SimViewer Class Reference

Specialized Easy3D viewer class for UAV simulation with GUI integration. More...

#include <simviewer.h>

Inheritance diagram for SimViewer:

Collaboration diagram for SimViewer:

Public Member Functions
	SimViewer (const std::string &title)
	Constructor.
	~SimViewer () override
	Destructor.
void	setAircraft (Aircraft *aircraft)
	Sets the aircraft to be displayed in the viewer.
void	setGNC (GNC *gnc)
	Sets the GNC object for displaying trim and linearisation results.
Public Member Functions inherited from easy3d::ViewerImGui
	ViewerImGui (const std::string &title="Easy3D ViewerImGui", int samples=4, int gl_major=3, int gl_minor=2, bool full_screen=false, bool resizable=true, int depth_bits=24, int stencil_bits=8, int width=800, int height=600)
	Constructor for ViewerImGui.
	~ViewerImGui () override
	Destructor. Cleans up ImGui and OpenGL resources.

Protected Member Functions
void	draw () const override
	Custom draw function called every frame. Handles rendering of the aircraft and any overlays.
bool	key_press_event (int key, int modifiers) override
	Key press event handler.
void	pre_draw () override
	Called before rendering each frame (for ImGui setup).
void	post_draw () override
	Called after rendering each frame (for ImGui overlays).
Protected Member Functions inherited from easy3d::ViewerImGui
void	init () override
	Initializes ImGui and binds it to the OpenGL and GLFW context.
void	pre_draw () override
	Called before rendering the scene.
void	post_draw () override
	Called after rendering the scene.
void	post_resize (int w, int h) override
	Handles window resize events.
bool	callback_event_cursor_pos (double x, double y) override
	Handles mouse movement.
bool	callback_event_mouse_button (int button, int action, int modifiers) override
	Handles mouse button events.
bool	callback_event_keyboard (int key, int action, int modifiers) override
	Handles keyboard key events.
bool	callback_event_character (unsigned int codepoint) override
	Handles character input events.
bool	callback_event_scroll (double dx, double dy) override
	Handles mouse scroll events.
void	draw_menu_file ()
	Draws the "File" menu in the main menu bar.
void	draw_menu_view ()
	Draws the "View" menu in the main menu bar.
float	pixel_ratio ()
	Computes the pixel ratio between framebuffer and window size.
float	widget_scaling ()
	Calculates the widget scaling factor.
void	reload_font (int font_size=16)
	Reloads the ImGui font at a given font size.

Private Member Functions
void	drawAnalysisTabs () const
	Draws the Analysis tab with trim and linearisation results.
void	DisplayMatrix (const std::string &name, const Eigen::MatrixXd &M) const
	Utility function to display Eigen matrices in ImGui.

Private Attributes
easy3d::TextRenderer *	text_renderer_
	Renders on-screen text such as FPS or labels.
Aircraft *	aircraft_ = nullptr
	Pointer to the Aircraft object for simulation.
GNC *	gnc_ = nullptr
	Pointer to the GNC object for analysis data (NEW)
bool	show_controls_ = true
	If true, display control panel in ImGui.
std::vector< float >	time_data_
std::vector< std::vector< float > >	state_data_ = std::vector<std::vector<float>>(18)
float	plot_time_ = 0.0f

Additional Inherited Members
Protected Attributes inherited from easy3d::ViewerImGui
float	menu_height_
	Height of the menu bar, used for adjusting overlay positions.
Static Protected Attributes inherited from easy3d::ViewerImGui
static ImGuiContext *	context_
	Global ImGui context shared across all viewer instances.

Detailed Description

Specialized Easy3D viewer class for UAV simulation with GUI integration.

Inherits from ViewerImGui to enable ImGui-based user interface. Allows for rendering an aircraft model and custom GUI panels.

Constructor & Destructor Documentation

SimViewer()

SimViewer::SimViewer

(

const std::string &

title

)

Constructor.

