CDisplayWindow3D.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "gui-precomp.h"  // Precompiled headers
 
#include <mrpt/config.h>
 
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/utils/CTicTac.h>
 
#include <mrpt/gui/WxSubsystem.h>
#include <mrpt/gui/WxUtils.h>
 
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::utils;
using namespace mrpt::system;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace std;
 
#if MRPT_HAS_OPENGL_GLUT
#ifdef MRPT_OS_WINDOWS
// Windows:
#include <windows.h>
#endif
 
#ifdef MRPT_OS_APPLE
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#include <GLUT/glut.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
 
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
 
#if !wxUSE_GLCANVAS
#error "OpenGL required: set wxUSE_GLCANVAS to 1 and rebuild wxWidgets"
#endif
 
#include <mrpt/gui/CWxGLCanvasBase.h>
#include <mrpt/opengl/CTextMessageCapable.h>
 
namespace mrpt
{
namespace gui
{
class CMyGLCanvas_DisplayWindow3D : public mrpt::gui::CWxGLCanvasBase
{
   public:
        CMyGLCanvas_DisplayWindow3D(
                CDisplayWindow3D* win3D, wxWindow* parent, wxWindowID id = wxID_ANY,
                const wxPoint& pos = wxDefaultPosition,
                const wxSize& size = wxDefaultSize, long style = 0,
                const wxString& name = _T("CMyGLCanvas_DisplayWindow3D"));
 
        virtual ~CMyGLCanvas_DisplayWindow3D();
 
        CDisplayWindow3D* m_win3D = nullptr;
 
        // The idea is that CMyGLCanvas_DisplayWindow3D was derived from
        // CTextMessageCapable, but
        //  that raises errors in MSVC when converting method pointers to
        //  wxObjectEventFunction...
        struct THubClass : public mrpt::opengl::CTextMessageCapable
        {
                void render_text_messages_public(const int w, const int h) const
                {
                        render_text_messages(w, h);
                }
        };
        THubClass m_text_msgs;
 
        void OnCharCustom(wxKeyEvent& event);
        void OnMouseDown(wxMouseEvent& event);
        void OnMouseMove(wxMouseEvent& event);
 
        void OnPreRender();
        void OnPostRender();
        void OnPostRenderSwapBuffers(double At, wxPaintDC& dc);
 
        static void display3D_processKeyEvent(
                CDisplayWindow3D* m_win3D, wxKeyEvent& ev);
};
}
}
 
CMyGLCanvas_DisplayWindow3D::CMyGLCanvas_DisplayWindow3D(
        CDisplayWindow3D* win3D, wxWindow* parent, wxWindowID id,
        const wxPoint& pos, const wxSize& size, long style, const wxString& name)
        : CWxGLCanvasBase(parent, id, pos, size, style, name), m_win3D(win3D)
{
        this->Bind(wxEVT_CHAR, &CMyGLCanvas_DisplayWindow3D::OnCharCustom, this);
        this->Bind(
                wxEVT_CHAR_HOOK, &CMyGLCanvas_DisplayWindow3D::OnCharCustom, this);
        this->Bind(
                wxEVT_LEFT_DOWN, &CMyGLCanvas_DisplayWindow3D::OnMouseDown, this);
        this->Bind(
                wxEVT_RIGHT_DOWN, &CMyGLCanvas_DisplayWindow3D::OnMouseDown, this);
        this->Bind(wxEVT_MOTION, &CMyGLCanvas_DisplayWindow3D::OnMouseMove, this);
}
 
void CMyGLCanvas_DisplayWindow3D::display3D_processKeyEvent(
        CDisplayWindow3D* m_win3D, wxKeyEvent& ev)
{
        if (m_win3D)
        {
                if (ev.AltDown() && ev.GetKeyCode() == MRPTK_RETURN)
                {
                        if (mrpt::system::timeDifference(
                                        m_win3D->m_lastFullScreen, mrpt::system::now()) > 0.2)
                        {
                                m_win3D->m_lastFullScreen = mrpt::system::now();
                                cout << "[CDisplayWindow3D] Switching fullscreen...\n";
                                C3DWindowDialog* win = (C3DWindowDialog*)m_win3D->m_hwnd.get();
                                if (win)
                                {
                                        win->ShowFullScreen(!win->IsFullScreen());
                                }
                        }
                        // Alt+Enter: Don't notify on this key stroke, since if we're
                        // switching to fullscreen
                        //  and the user is waiting for a key to close the window, a runtime
                        //  crash will occur,
                        //  so return now:
                        return;
                }
 
                const int code = ev.GetKeyCode();
                const mrptKeyModifier mod = mrpt::gui::keyEventToMrptKeyModifier(ev);
 
                m_win3D->m_keyPushedCode = code;
                m_win3D->m_keyPushedModifier = mod;
                m_win3D->m_keyPushed = true;
 
