DriveWorks SDK Reference
4.0.0 Release
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Renderer.h
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30 
46 #ifndef DWVISUALIZATION_RENDERER_H_
47 #define DWVISUALIZATION_RENDERER_H_
48 
50 
51 #include <dwvisualization/gl/GL.h>
52 
53 #ifdef __cplusplus
54 extern "C" {
55 #endif
56 
57 //#######################################################################################
58 const dwVector4f DW_RENDERER_COLOR_RED = {230.0f / 255.0f, 72.0f / 255.0f, 32.0f / 255.0f, 1.0f};
59 const dwVector4f DW_RENDERER_COLOR_DARKRED = {180.0f / 255.0f, 5.0f / 255.0f, 0.0f / 255.0f, 1.0f};
60 const dwVector4f DW_RENDERER_COLOR_PURPLE = {255.0f / 255.0f, 0.0f / 255.0f, 240.0f / 255.0f, 1.0f};
61 const dwVector4f DW_RENDERER_COLOR_BLUE = {32.0f / 255.0f, 72.0f / 255.0f, 230.0f / 255.0f, 1.0f};
62 const dwVector4f DW_RENDERER_COLOR_GREEN = {32.0f / 255.0f, 230.0f / 255.0f, 32.0f / 255.0f, 1.0f};
63 const dwVector4f DW_RENDERER_COLOR_WHITE = {255.0f / 255.0f, 255.0f / 255.0f, 255.0f / 255.0f, 1.0f};
64 const dwVector4f DW_RENDERER_COLOR_DARKGREEN = {45.0f / 255.0f, 100.0f / 255.0f, 44.0f / 255.0f, 1.0f};
65 const dwVector4f DW_RENDERER_COLOR_LIGHTGREEN = {118.0f / 255.0f, 185.0f / 255.0f, 0.0f / 255.0f, 1.0f};
66 const dwVector4f DW_RENDERER_COLOR_LIGHTGREY = {185.0f / 255.0f, 185.0f / 255.0f, 185.0f / 255.0f, 1.0f};
67 const dwVector4f DW_RENDERER_COLOR_DARKGREY = {72.0f / 255.0f, 72.0f / 255.0f, 72.0f / 255.0f, 1.0f};
68 const dwVector4f DW_RENDERER_COLOR_DARKBLUE = {45.0f / 255.0f, 44.0f / 255.0f, 100.0f / 255.0f, 0.6f};
69 const dwVector4f DW_RENDERER_COLOR_YELLOW = {230.0f / 255.0f, 230.0f / 255.0f, 10.0f / 255.0f, 1.0f};
70 const dwVector4f DW_RENDERER_COLOR_ORANGE = {230.0f / 255.0f, 100.0f / 255.0f, 10.0f / 255.0f, 1.0f};
71 const dwVector4f DW_RENDERER_COLOR_LIGHTBLUE = {51.0f / 255.0f, 153.0f / 255.0f, 255.0f / 255.0f, 0.6f};
72 const dwVector4f DW_RENDERER_COLOR_CYAN = {40.0f / 255.0f, 130.0f / 255.0f, 255.0f / 255.0f, 1.0f};
73 const dwVector4f DW_RENDERER_COLOR_BLACK = {0.0f / 255.0f, 0.0f / 255.0f, 0.0f / 255.0f, 1.0f};
74 const dwVector4f DW_RENDERER_COLOR_LIGHTPURPLE = {181.0f / 255.0f, 138.0f / 255.0f, 242.0f / 255.0f, 1.0f};
75 const dwVector4f DW_RENDERER_COLOR_MAGENTA = {230.f / 255.f, 25.f / 255.f, 230.f / 255.f, 1.f};
76 
77 const dwVector3f DW_RENDERER_HSV_RED = {0.0f, 1.0f, 0.75f};
78 const dwVector3f DW_RENDERER_HSV_BLUE = {240.0f, 1.0f, 0.75f};
79 const dwVector3f DW_RENDERER_HSV_PURPLE = {270.0f, 1.0f, 0.75f};
80 
81 const dwVector4f DW_RENDERER_COLOR_NVIDIA_GREEN = {0.4609375f, 0.72265625f, 0.0f, 1.0f};
82 
84 static const uint32_t DW_RENDERBUFFER_MAX_VIEWS = 10;
85 
86 //#######################################################################################
88 const dwVector3f DW_RENDER_COLORMAPSCALE_75M = {75.0f, 75.0f, 75.0f};
89 const dwVector3f DW_RENDER_COLORMAPSCALE_100M = {100.0f, 100.0f, 100.0f};
90 const dwVector3f DW_RENDER_COLORMAPSCALE_130M = {130.0f, 130.0f, 130.0f};
91 const dwVector3f DW_RENDER_COLORMAPSCALE_150M = {150.0f, 150.0f, 150.0f};
92 
93 //#######################################################################################
95 typedef enum dwRendererFonts {
106 
107 //#######################################################################################
109 typedef enum dwRenderBufferFormat {
116 
126 
137 
144 
147 {
155 
165 
167 static const uint32_t DW_RENDERER_DEFAULT_BUFFER_SIZE = 10000;
168 
170 typedef struct dwRenderBufferObject* dwRenderBufferHandle_t;
171 
173 typedef const struct dwRenderBufferObject* dwConstRenderBufferHandle_t;
174 
176 typedef struct dwRendererObject* dwRendererHandle_t;
177 
179 typedef const struct dwRendererObject* dwConstRendererHandle_t;
180 
181 //#######################################################################################
182 // RenderBuffer
183 //#######################################################################################
184 
199 dwStatus dwRenderBuffer_initialize(dwRenderBufferHandle_t* renderbuffer,
200  const dwRenderBufferVertexLayout layout,
201  const dwRenderBufferPrimitiveType primType,
