ArViz: Handle deleting a selected element correctly

scenarios/ArVizExample/config/ArVizExample.cfg

@@ -18,6 +18,14 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.ArVizExample.ArVizStorageName:  Name of the ArViz storage
+#  Attributes:
+#  - Default:            ArVizStorage
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ArVizExample.ArVizStorageName = ArVizStorage
+
+
 # ArmarX.ArVizExample.ArVizTopicName:  Name of the ArViz topic
 #  Attributes:
 #  - Default:            ArVizTopic

source/RobotAPI/components/ArViz/Coin/Visualizer.cpp

@@ -363,12 +363,19 @@ namespace coin
                 if (userData)
                 {
                     // Remove interaction entry if element has been removed
-                    auto removedInteraction = std::find_if(elementInteractions.begin(), elementInteractions.end(),
+                    auto removedInteractionIter = std::find_if(elementInteractions.begin(), elementInteractions.end(),
                                                            [userData](std::unique_ptr<ElementInteractionData> const& entry)
                     {
                         return entry.get() == userData;
                     });
-                    elementInteractions.erase(removedInteraction);
+                    ElementInteractionData* removedInteraction = removedInteractionIter->get();
+                    if (removedInteraction == selectedElement)
+                    {
+                        // The selected element is removed ==> Therefore deselect it
+                        selection->deselectAll();
+                        selectedElement = nullptr;
+                    }
+                    elementInteractions.erase(removedInteractionIter);
 
                     elementVisu.separator->setUserData(nullptr);
                     elementVisu.separator->setName("");
@@ -674,6 +681,10 @@ namespace coin
                 }
 
             }
+            else
+            {
+                selection->touch();
+            }
         }
         else
         {

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

@@ -272,7 +272,15 @@ namespace armarx
 
         void visualize(viz::Layer& layer)
         {
-            viz::InteractionDescription interaction = viz::interaction().none();
+            if (source == nullptr)
+            {
+                ARMARX_WARNING << "Tried to visualize a spawned object that does not have a source";
+                return;
+            }
+
+            viz::InteractionDescription interaction = viz::interaction()
+                                                      .selection()
+                                                      .contextMenu({"Delete"});
             std::string name = "Object_" + std::to_string(index);
 
             Eigen::Matrix4f initial = Eigen::Matrix4f::Identity();
@@ -356,6 +364,16 @@ namespace armarx
             layerObjects = arviz.layer("SpawnedObjects");
         }
 
+        void visualizeSpawnedObjects(viz::StagedCommit* stage)
+        {
+            layerObjects.clear();
+            for (auto& object : objects)
+            {
+                object.visualize(layerObjects);
+            }
+            stage->add(layerObjects);
+        }
+
         void handle(viz::InteractionFeedback const& interaction,
                     viz::StagedCommit* stage)
         {
@@ -371,7 +389,23 @@ namespace armarx
             }
             if (spawner == nullptr)
             {
-                ARMARX_WARNING << "No spawner found for " << interaction.element();
+                ARMARX_INFO << "No spawner" << interaction.element();
+                // A spawned object was selected instead of a spawner
+                if (interaction.type() == viz::InteractionFeedbackType::ContextMenuChosen
+                        && interaction.chosenContextMenuEntry() == 0)
+                {
+                    // The delete context menu option was chosen
+                    // So we remove the object from the internal list and redraw
+                    auto newEnd = std::remove_if(objects.begin(), objects.end(),
+                                   [&interaction](SpawnedObject const& object)
+                    {
+                        std::string name = "Object_" + std::to_string(object.index);
+                        return interaction.element() == name;
+                    });
+                    objects.erase(newEnd, objects.end());
+
+                    visualizeSpawnedObjects(stage);
+                }
                 return;
             }
 
@@ -394,12 +428,7 @@ namespace armarx
                 if (interaction.isTransformBegin())
                 {
                     // Visualize all other objects except the currently spawned one
-                    layerObjects.clear();
-                    for (auto& object : objects)
-                    {
-                        object.visualize(layerObjects);
-                    }
-                    stage->add(layerObjects);
+                    visualizeSpawnedObjects(stage);
                 }
                 if (interaction.isTransformEnd())
                 {
@@ -435,13 +464,7 @@ namespace armarx
                     });
                     objects.erase(newEnd, objects.end());
 
-                    layerObjects.clear();
-                    for (auto& object : objects)
-                    {
-                        object.visualize(layerObjects);
-                    }
-
-                    stage->add(layerObjects);
+                    visualizeSpawnedObjects(stage);
                 } break;
                 }
             }
@@ -587,6 +610,7 @@ namespace armarx
 
                 stage.requestInteraction(sliders.layerInteract);
                 stage.requestInteraction(spawners.layerSpawners);
+                stage.requestInteraction(spawners.layerObjects);
 
                 viz::InteractionFeedbackRange interactions = result.interactions();
                 for (viz::InteractionFeedback const& interaction : interactions)
@@ -595,7 +619,7 @@ namespace armarx
                     {
                         sliders.handle(interaction, &stage);
                     }
-                    if (interaction.layer() == "Spawners")
+                    if (interaction.layer() == "Spawners" || interaction.layer() == "SpawnedObjects")
                     {
                         spawners.handle(interaction, &stage);
                     }