                // Send the event:
                try
                {
                        m_win3D->publishEvent(mrptEventWindowChar(m_win3D, code, mod));
                }
                catch (...)
                {
                }
        }
        // ev.Skip(); // Pass the event to whoever else.
}
 
void CMyGLCanvas_DisplayWindow3D::OnCharCustom(wxKeyEvent& ev)
{
        CMyGLCanvas_DisplayWindow3D::display3D_processKeyEvent(m_win3D, ev);
}
 
void CMyGLCanvas_DisplayWindow3D::OnMouseDown(wxMouseEvent& event)
{
        // Send the event:
        if (m_win3D && m_win3D->hasSubscribers())
        {
                try
                {
                        m_win3D->publishEvent(
                                mrptEventMouseDown(
                                        m_win3D, TPixelCoord(event.GetX(), event.GetY()),
                                        event.LeftDown(), event.RightDown()));
                }
                catch (...)
                {
                }
        }
 
        event.Skip();  // so it's processed by the wx system!
}
 
void CMyGLCanvas_DisplayWindow3D::OnMouseMove(wxMouseEvent& event)
{
        // Send the event:
        if (m_win3D && m_win3D->hasSubscribers())
        {
                try
                {
                        m_win3D->publishEvent(
                                mrptEventMouseMove(
                                        m_win3D, TPixelCoord(event.GetX(), event.GetY()),
                                        event.LeftDown(), event.RightDown()));
                }
                catch (...)
                {
                }
        }
 
        event.Skip();  // so it's processed by the wx system!
}
 
CMyGLCanvas_DisplayWindow3D::~CMyGLCanvas_DisplayWindow3D()
{
        getOpenGLSceneRef().reset();  // Avoid the base class to free this object
        // (it's freed by CDisplayWindow3D)
}
 
void CMyGLCanvas_DisplayWindow3D::OnPreRender()
{
        auto& openGLSceneRef = getOpenGLSceneRef();
        if (openGLSceneRef) openGLSceneRef.reset();
 
        COpenGLScene::Ptr& ptrScene = m_win3D->get3DSceneAndLock();
        if (ptrScene) openGLSceneRef = ptrScene;
}
 
void CMyGLCanvas_DisplayWindow3D::OnPostRender()
{
        // Avoid the base class to free this object (it's freed by CDisplayWindow3D)
        getOpenGLSceneRef().reset();
        m_win3D->unlockAccess3DScene();
 
        // If any, draw the 2D text messages:
        int w, h;
        this->GetSize(&w, &h);
 
        m_text_msgs.render_text_messages_public(w, h);
}
 
void CMyGLCanvas_DisplayWindow3D::OnPostRenderSwapBuffers(
        double At, wxPaintDC& dc)
{
        if (m_win3D) m_win3D->internal_setRenderingFPS(At > 0 ? 1.0 / At : 1e9);
 
        // If we are requested to do so, grab images to disk as they are rendered:
        string grabFile;
        if (m_win3D) grabFile = m_win3D->grabImageGetNextFile();
        if (m_win3D && (!grabFile.empty() || m_win3D->isCapturingImgs()))
        {
                int w, h;
                dc.GetSize(&w, &h);
 
                // Save image directly from OpenGL - It could also use 4 channels and
                // save with GL_BGRA_EXT
                CImage::Ptr frame(new CImage(w, h, 3, false));
                glReadBuffer(GL_FRONT);
                glReadPixels(0, 0, w, h, GL_BGR_EXT, GL_UNSIGNED_BYTE, (*frame)(0, 0));
 
                if (!grabFile.empty())
                {
                        frame->saveToFile(grabFile);
                        m_win3D->internal_emitGrabImageEvent(grabFile);
                }
 
                if (m_win3D->isCapturingImgs())
                {
                        {
                                std::lock_guard<std::mutex> lock(
                                        m_win3D->m_last_captured_img_cs);
                                m_win3D->m_last_captured_img = frame;
                                frame.reset();
                        }
                }
        }
}
 
