DriveWorks SDK Reference
3.5.78 Release
For Test and Development only

Renderer.h
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30 
48 #ifndef DWVISUALIZATION_RENDERER_H_
49 #define DWVISUALIZATION_RENDERER_H_
50 
52 
53 #include <dwvisualization/gl/GL.h>
54 
55 #ifdef __cplusplus
56 extern "C" {
57 #endif
58 
59 //#######################################################################################
60 const dwVector4f DW_RENDERER_COLOR_RED = {230.0f / 255.0f, 72.0f / 255.0f, 32.0f / 255.0f, 1.0f};
61 const dwVector4f DW_RENDERER_COLOR_DARKRED = {180.0f / 255.0f, 5.0f / 255.0f, 0.0f / 255.0f, 1.0f};
62 const dwVector4f DW_RENDERER_COLOR_PURPLE = {255.0f / 255.0f, 0.0f / 255.0f, 240.0f / 255.0f, 1.0f};
63 const dwVector4f DW_RENDERER_COLOR_BLUE = {32.0f / 255.0f, 72.0f / 255.0f, 230.0f / 255.0f, 1.0f};
64 const dwVector4f DW_RENDERER_COLOR_GREEN = {32.0f / 255.0f, 230.0f / 255.0f, 32.0f / 255.0f, 1.0f};
65 const dwVector4f DW_RENDERER_COLOR_WHITE = {255.0f / 255.0f, 255.0f / 255.0f, 255.0f / 255.0f, 1.0f};
66 const dwVector4f DW_RENDERER_COLOR_DARKGREEN = {45.0f / 255.0f, 100.0f / 255.0f, 44.0f / 255.0f, 1.0f};
67 const dwVector4f DW_RENDERER_COLOR_LIGHTGREEN = {118.0f / 255.0f, 185.0f / 255.0f, 0.0f / 255.0f, 1.0f};
68 const dwVector4f DW_RENDERER_COLOR_LIGHTGREY = {185.0f / 255.0f, 185.0f / 255.0f, 185.0f / 255.0f, 1.0f};
69 const dwVector4f DW_RENDERER_COLOR_DARKGREY = {72.0f / 255.0f, 72.0f / 255.0f, 72.0f / 255.0f, 1.0f};
70 const dwVector4f DW_RENDERER_COLOR_DARKBLUE = {45.0f / 255.0f, 44.0f / 255.0f, 100.0f / 255.0f, 0.6f};
71 const dwVector4f DW_RENDERER_COLOR_YELLOW = {230.0f / 255.0f, 230.0f / 255.0f, 10.0f / 255.0f, 1.0f};
72 const dwVector4f DW_RENDERER_COLOR_ORANGE = {230.0f / 255.0f, 100.0f / 255.0f, 10.0f / 255.0f, 1.0f};
73 const dwVector4f DW_RENDERER_COLOR_LIGHTBLUE = {51.0f / 255.0f, 153.0f / 255.0f, 255.0f / 255.0f, 0.6f};
74 const dwVector4f DW_RENDERER_COLOR_CYAN = {40.0f / 255.0f, 130.0f / 255.0f, 255.0f / 255.0f, 1.0f};
75 const dwVector4f DW_RENDERER_COLOR_BLACK = {0.0f / 255.0f, 0.0f / 255.0f, 0.0f / 255.0f, 1.0f};
76 const dwVector4f DW_RENDERER_COLOR_LIGHTPURPLE = {181.0f / 255.0f, 138.0f / 255.0f, 242.0f / 255.0f, 1.0f};
77 const dwVector4f DW_RENDERER_COLOR_MAGENTA = {230.f / 255.f, 25.f / 255.f, 230.f / 255.f, 1.f};
78 
79 const dwVector3f DW_RENDERER_HSV_RED = {0.0f, 1.0f, 0.75f};
80 const dwVector3f DW_RENDERER_HSV_BLUE = {240.0f, 1.0f, 0.75f};
81 const dwVector3f DW_RENDERER_HSV_PURPLE = {270.0f, 1.0f, 0.75f};
82 
83 const dwVector4f DW_RENDERER_COLOR_NVIDIA_GREEN = {0.4609375f, 0.72265625f, 0.0f, 1.0f};
84 
86 static const uint32_t DW_RENDERBUFFER_MAX_VIEWS = 10;
87 
88 //#######################################################################################
90 const dwVector3f DW_RENDER_COLORMAPSCALE_75M = {75.0f, 75.0f, 75.0f};
91 const dwVector3f DW_RENDER_COLORMAPSCALE_100M = {100.0f, 100.0f, 100.0f};
92 const dwVector3f DW_RENDER_COLORMAPSCALE_130M = {130.0f, 130.0f, 130.0f};
93 const dwVector3f DW_RENDER_COLORMAPSCALE_150M = {150.0f, 150.0f, 150.0f};
94 
95 //#######################################################################################
97 typedef enum dwRendererFonts {
108 
109 //#######################################################################################
