Description

Base class for a Chrono run-time visualization system.

#include <ChVisualSystem.h>

Inheritance diagram for chrono::ChVisualSystem:

Public Types

enum  Type {
  Type::IRRLICHT, Type::VSG, Type::OpenGL, Type::OptiX,
  NONE
}
 Supported run-time visualization systems. More...
 

Public Member Functions

virtual void AttachSystem (ChSystem *sys)
 Attach a Chrono system to this visualization system.
 
virtual void Initialize ()=0
 Initialize the visualization system. More...
 
virtual void BindAll ()
 Process all visual assets in the associated Chrono systems. More...
 
virtual void BindItem (std::shared_ptr< ChPhysicsItem > item)
 Process the visual assets for the specified physics item. More...
 
virtual void UnbindItem (std::shared_ptr< ChPhysicsItem > item)
 Remove the visual assets for the specified physics item from this visualization system.
 
virtual int AddCamera (const ChVector3d &pos, ChVector3d targ=VNULL)
 Add a camera to the 3D scene. More...
 
virtual void AddGrid (double x_step, double y_step, int nx, int ny, ChCoordsys<> pos=CSYSNORM, ChColor col=ChColor(0.1f, 0.1f, 0.1f))
 Add a grid with specified parameters in the x-y plane of the given frame. More...
 
virtual void SetCameraPosition (int id, const ChVector3d &pos)
 Set the location of the specified camera.
 
virtual void SetCameraTarget (int id, const ChVector3d &target)
 Set the target (look-at) point of the specified camera.
 
virtual void SetCameraPosition (const ChVector3d &pos)
 Set the location of the current (active) camera.
 
virtual void SetCameraTarget (const ChVector3d &target)
 Set the target (look-at) point of the current (active) camera.
 
virtual ChVector3d GetCameraPosition () const
 Get the location of the current (active) camera.
 
virtual ChVector3d GetCameraTarget () const
 Get the target (look-at) point of the current (active) camera.
 
void UpdateCamera (int id, const ChVector3d &pos, ChVector3d target)
 Update the location and/or target points of the specified camera.
 
void UpdateCamera (const ChVector3d &pos, ChVector3d target)
 
virtual int AddVisualModel (std::shared_ptr< ChVisualModel > model, const ChFrame<> &frame)
 Add a visual model not associated with a physical item. More...
 
virtual int AddVisualModel (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame)
 Add a visual model not associated with a physical item. More...
 
virtual void UpdateVisualModel (int id, const ChFrame<> &frame)
 Update the position of the specified visualization-only model.
 
virtual bool Run ()=0
 Run the visualization system. More...
 
virtual void Quit ()=0
 Terminate the visualization system.
 
virtual void BeginScene ()=0
 Perform any necessary operations at the beginning of each rendering frame.
 
virtual void Render ()=0
 Draw all 3D shapes and GUI elements at the current frame. More...
 
virtual void RenderFrame (const ChFrame<> &frame, double axis_length=1)
 Render the specified reference frame.
 
virtual void RenderCOGFrames (double axis_length=1)
 Render COG frames for all bodies in the system.
 
virtual void EndScene ()=0
 Perform any necessary operations ar the end of each rendering frame.
 
virtual double GetSimulationRTF () const
 Return the simulation real-time factor (simulation time / simulated time). More...
 
virtual double GetSimulationTime () const
 Return the current simulated time. More...
 
virtual void WriteImageToFile (const std::string &filename)
 Create a snapshot of the last rendered frame and save it to the provided file. More...
 
void SetImageOutputDirectory (const std::string &dir)
 Set output directory for saving frame snapshots (default: ".").
 
void SetImageOutput (bool val)
 Enable/disable writing of frame snapshots to file.
 
virtual void EnableModalAnalysis (bool val)
 Enable modal analysis visualization. More...
 
virtual void SetModalModeNumber (int val)
 Set the mode to be shown (only if some ChModalAssembly is found).
 
virtual void SetModalAmplitude (double val)
 Set the amplitude of the shown mode (only if some ChModalAssembly is found).
 
virtual void SetModalSpeed (double val)
 Set the speed of the shown mode (only if some ChModalAssembly is found).
 
virtual void SetModalModesMax (int maxModes)
 Set the maximum number of modes selectable (only if some ChModalAssembly is found).
 
std::vector< ChSystem * > GetSystems () const
 Get the list of associated Chrono systems.
 
ChSystemGetSystem (int i) const
 Get the specified associated Chrono system.
 

Protected Member Functions

virtual void OnSetup (ChSystem *sys)
 Perform any necessary setup operations at the beginning of a time step. More...
 
virtual void OnUpdate (ChSystem *sys)
 Perform any necessary update operations at the end of a time step. More...
 
virtual void OnClear (ChSystem *sys)
 Remove all visualization objects from this visualization system. More...
 

Protected Attributes

bool m_initialized
 
std::vector< ChSystem * > m_systems
 associated Chrono system(s)
 
bool m_write_images
 if true, save snapshots
 
std::string m_image_dir
 directory for image files
 

Friends

class ChSystem
 

Member Enumeration Documentation

◆ Type

Supported run-time visualization systems.

Enumerator
IRRLICHT 

Irrlicht.

VSG 

Vulkan Scene Graph.

OpenGL 

OpenGL.

OptiX 

OptiX.

Member Function Documentation

◆ AddCamera()

virtual int chrono::ChVisualSystem::AddCamera ( const ChVector3d pos,
ChVector3d  targ = VNULL 
)
inlinevirtual

Add a camera to the 3D scene.

Return an ID which can be used later to modify camera location and/or target points. A concrete visualization system may or may not support multiuple cameras.

