Description

Runtime visualization with Irrlicht.

This module can be used to provide 3D realtime rendering in Chrono::Engine.

For additional information, see:

the installation guide
the tutorials

Namespaces
	chrono::irrlicht
	Namespace with classes for the Irrlicht module.

	chrono::irrlicht::tools
	Utilities for interfacing Chrono and Irrlicht.

Classes
class	chrono::irrlicht::RTSCamera
	Class to create an interactive videocamera in Irrlicht, that is similar to the Maya camera but hasn't the problems that the Maya camera has in Irrlicht 1.5. More...

class	chrono::irrlicht::ChIrrGUI
	Irrlicht GUI attached to a ChVisualSystemIrrlicht. More...

class	chrono::irrlicht::ChIrrNodeModel
	Irrlicht scene node associated with the visual model of a physics item. More...

class	chrono::irrlicht::ChIrrNodeShape
	Irrlicht scene node associated with a visual shape in a visual model. More...

class	chrono::irrlicht::ChVisualSystemIrrlicht
	Irrlicht-based Chrono run-time visualization system. More...

Enumerations
enum	ContactsDrawMode { CONTACT_NORMALS = 0, CONTACT_DISTANCES, CONTACT_FORCES_N, CONTACT_FORCES, CONTACT_NONE }

enum	ContactsLabelMode { CONTACT_DISTANCES_VAL, CONTACT_FORCES_VAL, CONTACT_FORCES_N_VAL, CONTACT_FORCES_T_VAL, CONTACT_TORQUES_VAL, CONTACT_TORQUES_S_VAL, CONTACT_TORQUES_R_VAL, CONTACT_NONE_VAL }

enum	LinkDrawMode { LINK_REACT_FORCE = 0, LINK_REACT_TORQUE, LINK_NONE }

enum	LinkLabelMode { LINK_REACT_FORCE_VAL = 0, LINK_REACT_FORCE_X, LINK_REACT_FORCE_Y, LINK_REACT_FORCE_Z, LINK_REACT_TORQUE_VAL, LINK_REACT_TORQUE_X, LINK_REACT_TORQUE_Y, LINK_REACT_TORQUE_Z, LINK_NONE_VAL }

Functions
ChApiIrr irr::scene::IAnimatedMesh *	chrono::irrlicht::createEllipticalMesh (irr::f32 radiusH, irr::f32 radiusV, irr::f32 Ylow, irr::f32 Yhigh, irr::f32 offset, irr::u32 polyCountX, irr::u32 polyCountY)
	Some functions to allow easy creation of meshes for Irrlicht visualization. More...

IMesh *	chrono::irrlicht::createCubeMesh (const irr::core::vector3df &size)
	Create an Irrlicht mesh representing a box. More...

ChApiIrr irr::scene::IMesh *	chrono::irrlicht::createCylinderMesh (irr::f32 radius, irr::f32 height, irr::u32 tesselation)
	Create an Irrlicht mesh representing a cylinder. More...

ChApiIrr irr::scene::IMesh *	chrono::irrlicht::createCapsuleMesh (irr::f32 radius, irr::f32 hlen, irr::u32 numSegV, irr::u32 numSegR)
	Create an Irrlicht mesh representing a capsule. More...

ChApiIrr irr::scene::IMesh *	chrono::irrlicht::createTruncatedConeMesh (irr::f32 radius_top, irr::f32 radius_low, irr::f32 height, irr::u32 tesselation)
	Create an Irrlicht mesh representing a truncated cone. More...

ChApiIrr irr::scene::IMesh *	chrono::irrlicht::createConeMesh (irr::f32 radius_low, irr::f32 height, irr::u32 tesselation)
	Create an Irrlicht mesh representing a cone. More...

ChApiIrr void	chrono::irrlicht::fillChTrimeshFromIrlichtMesh (ChTriangleMesh chTrimesh, irr::scene::IMesh pMesh)
	This function is based on a modified version of the irrlicht_bullet demo, see http://www.continuousphysics.com It is used to convert an Irrlicht mesh into a ChTriangleMesh, which is used for collision detection in Chrono. More...

