Description

Chrono core utilities.

Classes
class	ChAbsorbedPowerVertical
	Filter for vertical absorbed power. More...

class	ChAnalogueFilter
	Base class for simulated analogue filters in the time domain. More...

class	ChBenchmarkFixture
	Generic benchmark fixture for Chrono tests. More...

class	ChBenchmarkTest
	Base class for a Chrono benchmark test. More...

class	ChBodyGeometry
	Utility class defining geometry (visualization and collision) and contact materials for a rigid body. More...

class	ChButterworthHighpass
	Butterworth high-pass filter. More...

class	ChButterworthLowpass
	Butterworth low-pass filter. More...

class	ChChaseCamera
	Utility class for a generic chase camera which can be associated with any ChBody in a Chrono system. More...

class	ChControllerPID
	Simple PID controller. More...

class	ChConvexHull2D
	Simple 2D convex hull class. More...

class	ChFilterD
	Caclulate the time derivation of an input signal: H(s) = Td * s. More...

class	ChFilterI
	Calculate the integral of an input signal in the time domain: H(s) = 1 / ( Ti * s) More...

class	ChFilterPD1
	PD1 controller: H(s) = Kdt1 * ( Td1 * s + 1 ) More...

class	ChFilterPDT1
	PDT1 controller: H(s) = Kp * ( Td1 * s + 1 ) / ( T1 * s + 1) More...

class	ChFilterPT1
	Delay an input signal: H(s) = Kpt1 / ( T1 * s + 1 ) More...

class	ChGenerator
	Provides functionality for generating sets of bodies with positions drawn from a specified sampler and various mixture properties. More...

class	ChGridSampler
	Sampler for 3D volumes using a regular (equidistant) grid. More...

class	ChHCPSampler
	Sampler for 3D volumes using a Hexagonally Close Packed structure. More...

class	ChISO2631_1_Wd
	Combined filter Wd. More...

class	ChISO2631_1_Wf
	Combined filter Wf. More...

class	ChISO2631_1_Wk
	Combined filter Wk. More...

class	ChISO2631_5_Wxy
	ISO2631-5 weighting filter for shock like signal in horizontal direction. More...

class	ChISO2631_5_Wz
	ISO2631-5 weighting filter for shock like signal in vertical direction. More...

class	ChISO2631_Shock_SeatCushionLogger
	Easy to use class for evaluation of ISO 2361-5 shock load on sitting vehicle occupants. More...

class	ChISO2631_Vibration_SeatCushionLogger
	Easy to use class for evaluation of ISO 2361-1 vibration load on sitting vehicle occupants Input: 3 seat accelerations x,y,z in [m/s^2]. More...

class	ChMixtureIngredient
	Encapsulation of an ingredient of one of the supported types in a mixture. More...

class	ChMotionFilter
	Base class for smoothing basic motion laws with discrete time-domain nonlinear filters. More...

class	ChMotionFilterSecondOrder
	Second-order nonlinear filter for smoothing basic motion laws (e.g. More...

class	ChMotionFilterThirdOrder
	Third-order nonlinear filter for smoothing basic motion laws (e.g. More...

class	ChMovingAverage
	Moving average filter for smoothing a data array. More...

class	ChPDGrid
	Simple 3D grid utility class for use by the Poisson Disk sampler. More...

class	ChPDSampler
	Sampler for 3D domains (box, sphere, or cylinder) using Poisson Disk Sampling. More...

class	ChProfileIterator
	An iterator to navigate through the tree. More...

class	ChProfileManager
	The Manager for the Profile system. More...

class	ChProfileNode
	A node in the Profile Hierarchy Tree. More...

class	ChProfileSample
	Simple way to profile a function's scope. More...

class	ChRunningAverage
	Moving average filter for smoothing running data. More...

class	ChSampler
	Base class for different types of point samplers. More...

class	ChSocket
	Base class for sockets. Sockets have at least an ID and a port. More...

class	ChSocketCommunication
	Class for socket communication interface. More...

