diff --git a/scenarios/ArVizExample/config/RobotToArVizApp.cfg b/scenarios/ArVizExample/config/RobotToArVizApp.cfg
index b33276fe2dc50c8d6eadcb7beb004710f336e825..55d034d9c687c16ad2f34f458f85ca66da54cdff 100644
--- a/scenarios/ArVizExample/config/RobotToArVizApp.cfg
+++ b/scenarios/ArVizExample/config/RobotToArVizApp.cfg
@@ -109,6 +109,14 @@
# ArmarX.RemoteHandlesDeletionTimeout = 3000
+# ArmarX.RobotToArViz.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotToArViz.ArVizStorageName = ArVizStorage
+
+
# ArmarX.RobotToArViz.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 0b5826a8975afca18a2b4181238b20e2d3a0fb18..c47f98b7773f4bb07cabf82ac2a6ca003a5b50f1 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -4,6 +4,7 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/util/CPPUtility/GetTypeString.h>
+#include <Inventor/nodes/SoUnits.h>
#include <Inventor/SoPath.h>
@@ -14,6 +15,12 @@ namespace coin
void clearRobotCache();
void clearObjectCache();
}
+ static const int ANY_TRANSFORM = data::InteractionEnableFlags::TRANSLATION_X |
+ data::InteractionEnableFlags::TRANSLATION_Y |
+ data::InteractionEnableFlags::TRANSLATION_Z |
+ data::InteractionEnableFlags::ROTATION_X |
+ data::InteractionEnableFlags::ROTATION_Y |
+ data::InteractionEnableFlags::ROTATION_Z;
struct CoinVisualizerWrapper : IceUtil::Shared
{
@@ -89,7 +96,7 @@ namespace coin
&CoinVisualizerWrapper::onUpdateSuccess,
&CoinVisualizerWrapper::onUpdateFailure);
- root = new SoSeparator;
+ manipulatorGroup = new SoSeparator;
// The SoSelection node enable selection of nodes via mouse click / ray casting
selection = new SoSelection;
@@ -97,7 +104,9 @@ namespace coin
selection->addDeselectionCallback(&deselectionCallback, this);
selection->setUserData(this);
- selection->addChild(root);
+ root = new SoSeparator;
+ root->addChild(manipulatorGroup);
+ root->addChild(selection);
// Preallocate some space for layers
layers.data.reserve(32);
@@ -178,7 +187,7 @@ namespace coin
// Create a new layer
SoSeparator* coinNode = new SoSeparator;
coinNode->ref();
- root->addChild(coinNode);
+ selection->addChild(coinNode);
layerIt = layers.data.insert(layerIt, CoinLayer(layerID, coinNode));
layerIt->elements.reserve(64);
@@ -236,33 +245,10 @@ namespace coin
// Has an interaction been added?
viz::data::InteractionDescription& oldInteraction = oldElement->data->interaction;
viz::data::InteractionDescription& newInteraction = updatedElementPtr->interaction;
- // TODO: Also handle the case, when an interaction is removed!
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");
+ addOrUpdateInteraction(layer->id, updatedElement.id, newInteraction, oldElement->visu.get());
}
oldElement->data = updatedElementPtr;
@@ -282,29 +268,7 @@ namespace coin
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");
+ addOrUpdateInteraction(layer->id, updatedElement.id, newInteraction, elementVisu.get());
}
layer->node->addChild(elementVisu->separator);
@@ -329,6 +293,36 @@ namespace coin
}
}
+ void CoinVisualizer::addOrUpdateInteraction(CoinLayerID const& layerID, std::string const& elementID,
+ data::InteractionDescription const& interactionDesc,
+ coin::ElementVisualization* visu)
+ {
+ // Lookup the interaction entry
+ ElementInteractionData* foundInteraction = nullptr;
+ for (auto& interaction : elementInteractions)
+ {
+ if (interaction->layer == layerID
+ && interaction->element == elementID)
+ {
+ foundInteraction = interaction.get();
+ }
+ }
+ if (foundInteraction == nullptr)
+ {
+ // Need to add a new entry
+ foundInteraction = elementInteractions.emplace_back(
+ new ElementInteractionData).get();
+ }
+ foundInteraction->layer = layerID;
+ foundInteraction->element = elementID;
+
+ foundInteraction->interaction = interactionDesc;
+
+ // Add user data to Coin node
+ visu->separator->setUserData(foundInteraction);
+ visu->separator->setName("InteractiveNode");
+ }
+
void CoinVisualizer::removeElementsIfNotUpdated(CoinLayer* layer)
{
for (auto iter = layer->elements.begin(); iter != layer->elements.end();)
@@ -374,7 +368,8 @@ namespace coin
std::unique_lock<std::mutex> lock(stateMutex);
storage = stateStorage;
selection->deselectAll();
- root->removeAllChildren();
+ selection->removeAllChildren();
+ manipulatorGroup->removeAllChildren();
interactionFeedbackBuffer.clear();
elementInteractions.clear();
selectedElement = nullptr;
@@ -493,13 +488,13 @@ namespace coin
return;
}
- int childIndex = root->findChild(layer->node);
+ int childIndex = selection->findChild(layer->node);
if (childIndex < 0)
{
// Layer is currently not visible
if (visible)
{
- root->addChild(layer->node);
+ selection->addChild(layer->node);
}
}
else
@@ -513,7 +508,7 @@ namespace coin
{
selection->deselectAll();
}
- root->removeChild(childIndex);
+ selection->removeChild(childIndex);
}
}
}
@@ -626,14 +621,51 @@ namespace coin
}
return;
}
+ int enableFlags = id->interaction.enableFlags;
+ if ((enableFlags & data::InteractionEnableFlags::SELECT) == 0)
+ {
+ // Element was not marked for selection
+ return;
+ }
if (eventType == data::InteractionFeedbackType::SELECT)
{
selectedElement = id;
+
+ // Does the element support transform interactions?
