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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/display_context.h"
00035 #include "rviz/selection/selection_manager.h"
00036
00037 #include <rviz/ogre_helpers/shape.h>
00038
00039 #include <OgreSceneNode.h>
00040 #include <OgreMatrix3.h>
00041
00042 namespace rviz
00043 {
00044
00045 ShapeMarker::ShapeMarker( MarkerDisplay* owner,
00046 DisplayContext* context,
00047 Ogre::SceneNode* parent_node )
00048 : MarkerBase( owner, context, parent_node )
00049 , shape_( 0 )
00050 {
00051 }
00052
00053 ShapeMarker::~ShapeMarker()
00054 {
00055 delete shape_;
00056 }
00057
00058 void ShapeMarker::onNewMessage( const MarkerConstPtr& old_message,
00059 const MarkerConstPtr& new_message )
00060 {
00061 if (!shape_ || old_message->type != new_message->type)
00062 {
00063 delete shape_;
00064 shape_ = 0;
00065
00066 Shape::Type shape_type = Shape::Cube;
00067 switch( new_message->type )
00068 {
00069 case visualization_msgs::Marker::CUBE: shape_type = Shape::Cube; break;
00070 case visualization_msgs::Marker::CYLINDER: shape_type = Shape::Cylinder; break;
00071 case visualization_msgs::Marker::SPHERE: shape_type = Shape::Sphere; break;
00072 default:
00073 ROS_BREAK();
00074 break;
00075 }
00076 shape_ = new Shape( shape_type, context_->getSceneManager(), scene_node_ );
00077
00078 handler_.reset( new MarkerSelectionHandler( this, MarkerID( new_message->ns, new_message->id ), context_ ));
00079 handler_->addTrackedObjects( shape_->getRootNode() );
00080 }
00081
00082 Ogre::Vector3 pos, scale, scale_correct;
00083 Ogre::Quaternion orient;
00084 transform(new_message, pos, orient, scale);
00085
00086 if (owner_ && (new_message->scale.x * new_message->scale.y
00087 * new_message->scale.z == 0.0f))
00088 {
00089 owner_->setMarkerStatus(getID(), StatusProperty::Warn,
00090 "Scale of 0 in one of x/y/z");
00091 }
00092
00093 setPosition(pos);
00094 setOrientation( orient * Ogre::Quaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ) );
00095
00096 scale_correct = Ogre::Quaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ) * scale;
00097
00098 shape_->setScale(scale_correct);
00099
00100 shape_->setColor(new_message->color.r, new_message->color.g,
00101 new_message->color.b, new_message->color.a);
00102 }
00103
00104 S_MaterialPtr ShapeMarker::getMaterials()
00105 {
00106 S_MaterialPtr materials;
00107 extractMaterials(shape_->getEntity(), materials);
00108 return materials;
00109 }
00110
00111 }