class	ChSocketFramework
	A single object of this class must be instantiated before using all classes related to sockets, because it initializes some platform-specific settings. More...

class	ChSocketHostInfo
	Class for storing information about a TCP host in socket communication, e.g. with an IP address. More...

class	ChSocketTCP
	ChSocket for TCP communications. More...

class	ChTSDAGeometry
	Utility class defining visualization geometry for a TSDA. More...

class	ChValidation
	This class provides functionality for validation of simulation results. More...

class	ChWriterCSV
	ChWriterCSV Simple class to output to a Comma-Separated Values ASCII file. More...

class	CompositeInertia
	Utility class for calculating inertia properties of a composite body. More...

Typedefs
typedef Types< double >::PointVector	PointVectorD

typedef Types< float >::PointVector	PointVectorF

typedef std::vector< std::string >	Headers
	Vector of data file headers.

typedef std::valarray< double >	DataVector
	Vector of data points.

typedef std::vector< DataVector >	Data
	Data table.

Enumerations
enum	hostType { NAME, ADDRESS }

enum	MixtureType { SPHERE, ELLIPSOID, BOX, CYLINDER, CONE, CAPSULE }
	Enumeration of various geometric shapes available for mixtures.

enum	POVRayShapeType { SPHERE = 0, SPHERE, ELLIPSOID = 1, ELLIPSOID, BOX = 2, BOX, CYLINDER = 3, CYLINDER, CONVEXHULL = 4, TRIANGLEMESH = 5, BARREL = 6, CAPSULE = 7, CAPSULE, CONE = 8, CONE, ROUNDEDBOX = 9, ROUNDEDCYL = 10, BEZIER = 11 }

enum	POVRayLinkType { REVOLUTE = 0, SPHERICAL = 1, PRISMATIC = 2, UNIVERSAL = 3, DISTANCE = 4, ENGINE = 5, SPRING = 6, TSDA = 7, CYLINDRICAL = 8, REV_SPH = 9 }

enum	POVRayLineType { SEGMENT = 0, COIL = 1 }

enum	SamplingType { SamplingType::REGULAR_GRID, SamplingType::POISSON_DISK, SamplingType::HCP_PACK }
	Volumetric sampling method. More...

enum	ChNormType { L2_NORM, RMS_NORM, INF_NORM }
	Norm types for validation.

Functions
double	SignedArea (const ChVector2d &p1, const ChVector2d &p2, const ChVector2d &p3)

int	Orientation (const ChVector2d &p1, const ChVector2d &p2, const ChVector2d &p3)

bool	InBetween (const ChVector2d &p1, const ChVector2d &p2, const ChVector2d &p3)

void	Profile_Get_Ticks (unsigned long int *ticks)

float	Profile_Get_Tick_Rate (void)

std::ostream &	operator<< (std::ostream &io, ChSocket &s)

void	AddSphereGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a sphere collision shape and optionally a corresponding visualization asset to the specified body. More...

void	AddEllipsoidGeometry (ChBody *body, ChContactMaterialSharedPtr material, const ChVector3d &axes, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add an ellipsoid collision shape and optionally a corresponding visualization asset to the specified body. More...

void	AddBoxGeometry (ChBody *body, ChContactMaterialSharedPtr material, const ChVector3d &size, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a box collision shape and optionally a corresponding visualization asset to the specified body. More...

void	AddBiSphereGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, double cDist, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a bisphere collision shape and optionally a corresponding visualization asset to the specified body. More...

void	AddCapsuleGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, double height, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a capsule shape and optionally a corresponding visualization asset to the specified body. More...

void	AddCylinderGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, double height, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a cylinder shape and optionally a corresponding visualization asset to the specified body. More...

void	AddCylinderGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, const ChVector3d &p1, const ChVector3d &p2, bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a cylinder shape and optionally a corresponding visualization asset to the specified body. More...

void	AddConeGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, double height, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a cone shape and optionally a corresponding visualization asset to the specified body. More...