Constructor for SimViewer. Initializes the Easy3D viewer with ImGui support and sets up a text renderer.

Parameters

title	Title of the simulation window.
title	Title of the window.

~SimViewer()

SimViewer::~SimViewer ( )

override

Destructor.

Destructor for SimViewer. Cleans up text renderer memory.

Member Function Documentation

DisplayMatrix()

void SimViewer::DisplayMatrix ( const std::string &  name, const Eigen::MatrixXd &  M  ) const

private

Utility function to display Eigen matrices in ImGui.

Displays an Eigen matrix in ImGui in a simple grid format.

Parameters

name	Matrix label.
M	The matrix to display.
name	Matrix label to display above the grid.
M	The Eigen matrix to display.

Each entry is shown with fixed precision formatting. Columns are separated with ImGui::SameLine() for compact layout.

draw()

void SimViewer::draw ( ) const

overrideprotected

Custom draw function called every frame. Handles rendering of the aircraft and any overlays.

Main rendering function. Called every frame to render 3D geometry and aircraft HUD.

drawAnalysisTabs()

void SimViewer::drawAnalysisTabs ( ) const

private

Draws the Analysis tab with trim and linearisation results.

Draws the Analysis tab with selectable sub-tabs for trim values and system matrices.

This method uses ImGui to present an "Analysis" window with sub-tabs for:

• Trim values (e.g., α, β, φ, control inputs)
• Full A/B matrices
• Lateral A/B matrices
• Longitudinal A/B matrices

Data is sourced from the associated GNC instance set via setGNC().

key_press_event()

bool SimViewer::key_press_event ( int  key, int  modifiers  )

overrideprotected

Key press event handler.

Handles keyboard input for controlling aircraft.

Parameters

key	The GLFW key code.
modifiers	Modifier keys (e.g., Shift, Ctrl).

Returns

true if the event is handled, false otherwise.

Parameters

key	GLFW key code
modifiers	Key modifiers (Shift, Ctrl, etc.)

Returns

true if the key was handled, false if passed to base class.

post_draw()

void SimViewer::post_draw ( )

overrideprotected

Called after rendering each frame (for ImGui overlays).

Called after the main draw function. Displays ImGui control panel for aircraft control surfaces. Displays Real-Time plots of the UAV state variables.

TODO get directly from sim

pre_draw()

void SimViewer::pre_draw ( )

overrideprotected

Called before rendering each frame (for ImGui setup).

Called before each frame is drawn. Ensures ImGui and Easy3D are synchronized.

setAircraft()

void SimViewer::setAircraft

(

Aircraft *

aircraft

)

Sets the aircraft to be displayed in the viewer.

Assigns an aircraft object to the viewer.

Parameters

aircraft	Pointer to the Aircraft object to visualize.
aircraft	Pointer to the Aircraft instance used in simulation and rendering.

setGNC()

void SimViewer::setGNC

(

GNC *

gnc

)

Sets the GNC object for displaying trim and linearisation results.

Parameters

gnc	Pointer to the GNC object. NEW: so we can fetch data for the Analysis tab
gnc	Pointer to the GNC object.

Member Data Documentation

aircraft_

Aircraft* SimViewer::aircraft_ = nullptr

private

Pointer to the Aircraft object for simulation.

gnc_

GNC* SimViewer::gnc_ = nullptr

private

Pointer to the GNC object for analysis data (NEW)

plot_time_

float SimViewer::plot_time_ = 0.0f

private

show_controls_

bool SimViewer::show_controls_ = true

private

If true, display control panel in ImGui.

state_data_

std::vector<std::vector<float> > SimViewer::state_data_ = std::vector<std::vector<float>>(18)

private

text_renderer_

easy3d::TextRenderer* SimViewer::text_renderer_

private

Renders on-screen text such as FPS or labels.

time_data_

std::vector<float> SimViewer::time_data_

private

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The documentation for this class was generated from the following files:

• include/rendering/simviewer.h
• src/rendering/simviewer.cpp