view_controller.cpp

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/*
 * Copyright (c) 2009, 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
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "view_controller.h"
#include "viewport_mouse_event.h"
#include "visualization_manager.h"
#include "frame_manager.h"

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

namespace rviz
{

ViewController::ViewController(VisualizationManager* manager, const std::string& name, Ogre::SceneNode* target_scene_node)
: manager_(manager)
, camera_(0)
, target_scene_node_(target_scene_node)
, name_(name)
{
}

ViewController::~ViewController()
{
//  manager_->getSceneManager()->destroySceneNode(target_scene_node_);
}

void ViewController::activate(Ogre::Camera* camera, const std::string& reference_frame)
{
  camera_ = camera;
  reference_frame_ = reference_frame;
  updateTargetSceneNode();
  target_scene_node_->attachObject(camera_);

  onActivate();
}

void ViewController::deactivate()
{
  onDeactivate();

  target_scene_node_->detachObject(camera_);
  camera_ = 0;
}

void ViewController::update(float dt, float ros_dt)
{
  updateTargetSceneNode();
  onUpdate(dt, ros_dt);
}

void ViewController::emitConfigChanged()
{
  Q_EMIT configChanged();
}

void ViewController::setTargetFrame(const std::string& reference_frame)
{
  Ogre::Vector3 old_position;
  Ogre::Quaternion old_orientation;
  FrameManager::instance()->getTransform(reference_frame_, ros::Time(), old_position, old_orientation);

  reference_frame_ = reference_frame;

  Ogre::Vector3 position;
  Ogre::Quaternion orientation;
  FrameManager::instance()->getTransform(reference_frame_, ros::Time(), position, orientation);

  reference_position_ = position;
  reference_orientation_ = orientation;

  onTargetFrameChanged( old_position, old_orientation );
}

void ViewController::updateTargetSceneNode()
{
  Ogre::Vector3 new_reference_position;
  Ogre::Quaternion new_reference_orientation;

  if (FrameManager::instance()->getTransform(reference_frame_, ros::Time(), new_reference_position, new_reference_orientation) )
  {
    target_scene_node_->setPosition( new_reference_position );

    reference_position_ = new_reference_position;
    reference_orientation_ = new_reference_orientation;

    manager_->queueRender();
  }
}

}