Description

Utilities for interfacing Chrono and Irrlicht.

Functions
video::SColorf	ToIrrlichtSColorf (const ChColor &col)
	Convert a ChColor to an Irrlicht SColorf.

video::SColor	ToIrrlichtSColor (const ChColor &col, float alpha=1.0)
	Convert an RGB set and an opacity value to an Irrlicht SColor.

video::SMaterial	ToIrrlichtMaterial (std::shared_ptr< ChVisualMaterial > mat, video::IVideoDriver *driver)

void	AlignIrrlichtNode (scene::ISceneNode *node, const ChFrame<> &frame)

int	DrawAllContactPoints (const ChVisualSystemIrrlicht *vis, double len=1.0, ContactsDrawMode drawtype=ContactsDrawMode::CONTACT_NORMALS)
	Draw contact points used by a ChSystem in the current Irrlicht viewer. More...

int	DrawAllContactLabels (const ChVisualSystemIrrlicht *vis, ContactsLabelMode labeltype=ContactsLabelMode::CONTACT_FORCES_N_VAL, ChColor col=ChColor(1.f, 1.f, 1.f))
	Draw contact information as labels at the contact point.

int	DrawAllLinks (const ChVisualSystemIrrlicht *vis, double len=1.0, LinkDrawMode drawtype=LinkDrawMode::LINK_REACT_FORCE)
	Draw reaction forces in all contacts in current Irrlicht viewer.

int	DrawAllLinkLabels (const ChVisualSystemIrrlicht *vis, LinkLabelMode labeltype=LinkLabelMode::LINK_REACT_FORCE_X, ChColor col=ChColor(1.f, 1.f, 1.f))
	Draw contact information as labels at the contact point.

int	DrawAllBoundingBoxes (const ChVisualSystemIrrlicht *vis)
	Draw collision objects bounding boxes for rigid bodies (if they have a collision shape).

int	DrawAllCOMs (const ChVisualSystemIrrlicht *vis, double scale=0.01)
	Draw coordinate systems of ChBody objects.

int	DrawAllLinkframes (const ChVisualSystemIrrlicht *vis, double scale=0.01)
	Draw coordinate systems of link frames.

void	DrawSolverViolation (const ChVisualSystemIrrlicht *vis, int pos_x=10, int pos_y=290, int width=300, int height=100)
	Draw the plot of solver violation history. More...

void	DrawChFunction (const ChVisualSystemIrrlicht *vis, std::shared_ptr< chrono::ChFunction > fx, double xmin, double xmax, double ymin, double ymax, int pos_x, int pos_y, int width, int height, chrono::ChColor col, std::string title)

void	DrawSegment (const ChVisualSystemIrrlicht *vis, const ChVector3d &start, const ChVector3d &end, const ChColor &col=ChColor(1.f, 1.f, 1.f), bool use_Zbuffer=false)
	Draw line segments in 3D space with given color.

void	DrawPolyline (const ChVisualSystemIrrlicht *vis, const std::vector< ChVector3d > &points, const ChColor &col=ChColor(1.f, 1.f, 1.f), bool use_Zbuffer=false)
	Draw a polyline in 3D space, given the array of points.

void	DrawCircle (const ChVisualSystemIrrlicht *vis, double radius, const ChCoordsysd &coord=CSYSNORM, const ChColor &col=ChColor(1.f, 1.f, 1.f), int resolution=36, bool use_Zbuffer=false)
	Draw a circle line in 3D space with given color. More...

void	DrawSpring (const ChVisualSystemIrrlicht *vis, double radius, const ChVector3d &start, const ChVector3d &end, const ChColor &col=ChColor(1.f, 1.f, 1.f), int resolution=65, double turns=5, bool use_Zbuffer=false)
	Draw a spring in 3D space with given color. More...

void	DrawRotSpring (const ChVisualSystemIrrlicht *vis, const ChCoordsysd &pos, double radius, double start_angle, double end_angle, const ChColor &col=ChColor(1.f, 1.f, 1.f), int resolution=65, bool use_Zbuffer=false)
	Draw a rotational spring in 3D space with given color. More...

