Description

Scene class used for camera renderings. Includes environment colors, lights, etc.

#include <ChScene.h>

Public Member Functions
	ChScene ()
	Class constructor.

	~ChScene ()
	Class destructor.

unsigned int	AddPointLight (ChVector3f pos, ChColor color, float max_range, bool const_color=true)
	Add a point light that emits light in all directions. More...

void	ModifyPointLight (unsigned int light_ID, const ChOptixLight &point_light)
	Function for modifying an existing point light in the scene. More...

unsigned int	AddDirectionalLight (ChColor color, float elevation, float azimuth)
	Add a directional light that emits light in a particular direction. More...

void	ModifyDirectionalLight (unsigned int light_ID, const ChOptixLight &directional_light)
	Function for modifying an existing directional light in the scene. More...

unsigned int	AddSpotLight (ChVector3f pos, ChColor color, float max_range, ChVector3f light_dir, float angle_falloff_start, float angle_range, bool const_color=true)
	Add a spot light that emits light in a particular direction. More...

void	ModifySpotLight (unsigned int light_ID, const ChOptixLight &spot_light)
	Function for modifying an existing spot light in the scene. More...

unsigned int	AddRectangleLight (ChVector3f pos, ChColor color, float max_range, ChVector3f length_vec, ChVector3f width_vec, bool const_color=true)
	Add a rectangle light that emits light forward from a rectangle area. More...

void	ModifyRectangleLight (unsigned int light_ID, const ChOptixLight &rectangle_light)
	Function for modifying an existing rectangle light in the scene. More...

unsigned int	AddDiskLight (ChVector3f pos, ChColor color, float max_range, ChVector3f light_dir, float radius, bool const_color=true)
	Add a disk light that emits light forward from a circular area. More...

void	ModifyDiskLight (unsigned int light_ID, const ChOptixLight &disk_light)
	Function for modifying an existing disk light in the scene. More...

unsigned int	AddEnvironmentLight (std::string env_tex_path, float intensity_scale=1.f)
	Add the environment light that emits light from all directions based on an environment map. More...

std::vector< ChOptixLight >	GetLights ()
	Function for gaining access to the vector of lights which can be used to modify lighting dynamically. More...

Background	GetBackground ()
	Function for gaining access to the background. More...

void	SetBackground (Background b)
	Function for gaining access to the background. More...

void	SetAmbientLight (ChVector3f color)
	Function for setting the ambient light color. More...

ChVector3f	GetAmbientLight ()
	Function for setting the ambient light color. More...

void	ResetLightsChanged ()
	Function for resetting the lights changed variable.

bool	GetLightsChanged ()
	Function for getting the lights changed variable.

void	ResetBackgroundChanged ()
	Function for resetting the background changed variable.

bool	GetBackgroundChanged ()
	Function for getting the background changed variable.

void	SetFogColor (ChVector3f color)
	Function to set the fog color.

ChVector3f	GetFogColor ()
	Function to get the fog color.

void	SetFogScattering (float coefficient)
	Function to set the fog scattering coefficient.

void	SetFogScatteringFromDistance (float distance)
	Function to set the fog scattering coefficient from max visible distance. More...

float	GetFogScattering ()
	Function to get the fog scattering coefficient.

void	SetSceneEpsilon (float e)
	Allows setting the scene epsilon used for traversal checks. More...

float	GetSceneEpsilon ()
	Accessor to the scene epsilon value. More...

void	AddSprite (std::shared_ptr< ChBody > sprite)
	Add a sprite (a Chrono body that is only used for visualization and does not affect the physics simulation) to the scene. More...

void	SetSprites (std::vector< std::shared_ptr< ChBody >> sprites)

std::shared_ptr< ChBody >	GetSprite (int i)

std::vector< std::shared_ptr< ChBody > >	GetSprites ()

void	UpdateOriginOffset (ChVector3f sensor_pos, bool force=false)
	Function to change the origin offset if necessary. More...

bool	GetOriginChanged ()

void	ResetOriginChanged ()

ChVector3f	GetOriginOffset ()
	Access function for the origin offset. More...

void	SetOriginOffsetThreshold (float threshold)
	Set the threshold for moving the origin. More...

void	EnableDynamicOrigin (bool enable)
	Enable dynamic moving of the scene origin. More...

Member Function Documentation

◆ AddDirectionalLight()

CH_SENSOR_API unsigned int chrono::sensor::ChScene::AddDirectionalLight	(	ChColor	color,
		float	elevation,
		float	azimuth
	)

Add a directional light that emits light in a particular direction.

