OrbitViewController.hh

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/*
 * Copyright 2012 Nate Koenig
 *
 * 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 _ORBITVIEWCONTROLLER_HH_
#define _ORBITVIEWCONTROLLER_HH_

#include <string>

#include "gazebo/rendering/Visual.hh"
#include "gazebo/rendering/ViewController.hh"
#include "gazebo/math/Vector3.hh"
#include "gazebo/math/Vector2i.hh"

namespace gazebo
{
  namespace rendering
  {

    class OrbitViewController : public ViewController
    {
      public: OrbitViewController(UserCameraPtr _camera);

      public: virtual ~OrbitViewController();

      public: virtual void Init();

      public: virtual void Init(const math::Vector3 &_focalPoint);

      public: void SetDistanceRange(double _minDist, double _maxDist);

      public: virtual void Update();

      public: virtual void HandleMouseEvent(const common::MouseEvent &_event);

      public: static std::string GetTypeString();

      public: void SetDistance(float _d);

      public: void SetFocalPoint(const math::Vector3 &_fp);

      public: math::Vector3 GetFocalPoint() const;

      public: void SetYaw(double _yaw);

      public: void SetPitch(double _pitch);

      // Documentation inherited from parent
      public: void HandleKeyReleaseEvent(const std::string &_key);

      // Documentation inherited from parent
      public: virtual void HandleKeyPressEvent(const std::string &_key);

      private: void TranslateLocal(math::Vector3 _vec);

      private: void TranslateGlobal(math::Vector3 _vec);

      private: void Zoom(float _amount);

      private: void NormalizeYaw(float &_v);

      private: void NormalizePitch(float &_v);

      private: void UpdatePose();

      private: float yaw, pitch;
      private: float distance;
      private: float minDist, maxDist;
      private: math::Vector3 focalPoint;

      private: VisualPtr refVisual;
      private: math::Vector2i posCache;
      private: math::Vector3 worldFocal;

      private: std::string key;
    };
  }
}
#endif