fps_view_controller.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include "fps_view_controller.h"
#include "rviz/viewport_mouse_event.h"
#include "rviz/visualization_manager.h"
#include "rviz/uniform_string_stream.h"

#include <OGRE/OgreCamera.h>
#include <OGRE/OgreSceneManager.h>
#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreVector3.h>
#include <OGRE/OgreQuaternion.h>
#include <OGRE/OgreViewport.h>

#include <ogre_helpers/shape.h>

#include <stdint.h>

namespace rviz
{

static const Ogre::Quaternion ROBOT_TO_CAMERA_ROTATION =
  Ogre::Quaternion( Ogre::Radian( -Ogre::Math::HALF_PI ), Ogre::Vector3::UNIT_Y ) *
  Ogre::Quaternion( Ogre::Radian( -Ogre::Math::HALF_PI ), Ogre::Vector3::UNIT_Z );

static const float PITCH_LIMIT_LOW = -Ogre::Math::HALF_PI + 0.001;
static const float PITCH_LIMIT_HIGH = Ogre::Math::HALF_PI - 0.001;

FPSViewController::FPSViewController(VisualizationManager* manager, const std::string& name, Ogre::SceneNode* target_scene_node)
: ViewController(manager, name, target_scene_node)
, yaw_(0.0f)
, pitch_(0.0f)
{
}

FPSViewController::~FPSViewController()
{
}

void FPSViewController::reset()
{
  camera_->setPosition( 5, 5, 10 );
  camera_->lookAt( 0, 0, 0 );
  setYawPitchFromCamera();

  // Hersh says: why is the following junk necessary?  I don't know.
  // However, without this you need to call reset() twice after
  // switching from TopDownOrtho to FPS.  After the first call the
  // camera is in the right position but pointing the wrong way.
  updateCamera();
  camera_->lookAt( 0, 0, 0 );
  setYawPitchFromCamera();
}

void FPSViewController::handleMouseEvent(ViewportMouseEvent& event)
{
  bool moved = false;
  if( event.type == QEvent::MouseMove )
  {
    int32_t diff_x = event.x - event.last_x;
    int32_t diff_y = event.y - event.last_y;

    if( diff_x != 0 || diff_y != 0 )
    {
      if( event.left() && !event.shift() )
      {
        yaw( -diff_x*0.005 );
        pitch( diff_y*0.005 );
      }
      else if( event.middle() || ( event.shift() && event.left() ))
      {
        move( diff_x*0.01, -diff_y*0.01, 0.0f );
      }
      else if( event.right() )
      {
        move( 0.0f, 0.0f, diff_y*0.1 );
      }

      moved = true;
    }
  }

  if ( event.wheel_delta != 0 )
  {
    int diff = event.wheel_delta;
    move( 0.0f, 0.0f, -diff * 0.01 );

    moved = true;
  }

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

void FPSViewController::setYawPitchFromCamera()
{
  Ogre::Quaternion quat = camera_->getOrientation() * ROBOT_TO_CAMERA_ROTATION.Inverse();
  yaw_ = quat.getRoll( false ).valueRadians(); // OGRE camera frame looks along -Z, so they call rotation around Z "roll".
  pitch_ = quat.getYaw( false ).valueRadians(); // OGRE camera frame has +Y as "up", so they call rotation around Y "yaw".

  Ogre::Vector3 direction = quat * Ogre::Vector3::NEGATIVE_UNIT_Z;

  if ( direction.dotProduct( Ogre::Vector3::NEGATIVE_UNIT_Z ) < 0 )
  {
    if ( pitch_ > Ogre::Math::HALF_PI )
    {
      pitch_ -= Ogre::Math::PI;
    }
    else if ( pitch_ < -Ogre::Math::HALF_PI )
    {
      pitch_ += Ogre::Math::PI;
    }

    yaw_ = -yaw_;

    if ( direction.dotProduct( Ogre::Vector3::UNIT_X ) < 0 )
    {
      yaw_ -= Ogre::Math::PI;
    }
    else
    {
      yaw_ += Ogre::Math::PI;
    }
  }

  normalizePitch();
  normalizeYaw();
  emitConfigChanged();
}

void FPSViewController::onActivate()
{
  if (camera_->getProjectionType() == Ogre::PT_ORTHOGRAPHIC)
  {
    camera_->setProjectionType(Ogre::PT_PERSPECTIVE);
  }
  else
  {
    setYawPitchFromCamera();
  }
}

void FPSViewController::onDeactivate()
{
}

void FPSViewController::onUpdate(float dt, float ros_dt)
{
  updateCamera();
}

void FPSViewController::lookAt( const Ogre::Vector3& point )
{
  camera_->lookAt( point );
  setYawPitchFromCamera();
}

void FPSViewController::onTargetFrameChanged(const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation)
{
  camera_->setPosition( camera_->getPosition() + old_reference_position - reference_position_ );
}

void FPSViewController::normalizePitch()
{
  if ( pitch_ < PITCH_LIMIT_LOW )
  {
    pitch_ = PITCH_LIMIT_LOW;
  }
  else if ( pitch_ > PITCH_LIMIT_HIGH )
  {
    pitch_ = PITCH_LIMIT_HIGH;
  }
}

void FPSViewController::normalizeYaw()
{
  yaw_ = fmod( yaw_, Ogre::Math::TWO_PI );

  if ( yaw_ < 0.0f )
  {
    yaw_ = Ogre::Math::TWO_PI + yaw_;
  }
}

void FPSViewController::updateCamera()
{
  Ogre::Quaternion pitch, yaw;

  yaw.FromAngleAxis( Ogre::Radian( yaw_ ), Ogre::Vector3::UNIT_Z );
  pitch.FromAngleAxis( Ogre::Radian( pitch_ ), Ogre::Vector3::UNIT_Y );

  camera_->setOrientation( yaw * pitch * ROBOT_TO_CAMERA_ROTATION );
}

void FPSViewController::yaw( float angle )
{
  yaw_ += angle;

  normalizeYaw();
  emitConfigChanged();
}

void FPSViewController::pitch( float angle )
{
  pitch_ += angle;

  normalizePitch();
  emitConfigChanged();
}

void FPSViewController::move( float x, float y, float z )
{
  Ogre::Vector3 translate( x, y, z );
  camera_->setPosition( camera_->getPosition() + camera_->getOrientation() * translate );
  emitConfigChanged();
}

void FPSViewController::fromString(const std::string& str)
{
  UniformStringStream iss(str);

  iss.parseFloat( pitch_ );
  iss.parseFloat( yaw_ );

  Ogre::Vector3 vec;
  iss.parseFloat( vec.x );
  iss.parseFloat( vec.y );
  iss.parseFloat( vec.z );
  camera_->setPosition(vec);
  emitConfigChanged();
}

std::string FPSViewController::toString()
{
  UniformStringStream oss;
  oss << pitch_ << " " << yaw_ << " " << camera_->getPosition().x << " " << camera_->getPosition().y << " " << camera_->getPosition().z;

  return oss.str();
}


}