axes.cpp

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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:
 *
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 *       notice, this list of conditions and the following disclaimer.
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 *       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
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#include "axes.h"
#include "shape.h"
 
#include <OgreSceneManager.h>
#include <OgreSceneNode.h>
#include <rviz/ogre_helpers/ogre_vector.h>
#include <OgreQuaternion.h>
 
#include <sstream>
 
namespace rviz
{
Axes::Axes(Ogre::SceneManager* scene_manager,
           Ogre::SceneNode* parent_node,
           float length,
           float radius,
           float alpha)
  : Object(scene_manager)
  , default_x_color_(1, 0, 0, alpha)
  , default_y_color_(0, 1, 0, alpha)
  , default_z_color_(0, 0, 1, alpha)
 
{
  if (!parent_node)
  {
    parent_node = scene_manager_->getRootSceneNode();
  }
 
  scene_node_ = parent_node->createChildSceneNode();
 
  x_axis_ = new Shape(Shape::Cylinder, scene_manager_, scene_node_);
  y_axis_ = new Shape(Shape::Cylinder, scene_manager_, scene_node_);
  z_axis_ = new Shape(Shape::Cylinder, scene_manager_, scene_node_);
 
  set(length, radius, alpha);
}
 
Axes::~Axes()
{
  delete x_axis_;
  delete y_axis_;
  delete z_axis_;
 
  scene_manager_->destroySceneNode(scene_node_);
}
 
void Axes::set(float length, float radius, float alpha)
{
  x_axis_->setScale(Ogre::Vector3(radius, length, radius));
  y_axis_->setScale(Ogre::Vector3(radius, length, radius));
  z_axis_->setScale(Ogre::Vector3(radius, length, radius));
 
  x_axis_->setPosition(Ogre::Vector3(length / 2.0f, 0.0f, 0.0f));
  x_axis_->setOrientation(Ogre::Quaternion(Ogre::Degree(-90), Ogre::Vector3::UNIT_Z));
  y_axis_->setPosition(Ogre::Vector3(0.0f, length / 2.0f, 0.0f));
  z_axis_->setPosition(Ogre::Vector3(0.0, 0.0f, length / 2.0f));
  z_axis_->setOrientation(Ogre::Quaternion(Ogre::Degree(90), Ogre::Vector3::UNIT_X));
 
  updateAlpha(alpha);
  setToDefaultColors();
}
 
void Axes::setPosition(const Ogre::Vector3& position)
{
  scene_node_->setPosition(position);
}
 
void Axes::setOrientation(const Ogre::Quaternion& orientation)
{
  scene_node_->setOrientation(orientation);
}
 
void Axes::setScale(const Ogre::Vector3& scale)
{
  scene_node_->setScale(scale);
}
 
void Axes::setColor(float /*r*/, float /*g*/, float /*b*/, float /*a*/)
{
  // cannot change color globally, use set[XYZ]Color() instead
}
 
const Ogre::Vector3& Axes::getPosition()
{
  return scene_node_->getPosition();
}
 
const Ogre::Quaternion& Axes::getOrientation()
{
  return scene_node_->getOrientation();
}
 
void Axes::setUserData(const Ogre::Any& data)
{
  x_axis_->setUserData(data);
  y_axis_->setUserData(data);
  z_axis_->setUserData(data);
}
 
void Axes::setXColor(const Ogre::ColourValue& col)
{
  x_axis_->setColor(col.r, col.g, col.b, col.a);
}
 
void Axes::setYColor(const Ogre::ColourValue& col)
{
  y_axis_->setColor(col.r, col.g, col.b, col.a);
}
 
void Axes::setZColor(const Ogre::ColourValue& col)
{
  z_axis_->setColor(col.r, col.g, col.b, col.a);
}
 
void Axes::updateAlpha(float alpha)
{
  default_x_color_.a = alpha;
  default_y_color_.a = alpha;
  default_z_color_.a = alpha;
}
 
void Axes::setToDefaultColors()
{
  x_axis_->setColor(default_x_color_);
  y_axis_->setColor(default_y_color_);
  z_axis_->setColor(default_z_color_);
}
 
const Ogre::ColourValue& Axes::getDefaultXColor()
{
  return default_x_color_;
}
 
const Ogre::ColourValue& Axes::getDefaultYColor()
{
  return default_y_color_;
}
 
const Ogre::ColourValue& Axes::getDefaultZColor()
{
  return default_z_color_;
}
 
} // namespace rviz