ae8e83988b
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
65 lines
3.0 KiB
C
65 lines
3.0 KiB
C
#ifndef EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H
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#define EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H
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#include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
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struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
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{
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struct EGLRendererVisualShapeConverterInternalData* m_data;
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EGLRendererVisualShapeConverter();
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virtual ~EGLRendererVisualShapeConverter();
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virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
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virtual int getNumVisualShapes(int bodyUniqueId);
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virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
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virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4]);
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virtual void changeShapeTexture(int objectUniqueId, int linkIndex, int shapeIndex, int textureUniqueId);
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virtual void removeVisualShape(int shapeUid);
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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 void clearBuffers(struct TGAColor& clearColor);
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virtual void resetAll();
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virtual void getWidthAndHeight(int& width, int& height);
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virtual void setWidthAndHeight(int width, int height);
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virtual void setLightDirection(float x, float y, float z);
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virtual void setLightColor(float x, float y, float z);
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virtual void setLightDistance(float dist);
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virtual void setLightAmbientCoeff(float ambientCoeff);
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virtual void setLightDiffuseCoeff(float diffuseCoeff);
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virtual void setLightSpecularCoeff(float specularCoeff);
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virtual void setShadow(bool hasShadow);
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virtual void setFlags(int flags);
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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);
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void copyCameraImageDataGL(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
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virtual void render();
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virtual void render(const float viewMat[16], const float projMat[16]);
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virtual int loadTextureFile(const char* filename, struct CommonFileIOInterface* fileIO);
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virtual int registerTexture(unsigned char* texels, int width, int height);
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virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
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virtual void setProjectiveTexture(bool useProjectiveTexture);
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virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
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virtual void mouseMoveCallback(float x, float y);
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virtual void mouseButtonCallback(int button, int state, float x, float y);
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};
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#endif //EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H
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