CGlCanvasBase.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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/gui/CGlCanvasBase.h>
#include <mrpt/opengl/opengl_api.h>
#include <mrpt/system/CTicTac.h>
#include <cstdlib>

#if MRPT_HAS_OPENGL_GLUT
#ifdef _WIN32
// Windows:
#include <windows.h>
#endif

#ifdef __APPLE__
#include <GLUT/glut.h>
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#else
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glut.h>
#ifdef HAVE_FREEGLUT_EXT_H
#include <GL/freeglut_ext.h>
#endif
#endif
#endif  // MRPT_HAS_OPENGL_GLUT

using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::opengl;
using namespace std;
using mrpt::system::CTicTac;

float CGlCanvasBase::SENSIBILITY_DEG_PER_PIXEL = 0.1f;

CGlCanvasBase::CGlCanvasBase()
{
#if defined(MRPT_OS_LINUX)
    // Workaround to enfore wxWidgets to use GLSL>=3.3 even for wxWidgets<3.1
    // See CWxGLCanvasBase::CWxGLCanvasBase.
    if (!::getenv("MESA_GL_VERSION_OVERRIDE"))
    {
        ::putenv("MESA_GL_VERSION_OVERRIDE=3.3");
    }
#endif
}

CGlCanvasBase::~CGlCanvasBase()
{
    // Ensure all OpenGL resources are freed before the opengl context is gone:
    if (m_openGLScene) m_openGLScene->unloadShaders();
}

void CGlCanvasBase::setMinimumZoom(float zoom) { m_minZoom = zoom; }
void CGlCanvasBase::setMaximumZoom(float zoom) { m_maxZoom = zoom; }
void CGlCanvasBase::setMousePos(int x, int y)
{
    m_mouseClickX = x;
    m_mouseClickY = y;
}

void CGlCanvasBase::setMouseClicked(bool is) { mouseClicked = is; }
void CGlCanvasBase::updateZoom(CamaraParams& params, int x, int y) const
{
    float zoom = params.cameraZoomDistance * exp(0.01f * (y - m_mouseClickY));
    if (zoom <= m_minZoom || (m_maxZoom != -1.0f && m_maxZoom <= zoom)) return;
    params.cameraZoomDistance = zoom;
    if (params.cameraZoomDistance < 0.01f) params.cameraZoomDistance = 0.01f;

    float Az = -0.05f * (x - m_mouseClickX);
    float D = 0.001f * params.cameraZoomDistance;
    params.cameraPointingZ += D * Az;
}

void CGlCanvasBase::updateZoom(CamaraParams& params, float delta) const
{
    float zoom = params.cameraZoomDistance * (1 - 0.03f * (delta / 120.0f));
    if (zoom <= m_minZoom || (m_maxZoom != -1.0f && m_maxZoom <= zoom)) return;

    params.cameraZoomDistance = zoom;
}

void CGlCanvasBase::updateRotate(CamaraParams& params, int x, int y) const
{
    const float dis = max(0.01f, (params.cameraZoomDistance));
    float eye_x =
        params.cameraPointingX + dis * cos(DEG2RAD(params.cameraAzimuthDeg)) *
                                     cos(DEG2RAD(params.cameraElevationDeg));
    float eye_y =
        params.cameraPointingY + dis * sin(DEG2RAD(params.cameraAzimuthDeg)) *
                                     cos(DEG2RAD(params.cameraElevationDeg));
    float eye_z =
        params.cameraPointingZ + dis * sin(DEG2RAD(params.cameraElevationDeg));

    // Orbit camera:
    float A_AzimuthDeg = -SENSIBILITY_DEG_PER_PIXEL * (x - m_mouseClickX);
    params.cameraAzimuthDeg += A_AzimuthDeg;

    float A_ElevationDeg = SENSIBILITY_DEG_PER_PIXEL * (y - m_mouseClickY);
    params.setElevationDeg(params.cameraElevationDeg + A_ElevationDeg);

