vpViewer.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Simulator based on Coin3d.
 */

 
#ifndef VP_VIEWER_H
#define VP_VIEWER_H
 
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_COIN3D_AND_GUI
 
#if defined(VISP_HAVE_SOWIN)
 
#include <Inventor/Win/SoWin.h>
#include <Inventor/Win/viewers/SoWinExaminerViewer.h>
 
#elif defined(VISP_HAVE_SOQT)
 
#include <Inventor/Qt/SoQt.h>
#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
 
#elif defined(VISP_HAVE_SOXT)
 
#include <Inventor/Xt/SoXt.h>
#include <Inventor/Xt/viewers/SoXtExaminerViewer.h>
 
#endif
 
// Coin stuff
 
#include <Inventor/nodes/SoBaseColor.h>
#include <Inventor/nodes/SoCone.h>
#include <Inventor/nodes/SoCube.h>
#include <Inventor/nodes/SoImage.h>
#include <Inventor/nodes/SoLightModel.h>
#include <Inventor/nodes/SoPerspectiveCamera.h>
#include <Inventor/nodes/SoRotationXYZ.h>
#include <Inventor/nodes/SoSeparator.h>
#include <Inventor/nodes/SoTranslation.h>
#include <Inventor/sensors/SoTimerSensor.h>
 
#if defined(VISP_HAVE_SOWIN)
#include <GL/gl.h>
#elif defined(VISP_HAVE_SOQT)
#include <qgl.h>
#elif defined(VISP_HAVE_SOXT)
#include <GL/gl.h>
#endif
 
// visp
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpHomogeneousMatrix.h>
 
BEGIN_VISP_NAMESPACE
 
class vpSimulator;
 
#if defined(VISP_HAVE_SOWIN)
class VISP_EXPORT vpViewer : public SoWinExaminerViewer
#elif defined(VISP_HAVE_SOQT)
class VISP_EXPORT vpViewer : public SoQtExaminerViewer
#elif defined(VISP_HAVE_SOXT)
class VISP_EXPORT vpViewer : public SoXtExaminerViewer
#endif
{
 
  friend class vpSimulator;
 
public:
  typedef enum { internalView, externalView } vpViewerType;
#if defined(VISP_HAVE_SOWIN)
  vpViewer(HWND parent, vpSimulator *simu, vpViewerType type);
#elif defined(VISP_HAVE_SOQT)
  vpViewer(QWidget *parent, vpSimulator *simu, vpViewerType type);
#elif defined(VISP_HAVE_SOXT)
  vpViewer(Widget parent, vpSimulator *simu, vpViewerType type);
#endif
 
  virtual ~vpViewer();
  void resize(int x, int y, bool fixed = false);
  virtual void actualRedraw(void);
 
private:
  vpViewerType viewerType;
  vpSimulator *simu;
  SbBool processSoEvent(const SoEvent *const event);
#if defined(VISP_HAVE_SOWIN)
  static HWND init(const char *appname) { return SoWin::init(appname); }
  static void mainLoop() { SoWin::mainLoop(); }
  static void exitMainLoop() { SoWin::exitMainLoop(); }
#elif defined(VISP_HAVE_SOQT)
  static QWidget *init(const char *appname) { return SoQt::init(appname); }
  static void mainLoop() { SoQt::mainLoop(); }
  static void exitMainLoop() { SoQt::exitMainLoop(); }
#elif defined(VISP_HAVE_SOXT)
  static Widget init(const char *appname) { return SoXt::init(appname); }
  static void mainLoop() { SoXt::mainLoop(); }
  static void exitMainLoop() { SoXt::exitMainLoop(); }
#endif
};
END_VISP_NAMESPACE
#endif // VISP_HAVE_COIN3D_AND_GUI
 
#endif