interactive_marker_control.h

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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.
 *     * 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
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 * 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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 */

#ifndef INTERACTIVE_MARKER_CONTROL_H_
#define INTERACTIVE_MARKER_CONTROL_H_


#ifndef Q_MOC_RUN
#include <boost/shared_ptr.hpp>
#include <boost/enable_shared_from_this.hpp>

#include <OgreRay.h>
#include <OgreVector3.h>
#include <OgreQuaternion.h>
#include <OgreSceneManager.h>
#endif

#include <QCursor>

#include <visualization_msgs/InteractiveMarkerControl.h>

#include "rviz/default_plugin/markers/marker_base.h"
#include "rviz/selection/forwards.h"
#include "rviz/viewport_mouse_event.h"
#include "rviz/interactive_object.h"

namespace Ogre
{
  class SceneNode;
}

namespace rviz
{
class DisplayContext;
class InteractiveMarker;
class PointsMarker;
class Line;

class InteractiveMarkerControl: public Ogre::SceneManager::Listener,
                                public InteractiveObject,
                                public boost::enable_shared_from_this<InteractiveMarkerControl>
{
public:
  InteractiveMarkerControl( DisplayContext* context,
                            Ogre::SceneNode *reference_node,
                            InteractiveMarker *parent );

  virtual ~InteractiveMarkerControl();

  void processMessage( const visualization_msgs::InteractiveMarkerControl &message );

  // called when interactive mode is globally switched on/off
  virtual void enableInteraction(bool enable);

  // will receive all mouse events while the handler has focus
  virtual void handleMouseEvent(ViewportMouseEvent& event);

  virtual void handle3DCursorEvent( ViewportMouseEvent event, const Ogre::Vector3& cursor_3D_pos, const Ogre::Quaternion& cursor_3D_orientation);

  void interactiveMarkerPoseChanged( Ogre::Vector3 int_marker_position, Ogre::Quaternion int_marker_orientation );

  bool isInteractive() { return interaction_mode_ != visualization_msgs::InteractiveMarkerControl::NONE; }

  // Called every frame by parent's update() function.
  void update();

  void setVisible( bool visible );

  bool getVisible();

  // Highlight types
  enum ControlHighlight { NO_HIGHLIGHT = 0,
         HOVER_HIGHLIGHT = 3,
         ACTIVE_HIGHLIGHT = 5};

  // Public access to highlight controls
  void setHighlight( const ControlHighlight &hl  );

  InteractiveMarker* getParent() { return parent_ ;}

  const std::string& getName() { return name_; }

  const QString& getDescription() { return description_; }

  int getInteractionMode() { return interaction_mode_; }

  int getOrientationMode() { return orientation_mode_; }

  void setShowVisualAids( bool show ) { show_visual_aids_ = show; }

protected:

  // when this is called, we will face the camera
  virtual void preFindVisibleObjects(Ogre::SceneManager *source, Ogre::SceneManager::IlluminationRenderStage irs, Ogre::Viewport *v);

  void updateControlOrientationForViewFacing( Ogre::Viewport* v );

  Ogre::Ray getMouseRayInReferenceFrame( const ViewportMouseEvent& event, int x, int y );

  void beginRelativeMouseMotion( const ViewportMouseEvent& event );

  bool getRelativeMouseMotion( const ViewportMouseEvent& event, int& dx, int& dy );

  void rotateXYRelative( const ViewportMouseEvent& event );

  void rotateZRelative( const ViewportMouseEvent& event );

  void moveZAxisRelative( const ViewportMouseEvent& event );

  void moveZAxisWheel( const ViewportMouseEvent& event );

  void moveViewPlane( Ogre::Ray &mouse_ray, const ViewportMouseEvent& event );

  void rotate( Ogre::Ray &mouse_ray );

  void rotate(const Ogre::Vector3& cursor_position_in_reference_frame);

  void moveRotate( Ogre::Ray &mouse_ray );

  void moveRotate( const Ogre::Vector3& cursor_position_in_reference_frame, bool lock_axis = true);

  void movePlane( Ogre::Ray &mouse_ray );

  void movePlane( const Ogre::Vector3& cursor_position_in_reference_frame );

  void moveAxis( const Ogre::Ray& mouse_ray, const ViewportMouseEvent& event );

  void moveAxis( const Ogre::Vector3& cursor_position_in_reference_frame );

  void move3D( const Ogre::Vector3& cursor_position_in_reference_frame,
               const Ogre::Quaternion &cursor_orientation_in_reference_frame );

  void rotate3D( const Ogre::Vector3& cursor_position_in_reference_frame,
                 const Ogre::Quaternion &cursor_orientation_in_reference_frame );

  void moveRotate3D( const Ogre::Vector3& cursor_position_in_reference_frame,
                     const Ogre::Quaternion& cursor_orientation_in_reference_frame );

