptr< ChVisualShape >	shape,
		const ChFrame<> &	frame
	)

overridevirtual

Add a visual model not associated with a physical item.

This version constructs a visual model consisting of the single specified shape. Return an ID which can be used later to modify the position of this visual model.

Reimplemented from chrono::ChVisualSystem.

◆ AttachSystem()

void chrono::irrlicht::ChVisualSystemIrrlicht::AttachSystem ( ChSystem * sys )

overridevirtual

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

Currently only the first associated Chrono system is rendered.

Reimplemented from chrono::ChVisualSystem.

◆ BindAll()

void chrono::irrlicht::ChVisualSystemIrrlicht::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::irrlicht::ChVisualSystemIrrlicht::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.

◆ EnableAbsCoordsysDrawing()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableAbsCoordsysDrawing ( bool val )

Enable rendering of the absolute coordinate system (default: none).

Has no effect, unless called after the visual system is initialized and attached.

◆ EnableBodyFrameDrawing()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableBodyFrameDrawing ( bool val )

Enable rendering of body frames (default: false).

Has no effect, unless called after the visual system is initialized and attached.

◆ EnableCollisionShapeDrawing()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableCollisionShapeDrawing ( bool val )

Enable rendering of collision shapes (default: false).

Has no effect, unless called after the visual system is initialized and attached.

◆ EnableContactDrawing()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableContactDrawing ( ContactsDrawMode mode )

Enable contact rendering (default: none).

Has no effect, unless called after the visual system is initialized and attached.

◆ EnableLinkDrawing()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableLinkDrawing ( LinkDrawMode mode )

Enable rendering of link (joint) frames (default: none).

Has no effect, unless called after the visual system is initialized and attached.

◆ EnableLinkFrameDrawing()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableLinkFrameDrawing ( bool val )

Enable rendering of link frames (default: false).

Has no effect, unless called after the visual system is initialized and attached.

◆ EnableModalAnalysis()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableModalAnalysis ( bool val )

overridevirtual

Enable modal analysis visualization (default: false).

If true, visualize an oscillatory motion of the n-th mode (only if some ChModalAssembly is found). Otherwise, visualize the dynamic evolution of the associated system.

Reimplemented from chrono::ChVisualSystem.

◆ EnableShadows()

void chrono::irrlicht::ChVisualSystemIrrlicht::EnableShadows ( std::shared_ptr< ChPhysicsItem > item = nullptr )

Enable shadow maps for all visual models in a scene or only for a single physics item.

A shadow-enabled light must be added to the scene with Shadow maps in Irrlicht may slow visualization a bit. Also, one must remember to add shadow-enabled light, using AddLightWithShadow(). Has no effect, unless called after Initialize().

◆ Initialize()

void chrono::irrlicht::ChVisualSystemIrrlicht::Initialize ( )

overridevirtual

Initialize the visualization system.

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

Implements chrono::ChVisualSystem.

Reimplemented in chrono::vehicle::ChVehicleVisualSystemIrrlicht.

◆ Render()

void chrono::irrlicht::ChVisualSystemIrrlicht::Render ( )

overridevirtual

Draw all 3D shapes and GUI elements at the current frame.

This function is typically called inside a loop such as

   while(vis->Run()) {...}

Implements chrono::ChVisualSystem.

Reimplemented in chrono::vehicle::ChVehicleVisualSystemIrrlicht, and chrono::robosimian::RoboSimianVisualSystemIrrlicht.

◆ Run()

bool chrono::irrlicht::ChVisualSystemIrrlicht::Run ( )

overridevirtual

Run the Irrlicht device.

Returns false if the device wants to be deleted.

Implements chrono::ChVisualSystem.

◆ SetAntialias()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetAntialias ( bool val )

Enable/disable antialias (default true).

Must be called before Initialize().

◆ SetCameraVertical()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetCameraVertical ( CameraVerticalDir vert )

Use Y-up camera rendering (default CameraVerticalDir::Y).

Must be called before Initialize().

◆ SetDriverType()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetDriverType ( irr::video::E_DRIVER_TYPE driver_type )

Set the device driver type (default irr::video::EDT_DIRECT3D9).

Must be called before Initialize().

◆ SetFullscreen()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetFullscreen ( bool val )

Enable/disable full-screen mode (default false).

Must be called before Initialize().

◆ SetInfoTab()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetInfoTab ( int ntab )

Set the active tab on the info panel.

Has no effect, unless called after the visual system is initialized and attached.

◆ SetJPEGQuality()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetJPEGQuality ( unsigned int quality )

inline

Set the JPEG quality level (between 0 and 100) for saved snapshots (default: 0).

A value of 0 sets the quality to 75%.

◆ SetLogLevel()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetLogLevel ( irr::ELOG_LEVEL log_level )

Set the Irrlicht logging level (default irr::ELL_INFORMATION).

Must be called before Initialize().

◆ SetShadows()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetShadows ( bool val )

Enable/disable shadows (default false).

Must be called before Initialize().

◆ SetWindowId()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetWindowId ( void * window_id )

Set the window ID.

Must be called before Initialize().

◆ SetWindowSize()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetWindowSize	(	unsigned int	width,
		unsigned int	height
	)

Set the window size (default 640x480).

Must be called before Initialize().

◆ SetWindowTitle()

void chrono::irrlicht::ChVisualSystemIrrlicht::SetWindowTitle ( const std::string & win_title )

Set the windoiw title (default "").

Must be called before Initialize().

◆ WriteImageToFile()

void chrono::irrlicht::ChVisualSystemIrrlicht::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_irrlicht/ChVisualSystemIrrlicht.h
/builds/uwsbel/chrono/src/chrono_irrlicht/ChVisualSystemIrrlicht.cpp

Description

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ AddCamera()

◆ AddGrid()

◆ AddLight()

◆ AddLightDirectional()

◆ AddLightWithShadow()

◆ AddLogo()

◆ AddSkyBox()

◆ AddTypicalLights()

◆ AddVisualModel() [1/2]

◆ AddVisualModel() [2/2]

◆ AttachSystem()

◆ BindAll()

◆ BindItem()

◆ EnableAbsCoordsysDrawing()

◆ EnableBodyFrameDrawing()

◆ EnableCollisionShapeDrawing()

◆ EnableContactDrawing()

◆ EnableLinkDrawing()

◆ EnableLinkFrameDrawing()

◆ EnableModalAnalysis()

◆ EnableShadows()

◆ Initialize()

◆ Render()

◆ Run()

◆ SetAntialias()

◆ SetCameraVertical()

◆ SetDriverType()

◆ SetFullscreen()

◆ SetInfoTab()

◆ SetJPEGQuality()

◆ SetLogLevel()

◆ SetShadows()

◆ SetWindowId()

◆ SetWindowSize()

◆ SetWindowTitle()

◆ WriteImageToFile()