RenderInterface.hpp

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
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 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
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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);
  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 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_