/* +---------------------------------------------------------------------------+
| The Mobile Robot Programming Toolkit (MRPT) C++ library |
| |
| http://www.mrpt.org/ |
| |
| Copyright (C) 2005-2011 University of Malaga |
| |
| This software was written by the Machine Perception and Intelligent |
| Robotics Lab, University of Malaga (Spain). |
| Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |
| |
| This file is part of the MRPT project. |
| |
| MRPT is free software: you can redistribute it and/or modify |
| it under the terms of the GNU General Public License as published by |
| the Free Software Foundation, either version 3 of the License, or |
| (at your option) any later version. |
| |
| MRPT is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| |
| You should have received a copy of the GNU General Public License |
| along with MRPT. If not, see <http://www.gnu.org/licenses/>. |
| |
+---------------------------------------------------------------------------+ */
#include <mrpt/base.h>
#include <mrpt/gui.h>
#include <mrpt/opengl.h>
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::opengl;
// ------------------------------------------------------
// TestDisplay3D
// ------------------------------------------------------
void TestDisplay3D()
{
CDisplayWindow3D win("Example of 3D Scene Visualization - MRPT",640,480);
COpenGLScenePtr &theScene = win.get3DSceneAndLock();
// Add a clone viewport, using [0,1] factor X,Y,Width,Height coordinates:
{
COpenGLViewportPtr vi= theScene->createViewport("myClone");
vi->setViewportPosition(0.7,0.05,0.28,0.28);
vi->setCloneView("main");
vi->setTransparent(true);
vi->getCamera().setAzimuthDegrees(45);
vi->getCamera().setElevationDegrees(45);
vi->getCamera().setZoomDistance(10);
}
// Another clone viewport, using absolute coordinates
{
COpenGLViewportPtr vi= theScene->createViewport("myClone2");
vi->setViewportPosition(/*x px*/ -250, /*y px*/-250, /*width px*/ 250, /*height px*/ 200); // x,y negative means pixels from the top/right, instead of from the bottom/left.
vi->setCloneView("main");
vi->setTransparent(false);
vi->getCamera().setAzimuthDegrees(-95);
vi->getCamera().setElevationDegrees(30);
vi->getCamera().setZoomDistance(8);
}
// And another transparent viewport just to show 3D text:
if (0)
{
mrpt::opengl::CTextPtr txt1 = mrpt::opengl::CText::Create();
COpenGLViewportPtr vi= theScene->createViewport("flat_viewport");
vi->setViewportPosition(0,0,0.3,0.3);
vi->setTransparent(true);
vi->setBorderSize(0);
vi->getCamera().setAzimuthDegrees(0);
vi->getCamera().setElevationDegrees(90);
vi->getCamera().setZoomDistance(5);
vi->getCamera().setOrthogonal(true);
vi->insert(txt1);
}
// Modify the scene:
// ------------------------------------------------------
{
opengl::CGridPlaneXYPtr obj = opengl::CGridPlaneXY::Create(-20,20,-20,20,0,1);
obj->setColor(0.8,0.8,0.8);
theScene->insert( obj );
}
{
opengl::CAxisPtr obj = opengl::CAxis::Create();
obj->setFrequency(5);
obj->enableTickMarks();
obj->setAxisLimits(-10,-10,-10, 10,10,10);
theScene->insert( obj );
}
{
opengl::CBoxPtr obj = opengl::CBox::Create();
obj->setWireframe(false);
obj->setColor(1,0,0);
obj->setLineWidth(3.0);
obj->setPose(TPose3D(10,0,0,0.2,0.3,0.1));
theScene->insert( obj );
}
{
opengl::CSpherePtr obj = opengl::CSphere::Create();
obj->setColor(0,0,1);
obj->setRadius(0.3);
obj->setLocation(0,0,1);
obj->setName( "ball_1" );
theScene->insert( obj );
}
{
opengl::CSpherePtr obj = opengl::CSphere::Create();
obj->setColor(1,0,0);
obj->setRadius(0.3);
obj->setLocation(-1,-1,1);
obj->setName( "ball_2");
theScene->insert( obj );
}
{
opengl::CSpherePtr obj = opengl::CSphere::Create();
obj->setColor(0,1,0);
obj->setRadius(0.5);
obj->setLocation(0,0,0);
obj->setName( "USER_MOUSE_PICK");
theScene->insert( obj );