#endif  // Wx + OpenGL
 
#if MRPT_HAS_WXWIDGETS
 
BEGIN_EVENT_TABLE(C3DWindowDialog, wxFrame)
 
END_EVENT_TABLE()
 
const long C3DWindowDialog::ID_MENUITEM1 = wxNewId();
const long C3DWindowDialog::ID_MENUITEM2 = wxNewId();
 
C3DWindowDialog::C3DWindowDialog(
        CDisplayWindow3D* win3D, WxSubsystem::CWXMainFrame* parent, wxWindowID id,
        const std::string& caption, wxSize initialSize)
        : m_win3D(win3D), m_mainFrame(parent)
{
#if MRPT_HAS_OPENGL_GLUT
 
        Create(
                parent, id, _U(caption.c_str()), wxDefaultPosition, initialSize,
                wxDEFAULT_FRAME_STYLE, _T("id"));
 
        wxIcon FrameIcon;
        FrameIcon.CopyFromBitmap(mrpt::gui::WxSubsystem::getMRPTDefaultIcon());
        SetIcon(FrameIcon);
 
        // Create the wxCanvas object:
        m_canvas = new CMyGLCanvas_DisplayWindow3D(
                win3D, this, wxID_ANY, wxDefaultPosition, wxDefaultSize);
 
        // Events:
        this->Bind(wxEVT_CLOSE_WINDOW, &C3DWindowDialog::OnClose, this);
        this->Bind(
                wxEVT_COMMAND_MENU_SELECTED, &C3DWindowDialog::OnMenuClose, this,
                ID_MENUITEM1);
        this->Bind(
                wxEVT_COMMAND_MENU_SELECTED, &C3DWindowDialog::OnMenuAbout, this,
                ID_MENUITEM2);
        this->Bind(wxEVT_CHAR, &C3DWindowDialog::OnChar, this);
        this->Bind(wxEVT_SIZE, &C3DWindowDialog::OnResize, this);
 
        // Increment number of windows:
        // int winCount =
        WxSubsystem::CWXMainFrame::notifyWindowCreation();
// cout << "[C3DWindowDialog] Notifying new window: " << winCount << endl;
#else
        THROW_EXCEPTION("MRPT was compiled without OpenGL support")
#endif
        // this->Iconize(false);
}
 
// Destructor
C3DWindowDialog::~C3DWindowDialog()
{
        //      cout << "[C3DWindowDialog::~C3DWindowDialog]" << endl;
}
 
// OnClose event:
void C3DWindowDialog::OnClose(wxCloseEvent& event)
{
        // Send the event:
        bool allow_close = true;
        try
        {
                mrptEventWindowClosed ev(m_win3D, true /* allow close */);
                m_win3D->publishEvent(ev);
                allow_close = ev.allow_close;
        }
        catch (...)
        {
        }
        if (!allow_close) return;  // Don't process this close event.
 
        //      cout << "[C3DWindowDialog::OnClose]" << endl;
        // Set the m_hwnd=nullptr in our parent object.
        m_win3D->notifyChildWindowDestruction();
 
        // Decrement number of windows:
        WxSubsystem::CWXMainFrame::notifyWindowDestruction();
 
        // Signal we are destroyed:
        m_win3D->m_windowDestroyed.set_value();
 
        event.Skip();  // keep processing by parent classes.
}
 
// Menu: Close
void C3DWindowDialog::OnMenuClose(wxCommandEvent& event) { Close(); }
// Menu: About
void C3DWindowDialog::OnMenuAbout(wxCommandEvent& event)
{
        ::wxMessageBox(
                _("3D Scene viewer\n Class gui::CDisplayWindow3D\n MRPT C++ library"),
                _("About..."));
}
 
void C3DWindowDialog::OnChar(wxKeyEvent& ev)
{
#if MRPT_HAS_OPENGL_GLUT
        CMyGLCanvas_DisplayWindow3D::display3D_processKeyEvent(m_win3D, ev);
#endif
}
 
void C3DWindowDialog::OnResize(wxSizeEvent& event)
{
#if MRPT_HAS_OPENGL_GLUT
        // Send the event:
        if (m_win3D)
        {
                try
                {
                        m_win3D->publishEvent(
                                mrptEventWindowResize(
                                        m_win3D, event.GetSize().GetWidth(),
                                        event.GetSize().GetHeight()));
                }
                catch (...)
                {
                }
        }
        event.Skip();  // so it's processed by the wx system!
#endif
}
 