bool	AddTriangleMeshGeometry (ChBody *body, ChContactMaterialSharedPtr material, const std::string &obj_filename, const std::string &name, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a triangular mesh collision shape and optionally a corresponding visualization asset to the specified body. More...

bool	AddTriangleMeshConvexDecomposition (ChBody *body, ChContactMaterialSharedPtr material, const std::string &obj_filename, const std::string &name, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), float skin_thickness=0.0f, bool use_original_asset=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.

bool	AddTriangleMeshConvexDecompositionV2 (ChBody *body, ChContactMaterialSharedPtr material, const std::string &obj_filename, const std::string &name, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool use_original_asset=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.

bool	AddTriangleMeshConvexDecompositionSplit (ChSystem *system, ChContactMaterialSharedPtr material, const std::string &obj_filename, const std::string &name, const ChVector3d &pos, const ChQuaterniond &rot, double total_mass)
	Add convex hull collision shapes and optionally a corresponding visualization asset to the specified body.

void	AddTriangleGeometry (ChBody *body, ChContactMaterialSharedPtr material, const ChVector3d &vertA, const ChVector3d &vertB, const ChVector3d &vertC, const std::string &name, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a triangle collision shape and optionally a corresponding visualization asset to the specified body. More...

void	AddRoundedBoxGeometry (ChBody *body, ChContactMaterialSharedPtr material, const ChVector3d &size, double srad, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a rounded box (sphere-swept box) collision shape and optionally a corresponding visualization asset to the specified body. More...

void	AddRoundedCylinderGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, double height, double srad, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a rounded cylinder (sphere-swept cylinder) collision shape and optionally a corresponding visualization asset to the specified body. More...

void	AddTorusGeometry (ChBody *body, ChContactMaterialSharedPtr material, double radius, double thickness, int segments=20, int angle=360, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a torus collision shape (compound object created with capsules) and optionally a corresponding visualization asset to the specified body.

void	AddBoxContainer (std::shared_ptr< ChBody > body, ChContactMaterialSharedPtr material, const ChFrame<> &frame, const ChVector3d &size, double thickness, const ChVector3i faces, bool visualization=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add collision shapes representing a box container of specified dimensions to the given body. More...

std::shared_ptr< ChBody >	CreateBoxContainer (ChSystem *system, ChContactMaterialSharedPtr mat, const ChVector3d &size, double thickness, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool collide=true, bool overlap=true, bool closed=false)
	Create a fixed body with collision and visualization geometry representing a box volume. More...

std::shared_ptr< ChBody >	CreateCylindricalContainerFromBoxes (ChSystem *system, ChContactMaterialSharedPtr mat, double radius, double height, double thickness, int numBoxes, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool collide=true, bool overlap=true, bool closed=false, bool isBoxBase=true, bool partialVisualization=true)
	Create a fixed body with collision and visualization representing a cylindrical volume. More...

bool	LoadConvexMesh (const std::string &file_name, ChTriangleMeshConnected &convex_mesh, ChConvexDecompositionHACDv2 &convex_shape, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), int hacd_maxhullcount=1024, int hacd_maxhullmerge=256, int hacd_maxhullvertexes=64, float hacd_concavity=0.01f, float hacd_smallclusterthreshold=0.0f, float hacd_fusetolerance=1e-6f)
	Load an object from a Wavefront OBJ file and generate its convex decomposition.

bool	LoadConvexHulls (const std::string &file_name, ChTriangleMeshConnected &convex_mesh, std::vector< std::vector< ChVector3d >> &convex_hulls)
	Given a path to an obj file, loads the obj assuming that the individual objects in the obj are convex hulls, useful when loading a precomputed set of convex hulls. More...

void	AddConvexCollisionModel (std::shared_ptr< ChBody > body, ChContactMaterialSharedPtr material, std::shared_ptr< ChTriangleMeshConnected > convex_mesh, ChConvexDecompositionHACDv2 &convex_shape, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), bool use_original_asset=true, ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Given a convex mesh and its decomposition add it to a ChBody use_original_asset can be used to specify if the mesh or the convex decomp should be used for visualization.

