Detailed Description

This base class implements a working with opengl::Camera and a OpenGL canvas, and it's used in gui::CWxGLCanvasBase and gui::CQtGlCanvasBase.

Definition at line 24 of file CGlCanvasBase.h.

#include <mrpt/gui/CGlCanvasBase.h>

Inheritance diagram for mrpt::gui::CGlCanvasBase:

Classes
struct	CamaraParams

Public Member Functions
	CGlCanvasBase ()

virtual	~CGlCanvasBase ()

void	setMinimumZoom (float zoom)
	Sets the minimum of the zoom See also setMaximumZoom(float) More...

void	setMaximumZoom (float zoom)
	Sets the maximum of the zoom See also setMinimumZoom(float) More...

void	setMousePos (int x, int y)
	Saves the click position of the mouse See also setMouseClicked(bool) More...

void	setMouseClicked (bool is)
	Sets the property mouseClicked By default, this property is false. More...

void	updateLastPos (int x, int y)
	Sets the last mouse position. More...

void	resizeViewport (int w, int h)
	Calls the glViewport function. More...

void	clearColors ()
	Calls the glClearColor function See also setClearColors(float, float, float, float) More...

void	updateZoom (CamaraParams &params, int x, int y) const
	This function for the mouse event It gets a reference to CamaraParams, x, y and updates the zoom of the CameraParams. More...

void	updateZoom (CamaraParams &params, float delta) const
	This function for the wheel event It gets a reference to CamaraParams, delta and updates the zoom of the CameraParams. More...

void	updateRotate (CamaraParams &params, int x, int y) const
	This function for the mouse event It gets a reference to CamaraParams, x, y and updates the elevation and azimuth. More...

void	updateOrbitCamera (CamaraParams &params, int x, int y) const
	This function for the mouse event It gets a reference to CamaraParams, x, y and updates the elevation and azimuth. More...

void	updatePan (CamaraParams &params, int x, int y) const
	This function for the mouse event It gets a reference to CamaraParams, x, y and updates the pointing of the camera. More...

CamaraParams	cameraParams () const
	Returns a copy of CamaraParams See also getRefCameraParams(), setCameraParams(const CamaraParams &) More...

const CamaraParams &	getRefCameraParams () const
	Returns a reference to CamaraParams See also cameraParams(), setCameraParams(const CamaraParams &) More...

virtual void	setCameraParams (const CamaraParams &params)
	Sets the CamaraParams See also cameraParams(), getRefCameraParams() More...

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) More...

void	setUseCameraFromScene (bool is)
	If set to true (default=false), the cameraPointingX,... More...

bool	getUseCameraFromScene () const
	See also void setUseCameraFromScene(bool) More...

virtual void	setCameraPointing (float pointX, float pointY, float pointZ)
	Saves the pointing of the camera See also getCameraPointingX(), getCameraPointingY(), getCameraPointingZ() More...

float	getCameraPointingX () const
	Returns the x pointing of the camera See also setCameraPointing(float, float, float) More...

float	getCameraPointingY () const
	Returns the y pointing of the camera See also setCameraPointing(float, float, float) More...

float	getCameraPointingZ () const
	Returns the z pointing of the camera See also setCameraPointing(float, float, float) More...

virtual void	setZoomDistance (float zoom)
	Saves camera zooming See also getZoomDistance() More...

float	getZoomDistance () const
	Returns a zoom See also setZoomDistance(float) More...

virtual void	setAzimuthDegrees (float ang)
	Saves the degrees of the azimuth camera See also getAzimuthDegrees() More...

float	getAzimuthDegrees () const
	Returns a azimuth degrees See also setAzimuthDegrees(float) More...

virtual void	setElevationDegrees (float ang)
	Saves the degrees of the elevation camera See also getElevationDegrees() More...

float	getElevationDegrees () const
	Returns a elevation degrees See also setElevationDegrees(float) More...

virtual void	setCameraProjective (bool is)

bool	isCameraProjective () const

virtual void	setCameraFOV (float FOV)

float	cameraFOV () const

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() More...

