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// Copyright (c) 2015-2018, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// This file is part of gepetto-viewer. |
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// gepetto-viewer is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// gepetto-viewer is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// gepetto-viewer. If not, see <http://www.gnu.org/licenses/>. |
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#include "gepetto/gui/pick-handler.hh" |
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#include <gepetto/viewer/node.h> |
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#include <QApplication> |
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#include <QDebug> |
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#include <QStatusBar> |
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#include <gepetto/gui/bodytreewidget.hh> |
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#include <gepetto/gui/mainwindow.hh> |
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#include <gepetto/gui/osgwidget.hh> |
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#include <gepetto/gui/selection-event.hh> |
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#include <gepetto/gui/selection-handler.hh> |
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#include <gepetto/gui/tree-item.hh> |
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#include <gepetto/gui/windows-manager.hh> |
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#include <iostream> |
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#include <osg/io_utils> |
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#include <osgGA/KeySwitchMatrixManipulator> |
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#include <osgGA/TrackballManipulator> |
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#include <osgUtil/IntersectionVisitor> |
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#include <osgUtil/LineSegmentIntersector> |
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#include <osgViewer/Viewer> |
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#include "point-intersector.hh" |
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namespace gepetto { |
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namespace gui { |
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PickHandler::PickHandler(OSGWidget* parent, WindowsManagerPtr_t wsm) |
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: osgGA::GUIEventHandler(), |
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wsm_(wsm), |
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parent_(parent), |
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pushed_(false), |
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lastX_(0), |
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lastY_(0), |
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lineIntersector_(new osgUtil::LineSegmentIntersector( |
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osgUtil::Intersector::WINDOW, 0., 0.)), |
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pointIntersector_( |
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new PointIntersector(osgUtil::Intersector::WINDOW, 0., 0.)) { |
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lineIntersector_->setIntersectionLimit(osgUtil::Intersector::LIMIT_NEAREST); |
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pointIntersector_->setPickBias(0.01f); |
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pointIntersector_->setIntersectionLimit(osgUtil::Intersector::LIMIT_NEAREST); |
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} |
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PickHandler::~PickHandler() {} |
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bool PickHandler::handle(const osgGA::GUIEventAdapter& ea, |
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osgGA::GUIActionAdapter& aa) { |
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switch (ea.getEventType()) { |
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case osgGA::GUIEventAdapter::PUSH: |
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case osgGA::GUIEventAdapter::RELEASE: |
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if (ea.getButton() == osgGA::GUIEventAdapter::LEFT_MOUSE_BUTTON) { |
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if (pushed_ && ea.getEventType() == osgGA::GUIEventAdapter::RELEASE) { |
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pushed_ = false; |
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if ((int)floor(lastX_ - ea.getX() + 0.5) == 0 && |
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(int)floor(lastY_ - ea.getY() + 0.5) == 0) { |
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selectionNodeUnderCursor(aa, ea.getX(), ea.getY(), |
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ea.getModKeyMask()); |
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return true; |
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} |
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} |
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if (ea.getEventType() == osgGA::GUIEventAdapter::PUSH) { |
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lastX_ = ea.getX(); |
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lastY_ = ea.getY(); |
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pushed_ = true; |
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} |
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} |
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return false; |
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break; |
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case osgGA::GUIEventAdapter::KEYUP: |
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switch (ea.getKey()) { |
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case 'z': |
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setCameraToSelected(aa, false); |
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return true; |
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case 'Z': |
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setCameraToSelected(aa, true); |
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return true; |
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case 'f': |
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centerViewToMouse(aa, ea.getX(), ea.getY()); |
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return true; |
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default: |
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break; |
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} |
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break; |
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default: |
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break; |
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} |
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return false; |
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} |
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void PickHandler::getUsage(osg::ApplicationUsage& usage) const { |
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usage.addKeyboardMouseBinding("Right click", "Select node"); |
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usage.addKeyboardMouseBinding('z', "Move camera on selected node"); |
