void pixel_drawSquareWaveAlongAxis(AccelStepper *longAxis, AccelStepper *wideAxis, int waveAmplitude, int waveLength, int totalWaves, int waveNo)
{
if (waveNo == 0)
{
// first one, half a line and an along
//Serial.println(F("First wave half"));
if (lastWaveWasTop) {
moveAxis(wideAxis, waveAmplitude/2);
moveAxis(longAxis, waveLength);
}
else {
moveAxis(wideAxis, 0-(waveAmplitude/2));
moveAxis(longAxis, waveLength);
}
pixel_flipWaveDirection();
}
else if (waveNo == totalWaves)
{
// last one, half a line with no along
if (lastWaveWasTop) {
moveAxis(wideAxis, waveAmplitude/2);
}
else {
moveAxis(wideAxis, 0-(waveAmplitude/2));
}
}
else
{
// intervening lines - full lines, and an along
if (lastWaveWasTop) {
moveAxis(wideAxis, waveAmplitude);
moveAxis(longAxis, waveLength);
}
else {
moveAxis(wideAxis, 0-waveAmplitude);
moveAxis(longAxis, waveLength);
}
pixel_flipWaveDirection();
}
}
void InteractiveMarkerControl::handleMouseMovement( ViewportMouseEvent& event )
{
// handle mouse movement
float width = event.viewport->getActualWidth() - 1;
float height = event.viewport->getActualHeight() - 1;
Ogre::Ray mouse_ray = event.viewport->getCamera()->getCameraToViewportRay( (event.x + .5) / width,
(event.y + .5) / height );
Ogre::Ray last_mouse_ray =
event.viewport->getCamera()->getCameraToViewportRay(
(event.last_x + .5) / width, (event.last_y + .5) / height);
//convert rays into reference frame
mouse_ray.setOrigin( reference_node_->convertWorldToLocalPosition( mouse_ray.getOrigin() ) );
mouse_ray.setDirection( reference_node_->convertWorldToLocalOrientation( Ogre::Quaternion::IDENTITY ) * mouse_ray.getDirection() );
last_mouse_ray.setOrigin( reference_node_->convertWorldToLocalPosition( last_mouse_ray.getOrigin() ) );
last_mouse_ray.setDirection( reference_node_->convertWorldToLocalOrientation( Ogre::Quaternion::IDENTITY ) * last_mouse_ray.getDirection() );
switch (interaction_mode_)
{
case visualization_msgs::InteractiveMarkerControl::MOVE_AXIS:
moveAxis( mouse_ray, event );
break;
case visualization_msgs::InteractiveMarkerControl::MOVE_PLANE:
movePlane( mouse_ray );
break;
case visualization_msgs::InteractiveMarkerControl::MOVE_ROTATE:
moveRotate( mouse_ray );
break;
case visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS:
rotate(mouse_ray);
break;
default:
break;
}
}
void
ClipGrabber::mouseMoveEvent(QMouseEvent* const event,
Camera* const camera)
{
if (!m_pressed)
return;
QPoint delta = event->pos() - m_prevPos;
Vec voxelScaling = Global::voxelScaling();
Vec tang = m_tang;
Vec xaxis = m_xaxis;
Vec yaxis = m_yaxis;
tang = Matrix::rotateVec(m_xform, tang);
xaxis = Matrix::rotateVec(m_xform, xaxis);
yaxis = Matrix::rotateVec(m_xform, yaxis);
if (event->buttons() != Qt::LeftButton)
{
tang = VECDIVIDE(tang, voxelScaling);
xaxis = VECDIVIDE(xaxis, voxelScaling);
yaxis = VECDIVIDE(yaxis, voxelScaling);
Vec trans(delta.x(), -delta.y(), 0.0f);
// Scale to fit the screen mouse displacement
trans *= 2.0 * tan(camera->fieldOfView()/2.0) *
fabs((camera->frame()->coordinatesOf(Vec(0,0,0))).z) /
camera->screenHeight();
// Transform to world coordinate system.
trans = camera->frame()->orientation().rotate(trans);
Vec voxelScaling = Global::voxelScaling();
trans = VECDIVIDE(trans, voxelScaling);
if (event->modifiers() & Qt::ControlModifier ||
event->modifiers() & Qt::MetaModifier)
{
if (moveAxis() < MoveY0)
{
float vx = trans*m_xaxis;
if (moveAxis() == MoveX0)
setScale1(scale1() + 0.05*vx);
else
setScale1(scale1() - 0.05*vx);
}
else if (moveAxis() < MoveZ)
{
float vy = trans*m_yaxis;
if (moveAxis() == MoveY0)
setScale2(scale2() + 0.05*vy);
else
setScale2(scale2() - 0.05*vy);
}
}
else
{
if (moveAxis() < MoveY0)
{
float vx = trans*xaxis;
trans = vx*xaxis;
}
else if (moveAxis() < MoveZ)
{
float vy = trans*yaxis;
trans = vy*yaxis;
}
else if (moveAxis() == MoveZ)
{
float vz = trans*tang;
trans = vz*tang;
}
translate(trans);
}
}
else
{
Vec axis;
if (moveAxis() < MoveY0) axis = xaxis;
else if (moveAxis() < MoveZ) axis = yaxis;
else if (moveAxis() == MoveZ) axis = tang;
Vec voxelScaling = Global::voxelScaling();
Vec pos = VECPRODUCT(position(), voxelScaling);
pos = Matrix::xformVec(m_xform, pos);
float r = size();
Vec trans(delta.x(), -delta.y(), 0.0f);
Vec p0 = camera->projectedCoordinatesOf(pos); p0 = Vec(p0.x, p0.y, 0);
Vec c0 = pos + r*axis;
c0 = camera->projectedCoordinatesOf(c0); c0 = Vec(c0.x, c0.y, 0);
Vec perp = c0-p0;
perp = Vec(-perp.y, perp.x, 0);
perp.normalize();
float angle = perp * trans;
rotate(axis, angle);
}
m_prevPos = event->pos();
}
void Sim::move() {
ball->move();
moveAxis();
}
