interactive_marker_control.cpp

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/*
 * Copyright (c) 2011, 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.
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 *       notice, this list of conditions and the following disclaimer in the
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 *     * 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
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#include <OgreViewport.h>
#include <OgreCamera.h>
#include <OgreSceneNode.h>
#include <OgreSceneManager.h>
#include <OgrePass.h>
#include <OgreMaterial.h>
#include <OgreEntity.h>
#include <OgreSubEntity.h>
#include <OgreSharedPtr.h>
#include <OgreTechnique.h>

#include "rviz/display_context.h"
#include "rviz/selection/selection_manager.h"
#include "rviz/render_panel.h"
#include "rviz/load_resource.h"
#include "rviz/window_manager_interface.h"
#include "rviz/geometry.h"
#include "rviz/frame_manager.h"

#include "rviz/ogre_helpers/line.h"

#include "rviz/default_plugin/marker_utils.h"
#include "rviz/default_plugin/markers/points_marker.h"

#include "rviz/default_plugin/interactive_markers/interactive_marker_control.h"
#include "rviz/default_plugin/interactive_markers/interactive_marker.h"

#define NO_HIGHLIGHT_VALUE 0.0
#define ACTIVE_HIGHLIGHT_VALUE 0.5
#define HOVER_HIGHLIGHT_VALUE 0.3

namespace rviz
{

InteractiveMarkerControl::InteractiveMarkerControl( DisplayContext* context,
                                                    Ogre::SceneNode *reference_node,
                                                    InteractiveMarker *parent )
: mouse_dragging_(false)
, drag_viewport_( NULL )
, context_( context )
, reference_node_(reference_node)
, control_frame_node_(reference_node_->createChildSceneNode())
, markers_node_(reference_node_->createChildSceneNode())
, parent_(parent)
, rotation_(0)
, grab_point_in_reference_frame_(0,0,0)
, interaction_enabled_(false)
, visible_(true)
, view_facing_( false )
, mouse_down_(false)
, show_visual_aids_(false)
, line_(new Line(context->getSceneManager(),control_frame_node_))
{
  line_->setVisible(false);
}

void InteractiveMarkerControl::makeMarkers( const visualization_msgs::InteractiveMarkerControl& message )
{
  for (unsigned i = 0; i < message.markers.size(); i++)
  {
    // create a marker with the given type
    MarkerBasePtr marker(createMarker(message.markers[i].type, 0, context_, markers_node_));
    if (!marker) {
      ROS_ERROR( "Unknown marker type: %d", message.markers[i].type );
    }

    PointsMarkerPtr points_marker = boost::dynamic_pointer_cast<PointsMarker>(marker);
    if (points_marker) {
      points_markers_.push_back( points_marker );
    }

    visualization_msgs::MarkerPtr marker_msg( new visualization_msgs::Marker(message.markers[ i ]) );

    if ( marker_msg->header.frame_id.empty() )
    {
      // Put Marker into fixed frame, so the constructor does not apply any tf transform.
      // This effectively discards any tf information in the Marker and interprets its pose
      // as relative to the Interactive Marker.
      marker_msg->header.frame_id = context_->getFrameManager()->getFixedFrame();
      marker->setMessage( marker_msg );
    }
    else
    {
      marker->setMessage( marker_msg );
      // The marker will set its position relative to the fixed frame,
      // but we have attached it our own scene node, so we will have to
      // correct for that.
      marker->setPosition( markers_node_->convertWorldToLocalPosition( marker->getPosition() ) );
      marker->setOrientation( markers_node_->convertWorldToLocalOrientation( marker->getOrientation() ) );
    }
    marker->setInteractiveObject( shared_from_this() );

    addHighlightPass(marker->getMaterials());

    markers_.push_back(marker);
  }
}

InteractiveMarkerControl::~InteractiveMarkerControl()
{
  context_->getSceneManager()->destroySceneNode(control_frame_node_);
  context_->getSceneManager()->destroySceneNode(markers_node_);

  if( view_facing_ )
  {
    context_->getSceneManager()->removeListener(this);
  }
}

void InteractiveMarkerControl::processMessage( const visualization_msgs::InteractiveMarkerControl &message )
{
  name_ = message.name;
  description_ = QString::fromStdString( message.description );
  interaction_mode_ = message.interaction_mode;
  always_visible_ = message.always_visible;
  orientation_mode_ = message.orientation_mode;

  control_orientation_ = Ogre::Quaternion(message.orientation.w,
      message.orientation.x, message.orientation.y, message.orientation.z);
  control_orientation_.normalise();

  bool new_view_facingness = (message.orientation_mode == visualization_msgs::InteractiveMarkerControl::VIEW_FACING);
  if( new_view_facingness != view_facing_ )
  {
    if( new_view_facingness )
    {
      context_->getSceneManager()->addListener(this);
    }
    else
    {
      context_->getSceneManager()->removeListener(this);
    }
    view_facing_ = new_view_facingness;
  }
  
  independent_marker_orientation_ = message.independent_marker_orientation;

  // highlight_passes_ have raw pointers into the markers_, so must
  // clear them at the same time.
  highlight_passes_.clear();
  markers_.clear();
  points_markers_.clear();

  // Initially, the pose of this marker's node and the interactive
  // marker are identical, but that may change.
  control_frame_node_->setPosition(parent_->getPosition());
  markers_node_->setPosition(parent_->getPosition());

  if ( orientation_mode_ == visualization_msgs::InteractiveMarkerControl::INHERIT )
  {
    control_frame_node_->setOrientation(parent_->getOrientation());
    markers_node_->setOrientation(parent_->getOrientation());
  }
  else
  {
    control_frame_node_->setOrientation( Ogre::Quaternion::IDENTITY );
    markers_node_->setOrientation( Ogre::Quaternion::IDENTITY );
  }

  makeMarkers( message );

  status_msg_ = description_+" ";

  Ogre::Vector3 control_dir = control_orientation_.xAxis()*10000.0;
  line_->setPoints( control_dir, -1*control_dir );
  line_->setVisible(false);

  // Create our own custom cursor
  switch( interaction_mode_ )
  {
  case visualization_msgs::InteractiveMarkerControl::NONE:
    cursor_ = rviz::getDefaultCursor();
    break;
  case visualization_msgs::InteractiveMarkerControl::MENU:
    cursor_ = rviz::makeIconCursor( "package://rviz/icons/menu.svg" );
    status_msg_ += "<b>Left-Click:</b> Show menu.";
    break;
  case visualization_msgs::InteractiveMarkerControl::BUTTON:
    cursor_ = rviz::getDefaultCursor();
    status_msg_ += "<b>Left-Click:</b> Activate. ";
    break;
  case visualization_msgs::InteractiveMarkerControl::MOVE_AXIS:
    cursor_ = rviz::makeIconCursor( "package://rviz/icons/move1d.svg" );
    status_msg_ += "<b>Left-Click:</b> Move. ";
    break;
  case visualization_msgs::InteractiveMarkerControl::MOVE_PLANE:
    cursor_ = rviz::makeIconCursor( "package://rviz/icons/move2d.svg" );
    status_msg_ += "<b>Left-Click:</b> Move. ";
    break;
  case visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS:
    cursor_ = rviz::makeIconCursor( "package://rviz/icons/rotate.svg" );
    status_msg_ += "<b>Left-Click:</b> Rotate. ";
    break;
  case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE:
    cursor_ = rviz::makeIconCursor( "package://rviz/icons/moverotate.svg" );
    status_msg_ += "<b>Left-Click:</b> Move / Rotate. ";
    break;
  case visualization_msgs::InteractiveMarkerControl::MOVE_3D:
    cursor_ = rviz::makeIconCursor( "package://rviz/icons/move2d.svg" );
    status_msg_ += "<b>Left-Click:</b> Move X/Y. <b>Shift + Left-Click / Left-Click + Wheel:</b> Move Z. ";
    break;
  case visualization_msgs::InteractiveMarkerControl::ROTATE_3D:
    cursor_ = rviz::makeIconCursor( "package://rviz/icons/rotate.svg" );
    status_msg_ += "<b>Left-Click:</b> Rotate around X/Y. <b>Shift-Left-Click:</b> Rotate around Z. ";
    break;
  case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D:
    cursor_ = rviz::makeIconCursor( "package://rviz/icons/moverotate.svg" );
    status_msg_ += "<b>Left-Click:</b> Move X/Y. <b>Shift + Left-Click / Left-Click + Wheel:</b> Move Z. <b>Ctrl + Left-Click:</b> Rotate around X/Y. <b>Ctrl + Shift + Left-Click:</b> Rotate around Z. ";
    break;
  }

