CDisplayWindowGUI.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "gui-precomp.h"  // Precompiled headers

#include <mrpt/core/exceptions.h>
#include <mrpt/gui/CDisplayWindowGUI.h>
#include <mrpt/gui/default_mrpt_glfw_icon.h>

using namespace mrpt::gui;

#if MRPT_HAS_NANOGUI

CDisplayWindowGUI::CDisplayWindowGUI(
    const std::string& caption, unsigned int width, unsigned int height,
    const CDisplayWindowGUI_Params& p)
    : nanogui::Screen(
          Eigen::Vector2i(width, height), caption, p.resizable, p.fullscreen,
          p.colorBits, p.alphaBits, p.depthBits, p.stencilBits, p.nSamples,
          p.glMajor, p.glMinor, p.maximized)
{
    // Set MRPT icon:
    GLFWimage images;
    images.width = 64;
    images.height = 64;
    images.pixels = default_mrpt_glfw_icon();

// glfwSetWindowIcon added in glfw 3.2
#if GLFW_VERSION_MAJOR > 3 || \
    (GLFW_VERSION_MAJOR == 3 && GLFW_VERSION_MINOR >= 2)
    glfwSetWindowIcon(screen()->glfwWindow(), 1, &images);
#endif
}

CDisplayWindowGUI::~CDisplayWindowGUI()
{
    // Close window:
    nanogui::Screen::setVisible(false);
}

bool CDisplayWindowGUI::keyboardEvent(
    int key, int scancode, int action, int modifiers)
{
    if (Screen::keyboardEvent(key, scancode, action, modifiers)) return true;
    // Process special key events?
    return false;
}

void CDisplayWindowGUI::drawContents()
{
    // If provided, call the user loop code:
    if (m_loopCallback) m_loopCallback();

    // Optional: render background scene.
    std::lock_guard<std::mutex> lck(background_scene_mtx);
    if (!background_scene) return;

    try
    {
        // We need the size of the viewport:
        GLint win_dims[4];
        glGetIntegerv(GL_VIEWPORT, win_dims);

        // Set the camera params in the scene:
        mrpt::opengl::COpenGLViewport::Ptr view =
            background_scene->getViewport("main");
        if (!view)
            THROW_EXCEPTION(
                "Fatal error: there is no 'main' viewport in the 3D scene!");
        mrpt::opengl::CCamera& cam = view->getCamera();
        m_background_canvas.updateCameraParams(cam);

        for (const auto& m_viewport : background_scene->viewports())
            m_viewport->render(
                win_dims[2], win_dims[3], win_dims[0], win_dims[1]);
    }
    catch (const std::exception& e)
    {
        std::cerr << "[CDisplayWindowGUI::drawContents] Exception:\n"
                  << mrpt::exception_to_str(e);
    }
}

void CDisplayWindowGUI::resize(unsigned int width, unsigned int height)
{
    Screen::setSize({width, height});
}

void CDisplayWindowGUI::setPos(int x, int y) { Screen::setPosition({x, y}); }

void CDisplayWindowGUI::setWindowTitle(const std::string& str)
{
    Screen::setCaption(str);
}

bool CDisplayWindowGUI::mouseButtonEvent(
    const nanogui::Vector2i& p, int button, bool down, int modifiers)
{
    if (!Screen::mouseButtonEvent(p, button, down, modifiers))
        m_background_canvas.mouseButtonEvent(p, button, down, modifiers);

    return true;
}

bool CDisplayWindowGUI::mouseMotionEvent(
    const nanogui::Vector2i& p, const nanogui::Vector2i& rel, int button,
    int modifiers)
{
    if (!Screen::mouseMotionEvent(p, rel, button, modifiers))
        m_background_canvas.mouseMotionEvent(p, rel, button, modifiers);

    return true;
}

bool CDisplayWindowGUI::scrollEvent(
    const nanogui::Vector2i& p, const nanogui::Vector2f& rel)
{
    if (!Screen::scrollEvent(p, rel)) m_background_canvas.scrollEvent(p, rel);

    return true;
}

#endif  // MRPT_HAS_NANOGUI