Revision: 7517
http://playerstage.svn.sourceforge.net/playerstage/?rev=7517&view=rev
Author: hsujohnhsu
Date: 2009-03-17 01:31:58 +0000 (Tue, 17 Mar 2009)
Log Message:
-----------
function for selecting body (vs. model).
Modified Paths:
--------------
code/gazebo/branches/ogre-1.4.9/server/rendering/OgreAdaptor.cc
Modified: code/gazebo/branches/ogre-1.4.9/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/branches/ogre-1.4.9/server/rendering/OgreAdaptor.cc
2009-03-17 01:30:58 UTC (rev 7516)
+++ code/gazebo/branches/ogre-1.4.9/server/rendering/OgreAdaptor.cc
2009-03-17 01:31:58 UTC (rev 7517)
@@ -35,6 +35,7 @@
#include <string.h>
#include "Model.hh"
+#include "Body.hh"
#include "OgreVisual.hh"
#include "UserCamera.hh"
#include "MovableText.hh"
@@ -492,7 +493,8 @@
if (vis && vis->GetEntity())
{
entity = vis->GetEntity();
- entity->GetVisualNode()->ShowSelectionBox(true);
+ //entity->GetVisualNode()->ShowSelectionBox(true);
+ entity->GetVisualNode()->SetTransparency(0.6);
Model *model = NULL;
do
@@ -512,6 +514,54 @@
////////////////////////////////////////////////////////////////////////////////
+/// Get an body at a pixel location using a camera. Used for mouse picking.
+Body *OgreAdaptor::GetBodyAt(OgreCamera *camera, Vector2<int> mousePos)
+{
+ // these entities are geom's
+ Entity *entity = NULL;
+ Ogre::Camera *ogreCam = camera->GetOgreCamera();
+ Ogre::Vector3 camPos = ogreCam->getPosition();
+
+ Ogre::Ray mouseRay = ogreCam->getCameraToViewportRay(
+ (float)mousePos.x / ogreCam->getViewport()->getActualWidth(),
+ (float)mousePos.y / ogreCam->getViewport()->getActualHeight() );
+
+ this->raySceneQuery->setRay( mouseRay );
+
+ // Perform the scene query
+ Ogre::RaySceneQueryResult &result = this->raySceneQuery->execute();
+ Ogre::RaySceneQueryResult::iterator iter = result.begin();
+
+ for (iter = result.begin(); iter != result.end(); iter++)
+ {
+ if (iter->movable)
+ {
+
+ OgreVisual *vis =
dynamic_cast<OgreVisual*>(iter->movable->getUserObject());
+ if (vis && vis->GetEntity())
+ {
+ entity = vis->GetEntity();
+ //entity->GetVisualNode()->ShowSelectionBox(true);
+ entity->GetVisualNode()->SetTransparency(0.6);
+ Body *body = NULL;
+
+ do
+ {
+ body = dynamic_cast<Body*>(entity);
+ entity = entity->GetParent();
+ } while (body == NULL);
+
+ return body;
+ }
+ }
+
+ }
+
+ return NULL;
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
/// Get the desired update rate
double OgreAdaptor::GetUpdateRate()
{
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