00001 /* 00002 * Copyright (c) 2008, 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 "camera_base.h" 00031 00032 #include <OgreCamera.h> 00033 #include <OgreSceneManager.h> 00034 #include <OgreSceneNode.h> 00035 #include <OgreVector3.h> 00036 #include <OgreQuaternion.h> 00037 00038 #include <stdint.h> 00039 #include <sstream> 00040 00041 namespace rviz 00042 { 00043 00044 CameraBase::CameraBase( Ogre::SceneManager* scene_manager ) 00045 : scene_manager_( scene_manager ) 00046 , relative_node_( NULL ) 00047 { 00048 std::stringstream ss; 00049 static uint32_t count = 0; 00050 ss << "CameraBase" << count++; 00051 camera_ = scene_manager_->createCamera( ss.str() ); 00052 } 00053 00054 CameraBase::~CameraBase() 00055 { 00056 scene_manager_->destroyCamera( camera_ ); 00057 } 00058 00059 void CameraBase::setRelativeNode( Ogre::SceneNode* node ) 00060 { 00061 relative_node_ = node; 00062 00063 relativeNodeChanged(); 00064 00065 update(); 00066 } 00067 00068 void CameraBase::setPosition( const Ogre::Vector3& position ) 00069 { 00070 setPosition( position.x, position.y, position.z ); 00071 } 00072 00073 void CameraBase::setOrientation( const Ogre::Quaternion& orientation ) 00074 { 00075 setOrientation( orientation.x, orientation.y, orientation.z, orientation.w ); 00076 } 00077 00078 } // namespace rviz