Description

VSG-based Chrono run-time visualization system.

#include <ChVisualSystemVSG.h>

Inheritance diagram for chrono::vsg3d::ChVisualSystemVSG:

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Collaboration diagram for chrono::vsg3d::ChVisualSystemVSG:

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Classes
struct	DeformableMesh
	Data related to deformable meshes (FEA and SCM). More...

struct	ParticleCloud
	Data for particle clouds. More...

Public Member Functions
	ChVisualSystemVSG (int num_divs=24)
	Create the Chrono::VSG run-time visualization system. More...

void	AttachPlugin (std::shared_ptr< ChVisualSystemVSGPlugin > plugin)
	Attach a custom plugin. More...

virtual void	Initialize () override
	Initialize the visualization system.

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

void	SetBodyObjVisibility (bool vis, int tag=-1)
	Set the visibility of bodies with specified tag. More...

void	SetLinkObjVisibility (bool vis, int tag=-1)
	Set the visibility of links with specified tag. More...

void	SetFeaMeshVisibility (bool vis, int tag=-1)
	Set the visibility of FEA meshes with specified tag. More...

void	SetSpringVisibility (bool vis, int tag=-1)
	Set the visibility of springs with specified tag. More...

void	SetSegmentVisibility (bool vis, int tag=-1)
	Set the visibility of segments with specified tag. More...

void	SetParticleCloudVisibility (bool vis, int tag=-1)
	Set the visibility of particle clouds with specified tag to the provided value. More...

void	SetCollisionVisibility (bool vis, int tag=-1)
	— Collision and contact More...

void	SetCollisionColor (const ChColor &color)
	Set color for rendering wireframe collision shapes.

void	SetContactNormalsVisibility (bool vis, int tag=-1)

void	SetContactNormalsColor (const ChColor &color)

void	SetContactNormalsScale (double length)

void	SetContactForcesVisibility (bool vis, int tag=-1)

void	SetContactForcesColor (const ChColor &color)

void	SetContactForcesScale (double length)

void	SetAbsFrameScale (double axis_length)
	Render the absolute (global) reference frame.

void	ToggleAbsFrameVisibility ()

void	RenderRefFrames (double axis_length=1)
	Render ref frames for all objects in the system.

void	SetRefFrameScale (double axis_length)

void	ToggleRefFrameVisibility ()

void	SetCOMFrameScale (double axis_length)
	Render COM frames for all bodies in the system.

void	ToggleCOMFrameVisibility ()

void	ToggleCOMSymbolVisibility ()
	Render COM symbol for all bodies in the system.

void	SetJointFrameScale (double axis_length)
	Render joint frames for all links in the system.

void	ToggleJointFrameVisibility ()

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	EnableFullscreen (bool val=true)
	Enable full-screen mode (default: false). More...

void	EnableSkyBox (bool val=true)
	Enable/disable use of a sky box background (default: false). More...

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	EnableShadows (bool val=true)
	Enable/disable rendering of shadows (default: false). More...

bool	AreShadowsEnabled () const
	Indicate whether or not shadows are enabled.

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< ChGuiComponentVSG >	GetGuiComponent (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
	Indicate whether or not GUI is 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
	Indicate whether or not the default (base) GUI is visible.

void	HideLogo ()
	Disable showing the Chrono logo (default: true).

void	SetLogoHeight (float height)
	Set logo display height (in pixels, default: 64).

void	SetLogoPosition (const ChVector2f &position)
	Set logo position (default: [10,10]). More...

bool	IsLogoVisible () const
	Indicate whether or not logo is visible.

void	AddEventHandler (std::shared_ptr< ChEventHandlerVSG > eh)
	Add a user-defined VSG event handler.

Public Member Functions inherited from chrono::ChVisualSystem
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	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 void	RenderCOGFrames (double axis_length=1)
	Render COG frames for all bodies in the system.

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.

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

void	Update ()
	Update all VSG scenes with the current state of the associated Chrono systems.

