renderworldwrapperwidget.cpp

/********************************************************************************
 *  FARSA Experiments Library                                                   *
 *  Copyright (C) 2007-2014                                                     *
 *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
 *  Onofrio Gigliotta <onofrio.gigliotta@istc.cnr.it>                           *
 *  Gianluca Massera <emmegian@yahoo.it>                                        *
 *  Tomassino Ferrauto <tomassino.ferrauto@istc.cnr.it>                         *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  This program is distributed in the hope that it will be useful,             *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of              *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               *
 *  GNU General Public License for more details.                                *
 *                                                                              *
 *  You should have received a copy of the GNU General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#include "renderworldwrapperwidget.h"
#include "renderworld.h"
#include "logger.h"
#include <QVBoxLayout>

using namespace qglviewer;

// All the suff below is to avoid warnings on Windows about the use of unsafe
// functions. This should be only a temporary workaround, the solution is stop
// using C string and file functions...
#if defined(_MSC_VER)
    #pragma warning(push)
    #pragma warning(disable:4996)
#endif

namespace farsa {

namespace {
    // A custom QEvent to force update of RenderWorldWrapperWidget
    class ForceRenderWorldUpdateEvent : public QEvent
    {
    public:
        ForceRenderWorldUpdateEvent() :
            QEvent(QEvent::User)
        {
        }

        virtual ~ForceRenderWorldUpdateEvent()
        {
        }
    };
}

RenderWorldWrapperWidget::RenderWorldWrapperWidget(QWidget* parent, Qt::WindowFlags flags) :
    QWidget(parent, flags),
    ConcurrentResourcesUser(),
    m_renderWorld(new RenderWorld(this, "world")),
    m_layout(new QVBoxLayout(this)),
    m_renderWorldStateRestored(false),
    m_setCameraToLookAtRobot(false),
    m_robotTm(wMatrix::identity())
{
    // Setting some window property and creating the layout that will contain renderworld
    setWindowTitle("3D World");
    m_layout->setContentsMargins(0, 0, 0, 0);
    m_layout->addWidget(m_renderWorld);
    const QString stateFileName = ".evolver.xml";
    m_renderWorld->setStateFileName(stateFileName);
    if (QFile::exists(stateFileName)) {
        m_renderWorldStateRestored = true;
        m_renderWorld->restoreStateFromFile();
    }

    // Declaring which resources we will need to use
    usableResources(QStringList() << "robot");

    // timer used if selfUpdate is on
    m_selfUpdateTimer = new QTimer(this);
    // 40 ms correspond to 25 frame per seconds
    m_selfUpdateTimer->setInterval( 40 );
    m_selfUpdateTimer->setSingleShot( false );
    connect( m_selfUpdateTimer, SIGNAL(timeout()), this, SLOT(updateRenderWorld()) );
}

RenderWorldWrapperWidget::~RenderWorldWrapperWidget()
{
    m_selfUpdateTimer->stop();
}

void RenderWorldWrapperWidget::shareResourcesWith(ResourcesUser* buddy)
{
    // First of all calling parent function
    ConcurrentResourcesUser::shareResourcesWith(buddy);

    // Now sharing with RenderWorld
    m_renderWorld->shareResourcesWith(buddy);
}

void RenderWorldWrapperWidget::updateRenderWorld()
{
    if (m_setCameraToLookAtRobot) {
        lookAtRobot();

        m_setCameraToLookAtRobot = false;
        // Setting this to true so that the next time the robot changes we don't move camera
        m_renderWorldStateRestored = true;
    }

    m_renderWorld->update();
}

void RenderWorldWrapperWidget::setSelfUpdate( bool on ) {
    if ( on ) {
        m_selfUpdateTimer->start();
    } else {
        m_selfUpdateTimer->stop();
    }
}

bool RenderWorldWrapperWidget::isSelfUpdate() {
    return m_selfUpdateTimer->isActive();
}

void RenderWorldWrapperWidget::resourceChanged(QString resourceName, ResourceChangeType changeType)
{
    if (resourceName == "robot") {
        if ((changeType != Deleted) && (!m_renderWorldStateRestored)) {
            try {
                m_robotTm = getResource<WObject>()->matrix();
            } catch (const ResourceTypeMismatchException&) {
            }

            m_setCameraToLookAtRobot = true;
        }
    } else {
        Logger::info("Unknown resource " + resourceName + " for RenderWorldWrapperWidget widget");
    }

    // Forcing renderworld update
    QCoreApplication::postEvent(this, new ForceRenderWorldUpdateEvent());
}

void RenderWorldWrapperWidget::customEvent(QEvent* event)
{
    if (event->type() == QEvent::User) {
        // Forcing RenderWorld update
        updateRenderWorld();
    }
}

void RenderWorldWrapperWidget::lookAtRobot()
{
    wVector cameraDefaultPosition = m_robotTm.transformVector(wVector(-0.8f, 0.0f, +0.6f));
    m_renderWorld->camera()->setPosition(Vec(cameraDefaultPosition[0], cameraDefaultPosition[1], cameraDefaultPosition[2]));
    m_renderWorld->camera()->setUpVector(Vec(0.0f, 0.0f, 1.0f));
    m_renderWorld->camera()->lookAt(Vec(m_robotTm.w_pos[0], m_robotTm.w_pos[1], m_robotTm.w_pos[2]));
}

} //end namespace farsa

// All the suff below is to restore the warning state on Windows
#if defined(_MSC_VER)
    #pragma warning(pop)
#endif