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00030 #include "test/render_points_test.h"
00031
00032 #include <QMouseEvent>
00033 #include <QWheelEvent>
00034 #include <QApplication>
00035 #include <QVBoxLayout>
00036
00037 using namespace rviz;
00038
00039 MyFrame::MyFrame( QWidget* parent )
00040 : QWidget(parent)
00041 , left_mouse_down_( false )
00042 , middle_mouse_down_( false )
00043 , right_mouse_down_( false )
00044 , mouse_x_( 0 )
00045 , mouse_y_( 0 )
00046 {
00047 render_system_ = RenderSystem::get();
00048 root_ = render_system_->root();
00049
00050 try
00051 {
00052 scene_manager_ = root_->createSceneManager( Ogre::ST_GENERIC, "TestSceneManager" );
00053
00054 render_panel_ = new QtOgreRenderWindow();
00055 render_panel_->resize( this->size() );
00056 render_panel_->setAutoRender(false);
00057
00058 QVBoxLayout* layout = new QVBoxLayout;
00059 layout->setContentsMargins( 0, 0, 0, 0 );
00060 layout->addWidget( render_panel_ );
00061 setLayout( layout );
00062
00063 camera_ = new OrbitCamera( scene_manager_ );
00064 camera_->setPosition( 0, 0, 15 );
00065 camera_->getOgreCamera()->setNearClipDistance( 0.1 );
00066
00067 render_panel_->setCamera( camera_->getOgreCamera() );
00068 render_panel_->setBackgroundColor( Ogre::ColourValue( 0.8,0.8,1 ) );
00069
00070 Ogre::Light* directional_light = scene_manager_->createLight( "MainDirectional" );
00071 directional_light->setType( Ogre::Light::LT_DIRECTIONAL );
00072 directional_light->setDirection( Ogre::Vector3( 0, -1, 1 ) );
00073 directional_light->setDiffuseColour( Ogre::ColourValue( 1.0f, 1.0f, 1.0f ) );
00074
00075 #if 0
00076 Grid* grid = new Grid( scene_manager_, NULL, Grid::Lines, 10, 1.0f, 0.02, Ogre::ColourValue(1.0f, 1.0f, 1.0f, 0.5f));
00077 grid->setHeight(4);
00078
00079
00080 BillboardLine* line = new BillboardLine( scene_manager_, NULL );
00081 line->setMaxPointsPerLine(105);
00082 for ( int i = -50; i < 50; ++i )
00083 {
00084 line->addPoint( Ogre::Vector3( i*2, 0.0f, -1.0f ) );
00085 }
00086
00087 for ( int i = 0; i < 5; ++i )
00088 {
00089 line->addPoint( Ogre::Vector3( 4.0f, 0.0f, i ) );
00090 }
00091
00092 line->setLineWidth( 0.05 );
00093 line->setColor( 0.0f, 1.0f, 0.0f, 0.5f );
00094
00095 Shape* sphere = new Shape(Shape::Sphere, scene_manager_);
00096 sphere->setPosition(Ogre::Vector3(0.0f, 0.0f, 2.0f));
00097 sphere->setColor(0.0f, 1.0f, 2.0f, 1.0f);
00098 Shape* cube = new Shape(Shape::Cube, scene_manager_);
00099 cube->setPosition(Ogre::Vector3(0.0f, 1.0f, 2.0f));
00100 cube->setColor(1.0f, 0.0f, 0.0f, 1.0f);
00101 Shape* cylinder = new Shape(Shape::Cylinder, scene_manager_);
00102 cylinder->setPosition(Ogre::Vector3(0.0f, 2.0f, 2.0f));
00103 cylinder->setColor(1.0f, 1.0f, 0.0f, 1.0f);
00104 Shape* cone = new Shape(Shape::Cone, scene_manager_);
00105 cone->setPosition(Ogre::Vector3(0.0f, 3.0f, 2.0f));
00106 cone->setColor(0.0f, 0.0f, 1.0f, 1.0f);
00107
00108 Axes* axes = new Axes( scene_manager_ );
00109
00110
00111
00112
00113
00114 Arrow* arrow = new Arrow( scene_manager_ );
00115 arrow->setHeadColor( 1.0f, 0.0f, 0.0f );
00116 arrow->setShaftColor( 0.0f, 0.0f, 1.0f );
00117 arrow->setOrientation( Ogre::Quaternion::IDENTITY );
00118
00119
00120 #endif
00121
00122 #if 01
00123 Ogre::SceneNode* scene_node = scene_manager_->getRootSceneNode()->createChildSceneNode();
00124 PointCloud* pointCloud = new PointCloud();
00125 pointCloud->setDimensions(0.05f, 0.05f, 0.05f);
00126
00127 pointCloud->setRenderMode(PointCloud::RM_SQUARES);
00128 pointCloud->setCommonDirection(Ogre::Vector3(0.0, 1.0, 0.0));
00129 pointCloud->setCommonUpVector(Ogre::Vector3(0.0, 0.0, -1.0));
