chrono::opengl::ChVisualSystemOpenGL Class Reference

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 ChVector<> &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 (float radius, RenderMode mode)
 Set render mode for particle systems (default: POINTS)
 
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 ()
 Initialize the visualization system. More...
 
virtual int AddCamera (const ChVector<> &pos, ChVector<> targ=VNULL) override
 Add a camera to the 3d scene.
 
virtual void SetCameraPosition (int id, const ChVector<> &pos) override
 Set the location of the specified camera.
 
virtual void SetCameraTarget (int id, const ChVector<> &target) override
 Set the target (look-at) point of the specified camera.
 
virtual void SetCameraPosition (const ChVector<> &pos) override
 Set the location of the current (active) camera.
 
virtual void SetCameraTarget (const ChVector<> &target) override
 Set the target (look-at) point of the current (active) camera.
 
void AddUserEventReceiver (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 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
virtual ChVector GetCameraPosition () const
 Get the location of the current (active) camera.
 
virtual ChVector GetCameraTarget () const
 Get the target (look-at) point of the current (active) camera.
 
void UpdateCamera (int id, const ChVector<> &pos, ChVector<> target)
 Update the location and/or target points of the specified camera.
 
void UpdateCamera (const ChVector<> &pos, ChVector<> 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 RenderGrid (const ChFrame<> &frame, int num_div, double delta)
 Render a grid with specified parameters in the x-y plane of the given frame.
 
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 (simlation time / simulated time). More...
 
virtual double GetSimulationTime () const
 Return the current simulated time. More...
 
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).
 
std::vector< ChSystem * > GetSystems () const
 Get the list of associated Chrono systems.
 
ChSystemGetSystem (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 { IRRLICHT, VSG, OpenGL, OptiX }
 Supported run-time visualization systems.
 
- Protected Attributes inherited from chrono::ChVisualSystem
std::vector< ChSystem * > m_systems
 associated Chrono system(s)
 

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 ( )
virtual

Initialize the visualization system.

This creates the Irrlicht device using the current values for the optional device parameters.

◆ 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
scalezoom level (default 0.5)
near_clip_distnear clipping distance (default 0.1)
far_clip_distfar 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