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64 lines
3.0 KiB
C
64 lines
3.0 KiB
C
#ifndef TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
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#define TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
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#include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
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struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
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{
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struct TinyRendererVisualShapeConverterInternalData* m_data;
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TinyRendererVisualShapeConverter();
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virtual ~TinyRendererVisualShapeConverter();
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virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int orgGraphicsUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
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//returns a shapeUniqueId
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virtual int registerShapeAndInstance(const b3VisualShapeData& visualShape, const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId, int orgGraphicsUniqueId, int bodyUniqueId, int linkIndex);
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virtual void updateShape(int shapeUniqueId, const btVector3* vertices, int numVertices, const btVector3* normals, int numNormals);
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virtual void removeVisualShape(int shapeUniqueId);
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virtual int getNumVisualShapes(int bodyUniqueId);
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virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
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virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4]);
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virtual void changeInstanceFlags(int bodyUniqueId, int linkIndex, int shapeIndex, int flags);
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virtual void changeShapeTexture(int bodyUniqueId, int linkIndex, int shapeIndex, int textureUniqueId);
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virtual void setUpAxis(int axis);
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virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX, float camPosY, float camPosZ);
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virtual void clearBuffers(struct TGAColor& clearColor);
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virtual void resetAll();
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virtual void getWidthAndHeight(int& width, int& height);
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virtual void setWidthAndHeight(int width, int height);
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virtual void setLightDirection(float x, float y, float z);
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virtual void setLightColor(float x, float y, float z);
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virtual void setLightDistance(float dist);
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virtual void setLightAmbientCoeff(float ambientCoeff);
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virtual void setLightDiffuseCoeff(float diffuseCoeff);
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virtual void setLightSpecularCoeff(float specularCoeff);
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virtual void setShadow(bool hasShadow);
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virtual void setFlags(int flags);
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virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
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virtual void render();
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virtual void render(const float viewMat[16], const float projMat[16]);
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virtual int loadTextureFile(const char* filename, struct CommonFileIOInterface* fileIO);
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virtual int registerTexture(unsigned char* texels, int width, int height);
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virtual void syncTransform(int shapeUniqueId, const class btTransform& worldTransform, const class btVector3& localScaling);
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};
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#endif //TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
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