Description

Class to hold all the Shader Binding Table parameters adnd manage the ray tracing pipeline, materials, ray gen programs.

#include <ChOptixPipeline.h>

Public Member Functions
	ChOptixPipeline (OptixDeviceContext context, unsigned int trace_depth, bool debug)
	Class constructor. More...

	~ChOptixPipeline ()
	Class destructor. Cleans up all data associated with the pipeline.

void	SpawnPipeline (PipelineType type)
	Create a new pipeline for a specific type of sensor. More...

unsigned int	GetBoxMaterial (std::vector< std::shared_ptr< ChVisualMaterial >> mat_list={})
	Creates a new box material. More...

unsigned int	GetSphereMaterial (std::vector< std::shared_ptr< ChVisualMaterial >> mat_list={})
	Creates a new sphere material. More...

unsigned int	GetCylinderMaterial (std::vector< std::shared_ptr< ChVisualMaterial >> mat_list={})
	Creates a new cylinder material. More...

unsigned int	GetRigidMeshMaterial (CUdeviceptr &d_vertices, CUdeviceptr &d_indices, std::shared_ptr< ChVisualShapeTriangleMesh > sphere_shape, std::vector< std::shared_ptr< ChVisualMaterial >> mat_list)
	Creates a new rigid material/mesh in optix. More...

unsigned int	GetDeformableMeshMaterial (CUdeviceptr &d_vertices, CUdeviceptr &d_indices, std::shared_ptr< ChVisualShapeTriangleMesh > sphere_shape, std::vector< std::shared_ptr< ChVisualMaterial >> mat_list)
	Creates a new deformable material/mesh in optix. More...

unsigned int	GetNVDBMaterial (std::vector< std::shared_ptr< ChVisualMaterial >> mat_list={})

void	UpdateDeformableMeshes ()
	Function to update all the deformable meshes in the optix scene based on their chrono meshes.

void	UpdateAllSBTs ()
	Function to update all the shader binding tables associated with this optix scene.

void	UpdateAllPipelines ()
	Function to update all the pipeline associated with this optix scene.

void	UpdateObjectVelocity ()
	Function to update all object velocities. More...

CUdeviceptr	GetMeshPool ()
	Function to access the mesh pool on the device. More...

CUdeviceptr	GetMaterialPool ()
	Function to access the material pool on the device. More...

void	AddBody (std::shared_ptr< ChBody > body)
	Add a new body to the optix scene based on a chrono body. More...

OptixPipeline &	GetPipeline (unsigned int id)
	OptixPipeline accessor function. More...

std::shared_ptr< OptixShaderBindingTable >	GetSBT (unsigned int id)
	SBT accessor. More...

std::shared_ptr< Record< RaygenParameters > >	GetRayGenRecord (unsigned int id)
	Raygen record accessor. More...

void	Cleanup ()
	Explicit cleanup function for freeing memory associated with this pipeline which should be freed before reconstructing the pipeline. More...

void	CleanMaterials ()
	Explicit material cleanup function for freeing all memory associate with materials in the optix scene.

void	UpdateBackground (Background b)
	Updates the background of the scene. More...

Constructor & Destructor Documentation

◆ ChOptixPipeline()

chrono::sensor::ChOptixPipeline::ChOptixPipeline	(	OptixDeviceContext	context,
		unsigned int	trace_depth,
		bool	debug
	)

Class constructor.

Creates a ChOptixPipeline that can manage sensors, materials, and SBT information

Parameters

context	The optix context to which this pipeline will be attached
trace_depth	the maximum trace depth for ray recusions in this pipeline (contant for all sensors in the pipeline)
debug	whether the pipeline should be run in debug mode. Only use for development as this slows down the ray tracing

Member Function Documentation

◆ AddBody()

void chrono::sensor::ChOptixPipeline::AddBody ( std::shared_ptr< ChBody > body )

inline

Add a new body to the optix scene based on a chrono body.

Parameters

body	the Chrono body from which to create an optix object

◆ Cleanup()

void chrono::sensor::ChOptixPipeline::Cleanup ( )

Explicit cleanup function for freeing memory associated with this pipeline which should be freed before reconstructing the pipeline.

Any reusable varaibles will not be cleaned up here

◆ GetBoxMaterial()

unsigned int chrono::sensor::ChOptixPipeline::GetBoxMaterial ( std::vector< std::shared_ptr< ChVisualMaterial >> mat_list = {} )

Creates a new box material.

Parameters

mat_list the chrono material from which to create an optix material

Returns: an id pointing to the material that was created

◆ GetCylinderMaterial()

unsigned int chrono::sensor::ChOptixPipeline::GetCylinderMaterial ( std::vector< std::shared_ptr< ChVisualMaterial >> mat_list = {} )

Creates a new cylinder material.

