mirror of
https://github.com/bulletphysics/bullet3
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99 lines
4.2 KiB
C++
99 lines
4.2 KiB
C++
#ifndef URDF_RENDERING_INTERFACE_H
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#define URDF_RENDERING_INTERFACE_H
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///UrdfLink and UrdfModel are the main URDF structures to define a robot
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struct UrdfLink;
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struct UrdfModel;
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///btTransform is a position and 3x3 matrix, as defined in Bullet/src/LinearMath/btTransform
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class btTransform;
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///UrdfRenderingInterface is a simple rendering interface, mainly for URDF-based robots.
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///There is an implementation in
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///bullet3\examples\SharedMemory\plugins\tinyRendererPlugin\TinyRendererVisualShapeConverter.cpp
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struct UrdfRenderingInterface
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{
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///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc)
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///use the collisionObjectUid as a unique identifier to synchronize the world transform and to remove the visual shape.
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virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUid, int bodyUniqueId) =0;
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///remove a visual shapes, based on the shape unique id (shapeUid)
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virtual void removeVisualShape(int collisionObjectUid)=0;
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///update the world transform + scaling of the visual shape, using the shapeUid
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virtual void syncTransform(int collisionObjectUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0;
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///return the number of visual shapes, for a particular body unique id
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virtual int getNumVisualShapes(int bodyUniqueId)=0;
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///return the visual shape information, for a particular body unique id and 'shape index'
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virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0;
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///change the RGBA color for some visual shape.
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virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])=0;
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///select a given texture for some visual shape.
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virtual void changeShapeTexture(int objectUniqueId, int linkIndex, int shapeIndex, int textureUniqueId)=0;
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///pick the up-axis, either Y (1) or Z (2)
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virtual void setUpAxis(int axis)=0;
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///compute the view matrix based on those parameters
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virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)=0;
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///clear the render buffer with a particular color.
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virtual void clearBuffers(struct TGAColor& clearColor)=0;
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///remove all visual shapes.
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virtual void resetAll()=0;
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///return the frame buffer width and height for the renderer
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virtual void getWidthAndHeight(int& width, int& height)=0;
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///set the frame buffer width and height for the renderer
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virtual void setWidthAndHeight(int width, int height)=0;
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///set the light direction, in world coordinates
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virtual void setLightDirection(float x, float y, float z)=0;
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///set the ambient light color, in world coordinates
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virtual void setLightColor(float x, float y, float z)=0;
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///set the light distance
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virtual void setLightDistance(float dist)=0;
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///set the light ambient coefficient
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virtual void setLightAmbientCoeff(float ambientCoeff)=0;
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///set the light diffuse coefficient
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virtual void setLightDiffuseCoeff(float diffuseCoeff)=0;
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///set the light specular coefficient
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virtual void setLightSpecularCoeff(float specularCoeff)=0;
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///enable or disable rendering of shadows
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virtual void setShadow(bool hasShadow)=0;
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///some undocumented flags for experimentation (todo: document)
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virtual void setFlags(int flags)=0;
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///provide the image pixels as a part of a stream.
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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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///render an image, using some arbitraty view and projection matrix
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virtual void render()=0;
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///render an image using the provided view and projection matrix
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virtual void render(const float viewMat[16], const float projMat[16])=0;
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///load a texture from file, in png or other popular/supported format
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virtual int loadTextureFile(const char* filename)=0;
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///register a texture using an in-memory pixel buffer of a given width and height
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virtual int registerTexture(unsigned char* texels, int width, int height)=0;
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};
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#endif //LINK_VISUAL_SHAPES_CONVERTER_H
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