ortho_camera.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */


#include "ortho_camera.h"
#include "qt_ogre_render_window.h"

#include "ros/assert.h"

#include <OGRE/OgreCamera.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreVector3.h>
#include <OGRE/OgreQuaternion.h>

namespace ogre_tools
{

OrthoCamera::OrthoCamera( QtOgreRenderWindow* render_window, Ogre::SceneManager* scene_manager )
: CameraBase( scene_manager )
, scale_( 10.0f )
, render_window_( render_window )
{
  camera_->setProjectionType( Ogre::PT_ORTHOGRAPHIC );
  camera_->setNearClipDistance(0.001f);
  camera_->setFarClipDistance(50.0f);
  camera_->setFixedYawAxis(false);

  update();
}

OrthoCamera::~OrthoCamera()
{
}

void OrthoCamera::update()
{
  render_window_->setOrthoScale( scale_ );
}

void OrthoCamera::yaw( float angle )
{
  camera_->yaw( Ogre::Radian( angle ) );
}

void OrthoCamera::pitch( float angle )
{
  camera_->pitch( Ogre::Radian( angle ) );
}

void OrthoCamera::roll( float angle )
{
  camera_->roll( Ogre::Radian( angle ) );
}

Ogre::Vector3 OrthoCamera::getPosition()
{
  return camera_->getPosition();
}

Ogre::Quaternion OrthoCamera::getOrientation()
{
  return camera_->getOrientation();
}

void OrthoCamera::setFrom( CameraBase* camera )
{
  ROS_BREAK();
}

void OrthoCamera::setOrientation( float x, float y, float z, float w )
{
  camera_->setOrientation(Ogre::Quaternion(w, x, y, z));
}

void OrthoCamera::move( float x, float y, float z )
{
  camera_->moveRelative( Ogre::Vector3( x, y, z ) );
}

void OrthoCamera::setPosition( float x, float y, float z )
{
  camera_->setPosition( x, y, z );
}

void OrthoCamera::lookAt( const Ogre::Vector3& point )
{
  //camera_->lookAt( point );
  Ogre::Vector3 current_pos = camera_->getPosition();
  current_pos.x = point.x;
  current_pos.z = point.z;
  camera_->setPosition(current_pos);
}

void OrthoCamera::mouseLeftDrag( int diff_x, int diff_y, bool ctrl, bool alt, bool shift )
{
  roll( -diff_x * 0.005 );
}

void OrthoCamera::mouseMiddleDrag( int diff_x, int diff_y, bool ctrl, bool alt, bool shift )
{
  move( -diff_x / scale_, diff_y / scale_, 0.0f );
}

void OrthoCamera::mouseRightDrag( int diff_x, int diff_y, bool ctrl, bool alt, bool shift )
{
  scale_ *= 1.0 - diff_y * 0.01;

  update();
}

void OrthoCamera::scrollWheel( int diff, bool ctrl, bool alt, bool shift )
{
  scale_ *= 1.0 - (-diff) * 0.001;

  update();
}

void OrthoCamera::fromString(const std::string& str)
{
  std::istringstream iss(str);

  iss >> scale_;
  iss.ignore();

  Ogre::Vector3 vec;
  iss >> vec.x;
  iss.ignore();
  iss >> vec.y;
  iss.ignore();
  iss >> vec.z;
  iss.ignore();
  camera_->setPosition(vec);

  Ogre::Quaternion quat;
  iss >> quat.x;
  iss.ignore();
  iss >> quat.y;
  iss.ignore();
  iss >> quat.z;
  iss.ignore();
  iss >> quat.w;
  iss.ignore();
  camera_->setOrientation(quat);

  update();
}

std::string OrthoCamera::toString()
{
  std::ostringstream oss;
  oss << scale_ << " " << camera_->getPosition().x << " " << camera_->getPosition().y << " " << camera_->getPosition().z
      << " " << camera_->getOrientation().x << " " << camera_->getOrientation().y << " " << camera_->getOrientation().z << " " << camera_->getOrientation().w;

  return oss.str();
}

} // namespace ogre_tools