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renderiv.h

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//----------------------------------------------------------------------
//               The Motion Strategy Library (MSL)
//----------------------------------------------------------------------
//
// Copyright (c) University of Illinois and Steven M. LaValle.     
// All Rights Reserved.
// 
// Permission to use, copy, and distribute this software and its 
// documentation is hereby granted free of charge, provided that 
// (1) it is not a component of a commercial product, and 
// (2) this notice appears in all copies of the software and
//     related documentation. 
// 
// The University of Illinois and the author make no representations
// about the suitability or fitness of this software for any purpose.  
// It is provided "as is" without express or implied warranty.
//----------------------------------------------------------------------

#ifndef MSL_RENDERIV_H
#define MSL_RENDERIV_H


// MSL includes
#include "triangle.h"
#include "render.h"
#include "point.h"
#include "vector.h"
#include "renderglobj.h"
#include <Xm/Xm.h>
#include <Inventor/Xt/SoXt.h>

// Inventor classes
class SoSeparator;
class SoXtExaminerViewer;
class SoSensor;
class SoTransform;
class SoSwitch;
class SoVertexProperty;
class SoCamera;
class SoPerspectiveCamera;
class SoOrthographicCamera;
class SoPointLight;
class SoRotation;
//-----------------------------------------------------------------
//                       Class RenderIv
//
//
//-----------------------------------------------------------------
class RenderIv: public Render
{
public: 
  
  // Constructors & Destructor
  RenderIv();
  RenderIv(string filepath);
  RenderIv(Scene *s, string filepath);
  virtual ~RenderIv();
  
  // method to reset the scene
  virtual void Reset();
 
  // initialization
  virtual void Init();
  virtual void MainLoop(Gui *g);
  
  
protected:

 // event callbacks
  static void  _TimerCB(void* userData, SoSensor*);
  inline void  _IdleFunction();

 // initialization
  SoSeparator* _ReadIvFile(const char *filename);
  SoSeparator* _InitObject(const string &fname);
  bool         _InitBoundsDisplay();
  bool         _InitPathDisplay();
  SoSeparator* _InitTriangleGeom(list<MSLTriangle> &triangles);
  bool         _InitData();

 // helper methods
  inline void  _SetSwitch(SoSwitch *pSwitch, bool bFlag);
  inline void  _UpdatePathDisplay();
  inline void  _SetTransform(SoTransform* pTrans,
                             double tx, double ty, double tz,
                             double rx, double ry, double rz);
  inline void  _UpdateBodies(const MSLVector &qConfig);
 

 // Data

  SoXtExaminerViewer*  _viewer;         // the viewer window
  Gui*                 _pGui;           // gui pointer

  SoSeparator*         _ivRoot;         // scene graph root
  SoSeparator*         _ivData;         // root of all scene data

  SoSwitch*            _ivBoundsSwitch; // workspace boundary display
  bool                 _bDisplayBounds;

  SoSwitch*            _ivPathSwitch;   // path display
  SoVertexProperty*    _pPathVertexProp;
  int                  _pathFrames;
  bool                 _bDisplayPath;

  list<SoTransform*>   _bodyTrans;      // list of body transforms

  //for AttachedCamera
  int                  camToggle;
  bool                 _bAttachedCamera;
  SoSwitch*            CamSwitch;
  SoPerspectiveCamera* defCam;
  SoPerspectiveCamera* attachedCam;
  SoPointLight*        lightSource;
  float                _ivPosition[3];
  float                _ivOrientation[3];
  float                _ivBoundingBoxMin[3];
  float                _ivBoundingBoxMax[3];
  float                _ivSceneCenter[3];
  float                CamPosX;
  float                CamPosY;
  float                CamPosZ;
  float                CamViewX;
  float                CamViewY;
  float                CamViewZ;
  float                _ivViewLength;
  float                _ivFocalDist;
  float                _ivNearDist;
  float                _ivFarDist;
  float                LightPosX;
  float                LightPosY;
  float                LightPosZ;
  float                CamUpX;
  float                CamUpY;
  float                CamUpZ;
  
  //for multiple views
  bool                 _bMultipleViews;
  SoSeparator*         _ivTopLeftObject;
  SoSeparator*         _ivTopRightObject;
  SoSeparator*         _ivBottomLeftObject;
  SoSeparator*         _ivBottomRightObject;
  int                  MultipleViewsToggle;
  SoXtExaminerViewer*  TopLeftViewer;
  SoXtExaminerViewer*  TopRightViewer;
  SoXtExaminerViewer*  BottomLeftViewer;
  SoXtExaminerViewer*  BottomRightViewer;
  Widget               mainWindow;  
  SoOrthographicCamera*            TopLeftCamera;
  SoOrthographicCamera*            TopRightCamera;
  SoOrthographicCamera*            BottomLeftCamera;
  SoPerspectiveCamera*             BottomRightCamera;

};

#endif

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