    // Move cameraPointing pos:
    params.cameraPointingX =
        eye_x - dis * cos(DEG2RAD(params.cameraAzimuthDeg)) *
                    cos(DEG2RAD(params.cameraElevationDeg));
    params.cameraPointingY =
        eye_y - dis * sin(DEG2RAD(params.cameraAzimuthDeg)) *
                    cos(DEG2RAD(params.cameraElevationDeg));
    params.cameraPointingZ =
        eye_z - dis * sin(DEG2RAD(params.cameraElevationDeg));
}

void CGlCanvasBase::updateOrbitCamera(CamaraParams& params, int x, int y) const
{
    params.cameraAzimuthDeg -= 0.2f * (x - m_mouseClickX);
    params.setElevationDeg(
        params.cameraElevationDeg + 0.2f * (y - m_mouseClickY));
}

void CGlCanvasBase::updateLastPos(int x, int y)
{
    m_mouseLastX = x;
    m_mouseLastY = y;
}

void CGlCanvasBase::resizeViewport(int w, int h)
{
#if MRPT_HAS_OPENGL_GLUT
    if (w == -1 || h == -1) return;

    glViewport(0, 0, (GLint)w, (GLint)h);
#endif
}

void CGlCanvasBase::clearColors()
{
#if MRPT_HAS_OPENGL_GLUT
    glClearColor(clearColorR, clearColorG, clearColorB, clearColorA);
#endif
}

void CGlCanvasBase::updatePan(CamaraParams& params, int x, int y) const
{
    float Ay = -(x - m_mouseClickX);
    float Ax = -(y - m_mouseClickY);
    float D = 0.001f * params.cameraZoomDistance;
    params.cameraPointingX += D * (Ax * cos(DEG2RAD(params.cameraAzimuthDeg)) -
                                   Ay * sin(DEG2RAD(params.cameraAzimuthDeg)));
    params.cameraPointingY += D * (Ax * sin(DEG2RAD(params.cameraAzimuthDeg)) +
                                   Ay * cos(DEG2RAD(params.cameraAzimuthDeg)));
}

CGlCanvasBase::CamaraParams CGlCanvasBase::cameraParams() const
{
    return m_cameraParams;
}

const CGlCanvasBase::CamaraParams& CGlCanvasBase::getRefCameraParams() const
{
    return m_cameraParams;
}

void CGlCanvasBase::setCameraParams(const CGlCanvasBase::CamaraParams& params)
{
    m_cameraParams = params;
}

float CGlCanvasBase::getZoomDistance() const
{
    return m_cameraParams.cameraZoomDistance;
}

void CGlCanvasBase::setZoomDistance(float zoom)
{
    m_cameraParams.cameraZoomDistance = zoom;
}

CCamera& CGlCanvasBase::updateCameraParams(CCamera& cam) const
{
    cam.setPointingAt(
        m_cameraParams.cameraPointingX, m_cameraParams.cameraPointingY,
        m_cameraParams.cameraPointingZ);
    cam.setZoomDistance(m_cameraParams.cameraZoomDistance);
    cam.setAzimuthDegrees(m_cameraParams.cameraAzimuthDeg);
    cam.setElevationDegrees(m_cameraParams.cameraElevationDeg);
    cam.setProjectiveModel(m_cameraParams.cameraIsProjective);
    cam.setProjectiveFOVdeg(m_cameraParams.cameraFOV);

    return cam;
}

void CGlCanvasBase::setUseCameraFromScene(bool is) { useCameraFromScene = is; }
bool CGlCanvasBase::getUseCameraFromScene() const { return useCameraFromScene; }
void CGlCanvasBase::setAzimuthDegrees(float ang)
{
    m_cameraParams.cameraAzimuthDeg = ang;
}

void CGlCanvasBase::setElevationDegrees(float ang)
{
    m_cameraParams.cameraElevationDeg = ang;
}

float CGlCanvasBase::getAzimuthDegrees() const
{
    return m_cameraParams.cameraAzimuthDeg;
}