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
int	m_screen_num = -1

bool	m_use_fullscreen

bool	m_use_shadows

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_logo

float	m_logo_height

ChVector2f	m_logo_pos

std::string	m_logo_filename

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< ChGuiComponentVSG >	m_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::Switch >	m_objScene

vsg::ref_ptr< vsg::Switch >	m_pointpointScene

vsg::ref_ptr< vsg::Switch >	m_deformableScene

vsg::ref_ptr< vsg::Switch >	m_particleScene

vsg::ref_ptr< vsg::Switch >	m_collisionScene

vsg::ref_ptr< vsg::Switch >	m_contactNormalsScene

vsg::ref_ptr< vsg::Switch >	m_contactForcesScene

vsg::ref_ptr< vsg::Switch >	m_absFrameScene

vsg::ref_ptr< vsg::Switch >	m_refFrameScene

vsg::ref_ptr< vsg::Switch >	m_comFrameScene

vsg::ref_ptr< vsg::Switch >	m_comSymbolScene

vsg::ref_ptr< vsg::Switch >	m_jointFrameScene

vsg::ref_ptr< vsg::Group >	m_decoScene

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_capture_image
	export current frame to image file

std::string	m_imageFilename
	name of file to export current frame

std::vector< DeformableMesh >	m_def_meshes

std::vector< ParticleCloud >	m_clouds

bool	m_show_visibility_controls
	enable/disable global visibility controls

std::vector< std::shared_ptr< ChVisualSystemVSGPlugin > >	m_plugins

Protected Attributes inherited from chrono::ChVisualSystem
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	ChMainGuiVSG

class	ChBaseGuiComponentVSG

class	ChBaseEventHandlerVSG

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

Constructor & Destructor Documentation

◆ ChVisualSystemVSG()

chrono::vsg3d::ChVisualSystemVSG::ChVisualSystemVSG ( int num_divs = 24 )

Create the Chrono::VSG run-time visualization system.

Optionally, specify the resolution used for tesselation of primitive shapes, by providing the number of divisions used to discretize a full circle. The default value of 24 corresponds to 15-degree divisions.

Member Function Documentation

◆ AddCamera()

int chrono::vsg3d::ChVisualSystemVSG::AddCamera	(	const ChVector3d &	pos,
		ChVector3d	targ = `VNULL`
	)

overridevirtual

Add a camera to the VSG scene.

Note that currently only one camera is supported.

Reimplemented from chrono::ChVisualSystem.

◆ AddGrid()

void chrono::vsg3d::ChVisualSystemVSG::AddGrid	(	double	x_step,
		double	y_step,
		int	nx,
		int	ny,
		ChCoordsys<>	pos = `CSYSNORM`,
		ChColor	col = `ChColor(0.1f, 0.1f, 0.1f)`
	)

overridevirtual

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 from chrono::ChVisualSystem.

◆ AddGuiColorbar()

size_t chrono::vsg3d::ChVisualSystemVSG::AddGuiColorbar	(	const std::string &	title,
		double	min_val,
		double	max_val
	)

Add a colorbar as a GUI component.

Returns the index of the new component. This function must be called before Initialize().

◆ AddGuiComponent()

size_t chrono::vsg3d::ChVisualSystemVSG::AddGuiComponent ( std::shared_ptr< ChGuiComponentVSG > gc )

Add a user-defined GUI component.

Returns the index of the new component. This function must be called before Initialize().

◆ AddVisualModel() [1/2]

int chrono::vsg3d::ChVisualSystemVSG::AddVisualModel	(	std::shared_ptr< ChVisualModel >	model,
		const ChFrame<> &	frame
	)

overridevirtual

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 from chrono::ChVisualSystem.

◆ AddVisualModel() [2/2]

int chrono::vsg3d::ChVisualSystemVSG::AddVisualModel	(	std::shared_ptr< ChVisualShape >	shape,
		const ChFrame<> &	frame
	)

overridevirtual

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 from chrono::ChVisualSystem.

◆ AttachPlugin()

void chrono::vsg3d::ChVisualSystemVSG::AttachPlugin ( std::shared_ptr< ChVisualSystemVSGPlugin > plugin )

Attach a custom plugin.

Plugins offer a mechanism for extending a base VSG visual system with custom functionality; e.g., for rendering, controlling, and displaying information for specific types of Chrono systems. An arbitrary number of plugins can be attached to a VSG visual system. Attaching plugins muct be done before initialization of the VSG system.

◆ BindAll()

void chrono::vsg3d::ChVisualSystemVSG::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::vsg3d::ChVisualSystemVSG::BindItem ( std::shared_ptr< ChPhysicsItem > item )

overridevirtual

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 call to Initialize().

Reimplemented from chrono::ChVisualSystem.

◆ EnableFullscreen()

void chrono::vsg3d::ChVisualSystemVSG::EnableFullscreen ( bool val = true )

Enable full-screen mode (default: false).

This function must be called before Initialize().

◆ EnableShadows()

void chrono::vsg3d::ChVisualSystemVSG::EnableShadows ( bool val = true )

inline

Enable/disable rendering of shadows (default: false).

