CMyGLCanvasBase.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#ifndef CMyGLCanvas_H
#define CMyGLCanvas_H

#include <mrpt/opengl/opengl_fonts.h>
#include <mrpt/opengl/CTextMessageCapable.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/gui/link_pragmas.h>

namespace mrpt { namespace gui { } }  // At least declare the existence of the namespace mrpt::gui even if we don't have wxWidgets libs


#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>

// To avoid conflicts between Eigen & X11 headers
#ifdef Success 
#       undef Success 
#endif


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
                  * \ingroup mrpt_gui_grp
                  */
                class GUI_IMPEXP CMyGLCanvasBase :
                        public wxGLCanvas, 
                        public mrpt::opengl::CTextMessageCapable
                {
                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 OnMouseDown(wxMouseEvent& event);
                        void OnMouseMove(wxMouseEvent& event);
                        void OnMouseUp(wxMouseEvent& event);
                        void OnMouseWheel(wxMouseEvent& event);

                        void Render();
                        void InitGL();

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

                        /** If set to true (default=false), the cameraPointingX,... parameters are ignored and the camera stored in the 3D scene is used instead.
                          */
                        bool    useCameraFromScene;

                        /** 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 ) {
            MRPT_UNUSED_PARAM(event);
         }

                        virtual void OnPreRender() { }
                        virtual void OnPostRender()  { }
                        virtual void OnPostRenderSwapBuffers(double At, wxPaintDC &dc) {
            MRPT_UNUSED_PARAM(At); MRPT_UNUSED_PARAM(dc);
         }

                        virtual void OnRenderError( const wxString &str ) {
            MRPT_UNUSED_PARAM(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.
                          */
                        mrpt::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;

                        // 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