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allow Pan, Rotate and Zoom using touch #1272

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allow Pan, Rotate and Zoom using touch #1272

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8 changes: 8 additions & 0 deletions ...default_plugins/src/rviz_default_plugins/view_controllers/orbit/orbit_view_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -193,6 +193,14 @@ bool OrbitViewController::setMouseMovementFromEvent(
} else if (dragging_ && event.type == QEvent::MouseMove) {
diff_x = event.x - event.last_x;
diff_y = event.y - event.last_y;
} else if (dragging_ && event.type == QEvent::Wheel) {
diff_x = (event.x - event.last_x) / 1.01;
diff_y = (event.y - event.last_y) / 1.01;
if (std::abs(diff_x) > 50 || std::abs(diff_y) > 50) {
diff_x = 0;
diff_y = 0;
return false;
}
return true;
}
return false;
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7 changes: 7 additions & 0 deletions rviz_rendering/include/rviz_rendering/render_window.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@

#include <QObject> // NOLINT
#include <QWindow> // NOLINT
#include <QMap> // NOLINT

#include "OgreSceneNode.h"
#include "OgreRenderTargetListener.h"
Expand Down Expand Up @@ -102,6 +103,12 @@ class RVIZ_RENDERING_PUBLIC RenderWindow : public QWindow
void
windowMovedOrResized();

bool translateTouchToMouseEvent(QTouchEvent* touchEvent);

QMap<int, QPointF> previousTouchPoints;
bool singleTouch = false;
bool doubleTouch = false;

public slots:
virtual
void
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50 changes: 50 additions & 0 deletions rviz_rendering/src/rviz_rendering/render_window.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -153,6 +153,46 @@ ToString(const EnumType & enumValue)
return QString("%1::%2").arg(enumName).arg(static_cast<int>(enumValue));
}

bool RenderWindow::translateTouchToMouseEvent(QTouchEvent* touchEvent) {
auto touchPoints = touchEvent->touchPoints();

if (touchPoints.size() == 1) {
auto position = touchPoints[0].pos().toPoint();
if (touchPoints[0].state() == Qt::TouchPointReleased) {
on_mouse_events_callback_(new QMouseEvent(QEvent::MouseButtonRelease, position, Qt::LeftButton, Qt::NoButton, Qt::NoModifier));
singleTouch = doubleTouch = false;
} else if (!doubleTouch) { // Ignore single touch if we are already dragging or zooming
on_mouse_events_callback_(new QMouseEvent(
singleTouch ? QEvent::MouseMove : QEvent::MouseButtonPress,
position, Qt::LeftButton, Qt::LeftButton, singleTouch ? Qt::ShiftModifier : Qt::NoModifier
));
// Left button down first, then mouse move
singleTouch = true;
}
previousTouchPoints.clear();
} else if (touchPoints.size() == 2) { // We are in multitouch
auto pos1 = touchPoints[0].pos();
auto pos2 = touchPoints[1].pos();
if (touchPoints[0].state() == Qt::TouchPointReleased || touchPoints[1].state() == Qt::TouchPointReleased) {
previousTouchPoints.clear();
} else if (previousTouchPoints.contains(touchPoints[0].id()) && previousTouchPoints.contains(touchPoints[1].id())) {
qreal delta = QLineF(pos1, pos2).length() - QLineF(previousTouchPoints[touchPoints[0].id()], previousTouchPoints[touchPoints[1].id()]).length();
QPointF midpoint = (pos1 + pos2) / 2.0;
int deltaInt = std::abs(delta) > 0.5 ? static_cast<int>(delta * 6) : 0;
on_wheel_events_callback_(new QWheelEvent(midpoint, midpoint, QPoint(0, deltaInt), QPoint(0, deltaInt), Qt::LeftButton, Qt::NoModifier, Qt::ScrollUpdate, false));
doubleTouch = true;

previousTouchPoints[touchPoints[0].id()] = pos1;
previousTouchPoints[touchPoints[1].id()] = pos2;
return true;
} else {
previousTouchPoints[touchPoints[0].id()] = pos1;
previousTouchPoints[touchPoints[1].id()] = pos2;
}
}
return false;
}

bool
RenderWindow::event(QEvent * event)
{
Expand All @@ -165,6 +205,16 @@ RenderWindow::event(QEvent * event)
case QEvent::UpdateRequest:
this->renderNow();
return true;
case QEvent::TouchBegin:
case QEvent::TouchUpdate:
case QEvent::TouchEnd:
{
QTouchEvent* touchEvent = static_cast<QTouchEvent*>(event);
if (translateTouchToMouseEvent(touchEvent)) {
return QWindow::event(event);
}
return false;
}
case QEvent::Type::MouseMove:
case QEvent::Type::MouseButtonPress:
case QEvent::Type::MouseButtonRelease:
Expand Down