float	getClearColorR () const

float	getClearColorG () const

float	getClearColorB () const

float	getClearColorA () const

virtual void	OnUserManuallyMovesCamera (float new_cameraPointingX, float new_cameraPointingY, float new_cameraPointingZ, float new_cameraZoomDistance, float new_cameraElevationDeg, float new_cameraAzimuthDeg)
	Overload this method to limit the capabilities of the user to move the camera using the mouse. More...

void	getLastMousePosition (int &x, int &y) const

mrpt::opengl::COpenGLScene::Ptr &	getOpenGLSceneRef ()
	At constructor an empty scene is created. More...

void	setOpenGLSceneRef (mrpt::opengl::COpenGLScene::Ptr scene)

Static Public Attributes
static float	SENSIBILITY_DEG_PER_PIXEL = 0.1f

Protected Member Functions
virtual void	swapBuffers ()=0

virtual void	preRender ()=0

virtual void	postRender ()=0

virtual void	renderError (const std::string &err_msg)=0

virtual double	renderCanvas (int width=-1, int height=-1)

Private Attributes
float	clearColorR = .4f

float	clearColorG = .4f

float	clearColorB = .4f

float	clearColorA = 1.f

bool	useCameraFromScene = false

mrpt::opengl::COpenGLScene::Ptr	m_openGLScene

int	m_mouseLastX = 0

int	m_mouseLastY = 0

int	m_mouseClickX = 0

int	m_mouseClickY = 0

bool	mouseClicked = false

float	m_minZoom = 1.f

float	m_maxZoom = 3200.f

CamaraParams	m_cameraParams

Constructor & Destructor Documentation

◆ CGlCanvasBase()

CGlCanvasBase::CGlCanvasBase ( )

Definition at line 45 of file CGlCanvasBase.cpp.

◆ ~CGlCanvasBase()

CGlCanvasBase::~CGlCanvasBase ( )

virtual

Definition at line 47 of file CGlCanvasBase.cpp.

Member Function Documentation

◆ cameraFOV()

float CGlCanvasBase::cameraFOV ( ) const

Definition at line 238 of file CGlCanvasBase.cpp.

◆ cameraParams()

CGlCanvasBase::CamaraParams CGlCanvasBase::cameraParams ( ) const

Returns a copy of CamaraParams See also getRefCameraParams(), setCameraParams(const CamaraParams &)

Definition at line 166 of file CGlCanvasBase.cpp.

Referenced by mrpt::gui::internal::NanoGUICanvasHeadless::mouseMotionEvent(), and mrpt::gui::internal::NanoGUICanvasHeadless::scrollEvent().

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◆ clearColors()

void CGlCanvasBase::clearColors ( )

Calls the glClearColor function See also setClearColors(float, float, float, float)

Definition at line 148 of file CGlCanvasBase.cpp.

◆ getAzimuthDegrees()

float CGlCanvasBase::getAzimuthDegrees ( ) const

Returns a azimuth degrees See also setAzimuthDegrees(float)

Definition at line 217 of file CGlCanvasBase.cpp.

◆ getCameraPointingX()

float CGlCanvasBase::getCameraPointingX ( ) const

Returns the x pointing of the camera See also setCameraPointing(float, float, float)

Definition at line 263 of file CGlCanvasBase.cpp.

◆ getCameraPointingY()

float CGlCanvasBase::getCameraPointingY ( ) const

Returns the y pointing of the camera See also setCameraPointing(float, float, float)

Definition at line 268 of file CGlCanvasBase.cpp.

◆ getCameraPointingZ()

float CGlCanvasBase::getCameraPointingZ ( ) const

Returns the z pointing of the camera See also setCameraPointing(float, float, float)

Definition at line 273 of file CGlCanvasBase.cpp.

◆ getClearColorA()

float CGlCanvasBase::getClearColorA ( ) const

Definition at line 250 of file CGlCanvasBase.cpp.

◆ getClearColorB()

float CGlCanvasBase::getClearColorB ( ) const

Definition at line 249 of file CGlCanvasBase.cpp.

◆ getClearColorG()

float CGlCanvasBase::getClearColorG ( ) const

Definition at line 248 of file CGlCanvasBase.cpp.

◆ getClearColorR()

float CGlCanvasBase::getClearColorR ( ) const

Definition at line 247 of file CGlCanvasBase.cpp.

