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<div class="title">CMyGLCanvasBase.h</div> </div>
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<a href="_c_my_g_l_canvas_base_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CMyGLCanvas_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CMyGLCanvas_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="opengl_8h.html">mrpt/opengl.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="opengl__fonts_8h.html">mrpt/opengl/opengl_fonts.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="gui_2include_2mrpt_2gui_2link__pragmas_8h.html">mrpt/gui/link_pragmas.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#if MRPT_HAS_WXWIDGETS</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <wx/string.h></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <wx/intl.h></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <wx/bitmap.h></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <wx/icon.h></span>
<a name="l00043"></a>00043 <span class="preprocessor">#include <wx/image.h></span>
<a name="l00044"></a>00044 <span class="preprocessor">#include <wx/artprov.h></span>
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="preprocessor">#include <wx/msgdlg.h></span>
<a name="l00047"></a>00047 <span class="preprocessor">#include <wx/filedlg.h></span>
<a name="l00048"></a>00048 <span class="preprocessor">#include <wx/progdlg.h></span>
<a name="l00049"></a>00049 <span class="preprocessor">#include <wx/imaglist.h></span>
<a name="l00050"></a>00050 <span class="preprocessor">#include <wx/busyinfo.h></span>
<a name="l00051"></a>00051 <span class="preprocessor">#include <wx/log.h></span>
<a name="l00052"></a>00052 <span class="preprocessor">#include <wx/textdlg.h></span>
<a name="l00053"></a>00053 <span class="preprocessor">#include <wx/dirdlg.h></span>
<a name="l00054"></a>00054 <span class="preprocessor">#include <wx/colordlg.h></span>
<a name="l00055"></a>00055 <span class="preprocessor">#include <wx/dcmemory.h></span>
<a name="l00056"></a>00056
<a name="l00057"></a>00057 <span class="preprocessor">#if wxUSE_GLCANVAS && MRPT_HAS_OPENGL_GLUT</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span>
<a name="l00059"></a>00059 <span class="preprocessor">#include <wx/glcanvas.h></span>
<a name="l00060"></a>00060 <span class="preprocessor">#include <wx/dcclient.h></span>
<a name="l00061"></a>00061
<a name="l00062"></a>00062 <span class="keyword">namespace </span>mrpt
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 <span class="keyword">namespace </span>gui
<a name="l00065"></a>00065 {<span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** This class implements a OpenGL canvas, and it's used in gui::CDisplayWindow3D and a number of standalone applications in the MRPT project.</span>
<a name="l00067"></a>00067 <span class="comment"> * There is a filter to control the user capability of moving the camera with the mouse. See OnUserManuallyMovesCamera</span>
<a name="l00068"></a>00068 <span class="comment"> * \ingroup mrpt_gui_grp</span>
<a name="l00069"></a>00069 <span class="comment"> */</span>
<a name="l00070"></a>00070 <span class="keyword">class </span><a class="code" href="gui_2include_2mrpt_2gui_2link__pragmas_8h.html#a69a861d20c11137851da0fe69a66d7b6">GUI_IMPEXP</a> CMyGLCanvasBase: <span class="keyword">public</span> wxGLCanvas
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 <span class="keyword">public</span>:
<a name="l00073"></a>00073 CMyGLCanvasBase( wxWindow *parent, wxWindowID <span class="keywordtype">id</span> = wxID_ANY,
<a name="l00074"></a>00074 <span class="keyword">const</span> wxPoint& pos = wxDefaultPosition,
<a name="l00075"></a>00075 <span class="keyword">const</span> wxSize& <a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">size</a> = wxDefaultSize,
<a name="l00076"></a>00076 <span class="keywordtype">long</span> style = 0, <span class="keyword">const</span> wxString& name = _T(<span class="stringliteral">"CMyGLCanvasBase"</span>) );
