test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, 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 <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/opengl/CAxis.h>
#include <mrpt/opengl/CBox.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/opengl/CText.h>
#include <mrpt/opengl/gl_utils.h>
#include <mrpt/opengl/stock_objects.h>
#include <mrpt/system/CObserver.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/system/os.h>
#include <iostream>

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

// This is my custom class to handle the pre/post render events:
struct TMyExtraRenderingStuff : public mrpt::system::CObserver
{
    opengl::CSphere::Ptr ball_obj;  // The ball moving in the scene
    bool showing_help{false}, hiding_help{false};
    mrpt::system::CTicTac tim_show_start, tim_show_end;

    TMyExtraRenderingStuff() {}
    void OnEvent(const mrptEvent& e) override
    {
        if (e.isOfType<mrptEventGLPreRender>())
        {
            // const mrptEventGLPreRender* ev = e.getAs<mrptEventGLPreRender>();
            // ev-> ...
        }
        else if (e.isOfType<mrptEventGLPostRender>())
        {
            // const mrptEventGLPostRender* ev =
            // e.getAs<mrptEventGLPostRender>();

            // Show small message in the corner:
            mrpt::opengl::gl_utils::renderMessageBox(
                0.7f, 0.9f,  // x,y (in screen "ratios")
                0.29f, 0.09f,  // width, height (in screen "ratios")
                "Press 'h' for help",
                0.02f  // text size
            );

            // Also showing help?
            if (showing_help || hiding_help)
            {
                static const double TRANSP_ANIMATION_TIME_SEC = 0.5;

                const double show_tim = tim_show_start.Tac();
                const double hide_tim = tim_show_end.Tac();

                const double tranparency =
                    hiding_help
                        ? 1.0 - std::min(
                                    1.0, hide_tim / TRANSP_ANIMATION_TIME_SEC)
                        : std::min(1.0, show_tim / TRANSP_ANIMATION_TIME_SEC);

                mrpt::opengl::gl_utils::renderMessageBox(
                    0.05f, 0.05f,  // x,y (in screen "ratios")
                    0.90f, 0.90f,  // width, height (in screen "ratios")
                    "These are the supported commands:\n"
                    " - 'h': Toogle help view\n"
                    " - '<-' and '->': Rotate camera\n"
                    " - 'Alt+Enter': Toogle fullscreen\n"
                    " - 'ESC': Quit",
                    0.05f,  // text size
                    mrpt::img::TColor(
                        190, 190, 190, 200 * tranparency),  // background
                    mrpt::img::TColor(0, 0, 0, 200 * tranparency),  // border
                    mrpt::img::TColor(200, 0, 0, 150 * tranparency),  // text
                    6.0f,  // border width
                    "serif",  // text font
                    mrpt::opengl::NICE  // text style
                );

                if (hide_tim > TRANSP_ANIMATION_TIME_SEC && hiding_help)
                    hiding_help = false;
            }
        }
    }
};

// ------------------------------------------------------
//              TestDisplay3D
// ------------------------------------------------------
void TestDisplay3D()
{
    CDisplayWindow3D win("Example of 3D Scene Visualization - MRPT", 640, 480);

    COpenGLScene::Ptr& theScene = win.get3DSceneAndLock();

    // The unique instance of the observer class:
    TMyExtraRenderingStuff my_extra_rendering;

    // And start subscribing to the viewport events:
    opengl::COpenGLViewport::Ptr the_main_view = theScene->getViewport("main");
    my_extra_rendering.observeBegin(*the_main_view);

    // Modify the scene:
    // ------------------------------------------------------
    {
        opengl::CGridPlaneXY::Ptr obj =
            opengl::CGridPlaneXY::Create(-20, 20, -20, 20, 0, 1);
        obj->setColor(0.8, 0.8, 0.8);
        theScene->insert(obj);
    }

    theScene->insert(mrpt::opengl::stock_objects::CornerXYZ());

    if (true)
    {
        opengl::CAxis::Ptr obj = opengl::CAxis::Create();
        obj->setFrequency(5);
        obj->enableTickMarks();
        obj->setAxisLimits(-10, -10, -10, 10, 10, 10);
        theScene->insert(obj);
    }

    {
        opengl::CSphere::Ptr obj = opengl::CSphere::Create();
        obj->setColor(0, 0, 1);
        obj->setRadius(0.3f);
        obj->setLocation(0, 0, 1);
        obj->setName("ball_1");
        theScene->insert(obj);

        // And also let my rendering object access this ball properties:
        my_extra_rendering.ball_obj = obj;
    }

    // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
    win.unlockAccess3DScene();

    // Texts:
    win.addTextMessage(
        0.01, 0.85, "This is a 2D message", mrpt::img::TColorf(1, 1, 1), 0,
        MRPT_GLUT_BITMAP_TIMES_ROMAN_10);

    win.setCameraElevationDeg(25.0f);
    // win.setCameraProjective(false);

    cout << endl;
    cout << "Control with mouse or keyboard. Valid keys:" << endl;
    cout << "  ESC                        -> Exit" << endl;
    cout << "  Left/right cursor arrow    -> Camera azimuth" << endl;
    cout << endl;

    bool end = false;

    CTicTac timer;
    timer.Tic();

    while (!end && win.isOpen())
    {
        // Move the scene:
        COpenGLScene::Ptr& theScene = win.get3DSceneAndLock();

        opengl::CRenderizable::Ptr obj1 = theScene->getByName("ball_1");
        const double t = timer.Tac();
        const double R = 8;
        const double W = 5.0, Q = 3.3;
        obj1->setLocation(
            R * cos(W * t) * sin(Q * t), R * sin(W * t),
            R * cos(W * t) * cos(Q * t));

        // Update the texts on the gl display:
        win.addTextMessage(
            5, 5, mrpt::format("FPS=%5.02f", win.getRenderingFPS()),
            mrpt::img::TColorf(1, 1, 1), 0, MRPT_GLUT_BITMAP_HELVETICA_18);

        // IMPORTANT!!! IF NOT UNLOCKED, THE WINDOW WILL NOT BE UPDATED!
        win.unlockAccess3DScene();

        // Update window:
        win.forceRepaint();
        std::this_thread::sleep_for(1ms);

        if (mrpt::system::os::kbhit()) end = true;
        if (win.keyHit())
        {
            mrptKeyModifier kmods;
            int key = win.getPushedKey(&kmods);
            // printf("Key pushed: %c (%i) - modifiers:
            // 0x%04X\n",char(key),key,kmods);

            if (key == MRPTK_ESCAPE) end = true;

            if (key == 'h' || key == 'H')
            {
                if (!my_extra_rendering.showing_help)
                {
                    my_extra_rendering.tim_show_start.Tic();
                    my_extra_rendering.showing_help = true;
                }
                else
                {
                    my_extra_rendering.tim_show_end.Tic();
                    my_extra_rendering.showing_help = false;
                    my_extra_rendering.hiding_help = true;
                }
            }

            if (key == MRPTK_RIGHT)
                win.setCameraAzimuthDeg(win.getCameraAzimuthDeg() + 5);
            if (key == MRPTK_LEFT)
                win.setCameraAzimuthDeg(win.getCameraAzimuthDeg() - 5);
        }
    };
}

// ------------------------------------------------------
//                      MAIN
// ------------------------------------------------------
int main()
{
    try
    {
        TestDisplay3D();

        std::this_thread::sleep_for(
            50ms);  // leave time for the window to close
        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
    catch (...)
    {
        printf("Untyped exception!!");
        return -1;
    }
}