00001 /* 00002 * Copyright (c) 2013, 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 <OgreRay.h> 00031 #include <OgreVector3.h> 00032 #include <OgreViewport.h> 00033 #include <OgreCamera.h> 00034 00035 #include "rviz/viewport_mouse_event.h" 00036 #include "rviz/load_resource.h" 00037 #include "rviz/render_panel.h" 00038 #include "rviz/display_context.h" 00039 #include "rviz/selection/selection_manager.h" 00040 #include "rviz/view_controller.h" 00041 00042 #include "rviz/default_plugin/tools/focus_tool.h" 00043 00044 #include <sstream> 00045 00046 namespace rviz 00047 { 00048 00049 FocusTool::FocusTool() 00050 : Tool() 00051 { 00052 } 00053 00054 FocusTool::~FocusTool() 00055 { 00056 } 00057 00058 void FocusTool::onInitialize() 00059 { 00060 std_cursor_ = getDefaultCursor(); 00061 hit_cursor_ = makeIconCursor( "package://rviz/icons/crosshair.svg" ); 00062 } 00063 00064 void FocusTool::activate() 00065 { 00066 } 00067 00068 void FocusTool::deactivate() 00069 { 00070 } 00071 00072 int FocusTool::processMouseEvent( ViewportMouseEvent& event ) 00073 { 00074 int flags = 0; 00075 00076 Ogre::Vector3 pos; 00077 bool success = context_->getSelectionManager()->get3DPoint( event.viewport, event.x, event.y, pos ); 00078 setCursor( success ? hit_cursor_ : std_cursor_ ); 00079 00080 if ( !success ) 00081 { 00082 Ogre::Ray mouse_ray = event.viewport->getCamera()->getCameraToViewportRay( 00083 (float)event.x / (float)event.viewport->getActualWidth(), 00084 (float)event.y / (float)event.viewport->getActualHeight() ); 00085 00086 pos = mouse_ray.getPoint(1.0); 00087 setStatus( "<b>Left-Click:</b> Look in this direction." ); 00088 } 00089 else 00090 { 00091 std::ostringstream s; 00092 s << "<b>Left-Click:</b> Focus on this point."; 00093 s.precision(3); 00094 s << " [" << pos.x << "," << pos.y << "," << pos.z << "]"; 00095 setStatus( s.str().c_str() ); 00096 } 00097 00098 if( event.leftUp() ) 00099 { 00100 if ( event.panel->getViewController() ) 00101 { 00102 event.panel->getViewController()->lookAt( pos ); 00103 } 00104 flags |= Finished; 00105 } 00106 00107 return flags; 00108 } 00109 00110 } 00111 00112 #include <pluginlib/class_list_macros.h> 00113 PLUGINLIB_EXPORT_CLASS( rviz::FocusTool, rviz::Tool )