qt_ogre_render_window.h

Go to the documentation of this file.

/*
 * 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
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef QT_OGRE_RENDER_WINDOW_OGRE_RENDER_WINDOW_H_
#define QT_OGRE_RENDER_WINDOW_OGRE_RENDER_WINDOW_H_

#include <boost/function.hpp>

#include "render_widget.h"

#include <OgreColourValue.h>
#include <OgreRenderTargetListener.h>

namespace Ogre
{
class Root;
class RenderWindow;
class Viewport;
class Camera;
} // namespace Ogre

namespace rviz
{
class QtOgreRenderWindow : public RenderWidget, public Ogre::RenderTargetListener
{
public:
  QtOgreRenderWindow(QWidget* parent = nullptr);

  ~QtOgreRenderWindow() override;

  virtual void setPreRenderCallback(boost::function<void()> func);
  virtual void setPostRenderCallback(boost::function<void()> func);

  QSize sizeHint() const override
  {
    return QSize(320, 240);
  }

  Ogre::Viewport* getViewport() const;

  void setCamera(Ogre::Camera* camera);

  Ogre::Camera* getCamera() const
  {
    return camera_;
  }

  void setOrthoScale(float scale);

  bool enableStereo(bool enable);

  void setupStereo();

  void setAutoRender(bool auto_render)
  {
    auto_render_ = auto_render;
  }

  void setOverlaysEnabled(bool overlays_enabled);
  void setBackgroundColor(Ogre::ColourValue color);

protected:
  void paintEvent(QPaintEvent* e) override;
  void resizeEvent(QResizeEvent* event) override;

  // When stereo is enabled, these are called before/after rendering each
  // viewport.
  void preViewportUpdate(const Ogre::RenderTargetViewportEvent& evt) override;
  void postViewportUpdate(const Ogre::RenderTargetViewportEvent& evt) override;

  void setCameraAspectRatio();

  void prepareStereoViewport(Ogre::Viewport*);


  Ogre::Viewport* viewport_;

  Ogre::Root* ogre_root_;

  boost::function<void()> pre_render_callback_;  
  boost::function<void()> post_render_callback_; 

  float ortho_scale_;
  bool auto_render_;

  Ogre::Camera* camera_;
  bool overlays_enabled_;
  Ogre::ColourValue background_color_;

  // stereo rendering
  bool stereo_enabled_;   // true if we were asked to render stereo
  bool rendering_stereo_; // true if we are actually rendering stereo
  Ogre::Camera* left_camera_;
  Ogre::Camera* right_camera_;
  Ogre::Viewport* right_viewport_;
};

} // namespace rviz

#endif // QT_OGRE_RENDER_WINDOW_OGRE_RENDER_WINDOW_H_