111 typedef enum dwRenderBufferFormat {
118 
128 
139 
146 
149 {
157 
167 
169 static const uint32_t DW_RENDERER_DEFAULT_BUFFER_SIZE = 10000;
170 
172 typedef struct dwRenderBufferObject* dwRenderBufferHandle_t;
173 
175 typedef const struct dwRenderBufferObject* dwConstRenderBufferHandle_t;
176 
178 typedef struct dwRendererObject* dwRendererHandle_t;
179 
181 typedef const struct dwRendererObject* dwConstRendererHandle_t;
182 
183 //#######################################################################################
184 // RenderBuffer
185 //#######################################################################################
186 
201 dwStatus dwRenderBuffer_initialize(dwRenderBufferHandle_t* renderbuffer,
202  const dwRenderBufferVertexLayout layout,
203  const dwRenderBufferPrimitiveType primType,
204  const uint32_t primCount,
222 dwStatus dwRenderBuffer_createView(uint32_t* slot,
223  dwRenderBufferHandle_t renderbuffer,
224  const dwRenderBufferVertexLayout newLayout,
225  const dwRenderBufferPrimitiveType newPrimType,
243  uint32_t* maxVertices,
244  uint32_t* vertexStride,
245  dwRenderBufferHandle_t renderbuffer);
246 
263  uint32_t* maxVertices,
264  uint32_t* vertexStride,
265  const uint32_t startVertex,
266  dwRenderBufferHandle_t renderbuffer);
281 dwStatus dwRenderBuffer_unmap(uint32_t nVerts, dwRenderBufferHandle_t renderbuffer);
282 
292 dwStatus dwRenderBuffer_release(dwRenderBufferHandle_t renderbuffer);
293 
306  dwRenderBufferHandle_t renderbuffer);
307 
308 //#######################################################################################
309 // Renderer
310 //#######################################################################################
323 dwStatus dwRenderer_initialize(dwRendererHandle_t* renderer, dwVisualizationContextHandle_t context);
324 
333 dwStatus dwRenderer_reset(dwRendererHandle_t renderer);
334 
344 dwStatus dwRenderer_release(dwRendererHandle_t renderer);
345 
346 //#######################################################################################
347 // Get state
348 //#######################################################################################
358 dwStatus dwRenderer_getRect(dwRect* rect, dwConstRendererHandle_t obj);
359 
369 dwStatus dwRenderer_getColor(dwVector4f* color, dwConstRendererHandle_t obj);
370 
383 dwStatus dwRenderer_getColorMapScale(dwVector3f* colorMapScale, dwConstRendererHandle_t obj);
384 
394 dwStatus dwRenderer_getModelView(dwMatrix4f* matrix, dwConstRendererHandle_t obj);
395 
405 dwStatus dwRenderer_getProjection(dwMatrix4f* matrix, dwConstRendererHandle_t obj);
406 
416 dwStatus dwRenderer_getPointSize(float32_t* value, dwConstRendererHandle_t obj);
417 
427 dwStatus dwRenderer_getLineWidth(float32_t* value, dwConstRendererHandle_t obj);
428 
438 dwStatus dwRenderer_getFont(dwRendererFonts* value, dwConstRendererHandle_t obj);
439 
450 dwStatus dwRenderer_get2DTransform(dwMatrix3f* matrix, dwConstRendererHandle_t obj);
451 
452 //#######################################################################################
453 // Set state
454 //#######################################################################################
455 
466 dwStatus dwRenderer_setRect(const dwRect rect, dwRendererHandle_t obj);
