text: #ifndef TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
  #define TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
  
  
  #include "../Importers/ImportURDFDemo/LinkVisualShapesConverter.h"
  
  struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
  {
  	
  	struct TinyRendererVisualShapeConverterInternalData* m_data;
  	
  	TinyRendererVisualShapeConverter();
  	
  	virtual ~TinyRendererVisualShapeConverter();
  	
  	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionObject* colShape, int objectIndex);
  	
  	void setUpAxis(int axis);
  	
      void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
  	
      void clearBuffers(struct TGAColor& clearColor);
  
  	void resetAll();
  
      void getWidthAndHeight(int& width, int& height);
  	void setWidthAndHeight(int width, int height);
      
      void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
      
  	void render();
  	void render(const float viewMat[16], const float projMat[16]);
  	
  };
  
  
  
  
  #endif //TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
  