Go to the documentation of this file.00001 #ifndef __GLUTIL_H__
00002 #define __GLUTIL_H__
00003
00004 #include <vector>
00005 #include <hrpCorba/ModelLoader.hh>
00006 #ifdef __APPLE__
00007 #include <OpenGL/gl.h>
00008 #else
00009 #include <GL/gl.h>
00010 #endif
00011
00012 class GLshape;
00013 class GLlink;
00014 class GLbody;
00015
00016 void mulTrans(const double i_m1[16], const double i_m2[16], double o_m[16]);
00017 void loadCube(GLshape *shape, double x, double y, double z);
00018 void loadShapeFromBodyInfo(GLbody *body, OpenHRP::BodyInfo_var i_binfo,
00019 GLshape *(*shapeFactory)()=NULL);
00020 void loadShapeFromSceneInfo(GLlink *link, OpenHRP::SceneInfo_var i_sinfo,
00021 GLshape *(*shapeFactory)()=NULL);
00022 void loadShapeFromLinkInfo(GLlink *link,
00023 const OpenHRP::LinkInfo &i_li,
00024 OpenHRP::ShapeSetInfo_ptr i_ssinfo,
00025 GLshape *(*shapeFactory)()=NULL);
00026
00027 #endif