two_render_widgets.cpp
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29 
32 
33 #include <QApplication>
34 #include <QTimer>
35 #include <QVBoxLayout>
36 #include <QPushButton>
37 
38 #include <OgreCamera.h>
39 #include <OgreEntity.h>
40 #include <OgreRenderWindow.h>
41 #include <OgreSceneNode.h>
42 #include <OgreViewport.h>
43 
44 using namespace rviz;
45 
46 int main(int argc, char** argv)
47 {
48  // initialize the entire render system
49  RenderSystem* render_system = RenderSystem::get();
50 
51  QApplication app(argc, argv);
52 
53 
54  // make the render window
55  RenderWidget* window = new RenderWidget(render_system);
56  window->setWindowTitle("I hope this is not all black.");
57 
58  QVBoxLayout* layout = new QVBoxLayout;
59  layout->addWidget(window);
60  QPushButton* hide_button = new QPushButton("hide");
61  layout->addWidget(hide_button);
62  QPushButton* show_button = new QPushButton("show");
63  layout->addWidget(show_button);
64 
65  QWidget container;
66  container.setLayout(layout);
67  container.resize(900, 600);
68  container.show();
69 
70  // Make a scene and show it in the window.
71  Ogre::SceneManager* scene_manager = render_system->root()->createSceneManager(Ogre::ST_GENERIC);
72 
73  Ogre::Entity* thing = scene_manager->createEntity("thing", "rviz_cone.mesh");
74  Ogre::SceneNode* node = scene_manager->getRootSceneNode()->createChildSceneNode();
75  node->attachObject(thing);
76 
77  scene_manager->setAmbientLight(Ogre::ColourValue(.5, .5, .5));
78  Ogre::Light* light = scene_manager->createLight("light");
79  light->setPosition(20, 80, 50);
80 
81  Ogre::Camera* camera = scene_manager->createCamera("SampleCam");
82  camera->setPosition(Ogre::Vector3(0, 0, 10));
83  camera->lookAt(Ogre::Vector3(0, 0, -300));
84  camera->setNearClipDistance(5);
85 
86  Ogre::Viewport* viewport = window->getRenderWindow()->addViewport(camera);
87  viewport->setBackgroundColour(Ogre::ColourValue(0, 0, 1.0));
88 
89  camera->setAspectRatio(Ogre::Real(viewport->getActualWidth()) /
90  Ogre::Real(viewport->getActualHeight()));
91 
92  // redraw every 33ms.
93  QTimer timer;
94  QObject::connect(&timer, SIGNAL(timeout()), window, SLOT(update()));
95  timer.start(33);
96 
97 
98  RenderWidget window2(render_system);
99  window2.resize(400, 400);
100  window2.setWindowTitle("I hope this is also not all black.");
101  window2.show();
102 
103  hide_button->connect(hide_button, SIGNAL(clicked()), &window2, SLOT(hide()));
104  show_button->connect(show_button, SIGNAL(clicked()), &window2, SLOT(show()));
105 
106  Ogre::Camera* camera2 = scene_manager->createCamera("SampleCam2");
107  camera2->setPosition(Ogre::Vector3(0, 10, 0));
108  camera2->setFixedYawAxis(false);
109  camera2->lookAt(Ogre::Vector3(0, 0, 0));
110  camera2->setNearClipDistance(5);
111 
112  Ogre::Viewport* viewport2 = window2.getRenderWindow()->addViewport(camera2);
113  viewport2->setBackgroundColour(Ogre::ColourValue(0, 1.0, 0));
114 
115  camera2->setAspectRatio(Ogre::Real(viewport2->getActualWidth()) /
116  Ogre::Real(viewport2->getActualHeight()));
117 
118  // redraw every 33ms.
119  QTimer timer2;
120  QObject::connect(&timer2, SIGNAL(timeout()), &window2, SLOT(update()));
121  timer2.start(33);
122 
123  // main loop
124  return app.exec();
125 }
app
static RenderSystem * get()
int main(int argc, char **argv)
Ogre::Root * root()
Definition: render_system.h:61
void update(const std::string &key, const XmlRpc::XmlRpcValue &v)
Ogre::RenderWindow * getRenderWindow()
Definition: render_widget.h:49


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Fri Aug 12 2022 02:06:09