ArViz: Add initial interface for interactions

source/RobotAPI/components/ArViz/Example/ArVizExample.cpp

@@ -500,6 +500,18 @@ namespace armarx
 
     }
 
+    void fillInteractionLayer(viz::Layer& layer)
+    {
+        // TODO: Add interaction to client code
+        // 1. Make box selectable
+        viz::Box box = viz::Box("box")
+                       .position(Eigen::Vector3f(2000.0f, 0.0f, 2000.0f))
+                       .size(Eigen::Vector3f(200.0f, 200.0f, 200.0f))
+                       .color(viz::Color::fromRGBA(0, 165, 255));
+
+        layer.add(box);
+    }
+
 
     void ArVizExample::run()
     {
@@ -524,6 +536,7 @@ namespace armarx
         viz::Layer objectsLayer = arviz.layer("Objects");
         viz::Layer disAppearingLayer = arviz.layer("DisAppearing");
         viz::Layer robotHandsLayer = arviz.layer("RobotHands");
+        viz::Layer interactionLayer = arviz.layer("Interaction");
 
 
         // These layers are not updated in the loop.
@@ -545,6 +558,9 @@ namespace armarx
             arviz.commit(colorMapsLayer);
         }
 
+        fillInteractionLayer(interactionLayer);
+        arviz.commit(interactionLayer);
+
 
         CycleUtil c(20);
         while (!task->isStopped())

source/RobotAPI/interface/ArViz/Elements.ice

@@ -2,7 +2,6 @@
 
 #include <ArmarXCore/interface/core/BasicTypes.ice>
 #include <ArmarXCore/interface/core/BasicVectorTypes.ice>
-#include <RobotAPI/interface/core/PoseBase.ice>
 
 
 module armarx
@@ -30,6 +29,75 @@ module data
         byte b = 100;
     };
 
+    module InteractionEnableFlags
+    {
+        const int NONE           = 0;
+
+        const int SELECT         = 1;
+        const int CONTEXT_MENU   = 2;
+
+        const int TRANSLATION_X  = 4;
+        const int TRANSLATION_Y  = 8;
+        const int TRANSLATION_Z  = 16;
+
+        const int ROTATION_X     = 32;
+        const int ROTATION_Y     = 64;
+        const int ROTATION_Z     = 128;
+    };
+
+    struct InteractionDescription
+    {
+        int enableFlags = 0;
+        Ice::StringSeq contextMenuOptions;
+    };
+
+    module InteractionFeedbackType
+    {
+        const int NONE = 0;
+
+        const int SELCECT  = 1;
+        const int DESELECT = 2;
+
+        const int CONTEXT_MENU_OPEN   = 3;
+        const int CONTEXT_MENU_CHOSEN = 4;
+
+        const int TRANSFORM = 5;
+
+        // Flag to indicate the kind of transformation
+        const int TRANSLATION_FLAG = 16;
+        const int ROTATION_FLAG    = 32;
+
+        // Flag to indicate the axis used for transformation
+        const int AXIS_X_FLAG      = 64;
+        const int AXIS_Y_FLAG      = 128;
+        const int AXIS_Z_FLAG      = 256;
+
+        // Flag to indicate state of the transformation
+        const int TRANSFORM_BEGIN_FLAG  = 512;
+        const int TRANSFORM_DURING_FLAG = 1024;
+        const int TRANSFORM_END_FLAG    = 2048;
+    };
+
+    struct InteractionFeedback
+    {
+        // The type of interaction that happened (in the lower 4 bits)
+        // The higher bits are used for flags specifying more details of the interaction
+        int type = 0;
+
+        // The element with which the interaction took place
+        string layer;
+        string element;
+        // The revision in which the interaction took place
+        long revision = 0;
+
+        // Chosen context menu entry is only relevant for type == CONTEXT_MENU_CHOSEN
+        string chosenContextMenuEntry;
+
+        // Original and chosen poase are only relevant for type == TRANSFORM
+        GlobalPose originalPose;
+        GlobalPose chosenPose;
+    };
+
     module ElementFlags
     {
         const int NONE = 0;
@@ -40,6 +108,8 @@ module data
     class Element
     {
         string id;
+        InteractionDescription interaction;
+
         GlobalPose pose;
         float scale = 1.0f;
         Color color;