PoseGizmo.cpp

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#include "PoseGizmo.h"
 
 
namespace viz = armarx::viz;
 
 
namespace armarx::viz
{
 
    PoseGizmo::PoseGizmo()
    {
        box.enable(viz::interaction().selection().transform().hideDuringTransform());
    }
 
    void PoseGizmo::setLayer(const Layer& layer_)
    {
        this->layer = layer_;
        this->layer.add(box);
        this->layer.add(pose);
    }
 
    void PoseGizmo::update()
    {
        const Eigen::Matrix4f current = getCurrent();
        box.pose(current);
        pose.pose(current);
    }
 
    void PoseGizmo::updateDuringTransform()
    {
        const Eigen::Matrix4f current = getCurrent();
        box.pose(initial);
        pose.pose(current);
    }
 
    bool
    PoseGizmo::handleInteraction(
            const InteractionFeedback& interaction,
            StagedCommit* stage)
    {
        if (interaction.element() != box.data_->id)
        {
            return false;
        }
 
        switch (interaction.type())
        {
        case viz::InteractionFeedbackType::Select:
        {
            // Nothing to do.
        } break;
 
        case viz::InteractionFeedbackType::Transform:
        {
            // Update state of tcp object
            transform = interaction.transformation();
 
            if (interaction.isTransformDuring())
            {
                updateDuringTransform();
            }
 
            stage->add(layer);
            return true;
        } break;
 
        case viz::InteractionFeedbackType::Deselect:
        {
            // If an object is deselected, we apply the transformation
 
            initial = getCurrent();
            transform.setIdentity();
 
            update();
            stage->add(layer);
 
            return true;
        } break;
 
        case viz::InteractionFeedbackType::ContextMenuChosen:
        {
        }
 
        default:
        {
            // Ignore other interaction types
        } break;
 
        }
 
        return false;
    }
 
 
    Eigen::Matrix4f PoseGizmo::getCurrent() const
    {
        return transform * initial;
    }
 
}