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dav-ogdav-og
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Nicer materials/colours
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Lines changed: 257 additions & 10 deletions

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‎src/gui/guihelperVSG.cpp‎

Lines changed: 257 additions & 10 deletions
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#include "guihelper_impl.h"
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#include <algorithm>
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#include <chrono/physics/ChBodyEasy.h>
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using namespace hydroc::gui;
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using namespace chrono::vsg3d;
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// -----------------------------------------------------------------------------
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namespace {
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// -----------------------------------------------------------------------------
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// Appearance tuning (Painted metal base — industrial yellow)
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// -----------------------------------------------------------------------------
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constexpr float kPaintedMetalR = 0.92f;
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constexpr float kPaintedMetalG = 0.72f;
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constexpr float kPaintedMetalB = 0.12f;
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// Moderate, subtle highlight (painted steel: not mirror, not plastic).
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constexpr float kSpecular = 0.25f;
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constexpr float kSpecularExponent = 64.0f;
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// Metallic/roughness parameters (painted metal: mostly dielectric coating).
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constexpr float kRoughness = 0.45f;
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constexpr float kMetallic = 0.05f;
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// Per-body color variation range [0.92, 1.08] for visual distinction.
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constexpr float kColorVariationMin = 0.92f;
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constexpr float kColorVariationMax = 1.08f;
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constexpr int kColorVariationCycle = 8; // cycle length for deterministic variation
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// -----------------------------------------------------------------------------
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// Appearance tuning (Water surface)
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// -----------------------------------------------------------------------------
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// Dark ocean blue-green — darker than sky for clear horizon.
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constexpr float kWaterR = 0.03f;
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constexpr float kWaterG = 0.10f;
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constexpr float kWaterB = 0.14f;
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// Semi-transparent surface (60% opacity for visible waterline).
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constexpr float kWaterOpacity = 0.60f;
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// Subtle specular highlight for calm water.
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constexpr float kWaterSpecular = 0.4f;
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constexpr float kWaterSpecularExp = 96.0f;
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// Slightly glossy, mostly dielectric.
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constexpr float kWaterRoughness = 0.15f;
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constexpr float kWaterMetallic = 0.0f;
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// Water plane geometry.
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constexpr double kWaterPlaneSize = 200.0; // meters (large enough to fill most views)
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constexpr double kWaterPlaneThickness = 0.02; // meters (thin slab)
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constexpr double kWaterPlaneZ = -0.05; // below z=0 to avoid z-fighting with craft
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// -----------------------------------------------------------------------------
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// Camera tuning (deterministic side-on view)
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// -----------------------------------------------------------------------------
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// Eye on negative Y axis, slightly above, looking at origin. Z-up enforced.
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constexpr double kCameraDistance = 60.0; // meters along -Y axis
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constexpr double kCameraHeight = 40.0; // meters above z=0
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// -----------------------------------------------------------------------------
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// Lighting tuning (3-light studio setup: key + fill + ambient)
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// -----------------------------------------------------------------------------
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// Key light (main sun) — primary illumination from upper-front.
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constexpr float kKeyIntensity = 1.0f;
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constexpr double kKeyAzimuth = 0.4 * chrono::CH_PI; // ~72° from front
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constexpr double kKeyElevation = chrono::CH_PI / 5.0; // ~36° above horizon
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// Fill light (soft opposite) — reduces harsh shadows, lifts dark side.
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constexpr float kFillIntensity = 0.35f;
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constexpr double kFillAzimuth = kKeyAzimuth + chrono::CH_PI; // opposite side
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constexpr double kFillElevation = chrono::CH_PI / 8.0; // ~22.5° above horizon
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// Note: Chrono-VSG includes a built-in ambient at 10% of key intensity.
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// Shadows remain OFF (water plane lacks per-object shadow control).
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// -----------------------------------------------------------------------------
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// Wireframe overlay tuning
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// -----------------------------------------------------------------------------
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// Enable wireframe rendering for improved shape readability.
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// Default OFF: solid shaded rendering displays materials/colors properly.
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constexpr bool kEnableWireframe = false;
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/// Creates the base painted-metal material (industrial yellow).