467 
479 dwStatus dwRenderer_setViewportAndScissorRects(const dwRect viewport, const dwRect scissor, dwRendererHandle_t obj);
480 
490 dwStatus dwRenderer_setColor(const dwVector4f color, dwRendererHandle_t obj);
491 
504 dwStatus dwRenderer_setColorMapScale(const dwVector3f colorMapScale, dwRendererHandle_t obj);
505 
513 dwStatus dwRenderer_setModelView(const dwMatrix4f* matrix, dwRendererHandle_t obj);
514 
524 dwStatus dwRenderer_setProjection(const dwMatrix4f* matrix, dwRendererHandle_t obj);
525 
535 dwStatus dwRenderer_setPointSize(const float32_t value, dwRendererHandle_t obj);
536 
546 dwStatus dwRenderer_setLineWidth(const float32_t value, dwRendererHandle_t obj);
547 
557 dwStatus dwRenderer_setFont(const dwRendererFonts value, dwRendererHandle_t obj);
558 
568 dwStatus dwRenderer_set2DTransform(const dwMatrix3f* matrix, dwRendererHandle_t obj);
569 
570 //#######################################################################################
571 // Render calls
572 //#######################################################################################
573 
583 dwStatus dwRenderer_renderBuffer(dwConstRenderBufferHandle_t buffer, dwRendererHandle_t obj);
584 
596 dwStatus dwRenderer_renderData2D(const dwVector2f* buffer, size_t count, dwRenderBufferPrimitiveType primitiveType, dwRendererHandle_t obj);
597 
609 dwStatus dwRenderer_renderData3D(const dwVector3f* buffer, size_t count, dwRenderBufferPrimitiveType primitiveType, dwRendererHandle_t obj);
610 
621 dwStatus dwRenderer_renderCircle(dwVector2f center, float32_t radius, dwRendererHandle_t obj);
622 
634 dwStatus dwRenderer_renderTexture(const GLuint inputTexture, const GLenum textureTarget,
635  dwRendererHandle_t obj);
636 
653 dwStatus dwRenderer_renderSubTexture(const GLuint inputTexture, const GLenum textureTarget,
654  const float32_t minx, const float32_t miny,
655  const float32_t maxx, const float32_t maxy,
656  dwRendererHandle_t obj);
668 dwStatus dwRenderer_renderText(const int32_t x, const int32_t y, const char* text,
669  dwRendererHandle_t obj);
670 
682 dwStatus dwRenderer_renderTextNorm(const float32_t normX, const float32_t normY,
683  const char* text,
684  dwRendererHandle_t obj);
685 
687 #ifdef __cplusplus
688 }
689 #endif
690 
691 #endif // DW_VISUALIZATION_RENDERER_H_
dwRenderBufferFormat
Vertex component channel count and format.
Definition: Renderer.h:111
const struct dwRendererObject * dwConstRendererHandle_t
Const handle for the renderer.
Definition: Renderer.h:181
DW_VIZ_API_PUBLIC dwStatus dwRenderer_reset(dwRendererHandle_t renderer)
Resets renderer state.
float float32_t
Specifies POD types.
Definition: Types.h:70
const dwVector4f DW_RENDERER_COLOR_GREEN
Definition: Renderer.h:64
const dwVector4f DW_RENDERER_COLOR_WHITE
Definition: Renderer.h:65
DW_VIZ_API_PUBLIC dwStatus dwRenderer_renderTextNorm(const float32_t normX, const float32_t normY, const char *text, dwRendererHandle_t obj)
Renders a text line on the screen.
Defines a rectangle.
Definition: Types.h:189
Defines a four-element single-precision floating point vector.
Definition: Types.h:335
Defines a three-element floating-point vector.
Definition: Types.h:319
Defines a two-element single-precision floating-point vector.
