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// Copyright (c) 2015-2018, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// This file is part of gepetto-viewer. |
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// gepetto-viewer is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// gepetto-viewer is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// gepetto-viewer. If not, see <http://www.gnu.org/licenses/>. |
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#include "gepetto/gui/osgwidget.hh" |
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#include <QAction> |
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#include <QDebug> |
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#include <QDockWidget> |
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#include <QFileDialog> |
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#include <QKeyEvent> |
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#include <QProcess> |
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#include <QTextBrowser> |
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#include <cassert> |
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#include <gepetto/gui/pick-handler.hh> |
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#include <osg/Camera> |
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#include <osg/DisplaySettings> |
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#include <osg/Geode> |
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#include <osg/Material> |
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#include <osg/Shape> |
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#include <osg/ShapeDrawable> |
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#include <osg/StateSet> |
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#include <osgGA/EventQueue> |
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#include <osgGA/KeySwitchMatrixManipulator> |
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#include <osgGA/TrackballManipulator> |
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#include <osgUtil/IntersectionVisitor> |
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#include <osgUtil/PolytopeIntersector> |
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#include <osgViewer/View> |
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#include <osgViewer/ViewerEventHandlers> |
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#include <stdexcept> |
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#include <vector> |
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#include "gepetto/gui/mainwindow.hh" |
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#if (QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)) |
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#include <QStandardPaths> |
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#endif |
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#include <gepetto/viewer/OSGManipulator/keyboard-manipulator.h> |
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#include <gepetto/viewer/macros.h> |
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#include <gepetto/viewer/urdf-parser.h> |
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#include <gepetto/viewer/window-manager.h> |
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#include <QToolBar> |
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#include <QVBoxLayout> |
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#include <QWheelEvent> |
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#include <gepetto/gui/action-search-bar.hh> |
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#include <gepetto/gui/selection-event.hh> |
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#include <gepetto/gui/windows-manager.hh> |
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namespace gepetto { |
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namespace gui { |
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OSGWidget::OSGWidget(WindowsManagerPtr_t wm, const std::string& name, |
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MainWindow* parent, Qt::WindowFlags f, |
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osgViewer::ViewerBase::ThreadingModel threadingModel) |
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: QWidget(parent, f), |
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graphicsWindow_(), |
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wsm_(wm), |
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pickHandler_(new PickHandler(this, wsm_)), |
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wid_(), |
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wm_(), |
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viewer_(new osgViewer::Viewer), |
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screenCapture_(), |
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tmpDirectory_(NULL), |
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toolBar_(new QToolBar(QString::fromStdString(name) + " tool bar")), |
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process_(new QProcess(this)), |
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showPOutput_(new QDialog(this, Qt::Dialog | Qt::WindowCloseButtonHint | |
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Qt::WindowMinMaxButtonsHint)), |
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pOutput_(new QTextBrowser()), |
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fullscreen_(new QWidget(NULL, Qt::Window | Qt::WindowStaysOnTopHint)) { |
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initGraphicsWindowsAndViewer(parent, name); |
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initToolBar(); |
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wid_ = wm->createWindow(name, this, viewer_, graphicsWindow_.get()); |
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wm_ = wsm_->getWindowManager(wid_); |
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viewer_->setThreadingModel(threadingModel); |
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osgQt::GLWidget* glWidget = graphicsWindow_->getGLWidget(); |
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// glWidget->setForwardKeyEvents(true); |
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QVBoxLayout* hblayout = new QVBoxLayout(this); |
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hblayout->setContentsMargins(1, 1, 1, 1); |
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setLayout(hblayout); |
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hblayout->addWidget(toolBar_); |
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hblayout->addWidget(glWidget); |
