From 6c1a9f06ce6fbab6d1931950eceb2097ffec3408 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Wed, 29 Dec 2021 14:25:24 +0100
Subject: [PATCH] ArViz: Add client API to define possible interactions
---
.../components/ArViz/Client/Elements.h | 37 ++++------
.../components/ArViz/Client/elements/Color.h | 4 +-
.../ArViz/Client/elements/ElementOps.h | 68 +++++++++++++++++--
.../components/ArViz/Example/ArVizExample.cpp | 4 ++
4 files changed, 81 insertions(+), 32 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Client/Elements.h b/source/RobotAPI/components/ArViz/Client/Elements.h
index 9f3157c9f..0a871fe79 100644
--- a/source/RobotAPI/components/ArViz/Client/Elements.h
+++ b/source/RobotAPI/components/ArViz/Client/Elements.h
@@ -5,7 +5,7 @@
-#include "Color.h"
+#include "elements/Color.h"
#include "elements/ElementOps.h"
#include "elements/Mesh.h"
#include "elements/PointCloud.h"
@@ -46,9 +46,8 @@ namespace armarx::viz
{
using data::ColoredPoint;
- class Box : public ElementOps<Box, data::ElementBox>
+ struct Box : ElementOps<Box, data::ElementBox>
{
- public:
using ElementOps::ElementOps;
Box& size(Eigen::Vector3f const& s)
@@ -70,9 +69,8 @@ namespace armarx::viz
};
- class Cylinder : public ElementOps<Cylinder, data::ElementCylinder>
+ struct Cylinder : ElementOps<Cylinder, data::ElementCylinder>
{
- public:
using ElementOps::ElementOps;
Cylinder& radius(float r)
@@ -93,9 +91,8 @@ namespace armarx::viz
};
- class Cylindroid : public ElementOps<Cylindroid, data::ElementCylindroid>
+ struct Cylindroid : ElementOps<Cylindroid, data::ElementCylindroid>
{
- public:
Cylindroid(const std::string& name) :
ElementOps(name)
{
@@ -130,9 +127,8 @@ namespace armarx::viz
};
- class Sphere : public ElementOps<Sphere, data::ElementSphere>
+ struct Sphere : ElementOps<Sphere, data::ElementSphere>
{
- public:
using ElementOps::ElementOps;
Sphere& radius(float r)
@@ -144,9 +140,8 @@ namespace armarx::viz
};
- class Ellipsoid : public ElementOps<Ellipsoid, data::ElementEllipsoid>
+ struct Ellipsoid : ElementOps<Ellipsoid, data::ElementEllipsoid>
{
- public:
Ellipsoid(const std::string& name) :
ElementOps(name)
{
@@ -177,16 +172,14 @@ namespace armarx::viz
};
- class Pose : public ElementOps<Pose, data::ElementPose>
+ struct Pose : ElementOps<Pose, data::ElementPose>
{
- public:
using ElementOps::ElementOps;
};
- class Text : public ElementOps<Text, data::ElementText>
+ struct Text : ElementOps<Text, data::ElementText>
{
- public:
using ElementOps::ElementOps;
Text& text(std::string const& t)
@@ -198,9 +191,8 @@ namespace armarx::viz
};
- class Arrow : public ElementOps<Arrow, data::ElementArrow>
+ struct Arrow : ElementOps<Arrow, data::ElementArrow>
{
- public:
using ElementOps::ElementOps;
Arrow& direction(Eigen::Vector3f dir);
@@ -230,9 +222,8 @@ namespace armarx::viz
};
- class ArrowCircle : public ElementOps<ArrowCircle, data::ElementArrowCircle>
+ struct ArrowCircle : ElementOps<ArrowCircle, data::ElementArrowCircle>
{
- public:
using ElementOps::ElementOps;
ArrowCircle& normal(Eigen::Vector3f dir);
@@ -244,7 +235,6 @@ namespace armarx::viz
return *this;
}
-
ArrowCircle& width(float w)
{
data_->width = w;
@@ -261,9 +251,8 @@ namespace armarx::viz
};
- class Polygon : public ElementOps<Polygon, data::ElementPolygon>
+ struct Polygon : ElementOps<Polygon, data::ElementPolygon>
{
- public:
using ElementOps::ElementOps;
Polygon& clear()
@@ -320,13 +309,11 @@ namespace armarx::viz
};
- class Object : public ElementOps<Object, data::ElementObject>
+ struct Object : ElementOps<Object, data::ElementObject>
{
- private:
static const std::string DefaultObjectsPackage;
static const std::string DefaultRelativeObjectsDirectory;
