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minor indentation fix

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This commit is contained in:
erwincoumans
2018-01-17 13:11:02 -08:00
parent ccde28eb9f
commit 1661f25fd8
1 changed files with 14 additions and 14 deletions
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28
examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
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@@ -11,26 +11,26 @@ class btTransform;
///There is an implementation in ///There is an implementation in
///bullet3\examples\SharedMemory\plugins\tinyRendererPlugin\TinyRendererVisualShapeConverter.cpp ///bullet3\examples\SharedMemory\plugins\tinyRendererPlugin\TinyRendererVisualShapeConverter.cpp
struct UrdfRenderingInterface struct UrdfRenderingInterface
{ {
///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc) ///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 ///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; 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) ///remove a visual shapes, based on the shape unique id (shapeUid)
virtual void removeVisualShape(int shapeUid)=0; virtual void removeVisualShape(int shapeUid)=0;
///update the world transform + scaling of the visual shape, using the shapeUid ///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; 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 ///return the number of visual shapes, for a particular body unique id
virtual int getNumVisualShapes(int bodyUniqueId)=0; virtual int getNumVisualShapes(int bodyUniqueId)=0;
///return the visual shape information, for a particular body unique id and 'shape index' ///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; virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0;
///change the RGBA color for a body unique id and link index ///change the RGBA color for a body unique id and link index
virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])=0; virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])=0;
///pick the up-axis, either Y (1) or Z (2) ///pick the up-axis, either Y (1) or Z (2)
virtual void setUpAxis(int axis)=0; virtual void setUpAxis(int axis)=0;
@@ -39,10 +39,10 @@ struct UrdfRenderingInterface
///clear the render buffer with a particular color. ///clear the render buffer with a particular color.
virtual void clearBuffers(struct TGAColor& clearColor)=0; virtual void clearBuffers(struct TGAColor& clearColor)=0;
///remove all visual shapes. ///remove all visual shapes.
virtual void resetAll()=0; virtual void resetAll()=0;
///return the frame buffer width and height for the renderer ///return the frame buffer width and height for the renderer
virtual void getWidthAndHeight(int& width, int& height)=0; virtual void getWidthAndHeight(int& width, int& height)=0;
@@ -72,23 +72,23 @@ struct UrdfRenderingInterface
///some undocumented flags for experimentation (todo: document) ///some undocumented flags for experimentation (todo: document)
virtual void setFlags(int flags)=0; virtual void setFlags(int flags)=0;
///provide the image pixels as a part of a stream. ///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; 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; virtual void render()=0;
///render an image using the provided view and projection matrix ///render an image using the provided view and projection matrix
virtual void render(const float viewMat[16], const float projMat[16])=0; 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; virtual int loadTextureFile(const char* filename)=0;
///register a texture using an in-memory pixel buffer of a given width and height ///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; 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; virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)=0;
}; };