#include <OpenGLRenderInterface.hpp>

Inheritance diagram for dart::gui::OpenGLRenderInterface:

Public Member Functions
	OpenGLRenderInterface ()

virtual	~OpenGLRenderInterface ()

void	initialize () override

void	destroy () override

void	setViewport (int _x, int _y, int _width, int _height) override

void	getViewport (int &_x, int &_y, int &_width, int &_height) const override

void	clear (const Eigen::Vector3d &_color) override

void	setMaterial (const Eigen::Vector3d &_diffuse, const Eigen::Vector3d &_specular, double _cosinePow) override

void	getMaterial (Eigen::Vector3d &_diffuse, Eigen::Vector3d &_specular, double &_cosinePow) const override

void	setDefaultMaterial () override

void	pushMatrix () override

void	popMatrix () override

void	pushName (int _id) override

void	popName () override

void	translate (const Eigen::Vector3d &_offset) override

void	rotate (const Eigen::Vector3d &_axis, double _rad) override

void	transform (const Eigen::Isometry3d &_transform) override

void	scale (const Eigen::Vector3d &_scale) override

void	compileList (dynamics::Skeleton *_skel)

void	compileList (dynamics::BodyNode *_node)

void	compileList (dynamics::Shape *_shape)

GLuint	compileList (const Eigen::Vector3d &_scale, const aiScene *_mesh)

void	drawSphere (double radius, int slices=16, int stacks=16) override

void	drawMultiSphere (const std::vector< std::pair< double, Eigen::Vector3d >> &spheres, int slices=16, int stacks=16) override

void	drawEllipsoid (const Eigen::Vector3d &_diameters) override

void	drawCube (const Eigen::Vector3d &_size) override

void	drawOpenCylinder (double baseRadius, double topRadius, double height, int slices=16, int stacks=16) override

void	drawCylinder (double _radius, double _height, int slices=16, int stacks=16) override

void	drawCapsule (double radius, double height) override

void	drawCone (double radius, double height) override

void	drawPyramid (double baseWidth, double baseDepth, double height) override

void	drawMesh (const Eigen::Vector3d &_scale, const aiScene *_mesh) override

void	drawSoftMesh (const aiMesh *mesh) override

void	drawList (GLuint index) override

void	drawLineSegments (const std::vector< Eigen::Vector3d > &_vertices, const common::aligned_vector< Eigen::Vector2i > &_connections) override

void	setPenColor (const Eigen::Vector4d &_col) override

void	setPenColor (const Eigen::Vector3d &_col) override

void	setLineWidth (float _width) override

void	saveToImage (const char *_filename, DecoBufferType _buffType=BT_Back) override

void	readFrameBuffer (DecoBufferType _buffType, DecoColorChannel _ch, void *_pixels) override

virtual void	drawList (unsigned int index)

virtual unsigned int	compileDisplayList (const Eigen::Vector3d &_size, const aiScene *_mesh)

Private Member Functions
void	color4_to_float4 (const aiColor4D *c, float f[4])

void	set_float4 (float f[4], float a, float b, float c, float d)

void	applyMaterial (const struct aiMaterial *mtl)

void	recursiveRender (const struct aiScene sc, const struct aiNode nd)

Private Attributes
int	mViewportX

int	mViewportY

int	mViewportWidth

int	mViewportHeight

Constructor & Destructor Documentation

◆ OpenGLRenderInterface()

dart::gui::OpenGLRenderInterface::OpenGLRenderInterface ( )

inline

◆ ~OpenGLRenderInterface()

virtual dart::gui::OpenGLRenderInterface::~OpenGLRenderInterface ( )

inlinevirtual

Member Function Documentation

◆ applyMaterial()

void dart::gui::OpenGLRenderInterface::applyMaterial ( const struct aiMaterial * mtl )

private

◆ clear()

void dart::gui::OpenGLRenderInterface::clear ( const Eigen::Vector3d & _color )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ color4_to_float4()

void dart::gui::OpenGLRenderInterface::color4_to_float4	(	const aiColor4D *	c,
		float	f[4]
	)

private

◆ compileDisplayList()

unsigned int dart::gui::RenderInterface::compileDisplayList	(	const Eigen::Vector3d &	_size,
		const aiScene *	_mesh
	)

virtualinherited

◆ compileList() [1/4]

