OpenGLRenderInterface.hpp

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#ifndef DART_GUI_OPENGLRENDERINTERFACE_HPP_
#define DART_GUI_OPENGLRENDERINTERFACE_HPP_
 
#include <list>
#include <vector>
 
#include "dart/gui/LoadOpengl.hpp"
#include "dart/gui/RenderInterface.hpp"
 
namespace dart {
 
namespace dynamics {
class Skeleton;
class BodyNode;
class Shape;
class ShapeFrame;
} // namespace dynamics
 
namespace gui {
class OpenGLRenderInterface : public RenderInterface
{
public:
  OpenGLRenderInterface()
    : mViewportX(0.0),
      mViewportY(0.0),
      mViewportWidth(0.0),
      mViewportHeight(0.0)
  {
  }
  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; // glTranslate
  void rotate(const Eigen::Vector3d& _axis, double _rad) override; // glRotate
  void transform(const Eigen::Isometry3d& _transform) override; // glMultMatrix
  void scale(const Eigen::Vector3d& _scale) override;           // glScale
 
  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 drawMultiSphereConvexHull(
      const std::vector<std::pair<double, Eigen::Vector3d>>& spheres,
      std::size_t subdivisions) 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;
 
private:
  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);
 
  int mViewportX, mViewportY, mViewportWidth, mViewportHeight;
 
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace gui
} // namespace dart
 
#endif // #ifndef DART_GUI_OPENGLRENDERINTERFACE_HPP_