float CGlCanvasBase::getElevationDegrees() const
{
    return m_cameraParams.cameraElevationDeg;
}

void CGlCanvasBase::setCameraProjective(bool is)
{
    m_cameraParams.cameraIsProjective = is;
}

bool CGlCanvasBase::isCameraProjective() const
{
    return m_cameraParams.cameraIsProjective;
}

void CGlCanvasBase::setCameraFOV(float FOV) { m_cameraParams.cameraFOV = FOV; }
float CGlCanvasBase::cameraFOV() const { return m_cameraParams.cameraFOV; }
void CGlCanvasBase::setClearColors(float r, float g, float b, float a)
{
    clearColorR = r;
    clearColorG = g;
    clearColorB = b;
    clearColorA = a;
}

float CGlCanvasBase::getClearColorR() const { return clearColorR; }
float CGlCanvasBase::getClearColorG() const { return clearColorG; }
float CGlCanvasBase::getClearColorB() const { return clearColorB; }
float CGlCanvasBase::getClearColorA() const { return clearColorA; }
void CGlCanvasBase::setOpenGLSceneRef(COpenGLScene::Ptr scene)
{
    m_openGLScene = scene;
}

void CGlCanvasBase::setCameraPointing(float pointX, float pointY, float pointZ)
{
    m_cameraParams.cameraPointingX = pointX;
    m_cameraParams.cameraPointingY = pointY;
    m_cameraParams.cameraPointingZ = pointZ;
}

float CGlCanvasBase::getCameraPointingX() const
{
    return m_cameraParams.cameraPointingX;
}

float CGlCanvasBase::getCameraPointingY() const
{
    return m_cameraParams.cameraPointingY;
}

float CGlCanvasBase::getCameraPointingZ() const
{
    return m_cameraParams.cameraPointingZ;
}

double CGlCanvasBase::renderCanvas(int width, int height)
{
#if MRPT_HAS_OPENGL_GLUT
    CTicTac tictac;
    double At = 0.1;

    try
    {
        // Call PreRender user code:
        preRender();
        CHECK_OPENGL_ERROR();

        // Set static configs:
        glEnable(GL_DEPTH_TEST);
        CHECK_OPENGL_ERROR();

        // Set the viewport
        resizeViewport((GLsizei)width, (GLsizei)height);

        // Set the background color:
        clearColors();

        if (m_openGLScene)
        {
            // Set the camera params in the scene:
            if (!useCameraFromScene)
            {
                COpenGLViewport::Ptr view = m_openGLScene->getViewport("main");
                if (!view)
                {
                    THROW_EXCEPTION(
                        "Fatal error: there is no 'main' viewport in the 3D "
                        "scene!");
                }

                mrpt::opengl::CCamera& cam = view->getCamera();
                updateCameraParams(cam);
            }

            tictac.Tic();

            // Draw primitives:
            m_openGLScene->render();

        }  // end if "m_openGLScene!=nullptr"

        postRender();

        // Flush & swap buffers to disply new image:
        glFinish();
        swapBuffers();
        CHECK_OPENGL_ERROR();

        At = tictac.Tac();
    }
    catch (const std::exception& e)
    {
        const std::string err_msg =
            std::string("[CGLCanvasBase::Render] Exception:\n") +
            mrpt::exception_to_str(e);
        std::cerr << err_msg;
        renderError(err_msg);
    }

    return At;
#else
    THROW_EXCEPTION("Cant render: MRPT was built without OpenGL");
#endif
}

void CGlCanvasBase::CamaraParams::setElevationDeg(float deg)
{
    cameraElevationDeg = deg;

    if (cameraElevationDeg < -90.0f)
        cameraElevationDeg = -90.0f;
    else if (cameraElevationDeg > 90.0f)
        cameraElevationDeg = 90.0f;
}

void CGlCanvasBaseHeadless::renderError(const std::string& e)
{
    std::cerr << "[CGlCanvasBaseHeadless::renderError] Error:" << e
              << std::endl;
}