void C3DWindowDialog::clearTextMessages()
{
#if MRPT_HAS_OPENGL_GLUT
        m_canvas->m_text_msgs.clearTextMessages();
#endif
}
 
void C3DWindowDialog::addTextMessage(
        const double x_frac, const double y_frac, const std::string& text,
        const mrpt::utils::TColorf& color, const size_t unique_index,
        const mrpt::opengl::TOpenGLFont font)
{
#if MRPT_HAS_OPENGL_GLUT
        m_canvas->m_text_msgs.addTextMessage(
                x_frac, y_frac, text, color, unique_index, font);
#endif
}
 
void C3DWindowDialog::addTextMessage(
        const double x_frac, const double y_frac, const std::string& text,
        const mrpt::utils::TColorf& color, const std::string& font_name,
        const double font_size, const mrpt::opengl::TOpenGLFontStyle font_style,
        const size_t unique_index, const double font_spacing,
        const double font_kerning, const bool has_shadow,
        const mrpt::utils::TColorf& shadow_color)
{
#if MRPT_HAS_OPENGL_GLUT
        m_canvas->m_text_msgs.addTextMessage(
                x_frac, y_frac, text, color, font_name, font_size, font_style,
                unique_index, font_spacing, font_kerning, has_shadow, shadow_color);
#endif
}
 
#endif  // MRPT_HAS_WXWIDGETS
 
/*---------------------------------------------------------------
                                        Constructor
 ---------------------------------------------------------------*/
CDisplayWindow3D::CDisplayWindow3D(
        const std::string& windowCaption, unsigned int initialWindowWidth,
        unsigned int initialWindowHeight)
        : CBaseGUIWindow(static_cast<void*>(this), 300, 399, windowCaption),
          m_grab_imgs_prefix(),
          m_grab_imgs_idx(0),
          m_is_capturing_imgs(false),
          m_lastFullScreen(mrpt::system::now()),
          m_last_FPS(10)
{
        //      static mrpt::utils::CStdOutStream oo;
        //      m_csAccess3DScene.m_debugOut = &oo;
 
        m_3Dscene = COpenGLScene::Create();
        CBaseGUIWindow::createWxWindow(initialWindowWidth, initialWindowHeight);
}
 
CDisplayWindow3D::Ptr CDisplayWindow3D::Create(
        const std::string& windowCaption, unsigned int initialWindowWidth,
        unsigned int initialWindowHeight)
{
        return CDisplayWindow3D::Ptr(
                new CDisplayWindow3D(
                        windowCaption, initialWindowWidth, initialWindowHeight));
}
/*---------------------------------------------------------------
                                        Destructor
 ---------------------------------------------------------------*/
CDisplayWindow3D::~CDisplayWindow3D()
{
        // get lock so we make sure nobody else is touching the window right now.
        m_csAccess3DScene.lock();
        m_csAccess3DScene.unlock();
 
        CBaseGUIWindow::destroyWxWindow();
}
 
/*---------------------------------------------------------------
                                        resize
 ---------------------------------------------------------------*/
void CDisplayWindow3D::resize(unsigned int width, unsigned int height)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        if (!isOpen())
        {
                cerr << "[CDisplayWindow3D::setPos] Window closed!: " << m_caption
                         << endl;
                return;
        }
 
        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->source3D = this;
        REQ->OPCODE = 303;
        REQ->x = width;
        REQ->y = height;
        WxSubsystem::pushPendingWxRequest(REQ);
#else
        MRPT_UNUSED_PARAM(width);
        MRPT_UNUSED_PARAM(height);
#endif
}
 
/*---------------------------------------------------------------
                                        setPos
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setPos(int x, int y)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        if (!isOpen())
        {
                cerr << "[CDisplayWindow3D::setPos] Window closed!: " << m_caption
                         << endl;
                return;
        }
 
        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->source3D = this;
        REQ->OPCODE = 302;
        REQ->x = x;
        REQ->y = y;
        WxSubsystem::pushPendingWxRequest(REQ);
#else
        MRPT_UNUSED_PARAM(x);
        MRPT_UNUSED_PARAM(y);
#endif
}
 
/*---------------------------------------------------------------
                                        setWindowTitle
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setWindowTitle(const std::string& str)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        if (!isOpen())
        {
                cerr << "[CDisplayWindow3D::setWindowTitle] Window closed!: "
                         << m_caption << endl;
                return;
        }
 
