geometry.cpp
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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 {
43 bool getPointOnPlaneFromWindowXY(Ogre::Viewport* viewport,
44  Ogre::Plane& plane,
45  int window_x,
46  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
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
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:43


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Mon Jan 9 2023 03:07:20