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usage.addKeyboardMouseBinding('Z', "Move and zoom on selected node"); |
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usage.addKeyboardMouseBinding('f', "Center view to mouse"); |
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} |
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void PickHandler::computeLineIntersection(osgGA::GUIActionAdapter& aa, |
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const float& x, const float& y) { |
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lineIntersector_->reset(); |
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lineIntersector_->setStart(osg::Vec3d(x, y, 0.)); |
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lineIntersector_->setEnd(osg::Vec3d(x, y, 1.)); |
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osgViewer::View* viewer = dynamic_cast<osgViewer::View*>(&aa); |
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if (viewer) { |
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// There is no need to lock the windows manager mutex |
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// as this is treated in the event loop of OSG, and not Qt. |
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// On the contrary, locking here creates a deadlock as the lock is |
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// already acquired by OSGWidget::paintEvent. |
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// wsm_->lock().lock(); |
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// osg::ref_ptr<osgUtil::LineSegmentIntersector> intersector = |
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// new osgUtil::LineSegmentIntersector(osgUtil::Intersector::WINDOW, x, y); |
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// intersector->setIntersectionLimit( osgUtil::Intersector::LIMIT_NEAREST ); |
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osgUtil::IntersectionVisitor iv(lineIntersector_); |
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iv.setTraversalMask(viewer::IntersectionBit); |
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osg::Camera* camera = viewer->getCamera(); |
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camera->accept(iv); |
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} |
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} |
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PickHandler::LineSegmentIntersector PickHandler::computeLineOrPointIntersection( |
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osgGA::GUIActionAdapter& aa, const float& x, const float& y) { |
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osgViewer::View* viewer = dynamic_cast<osgViewer::View*>(&aa); |
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if (!viewer) return LineSegmentIntersector(); |
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osg::Camera* camera = viewer->getCamera(); |
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lineIntersector_->reset(); |
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lineIntersector_->setStart(osg::Vec3d(x, y, 0.)); |
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lineIntersector_->setEnd(osg::Vec3d(x, y, 1.)); |
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{ |
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osgUtil::IntersectionVisitor iv(lineIntersector_); |
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iv.setTraversalMask(viewer::IntersectionBit); |
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camera->accept(iv); |
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} |
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if (lineIntersector_->containsIntersections()) return lineIntersector_; |
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pointIntersector_->reset(); |
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pointIntersector_->setStart(osg::Vec3d(x, y, 0.)); |
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pointIntersector_->setEnd(osg::Vec3d(x, y, 1.)); |
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{ |
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osgUtil::IntersectionVisitor iv(pointIntersector_); |
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iv.setTraversalMask(viewer::IntersectionBit); |
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// iv.setTraversalMask(viewer::IntersectionBit | viewer::EditionBit); |
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camera->accept(iv); |
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} |
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if (pointIntersector_->containsIntersections()) return pointIntersector_; |
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return LineSegmentIntersector(); |
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} |
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void PickHandler::selectionNodeUnderCursor(osgGA::GUIActionAdapter& aa, |
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const float& x, const float& y, |
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int modKeyMask) { |
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LineSegmentIntersector li = computeLineOrPointIntersection(aa, x, y); |
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BodyTreeWidget* bt = MainWindow::instance()->bodyTree(); |
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if (!li || !li->containsIntersections()) { |
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bt->emitBodySelected(new SelectionEvent(SelectionEvent::FromOsgWindow, |
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QApplication::keyboardModifiers())); |
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return; |
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} |
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// Only one intersection. Otherwise, one has to loop on elements of |
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// intersector->getIntersections(); |
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const osgUtil::LineSegmentIntersector::Intersection& intersection = |
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li->getFirstIntersection(); |
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for (int i = (int)intersection.nodePath.size() - 1; i >= 0; --i) { |
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if (!(intersection.nodePath[i]->getNodeMask() & viewer::NodeBit)) continue; |
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NodePtr_t n = wsm_->getNode(intersection.nodePath[i]->getName()); |
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if (n) { |
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SelectionEvent* event = new SelectionEvent( |
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SelectionEvent::FromOsgWindow, n, mapper_.getQtModKey(modKeyMask)); |
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event->setupIntersection(intersection); |
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bt->emitBodySelected(event); |
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QStatusBar* statusBar = MainWindow::instance()->statusBar(); |
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statusBar->clearMessage(); |
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if (osg::dynamic_pointer_cast<PointIntersector>(li)) |