        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->source3D = this;
        REQ->OPCODE = 304;
        REQ->str = str;
        WxSubsystem::pushPendingWxRequest(REQ);
#else
        MRPT_UNUSED_PARAM(str);
#endif
}
 
/*---------------------------------------------------------------
                                        get3DSceneAndLock
 ---------------------------------------------------------------*/
opengl::COpenGLScene::Ptr& CDisplayWindow3D::get3DSceneAndLock()
{
        m_csAccess3DScene.lock();
        return m_3Dscene;
}
 
/*---------------------------------------------------------------
                                        unlockAccess3DScene
 ---------------------------------------------------------------*/
void CDisplayWindow3D::unlockAccess3DScene() { m_csAccess3DScene.unlock(); }
/*---------------------------------------------------------------
                                        forceRepaint
 ---------------------------------------------------------------*/
void CDisplayWindow3D::forceRepaint()
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        C3DWindowDialog* win = (C3DWindowDialog*)m_hwnd.get();
        if (win)
        {
                // win->Refresh(false); // Do not erase background
                // We must do this from the wx thread!
 
                // Send refresh request:
                WxSubsystem::TRequestToWxMainThread* REQ =
                        new WxSubsystem::TRequestToWxMainThread[1];
                REQ->source3D = this;
                REQ->OPCODE = 350;
                WxSubsystem::pushPendingWxRequest(REQ);
        }
#endif
}
 
/*---------------------------------------------------------------
                                        setCameraElevationDeg
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setCameraElevationDeg(float deg)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        C3DWindowDialog* win = (C3DWindowDialog*)m_hwnd.get();
        if (win) win->m_canvas->setElevationDegrees(deg);
#else
        MRPT_UNUSED_PARAM(deg);
#endif
}
 
void CDisplayWindow3D::useCameraFromScene(bool useIt)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        C3DWindowDialog* win = (C3DWindowDialog*)m_hwnd.get();
        if (win) win->m_canvas->setUseCameraFromScene(useIt);
#else
        MRPT_UNUSED_PARAM(useIt);
#endif
}
 
/*---------------------------------------------------------------
                                        setCameraAzimuthDeg
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setCameraAzimuthDeg(float deg)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        C3DWindowDialog* win = (C3DWindowDialog*)m_hwnd.get();
        if (win) win->m_canvas->setAzimuthDegrees(deg);
#else
        MRPT_UNUSED_PARAM(deg);
#endif
}
 
/*---------------------------------------------------------------
                                        setCameraPointingToPoint
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setCameraPointingToPoint(float x, float y, float z)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        C3DWindowDialog* win = (C3DWindowDialog*)m_hwnd.get();
        if (win)
        {
                win->m_canvas->setCameraPointing(x, y, z);
        }
#else
        MRPT_UNUSED_PARAM(x);
        MRPT_UNUSED_PARAM(y);
        MRPT_UNUSED_PARAM(z);
#endif
}
 
/*---------------------------------------------------------------
                                        setCameraZoom
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setCameraZoom(float zoom)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        C3DWindowDialog* win = (C3DWindowDialog*)m_hwnd.get();
        if (win) win->m_canvas->setZoomDistance(zoom);
#else
        MRPT_UNUSED_PARAM(zoom);
#endif
}
 
/*---------------------------------------------------------------
                                        setCameraProjective
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setCameraProjective(bool isProjective)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        C3DWindowDialog* win = (C3DWindowDialog*)m_hwnd.get();
        if (win) win->m_canvas->setCameraProjective(isProjective);
#else
        MRPT_UNUSED_PARAM(isProjective);
#endif
}
 
void CDisplayWindow3D::setMinRange(double new_min)
{
        if (m_3Dscene)
        {
                mrpt::opengl::COpenGLViewport::Ptr gl_view =
                        m_3Dscene->getViewport("main");
                if (gl_view)
                {
                        double m, M;
                        gl_view->getViewportClipDistances(m, M);
                        gl_view->setViewportClipDistances(new_min, M);
                }
        }
}
void CDisplayWindow3D::setMaxRange(double new_max)
{
        if (m_3Dscene)
        {
                mrpt::opengl::COpenGLViewport::Ptr gl_view =
                        m_3Dscene->getViewport("main");
                if (gl_view)
                {
                        double m, M;
                        gl_view->getViewportClipDistances(m, M);
                        gl_view->setViewportClipDistances(m, new_max);
                }
        }
}
 
float CDisplayWindow3D::getFOV() const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        C3DWindowDialog* win = (C3DWindowDialog*)m_hwnd.get();
        if (win) return win->m_canvas->cameraFOV();
#endif
        return .0f;
}
 
void CDisplayWindow3D::setFOV(float v)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        C3DWindowDialog* win = (C3DWindowDialog*)m_hwnd.get();
        if (win) win->m_canvas->setCameraFOV(v);
#endif
}
 