  if ( parent_->hasMenu() && interaction_mode_ != visualization_msgs::InteractiveMarkerControl::MENU )
  {
    status_msg_ += "<b>Right-Click:</b> Show context menu.";
  }

  // It's not clear to me why this one setOrientation() call needs to
  // be here and not above makeMarkers() with the other
  // setOrientation() calls, but it works correctly when here and
  // incorrectly when there.  Sorry. -hersh
  if( orientation_mode_ == visualization_msgs::InteractiveMarkerControl::VIEW_FACING &&
      independent_marker_orientation_ )
  {
    markers_node_->setOrientation( parent_->getOrientation() );
  }

  enableInteraction(context_->getSelectionManager()->getInteractionEnabled());
}

// This is an Ogre::SceneManager::Listener function, and is configured
// to be called only if this is a VIEW_FACING control.
void InteractiveMarkerControl::preFindVisibleObjects(
    Ogre::SceneManager *source,
    Ogre::SceneManager::IlluminationRenderStage irs, Ogre::Viewport *v )
{
  updateControlOrientationForViewFacing( v );
}

void InteractiveMarkerControl::updateControlOrientationForViewFacing( Ogre::Viewport* v )
{
  Ogre::Quaternion x_view_facing_rotation =
      control_orientation_.xAxis().getRotationTo( v->getCamera()->getDerivedDirection());

  // rotate so z axis is up
  Ogre::Vector3 z_axis_2 = x_view_facing_rotation * control_orientation_.zAxis();
  Ogre::Quaternion align_yz_rotation = z_axis_2.getRotationTo(v->getCamera()->getDerivedUp());

  // rotate
  Ogre::Quaternion rotate_around_x = Ogre::Quaternion(rotation_, v->getCamera()->getDerivedDirection());

  Ogre::Quaternion rotation = reference_node_->convertWorldToLocalOrientation(
      rotate_around_x * align_yz_rotation * x_view_facing_rotation );

  control_frame_node_->setOrientation( rotation );

  if ( !independent_marker_orientation_ )
  {
    markers_node_->setOrientation( rotation );
    // we need to refresh the node manually, since the scene manager will only do this one frame
    // later otherwise
    markers_node_->_update(true, false);
  }
}

bool InteractiveMarkerControl::getVisible()
{
  return visible_ || always_visible_;
}

void InteractiveMarkerControl::setVisible( bool visible )
{
  visible_ = visible;

  if (always_visible_)
  {
    markers_node_->setVisible(visible_);
  } else
  {
    markers_node_->setVisible(interaction_enabled_ && visible_);
  }
}

void InteractiveMarkerControl::update()
{
  if( mouse_dragging_ )
  {
    handleMouseMovement( dragging_in_place_event_ );
  }
}

void InteractiveMarkerControl::enableInteraction( bool enable )
{
  if (mouse_down_)
  {
    return;
  }

  interaction_enabled_ = enable;
  setVisible(visible_);
  if (!enable)
  {
    setHighlight(NO_HIGHLIGHT_VALUE);
  }
}

void InteractiveMarkerControl::interactiveMarkerPoseChanged(
    Ogre::Vector3 int_marker_position, Ogre::Quaternion int_marker_orientation )
{
  control_frame_node_->setPosition(int_marker_position);
  markers_node_->setPosition(int_marker_position);

  switch (orientation_mode_)
  {
    case visualization_msgs::InteractiveMarkerControl::INHERIT:
      control_frame_node_->setOrientation(int_marker_orientation);
      markers_node_->setOrientation(control_frame_node_->getOrientation());
      break;

    case visualization_msgs::InteractiveMarkerControl::FIXED:
    {
      control_frame_node_->setOrientation( Ogre::Quaternion( rotation_, control_orientation_.xAxis() ));
      markers_node_->setOrientation(control_frame_node_->getOrientation());
      break;
    }

    case visualization_msgs::InteractiveMarkerControl::VIEW_FACING:
      if( drag_viewport_ )
      {
        updateControlOrientationForViewFacing( drag_viewport_ );
      }
      if ( independent_marker_orientation_ )
      {
        markers_node_->setOrientation(int_marker_orientation);
      }
      break;

    default:
      break;
  }
}

Ogre::Vector3 InteractiveMarkerControl::closestPointOnLineToPoint( const Ogre::Vector3& line_start,
                                                                   const Ogre::Vector3& line_dir,
                                                                   const Ogre::Vector3& test_point )
{
  // Find closest point on projected ray to mouse point
  // Math: if P is the start of the ray, v is the direction vector of
  //       the ray (not normalized), and X is the test point, then the
  //       closest point on the line to X is given by:
  //
  //               (X-P).v
  //       P + v * -------
  //                 v.v
  //       where "." is the dot product.
  double factor = ( test_point - line_start ).dotProduct( line_dir ) / line_dir.dotProduct( line_dir );
  Ogre::Vector3 closest_point = line_start + line_dir * factor;
  return closest_point;
}

void InteractiveMarkerControl::rotate( Ogre::Ray &mouse_ray )
{
  Ogre::Vector3 intersection_3d;
  Ogre::Vector2 intersection_2d;
  float ray_t;

  Ogre::Vector3 rotation_axis = control_frame_orientation_at_mouse_down_ * control_orientation_.xAxis();

  // Find rotation_center = 3D point closest to grab_point_ which is
  // on the rotation axis, relative to the reference frame.
  Ogre::Vector3 rotation_center = closestPointOnLineToPoint( control_frame_node_->getPosition(),
                                                             rotation_axis,
                                                             grab_point_in_reference_frame_ );

  // Find intersection of mouse_ray with plane centered at rotation_center.
  if( intersectSomeYzPlane( mouse_ray, rotation_center, control_frame_orientation_at_mouse_down_,
                            intersection_3d, intersection_2d, ray_t ))
  {
    // Not that efficient, but reduces code duplication...
    rotate(intersection_3d);
  }
}

void InteractiveMarkerControl::rotate( const Ogre::Vector3& cursor_in_reference_frame )
{
  Ogre::Vector3 rotation_axis = control_frame_orientation_at_mouse_down_ * control_orientation_.xAxis();

  // Find rotation_center = 3D point closest to grab_point_ which is
  // on the rotation axis, relative to the reference frame.
  Ogre::Vector3 rotation_center = closestPointOnLineToPoint( control_frame_node_->getPosition(),
                                                             rotation_axis,
                                                             grab_point_in_reference_frame_ );


