Project Chrono: Irrlicht assets example (demo_IRR_assets.cpp)

Irrlicht assets example (demo_IRR_assets.cpp)

Use the assets system to create shapes that can be shown in the Irrlicht 3D view.

This tutorial shows how to:

- add geometric visualization shapes to an object.
- visualize them in the realtime view of Irrlicht.

Note: the same assets that you use for Irrlicht display can be used for postprocessing, ex. with POVray as explained in demo_POST_povray.

// =============================================================================
// PROJECT CHRONO - http://projectchrono.org
//
// Copyright (c) 2014 projectchrono.org
// All rights reserved.
//
// Use of this source code is governed by a BSD-style license that can be found
// in the LICENSE file at the top level of the distribution and at
// http://projectchrono.org/license-chrono.txt.
//
// =============================================================================
// Authors: Alessandro Tasora, Radu Serban
// =============================================================================
//
// Demosntration of the Chrono::Irrlicht run-time visualization system
//
// =============================================================================
#include "chrono/physics/ChSystemNSC.h"
#include "chrono/physics/ChParticleCloud.h"
#include "chrono/physics/ChBodyEasy.h"
#include "chrono/geometry/ChLineNurbs.h"
#include "chrono/geometry/ChSurfaceNurbs.h"
#include "chrono/assets/ChVisualShapeSurface.h"
#include "chrono/assets/ChVisualShapeCone.h"
#include "chrono/core/ChRandom.h"
#include "chrono_irrlicht/ChVisualSystemIrrlicht.h"
// Use the namespace of Chrono
using namespace chrono;
using namespace chrono::irrlicht;
int main(int argc, char* argv[]) {
std::cout << "Copyright (c) 2017 projectchrono.org\nChrono version: " << CHRONO_VERSION << std::endl;
// Create a Chrono system
ChSystemNSC sys;
sys.SetCollisionSystemType(ChCollisionSystem::Type::BULLET);
// EXAMPLE 1:
// Create a ChBody, and attach assets that define 3D shapes for visualization purposes.
// Note: these assets are independent from collision shapes!
// Create a rigid body and add it to the physical system:
auto floor = chrono_types::make_shared<ChBody>();
floor->SetFixed(true);
// Contact material
auto floor_mat = chrono_types::make_shared<ChContactMaterialNSC>();
// Define a collision shape
auto floor_shape = chrono_types::make_shared<ChCollisionShapeBox>(floor_mat, 20, 1, 20);
floor->AddCollisionShape(floor_shape, ChFrame<>(ChVector3d(0, -1, 0), QUNIT));
floor->EnableCollision(true);
// Add body to system
sys.Add(floor);
// Attach a 'box' shape.
// Note that assets are managed via shared pointer, so they can also be shared).
auto boxfloor = chrono_types::make_shared<ChVisualShapeBox>(20, 1, 20);
boxfloor->SetColor(ChColor(0.2f, 0.3f, 1.0f));
floor->AddVisualShape(boxfloor, ChFrame<>(ChVector3d(0, -1, 0), QUNIT));
// Attach a 'path' shape populated with segments and arcs.
