Description

Base class for a Chrono run-time visualization system.

#include <ChVisualSystem.h>

Inheritance diagram for chrono::ChVisualSystem:

[legend]

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

Public Member Functions
void	SetVerbose (bool verbose)
	Enable/disable information terminal output during initialization (default: false).

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.

std::vector< ChSystem * >	GetSystems () const
	Get the list of associated Chrono systems.

ChSystem &	GetSystem (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_verbose
	terminal output

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

enum chrono::ChVisualSystem::Type

strong

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_step	grid cell size in X direction
y_step	grid cell size in Y direction
nx	number of cells in X direction
ny	number of cells in Y direction
pos	grid reference frame
col	grid 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.

◆ 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::modal::ChModalVisualSystemIrrlicht< ScalarType >, 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.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht.

◆ 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::irrlicht::ChVisualSystemIrrlicht, and 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.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht.

◆ 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::modal::ChModalVisualSystemIrrlicht< ScalarType >, 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

Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Enumeration Documentation

◆ Type

Member Function Documentation

◆ AddCamera()

◆ AddGrid()

◆ AddVisualModel() [1/2]

◆ AddVisualModel() [2/2]

◆ BindAll()

◆ BindItem()

◆ GetSimulationRTF()

◆ GetSimulationTime()

◆ Initialize()

◆ OnClear()

◆ OnSetup()

◆ OnUpdate()

◆ Render()

◆ Run()

◆ WriteImageToFile()