}
// IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
win.unlockAccess3DScene();
// Texts:
win.addTextMessage(0.01,0.85, "This is a 2D message", TColorf(1,1,1),"sans",11, mrpt::opengl::NICE, 0);
win.setCameraElevationDeg( 25.0f );
//win.setCameraProjective(false);
cout << endl;
cout << "Control with mouse or keyboard. Valid keys:" << endl;
cout << " ESC -> Exit" << endl;
cout << " Left/right cursor arrow -> Camera azimuth" << endl;
cout << " P -> Enable / disable 'place object' mode" << endl;
cout << endl;
bool end = false;
bool placeMode = false;
CTicTac timer;
timer.Tic();
while (!end && win.isOpen() )
{
const double t = timer.Tac();
// Move the scene:
COpenGLScenePtr &theScene = win.get3DSceneAndLock();
const double R1 = 8;
const double W1= 5.0, Q1 = 3.3;
opengl::CRenderizablePtr obj1 = theScene->getByName("ball_1");
obj1->setLocation(
R1* cos(W1*t)*sin(Q1*t),
R1* sin(W1*t),
R1* cos(W1*t)*cos(Q1*t) );
const double R2 = 6;
const double W2= 1.3, Q2 = 7.2;
opengl::CRenderizablePtr obj2 = theScene->getByName("ball_2");
obj2->setLocation(
R2* cos(W2*t)*sin(Q2*t),
R2* sin(W2*t),
R2* cos(W2*t)*cos(Q2*t) );
win.addTextMessage(0.01,0.85, "This is a 2D message", TColorf(1,0,0),"sans",8, mrpt::opengl::NICE, 0);
win.addTextMessage(0.02,0.02, // X,Y<=1 means coordinates are factors over the entire viewport area.
format("ball#1 pos: %.02f %.02f %.02f ",obj1->getPoseX(),obj1->getPoseY(),obj1->getPoseZ()),
TColorf(.8,.8,.8),
"sans",14, // font name & size
mrpt::opengl::FILL,
10 // An arbitrary ID to always overwrite the same, previous 2D text message
);
win.addTextMessage(5,-15, // |X|,|Y|>1 means absolute coordinates, negative means from the top instead of the bottom.
format("Time: %s", mrpt::system::dateTimeLocalToString( mrpt::system::now() ).c_str() ),
TColorf(1,1,1),
"mono",9, // font name & size
mrpt::opengl::NICE,
20 // An arbitrary ID to always overwrite the same, previous 2D text message
);
// Show management of (x,y) mouse coordinates and 3D rays:
// ------------------------------------------------------------
int mouse_x,mouse_y;
if (placeMode && win.getLastMousePosition(mouse_x,mouse_y)) // See also: getLastMousePositionRay()
{
// Get the ray in 3D for the latest mouse (X,Y):
mrpt::math::TLine3D ray;
theScene->getViewport("main")->get3DRayForPixelCoord(mouse_x,mouse_y,ray);
// Create a 3D plane, e.g. Z=0
const mrpt::math::TPlane ground_plane(TPoint3D(0,0,0),TPoint3D(1,0,0),TPoint3D(0,1,0));
// Intersection of the line with the plane:
mrpt::math::TObject3D inters;
mrpt::math::intersect(ray,ground_plane, inters);
// Interpret the intersection as a point, if there is an intersection:
mrpt::math::TPoint3D inters_pt;
if (inters.getPoint(inters_pt))
{
// Move an object to the position picked by the user:
//printf("PT: %f %f %f\n",);
theScene->getByName("USER_MOUSE_PICK")->setLocation(inters_pt.x,inters_pt.y,inters_pt.z);
}
}
// IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
win.unlockAccess3DScene();
// Update window:
win.forceRepaint();
mrpt::system::sleep(20);
if (mrpt::system::os::kbhit()) end = true;
if (win.keyHit())
{
mrptKeyModifier kmods;
int key = win.getPushedKey(&kmods);
printf("Key pushed: %c (%i) - modifiers: 0x%04X\n",char(key),key,kmods);
if (key==MRPTK_ESCAPE) end = true;
if (key==MRPTK_RIGHT) win.setCameraAzimuthDeg( win.getCameraAzimuthDeg() + 5 );
if (key==MRPTK_LEFT) win.setCameraAzimuthDeg( win.getCameraAzimuthDeg() - 5 );
if (key=='p' || key=='P')
{
placeMode = !placeMode;
win.setCursorCross(placeMode);
}
}
};
}
// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main()
{
try
{
TestDisplay3D();
return 0;
} catch (std::exception &e)
{
std::cout << "MRPT exception caught: " << e.what() << std::endl;
return -1;
}
catch (...)
{
printf("Untyped exception!!");
return -1;
}
}