  Ogre::Vector3 grab_rel_center = grab_point_in_reference_frame_ - rotation_center;
  Ogre::Vector3 center_to_cursor = cursor_in_reference_frame - rotation_center;
  Ogre::Vector3 center_to_cursor_radial = center_to_cursor - center_to_cursor.dotProduct(rotation_axis)*rotation_axis;

  Ogre::Quaternion orientation_change_since_mouse_down =
    grab_rel_center.getRotationTo( center_to_cursor_radial, rotation_axis );

  Ogre::Radian rot;
  Ogre::Vector3 axis;
  orientation_change_since_mouse_down.ToAngleAxis( rot, axis );
  // Quaternion::ToAngleAxis() always gives a positive angle.  The
  // axis it emits (in this case) will either be equal to
  // rotation_axis or will be the negative of it.  Doing the
  // dot-product then gives either 1.0 or -1.0, which is just what
  // we need to get the sign for our angle.
  Ogre::Radian rotation_since_mouse_down = rot * axis.dotProduct( rotation_axis );

  rotation_ = rotation_at_mouse_down_ + rotation_since_mouse_down;
  parent_->setPose( parent_->getPosition(),
                    orientation_change_since_mouse_down * parent_orientation_at_mouse_down_,
                    name_ );
}

Ogre::Ray InteractiveMarkerControl::getMouseRayInReferenceFrame( const ViewportMouseEvent& event, int x, int y )
{
  float width = event.viewport->getActualWidth() - 1;
  float height = event.viewport->getActualHeight() - 1;

  Ogre::Ray mouse_ray = event.viewport->getCamera()->getCameraToViewportRay( (x + .5) / width,
                                                                             (y + .5) / height );

  // convert ray into reference frame
  mouse_ray.setOrigin( reference_node_->convertWorldToLocalPosition( mouse_ray.getOrigin() ) );
  mouse_ray.setDirection( reference_node_->convertWorldToLocalOrientation( Ogre::Quaternion::IDENTITY ) * mouse_ray.getDirection() );

  return mouse_ray;
}

void InteractiveMarkerControl::beginRelativeMouseMotion( const ViewportMouseEvent& event )
{
  mouse_x_at_drag_begin_ = event.x;
  mouse_y_at_drag_begin_ = event.y;
  modifiers_at_drag_begin_ = event.modifiers;

  mouse_ray_at_drag_begin_ = getMouseRayInReferenceFrame( event, event.x, event.y );

  // ensure direction is unit vector
  mouse_ray_at_drag_begin_.setDirection(mouse_ray_at_drag_begin_.getDirection().normalisedCopy());
}

bool InteractiveMarkerControl::getRelativeMouseMotion( const ViewportMouseEvent& event, int& dx, int& dy )
{
  dx = event.x - mouse_x_at_drag_begin_;
  dy = event.y - mouse_y_at_drag_begin_;
  if (dx == 0 && dy == 0)
    return false;

  QCursor::setPos( mouse_x_at_drag_begin_ + mouse_relative_to_absolute_x_,
                   mouse_y_at_drag_begin_ + mouse_relative_to_absolute_y_ );
  return true;
}

void InteractiveMarkerControl::rotateXYRelative( const ViewportMouseEvent& event )
{
  int dx;
  int dy;

  if (!getRelativeMouseMotion( event, dx, dy ))
    return;

  static const double MOUSE_SCALE = 2 * 3.14 / 300; // 300 pixels = 360deg
  Ogre::Radian rx(dx * MOUSE_SCALE);
  Ogre::Radian ry(dy * MOUSE_SCALE);

  Ogre::Quaternion up_rot(rx, event.viewport->getCamera()->getRealUp());
  Ogre::Quaternion right_rot(ry, event.viewport->getCamera()->getRealRight());

  parent_->setPose( parent_->getPosition(),
                    up_rot * right_rot * parent_->getOrientation(),
                    name_ );
}

void InteractiveMarkerControl::rotateZRelative( const ViewportMouseEvent& event )
{
  int dx;
  int dy;

  getRelativeMouseMotion( event, dx, dy );
  if (std::abs(dy) > std::abs(dx))
    dx = dy;
  if (dx == 0)
    return;

  static const double MOUSE_SCALE = 2 * 3.14 / 300; // 300 pixels = 360deg
  Ogre::Radian rx(dx * MOUSE_SCALE);

  Ogre::Quaternion rot(rx, event.viewport->getCamera()->getRealDirection());

  parent_->setPose( parent_->getPosition(),
                    rot * parent_->getOrientation(),
                    name_ );
}

void InteractiveMarkerControl::moveZAxisRelative( const ViewportMouseEvent& event )
{
  int dx;
  int dy;

  getRelativeMouseMotion( event, dx, dy );
  if (std::abs(dx) > std::abs(dy))
    dy = -dx;
  if (dy == 0)
    return;

  double distance = -dy * mouse_z_scale_;
  Ogre::Vector3 delta = distance * mouse_ray_at_drag_begin_.getDirection();

  parent_->setPose( parent_->getPosition() + delta,
                    parent_->getOrientation(),
                    name_ );

  parent_position_at_mouse_down_ = parent_->getPosition();
}

void InteractiveMarkerControl::moveZAxisWheel( const ViewportMouseEvent& event )
{
  // wheel_delta is in 1/8 degree and usually jumps 15 degrees at a time
  static const double WHEEL_TO_PIXEL_SCALE = (1.0/8.0) * (2.0/15.0);   // 2 pixels per click

  double distance = event.wheel_delta * WHEEL_TO_PIXEL_SCALE;
  Ogre::Vector3 delta = distance * mouse_ray_at_drag_begin_.getDirection();

  parent_->setPose( parent_->getPosition() + delta,
                    parent_->getOrientation(),
                    name_ );

  parent_position_at_mouse_down_ = parent_->getPosition();
}

void InteractiveMarkerControl::moveViewPlane( Ogre::Ray &mouse_ray, const ViewportMouseEvent& event )
{
  // find plane on which mouse is moving
  Ogre::Plane plane( event.viewport->getCamera()->getRealDirection(),
                     grab_point_in_reference_frame_);

  // find intersection of mouse with the plane
  std::pair<bool, Ogre::Real> intersection = mouse_ray.intersects(plane);
  if (!intersection.first)
    return;
  Ogre::Vector3 mouse_position_on_plane = mouse_ray.getPoint(intersection.second);

  // move parent so grab position relative to parent coincides with new mouse position.
  parent_->setPose( mouse_position_on_plane - grab_point_in_reference_frame_ + parent_position_at_mouse_down_,
                    parent_->getOrientation(),
                    name_ );
}

void InteractiveMarkerControl::movePlane( Ogre::Ray &mouse_ray )
{
  if( orientation_mode_ == visualization_msgs::InteractiveMarkerControl::VIEW_FACING &&
      drag_viewport_ )
  {
    updateControlOrientationForViewFacing( drag_viewport_ );
  }

  Ogre::Vector3 intersection_3d;
  Ogre::Vector2 intersection_2d;
  float ray_t;

  if( intersectSomeYzPlane( mouse_ray, grab_point_in_reference_frame_, control_frame_node_->getOrientation(),
                            intersection_3d, intersection_2d, ray_t ))
  {
    parent_->setPose( intersection_3d - grab_point_in_reference_frame_ + parent_position_at_mouse_down_, parent_->getOrientation(), name_ );
  }
}

void InteractiveMarkerControl::movePlane( const Ogre::Vector3& cursor_position_in_reference_frame )
{
  if( orientation_mode_ == visualization_msgs::InteractiveMarkerControl::VIEW_FACING &&
      drag_viewport_ )
  {
    updateControlOrientationForViewFacing( drag_viewport_ );
  }

