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00030 #include "shape_marker.h"
00031 #include "marker_selection_handler.h"
00032 #include "rviz/default_plugin/marker_display.h"
00033
00034 #include "rviz/visualization_manager.h"
00035 #include "rviz/selection/selection_manager.h"
00036
00037 #include <rviz/ogre_helpers/shape.h>
00038
00039 #include <OGRE/OgreSceneNode.h>
00040 #include <OGRE/OgreMatrix3.h>
00041
00042 namespace rviz
00043 {
00044
00045 ShapeMarker::ShapeMarker( MarkerDisplay* owner, VisualizationManager* manager,
00046 Ogre::SceneNode* parent_node ) :
00047 MarkerBase(owner, manager, parent_node), shape_(0)
00048 {
00049 }
00050
00051 ShapeMarker::~ShapeMarker()
00052 {
00053 delete shape_;
00054 }
00055
00056 void ShapeMarker::onNewMessage( const MarkerConstPtr& old_message,
00057 const MarkerConstPtr& new_message )
00058 {
00059 if (!shape_ || old_message->type != new_message->type)
00060 {
00061 delete shape_;
00062 shape_ = 0;
00063
00064 switch (new_message->type)
00065 {
00066 case visualization_msgs::Marker::CUBE:
00067 {
00068 shape_ = new Shape(Shape::Cube,
00069 vis_manager_->getSceneManager(), scene_node_);
00070 }
00071 break;
00072
00073 case visualization_msgs::Marker::CYLINDER:
00074 {
00075 shape_ = new Shape(Shape::Cylinder,
00076 vis_manager_->getSceneManager(), scene_node_);
00077 }
00078 break;
00079
00080 case visualization_msgs::Marker::SPHERE:
00081 {
00082 shape_ = new Shape(Shape::Sphere,
00083 vis_manager_->getSceneManager(), scene_node_);
00084 }
00085 break;
00086
00087 default:
00088 ROS_BREAK();
00089 break;
00090 }
00091
00092 vis_manager_->getSelectionManager()->removeObject(coll_);
00093 coll_ = vis_manager_->getSelectionManager()->createCollisionForObject(
00094 shape_, SelectionHandlerPtr(new MarkerSelectionHandler(this, MarkerID(
00095 new_message->ns, new_message->id))), coll_);
00096 }
00097
00098 Ogre::Vector3 pos, scale, scale_correct;
00099 Ogre::Quaternion orient;
00100 transform(new_message, pos, orient, scale);
00101
00102 if (owner_ && (new_message->scale.x * new_message->scale.y
00103 * new_message->scale.z == 0.0f))
00104 {
00105 owner_->setMarkerStatus(getID(), status_levels::Warn,
00106 "Scale of 0 in one of x/y/z");
00107 }
00108
00109 setPosition(pos);
00110 setOrientation( orient * Ogre::Quaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ) );
00111
00112 scale_correct = Ogre::Quaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ) * scale;
00113
00114 shape_->setScale(scale_correct);
00115
00116 shape_->setColor(new_message->color.r, new_message->color.g,
00117 new_message->color.b, new_message->color.a);
00118 }
00119
00120 S_MaterialPtr ShapeMarker::getMaterials()
00121 {
00122 S_MaterialPtr materials;
00123 extractMaterials(shape_->getEntity(), materials);
00124 return materials;
00125 }
00126
00127 }