/* +---------------------------------------------------------------------------+
| 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;
// This is my custom class to handle the pre/post render events:
struct TMyExtraRenderingStuff : public mrpt::utils::CObserver
{
opengl::CSpherePtr ball_obj; // The ball moving in the scene
bool showing_help, hiding_help;
mrpt::utils::CTicTac tim_show_start, tim_show_end;
TMyExtraRenderingStuff() : showing_help(false), hiding_help(false)
{
}
virtual void OnEvent (const mrptEvent &e)
{
if (e.isOfType<mrptEventGLPreRender>())
{
//const mrptEventGLPreRender* ev = e.getAs<mrptEventGLPreRender>();
//ev-> ...
}
else
if (e.isOfType<mrptEventGLPostRender>())
{
//const mrptEventGLPostRender* ev = e.getAs<mrptEventGLPostRender>();
// Show small message in the corner:
mrpt::opengl::gl_utils::renderMessageBox(
0.7f, 0.9f, // x,y (in screen "ratios")
0.29f, 0.09f, // width, height (in screen "ratios")
"Press 'h' for help",
0.02f // text size
);
// Also showing help?
if (showing_help || hiding_help)
{
static const double TRANSP_ANIMATION_TIME_SEC = 0.5;
const double show_tim = tim_show_start.Tac();
const double hide_tim = tim_show_end.Tac();
const double tranparency = hiding_help ?
1.0-std::min(1.0,hide_tim/TRANSP_ANIMATION_TIME_SEC)
:
std::min(1.0,show_tim/TRANSP_ANIMATION_TIME_SEC);
mrpt::opengl::gl_utils::renderMessageBox(
0.05f, 0.05f, // x,y (in screen "ratios")
0.90f, 0.90f, // width, height (in screen "ratios")
"These are the supported commands:\n"
" - 'h': Toogle help view\n"
" - '<-' and '->': Rotate camera\n"
" - 'Alt+Enter': Toogle fullscreen\n"
" - 'ESC': Quit",
0.05f, // text size
mrpt::utils::TColor(190,190,190, 200*tranparency), // background
mrpt::utils::TColor(0,0,0, 200*tranparency), // border
mrpt::utils::TColor(200,0,0, 150*tranparency), // text
6.0f, // border width
"serif", // text font
mrpt::opengl::NICE // text style
);
if (hide_tim>TRANSP_ANIMATION_TIME_SEC && hiding_help)
hiding_help = false;
}
}
}
};
// ------------------------------------------------------
// TestDisplay3D
// ------------------------------------------------------
void TestDisplay3D()
{
CDisplayWindow3D win("Example of 3D Scene Visualization - MRPT",640,480);
COpenGLScenePtr &theScene = win.get3DSceneAndLock();
// The unique instance of the observer class:
TMyExtraRenderingStuff my_extra_rendering;
// And start subscribing to the viewport events:
opengl::COpenGLViewportPtr the_main_view = theScene->getViewport("main");
my_extra_rendering.observeBegin( *the_main_view );
// 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 );
}
theScene->insert( mrpt::opengl::stock_objects::CornerXYZ() );
if (1)
{
opengl::CAxisPtr obj = opengl::CAxis::Create();
obj->setFrequency(5);
obj->enableTickMarks();
obj->setAxisLimits(-10,-10,-10, 10,10,10);
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 );
// And also let my rendering object access this ball properties:
my_extra_rendering.ball_obj = 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),0,MRPT_GLUT_BITMAP_TIMES_ROMAN_10 );
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 << endl;
bool end = false;
CTicTac timer;
timer.Tic();
while (!end && win.isOpen() )
{
// Move the scene:
COpenGLScenePtr &theScene = win.get3DSceneAndLock();
opengl::CRenderizablePtr obj1 = theScene->getByName("ball_1");
const double t = timer.Tac();
const double R = 8;
const double W = 5.0, Q = 3.3;
obj1->setLocation(
R* cos(W*t)*sin(Q*t),
R* sin(W*t),
R* cos(W*t)*cos(Q*t) );
// Update the texts on the gl display:
win.addTextMessage(
5,5,
mrpt::format("FPS=%5.02f", win.getRenderingFPS() ),
TColorf(1,1,1),0, MRPT_GLUT_BITMAP_HELVETICA_18 );
// IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
win.unlockAccess3DScene();
// Update window:
win.forceRepaint();
mrpt::system::sleep(1);
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=='h' || key=='H')
{
if (!my_extra_rendering.showing_help)
{
my_extra_rendering.tim_show_start.Tic();
my_extra_rendering.showing_help = true;
}
else
{
my_extra_rendering.tim_show_end.Tic();
my_extra_rendering.showing_help = false;
my_extra_rendering.hiding_help = true;
}
}
if (key==MRPTK_RIGHT) win.setCameraAzimuthDeg( win.getCameraAzimuthDeg() + 5 );
if (key==MRPTK_LEFT) win.setCameraAzimuthDeg( win.getCameraAzimuthDeg() - 5 );
}
};
}
// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main()
{
try
{
TestDisplay3D();
mrpt::system::sleep(50); // leave time for the window to close
return 0;
} catch (std::exception &e)
{
std::cout << "MRPT exception caught: " << e.what() << std::endl;
return -1;
}
catch (...)
{
printf("Untyped exception!!");
return -1;
}
}