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glWidget->setMinimumSize(50, 10); |
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// TODO Adding the properties here is problematic. They won't be |
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// shown in the GUI because the display is created before this code is run. |
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wm_->addProperty(viewer::BoolProperty::create( |
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"WindowFixedSize", |
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viewer::BoolProperty::getterFromMemberFunction(this, |
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&OSGWidget::isFixedSize), |
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viewer::BoolProperty::setterFromMemberFunction( |
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this, &OSGWidget::setFixedSize))); |
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wm_->addProperty(viewer::Vector2Property::create( |
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"WindowSize", |
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viewer::Vector2Property::getterFromMemberFunction( |
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wm_.get(), &viewer::WindowManager::getWindowDimension), |
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viewer::Vector2Property::Setter_t())); |
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nSuccessiveStaticFrames_ = 0; |
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connect(&timer_, SIGNAL(timeout()), this, SLOT(update())); |
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timer_.start(parent->settings_->refreshRate); |
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// Setup widgets to record movies. |
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process_->setProcessChannelMode(QProcess::MergedChannels); |
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connect(process_, SIGNAL(readyReadStandardOutput()), |
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SLOT(readyReadProcessOutput())); |
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showPOutput_->setModal(false); |
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showPOutput_->setLayout(new QHBoxLayout()); |
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showPOutput_->layout()->addWidget(pOutput_); |
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} |
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OSGWidget::~OSGWidget() { |
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viewer_->setDone(true); |
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viewer_->removeEventHandler(pickHandler_); |
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pickHandler_ = NULL; |
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wm_.reset(); |
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wsm_.reset(); |
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delete fullscreen_; |
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} |
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void OSGWidget::paintEvent(QPaintEvent*) { |
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viewer::ScopedLock lock(wsm_->osgFrameMutex()); |
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int refreshRate = MainWindow::instance()->settings_->refreshRate; |
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int sleepModeThr = int(6000. / refreshRate); // ~60 seconds. |
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if (wm_->frame()) { |
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// go back to active mode if necessary |
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if (nSuccessiveStaticFrames_ >= sleepModeThr) |
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timer_.setInterval(MainWindow::instance()->settings_->refreshRate); |
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nSuccessiveStaticFrames_ = 0; |
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} else if (nSuccessiveStaticFrames_ < sleepModeThr) |
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nSuccessiveStaticFrames_++; |
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else if (nSuccessiveStaticFrames_ == sleepModeThr) { |
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// go into sleep mode: check for updates every second only. |
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timer_.setInterval(1000); |
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nSuccessiveStaticFrames_++; // becomes > sleepModeThr |
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} |
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} |
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WindowsManager::WindowID OSGWidget::windowID() const { return wid_; } |
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WindowManagerPtr_t OSGWidget::window() const { return wm_; } |
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WindowsManagerPtr_t OSGWidget::osg() const { return wsm_; } |
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void OSGWidget::onHome() { viewer_->home(); } |
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void OSGWidget::addFloor() { wsm_->addFloor("hpp-gui/floor"); } |
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void OSGWidget::toggleCapture(bool active) { |
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MainWindow* main = MainWindow::instance(); |
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if (active) { |
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#if (QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)) |
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if (tmpDirectory_ != NULL) { |
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qDebug() << "A temporary directory already exists: " << tmpDirectory_; |
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delete tmpDirectory_; |
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} |
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tmpDirectory_ = |
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new QTemporaryDir(QDir::temp().absoluteFilePath("gepetto-gui.")); |
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if (!tmpDirectory_->isValid()) { |
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main->logError( |
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#if (QT_VERSION >= QT_VERSION_CHECK(5, 6, 0)) |
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tmpDirectory_->errorString() |
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#else |
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"A temporary directory is not valid" |
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#endif |