00130 pointCloud->setAlpha(1.0);
00131 std::vector<PointCloud::Point> points;
00132 int32_t xcount = 200;
00133 int32_t ycount = 100;
00134 int32_t zcount = 100;
00135
00136 float factor = 0.1f;
00137 for (int32_t x = 0; x < xcount; ++x)
00138 {
00139 for (int32_t y = 0; y < ycount; ++y)
00140 {
00141 for (int32_t z = 0; z < zcount; ++z)
00142 {
00143
00144 PointCloud::Point point;
00145 point.position.x = x * factor;
00146 point.position.y = y * factor;
00147 point.position.z = z * factor;
00148
00149 point.setColor(x * 0.1, y * 0.1, z * 0.1);
00150 points.push_back(point);
00151 }
00152 }
00153 }
00154
00155 printf("size: %d\n", (int)points.size());
00156 pointCloud->addPoints( &points.front(), points.size() );
00157 scene_node->attachObject(pointCloud);
00158 #endif
00159 }
00160 catch ( Ogre::Exception& e )
00161 {
00162 printf( "Fatal error: %s\n", e.what() );
00163 exit(1);
00164 }
00165
00166 connect( &render_timer_, SIGNAL( timeout() ), this, SLOT( doRender() ));
00167 render_timer_.start(33);
00168 }
00169
00170 MyFrame::~MyFrame()
00171 {
00172 }
00173
00174 void MyFrame::doRender()
00175 {
00176 ros::WallTime start = ros::WallTime::now();
00177 root_->renderOneFrame();
00178 ros::WallTime end = ros::WallTime::now();
00179 printf("Render took [%f] msec\n", (end - start).toSec() * 1000.0f);
00180 }
00181
00182 void MyFrame::mousePressEvent( QMouseEvent* event )
00183 {
00184 left_mouse_down_ = false;
00185 middle_mouse_down_ = false;
00186 right_mouse_down_ = false;
00187
00188 switch( event->button() )
00189 {
00190 case Qt::LeftButton:
00191 left_mouse_down_ = true;
00192 break;
00193 case Qt::MidButton:
00194 middle_mouse_down_ = true;
00195 break;
00196 case Qt::RightButton:
00197 right_mouse_down_ = true;
00198 break;
00199 default:
00200 break;
00201 }
00202 }
00203
00204 void MyFrame::mouseReleaseEvent( QMouseEvent* event )
00205 {
00206 switch( event->button() )
00207 {
00208 case Qt::LeftButton:
00209 left_mouse_down_ = false;
00210 break;
00211 case Qt::MidButton:
00212 middle_mouse_down_ = false;
00213 break;
00214 case Qt::RightButton:
00215 right_mouse_down_ = false;
00216 break;
00217 default:
00218 break;
00219 }
00220 }
00221
00222 void MyFrame::mouseMoveEvent( QMouseEvent* event )
00223 {
00224 int32_t diff_x = event->x() - mouse_x_;
00225 int32_t diff_y = event->y() - mouse_y_;
00226
00227 mouse_x_ = event->x();
00228 mouse_y_ = event->y();
00229
00230 bool cmd = event->modifiers() & Qt::ControlModifier;
00231 bool shift = event->modifiers() & Qt::ShiftModifier;
00232 bool alt = event->modifiers() & Qt::AltModifier;
00233
00234 if ( left_mouse_down_ )
00235 {
00236 camera_->mouseLeftDrag( diff_x, diff_y, cmd, alt, shift );
00237 }
00238 else if ( middle_mouse_down_ )
00239 {
00240 camera_->mouseMiddleDrag( diff_x, diff_y, cmd, alt, shift );
00241 }
00242 else if ( right_mouse_down_ )
00243 {
00244 camera_->mouseRightDrag( diff_x, diff_y, cmd, alt, shift );
00245 }
00246 }
00247
00248 void MyFrame::wheelEvent( QWheelEvent* event )
00249 {
00250 if( event->delta() != 0 )
00251 {
00252 bool cmd = event->modifiers() & Qt::ControlModifier;
00253 bool shift = event->modifiers() & Qt::ShiftModifier;
00254 bool alt = event->modifiers() & Qt::AltModifier;
00255
00256 camera_->scrollWheel( event->delta(), cmd, alt, shift );
00257 }
00258 }
00259
00260 int main( int argc, char** argv )
00261 {
00262 QApplication app( argc, argv );
00263
00264 MyFrame frame;
00265 frame.resize( 800, 600 );
00266 frame.setWindowTitle( "I hope this is not all black." );
00267 frame.show();
00268
00269 return app.exec();
00270 }