libsofa1-dev 1.0~beta4-6 / usr / include / sofa / gui / glut / SimpleGUI.h

/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4      *
*                (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS                    *
*                                                                             *
* This program 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.                                                          *
*                                                                             *
* This program is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for    *
* more details.                                                               *
*                                                                             *
* You should have received a copy of the GNU General Public License along     *
* with this program; if not, write to the Free Software Foundation, Inc., 51  *
* Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.                   *
*******************************************************************************
*                            SOFA :: Applications                             *
*                                                                             *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza,  *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_GUI_SIMPLE_SIMPLEGUI_H
#define SOFA_GUI_SIMPLE_SIMPLEGUI_H

#include <sofa/gui/SofaGUI.h>

#include <sofa/helper/system/config.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/defaulttype/Quat.h>
#include <sofa/helper/gl/Transformation.h>
#include <sofa/helper/gl/Trackball.h>
#include <sofa/helper/gl/Texture.h>
#include <sofa/helper/gl/Capture.h>
#include <sofa/helper/system/thread/CTime.h>
#include <sofa/component/collision/RayPickInteractor.h>
#include <sofa/helper/system/gl.h>
#include <sofa/helper/system/glu.h>
#include <sofa/helper/system/glut.h>

#include <math.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <fstream>

namespace sofa
{

namespace gui
{

namespace glut
{

using namespace sofa::defaulttype;
using namespace sofa::helper::gl;
using namespace sofa::helper::system::thread;
using namespace sofa::component::collision;


class SimpleGUI : public sofa::gui::SofaGUI
{

public:

    /// @name methods each GUI must implement
    /// @{

    SimpleGUI();

    int mainLoop();
    void redraw();
    int closeGUI();

    sofa::simulation::Node* currentSimulation()
    {
	return getScene();
    }

    /// @}

    /// @name registration of each GUI
    /// @{

    static int InitGUI(const char* name, const std::vector<std::string>& options);
    static SofaGUI* CreateGUI(const char* name, const std::vector<std::string>& options, sofa::simulation::Node* groot = NULL, const char* filename = NULL);

    /// @}

protected:
    /// The destructor should not be called directly. Use the closeGUI() method instead.
    ~SimpleGUI();

public:

    // glut callbacks

    static SimpleGUI* instance;

    static void glut_display();
    static void glut_reshape(int w, int h);
    static void glut_keyboard(unsigned char k, int x, int y);
    static void glut_mouse(int button, int state, int x, int y);
    static void glut_motion(int x, int y);
    static void glut_special(int k, int x, int y);
    static void glut_idle();

private:

    enum {
        TRACKBALL_MODE = 1,
        PAN_MODE = 2,
        ZOOM_MODE = 3,

        BTLEFT_MODE = 101,
        BTRIGHT_MODE = 102,
        BTMIDDLE_MODE = 103,
    };
    // Interaction
    enum {
        XY_TRANSLATION = 1,
        Z_TRANSLATION = 2,
    };

    enum { MINMOVE = 10 };


    sofa::simulation::Node* groot;
    std::string sceneFileName;

    int				_W, _H;
    int				_clearBuffer;
    bool			_lightModelTwoSides;
    float			_lightPosition[4];
    int				_navigationMode;
    Trackball		_currentTrackball;
    Trackball		_newTrackball;
    //	Quaternion		_currentQuat;
    //	Quaternion		_newQuat;
    int				_mouseX, _mouseY;
    int				_savedMouseX, _savedMouseY;
    bool			_spinning;
    bool			_moving;
    bool			_video;
    bool			_animationOBJ; int _animationOBJcounter;// save a succession of .obj indexed by _animationOBJcounter
    bool			_axis;
    int 			_background;
    bool			_shadow;
    bool			_glshadow;
    float			_zoomSpeed;
    float			_panSpeed;
    Transformation	_sceneTransform;
    Vector3			_previousEyePos;
    GLUquadricObj*	_arrow;
    GLUquadricObj*	_tube;
    GLUquadricObj*	_sphere;
    GLUquadricObj*	_disk;
    GLuint			_numOBJmodels;
    GLuint			_materialMode;
    GLboolean		_facetNormal;
    float			_zoom;
    int				_renderingMode;
    bool			_waitForRender;
    //GLuint			_logoTexture;
    Texture			*texLogo;
    ctime_t			_beginTime;
    RayPickInteractor* interactor;
    double lastProjectionMatrix[16];
    double lastModelviewMatrix[16];
    GLint lastViewport[4];
    bool    sceneBBoxIsValid;
    Vector3 sceneMinBBox;
    Vector3 sceneMaxBBox;
    bool initTexturesDone;
    Capture capture;
public:

