shape_marker.cpp

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/*
 * Copyright (c) 2009, 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 "shape_marker.h"
#include "marker_selection_handler.h"
#include <rviz/default_plugin/marker_display.h>
 
#include <rviz/display_context.h>
#include <rviz/selection/selection_manager.h>
 
#include <rviz/ogre_helpers/shape.h>
 
#include <OgreSceneNode.h>
#include <OgreMatrix3.h>
 
namespace rviz
{
ShapeMarker::ShapeMarker(MarkerDisplay* owner, DisplayContext* context, Ogre::SceneNode* parent_node)
  : MarkerBase(owner, context, parent_node), shape_(nullptr)
{
}
 
ShapeMarker::~ShapeMarker()
{
  delete shape_;
}
 
void ShapeMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
{
  if (!shape_ || old_message->type != new_message->type)
  {
    delete shape_;
    shape_ = nullptr;
 
    Shape::Type shape_type = Shape::Cube;
    switch (new_message->type)
    {
    case visualization_msgs::Marker::CUBE:
      shape_type = Shape::Cube;
      break;
    case visualization_msgs::Marker::CYLINDER:
      shape_type = Shape::Cylinder;
      break;
    case visualization_msgs::Marker::SPHERE:
      shape_type = Shape::Sphere;
      break;
    default:
      ROS_BREAK();
      break;
    }
    shape_ = new Shape(shape_type, context_->getSceneManager(), scene_node_);
 
    handler_.reset(
        new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id), context_));
    handler_->addTrackedObjects(shape_->getRootNode());
  }
 
  Ogre::Vector3 pos, scale, scale_correct;
  Ogre::Quaternion orient;
  if (!transform(new_message, pos, orient, scale))
  {
    scene_node_->setVisible(false);
    return;
  }
 
  scene_node_->setVisible(true);
  setPosition(pos);
  setOrientation(orient * Ogre::Quaternion(Ogre::Degree(90), Ogre::Vector3(1, 0, 0)));
 
  scale_correct = Ogre::Quaternion(Ogre::Degree(90), Ogre::Vector3(1, 0, 0)) * scale;
 
  shape_->setScale(scale_correct);
 
  shape_->setColor(new_message->color.r, new_message->color.g, new_message->color.b,
                   new_message->color.a);
}
 
S_MaterialPtr ShapeMarker::getMaterials()
{
  S_MaterialPtr materials;
  extractMaterials(shape_->getEntity(), materials);
  return materials;
}
 
} // namespace rviz