DART  6.10.1
Win3D.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2021, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_GUI_GLUT_WIN3D_HPP_
34 #define DART_GUI_GLUT_WIN3D_HPP_
35 
36 #include <Eigen/Eigen>
37 
38 #include "dart/gui/Trackball.hpp"
39 #include "dart/gui/glut/Window.hpp"
40 
41 namespace dart {
42 namespace gui {
43 namespace glut {
44 
45 class Win3D : public glut::Window
46 {
47 public:
48  Win3D();
49 
50  void initWindow(int _w, int _h, const char* _name) override;
51  void resize(int _w, int _h) override;
52  void render() override;
53 
54  void keyboard(unsigned char _key, int _x, int _y) override;
55  void click(int _button, int _state, int _x, int _y) override;
56  void drag(int _x, int _y) override;
57 
58  virtual void initGL();
59  virtual void initLights();
60 
61  virtual void draw() = 0;
62 
63 protected:
65  Eigen::Vector3d mTrans;
66  Eigen::Vector3d mEye;
67  Eigen::Vector3d mUp;
68  float mZoom;
69  float mPersp;
70 
71  bool mRotate;
72  bool mTranslate;
73  bool mZooming;
74 };
75 
76 } // namespace glut
77 } // namespace gui
78 } // namespace dart
79 
80 #endif // DART_GUI_GLUT_WIN3D_HPP_
Definition: Trackball.hpp:44
Definition: Win3D.hpp:46
Trackball mTrackBall
Definition: Win3D.hpp:64
Eigen::Vector3d mTrans
Definition: Win3D.hpp:65
float mZoom
Definition: Win3D.hpp:68
void drag(int _x, int _y) override
Definition: Win3D.cpp:173
float mPersp
Definition: Win3D.hpp:69
virtual void initLights()
Definition: Win3D.cpp:275
bool mTranslate
Definition: Win3D.hpp:72
Eigen::Vector3d mUp
Definition: Win3D.hpp:67
bool mRotate
Definition: Win3D.hpp:71
void click(int _button, int _state, int _x, int _y) override
Definition: Win3D.cpp:126
void resize(int _w, int _h) override
Definition: Win3D.cpp:69
void initWindow(int _w, int _h, const char *_name) override
Definition: Win3D.cpp:60
void render() override
Definition: Win3D.cpp:200
Eigen::Vector3d mEye
Definition: Win3D.hpp:66
bool mZooming
Definition: Win3D.hpp:73
Win3D()
Definition: Win3D.cpp:45
void keyboard(unsigned char _key, int _x, int _y) override
Definition: Win3D.cpp:93
virtual void draw()=0
virtual void initGL()
Definition: Win3D.cpp:263
Definition: Window.hpp:47
Definition: BulletCollisionDetector.cpp:65