FreeCAD · pwolny · Jul 11, 2024 · Nov 23, 2024 · wwmayer · Nov 24, 2024
diff --git a/src/Gui/Placement.cpp b/src/Gui/Placement.cpp
@@ -47,30 +47,35 @@
 #include <Gui/Window.h>

 #include "Placement.h"
 #include "ui_Placement.h"
 
+#include <Gui/MainWindow.h>
+#include <Gui/View3DInventor.h>
+#include <Inventor/SbVec3f.h>
+#include <Gui/SpaceballEvent.h>
+#include <Base/DualQuaternion.h>
 
 using namespace Gui::Dialog;
 namespace sp = std::placeholders;

 namespace Gui { namespace Dialog {
 class find_placement
 {
 public:
    explicit find_placement(const std::string& name) : propertyname(name)
    {
    }
    bool operator () (const std::pair<std::string, App::Property*>& elem) const
    {
        if (elem.first == propertyname) {
            //  flag set that property is read-only or hidden
            if (elem.second->testStatus(App::Property::ReadOnly) || elem.second->testStatus(App::Property::Hidden))
                return false;
            App::PropertyContainer* parent = elem.second->getContainer();
            if (parent) {
                //  flag set that property is read-only or hidden
                if (parent->isReadOnly(elem.second) ||
                    parent->isHidden(elem.second))
                    return false;
            }
            return elem.second->isDerivedFrom
@@ -83,11 +88,11 @@
    static App::PropertyPlacement* getProperty(const App::DocumentObject* obj,
                                               const std::string& propertyName)
    {
        std::map<std::string,App::Property*> props;
        obj->getPropertyMap(props);

        // search for the placement property
        std::map<std::string,App::Property*>::iterator jt;
        jt = std::find_if(props.begin(), props.end(), find_placement(propertyName));
        if (jt != props.end()) {
            return dynamic_cast<App::PropertyPlacement*>(jt->second);
@@ -179,7 +184,7 @@
 void PlacementHandler::openTransaction()
 {
    App::Document* activeDoc = App::GetApplication().getActiveDocument();
    if (activeDoc)
        activeDoc->openTransaction("Placement");
 }

@@ -201,7 +206,7 @@
 std::vector<const App::DocumentObject*> PlacementHandler::getObjects(const Gui::Document* document) const
 {
    auto objs = document->getDocument()->getObjectsOfType(App::DocumentObject::getClassTypeId());
    std::vector<const App::DocumentObject*> list;
    list.insert(list.begin(), objs.begin(), objs.end());
    return list;
 }
@@ -209,7 +214,7 @@
 std::vector<const App::DocumentObject*> PlacementHandler::getSelectedObjects(const Gui::Document* document) const
 {
    App::Document* doc = document->getDocument();
    std::vector<const App::DocumentObject*> list;
    list.reserve(selectionObjects.size());
    for (const auto& it : selectionObjects) {
        const App::DocumentObject* obj = it.getObject();
@@ -228,7 +233,7 @@

 void PlacementHandler::revertTransformationOfViewProviders(Gui::Document* document)
 {
    std::vector<const App::DocumentObject*> obj = getObjects(document);
    for (const auto & it : obj) {
        auto property = find_placement::getProperty(it, this->propertyName);
        if (property) {
@@ -462,10 +467,12 @@
     setupUnits();
     setupSignalMapper();
     setupRotationMethod();
+    setupEventFilter();
 }
 
 Placement::~Placement()
 {
+    if (qApp!=NULL) qApp->removeEventFilter(this);
     delete ui;
 }
 
@@ -547,6 +554,12 @@
     ui->stackedWidget->setCurrentIndex(index);
 }
 
+
+void Placement::setupEventFilter()
+{
+    if (qApp!=NULL) qApp->installEventFilter(this);
+}
+
 void Placement::showDefaultButtons(bool ok)
 {
     ui->buttonBox->setVisible(ok);
@@ -559,6 +572,83 @@
     }
 }
 