  Ogre::Vector3 plane_normal = (control_frame_node_->getOrientation() * control_orientation_.xAxis());
  Ogre::Vector3 displacement = (cursor_position_in_reference_frame - grab_point_in_reference_frame_);
  Ogre::Vector3 displacement_on_plane =  displacement - displacement.dotProduct(plane_normal) * plane_normal;

  // set position of parent to parent_position_at_mouse_down_ + displacement_on_plane.
  parent_->setPose( parent_position_at_mouse_down_ + displacement_on_plane,
                    parent_->getOrientation(), name_ );
}

void InteractiveMarkerControl::worldToScreen( const Ogre::Vector3& pos_rel_reference,
                                              const Ogre::Viewport* viewport,
                                              Ogre::Vector2& screen_pos )
{
  Ogre::Vector3 world_pos = reference_node_->convertLocalToWorldPosition( pos_rel_reference );

  const Ogre::Camera* cam = viewport->getCamera();
  Ogre::Vector3 homogeneous_screen_position = cam->getProjectionMatrix() * (cam->getViewMatrix() * world_pos);

  double half_width = viewport->getActualWidth() / 2.0;
  double half_height = viewport->getActualHeight() / 2.0;

  screen_pos.x = half_width + (half_width * homogeneous_screen_position.x) - .5;
  screen_pos.y = half_height + (half_height * -homogeneous_screen_position.y) - .5;
}

bool InteractiveMarkerControl::findClosestPoint( const Ogre::Ray& target_ray,
                                                 const Ogre::Ray& mouse_ray,
                                                 Ogre::Vector3& closest_point )
{
  // Find the closest point on target_ray to any point on mouse_ray.
  //
  // Math taken from http://paulbourke.net/geometry/lineline3d/
  // line P1->P2 is target_ray
  // line P3->P4 is mouse_ray

  Ogre::Vector3 v13 = target_ray.getOrigin() - mouse_ray.getOrigin();
  Ogre::Vector3 v43 = mouse_ray.getDirection();
  Ogre::Vector3 v21 = target_ray.getDirection();
  double d1343 = v13.dotProduct( v43 );
  double d4321 = v43.dotProduct( v21 );
  double d1321 = v13.dotProduct( v21 );
  double d4343 = v43.dotProduct( v43 );
  double d2121 = v21.dotProduct( v21 );

  double denom = d2121 * d4343 - d4321 * d4321;
  if( fabs( denom ) <= Ogre::Matrix3::EPSILON )
  {
    return false;
  }
  double numer = d1343 * d4321 - d1321 * d4343;

  double mua = numer / denom;
  closest_point = target_ray.getPoint( mua );
  return true;
}

void InteractiveMarkerControl::moveAxis( const Ogre::Ray& mouse_ray, const ViewportMouseEvent& event )
{
  // compute control-axis ray based on grab_point_, etc.
  Ogre::Ray control_ray;
  control_ray.setOrigin( grab_point_in_reference_frame_ );
  control_ray.setDirection( control_frame_node_->getOrientation() * control_orientation_.xAxis() );
  
  // project control-axis ray onto screen.
  Ogre::Vector2 control_ray_screen_start, control_ray_screen_end;
  worldToScreen( control_ray.getOrigin(), event.viewport, control_ray_screen_start );
  worldToScreen( control_ray.getPoint( 1 ), event.viewport, control_ray_screen_end );

  Ogre::Vector2 mouse_point( event.x, event.y );

  // Find closest point on projected ray to mouse point
  // Math: if P is the start of the ray, v is the direction vector of
  //       the ray (not normalized), and X is the test point, then the
  //       closest point on the line to X is given by:
  //
  //               (X-P).v
  //       P + v * -------
  //                 v.v
  //       where "." is the dot product.
  Ogre::Vector2 control_ray_screen_dir = control_ray_screen_end - control_ray_screen_start;
  double denominator = control_ray_screen_dir.dotProduct( control_ray_screen_dir );
  if( fabs( denominator ) > Ogre::Matrix3::EPSILON ) // If the control ray is not straight in line with the view.
  {
    double factor =
      ( mouse_point - control_ray_screen_start ).dotProduct( control_ray_screen_dir ) / denominator;
    
    Ogre::Vector2 closest_screen_point = control_ray_screen_start + control_ray_screen_dir * factor;

    // make a new "mouse ray" for the point on the projected ray
    Ogre::Ray new_mouse_ray = getMouseRayInReferenceFrame( event, closest_screen_point.x, closest_screen_point.y );

    // find closest point on control-axis ray to new mouse ray (should intersect actually)
    Ogre::Vector3 closest_point;
    if( findClosestPoint( control_ray, new_mouse_ray, closest_point ))
    {
      // set position of parent to closest_point - grab_point_ + parent_position_at_mouse_down_.
      parent_->setPose( closest_point - grab_point_in_reference_frame_ + parent_position_at_mouse_down_,
                        parent_->getOrientation(), name_ );
    }
  }
}

void InteractiveMarkerControl::moveAxis( const Ogre::Vector3& cursor_position_in_reference_frame )
{
  Ogre::Vector3 control_unit_direction = (control_frame_node_->getOrientation() * control_orientation_.xAxis());
  Ogre::Vector3 displacement_along_axis = (cursor_position_in_reference_frame - grab_point_in_reference_frame_).dotProduct(control_unit_direction) * control_unit_direction;

  // set position of parent to closest_point - grab_point_ + parent_position_at_mouse_down_.
  parent_->setPose( parent_position_at_mouse_down_ + displacement_along_axis,
                    parent_->getOrientation(), name_ );

}

void InteractiveMarkerControl::moveRotate( Ogre::Ray &mouse_ray )
{
  if( orientation_mode_ == visualization_msgs::InteractiveMarkerControl::VIEW_FACING &&
      drag_viewport_ )
  {
    updateControlOrientationForViewFacing( drag_viewport_ );
  }

  Ogre::Vector3 new_drag_rel_ref;
  Ogre::Vector2 intersection_2d;
  float ray_t;

  // get rotation axis rel ref (constant for entire drag)
  //  - rotation_axis_

  // get current rotation center rel ref
  //  - compute rotation center rel control frame at mouse-down (constant for entire drag)
  //  - current rotation center rel ref = current control frame * above
  Ogre::Matrix4 control_rel_ref;
  control_rel_ref.makeTransform( control_frame_node_->getPosition(),
                                 Ogre::Vector3::UNIT_SCALE,
                                 control_frame_node_->getOrientation() );
  Ogre::Vector3 rotation_center = control_rel_ref * rotation_center_rel_control_;

  // get previous 3D drag point rel ref
  //  - compute grab point rel control frame at mouse-down (constant for entire drag)
  //  - prev_drag_rel_ref = current control frame + above
  Ogre::Vector3 prev_drag_rel_ref = control_rel_ref * grab_point_rel_control_;