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="keyword">virtual</span> ~CMyGLCanvasBase();
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="keywordtype">void</span> OnPaint(wxPaintEvent& event);
<a name="l00081"></a>00081 <span class="keywordtype">void</span> OnSize(wxSizeEvent& event);
<a name="l00082"></a>00082 <span class="keywordtype">void</span> OnEraseBackground(wxEraseEvent& event);
<a name="l00083"></a>00083 <span class="keywordtype">void</span> OnEnterWindow(wxMouseEvent& event);
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keywordtype">void</span> OnChar(wxKeyEvent& event);
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="keywordtype">void</span> OnLeftDown(wxMouseEvent& event);
<a name="l00088"></a>00088 <span class="keywordtype">void</span> OnMouseMove(wxMouseEvent& event);
<a name="l00089"></a>00089 <span class="keywordtype">void</span> OnRightDown(wxMouseEvent& event);
<a name="l00090"></a>00090 <span class="keywordtype">void</span> OnRightUp(wxMouseEvent& event);
<a name="l00091"></a>00091 <span class="keywordtype">void</span> OnLeftUp(wxMouseEvent& event);
<a name="l00092"></a>00092 <span class="keywordtype">void</span> OnMouseWheel(wxMouseEvent& event);
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="keywordtype">void</span> Render();
<a name="l00095"></a>00095 <span class="keywordtype">void</span> InitGL();
<a name="l00096"></a>00096
<a name="l00097"></a>00097 <span class="comment">// Visualization params:</span>
<a name="l00098"></a>00098 <span class="keywordtype">float</span> cameraPointingX,cameraPointingY,cameraPointingZ;
<a name="l00099"></a>00099 <span class="keywordtype">float</span> cameraZoomDistance;
<a name="l00100"></a>00100 <span class="keywordtype">float</span> cameraElevationDeg,cameraAzimuthDeg;
<a name="l00101"></a>00101 <span class="keywordtype">bool</span> cameraIsProjective;
<a name="l00102"></a>00102 <span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment"> /** If set to true (default=false), the cameraPointingX,... parameters are ignored and the camera stored in the 3D scene is used instead.</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a>00105 <span class="keywordtype">bool</span> useCameraFromScene;
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** Set the camera from a CPose3D, which defines the +X,+Y axis as image place RIGHT and UP dirctions, and -Z as towards the pointing direction.</span>
<a name="l00108"></a>00108 <span class="comment"> */</span>
<a name="l00109"></a>00109 <span class="keywordtype">void</span> setCameraPose(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> &camPose);
<a name="l00110"></a>00110
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="keywordtype">float</span> clearColorR,clearColorG,clearColorB;
<a name="l00113"></a>00113
<a name="l00114"></a>00114 <span class="keyword">static</span> <span class="keywordtype">float</span> SENSIBILITY_DEG_PER_PIXEL; <span class="comment">// Default = 0.1</span>
<a name="l00115"></a>00115 <span class="comment"></span>
<a name="l00116"></a>00116 <span class="comment"> /** Methods that can be implemented in custom derived classes */</span>
<a name="l00117"></a>00117 <span class="keyword">virtual</span> <span class="keywordtype">void</span> OnCharCustom( wxKeyEvent& event ) { }
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="keyword">virtual</span> <span class="keywordtype">void</span> OnPreRender() { }
<a name="l00120"></a>00120 <span class="keyword">virtual</span> <span class="keywordtype">void</span> OnPostRender() { }
<a name="l00121"></a>00121 <span class="keyword">virtual</span> <span class="keywordtype">void</span> OnPostRenderSwapBuffers(<span class="keywordtype">double</span> At, wxPaintDC &dc) { }
<a name="l00122"></a>00122 <span class="keyword">virtual</span> <span class="keywordtype">void</span> OnRenderError( <span class="keyword">const</span> wxString &str ) { }
