Description

VSG-based run-time visualization plugin for Chrono::Multicore systems.

The plugin draws the granular bodies of a Multicore system as GPU instances (see vsg3d::ChInstancedShapesVSG) and the contact force network (see vsg3d::ChForceNetworkVSG), writes images while the simulation runs, and shows a panel with Multicore timers, contact counts, and solver statistics.

The force network includes all rigid-rigid contacts with a positive normal force, contacts with walls included. Each contact is drawn as two half-segments, from each body center (or the center of the contact shape) to the contact point, midway between the two contact points of the shapes. A half-segment is not drawn if it starts at a large body (a body larger than the size limit of the automatic body selection, such as a wall) or if it is longer than a maximum length (by default, the median body size). The network is colored by the normal force, the Coulomb ratio (tangential force over its Coulomb limit), or the magnitude of the stored tangential displacement (SMC with the MultiStep tangential displacement model). A force threshold and a region filter (slab and box) select the contacts that are drawn; a slab gives section cuts.

The plugin must be attached to the VSG visual system before the visual system is initialized. It attaches the Multicore system to the visual system if that was not done already.

#include <ChMulticoreVisualizationVSG.h>

Inheritance diagram for chrono::ChMulticoreVisualizationVSG:

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Collaboration diagram for chrono::ChMulticoreVisualizationVSG:

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Public Types
enum	NetworkColoring { NetworkColoring::NORMAL_FORCE, NetworkColoring::COULOMB_RATIO, NetworkColoring::TANGENTIAL_DISPLACEMENT }
	Quantity used to color the force network. More...

enum	NetworkAnchor { NetworkAnchor::BODY_CENTER, NetworkAnchor::SHAPE_CENTER }
	Start point of the two half-segments of a contact. More...

Public Member Functions
	ChMulticoreVisualizationVSG (ChSystemMulticore *sys)

void	EnableBodyInstancing (bool val)
	Enable or disable drawing of granular bodies as GPU instances (default: true). More...

void	SetBodySizeFactor (double factor)
	Set the size factor for the automatic selection of granular bodies (default: 10). More...

void	SetBodySelection (const std::vector< std::shared_ptr< ChBody >> &bodies)
	Set an explicit list of bodies drawn as instances, replacing the automatic selection. More...

void	SetBodySelector (std::function< bool(const ChBody &body)> selector)
	Set a predicate selecting the bodies drawn as instances, replacing the automatic selection. More...

void	SetBodyShapeSource (vsg3d::ChInstancedShapesVSG::ShapeSource source)
	Set the source of the shapes drawn for each granular body (default: COLLISION). More...

void	SetBodyResolution (int num_divs)
	Set the number of divisions of a full circle used to tessellate round body shapes (default: 24). More...

void	SetBodyDefaultColor (const ChColor &color)
	Set the color of granular bodies whose visual model defines no color (default: [0.75, 0.75, 0.75]). More...

void	SetBodyColorCallback (std::shared_ptr< vsg3d::ChInstancedShapesVSG::ColorCallback > callback)
	Set a callback for the colors of granular bodies, replacing the colors from the visual models.

void	SetBodyVisibilityCallback (std::shared_ptr< vsg3d::ChInstancedShapesVSG::VisibilityCallback > callback)
	Set a callback for the visibility of granular bodies.

void	SetInactiveBodyVisibility (bool visible)
	Enable or disable drawing of inactive (fixed or sleeping) granular bodies (default: false).

void	SetBodyVisibility (bool visible)
	Show or hide the granular bodies (default: visible).

void	SetNetworkVisibility (bool visible)
	Show or hide the force network (default: hidden).

void	SetNetworkMode (vsg3d::ChForceNetworkVSG::Mode mode)
	Set the rendering mode of the force network (default: CYLINDERS).

void	SetNetworkColoring (NetworkColoring quantity)
	Set the quantity used to color the force network (default: NORMAL_FORCE).

void	SetNetworkColoring (NetworkColoring quantity, double vmin, double vmax)
	Set the quantity used to color the force network and the range of values mapped to colors. More...

void	SetNetworkColormap (ChColormap::Type type)
	Map network values to colors with the specified colormap (default: JET).

void	SetNetworkColorRamp (const ChColor &color_min, const ChColor &color_max)
	Map network values to colors with a linear ramp between two colors.

void	SetNetworkRadius (double radius)
	Set a constant radius for network segments drawn as cylinders (default: 0.1 times the median body size).

void	SetNetworkRadius (double rmin, double rmax, double fmin, double fmax)
	Scale the radius of network segments with the normal force, from rmin at fmin to rmax at fmax (clamped).

void	SetNetworkForceThreshold (double threshold, bool relative=false)
	Set the force threshold of the network (default: 0). More...

void	SetNetworkMaxHalfLength (double length)
	Set the maximum length of a network half-segment (default: the median body size).

void	SetNetworkAnchor (NetworkAnchor anchor)
	Set the start point of the network half-segments (default: BODY_CENTER).

void	SetNetworkCapacity (unsigned int num_segments)
	Set the maximum number of network half-segments (default: 12 times the number of bodies, at most 2e6). More...

