GLutil.h
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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


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