◆ getElevationDegrees()

float CGlCanvasBase::getElevationDegrees ( ) const

Returns a elevation degrees See also setElevationDegrees(float)

Definition at line 222 of file CGlCanvasBase.cpp.

◆ getLastMousePosition()

void mrpt::gui::CGlCanvasBase::getLastMousePosition	(	int &	x,
		int &	y
	)		const

inline

Definition at line 219 of file CGlCanvasBase.h.

References m_mouseLastX, and m_mouseLastY.

◆ getOpenGLSceneRef()

mrpt::opengl::COpenGLScene::Ptr& mrpt::gui::CGlCanvasBase::getOpenGLSceneRef ( )

inline

At constructor an empty scene is created.

The object is freed at GL canvas destructor. This function returns a smart pointer to the opengl scene getOpenGLSceneRef

Definition at line 229 of file CGlCanvasBase.h.

References m_openGLScene.

◆ getRefCameraParams()

const CGlCanvasBase::CamaraParams & CGlCanvasBase::getRefCameraParams ( ) const

Returns a reference to CamaraParams See also cameraParams(), setCameraParams(const CamaraParams &)

Definition at line 171 of file CGlCanvasBase.cpp.

◆ getUseCameraFromScene()

bool CGlCanvasBase::getUseCameraFromScene ( ) const

See also void setUseCameraFromScene(bool)

Definition at line 206 of file CGlCanvasBase.cpp.

◆ getZoomDistance()

float CGlCanvasBase::getZoomDistance ( ) const

Returns a zoom See also setZoomDistance(float)

Definition at line 181 of file CGlCanvasBase.cpp.

◆ isCameraProjective()

bool CGlCanvasBase::isCameraProjective ( ) const

Definition at line 232 of file CGlCanvasBase.cpp.

◆ OnUserManuallyMovesCamera()

virtual void mrpt::gui::CGlCanvasBase::OnUserManuallyMovesCamera	(	float	new_cameraPointingX,
		float	new_cameraPointingY,
		float	new_cameraPointingZ,
		float	new_cameraZoomDistance,
		float	new_cameraElevationDeg,
		float	new_cameraAzimuthDeg
	)

inlinevirtual

Overload this method to limit the capabilities of the user to move the camera using the mouse.

For all these variables:

cameraPointingX
cameraPointingY
cameraPointingZ
cameraZoomDistance
cameraElevationDeg
cameraAzimuthDeg

A "new_NAME" variable will be passed with the temptative new value after the user action. The default behavior should be to copy all the new variables to the variables listed above but in the middle any find of user-defined filter can be implemented.

Definition at line 206 of file CGlCanvasBase.h.

References mrpt::gui::CGlCanvasBase::CamaraParams::cameraAzimuthDeg, mrpt::gui::CGlCanvasBase::CamaraParams::cameraElevationDeg, mrpt::gui::CGlCanvasBase::CamaraParams::cameraPointingX, mrpt::gui::CGlCanvasBase::CamaraParams::cameraPointingY, mrpt::gui::CGlCanvasBase::CamaraParams::cameraPointingZ, mrpt::gui::CGlCanvasBase::CamaraParams::cameraZoomDistance, and m_cameraParams.

◆ postRender()

virtual void mrpt::gui::CGlCanvasBase::postRender ( )

protectedpure virtual

Implemented in mrpt::gui::CGlCanvasBaseHeadless.

◆ preRender()

virtual void mrpt::gui::CGlCanvasBase::preRender ( )

protectedpure virtual

Implemented in mrpt::gui::CGlCanvasBaseHeadless.

◆ renderCanvas()

double CGlCanvasBase::renderCanvas	(	int	width = `-1`,
		int	height = `-1`
	)

protectedvirtual

Definition at line 278 of file CGlCanvasBase.cpp.

References mrpt::exception_to_str(), mrpt::system::CTicTac::Tac(), THROW_EXCEPTION, and mrpt::system::CTicTac::Tic().

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◆ renderError()

virtual void mrpt::gui::CGlCanvasBase::renderError ( const std::string & err_msg )

protectedpure virtual

Implemented in mrpt::gui::CGlCanvasBaseHeadless.

