CGlCanvasBase.h

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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 |
   +------------------------------------------------------------------------+ */

#pragma once
#include <mrpt/opengl/COpenGLScene.h>

namespace mrpt
{
namespace opengl
{
class CCamera;
}
}

namespace mrpt
{
namespace gui
{
/** This base class implements a working with opengl::Camera and a OpenGL
 * canvas, and it's used in gui::CWxGLCanvasBase and gui::CQtGlCanvasBase.
*/
class CGlCanvasBase
{
   public:
        struct CamaraParams
        {
                CamaraParams() {}
                void setElevationDeg(float deg);

                float cameraPointingX = .0f, cameraPointingY = .0f,
                          cameraPointingZ = .0f;
                float cameraZoomDistance = 40.f;
                float cameraElevationDeg = 45.f, cameraAzimuthDeg = 45.f;
                bool cameraIsProjective = true;
                float cameraFOV = 30.f;
        };

        CGlCanvasBase() {}
        virtual ~CGlCanvasBase() {}
        /** Sets the minimum of the zoom
         * See also setMaximumZoom(float) */
        void setMinimumZoom(float zoom);

        /** Sets the maximum of the zoom
         * See also setMinimumZoom(float) */
        void setMaximumZoom(float zoom);

        /** Saves the click position of the mouse
         * See also setMouseClicked(bool) */
        void setMousePos(int x, int y);

        /** Sets the property mouseClicked
         * By default, this property is false.
         * See also setMousePos(int, int) */
        void setMouseClicked(bool is);

        /** Sets the last mouse position */
        void updateLastPos(int x, int y);
        /** Calls the glViewport function*/
        void resizeViewport(int w, int h);
        /** Calls the glClearColor function
         * See also setClearColors(float, float, float, float)*/
        void clearColors();

        /** 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)*/
        void updateZoom(CamaraParams& params, int x, int y) 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)*/
        void updateZoom(CamaraParams& params, float delta) const;
        /** This function for the mouse event
         * It gets a reference to CamaraParams, x, y
         * and updates the elevation and azimuth.
         * See also getElevationDegrees(), getAzimuthDegrees()*/
        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.
         * See also getElevationDegrees(), getAzimuthDegrees()*/
        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 pointing of the camera.
         * See also getCameraPointingX(), getCameraPointingY(),
         * getCameraPointingZ()*/
        void updatePan(CamaraParams& params, int x, int y) const;

        /** Returns a copy of CamaraParams
         * See also getRefCameraParams(), setCameraParams(const CamaraParams &)*/
        CamaraParams cameraParams() const;
        /** Returns a reference to CamaraParams
         * See also cameraParams(), setCameraParams(const CamaraParams &) */
        const CamaraParams& getRefCameraParams() const;
        /** Sets the CamaraParams
         * See also cameraParams(), getRefCameraParams()*/
        virtual void setCameraParams(const CamaraParams& params);

        /** This function gets a reference to mrpt::opengl::CCamera and
         * updates the camera parameters(pointing, zoom, azimuth, elevation,
         * IsProjective, FOV)
        */
        mrpt::opengl::CCamera& updateCameraParams(mrpt::opengl::CCamera& cam) const;

        /** 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()
          */
        void setUseCameraFromScene(bool is);

        /** See also void setUseCameraFromScene(bool)
        */
        bool getUseCameraFromScene() const;

        // Visualization params:
        /** Saves the pointing of the camera
         * See also getCameraPointingX(), getCameraPointingY(), getCameraPointingZ()
        */
        virtual void setCameraPointing(float pointX, float pointY, float pointZ);

        /** Returns the x pointing of the camera
         * See also setCameraPointing(float, float, float)
        */
        float getCameraPointingX() const;

        /** Returns the y pointing of the camera
         * See also setCameraPointing(float, float, float)
        */
        float getCameraPointingY() const;

        /** Returns the z pointing of the camera
         * See also setCameraPointing(float, float, float)
        */
        float getCameraPointingZ() const;

        /** Saves camera zooming
         * See also getZoomDistance()
        */
        virtual void setZoomDistance(float zoom);

        /** Returns a zoom
         * See also setZoomDistance(float)
        */
        float getZoomDistance() const;

        /** Saves the degrees of the azimuth camera
         * See also getAzimuthDegrees()
        */
        virtual void setAzimuthDegrees(float ang);

        /** Returns a azimuth degrees
         * See also setAzimuthDegrees(float)
        */
        float getAzimuthDegrees() const;

        /** Saves the degrees of the elevation camera
         * See also getElevationDegrees()
        */
        virtual void setElevationDegrees(float ang);

        /** Returns a elevation degrees
         * See also setElevationDegrees(float)
        */
        float getElevationDegrees() const;

        virtual void setCameraProjective(bool is);
        bool isCameraProjective() const;

        virtual void setCameraFOV(float FOV);
        float cameraFOV() const;

        /** Sets the RGBA colors for glClearColor
         * See also clearColors(), getClearColorR(),
         * getClearColorG(),getClearColorB(), getClearColorA()
        */
        void setClearColors(float r, float g, float b, float a = 1.0f);
        float getClearColorR() const;
        float getClearColorG() const;
        float getClearColorB() const;
        float getClearColorA() const;

        static float SENSIBILITY_DEG_PER_PIXEL;  // Default = 0.1

        /** 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.
                          */
        virtual void OnUserManuallyMovesCamera(
                float new_cameraPointingX, float new_cameraPointingY,
                float new_cameraPointingZ, float new_cameraZoomDistance,
                float new_cameraElevationDeg, float new_cameraAzimuthDeg)
        {
                m_cameraParams.cameraPointingX = new_cameraPointingX;
                m_cameraParams.cameraPointingY = new_cameraPointingY;
                m_cameraParams.cameraPointingZ = new_cameraPointingZ;
                m_cameraParams.cameraZoomDistance = new_cameraZoomDistance;
                m_cameraParams.cameraElevationDeg = new_cameraElevationDeg;
                m_cameraParams.cameraAzimuthDeg = new_cameraAzimuthDeg;
        }

        inline void getLastMousePosition(int& x, int& y) const
        {
                x = m_mouseLastX;
                y = m_mouseLastY;
        }

        /**  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                 */
        mrpt::opengl::COpenGLScene::Ptr& getOpenGLSceneRef()
        {
                return m_openGLScene;
        }
        void setOpenGLSceneRef(mrpt::opengl::COpenGLScene::Ptr scene);

   protected:
        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:
        float clearColorR = .4f, clearColorG = .4f, clearColorB = .4f,
                  clearColorA = 1.f;
        bool useCameraFromScene = false;
        mrpt::opengl::COpenGLScene::Ptr m_openGLScene =
                mrpt::make_aligned_shared<mrpt::opengl::COpenGLScene>();
        int m_mouseLastX = 0, m_mouseLastY = 0;
        int m_mouseClickX = 0, m_mouseClickY = 0;
        bool mouseClicked = false;
        float m_minZoom = 1.f;
        float m_maxZoom = 3200.f;
        CamaraParams m_cameraParams;
};  // end of class
}  // end namespace
}  // end namespace