GLuint dart::gui::OpenGLRenderInterface::compileList	(	const Eigen::Vector3d &	_scale,
		const aiScene *	_mesh
	)

◆ compileList() [2/4]

void dart::gui::OpenGLRenderInterface::compileList ( dynamics::BodyNode * _node )

◆ compileList() [3/4]

void dart::gui::OpenGLRenderInterface::compileList ( dynamics::Shape * _shape )

◆ compileList() [4/4]

void dart::gui::OpenGLRenderInterface::compileList ( dynamics::Skeleton * _skel )

◆ destroy()

void dart::gui::OpenGLRenderInterface::destroy ( )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ drawCapsule()

void dart::gui::OpenGLRenderInterface::drawCapsule	(	double	radius,
		double	height
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ drawCone()

void dart::gui::OpenGLRenderInterface::drawCone	(	double	radius,
		double	height
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ drawCube()

void dart::gui::OpenGLRenderInterface::drawCube ( const Eigen::Vector3d & _size )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ drawCylinder()

void dart::gui::OpenGLRenderInterface::drawCylinder	(	double	_radius,
		double	_height,
		int	slices = `16`,
		int	stacks = `16`
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ drawEllipsoid()

void dart::gui::OpenGLRenderInterface::drawEllipsoid ( const Eigen::Vector3d & _diameters )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ drawLineSegments()

void dart::gui::OpenGLRenderInterface::drawLineSegments	(	const std::vector< Eigen::Vector3d > &	_vertices,
		const common::aligned_vector< Eigen::Vector2i > &	_connections
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ drawList() [1/2]

void dart::gui::OpenGLRenderInterface::drawList ( GLuint index )

override

◆ drawList() [2/2]

void dart::gui::RenderInterface::drawList ( unsigned int index )

virtualinherited

◆ drawMesh()

void dart::gui::OpenGLRenderInterface::drawMesh	(	const Eigen::Vector3d &	_scale,
		const aiScene *	_mesh
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ drawMultiSphere()

void dart::gui::OpenGLRenderInterface::drawMultiSphere	(	const std::vector< std::pair< double, Eigen::Vector3d >> &	spheres,
		int	slices = `16`,
		int	stacks = `16`
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ drawOpenCylinder()

void dart::gui::OpenGLRenderInterface::drawOpenCylinder	(	double	baseRadius,
		double	topRadius,
		double	height,
		int	slices = `16`,
		int	stacks = `16`
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ drawPyramid()

void dart::gui::OpenGLRenderInterface::drawPyramid	(	double	baseWidth,
		double	baseDepth,
		double	height
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ drawSoftMesh()

void dart::gui::OpenGLRenderInterface::drawSoftMesh ( const aiMesh * mesh )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ drawSphere()

void dart::gui::OpenGLRenderInterface::drawSphere	(	double	radius,
		int	slices = `16`,
		int	stacks = `16`
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ getMaterial()

void dart::gui::OpenGLRenderInterface::getMaterial	(	Eigen::Vector3d &	_diffuse,
		Eigen::Vector3d &	_specular,
		double &	_cosinePow
	)		const

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ getViewport()

void dart::gui::OpenGLRenderInterface::getViewport	(	int &	_x,
		int &	_y,
		int &	_width,
		int &	_height
	)		const

