GLlink.h

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#ifndef __GLLINK_H__
#define __GLLINK_H__

#include <string>
#include <vector>
#ifdef __APPLE__
#include <OpenGL/gl.h>
#else
#include <GL/gl.h>
#endif
#include <hrpModel/Link.h>
#include "GLcoordinates.h"

class GLcamera;
class GLshape;

class GLlink : public hrp::Link, public GLcoordinates
{
public:
    enum {DM_SOLID, DM_WIREFRAME, DM_COLLISION, DM_NUM};

    GLlink();
    ~GLlink();
    size_t draw();
    void setQ(double i_q);

    GLcamera *findCamera(const char *i_name);

    void computeAbsTransform();
    void computeAbsTransform(double o_trans[16]);
    void setAbsTransform(double o_trans[16]);
    void addShape(GLshape *shape);
    void addCamera(GLcamera *camera);
    void showAxes(bool flag);
    void highlight(bool flag);
    void divideLargeTriangles(double maxEdgeLen);
    const std::vector<GLcamera *>& cameras();
    void computeAABB(hrp::Vector3& o_min, hrp::Vector3& o_max);
    static void useAbsTransformToDraw();
    static int drawMode();
    static void drawMode(int i_mode);
protected:
    static bool m_useAbsTransformToDraw;
    static int m_drawMode;
    std::vector<GLcamera *> m_cameras;
    double m_T_j[16], m_absTrans[16];
    std::vector<GLshape *> m_shapes;
    bool m_showAxes, m_highlight;
};

hrp::Link *GLlinkFactory();

#endif