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https://github.com/bulletphysics/bullet3
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61 lines
2.1 KiB
C
61 lines
2.1 KiB
C
#ifndef TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
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#define TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
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#include "../Importers/ImportURDFDemo/LinkVisualShapesConverter.h"
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struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
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{
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struct TinyRendererVisualShapeConverterInternalData* m_data;
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TinyRendererVisualShapeConverter();
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virtual ~TinyRendererVisualShapeConverter();
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virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, class btCollisionObject* colShape, int objectIndex);
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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 removeVisualShape(class btCollisionObject* colObj);
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void setUpAxis(int axis);
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void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
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void clearBuffers(struct TGAColor& clearColor);
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void resetAll();
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void getWidthAndHeight(int& width, int& height);
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void setWidthAndHeight(int width, int height);
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void setLightDirection(float x, float y, float z);
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void setLightColor(float x, float y, float z);
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void setLightDistance(float dist);
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void setLightAmbientCoeff(float ambientCoeff);
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void setLightDiffuseCoeff(float diffuseCoeff);
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void setLightSpecularCoeff(float specularCoeff);
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void setShadow(bool hasShadow);
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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 render();
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void render(const float viewMat[16], const float projMat[16]);
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int loadTextureFile(const char* filename);
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int registerTexture(unsigned char* texels, int width, int height);
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void activateShapeTexture(int shapeUniqueId, int textureUniqueId);
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void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
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};
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#endif //TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
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