/*---------------------------------------------------------------
                                        getCameraElevationDeg
 ---------------------------------------------------------------*/
float CDisplayWindow3D::getCameraElevationDeg() const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        const C3DWindowDialog* win = (const C3DWindowDialog*)m_hwnd.get();
        return win ? win->m_canvas->getElevationDegrees() : 0;
#else
        return 0;
#endif
}
 
/*---------------------------------------------------------------
                                        getCameraAzimuthDeg
 ---------------------------------------------------------------*/
float CDisplayWindow3D::getCameraAzimuthDeg() const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        const C3DWindowDialog* win = (const C3DWindowDialog*)m_hwnd.get();
        return win ? win->m_canvas->getAzimuthDegrees() : 0;
#else
        return 0;
#endif
}
 
/*---------------------------------------------------------------
                                        getCameraPointingToPoint
 ---------------------------------------------------------------*/
void CDisplayWindow3D::getCameraPointingToPoint(
        float& x, float& y, float& z) const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        const C3DWindowDialog* win = (const C3DWindowDialog*)m_hwnd.get();
        if (win)
        {
                x = win->m_canvas->getCameraPointingX();
                y = win->m_canvas->getCameraPointingY();
                z = win->m_canvas->getCameraPointingZ();
        }
        else
                x = y = z = 0;
#else
        MRPT_UNUSED_PARAM(x);
        MRPT_UNUSED_PARAM(y);
        MRPT_UNUSED_PARAM(z);
#endif
}
 
/*---------------------------------------------------------------
                                        getCameraZoom
 ---------------------------------------------------------------*/
float CDisplayWindow3D::getCameraZoom() const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        const C3DWindowDialog* win = (const C3DWindowDialog*)m_hwnd.get();
        return win ? win->m_canvas->getZoomDistance() : 0;
#else
        return 0;
#endif
}
 
/*---------------------------------------------------------------
                                        isCameraProjective
 ---------------------------------------------------------------*/
bool CDisplayWindow3D::isCameraProjective() const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        const C3DWindowDialog* win = (const C3DWindowDialog*)m_hwnd.get();
        return win ? win->m_canvas->isCameraProjective() : true;
#else
        return true;
#endif
}
 
/*---------------------------------------------------------------
                                        getLastMousePosition
 ---------------------------------------------------------------*/
bool CDisplayWindow3D::getLastMousePosition(int& x, int& y) const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        const C3DWindowDialog* win = (const C3DWindowDialog*)m_hwnd.get();
        if (!win) return false;
        win->m_canvas->getLastMousePosition(x, y);
        return true;
#else
        MRPT_UNUSED_PARAM(x);
        MRPT_UNUSED_PARAM(y);
        return false;
#endif
}
 
/*---------------------------------------------------------------
                                        getLastMousePositionRay
 ---------------------------------------------------------------*/
bool CDisplayWindow3D::getLastMousePositionRay(TLine3D& ray) const
{
        int x, y;
        if (getLastMousePosition(x, y))
        {
                m_csAccess3DScene.lock();
                m_3Dscene->getViewport("main")->get3DRayForPixelCoord(x, y, ray);
                m_csAccess3DScene.unlock();
                return true;
        }
        else
                return false;
}
 
/*---------------------------------------------------------------
                                        setCursorCross
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setCursorCross(bool cursorIsCross)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        const C3DWindowDialog* win = (const C3DWindowDialog*)m_hwnd.get();
        if (!win) return;
        win->m_canvas->SetCursor(
                *(cursorIsCross ? wxCROSS_CURSOR : wxSTANDARD_CURSOR));
#else
        MRPT_UNUSED_PARAM(cursorIsCross);
#endif
}
 