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); |
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delete tmpDirectory_; |
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tmpDirectory_ = NULL; |
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recordMovie_->setChecked(false); |
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} else { |
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tmpDirectory_->setAutoRemove(false); |
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QString path = |
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#if (QT_VERSION >= QT_VERSION_CHECK(5, 9, 0)) |
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tmpDirectory_->filePath("img"); |
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#else |
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tmpDirectory_->path() + "/img"; |
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#endif |
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const char* ext = "jpeg"; |
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osg()->startCapture(windowID(), path.toLocal8Bit().data(), ext); |
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main->log("Saving images to " + path + "_<number>." + ext); |
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} |
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#else |
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QDir tmp("/tmp"); |
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tmp.mkpath("gepetto-gui/record"); |
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tmp.cd("gepetto-gui/record"); |
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foreach (QString f, |
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tmp.entryList(QStringList() << "img_0_*.jpeg", QDir::Files)) |
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tmp.remove(f); |
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QString path = tmp.absoluteFilePath("img"); |
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const char* ext = "jpeg"; |
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osg()->startCapture(windowID(), path.toLocal8Bit().data(), ext); |
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main->log("Saving images to " + path + "_*." + ext); |
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#endif |
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} else { |
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#if (QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)) |
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if (tmpDirectory_ == NULL) return; |
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QString input = |
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#if (QT_VERSION >= QT_VERSION_CHECK(5, 9, 0)) |
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tmpDirectory_->filePath("img_%d.jpeg"); |
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#else |
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tmpDirectory_->path() + "/img_%d.jpeg"; |
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#endif |
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#else |
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QString input = "/tmp/gepetto-gui/record/img_0_%d.jpeg"; |
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#endif |
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osg()->stopCapture(windowID()); |
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QString outputFile = |
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QFileDialog::getSaveFileName(this, tr("Save video to"), "untitled.mp4"); |
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if (!outputFile.isNull()) { |
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if (QFile::exists(outputFile)) QFile::remove(outputFile); |
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QString ffmpeg = main->settings_->ffmpeg; |
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QStringList args; |
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args << main->settings_->ffmpegInputOptions << "-i" << input |
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<< main->settings_->ffmpegOutputOptions << outputFile; |
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qDebug() << args; |
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showPOutput_->setWindowTitle(ffmpeg + " " + args.join(" ")); |
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pOutput_->clear(); |
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showPOutput_->resize(main->size() / 2); |
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showPOutput_->show(); |
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process_->start(ffmpeg, args); |
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bool started = process_->waitForStarted(-1); |
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if (!started) { |
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showPOutput_->hide(); |
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switch (process_->error()) { |
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case QProcess::FailedToStart: |
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main->logError( |
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"Failed to start " + ffmpeg + |
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". Either it is missing, " |
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"or you may have insufficient permissions to invoke it.\n"); |
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break; |
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case QProcess::Crashed: |
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main->logError("" + ffmpeg + |
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" crashed some time after starting successfully."); |
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break; |
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case QProcess::Timedout: |
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case QProcess::WriteError: |
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case QProcess::ReadError: |
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case QProcess::UnknownError: |
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main->logError("An unknown error made " + ffmpeg + |
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" stopped before " |
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"finishing."); |
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break; |
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} |
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main->logError("You can manually run\n" + ffmpeg + " " + |