  // get new 3D drag point rel ref (this is "intersection_3d" in rotate().)
  //  - intersectSomeYzPlane( mouse_ray, rotation_center, control_frame_orientation )
  if( intersectSomeYzPlane( mouse_ray, rotation_center, control_frame_node_->getOrientation(),
                            new_drag_rel_ref, intersection_2d, ray_t ))
  {
    // compute rotation angle from old drag point to new.
    //  - prev_rel_center = prev_drag_rel_ref - rotation_center
    //  - new_rel_center = new_drag_rel_ref - rotation_center
    //  - rotation_change = prev_rel_center.getRotationTo( new_rel_center, rotation_axis )
    //  - get Radians of angle change
    //  - rotation_ += angle_change
    //  - parent_->rotate(rotation_change)
    Ogre::Vector3 prev_rel_center = prev_drag_rel_ref - rotation_center;
    Ogre::Vector3 new_rel_center = new_drag_rel_ref - rotation_center;
    if( new_rel_center.length() > Ogre::Matrix3::EPSILON )
    {
      Ogre::Quaternion rotation_change = prev_rel_center.getRotationTo( new_rel_center, rotation_axis_ );
      Ogre::Radian rot;
      Ogre::Vector3 axis;
      rotation_change.ToAngleAxis( rot, axis );
      // Quaternion::ToAngleAxis() always gives a positive angle.  The
      // axis it emits (in this case) will either be equal to
      // rotation_axis or will be the negative of it.  Doing the
      // dot-product then gives either 1.0 or -1.0, which is just what
      // we need to get the sign for our angle.
      Ogre::Radian angle_change = rot * axis.dotProduct( rotation_axis_ );
      rotation_ += angle_change;
      parent_->rotate( rotation_change, name_ );

      // compute translation from rotated old drag point to new drag point.
      //  - pos_change = new_rel_center * (1.0 - prev_rel_center.length() / new_rel_center.length())
      //  - parent_->translate(pos_change)
      parent_->translate( new_rel_center * (1.0 - prev_rel_center.length() / new_rel_center.length()), name_ );
    }    
  }
}

void InteractiveMarkerControl::moveRotate( const Ogre::Vector3& cursor_position_in_reference_frame, bool lock_axis )
{
  if( orientation_mode_ == visualization_msgs::InteractiveMarkerControl::VIEW_FACING &&
      drag_viewport_ )
  {
    updateControlOrientationForViewFacing( drag_viewport_ );
  }

  // get rotation axis rel ref (constant for entire drag)
  //  - rotation_axis_

  // get current rotation center rel ref
  //  - compute rotation center rel control frame at mouse-down (constant for entire drag)
  //  - current rotation center rel ref = current control frame * above
  Ogre::Matrix4 control_rel_ref;
  control_rel_ref.makeTransform( control_frame_node_->getPosition(),
                                 Ogre::Vector3::UNIT_SCALE,
                                 control_frame_node_->getOrientation() );
  Ogre::Vector3 rotation_center = control_rel_ref * rotation_center_rel_control_;

  // get previous 3D drag point rel ref
  //  - compute grab point rel control frame at mouse-down (constant for entire drag)
  //  - prev_drag_rel_ref = current control frame + above
  Ogre::Vector3 prev_drag_rel_ref = control_rel_ref * grab_point_rel_control_;


  Ogre::Vector3 new_drag_rel_ref = cursor_position_in_reference_frame;
  if (lock_axis)
  {
    Ogre::Vector3 plane_normal = (control_frame_node_->getOrientation() * control_orientation_.xAxis());
    Ogre::Vector3 perpendicular_offset = (new_drag_rel_ref - prev_drag_rel_ref)
                                          .dotProduct(plane_normal)*plane_normal;
    new_drag_rel_ref -= perpendicular_offset;
  }

  //Ogre::Vector3 new_drag_rel_ref = cursor_position_in_reference_frame;
  // compute rotation angle from old drag point to new.
  //  - prev_rel_center = prev_drag_rel_ref - rotation_center
  //  - new_rel_center = new_drag_rel_ref - rotation_center
  //  - rotation_change = prev_rel_center.getRotationTo( new_rel_center, rotation_axis )
  //  - get Radians of angle change
  //  - rotation_ += angle_change
  //  - parent_->rotate(rotation_change)
  Ogre::Vector3 prev_rel_center = prev_drag_rel_ref - rotation_center;
  Ogre::Vector3 new_rel_center = new_drag_rel_ref - rotation_center;
  if( new_rel_center.length() > Ogre::Matrix3::EPSILON )
  {
    Ogre::Quaternion rotation_change = prev_rel_center.getRotationTo( new_rel_center, rotation_axis_ );
    Ogre::Radian rot;
    Ogre::Vector3 axis;
    rotation_change.ToAngleAxis( rot, axis );
    // Quaternion::ToAngleAxis() always gives a positive angle.  The
    // axis it emits (in this case) will either be equal to
    // rotation_axis or will be the negative of it.  Doing the
    // dot-product then gives either 1.0 or -1.0, which is just what
    // we need to get the sign for our angle.
    Ogre::Radian angle_change = rot * axis.dotProduct( rotation_axis_ );
    rotation_ += angle_change;
    parent_->rotate( rotation_change, name_ );

    // compute translation from rotated old drag point to new drag point.
    //  - pos_change = new_rel_center * (1.0 - prev_rel_center.length() / new_rel_center.length())
    //  - parent_->translate(pos_change)
    parent_->translate( new_rel_center * (1.0 - prev_rel_center.length() / new_rel_center.length()), name_ );
  }
}

void InteractiveMarkerControl::move3D( const Ogre::Vector3& cursor_position_in_reference_frame,
                                       const Ogre::Quaternion& cursor_orientation_in_reference_frame )
{
    if( orientation_mode_ == visualization_msgs::InteractiveMarkerControl::VIEW_FACING &&
        drag_viewport_ )
    {
      updateControlOrientationForViewFacing( drag_viewport_ );
    }

    //parent_to_cursor_in_cursor_frame_at_grab_ =  cursor_3D_orientation.Inverse()*(cursor_3D_pos - parent_->getPosition());
    //rotation_cursor_to_parent_at_grab_ =  cursor_3D_orientation.Inverse()*parent->getOrientation();


    Ogre::Vector3 world_to_cursor_in_world_frame = reference_node_->convertLocalToWorldPosition(cursor_position_in_reference_frame);
    Ogre::Quaternion rotation_world_to_cursor = reference_node_->convertLocalToWorldOrientation(cursor_orientation_in_reference_frame);

    //Ogre::Vector3 marker_to_cursor_in_cursor_frame = orientation_world_to_cursor.Inverse()*reference_node_->getOrientation()*grab_point_in_reference_frame_;

    Ogre::Vector3    world_to_cursor_in_cursor_frame = rotation_world_to_cursor.Inverse()*world_to_cursor_in_world_frame;
    Ogre::Vector3    world_to_marker_in_world_frame = rotation_world_to_cursor*(world_to_cursor_in_cursor_frame - parent_to_cursor_in_cursor_frame_at_grab_);
    Ogre::Vector3    marker_position_in_reference_frame = reference_node_->convertWorldToLocalPosition(world_to_marker_in_world_frame);
    //Ogre::Quaternion marker_orientation_in_reference_frame = reference_node_->convertWorldToLocalOrientation(rotation_world_to_cursor*rotation_cursor_to_parent_at_grab_);

    parent_->setPose( marker_position_in_reference_frame,
                      parent_->getOrientation(), name_ );
}

void InteractiveMarkerControl::rotate3D( const Ogre::Vector3& cursor_position_in_reference_frame,
                                         const Ogre::Quaternion& cursor_orientation_in_reference_frame )
{
    if( orientation_mode_ == visualization_msgs::InteractiveMarkerControl::VIEW_FACING &&
        drag_viewport_ )
    {
      updateControlOrientationForViewFacing( drag_viewport_ );
    }

    //parent_to_cursor_in_cursor_frame_at_grab_ =  cursor_3D_orientation.Inverse()*(cursor_3D_pos - parent_->getPosition());
    //rotation_cursor_to_parent_at_grab_ =  cursor_3D_orientation.Inverse()*parent->getOrientation();