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chrono::ChVisualMaterial MakePaintedMetalBase() {
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chrono::ChVisualMaterial mat;
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mat.SetDiffuseColor(chrono::ChColor(kPaintedMetalR, kPaintedMetalG, kPaintedMetalB));
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mat.SetSpecularColor(chrono::ChColor(kSpecular, kSpecular, kSpecular));
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mat.SetSpecularExponent(kSpecularExponent);
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mat.SetRoughness(kRoughness);
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mat.SetMetallic(kMetallic);
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mat.SetOpacity(1.0f);
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return mat;
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}
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/// Creates a painted-metal variant with subtle brightness variation for body distinction.
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/// The variation is deterministic based on the body index, cycling through kColorVariationCycle.
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chrono::ChVisualMaterial MakePaintedMetalVariant(int index) {
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// Compute variation factor in [kColorVariationMin, kColorVariationMax].
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// Cycle through values to keep variation subtle and deterministic.
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const float t = static_cast<float>(index % kColorVariationCycle) /
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static_cast<float>(kColorVariationCycle - 1);
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const float factor = kColorVariationMin + t * (kColorVariationMax - kColorVariationMin);
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// Apply factor to base color, clamping to valid range.
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const float r = std::min(1.0f, kPaintedMetalR * factor);
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const float g = std::min(1.0f, kPaintedMetalG * factor);
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const float b = std::min(1.0f, kPaintedMetalB * factor);
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chrono::ChVisualMaterial mat;
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mat.SetDiffuseColor(chrono::ChColor(r, g, b));
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mat.SetSpecularColor(chrono::ChColor(kSpecular, kSpecular, kSpecular));
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mat.SetSpecularExponent(kSpecularExponent);
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mat.SetRoughness(kRoughness);
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mat.SetMetallic(kMetallic);
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mat.SetOpacity(1.0f);
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return mat;
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}
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chrono::ChVisualMaterial MakeWaterSurfaceMaterial() {
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chrono::ChVisualMaterial mat;
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mat.SetDiffuseColor(chrono::ChColor(kWaterR, kWaterG, kWaterB));
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mat.SetSpecularColor(chrono::ChColor(kWaterSpecular, kWaterSpecular, kWaterSpecular));
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mat.SetSpecularExponent(kWaterSpecularExp);
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mat.SetRoughness(kWaterRoughness);
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mat.SetMetallic(kWaterMetallic);
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mat.SetOpacity(kWaterOpacity);
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return mat;
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}
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void ApplyMaterialToAllVisualShapes(chrono::ChBody& body, const chrono::ChVisualMaterial& mat) {
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auto model = body.GetVisualModel();
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if (!model) {
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return;
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}
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auto mat_ptr = chrono_types::make_shared<chrono::ChVisualMaterial>(mat);
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const unsigned int num_shapes = model->GetNumShapes();
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for (unsigned int i = 0; i < num_shapes; ++i) {
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auto shape = model->GetShape(i);
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if (!shape) {
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continue;
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}
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const unsigned int num_materials = shape->GetNumMaterials();
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if (num_materials == 0) {
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shape->AddMaterial(mat_ptr);
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continue;
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}
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for (unsigned int m = 0; m < num_materials; ++m) {
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shape->SetMaterial(m, mat_ptr);
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}
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}
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}
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/// Adds a fill light to the VSG scene for improved shape readability.
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/// Must be called AFTER pVis->Initialize() since the scene is created during init.
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void AddFillLight(chrono::vsg3d::ChVisualSystemVSG* vis) {
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auto scene = vis->GetVSGScene();
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if (!scene) {
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return;
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}
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// Compute fill light direction (Z-up coordinate system).
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const double se = std::sin(kFillElevation);
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const double ce = std::cos(kFillElevation);
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const double sa = std::sin(kFillAzimuth);
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const double ca = std::cos(kFillAzimuth);
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auto fillLight = vsg::DirectionalLight::create();
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fillLight->name = "fill light";
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fillLight->color.set(1.0f, 1.0f, 1.0f);
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fillLight->intensity = kFillIntensity;
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fillLight->direction.set(
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static_cast<float>(-ce * ca),
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static_cast<float>(-ce * sa),
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static_cast<float>(-se));
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scene->addChild(fillLight);
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}
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/// Creates a visual-only water plane (fixed, non-colliding) at z ~ 0.
