mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 22:20:12 +00:00
32eccdff61
URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision"> VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering, Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h Add a dummy return to stop a warning Expose defaultContactERP in shared memory api/pybullet. First start to expose IK in shared memory api/pybullet (not working yet)
65 lines
2.5 KiB
C++
65 lines
2.5 KiB
C++
#ifndef OPENGL_GUI_HELPER_H
|
|
#define OPENGL_GUI_HELPER_H
|
|
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
|
|
|
|
class btCollisionShape;
|
|
class btTransform;
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
|
|
|
struct OpenGLGuiHelper : public GUIHelperInterface
|
|
{
|
|
struct OpenGLGuiHelperInternalData* m_data;
|
|
|
|
OpenGLGuiHelper(struct CommonGraphicsApp* glApp, bool useOpenGL2);
|
|
|
|
virtual ~OpenGLGuiHelper();
|
|
|
|
virtual struct CommonRenderInterface* getRenderInterface();
|
|
|
|
virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color);
|
|
|
|
virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
|
|
|
|
virtual int registerTexture(const unsigned char* texels, int width, int height);
|
|
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
|
|
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
|
|
virtual void removeAllGraphicsInstances();
|
|
|
|
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
|
|
|
|
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
|
|
|
|
|
|
virtual void render(const btDiscreteDynamicsWorld* rbWorld);
|
|
|
|
virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld);
|
|
|
|
virtual struct Common2dCanvasInterface* get2dCanvasInterface();
|
|
|
|
virtual CommonParameterInterface* getParameterInterface();
|
|
|
|
virtual struct CommonGraphicsApp* getAppInterface();
|
|
|
|
virtual void setUpAxis(int axis);
|
|
|
|
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
|
|
|
|
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
|
|
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
|
|
float* depthBuffer, int depthBufferSizeInPixels,
|
|
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
|
|
int startPixelIndex, int destinationWidth,
|
|
int destinationHeight, int* numPixelsCopied);
|
|
|
|
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;
|
|
|
|
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size);
|
|
|
|
void renderInternalGl2(int pass, const btDiscreteDynamicsWorld* dynamicsWorld);
|
|
|
|
void setVRMode(bool vrMode);
|
|
};
|
|
|
|
#endif //OPENGL_GUI_HELPER_H
|
|
|