◆ resizeViewport()

void CGlCanvasBase::resizeViewport	(	int	w,
		int	h
	)

Calls the glViewport function.

Definition at line 139 of file CGlCanvasBase.cpp.

◆ setAzimuthDegrees()

void CGlCanvasBase::setAzimuthDegrees ( float ang )

virtual

Saves the degrees of the azimuth camera See also getAzimuthDegrees()

Definition at line 207 of file CGlCanvasBase.cpp.

◆ setCameraFOV()

void CGlCanvasBase::setCameraFOV ( float FOV )

virtual

Definition at line 237 of file CGlCanvasBase.cpp.

◆ setCameraParams()

void CGlCanvasBase::setCameraParams ( const CamaraParams & params )

virtual

Sets the CamaraParams See also cameraParams(), getRefCameraParams()

Definition at line 176 of file CGlCanvasBase.cpp.

References params.

Referenced by mrpt::gui::internal::NanoGUICanvasHeadless::mouseMotionEvent(), and mrpt::gui::internal::NanoGUICanvasHeadless::scrollEvent().

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◆ setCameraPointing()

void CGlCanvasBase::setCameraPointing	(	float	pointX,
		float	pointY,
		float	pointZ
	)

virtual

Saves the pointing of the camera See also getCameraPointingX(), getCameraPointingY(), getCameraPointingZ()

Definition at line 256 of file CGlCanvasBase.cpp.

◆ setCameraProjective()

void CGlCanvasBase::setCameraProjective ( bool is )

virtual

Definition at line 227 of file CGlCanvasBase.cpp.

◆ setClearColors()

void CGlCanvasBase::setClearColors	(	float	r,
		float	g,
		float	b,
		float	a = `1.0f`
	)

Sets the RGBA colors for glClearColor See also clearColors(), getClearColorR(), getClearColorG(),getClearColorB(), getClearColorA()

Definition at line 239 of file CGlCanvasBase.cpp.

◆ setElevationDegrees()

void CGlCanvasBase::setElevationDegrees ( float ang )

virtual

Saves the degrees of the elevation camera See also getElevationDegrees()

Definition at line 212 of file CGlCanvasBase.cpp.

◆ setMaximumZoom()

void CGlCanvasBase::setMaximumZoom ( float zoom )

Sets the maximum of the zoom See also setMinimumZoom(float)

Definition at line 54 of file CGlCanvasBase.cpp.

◆ setMinimumZoom()

void CGlCanvasBase::setMinimumZoom ( float zoom )

Sets the minimum of the zoom See also setMaximumZoom(float)

Definition at line 53 of file CGlCanvasBase.cpp.

◆ setMouseClicked()

void CGlCanvasBase::setMouseClicked ( bool is )

Sets the property mouseClicked By default, this property is false.

◆ setMousePos()

void CGlCanvasBase::setMousePos	(	int	x,
		int	y
	)

Saves the click position of the mouse See also setMouseClicked(bool)

Definition at line 55 of file CGlCanvasBase.cpp.

Referenced by mrpt::gui::internal::NanoGUICanvasHeadless::mouseButtonEvent(), and mrpt::gui::internal::NanoGUICanvasHeadless::mouseMotionEvent().

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◆ setOpenGLSceneRef()

void CGlCanvasBase::setOpenGLSceneRef ( mrpt::opengl::COpenGLScene::Ptr scene )

Definition at line 251 of file CGlCanvasBase.cpp.

◆ setUseCameraFromScene()

void CGlCanvasBase::setUseCameraFromScene ( bool is )

If set to true (default=false), the cameraPointingX,...

parameters are ignored and the camera stored in the 3D scene is used instead. See also void bool getUseCameraFromScene()

Definition at line 205 of file CGlCanvasBase.cpp.

◆ setZoomDistance()

void CGlCanvasBase::setZoomDistance ( float zoom )

virtual

Saves camera zooming See also getZoomDistance()

Definition at line 186 of file CGlCanvasBase.cpp.

◆ swapBuffers()

virtual void mrpt::gui::CGlCanvasBase::swapBuffers ( )

protectedpure virtual

Implemented in mrpt::gui::CGlCanvasBaseHeadless.

