GLlink.h
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00001 #ifndef __GLLINK_H__
00002 #define __GLLINK_H__
00003 
00004 #include <string>
00005 #include <vector>
00006 #ifdef __APPLE__
00007 #include <OpenGL/gl.h>
00008 #else
00009 #include <GL/gl.h>
00010 #endif
00011 #include <hrpModel/Link.h>
00012 #include "GLcoordinates.h"
00013 
00014 class GLcamera;
00015 class GLshape;
00016 
00017 class GLlink : public hrp::Link, public GLcoordinates
00018 {
00019 public:
00020     enum {DM_SOLID, DM_WIREFRAME, DM_COLLISION, DM_NUM};
00021 
00022     GLlink();
00023     ~GLlink();
00024     size_t draw();
00025     void setQ(double i_q);
00026 
00027     GLcamera *findCamera(const char *i_name);
00028 
00029     void computeAbsTransform();
00030     void computeAbsTransform(double o_trans[16]);
00031     void setAbsTransform(double o_trans[16]);
00032     void addShape(GLshape *shape);
00033     void addCamera(GLcamera *camera);
00034     void showAxes(bool flag);
00035     void highlight(bool flag);
00036     void divideLargeTriangles(double maxEdgeLen);
00037     const std::vector<GLcamera *>& cameras();
00038     void computeAABB(hrp::Vector3& o_min, hrp::Vector3& o_max);
00039     static void useAbsTransformToDraw();
00040     static int drawMode();
00041     static void drawMode(int i_mode);
00042 protected:
00043     static bool m_useAbsTransformToDraw;
00044     static int m_drawMode;
00045     std::vector<GLcamera *> m_cameras;
00046     double m_T_j[16], m_absTrans[16];
00047     std::vector<GLshape *> m_shapes;
00048     bool m_showAxes, m_highlight;
00049 };
00050 
00051 hrp::Link *GLlinkFactory();
00052 
00053 #endif


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:55