diff --git a/include/gepetto/gui/pick-handler.hh b/include/gepetto/gui/pick-handler.hh
index f7d080a2de75175a301450398c594ce104aa21fd..e393ae1d246853f870bacbe847e0bb5cbd99ff30 100644
--- a/include/gepetto/gui/pick-handler.hh
+++ b/include/gepetto/gui/pick-handler.hh
@@ -41,9 +41,14 @@ namespace gepetto {
void getUsage (osg::ApplicationUsage &usage) const;
private:
- std::list <graphics::NodePtr_t> computeIntersection (osgGA::GUIActionAdapter& aa,
- const float& x, const float& y,
- int modMask);
+ void computeIntersection (osgGA::GUIActionAdapter& aa,
+ const float& x, const float& y);
+
+ void selectionNodeUnderCursor (osgGA::GUIActionAdapter& aa,
+ const float& x, const float& y, int modMask);
+
+ void centerViewToMouse (osgGA::GUIActionAdapter& aa,
+ const float& x, const float& y);
void setCameraToSelected (osgGA::GUIActionAdapter& aa, bool zoom);
@@ -52,6 +57,8 @@ namespace gepetto {
OSGWidget* parent_;
bool pushed_;
float lastX_, lastY_;
+
+ osg::ref_ptr<osgUtil::LineSegmentIntersector> intersector_;
};
}
}
diff --git a/src/gui/pick-handler.cc b/src/gui/pick-handler.cc
index 05056fb40d4fa8604ac3f57f761bf4e66a71f248..fde27ac7f91d72270a578d5b4933f8aff4aa2952 100644
--- a/src/gui/pick-handler.cc
+++ b/src/gui/pick-handler.cc
@@ -48,7 +48,10 @@ namespace gepetto {
, pushed_ (false)
, lastX_ (0)
, lastY_ (0)
- {}
+ , intersector_ (new osgUtil::LineSegmentIntersector(osgUtil::Intersector::WINDOW, 0., 0.))
+ {
+ intersector_->setIntersectionLimit( osgUtil::Intersector::LIMIT_NEAREST );
+ }
PickHandler::~PickHandler()
{
@@ -63,9 +66,9 @@ namespace gepetto {
if (pushed_
&& ea.getEventType() == osgGA::GUIEventAdapter::RELEASE) {
pushed_ = false;
- if ((int)floor(lastX_ - ea.getX()+0.05) == 0
+ if ( (int)floor(lastX_ - ea.getX() + 0.5) == 0
&& (int)floor(lastY_ - ea.getY() + 0.5) == 0) {
- computeIntersection(aa, ea.getX(), ea.getY(), ea.getModKeyMask());
+ selectionNodeUnderCursor (aa, ea.getX(), ea.getY(), ea.getModKeyMask());
return true;
}
}
@@ -85,6 +88,9 @@ namespace gepetto {
case 'Z':
setCameraToSelected (aa, true);
return true;
+ case 'f':
+ centerViewToMouse (aa, ea.getX(), ea.getY());
+ return true;
default:
break;
}
@@ -100,14 +106,16 @@ namespace gepetto {
usage.addKeyboardMouseBinding ("Right click", "Select node");
usage.addKeyboardMouseBinding ('z', "Move camera on selected node");
usage.addKeyboardMouseBinding ('Z', "Move and zoom on selected node");
+ usage.addKeyboardMouseBinding ('f', "Center view to mouse");
}
- std::list<graphics::NodePtr_t> PickHandler::computeIntersection(osgGA::GUIActionAdapter &aa,
- const float &x, const float &y,
- int modKeyMask)
+ void PickHandler::computeIntersection(osgGA::GUIActionAdapter &aa,
+ const float &x, const float &y)
{
- BodyTreeWidget* bt = MainWindow::instance()->bodyTree();
- std::list<graphics::NodePtr_t> nodes;
+ intersector_->reset();
+ intersector_->setStart (osg::Vec3d(x,y,0.));
+ intersector_->setEnd (osg::Vec3d(x,y,1.));
+
osgViewer::View* viewer = dynamic_cast<osgViewer::View*>( &aa );
if( viewer )
{
@@ -116,45 +124,92 @@ namespace gepetto {
// On the contrary, locking here creates a deadlock as the lock is
// already acquired by OSGWidget::paintEvent.
