/*!
Sets up the grasp visualization window. If one exists already it is
deleted. The window consists of a render area, and the scene graph uses
the same camera as the main viewer. The primitives sub-graph, pointed to by
\a prim , is added using the same transform as \a myBody has in the main
world. The candidate grasps can then be added to this scene later.
*/
void
grasp_tester::setupGraspVisWindow(GraspableBody *myBody, SoGroup *prim)
{
if (projectionViewer) {
QWidget *topShell = projectionViewer->getShellWidget();
delete projectionViewer;
delete topShell;
}
/* get global stuff from ivmgr */
updateGlobals();
SoSeparator *VisTop = new SoSeparator();
SoTransformSeparator *lightSep = new SoTransformSeparator();
SoRotation *lightDir = new SoRotation();
SoSeparator *objSep = new SoSeparator();
glRoot = new SoSeparator();
lightDir->rotation.connectFrom(&myViewer->getCamera()->orientation);
lightSep->addChild(lightDir);
lightSep->addChild(myViewer->getHeadlight());
objSep->addChild(myBody->getIVTran());
objSep->addChild(prim);
VisTop->addChild(myViewer->getCamera());
VisTop->addChild(lightSep);
VisTop->addChild(objSep);
VisTop->addChild(glRoot);
projectionViewer = new SoQtRenderArea();
projectionViewer->setTransparencyType(SoGLRenderAction::SORTED_OBJECT_BLEND);
projectionViewer->setBackgroundColor(SbColor(1, 1, 1));
projectionViewer->setTitle("GraspIt!");
projectionViewer->setSceneGraph(VisTop);
projectionViewer->show();
}
//HandViewWindow:
//Set the HandViewWindow which contains he views themselves
HandViewWindow::HandViewWindow(QWidget * parent, Hand * h, const QRect & geom, SoNode * IVRoot, QWidget * stageFrame):currentPreviewIndex(-1),
maxViewSize(3), cloneHand(new Hand(h->getWorld(), "newHand")), geom_(geom), grid(NULL), stageFrame_(stageFrame)
{
handViewWindow = new QFrame(NULL);
handViewWindow->setWindowFlags(Qt::WindowStaysOnTopHint);
viewHolder = new QFrame(NULL);
handViewWindow->setGeometry(geom);
hbox = new QHBoxLayout(handViewWindow);
handViewWindow->show();
viewHolder->setGeometry(0,0,2*geom_.width()/3,2*geom_.height()/3);
viewHolder->setMinimumSize(2*geom_.width()/3,2*geom_.height()/3);
viewHolder->setMaximumSize(2*geom_.width()/3,2*geom_.height()/3);
viewHolder->setFrameStyle(QFrame::Box | QFrame::Raised);
viewHolder->setLineWidth(2);
if(IVRoot)
{
SoQtRenderArea * render = new SoQtRenderArea(viewHolder, " ",true);
vbox1 = new QVBoxLayout();
hbox->addLayout(vbox1);
vbox1->addWidget(viewHolder);
vbox1->addWidget(stageFrame);
//render->setSceneGraph(IVRoot);
SoSeparator * testRoot = new SoSeparator;
//SoCone * testCone = new SoCone;
//SoCamera * testCamera = new SoPerspectiveCamera;
SoMaterial * testMaterial = new SoMaterial;
testMaterial->diffuseColor.setValue(1,0,0);
testRoot->addChild(graspItGUI->getIVmgr()->getViewer()->getCamera());
SoTransformSeparator *lightSep = new SoTransformSeparator;
SoRotation *lightDir = new SoRotation;
lightDir->rotation.connectFrom(&graspItGUI->getIVmgr()->getViewer()->getCamera()->orientation);
lightSep->addChild(lightDir);
lightSep->addChild(graspItGUI->getIVmgr()->getViewer()->getHeadlight());
SoLightModel * model = new SoLightModel;
model->model=SoLightModel::PHONG;
testRoot->addChild(lightSep);
testRoot->addChild(model);
testRoot->addChild(IVRoot);
render->setSceneGraph(testRoot);
render->setBackgroundColor(SbColor(1,1,1));
render->scheduleRedraw();
render->render();
render->show();
}
vbox2 = new QVBoxLayout();
vbox2->setGeometry(QRect(0,0,geom_.width()/3,geom_.height()));
vbox2->setSizeConstraint(QLayout::SetMinimumSize);
hbox->addLayout(vbox2);
// vbox2->addWidget(new QWidget());
//handViewWindow->setWindowFlags(Qt::WindowStaysOnTopHint);
//handViewWindow->resize(QSize(900,100));
//handViewFrame->setGeometry(geom_);
handViewWindow->setFrameStyle(QFrame::Box | QFrame::Raised);
handViewWindow->setLineWidth(4);
cloneHand->cloneFrom(h);
cloneHand->setTransparency(0.0);
cloneHand->setRenderGeometry(false);
cloneHand->showVirtualContacts(false);
cloneHand->getWorld()->toggleCollisions(false, cloneHand);
}