    Ogre::Vector3 world_to_cursor_in_world_frame = reference_node_->convertLocalToWorldPosition(cursor_position_in_reference_frame);
    Ogre::Quaternion rotation_world_to_cursor = reference_node_->convertLocalToWorldOrientation(cursor_orientation_in_reference_frame);

    //Ogre::Vector3 marker_to_cursor_in_cursor_frame = orientation_world_to_cursor.Inverse()*reference_node_->getOrientation()*grab_point_in_reference_frame_;

    Ogre::Vector3    world_to_cursor_in_cursor_frame = rotation_world_to_cursor.Inverse()*world_to_cursor_in_world_frame;
    Ogre::Vector3    world_to_marker_in_world_frame = rotation_world_to_cursor*(world_to_cursor_in_cursor_frame - parent_to_cursor_in_cursor_frame_at_grab_);
    Ogre::Vector3    marker_position_in_reference_frame = reference_node_->convertWorldToLocalPosition(world_to_marker_in_world_frame);
    Ogre::Quaternion marker_orientation_in_reference_frame = reference_node_->convertWorldToLocalOrientation(rotation_world_to_cursor*rotation_cursor_to_parent_at_grab_);

    parent_->setPose( parent_->getPosition(),
                      marker_orientation_in_reference_frame, name_ );
}


void InteractiveMarkerControl::moveRotate3D( const Ogre::Vector3& cursor_position_in_reference_frame,
                                             const Ogre::Quaternion& cursor_orientation_in_reference_frame )
{
    if( orientation_mode_ == visualization_msgs::InteractiveMarkerControl::VIEW_FACING &&
        drag_viewport_ )
    {
      updateControlOrientationForViewFacing( drag_viewport_ );
    }

    //parent_to_cursor_in_cursor_frame_at_grab_ =  cursor_3D_orientation.Inverse()*(cursor_3D_pos - parent_->getPosition());
    //rotation_cursor_to_parent_at_grab_ =  cursor_3D_orientation.Inverse()*parent->getOrientation();


    Ogre::Vector3 world_to_cursor_in_world_frame = reference_node_->convertLocalToWorldPosition(cursor_position_in_reference_frame);
    Ogre::Quaternion rotation_world_to_cursor = reference_node_->convertLocalToWorldOrientation(cursor_orientation_in_reference_frame);

    //Ogre::Vector3 marker_to_cursor_in_cursor_frame = orientation_world_to_cursor.Inverse()*reference_node_->getOrientation()*grab_point_in_reference_frame_;

    Ogre::Vector3    world_to_cursor_in_cursor_frame = rotation_world_to_cursor.Inverse()*world_to_cursor_in_world_frame;
    Ogre::Vector3    world_to_marker_in_world_frame = rotation_world_to_cursor*(world_to_cursor_in_cursor_frame - parent_to_cursor_in_cursor_frame_at_grab_);
    Ogre::Vector3    marker_position_in_reference_frame = reference_node_->convertWorldToLocalPosition(world_to_marker_in_world_frame);
    Ogre::Quaternion marker_orientation_in_reference_frame = reference_node_->convertWorldToLocalOrientation(rotation_world_to_cursor*rotation_cursor_to_parent_at_grab_);

    parent_->setPose( marker_position_in_reference_frame,
                      marker_orientation_in_reference_frame, name_ );
}

void InteractiveMarkerControl::setHighlight( const ControlHighlight &hl  ){
  if(hl == NO_HIGHLIGHT) setHighlight(NO_HIGHLIGHT_VALUE);
  if(hl == HOVER_HIGHLIGHT) setHighlight(HOVER_HIGHLIGHT_VALUE);
  if(hl == ACTIVE_HIGHLIGHT) setHighlight(ACTIVE_HIGHLIGHT_VALUE);
}

void InteractiveMarkerControl::setHighlight( float a )
{
  std::set<Ogre::Pass*>::iterator it;
  for (it = highlight_passes_.begin(); it != highlight_passes_.end(); it++)
  {
    (*it)->setAmbient(a,a,a);
  }

  std::vector<PointsMarkerPtr>::iterator pm_it;
  for( pm_it = points_markers_.begin(); pm_it != points_markers_.end(); pm_it++ )
  {
    (*pm_it)->setHighlightColor( a, a, a );
  }
}

void InteractiveMarkerControl::recordDraggingInPlaceEvent( ViewportMouseEvent& event )
{
  dragging_in_place_event_ = event;
  dragging_in_place_event_.type = QEvent::MouseMove;
}

void InteractiveMarkerControl::stopDragging( bool force )
{
  // aleeper: Why is this check here? What happens when this mouse_dragging_ check isn't done at all?
  // Or as an alternative to this minor API change, we could just manually set mouse_dragging_
  // to true before calling this function from the 3D cursor code.
  // BUT that would be a hack...
  if ( mouse_dragging_ || force )
  {
    line_->setVisible(false);
    mouse_dragging_ = false;
    drag_viewport_ = NULL;
    parent_->stopDragging();
  }
}

// Almost a wholesale copy of the mouse event code... can these be combined?
void InteractiveMarkerControl::handle3DCursorEvent( ViewportMouseEvent event,
                                                    const Ogre::Vector3& cursor_3D_pos,
                                                    const Ogre::Quaternion& cursor_3D_orientation)
{
  // change dragging state
  switch( interaction_mode_ )
  {
  case visualization_msgs::InteractiveMarkerControl::BUTTON:
    if( event.leftUp() )
    {
      Ogre::Vector3 point_rel_world = cursor_3D_pos;
      bool got_3D_point = true;

      visualization_msgs::InteractiveMarkerFeedback feedback;
      feedback.event_type = visualization_msgs::InteractiveMarkerFeedback::BUTTON_CLICK;
      feedback.control_name = name_;
      feedback.marker_name = parent_->getName();
      parent_->publishFeedback( feedback, got_3D_point, point_rel_world );
    }
    break;

  case visualization_msgs::InteractiveMarkerControl::MENU:
    if( event.leftUp() )
    {
      // Save the 3D mouse point to send with the menu feedback, if any.
      Ogre::Vector3 three_d_point = cursor_3D_pos;
      bool valid_point = true;
      Ogre::Vector2 mouse_pos = project3DPointToViewportXY(event.viewport, three_d_point);
      QCursor::setPos(event.panel->mapToGlobal(QPoint(mouse_pos.x, mouse_pos.y)));
      parent_->showMenu( event, name_, three_d_point, valid_point );
    }
    break;

  case visualization_msgs::InteractiveMarkerControl::MOVE_AXIS:
  case visualization_msgs::InteractiveMarkerControl::MOVE_PLANE:
  case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE:
  case visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS:
  case visualization_msgs::InteractiveMarkerControl::MOVE_3D:
  case visualization_msgs::InteractiveMarkerControl::ROTATE_3D:
  case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D:
    if( event.leftDown() )
    {
      parent_->startDragging();
      drag_viewport_ = event.viewport;

      //recordDraggingInPlaceEvent( event );
      grab_point_in_reference_frame_ = reference_node_->convertWorldToLocalPosition( cursor_3D_pos );
      grab_orientation_in_reference_frame_ = reference_node_->convertWorldToLocalOrientation( cursor_3D_orientation );

      parent_to_cursor_in_cursor_frame_at_grab_ =  cursor_3D_orientation.Inverse()*(cursor_3D_pos - reference_node_->convertLocalToWorldPosition(parent_->getPosition()));
      rotation_cursor_to_parent_at_grab_ =  cursor_3D_orientation.Inverse()*reference_node_->convertLocalToWorldOrientation(parent_->getOrientation());

      parent_position_at_mouse_down_ = parent_->getPosition();
      parent_orientation_at_mouse_down_ = parent_->getOrientation();

      if( orientation_mode_ == visualization_msgs::InteractiveMarkerControl::VIEW_FACING &&
          drag_viewport_ )
      {
        updateControlOrientationForViewFacing( drag_viewport_ );
      }
      control_frame_orientation_at_mouse_down_ = control_frame_node_->getOrientation();
      rotation_at_mouse_down_ = rotation_;

      rotation_axis_ = control_frame_node_->getOrientation() * control_orientation_.xAxis();

