interaction_tool.cpp

Go to the documentation of this file.

/*
 * 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
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <OgreCamera.h>
#include <OgrePlane.h>
#include <OgreRay.h>
#include <OgreSceneNode.h>
#include <OgreViewport.h>

#include "rviz/render_panel.h"
#include "rviz/selection/selection_handler.h"
#include "rviz/selection/selection_manager.h"
#include "rviz/view_controller.h"
#include "rviz/viewport_mouse_event.h"
#include "rviz/viewport_mouse_event.h"
#include "rviz/visualization_manager.h"
#include "rviz/load_resource.h"
#include "rviz/properties/bool_property.h"

#include "rviz/default_plugin/tools/interaction_tool.h"

namespace rviz
{

InteractionTool::InteractionTool()
{
  shortcut_key_ = 'i';
  hide_inactive_property_ = new BoolProperty("Hide Inactive Objects", true,
                                             "While holding down a mouse button, hide all other Interactive Objects.",
                                             getPropertyContainer(), SLOT( hideInactivePropertyChanged() ), this );
}

InteractionTool::~InteractionTool()
{
}

void InteractionTool::onInitialize()
{
  move_tool_.initialize( context_ );
  last_selection_frame_count_ = context_->getFrameCount();
  deactivate();
}

void InteractionTool::activate()
{
  context_->getSelectionManager()->enableInteraction(true);
  context_->getSelectionManager()->setTextureSize(1);
}

void InteractionTool::deactivate()
{
  context_->getSelectionManager()->enableInteraction(false);
}

void InteractionTool::updateFocus( const ViewportMouseEvent& event )
{
  M_Picked results;
  // Pick exactly 1 pixel
  context_->getSelectionManager()->pick( event.viewport,
                                         event.x, event.y,
                                         event.x + 1, event.y + 1,
                                         results, true );

  last_selection_frame_count_ = context_->getFrameCount();

  InteractiveObjectPtr new_focused_object;

  // look for a valid handle in the result.
  M_Picked::iterator result_it = results.begin();
  if( result_it != results.end() )
  {
    Picked pick = result_it->second;
    SelectionHandler* handler = context_->getSelectionManager()->getHandler( pick.handle );
    if ( pick.pixel_count > 0 && handler )
    {
      InteractiveObjectPtr object = handler->getInteractiveObject().lock();
      if( object && object->isInteractive() )
      {
        new_focused_object = object;
      }
    }
  }

  // If the mouse has gone from one object to another, defocus the old
  // and focus the new.
  InteractiveObjectPtr new_obj = new_focused_object;
  InteractiveObjectPtr old_obj = focused_object_.lock();
  if( new_obj != old_obj )
  {
    // Only copy the event contents here, once we know we need to use
    // a modified version of it.
    ViewportMouseEvent event_copy = event;
    if( old_obj )
    {
      event_copy.type = QEvent::FocusOut;
      old_obj->handleMouseEvent( event_copy );
    }

    if( new_obj )
    {
      event_copy.type = QEvent::FocusIn;
      new_obj->handleMouseEvent( event_copy );
    }
  }

  focused_object_ = new_focused_object;
}

int InteractionTool::processMouseEvent( ViewportMouseEvent& event )
{
  int flags = 0;

  if ( event.panel->contextMenuVisible() )
  {
    return flags;
  }

  // make sure we let the vis. manager render at least one frame between selection updates
  bool need_selection_update = context_->getFrameCount() > last_selection_frame_count_;

  // We are dragging if a button was down and is still down
  Qt::MouseButtons buttons = event.buttons_down & ( Qt::LeftButton | Qt::RightButton | Qt::MidButton );
  if ( event.type == QEvent::MouseButtonPress )
    buttons &= ~event.acting_button;
  bool dragging = buttons != 0;

  // unless we're dragging, check if there's a new object under the mouse
  if( need_selection_update &&
      !dragging &&
      event.type != QEvent::MouseButtonRelease )
  {
    updateFocus( event );
    flags = Render;
  }

  {
    InteractiveObjectPtr focused_object = focused_object_.lock();
    if( focused_object )
    {
      focused_object->handleMouseEvent( event );
      setCursor( focused_object->getCursor() );
      // this will disable everything but the current interactive object
      if ( hide_inactive_property_->getBool() )
      {
        context_->getSelectionManager()->enableInteraction(!dragging);
      }
    }
    else if( event.panel->getViewController() )
    {
      move_tool_.processMouseEvent( event );
      setCursor( move_tool_.getCursor() );
      if ( hide_inactive_property_->getBool() )
      {
        context_->getSelectionManager()->enableInteraction(true);
      }
    }
  }

  if( event.type == QEvent::MouseButtonRelease )
  {
    updateFocus( event );
  }

  return flags;
}

int InteractionTool::processKeyEvent( QKeyEvent* event, RenderPanel* panel )
{
  return move_tool_.processKeyEvent( event, panel );
}

} // end namespace rviz

#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS( rviz::InteractionTool, rviz::Tool )