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scene_win.h
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37 
38 #ifndef AMINO_RX_SCENE_WIN_H
39 #define AMINO_RX_SCENE_WIN_H
40 
41 #include <SDL.h>
42 
43 struct aa_rx_sg_sub;
44 
60 AA_API struct aa_rx_win *
62  const char* title,
63  int x_pos,
64  int y_pos,
65  int width,
66  int height,
67  Uint32 flags );
68 
78 AA_API struct aa_rx_win *
80  const char* title, int width, int height );
81 
82 
86 AA_API void
87 aa_rx_win_destroy( struct aa_rx_win * win);
88 
99 AA_API struct aa_gl_globals *
100 aa_rx_win_gl_globals( struct aa_rx_win * win);
101 
102 
110 AA_API void
111 aa_rx_win_set_sg( struct aa_rx_win * win,
112  const struct aa_rx_sg *sg );
113 
124 AA_API void
125 aa_rx_win_set_sg_sub( struct aa_rx_win * win,
126  const struct aa_rx_sg_sub *sg_sub );
127 
131 AA_API const struct aa_rx_sg *
132 aa_rx_win_get_sg( struct aa_rx_win * win );
133 
137 AA_API void
138 aa_rx_win_display_sg_config( struct aa_rx_win *win, struct aa_sdl_display_params *params,
139  const struct aa_rx_sg *scenegraph,
140  size_t n_q, const double *q );
141 
142 
146 AA_API void
147 aa_rx_win_display_sg_tf( struct aa_rx_win *win, struct aa_sdl_display_params *params,
148  const struct aa_rx_sg *scenegraph,
149  size_t n_tf, const double *tf_abs, size_t ld_tf );
150 
157 AA_API void
158 aa_rx_win_set_config( struct aa_rx_win * win,
159  size_t n,
160  const double *q );
161 
162 
176 AA_API void
177 aa_rx_win_set_display( struct aa_rx_win * win,
178  aa_sdl_win_display_fun display,
179  void *context,
180  void (*destructor)(void*) );
181 
185 AA_API void
187  struct aa_rx_sg *sg,
188  size_t n_plan_elements,
189  const double *plan );
190 
191 struct aa_rx_mp_seq;
192 
196 AA_API void
197 aa_rx_win_set_display_seq( struct aa_rx_win * win, struct aa_rx_mp_seq *mp_seq);
198 
209 AA_API void aa_rx_win_run( void );
210 
211 
223 AA_API void aa_rx_win_run_async( void );
224 
231 AA_API void
232 aa_rx_win_stop( struct aa_rx_win * win );
233 
237 AA_API int
238 aa_rx_win_is_running( struct aa_rx_win * win );
239 
240 
244 AA_API void
245 aa_rx_win_stop_on_quit( struct aa_rx_win * win, int value );
246 
253 AA_API void
254 aa_rx_win_lock( struct aa_rx_win * win );
255 
259 AA_API void
260 aa_rx_win_unlock( struct aa_rx_win * win );
261 
267 AA_API void
268 aa_rx_win_sg_gl_init( struct aa_rx_win * win,
269  struct aa_rx_sg *sg );
270 
271 
278 AA_API void
279 aa_rx_win_get_tf_cam( struct aa_rx_win * win, double *E );
280 
287 AA_API void
288 aa_rx_win_set_tf_cam( struct aa_rx_win * win, const double *E );
289 
290 
291 #endif /*AMINO_RX_SCENE_WIN_H*/
AA_API void aa_rx_win_display_sg_tf(struct aa_rx_win *win, struct aa_sdl_display_params *params, const struct aa_rx_sg *scenegraph, size_t n_tf, const double *tf_abs, size_t ld_tf)
Display a scene graph in the window with the given transforms.
AA_API struct aa_gl_globals * aa_rx_win_gl_globals(struct aa_rx_win *win)
Return a pointer to the window's GL globals struct.
AA_API void aa_rx_win_set_sg_sub(struct aa_rx_win *win, const struct aa_rx_sg_sub *sg_sub)
Set a sub-scenegraph for the window.
AA_API void aa_rx_win_run_async(void)
Asynchronous run the display in a new current thread.
AA_API void aa_rx_win_set_display_seq(struct aa_rx_win *win, struct aa_rx_mp_seq *mp_seq)
Display a sequence of motion plans.
Opaque type for a scene_graph.
AA_API void aa_rx_win_set_sg(struct aa_rx_win *win, const struct aa_rx_sg *sg)
Set a scenegraph for the window.
AA_API void aa_rx_win_stop(struct aa_rx_win *win)
Instruct the rendering thread to stop.
AA_API void aa_rx_win_lock(struct aa_rx_win *win)
Lock the window.
AA_API void aa_rx_win_set_display_plan(struct aa_rx_win *win, struct aa_rx_sg *sg, size_t n_plan_elements, const double *plan)
Display a motion plan in the window.
#define AA_API
calling and name mangling convention for functions
Definition: amino.h:95
AA_API const struct aa_rx_sg * aa_rx_win_get_sg(struct aa_rx_win *win)
Retreive the scene graph for the window.
AA_API void aa_rx_win_set_display(struct aa_rx_win *win, aa_sdl_win_display_fun display, void *context, void(*destructor)(void *))
Set the window's display function.
AA_API void aa_rx_win_set_config(struct aa_rx_win *win, size_t n, const double *q)
Set the configuration vector for the window.
Opaque type for a window.
Definition: rxtype.h:67
AA_API void aa_rx_win_unlock(struct aa_rx_win *win)
Unlock the window.
AA_API void aa_rx_win_set_tf_cam(struct aa_rx_win *win, const double *E)
Set the camera pose.
AA_API struct aa_rx_win * aa_rx_win_create(const char *title, int x_pos, int y_pos, int width, int height, Uint32 flags)
Create a new SDL / OpenGL window.
Parameters for SDL display function.
Definition: rxtype.h:74
AA_API void aa_rx_win_destroy(struct aa_rx_win *win)
Destroy SDL / OpenGL window.
AA_API void aa_rx_win_get_tf_cam(struct aa_rx_win *win, double *E)
Return the current camera pose.
AA_API void aa_rx_win_display_sg_config(struct aa_rx_win *win, struct aa_sdl_display_params *params, const struct aa_rx_sg *scenegraph, size_t n_q, const double *q)
Render a scenegraph at the given configuration in the window.
int(* aa_sdl_win_display_fun)(struct aa_rx_win *win, void *context, struct aa_sdl_display_params *params)
Display handler function for amino windows to call in SDL loop.
Definition: rxtype.h:101
AA_API void aa_rx_win_run(void)
Synchronous display using current thread.
AA_API void aa_rx_win_sg_gl_init(struct aa_rx_win *win, struct aa_rx_sg *sg)
Initialize scenegraph GL values for the given window.
AA_API struct aa_rx_win * aa_rx_win_default_create(const char *title, int width, int height)
Create a new SDL / OpenGL window with default parameters.
AA_API void aa_rx_win_stop_on_quit(struct aa_rx_win *win, int value)
Instruct the rendering thread to stop when the user closes the window.
AA_API int aa_rx_win_is_running(struct aa_rx_win *win)
Return true if the window is still running.