void OpenGLRenderInterface::compileList(dynamics::BodyNode* _node) {
if(_node == 0)
return;
for (size_t i = 0; i < _node->getNumVisualizationShapes(); i++)
compileList(_node->getVisualizationShape(i));
for (size_t i = 0; i < _node->getNumCollisionShapes(); i++)
compileList(_node->getCollisionShape(i));
}
//FIXME: Use polymorphism instead of switch statements
void OpenGLRenderInterface::compileList(dynamics::Shape* _shape) {
if(_shape == 0)
return;
switch(_shape->getShapeType()) {
case dynamics::Shape::BOX:
break;
case dynamics::Shape::CYLINDER:
break;
case dynamics::Shape::ELLIPSOID:
break;
case dynamics::Shape::PLANE:
dterr << "PLANE is not supported yet." << std::endl;
break;
case dynamics::Shape::SOFT_MESH:
// Do nothing
break;
case dynamics::Shape::MESH:
{
//FIXME: Separate these calls once BodyNode is refactored to contain
// both a col Shape and vis Shape.
dynamics::MeshShape* shapeMesh = dynamic_cast<dynamics::MeshShape*>(_shape);
if(shapeMesh == 0)
return;
shapeMesh->setDisplayList(compileList(shapeMesh->getScale(), shapeMesh->getMesh()));
break;
}
case dynamics::Shape::LINE_SEGMENT:
// Do nothing
break;
}
}
void OpenGLRenderInterface::compileList(dynamics::Skeleton* _skel) {
if(_skel == 0)
return;
for (size_t i = 0; i < _skel->getNumBodyNodes(); i++) {
compileList(_skel->getBodyNode(i));
}
}
//==============================================================================
void OpenGLRenderInterface::compileList(dynamics::BodyNode* node)
{
if(node == 0)
return;
for (auto childFrame : node->getChildFrames())
{
auto shapeFrame = dynamic_cast<dynamics::ShapeFrame*>(childFrame);
if (shapeFrame)
compileList(shapeFrame->getShape().get());
}
for (auto i = 0u; i < node->getNumNodes<dynamics::ShapeNode>(); ++i)
{
auto shapeNode = node->getNode<dynamics::ShapeNode>(i);
compileList(shapeNode->getShape().get());
}
}
void PEquilateralTriangle::draw()
{
if (display_list==0) compileList();
glPushMatrix();
glTranslatef(centerx, centery, 0);
glRotatef(theta*180/PI,0,0,1);
glCallList(display_list);
glPopMatrix();
}
//==============================================================================
void OpenGLRenderInterface::compileList(dynamics::Shape* shape)
{
if (!shape)
return;
if (shape->getType() == dynamics::MeshShape::getStaticType())
{
assert(dynamic_cast<dynamics::MeshShape*>(shape));
auto* mesh = static_cast<dynamics::MeshShape*>(shape);
mesh->setDisplayList(compileList(mesh->getScale(), mesh->getMesh()));
}
else
{
dtwarn << "[OpenGLRenderInterface::compileList] Attempting to compile "
<< "OpenGL list for an unsupported shape type ["
<< shape->getType() << "].\n";
}
}