int PoseTool::processMouseEvent( ViewportMouseEvent& event )
{
int flags = 0;
if( event.leftDown() )
{
ROS_ASSERT( state_ == Position );
Ogre::Vector3 intersection;
Ogre::Plane ground_plane( Ogre::Vector3::UNIT_Z, 0.0f );
if( getPointOnPlaneFromWindowXY( event.viewport,
ground_plane,
event.x, event.y, intersection ))
{
pos_ = intersection;
arrow_->setPosition( pos_ );
state_ = Orientation;
flags |= Render;
}
}
else if( event.type == QEvent::MouseMove && event.left() )
{
if( state_ == Orientation )
{
//compute angle in x-y plane
Ogre::Vector3 cur_pos;
Ogre::Plane ground_plane( Ogre::Vector3::UNIT_Z, 0.0f );
if( getPointOnPlaneFromWindowXY( event.viewport,
ground_plane,
event.x, event.y, cur_pos ))
{
double angle = atan2( cur_pos.y - pos_.y, cur_pos.x - pos_.x );
arrow_->getSceneNode()->setVisible( true );
//we need base_orient, since the arrow goes along the -z axis by default (for historical reasons)
Ogre::Quaternion orient_x = Ogre::Quaternion( Ogre::Radian(-Ogre::Math::HALF_PI), Ogre::Vector3::UNIT_Y );
arrow_->setOrientation( Ogre::Quaternion( Ogre::Radian(angle), Ogre::Vector3::UNIT_Z ) * orient_x );
flags |= Render;
}
}
}
else if( event.leftUp() )
{
if( state_ == Orientation )
{
//compute angle in x-y plane
Ogre::Vector3 cur_pos;
Ogre::Plane ground_plane( Ogre::Vector3::UNIT_Z, 0.0f );
if( getPointOnPlaneFromWindowXY( event.viewport,
ground_plane,
event.x, event.y, cur_pos ))
{
double angle = atan2( cur_pos.y - pos_.y, cur_pos.x - pos_.x );
onPoseSet(pos_.x, pos_.y, angle);
flags |= (Finished|Render);
}
}
}
return flags;
}
void InteractiveMarkerControl::handleMouseEvent( ViewportMouseEvent& event )
{
// * check if this is just a receive/lost focus event
// * try to hand over the mouse event to the parent interactive marker
// * otherwise, execute mouse move handling
// handle receive/lose focus
if( event.type == QEvent::FocusIn )
{
has_focus_ = true;
std::set<Ogre::Pass*>::iterator it;
setHighlight( HOVER_HIGHLIGHT );
event.panel->setCursor( cursor_ );
}
else if( event.type == QEvent::FocusOut )
{
has_focus_ = false;
setHighlight(0.0);
return;
}
// change dragging state
switch( interaction_mode_ )
{
case visualization_msgs::InteractiveMarkerControl::BUTTON:
if( event.leftUp() )
{
Ogre::Vector3 point_rel_world;
bool got_3D_point = context_->getSelectionManager()->get3DPoint( event.viewport, event.x, event.y, point_rel_world );
visualization_msgs::InteractiveMarkerFeedback feedback;
feedback.event_type = visualization_msgs::InteractiveMarkerFeedback::BUTTON_CLICK;
feedback.control_name = name_;
feedback.marker_name = parent_->getName();
parent_->publishFeedback( feedback, got_3D_point, point_rel_world );
}
break;
case visualization_msgs::InteractiveMarkerControl::MOVE_AXIS:
case visualization_msgs::InteractiveMarkerControl::MOVE_PLANE:
case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE:
case visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS:
if( event.leftDown() )
{
parent_->startDragging();
dragging_ = true;
drag_viewport_ = event.viewport;
recordDraggingInPlaceEvent( event );
if( ! context_->getSelectionManager()->get3DPoint( event.viewport, event.x, event.y, grab_point_ ))
{
// If we couldn't get a 3D point for the grab, just use the
// current relative position of the control frame.
grab_point_ = control_frame_node_->getPosition();
}
else
{
// If we could get a 3D point for the grab, convert it from
// the world frame to the reference frame (in case those are different).
grab_point_ = reference_node_->convertWorldToLocalPosition(grab_point_);
}
grab_pixel_.x = event.x;
grab_pixel_.y = event.y;
parent_position_at_mouse_down_ = parent_->getPosition();
parent_orientation_at_mouse_down_ = parent_->getOrientation();
if( orientation_mode_ == visualization_msgs::InteractiveMarkerControl::VIEW_FACING &&
drag_viewport_ )
{
updateControlOrientationForViewFacing( drag_viewport_ );
}
control_frame_orientation_at_mouse_down_ = control_frame_node_->getOrientation();
rotation_at_mouse_down_ = rotation_;
rotation_axis_ = control_frame_node_->getOrientation() * control_orientation_.xAxis();
// Find rotation_center = 3D point closest to grab_point_ which is
// on the rotation axis, relative to the reference frame.
