Integrate VTK 8 OpenGL2 backend and use QVTKOpenGLWidget

RobotLocomotion · Jun 28, 2017 · dd4ee5d · dd4ee5d
1 parent 4109097
commit dd4ee5d
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Showing 6 changed files with 70 additions and 29 deletions.
diff --git a/distro/superbuild/cmake/externals.cmake b/distro/superbuild/cmake/externals.cmake
@@ -367,15 +367,15 @@ else()
 
   ExternalProject_Add(vtk
     GIT_REPOSITORY git://vtk.org/VTK.git
-    GIT_TAG v7.1.1
+    GIT_TAG v8.0.0
     CMAKE_CACHE_ARGS
       ${default_cmake_args}
       ${python_args}
       ${qt_args}
       -DBUILD_SHARED_LIBS:BOOL=ON
       -DBUILD_TESTING:BOOL=OFF
       -DBUILD_EXAMPLES:BOOL=OFF
-      -DVTK_RENDERING_BACKEND:STRING=OpenGL
+      -DVTK_RENDERING_BACKEND:STRING=OpenGL2
       -DVTK_QT_VERSION:STRING=${DD_QT_VERSION}
       -DVTK_PYTHON_VERSION=2
       -DModule_vtkGUISupportQt:BOOL=ON

diff --git a/src/app/CMakeLists.txt b/src/app/CMakeLists.txt
@@ -34,8 +34,19 @@ include_directories(${PYTHON_INCLUDE_DIRS})
 
 set(decorator_file ${CMAKE_CURRENT_BINARY_DIR}/ddPythonQtDecorators.h)
 
+if(DD_QT_VERSION EQUAL 4)
+  file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/wrapped_methods_qvtk.txt
+    "QVTKWidget* ddQVTKWidgetView::vtkWidget() const;"
+    )
+else()
+  file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/wrapped_methods_qvtk.txt
+    "QVTKOpenGLWidget* ddQVTKWidgetView::vtkWidget() const;"
+    )
+endif()
+
 set(wrap_files
   wrapped_methods.txt
+  ${CMAKE_CURRENT_BINARY_DIR}/wrapped_methods_qvtk.txt
   )
 
 qt_wrap_cpp(moc_srcs

diff --git a/src/app/ddQVTKWidgetView.cpp b/src/app/ddQVTKWidgetView.cpp
@@ -1,33 +1,39 @@
 #include "ddQVTKWidgetView.h"
 #include "ddFPSCounter.h"
 
-#include "vtkTDxInteractorStyleCallback.h"
 #include "vtkSimpleActorInteractor.h"
+#include "vtkTDxInteractorStyleCallback.h"
 
+#include <vtkActor.h>
+#include <vtkAxesActor.h>
 #include <vtkBoundingBox.h>
-#include <vtkSmartPointer.h>
-#include <vtkRenderer.h>
-#include <vtkRenderWindow.h>
+#include <vtkCaptionActor2D.h>
+#include <vtkConeSource.h>
+#include <vtkEventQtSlotConnect.h>
+#include <vtkGenericOpenGLRenderWindow.h>
 #include <vtkInteractorStyle.h>
+#include <vtkInteractorStyleRubberBand3D.h>
+#include <vtkInteractorStyleTrackballCamera.h>
 #include <vtkLight.h>
-#include <vtkLightKit.h>
 #include <vtkLightCollection.h>
+#include <vtkLightKit.h>
 #include <vtkObjectFactory.h>
-#include <vtkActor.h>
-#include <vtkPolyDataMapper.h>
-#include <vtkConeSource.h>
 #include <vtkOrientationMarkerWidget.h>
-#include <vtkInteractorStyleTrackballCamera.h>
-#include <vtkInteractorStyleRubberBand3D.h>
+#include <vtkPolyDataMapper.h>
+#include <vtkRenderWindow.h>
 #include <vtkRenderWindowInteractor.h>
-#include <vtkAxesActor.h>
-#include <vtkEventQtSlotConnect.h>
-#include <vtkCaptionActor2D.h>
+#include <vtkRenderer.h>
+#include <vtkSmartPointer.h>
 #include <vtkTextProperty.h>
 
-#include <QVTKWidget.h>
-#include <QVBoxLayout>
 #include <QTimer>
+#include <QVBoxLayout>
+
+#if QT_VERSION >= QT_VERSION_CHECK(5, 4, 0)
+  #include <QVTKOpenGLWidget.h>
+#else
+  #include <QVTKWidget.h>
+#endif
 
 //-----------------------------------------------------------------------------
 class vtkCustomRubberBandStyle : public vtkInteractorStyleRubberBand3D
@@ -43,7 +49,7 @@ class vtkCustomRubberBandStyle : public vtkInteractorStyleRubberBand3D
       {
       this->Interaction = ZOOMING;
       this->FindPokedRenderer(
-        this->Interactor->GetEventPosition()[0], 
+        this->Interactor->GetEventPosition()[0],
         this->Interactor->GetEventPosition()[1]);
       this->InvokeEvent(vtkCommand::StartInteractionEvent);
       }
@@ -69,7 +75,7 @@ class ddQVTKWidgetView::ddInternal
     this->RenderTimer.setInterval(1000/timerFramesPerSeconds);
   }
 
-  QVTKWidget* VTKWidget;
+  QVTKOpenGLWidget* VTKWidget;
 
   vtkSmartPointer<vtkRenderer> Renderer;
   vtkSmartPointer<vtkRenderer> RendererBase;
@@ -98,25 +104,32 @@ ddQVTKWidgetView::ddQVTKWidgetView(QWidget* parent) : ddViewBase(parent)
 
