geometry.cpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2012, Willow Garage, Inc.
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of the Willow Garage, Inc. nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  */
29 
30 #include <OgreRay.h>
31 #include <OgrePlane.h>
32 #include <OgreCamera.h>
33 #include <OgreSceneNode.h>
34 #include <OgreViewport.h>
35 
36 #include "geometry.h"
37 
38 namespace rviz
39 {
40 
44 bool getPointOnPlaneFromWindowXY( Ogre::Viewport* viewport,
45  Ogre::Plane& plane,
46  int window_x, int window_y,
47  Ogre::Vector3& intersection_out )
48 {
49  int width = viewport->getActualWidth();
50  int height = viewport->getActualHeight();
51 
52  Ogre::Ray mouse_ray = viewport->getCamera()->getCameraToViewportRay( (float)window_x / (float)width,
53  (float)window_y / (float)height );
54  std::pair<bool, Ogre::Real> intersection = mouse_ray.intersects( plane );
55  if ( !intersection.first )
56  {
57  return false;
58  }
59  intersection_out = mouse_ray.getPoint( intersection.second );
60 
61  return true;
62 }
63 
64 float mapAngleTo0_2Pi( float angle )
65 {
66  angle = fmod( angle, Ogre::Math::TWO_PI );
67 
68  if( angle < 0.0f )
69  {
70  angle = Ogre::Math::TWO_PI + angle;
71  }
72  return angle;
73 }
74 
75 Ogre::Vector2 project3DPointToViewportXY(const Ogre::Viewport* view, const Ogre::Vector3& pos)
76 {
77  Ogre::Camera* cam = view->getCamera();
78  Ogre::Vector3 pos2D = cam->getProjectionMatrix() * (cam->getViewMatrix() * pos);
79 
80  Ogre::Real x = ((pos2D.x * 0.5) + 0.5);
81  Ogre::Real y = 1 - ((pos2D.y * 0.5) + 0.5);
82 
83  return Ogre::Vector2(x * view->getActualWidth(), y * view->getActualHeight());
84 }
85 
86 } // end namespace rviz
f
TFSIMD_FORCE_INLINE const tfScalar & y() const
float mapAngleTo0_2Pi(float angle)
Return the input angle mapped back to the range 0 to 2*PI.
Definition: geometry.cpp:64
Ogre::Vector2 project3DPointToViewportXY(const Ogre::Viewport *view, const Ogre::Vector3 &pos)
Given a viewport and a 3D position in world coordinates, project that point into the view plane...
Definition: geometry.cpp:75
TFSIMD_FORCE_INLINE const tfScalar & x() const
bool getPointOnPlaneFromWindowXY(Ogre::Viewport *viewport, Ogre::Plane &plane, int window_x, int window_y, Ogre::Vector3 &intersection_out)
Given a viewport and an x,y position in window-pixel coordinates, find the point on a plane directly ...
Definition: geometry.cpp:44


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Sat Apr 27 2019 02:33:41