/*---------------------------------------------------------------
                                        grabImagesStart
 ---------------------------------------------------------------*/
void CDisplayWindow3D::grabImagesStart(const std::string& grab_imgs_prefix)
{
        m_grab_imgs_prefix = grab_imgs_prefix;
        m_grab_imgs_idx = 0;
}
 
/*---------------------------------------------------------------
                                        grabImagesStop
 ---------------------------------------------------------------*/
void CDisplayWindow3D::grabImagesStop() { m_grab_imgs_prefix.clear(); }
/*---------------------------------------------------------------
                                        grabImageGetNextFile
 ---------------------------------------------------------------*/
std::string CDisplayWindow3D::grabImageGetNextFile()
{
        if (m_grab_imgs_prefix.empty())
                return string();
        else
                return format(
                        "%s%06u.png", m_grab_imgs_prefix.c_str(), m_grab_imgs_idx++);
}
 
/*---------------------------------------------------------------
                                        captureImagesStart
 ---------------------------------------------------------------*/
void CDisplayWindow3D::captureImagesStart() { m_is_capturing_imgs = true; }
/*---------------------------------------------------------------
                                        captureImagesStop
 ---------------------------------------------------------------*/
void CDisplayWindow3D::captureImagesStop() { m_is_capturing_imgs = false; }
/*---------------------------------------------------------------
                                        getLastWindowImage
 ---------------------------------------------------------------*/
bool CDisplayWindow3D::getLastWindowImage(mrpt::utils::CImage& out_img) const
{
        bool ret;
 
        {
                std::lock_guard<std::mutex> lock(m_last_captured_img_cs);
                if (m_last_captured_img)
                {
                        out_img = *m_last_captured_img;  // Copy the full image
                        ret = true;
                }
                else
                        ret = false;
        }
        return ret;
}
 
/*---------------------------------------------------------------
                                        getLastWindowImagePtr
 ---------------------------------------------------------------*/
CImage::Ptr CDisplayWindow3D::getLastWindowImagePtr() const
{
        std::lock_guard<std::mutex> lock(m_last_captured_img_cs);
        return m_last_captured_img;
}
 
/*---------------------------------------------------------------
                                        addTextMessage
 ---------------------------------------------------------------*/
void CDisplayWindow3D::addTextMessage(
        const double x_frac, const double y_frac, const std::string& text,
        const mrpt::utils::TColorf& color, const size_t unique_index,
        const TOpenGLFont font)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        C3DWindowDialog* win = (C3DWindowDialog*)m_hwnd.get();
        if (win)
        {
                // Send request:
                // Add a 2D text message:
                //  vector_x: [0]:x, [1]:y, [2,3,4]:R G B, "x": enum of desired font.
                //  "y": unique index, "str": String.
                WxSubsystem::TRequestToWxMainThread* REQ =
                        new WxSubsystem::TRequestToWxMainThread[1];
                REQ->source3D = this;
                REQ->OPCODE = 360;
                REQ->str = text;
                REQ->vector_x.resize(5);
                REQ->vector_x[0] = x_frac;
                REQ->vector_x[1] = y_frac;
                REQ->vector_x[2] = color.R;
                REQ->vector_x[3] = color.G;
                REQ->vector_x[4] = color.B;
                REQ->x = int(font);
                REQ->y = int(unique_index);
 
                WxSubsystem::pushPendingWxRequest(REQ);
        }
#else
        MRPT_UNUSED_PARAM(x_frac);
        MRPT_UNUSED_PARAM(y_frac);
        MRPT_UNUSED_PARAM(text);
        MRPT_UNUSED_PARAM(color);
        MRPT_UNUSED_PARAM(unique_index);
        MRPT_UNUSED_PARAM(font);
#endif
}
 
