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00030 #include <QKeyEvent>
00031
00032 #include <OGRE/OgreRay.h>
00033 #include <OGRE/OgreSceneManager.h>
00034 #include <OGRE/OgreCamera.h>
00035 #include <OGRE/OgreMovableObject.h>
00036 #include <OGRE/OgreRectangle2D.h>
00037 #include <OGRE/OgreSceneNode.h>
00038 #include <OGRE/OgreViewport.h>
00039 #include <OGRE/OgreMaterialManager.h>
00040 #include <OGRE/OgreTexture.h>
00041 #include <OGRE/OgreTextureManager.h>
00042
00043 #include <ros/time.h>
00044
00045 #include "ogre_helpers/camera_base.h"
00046 #include "ogre_helpers/qt_ogre_render_window.h"
00047
00048 #include "move_tool.h"
00049 #include "selection/selection_manager.h"
00050 #include "visualization_manager.h"
00051 #include "render_panel.h"
00052 #include "display.h"
00053 #include "viewport_mouse_event.h"
00054
00055 #include "selection_tool.h"
00056
00057 namespace rviz
00058 {
00059
00060 SelectionTool::SelectionTool( const std::string& name, char shortcut_key, VisualizationManager* manager )
00061 : Tool( name, shortcut_key, manager )
00062 , move_tool_(new MoveTool("SelectionTool Fake MoveTool", 0, manager))
00063 , selecting_(false)
00064 , sel_start_x_(0)
00065 , sel_start_y_(0)
00066 , moving_(false)
00067 {
00068
00069 }
00070
00071 SelectionTool::~SelectionTool()
00072 {
00073 delete move_tool_;
00074 }
00075
00076 void SelectionTool::activate()
00077 {
00078 manager_->getSelectionManager()->setTextureSize(512);
00079 selecting_ = false;
00080 moving_ = false;
00081 }
00082
00083 void SelectionTool::deactivate()
00084 {
00085 manager_->getSelectionManager()->removeHighlight();
00086 }
00087
00088 void SelectionTool::update(float wall_dt, float ros_dt)
00089 {
00090 SelectionManager* sel_manager = manager_->getSelectionManager();
00091
00092 if (!selecting_)
00093 {
00094 sel_manager->removeHighlight();
00095 }
00096 }
00097
00098 int SelectionTool::processMouseEvent( ViewportMouseEvent& event )
00099 {
00100 SelectionManager* sel_manager = manager_->getSelectionManager();
00101
00102 int flags = 0;
00103
00104 if( event.alt() )
00105 {
00106 moving_ = true;
00107 selecting_ = false;
00108 }
00109 else
00110 {
00111 moving_ = false;
00112
00113 if( event.leftDown() )
00114 {
00115 selecting_ = true;
00116
00117 sel_start_x_ = event.x;
00118 sel_start_y_ = event.y;
00119 }
00120 }
00121
00122 if( selecting_ )
00123 {
00124 sel_manager->highlight( event.viewport, sel_start_x_, sel_start_y_, event.x, event.y );
00125
00126 if( event.leftUp() )
00127 {
00128 SelectionManager::SelectType type = SelectionManager::Replace;
00129
00130 M_Picked selection;
00131
00132 if( event.shift() )
00133 {
00134 type = SelectionManager::Add;
00135 }
00136 else if( event.control() )
00137 {
00138 type = SelectionManager::Remove;
00139 }
00140
00141 sel_manager->select( event.viewport, sel_start_x_, sel_start_y_, event.x, event.y, type );
00142
00143 selecting_ = false;
00144 }
00145
00146 flags |= Render;
00147 }
00148 else if( moving_ )
00149 {
00150 sel_manager->removeHighlight();
00151
00152 flags = move_tool_->processMouseEvent( event );
00153
00154 if( event.type == QEvent::MouseButtonRelease )
00155 {
00156 moving_ = false;
00157 }
00158 }
00159 else
00160 {
00161 sel_manager->highlight( event.viewport, event.x, event.y, event.x, event.y );
00162 }
00163
00164 return flags;
00165 }
00166
00167 int SelectionTool::processKeyEvent( QKeyEvent* event, RenderPanel* panel )
00168 {
00169 SelectionManager* sel_manager = manager_->getSelectionManager();
00170
00171 if( event->key() == Qt::Key_F )
00172 {
00173 sel_manager->focusOnSelection();
00174 }
00175
00176 return Render;
00177 }
00178
00179 }
00180