qt_ogre_render_window.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#include "qt_ogre_render_window.h"
#include "orthographic.h"
#include "render_system.h"
#include <rviz/ogre_helpers/version_check.h>
 
#include <OgreRoot.h>
#include <OgreViewport.h>
#include <OgreCamera.h>
#include <OgreRenderWindow.h>
#include <OgreStringConverter.h>
#include <OgreGpuProgramManager.h>
#include <OgreRenderTargetListener.h>
 
#include <ros/console.h>
#include <ros/assert.h>
 
#if OGRE_PLATFORM == OGRE_PLATFORM_LINUX
#include <stdlib.h>
 
 
#include <utility>
 
#endif
 
namespace rviz
{
QtOgreRenderWindow::QtOgreRenderWindow(QWidget* parent)
  : RenderWidget(RenderSystem::get(), parent)
  , viewport_(nullptr)
  , ogre_root_(RenderSystem::get()->root())
  , ortho_scale_(1.0f)
  , auto_render_(true)
  , camera_(nullptr)
  , overlays_enabled_(true)                     // matches the default of Ogre::Viewport.
  , background_color_(Ogre::ColourValue::Black) // matches the default of Ogre::Viewport.
  , stereo_enabled_(false)
  , rendering_stereo_(false)
  , left_camera_(nullptr)
  , right_camera_(nullptr)
  , right_viewport_(nullptr)
{
  render_window_->setVisible(true);
  render_window_->setAutoUpdated(true);
 
  viewport_ = render_window_->addViewport(camera_);
  viewport_->setOverlaysEnabled(overlays_enabled_);
  viewport_->setBackgroundColour(background_color_);
 
#if OGRE_STEREO_ENABLE
  viewport_->setDrawBuffer(Ogre::CBT_BACK);
#endif
  enableStereo(true);
 
  setCameraAspectRatio();
}
 
QtOgreRenderWindow::~QtOgreRenderWindow()
{
  enableStereo(false); // free stereo resources
}
 
//------------------------------------------------------------------------------
bool QtOgreRenderWindow::enableStereo(bool enable)
{
  bool was_enabled = stereo_enabled_;
  stereo_enabled_ = enable;
  setupStereo();
  return was_enabled;
}
 
void QtOgreRenderWindow::setupStereo()
{
  bool render_stereo = stereo_enabled_ && RenderSystem::get()->isStereoSupported();
 
  if (render_stereo == rendering_stereo_)
    return;
 
  rendering_stereo_ = render_stereo;
 
  if (rendering_stereo_)
  {
    right_viewport_ = render_window_->addViewport(nullptr, 1);
#if OGRE_STEREO_ENABLE
    right_viewport_->setDrawBuffer(Ogre::CBT_BACK_RIGHT);
    viewport_->setDrawBuffer(Ogre::CBT_BACK_LEFT);
#endif
 
    setOverlaysEnabled(overlays_enabled_);
    setBackgroundColor(background_color_);
    if (camera_)
      setCamera(camera_);
 
    // addListener causes preViewportUpdate() to be called when rendering.
    render_window_->addListener(this);
  }
  else
  {
    render_window_->removeListener(this);
    render_window_->removeViewport(1);
    right_viewport_ = nullptr;
 
#if OGRE_STEREO_ENABLE
    viewport_->setDrawBuffer(Ogre::CBT_BACK);
#endif
 
    if (left_camera_)
      left_camera_->getSceneManager()->destroyCamera(left_camera_);
    left_camera_ = nullptr;
    if (right_camera_)
      right_camera_->getSceneManager()->destroyCamera(right_camera_);
    right_camera_ = nullptr;
  }
}
 
// this is called just before rendering either viewport when stereo is enabled.
void QtOgreRenderWindow::preViewportUpdate(const Ogre::RenderTargetViewportEvent& evt)
{
  Ogre::Viewport* viewport = evt.source;
 
  const Ogre::Vector2& offset = camera_->getFrustumOffset();
  const Ogre::Vector3 pos = camera_->getPosition();
  const Ogre::Vector3 right = camera_->getRight();
  const Ogre::Vector3 up = camera_->getUp();
 
  if (viewport == right_viewport_)
  {
    if (camera_->getProjectionType() != Ogre::PT_PERSPECTIVE || !right_camera_)
    {
      viewport->setCamera(camera_);
      return;
    }
 
    Ogre::Vector3 newpos = pos + right * offset.x + up * offset.y;
 
    right_camera_->synchroniseBaseSettingsWith(camera_);
    right_camera_->setFrustumOffset(-offset);
    right_camera_->setPosition(newpos);
    viewport->setCamera(right_camera_);
  }
  else if (viewport == viewport_)
  {
    if (camera_->getProjectionType() != Ogre::PT_PERSPECTIVE || !left_camera_)
    {
      viewport->setCamera(camera_);
      return;
    }
 
