Description

Base class for a Chrono run-time visualization system.

#include <ChVisualSystem.h>

Inheritance diagram for chrono::ChVisualSystem:

[legend]

Collaboration diagram for chrono::ChVisualSystem:

Public Types
enum	Type { Type::IRRLICHT, Type::VSG, Type::OptiX, NONE }
	Supported run-time visualization systems. More...

Public Member Functions
void	SetVerbose (bool verbose)
	Enable/disable information terminal output during initialization (default: false).

virtual void	AttachSystem (ChSystem *sys)
	Attach a Chrono system to this visualization system.

virtual void	Initialize ()
	Initialize the visualization system. More...

virtual void	BindAll ()
	Process all visual assets in the associated Chrono systems. More...

virtual void	BindItem (std::shared_ptr< ChPhysicsItem > item)
	Process the visual assets for the specified physics item. More...

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

virtual int	AddCamera (const ChVector3d &pos, ChVector3d targ=VNULL)
	Add a camera to the 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))
	Add a grid with specified parameters in the x-y plane of the given frame. More...

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

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

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

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

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

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

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

virtual bool	Run ()
	Run the visualization system. More...

virtual void	Quit ()
	Terminate the visualization system.

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

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

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

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

virtual void	EndScene ()
	Perform any necessary operations ar the end of each rendering frame.

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

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

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

double	GetRTF () const
	Return the overall real time factor. More...

double	GetSimulationRTF (unsigned int i) const
	Return the simulation real-time factor (simulation time / simulated time) for the specified associated system. More...

std::vector< double >	GetSimulationRTFs () const
	Return the simulation real-time factor (simulation time / simulated time) for all associated system. More...

unsigned int	GetNumBodies () const
	Get the number of bodies (across all visualized systems). More...

unsigned int	GetNumLinks () const
	Get the number of links (across all visualized systems). More...

unsigned int	GetNumMeshes () const
	Get the number of meshes (across all visualized systems).

unsigned int	GetNumShafts () const
	Get the number of shafts (across all visualized systems).

unsigned int	GetNumStates () const
	Get the number of coordinates at the velocity level (across all visualized systems).

unsigned int	GetNumConstraints () const
	Get the number of scalar constraints (across all visualized systems).

unsigned int	GetNumContacts () const
	Gets the number of contacts.

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

Protected Member Functions
virtual void	OnSetup (ChSystem *sys)
	Perform any necessary setup operations at the beginning of a time step. More...

virtual void	OnUpdate (ChSystem *sys)
	Perform any necessary update operations at the end of a time step. More...

virtual void	OnClear (ChSystem *sys)
	Remove all visualization objects from this visualization system. More...

Protected Attributes
bool	m_verbose
	terminal output

bool	m_initialized
	visual system initialized

ChTimer	m_timer
	timer for evaluating RTF

double	m_rtf
	overall real time factor

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

Friends
class	ChSystem

Member Enumeration Documentation

◆ Type

enum chrono::ChVisualSystem::Type

strong

Supported run-time visualization systems.

Enumerator
IRRLICHT	Irrlicht.
VSG	Vulkan Scene Graph.
OptiX	OptiX.

Member Function Documentation

◆ AddCamera()

virtual int chrono::ChVisualSystem::AddCamera	(	const ChVector3d &	pos,
		ChVector3d	targ = `VNULL`
	)

inlinevirtual

Add a camera to the 3D scene.

Return an ID which can be used later to modify camera location and/or target points. A concrete visualization system may or may not support multiuple cameras.

Reimplemented in chrono::vsg3d::ChVisualSystemVSG, and chrono::irrlicht::ChVisualSystemIrrlicht.

◆ AddGrid()

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

inlinevirtual

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 in chrono::vsg3d::ChVisualSystemVSG, and chrono::irrlicht::ChVisualSystemIrrlicht.

◆ AddVisualModel() [1/2]

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

inlinevirtual

Add a visual model not associated with a physical item.

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

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::vsg3d::ChVisualSystemVSG.

◆ AddVisualModel() [2/2]

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

inlinevirtual

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 in chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::vsg3d::ChVisualSystemVSG.

◆ BindAll()

virtual void chrono::ChVisualSystem::BindAll ( )

inlinevirtual

Process all visual assets in the associated Chrono systems.

This function is called by default for a Chrono system attached to this visualization system during initialization, but can also be called later if further modifications to visualization assets occur.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::vsg3d::ChVisualSystemVSG.

◆ BindItem()

virtual void chrono::ChVisualSystem::BindItem ( std::shared_ptr< ChPhysicsItem > item )

inlinevirtual

Process the visual assets for the specified 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 visualization system was attached to the Chrono system.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::vsg3d::ChVisualSystemVSG.

