GLSceneRenderer.h

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#ifndef CNOID_BASE_GL_SCENE_RENDERER_H
#define CNOID_BASE_GL_SCENE_RENDERER_H
 
#include <cnoid/SceneRenderer>
#include "exportdecl.h"
 
namespace cnoid {
 
class Image;
    
class CNOID_EXPORT GLSceneRenderer : public SceneRenderer
{
public:
    static void initializeClass();
 
    enum RendererType { GL1_RENDERER, GLSL_RENDERER };
    static int rendererType();
    static GLSceneRenderer* create(SgGroup* root = nullptr);
    
    GLSceneRenderer(SgGroup* root = nullptr);
    virtual ~GLSceneRenderer();
 
    virtual void setOutputStream(std::ostream& os);
 
    virtual SgGroup* sceneRoot() override;
    virtual SgGroup* scene() override;
 
    virtual bool initializeGL() = 0;
    virtual void flushGL() = 0;
 
    virtual void clearGL();
 
    virtual void setDefaultFramebufferObject(unsigned int id);
 
    virtual const std::string& glVendor() const = 0;
 
    virtual void setViewport(int x, int y, int width, int height) = 0;
    
    // Call this function instead of setViewport when the viewport is specified by the system.
    virtual void updateViewportInformation(int x, int y, int width, int height);
    
    Array4i viewport() const;
    void getViewport(int& out_x, int& out_y, int& out_width, int& out_height) const;
    double aspectRatio() const; // width / height;
 
    void getPerspectiveProjectionMatrix(
        double fovy, double aspect, double zNear, double zFar, Matrix4& out_matrix);
    void getOrthographicProjectionMatrix(
        double left,  double right,  double bottom,  double top,  double nearVal,  double farVal, Matrix4& out_matrix);
    
    void getViewFrustum(const SgPerspectiveCamera* camera, double& left, double& right, double& bottom, double& top) const;
    void getViewVolume(const SgOrthographicCamera* camera, float& out_left, float& out_right, float& out_bottom, float& out_top) const;
    
    bool unproject(double x, double y, double z, Vector3& out_projected) const;    
 
    const Vector3f& backgroundColor() const;
    void setBackgroundColor(const Vector3f& color);
    const Vector3f& defaultColor() const;
    void setDefaultColor(const Vector3f& color);
 
    enum LightingMode {
        NormalLighting,
        MinimumLighting,
        SolidColorLighting,
        NoLighting,
        NumLightingModes
    };
    virtual void setLightingMode(LightingMode mode) = 0;
    virtual LightingMode lightingMode() const = 0;
 
    virtual void clearShadows();
    virtual void enableShadowOfLight(int index, bool on = true);
    virtual void enableShadowAntiAliasing(bool on);
    virtual void setDefaultSmoothShading(bool on) = 0;
    virtual SgMaterial* defaultMaterial() = 0;
    virtual void enableTexture(bool on) = 0;
    virtual void setDefaultPointSize(double size) = 0;
    virtual void setDefaultLineWidth(double width) = 0;
    virtual void showNormalVectors(double length) = 0;
    virtual void requestToClearResources() = 0;
    virtual void enableUnusedResourceCheck(bool on) = 0;
    virtual const Vector3& pickedPoint() const = 0;
    virtual const SgNodePath& pickedNodePath() const = 0;
    virtual void setColor(const Vector3f& color) = 0;
    virtual void setUpsideDown(bool on);
 
    enum CullingMode {
        ENABLE_BACK_FACE_CULLING,
        DISABLE_BACK_FACE_CULLING,
        FORCE_BACK_FACE_CULLING,
        N_CULLING_MODES
    };
 
    virtual void setBackFaceCullingMode(int mode) = 0;
    virtual int backFaceCullingMode() const = 0;
 
    virtual void setBoundingBoxRenderingForLightweightRenderingGroupEnabled(bool on);
 
    virtual void setPickingImageOutputEnabled(bool on);
    virtual bool getPickingImage(Image& out_image);
 
    virtual bool isShadowCastingAvailable() const;
 
private:
    class Impl;
    Impl* impl;
};
 
}
 
#endif