+ if (enableFlags & ANY_TRANSFORM)
+ {
+ // TODO: Look up the element and add it to the manipulator group
+ 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;
+ }
+
+ manipulatorGroup->removeAllChildren();
+ // We need to create the manipulator everytime to achieve the desired effect
+ // If we reuse an instance, the manipulator gets stuck to old objects...
+ manipulator = new SoTransformerManip;
+ manipulatorGroup->addChild(manipulator);
+ manipulatorGroup->addChild(element->visu->separator);
+ }
}
else
{
selectedElement = nullptr;
+
+ // TODO: Remove the element from the manipulatorGroup if it was in there
}
viz::data::InteractionFeedback& feedback = interactionFeedbackBuffer.emplace_back();
@@ -646,6 +678,6 @@ namespace coin
void CoinVisualizer::exportToVRML(const std::string& exportFilePath)
{
- coin::exportToVRML(root, exportFilePath);
+ coin::exportToVRML(selection, exportFilePath);
}
}
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.h b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
index adda36b9ae47404a3f59062c649dad681cd0502f..bbcb9ed6604f50bfda38c3ce75326341da2c9b28 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.h
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.h
@@ -4,6 +4,7 @@
#include <RobotAPI/interface/ArViz/Component.h>
+#include <Inventor/manips/SoTransformerManip.h>
#include <Inventor/nodes/SoSelection.h>
#include <Inventor/nodes/SoSeparator.h>
@@ -230,6 +231,9 @@ namespace armarx::viz
CoinLayer& findOrAddLayer(CoinLayerID const& layerID);
void addOrUpdateElements(CoinLayer* layer, data::LayerUpdate const& update);
+ void addOrUpdateInteraction(CoinLayerID const& layerID, std::string const& elementID,
+ data::InteractionDescription const& interactionDesc,
+ coin::ElementVisualization* visu);
void removeElementsIfNotUpdated(CoinLayer* layer);
std::vector<CoinLayerID> getLayerIDs();
@@ -261,6 +265,8 @@ namespace armarx::viz
SoSelection* selection = nullptr;
SoSeparator* root = nullptr;
+ SoSeparator* manipulatorGroup = nullptr;
+ SoTransformerManip* manipulator = nullptr;
std::atomic<CoinVisualizerUpdateResult> updateResult{CoinVisualizerUpdateResult::SUCCESS};
data::LayerUpdates pulledUpdates;
diff --git a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
index d772854de1792982ecf4015f7b61fd412ab6fb09..7ac979f030a7da3f1752a47c8076d8cb6d56fb29 100644
--- a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
+++ b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
@@ -511,7 +511,8 @@ namespace armarx
// Enable some interaction possibilities
box.enable(viz::interaction()
.selection()
- .contextMenu({"First Option", "Second Option", "Third Option"}));
+ .contextMenu({"First Option", "Second Option", "Third Option"})
+ .fullTransform());
layer.add(box);
@@ -524,7 +525,8 @@ namespace armarx
// Enable some interaction possibilities
cyl.enable(viz::interaction()
.selection()
- .contextMenu({"Cyl Option 1", "Cyl Option 2"}));
+ .contextMenu({"Cyl Option 1", "Cyl Option 2"})
+ .fullTransform());
layer.add(cyl);
}
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
index 7aa05e3a197d4054ea04eaaa8ebc0f68304c50cc..1962d259c0d2329c9870f1e3d314fdea17a1f60d 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
@@ -1121,7 +1121,7 @@ namespace armarx
SoNode* ArVizWidgetController::getScene()
{
- return visualizer.selection;
+ return visualizer.root;
}
static const std::string CONFIG_KEY_STORAGE = "Storage";