auto pathfloor = chrono_types::make_shared<ChVisualShapePath>();
ChLineSegment mseg1(ChVector3d(1, 2, 0), ChVector3d(1, 3, 0));
pathfloor->GetPathGeometry()->AddSubLine(mseg1);
ChLineSegment mseg2(ChVector3d(1, 3, 0), ChVector3d(2, 3, 0));
pathfloor->GetPathGeometry()->AddSubLine(mseg2);
ChLineArc marc1(ChCoordsys<>(ChVector3d(2, 3.5, 0)), 0.5, -CH_PI_2, CH_PI_2);
pathfloor->GetPathGeometry()->AddSubLine(marc1);
pathfloor->SetColor(ChColor(0.0f, 0.5f, 0.8f));
floor->AddVisualShape(pathfloor);
// Attach a 'nurbs line' shape:
// First create the ChLineNurbs geometry, then put it inside a ChVisualShapeLine
auto nurbs = chrono_types::make_shared<ChLineNurbs>();
std::vector<ChVector3d> controlpoints = {ChVector3d(1, 2, -1), ChVector3d(1, 3, -1), ChVector3d(1, 3, -2),
ChVector3d(1, 4, -2)};
nurbs->Setup(3, controlpoints);
auto nurbsasset = chrono_types::make_shared<ChVisualShapeLine>();
nurbsasset->SetLineGeometry(nurbs);
nurbsasset->SetColor(ChColor(0.0f, 0.3f, 1.0f));
floor->AddVisualShape(nurbsasset);
// Attach a 'nurbs surface' shape:
// First create the ChSurfaceNurbs geometry, then put it inside a ChVisualShapeSurface
auto surf = chrono_types::make_shared<ChSurfaceNurbs>();
ChMatrixDynamic<ChVector3d> surfpoints(4, 2); // u points, v points
surfpoints(0, 0) = ChVector3d(1, 2, 3);
surfpoints(1, 0) = ChVector3d(1, 3, 3);
surfpoints(2, 0) = ChVector3d(2, 3, 3);
surfpoints(3, 0) = ChVector3d(2, 4, 3);
surfpoints(0, 1) = ChVector3d(1, 2, 1);
surfpoints(1, 1) = ChVector3d(1, 3, 1);
surfpoints(2, 1) = ChVector3d(3, 3, 1);
surfpoints(3, 1) = ChVector3d(2, 4, 1);
surf->Setup(3, 1, surfpoints);
auto surfasset = chrono_types::make_shared<ChVisualShapeSurface>();
surfasset->SetSurfaceGeometry(surf);
surfasset->SetWireframe(true);
surfasset->SetColor(ChColor(0.2f, 0.8f, 0.3f));
floor->AddVisualShape(surfasset, ChFrame<>(ChVector3d(3, -1, 3), QUNIT));
// EXAMPLE 2:
// Create the rigid body (this won't move, it is only for visualization tests)
auto body = chrono_types::make_shared<ChBody>();
body->SetFixed(true);
sys.Add(body);
// Create shared visualization materials
auto orange_mat = chrono_types::make_shared<ChVisualMaterial>();
orange_mat->SetDiffuseColor(ChColor(0.9f, 0.4f, 0.2f));
auto pink_mat = chrono_types::make_shared<ChVisualMaterial>();
pink_mat->SetKdTexture(GetChronoDataFile("textures/pinkwhite.png"));
// Attach a sphere shape
auto sphere = chrono_types::make_shared<ChVisualShapeSphere>(0.5);
sphere->AddMaterial(orange_mat);
body->AddVisualShape(sphere, ChFrame<>(ChVector3d(-1, 0, 0), QUNIT));
// Attach a box shape
auto box = chrono_types::make_shared<ChVisualShapeBox>(0.6, 1.0, 0.2);
box->AddMaterial(orange_mat);
body->AddVisualShape(box, ChFrame<>(ChVector3d(1, 1, 0), QUNIT));
// Attach a cylinder shape
auto cyl = chrono_types::make_shared<ChVisualShapeCylinder>(0.3, 0.7);
cyl->AddMaterial(orange_mat);
body->AddVisualShape(cyl, ChFrame<>(ChVector3d(2, 0.15, 0), QuatFromAngleX(CH_PI_2)));
body->AddVisualShape(chrono_types::make_shared<ChVisualShapeSphere>(0.03),
ChFrame<>(ChVector3d(2, -0.2, 0), QUNIT));
body->AddVisualShape(chrono_types::make_shared<ChVisualShapeSphere>(0.03),
ChFrame<>(ChVector3d(2, +0.5, 0), QUNIT));
// Attach a capsule shape
auto capsule = chrono_types::make_shared<ChVisualShapeCapsule>(0.5, 2);
capsule->AddMaterial(orange_mat);
body->AddVisualShape(capsule, ChFrame<>(ChVector3d(-3, 1, -1), QUNIT));
body->AddVisualShape(chrono_types::make_shared<ChVisualShapeSphere>(0.03),
ChFrame<>(ChVector3d(-3, 1, -2.5), QUNIT));
body->AddVisualShape(chrono_types::make_shared<ChVisualShapeSphere>(0.03),
ChFrame<>(ChVector3d(-3, 1, +0.5), QUNIT));
// Attach a cone shape
auto cone = chrono_types::make_shared<ChVisualShapeCone>(0.3, 1.0);
cone->SetMaterial(0, pink_mat);
body->AddVisualShape(cone, ChFrame<>(ChVector3d(-4, 1.5, -1), QUNIT));
// Attach three instances of the same 'triangle mesh' shape
auto mesh = chrono_types::make_shared<ChVisualShapeTriangleMesh>();
mesh->GetMesh()->GetCoordsVertices().push_back(ChVector3d(0, 0, 0));
mesh->GetMesh()->GetCoordsVertices().push_back(ChVector3d(0, 1, 0));
mesh->GetMesh()->GetCoordsVertices().push_back(ChVector3d(1, 0, 0));
mesh->GetMesh()->GetIndicesVertexes().push_back(ChVector3i(0, 1, 2));
mesh->AddMaterial(orange_mat);
body->AddVisualShape(mesh, ChFrame<>(ChVector3d(2, 0, 2), QUNIT));
body->AddVisualShape(mesh, ChFrame<>(ChVector3d(3, 0, 2), QUNIT));
body->AddVisualShape(mesh, ChFrame<>(ChVector3d(2, 1, 2), QUNIT));
// Attach a 'Wavefront mesh' asset, referencing a .obj file and offset it.