202  const uint32_t primCount,
220 dwStatus dwRenderBuffer_createView(uint32_t* slot,
221  dwRenderBufferHandle_t renderbuffer,
222  const dwRenderBufferVertexLayout newLayout,
223  const dwRenderBufferPrimitiveType newPrimType,
241  uint32_t* maxVertices,
242  uint32_t* vertexStride,
243  dwRenderBufferHandle_t renderbuffer);
244 
261  uint32_t* maxVertices,
262  uint32_t* vertexStride,
263  const uint32_t startVertex,
264  dwRenderBufferHandle_t renderbuffer);
279 dwStatus dwRenderBuffer_unmap(uint32_t nVerts, dwRenderBufferHandle_t renderbuffer);
280 
290 dwStatus dwRenderBuffer_release(dwRenderBufferHandle_t renderbuffer);
291 
304  dwRenderBufferHandle_t renderbuffer);
305 
306 //#######################################################################################
307 // Renderer
308 //#######################################################################################
321 dwStatus dwRenderer_initialize(dwRendererHandle_t* renderer, dwVisualizationContextHandle_t context);
322 
331 dwStatus dwRenderer_reset(dwRendererHandle_t renderer);
332 
342 dwStatus dwRenderer_release(dwRendererHandle_t renderer);
343 
344 //#######################################################################################
345 // Get state
346 //#######################################################################################
356 dwStatus dwRenderer_getRect(dwRect* rect, dwConstRendererHandle_t obj);
357 
367 dwStatus dwRenderer_getColor(dwVector4f* color, dwConstRendererHandle_t obj);
368 
381 dwStatus dwRenderer_getColorMapScale(dwVector3f* colorMapScale, dwConstRendererHandle_t obj);
382 
392 dwStatus dwRenderer_getModelView(dwMatrix4f* matrix, dwConstRendererHandle_t obj);
393 
403 dwStatus dwRenderer_getProjection(dwMatrix4f* matrix, dwConstRendererHandle_t obj);
404 
414 dwStatus dwRenderer_getPointSize(float32_t* value, dwConstRendererHandle_t obj);
415 
425 dwStatus dwRenderer_getLineWidth(float32_t* value, dwConstRendererHandle_t obj);
426 
436 dwStatus dwRenderer_getFont(dwRendererFonts* value, dwConstRendererHandle_t obj);
437 
448 dwStatus dwRenderer_get2DTransform(dwMatrix3f* matrix, dwConstRendererHandle_t obj);
449 
450 //#######################################################################################
451 // Set state
452 //#######################################################################################
453 
464 dwStatus dwRenderer_setRect(const dwRect rect, dwRendererHandle_t obj);
465 
477 dwStatus dwRenderer_setViewportAndScissorRects(const dwRect viewport, const dwRect scissor, dwRendererHandle_t obj);
478 
488 dwStatus dwRenderer_setColor(const dwVector4f color, dwRendererHandle_t obj);
489 
502 dwStatus dwRenderer_setColorMapScale(const dwVector3f colorMapScale, dwRendererHandle_t obj);
503 
511 dwStatus dwRenderer_setModelView(const dwMatrix4f* matrix, dwRendererHandle_t obj);
512 
522 dwStatus dwRenderer_setProjection(const dwMatrix4f* matrix, dwRendererHandle_t obj);
523 
533 dwStatus dwRenderer_setPointSize(const float32_t value, dwRendererHandle_t obj);
534 
544 dwStatus dwRenderer_setLineWidth(const float32_t value, dwRendererHandle_t obj);
545 
555 dwStatus dwRenderer_setFont(const dwRendererFonts value, dwRendererHandle_t obj);
556 
566 dwStatus dwRenderer_set2DTransform(const dwMatrix3f* matrix, dwRendererHandle_t obj);
567 
568 //#######################################################################################
569 // Render calls
570 //#######################################################################################
571 
581 dwStatus dwRenderer_renderBuffer(dwConstRenderBufferHandle_t buffer, dwRendererHandle_t obj);
582 
594 dwStatus dwRenderer_renderData2D(const dwVector2f* buffer, size_t count, dwRenderBufferPrimitiveType primitiveType, dwRendererHandle_t obj);
595 
607 dwStatus dwRenderer_renderData3D(const dwVector3f* buffer, size_t count, dwRenderBufferPrimitiveType primitiveType, dwRendererHandle_t obj);
608 
619 dwStatus dwRenderer_renderCircle(dwVector2f center, float32_t radius, dwRendererHandle_t obj);
620 
