G2oQGLViewer::G2oQGLViewer(QWidget* parent, const QGLWidget* shareWidget, Qt::WFlags flags) :
QGLViewer(parent, shareWidget, flags),
graph(0), _drawActions(0), _drawList(0)
{
setAxisIsDrawn(false);
_drawActionParameters = new DrawAction::Parameters();
}
void
Viewer::drawBox()
{
setAxisIsDrawn();
glColor3d(0.5,0.5,0.5);
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
drawEnclosingCube(Vec(0,0,0),
Vec(m_height, m_width, m_depth));
glColor3d(0.8,0.8,0.8);
drawEnclosingCube(Vec(m_minHSlice, m_minWSlice, m_minDSlice),
Vec(m_maxHSlice, m_maxWSlice, m_maxDSlice));
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
// glBegin(GL_LINES);
// glVertex3f(0, 0, 0);
// glVertex3f(0, 0, m_depth);
//
// glVertex3f(0, 0, m_depth);
// glVertex3f(0, m_width, m_depth);
//
// glVertex3f(0, m_width, m_depth);
// glVertex3f(0, m_width, 0);
//
// glVertex3f(0, m_width, 0);
// glVertex3f(0, 0, 0);
//
//
// glVertex3f(m_height, 0, 0);
// glVertex3f(m_height, 0, m_depth);
//
// glVertex3f(m_height, 0, m_depth);
// glVertex3f(m_height, m_width, m_depth);
//
// glVertex3f(m_height, m_width, m_depth);
// glVertex3f(m_height, m_width, 0);
//
// glVertex3f(m_height, m_width, 0);
// glVertex3f(m_height, 0, 0);
//
// glVertex3f(0, 0, 0);
// glVertex3f(m_height, 0, 0);
//
// glVertex3f(0, 0, m_depth);
// glVertex3f(m_height, 0, m_depth);
//
// glVertex3f(0, m_width, m_depth);
// glVertex3f(m_height, m_width, m_depth);
//
// glVertex3f(0, m_width, 0);
// glVertex3f(m_height, m_width, 0);
//
// glEnd();
}
QtGLView::QtGLView(QWidget *parent) :
QGLViewer(parent),
drawLightSource(true)
{
setStateFileName(QString::null);
connect(&textureUpdater, SIGNAL(fileChanged(QString)), this, SLOT(textureChanged(QString)));
setShortcut(DISPLAY_FPS, 0); // Disable stuff that won't work.
setGridIsDrawn(true);
setAxisIsDrawn(true);
}
WZMOpenGLWidget::WZMOpenGLWidget(QWidget *parent)
: QGLViewer(parent), psModel(NULL), teamIndex(0),
selectedMesh(-1), animation(false), now(0)
{
if (!QGLFormat::hasOpenGL())
{
qWarning("This system has no OpenGL support!");
exit(EXIT_FAILURE);
}
timer.start();
setAxisIsDrawn(true);
}
void ViewerWidget::postDraw(){
// Reset model view matrix to world coordinates origin
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
camera()->loadModelViewMatrix();
// TODO restore model loadProjectionMatrixStereo
// Save OpenGL state
glPushAttrib(GL_ALL_ATTRIB_BITS);
glDisable(GL_COLOR_MATERIAL);
qglColor(foregroundColor());
if (gridIsDrawn()){
glLineWidth(1.0);
drawGrid(5.0, 10);
}
if (axisIsDrawn()){
glLineWidth(2.0);
drawAxis(1.0);
}
// Restore GL state
glPopAttrib();
glPopMatrix();
m_drawAxis = axisIsDrawn();
m_drawGrid = gridIsDrawn();
setAxisIsDrawn(false);
setGridIsDrawn(false);
QGLViewer::postDraw();
setAxisIsDrawn(m_drawAxis);
setGridIsDrawn(m_drawGrid);
}
void G2oQGLViewer::init()
{
QGLViewer::init();
//glDisable(GL_LIGHT0);
//glDisable(GL_LIGHTING);
setBackgroundColor(QColor::fromRgb(51, 51, 51));
// some default settings i like
glEnable(GL_LINE_SMOOTH);
glEnable(GL_BLEND);
glEnable(GL_DEPTH_TEST);
glEnable(GL_NORMALIZE);
//glEnable(GL_CULL_FACE);
glShadeModel(GL_FLAT);
//glShadeModel(GL_SMOOTH);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
setAxisIsDrawn();
// don't save state
setStateFileName(QString::null);
// mouse bindings
setMouseBinding(Qt::RightButton, CAMERA, ZOOM);
setMouseBinding(Qt::MidButton, CAMERA, TRANSLATE);
// keyboard shortcuts
setShortcut(CAMERA_MODE, 0);
setShortcut(EXIT_VIEWER, 0);
//setShortcut(SAVE_SCREENSHOT, 0);
// replace camera
qglviewer::Camera* oldcam = camera();
qglviewer::Camera* cam = new StandardCamera();
setCamera(cam);
cam->setPosition(qglviewer::Vec(0., 0., 75.));
cam->setUpVector(qglviewer::Vec(0., 1., 0.));
cam->lookAt(qglviewer::Vec(0., 0., 0.));
delete oldcam;
// getting a display list
_drawList = glGenLists(1);
}
void Slam2DViewer::init()
{
QGLViewer::init();
// some default settings i like
glEnable(GL_LINE_SMOOTH);
glEnable(GL_BLEND);
glEnable(GL_DEPTH_TEST);
glShadeModel(GL_SMOOTH);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
setAxisIsDrawn();
// don't save state
setStateFileName(QString::null);
// mouse bindings
#ifdef QGLVIEWER_DEPRECATED_MOUSEBINDING
setMouseBinding(Qt::NoModifier, Qt::RightButton, CAMERA, ZOOM);
