diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index b20d6f504644b67f49836b8a5c35b78265510b32..76f82431e1b61e588cca8a341ea3736102975d54 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -105,8 +105,12 @@ namespace armarx::viz
selection = new SoSelection;
selection->addSelectionCallback(&selectionCallback, this);
selection->addDeselectionCallback(&deselectionCallback, this);
+ selection->setUserData(this);
selection->addChild(root);
+
+ // Preallocate some space for layers
+ layers.data.reserve(32);
}
CoinVisualizer::~CoinVisualizer()
@@ -144,24 +148,6 @@ namespace armarx::viz
state = CoinVisualizerState::STOPPED;
}
- static void removeElementsIfNotUpdated(CoinLayer* layer)
- {
- for (auto iter = layer->elements.begin(); iter != layer->elements.end();)
- {
- coin::ElementVisualization& elementVisu = *iter->visu;
- if (elementVisu.wasUpdated)
- {
- elementVisu.wasUpdated = false;
- ++iter;
- }
- else
- {
- layer->node->removeChild(elementVisu.separator);
- iter = layer->elements.erase(iter);
- }
- }
- }
-
CoinVisualizer_ApplyTiming CoinVisualizer::apply(data::LayerUpdate const& update)
{
IceUtil::Time time_start = IceUtil::Time::now();
@@ -205,6 +191,7 @@ namespace armarx::viz
root->addChild(coinNode);
layerIt = layers.data.insert(layerIt, CoinLayer(layerID, coinNode));
+ layerIt->elements.reserve(64);
}
return *layerIt;
@@ -256,6 +243,37 @@ namespace armarx::viz
if (updated)
{
+ // Has an interaction been added?
+ viz::data::InteractionDescription& oldInteraction = oldElement->data->interaction;
+ viz::data::InteractionDescription& newInteraction = updatedElementPtr->interaction;
+ if (newInteraction.enableFlags != oldInteraction.enableFlags
+ || oldInteraction.contextMenuOptions != newInteraction.contextMenuOptions)
+ {
+ // Lookup the interaction entry
+ ElementInteractionData* foundInteraction = nullptr;
+ for (auto& interaction : elementInteractions)
+ {
+ if (interaction->layer == layer->id
+ && interaction->element == updatedElement.id)
+ {
+ foundInteraction = interaction.get();
+ }
+ }
+ if (foundInteraction == nullptr)
+ {
+ // Need to add a new entry
+ foundInteraction = elementInteractions.emplace_back(
+ new ElementInteractionData).get();
+ }
+ foundInteraction->layer = layer->id;
+ foundInteraction->element = updatedElement.id;
+ foundInteraction->interaction = newInteraction;
+
+ // Add user data to Coin node
+ oldElement->visu->separator->setUserData(foundInteraction);
+ oldElement->visu->separator->setName("InteractiveNode");
+ }
+
oldElement->data = updatedElementPtr;
continue;
}
@@ -269,6 +287,35 @@ namespace armarx::viz
auto elementVisu = visualizer->create(updatedElement);
if (elementVisu->separator)
{
+ // Has the new element interactions?
