mirror of
https://github.com/bulletphysics/bullet3
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223 lines
8.9 KiB
C++
223 lines
8.9 KiB
C++
#ifndef GUI_HELPER_INTERFACE_H
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#define GUI_HELPER_INTERFACE_H
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class btRigidBody;
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class btVector3;
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class btCollisionObject;
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class btDiscreteDynamicsWorld;
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class btCollisionShape;
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struct Common2dCanvasInterface;
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struct CommonParameterInterface;
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struct CommonRenderInterface;
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struct CommonGraphicsApp;
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struct GUISyncPosition
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{
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int m_graphicsInstanceId;
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float m_pos[4];
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float m_orn[4];
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};
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typedef void (*VisualizerFlagCallback)(int flag, bool enable);
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///The Bullet 2 GraphicsPhysicsBridge let's the graphics engine create graphics representation and synchronize
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struct GUIHelperInterface
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{
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virtual ~GUIHelperInterface() {}
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virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color) = 0;
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj, const btVector3& color) = 0;
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape) = 0;
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld) = 0;
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virtual void syncPhysicsToGraphics2(const btDiscreteDynamicsWorld* rbWorld) {}
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virtual void syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions) {}
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virtual void render(const btDiscreteDynamicsWorld* rbWorld) = 0;
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virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld) = 0;
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virtual int registerTexture(const unsigned char* texels, int width, int height) = 0;
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virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId) = 0;
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virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) = 0;
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virtual void removeAllGraphicsInstances() = 0;
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virtual void removeGraphicsInstance(int graphicsUid) {}
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virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
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virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {}
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virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height) {}
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virtual void updateShape(int shapeIndex, float* vertices) {}
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virtual int getShapeIndexFromInstance(int instanceUid) { return -1; }
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virtual void replaceTexture(int shapeIndex, int textureUid) {}
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virtual void removeTexture(int textureUid) {}
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virtual Common2dCanvasInterface* get2dCanvasInterface() = 0;
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virtual CommonParameterInterface* getParameterInterface() = 0;
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virtual CommonRenderInterface* getRenderInterface() = 0;
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virtual const CommonRenderInterface* getRenderInterface() const
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{
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return 0;
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}
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virtual CommonGraphicsApp* getAppInterface() = 0;
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virtual void setUpAxis(int axis) = 0;
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virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX, float camPosY, float camPosZ) = 0;
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virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3], float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const
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{
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return false;
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}
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virtual void setVisualizerFlag(int flag, int enable){};
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virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
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unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
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float* depthBuffer, int depthBufferSizeInPixels,
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int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
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{
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copyCameraImageData(viewMatrix, projectionMatrix, pixelsRGBA, rgbaBufferSizeInPixels,
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depthBuffer, depthBufferSizeInPixels,
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0, 0,
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startPixelIndex, destinationWidth,
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destinationHeight, numPixelsCopied);
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}
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virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
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unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
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float* depthBuffer, int depthBufferSizeInPixels,
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int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
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int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied) = 0;
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virtual void debugDisplayCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
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unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
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float* depthBuffer, int depthBufferSizeInPixels,
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int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
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int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied) {}
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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 autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) = 0;
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virtual void drawText3D(const char* txt, float posX, float posY, float posZ, float size) {}
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virtual void drawText3D(const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag) {}
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virtual int addUserDebugText3D(const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags, int replaceItemUid) { return -1; }
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virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid) { return -1; };
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virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue) { return -1; };
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virtual int readUserDebugParameter(int itemUniqueId, double* value) { return 0; }
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virtual void removeUserDebugItem(int debugItemUniqueId){};
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virtual void removeAllUserDebugItems(){};
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virtual void setVisualizerFlagCallback(VisualizerFlagCallback callback) {}
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//empty name stops dumping video
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virtual void dumpFramesToVideo(const char* mp4FileName){};
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virtual void drawDebugDrawerLines(){}
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virtual void clearLines(){}
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};
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///the DummyGUIHelper does nothing, so we can test the examples without GUI/graphics (in 'console mode')
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struct DummyGUIHelper : public GUIHelperInterface
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{
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DummyGUIHelper()
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{
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}
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virtual ~DummyGUIHelper() {}
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virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color) {}
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj, const btVector3& color) {}
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape) {}
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld) {}
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virtual void render(const btDiscreteDynamicsWorld* rbWorld) {}
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virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld) {}
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virtual int registerTexture(const unsigned char* texels, int width, int height) { return -1; }
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virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId) { return -1; }
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virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) { return -1; }
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virtual void removeAllGraphicsInstances() {}
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virtual void removeGraphicsInstance(int graphicsUid) {}
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virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
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virtual Common2dCanvasInterface* get2dCanvasInterface()
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{
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return 0;
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}
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virtual CommonParameterInterface* getParameterInterface()
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{
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return 0;
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}
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virtual CommonRenderInterface* getRenderInterface()
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{
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return 0;
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}
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virtual CommonGraphicsApp* getAppInterface()
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{
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return 0;
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}
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virtual void setUpAxis(int axis)
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{
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}
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virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX, float camPosY, float camPosZ)
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{
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}
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virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
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unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
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float* depthBuffer, int depthBufferSizeInPixels,
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int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
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int startPixelIndex, int width, int height, int* numPixelsCopied)
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{
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if (numPixelsCopied)
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*numPixelsCopied = 0;
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}
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virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
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{
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}
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virtual void setProjectiveTexture(bool useProjectiveTexture)
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{
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}
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virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
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{
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}
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virtual void drawText3D(const char* txt, float posX, float posZY, float posZ, float size)
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{
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}
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virtual void drawText3D(const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)
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{
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}
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virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid)
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{
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return -1;
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}
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virtual void removeUserDebugItem(int debugItemUniqueId)
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{
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}
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virtual void removeAllUserDebugItems()
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{
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}
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};
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#endif //GUI_HELPER_INTERFACE_H
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