-— Directional light -— ///

Parameters

color	[W/m^2] or [lumen/m^2], color irradiance of the light
elevation	[rad], elevation angle of the directional light comes from
azimuth	[rad], azimuth angle of the directional light comes from

Returns: the index of the light that has been added

◆ AddDiskLight()

CH_SENSOR_API unsigned int chrono::sensor::ChScene::AddDiskLight	(	ChVector3f	pos,
		ChColor	color,
		float	max_range,
		ChVector3f	light_dir,
		float	radius,
		bool	const_color = `true`
	)

Add a disk light that emits light forward from a circular area.

-— Disk light -— ///

Parameters

pos	[m], the world position of the rectangle light
color	[W/m^2] or [lumen/m^2], color radiance of the light
max_range	[m], range at which the light intensity falls to 1% of its maximum color intensity. If set to -1, follows inverse square law.
light_dir	the direction in which the disk light points (no need to be normalized)
radius	[m], radius of the disk light
const_color	whether to use constant color (no attenuation with distance)

Returns: the index of the added light

◆ AddEnvironmentLight()

CH_SENSOR_API unsigned int chrono::sensor::ChScene::AddEnvironmentLight	(	std::string	env_tex_path,
		float	intensity_scale = `1.f`
	)

Add the environment light that emits light from all directions based on an environment map.

Parameters

env_tex_path	the full path of the environment map texture.
intensity_scale	a scale factor for the intensity of the environment light. Default value is 1.0 (no scaling).

Returns: the index of the light that has been added

◆ AddPointLight()

CH_SENSOR_API unsigned int chrono::sensor::ChScene::AddPointLight	(	ChVector3f	pos,
		ChColor	color,
		float	max_range,
		bool	const_color = `true`
	)

Add a point light that emits light in all directions.

Point light ///.

Parameters

pos	The world position of the point light
color	[W/sr/m^2] or [lumen/sr/m^2], color radiance of the light
max_range	[m], range at which the light intensity falls to 1% of its maximum color intensity. If set to -1, follows inverse square law.

Returns: the index of the light that has been added

◆ AddRectangleLight()

CH_SENSOR_API unsigned int chrono::sensor::ChScene::AddRectangleLight	(	ChVector3f	pos,
		ChColor	color,
		float	max_range,
		ChVector3f	length_vec,
		ChVector3f	width_vec,
		bool	const_color = `true`
	)

Add a rectangle light that emits light forward from a rectangle area.

-— Rectangle light -— ///

Parameters

pos	[m], the world position of the rectangle light
color	[W/m^2] or [lumen/m^2], color radiance of the light
max_range	[m], range at which the light intensity falls to 1% of its maximum color intensity. If set to -1, follows inverse square law.
length_vec	[m], one edge vector of the rectangle light
width_vec	[m], the other edge vector of the rectangle light perpendicular to `length_vec`. Light direction is: length_vec x width_vec.
const_color	whether to use constant color (no attenuation with distance)

Returns: the index of the added light

◆ AddSpotLight()

CH_SENSOR_API unsigned int chrono::sensor::ChScene::AddSpotLight	(	ChVector3f	pos,
		ChColor	color,
		float	max_range,
		ChVector3f	light_dir,
		float	angle_falloff_start,
		float	angle_range,
		bool	const_color = `true`
	)

Add a spot light that emits light in a particular direction.

-— Spot light -— ///

Parameters

pos	the world position of the spot light
color	color radiance of the light
max_range	range at which the light intensity falls to 1% of its maximum color intensity. If set to -1, follows inverse square law.
light_dir	the direction in which the spotlight points (no need to be normalized)
angle_falloff_start	[m], angle at which the spotlight starts to linearly fall off
angle_range	[rad], angle range of the spotlight falling off to zero.
const_color	whether to use constant color (no attenuation with distance)

Returns: the index of the light that has been added

◆ AddSprite()

CH_SENSOR_API void chrono::sensor::ChScene::AddSprite ( std::shared_ptr< ChBody > sprite )

Add a sprite (a Chrono body that is only used for visualization and does not affect the physics simulation) to the scene.

Parameters

sprite the Chrono body to be added as a sprite in the scene

◆ EnableDynamicOrigin()

void chrono::sensor::ChScene::EnableDynamicOrigin ( bool enable )

inline

Enable dynamic moving of the scene origin.

Parameters

enable whether to enable to the moving origin

◆ GetAmbientLight()

ChVector3f chrono::sensor::ChScene::GetAmbientLight ( )

inline

Function for setting the ambient light color.

Returns: the ambient light in the scene

◆ GetBackground()

Background chrono::sensor::ChScene::GetBackground ( )

inline

Function for gaining access to the background.

Can be used to dynamically change the background color, or texture

Returns: m_background the background used for rendering

◆ GetLights()

std::vector<ChOptixLight> chrono::sensor::ChScene::GetLights ( )

inline

Function for gaining access to the vector of lights which can be used to modify lighting dynamically.

