chrono::irrlicht::ChIrrApp Class Reference

Description

Class to add some GUI to Irrlicht+Chrono::Engine applications.

Such basic GUI can be used to monitor solver timings, to change physical system settings easily, and so on.

#include <ChIrrApp.h>

Inheritance diagram for chrono::irrlicht::ChIrrApp:
Collaboration diagram for chrono::irrlicht::ChIrrApp:

Public Member Functions

 ChIrrApp (ChSystem *psystem, const wchar_t *title=0, irr::core::dimension2d< irr::u32 > dimens=irr::core::dimension2d< irr::u32 >(640, 480), bool do_fullscreen=false, bool do_shadows=false, bool do_antialias=true, irr::video::E_DRIVER_TYPE mydriver=irr::video::EDT_DIRECT3D9)
 Create the application with Irrlicht context (3D view, device, etc.)
 
virtual ~ChIrrApp ()
 Safely delete every Irrlicht item (including the Irrlicht scene nodes)
 
ChIrrAssetConverterGetAssetConverter ()
 Gets the asset converter.
 
void AssetBind (std::shared_ptr< ChPhysicsItem > mitem)
 Shortcut to add and bind a ChIrrNodeAsset to an item, if it has not been added previously. More...
 
void AssetBindAll ()
 Shortcut to add and bind a ChIrrNodeAsset to all items in a ChSystem. More...
 
void AssetUpdate (std::shared_ptr< ChPhysicsItem > mitem)
 This function sets up the Irrlicht nodes corresponding to the geometric assets that are found in the ChPhysicsItem 'mitem'. More...
 
void AssetUpdateAll ()
 For all items in a ChSystem, this function sets up the Irrlicht nodes corresponding to the geometric assets that have been added to the items. More...
 
void AddShadow (std::shared_ptr< ChPhysicsItem > mitem)
 Shortcut to enable shadow maps for an item. More...
 
void AddShadowAll ()
 Shortcut to enable shadow maps for all items in scene. More...
 
- Public Member Functions inherited from chrono::irrlicht::ChIrrAppInterface
 ChIrrAppInterface (ChSystem *psystem, const wchar_t *title=0, irr::core::dimension2d< irr::u32 > dimens=irr::core::dimension2d< irr::u32 >(640, 480), bool do_fullscreen=false, bool do_shadows=false, bool do_antialias=true, irr::video::E_DRIVER_TYPE mydriver=irr::video::EDT_DIRECT3D9)
 Create the IRRLICHT context (device, etc.)
 
virtual ~ChIrrAppInterface ()
 Safely delete all Irrlicht items (including the Irrlicht scene nodes)
 
irr::IrrlichtDevice * GetDevice ()
 
irr::video::IVideoDriver * GetVideoDriver ()
 
irr::scene::ISceneManager * GetSceneManager ()
 
irr::gui::IGUIEnvironment * GetIGUIEnvironment ()
 
EffectHandlerGetEffects ()
 
irr::scene::ISceneNode * GetContainer ()
 
ChSystemGetSystem ()
 
void SetShowInfos (bool val)
 Show the info panel in the 3D view.
 
bool GetShowInfos ()
 
void SetTimestep (double val)
 Set/Get the time step for time integration. More...
 
double GetTimestep ()
 
void SetStepManage (bool val)
 If set to true, you can use DoStep() in the simulation loop to advance the simulation by one timestep. More...
 
bool GetStepManage ()
 
void SetTryRealtime (bool val)
 If set to true, the function DoStep() will try to use a timestep that is the same as that used to refresh the interface and compute physics (i.e., it attempts to keep soft-realtime performance). More...
 
bool GetTryRealtime ()
 
void SetPaused (bool val)
 Set/Get the simulation state (running or paused)
 
bool GetPaused ()
 
void SetVideoframeSave (bool val)
 If set to true, each frame of the animation will be saved on the disk as snapshot0001.bmp, snapshot0002.bmp, etc. More...
 
bool GetVideoframeSave ()
 
void SetVideoframeSaveInterval (int val)
 Set to 1 if you need to save on disk all simulation steps, set to 2 for saving each 2 steps, etc. More...
 
int GetVideoframeSaveInterval ()
 
void SetContactsLabelMode (ChIrrTools::eCh_ContactsLabelMode mm)
 Set the label mode for contacts.
 
void SetContactsDrawMode (ChIrrTools::eCh_ContactsDrawMode mm)
 Set the draw mode for contacts.
 
void SetLinksLabelMode (ChIrrTools::eCh_LinkLabelMode mm)
 Set the label mode for links.
 
void SetLinksDrawMode (ChIrrTools::eCh_LinkDrawMode mm)
 Set the draw mode for links.
 
void SetSymbolscale (double val)
 Set the scale for symbol drawing (link frames, COGs, etc.)
 
double GetSymbolscale ()
 
void SetUserEventReceiver (irr::IEventReceiver *mreceiver)
 Use this function to hook a custom event receiver to the application.
 
void SetFonts (const std::string &mfontdir=GetChronoDataFile("fonts/arial8.xml"))
 Set the fonts to be used from now on. More...
 
virtual void BeginScene (bool backBuffer=true, bool zBuffer=true, irr::video::SColor color=irr::video::SColor(255, 0, 0, 0))
 Call this to clean the canvas at the beginning of each animation frame.
 