Ogre::Vector3 rotation_center_rel_ref = closestPointOnLineToPoint( parent_->getPosition(),
rotation_axis_,
grab_point_ );
Ogre::Matrix4 reference_rel_control_frame;
reference_rel_control_frame.makeInverseTransform( control_frame_node_->getPosition(),
Ogre::Vector3::UNIT_SCALE,
control_frame_node_->getOrientation() );
rotation_center_rel_control_ = reference_rel_control_frame * rotation_center_rel_ref;
grab_point_rel_control_ = reference_rel_control_frame * grab_point_;
}
if( event.leftUp() )
{
dragging_ = false;
drag_viewport_ = NULL;
parent_->stopDragging();
}
break;
default:
break;
}
if( event.leftDown() )
{
setHighlight( ACTIVE_HIGHLIGHT );
}
else if( event.leftUp() )
{
setHighlight( HOVER_HIGHLIGHT );
}
if (!parent_->handleMouseEvent(event, name_))
{
if( event.type == QEvent::MouseMove && event.left() )
{
recordDraggingInPlaceEvent( event );
handleMouseMovement( event );
}
}
}
int SelectionTool::processMouseEvent( ViewportMouseEvent& event )
{
SelectionManager* sel_manager = context_->getSelectionManager();
int flags = 0;
if( event.alt() )
{
moving_ = true;
selecting_ = false;
}
else
{
moving_ = false;
if( event.leftDown() )
{
selecting_ = true;
sel_start_x_ = event.x;
sel_start_y_ = event.y;
}
}
if( selecting_ )
{
sel_manager->highlight( event.viewport, sel_start_x_, sel_start_y_, event.x, event.y );
if( event.leftUp() )
{
SelectionManager::SelectType type = SelectionManager::Replace;
M_Picked selection;
if( event.shift() )
{
type = SelectionManager::Add;
}
else if( event.control() )
{
type = SelectionManager::Remove;
}
sel_manager->select( event.viewport, sel_start_x_, sel_start_y_, event.x, event.y, type );
selecting_ = false;
}
flags |= Render;
}
else if( moving_ )
{
sel_manager->removeHighlight();
flags = move_tool_->processMouseEvent( event );
if( event.type == QEvent::MouseButtonRelease )
{
moving_ = false;
}
}
else
{
sel_manager->highlight( event.viewport, event.x, event.y, event.x, event.y );
}
return flags;
}
int ImageSelectionToolCustom::processMouseEvent( ViewportMouseEvent& event )
{
//SelectionManager* sel_manager = context_->getSelectionManager();
Q_EMIT mouseHasMoved(event.x, event.y);
int flags = 0;
moving_ = false;
if( event.leftDown() )
{
selecting_ = true;
sel_start_x_ = event.x;
sel_start_y_ = event.y;
}
if( selecting_ )
{
/**std::cout<<"tool selected x1 " <<sel_start_x_<<std::endl;
std::cout<<"tool selected y1 " <<sel_start_y_<<std::endl;
std::cout<<"tool selected x2 " <<event.x<<std::endl;
std::cout<<"selected y2 " <<event.y<<std::endl;**/
theX1 = sel_start_x_;
theX2 = event.x;
theY1 = sel_start_y_;
theY2 = event.y;
port = event.viewport;
highlight( event.viewport, sel_start_x_, sel_start_y_, event.x, event.y );
if( event.leftUp() )
{
SelectionManager::SelectType type = SelectionManager::Replace;
M_Picked selection;
/*if( event.shift() )
{
type = SelectionManager::Add;
}
else if( event.control() )
{
type = SelectionManager::Remove;
}*/
//sel_manager->select( event.viewport, sel_start_x_, sel_start_y_, event.x, event.y, type );
removeHighlight();
Q_EMIT select( sel_start_x_, sel_start_y_, event.x, event.y );
selecting_ = false;
}
flags |= Render;
}
else
{
highlight( event.viewport, theX1, theY1, theX2, theY2 );
}
return flags;
}
