v01

thirdparty/Pangolin/include/pangolin/handler/handler.h

@@ -0,0 +1,116 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2013 Steven Lovegrove
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <pangolin/display/opengl_render_state.h>
+#include <pangolin/handler/handler_enums.h>
+
+#if defined(HAVE_EIGEN) && !defined(__CUDACC__) //prevent including Eigen in cuda files
+#define USE_EIGEN
+#endif
+
+#ifdef USE_EIGEN
+#include <Eigen/Core>
+#endif
+
+#ifdef _OSX_
+#define PANGO_DFLT_HANDLER3D_ZF (1.0f/50.0f)
+#else
+#define PANGO_DFLT_HANDLER3D_ZF (1.0f/10.0f)
+#endif
+
+namespace pangolin
+{
+
+// Forward declarations
+struct View;
+
+/// Input Handler base class.
+/// Virtual methods which recurse into sub-displays.
+struct PANGOLIN_EXPORT Handler
+{
+    virtual ~Handler() {}
+    virtual void Keyboard(View&, unsigned char key, int x, int y, bool pressed);
+    virtual void Mouse(View&, MouseButton button, int x, int y, bool pressed, int button_state);
+    virtual void MouseMotion(View&, int x, int y, int button_state);
+    virtual void PassiveMouseMotion(View&, int x, int y, int button_state);
+    virtual void Special(View&, InputSpecial inType, float x, float y, float p1, float p2, float p3, float p4, int button_state);
+};
+
+struct PANGOLIN_EXPORT HandlerScroll : Handler
+{
+    void Mouse(View&, MouseButton button, int x, int y, bool pressed, int button_state);
+    void Special(View&, InputSpecial inType, float x, float y, float p1, float p2, float p3, float p4, int button_state);
+};
+
+struct PANGOLIN_EXPORT Handler3D : Handler
+{
+    Handler3D(OpenGlRenderState& cam_state, AxisDirection enforce_up=AxisNone, float trans_scale=0.01f, float zoom_fraction= PANGO_DFLT_HANDLER3D_ZF);
+
+    virtual bool ValidWinDepth(GLprecision depth);
+    virtual void PixelUnproject( View& view, GLprecision winx, GLprecision winy, GLprecision winz, GLprecision Pc[3]);
+    virtual void GetPosNormal(View& view, int x, int y, GLprecision p[3], GLprecision Pw[3], GLprecision Pc[3], GLprecision nw[3], GLprecision default_z = 1.0);
+
+    void Keyboard(View&, unsigned char key, int x, int y, bool pressed);
+    void Mouse(View&, MouseButton button, int x, int y, bool pressed, int button_state);
+    void MouseMotion(View&, int x, int y, int button_state);
+    void Special(View&, InputSpecial inType, float x, float y, float p1, float p2, float p3, float p4, int button_state);
+    
+#ifdef USE_EIGEN
+    // Return selected point in world coordinates
+    inline Eigen::Vector3d Selected_P_w() const {
+        return Eigen::Map<const Eigen::Matrix<GLprecision,3,1>>(Pw).cast<double>();
+    }
+#endif
+    inline int KeyState() const{
+        return funcKeyState;
+    }
+
+protected:
+    OpenGlRenderState* cam_state;
+    const static int hwin = 8;
+    AxisDirection enforce_up;
+    float tf; // translation factor
+    float zf; // zoom fraction
+    CameraSpec cameraspec;
+    GLprecision last_z;
+    float last_pos[2];
+    GLprecision rot_center[3];
+    
+    GLprecision p[3];
+    GLprecision Pw[3];
+    GLprecision Pc[3];
+    GLprecision n[3];
+
+    int funcKeyState;
+};
+
+static Handler StaticHandler;
+static HandlerScroll StaticHandlerScroll;
+
+}