  bool intersectYzPlane( const Ogre::Ray& mouse_ray,
                         Ogre::Vector3& intersection_3d,
                         Ogre::Vector2& intersection_2d,
                         float& ray_t );

  bool intersectSomeYzPlane( const Ogre::Ray& mouse_ray,
                             const Ogre::Vector3& point_in_plane,
                             const Ogre::Quaternion& plane_orientation,
                             Ogre::Vector3& intersection_3d,
                             Ogre::Vector2& intersection_2d,
                             float& ray_t );

  bool findClosestPoint( const Ogre::Ray& target_ray,
                         const Ogre::Ray& mouse_ray,
                         Ogre::Vector3& closest_point );

  void worldToScreen( const Ogre::Vector3& pos_rel_reference,
                      const Ogre::Viewport* viewport,
                      Ogre::Vector2& screen_pos );

  void addHighlightPass( S_MaterialPtr materials );

  // set the highlight color to (a,a,a)
  void setHighlight( float a );

  // Save a copy of the latest mouse event with the event type set to
  // QEvent::MouseMove, so that update() can resend the mouse event during
  // drag actions to maintain consistent behavior.
  void recordDraggingInPlaceEvent( ViewportMouseEvent& event );

  // Begin a new mouse motion.  Called when left button is pressed to begin a drag.
  void beginMouseMovement( ViewportMouseEvent& event, bool line_visible );

  // Motion part of mouse event handling.
  void handleMouseMovement( ViewportMouseEvent& event );

  // Mouse wheel part of mouse event handling.
  void handleMouseWheelMovement( ViewportMouseEvent& event );

  // Return closest point on a line to a test point.
  Ogre::Vector3 closestPointOnLineToPoint( const Ogre::Vector3& line_start,
                                           const Ogre::Vector3& line_dir,
                                           const Ogre::Vector3& test_point );

  void makeMarkers( const visualization_msgs::InteractiveMarkerControl &message );

  void stopDragging( bool force = false );

  virtual const QCursor& getCursor() const { return cursor_; }

  bool mouse_dragging_;
  Ogre::Viewport* drag_viewport_;

  ViewportMouseEvent dragging_in_place_event_;

  DisplayContext* context_;

  CollObjectHandle coll_object_handle_;

  Ogre::SceneNode *reference_node_;

  Ogre::SceneNode *control_frame_node_;

  // this is a child of scene_node, but might be oriented differently
  Ogre::SceneNode *markers_node_;

  // interaction mode
  int interaction_mode_;
  int orientation_mode_;

  // if in view facing mode, the markers should be
  // view facing as well
  // if set to false, they will follow the parent's transformations
  bool independent_marker_orientation_;

  Ogre::Quaternion control_orientation_;

  bool always_visible_;

  QString description_;

  std::string name_;

  typedef boost::shared_ptr<MarkerBase> MarkerBasePtr;
  std::vector< MarkerBasePtr > markers_;

  InteractiveMarker *parent_;

  std::set<Ogre::Pass*> highlight_passes_;

  // PointsMarkers are rendered by special shader programs, so the
  // regular highlighting method does not work for them.  Keep a
  // vector of them so we can call their setHighlightColor() function.
  typedef boost::shared_ptr<PointsMarker> PointsMarkerPtr;
  std::vector< PointsMarkerPtr > points_markers_;

  Ogre::Radian rotation_;

  Ogre::Radian rotation_at_mouse_down_;

  Ogre::Vector3 grab_point_in_reference_frame_;

  Ogre::Quaternion grab_orientation_in_reference_frame_;

  Ogre::Vector3 parent_to_cursor_in_cursor_frame_at_grab_;

  Ogre::Quaternion rotation_cursor_to_parent_at_grab_;

  Qt::KeyboardModifiers modifiers_at_drag_begin_;

  int mouse_x_at_drag_begin_;
  int mouse_y_at_drag_begin_;

  /* mouse ray when drag begins. */
  Ogre::Ray mouse_ray_at_drag_begin_;

  /* how far to move in Z when mouse moves 1 pixel. */
  double mouse_z_scale_;

  int mouse_relative_to_absolute_x_;
  int mouse_relative_to_absolute_y_;

  Ogre::Vector3 parent_to_grab_position_; // obsolete now, but left for ABI compatibility

  Ogre::Vector3 parent_position_at_mouse_down_;

  Ogre::Quaternion control_frame_orientation_at_mouse_down_;

  Ogre::Quaternion parent_orientation_at_mouse_down_;

  Ogre::Vector3 rotation_axis_;

  Ogre::Vector3 rotation_center_rel_control_;

  Ogre::Vector3 grab_point_rel_control_;

  bool has_focus_;
  bool interaction_enabled_;

  bool visible_;
  bool view_facing_;

  QCursor cursor_;
  QString status_msg_;

  bool mouse_down_;

  boost::shared_ptr<Line> line_;

  bool show_visual_aids_;
};

}

#endif /* INTERACTIVE_MARKER_CONTROL_H_ */