orbit_camera.h

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/*
 * Copyright (c) 2008, 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
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * 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.
 */

#ifndef OGRE_TOOLS_ORBIT_CAMERA_H_
#define OGRE_TOOLS_ORBIT_CAMERA_H_

#include "camera_base.h"
#include <OGRE/OgreVector3.h>

namespace Ogre
{
  class Camera;
  class SceneNode;
  class SceneManager;
}

namespace rviz
{

class Shape;

class OrbitCamera : public CameraBase
{
public:
  OrbitCamera( Ogre::SceneManager* scene_manager );
  virtual ~OrbitCamera();

  void zoom( float amount );
  void setFocalPoint( const Ogre::Vector3& focal_point );

  float getPitch() { return pitch_; }
  float getYaw() { return yaw_; }
  float getDistance() { return distance_; }
  const Ogre::Vector3& getFocalPoint() { return focal_point_; }

  virtual void setFrom( CameraBase* camera );
  virtual void yaw( float angle );
  virtual void pitch( float angle );
  virtual void roll( float angle );
  virtual void setOrientation( float x, float y, float z, float w );
  virtual void setPosition( float x, float y, float z );
  virtual void move( float x, float y, float z );

  virtual Ogre::Vector3 getPosition();
  virtual Ogre::Quaternion getOrientation();

  virtual void lookAt( const Ogre::Vector3& point );

  virtual void mouseLeftDrag( int diff_x, int diff_y, bool ctrl, bool alt, bool shift );
  virtual void mouseMiddleDrag( int diff_x, int diff_y, bool ctrl, bool alt, bool shift );
  virtual void mouseRightDrag( int diff_x, int diff_y, bool ctrl, bool alt, bool shift );
  virtual void scrollWheel( int diff, bool ctrl, bool alt, bool shift );

  virtual void update();

  virtual void mouseLeftDown( int x, int y );
  virtual void mouseMiddleDown( int x, int y );
  virtual void mouseRightDown( int x, int y );
  virtual void mouseLeftUp( int x, int y );
  virtual void mouseMiddleUp( int x, int y );
  virtual void mouseRightUp( int x, int y );

  virtual void fromString(const std::string& str);
  virtual std::string toString();

private:

  Ogre::Vector3 getGlobalFocalPoint();

  void calculatePitchYawFromPosition( const Ogre::Vector3& position );
  void normalizePitch();
  void normalizeYaw();

  Ogre::Vector3 focal_point_;         
  float yaw_;                         
  float pitch_;                       
  float distance_;                    

  Shape* focal_point_object_;
};

} // namespace rviz

#endif /*OGRE_TOOLS_ORBIT_CAMERA_H_*/