virtual void DoStep ()
 Call this important function inside a cycle like while(application.GetDevice()->run()) {...} in order to advance the physics by one timestep. More...
 
virtual void DrawAll ()
 Call this important function inside a loop like while(application.GetDevice()->run()) {...} in order to get the redrawing of all 3D shapes and all the GUI elements. More...
 
virtual void EndScene ()
 Call this to end the scene draw at the end of each animation frame.
 
void DumpSystemMatrices ()
 Dump the last used system matrices and vectors in the current directory, as 'dump_xxxx.dat' files that can be loaded with Matlab for debugging, benchmarking etc. More...
 
void AddTypicalLogo (const std::string &mlogofilename=GetChronoDataFile("logo_chronoengine_alpha.png"))
 
void AddTypicalCamera (irr::core::vector3df mpos=irr::core::vector3df(0, 0,-8), irr::core::vector3df mtarg=irr::core::vector3df(0, 0, 0))
 
void AddTypicalLights (irr::core::vector3df pos1=irr::core::vector3df(30.f, 100.f, 30.f), irr::core::vector3df pos2=irr::core::vector3df(30.f, 80.f,-30.f), double rad1=290, double rad2=190, irr::video::SColorf col1=irr::video::SColorf(0.7f, 0.7f, 0.7f, 1.0f), irr::video::SColorf col2=irr::video::SColorf(0.7f, 0.8f, 0.8f, 1.0f))
 
void AddTypicalSky (const std::string &mtexturedir=GetChronoDataFile("skybox/"))
 
irr::scene::ILightSceneNode * AddLight (irr::core::vector3df pos, double radius, irr::video::SColorf color=irr::video::SColorf(0.7f, 0.7f, 0.7f, 1.0f))
 Add a point light to the scene.
 
irr::scene::ILightSceneNode * AddLightWithShadow (irr::core::vector3df pos, irr::core::vector3df aim, double radius, double mnear, double mfar, double angle, irr::u32 resolution=512, irr::video::SColorf color=irr::video::SColorf(1.f, 1.f, 1.f, 1.f), bool directional=false, bool clipborder=true)
 Add a point light that cast shadow (using soft shadows/shadow maps) Note that the quality of the shadow strictly depends on how you set 'mnear' and 'mfar' parameters as close as possible to the bounding box of the scene. More...
 

Additional Inherited Members

- Public Attributes inherited from chrono::irrlicht::ChIrrAppInterface
std::shared_ptr< ChLinkSpring > * selectedspring
 
std::shared_ptr< ChBody > * selectedtruss
 
std::shared_ptr< ChBody > * selectedmover
 
ChVector selectedpoint
 
double selecteddist
 

Member Function Documentation

void chrono::irrlicht::ChIrrApp::AddShadow ( std::shared_ptr< ChPhysicsItem mitem)

Shortcut to enable shadow maps for an item.

Shadow maps in Irrlicht may slow visualization a bit. Also, one must remember to add shadow-enabled lights, using myapp.AddLightWithShadow(..)

void chrono::irrlicht::ChIrrApp::AddShadowAll ( )

Shortcut to enable shadow maps for all items in scene.

Shadow maps in Irrlicht may slow visualization a bit. Also, one must remember to add shadow-enabled lights, using myapp.AddLightWithShadow(..)

void chrono::irrlicht::ChIrrApp::AssetBind ( std::shared_ptr< ChPhysicsItem mitem)

Shortcut to add and bind a ChIrrNodeAsset to an item, if it has not been added previously.

void chrono::irrlicht::ChIrrApp::AssetBindAll ( )

Shortcut to add and bind a ChIrrNodeAsset to all items in a ChSystem.

If it has been already added, the existing ChIrrNodeAsset is used. NOTE. If you want a finer control on which item has an Irrlicht proxy, and which other does not need it, just use Bind(myitem) on a per-item basis. NOTE. This conversion should be done only if needed (ex. at the beginning of an animation), i.e. not too often, for performance reasons.

void chrono::irrlicht::ChIrrApp::AssetUpdate ( std::shared_ptr< ChPhysicsItem mitem)

This function sets up the Irrlicht nodes corresponding to the geometric assets that are found in the ChPhysicsItem 'mitem'.

For example, if one has added a ChSphereShape and a ChBoxShape to the assets of a ChBody, and a ChIrrNodeAsset too, this Update() function will prepare a ISceneNode in Irrlicht (precisely, a ChIrrNode node) and it will fill it with a spherical triangle mesh, and a box triangle mesh. NOTE. This must be done after the ChIrrNodeAsset has been created and bound, for example via Bind(). NOTE. This conversion should be done only if needed (ex. at the beginning of an animation or when a shape changes), i.e. not too often, for performance reasons.

void chrono::irrlicht::ChIrrApp::AssetUpdateAll ( )

For all items in a ChSystem, this function sets up the Irrlicht nodes corresponding to the geometric assets that have been added to the items.

NOTE. This must be done after the ChIrrNodeAsset has been created and bound, for example via Bind(). NOTE. This conversion should be done only if needed (ex. at the beginning of an animation), i.e. not too often, for performance reasons.