This function must be called before Initialize().

◆ EnableSkyBox()

void chrono::vsg3d::ChVisualSystemVSG::EnableSkyBox ( bool val = true )

Enable/disable use of a sky box background (default: false).

This function must be called before Initialize().

◆ GetGuiComponent()

std::shared_ptr< ChGuiComponentVSG > chrono::vsg3d::ChVisualSystemVSG::GetGuiComponent ( size_t id )

Access the specified GUI component.

Identify the GUI component with the index returned by AddGuiComponent.

◆ Render()

void chrono::vsg3d::ChVisualSystemVSG::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()) {...}

Reimplemented from chrono::ChVisualSystem.

◆ Run()

bool chrono::vsg3d::ChVisualSystemVSG::Run ( )

overridevirtual

Check if rendering is running.

Returns false if the viewer was closed.

Reimplemented from chrono::ChVisualSystem.

◆ SetBodyObjVisibility()

void chrono::vsg3d::ChVisualSystemVSG::SetBodyObjVisibility	(	bool	vis,
		int	tag = `-1`
	)

Set the visibility of bodies with specified tag.

A tag value of -1 indicates that the visibility flag should be applied to all bodies.

◆ SetCollisionVisibility()

void chrono::vsg3d::ChVisualSystemVSG::SetCollisionVisibility	(	bool	vis,
		int	tag = `-1`
	)

— Collision and contact

Set visibility of collision shapes for objects with specified tag. A tag of -1 indicates that the visibility flag should be applied to all collision shapes.

◆ SetFeaMeshVisibility()

void chrono::vsg3d::ChVisualSystemVSG::SetFeaMeshVisibility	(	bool	vis,
		int	tag = `-1`
	)

Set the visibility of FEA meshes with specified tag.

A tag value of -1 indicates that the visibility flag should be applied to all meshes.

◆ SetLinkObjVisibility()

void chrono::vsg3d::ChVisualSystemVSG::SetLinkObjVisibility	(	bool	vis,
		int	tag = `-1`
	)

Set the visibility of links with specified tag.

A tag value of -1 indicates that the visibility flag should be applied to all links.

◆ SetLogoPosition()

void chrono::vsg3d::ChVisualSystemVSG::SetLogoPosition ( const ChVector2f & position )

inline

Set logo position (default: [10,10]).

This is the position of the right-top corner of the logo image (in pixels) relative to the right-top corner of the rendering window.

◆ SetParticleCloudVisibility()

void chrono::vsg3d::ChVisualSystemVSG::SetParticleCloudVisibility	(	bool	vis,
		int	tag = `-1`
	)

Set the visibility of particle clouds with specified tag to the provided value.

A tag value of -1 indicates that the visibility flag should be applied to all particle clouds.

◆ SetSegmentVisibility()

void chrono::vsg3d::ChVisualSystemVSG::SetSegmentVisibility	(	bool	vis,
		int	tag = `-1`
	)

Set the visibility of segments with specified tag.

A tag value of -1 indicates that the visibility flag should be applied to all segments.

◆ SetSpringVisibility()

void chrono::vsg3d::ChVisualSystemVSG::SetSpringVisibility	(	bool	vis,
		int	tag = `-1`
	)

Set the visibility of springs with specified tag.

A tag value of -1 indicates that the visibility flag should be applied to all springs.

◆ WriteImageToFile()

void chrono::vsg3d::ChVisualSystemVSG::WriteImageToFile ( const std::string & filename )

overridevirtual

Create a snapshot of the frame to be rendered 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_vsg/ChVisualSystemVSG.h
/builds/uwsbel/chrono/src/chrono_vsg/ChVisualSystemVSG.cpp

Description

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChVisualSystemVSG()

Member Function Documentation

◆ AddCamera()

◆ AddGrid()

◆ AddGuiColorbar()

◆ AddGuiComponent()

◆ AddVisualModel() [1/2]

◆ AddVisualModel() [2/2]

◆ AttachPlugin()

◆ BindAll()

◆ BindItem()

◆ EnableFullscreen()

◆ EnableShadows()

◆ EnableSkyBox()

◆ GetGuiComponent()

◆ Render()

◆ Run()

◆ SetBodyObjVisibility()

◆ SetCollisionVisibility()

◆ SetFeaMeshVisibility()

◆ SetLinkObjVisibility()

◆ SetLogoPosition()

◆ SetParticleCloudVisibility()

◆ SetSegmentVisibility()

◆ SetSpringVisibility()

◆ WriteImageToFile()