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args.join(" ")); |
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} |
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} |
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#if (QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)) |
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delete tmpDirectory_; |
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tmpDirectory_ = NULL; |
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#endif |
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} |
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} |
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void OSGWidget::captureFrame() { |
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#if (QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)) |
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QString pathname = |
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QStandardPaths::writableLocation(QStandardPaths::PicturesLocation); |
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#else |
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QString pathname = QDir::home().filePath("Pictures"); |
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#endif |
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if (pathname.isEmpty()) { |
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qDebug() << "Unable to get the directory where to write images"; |
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return; |
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} |
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QDir path(pathname); |
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if (!path.mkpath(".")) { |
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qDebug() << "Unable to create directory" << pathname; |
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return; |
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} |
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QString filename(path.filePath( |
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QDateTime::currentDateTime().toString("yyyy-MM-dd.hh-mm-ss'.png'"))); |
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captureFrame(filename.toStdString()); |
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} |
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void OSGWidget::captureFrame(const std::string& filename) { |
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viewer::ScopedLock lock(wsm_->osgFrameMutex()); |
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wm_->captureFrame(filename); |
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} |
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bool OSGWidget::startCapture(const std::string& filename, |
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const std::string& extension) { |
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viewer::ScopedLock lock(wsm_->osgFrameMutex()); |
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wm_->startCapture(filename, extension); |
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return true; |
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} |
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bool OSGWidget::stopCapture() { |
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viewer::ScopedLock lock(wsm_->osgFrameMutex()); |
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wm_->stopCapture(); |
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return true; |
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} |
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bool OSGWidget::isFixedSize() const { |
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try { |
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return wm_->property("WindowSize")->hasWriteAccess(); |
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} catch (const std::invalid_argument&) { |
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return false; |
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} |
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} |
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void OSGWidget::setFixedSize(bool fixedSize) { |
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try { |
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viewer::Property& size(*wm_->property("WindowSize")); |
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if (size.hasWriteAccess() == fixedSize) return; |
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// Cast to Vector2Property |
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viewer::Vector2Property& vsize( |
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dynamic_cast<viewer::Vector2Property&>(size)); |
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osgQt::GLWidget* glWidget = graphicsWindow_->getGLWidget(); |
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if (fixedSize) { |
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glWidget->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); |
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// Add write access |
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vsize.setter(viewer::Vector2Property::Setter_t( |
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viewer::Vector2Property::setterFromMemberFunction( |
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this, &OSGWidget::setWindowDimension))); |
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} else { |
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glWidget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred); |
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// Remove write access |
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vsize.setter(viewer::Vector2Property::Setter_t()); |
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} |
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} catch (const std::invalid_argument&) { |
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return; |
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} catch (const std::bad_cast&) { |
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return; |
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} |
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} |
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void OSGWidget::setWindowDimension(const osgVector2& size) { |
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osgQt::GLWidget* glWidget = graphicsWindow_->getGLWidget(); |
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if (isFixedSize()) { |
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glWidget->resize((int)size[0], (int)size[1]); |
