fixed_orientation_ortho_view_controller.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
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#include <OgreCamera.h>
#include <OgreQuaternion.h>
#include <OgreSceneManager.h>
#include <OgreSceneNode.h>
#include <OgreVector3.h>
#include <OgreViewport.h>

#include "rviz/display_context.h"
#include "rviz/ogre_helpers/orthographic.h"
#include "rviz/ogre_helpers/shape.h"
#include "rviz/properties/bool_property.h"
#include "rviz/properties/float_property.h"
#include "rviz/viewport_mouse_event.h"

#include "rviz/default_plugin/view_controllers/fixed_orientation_ortho_view_controller.h"

namespace rviz
{
FixedOrientationOrthoViewController::FixedOrientationOrthoViewController() : dragging_(false)
{
  scale_property_ =
      new FloatProperty("Scale", 10, "How much to scale up the size of things in the scene.", this);
  angle_property_ = new FloatProperty("Angle", 0, "Angle around the Z axis to rotate.", this);
  x_property_ = new FloatProperty("X", 0, "X component of camera position.", this);
  y_property_ = new FloatProperty("Y", 0, "Y component of camera position.", this);
}

FixedOrientationOrthoViewController::~FixedOrientationOrthoViewController()
{
}

void FixedOrientationOrthoViewController::onInitialize()
{
  FramePositionTrackingViewController::onInitialize();

  camera_->setProjectionType(Ogre::PT_ORTHOGRAPHIC);
  camera_->setFixedYawAxis(false);
  invert_z_->hide();
}

void FixedOrientationOrthoViewController::reset()
{
  scale_property_->setFloat(10);
  angle_property_->setFloat(0);
  x_property_->setFloat(0);
  y_property_->setFloat(0);
}

void FixedOrientationOrthoViewController::handleMouseEvent(ViewportMouseEvent& event)
{
  if (event.shift())
  {
    setStatus("<b>Left-Click:</b> Move X/Y.");
  }
  else
  {
    setStatus("<b>Left-Click:</b> Rotate.  <b>Middle-Click:</b> Move X/Y.  <b>Right-Click:</b>: Zoom.  "
              "<b>Shift</b>: More options.");
  }

  bool moved = false;

  int32_t diff_x = 0;
  int32_t diff_y = 0;

  if (event.type == QEvent::MouseButtonPress)
  {
    dragging_ = true;
  }
  else if (event.type == QEvent::MouseButtonRelease)
  {
    dragging_ = false;
  }
  else if (dragging_ && event.type == QEvent::MouseMove)
  {
    diff_x = event.x - event.last_x;
    diff_y = event.y - event.last_y;
    moved = true;
  }

  if (event.left() && !event.shift())
  {
    setCursor(Rotate2D);
    angle_property_->add(diff_x * 0.005);
    orientCamera();
  }
  else if (event.middle() || (event.shift() && event.left()))
  {
    setCursor(MoveXY);
    float scale = scale_property_->getFloat();
    move(-diff_x / scale, diff_y / scale);
  }
  else if (event.right())
  {
    setCursor(Zoom);
    scale_property_->multiply(1.0 - diff_y * 0.01);
  }
  else
  {
    setCursor(event.shift() ? MoveXY : Rotate2D);
  }

  if (event.wheel_delta != 0)
  {
    int diff = event.wheel_delta;
    scale_property_->multiply(1.0 - (-diff) * 0.001);

    moved = true;
  }

  if (moved)
  {
    context_->queueRender();
    emitConfigChanged();
  }
}

void FixedOrientationOrthoViewController::orientCamera()
{
  camera_->setOrientation(
      Ogre::Quaternion(Ogre::Radian(angle_property_->getFloat()), Ogre::Vector3::UNIT_Z));
}

void FixedOrientationOrthoViewController::mimic(ViewController* source_view)
{
  FramePositionTrackingViewController::mimic(source_view);

  if (FixedOrientationOrthoViewController* source_ortho =
          qobject_cast<FixedOrientationOrthoViewController*>(source_view))
  {
    scale_property_->setFloat(source_ortho->scale_property_->getFloat());
    angle_property_->setFloat(source_ortho->angle_property_->getFloat());
    x_property_->setFloat(source_ortho->x_property_->getFloat());
    y_property_->setFloat(source_ortho->y_property_->getFloat());
  }
  else
  {
    Ogre::Camera* source_camera = source_view->getCamera();
    setPosition(source_camera->getPosition());
  }
}

void FixedOrientationOrthoViewController::update(float dt, float ros_dt)
{
  FramePositionTrackingViewController::update(dt, ros_dt);
  updateCamera();
}

void FixedOrientationOrthoViewController::lookAt(const Ogre::Vector3& point)
{
  setPosition(point - target_scene_node_->getPosition());
}

void FixedOrientationOrthoViewController::onTargetFrameChanged(
    const Ogre::Vector3& old_reference_position,
    const Ogre::Quaternion& /*old_reference_orientation*/)
{
  move(old_reference_position.x - reference_position_.x,
       old_reference_position.y - reference_position_.y);
}

void FixedOrientationOrthoViewController::updateCamera()
{
  orientCamera();

  float width = camera_->getViewport()->getActualWidth();
  float height = camera_->getViewport()->getActualHeight();

  float scale = scale_property_->getFloat();
  Ogre::Matrix4 proj;
  buildScaledOrthoMatrix(proj, -width / scale / 2, width / scale / 2, -height / scale / 2,
                         height / scale / 2, camera_->getNearClipDistance(),
                         camera_->getFarClipDistance());
  camera_->setCustomProjectionMatrix(true, proj);

  // For Z, we use half of the far-clip distance set in
  // selection_context.cpp, so that the shader program which computes
  // depth can see equal distances above and below the Z=0 plane.
  camera_->setPosition(x_property_->getFloat(), y_property_->getFloat(), 500);
}

void FixedOrientationOrthoViewController::setPosition(const Ogre::Vector3& pos_rel_target)
{
  x_property_->setFloat(pos_rel_target.x);
  y_property_->setFloat(pos_rel_target.y);
}

void FixedOrientationOrthoViewController::move(float dx, float dy)
{
  float angle = angle_property_->getFloat();
  x_property_->add(dx * cos(angle) - dy * sin(angle));
  y_property_->add(dx * sin(angle) + dy * cos(angle));
}

} // end namespace rviz

#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(rviz::FixedOrientationOrthoViewController, rviz::ViewController)