void	AddConvexCollisionModel (std::shared_ptr< ChBody > body, ChContactMaterialSharedPtr material, std::shared_ptr< ChTriangleMeshConnected > convex_mesh, std::vector< std::vector< ChVector3d >> &convex_hulls, const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaterniond &rot=ChQuaterniond(1, 0, 0, 0), ChVisualMaterialSharedPtr vis_material=ChVisualMaterial::Default())
	Add a convex mesh to an object based on a set of points. More...

bool	LineLineIntersect (const ChVector3d &p1, const ChVector3d &p2, const ChVector3d &p3, const ChVector3d &p4, ChVector3d pa, ChVector3d pb, double mua, double mub)
	Calculate the line segment PaPb that is the shortest route between two lines P1P2 and P3P4. More...

double	PointLineDistance (const ChVector3d &B, const ChVector3d &A1, const ChVector3d &A2, double &u, bool &in_segment)
	Calculate distance between a point B and the segment (A1,A2). More...

double	PointTriangleDistance (const ChVector3d &B, const ChVector3d &A1, const ChVector3d &A2, const ChVector3d &A3, double &u, double &v, bool &in_triangle, ChVector3d &Bprojected)
	Calculate distance of a point from a triangle surface. More...

bool	DegenerateTriangle (const ChVector3d &Dx, const ChVector3d &Dy)
	Check if the triangle defined by the two given vectors is degenerate.

bool	DegenerateTriangle (const ChVector3d &v1, const ChVector3d &v2, const ChVector3d &v3)
	Check if the triangle defined by the three given vertices is degenerate.

void	WriteBodies (ChSystem *system, const std::string &filename, bool active_only=false, bool dump_vel=false, const std::string &delim=",")
	This function dumps to a CSV file pody position, orientation, and optionally linear and angular velocity. More...

bool	WriteCheckpoint (ChSystem *system, const std::string &filename)
	Create a CSV file with a checkpoint.

void	ReadCheckpoint (ChSystem *system, const std::string &filename)
	Read a CSV file with a checkpoint.

void	WriteCamera (const std::string &filename, const ChVector3d &cam_location, const ChVector3d &cam_target, const ChVector3d &camera_upvec, const std::string &delim=",")
	Write CSV output file with camera information for off-line visualization. More...

void	WriteVisualizationAssets (ChSystem *system, const std::string &filename, bool body_info=true, const std::string &delim=",")
	Write CSV output file with body and asset information for off-line visualization. More...

void	WriteVisualizationAssets (ChSystem *system, const std::string &filename, std::function< bool(const ChBody &)> selector, bool body_info=true, const std::string &delim=",")
	Write CSV output file with body and asset information for off-line visualization. More...

void	WriteMeshPovray (ChTriangleMeshConnected &trimesh, const std::string &mesh_name, const std::string &out_dir, const ChColor &color=ChColor(0.4f, 0.4f, 0.4f), const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0), bool smoothed=false)
	Write the specified mesh as a macro in a PovRay include file. More...

bool	WriteMeshPovray (const std::string &obj_filename, const std::string &mesh_name, const std::string &out_dir, const ChColor &color=ChColor(0.4f, 0.4f, 0.4f), const ChVector3d &pos=ChVector3d(0, 0, 0), const ChQuaternion<> &rot=ChQuaternion<>(1, 0, 0, 0))
	Write the triangular mesh from the specified OBJ file as a macro in a PovRay include file. More...

void	WriteCurvePovray (const ChBezierCurve &curve, const std::string &curve_name, const std::string &out_dir, double radius=0.03, const ChColor &col=ChColor(0.8f, 0.8f, 0.2f))
	Write the specified Bezier curve as a macro in a PovRay include file.

template<typename T >
ChWriterCSV &	operator<< (ChWriterCSV &out, const ChVector3< T > &v)

template<typename T >
ChWriterCSV &	operator<< (ChWriterCSV &out, const ChQuaternion< T > &q)

