chrono::vehicle::ChVehicleVisualSystemIrrlicht Class Reference

Description

Customized Chrono Irrlicht visualization for vehicle simulations.

This class implements an Irrlicht-based visualization wrapper for vehicles. This class extends ChVisualSystemIrrlicht and provides the following functionality:

• rendering of the entire Irrlicht scene
• custom chase-camera (which can be controlled with keyboard)
• optional rendering of links, springs, stats, etc.

#include <ChVehicleVisualSystemIrrlicht.h>

Inheritance diagram for chrono::vehicle::ChVehicleVisualSystemIrrlicht:

Collaboration diagram for chrono::vehicle::ChVehicleVisualSystemIrrlicht:

Public Member Functions
	ChVehicleVisualSystemIrrlicht ()
	Construct a vehicle Irrlicht visualization system.
void	SetJoystickConfigFile (const std::string &filename)
	Set joystick JSON configuration file name.
void	SetJoystickDebug (bool val)
	Enable/disable joystick debugging output (default: false).
void	SetButtonCallback (int button, void(*cbfun)())
	Feed button number and callback function to implement a custom callback.
virtual void	AttachVehicle (vehicle::ChVehicle *vehicle) override
	Attach a vehicle to this Irrlicht vehicle visualization system.
void	SetHUDLocation (int HUD_x, int HUD_y)
	Set the upper-left point of HUD elements.
void	EnableStats (bool val)
	Turn on/off rendering of stats (HUD).
void	EnableSound (bool sound)
	Turn on/off Irrklang sound generation. More...
virtual void	Initialize () override
	Initialize the visualization system.
virtual void	Render () override
	Render the Irrlicht scene and additional visual elements.
virtual void	Advance (double step) override
	Advance the dynamics of the chase camera. More...
Public Member Functions inherited from chrono::irrlicht::ChVisualSystemIrrlicht
	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	EnableFullscreen (bool val)
	Enable/disable full-screen mode (default false). More...
void	EnableShadows (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).
void	AddLogo (const std::string &logo_filename=GetChronoDataFile("logo_chrono_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)
void	AddGuiColorbar (const std::string &title, const ChVector2d &range, ChColormap::Type type, bool bimodal=false, const ChVector2i &pos=ChVector2i(740, 20), const ChVector2i &size=ChVector2i(30, 300))
	Add a colorbar widget. More...
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...
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	ShowConvergencePlot (bool val)
	Show the convergence plot (available only for iterative solvers).
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.
ChIrrGUI *	GetGUI ()
	Return the Irrlicht ChIrrGUI object.
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)
	Clean the canvas at the beginning of each rendering frame.
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.
std::vector< std::shared_ptr< RTSCamera > >	GetCameras () const
	Get list of cameras defined for the scene.
Public Member Functions inherited from chrono::ChVisualSystem
void	SetVerbose (bool verbose)
	Enable/disable information terminal output during initialization (default: false).
bool	IsInitialized () const
	Indicate whether the visual system was initialized or not.
void	SetBackgroundColor (const ChColor &color)
	Set window background color.
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)
std::vector< ChSystem * > &	GetSystems ()
	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.
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	renderOtherGraphics ()
	Render additional graphics.
virtual void	renderOtherStats (int left, int top)
	Render additional vehicle information.
void	renderLinGauge (const std::string &msg, double factor, bool sym, int xpos, int ypos, int length=120, int height=15)
void	renderTextBox (const std::string &msg, int xpos, int ypos, int length=120, int height=15, irr::video::SColor color=irr::video::SColor(255, 20, 20, 20))
void	renderStats ()
Protected Member Functions inherited from chrono::irrlicht::ChVisualSystemIrrlicht
void	CreateIrrNodes (const ChAssembly *assembly, std::unordered_set< const ChAssembly * > &trace)
	Create the ChIrrNodes for all visual model instances in the specified assembly.
void	CreateIrrNode (std::shared_ptr< ChPhysicsItem > item)
	Create the ChIrrNodeModel for the visual model instance of the specified physics item.
void	PopulateIrrNode (irr::scene::ISceneNode *node, std::shared_ptr< ChVisualModel > model, const ChFrame<> &parent_frame)
	Populate the ChIrrNodeModel for the visual model instance of the specified physics item.
void	PurgeIrrNodes ()
	Purge Irrlicht nodes associated with a deleted physics item or with a deleted visual model.
void	AddShadowToIrrNode (irr::scene::ISceneNode *node)
	Add shadow to an Irrlicht node.
virtual void	OnSetup (ChSystem *sys) override
	Perform necessary setup operations at the beginning of a time step.
virtual void	OnUpdate (ChSystem *sys) override
	Perform necessary update operations at the end of a time step.
virtual void	OnClear (ChSystem *sys) override
	Remove all visualization objects from this visualization system.