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glWidget->setMinimumSize((int)size[0], (int)size[1]); |
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} else |
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glWidget->setMinimumSize(50, 10); |
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} |
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void OSGWidget::readyReadProcessOutput() { |
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pOutput_->append(process_->readAll()); |
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} |
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QIcon iconFromTheme(const QString& name) { |
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QIcon icon; |
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if (QIcon::hasThemeIcon(name)) { |
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icon = QIcon::fromTheme(name); |
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} else { |
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icon.addFile(QString::fromUtf8(""), QSize(), QIcon::Normal, QIcon::Off); |
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} |
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return icon; |
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} |
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void OSGWidget::initToolBar() { |
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toolBar_ |
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->addAction(iconFromTheme("zoom-fit-best"), "Zoom to fit", this, |
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SLOT(onHome())) |
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->setToolTip("Zoom to fit"); |
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QIcon icon; |
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icon.addFile(QString::fromUtf8(":/icons/floor.png"), QSize(), QIcon::Normal, |
375 |
|
|
QIcon::Off); |
376 |
|
|
QAction* addFloor = |
377 |
|
|
toolBar_->addAction(icon, "Add floor", this, SLOT(addFloor())); |
378 |
|
|
addFloor->setToolTip("Add a floor"); |
379 |
|
|
MainWindow* main = MainWindow::instance(); |
380 |
|
|
main->actionSearchBar()->addAction(addFloor); |
381 |
|
|
|
382 |
|
|
toolBar_ |
383 |
|
|
->addAction(iconFromTheme("insert-image"), "Take snapshot", this, |
384 |
|
|
SLOT(captureFrame())) |
385 |
|
|
->setToolTip("Take a snapshot"); |
386 |
|
|
|
387 |
|
|
recordMovie_ = |
388 |
|
|
toolBar_->addAction(iconFromTheme("media-record"), "Record movie"); |
389 |
|
|
connect(recordMovie_, SIGNAL(triggered(bool)), SLOT(toggleCapture(bool)), |
390 |
|
|
Qt::QueuedConnection); |
391 |
|
|
recordMovie_->setCheckable(true); |
392 |
|
|
recordMovie_->setToolTip( |
393 |
|
|
"Record the central widget as a sequence of images. You can find the " |
394 |
|
|
"images in /tmp/gepetto-gui/record/img_%d.jpeg"); |
395 |
|
|
|
396 |
|
|
QAction* toggleFullscreen = new QAction(iconFromTheme("view-fullscreen"), |
397 |
|
|
"Toggle fullscreen mode", this); |
398 |
|
|
toggleFullscreen->setShortcut(Qt::SHIFT | Qt::Key_F); |
399 |
|
|
toggleFullscreen->setCheckable(true); |
400 |
|
|
toggleFullscreen->setChecked(false); |
401 |
|
|
connect(toggleFullscreen, SIGNAL(toggled(bool)), |
402 |
|
|
SLOT(toggleFullscreenMode(bool))); |
403 |
|
|
toolBar_->addAction(toggleFullscreen); |
404 |
|
|
|
405 |
|
|
fullscreen_->setLayout(new QVBoxLayout); |
406 |
|
|
fullscreen_->layout()->setContentsMargins(0, 0, 0, 0); |
407 |
|
|
} |
408 |
|
|
|
409 |
|
|
void OSGWidget::initGraphicsWindowsAndViewer(MainWindow* parent, |
410 |
|
|
const std::string& name) { |
411 |
|
|
osg::DisplaySettings* ds = osg::DisplaySettings::instance().get(); |
412 |
|
|
osg::ref_ptr<osg::GraphicsContext::Traits> traits_ptr( |
413 |
|
|
new osg::GraphicsContext::Traits(ds)); |
414 |
|
|
traits_ptr->windowName = name; |
415 |
|
|
traits_ptr->x = this->x(); |
416 |
|
|
traits_ptr->y = this->y(); |
417 |
|
|
traits_ptr->width = this->width(); |
418 |
|
|
traits_ptr->height = this->height(); |
419 |
|
|
traits_ptr->windowDecoration = false; |
420 |
|
|
traits_ptr->doubleBuffer = true; |
421 |
|
|
traits_ptr->vsync = true; |
422 |
|
|
// traits_ptr->sharedContext = 0; |
423 |
|
|
|
424 |
|
|
graphicsWindow_ = new osgQt::GraphicsWindowQt(traits_ptr); |
425 |
|
|
|
426 |
|
|
osg::Camera* camera = viewer_->getCamera(); |
427 |
|
|
camera->setGraphicsContext(graphicsWindow_); |
428 |
|
|
|
429 |
|
|
camera->setClearColor(osg::Vec4(0.2f, 0.2f, 0.6f, 1.0f)); |
430 |
|
|
camera->setViewport( |
431 |
|
|
new osg::Viewport(0, 0, traits_ptr->width, traits_ptr->height)); |
432 |
|
|
camera->setProjectionMatrixAsPerspective( |
433 |
|
|
30.0f, |
434 |
|
|
static_cast<double>(traits_ptr->width) / |
435 |
|
|
static_cast<double>(traits_ptr->height), |
436 |
|
|
1.0f, 10000.0f); |
437 |
|
|
|
438 |
|
|
viewer_->setKeyEventSetsDone(0); |
439 |
|
|
|
440 |
|
|
// Manipulators |
441 |
|
|
osg::ref_ptr<osgGA::KeySwitchMatrixManipulator> keyswitchManipulator = |
442 |
|
|
new osgGA::KeySwitchMatrixManipulator; |
443 |
|
|
keyswitchManipulator->addMatrixManipulator('1', "Trackball", |
444 |
|
|
new osgGA::TrackballManipulator()); |
445 |
|
|
keyswitchManipulator->addMatrixManipulator( |
446 |
|
|
'2', "First person", new ::osgGA::KeyboardManipulator(graphicsWindow_)); |
447 |
|
|
keyswitchManipulator->selectMatrixManipulator(0); |
448 |
|
|
viewer_->setCameraManipulator(keyswitchManipulator.get()); |
449 |
|
|
|
450 |
|
|
// Event handlers |
451 |
|
|
screenCapture_ = new osgViewer::ScreenCaptureHandler( |
452 |
|
|
new osgViewer::ScreenCaptureHandler::WriteToFile( |
453 |
|
|
parent->settings_->captureDirectory + "/" + |
454 |
|
|
parent->settings_->captureFilename, |
455 |
|
|
parent->settings_->captureExtension), |
456 |
|
|
1); |
457 |
|
|
viewer_->addEventHandler(screenCapture_); |
458 |
|
|
viewer_->addEventHandler(new osgViewer::HelpHandler); |
459 |
|
|
viewer_->addEventHandler(pickHandler_); |
460 |
|
|
viewer_->addEventHandler(new osgViewer::StatsHandler); |
461 |
|
|
} |
462 |
|
|
|
463 |
|
|
void OSGWidget::toggleFullscreenMode(bool fullscreenOn) { |
464 |
|
|
if (!isVisible()) return; |
465 |
|
|
if (fullscreenOn) { |
466 |
|
|
QDockWidget* dockOSG = qobject_cast<QDockWidget*>(this->parentWidget()); |
467 |
|
|
if (dockOSG) { |
468 |
|
|
normal_ = this->parentWidget(); |
469 |
|
|
fullscreen_->layout()->addWidget(this); |
470 |
|
|
fullscreen_->showFullScreen(); |
471 |
|
|
} |
472 |
|
|
} else { |
473 |
|
|
QDockWidget* dockOSG = qobject_cast<QDockWidget*>(normal_); |
474 |
|
|
if (dockOSG) { |
475 |
|
|
fullscreen_->hide(); |
476 |
|
|
dockOSG->setWidget(this); |
477 |
|
|
} |
478 |
|
|
} |
479 |
|
|
} |
480 |
|
|
} // namespace gui |
481 |
|
|
} // namespace gepetto |