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ initialize()

void dart::gui::OpenGLRenderInterface::initialize ( )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ popMatrix()

void dart::gui::OpenGLRenderInterface::popMatrix ( )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ popName()

void dart::gui::OpenGLRenderInterface::popName ( )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ pushMatrix()

void dart::gui::OpenGLRenderInterface::pushMatrix ( )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ pushName()

void dart::gui::OpenGLRenderInterface::pushName ( int _id )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ readFrameBuffer()

void dart::gui::OpenGLRenderInterface::readFrameBuffer	(	DecoBufferType	_buffType,
		DecoColorChannel	_ch,
		void *	_pixels
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ recursiveRender()

void dart::gui::OpenGLRenderInterface::recursiveRender	(	const struct aiScene *	sc,
		const struct aiNode *	nd
	)

private

◆ rotate()

void dart::gui::OpenGLRenderInterface::rotate	(	const Eigen::Vector3d &	_axis,
		double	_rad
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ saveToImage()

void dart::gui::OpenGLRenderInterface::saveToImage	(	const char *	_filename,
		DecoBufferType	_buffType = `BT_Back`
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ scale()

void dart::gui::OpenGLRenderInterface::scale ( const Eigen::Vector3d & _scale )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ set_float4()

void dart::gui::OpenGLRenderInterface::set_float4	(	float	f[4],
		float	a,
		float	b,
		float	c,
		float	d
	)

private

◆ setDefaultMaterial()

void dart::gui::OpenGLRenderInterface::setDefaultMaterial ( )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ setLineWidth()

void dart::gui::OpenGLRenderInterface::setLineWidth ( float _width )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ setMaterial()

void dart::gui::OpenGLRenderInterface::setMaterial	(	const Eigen::Vector3d &	_diffuse,
		const Eigen::Vector3d &	_specular,
		double	_cosinePow
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ setPenColor() [1/2]

void dart::gui::OpenGLRenderInterface::setPenColor ( const Eigen::Vector3d & _col )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ setPenColor() [2/2]

void dart::gui::OpenGLRenderInterface::setPenColor ( const Eigen::Vector4d & _col )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ setViewport()

void dart::gui::OpenGLRenderInterface::setViewport	(	int	_x,
		int	_y,
		int	_width,
		int	_height
	)

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ transform()

void dart::gui::OpenGLRenderInterface::transform ( const Eigen::Isometry3d & _transform )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

◆ translate()

void dart::gui::OpenGLRenderInterface::translate ( const Eigen::Vector3d & _offset )

overridevirtual

Reimplemented from dart::gui::RenderInterface.

Member Data Documentation

◆ mViewportHeight

int dart::gui::OpenGLRenderInterface::mViewportHeight

private

◆ mViewportWidth

int dart::gui::OpenGLRenderInterface::mViewportWidth

private

◆ mViewportX

int dart::gui::OpenGLRenderInterface::mViewportX

private

◆ mViewportY

int dart::gui::OpenGLRenderInterface::mViewportY

private

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ OpenGLRenderInterface()

◆ ~OpenGLRenderInterface()

Member Function Documentation

◆ applyMaterial()

◆ clear()

◆ color4_to_float4()

◆ compileDisplayList()

◆ compileList() [1/4]

◆ compileList() [2/4]

◆ compileList() [3/4]

◆ compileList() [4/4]

◆ destroy()

◆ drawCapsule()

◆ drawCone()

◆ drawCube()

◆ drawCylinder()

◆ drawEllipsoid()

◆ drawLineSegments()

◆ drawList() [1/2]

◆ drawList() [2/2]

◆ drawMesh()

◆ drawMultiSphere()

◆ drawOpenCylinder()

◆ drawPyramid()

◆ drawSoftMesh()

◆ drawSphere()

◆ getMaterial()

◆ getViewport()

◆ initialize()

◆ popMatrix()

◆ popName()

◆ pushMatrix()

◆ pushName()

◆ readFrameBuffer()

◆ recursiveRender()

◆ rotate()

◆ saveToImage()

◆ scale()

◆ set_float4()

◆ setDefaultMaterial()

◆ setLineWidth()

◆ setMaterial()

◆ setPenColor() [1/2]

◆ setPenColor() [2/2]

◆ setViewport()

◆ transform()

◆ translate()

Member Data Documentation

◆ mViewportHeight

◆ mViewportWidth

◆ mViewportX

◆ mViewportY