Protected Attributes
ChChaseCameraEventReceiver *	m_camera_control
	event receiver for chase-cam control
ChVehicleEventReceiver *	m_vehicle_control
	event receiver for vehicle control
ChJoystickIRR *	m_joystick
	joystick setup
bool	m_renderStats
	turn on/off rendering of stats
int	m_HUD_x
	x-coordinate of upper-left corner of HUD elements
int	m_HUD_y
	y-coordinate of upper-left corner of HUD elements
Protected Attributes inherited from chrono::irrlicht::ChVisualSystemIrrlicht
std::vector< std::shared_ptr< RTSCamera > >	m_cameras
	list of cameras defined for the scene
std::vector< GridData >	m_grids
	list of visualization grids
std::unordered_map< ChPhysicsItem *, std::shared_ptr< ChIrrNodeModel > >	m_nodes
	scene nodes for physics items
std::vector< std::shared_ptr< ChIrrNodeVisual > >	m_vis_nodes
	scene nodes for vis-only models
bool	m_yup
	use Y-up if true, Z-up if false
std::string	m_win_title
	window title
irr::SIrrlichtCreationParameters	m_device_params
	Irrlicht device parameters.
irr::IrrlichtDevice *	m_device
	Irrlicht visualization device.
irr::gui::IGUIFont *	m_monospace_font
	Fixed-size font.
irr::scene::ISceneNode *	m_container
	Irrlicht scene container.
std::unique_ptr< ChIrrGUI >	m_gui
	associated Irrlicht GUI and event receiver
std::unique_ptr< EffectHandler >	m_effect_handler
	effect handler for shadow maps
bool	m_use_effects
	flag to enable/disable effects
bool	m_utility_flag = false
	utility flag that may be accessed from outside
irr::u32	m_quality
	JPEG quality level (for saved snapshots)
irr::scene::IAnimatedMesh *	sphereMesh
irr::scene::IMesh *	cubeMesh
irr::scene::IMesh *	cylinderMesh
irr::scene::IMesh *	capsuleMesh
irr::scene::IMesh *	coneMesh
bool	m_draw_colorbar
std::string	m_colorbar_title
ChVector2d	m_colorbar_range
ChColormap::Type	m_colormap_type
std::unique_ptr< ChColormap >	m_colormap
ChVector2i	m_colorbar_pos
ChVector2i	m_colorbar_size
bool	m_colormap_bimodal
Protected Attributes inherited from chrono::ChVisualSystem
bool	m_verbose
	terminal output
bool	m_initialized
	visual system initialized
ChColor	m_background_color
	window background color
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	ChChaseCameraEventReceiver
class	ChVehicleEventReceiver

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

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

• /builds/uwsbel/chrono/src/chrono_vehicle/visualization/ChVehicleVisualSystemIrrlicht.h
• /builds/uwsbel/chrono/src/chrono_vehicle/visualization/ChVehicleVisualSystemIrrlicht.cpp