a7aed37632
pybullet/C-API, expose linear/angular damping fix some warnings (param name needs to be same in .h and .cpp) fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread) fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
102 lines
3.9 KiB
C++
102 lines
3.9 KiB
C++
#ifndef OPENGL_GUI_HELPER_H
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#define OPENGL_GUI_HELPER_H
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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class btCollisionShape;
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class btTransform;
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#include "LinearMath/btAlignedObjectArray.h"
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struct OpenGLGuiHelper : public GUIHelperInterface
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{
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struct OpenGLGuiHelperInternalData* m_data;
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OpenGLGuiHelper(struct CommonGraphicsApp* glApp, bool useOpenGL2);
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virtual ~OpenGLGuiHelper();
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virtual struct CommonRenderInterface* getRenderInterface();
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virtual const struct CommonRenderInterface* getRenderInterface() const;
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virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color);
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
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virtual int registerTexture(const unsigned char* texels, int width, int height);
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virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
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virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
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virtual void removeAllGraphicsInstances();
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virtual void removeGraphicsInstance(int graphicsUid);
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virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
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virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
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virtual void render(const btDiscreteDynamicsWorld* rbWorld);
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virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld);
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virtual struct Common2dCanvasInterface* get2dCanvasInterface();
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virtual CommonParameterInterface* getParameterInterface();
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virtual struct CommonGraphicsApp* getAppInterface();
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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 bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float cameraTarget[3]) const;
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virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
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unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
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float* depthBuffer, int depthBufferSizeInPixels,
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int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
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int startPixelIndex, int destinationWidth,
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int destinationHeight, int* numPixelsCopied);
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virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;
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virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);
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virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size);
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virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
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{
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return -1;
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}
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virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime )
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{
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return -1;
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}
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virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue)
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{
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return -1;
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}
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virtual void removeUserDebugItem( int debugItemUniqueId)
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{
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}
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virtual void removeAllUserDebugItems( )
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{
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}
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void renderInternalGl2(int pass, const btDiscreteDynamicsWorld* dynamicsWorld);
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void setVRMode(bool vrMode);
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void setVisualizerFlag(int flag, int enable);
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virtual void setVisualizerFlagCallback(VisualizerFlagCallback callback);
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virtual void dumpFramesToVideo(const char* mp4FileName);
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int createCheckeredTexture(int r,int g, int b);
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};
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#endif //OPENGL_GUI_HELPER_H
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