// wsm_->lock().lock();
- osg::ref_ptr<osgUtil::LineSegmentIntersector> intersector =
- new osgUtil::LineSegmentIntersector(osgUtil::Intersector::WINDOW, x, y);
- intersector->setIntersectionLimit( osgUtil::Intersector::LIMIT_NEAREST );
+ //osg::ref_ptr<osgUtil::LineSegmentIntersector> intersector =
+ //new osgUtil::LineSegmentIntersector(osgUtil::Intersector::WINDOW, x, y);
+ //intersector->setIntersectionLimit( osgUtil::Intersector::LIMIT_NEAREST );
- osgUtil::IntersectionVisitor iv( intersector );
+ osgUtil::IntersectionVisitor iv( intersector_ );
iv.setTraversalMask(graphics::IntersectionBit);
osg::Camera* camera = viewer->getCamera();
camera->accept( iv );
+ }
+ }
- if( !intersector->containsIntersections() ) {
- bt->emitBodySelected(new SelectionEvent(SelectionEvent::FromOsgWindow, QApplication::keyboardModifiers()));
- return nodes;
- }
+ void PickHandler::selectionNodeUnderCursor (osgGA::GUIActionAdapter &aa,
+ const float &x, const float &y, int modKeyMask)
+ {
+ computeIntersection (aa, x, y);
+ BodyTreeWidget* bt = MainWindow::instance()->bodyTree();
- // Only one intersection. Otherwise, one has to loop on elements of
- // intersector->getIntersections();
- const osgUtil::LineSegmentIntersector::Intersection&
- intersection = intersector->getFirstIntersection();
- bool hasSkipped = false;
- for (int i = (int) intersection.nodePath.size()-1; i >= 0 ; --i) {
- if (intersection.nodePath[i]->getNodeMask() & graphics::NodeBit) continue;
- graphics::NodePtr_t n = wsm_->getNode(intersection.nodePath[i]->getName ());
- if (n) {
- if (!hasSkipped && boost::regex_match (n->getID(), boost::regex ("^.*_[0-9]+$"))) {
- hasSkipped = true;
- continue;
- }
- SelectionEvent *event = new SelectionEvent(SelectionEvent::FromOsgWindow,
- n,
- mapper_.getQtModKey(modKeyMask));
- event->setupIntersection(intersection);
- bt->emitBodySelected(event);
- return nodes;
- }
+ if( !intersector_->containsIntersections() ) {
+ bt->emitBodySelected(new SelectionEvent(SelectionEvent::FromOsgWindow,
+ QApplication::keyboardModifiers()));
+ return;
+ }
+
+ // Only one intersection. Otherwise, one has to loop on elements of
+ // intersector->getIntersections();
+ const osgUtil::LineSegmentIntersector::Intersection&
+ intersection = intersector_->getFirstIntersection();
+ bool hasSkipped = false;
+ for (int i = (int) intersection.nodePath.size()-1; i >= 0 ; --i) {
+ if (intersection.nodePath[i]->getNodeMask() & graphics::NodeBit) continue;
+ graphics::NodePtr_t n = wsm_->getNode(intersection.nodePath[i]->getName ());
+ if (n) {
+ if (!hasSkipped && boost::regex_match (n->getID(), boost::regex ("^.*_[0-9]+$"))) {
+ hasSkipped = true;
+ continue;
}
+ SelectionEvent *event = new SelectionEvent(SelectionEvent::FromOsgWindow,
+ n,
+ mapper_.getQtModKey(modKeyMask));
+ event->setupIntersection(intersection);
+ bt->emitBodySelected(event);
+ return;
+ }
+ }
+ }
+
+ void PickHandler::centerViewToMouse (osgGA::GUIActionAdapter &aa,
+ const float &x, const float &y)
+ {
+ osgViewer::View* viewer = dynamic_cast<osgViewer::View*>( &aa );
+ if(!viewer) return;
+
+ computeIntersection (aa, x, y);
+ if( !intersector_->containsIntersections() ) return;
+
+ // Only one intersection. Otherwise, one has to loop on elements of
+ // intersector->getIntersections();
+ const osgUtil::LineSegmentIntersector::Intersection&
+ intersection = intersector_->getFirstIntersection();
+
+ osg::Vec3f P (intersection.getWorldIntersectPoint());
+
+ osgGA::TrackballManipulator* tbm = dynamic_cast<osgGA::TrackballManipulator*>(viewer->getCameraManipulator());
+ if (!tbm) {
+ osgGA::KeySwitchMatrixManipulator* ksm = dynamic_cast<osgGA::KeySwitchMatrixManipulator*>(viewer->getCameraManipulator());
+ if (ksm) {
+ tbm = dynamic_cast<osgGA::TrackballManipulator*>(ksm->getCurrentMatrixManipulator());
}
- bt->emitBodySelected(new SelectionEvent(SelectionEvent::FromOsgWindow, QApplication::keyboardModifiers()));
- return nodes;
+ }
+ if (tbm) {
+ tbm->setCenter(P);
+ } else {
+ osg::Vec3f eye, center, up;
+ viewer->getCameraManipulator()->getInverseMatrix ()
+ .getLookAt (eye, center, up);
+
+ osg::Vec3f u (center-eye); u.normalize();
+ osg::Vec3f v (up^u);
+ osg::Vec3f t (v * (v * (P-eye)));
+ eye += t;
+ center += t;
+ viewer->getCameraManipulator()->setByInverseMatrix (
+ osg::Matrix::lookAt (eye, center, up)
+ );
+ }
}
void PickHandler::setCameraToSelected (osgGA::GUIActionAdapter &aa,