//tinyRenderer plugin

/*
import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)
*/

#include "tinyRendererPlugin.h"
#include "TinyRendererVisualShapeConverter.h"

#include "../../SharedMemoryPublic.h"
#include "../b3PluginContext.h"
#include <stdio.h>



struct MyRendererPluginClass
{
	
	TinyRendererVisualShapeConverter m_renderer;
	MyRendererPluginClass()
	{
	}
	virtual ~MyRendererPluginClass()
	{
	}
};

B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
{
	MyRendererPluginClass* obj = new MyRendererPluginClass();
	context->m_userPointer = obj;
	return SHARED_MEMORY_MAGIC_NUMBER;
}


B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
		return -1;
}


B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
{
	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
	delete obj;
	context->m_userPointer = 0;
}

//all the APIs below are optional
B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context)
{
	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
	return &obj->m_renderer;
}