void	DrawGrid (const ChVisualSystemIrrlicht *vis, double ustep=0.1, double vstep=0.1, int nu=20, int nv=20, const ChCoordsysd &pos=CSYSNORM, const ChColor &col=ChColor(0.7f, 0.7f, 0.7f), bool use_Zbuffer=false)
	Draw grids in 3D space with given orientation, color, and spacing.

void	DrawColorbar (const ChVisualSystemIrrlicht *vis, const ChColormap &colormap, double value_min, double value_max, const std::string &label, int pos_x=740, int pos_y=20, int width=30, int height=300)
	Draw color bar with a color map and 2D legend. More...

void	DrawPlot3D (const ChVisualSystemIrrlicht *vis, ChMatrixConstRef X, ChMatrixConstRef Y, ChMatrixConstRef Z, const ChCoordsysd &coord, const ChColor &col, bool use_Zbuffer)

void	drawProfilerRecursive (utils::ChProfileIterator profileIterator, irr::IrrlichtDevice device, int mx, int my, int sx, int sy, int xspacing, int &ypos)

void	DrawProfiler (const ChVisualSystemIrrlicht *vis)
	Render run-time profiler info.

void	DrawCoordsys (const ChVisualSystemIrrlicht *vis, const ChCoordsysd &coord=CSYSNORM, double scale=1, bool use_Zbuffer=false)
	Draw RGB coordinate system.

void	DrawArrow (const ChVisualSystemIrrlicht *vis, const ChVector3d &start, const ChVector3d &end, const ChVector3d &plane_normal=VECT_Y, bool sharp=true, const ChColor &col=ChColor(1.f, 1.f, 1.f), bool use_Zbuffer=false)
	Draw a line arrow in 3D space with given color. More...

void	DrawLabel3D (const ChVisualSystemIrrlicht *vis, const std::string &text, const ChVector3d &position, const ChColor &color=ChColor(0.f, 0.f, 0.f), bool use_Zbuffer=false)
	Draw a label in 3D scene at given position.

ChApiIrr irr::video::SMaterial	ToIrrlichtMaterial (std::shared_ptr< ChVisualMaterial > mat, irr::video::IVideoDriver *driver)
	Convert a ChVisualMaterial to an Irrlicht material.

ChApiIrr void	AlignIrrlichtNode (irr::scene::ISceneNode *node, const ChFrame<> &frame)
	Align an Irrlicht object to a the specified frame.

ChApiIrr void	DrawChFunction (const ChVisualSystemIrrlicht *vis, std::shared_ptr< ChFunction > fx, double xmin=0, double xmax=1, double ymin=-1, double ymax=1, int pos_x=10, int pos_y=290, int width=300, int height=100, ChColor col=ChColor(1.f, 0.f, 0.f), std::string title="")
	Draw function value. More...

Function Documentation

◆ DrawAllContactPoints()

ChApiIrr int chrono::irrlicht::tools::DrawAllContactPoints	(	const ChVisualSystemIrrlicht *	vis,
		double	len = `1.0`,
		ContactsDrawMode	drawtype = `ContactsDrawMode::CONTACT_NORMALS`
	)

Draw contact points used by a ChSystem in the current Irrlicht viewer.

The contact points are visually represented with short lines, of length mlen, aligned to contact normals.

◆ DrawArrow()

ChApiIrr void chrono::irrlicht::tools::DrawArrow	(	const ChVisualSystemIrrlicht *	vis,
		const ChVector3d &	start,
		const ChVector3d &	end,
		const ChVector3d &	plane_normal,
		bool	sharp,
		const ChColor &	col,
		bool	use_Zbuffer
	)

Draw a line arrow in 3D space with given color.

Parameters

vis	visual system
start	arrow start point
end	arrow end point
plane_normal	normal to plane containing arrow segments
sharp	set arrow shape as 'sharp' or 'wide'
col	color
use_Zbuffer	use Z buffer

◆ DrawChFunction()

ChApiIrr void chrono::irrlicht::tools::DrawChFunction	(	const ChVisualSystemIrrlicht *	vis,
		std::shared_ptr< ChFunction >	fx,
		double	xmin = `0`,
		double	xmax = `1`,
		double	ymin = `-1`,
		double	ymax = `1`,
		int	pos_x = `10`,
		int	pos_y = `290`,
		int	width = `300`,
		int	height = `100`,
		ChColor	col = `ChColor(1.f, 0.f, 0.f)`,
		std::string	title = `""`
	)

Draw function value.

