//tinyRenderer plugin

/*
import pybullet as p
p.connect(p.GUI)
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin")
print("plugin=",plugin)
p.loadURDF("r2d2.urdf")
while (1):
	p.getCameraImage(320,200)
*/

#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;
}