Reimplemented in chrono::vsg3d::ChVisualSystemVSG, chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::opengl::ChVisualSystemOpenGL.

◆ AddGrid()

virtual void chrono::ChVisualSystem::AddGrid ( double  x_step,
double  y_step,
int  nx,
int  ny,
ChCoordsys<>  pos = CSYSNORM,
ChColor  col = ChColor(0.1f, 0.1f, 0.1f) 
)
inlinevirtual

Add a grid with specified parameters in the x-y plane of the given frame.

Parameters
x_stepgrid cell size in X direction
y_stepgrid cell size in Y direction
nxnumber of cells in X direction
nynumber of cells in Y direction
posgrid reference frame
colgrid line color

Reimplemented in chrono::vsg3d::ChVisualSystemVSG, and chrono::irrlicht::ChVisualSystemIrrlicht.

◆ AddVisualModel() [1/2]

virtual int chrono::ChVisualSystem::AddVisualModel ( std::shared_ptr< ChVisualModel model,
const ChFrame<> &  frame 
)
inlinevirtual

Add a visual model not associated with a physical item.

Return an ID which can be used later to modify the position of this visual model.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::vsg3d::ChVisualSystemVSG.

◆ AddVisualModel() [2/2]

virtual int chrono::ChVisualSystem::AddVisualModel ( std::shared_ptr< ChVisualShape shape,
const ChFrame<> &  frame 
)
inlinevirtual

Add a visual model not associated with a physical item.

This version constructs a visual model consisting of the single specified shape Return an ID which can be used later to modify the position of this visual model.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::vsg3d::ChVisualSystemVSG.

◆ BindAll()

virtual void chrono::ChVisualSystem::BindAll ( )
inlinevirtual

Process all visual assets in the associated Chrono systems.

This function is called by default for a Chrono system attached to this visualization system during initialization, but can also be called later if further modifications to visualization assets occur.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::opengl::ChVisualSystemOpenGL, and chrono::vsg3d::ChVisualSystemVSG.

◆ BindItem()

virtual void chrono::ChVisualSystem::BindItem ( std::shared_ptr< ChPhysicsItem item)
inlinevirtual

Process the visual assets for the specified physics item.

This function must be called if a new physics item is added to the system or if changes to its visual model occur after the visualization system was attached to the Chrono system.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::opengl::ChVisualSystemOpenGL, and chrono::vsg3d::ChVisualSystemVSG.

◆ EnableModalAnalysis()

virtual void chrono::ChVisualSystem::EnableModalAnalysis ( bool  val)
inlinevirtual

Enable modal analysis visualization.

If supported, visualize an oscillatory motion of the n-th mode (if the associated system contains a ChModalAssembly).

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht.

◆ GetSimulationRTF()

double chrono::ChVisualSystem::GetSimulationRTF ( ) const
virtual

Return the simulation real-time factor (simulation time / simulated time).

The default value returned by this base class is the RTF value from the first associated system (if any). See ChSystem::GetRTF

◆ GetSimulationTime()

double chrono::ChVisualSystem::GetSimulationTime ( ) const
virtual

Return the current simulated time.

The default value returned by this base class is the time from the first associated system (if any).

◆ Initialize()

virtual void chrono::ChVisualSystem::Initialize ( )
pure virtual

Initialize the visualization system.

This call must trigger a parsing of the associated Chrono systems to process all visual models. A derived class must ensure that this function is called only once (use the m_initialized flag).

Implemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::opengl::ChVisualSystemOpenGL, chrono::vehicle::ChVehicleVisualSystemIrrlicht, chrono::vsg3d::ChVisualSystemVSG, chrono::vehicle::ChVehicleVisualSystemOpenGL, and chrono::vehicle::ChVehicleVisualSystemVSG.

◆ OnClear()

virtual void chrono::ChVisualSystem::OnClear ( ChSystem sys)
inlineprotectedvirtual

Remove all visualization objects from this visualization system.

Called by an associated ChSystem.

◆ OnSetup()

virtual void chrono::ChVisualSystem::OnSetup ( ChSystem sys)
inlineprotectedvirtual

Perform any necessary setup operations at the beginning of a time step.

Called by an associated ChSystem.

Reimplemented in chrono::vsg3d::ChVisualSystemVSG.

◆ OnUpdate()

virtual void chrono::ChVisualSystem::OnUpdate ( ChSystem sys)
inlineprotectedvirtual

Perform any necessary update operations at the end of a time step.

Called by an associated ChSystem.

◆ Render()

virtual void chrono::ChVisualSystem::Render ( )
pure virtual

Draw all 3D shapes and GUI elements at the current frame.

This function is typically called inside a loop such as

   while(vis->Run()) {
      ...
      vis->Render();
      ...
   }

Implemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::opengl::ChVisualSystemOpenGL, chrono::vsg3d::ChVisualSystemVSG, chrono::vehicle::ChVehicleVisualSystemIrrlicht, and chrono::robosimian::RoboSimianVisualSystemIrrlicht.

◆ Run()

virtual bool chrono::ChVisualSystem::Run ( )
pure virtual

Run the visualization system.

Returns false if the system must shut down.

Implemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::opengl::ChVisualSystemOpenGL, and chrono::vsg3d::ChVisualSystemVSG.

◆ WriteImageToFile()

virtual void chrono::ChVisualSystem::WriteImageToFile ( const std::string &  filename)
inlinevirtual

Create a snapshot of the last rendered frame and save it to the provided file.

The file extension determines the image format.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::opengl::ChVisualSystemOpenGL, and chrono::vsg3d::ChVisualSystemVSG.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/assets/ChVisualSystem.h
  • /builds/uwsbel/chrono/src/chrono/assets/ChVisualSystem.cpp