   QVBoxLayout* layout = new QVBoxLayout(this);
   layout->setMargin(0);
-  this->Internal->VTKWidget = new QVTKWidget;
+  this->Internal->VTKWidget = new QVTKOpenGLWidget;
   layout->addWidget(this->Internal->VTKWidget);
 
+#if QT_VERSION >= QT_VERSION_CHECK(5, 4, 0)
+  this->Internal->RenderWindow =
+    vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
+#else
   this->Internal->VTKWidget->SetUseTDx(true);
-
   this->Internal->RenderWindow = vtkSmartPointer<vtkRenderWindow>::New();
+  this->Internal->VTKWidget->SetRenderWindow(this->Internal->RenderWindow);
+#endif
+  this->Internal->VTKWidget->SetRenderWindow(this->Internal->RenderWindow);
   this->Internal->RenderWindow->SetMultiSamples(8);
   this->Internal->RenderWindow->StereoCapableWindowOn();
   this->Internal->RenderWindow->SetStereoTypeToRedBlue();
   this->Internal->RenderWindow->StereoRenderOff();
   this->Internal->RenderWindow->StereoUpdate();
-  this->Internal->VTKWidget->SetRenderWindow(this->Internal->RenderWindow);
 
   this->Internal->LightKit = vtkSmartPointer<vtkLightKit>::New();
   this->Internal->LightKit->SetKeyLightWarmth(0.5);
   this->Internal->LightKit->SetFillLightWarmth(0.5);
 
-  this->Internal->TDxInteractor = vtkSmartPointer<vtkTDxInteractorStyleCallback>::New();
-  vtkInteractorStyle::SafeDownCast(this->Internal->RenderWindow->GetInteractor()->GetInteractorStyle())->SetTDxStyle(this->Internal->TDxInteractor);
+  this->Internal->TDxInteractor =
+    vtkSmartPointer<vtkTDxInteractorStyleCallback>::New();
+  vtkInteractorStyle::SafeDownCast(this->Internal->RenderWindow->GetInteractor(
+    )->GetInteractorStyle())->SetTDxStyle(this->Internal->TDxInteractor);
 
   //this->Internal->RenderWindow->SetNumberOfLayers(2);
 
@@ -192,7 +205,7 @@ vtkLightKit* ddQVTKWidgetView::lightKit() const
 }
 
 //-----------------------------------------------------------------------------
-QVTKWidget* ddQVTKWidgetView::vtkWidget() const
+QVTKOpenGLWidget* ddQVTKWidgetView::vtkWidget() const
 {
   return this->Internal->VTKWidget;
 }

diff --git a/src/app/ddQVTKWidgetView.h b/src/app/ddQVTKWidgetView.h
@@ -10,7 +10,12 @@ class vtkOrientationMarkerWidget;
 class vtkRenderer;
 class vtkRenderWindow;
 class vtkLightKit;
-class QVTKWidget;
+#if QT_VERSION >= QT_VERSION_CHECK(5, 4, 0)
+  class QVTKOpenGLWidget;
+#else
+  class QVTKWidget;
+  using QVTKOpenGLWidget = QVTKWidget;
+#endif
 
 class DD_APP_EXPORT ddQVTKWidgetView : public ddViewBase
 {
@@ -29,7 +34,7 @@ class DD_APP_EXPORT ddQVTKWidgetView : public ddViewBase
 
   QList<double> lastTDxMotion() const;
 
-  QVTKWidget* vtkWidget() const;
+  QVTKOpenGLWidget* vtkWidget() const;
   vtkOrientationMarkerWidget* orientationMarkerWidget() const;
 
   void installImageInteractor();

diff --git a/src/app/drakeVisualizerApp.cpp b/src/app/drakeVisualizerApp.cpp
@@ -1,9 +1,22 @@
-#include <PythonQt.h>
+// Qt includes
 #include <QApplication>
+
+// director includes
+#include <PythonQt.h>
 #include "ddPythonManager.h"
 
+// VTK includes
+#if QT_VERSION >= QT_VERSION_CHECK(5, 4, 0)
+  #include <QSurfaceFormat>
+  #include <QVTKOpenGLWidget.h>
+#endif
+
 int main(int argc, char **argv)
 {
+#if QT_VERSION >= QT_VERSION_CHECK(5, 4, 0)
+  // Set the default surface format for the OpenGL view
+  QSurfaceFormat::setDefaultFormat(QVTKOpenGLWidget::defaultFormat());
+#endif
   QApplication app(argc, argv);
   ddPythonManager* pythonManager = new ddPythonManager;
   pythonManager->setSysArgv(QApplication::instance()->arguments());

diff --git a/src/app/wrapped_methods.txt b/src/app/wrapped_methods.txt
@@ -9,7 +9,6 @@ vtkRenderWindow* ddQVTKWidgetView::renderWindow() const;
 vtkRenderer* ddQVTKWidgetView::renderer() const;
 vtkRenderer* ddQVTKWidgetView::backgroundRenderer() const;
 vtkLightKit* ddQVTKWidgetView::lightKit() const;
-QVTKWidget* ddQVTKWidgetView::vtkWidget() const;
 vtkOrientationMarkerWidget* ddQVTKWidgetView::orientationMarkerWidget() const;
 QList<double> ddQVTKWidgetView::lastTDxMotion() const;
 void ddQVTKWidgetView::installImageInteractor();