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