two_render_widgets.cpp

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/*
 * Copyright (c) 2011, 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 "rviz/ogre_helpers/render_system.h"
#include "rviz/ogre_helpers/render_widget.h"

#include <QApplication>
#include <QTimer>
#include <QVBoxLayout>
#include <QPushButton>

#include <OGRE/OgreRenderWindow.h>
#include <OGRE/OgreEntity.h>

using namespace rviz;

int main( int argc, char** argv )
{
  // initialize the entire render system
  RenderSystem* render_system = RenderSystem::get();

  QApplication app( argc, argv );


  // make the render window
  RenderWidget* window = new RenderWidget( render_system );
  window->setWindowTitle( "I hope this is not all black." );

  QVBoxLayout* layout = new QVBoxLayout;
  layout->addWidget( window );
  QPushButton* hide_button = new QPushButton( "hide" );
  layout->addWidget( hide_button );
  QPushButton* show_button = new QPushButton( "show" );
  layout->addWidget( show_button );

  QWidget container;
  container.setLayout( layout );
  container.resize( 900, 600 );
  container.show();

  // Make a scene and show it in the window.
  Ogre::SceneManager* scene_manager = render_system->root()->createSceneManager( Ogre::ST_GENERIC );

  Ogre::Entity* thing = scene_manager->createEntity( "thing", "rviz_cone.mesh" );
  Ogre::SceneNode* node = scene_manager->getRootSceneNode()->createChildSceneNode();
  node->attachObject( thing );

  scene_manager->setAmbientLight( Ogre::ColourValue( .5, .5, .5 ));
  Ogre::Light* light = scene_manager->createLight( "light" );
  light->setPosition( 20, 80, 50 );

  Ogre::Camera* camera = scene_manager->createCamera( "SampleCam" );
  camera->setPosition( Ogre::Vector3( 0, 0, 10 ));
  camera->lookAt( Ogre::Vector3( 0, 0, -300 ));
  camera->setNearClipDistance( 5 );

  Ogre::Viewport* viewport = window->getRenderWindow()->addViewport( camera );
  viewport->setBackgroundColour( Ogre::ColourValue( 0, 0, 1.0 ));

  camera->setAspectRatio( Ogre::Real( viewport->getActualWidth() ) / Ogre::Real( viewport->getActualHeight() ));

  // redraw every 33ms.
  QTimer timer;
  QObject::connect( &timer, SIGNAL(timeout()), window, SLOT(update()) );
  timer.start( 33 );


  RenderWidget window2( render_system );
  window2.resize( 400, 400 );
  window2.setWindowTitle( "I hope this is also not all black." );
  window2.show();

  hide_button->connect( hide_button, SIGNAL( clicked() ), &window2, SLOT( hide() ));
  show_button->connect( show_button, SIGNAL( clicked() ), &window2, SLOT( show() ));

  Ogre::Camera* camera2 = scene_manager->createCamera( "SampleCam2" );
  camera2->setPosition( Ogre::Vector3( 0, 10, 0 ));
  camera2->setFixedYawAxis( false );
  camera2->lookAt( Ogre::Vector3( 0, 0, 0 ));
  camera2->setNearClipDistance( 5 );

  Ogre::Viewport* viewport2 = window2.getRenderWindow()->addViewport( camera2 );
  viewport2->setBackgroundColour( Ogre::ColourValue( 0, 1.0, 0 ));

  camera2->setAspectRatio( Ogre::Real( viewport2->getActualWidth() ) / Ogre::Real( viewport2->getActualHeight() ));

  // redraw every 33ms.
  QTimer timer2;
  QObject::connect( &timer2, SIGNAL(timeout()), &window2, SLOT(update()) );
  timer2.start( 33 );

  // main loop
  return app.exec();
}