Definition: Types.h:291
DW_VIZ_API_PUBLIC dwStatus dwRenderBuffer_initialize(dwRenderBufferHandle_t *renderbuffer, const dwRenderBufferVertexLayout layout, const dwRenderBufferPrimitiveType primType, const uint32_t primCount, dwVisualizationContextHandle_t context)
Initializes a RenderBuffer structure for rendering.
DW_VIZ_API_PUBLIC dwStatus dwRenderer_renderSubTexture(const GLuint inputTexture, const GLenum textureTarget, const float32_t minx, const float32_t miny, const float32_t maxx, const float32_t maxy, dwRendererHandle_t obj)
Renders a subrect of a textured quad on the screen.
const dwVector3f DW_RENDER_COLORMAPSCALE_75M
Color map scales - determine the bandwidth of the color spectrum.
Definition: Renderer.h:90
DW_VIZ_API_PUBLIC dwStatus dwRenderer_setProjection(const dwMatrix4f *matrix, dwRendererHandle_t obj)
Sets current projection matrix.
dwRenderBufferPositionSemantic posSemantic
Definition: Renderer.h:151
uint32_t GLuint
Definition: Image.h:62
const dwVector3f DW_RENDERER_HSV_RED
Definition: Renderer.h:79
uint32_t GLenum
Definition: Image.h:61
const dwVector4f DW_RENDERER_COLOR_DARKGREY
Definition: Renderer.h:69
DW_VIZ_API_PUBLIC dwStatus dwRenderer_getColorMapScale(dwVector3f *colorMapScale, dwConstRendererHandle_t obj)
Gets current rendering color map scale.
const dwVector4f DW_RENDERER_COLOR_YELLOW
Definition: Renderer.h:71
const dwVector3f DW_RENDER_COLORMAPSCALE_130M
Definition: Renderer.h:92
DW_VIZ_API_PUBLIC dwStatus dwRenderer_setLineWidth(const float32_t value, dwRendererHandle_t obj)
Sets current line width, in pixels.
const dwVector4f DW_RENDERER_COLOR_LIGHTGREEN
Definition: Renderer.h:67
dwRenderBufferPositionSemantic
Vertex component semantics.
Definition: Renderer.h:123
DW_VIZ_API_PUBLIC dwStatus dwRenderer_release(dwRendererHandle_t renderer)
Released the renderer.
DW_VIZ_API_PUBLIC dwStatus dwRenderer_setPointSize(const float32_t value, dwRendererHandle_t obj)
Sets current point size.
DW_VIZ_API_PUBLIC dwStatus dwRenderer_getFont(dwRendererFonts *value, dwConstRendererHandle_t obj)
Gets current font.
const dwVector4f DW_RENDERER_COLOR_DARKRED
Definition: Renderer.h:61
DW_VIZ_API_PUBLIC dwStatus dwRenderBuffer_createView(uint32_t *slot, dwRenderBufferHandle_t renderbuffer, const dwRenderBufferVertexLayout newLayout, const dwRenderBufferPrimitiveType newPrimType, dwVisualizationContextHandle_t context)
Creates an additional view for a render buffer, allowing you to change layout and primitive type...
DW_VIZ_API_PUBLIC dwStatus dwRenderer_getRect(dwRect *rect, dwConstRendererHandle_t obj)
Gets current rendering screen area expressed in pixel values.
DW_VIZ_API_PUBLIC dwStatus dwRenderBuffer_release(dwRenderBufferHandle_t renderbuffer)
Releases the RenderBuffer data structure.
DW_VIZ_API_PUBLIC dwStatus dwRenderer_getLineWidth(float32_t *value, dwConstRendererHandle_t obj)
Gets current line width, in pixels.
const dwVector3f DW_RENDER_COLORMAPSCALE_100M
Definition: Renderer.h:91
DW_VIZ_API_PUBLIC dwStatus dwRenderer_getModelView(dwMatrix4f *matrix, dwConstRendererHandle_t obj)
Gets current ModelView matrix.
struct dwVisualizationContextObject * dwVisualizationContextHandle_t
Context handle.
Definition: Visualization.h:69
dwRenderBufferColorSemantic
Vertex component semantics.