setMouseBinding(Qt::NoModifier, Qt::MidButton, CAMERA, TRANSLATE);
#else
setMouseBinding(Qt::RightButton, CAMERA, ZOOM);
setMouseBinding(Qt::MidButton, CAMERA, TRANSLATE);
#endif
// keyboard shortcuts
setShortcut(CAMERA_MODE, 0);
setShortcut(EXIT_VIEWER, 0);
//setShortcut(SAVE_SCREENSHOT, 0);
// replace camera
qglviewer::Camera* oldcam = camera();
qglviewer::Camera* cam = new StandardCamera();
setCamera(cam);
cam->setPosition(qglviewer::Vec(0., 0., 75.));
cam->setUpVector(qglviewer::Vec(0., 1., 0.));
cam->lookAt(qglviewer::Vec(0., 0., 0.));
delete oldcam;
}
virtual void init(){
restoreStateFromFile();
glDisable(GL_LIGHTING);
setGridIsDrawn(false);
//help();
setAnimationPeriod(0); // fast as possible
startAnimation();
showEntireScene();
// Make world axis visible
setAxisIsDrawn(true);
// Move camera according to viewer type (on X, Y or Z axis)
camera()->setPosition(qglviewer::Vec(2.0,2.0,2.0));
camera()->setUpVector(qglviewer::Vec(0.0,0.0,1.0));
camera()->lookAt(sceneCenter());
/*
// Forbid rotation
qglviewer::WorldConstraint* constraint = new qglviewer::WorldConstraint();
constraint->setRotationConstraintType(qglviewer::AxisPlaneConstraint::FORBIDDEN);
camera()->frame()->setConstraint(constraint);
*/
}
int QGLViewer::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QGLWidget::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: viewerInitialized(); break;
case 1: drawNeeded(); break;
case 2: drawFinished((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 3: animateNeeded(); break;
case 4: helpRequired(); break;
case 5: axisIsDrawnChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 6: gridIsDrawnChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 7: FPSIsDisplayedChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 8: textIsEnabledChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 9: cameraIsEditedChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 10: stereoChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 11: pointSelected((*reinterpret_cast< const QMouseEvent*(*)>(_a[1]))); break;
case 12: mouseGrabberChanged((*reinterpret_cast< qglviewer::MouseGrabber*(*)>(_a[1]))); break;
case 13: setAxisIsDrawn((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 14: setAxisIsDrawn(); break;
case 15: setGridIsDrawn((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 16: setGridIsDrawn(); break;
case 17: setFPSIsDisplayed((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 18: setFPSIsDisplayed(); break;
case 19: setTextIsEnabled((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 20: setTextIsEnabled(); break;
case 21: setCameraIsEdited((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 22: setCameraIsEdited(); break;
case 23: toggleAxisIsDrawn(); break;
case 24: toggleGridIsDrawn(); break;
case 25: toggleFPSIsDisplayed(); break;
case 26: toggleTextIsEnabled(); break;
case 27: toggleCameraIsEdited(); break;
case 28: setBackgroundColor((*reinterpret_cast< const QColor(*)>(_a[1]))); break;
case 29: setForegroundColor((*reinterpret_cast< const QColor(*)>(_a[1]))); break;
case 30: setSceneRadius((*reinterpret_cast< float(*)>(_a[1]))); break;
case 31: setSceneCenter((*reinterpret_cast< const qglviewer::Vec(*)>(_a[1]))); break;
case 32: setSceneBoundingBox((*reinterpret_cast< const qglviewer::Vec(*)>(_a[1])),(*reinterpret_cast< const qglviewer::Vec(*)>(_a[2]))); break;
case 33: showEntireScene(); break;
case 34: setCamera((*reinterpret_cast< qglviewer::Camera*const(*)>(_a[1]))); break;
case 35: setManipulatedFrame((*reinterpret_cast< qglviewer::ManipulatedFrame*(*)>(_a[1]))); break;
case 36: setMouseGrabber((*reinterpret_cast< qglviewer::MouseGrabber*(*)>(_a[1]))); break;
case 37: setFullScreen((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 38: setFullScreen(); break;
case 39: setStereoDisplay((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 40: setStereoDisplay(); break;
case 41: toggleFullScreen(); break;
case 42: toggleStereoDisplay(); break;
case 43: toggleCameraMode(); break;
case 44: saveSnapshot((*reinterpret_cast< bool(*)>(_a[1])),(*reinterpret_cast< bool(*)>(_a[2]))); break;
case 45: saveSnapshot((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 46: saveSnapshot(); break;
case 47: saveSnapshot((*reinterpret_cast< const QString(*)>(_a[1])),(*reinterpret_cast< bool(*)>(_a[2]))); break;