      // Find rotation_center = 3D point closest to grab_point_ which is
      // on the rotation axis, relative to the reference frame.
      Ogre::Vector3 rotation_center_rel_ref = closestPointOnLineToPoint( parent_->getPosition(),
                                                                         rotation_axis_,
                                                                         grab_point_in_reference_frame_ );
      Ogre::Matrix4 reference_rel_control_frame;
      reference_rel_control_frame.makeInverseTransform( control_frame_node_->getPosition(),
                                                        Ogre::Vector3::UNIT_SCALE,
                                                        control_frame_node_->getOrientation() );
      rotation_center_rel_control_ = reference_rel_control_frame * rotation_center_rel_ref;
      grab_point_rel_control_ = reference_rel_control_frame * grab_point_in_reference_frame_;
    }
    if( event.leftUp() )
    {
      // Alternatively, could just manually set mouse_dragging_ to true.
      stopDragging( true );
    }
    break;

  default:
    break;
  }

  if( event.leftDown() )
  {
    setHighlight( ACTIVE_HIGHLIGHT_VALUE );
  }
  else if( event.leftUp() )
  {
    setHighlight( HOVER_HIGHLIGHT_VALUE );
  }

  if (!parent_->handle3DCursorEvent(event, cursor_3D_pos, cursor_3D_orientation, name_))
  {
    if( event.type == QEvent::MouseMove && event.left()) // && mouse_dragging_)
    {
      Ogre::Vector3 cursor_position_in_reference_frame = reference_node_->convertWorldToLocalPosition( cursor_3D_pos );
      Ogre::Quaternion cursor_orientation_in_reference_frame = reference_node_->convertWorldToLocalOrientation( cursor_3D_orientation );

      switch (interaction_mode_)
      {
      case visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS:
        rotate( cursor_position_in_reference_frame );
        break;

      case visualization_msgs::InteractiveMarkerControl::MOVE_AXIS:
        moveAxis( cursor_position_in_reference_frame );
        break;

      case visualization_msgs::InteractiveMarkerControl::MOVE_PLANE:
        movePlane( cursor_position_in_reference_frame );
        break;

      case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE:
        moveRotate( cursor_position_in_reference_frame, true );
        break;

      case visualization_msgs::InteractiveMarkerControl::MOVE_3D:
        move3D( cursor_position_in_reference_frame, cursor_orientation_in_reference_frame );
        break;

      case visualization_msgs::InteractiveMarkerControl::ROTATE_3D:
        rotate3D( cursor_position_in_reference_frame, cursor_orientation_in_reference_frame );
        break;

      case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D:
        moveRotate3D( cursor_position_in_reference_frame, cursor_orientation_in_reference_frame );
        break;

      default:
        break;
      }
    }
  }
}

void InteractiveMarkerControl::handleMouseEvent( ViewportMouseEvent& event )
{
  // REMOVE ME ROS_INFO("Mouse event!");
  // * check if this is just a receive/lost focus event
  // * try to hand over the mouse event to the parent interactive marker
  // * otherwise, execute mouse move handling

  // handle receive/lose focus
  if( event.type == QEvent::FocusIn )
  {
    has_focus_ = true;
    std::set<Ogre::Pass*>::iterator it;
    setHighlight( HOVER_HIGHLIGHT_VALUE );
    context_->setStatus( status_msg_ );
  }
  else if( event.type == QEvent::FocusOut )
  {
    stopDragging();
    has_focus_ = false;
    setHighlight(0.0);
    return;
  }

  mouse_down_ = event.left() || event.middle() || event.right();

  // change dragging state
  switch( interaction_mode_ )
  {
  case visualization_msgs::InteractiveMarkerControl::BUTTON:
    if( event.leftUp() )
    {
      Ogre::Vector3 point_rel_world;
      bool got_3D_point = context_->getSelectionManager()->get3DPoint( event.viewport, event.x, event.y, point_rel_world );

      visualization_msgs::InteractiveMarkerFeedback feedback;
      feedback.event_type = visualization_msgs::InteractiveMarkerFeedback::BUTTON_CLICK;
      feedback.control_name = name_;
      feedback.marker_name = parent_->getName();
      parent_->publishFeedback( feedback, got_3D_point, point_rel_world );
    }
    break;

  case visualization_msgs::InteractiveMarkerControl::MENU:
    if( event.leftUp() )
    {
      Ogre::Vector3 point_rel_world;
      bool got_3D_point = context_->getSelectionManager()->get3DPoint( event.viewport, event.x, event.y, point_rel_world );
      parent_->showMenu( event, name_, point_rel_world, got_3D_point );
    }
    break;

  case visualization_msgs::InteractiveMarkerControl::MOVE_AXIS:
  case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE:
  case visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS:
    if ( event.leftDown() )
      beginMouseMovement( event,
                          show_visual_aids_ &&
                          orientation_mode_ != visualization_msgs::InteractiveMarkerControl::VIEW_FACING);
    break;

  case visualization_msgs::InteractiveMarkerControl::MOVE_PLANE:
    if( event.leftDown() )
      beginMouseMovement( event, false);
    break;

  case visualization_msgs::InteractiveMarkerControl::MOVE_3D:
  case visualization_msgs::InteractiveMarkerControl::ROTATE_3D:
  case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D:
    if ( event.leftDown() )
    {
      // aleeper: This line was causing badness
      //orientation_mode_ = visualization_msgs::InteractiveMarkerControl::VIEW_FACING;
      beginMouseMovement( event, false );
    }
    else if ( event.left() &&
              ((modifiers_at_drag_begin_ ^ event.modifiers) & (Qt::ShiftModifier | Qt::ControlModifier)) )
    {
      // modifier buttons changed.  Restart the drag.
      beginRelativeMouseMotion( event );
    }
    break;

  default:
    break;
  }

  if (!parent_->handleMouseEvent(event, name_))
  {
    if( event.type == QEvent::MouseMove && event.left() && mouse_dragging_)
    {
      recordDraggingInPlaceEvent( event );
      handleMouseMovement( event );
    }
    else if( event.type == QEvent::Wheel && event.left() && mouse_dragging_)
    {
      handleMouseWheelMovement( event );
    }
  }

  if( event.leftDown() )
  {
    setHighlight( ACTIVE_HIGHLIGHT_VALUE );
  }
  else if( event.leftUp() )
  {
    setHighlight( HOVER_HIGHLIGHT_VALUE );
    stopDragging();
  }
}

void InteractiveMarkerControl::beginMouseMovement( ViewportMouseEvent& event, bool line_visible )
{
  line_->setVisible(line_visible);

  parent_->startDragging();
  mouse_dragging_ = true;
  drag_viewport_ = event.viewport;

  recordDraggingInPlaceEvent( event );
  Ogre::Vector3 grab_point_in_world_frame;
  if( ! context_->getSelectionManager()->get3DPoint( event.viewport, event.x, event.y, grab_point_in_world_frame ))
  {
    // If we couldn't get a 3D point for the grab, just use the
    // current relative position of the control frame.
    grab_point_in_reference_frame_ = control_frame_node_->getPosition();
  }
  else
  {
    // If we could get a 3D point for the grab, convert it from
    // the world frame to the reference frame (in case those are different).
    grab_point_in_reference_frame_ = reference_node_->convertWorldToLocalPosition(grab_point_in_world_frame);
  }
  parent_position_at_mouse_down_ = parent_->getPosition();
  parent_orientation_at_mouse_down_ = parent_->getOrientation();