/*---------------------------------------------------------------
                                        addTextMessage
 ---------------------------------------------------------------*/
void CDisplayWindow3D::addTextMessage(
        const double x_frac, const double y_frac, const std::string& text,
        const mrpt::utils::TColorf& color, const std::string& font_name,
        const double font_size, const mrpt::opengl::TOpenGLFontStyle font_style,
        const size_t unique_index, const double font_spacing,
        const double font_kerning, const bool draw_shadow,
        const mrpt::utils::TColorf& shadow_color)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        C3DWindowDialog* win = (C3DWindowDialog*)m_hwnd.get();
        if (win)
        {
                // Send request:
                // Add a 2D text message:
                WxSubsystem::TRequestToWxMainThread* REQ =
                        new WxSubsystem::TRequestToWxMainThread[1];
                REQ->source3D = this;
                REQ->OPCODE = 362;
                REQ->str = text;
                REQ->plotName = font_name;
                REQ->vector_x.resize(12);
                REQ->vector_x[0] = x_frac;
                REQ->vector_x[1] = y_frac;
                REQ->vector_x[2] = color.R;
                REQ->vector_x[3] = color.G;
                REQ->vector_x[4] = color.B;
                REQ->vector_x[5] = font_size;
                REQ->vector_x[6] = font_spacing;
                REQ->vector_x[7] = font_kerning;
                REQ->vector_x[8] = draw_shadow ? 1 : 0;
                REQ->vector_x[9] = shadow_color.R;
                REQ->vector_x[10] = shadow_color.G;
                REQ->vector_x[11] = shadow_color.B;
 
                REQ->x = int(font_style);
                REQ->y = int(unique_index);
 
                WxSubsystem::pushPendingWxRequest(REQ);
        }
#else
        MRPT_UNUSED_PARAM(x_frac);
        MRPT_UNUSED_PARAM(y_frac);
        MRPT_UNUSED_PARAM(text);
        MRPT_UNUSED_PARAM(color);
        MRPT_UNUSED_PARAM(font_name);
        MRPT_UNUSED_PARAM(font_size);
        MRPT_UNUSED_PARAM(font_style);
        MRPT_UNUSED_PARAM(unique_index);
        MRPT_UNUSED_PARAM(font_spacing);
        MRPT_UNUSED_PARAM(font_kerning);
        MRPT_UNUSED_PARAM(draw_shadow);
        MRPT_UNUSED_PARAM(shadow_color);
#endif
}
 
/*---------------------------------------------------------------
                                        clearTextMessages
 ---------------------------------------------------------------*/
void CDisplayWindow3D::clearTextMessages()
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        C3DWindowDialog* win = (C3DWindowDialog*)m_hwnd.get();
        if (win)
        {
                // Send request:
                WxSubsystem::TRequestToWxMainThread* REQ =
                        new WxSubsystem::TRequestToWxMainThread[1];
                REQ->source3D = this;
                REQ->OPCODE = 361;
                WxSubsystem::pushPendingWxRequest(REQ);
        }
#endif
}
 
void CDisplayWindow3D::internal_setRenderingFPS(double FPS)
{
        const double ALPHA = 0.99;
        m_last_FPS = ALPHA * m_last_FPS + (1 - ALPHA) * FPS;
}
 
// Called by CMyGLCanvas_DisplayWindow3D::OnPostRenderSwapBuffers
void CDisplayWindow3D::internal_emitGrabImageEvent(const std::string& fil)
{
        const mrptEvent3DWindowGrabImageFile ev(this, fil);
        publishEvent(ev);
}
 
// Returns the "main" viewport of the scene.
mrpt::opengl::COpenGLViewport::Ptr CDisplayWindow3D::getDefaultViewport()
{
        m_csAccess3DScene.lock();
        mrpt::opengl::COpenGLViewport::Ptr view = m_3Dscene->getViewport("main");
        m_csAccess3DScene.unlock();
        return view;
}
 
void CDisplayWindow3D::setImageView(const mrpt::utils::CImage& img)
{
        m_csAccess3DScene.lock();
        mrpt::opengl::COpenGLViewport::Ptr view = m_3Dscene->getViewport("main");
        view->setImageView(img);
        m_csAccess3DScene.unlock();
}
 
void CDisplayWindow3D::setImageView_fast(mrpt::utils::CImage& img)
{
        m_csAccess3DScene.lock();
        mrpt::opengl::COpenGLViewport::Ptr view = m_3Dscene->getViewport("main");
        view->setImageView_fast(img);
        m_csAccess3DScene.unlock();
}
 
CDisplayWindow3DLocker::CDisplayWindow3DLocker(
        CDisplayWindow3D& win, mrpt::opengl::COpenGLScene::Ptr& out_scene_ptr)
        : m_win(win)
{
        out_scene_ptr = m_win.get3DSceneAndLock();
}
CDisplayWindow3DLocker::CDisplayWindow3DLocker(CDisplayWindow3D& win)
        : m_win(win)
{
        m_win.get3DSceneAndLock();
}
CDisplayWindow3DLocker::~CDisplayWindow3DLocker()
{
        m_win.unlockAccess3DScene();
}