Visual Servoing Platform version 3.6.0
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vpViewer.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Simulator based on Coin3d.
33 *
34*****************************************************************************/
35
36#ifndef vpViewer_HH
37#define vpViewer_HH
50#include <visp3/core/vpConfig.h>
51
52#ifdef VISP_HAVE_COIN3D_AND_GUI
53
54#if defined(VISP_HAVE_SOWIN)
55
56#include <Inventor/Win/SoWin.h>
57#include <Inventor/Win/viewers/SoWinExaminerViewer.h>
58
59#elif defined(VISP_HAVE_SOQT)
60
61#include <Inventor/Qt/SoQt.h>
62#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
63
64#elif defined(VISP_HAVE_SOXT)
65
66#include <Inventor/Xt/SoXt.h>
67#include <Inventor/Xt/viewers/SoXtExaminerViewer.h>
68
69#endif
70
71// Coin stuff
72
73#include <Inventor/nodes/SoBaseColor.h>
74#include <Inventor/nodes/SoCone.h>
75#include <Inventor/nodes/SoCube.h>
76#include <Inventor/nodes/SoImage.h>
77#include <Inventor/nodes/SoLightModel.h>
78#include <Inventor/nodes/SoPerspectiveCamera.h>
79#include <Inventor/nodes/SoRotationXYZ.h>
80#include <Inventor/nodes/SoSeparator.h>
81#include <Inventor/nodes/SoTranslation.h>
82#include <Inventor/sensors/SoTimerSensor.h>
83
84#if defined(VISP_HAVE_SOWIN)
85#include <GL/gl.h>
86#elif defined(VISP_HAVE_SOQT)
87#include <qgl.h>
88#elif defined(VISP_HAVE_SOXT)
89#include <GL/gl.h>
90#endif
91
92// visp
93#include <visp3/core/vpCameraParameters.h>
94#include <visp3/core/vpDebug.h>
95#include <visp3/core/vpHomogeneousMatrix.h>
96
111class vpSimulator;
112
113#if defined(VISP_HAVE_SOWIN)
114class VISP_EXPORT vpViewer : public SoWinExaminerViewer
115#elif defined(VISP_HAVE_SOQT)
116class VISP_EXPORT vpViewer : public SoQtExaminerViewer
117#elif defined(VISP_HAVE_SOXT)
118class VISP_EXPORT vpViewer : public SoXtExaminerViewer
119#endif
120{
121
122 friend class vpSimulator;
123
124public:
125 typedef enum { internalView, externalView } vpViewerType;
126#if defined(VISP_HAVE_SOWIN)
127 vpViewer(HWND parent, vpSimulator *simu, vpViewerType type);
128#elif defined(VISP_HAVE_SOQT)
129 vpViewer(QWidget *parent, vpSimulator *simu, vpViewerType type);
130#elif defined(VISP_HAVE_SOXT)
131 vpViewer(Widget parent, vpSimulator *simu, vpViewerType type);
132#endif
133
134 virtual ~vpViewer();
135 void resize(int x, int y, bool fixed = false);
136 virtual void actualRedraw(void);
137
138private:
139 vpViewerType viewerType;
140 vpSimulator *simu;
141 SbBool processSoEvent(const SoEvent *const event);
142#if defined(VISP_HAVE_SOWIN)
143 static HWND init(const char *appname) { return SoWin::init(appname); };
144 static void mainLoop() { SoWin::mainLoop(); };
145 static void exitMainLoop() { SoWin::exitMainLoop(); };
146#elif defined(VISP_HAVE_SOQT)
147 static QWidget *init(const char *appname) { return SoQt::init(appname); };
148 static void mainLoop() { SoQt::mainLoop(); };
149 static void exitMainLoop() { SoQt::exitMainLoop(); };
150#elif defined(VISP_HAVE_SOXT)
151 static Widget init(const char *appname) { return SoXt::init(appname); };
152 static void mainLoop() { SoXt::mainLoop(); };
153 static void exitMainLoop() { SoXt::exitMainLoop(); };
154#endif
155};
156
157#endif // VISP_HAVE_COIN3D_AND_GUI
158
159#endif
Implementation of a simulator based on Coin3d (www.coin3d.org).
Definition vpSimulator.h:99
Viewer used by the simulator.
Definition vpViewer.h:120
void resize(int x, int y, bool fixed=false)
Definition vpViewer.cpp:127
@ internalView
Definition vpViewer.h:125
virtual ~vpViewer()
Definition vpViewer.cpp:70
virtual void actualRedraw(void)
Definition vpViewer.cpp:72