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:
64   Trackball mTrackBall;
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_
81