◆ updateCameraParams()

CCamera & CGlCanvasBase::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)

Definition at line 191 of file CGlCanvasBase.cpp.

References mrpt::opengl::CCamera::setAzimuthDegrees(), mrpt::opengl::CCamera::setElevationDegrees(), mrpt::opengl::CCamera::setPointingAt(), mrpt::opengl::CCamera::setProjectiveFOVdeg(), mrpt::opengl::CCamera::setProjectiveModel(), and mrpt::opengl::CCamera::setZoomDistance().

Referenced by mrpt::gui::CDisplayWindowGUI::drawContents(), and mrpt::gui::MRPT2NanoguiGLCanvas::drawGL().

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◆ updateLastPos()

void CGlCanvasBase::updateLastPos	(	int	x,
		int	y
	)

Sets the last mouse position.

Definition at line 133 of file CGlCanvasBase.cpp.

Referenced by mrpt::gui::internal::NanoGUICanvasHeadless::mouseMotionEvent().

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◆ updateOrbitCamera()

void CGlCanvasBase::updateOrbitCamera	(	CamaraParams &	params,
		int	x,
		int	y
	)		const

This function for the mouse event It gets a reference to CamaraParams, x, y and updates the elevation and azimuth.

Definition at line 124 of file CGlCanvasBase.cpp.

References mouseGlitchFilter(), and params.

Referenced by mrpt::gui::internal::NanoGUICanvasHeadless::mouseMotionEvent().

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◆ updatePan()

void CGlCanvasBase::updatePan	(	CamaraParams &	params,
		int	x,
		int	y
	)		const

This function for the mouse event It gets a reference to CamaraParams, x, y and updates the pointing of the camera.

Definition at line 155 of file CGlCanvasBase.cpp.

References mrpt::DEG2RAD(), and params.

Referenced by mrpt::gui::internal::NanoGUICanvasHeadless::mouseMotionEvent().

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◆ updateRotate()

void CGlCanvasBase::updateRotate	(	CamaraParams &	params,
		int	x,
		int	y
	)		const

This function for the mouse event It gets a reference to CamaraParams, x, y and updates the elevation and azimuth.

Definition at line 92 of file CGlCanvasBase.cpp.

References mrpt::DEG2RAD(), mouseGlitchFilter(), and params.

Referenced by mrpt::gui::internal::NanoGUICanvasHeadless::mouseMotionEvent().

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◆ updateZoom() [1/2]

void CGlCanvasBase::updateZoom	(	CamaraParams &	params,
		int	x,
		int	y
	)		const

This function for the mouse event It gets a reference to CamaraParams, x, y and updates the zoom of the CameraParams.

See also updateZoom(CamaraParams &, float)

Definition at line 62 of file CGlCanvasBase.cpp.

References params.

Referenced by mrpt::gui::internal::NanoGUICanvasHeadless::mouseMotionEvent(), and mrpt::gui::internal::NanoGUICanvasHeadless::scrollEvent().

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◆ updateZoom() [2/2]

void CGlCanvasBase::updateZoom	(	CamaraParams &	params,
		float	delta
	)		const

This function for the wheel event It gets a reference to CamaraParams, delta and updates the zoom of the CameraParams.

See also updateZoom(CamaraParams &, int, int)

Definition at line 74 of file CGlCanvasBase.cpp.

References params.

Member Data Documentation

◆ clearColorA

float mrpt::gui::CGlCanvasBase::clearColorA = 1.f

private

Definition at line 245 of file CGlCanvasBase.h.

◆ clearColorB

float mrpt::gui::CGlCanvasBase::clearColorB = .4f

private

Definition at line 244 of file CGlCanvasBase.h.

◆ clearColorG

float mrpt::gui::CGlCanvasBase::clearColorG = .4f

private

Definition at line 244 of file CGlCanvasBase.h.

◆ clearColorR

float mrpt::gui::CGlCanvasBase::clearColorR = .4f

private

Definition at line 244 of file CGlCanvasBase.h.

◆ m_cameraParams

CamaraParams mrpt::gui::CGlCanvasBase::m_cameraParams

private

Definition at line 254 of file CGlCanvasBase.h.

