Description

OpenGL-based Chrono run-time visualization system.

#include <ChVisualSystemOpenGL.h>

Inheritance diagram for chrono::opengl::ChVisualSystemOpenGL:

Collaboration diagram for chrono::opengl::ChVisualSystemOpenGL:

Public Member Functions
void	SetWindowSize (unsigned int width, unsigned int height)
	Set the window size (default 640x480). More...

void	SetWindowTitle (const std::string &win_title)
	Set the window title (default ""). More...

void	SetCameraVertical (CameraVerticalDir vert)
	Set camera vertical direction (default CameraVerticalDir::Z).

void	SetCameraVertical (const ChVector3d &up)
	Set camera vertical direction (default (0,0,1)).

void	SetCameraProperties (float scale=0.5f, float near_clip_dist=0.1f, float far_clip_dist=1000.0f)
	Set camera scale and clip distances. More...

void	SetRenderMode (RenderMode mode)
	Set render mode for solid objects (default: SOLID)

void	SetParticleRenderMode (RenderMode mode, float radius)
	Set render mode for particle systems (default: POINTS) and size.

virtual void	AttachSystem (ChSystem *sys) override
	Attach a Chrono system to the run-time visualization system. More...

void	AttachStatsRenderer (std::shared_ptr< ChOpenGLStats > renderer)
	Attach a user-defined text renderer for stats overlay. More...

void	EnableStats (bool state)
	Enable/disable stats overlay display (default: true).

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

virtual int	AddCamera (const ChVector3d &pos, ChVector3d targ=VNULL) override
	Add a camera to the 3d scene.

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	AddUserEventReceiver (std::shared_ptr< ChOpenGLEventCB > receiver)
	Attach a custom event receiver to the application.

void	AttachParticleSelector (std::shared_ptr< ChOpenGLParticleCB > selector)
	Attach a custom particle rendering selector.

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

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

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

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

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

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 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 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 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.

Static Public Member Functions
static void	WrapRenderStep (void *stepFunction)
	Callback wrapper for steps of the render loop. Works with Emscripten.

Friends
class	ChOpenGLViewer

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_verbose
	terminal output

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

◆ AttachStatsRenderer()

void chrono::opengl::ChVisualSystemOpenGL::AttachStatsRenderer ( std::shared_ptr< ChOpenGLStats > renderer )

Attach a user-defined text renderer for stats overlay.

This overwrites the default stats overlay renderer.

◆ AttachSystem()

void chrono::opengl::ChVisualSystemOpenGL::AttachSystem ( ChSystem * sys )

overridevirtual

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

ChVisualSystemOpenGL allows simultaneous rendering of multiple Chrono systems.

Reimplemented from chrono::ChVisualSystem.

◆ BindAll()

void chrono::opengl::ChVisualSystemOpenGL::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::opengl::ChVisualSystemOpenGL::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.

◆ Initialize()

void chrono::opengl::ChVisualSystemOpenGL::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::ChVehicleVisualSystemOpenGL.

◆ Render()

void chrono::opengl::ChVisualSystemOpenGL::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.

◆ Run()

bool chrono::opengl::ChVisualSystemOpenGL::Run ( )

overridevirtual

Run the Irrlicht device.

Returns false if the device wants to be deleted.

Implements chrono::ChVisualSystem.

◆ SetCameraProperties()

void chrono::opengl::ChVisualSystemOpenGL::SetCameraProperties	(	float	scale = `0.5f`,
		float	near_clip_dist = `0.1f`,
		float	far_clip_dist = `1000.0f`
	)

Set camera scale and clip distances.

Parameters

scale	zoom level (default 0.5)
near_clip_dist	near clipping distance (default 0.1)
far_clip_dist	far clipping distance (default 1000)

◆ SetWindowSize()

void chrono::opengl::ChVisualSystemOpenGL::SetWindowSize	(	unsigned int	width,
		unsigned int	height
	)

Set the window size (default 640x480).

Must be called before Initialize().

◆ SetWindowTitle()

void chrono::opengl::ChVisualSystemOpenGL::SetWindowTitle ( const std::string & win_title )

Set the window title (default "").

Must be called before Initialize().

◆ WriteImageToFile()

void chrono::opengl::ChVisualSystemOpenGL::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_opengl/ChVisualSystemOpenGL.h
/builds/uwsbel/chrono/src/chrono_opengl/ChVisualSystemOpenGL.cpp

Description

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Member Function Documentation

◆ AttachStatsRenderer()

◆ AttachSystem()

◆ BindAll()

◆ BindItem()

◆ Initialize()

◆ Render()

◆ Run()

◆ SetCameraProperties()

◆ SetWindowSize()

◆ SetWindowTitle()

◆ WriteImageToFile()