chrono::vehicle::ChTrackedVehicleIrrApp Class Reference

Description

Customized Chrono Irrlicht application for tracked vehicle visualization.

#include <ChTrackedVehicleIrrApp.h>

Inheritance diagram for chrono::vehicle::ChTrackedVehicleIrrApp:
Collaboration diagram for chrono::vehicle::ChTrackedVehicleIrrApp:

Public Member Functions

 ChTrackedVehicleIrrApp (ChVehicle *vehicle, ChPowertrain *powertrain, const wchar_t *title=0, irr::core::dimension2d< irr::u32 > dims=irr::core::dimension2d< irr::u32 >(1000, 800))
 Construct a tracked vehicle Irrlicht application. More...
 
- Public Member Functions inherited from chrono::vehicle::ChVehicleIrrApp
 ChVehicleIrrApp (ChVehicle *vehicle, ChPowertrain *powertrain, const wchar_t *title=0, irr::core::dimension2d< irr::u32 > dims=irr::core::dimension2d< irr::u32 >(1000, 800))
 Construct a vehicle Irrlicht application. More...
 
void SetSkyBox ()
 Create a skybox that has Z pointing up. More...
 
void SetChaseCamera (const ChVector<> &ptOnChassis, double chaseDist, double chaseHeight)
 Set parameters for the underlying chase camera. More...
 
void SetStepsize (double val)
 Set the step size for integration of the chase-cam dynamics.
 
void SetChaseCameraPosition (const ChVector<> &pos)
 Set camera position. More...
 
void SetChaseCameraMultipliers (double minMult, double maxMult)
 Set camera zoom multipliers.
 
void SetHUDLocation (int HUD_x, int HUD_y)
 Set the upper-left point of HUD elements.
 
void EnableGrid (bool val)
 Turn on/off rendering of the grid.
 
void EnableStats (bool val)
 Turn on/off rendering of stats (HUD).
 
void SetGridHeight (double height)
 Set the height at which the horizontal grid is rendered.
 
void EnableSound (bool sound)
 Turn on/off Irrklang sound generation. More...
 
virtual void DrawAll () override
 Render the Irrlicht scene and additional visual elements.
 
void Synchronize (const std::string &msg, double steering, double throttle, double braking)
 Update information related to driver inputs.
 
void Advance (double step)
 Advance the dynamics of the chase camera. More...
 
void WriteImageToFile (const std::string &filename)
 Save a snapshot of the last rendered frame to file. More...
 
- Public Member Functions inherited from chrono::irrlicht::ChIrrApp
 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.
 
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 SetPlotAABB (bool val)
 Set if the AABB collision shapes will be plotted.
 
void SetPlotCOGFrames (bool val)
 Set if the COG frames will be plotted.
 
void SetPlotLinkFrames (bool val)
 Set if the link frames will be plotted.
 
void SetPlotConvergence (bool val)
 Set if the COG frames will be plotted.
 
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 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
 
- Protected Member Functions inherited from chrono::vehicle::ChVehicleIrrApp
void renderLinGauge (const std::string &msg, double factor, bool sym, int xpos, int ypos, int length=120, int height=15)
 
void renderTextBox (const std::string &msg, int xpos, int ypos, int length=120, int height=15, irr::video::SColor color=irr::video::SColor(255, 20, 20, 20))
 
- Protected Attributes inherited from chrono::vehicle::ChVehicleIrrApp
ChVehiclem_vehicle
 pointer to the associated vehicle system
 
ChPowertrainm_powertrain
 pointer to the associated powertrain system
 

Constructor & Destructor Documentation

chrono::vehicle::ChTrackedVehicleIrrApp::ChTrackedVehicleIrrApp ( ChVehicle vehicle,
ChPowertrain powertrain,
const wchar_t *  title = 0,
irr::core::dimension2d< irr::u32 >  dims = irr::core::dimension2d<irr::u32>(1000, 800) 
)

Construct a tracked vehicle Irrlicht application.

Parameters
vehiclepointer to the associated vehicle system
titlepointer to the associated powertrain system window title
dimswindow dimensions