Definition: Renderer.h:130
dwRenderBufferFormat posFormat
Definition: Renderer.h:150
static const uint32_t DW_RENDERER_DEFAULT_BUFFER_SIZE
The maximum number of vertices that can be passed to a call dwRenderer_renderData3D() or dwRenderer_r...
Definition: Renderer.h:169
DW_VIZ_API_PUBLIC dwStatus dwRenderBuffer_set2DCoordNormalizationFactors(const float32_t width, const float32_t height, dwRenderBufferHandle_t renderbuffer)
Sets 2D normalization values when 2D coordinates are specified in pixel values and not in 0...
struct dwRenderBufferObject * dwRenderBufferHandle_t
Handle representing vertex data for rendering.
Definition: Renderer.h:172
dwRenderBufferFormat colFormat
Definition: Renderer.h:152
dwStatus
Status definition.
Definition: Status.h:178
DW_VIZ_API_PUBLIC dwStatus dwRenderer_setColorMapScale(const dwVector3f colorMapScale, dwRendererHandle_t obj)
Sets current rendering color mapping scale.
NVIDIA DriveWorks API: Visualization Methods
const dwVector4f DW_RENDERER_COLOR_BLACK
Definition: Renderer.h:75
dwRenderBufferFormat texFormat
Definition: Renderer.h:154
const dwVector4f DW_RENDERER_COLOR_MAGENTA
Definition: Renderer.h:77
const dwVector4f DW_RENDERER_COLOR_NVIDIA_GREEN
Definition: Renderer.h:83
const dwVector3f DW_RENDERER_HSV_BLUE
Definition: Renderer.h:80
DW_VIZ_API_PUBLIC dwStatus dwRenderer_initialize(dwRendererHandle_t *renderer, dwVisualizationContextHandle_t context)
Initializes a Renderer.
const struct dwRenderBufferObject * dwConstRenderBufferHandle_t
Const handle representing vertex data for rendering.
Definition: Renderer.h:175
Defines a 3x3 matrix of floating point numbers.
Definition: Types.h:237
DW_VIZ_API_PUBLIC dwStatus dwRenderer_setModelView(const dwMatrix4f *matrix, dwRendererHandle_t obj)
Sets current ModelView matrix.
Defines a 4x4 matrix of floating point numbers (column major).
Definition: Types.h:271
DW_VIZ_API_PUBLIC dwStatus dwRenderer_renderData2D(const dwVector2f *buffer, size_t count, dwRenderBufferPrimitiveType primitiveType, dwRendererHandle_t obj)
Renders a set of 2D vertices.
struct dwRendererObject * dwRendererHandle_t
Handle for the renderer.
Definition: Renderer.h:178
#define DW_VIZ_API_PUBLIC
Definition: Exports.h:51
static const uint32_t DW_RENDERBUFFER_MAX_VIEWS
The maximal number of views that can be created in with.
Definition: Renderer.h:86
DW_VIZ_API_PUBLIC dwStatus dwRenderer_getPointSize(float32_t *value, dwConstRendererHandle_t obj)
Gets current point size.
const dwVector4f DW_RENDERER_COLOR_LIGHTGREY
Definition: Renderer.h:68
const dwVector4f DW_RENDERER_COLOR_RED
Definition: Renderer.h:60
DW_VIZ_API_PUBLIC dwStatus dwRenderer_getColor(dwVector4f *color, dwConstRendererHandle_t obj)
Gets current rendering color.
dwRenderBufferPrimitiveType
Render primitives supported by the renderer.
Definition: Renderer.h:159
const dwVector4f DW_RENDERER_COLOR_DARKBLUE
Definition: Renderer.h:70
DW_VIZ_API_PUBLIC dwStatus dwRenderer_renderData3D(const dwVector3f *buffer, size_t count, dwRenderBufferPrimitiveType primitiveType, dwRendererHandle_t obj)
Renders a set of 3D vertices.
const dwVector4f DW_RENDERER_COLOR_BLUE
Definition: Renderer.h:63
const dwVector3f DW_RENDER_COLORMAPSCALE_150M
Definition: Renderer.h:93
DW_VIZ_API_PUBLIC dwStatus dwRenderBuffer_unmap(uint32_t nVerts, dwRenderBufferHandle_t renderbuffer)
After a map/mapRange, returns the updated buffer to the RenderBuffer structure and updates the GPU po...