void	SetRegionSlab (const ChVector3d &point, const ChVector3d &normal, double half_thickness)
	Restrict drawing to a slab of the specified half-thickness, centered at a point and normal to a direction. More...

void	SetRegionBox (const ChAABB &box)
	Restrict drawing to an axis-aligned box. More...

void	ClearRegion ()
	Remove the slab and box region filters.

void	SetRegionBodyFiltering (bool val)
	Apply the region filter to granular bodies as well as to the force network (default: false).

void	SetImageOutputDirectory (const std::string &dir)
	Set the output directory for images (default: "."). More...

void	SetImageOutput (bool val)
	Enable or disable writing of images (default: false). More...

void	SetImageOutputInterval (unsigned int interval)
	Write the image of every n-th rendered frame (default: 1).

void	SetImageOutputFormat (const std::string &extension)
	Set the image format, given as a file extension (default: "bmp"). More...

unsigned int	GetNumImages () const
	Get the number of images written (requested) so far.

unsigned int	GetNumNetworkSegments () const
	Get the number of network half-segments drawn at the current frame.

unsigned int	GetNumNetworkSegmentsDropped () const
	Get the number of network half-segments dropped at the current frame because they exceeded the capacity.

unsigned int	GetNumInstancedBodies () const
	Get the number of bodies drawn as instances.

double	GetMedianBodySize () const
	Get the median body size, as computed at initialization.

virtual void	OnAttach () override
	Allow this plugin to perform any operations when it is attached to a VSG visual system. More...

virtual void	OnInitialize () override
	Allow this plugin to perform any pre-initialization operations. More...

virtual void	OnBindAssets () override
	Allow this plugin to perform any pre-binding operations. More...

virtual void	OnRender () override
	Allow this plugin to perform any pre-rendering operations. More...

Public Member Functions inherited from chrono::vsg3d::ChVisualSystemVSGPlugin
void	AddEventHandler (std::shared_ptr< ChEventHandlerVSG > eh)
	TODO - remove AddEventHandler? A plugin can call the VSG system's AddEventHandler in its OnAttach() function. More...

ChVisualSystemVSG &	GetVisualSystemVSG () const
	Get a reference to the VSG visual system to which the plugin was attached.

Friends
class	MulticoreStatsVSG

class	MulticoreBodyVisibility

Additional Inherited Members
Protected Attributes inherited from chrono::vsg3d::ChVisualSystemVSGPlugin
std::vector< std::shared_ptr< ChEventHandlerVSG > >	m_evhandler
	list of all additional event handlers

ChVisualSystemVSG *	m_vsys
	associated VSG visual system

Member Enumeration Documentation

◆ NetworkAnchor

enum chrono::ChMulticoreVisualizationVSG::NetworkAnchor

strong

Start point of the two half-segments of a contact.

Enumerator
BODY_CENTER	center of mass of the body
SHAPE_CENTER	center of the contact shape (e.g., a component sphere of a clump)

◆ NetworkColoring

enum chrono::ChMulticoreVisualizationVSG::NetworkColoring

strong

Quantity used to color the force network.

Enumerator
NORMAL_FORCE	normal contact force
COULOMB_RATIO	tangential contact force over its Coulomb limit
TANGENTIAL_DISPLACEMENT	magnitude of the stored tangential displacement (SMC, MultiStep model)

Member Function Documentation

◆ EnableBodyInstancing()

void chrono::ChMulticoreVisualizationVSG::EnableBodyInstancing ( bool val )

inline

Enable or disable drawing of granular bodies as GPU instances (default: true).

If disabled, all bodies keep the default binding of the visual system. This function must be called before the visual system is initialized.

◆ OnAttach()

void chrono::ChMulticoreVisualizationVSG::OnAttach ( )

overridevirtual

Allow this plugin to perform any operations when it is attached to a VSG visual system.

The pointer m_vsys to the associated VSG visual system is set before calling OnAttach.

Reimplemented from chrono::vsg3d::ChVisualSystemVSGPlugin.

◆ OnBindAssets()

void chrono::ChMulticoreVisualizationVSG::OnBindAssets ( )

overridevirtual

Allow this plugin to perform any pre-binding operations.

This function is called during initialization of the associated VSG visual system, after the scene was created and before binding assets for the associated VSG visual system. A plugin can create and populate its own children in the VSG scene.

Reimplemented from chrono::vsg3d::ChVisualSystemVSGPlugin.

◆ OnInitialize()

void chrono::ChMulticoreVisualizationVSG::OnInitialize ( )

overridevirtual

Allow this plugin to perform any pre-initialization operations.

This function is called before the initialization of the associated VSG visual system.

Reimplemented from chrono::vsg3d::ChVisualSystemVSGPlugin.

◆ OnRender()

void chrono::ChMulticoreVisualizationVSG::OnRender ( )

overridevirtual

Allow this plugin to perform any pre-rendering operations.

This function is called before updating and rendering the associated VSG visual system.

Reimplemented from chrono::vsg3d::ChVisualSystemVSGPlugin.