redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

examples/OpenGLWindow/SimpleOpenGL2Renderer.h
93 строки4 KB
erwin coumans
Add pybullet.configureDebugVisualizer(rgbBackground=[red,green,blue]) (each component a float in the range [0,1])
07 май 2021, 04:08
07 май 2021, 04:08e952ac6

#ifndef SIMPLE_OPENGL2_RENDERER_H
#define SIMPLE_OPENGL2_RENDERER_H

#include "../CommonInterfaces/CommonRenderInterface.h"
#include "SimpleCamera.h"

class SimpleOpenGL2Renderer : public CommonRenderInterface
{
	struct SimpleOpenGL2RendererInternalData* m_data;

	void drawSceneInternal(int pass, int cameraUpAxis);
	void drawOpenGL(int instanceIndex);

public:
	SimpleOpenGL2Renderer(int width, int height);
	virtual ~SimpleOpenGL2Renderer();

	virtual void init();

	virtual void updateCamera(int upAxis);

	virtual const CommonCameraInterface* getActiveCamera() const;
	virtual CommonCameraInterface* getActiveCamera();
	virtual void setActiveCamera(CommonCameraInterface* cam);

	virtual void setLightPosition(const float lightPos[3]);
	virtual void setLightPosition(const double lightPos[3]);
	virtual void setShadowMapResolution(int shadowMapResolution) {}
	virtual void setShadowMapIntensity(double shadowMapIntensity) {}
	virtual void setShadowMapWorldSize(float worldSize) {}
	virtual void resize(int width, int height);
	virtual void setBackgroundColor(const double rgbBackground[3]) {}

	virtual void removeAllInstances();
	virtual void removeGraphicsInstance(int instanceUid);

	virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex);
	virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
	virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
	virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
	virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
	virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex) {}
	virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex) {}
	virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex) {}
	virtual void getCameraViewMatrix(float viewMat[16]) const;
	virtual void getCameraProjectionMatrix(float projMat[16]) const;
	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex = -1, int vertexLayout = 0)
	{
	}

	virtual void renderScene();

	virtual int getScreenWidth();
	virtual int getScreenHeight();
	virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipTexelsY);
	virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipTexelsY);
	virtual void activateTexture(int textureIndex);
	virtual void removeTexture(int textureIndex);

	virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling);

	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);

	virtual void drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float pointDrawSize);

	virtual void drawLine(const float from[4], const float to[4], const float color[4], float lineWidth);

	virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType = B3_GL_TRIANGLES, int textureIndex = -1);

	virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex);

	virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex);

	virtual int getTotalNumInstances() const;

	virtual void writeTransforms();

	virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth);

	virtual void drawPoint(const float* position, const float color[4], float pointDrawSize);

	virtual void drawPoint(const double* position, const double color[4], double pointDrawSize);

	virtual void updateShape(int shapeIndex, const float* vertices, int numVertices);

	virtual void clearZBuffer();

	virtual struct GLInstanceRendererInternalData* getInternalData()
	{
		return 0;
	}
};
#endif  //SIMPLE_OPENGL2_RENDERER_H