    void step();
    void animate();
    void playpause();
    void resetScene();
    void resetView();
    void saveView();
    void showVisual(bool);
    void showBehavior(bool);
    void showCollision(bool);
    void showBoundingCollision(bool);
    void showMapping(bool);
    void showMechanicalMapping(bool);
    void showForceField(bool);
    void showInteractionForceField(bool);
    void showWireFrame(bool);
    void showNormals(bool);
    void screenshot(int compression_level = -1);
    void exportOBJ(bool exportMTL=true);
    void dumpState(bool);
    void displayComputationTime(bool);
    void setExportGnuplot(bool);

    void initializeGL();
    void paintGL();
    void resizeGL( int w, int h );

    void keyPressEvent ( int k );
    void keyReleaseEvent ( int k );

    enum EventType
    {
	MouseButtonPress, MouseMove, MouseButtonRelease
    };
    void mouseEvent ( int type, int x, int y, int bt );

    void eventNewStep();

protected:

    void calcProjection();
    void ApplyShadowMap();
    void CreateRenderTexture(GLuint& textureID, int sizeX, int sizeY, int channels, int type);
    void StoreLightMatrices();

public:
    void setScene(sofa::simulation::Node* scene, const char* filename=NULL);
    sofa::simulation::Node* getScene()
    {
        return groot;
    }
    const std::string& getSceneFileName()
    {
        return sceneFileName;
    }
    void SwitchToPresetView();
    int GetWidth()
    {
        return _W;
    };
    int GetHeight()
    {
        return _H;
    };

    void	UpdateOBJ(void);

    /////////////////
    // Interaction //
    /////////////////

    bool _mouseInteractorTranslationMode;
    bool _mouseInteractorRotationMode;
    bool _mouseInteractorMoving;
    int _mouseInteractorSavedPosX;
    int _mouseInteractorSavedPosY;
    int _translationMode;
    Quaternion _mouseInteractorCurrentQuat;
    Vector3 _mouseInteractorAbsolutePosition;
    Trackball _mouseInteractorTrackball;
    void ApplyMouseInteractorTransformation(int x, int y);

    Quaternion _mouseInteractorNewQuat;
    Vector3 _mouseInteractorRelativePosition;
    Quaternion _newQuat;
    Quaternion _currentQuat;
    bool _mouseTrans;
    bool _mouseRotate;

private:

    void	InitGFX(void);
    void	PrintString(void* font, char* string);
    void	Display3DText(float x, float y, float z, char* string);
    void	DrawAxis(double xpos, double ypos, double zpos, double arrowSize);
    void	DrawBox(double* minBBox, double* maxBBox, double r=0.0);
    void	DrawXYPlane(double zo, double xmin, double xmax, double ymin,
                     double ymax, double step);
    void	DrawYZPlane(double xo, double ymin, double ymax, double zmin,
                     double zmax, double step);
    void	DrawXZPlane(double yo, double xmin, double xmax, double zmin,
                     double zmax, double step);
    void	CreateOBJmodelDisplayList(int material_mode);
    //int     loadBMP(char *filename, TextureImage *texture);
    //void	LoadGLTexture(char *Filename);
    void	DrawLogo(void);
    void	DisplayOBJs(bool shadowPass = false);
    void	DisplayMenu(void);
    void	DrawScene();
    void	DrawAutomate();
    void	ApplySceneTransformation(int x, int y);
    //int		handle(int event);	// required by FLTK

protected:
    bool isControlPressed() const;
    bool isShiftPressed() const;
    bool isAltPressed() const;
    bool m_isControlPressed;
    bool m_isShiftPressed;
    bool m_isAltPressed;
    void updateModifiers();
    bool m_dumpState;
    bool m_displayComputationTime;
    bool m_exportGnuplot;
    std::ofstream* m_dumpStateStream;
};

} // namespace glut

} // namespace gui

} // namespace sofa

#endif