Referenced by OnUserManuallyMovesCamera().

◆ m_maxZoom

float mrpt::gui::CGlCanvasBase::m_maxZoom = 3200.f

private

Definition at line 253 of file CGlCanvasBase.h.

◆ m_minZoom

float mrpt::gui::CGlCanvasBase::m_minZoom = 1.f

private

Definition at line 252 of file CGlCanvasBase.h.

◆ m_mouseClickX

int mrpt::gui::CGlCanvasBase::m_mouseClickX = 0

private

Definition at line 250 of file CGlCanvasBase.h.

◆ m_mouseClickY

int mrpt::gui::CGlCanvasBase::m_mouseClickY = 0

private

Definition at line 250 of file CGlCanvasBase.h.

◆ m_mouseLastX

int mrpt::gui::CGlCanvasBase::m_mouseLastX = 0

private

Definition at line 249 of file CGlCanvasBase.h.

Referenced by getLastMousePosition().

◆ m_mouseLastY

int mrpt::gui::CGlCanvasBase::m_mouseLastY = 0

private

Definition at line 249 of file CGlCanvasBase.h.

Referenced by getLastMousePosition().

◆ m_openGLScene

mrpt::opengl::COpenGLScene::Ptr mrpt::gui::CGlCanvasBase::m_openGLScene

private

Initial value:

=

mrpt::opengl::COpenGLScene::Create()

Definition at line 247 of file CGlCanvasBase.h.

Referenced by getOpenGLSceneRef().

◆ mouseClicked

bool mrpt::gui::CGlCanvasBase::mouseClicked = false

private

Definition at line 251 of file CGlCanvasBase.h.

◆ SENSIBILITY_DEG_PER_PIXEL

float CGlCanvasBase::SENSIBILITY_DEG_PER_PIXEL = 0.1f

static

Definition at line 187 of file CGlCanvasBase.h.

◆ useCameraFromScene

bool mrpt::gui::CGlCanvasBase::useCameraFromScene = false

private

Definition at line 246 of file CGlCanvasBase.h.

Detailed Description

Classes

Public Member Functions

Static Public Attributes

Protected Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ CGlCanvasBase()

◆ ~CGlCanvasBase()

Member Function Documentation

◆ cameraFOV()

◆ cameraParams()

◆ clearColors()

◆ getAzimuthDegrees()

◆ getCameraPointingX()

◆ getCameraPointingY()

◆ getCameraPointingZ()

◆ getClearColorA()

◆ getClearColorB()

◆ getClearColorG()

◆ getClearColorR()

◆ getElevationDegrees()

◆ getLastMousePosition()

◆ getOpenGLSceneRef()

◆ getRefCameraParams()

◆ getUseCameraFromScene()

◆ getZoomDistance()

◆ isCameraProjective()

◆ OnUserManuallyMovesCamera()

◆ postRender()

◆ preRender()

◆ renderCanvas()

◆ renderError()

◆ resizeViewport()

◆ setAzimuthDegrees()

◆ setCameraFOV()

◆ setCameraParams()

◆ setCameraPointing()

◆ setCameraProjective()

◆ setClearColors()

◆ setElevationDegrees()

◆ setMaximumZoom()

◆ setMinimumZoom()

◆ setMouseClicked()

◆ setMousePos()

◆ setOpenGLSceneRef()

◆ setUseCameraFromScene()

◆ setZoomDistance()

◆ swapBuffers()

◆ updateCameraParams()

◆ updateLastPos()

◆ updateOrbitCamera()

◆ updatePan()

◆ updateRotate()

◆ updateZoom() [1/2]

◆ updateZoom() [2/2]

Member Data Documentation

◆ clearColorA

◆ clearColorB

◆ clearColorG

◆ clearColorR

◆ m_cameraParams

◆ m_maxZoom

◆ m_minZoom

◆ m_mouseClickX

◆ m_mouseClickY

◆ m_mouseLastX

◆ m_mouseLastY

◆ m_openGLScene

◆ mouseClicked

◆ SENSIBILITY_DEG_PER_PIXEL

◆ useCameraFromScene