55 lines
2.2 KiB
C++
55 lines
2.2 KiB
C++
#ifndef URDF_RENDERING_INTERFACE_H
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#define URDF_RENDERING_INTERFACE_H
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struct UrdfLink;
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struct UrdfModel;
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class btTransform;
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struct UrdfRenderingInterface
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{
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virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex) =0;
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virtual void removeVisualShape(int shapeUid)=0;
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virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0;
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virtual int getNumVisualShapes(int bodyUniqueId)=0;
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virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0;
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virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])=0;
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virtual void setUpAxis(int axis)=0;
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virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)=0;
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virtual void clearBuffers(struct TGAColor& clearColor)=0;
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virtual void resetAll()=0;
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virtual void getWidthAndHeight(int& width, int& height)=0;
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virtual void setWidthAndHeight(int width, int height)=0;
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virtual void setLightDirection(float x, float y, float z)=0;
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virtual void setLightColor(float x, float y, float z)=0;
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virtual void setLightDistance(float dist)=0;
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virtual void setLightAmbientCoeff(float ambientCoeff)=0;
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virtual void setLightDiffuseCoeff(float diffuseCoeff)=0;
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virtual void setLightSpecularCoeff(float specularCoeff)=0;
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virtual void setShadow(bool hasShadow)=0;
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virtual void setFlags(int flags)=0;
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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)=0;
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virtual void render()=0;
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virtual void render(const float viewMat[16], const float projMat[16])=0;
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virtual int loadTextureFile(const char* filename)=0;
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virtual int registerTexture(unsigned char* texels, int width, int height)=0;
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virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)=0;
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};
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#endif //LINK_VISUAL_SHAPES_CONVERTER_H
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