632 dwStatus dwRenderer_renderTexture(const GLuint inputTexture, const GLenum textureTarget,
633  dwRendererHandle_t obj);
634 
651 dwStatus dwRenderer_renderSubTexture(const GLuint inputTexture, const GLenum textureTarget,
652  const float32_t minx, const float32_t miny,
653  const float32_t maxx, const float32_t maxy,
654  dwRendererHandle_t obj);
666 dwStatus dwRenderer_renderText(const int32_t x, const int32_t y, const char* text,
667  dwRendererHandle_t obj);
668 
680 dwStatus dwRenderer_renderTextNorm(const float32_t normX, const float32_t normY,
681  const char* text,
682  dwRendererHandle_t obj);
683 
684 #ifdef __cplusplus
685 }
686 #endif
687 
688 #endif // DW_VISUALIZATION_RENDERER_H_
dwRenderBufferFormat
Vertex component channel count and format.
Definition: Renderer.h:109
const struct dwRendererObject * dwConstRendererHandle_t
Const handle for the renderer.
Definition: Renderer.h:179
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:62
const dwVector4f DW_RENDERER_COLOR_WHITE
Definition: Renderer.h:63
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:88
DW_VIZ_API_PUBLIC dwStatus dwRenderer_setProjection(const dwMatrix4f *matrix, dwRendererHandle_t obj)
Sets current projection matrix.
dwRenderBufferPositionSemantic posSemantic
Definition: Renderer.h:149
uint32_t GLuint
Definition: Image.h:63
const dwVector3f DW_RENDERER_HSV_RED
Definition: Renderer.h:77
uint32_t GLenum
Definition: Image.h:62
const dwVector4f DW_RENDERER_COLOR_DARKGREY
Definition: Renderer.h:67
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:69
const dwVector3f DW_RENDER_COLORMAPSCALE_130M
Definition: Renderer.h:90
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:65
dwRenderBufferPositionSemantic
Vertex component semantics.
Definition: Renderer.h:121
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:59
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:89
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:67
dwRenderBufferColorSemantic
Vertex component semantics.
Definition: Renderer.h:128
dwRenderBufferFormat posFormat
Definition: Renderer.h:148
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:167
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:170
dwRenderBufferFormat colFormat
Definition: Renderer.h:150
dwStatus
Status definition.
Definition: Status.h:180
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:73
dwRenderBufferFormat texFormat
Definition: Renderer.h:152
const dwVector4f DW_RENDERER_COLOR_MAGENTA
Definition: Renderer.h:75
const dwVector4f DW_RENDERER_COLOR_NVIDIA_GREEN
Definition: Renderer.h:81
const dwVector3f DW_RENDERER_HSV_BLUE
Definition: Renderer.h:78
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:173
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:176
#define DW_VIZ_API_PUBLIC
Definition: Exports.h:49
static const uint32_t DW_RENDERBUFFER_MAX_VIEWS
The maximal number of views that can be created in with.
Definition: Renderer.h:84
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:66
NVIDIA DriveWorks API: GL Methods
const dwVector4f DW_RENDERER_COLOR_RED
Definition: Renderer.h:58
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:157
const dwVector4f DW_RENDERER_COLOR_DARKBLUE
Definition: Renderer.h:68
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:61
const dwVector3f DW_RENDER_COLORMAPSCALE_150M
Definition: Renderer.h:91
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:64
Vertex layout describing format and semantics for position, color, and texture.
Definition: Renderer.h:146
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:95
const dwVector4f DW_RENDERER_COLOR_PURPLE
Definition: Renderer.h:60
const dwVector3f DW_RENDERER_HSV_PURPLE
Definition: Renderer.h:79
const dwVector4f DW_RENDERER_COLOR_ORANGE
Definition: Renderer.h:70
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:151
const dwVector4f DW_RENDERER_COLOR_LIGHTPURPLE
Definition: Renderer.h:74
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:139
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:71
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:153
const dwVector4f DW_RENDERER_COLOR_CYAN
Definition: Renderer.h:72