auto objmesh = chrono_types::make_shared<ChVisualShapeModelFile>();
objmesh->SetFilename(GetChronoDataFile("models/forklift/body.obj"));
body->AddVisualShape(objmesh, ChFrame<>(ChVector3d(0, 0, 2), QUNIT));
// Attach an array of boxes, each rotated to make a spiral
for (int j = 0; j < 20; j++) {
auto smallbox = chrono_types::make_shared<ChVisualShapeBox>(0.2, 0.2, 0.02);
smallbox->SetColor(ChColor(j * 0.05f, 1 - j * 0.05f, 0.0f));
ChMatrix33<> rot(QuatFromAngleY(j * 21 * CH_DEG_TO_RAD));
ChVector3d pos = rot * ChVector3d(0.4, 0, 0) + ChVector3d(0, j * 0.02, 0);
body->AddVisualShape(smallbox, ChFrame<>(pos, rot));
}
// EXAMPLE 3:
// Create a ChParticleCloud cluster, and attach 'assets' that define a single "sample" 3D shape.
// Create the ChParticleCloud, populate it with some random particles, and add it to physical system:
auto particles = chrono_types::make_shared<ChParticleCloud>();
double particle_radius = 0.05;
// Add visualization (shared by all particles in the cloud)
auto particle_vis = chrono_types::make_shared<ChVisualShapeSphere>(particle_radius);
particles->AddVisualShape(particle_vis);
// Note: the collision shape, if needed, must be specified before creating particles.
// This will be shared among all particles in the ChParticleCloud.
auto particle_mat = chrono_types::make_shared<ChContactMaterialNSC>();
auto particle_shape = chrono_types::make_shared<ChCollisionShapeSphere>(particle_mat, 0.05);
particles->AddCollisionShape(particle_shape);
particles->EnableCollision(true);
// Create the random particles
for (int np = 0; np < 100; ++np)
particles->AddParticle(ChCoordsys<>(ChVector3d(ChRandom::Get() - 2, 1.5, ChRandom::Get() + 2)));
// Mass and inertia properties.
// This will be shared among all particles in the ChParticleCloud.
