pxmlw6n2f/Gazebo_Distributed_TCP/gazebo/gui/ModelManipulator.hh

185 lines
7.1 KiB
C++
Raw Permalink Normal View History

2019-03-28 10:57:49 +08:00
/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef _GAZEBO_GUI_MODEL_MANIPULATOR_HH_
#define _GAZEBO_GUI_MODEL_MANIPULATOR_HH_
#include <string>
#include "gazebo/math/Vector2i.hh"
#include "gazebo/math/Vector3.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/common/MouseEvent.hh"
#include "gazebo/common/KeyEvent.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/common/SingletonT.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace gui
{
class ModelManipulatorPrivate;
/// \class ModelManipulator ModelManipulator.hh gui/Gui.hh
/// \brief Manipulator tool for translating/rotating/scaling models and
/// links
class GZ_GUI_VISIBLE ModelManipulator : public SingletonT<ModelManipulator>
{
/// \brief Constructor
private: ModelManipulator();
/// \brief Destructor
private: virtual ~ModelManipulator();
/// \brief Initialize the model manipulator.
public: void Init();
/// \brief Clear the model manipulator. This explicity cleans up the
/// internal state of the singleton and prepares it for exit.
public: void Clear();
/// \brief Detach the manipulator from an entity
public: void Detach();
/// \brief Set the manipulation mode.
/// \param[in] _mode Manipulation mode: translate, rotate, or scale.
public: void SetManipulationMode(const std::string &_mode);
/// \brief Set the visual to be manipulated by the model manipulator.
public: void SetAttachedVisual(rendering::VisualPtr _vis);
/// \brief Process an object translate mouse press event.
/// \param[in] _event Mouse event.
public: void OnMousePressEvent(const common::MouseEvent &_event);
/// \brief Process an object translate mouse move event.
/// \param[in] _event Mouse event.
public: void OnMouseMoveEvent(const common::MouseEvent &_event);
/// \brief Process an object translate mouse release event.
/// \param[in] _event Mouse event.
public: void OnMouseReleaseEvent(const common::MouseEvent &_event);
/// \brief Process a key press event.
/// \param[in] _event Key event.
public: void OnKeyPressEvent(const common::KeyEvent &_event);
/// \brief Process a key release event.
/// \param[in] _event Key event.
public: void OnKeyReleaseEvent(const common::KeyEvent &_event);
/// \brief Rotate entity.
/// \param[in] _vis Visual representing the entity.
/// \param[in] _axis Axis of rotation.
/// \param[in] _local True to apply rotation in local frame.
public: void RotateEntity(rendering::VisualPtr &_vis,
const math::Vector3 &_axis,
bool _local = false);
/// \brief Translate entity.
/// \param[in] _vis Visual representing the entity.
/// \param[in] _axis Axis of translation.
/// \param[in] _local True to apply translation in local frame.
public: void TranslateEntity(rendering::VisualPtr &_vis,
const math::Vector3 &_axis,
bool _local = false);
/// \brief Scale entity.
/// \param[in] _vis Visual representing the entity.
/// \param[in] _axis Scaling axis.
/// \param[in] _local True to apply scaling in local frame.
public: void ScaleEntity(rendering::VisualPtr &_vis,
const math::Vector3 &_axis,
bool _local = false);
/// \brief Snap a point at intervals of a fixed distance. Currently used
/// to give a snapping behavior when moving models with a mouse.
/// \param[in] _point Input point.
/// \param[in] _interval Fixed distance interval at which the point
/// is snapped.
/// \param[in] _sensitivity Sensitivity of point snapping, in terms of a
/// percentage of the interval.
/// \return Snapped 3D point.
public: static math::Vector3 SnapPoint(const math::Vector3 &_point,
double _interval = 1.0, double _sensitivity = 0.4);
/// \brief Helper function to get the 3D position of mouse on ground
/// plane.
/// param[in] _camera Pointer to user camera.
/// param[in] _event Mouse event.
/// return Point of mouse-plane intersection in world coordinates.
public: static math::Vector3 GetMousePositionOnPlane(
rendering::CameraPtr _camera,
const common::MouseEvent &_event);
/// \brief Helper function to get the distance moved by the mouse.
/// \param[in] _camera Pointer to user camera.
/// \param[in] _start Start point.
/// \param[in] _end End point.
/// \param[in] _pose Pose of origin.
/// \param[in] _axis Movement axis.
/// \param[in] _local True to get distance in local frame.
/// \return Mouse distance moved.
public: static math::Vector3 GetMouseMoveDistance(
rendering::CameraPtr _camera,
const math::Vector2i &_start, const math::Vector2i &_end,
const math::Pose &_pose, const math::Vector3 &_axis,
bool _local);
/// \brief Helper function to get the distance moved by the mouse.
/// \param[in] _pose Pose of origin.
/// \param[in] _axis Movement axis.
/// \param[in] _local True to get distance in local frame.
/// \return Mouse distance moved.
private: math::Vector3 GetMouseMoveDistance(const math::Pose &_pose,
const math::Vector3 &_axis, bool _local) const;
/// \brief Set the visual being moved by the mouse.
/// \param[in] _vis Pointer to visual moved by mouse.
private: void SetMouseMoveVisual(rendering::VisualPtr _vis);
/// \brief Publish visual's pose to the server
/// \param[in] _vis Pointer to the visual whose pose is to be published.
private: void PublishVisualPose(rendering::VisualPtr _vis);
/// \brief Publish visual's scale to the server
/// \param[in] _vis Pointer to the visual whose scale is to be published.
private: void PublishVisualScale(rendering::VisualPtr _vis);
/// \brief Helper function to constrain the scale dimensions for simple
/// shapes
/// \param[in] _axis Scaling axis.
/// \param[in] _scale Input scale to be updated.
/// \param[in] _geom Type of geometry.
/// \return Updated scale.
private: math::Vector3 UpdateScale(const math::Vector3 &_axis,
const math::Vector3 &_scale, const std::string &_geom);
/// \brief This is a singleton class.
private: friend class SingletonT<ModelManipulator>;
/// \internal
/// \brief Pointer to private data.
private: ModelManipulatorPrivate *dataPtr;
};
}
}
#endif