  QPoint absolute_mouse = QCursor::pos();
  mouse_relative_to_absolute_x_ = absolute_mouse.x() - event.x;
  mouse_relative_to_absolute_y_ = absolute_mouse.y() - event.y;
  beginRelativeMouseMotion( event );

  if( orientation_mode_ == visualization_msgs::InteractiveMarkerControl::VIEW_FACING &&
      drag_viewport_ )
  {
    updateControlOrientationForViewFacing( drag_viewport_ );
  }
  control_frame_orientation_at_mouse_down_ = control_frame_node_->getOrientation();
  rotation_at_mouse_down_ = rotation_;

  rotation_axis_ = control_frame_node_->getOrientation() * control_orientation_.xAxis();

  // Find rotation_center = 3D point closest to grab_point_ which is
  // on the rotation axis, relative to the reference frame.
  Ogre::Vector3 rotation_center_rel_ref = closestPointOnLineToPoint( parent_->getPosition(),
                                                                     rotation_axis_,
                                                                     grab_point_in_reference_frame_ );
  Ogre::Matrix4 reference_rel_control_frame;
  reference_rel_control_frame.makeInverseTransform( control_frame_node_->getPosition(),
                                                    Ogre::Vector3::UNIT_SCALE,
                                                    control_frame_node_->getOrientation() );
  rotation_center_rel_control_ = reference_rel_control_frame * rotation_center_rel_ref;
  grab_point_rel_control_ = reference_rel_control_frame * grab_point_in_reference_frame_;


  // find mouse_z_scale_
  static const double DEFAULT_MOUSE_Z_SCALE = 0.001;  // default to 1mm per pixel
  mouse_z_scale_ = DEFAULT_MOUSE_Z_SCALE;

  Ogre::Ray mouse_ray = getMouseRayInReferenceFrame( event, event.x, event.y );
  Ogre::Ray mouse_ray_10 = getMouseRayInReferenceFrame( event, event.x, event.y + 10 );

  Ogre::Vector3 intersection_3d;
  Ogre::Vector3 intersection_3d_10;
  Ogre::Vector2 intersection_2d;
  float ray_t;

  if( intersectSomeYzPlane( mouse_ray,
                            grab_point_in_reference_frame_,
                            control_frame_node_->getOrientation(),
                            intersection_3d,
                            intersection_2d,
                            ray_t ))
  {
    if( intersectSomeYzPlane( mouse_ray_10,
                              grab_point_in_reference_frame_,
                              control_frame_node_->getOrientation(),
                              intersection_3d_10,
                              intersection_2d,
                              ray_t ))
    {
      mouse_z_scale_ = (intersection_3d_10 - intersection_3d).length() / 10.0;
      if (mouse_z_scale_ < std::numeric_limits<float>::min() * 100.0)
        mouse_z_scale_ = DEFAULT_MOUSE_Z_SCALE;
    }
  }
}

void InteractiveMarkerControl::handleMouseMovement( ViewportMouseEvent& event )
{
  Ogre::Ray mouse_ray = getMouseRayInReferenceFrame( event, event.x, event.y );
  Ogre::Ray last_mouse_ray = getMouseRayInReferenceFrame( event, event.last_x, event.last_y );

  bool do_rotation = false;
  switch (interaction_mode_)
  {
  case visualization_msgs::InteractiveMarkerControl::MOVE_AXIS:
    moveAxis( mouse_ray, event );
    break;

  case visualization_msgs::InteractiveMarkerControl::MOVE_PLANE:
    movePlane( mouse_ray );
    break;

  case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE:
    moveRotate( mouse_ray );
    break;

  case visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS:
    rotate( mouse_ray );
    break;

  case visualization_msgs::InteractiveMarkerControl::ROTATE_3D:
    do_rotation = true;
    // fall through
  case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D:
    if ( event.control() )
      do_rotation = true;
    // fall through
  case visualization_msgs::InteractiveMarkerControl::MOVE_3D:
    if ( do_rotation )
    {
      if (event.shift())
        rotateZRelative( event );
      else
        rotateXYRelative( event );
    }
    else
    {
      if (event.shift())
        moveZAxisRelative( event );
      else
        moveViewPlane( mouse_ray, event );
    }
    break;

  default:
    break;
  }
}

void InteractiveMarkerControl::handleMouseWheelMovement( ViewportMouseEvent& event )
{
  switch (interaction_mode_)
  {
  case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE_3D:
  case visualization_msgs::InteractiveMarkerControl::MOVE_3D:
    moveZAxisWheel( event );
    break;

  default:
    break;
  }
}

bool InteractiveMarkerControl::intersectYzPlane( const Ogre::Ray& mouse_ray,
                                                 Ogre::Vector3& intersection_3d,
                                                 Ogre::Vector2& intersection_2d,
                                                 float &ray_t )
{
  return intersectSomeYzPlane( mouse_ray,
                               control_frame_node_->getPosition(),
                               control_frame_node_->getOrientation(),
                               intersection_3d, intersection_2d, ray_t );
}

bool InteractiveMarkerControl::intersectSomeYzPlane( const Ogre::Ray& mouse_ray,
                                                     const Ogre::Vector3& point_on_plane,
                                                     const Ogre::Quaternion& plane_orientation,
                                                     Ogre::Vector3& intersection_3d,
                                                     Ogre::Vector2& intersection_2d,
                                                     float& ray_t )
{
  Ogre::Vector3 normal = plane_orientation * control_orientation_.xAxis();
  Ogre::Vector3 axis_1 = plane_orientation * control_orientation_.yAxis();
  Ogre::Vector3 axis_2 = plane_orientation * control_orientation_.zAxis();

  Ogre::Plane plane(normal, point_on_plane);

  Ogre::Vector2 origin_2d(point_on_plane.dotProduct(axis_1), point_on_plane.dotProduct(axis_2));

  std::pair<bool, Ogre::Real> intersection = mouse_ray.intersects(plane);
  if (intersection.first)
  {
    intersection_3d = mouse_ray.getPoint(intersection.second);
    intersection_2d = Ogre::Vector2(intersection_3d.dotProduct(axis_1), intersection_3d.dotProduct(axis_2));
    intersection_2d -= origin_2d;

    ray_t = intersection.second;
    return true;
  }

  ray_t = 0;
  return false;
}

void InteractiveMarkerControl::addHighlightPass( S_MaterialPtr materials )
{
  S_MaterialPtr::iterator it;

  for (it = materials.begin(); it != materials.end(); it++)
  {
    Ogre::MaterialPtr material = *it;
    Ogre::Pass *original_pass = material->getTechnique(0)->getPass(0);
    Ogre::Pass *pass = material->getTechnique(0)->createPass();

    pass->setSceneBlending(Ogre::SBT_ADD);
    pass->setDepthWriteEnabled(false);
    pass->setDepthCheckEnabled(true);
    pass->setLightingEnabled(true);
    pass->setAmbient(0, 0, 0);
    pass->setDiffuse(0, 0, 0, 0);
    pass->setSpecular(0, 0, 0, 0);
    pass->setCullingMode(original_pass->getCullingMode());

    highlight_passes_.insert(pass);
  }
}

}