MRPT2NanoguiGLCanvas.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/MRPT2NanoguiGLCanvas.h>

using namespace mrpt::gui;

#if MRPT_HAS_NANOGUI

MRPT2NanoguiGLCanvas::MRPT2NanoguiGLCanvas(nanogui::Widget* parent)
    : nanogui::GLCanvas(parent)
{
}

MRPT2NanoguiGLCanvas::~MRPT2NanoguiGLCanvas() = default;

void MRPT2NanoguiGLCanvas::drawGL()
{
#if MRPT_HAS_OPENGL_GLUT
    std::lock_guard<std::mutex> lck(scene_mtx);

    try
    {
        // Set the background color:
        mrpt::img::TColorf m_backgroundColor = {0.7f, 0.7f, 0.7f, 1.0f};
        glClearColor(
            m_backgroundColor.R, m_backgroundColor.G, m_backgroundColor.B,
            m_backgroundColor.A);

        if (!scene) return;  // No scene -> nothing to render

        // 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 = 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_headless_canvas.updateCameraParams(cam);

        for (const auto& m_viewport : scene->viewports())
            m_viewport->render(
                win_dims[2], win_dims[3], win_dims[0], win_dims[1]);
    }
    catch (const std::exception& e)
    {
        std::cerr << "[MRPT2NanoguiGLCanvas::drawGL] Exception:\n"
                  << mrpt::exception_to_str(e);
    }
#endif
}

bool MRPT2NanoguiGLCanvas::mouseMotionEvent(
    const nanogui::Vector2i& p, const nanogui::Vector2i& rel, int button,
    int modifiers)
{
    m_headless_canvas.mouseMotionEvent(p, rel, button, modifiers);
    return true;  // already processed
}

bool MRPT2NanoguiGLCanvas::mouseButtonEvent(
    const nanogui::Vector2i& p, int button, bool down, int modifiers)
{
    m_headless_canvas.mouseButtonEvent(p, button, down, modifiers);
    return true;  // already processed
}
bool MRPT2NanoguiGLCanvas::scrollEvent(
    const nanogui::Vector2i& p, const nanogui::Vector2f& rel)
{
    m_headless_canvas.scrollEvent(p, rel);
    return true;  // already processed
}

#endif  // MRPT_HAS_NANOGUI