◆ GetNumBodies()

unsigned int chrono::ChVisualSystem::GetNumBodies ( ) const

Get the number of bodies (across all visualized systems).

The reported number represents only active bodies, excluding sleeping or fixed.

◆ GetNumLinks()

unsigned int chrono::ChVisualSystem::GetNumLinks ( ) const

Get the number of links (across all visualized systems).

The reported number represents only active bodies, excluding sleeping or fixed.

◆ GetRTF()

double chrono::ChVisualSystem::GetRTF ( ) const

inline

Return the overall real time factor.

This value represents the ratio between the wall clock time elapsed between two render frames and the duration by which simulation was advanced in this interval.

◆ GetSimulationRTF()

double chrono::ChVisualSystem::GetSimulationRTF ( unsigned int i ) const

Return the simulation real-time factor (simulation time / simulated time) for the specified associated system.

See ChSystem::GetRTF.

◆ GetSimulationRTFs()

std::vector< double > chrono::ChVisualSystem::GetSimulationRTFs ( ) const

Return the simulation real-time factor (simulation time / simulated time) for all associated system.

See ChSystem::GetRTF.

◆ GetSimulationTime()

double chrono::ChVisualSystem::GetSimulationTime ( ) const

Return the current simulated time.

The default value returned by this base class is the time from the first associated system (if any).

◆ Initialize()

virtual void chrono::ChVisualSystem::Initialize ( )

inlinevirtual

Initialize the visualization system.

This call must trigger a parsing of the associated Chrono systems to process all visual models. A derived class must ensure that this function is called only once (use the m_initialized flag).

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::modal::ChModalVisualSystemIrrlicht< ScalarType >, chrono::vehicle::ChVehicleVisualSystemIrrlicht, chrono::vsg3d::ChVisualSystemVSG, chrono::vehicle::ChTrackTestRigVisualSystemIRR, chrono::vehicle::ChVehicleVisualSystemVSG, chrono::vehicle::ChSuspensionTestRigVisualSystemIRR, chrono::vehicle::ChSuspensionTestRigVisualSystemVSG, and chrono::vehicle::ChTrackTestRigVisualSystemVSG.

◆ OnClear()

virtual void chrono::ChVisualSystem::OnClear ( ChSystem * sys )

inlineprotectedvirtual

Remove all visualization objects from this visualization system.

Called by an associated ChSystem.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht.

◆ OnSetup()

virtual void chrono::ChVisualSystem::OnSetup ( ChSystem * sys )

inlineprotectedvirtual

Perform any necessary setup operations at the beginning of a time step.

Called by an associated ChSystem.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::vsg3d::ChVisualSystemVSG.

◆ OnUpdate()

virtual void chrono::ChVisualSystem::OnUpdate ( ChSystem * sys )

inlineprotectedvirtual

Perform any necessary update operations at the end of a time step.

Called by an associated ChSystem.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht.

◆ Render()

void chrono::ChVisualSystem::Render ( )

virtual

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

This function is typically called inside a loop such as

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

The default implementation only updates the overall RTF.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::modal::ChModalVisualSystemIrrlicht< ScalarType >, chrono::vsg3d::ChVisualSystemVSG, chrono::vehicle::ChVehicleVisualSystemIrrlicht, and chrono::vehicle::ChTrackTestRigVisualSystemIRR.

◆ Run()

virtual bool chrono::ChVisualSystem::Run ( )

inlinevirtual

Run the visualization system.

Returns false if the system must shut down.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::vsg3d::ChVisualSystemVSG.

◆ WriteImageToFile()

virtual void chrono::ChVisualSystem::WriteImageToFile ( const std::string & filename )

inlinevirtual

Create a snapshot of the last rendered frame and save it to the provided file.

The file extension determines the image format.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::vsg3d::ChVisualSystemVSG.

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

/builds/uwsbel/chrono/src/chrono/assets/ChVisualSystem.h
/builds/uwsbel/chrono/src/chrono/assets/ChVisualSystem.cpp

Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Enumeration Documentation

◆ Type

Member Function Documentation

◆ AddCamera()

◆ AddGrid()

◆ AddVisualModel() [1/2]

◆ AddVisualModel() [2/2]

◆ BindAll()

◆ BindItem()

◆ GetNumBodies()

◆ GetNumLinks()

◆ GetRTF()

◆ GetSimulationRTF()

◆ GetSimulationRTFs()

◆ GetSimulationTime()

◆ Initialize()

◆ OnClear()

◆ OnSetup()

◆ OnUpdate()

◆ Render()

◆ Run()

◆ WriteImageToFile()