geometry.cpp
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00001 /*
00002  * Copyright (c) 2012, 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 <OgrePlane.h>
00032 #include <OgreCamera.h>
00033 #include <OgreSceneNode.h>
00034 #include <OgreViewport.h>
00035 
00036 #include "geometry.h"
00037 
00038 namespace rviz
00039 {
00040 
00044 bool getPointOnPlaneFromWindowXY( Ogre::Viewport* viewport,
00045                                   Ogre::Plane& plane,
00046                                   int window_x, int window_y,
00047                                   Ogre::Vector3& intersection_out )
00048 {
00049   int width = viewport->getActualWidth();
00050   int height = viewport->getActualHeight();
00051 
00052   Ogre::Ray mouse_ray = viewport->getCamera()->getCameraToViewportRay( (float)window_x / (float)width,
00053                                                                        (float)window_y / (float)height );
00054   std::pair<bool, Ogre::Real> intersection = mouse_ray.intersects( plane );
00055   if ( !intersection.first )
00056   {
00057     return false;
00058   }
00059   intersection_out = mouse_ray.getPoint( intersection.second );
00060 
00061   return true;
00062 }
00063 
00064 float mapAngleTo0_2Pi( float angle )
00065 {
00066   angle = fmod( angle, Ogre::Math::TWO_PI );
00067 
00068   if( angle < 0.0f )
00069   {
00070     angle = Ogre::Math::TWO_PI + angle;
00071   }
00072   return angle;
00073 }
00074 
00075 Ogre::Vector2 project3DPointToViewportXY(const Ogre::Viewport* view, const Ogre::Vector3& pos)
00076 {
00077   Ogre::Camera* cam = view->getCamera();
00078   Ogre::Vector3 pos2D = cam->getProjectionMatrix() * (cam->getViewMatrix() * pos);
00079 
00080   Ogre::Real x = ((pos2D.x * 0.5) + 0.5);
00081   Ogre::Real y = 1 - ((pos2D.y * 0.5) + 0.5);
00082 
00083   return  Ogre::Vector2(x * view->getActualWidth(), y * view->getActualHeight());
00084 }
00085 
00086 } // end namespace rviz


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Jun 6 2019 18:02:15