- public:
using ElementOps::ElementOps;
Object& file(std::string const& project, std::string const& filename)
diff --git a/source/RobotAPI/components/ArViz/Client/elements/Color.h b/source/RobotAPI/components/ArViz/Client/elements/Color.h
index 4abfe40dd..272e25b44 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/Color.h
+++ b/source/RobotAPI/components/ArViz/Client/elements/Color.h
@@ -1,10 +1,10 @@
#pragma once
-#include <Eigen/Core>
+#include <RobotAPI/interface/ArViz/Elements.h>
#include <SimoxUtility/color/Color.h>
-#include <RobotAPI/interface/ArViz/Elements.h>
+#include <Eigen/Core>
namespace armarx::viz
diff --git a/source/RobotAPI/components/ArViz/Client/elements/ElementOps.h b/source/RobotAPI/components/ArViz/Client/elements/ElementOps.h
index b763c4301..b4dc3c192 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/ElementOps.h
+++ b/source/RobotAPI/components/ArViz/Client/elements/ElementOps.h
@@ -1,24 +1,77 @@
#pragma once
-#pragma once
+#include "Color.h"
+
+#include <RobotAPI/interface/ArViz/Elements.h>
#include <SimoxUtility/color/GlasbeyLUT.h>
#include <SimoxUtility/math/convert/rpy_to_quat.h>
-#include <RobotAPI/interface/ArViz/Elements.h>
-
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <string>
-#include "Color.h"
-
namespace armarx::viz
{
using data::ColoredPoint;
+ struct InteractionDescription
+ {
+ using Self = InteractionDescription;
+
+ Self& none()
+ {
+ data_.enableFlags = 0;
+ return *this;
+ }
+
+ Self& selection()
+ {
+ data_.enableFlags |= data::InteractionEnableFlags::SELECT;
+ return *this;
+ }
+
+ Self& contextMenu(std::vector<std::string> const& options)
+ {
+ data_.enableFlags |= data::InteractionEnableFlags::CONTEXT_MENU;
+ data_.contextMenuOptions = options;
+ // Context menu (right click) implies selection
+ return selection();
+ }
+
+ Self& translation(bool x = true, bool y = true, bool z = true)
+ {
+ data_.enableFlags |= (x ? data::InteractionEnableFlags::TRANSLATION_X : 0);
+ data_.enableFlags |= (y ? data::InteractionEnableFlags::TRANSLATION_Y : 0);
+ data_.enableFlags |= (z ? data::InteractionEnableFlags::TRANSLATION_Z : 0);
+ // Translation implies selection
+ return selection();
+ }
+
+ Self& rotation(bool x = true, bool y = true, bool z = true)
+ {
+ data_.enableFlags |= (x ? data::InteractionEnableFlags::ROTATION_X : 0);
+ data_.enableFlags |= (y ? data::InteractionEnableFlags::ROTATION_Y : 0);
+ data_.enableFlags |= (z ? data::InteractionEnableFlags::ROTATION_Z : 0);
+ // Rotation implies selection
+ return selection();
+ }
+
+ Self& fullTransform()
+ {
+ return translation().rotation();
+ }
+
+ data::InteractionDescription data_;
+ };
+
+ inline InteractionDescription interaction()
+ {
+ return InteractionDescription();
+ }
+
// Move the ice datatypes into their own namespace
template <typename DerivedT, typename ElementT>
class ElementOps
@@ -171,6 +224,11 @@ namespace armarx::viz
}
}
+ DerivedT& enable(InteractionDescription const& interactionDescription)
+ {
+ data_->interaction = interactionDescription.data_;
+ }
+
IceInternal::Handle<ElementT> data_;
};
diff --git a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
index b6e606ae9..c61c26054 100644
--- a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
+++ b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
@@ -508,6 +508,10 @@ namespace armarx
.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));
+ // Enable some interaction possibilities
+ box.enable(viz::interaction()
+ .selection()
+ .contextMenu({"First Option", "Second Option", "Third Option"}));
layer.add(box);
}
--
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