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fix #959: jumping marker in MOVE_3D mode #961

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merged 1 commit into from
Mar 22, 2016
Merged

fix #959: jumping marker in MOVE_3D mode #961

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6 changes: 2 additions & 4 deletions src/rviz/default_plugin/interactive_markers/interactive_marker_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -619,7 +619,7 @@ void InteractiveMarkerControl::moveViewPlane( Ogre::Ray &mouse_ray, const Viewpo
{
// find plane on which mouse is moving
Ogre::Plane plane( event.viewport->getCamera()->getRealDirection(),
parent_position_at_mouse_down_ + parent_to_grab_position_);
grab_point_in_reference_frame_);

// find intersection of mouse with the plane
std::pair<bool, Ogre::Real> intersection = mouse_ray.intersects(plane);
Expand All @@ -628,7 +628,7 @@ void InteractiveMarkerControl::moveViewPlane( Ogre::Ray &mouse_ray, const Viewpo
Ogre::Vector3 mouse_position_on_plane = mouse_ray.getPoint(intersection.second);

// move parent so grab position relative to parent coincides with new mouse position.
parent_->setPose( mouse_position_on_plane - parent_to_grab_position_,
parent_->setPose( mouse_position_on_plane - grab_point_in_reference_frame_ + parent_position_at_mouse_down_,
parent_->getOrientation(),
name_ );
}
Expand Down Expand Up @@ -1302,14 +1302,12 @@ void InteractiveMarkerControl::beginMouseMovement( ViewportMouseEvent& event, bo
// If we couldn't get a 3D point for the grab, just use the
// current relative position of the control frame.
grab_point_in_reference_frame_ = control_frame_node_->getPosition();
parent_to_grab_position_ = Ogre::Vector3(0,0,0);
}
else
{
// If we could get a 3D point for the grab, convert it from
// the world frame to the reference frame (in case those are different).
grab_point_in_reference_frame_ = reference_node_->convertWorldToLocalPosition(grab_point_in_world_frame);
parent_to_grab_position_ = grab_point_in_world_frame - parent_->getPosition();
}
parent_position_at_mouse_down_ = parent_->getPosition();
parent_orientation_at_mouse_down_ = parent_->getOrientation();
Expand Down
2 changes: 1 addition & 1 deletion src/rviz/default_plugin/interactive_markers/interactive_marker_control.h
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Expand Up @@ -407,7 +407,7 @@ class InteractiveMarkerControl: public Ogre::SceneManager::Listener,
int mouse_relative_to_absolute_y_;

/** position of grab relative to parent in world coordinates. */
Ogre::Vector3 parent_to_grab_position_;
Ogre::Vector3 parent_to_grab_position_; // obsolete now, but left for ABI compatibility

/** The position of the parent when the mouse button is pressed. */
Ogre::Vector3 parent_position_at_mouse_down_;
Expand Down