Plot widget coordinates are considered from top-left corner of the Irrlicht window.

Parameters

vis	visual system
fx	function to draw
xmin	minimum X of the plot
xmax	maximum X of the plot
ymin	minimum Y of the plot
ymax	maximum Y of the plot
pos_x	top-left corner X position of the plot window
pos_y	top-left corner Y position of the plot window
width	width of the plot window
height	height of the plot window
col	color of the plot line
title	title of the plot

◆ DrawCircle()

ChApiIrr void chrono::irrlicht::tools::DrawCircle	(	const ChVisualSystemIrrlicht *	vis,
		double	radius,
		const ChCoordsysd &	coord = `CSYSNORM`,
		const ChColor &	col = `ChColor(1.f, 1.f, 1.f)`,
		int	resolution = `36`,
		bool	use_Zbuffer = `false`
	)

Draw a circle line in 3D space with given color.

The circle is centered in the X-Y plane of the provided coordinate system.

◆ DrawColorbar()

ChApiIrr void chrono::irrlicht::tools::DrawColorbar	(	const ChVisualSystemIrrlicht *	vis,
		const ChColormap &	colormap,
		double	value_min,
		double	value_max,
		const std::string &	label,
		int	pos_x = `740`,
		int	pos_y = `20`,
		int	width = `30`,
		int	height = `300`
	)

Draw color bar with a color map and 2D legend.

Plot widget coordinates are considered from top-left corner of the Irrlicht window.

Parameters

vis	visual system
colormap	current colormap
value_min	minimum value of the color map
value_max	maximum value of the color map
label	label of the color bar
pos_x	top-left corner X position of the color bar
pos_y	top-left corner Y position of the color bar
width	width of the color bar
height	height of the color bar

◆ DrawRotSpring()

ChApiIrr void chrono::irrlicht::tools::DrawRotSpring	(	const ChVisualSystemIrrlicht *	vis,
		const ChCoordsysd &	pos,
		double	radius,
		double	start_angle,
		double	end_angle,
		const ChColor &	col = `ChColor(1.f, 1.f, 1.f)`,
		int	resolution = `65`,
		bool	use_Zbuffer = `false`
	)

Draw a rotational spring in 3D space with given color.

Specify the radius, start and end angles, and the resolution (i.e. the number of segments approximating the curve).

◆ DrawSolverViolation()

ChApiIrr void chrono::irrlicht::tools::DrawSolverViolation	(	const ChVisualSystemIrrlicht *	vis,
		int	pos_x = `10`,
		int	pos_y = `290`,
		int	width = `300`,
		int	height = `100`
	)

Draw the plot of solver violation history.

Each vertical red bar of the plot represents the residual during the solver iterations. The rightmost red bar represents the residual after the latest iteration. The red horizontal line represents the tolerance requested to the solver. If the last red bar does not fall below the red line, the solver did not converge. The Y axis is logarithmic for the error (residual) and ranges from log10(tol)-1 to log10(tol)+2. If the tolerance is set to 0 the graphics will consider a default tolerance of 1e-6. It is then recommended to increase the number of iterations, reduce the timestep or consider relaxing the tolerance. Yellow bars refer to the variation of Lagrange multipliers during the iterations (VI solvers only). For them, the Y axis ranges from zero to the maximum variation observed among all the iterations of the last step (linear scale).

◆ DrawSpring()

ChApiIrr void chrono::irrlicht::tools::DrawSpring	(	const ChVisualSystemIrrlicht *	vis,
		double	radius,
		const ChVector3d &	start,
		const ChVector3d &	end,
		const ChColor &	col = `ChColor(1.f, 1.f, 1.f)`,
		int	resolution = `65`,
		double	turns = `5`,
		bool	use_Zbuffer = `false`
	)

Draw a spring in 3D space with given color.

Specify the radius, the end points in absolute space, the resolution (i.e. the number of segments approximating the helix) and the number of turns.

Description

Functions

Function Documentation

◆ DrawAllContactPoints()

◆ DrawArrow()

◆ DrawChFunction()

◆ DrawCircle()

◆ DrawColorbar()

◆ DrawRotSpring()

◆ DrawSolverViolation()

◆ DrawSpring()