ChWriterCSV &	operator<< (ChWriterCSV &out, const ChColor &c)

template<typename T >
ChWriterCSV &	operator<< (ChWriterCSV &out, const std::vector< T > &vec)

std::default_random_engine &	rengine ()

template<typename T >
T	sampleTruncatedDist (std::normal_distribution< T > &distribution, T minVal, T maxVal)

template<typename T >
std::vector< ChVector3< T > >	ChPDLayerSamplerBox (ChVector3< T > center, ChVector3< T > hdims, T diam, T padding_factor=1.02, bool verbose=false)
	Poisson Disk sampler for sampling a 3D box in layers. More...

bool	Validate (const std::string &sim_filename, const std::string &ref_filename, ChNormType norm_type, double tolerance, DataVector &norms)
	Compare the data in the two specified files. More...

bool	Validate (const Data &sim_data, const Data &ref_data, ChNormType norm_type, double tolerance, DataVector &norms)
	Compare the data in the two specified structures The comparison is done using the specified norm type and tolerance. More...

bool	Validate (const std::string &sim_filename, ChNormType norm_type, double tolerance, DataVector &norms)
	Validation of a constraint violation data file. More...

bool	Validate (const Data &sim_data, ChNormType norm_type, double tolerance, DataVector &norms)
	Validation of a constraint violation data structure. More...

void	SetValidationDataPath (const std::string &path)
	Set the path to the reference validation data directory. More...

const std::string &	GetValidationDataPath ()
	Obtain the current path to the reference validation data directory. More...

std::string	GetValidationDataFile (const std::string &filename)
	Obtain the complete path to the specified filename. More...

Variables
const int	MSG_HEADER_LEN = sizeof(uint64_t)

const int	HOST_NAME_LENGTH = 64

const int	MAX_RECV_LEN = 8096

const int	MAX_MSG_LEN = 1024

const int	PORTNUM = 1200

template<class T >
constexpr T	Pi = T(3.1415926535897932385L)

Function Documentation

◆ GetValidationDataFile()

ChApi std::string chrono::utils::GetValidationDataFile ( const std::string & filename )

Obtain the complete path to the specified filename.

The given filename is assumed to be relative to the reference validation data directory. (thread safe)

◆ GetValidationDataPath()

const ChApi std::string & chrono::utils::GetValidationDataPath ( )

Obtain the current path to the reference validation data directory.

(thread safe)

◆ SetValidationDataPath()

ChApi void chrono::utils::SetValidationDataPath ( const std::string & path )

Set the path to the reference validation data directory.

(ATTENTION: not thread safe)

◆ Validate() [1/4]

ChApi bool chrono::utils::Validate	(	const Data &	sim_data,
		ChNormType	norm_type,
		double	tolerance,
		DataVector &	norms
	)

Validation of a constraint violation data structure.

The validation is done using the specified norm type and tolerance. The function returns true if the norms of all columns, excluding the first one, are below the given tolerance and false otherwise.

◆ Validate() [2/4]

ChApi bool chrono::utils::Validate	(	const Data &	sim_data,
		const Data &	ref_data,
		ChNormType	norm_type,
		double	tolerance,
		DataVector &	norms
	)

Compare the data in the two specified structures The comparison is done using the specified norm type and tolerance.

The function returns true if the norms of all column differences are below the given tolerance and false otherwise.

◆ Validate() [3/4]

ChApi bool chrono::utils::Validate	(	const std::string &	sim_filename,
		ChNormType	norm_type,
		double	tolerance,
		DataVector &	norms
	)

Validation of a constraint violation data file.

The validation is done using the specified norm type and tolerance. The function returns true if the norms of all columns, excluding the first one, are below the given tolerance and false otherwise. It is assumed that the input file is TAB-delimited.

◆ Validate() [4/4]

ChApi bool chrono::utils::Validate	(	const std::string &	sim_filename,
		const std::string &	ref_filename,
		ChNormType	norm_type,
		double	tolerance,
		DataVector &	norms
	)

Compare the data in the two specified files.

