diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.cpp b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
index 24d933cc3653b567235fd3eac80c80ac0720d6bb..c49bc46f12ab45bcd034c21b92d1eb94e8c0e0b9 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.cpp
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
@@ -240,7 +240,7 @@ namespace armarx
if (input.interactionComponent.size() > 0)
{
auto interactionsEnd = interactionBuffer.end();
- auto foundInteractionsBegin = std::remove_if(interactionBuffer.begin(), interactionsEnd,
+ auto foundInteractionsBegin = std::partition(interactionBuffer.begin(), interactionsEnd,
[&input](viz::data::InteractionFeedback const& interaction)
{
if (interaction.component == input.interactionComponent)
@@ -249,11 +249,11 @@ namespace armarx
{
if (interaction.layer == layer)
{
- return true;
+ return false;
}
}
}
- return false;
+ return true;
});
result.interactions.assign(foundInteractionsBegin, interactionsEnd);
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index 29e0cb3297797b6438cff98c04e6f8ca1cb230cd..764277bc58d4c0d21dd347197092e172c2aac4a7 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -37,13 +37,13 @@ namespace armarx::viz
static void selectionCallback(void* data, SoPath* path)
{
CoinVisualizer* this_ = static_cast<CoinVisualizer*>(data);
- this_->onSelection(path);
+ this_->onSelectEvent(path, data::InteractionFeedbackType::SELECT);
}
static void deselectionCallback(void* data, SoPath* path)
{
CoinVisualizer* this_ = static_cast<CoinVisualizer*>(data);
- this_->onDeselection(path);
+ this_->onSelectEvent(path, data::InteractionFeedbackType::DESELECT);
}
static const char* toString(CoinVisualizerState state)
@@ -62,12 +62,6 @@ namespace armarx::viz
return "UNKNOWN";
}
- // static void updateVisualizationCB(void* data, SoSensor* sensor)
- // {
- // auto* visu = static_cast<CoinVisualizer*>(data);
- // visu->update();
- // }
-
struct TimedBlock
{
TimedBlock(const char* function)
@@ -385,6 +379,8 @@ namespace armarx::viz
storage = stateStorage;
selection->deselectAll();
root->removeAllChildren();
+ interactionFeedbackBuffer.clear();
+ elementInteractions.clear();
layers.data.clear();
pulledUpdates.revision = 0;
pulledUpdates.updates.clear();
@@ -578,56 +574,7 @@ namespace armarx::viz
return static_cast<ElementInteractionData*>(userData);
}
- void CoinVisualizer::onSelection(SoPath* path)
- {
- if (state != CoinVisualizerState::RUNNING)
- {
- return;
- }
-
- ElementInteractionData* id = findInteractionDataOnPath(path);
- if (id == nullptr)
- {
- // In this case, we want to deselect all objects in the scene,
- // because the selected object was not marked for selection interactions
- selection->deselectAll();
-
- // Removed logging, since this is not an error, but expected
- // This happens, when the user selects an object that was not marked as selectable
- // ARMARX_INFO << "Selected something. But no user data attached.";
- return;
- }
-
- CoinLayer* layer = layers.findLayer(id->layer);
- if (layer == nullptr)
- {
- ARMARX_WARNING << "Selected an element whose layer does not exist: \n"
- << "Layer: " << id->layer.first << "/" << id->layer.second
- << ", element: " << id->element;
- return;
- }
- CoinLayerElement* element = layer->findElement(id->element);
- if (element == nullptr)
- {
- ARMARX_WARNING << "Selected an element which does not exist: \n"
- << "Layer: " << id->layer.first << "/" << id->layer.second
- << ", element: " << id->element;
- return;
- }
-
- ARMARX_INFO << "Selected element: \n"
- << "Layer: " << id->layer.first << "/" << id->layer.second
- << ", element: " << id->element;
-
- viz::data::InteractionFeedback& feedback = interactionFeedbackBuffer.emplace_back();
- feedback.type = viz::data::InteractionFeedbackType::SELECT;
- feedback.component = id->layer.first;
- feedback.layer = id->layer.second;
- feedback.element = id->element;
- feedback.revision = pulledUpdates.revision;
- }
-
- void CoinVisualizer::onDeselection(SoPath* path)
+ void CoinVisualizer::onSelectEvent(SoPath* path, int eventType)
{
if (state != CoinVisualizerState::RUNNING)
{
@@ -637,14 +584,20 @@ namespace armarx::viz
ElementInteractionData* id = findInteractionDataOnPath(path);
if (id == nullptr)
{
- // An object was deselected that does not have any interactions enabled
+ if (eventType == data::InteractionFeedbackType::SELECT)
+ {
+ // An object was selected that does not have any interactions enabled
+ // We deselect all other elements in this case to avoid highlighting
+ // non-interactable elements
+ selection->deselectAll();
+ }
return;
}
CoinLayer* layer = layers.findLayer(id->layer);
if (layer == nullptr)
{
- ARMARX_WARNING << "Deselected an element whose layer does not exist: \n"
+ ARMARX_WARNING << "Selected/Deselected an element whose layer does not exist: \n"
<< "Layer: " << id->layer.first << "/" << id->layer.second
<< ", element: " << id->element;
return;
@@ -652,19 +605,18 @@ namespace armarx::viz
CoinLayerElement* element = layer->findElement(id->element);
if (element == nullptr)
{
- ARMARX_WARNING << "Deselected an element which does not exist: \n"
+ ARMARX_WARNING << "Selected/Deselected an element which does not exist: \n"
<< "Layer: " << id->layer.first << "/" << id->layer.second
<< ", element: " << id->element;
return;
}
- ARMARX_INFO << "Deselected element: \n"
- << "Layer: " << id->layer.first << "/" << id->layer.second
- << ", element: " << id->element;
-
+ // ARMARX_INFO << "Selected/Deselected element: \n"
+ // << "Layer: " << id->layer.first << "/" << id->layer.second
+ // << ", element: " << id->element;
viz::data::InteractionFeedback& feedback = interactionFeedbackBuffer.emplace_back();
- feedback.type = viz::data::InteractionFeedbackType::DESELECT;
+ feedback.type = eventType;
feedback.component = id->layer.first;
feedback.layer = id->layer.second;
feedback.element = id->element;
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.h b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
index cffa7eb0c6d3b612f1e009d149d8046b1fb4a39c..885387a19b706d204b36b60c69bed607f1331f1d 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
@@ -236,8 +236,7 @@ namespace armarx::viz
void emitLayersChanged(std::vector<CoinLayerID> const& layerIDs);
void emitLayerUpdated(CoinLayerID const& layerID, CoinLayer const& layer);
- void onSelection(SoPath* path);
- void onDeselection(SoPath* path);
+ void onSelectEvent(SoPath* path, int eventType);
// 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.