int PoseTool::processMouseEvent( ViewportMouseEvent& event )
{
int flags = 0;
if ( event.event.LeftDown() )
{
ROS_ASSERT( state_ == Position );
pos_ = getPositionFromMouseXY( event.viewport, event.event.GetX(), event.event.GetY() );
arrow_->setPosition( pos_ );
state_ = Orientation;
flags |= Render;
}
else if ( event.event.Dragging() )
{
if ( state_ == Orientation )
{
//compute angle in x-y plane
Ogre::Vector3 cur_pos = getPositionFromMouseXY( event.viewport, event.event.GetX(), event.event.GetY() );
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.event.LeftUp() )
{
if ( state_ == Orientation )
{
//compute angle in x-y plane
Ogre::Vector3 cur_pos = getPositionFromMouseXY( event.viewport, event.event.GetX(), event.event.GetY() );
double angle = atan2( cur_pos.y - pos_.y, cur_pos.x - pos_.x );
onPoseSet(pos_.x, pos_.y, angle);
flags |= (Finished|Render);
}
}
return flags;
}
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;
}