The comparison is done using the specified norm type and tolerance. The function returns true if the norms of all column differences are below the given tolerance and false otherwise. It is assumed that the input files are TAB-delimited.

◆ WriteBodies()

ChApi void chrono::utils::WriteBodies	(	ChSystem *	system,
		const std::string &	filename,
		bool	active_only = `false`,
		bool	dump_vel = `false`,
		const std::string &	delim = `","`
	)

This function dumps to a CSV file pody position, orientation, and optionally linear and angular velocity.

Optionally, only active bodies are processed.

◆ WriteCamera()

ChApi void chrono::utils::WriteCamera	(	const std::string &	filename,
		const ChVector3d &	cam_location,
		const ChVector3d &	cam_target,
		const ChVector3d &	camera_upvec,
		const std::string &	delim = `","`
	)

Write CSV output file with camera information for off-line visualization.

The output file includes three vectors, one per line, for camera position, camera target (look-at point), and camera up vector, respectively.

◆ WriteMeshPovray() [1/2]

ChApi void chrono::utils::WriteMeshPovray	(	ChTriangleMeshConnected &	trimesh,
		const std::string &	mesh_name,
		const std::string &	out_dir,
		const ChColor &	color = `ChColor(0.4f, 0.4f, 0.4f)`,
		const ChVector3d &	pos = `ChVector3d(0, 0, 0)`,
		const ChQuaternion<> &	rot = `ChQuaternion<>(1, 0, 0, 0)`,
		bool	smoothed = `false`
	)

Write the specified mesh as a macro in a PovRay include file.

The output file will be "[out_dir]/[mesh_name].inc". The mesh vertices will be transformed to the frame with specified offset and orientation.

◆ WriteMeshPovray() [2/2]

ChApi bool chrono::utils::WriteMeshPovray	(	const std::string &	obj_filename,
		const std::string &	mesh_name,
		const std::string &	out_dir,
		const ChColor &	color = `ChColor(0.4f, 0.4f, 0.4f)`,
		const ChVector3d &	pos = `ChVector3d(0, 0, 0)`,
		const ChQuaternion<> &	rot = `ChQuaternion<>(1, 0, 0, 0)`
	)

Write the triangular mesh from the specified OBJ file as a macro in a PovRay include file.

The output file will be "[out_dir]/[mesh_name].inc". The mesh vertices will be transformed to the frame with specified offset and orientation.

◆ WriteVisualizationAssets() [1/2]

ChApi void chrono::utils::WriteVisualizationAssets	(	ChSystem *	system,
		const std::string &	filename,
		bool	body_info = `true`,
		const std::string &	delim = `","`
	)

Write CSV output file with body and asset information for off-line visualization.

(1) The first line of the output file contains:

the number of bodies (0 if no body information is included below)
the number of visual assets
the number of links
the number of TSDA spring-dampers (2) If the number of bodies is not zero, the next block of lines includes information about the rigid bodies. Each line contains 9 values:
the body identifier
a flag (1 or 0) indicating whether the body is active or not
the body position expressed in global frame
the body orientation (as a quaternion, expressed in global frame) (3) The next block of lines includes information about the visual assets. Each line contains:
the identifier of the associated body
a flag (1 or 0) indicating whether the body is active or not
the asset position expresssed in global frame
the asset orientation (as a quaternion, expressed in global frame)
the visualization asset type (an enum value)
geometry information depending on the type above (4) The next block of lines includes information about the joints. Each line contains:
the joint type (an enum value)
joint position and orientation information depending on the type above (5) The next block of lines includes information about TSDA elements. Each line contains:
the type of visual asset (0 for segment or 1 for coil)
start point position
end point position

Parameters

system	containg system
filename	output file name
body_info	include body state information
delim	CSV delimitator

◆ WriteVisualizationAssets() [2/2]

ChApi void chrono::utils::WriteVisualizationAssets	(	ChSystem *	system,
		const std::string &	filename,
		std::function< bool(const ChBody &)>	selector,
		bool	body_info = `true`,
		const std::string &	delim = `","`
	)