+ viz::data::InteractionDescription& newInteraction = updatedElementPtr->interaction;
+ if (newInteraction.enableFlags != 0)
+ {
+ // Lookup the interaction entry
+ ElementInteractionData* foundInteraction = nullptr;
+ for (auto& interaction : elementInteractions)
+ {
+ if (interaction->layer == layer->id
+ && interaction->element == updatedElement.id)
+ {
+ foundInteraction = interaction.get();
+ }
+ }
+ if (foundInteraction == nullptr)
+ {
+ // Need to add a new entry
+ foundInteraction = elementInteractions.emplace_back(
+ new ElementInteractionData).get();
+ }
+ foundInteraction->layer = layer->id;
+ foundInteraction->element = updatedElement.id;
+ foundInteraction->interaction = newInteraction;
+
+ // Add user data to Coin node
+ elementVisu->separator->setUserData(foundInteraction);
+ elementVisu->separator->setName("InteractiveNode");
+ }
+
layer->node->addChild(elementVisu->separator);
if (oldElement)
{
@@ -291,6 +338,35 @@ namespace armarx::viz
}
}
+ void CoinVisualizer::removeElementsIfNotUpdated(CoinLayer* layer)
+ {
+ for (auto iter = layer->elements.begin(); iter != layer->elements.end();)
+ {
+ coin::ElementVisualization& elementVisu = *iter->visu;
+ if (elementVisu.wasUpdated)
+ {
+ elementVisu.wasUpdated = false;
+ ++iter;
+ }
+ else
+ {
+ void* userData = elementVisu.separator->getUserData();
+ if (userData)
+ {
+ // Remove interaction entry if element has been removed
+ auto removedInteraction = std::find_if(elementInteractions.begin(), elementInteractions.end(),
+ [userData](std::unique_ptr<ElementInteractionData> const& entry)
+ {
+ return entry.get() == userData;
+ });
+ elementInteractions.erase(removedInteraction);
+ }
+ layer->node->removeChild(elementVisu.separator);
+ iter = layer->elements.erase(iter);
+ }
+ }
+ }
+
void CoinVisualizer::update()
{
{
@@ -473,11 +549,24 @@ namespace armarx::viz
void CoinVisualizer::onSelection(SoPath* path)
{
- SoNode* tailNode = path->getTail();
+ // Search for user data in the path
+ // We stored ElementInteractionData into the user data of the parent SoSeparator
+ void* userData = nullptr;
+ int pathLength = path->getLength();
+ for (int i = 0; i < pathLength; ++i)
+ {
+ SoNode* node = path->getNode(i);
+ const char* name = node->getName().getString();
+ if (strcmp(name, "InteractiveNode") == 0)
+ {
+ userData = node->getUserData();
+ if (userData != nullptr)
+ {
+ break;
+ }
+ }
+ }
- // TODO: Store CoinElementID into user data if interaction is enabled!
- // Search for user data
- void* userData = tailNode->getUserData();
if (userData == nullptr)
{
// In this case, we want to deselect all objects in the scene,
@@ -485,10 +574,10 @@ namespace armarx::viz
selection->deselectAll();
// TODO: Remove logging, this is not an error, but expected
- ARMARX_INFO << "Selected: " << tailNode->getClassTypeId().getName().getString()
- << "\nBut no user data attached!";
+ ARMARX_INFO << "Selected something. But no user data attached!";
+ return;
}
- CoinElementID* id = static_cast<CoinElementID*>(userData);
+ ElementInteractionData* id = static_cast<ElementInteractionData*>(userData);
CoinLayer* layer = layers.findLayer(id->layer);
if (layer == nullptr)
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.h b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
index 6ae911753b17d72059a7e809fd770339dc9c1360..cbb5dca4eba853422fe20bf9a3c5b7bd3d92036e 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
@@ -186,10 +186,11 @@ namespace armarx::viz
struct CoinVisualizerWrapper;
- struct CoinElementID
+ struct ElementInteractionData
{
CoinLayerID layer;
std::string element;
+ viz::data::InteractionDescription interaction;
};
class CoinVisualizer
@@ -229,6 +230,7 @@ namespace armarx::viz
CoinLayer& findOrAddLayer(CoinLayerID const& layerID);
void addOrUpdateElements(CoinLayer* layer, data::LayerUpdate const& update);
+ void removeElementsIfNotUpdated(CoinLayer* layer);
std::vector<CoinLayerID> getLayerIDs();
void emitLayersChanged(std::vector<CoinLayerID> const& layerIDs);
@@ -239,7 +241,7 @@ namespace armarx::viz
// These are selectable element IDs and need to be persistent in memory.
// We store a raw pointer to these into the SoSeperator objects of Coin.
// Later, we can retrieve the element ID from this pointer, if it has been selected.
- std::vector<std::unique_ptr<CoinElementID>> selectableElementIDs;
+ std::vector<std::unique_ptr<ElementInteractionData>> elementInteractions;
void onUpdateSuccess(data::LayerUpdates const& updates);
void onUpdateFailure(Ice::Exception const& ex);