case 48: saveSnapshot((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 49: setSnapshotFileName((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 50: setSnapshotFormat((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 51: setSnapshotCounter((*reinterpret_cast< int(*)>(_a[1]))); break;
case 52: setSnapshotQuality((*reinterpret_cast< int(*)>(_a[1]))); break;
case 53: { bool _r = openSnapshotFormatDialog();
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 54: snapshotToClipboard(); break;
case 55: copyBufferToTexture((*reinterpret_cast< GLint(*)>(_a[1])),(*reinterpret_cast< GLenum(*)>(_a[2]))); break;
case 56: copyBufferToTexture((*reinterpret_cast< GLint(*)>(_a[1]))); break;
case 57: setAnimationPeriod((*reinterpret_cast< int(*)>(_a[1]))); break;
case 58: startAnimation(); break;
case 59: stopAnimation(); break;
case 60: animate(); break;
case 61: toggleAnimation(); break;
case 62: help(); break;
case 63: aboutQGLViewer(); break;
case 64: select((*reinterpret_cast< const QMouseEvent*(*)>(_a[1]))); break;
case 65: select((*reinterpret_cast< const QPoint(*)>(_a[1]))); break;
case 66: setSelectBufferSize((*reinterpret_cast< int(*)>(_a[1]))); break;
case 67: setSelectRegionWidth((*reinterpret_cast< int(*)>(_a[1]))); break;
case 68: setSelectRegionHeight((*reinterpret_cast< int(*)>(_a[1]))); break;
case 69: setSelectedName((*reinterpret_cast< int(*)>(_a[1]))); break;
case 70: setShortcut((*reinterpret_cast< KeyboardAction(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 71: setKeyboardAccelerator((*reinterpret_cast< KeyboardAction(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 72: setKeyDescription((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 73: setKeyFrameKey((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 74: setPlayKeyFramePathStateKey((*reinterpret_cast< int(*)>(_a[1]))); break;
case 75: setPlayPathStateKey((*reinterpret_cast< int(*)>(_a[1]))); break;
case 76: setAddKeyFrameStateKey((*reinterpret_cast< int(*)>(_a[1]))); break;
case 77: setPathKey((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 78: setPathKey((*reinterpret_cast< int(*)>(_a[1]))); break;
case 79: setPlayPathKeyboardModifiers((*reinterpret_cast< QtKeyboardModifiers(*)>(_a[1]))); break;
case 80: setAddKeyFrameKeyboardModifiers((*reinterpret_cast< QtKeyboardModifiers(*)>(_a[1]))); break;
case 81: setMouseBinding((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< MouseHandler(*)>(_a[2])),(*reinterpret_cast< MouseAction(*)>(_a[3])),(*reinterpret_cast< bool(*)>(_a[4]))); break;
case 82: setMouseBinding((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< MouseHandler(*)>(_a[2])),(*reinterpret_cast< MouseAction(*)>(_a[3]))); break;
case 83: setWheelBinding((*reinterpret_cast< QtKeyboardModifiers(*)>(_a[1])),(*reinterpret_cast< MouseHandler(*)>(_a[2])),(*reinterpret_cast< MouseAction(*)>(_a[3])),(*reinterpret_cast< bool(*)>(_a[4]))); break;
case 84: setWheelBinding((*reinterpret_cast< QtKeyboardModifiers(*)>(_a[1])),(*reinterpret_cast< MouseHandler(*)>(_a[2])),(*reinterpret_cast< MouseAction(*)>(_a[3]))); break;
case 85: setHandlerKeyboardModifiers((*reinterpret_cast< MouseHandler(*)>(_a[1])),(*reinterpret_cast< QtKeyboardModifiers(*)>(_a[2]))); break;
case 86: setHandlerStateKey((*reinterpret_cast< MouseHandler(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 87: setMouseStateKey((*reinterpret_cast< MouseHandler(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 88: initFromDOMElement((*reinterpret_cast< const QDomElement(*)>(_a[1]))); break;
case 89: saveStateToFile(); break;
case 90: { bool _r = restoreStateFromFile();
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 91: setStateFileName((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 92: saveToFile((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 93: saveToFile(); break;
case 94: { bool _r = restoreFromFile((*reinterpret_cast< const QString(*)>(_a[1])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 95: { bool _r = restoreFromFile();
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 96: resetVisualHints(); break;
case 97: delayedFullScreen(); break;
case 98: hideMessage(); break;
default: ;
}
_id -= 99;
}
return _id;
}
