15 #if MRPT_HAS_OPENGL_GLUT 22 #include <GLUT/glut.h> 23 #include <OpenGL/gl.h> 24 #include <OpenGL/glu.h> 29 #ifdef HAVE_FREEGLUT_EXT_H 30 #include <GL/freeglut_ext.h> 33 #endif // MRPT_HAS_OPENGL_GLUT 54 float zoom =
params.cameraZoomDistance * exp(0.01 * (
y - m_mouseClickY));
55 if (zoom <= m_minZoom || (m_maxZoom != -1.0f && m_maxZoom <= zoom))
return;
56 params.cameraZoomDistance = zoom;
57 if (
params.cameraZoomDistance < 0.01)
params.cameraZoomDistance = 0.01f;
59 float Az = -0.05 * (
x - m_mouseClickX);
60 float D = 0.001 *
params.cameraZoomDistance;
61 params.cameraPointingZ += D * Az;
66 float zoom =
params.cameraZoomDistance * (1 - 0.03f * (delta / 120.0f));
67 if (zoom <= m_minZoom || (m_maxZoom != -1.0f && m_maxZoom <= zoom))
return;
69 params.cameraZoomDistance = zoom;
74 const float dis = max(0.01f, (
params.cameraZoomDistance));
85 float A_AzimuthDeg = -SENSIBILITY_DEG_PER_PIXEL * (
x - m_mouseClickX);
86 params.cameraAzimuthDeg += A_AzimuthDeg;
88 float A_ElevationDeg = SENSIBILITY_DEG_PER_PIXEL * (
y - m_mouseClickY);
89 params.setElevationDeg(
params.cameraElevationDeg + A_ElevationDeg);
104 params.cameraAzimuthDeg -= 0.2 * (
x - m_mouseClickX);
106 params.cameraElevationDeg + 0.2 * (
y - m_mouseClickY));
117 #if MRPT_HAS_OPENGL_GLUT 118 if (
w == -1 || h == -1)
return;
126 #if MRPT_HAS_OPENGL_GLUT 127 glClearColor(clearColorR, clearColorG, clearColorB, clearColorA);
133 float Ay = -(
x - m_mouseClickX);
134 float Ax = -(
y - m_mouseClickY);
135 float D = 0.001 *
params.cameraZoomDistance;
144 return m_cameraParams;
149 return m_cameraParams;
159 return m_cameraParams.cameraZoomDistance;
164 m_cameraParams.cameraZoomDistance = zoom;
170 m_cameraParams.cameraPointingX, m_cameraParams.cameraPointingY,
171 m_cameraParams.cameraPointingZ);
185 m_cameraParams.cameraAzimuthDeg = ang;
190 m_cameraParams.cameraElevationDeg = ang;
195 return m_cameraParams.cameraAzimuthDeg;
200 return m_cameraParams.cameraElevationDeg;
205 m_cameraParams.cameraIsProjective = is;
210 return m_cameraParams.cameraIsProjective;
229 m_openGLScene = scene;
234 m_cameraParams.cameraPointingX = pointX;
235 m_cameraParams.cameraPointingY = pointY;
236 m_cameraParams.cameraPointingZ = pointZ;
241 return m_cameraParams.cameraPointingX;
246 return m_cameraParams.cameraPointingY;
251 return m_cameraParams.cameraPointingZ;
256 #if MRPT_HAS_OPENGL_GLUT 282 if (!useCameraFromScene)
288 "Fatal error: there is no 'main' viewport in the 3D " 293 updateCameraParams(cam);
305 m_openGLScene->render();
319 catch (
const std::exception& e)
323 std::string(
"[CWxGLCanvasBase::Render] Exception!: ") +
325 std::cerr << err_msg;
326 renderError(err_msg);
331 std::cerr <<
"Runtime error!" << std::endl;
342 cameraElevationDeg = deg;
344 if (cameraElevationDeg < -90.0f)
345 cameraElevationDeg = -90.0f;
346 else if (cameraElevationDeg > 90.0f)
347 cameraElevationDeg = 90.0f;
GLAPI void GLAPIENTRY glFlush(void)
float getCameraPointingX() const
Returns the x pointing of the camera See also setCameraPointing(float, float, float) ...
double Tac() noexcept
Stops the stopwatch.
GLAPI void GLAPIENTRY glMatrixMode(GLenum mode)
GLAPI void GLAPIENTRY glClearColor(GLclampf red, GLclampf green, GLclampf blue, GLclampf alpha)
virtual void setCameraProjective(bool is)
float getClearColorR() const
void updateOrbitCamera(CamaraParams ¶ms, int x, int y) const
This function for the mouse event It gets a reference to CamaraParams, x, y and updates the elevation...