<a name="l00123"></a>00123 <span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment"> /** Overload this method to limit the capabilities of the user to move the camera using the mouse.</span>
<a name="l00125"></a>00125 <span class="comment"> * For all these variables:</span>
<a name="l00126"></a>00126 <span class="comment"> * - cameraPointingX</span>
<a name="l00127"></a>00127 <span class="comment"> * - cameraPointingY</span>
<a name="l00128"></a>00128 <span class="comment"> * - cameraPointingZ</span>
<a name="l00129"></a>00129 <span class="comment"> * - cameraZoomDistance</span>
<a name="l00130"></a>00130 <span class="comment"> * - cameraElevationDeg</span>
<a name="l00131"></a>00131 <span class="comment"> * - cameraAzimuthDeg</span>
<a name="l00132"></a>00132 <span class="comment"> *</span>
<a name="l00133"></a>00133 <span class="comment"> * A "new_NAME" variable will be passed with the temptative new value after the user action.</span>
<a name="l00134"></a>00134 <span class="comment"> * The default behavior should be to copy all the new variables to the variables listed above</span>
<a name="l00135"></a>00135 <span class="comment"> * but in the middle any find of user-defined filter can be implemented.</span>
<a name="l00136"></a>00136 <span class="comment"> */</span>
<a name="l00137"></a>00137 <span class="keyword">virtual</span> <span class="keywordtype">void</span> OnUserManuallyMovesCamera(
<a name="l00138"></a>00138 <span class="keywordtype">float</span> new_cameraPointingX,
<a name="l00139"></a>00139 <span class="keywordtype">float</span> new_cameraPointingY,
<a name="l00140"></a>00140 <span class="keywordtype">float</span> new_cameraPointingZ,
<a name="l00141"></a>00141 <span class="keywordtype">float</span> new_cameraZoomDistance,
<a name="l00142"></a>00142 <span class="keywordtype">float</span> new_cameraElevationDeg,
<a name="l00143"></a>00143 <span class="keywordtype">float</span> new_cameraAzimuthDeg )
<a name="l00144"></a>00144 {
<a name="l00145"></a>00145 cameraPointingX = new_cameraPointingX;
<a name="l00146"></a>00146 cameraPointingY = new_cameraPointingY;
<a name="l00147"></a>00147 cameraPointingZ = new_cameraPointingZ;
<a name="l00148"></a>00148 cameraZoomDistance = new_cameraZoomDistance;
<a name="l00149"></a>00149 cameraElevationDeg = new_cameraElevationDeg ;
<a name="l00150"></a>00150 cameraAzimuthDeg = new_cameraAzimuthDeg;
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="keyword">inline</span> <span class="keywordtype">void</span> getLastMousePosition(<span class="keywordtype">int</span> &x,<span class="keywordtype">int</span>& <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>)<span class="keyword"> const </span>{
<a name="l00154"></a>00154 x =m_mouseLastX;
<a name="l00155"></a>00155 y =m_mouseLastY;
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157 <span class="comment"></span>
<a name="l00158"></a>00158 <span class="comment"> /** At constructor an empty scene is created. The object is freed at GL canvas destructor.</span>
<a name="l00159"></a>00159 <span class="comment"> */</span>
<a name="l00160"></a>00160 opengl::COpenGLScenePtr m_openGLScene;
<a name="l00161"></a>00161
<a name="l00162"></a>00162 <span class="keyword">protected</span>:
<a name="l00163"></a>00163 wxGLContext *m_gl_context;
<a name="l00164"></a>00164 <span class="keywordtype">bool</span> m_init;
<a name="l00165"></a>00165
<a name="l00166"></a>00166 <span class="keywordtype">int</span> m_mouseLastX,m_mouseLastY;
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <span class="keywordtype">int</span> mouseClickX,mouseClickY;
<a name="l00169"></a>00169 <span class="keywordtype">bool</span> mouseClicked;
<a name="l00170"></a>00170
<a name="l00171"></a>00171 <span class="keywordtype">long</span> m_Key;
<a name="l00172"></a>00172 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> m_StartTime;
<a name="l00173"></a>00173 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> m_LastTime;
<a name="l00174"></a>00174 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> m_LastRedraw;
