RenderInterface.hpp

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#ifndef DART_GUI_RENDERINTERFACE_HPP_
#define DART_GUI_RENDERINTERFACE_HPP_
 
#include <vector>
 
#include <Eigen/Dense>
#include <assimp/scene.h>
 
#include "dart/math/MathTypes.hpp"
 
namespace dart {
namespace gui {
 
enum DecoBufferType
{
  BT_Front,
  BT_Back
};
 
enum DecoColorChannel
{
  CC_R,
  CC_G,
  CC_B,
  CC_A,
  CC_RGB,
  CC_RGBA
};
 
enum DecoDrawType
{
  DT_WireFrame,
  DT_SolidPolygon,
  DT_FrontPolygon,
  DT_BackPolygon,
  DT_Max
};
 
class RenderInterface
{
public:
  RenderInterface() {}
  virtual ~RenderInterface() {}
 
  virtual void initialize();
  virtual void destroy();
 
  virtual void setViewport(int _x, int _y, int _width, int _height);
  virtual void getViewport(int& _x, int& _y, int& _width, int& _height) const;
 
  virtual void clear(const Eigen::Vector3d& _color);
 
  virtual void setMaterial(
      const Eigen::Vector3d& _diffuse,
      const Eigen::Vector3d& _specular,
      double _cosinePow);
  virtual void getMaterial(
      Eigen::Vector3d& _diffuse,
      Eigen::Vector3d& _specular,
      double& _cosinePow) const;
  virtual void setDefaultMaterial();
 
  virtual void pushMatrix();
  virtual void popMatrix();
  virtual void pushName(int _id);
  virtual void popName();
 
  virtual void translate(const Eigen::Vector3d& _offset);         // glTranslate
  virtual void rotate(const Eigen::Vector3d& _axis, double _rad); // glRotate
  virtual void transform(const Eigen::Isometry3d& _transform); // glMultMatrix
  virtual void scale(const Eigen::Vector3d& _scale);           // glScale
 
  virtual void drawSphere(double radius, int slices = 16, int stacks = 16);
  DART_DEPRECATED(6.11)
  virtual void drawMultiSphere(
      const std::vector<std::pair<double, Eigen::Vector3d>>& spheres,
      int slices = 16,
      int stacks = 16);
  virtual void drawMultiSphereConvexHull(
      const std::vector<std::pair<double, Eigen::Vector3d>>& spheres,
      std::size_t subdivisions);
  virtual void drawEllipsoid(const Eigen::Vector3d& _size);
  virtual void drawCube(const Eigen::Vector3d& _size);
  virtual void drawOpenCylinder(
      double baseRadius,
      double topRadius,
      double height,
      int slices = 16,
      int stacks = 16);
  virtual void drawCylinder(
      double _radius, double _height, int slices = 16, int stacks = 16);
  virtual void drawCapsule(double _radius, double _height);
  virtual void drawCone(double _radius, double _height);
  virtual void drawPyramid(double baseWidth, double baseDepth, double height);
  virtual void drawMesh(const Eigen::Vector3d& _scale, const aiScene* _mesh);
  virtual void drawSoftMesh(const aiMesh* mesh);
  virtual void drawList(unsigned int index);
  virtual void drawLineSegments(
      const std::vector<Eigen::Vector3d>& _vertices,
      const common::aligned_vector<Eigen::Vector2i>& _connections);
 
  virtual unsigned int compileDisplayList(
      const Eigen::Vector3d& _size, const aiScene* _mesh);
 
  virtual void setPenColor(const Eigen::Vector4d& _col);
  virtual void setPenColor(const Eigen::Vector3d& _col);
 
  virtual void setLineWidth(float _width);
 
  virtual void saveToImage(
      const char* _filename, DecoBufferType _buffType = BT_Back);
  virtual void readFrameBuffer(
      DecoBufferType _buffType, DecoColorChannel _ch, void* _pixels);
};
 
} // namespace gui
} // namespace dart
 
#endif // #ifndef DART_GUI_RENDERINTERFACE_HPP_