Parameters

mat_list the chrono material from which to create an optix material

Returns: an id pointing to the material that was created

◆ GetDeformableMeshMaterial()

unsigned int chrono::sensor::ChOptixPipeline::GetDeformableMeshMaterial	(	CUdeviceptr &	d_vertices,
		CUdeviceptr &	d_indices,
		std::shared_ptr< ChVisualShapeTriangleMesh >	sphere_shape,
		std::vector< std::shared_ptr< ChVisualMaterial >>	mat_list
	)

Creates a new deformable material/mesh in optix.

Parameters

[out]	d_vertices	a device pointer where the mesh's vertices will be stored
[out]	d_indices	a device pointer where the mesh's indices will be stored
[in]	sphere_shape	the chrono mesh to add to the optix scene
[in]	mat_list	the chrono materials from which to create an optix material

Returns: an id pointing to the material that was created

◆ GetMaterialPool()

CUdeviceptr chrono::sensor::ChOptixPipeline::GetMaterialPool ( )

Function to access the material pool on the device.

Returns: a device pointer to the collection of materials

◆ GetMeshPool()

CUdeviceptr chrono::sensor::ChOptixPipeline::GetMeshPool ( )

Function to access the mesh pool on the device.

Returns: a device pointer to the collection of meshes

◆ GetPipeline()

OptixPipeline & chrono::sensor::ChOptixPipeline::GetPipeline ( unsigned int id )

OptixPipeline accessor function.

Parameters

id	the id of the desired pipeline

Returns: a reference to the specified OptixPipeline

◆ GetRayGenRecord()

std::shared_ptr< Record< RaygenParameters > > chrono::sensor::ChOptixPipeline::GetRayGenRecord ( unsigned int id )

Raygen record accessor.

Parameters

id	the id of the pipline whose raygen record should be returned

Returns: a shared pointer to the specified raygen record

◆ GetRigidMeshMaterial()

unsigned int chrono::sensor::ChOptixPipeline::GetRigidMeshMaterial	(	CUdeviceptr &	d_vertices,
		CUdeviceptr &	d_indices,
		std::shared_ptr< ChVisualShapeTriangleMesh >	sphere_shape,
		std::vector< std::shared_ptr< ChVisualMaterial >>	mat_list
	)

Creates a new rigid material/mesh in optix.

Parameters

[out]	d_vertices	a device pointer where the mesh's vertices will be stored
[out]	d_indices	a device pointer where the mesh's indices will be stored
[in]	sphere_shape	the chrono mesh to add to the optix scene
[in]	mat_list	the chrono materials from which to create an optix material

Returns: an id pointing to the material that was created

◆ GetSBT()

std::shared_ptr< OptixShaderBindingTable > chrono::sensor::ChOptixPipeline::GetSBT ( unsigned int id )

SBT accessor.

Parameters

id	the id of the pipeline whose shader binding table should be returned

Returns: a shared pointer to the specified shader binding table

◆ GetSphereMaterial()

unsigned int chrono::sensor::ChOptixPipeline::GetSphereMaterial ( std::vector< std::shared_ptr< ChVisualMaterial >> mat_list = {} )

Creates a new sphere material.

Parameters

mat_list the chrono material from which to create an optix material

Returns: an id pointing to the material that was created

◆ SpawnPipeline()

void chrono::sensor::ChOptixPipeline::SpawnPipeline ( PipelineType type )

Create a new pipeline for a specific type of sensor.

Parameters

type	the type of sensor/ray tracing to add to the pipeline manager

◆ UpdateBackground()

void chrono::sensor::ChOptixPipeline::UpdateBackground ( Background b )

Updates the background of the scene.

Only used for cameras

Parameters

b	a new background to use for the scene. The old background will be removed

◆ UpdateObjectVelocity()

void chrono::sensor::ChOptixPipeline::UpdateObjectVelocity ( )

Function to update all object velocities.

Only required for sensors that measure velocity with is a dynamic property

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

/builds/uwsbel/chrono/src/chrono_sensor/optix/ChOptixPipeline.h
/builds/uwsbel/chrono/src/chrono_sensor/optix/ChOptixPipeline.cpp

Description

Public Member Functions

Constructor & Destructor Documentation

◆ ChOptixPipeline()

Member Function Documentation

◆ AddBody()

◆ Cleanup()

◆ GetBoxMaterial()

◆ GetCylinderMaterial()

◆ GetDeformableMeshMaterial()

◆ GetMaterialPool()

◆ GetMeshPool()

◆ GetPipeline()

◆ GetRayGenRecord()

◆ GetRigidMeshMaterial()

◆ GetSBT()

◆ GetSphereMaterial()

◆ SpawnPipeline()

◆ UpdateBackground()

◆ UpdateObjectVelocity()