+bool Placement::eventFilter(QObject*, QEvent* ev) {
+    //handle spacenav daemon motion events in placement window
+    if (//event->type() == Spaceball::ButtonEvent::ButtonEventType ||
+        ev->type() == Spaceball::MotionEvent::MotionEventType){
+                Spaceball::MotionEvent *motionEvent = dynamic_cast<Spaceball::MotionEvent*>(ev);
+                if (!motionEvent) {
+                    Base::Console().Log("invalid spaceball motion event in bool Placement::eventFilter(QObject*, QEvent* ev)\n");
+                    return false;
+                    }
+                motionEvent->setHandled(true);
+
+                static double translationConstant(.001f);
+                double xTrans = static_cast<double>(motionEvent->translationX())*translationConstant;
+                double yTrans = static_cast<double>(motionEvent->translationY())*translationConstant;
+                double zTrans = static_cast<double>(motionEvent->translationZ())*translationConstant;
+
+                static double rotationConstant(.001f);
+                double dY=static_cast<double>(motionEvent->rotationZ()) * rotationConstant;
+                double dP=static_cast<double>(motionEvent->rotationY()) * rotationConstant;
+                double dR=static_cast<double>(motionEvent->rotationX()) * rotationConstant;
+
+                if(xTrans == 0 && yTrans == 0 && zTrans == 0 && dY ==0 && dP ==0 && dR ==0 ) return false;
+                signalMapper->blockSignals(true);
+//                printf("\nSpaceball Placement Event\t(x,y,z)=(%f,%f,%f)\t(Rx,Ry,Rz)=(%f,%f,%f);\n",xTrans,yTrans,zTrans,dR,dP,dY  );
+
+                Base::Vector3d dTrans(xTrans,yTrans,zTrans);
+                Base::Vector3d rotationCenter=this->getCenterData();
+                Base::Placement old_placement(getPositionData(),getRotationData());
+                // Code below allows for seamles rotation around axes without blocking on roll, pitch, yaw range ends.
+                Base::Matrix4D new_placement_mat;
+                new_placement_mat = old_placement.toMatrix();
+                new_placement_mat.move(-rotationCenter);
+                if(dY!=0) new_placement_mat.rotZ(Base::toRadians(dY));
+                if(dP!=0) new_placement_mat.rotY(Base::toRadians(dP));
+                if(dR!=0) new_placement_mat.rotX(Base::toRadians(dR));
+                new_placement_mat.move(rotationCenter);
+                new_placement_mat.move(dTrans);
+                Base::Placement new_placement(new_placement_mat);
+                new_placement.setPosition(old_placement.getPosition()+dTrans);
+                //setPlacementData(new_placement);//Does not work properly because of problems with euler angles. Angle values need to be adjusted below to fit into proper range.
+
+                ui->xPos->setValue(new_placement.getPosition().x);
+                ui->yPos->setValue(new_placement.getPosition().y);
+                ui->zPos->setValue(new_placement.getPosition().z);
+
+                Base::Vector3d new_dir_vect;
+                double angle;
+                new_placement.getRotation().getValue(new_dir_vect,angle);
+
+                // bug seen in freecad-0.21.2+dfsg1 (from debian source package) and in github master 20240708
+                // If there are issues with precision when rotating (360 deg rotation arround axis does not return to the same orientation) increase decimal places in Preferences (stored values in Gui::QuantitySpinBox are rounded and result in precision loss after multiple iterations of rotation)
+                // bug presence may be tested by uncomenting printf with "eventFilter-C" and "eventFilter-D" they will return different (RotXYZ) values when bug is present (D line will have visibly rounded values).
+                //printf("eventFilter-C\t(x,y,z)=(%f,%f,%f)\t(RotXYZ)=(%f,%f,%f)\t(RotAngle)=(%f)\n",new_placement.getPosition().x,new_placement.getPosition().y,new_placement.getPosition().z,new_dir_vect.x, new_dir_vect.y, new_dir_vect.z, Base::toDegrees<double>(angle));
+
+                ui->xAxis->setValue(new_dir_vect.x);
+                ui->yAxis->setValue(new_dir_vect.y);
+                ui->zAxis->setValue(new_dir_vect.z);
+                ui->angle->setValue(Base::toDegrees<double>(angle));
+                //printf("eventFilter-D\t(x,y,z)=(%f,%f,%f)\t(RotXYZ)=(%f,%f,%f)\t(RotAngle)=(%f)\n\n",ui->xPos->value().getValue(),ui->yPos->value().getValue(),ui->zPos->value().getValue(),ui->xAxis->value().getValue(),ui->yAxis->value().getValue(),ui->zAxis->value().getValue(),ui->angle->value().getValue());
+
+                // Euler angles (XY'Z'')
+                double Y,P,R;
+                new_placement.getRotation().getYawPitchRoll(Y,P,R);
+                if(R>180) R-=360; else if(R<-180) R+=360;
+                if(P>90) P-=180; else if(P<-90) R+=180;
+                if(Y>180) Y-=360; else if(Y<-180) Y+=360;
+                ui->yawAngle->setValue(Y);
+                ui->pitchAngle->setValue(P);
+                ui->rollAngle->setValue(R);
+
+                signalMapper->blockSignals(false);
+                onPlacementChanged(0);
+                return true;
+                };
+    return false;
+}
+
 void Placement::open()
 {
     handler.openTransactionIfNeeded();

diff --git a/src/Gui/Placement.h b/src/Gui/Placement.h
@@ -131,6 +131,8 @@
     Base::Placement getPlacement() const;
     void showDefaultButtons(bool);
 
+    bool eventFilter(QObject *, QEvent *ev);
+
 protected:
     void changeEvent(QEvent *e) override;
     void keyPressEvent(QKeyEvent*) override;
@@ -153,6 +155,7 @@
     void setupSignalMapper();
     void setupRotationMethod();
     void bindProperty(const App::DocumentObject* obj, const std::string& propertyName);
+    void setupEventFilter();
 
     bool onApply();
     void setPlacementData(const Base::Placement&);