ChApiIrr void	chrono::irrlicht::fillIrlichtMeshFromChTrimesh (irr::scene::IMesh pMesh, ChTriangleMesh chTrimesh, irr::video::SColor clr=irr::video::SColor(255, 255, 255, 255))
	Given a ChTriangleMesh object, computes an Irrlicht mesh. More...

Function Documentation

◆ createCapsuleMesh()

ChApiIrr irr::scene::IMesh* chrono::irrlicht::createCapsuleMesh	(	irr::f32	radius,
		irr::f32	hlen,
		irr::u32	numSegV,
		irr::u32	numSegR
	)

Create an Irrlicht mesh representing a capsule.

Capsule axis is in Y direction, centered at origin. Capsule total length is radius + 2*hlen + radius. The hemispherical caps and cylindrical segment are all tesselated using numSegR radial segments. The hemispherical caps use numSegV vertical segments each.

◆ createConeMesh()

ChApiIrr irr::scene::IMesh* chrono::irrlicht::createConeMesh	(	irr::f32	radius_low,
		irr::f32	height,
		irr::u32	tesselation
	)

Create an Irrlicht mesh representing a cone.

Truncated cone axis is in Y direction, centered in origin. Truncated cone tot length is 2*height, ranging from y=-height to y=+height.

◆ createCubeMesh()

ChApiIrr irr::scene::IMesh * chrono::irrlicht::createCubeMesh ( const irr::core::vector3df & size )

Create an Irrlicht mesh representing a box.

Box is centered in origin, extending +/- size in each direction.

◆ createCylinderMesh()

ChApiIrr irr::scene::IMesh* chrono::irrlicht::createCylinderMesh	(	irr::f32	radius,
		irr::f32	height,
		irr::u32	tesselation
	)

Create an Irrlicht mesh representing a cylinder.

Cylinder axis is in Y direction, centered in origin. Cylinder tot length is 2*height, ranging from y=-height to y=+height.

◆ createEllipticalMesh()

ChApiIrr irr::scene::IAnimatedMesh* chrono::irrlicht::createEllipticalMesh	(	irr::f32	radiusH,
		irr::f32	radiusV,
		irr::f32	Ylow,
		irr::f32	Yhigh,
		irr::f32	offset,
		irr::u32	polyCountX,
		irr::u32	polyCountY
	)

Some functions to allow easy creation of meshes for Irrlicht visualization.

Create an Irrlicht mesh representing an ellipsoid. Ellispoid is centered in the origin.

◆ createTruncatedConeMesh()

ChApiIrr irr::scene::IMesh* chrono::irrlicht::createTruncatedConeMesh	(	irr::f32	radius_top,
		irr::f32	radius_low,
		irr::f32	height,
		irr::u32	tesselation
	)

Create an Irrlicht mesh representing a truncated cone.

Truncated cone axis is in Y direction, centered in origin. Truncated cone tot length is 2*height, ranging from y=-height to y=+height.

◆ fillChTrimeshFromIrlichtMesh()

ChApiIrr void chrono::irrlicht::fillChTrimeshFromIrlichtMesh	(	ChTriangleMesh *	chTrimesh,
		irr::scene::IMesh *	pMesh
	)

This function is based on a modified version of the irrlicht_bullet demo, see http://www.continuousphysics.com It is used to convert an Irrlicht mesh into a ChTriangleMesh, which is used for collision detection in Chrono.

OBSOLETE

◆ fillIrlichtMeshFromChTrimesh()

ChApiIrr void chrono::irrlicht::fillIrlichtMeshFromChTrimesh	(	irr::scene::IMesh *	pMesh,
		ChTriangleMesh *	chTrimesh,
		irr::video::SColor	clr = `irr::video::SColor(255, 255, 255, 255)`
	)

Given a ChTriangleMesh object, computes an Irrlicht mesh.

Note: the ChTriangleMesh is a 'triangle soup', so no connectivity is used. As a consequence, no Gourad/Phong shading is possible and all triangles will look flat.