CMyGLCanvasBase.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                   http://mrpt.sourceforge.net/                            |
   |                                                                           |
   |   Copyright (C) 2005-2010  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/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#ifndef CMyGLCanvas_H
#define CMyGLCanvas_H

#include <mrpt/opengl.h>

#if MRPT_HAS_WXWIDGETS

#include <wx/string.h>
#include <wx/intl.h>
#include <wx/bitmap.h>
#include <wx/icon.h>
#include <wx/image.h>
#include <wx/artprov.h>

#include <wx/msgdlg.h>
#include <wx/filedlg.h>
#include <wx/progdlg.h>
#include <wx/imaglist.h>
#include <wx/busyinfo.h>
#include <wx/log.h>
#include <wx/textdlg.h>
#include <wx/dirdlg.h>
#include <wx/colordlg.h>
#include <wx/dcmemory.h>

#if wxUSE_GLCANVAS && MRPT_HAS_OPENGL_GLUT

#include <wx/glcanvas.h>
#include <wx/dcclient.h>

namespace mrpt
{
        namespace gui
        {
                /** This class implements a OpenGL canvas, and it's used in gui::CDisplayWindow3D and a number of standalone applications in the MRPT project.
                  *  There is a filter to control the user capability of moving the camera with the mouse. See OnUserManuallyMovesCamera
                  */
                class MRPTDLLIMPEXP CMyGLCanvasBase: public wxGLCanvas
                {
                public:
                        CMyGLCanvasBase( wxWindow *parent, wxWindowID id = wxID_ANY,
                                                 const wxPoint& pos = wxDefaultPosition,
                                                 const wxSize& size = wxDefaultSize,
                                                 long style = 0, const wxString& name = _T("CMyGLCanvasBase") );

                        virtual ~CMyGLCanvasBase();

                        void OnPaint(wxPaintEvent& event);
                        void OnSize(wxSizeEvent& event);
                        void OnEraseBackground(wxEraseEvent& event);
                        void OnEnterWindow(wxMouseEvent& event);

                        void OnChar(wxKeyEvent& event);

                        void OnLeftDown(wxMouseEvent& event);
                        void OnMouseMove(wxMouseEvent& event);
                        void OnRightDown(wxMouseEvent& event);
                        void OnRightUp(wxMouseEvent& event);
                        void OnLeftUp(wxMouseEvent& event);
                        void OnMouseWheel(wxMouseEvent& event);

                        void Render();
                        void InitGL();

                        // Visualization params:
                        float   cameraPointingX,cameraPointingY,cameraPointingZ;
                        float   cameraZoomDistance;
                        float   cameraElevationDeg,cameraAzimuthDeg;
                        bool    cameraIsProjective;

                        /** 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.
                          */
                        void setCameraPose(const mrpt::poses::CPose3D &camPose);


                        float   clearColorR,clearColorG,clearColorB;

                        static float  SENSIBILITY_DEG_PER_PIXEL;                // Default = 0.1

                        /**  Methods that can be implemented in custom derived classes  */
                        virtual void OnCharCustom( wxKeyEvent& event ) { }

                        virtual void OnPreRender() { }
                        virtual void OnPostRender()  { }
                        virtual void OnPostRenderSwapBuffers(double At, wxPaintDC &dc) { }
                        virtual void OnRenderError( const wxString &str ) { }

                        /** Overload this method to limit the capabilities of the user to move the camera using the mouse.
                          *  For all these variables:
                          *  - cameraPointingX
                          *  - cameraPointingY
                          *  - cameraPointingZ
                          *  - cameraZoomDistance
                          *  - cameraElevationDeg
                          *  - cameraAzimuthDeg
                          *
                          *  A "new_NAME" variable will be passed with the temptative new value after the user action.
                          *   The default behavior should be to copy all the new variables to the variables listed above
                          *   but in the middle any find of user-defined filter can be implemented.
                          */
                        virtual void OnUserManuallyMovesCamera(
                                float   new_cameraPointingX,
                                float   new_cameraPointingY,
                                float   new_cameraPointingZ,
                                float   new_cameraZoomDistance,
                                float   new_cameraElevationDeg,
                                float   new_cameraAzimuthDeg )
                        {
                                cameraPointingX         = new_cameraPointingX;
                                cameraPointingY         = new_cameraPointingY;
                                cameraPointingZ         = new_cameraPointingZ;
                                cameraZoomDistance      = new_cameraZoomDistance;
                                cameraElevationDeg      = new_cameraElevationDeg ;
                                cameraAzimuthDeg        = new_cameraAzimuthDeg;
                        }

                        inline void getLastMousePosition(int &x,int& y) const {
                                x =m_mouseLastX;
                                y =m_mouseLastY;
                        }

                        /**  At constructor an empty scene is created. The object is freed at GL canvas destructor.
                          */
                        opengl::COpenGLScenePtr         m_openGLScene;

                protected:
                        wxGLContext *m_gl_context;
                        bool   m_init;

                        int     m_mouseLastX,m_mouseLastY;

                        int     mouseClickX,mouseClickY;
                        bool    mouseClicked;

                        long           m_Key;
                        unsigned long  m_StartTime;
                        unsigned long  m_LastTime;
                        unsigned long  m_LastRedraw;

                        /** Draws a text string on the screen.
                          *   - Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport.
                          *   - The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
                          *   - The text font is:
                          *        - font=0 -> GLUT_BITMAP_TIMES_ROMAN_10
                          *        - font=1 -> GLUT_BITMAP_TIMES_ROMAN_24
                          *        - font=2 -> GLUT_BITMAP_HELVETICA_10
                          *        - font=3 -> GLUT_BITMAP_HELVETICA_12
                          *        - font=4 -> GLUT_BITMAP_HELVETICA_18
                          */
                        void renderTextBitmap(
                                int screen_x,
                                int screen_y,
                                const std::string &str,
                                float  color_r=1,
                                float  color_g=1,
                                float  color_b=1,
                                int    font = 1
                                );

                        // Used to create the gl context at startup.
                        void OnWindowCreation(wxWindowCreateEvent &ev);

                        DECLARE_EVENT_TABLE()

                };  // end of class

        }       // end namespace
}       // end namespace

#endif          // wxUSE_GLCANVAS
#endif          // MRPT_HAS_WXWIDGETS
#endif          // CMyGLCanvas_H