ArViz: Add client type for interaction feedback

source/RobotAPI/components/ArViz/Client/Client.h

@@ -61,9 +61,166 @@ namespace viz
         viz::data::CommitInput data_;
     };
 
+    enum class InteractionFeedbackType
+    {
+        None,
+
+        Select,
+        Deselect,
+
+        ContextMenuOpen,
+        ContextMenuChosen,
+
+        Transform,
+    };
+
+    inline Eigen::Matrix4f toEigen(data::GlobalPose const& pose)
+    {
+        Eigen::Quaternionf ori(pose.qw, pose.qx, pose.qy, pose.qz);
+
+        Eigen::Matrix4f result;
+        result.block<3, 3>(0, 0) = ori.toRotationMatrix();
+        result.block<3, 1>(0, 3) = Eigen::Vector3f(pose.x, pose.y, pose.z);
+        result.block<1, 4>(3, 0) = Eigen::Vector4f(0.0f, 0.0f, 0.0f, 1.0f);
+        return result;
+    }
+
     struct InteractionFeedback
     {
+        InteractionFeedbackType type() const
+        {
+            // Maks out all the flags in the higher bits
+            int type = data_.type & 0x7;
+
+            switch (type)
+            {
+            case data::InteractionFeedbackType::NONE:
+                return InteractionFeedbackType::None;
+
+            case data::InteractionFeedbackType::SELECT:
+                return InteractionFeedbackType::Select;
+
+            case data::InteractionFeedbackType::DESELECT:
+                return InteractionFeedbackType::Deselect;
+
+            case data::InteractionFeedbackType::CONTEXT_MENU_OPEN:
+                return InteractionFeedbackType::ContextMenuOpen;
+
+            case data::InteractionFeedbackType::CONTEXT_MENU_CHOSEN:
+                return InteractionFeedbackType::ContextMenuChosen;
+
+            case data::InteractionFeedbackType::TRANSFORM:
+                return InteractionFeedbackType::Transform;
+
+            default:
+                throw std::runtime_error("Unexpected InteractionFeedbackType");
+            }
+        }
+
+        bool isTranslation() const
+        {
+            return data_.type & data::InteractionFeedbackType::TRANSLATION_FLAG;
+        }
+
+        bool isRotation() const
+        {
+            return data_.type & data::InteractionFeedbackType::ROTATION_FLAG;
+        }
+
+        bool isAxisX() const
+        {
+            return data_.type & data::InteractionFeedbackType::AXIS_X_FLAG;
+        }
+
+        bool isAxisY() const
+        {
+            return data_.type & data::InteractionFeedbackType::AXIS_Y_FLAG;
+        }
+
+        bool isAxisZ() const
+        {
+            return data_.type & data::InteractionFeedbackType::AXIS_Z_FLAG;
+        }
+
+        bool isTransformBegin() const
+        {
+            return data_.type & data::InteractionFeedbackType::TRANSFORM_BEGIN_FLAG;
+        }
+
+        bool isTransformDuring() const
+        {
+            return data_.type & data::InteractionFeedbackType::TRANSFORM_DURING_FLAG;
+        }
+
+        bool isTransformEnd() const
+        {
+            return data_.type & data::InteractionFeedbackType::TRANSFORM_END_FLAG;
+        }
+
+        std::string const& layer() const
+        {
+            return data_.layer;
+        }
+
+        std::string const& element() const
+        {
+            return data_.element;
+        }
+
+        long revision() const
+        {
+            return data_.revision;
+        }
+
+        int chosenContextMenuEntry() const
+        {
+            return data_.chosenContextMenuEntry;
+        }
+
+        Eigen::Matrix4f originalPose() const
+        {
+            return toEigen(data_.originalPose);
+        }
+
+        Eigen::Matrix4f chosenPose() const
+        {
+            return toEigen(data_.chosenPose);
+        }
+
+        data::InteractionFeedback data_;
+    };
+
+    struct InteractionFeedbackRange
+    {
+        InteractionFeedback const* begin() const
+        {
+            return begin_;
+        }
+
+        InteractionFeedback const* end() const
+        {
+            return end_;
+        }
+
+        InteractionFeedback const* begin_;
+        InteractionFeedback const* end_;
+    };
+
+    struct CommitResult
+    {
+        long revision() const
+        {
+            return data_.revision;
+        }
+
+        InteractionFeedbackRange interactions() const
+        {
+            InteractionFeedback* begin = (InteractionFeedback*) data_.interactions.data();
+            InteractionFeedback* end = begin + data_.interactions.size();
+            return InteractionFeedbackRange{begin, end};
+        }
 
+        data::CommitResult data_;
     };
 
     struct Client

source/RobotAPI/components/ArViz/Client/Elements.h

@@ -270,6 +270,11 @@ namespace armarx::viz
             return *this;
         }
 
+        Polygon& lineColor(int r, int g, int b)
+        {
+            return lineColor(viz::Color(r, g, b));
+        }
+
         Polygon& lineColorGlasbeyLUT(std::size_t id, int alpha = 255)
         {
             return lineColor(Color::fromRGBA(simox::color::GlasbeyLUT::at(id, alpha)));