PoseGizmo.cpp

Go to the documentation of this file.

#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;
    }
 
} // namespace armarx::viz