Description

VSG-based Chrono run-time visualization system.

#include <ChVehicleVisualSystemVSG.h>

Inheritance diagram for chrono::vehicle::ChVehicleVisualSystemVSG:
Collaboration diagram for chrono::vehicle::ChVehicleVisualSystemVSG:

Public Member Functions

 ChVehicleVisualSystemVSG ()
 Construct a vehicle VSG visualization system.
 
virtual void Initialize () override
 Initialize the visualization system.
 
virtual void Advance (double step) override
 Advance the dynamics of the chase camera. More...
 
- Public Member Functions inherited from chrono::vsg3d::ChVisualSystemVSG
 ChVisualSystemVSG (int num_divs=24)
 Create the Chrono::VSG run-time visualization system. More...
 
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 specified physics item. More...
 
virtual bool Run () override
 Check if rendering is running. 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 RenderCOGFrames (double axis_length=1) override
 Render COG frames for all bodies in the system.
 
void SetCOGFrameScale (double axis_length)
 
void ToggleCOGFrameVisibility ()
 
void RenderJointFrames (double axis_length=1)
 Render joint frames for all links in the system.
 
void SetJointFrameScale (double axis_length)
 
void ToggleJointFrameVisibility ()
 
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 frame to be rendered and save it to the provided file. More...
 
void SetWindowSize (const ChVector2i &size)
 
void SetWindowSize (int width, int height)
 
void SetWindowPosition (const ChVector2i &pos)
 
void SetWindowPosition (int from_left, int from_top)
 
void SetWindowTitle (const std::string &title)
 
void SetClearColor (const ChColor &color)
 
void SetOutputScreen (int screenNum=0)
 
void SetFullscreen (bool yesno=false)
 
void SetUseSkyBox (bool yesno)
 
void SetWireFrameMode (bool mode=true)
 Draw the scene objects as wireframes.
 
void SetCameraVertical (CameraVerticalDir upDir)
 Set the camera up vector (default: Z).
 
virtual int AddCamera (const ChVector3d &pos, ChVector3d targ=VNULL) override
 Add a camera to the VSG scene. 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.
 
virtual ChVector3d GetCameraPosition () const override
 Get the location of the current (active) camera.
 
virtual ChVector3d GetCameraTarget () const override
 Get the target (look-at) point of the current (active) camera.
 
double GetRenderingFPS () const
 Get estimated FPS.
 
void SetVerbose (bool verbose)
 Enable/disable VSG information terminal output during initialization (default: false).
 
void SetShadows (bool yesno=false)
 Enable/disable rendering of shadows. More...
 
void SetLightIntensity (float intensity)
 
void SetLightDirection (double azimuth, double elevation)
 
void SetCameraAngleDeg (double angleDeg)
 
void SetGuiFontSize (float theSize)
 
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...
 
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 > model, 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.
 
size_t AddGuiComponent (std::shared_ptr< ChGuiComponentVSG > gc)
 Add a user-defined GUI component. More...
 
size_t AddGuiColorbar (const std::string &title, double min_val, double max_val)
 Add a colorbar as a GUI component. More...
 
std::shared_ptr< ChGuiComponentVSGGetGuiComponent (size_t id)
 Access the specified GUI component. More...
 
void SetGuiVisibility (bool show_gui)
 Set visibility for all GUI components (default: true).
 
void ToggleGuiVisibility ()
 Toggle GUI visibility for all GUI components.
 
bool IsGuiVisible () const
 Return boolean indicating whether or not GUI are visible.
 
void SetBaseGuiVisibility (bool show_gui)
 Set visibility for the default (base) GUI component (default: true).
 
void ToggleBaseGuiVisibility ()
 Toggle GUI visibility for the default (base) GUI component.
 
bool IsBaseGuiVisible () const
 Return boolean indicating whether or not the default (base) GUI is visible.
 
void AddEventHandler (std::shared_ptr< ChEventHandlerVSG > eh)
 Add a user-defined VSG event handler.
 
- Public Member Functions inherited from chrono::ChVisualSystem
virtual void AttachSystem (ChSystem *sys)
 Attach a Chrono system to this visualization system.
 
virtual void UnbindItem (std::shared_ptr< ChPhysicsItem > item)
 Remove the visual assets for the specified physics item from this visualization system.
 
