From 783c3c0a7ae27c30d8e901c26851d9e4abf8d52e Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Wed, 19 Jan 2022 10:49:50 +0100
Subject: [PATCH] ArViz: Handle deleting a selected element correctly
---
.../ArVizExample/config/ArVizExample.cfg | 8 +++
.../components/ArViz/Coin/Visualizer.cpp | 15 ++++-
.../ArViz/Example/ArVizInteractExample.cpp | 56 +++++++++++++------
3 files changed, 61 insertions(+), 18 deletions(-)
diff --git a/scenarios/ArVizExample/config/ArVizExample.cfg b/scenarios/ArVizExample/config/ArVizExample.cfg
index 0c0ee4c6e..4d350fb83 100644
--- a/scenarios/ArVizExample/config/ArVizExample.cfg
+++ b/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
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index cb017a75a..04776c9f5 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/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
{
diff --git a/source/RobotAPI/components/ArViz/Example/ArVizInteractExample.cpp b/source/RobotAPI/components/ArViz/Example/ArVizInteractExample.cpp
index 5ffdf0ccd..9f5144595 100644
--- a/source/RobotAPI/components/ArViz/Example/ArVizInteractExample.cpp
+++ b/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);
}
--
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