MULTIBODY SIMULATION SOFTWARE - API documentation

irr::ChIrrTools Class Reference

#include <CHdisplayTools.h>

List of all members.

Public Types
enum	eCh_ContactsDrawMode {   CONTACT_NORMALS = 0, CONTACT_DISTANCES, CONTACT_FORCES_N, CONTACT_FORCES,   CONTACT_NONE }
enum	eCh_ContactsLabelMode {   CONTACT_DISTANCES_VAL, CONTACT_FORCES_VAL, CONTACT_FORCES_N_VAL, CONTACT_FORCES_T_VAL,   CONTACT_TORQUES_VAL, CONTACT_TORQUES_S_VAL, CONTACT_TORQUES_R_VAL, CONTACT_NONE_VAL }
Static Public Member Functions
static void	alignIrrlichtNodeToChronoCsys (scene::ISceneNode *mnode, chrono::ChCoordsys<> &mcoords)
static int	drawAllContactPoints (chrono::ChSystem &mphysicalSystem, video::IVideoDriver *driver, double mlen=1.0, eCh_ContactsDrawMode drawtype=CONTACT_NORMALS)
static int	drawAllContactLabels (chrono::ChSystem &mphysicalSystem, irr::IrrlichtDevice *device, eCh_ContactsLabelMode labeltype=CONTACT_FORCES_N_VAL, video::SColor mcol=video::SColor(255, 255, 255, 255))
static void	drawHUDviolation (video::IVideoDriver *driver, IrrlichtDevice *mdevice, chrono::ChSystem &asystem, int mx=10, int my=290, int sx=300, int sy=100, double spfact=100.0, double posfact=500.0)
static void	drawCHfunction (IrrlichtDevice *mdevice, chrono::ChFunction *fx, double xmin=0, double xmax=1, double ymin=-1, double ymax=1, int mx=10, int my=290, int sx=300, int sy=100)
static void	drawSegment (video::IVideoDriver *driver, chrono::ChVector<> mstart, chrono::ChVector<> mend, video::SColor mcol=video::SColor(255, 0, 0, 0), bool use_Zbuffer=false)
static void	drawPolyline (video::IVideoDriver *driver, std::vector< chrono::ChVector<> > mpoints, video::SColor mcol=video::SColor(255, 0, 0, 0), bool use_Zbuffer=false)
static void	drawCircle (video::IVideoDriver *driver, double radius, chrono::ChCoordsys<> mpos=chrono::CSYSNORM, video::SColor mcol=video::SColor(255, 0, 0, 0), int mresolution=36, bool use_Zbuffer=false)
static void	drawSpring (video::IVideoDriver *driver, double radius, chrono::ChVector<> start, chrono::ChVector<> end, video::SColor mcol=video::SColor(255, 0, 0, 0), int mresolution=65, double turns=5, bool use_Zbuffer=false)
static void	drawGrid (video::IVideoDriver *driver, double ustep=0.1, double vstep=0.1, int nu=20, int nv=20, chrono::ChCoordsys<> mpos=chrono::CSYSNORM, video::SColor mcol=video::SColor(50, 80, 110, 110), bool use_Zbuffer=false)

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Detailed Description

Class with static functions which help with the integration of Chrono::Engine and Irrlicht 3D rendering library.

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Member Enumeration Documentation

enum irr::ChIrrTools::eCh_ContactsDrawMode

Easy-to-use function which draws contact points used by a ChSystem in the current Irrlicht viewer (the IVideoDriver). Small lines are drawn, of length mlen, aligned to contact normals.

enum irr::ChIrrTools::eCh_ContactsLabelMode

Easy-to-use function which draws contact informations as labels at the contact point

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Member Function Documentation

static void irr::ChIrrTools::alignIrrlichtNodeToChronoCsys	(	scene::ISceneNode *	mnode,
		chrono::ChCoordsys<> &	mcoords
	)			[static]

Function to align an Irrlicht object to a Chrono::Engine coordsys:

static void irr::ChIrrTools::drawSegment	(	video::IVideoDriver *	driver,
		chrono::ChVector<>	mstart,
		chrono::ChVector<>	mend,
		video::SColor	mcol = video::SColor(255,0,0,0),
		bool	use_Zbuffer = false
	)			[static]

Easy-to-use function to draw segment lines in 3D space, with given colour.

static void irr::ChIrrTools::drawPolyline	(	video::IVideoDriver *	driver,
		std::vector< chrono::ChVector<> >	mpoints,
		video::SColor	mcol = video::SColor(255,0,0,0),
		bool	use_Zbuffer = false
	)			[static]

Easy-to-use function to draw a polyline in 3D space, given the array of points as a std::vector.

static void irr::ChIrrTools::drawCircle	(	video::IVideoDriver *	driver,
		double	radius,
		chrono::ChCoordsys<>	mpos = chrono::CSYSNORM,
		video::SColor	mcol = video::SColor(255,0,0,0),
		int	mresolution = 36,
		bool	use_Zbuffer = false
	)			[static]

Easy-to-use function to draw a circle line in 3D space, with given colour. Specify the center as coordsys position. Orientation as coordsys quaternion (default in xy plane)

static void irr::ChIrrTools::drawSpring	(	video::IVideoDriver *	driver,
		double	radius,
		chrono::ChVector<>	start,
		chrono::ChVector<>	end,
		video::SColor	mcol = video::SColor(255,0,0,0),
		int	mresolution = 65,
		double	turns = 5,
		bool	use_Zbuffer = false
	)			[static]

Easy-to-use function to draw a spring in 3D space, with given colour. Specify the radius, the end points in absolute space, the resolution (i.e. the number of segments approximating the helix) and the number of turns.

static void irr::ChIrrTools::drawGrid	(	video::IVideoDriver *	driver,
		double	ustep = 0.1,
		double	vstep = 0.1,
		int	nu = 20,
		int	nv = 20,
		chrono::ChCoordsys<>	mpos = chrono::CSYSNORM,
		video::SColor	mcol = video::SColor(50,80,110,110),
		bool	use_Zbuffer = false
	)			[static]

Easy-to-use function to draw grids in 3D space, with given orientation, colour and spacing.

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CHRONO::ENGINE
C++ library for multibody simulation, (C) Alessandro Tasora
This API documentation has been generated on 17 Jul 2009 by Doxygen