text: /*
   * Copyright (c) 2009, Willow Garage, Inc.
   * Copyright (c) 2017, Open Source Robotics Foundation, Inc.
   * Copyright (c) 2018, Bosch Software Innovations GmbH.
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   *     * Redistributions of source code must retain the above copyright
   *       notice, this list of conditions and the following disclaimer.
   *     * Redistributions in binary form must reproduce the above copyright
   *       notice, this list of conditions and the following disclaimer in the
   *       documentation and/or other materials provided with the distribution.
   *     * Neither the name of the Willow Garage, Inc. nor the names of its
   *       contributors may be used to endorse or promote products derived from
   *       this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef RVIZ_DEFAULT_PLUGINS__VIEW_CONTROLLERS__ORBIT__ORBIT_VIEW_CONTROLLER_HPP_
  #define RVIZ_DEFAULT_PLUGINS__VIEW_CONTROLLERS__ORBIT__ORBIT_VIEW_CONTROLLER_HPP_
  
  #include <memory>
  
  #include <OgreVector3.h>
  
  #include <QCursor>  // NOLINT(build/include_order)
  
  #include "rviz_common/frame_position_tracking_view_controller.hpp"
  #include "rviz_common/properties/bool_property.hpp"
  #include "rviz_common/properties/float_property.hpp"
  #include "rviz_common/properties/vector_property.hpp"
  #include "rviz_rendering/objects/shape.hpp"
  #include "rviz_default_plugins/visibility_control.hpp"
  
  namespace rviz_default_plugins
  {
  namespace view_controllers
  {
  
  /// An orbital camera, controlled by yaw, pitch, distance, and focal point
  /**
   * This camera is based on the equation of a sphere in spherical coordinates:
   *
   *   x = distance * cos(yaw) * sin(pitch)
   *   y = distance * cos(pitch)
   *   z = distance * sin(yaw) * sin(pitch)
   *
   * The coordinates are then offset by the focal point
   */
  class RVIZ_DEFAULT_PLUGINS_PUBLIC OrbitViewController : public
    rviz_common::FramePositionTrackingViewController
  {
    Q_OBJECT
  
  public:
    OrbitViewController();
    ~OrbitViewController() override;
  
    /// Do subclass-specific initialization.
    /**
     * Called by ViewController::initialize after context_, target_scene_node_,
     * and camera_ are set.
     */
    void onInitialize() override;
  
    /// Move in/out from the focal point, i.e. adjust distance by amount.
    /**
     * Positive amount moves towards the focal point, negative moves away.
     *
     * \param amount The distance to move.
     */
    void zoom(float amount);
  
    /// Set the yaw angle.
    void yaw(float angle);
  
    /// Set the pitch angle.
    void pitch(float angle);
  
    /// Move the focal point.
    void move(float x, float y, float z);  // NOLINT(build/include_what_you_use): not std::move
  
    /// Handle incoming mouse events.
    void handleMouseEvent(rviz_common::ViewportMouseEvent & evt) override;
  
    /// Look at a given location by changing the distance and angles.
    void lookAt(const Ogre::Vector3 & point) override;
  
    /// Reset the distance and angles to their default values.
    void reset() override;
  
    /// Configure this view controller to give a similar view to the given source_view.
    /**
     * \param source_view must return a valid `Ogre::Camera *` from `getCamera()`.
     */
    void mimic(ViewController * source_view) override;
  
    rviz_common::FocalPointStatus getFocalPointStatus() override;
  
    void update(float dt, float ros_dt) override;
  
  protected:
    bool setMouseMovementFromEvent(
      const rviz_common::ViewportMouseEvent & event, int32_t & diff_x, int32_t & diff_y);
  
    void rotateCamera(int32_t diff_x, int32_t diff_y);
  
    virtual void moveFocalPoint(
      float distance, int32_t diff_x, int32_t diff_y, int32_t last_x, int32_t last_y);
  
    virtual void handleWheelEvent(rviz_common::ViewportMouseEvent & event, float distance);
  
    virtual void handleRightClick(
      rviz_common::ViewportMouseEvent & event, float distance, int32_t diff_y);
  
    virtual void setShiftOrbitStatus();
  
    void setDefaultOrbitStatus();
  
    void onTargetFrameChanged(
      const Ogre::Vector3 & old_reference_position,
      const Ogre::Quaternion & old_reference_orientation) override;
  
    /// Calculate the pitch and yaw values given a new position and the current focal point.
    /**
     * \param position the position from which to calculate the pitch/yaw.
     */
    void calculatePitchYawFromPosition(const Ogre::Vector3 & position);
  
    /// Calculate the focal shape size and update it's geometry.
    void updateFocalShapeSize();
  
    virtual void updateCamera();
  
    Ogre::Vector3 mimicTopDownViewController(rviz_common::ViewController * view_controller);
  
    /// The camera's yaw (rotation around the y-axis), in radians.
    rviz_common::properties::FloatProperty * yaw_property_;
    /// The camera's pitch (rotation around the x-axis), in radians.
    rviz_common::properties::FloatProperty * pitch_property_;
    /// The camera's distance from the focal point.
    rviz_common::properties::FloatProperty * distance_property_;
    /// The point around which the camera "orbits".
    rviz_common::properties::VectorProperty * focal_point_property_;
    /// Whether the focal shape size is fixed or not.
    rviz_common::properties::BoolProperty * focal_shape_fixed_size_property_;
    /// The focal shape size.
    rviz_common::properties::FloatProperty * focal_shape_size_property_;
  
    std::unique_ptr<rviz_rendering::Shape> focal_shape_;
  
  private:
    bool dragging_;
  };
  
  }  // namespace view_controllers
  }  // namespace rviz_default_plugins
  
  #endif  // RVIZ_DEFAULT_PLUGINS__VIEW_CONTROLLERS__ORBIT__ORBIT_VIEW_CONTROLLER_HPP_
  