particles->SetMass(0.1);
particles->SetInertiaXX(ChVector3d(0.001, 0.001, 0.001));
// Do not forget to add the particle cluster to the system:
sys.Add(particles);
// EXAMPLE 4:
// Create a convex hull shape
ChVector3d displ(1, 0.0, 0);
std::vector<ChVector3d> points;
points.push_back(ChVector3d(0.8, 0.0, 0.0) + displ);
points.push_back(ChVector3d(0.8, 0.3, 0.0) + displ);
points.push_back(ChVector3d(0.8, 0.3, 0.3) + displ);
points.push_back(ChVector3d(0.0, 0.3, 0.3) + displ);
points.push_back(ChVector3d(0.0, 0.0, 0.3) + displ);
points.push_back(ChVector3d(0.8, 0.0, 0.3) + displ);
auto hull = chrono_types::make_shared<ChBodyEasyConvexHullAuxRef>(
points, 1000, true, true, chrono_types::make_shared<ChContactMaterialNSC>());
hull->Move(ChVector3d(2, 0.3, 0));
// Create a visualization material
auto cadet_blue = chrono_types::make_shared<ChVisualMaterial>();
cadet_blue->SetDiffuseColor(ChColor(0.37f, 0.62f, 0.62f));
hull->GetVisualShape(0)->SetMaterial(0, cadet_blue);
sys.Add(hull);
// Create the Irrlicht visualization system
auto vis = chrono_types::make_shared<ChVisualSystemIrrlicht>();
vis->AttachSystem(&sys);
vis->SetWindowSize(800, 600);
vis->SetWindowTitle("Chrono::Irrlicht visualization");
vis->Initialize();
vis->AddLogo();
vis->AddSkyBox();
vis->AddCamera(ChVector3d(-2, 3, -4));
vis->AddTypicalLights();
vis->AddGrid(0.5, 0.5, 12, 12, ChCoordsys<>(ChVector3d(0, -0.5, 0), QuatFromAngleX(CH_PI_2)),
ChColor(0.31f, 0.43f, 0.43f));
// Rendering loop
while (vis->Run()) {
vis->BeginScene();
vis->Render();
vis->EndScene();
sys.DoStepDynamics(0.01);
}
return 0;
}
chrono::ChCollisionSystem::Type::BULLET
@ BULLET
Bullet-based collision detection system.
Definition ChCollisionSystem.h:45
chrono::ChColor
Definition of a visual color.
Definition ChColor.h:30
chrono::ChCoordsys
Representation of a transform with translation and rotation.
Definition ChCoordsys.h:28
chrono::ChFrame
Representation of a 3D transform.
Definition ChFrame.h:33
chrono::ChLineArc
Geometric object representing an arc or a circle in 3D space.
Definition ChLineArc.h:29
chrono::ChLineSegment
Geometric object representing a segment in 3D space with two end points.
Definition ChLineSegment.h:29
chrono::ChMatrix33
Definition of a 3x3 fixed-size matrix to represent 3D rotations and inertia tensors.
Definition ChMatrix33.h:31
chrono::ChSystem::SetCollisionSystemType
virtual void SetCollisionSystemType(ChCollisionSystem::Type type)
Set the collision detection system used by this Chrono system to the specified type.
Definition ChSystem.cpp:324
chrono::ChSystem::DoStepDynamics
int DoStepDynamics(double step_size)
Advance the dynamics simulation by a single time step of given length.
Definition ChSystem.cpp:1632
chrono::ChSystem::Add
void Add(std::shared_ptr< ChPhysicsItem > item)
Attach an arbitrary ChPhysicsItem (e.g.
Definition ChSystem.cpp:196
chrono::ChSystemNSC
Class for a physical system in which contact is modeled using a non-smooth (complementarity-based) me...
Definition ChSystemNSC.h:29
chrono::ChMatrixDynamic
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > ChMatrixDynamic
Dense matrix with dynamic size (i.e., with unknown at compile time) and row-major storage.
Definition ChMatrix.h:75
chrono::irrlicht
Namespace with classes for the Irrlicht module.
Definition ChApiIrr.h:47
chrono_types::make_shared
std::shared_ptr< T > make_shared(Args &&... args)
Replacement for make_shared guaranteed to use operator new rather than placement new in order to avoi...
Definition ChTypes.h:66
chrono
Main namespace for the Chrono package.
Definition ChCamera.cpp:17
chrono::ChVector3i
ChVector3< int > ChVector3i
Alias for integer vectors.
Definition ChVector3.h:301
chrono::QUNIT
const ChQuaterniond QUNIT(1., 0., 0., 0.)
Constant unit quaternion: {1, 0, 0, 0} , corresponds to no rotation (diagonal rotation matrix).
Definition ChQuaternion.h:431
chrono::GetChronoDataFile
std::string GetChronoDataFile(const std::string &filename)
Get the full path to the specified filename, given relative to the Chrono data directory (thread safe...
Definition ChGlobal.cpp:37
chrono::ChVector3d
ChVector3< double > ChVector3d
Alias for double-precision vectors.
Definition ChVector3.h:283
chrono::QuatFromAngleX
ChQuaterniond QuatFromAngleX(double angle)
Convert from a rotation about X axis to a quaternion.
Definition ChRotation.cpp:188
chrono::QuatFromAngleY
ChQuaterniond QuatFromAngleY(double angle)
Convert from a rotation about Y axis to a quaternion.
Definition ChRotation.cpp:192