rviz_interaction_tools: rviz_interaction_tools: line.cpp Source File

00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include "rviz_interaction_tools/line.h"
00031 
00032 #include <OGRE/OgreEntity.h>
00033 #include <OGRE/OgreManualObject.h>
00034 #include <OGRE/OgreSceneNode.h>
00035 #include <OGRE/OgreSceneManager.h>
00036 
00037 #include <rviz_interaction_tools/unique_string_manager.h>
00038 
00039 namespace rviz_interaction_tools {
00040 
00041 Line::Line( Ogre::SceneManager* scene_manager, Ogre::SceneNode* scene_node ) :
00042     scene_node_(scene_node),
00043     scene_manager_(scene_manager)
00044 {
00045   rviz_interaction_tools::UniqueStringManager usm;
00046 
00047   line_object_ = scene_manager->createManualObject( usm.unique("GripperClickLineIndicator") );
00048   line_object_->setDynamic(true);
00049   line_object_->begin("BaseWhiteNoLighting", Ogre::RenderOperation::OT_LINE_STRIP);
00050   line_object_->position(0.0, 0.0, 0.0);
00051   line_object_->position(0.0, 0.0, 0.0);
00052   line_object_->index(0);
00053   line_object_->index(1);
00054   line_object_->index(0);
00055   line_object_->end();
00056 
00057   scene_node_->attachObject(line_object_);
00058 }
00059 
00060 Line::~Line()
00061 {
00062   scene_node_->detachObject(line_object_);
00063   scene_manager_->destroyManualObject(line_object_);
00064 }
00065 
00066 void Line::setLimits( Ogre::Vector3 start, Ogre::Vector3 end )
00067 {
00068   line_object_->beginUpdate(0);
00069   line_object_->position(start);
00070   line_object_->position(end);
00071   line_object_->index(0);
00072   line_object_->index(1);
00073   line_object_->index(0);
00074   line_object_->end();
00075 
00076   Ogre::AxisAlignedBox aabInf;
00077   aabInf.setInfinite();
00078   line_object_->setBoundingBox(aabInf);
00079 }
00080 
00081 }