    Ogre::Vector3 newpos = pos - right * offset.x - up * offset.y;
 
    left_camera_->synchroniseBaseSettingsWith(camera_);
    left_camera_->setFrustumOffset(offset);
    left_camera_->setPosition(newpos);
    viewport->setCamera(left_camera_);
  }
  else
  {
    ROS_WARN("Begin rendering to unknown viewport.");
  }
}
 
void QtOgreRenderWindow::postViewportUpdate(const Ogre::RenderTargetViewportEvent& evt)
{
  Ogre::Viewport* viewport = evt.source;
 
  if (viewport == right_viewport_)
  {
    // nothing to do here
  }
  else if (viewport == viewport_)
  {
    viewport->setCamera(camera_);
  }
  else
  {
    ROS_WARN("End rendering to unknown viewport.");
  }
 
  if (!right_camera_->isCustomProjectionMatrixEnabled())
  {
    right_camera_->synchroniseBaseSettingsWith(camera_);
    right_camera_->setFrustumOffset(-camera_->getFrustumOffset());
  }
  right_viewport_->setCamera(right_camera_);
}
 
Ogre::Viewport* QtOgreRenderWindow::getViewport() const
{
  return viewport_;
}
 
void QtOgreRenderWindow::setCamera(Ogre::Camera* camera)
{
  if (camera)
  {
    camera_ = camera;
    viewport_->setCamera(camera);
 
    setCameraAspectRatio();
 
    if (camera_ && rendering_stereo_ && !left_camera_)
    {
      left_camera_ = camera_->getSceneManager()->createCamera(camera_->getName() + "-left");
    }
    if (camera_ && rendering_stereo_ && !right_camera_)
    {
      right_camera_ = camera_->getSceneManager()->createCamera(camera_->getName() + "-right");
    }
 
    update();
  }
}
 
void QtOgreRenderWindow::setOverlaysEnabled(bool overlays_enabled)
{
  overlays_enabled_ = overlays_enabled;
  viewport_->setOverlaysEnabled(overlays_enabled);
  if (right_viewport_)
  {
    right_viewport_->setOverlaysEnabled(overlays_enabled);
  }
}
 
void QtOgreRenderWindow::setBackgroundColor(Ogre::ColourValue background_color)
{
  background_color_ = background_color;
  viewport_->setBackgroundColour(background_color);
  if (right_viewport_)
  {
    right_viewport_->setBackgroundColour(background_color);
  }
}
 
void QtOgreRenderWindow::setCameraAspectRatio()
{
  if (camera_)
  {
    camera_->setAspectRatio(Ogre::Real(width()) / Ogre::Real(height()));
    if (right_camera_)
    {
      right_camera_->setAspectRatio(Ogre::Real(width()) / Ogre::Real(height()));
    }
 
    if (camera_->getProjectionType() == Ogre::PT_ORTHOGRAPHIC)
    {
      Ogre::Matrix4 proj;
      buildScaledOrthoMatrix(proj, -width() / ortho_scale_ / 2, width() / ortho_scale_ / 2,
                             -height() / ortho_scale_ / 2, height() / ortho_scale_ / 2,
                             camera_->getNearClipDistance(), camera_->getFarClipDistance());
      camera_->setCustomProjectionMatrix(true, proj);
    }
  }
}
 
void QtOgreRenderWindow::setOrthoScale(float scale)
{
  ortho_scale_ = scale;
 
  setCameraAspectRatio();
}
 
void QtOgreRenderWindow::setPreRenderCallback(boost::function<void()> func)
{
  pre_render_callback_ = std::move(func);
}
 
void QtOgreRenderWindow::setPostRenderCallback(boost::function<void()> func)
{
  post_render_callback_ = std::move(func);
}
 
//------------------------------------------------------------------------------
void QtOgreRenderWindow::paintEvent(QPaintEvent* /*e*/)
{
  if (auto_render_ && render_window_)
  {
    if (pre_render_callback_)
    {
      pre_render_callback_();
    }
 
    if (ogre_root_->_fireFrameStarted())
    {
      ogre_root_->_fireFrameRenderingQueued();
 
      render_window_->update();
 
      ogre_root_->_fireFrameEnded();
    }
 
    if (post_render_callback_)
    {
      post_render_callback_();
    }
  }
}
 
//------------------------------------------------------------------------------
void QtOgreRenderWindow::resizeEvent(QResizeEvent* event)
{
  RenderWidget::resizeEvent(event);
 
  if (render_window_)
  {
    setCameraAspectRatio();
 
    if (auto_render_)
    {
      update();
    }
  }
}
 
} // namespace rviz