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 void RenderFrame (const ChFrame<> &frame, double axis_length=1)
 Render the specified reference frame.
 
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.
 
virtual void EnableModalAnalysis (bool val)
 Enable modal analysis visualization. More...
 
virtual void SetModalModeNumber (int val)
 Set the mode to be shown (only if some ChModalAssembly is found).
 
virtual void SetModalAmplitude (double val)
 Set the amplitude of the shown mode (only if some ChModalAssembly is found).
 
virtual void SetModalSpeed (double val)
 Set the speed of the shown mode (only if some ChModalAssembly is found).
 
virtual void SetModalModesMax (int maxModes)
 Set the maximum number of modes selectable (only if some ChModalAssembly is found).
 
std::vector< ChSystem * > GetSystems () const
 Get the list of associated Chrono systems.
 
ChSystemGetSystem (int i) const
 Get the specified associated Chrono system.
 

Protected Member Functions

virtual void AppendGUIStats ()
 
- Protected Member Functions inherited from chrono::vsg3d::ChVisualSystemVSG
virtual void OnSetup (ChSystem *sys) override
 Perform necessary setup operations at the beginning of a time step.
 
void UpdateFromMBS ()
 
void exportScreenImage ()
 export screen image as file (png, bmp, tga, jpg)
 
- Protected Member Functions inherited from chrono::ChVisualSystem
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

ChInteractiveDriverVSGm_driver
 
- Protected Attributes inherited from chrono::vsg3d::ChVisualSystemVSG
int m_screen_num = -1
 
bool m_use_fullscreen = false
 
bool m_use_shadows = false
 
vsg::ref_ptr< vsg::Window > m_window
 
vsg::ref_ptr< vsg::Viewer > m_viewer
 high-level VSG rendering manager
 
vsg::ref_ptr< vsg::RenderGraph > m_renderGraph
 
bool m_show_gui
 flag to toggle global GUI visibility
 
bool m_show_base_gui
 flag to toggle base GUI visibility
 
size_t m_camera_gui
 identifier for the camera info GUI component
 
std::shared_ptr< ChGuiComponentVSGm_base_gui
 default (base) GUI component
 
std::vector< std::shared_ptr< ChGuiComponentVSG > > m_gui
 list of all additional GUI components
 
std::vector< std::shared_ptr< ChEventHandlerVSG > > m_evhandler
 list of all additional event handlers
 
vsg::dvec3 m_vsg_cameraEye = vsg::dvec3(-10.0, 0.0, 0.0)
 
vsg::dvec3 m_vsg_cameraTarget = vsg::dvec3(0.0, 0.0, 0.0)
 
vsg::ref_ptr< vsg::LookAt > m_lookAt
 
vsg::ref_ptr< vsg::Camera > m_vsg_camera
 
bool m_camera_trackball
 create a camera trackball control?
 
vsg::ref_ptr< vsg::Group > m_scene
 
vsg::ref_ptr< vsg::Group > m_bodyScene
 
vsg::ref_ptr< vsg::Group > m_linkScene
 
vsg::ref_ptr< vsg::Group > m_particleScene
 
vsg::ref_ptr< vsg::Group > m_deformableScene
 
vsg::ref_ptr< vsg::Group > m_decoScene
 
vsg::ref_ptr< vsg::Switch > m_cogFrameScene
 
vsg::ref_ptr< vsg::Switch > m_jointFrameScene
 
vsg::ref_ptr< vsg::Options > m_options
 I/O related options for vsg::read/write calls.
 
vsg::ref_ptr< vsg::Builder > m_vsgBuilder
 
vsg::ref_ptr< ShapeBuilder > m_shapeBuilder
 
bool m_verbose
 VSG terminal initialization output.
 
bool m_wireframe
 draw as wireframes
 
bool m_capture_image
 export current frame to image file
 
std::string m_imageFilename
 name of file to export current frame
 
std::vector< DeformableMeshm_def_meshes
 
std::vector< ParticleCloudm_clouds
 
- Protected Attributes inherited from chrono::ChVisualSystem
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
 

Friends

class ChInteractiveDriverVSG
 
class ChVehicleGuiComponentVSG
 
class ChVehicleKeyboardHandlerVSG
 

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...
 

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/ChVehicleVisualSystemVSG.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/ChVehicleVisualSystemVSG.cpp