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statusBar->showMessage(QString::fromStdString(n->getID()) + |
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QString(" - Vectex index: ") + |
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QString::number(intersection.primitiveIndex)); |
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else |
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statusBar->showMessage(QString::fromStdString(n->getID())); |
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return; |
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} |
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} |
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} |
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void PickHandler::centerViewToMouse(osgGA::GUIActionAdapter& aa, const float& x, |
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const float& y) { |
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osgViewer::View* viewer = dynamic_cast<osgViewer::View*>(&aa); |
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if (!viewer) return; |
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computeLineIntersection(aa, x, y); |
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if (!lineIntersector_->containsIntersections()) return; |
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// Only one intersection. Otherwise, one has to loop on elements of |
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// intersector->getIntersections(); |
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const osgUtil::LineSegmentIntersector::Intersection& intersection = |
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lineIntersector_->getFirstIntersection(); |
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osg::Vec3f P(intersection.getWorldIntersectPoint()); |
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osgGA::TrackballManipulator* tbm = dynamic_cast<osgGA::TrackballManipulator*>( |
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viewer->getCameraManipulator()); |
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if (!tbm) { |
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osgGA::KeySwitchMatrixManipulator* ksm = |
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dynamic_cast<osgGA::KeySwitchMatrixManipulator*>( |
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viewer->getCameraManipulator()); |
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if (ksm) { |
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tbm = dynamic_cast<osgGA::TrackballManipulator*>( |
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ksm->getCurrentMatrixManipulator()); |
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} |
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} |
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if (tbm) { |
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tbm->setCenter(P); |
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} else { |
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osg::Vec3f eye, center, up; |
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viewer->getCameraManipulator()->getInverseMatrix().getLookAt(eye, center, |
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up); |
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osg::Vec3f u(center - eye); |
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u.normalize(); |
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osg::Vec3f v(up ^ u); |
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osg::Vec3f t(v * (v * (P - eye))); |
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eye += t; |
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center += t; |
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viewer->getCameraManipulator()->setByInverseMatrix( |
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osg::Matrix::lookAt(eye, center, up)); |
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} |
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} |
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void PickHandler::setCameraToSelected(osgGA::GUIActionAdapter& aa, bool zoom) { |
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MainWindow* main = MainWindow::instance(); |
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NodePtr_t last = main->osg()->getNode( |
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main->selectionHandler()->mode()->currentBody().toStdString()); |
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if (!last) return; |
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osgViewer::View* viewer = dynamic_cast<osgViewer::View*>(&aa); |
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if (!viewer) return; |
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const osg::BoundingSphere& bs = last->asGroup()->getBound(); |
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osg::Vec3f eye, center, up; |
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viewer->getCameraManipulator()->getInverseMatrix().getLookAt(eye, center, up); |
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osgGA::TrackballManipulator* tbm = dynamic_cast<osgGA::TrackballManipulator*>( |
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viewer->getCameraManipulator()); |
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if (!tbm) { |
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osgGA::KeySwitchMatrixManipulator* ksm = |
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dynamic_cast<osgGA::KeySwitchMatrixManipulator*>( |
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viewer->getCameraManipulator()); |
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if (ksm) { |
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tbm = dynamic_cast<osgGA::TrackballManipulator*>( |
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ksm->getCurrentMatrixManipulator()); |
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} |
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} |
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if (tbm) { |
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tbm->setCenter(bs.center()); |
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if (zoom) tbm->setDistance(3 * bs.radius()); |
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} else { |
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if (zoom) { |
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osg::Vec3f tmp = center - eye; |
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tmp.normalize(); |
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eye = bs.center() - tmp * 3 * bs.radius(); |
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} else { |
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eye += bs.center() - center; |
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} |
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viewer->getCameraManipulator()->setByInverseMatrix( |
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osg::Matrixd::lookAt(eye, bs.center(), up)); |
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} |
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} |
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} // namespace gui |
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} // namespace gepetto |
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