DW_VIZ_API_PUBLIC dwStatus dwRenderer_set2DTransform(const dwMatrix3f *matrix, dwRendererHandle_t obj)
Sets current 2D transformation applied when rendering to the screen.
const dwVector4f DW_RENDERER_COLOR_DARKGREEN
Definition: Renderer.h:66
Vertex layout describing format and semantics for position, color, and texture.
Definition: Renderer.h:148
DW_VIZ_API_PUBLIC dwStatus dwRenderer_getProjection(dwMatrix4f *matrix, dwConstRendererHandle_t obj)
Gets current projection matrix.
dwRendererFonts
Font types and sizes supported by the renderer.
Definition: Renderer.h:97
const dwVector4f DW_RENDERER_COLOR_PURPLE
Definition: Renderer.h:62
const dwVector3f DW_RENDERER_HSV_PURPLE
Definition: Renderer.h:81
const dwVector4f DW_RENDERER_COLOR_ORANGE
Definition: Renderer.h:72
DW_VIZ_API_PUBLIC dwStatus dwRenderer_get2DTransform(dwMatrix3f *matrix, dwConstRendererHandle_t obj)
Gets current 2D transformation applied when rendering to the screen.
DW_VIZ_API_PUBLIC dwStatus dwRenderer_renderBuffer(dwConstRenderBufferHandle_t buffer, dwRendererHandle_t obj)
Renders a RenderBuffer.
DW_VIZ_API_PUBLIC dwStatus dwRenderer_renderText(const int32_t x, const int32_t y, const char *text, dwRendererHandle_t obj)
Renders a text line on the screen.
dwRenderBufferColorSemantic colSemantic
Definition: Renderer.h:153
const dwVector4f DW_RENDERER_COLOR_LIGHTPURPLE
Definition: Renderer.h:76
DW_VIZ_API_PUBLIC dwStatus dwRenderBuffer_mapRange(float32_t **map, uint32_t *maxVertices, uint32_t *vertexStride, const uint32_t startVertex, dwRenderBufferHandle_t renderbuffer)
Maps a contiguous range of the CPU copy of a RenderBuffer to the application for updating.
DW_VIZ_API_PUBLIC dwStatus dwRenderer_renderCircle(dwVector2f center, float32_t radius, dwRendererHandle_t obj)
Renders a 2D circle.
DW_VIZ_API_PUBLIC dwStatus dwRenderer_setColor(const dwVector4f color, dwRendererHandle_t obj)
Sets current rendering color.
dwRenderBufferTexSemantic
Vertex component semantics.
Definition: Renderer.h:141
DW_VIZ_API_PUBLIC dwStatus dwRenderer_setRect(const dwRect rect, dwRendererHandle_t obj)
Sets current rendering screen area expressed in pixel values.
DW_VIZ_API_PUBLIC dwStatus dwRenderBuffer_map(float32_t **map, uint32_t *maxVertices, uint32_t *vertexStride, dwRenderBufferHandle_t renderbuffer)
Maps the CPU copy of a RenderBuffer to the application for updating.
const dwVector4f DW_RENDERER_COLOR_LIGHTBLUE
Definition: Renderer.h:73
DW_VIZ_API_PUBLIC dwStatus dwRenderer_setFont(const dwRendererFonts value, dwRendererHandle_t obj)
Sets current font.
DW_VIZ_API_PUBLIC dwStatus dwRenderer_renderTexture(const GLuint inputTexture, const GLenum textureTarget, dwRendererHandle_t obj)
Renders a textured quad on the screen.
DW_VIZ_API_PUBLIC dwStatus dwRenderer_setViewportAndScissorRects(const dwRect viewport, const dwRect scissor, dwRendererHandle_t obj)
Sets viewport and scissor rectangles in pixel values.
dwRenderBufferTexSemantic texSemantic
Definition: Renderer.h:155
const dwVector4f DW_RENDERER_COLOR_CYAN
Definition: Renderer.h:74