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