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std::shared_ptr<chrono::ChBody> CreateWaterPlane() {
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// Create a thin box as the water surface (visual only: no collision, fixed).
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auto water = chrono_types::make_shared<chrono::ChBodyEasyBox>(
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kWaterPlaneSize, // x dimension
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kWaterPlaneSize, // y dimension
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kWaterPlaneThickness, // z dimension (thin slab)
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1.0, // density (irrelevant for fixed body)
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true, // enable visualization
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false // no collision geometry
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);
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water->SetName("water_surface");
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water->SetPos(chrono::ChVector3d(0.0, 0.0, kWaterPlaneZ));
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water->SetFixed(true);
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water->EnableCollision(false);
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// Apply water material to all visual shapes.
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const auto water_mat = MakeWaterSurfaceMaterial();
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ApplyMaterialToAllVisualShapes(*water, water_mat);
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return water;
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}
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} // namespace
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// -----------------------------------------------------------------------------
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class MyComponentVSG : public chrono::vsg3d::ChGuiComponentVSG {
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public:
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MyComponentVSG(chrono::vsg3d::ChVisualSystemVSG* vsys, bool& buttonPressed)
@@ -48,24 +261,58 @@ void GUIImplVSG::Init(UI& ui, chrono::ChSystem* system, const char* title) {
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pVis->SetWindowPosition(100, 100);
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pVis->SetWindowTitle(title);
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pVis->AddCamera(chrono::ChVector3d(10, -50, 10), chrono::ChVector3d(0, 0, 0));
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pVis->SetCameraVertical(chrono::CameraVerticalDir::Z);
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// Deterministic side-on camera: eye on -Y axis, slightly above, looking at origin.
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const chrono::ChVector3d eye(0.0, -kCameraDistance, kCameraHeight);
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const chrono::ChVector3d target(0.0, 0.0, -10.0);
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pVis->AddCamera(eye, target);
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pVis->SetCameraVertical(chrono::CameraVerticalDir::Z); // enforce Z-up (no roll)
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pVis->SetCameraAngleDeg(40.0);
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pVis->SetLightIntensity(1.0f);
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pVis->SetLightDirection(1.5 * chrono::CH_PI_2, chrono::CH_PI_4);
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pVis->EnableShadows();
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// Key light (main directional) — set before Initialize().
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pVis->SetLightIntensity(kKeyIntensity);
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pVis->SetLightDirection(kKeyAzimuth, kKeyElevation);
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// Shadows OFF: Chrono/VSG lacks per-object shadow control. The water plane
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// would cast/receive shadows that flatten craft lighting.
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// pVis->EnableShadows();
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// Skybox provides sky/horizon context, contrasting with dark water plane.
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pVis->EnableSkyBox();
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// Grid disabled: water plane provides the marine context instead.
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// (Keeping this comment for easy re-enable if needed later.)
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bool enable_grid = true; // TODO: Make this configurable
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if (enable_grid) {
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pVis->AddGrid(1, 1, 30, 30,
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chrono::ChCoordsys<>(chrono::ChVector3d(0, 0.0, 0), chrono::QuatFromAngleZ(chrono::CH_PI_2)),
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chrono::ChColor(.1f, .1f, .1f));
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if (system) {
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// Add water surface plane (visual-only, fixed, non-colliding).
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auto water_plane = CreateWaterPlane();
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system->AddBody(water_plane);
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// Apply painted-metal material variants to all existing bodies.
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// Each body gets a subtle color variation for visual distinction.
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int body_index = 0;
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for (auto& body : system->GetBodies()) {
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if (body && body->GetName() != "water_surface") {
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const auto material = MakePaintedMetalVariant(body_index);
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ApplyMaterialToAllVisualShapes(*body, material);
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++body_index;
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// Enable wireframe overlay for improved shape readability (CAD-style).
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if (kEnableWireframe) {
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auto model = body->GetVisualModel();
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if (model) {
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model->EnableWireframe(true);
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}
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}
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}
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}
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}
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pVis->AddGuiComponent(std::make_shared<MyComponentVSG>(pVis.get(), ui.simulationStarted));
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pVis->Initialize();
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// Add fill light after initialization (scene must exist first).
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AddFillLight(pVis.get());
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}
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void GUIImplVSG::SetCamera(double x, double y, double z, double dirx, double diry, double dirz) {

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