<a name="l00175"></a>00175 <span class="comment"></span>
<a name="l00176"></a>00176 <span class="comment"> /** DEPRECATED: Use CRenderizable static method instead */</span>
<a name="l00177"></a>00177 <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="namespacemrpt_1_1opengl_1_1gl__utils.html#a765b951c5dfac68de0300b0884327444" title="This method is safe for calling from within ::render() methods.">renderTextBitmap</a>(
<a name="l00178"></a>00178 <span class="keywordtype">int</span> screen_x,
<a name="l00179"></a>00179 <span class="keywordtype">int</span> screen_y,
<a name="l00180"></a>00180 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &str,
<a name="l00181"></a>00181 <span class="keywordtype">float</span> color_r=1,
<a name="l00182"></a>00182 <span class="keywordtype">float</span> color_g=1,
<a name="l00183"></a>00183 <span class="keywordtype">float</span> color_b=1,
<a name="l00184"></a>00184 <a class="code" href="group__mrpt__opengl__grp.html#ga4e54252970d0b0a6dd251335064a2346" title="Existing fonts for 2D texts in mrpt::opengl methods.">mrpt::opengl::TOpenGLFont</a> font = <a class="code" href="group__mrpt__opengl__grp.html#gga4e54252970d0b0a6dd251335064a2346a31ebbbe2889bcca4760b90bba40385b8">mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24</a>
<a name="l00185"></a>00185 )
<a name="l00186"></a>00186 {
<a name="l00187"></a>00187 <a class="code" href="namespacemrpt_1_1opengl_1_1gl__utils.html#a765b951c5dfac68de0300b0884327444" title="This method is safe for calling from within ::render() methods.">mrpt::opengl::CRenderizable::renderTextBitmap</a>(screen_x,screen_y,str,color_r,color_g,color_b, font);
<a name="l00188"></a>00188 }
<a name="l00189"></a>00189 <span class="comment"></span>
<a name="l00190"></a>00190 <span class="comment"> /** DEPRECATED: Use CRenderizable static method instead */</span>
<a name="l00191"></a>00191 <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code" href="namespacemrpt_1_1opengl_1_1gl__utils.html#a9eaa1ac5fcd5347d6a34f257a20bb5db" title="Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().">textBitmapWidth</a>(
<a name="l00192"></a>00192 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &str,
<a name="l00193"></a>00193 <a class="code" href="group__mrpt__opengl__grp.html#ga4e54252970d0b0a6dd251335064a2346" title="Existing fonts for 2D texts in mrpt::opengl methods.">mrpt::opengl::TOpenGLFont</a> font = <a class="code" href="group__mrpt__opengl__grp.html#gga4e54252970d0b0a6dd251335064a2346a31ebbbe2889bcca4760b90bba40385b8">mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24</a> )
<a name="l00194"></a>00194 {
<a name="l00195"></a>00195 <span class="keywordflow">return</span> <a class="code" href="namespacemrpt_1_1opengl_1_1gl__utils.html#a9eaa1ac5fcd5347d6a34f257a20bb5db" title="Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().">mrpt::opengl::CRenderizable::textBitmapWidth</a>(str,font);
<a name="l00196"></a>00196 }
<a name="l00197"></a>00197
<a name="l00198"></a>00198 <span class="comment">// Used to create the gl context at startup.</span>
<a name="l00199"></a>00199 <span class="keywordtype">void</span> OnWindowCreation(wxWindowCreateEvent &ev);
<a name="l00200"></a>00200
<a name="l00201"></a>00201 DECLARE_EVENT_TABLE()
<a name="l00202"></a>00202
<a name="l00203"></a>00203 }; <span class="comment">// end of class</span>
<a name="l00204"></a>00204
<a name="l00205"></a>00205 } <span class="comment">// end namespace</span>
<a name="l00206"></a>00206 } <span class="comment">// end namespace</span>
<a name="l00207"></a>00207
<a name="l00208"></a>00208 <span class="preprocessor">#endif // wxUSE_GLCANVAS</span>
<a name="l00209"></a>00209 <span class="preprocessor"></span><span class="preprocessor">#endif // MRPT_HAS_WXWIDGETS</span>
<a name="l00210"></a>00210 <span class="preprocessor"></span><span class="preprocessor">#endif // CMyGLCanvas_H</span>
<a name="l00211"></a>00211 <span class="preprocessor"></span>
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