ViewportCore::ViewportCore(SoQtViewer *viewer)
: viewer(viewer)
{
manip = master->getViewportInstance();
total = new SoSelection();
total->policy = SoSelection::SINGLE;
total->setPickFilterCallback(pickFilterCB);
total->addSelectionCallback(selectCB, master);
total->addDeselectionCallback(deselectCB, master);
total->ref();
camera = new SoPerspectiveCamera();
total->addChild(camera);
total->addChild(ViewportCore::sceneRoot);
SoCallback *zClear = new SoCallback();
zClear->setCallback(zClearCallback);
total->addChild(zClear);
camera->viewAll(total, viewer->getViewportRegion());
total->addChild(manip->getRootNode());
viewer->setSceneGraph(total);
manip->setViewer(viewer);
}
int
main(int argc, char ** argv)
{
QWidget * win = SoQt::init("Debug Test");
SoQtExaminerViewer * viewer = new SoQtExaminerViewer(win);
viewer->show();
SoQt::show(win);
SoSeparator * sep = new SoSeparator;
SoCallback * cb = new SoCallback;
cb->setCallback(callback, sep);
sep->addChild(cb);
sep->addChild(new SoCube);
viewer->setSceneGraph(sep);
viewer->setViewing(FALSE);
SoQt::mainLoop();
viewer->hide();
// delete viewer;
return 0;
}
SoSeparator *glowBranch(SoSeparator *geomHolder, SoMaterial *glowMat)
{
SoSeparator *root = new SoSeparator();
SoCallback *stFore = new SoCallback();
stFore->setCallback(stencilCBfore);
root->addChild(stFore);
root->addChild(geomHolder); // 1st / normal instance
// glow / background
root->addChild(glowMat);
SoDrawStyle *glowStyle = new SoDrawStyle();
glowStyle->style = SoDrawStyle::LINES;
glowStyle->lineWidth = 4;
root->addChild(glowStyle);
SoLightModel *lm = new SoLightModel();
lm->model = SoLightModel::BASE_COLOR;
root->addChild(lm);
SoCallback *stBack = new SoCallback();
stBack->setCallback(stencilCBback);
root->addChild(stBack);
root->addChild(geomHolder); // 2nd / glow instance
SoCallback *stEnd = new SoCallback();
stEnd->setCallback(stencilCBend);
root->addChild(stEnd);
return root;
}
void init() {
SoCallback* callbackNode = new SoCallback();
callbackNode->setCallback( callbackCB, m_self );
m_self->addChild( callbackNode );
}
void BCIService::init(BCIControlWindow *bciControlWindow)
{
ROS_INFO("Initing BCI Service");
bciRenderArea = bciControlWindow->bciWorldView->renderArea;
QPushButton * slowButton = new QPushButton("Flex Medium (Next)");
QPushButton * fastButton = new QPushButton("Flex Hard (Select)");
slowButton->setDefault(true);
fastButton->setDefault(true);
QDialogButtonBox *cursorControlBox = new QDialogButtonBox(Qt::Vertical);
cursorControlBox->setCaption(QString("Cursor Control Box"));
cursorControlBox->addButton(slowButton, QDialogButtonBox::ActionRole);
cursorControlBox->addButton(fastButton, QDialogButtonBox::ActionRole);
cursorControlBox->setWindowFlags(Qt::WindowStaysOnTopHint);
cursorControlBox->resize(QSize(200,100));
cursorControlBox->show();
QObject::connect(slowButton, SIGNAL(clicked()), this, SLOT(updateControlSceneState1()));
QObject::connect(fastButton, SIGNAL(clicked()), this, SLOT(updateControlSceneState2()));
endOfExperimentFormat = new QFormLayout();
successFailure = new QComboBox();
successFailure->insertItem("Success");
successFailure->insertItem("Failure");
finalComments = new QTextEdit();
finishedButton = new QPushButton("FINISHED");
endOfExperimentFormat->addRow(tr("&Success or failure: "), successFailure);
endOfExperimentFormat->addRow(tr("&Comments: "), finalComments);
endOfExperimentFormat->addRow(tr(""), finishedButton);
endOfExperiment = new QGroupBox();
endOfExperiment->setLayout(endOfExperimentFormat);
QObject::connect(finishedButton, SIGNAL(clicked()), this, SLOT(onFinishedFinalLog()));
endOfExperiment->show();
timer = new QTimer;
QObject::connect(timer, SIGNAL(timeout()), this, SLOT(updateControlScene()));
timer->start(1000 / 30);
QObject::connect(this, SIGNAL(goToStateLow()), this, SLOT(updateControlSceneState0()));
QObject::connect(this, SIGNAL(goToStateMedium()), this, SLOT(updateControlSceneState1()));
QObject::connect(this, SIGNAL(goToStateHigh()), this, SLOT(updateControlSceneState2()));
SoAnnotation *hudSeparator = new SoAnnotation;
hudSeparator->renderCaching = SoSeparator::OFF;
hudSeparator->setName("hud");
graspitCore->getWorld()->getIVRoot()->addChild(hudSeparator);
pcam = new SoOrthographicCamera;
pcam->position = SbVec3f(0, 0, 10);
pcam->nearDistance = 0.1;
pcam->farDistance = 11;
hudSeparator->addChild(pcam);
SoLightModel * hudLightModel = new SoLightModel;
hudLightModel->model=SoLightModel::BASE_COLOR;
hudSeparator->addChild(hudLightModel);
SoCallback * disableZTestNode = new SoCallback();
disableZTestNode->setCallback(ui_tools::disableZCulling);
hudSeparator->addChild(disableZTestNode);
csm = new ControllerSceneManager(hudSeparator);
BCIStateMachine *bciStateMachine = new BCIStateMachine(bciControlWindow,this);
connect(this, SIGNAL(plannerUpdated()), bciControlWindow, SLOT(redraw()));
connect(GraspManager::getInstance(), SIGNAL(render()), bciControlWindow, SLOT(redraw()));
bciStateMachine->start();
ROS_INFO("Finished initing BCI Service");
}
