phantomx_renderer_simple.h

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#ifndef DESIGNLAB_PHANTOMX_RENDERER_SIMPLE_H_
#define DESIGNLAB_PHANTOMX_RENDERER_SIMPLE_H_
 
#include <array>
#include <memory>
 
#include <Dxlib.h>
 
#include "display_quality.h"
#include "hexapod_const.h"
#include "interface_dxlib_3d_renderer.h"
#include "interface_dxlib_node_setter.h"
#include "interface_hexapod_coordinate_converter.h"
#include "interface_hexapod_joint_calculator.h"
#include "robot_state_node.h"
 
 
namespace designlab
{
 
class PhantomXRendererSimple final : public IDxlib3dRenderer, public IDxlibNodeSetter
{
public:
    PhantomXRendererSimple(
      const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr,
      const std::shared_ptr<const IHexapodJointCalculator>& calculator_ptr,
      DisplayQuality display_quality);
 
    void SetNode(const RobotStateNode& node) override;
 
    void Draw() const override;
 
private:
    void DrawHexapodNormal() const;
 
    const unsigned int kColorBody;          
    const unsigned int kColorLeg;           
    const unsigned int kColorLiftedLeg;     
    const unsigned int kColorJoint;         
    const unsigned int kColorLiftedJoint;   
    const unsigned int kColorLegBase;       
    const unsigned int kColorErrorJoint;    
    const unsigned int kColorErrorText;     
 
    const int kCapsuleDivNum;
 
    const int kSphereDivNum;
 
    const float kLegRadius;
 
    const float kJointRadius;
 
    const bool kDoOutputDebugLog = false;  
 
 
    const std::shared_ptr<const IHexapodCoordinateConverter> converter_ptr_;
    const std::shared_ptr<const IHexapodJointCalculator> calculator_ptr_;
 
    RobotStateNode draw_node_;  
 
    std::array<HexapodJointState, HexapodConst::kLegNum> draw_joint_state_;
 
    DisplayQuality display_quality_;  
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_PHANTOMX_RENDERER_SIMPLE_H_