Returns: A vector of lights in the scene currently

◆ GetOriginOffset()

ChVector3f chrono::sensor::ChScene::GetOriginOffset ( )

inline

Access function for the origin offset.

Returns: the origin offset

◆ GetSceneEpsilon()

float chrono::sensor::ChScene::GetSceneEpsilon ( )

inline

Accessor to the scene epsilon value.

Returns: the scene epsilon

◆ ModifyDirectionalLight()

CH_SENSOR_API void chrono::sensor::ChScene::ModifyDirectionalLight	(	unsigned int	light_ID,
		const ChOptixLight &	directional_light
	)

Function for modifying an existing directional light in the scene.

Parameters

light_ID	the index of the directional light to be modified
directional_light	the new directional light

◆ ModifyDiskLight()

CH_SENSOR_API void chrono::sensor::ChScene::ModifyDiskLight	(	unsigned int	light_ID,
		const ChOptixLight &	disk_light
	)

Function for modifying an existing disk light in the scene.

Parameters

light_ID	the index of the disk light to be modified
disk_light	the new disk light

◆ ModifyPointLight()

CH_SENSOR_API void chrono::sensor::ChScene::ModifyPointLight	(	unsigned int	light_ID,
		const ChOptixLight &	point_light
	)

Function for modifying an existing point light in the scene.

Parameters

light_ID	the index of the point light to be modified
point_light	the new point light

◆ ModifyRectangleLight()

CH_SENSOR_API void chrono::sensor::ChScene::ModifyRectangleLight	(	unsigned int	light_ID,
		const ChOptixLight &	rectangle_light
	)

Function for modifying an existing rectangle light in the scene.

Parameters

light_ID	the index of the rectangle light to be modified
rectangle_light	the new rectangle light

◆ ModifySpotLight()

CH_SENSOR_API void chrono::sensor::ChScene::ModifySpotLight	(	unsigned int	light_ID,
		const ChOptixLight &	spot_light
	)

Function for modifying an existing spot light in the scene.

Parameters

light_ID	the index of the spot light to be modified
spot_light	the new spot light

◆ SetAmbientLight()

void chrono::sensor::ChScene::SetAmbientLight ( ChVector3f color )

inline

Function for setting the ambient light color.

Parameters

color the color+intensity of ambient light

◆ SetBackground()

CH_SENSOR_API void chrono::sensor::ChScene::SetBackground ( Background b )

Function for gaining access to the background.

Can be used to dynamically change the background color, or texture

Parameters

b	a new background for the scene

◆ SetFogScatteringFromDistance()

CH_SENSOR_API void chrono::sensor::ChScene::SetFogScatteringFromDistance ( float distance )

Function to set the fog scattering coefficient from max visible distance.

Function to set the fog scattering coefficient.

◆ SetOriginOffsetThreshold()

void chrono::sensor::ChScene::SetOriginOffsetThreshold ( float threshold )

inline

Set the threshold for moving the origin.

Parameters

threshold the threshold outside of which to move the scene origin

◆ SetSceneEpsilon()

CH_SENSOR_API void chrono::sensor::ChScene::SetSceneEpsilon ( float e )

Allows setting the scene epsilon used for traversal checks.

Parameters

e	the epsilon value

◆ UpdateOriginOffset()

void chrono::sensor::ChScene::UpdateOriginOffset	(	ChVector3f	sensor_pos,
		bool	force = `false`
	)

Function to change the origin offset if necessary.

Parameters

sensor_pos	the position of the sensor
force	whether to force updating even if threshold is not met

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

/builds/uwsbel/chrono/src/chrono_sensor/optix/scene/ChScene.h
/builds/uwsbel/chrono/src/chrono_sensor/optix/scene/ChScene.cpp

Description

Public Member Functions

Member Function Documentation

◆ AddDirectionalLight()

◆ AddDiskLight()

◆ AddEnvironmentLight()

◆ AddPointLight()

◆ AddRectangleLight()

◆ AddSpotLight()

◆ AddSprite()

◆ EnableDynamicOrigin()

◆ GetAmbientLight()

◆ GetBackground()

◆ GetLights()

◆ GetOriginOffset()

◆ GetSceneEpsilon()

◆ ModifyDirectionalLight()

◆ ModifyDiskLight()

◆ ModifyPointLight()

◆ ModifyRectangleLight()

◆ ModifySpotLight()

◆ SetAmbientLight()

◆ SetBackground()

◆ SetFogScatteringFromDistance()

◆ SetOriginOffsetThreshold()

◆ SetSceneEpsilon()

◆ UpdateOriginOffset()