From 1661f25fd86c725f950943320fab3ba611e59d3f Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Wed, 17 Jan 2018 13:11:02 -0800 Subject: [PATCH] minor indentation fix --- .../ImportURDFDemo/UrdfRenderingInterface.h | 28 +++++++++---------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h b/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h index 762f6dc9d..8c5c9a5d6 100644 --- a/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h +++ b/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h @@ -11,26 +11,26 @@ class btTransform; ///There is an implementation in ///bullet3\examples\SharedMemory\plugins\tinyRendererPlugin\TinyRendererVisualShapeConverter.cpp struct UrdfRenderingInterface -{ + { ///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc) ///use the shapeUid as a unique identified to remove it virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex) =0; ///remove a visual shapes, based on the shape unique id (shapeUid) virtual void removeVisualShape(int shapeUid)=0; - + ///update the world transform + scaling of the visual shape, using the shapeUid virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0; - + ///return the number of visual shapes, for a particular body unique id virtual int getNumVisualShapes(int bodyUniqueId)=0; - + ///return the visual shape information, for a particular body unique id and 'shape index' virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0; ///change the RGBA color for a body unique id and link index virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])=0; - + ///pick the up-axis, either Y (1) or Z (2) virtual void setUpAxis(int axis)=0; @@ -39,10 +39,10 @@ struct UrdfRenderingInterface ///clear the render buffer with a particular color. virtual void clearBuffers(struct TGAColor& clearColor)=0; - + ///remove all visual shapes. virtual void resetAll()=0; - + ///return the frame buffer width and height for the renderer virtual void getWidthAndHeight(int& width, int& height)=0; @@ -72,23 +72,23 @@ struct UrdfRenderingInterface ///some undocumented flags for experimentation (todo: document) virtual void setFlags(int flags)=0; - + ///provide the image pixels as a part of a stream. virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)=0; - - ///render an image, using some arbitraty view and projection matrix + + ///render an image, using some arbitraty view and projection matrix virtual void render()=0; ///render an image using the provided view and projection matrix virtual void render(const float viewMat[16], const float projMat[16])=0; - - ///load a texture from file, in png or other popular/supported format + + ///load a texture from file, in png or other popular/supported format virtual int loadTextureFile(const char* filename)=0; ///register a texture using an in-memory pixel buffer of a given width and height virtual int registerTexture(unsigned char* texels, int width, int height)=0; - - ///select a given texture for some visual shape. + + ///select a given texture for some visual shape. virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)=0; };