RenderInterface.hpp

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/*
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#ifndef DART_GUI_RENDERINTERFACE_HPP_
#define DART_GUI_RENDERINTERFACE_HPP_
 
#include <vector>
#include <assimp/scene.h>
#include <Eigen/Dense>
 
#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);
    virtual void drawMultiSphere(const std::vector<std::pair<double, Eigen::Vector3d>>& spheres, int slices = 16, int stacks = 16);
    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 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_