third_person_follower_view_controller.cpp

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/*
 * Copyright (c) 2012, 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
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 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <stdint.h>

#include <ros/ros.h>

#include <OgreCamera.h>
#include <OgrePlane.h>
#include <OgreQuaternion.h>
#include <OgreRay.h>
#include <OgreSceneNode.h>
#include <OgreVector3.h>
#include <OgreViewport.h>
#include <OgreMath.h>

#include "rviz/display_context.h"
#include "rviz/ogre_helpers/shape.h"
#include "rviz/properties/float_property.h"
#include "rviz/properties/vector_property.h"
#include "rviz/viewport_mouse_event.h"

#include "rviz/default_plugin/view_controllers/third_person_follower_view_controller.h"

namespace rviz
{

// move camera up so the focal point appears in the lower image half
static const float CAMERA_OFFSET = 0.2;

void ThirdPersonFollowerViewController::onInitialize()
{
  OrbitViewController::onInitialize();
  focal_shape_->setColor(0.0f, 1.0f, 1.0f, 0.5f);
}

bool ThirdPersonFollowerViewController::intersectGroundPlane( Ogre::Ray mouse_ray, Ogre::Vector3 &intersection_3d )
{
  //convert rays into reference frame
  mouse_ray.setOrigin( target_scene_node_->convertWorldToLocalPosition( mouse_ray.getOrigin() ) );
  mouse_ray.setDirection( target_scene_node_->convertWorldToLocalOrientation( Ogre::Quaternion::IDENTITY ) * mouse_ray.getDirection() );

  Ogre::Plane ground_plane( Ogre::Vector3::UNIT_Z, 0 );

  std::pair<bool, Ogre::Real> intersection = mouse_ray.intersects(ground_plane);
  if (!intersection.first)
  {
    return false;
  }

  intersection_3d = mouse_ray.getPoint(intersection.second);
  return true;
}

void ThirdPersonFollowerViewController::handleMouseEvent(ViewportMouseEvent& event)
{
  if ( event.shift() )
  {
    setStatus( "<b>Left-Click:</b> Move X/Y.  <b>Right-Click:</b>: Zoom." );
  }
  else
  {
    setStatus( "<b>Left-Click:</b> Rotate.  <b>Middle-Click:</b> Move X/Y.  <b>Right-Click:</b>: Move Z.  <b>Shift</b>: More options." );
  }

  int32_t diff_x = 0;
  int32_t diff_y = 0;

  bool moved = false;
  if( event.type == QEvent::MouseButtonPress )
  {
    focal_shape_->getRootNode()->setVisible(true);
    moved = true;
  }
  else if( event.type == QEvent::MouseButtonRelease )
  {
    focal_shape_->getRootNode()->setVisible(false);
    moved = true;
  }
  else if( event.type == QEvent::MouseMove )
  {
    diff_x = event.x - event.last_x;
    diff_y = event.y - event.last_y;
    moved = true;
  }

  if( event.left() && !event.shift() )
  {
    setCursor( Rotate3D );
    yaw( diff_x*0.005 );
    pitch( -diff_y*0.005 );
  }
  else if( event.middle() || (event.left() && event.shift()) )
  {
    setCursor( MoveXY );
    // handle mouse movement
    int width = event.viewport->getActualWidth();
    int height = event.viewport->getActualHeight();

    Ogre::Ray mouse_ray = event.viewport->getCamera()->getCameraToViewportRay( event.x / (float) width,
                                                                               event.y / (float) height );

    Ogre::Ray last_mouse_ray =
      event.viewport->getCamera()->getCameraToViewportRay( event.last_x / (float) width,
                                                           event.last_y / (float) height );

    Ogre::Vector3 last_intersect, intersect;

    if( intersectGroundPlane( last_mouse_ray, last_intersect ) &&
        intersectGroundPlane( mouse_ray, intersect ))
    {
      Ogre::Vector3 motion = last_intersect - intersect;

      // When dragging near the horizon, the motion can get out of
      // control.  This throttles it to an arbitrary limit per mouse
      // event.
      float motion_distance_limit = 1; /*meter*/
      if( motion.length() > motion_distance_limit )
      {
        motion.normalise();
        motion *= motion_distance_limit;
      }

      focal_point_property_->add( motion );
      emitConfigChanged();
    }
  }
  else if( event.right() )
  {
    setCursor( Zoom );
    zoom( -diff_y * 0.1 * (distance_property_->getFloat() / 10.0f) );
  }
  else
  {
    setCursor( event.shift() ? MoveXY : Rotate3D );
  }

  if( event.wheel_delta != 0 )
  {
    int diff = event.wheel_delta;
    zoom( diff * 0.001 * distance_property_->getFloat() );
    moved = true;
  }

  if( moved )
  {
    context_->queueRender();
  }
}

void ThirdPersonFollowerViewController::mimic( ViewController* source_view )
{
  FramePositionTrackingViewController::mimic( source_view );

  Ogre::Camera* source_camera = source_view->getCamera();
  // do some trigonometry
  Ogre::Ray camera_dir_ray( source_camera->getRealPosition(), source_camera->getRealDirection() );
  Ogre::Ray camera_down_ray( source_camera->getRealPosition(), -1.0 * source_camera->getRealUp() );

  Ogre::Vector3 a,b;

  if( intersectGroundPlane( camera_dir_ray, b ) &&
      intersectGroundPlane( camera_down_ray, a ) )
  {
    float l_a = source_camera->getPosition().distance( b );
    float l_b = source_camera->getPosition().distance( a );

    distance_property_->setFloat(( l_a * l_b ) / ( CAMERA_OFFSET * l_a + l_b ));
    float distance = distance_property_->getFloat();

    camera_dir_ray.setOrigin( source_camera->getRealPosition() - source_camera->getRealUp() * distance * CAMERA_OFFSET );
    Ogre::Vector3 new_focal_point;
    intersectGroundPlane( camera_dir_ray, new_focal_point );
    focal_point_property_->setVector( new_focal_point );

    calculatePitchYawFromPosition( source_camera->getPosition() - source_camera->getUp() * distance * CAMERA_OFFSET );
  }
}

void ThirdPersonFollowerViewController::updateCamera()
{
  OrbitViewController::updateCamera();
  camera_->setPosition( camera_->getPosition() + camera_->getUp() * distance_property_->getFloat() * CAMERA_OFFSET );
}

void ThirdPersonFollowerViewController::updateTargetSceneNode()
{
  if ( FramePositionTrackingViewController::getNewTransform() )
  {
    target_scene_node_->setPosition( reference_position_ );
    Ogre::Radian ref_yaw = reference_orientation_.getRoll( false ); // OGRE camera frame looks along -Z, so they call rotation around Z "roll".
    Ogre::Quaternion ref_yaw_quat(Ogre::Math::Cos(ref_yaw/2), 0, 0, Ogre::Math::Sin(ref_yaw/2));
    target_scene_node_->setOrientation( ref_yaw_quat );

    context_->queueRender();
  }
}

void ThirdPersonFollowerViewController::lookAt( const Ogre::Vector3& point )
{
  Ogre::Vector3 camera_position = camera_->getPosition();
  Ogre::Vector3 new_focal_point = target_scene_node_->getOrientation().Inverse() * (point - target_scene_node_->getPosition());
  new_focal_point.z = 0;
  distance_property_->setFloat( new_focal_point.distance( camera_position ));
  focal_point_property_->setVector( new_focal_point );

  calculatePitchYawFromPosition(camera_position);
}

} // end namespace rviz

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS( rviz::ThirdPersonFollowerViewController, rviz::ViewController )