GLAPI void GLAPIENTRY glEnable(GLenum cap)
#define THROW_EXCEPTION(msg)
CamaraParams cameraParams() const
Returns a copy of CamaraParams See also getRefCameraParams(), setCameraParams(const CamaraParams &) ...
void setElevationDeg(float deg)
double DEG2RAD(const double x)
Degrees to radians.
A high-performance stopwatch, with typical resolution of nanoseconds.
void setProjectiveModel(bool v=true)
Enable/Disable projective mode (vs.
void setMaximumZoom(float zoom)
Sets the maximum of the zoom See also setMinimumZoom(float)
float getZoomDistance() const
Returns a zoom See also setZoomDistance(float)
virtual void setCameraParams(const CamaraParams ¶ms)
Sets the CamaraParams See also cameraParams(), getRefCameraParams()
GLAPI void GLAPIENTRY glPopAttrib(void)
void resizeViewport(int w, int h)
Calls the glViewport function.
const CamaraParams & getRefCameraParams() const
Returns a reference to CamaraParams See also cameraParams(), setCameraParams(const CamaraParams &) ...
GLAPI void GLAPIENTRY glLoadIdentity(void)
void setMousePos(int x, int y)
Saves the click position of the mouse See also setMouseClicked(bool)
virtual void setElevationDegrees(float ang)
Saves the degrees of the elevation camera See also getElevationDegrees()
GLubyte GLubyte GLubyte GLubyte w
void setZoomDistance(float z)
mrpt::system::CTicTac CTicTac
void setAzimuthDegrees(float ang)
void setOpenGLSceneRef(mrpt::opengl::COpenGLScene::Ptr scene)
virtual void setAzimuthDegrees(float ang)
Saves the degrees of the azimuth camera See also getAzimuthDegrees()
virtual double renderCanvas(int width=-1, int height=-1)
virtual void setCameraPointing(float pointX, float pointY, float pointZ)
Saves the pointing of the camera See also getCameraPointingX(), getCameraPointingY(), getCameraPointingZ()
void clearColors()
Calls the glClearColor function See also setClearColors(float, float, float, float) ...
void setProjectiveFOVdeg(float ang)
Field-of-View in degs, only when projectiveModel=true (default=30 deg).
float getCameraPointingZ() const
Returns the z pointing of the camera See also setCameraPointing(float, float, float) ...
virtual void setCameraFOV(float FOV)
void setClearColors(float r, float g, float b, float a=1.0f)
Sets the RGBA colors for glClearColor See also clearColors(), getClearColorR(), getClearColorG(),getClearColorB(), getClearColorA()
float getClearColorB() const
virtual void setZoomDistance(float zoom)
Saves camera zooming See also getZoomDistance()
GLsizei const GLchar ** string
bool getUseCameraFromScene() const
See also void setUseCameraFromScene(bool)
float getAzimuthDegrees() const
Returns a azimuth degrees See also setAzimuthDegrees(float)
float getCameraPointingY() const
Returns the y pointing of the camera See also setCameraPointing(float, float, float) ...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
GLAPI void GLAPIENTRY glViewport(GLint x, GLint y, GLsizei width, GLsizei height)
void setElevationDegrees(float ang)
GLdouble GLdouble GLdouble r
GLAPI void GLAPIENTRY glPushAttrib(GLbitfield mask)
void setMouseClicked(bool is)
Sets the property mouseClicked By default, this property is false.
void updateLastPos(int x, int y)
Sets the last mouse position.
float getElevationDegrees() const
Returns a elevation degrees See also setElevationDegrees(float)
void updateRotate(CamaraParams ¶ms, int x, int y) const
This function for the mouse event It gets a reference to CamaraParams, x, y and updates the elevation...
void setMinimumZoom(float zoom)
Sets the minimum of the zoom See also setMaximumZoom(float)
The namespace for 3D scene representation and rendering.
float getClearColorG() const
void setUseCameraFromScene(bool is)
If set to true (default=false), the cameraPointingX,...
#define GL_ALL_ATTRIB_BITS
Classes for creating GUI windows for 2D and 3D visualization.
bool isCameraProjective() const
void Tic() noexcept
Starts the stopwatch.
A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camer...
GLenum GLsizei GLsizei height
static float SENSIBILITY_DEG_PER_PIXEL
void updatePan(CamaraParams ¶ms, int x, int y) const
This function for the mouse event It gets a reference to CamaraParams, x, y and updates the pointing ...
GLubyte GLubyte GLubyte a
GLenum const GLfloat * params
mrpt::opengl::CCamera & updateCameraParams(mrpt::opengl::CCamera &cam) const
This function gets a reference to mrpt::opengl::CCamera and updates the camera parameters(pointing, zoom, azimuth, elevation, IsProjective, FOV)
float getClearColorA() const
void updateZoom(CamaraParams ¶ms, int x, int y) const
This function for the mouse event It gets a reference to CamaraParams, x, y and updates the zoom of t...
void setPointingAt(float x, float y, float z)