def tick(self):
if self.obj is None:
self.hoverPos, prop, _ = vis.pickPoint(self.lastMovePos, self.view, pickType=self.pickType, tolerance=self.tolerance)
if prop is None:
self.hoverPos = None
else:
self.hoverPos = vis.pickPoint(self.lastMovePos, self.view, obj=self.obj, pickType=self.pickType, tolerance=self.tolerance)
self.draw()
def placeHandModel(displayPoint, view, side='left'):
obj, _ = vis.findPickedObject(displayPoint, view)
if isinstance(obj, vis.FrameItem):
_, handFrame = handFactory.placeHandModelWithTransform(obj.transform, view, side=side, parent=obj.parent())
handFrame.frameSync = vis.FrameSync()
handFrame.frameSync.addFrame(obj)
handFrame.frameSync.addFrame(handFrame, ignoreIncoming=True)
return
pickedPoint, prop, _, normal = vis.pickPoint(displayPoint, view, pickType='cells', tolerance=0.0, returnNormal=True)
obj = vis.getObjectByProp(prop)
if not obj:
return
yaxis = -normal
zaxis = [0,0,1]
xaxis = np.cross(yaxis, zaxis)
xaxis /= np.linalg.norm(xaxis)
zaxis = np.cross(xaxis, yaxis)
zaxis /= np.linalg.norm(zaxis)
t = transformUtils.getTransformFromAxes(-zaxis, yaxis, xaxis)
t.PostMultiply()
t.Translate(pickedPoint)
handObj, handFrame = handFactory.placeHandModelWithTransform(t, view, side=side, parent=obj)
syncFrame = getChildFrame(obj)
if syncFrame:
handFrame.frameSync = vis.FrameSync()
handFrame.frameSync.addFrame(handFrame, ignoreIncoming=True)
handFrame.frameSync.addFrame(syncFrame)
def tick(self):
# get affordances
affs = self.affordanceManager.getAffordances()
affs = [a for a in affs if a.getProperty('Visible')]
if self.filterFunc is not None:
affs = [a for a in affs if self.filterFunc(a)]
# get picked affordance
self.hoverPos, prop, _ = vis.pickPoint(self.lastMovePos,
self.view,
pickType='cells',
tolerance=self.tolerance,
obj=affs)
prevPickedObj = self.pickedObj
curPickedObj = vis.getObjectByProp(prop)
if curPickedObj is not prevPickedObj:
if prevPickedObj is not None:
prevPickedObj.setProperty('Color', self.storedProps['Color'])
prevPickedObj.setProperty('Alpha', self.storedProps['Alpha'])
if curPickedObj is not None:
self.storedProps['Color'] = curPickedObj.getProperty('Color')
self.storedProps['Alpha'] = curPickedObj.getProperty('Alpha')
curPickedObj.setProperty('Color', self.hoverColor)
curPickedObj.setProperty('Alpha', self.hoverAlpha)
self.pickedObj = curPickedObj
self.draw()
def tick(self):
if self.obj is None:
self.hoverPos, prop, _ = vis.pickPoint(self.lastMovePos,
self.view,
pickType=self.pickType,
tolerance=self.tolerance)
if prop is None:
self.hoverPos = None
else:
self.hoverPos = vis.pickPoint(self.lastMovePos,
self.view,
obj=self.obj,
pickType=self.pickType,
tolerance=self.tolerance)
self.draw()
def getSelection(self, displayPoint):
pickedPoint, pickedProp, pickedDataset, normal = vis.pickPoint(displayPoint, self.view, pickType='cells', tolerance=0.0, returnNormal=True)
if not pickedDataset:
return None
linkName = self.robotModel.model.getLinkNameForMesh(pickedDataset)
if not linkName:
return None
return pickedPoint, linkName, normal
def getSelection(self, displayPoint):
pickData = vis.pickPoint(displayPoint, self.view, pickType='cells', tolerance=0.0)
pickedPoint = pickData.pickedPoint
pickedDataset = pickData.pickedDataset
normal = pickData.pickedNormal
if not pickedDataset:
return None
linkName = self.robotModel.model.getLinkNameForMesh(pickedDataset)
if not linkName:
return None
return pickedPoint, linkName, normal
def tick(self):
# get affordances
affs = self.affordanceManager.getAffordances()
affs = [a for a in affs if a.getProperty('Visible')]
if self.filterFunc is not None:
affs = [a for a in affs if self.filterFunc(a)]
# get picked affordance
self.hoverPos, prop, _ = vis.pickPoint(self.lastMovePos, self.view, pickType='cells', tolerance=self.tolerance, obj=affs)
prevPickedObj = self.pickedObj
curPickedObj = vis.getObjectByProp(prop)
if curPickedObj is not prevPickedObj:
if prevPickedObj is not None:
prevPickedObj.setProperty('Color', self.storedProps['Color'])
prevPickedObj.setProperty('Alpha', self.storedProps['Alpha'])
if curPickedObj is not None:
self.storedProps['Color'] = curPickedObj.getProperty('Color')
self.storedProps['Alpha'] = curPickedObj.getProperty('Alpha')
curPickedObj.setProperty('Color', self.hoverColor)
curPickedObj.setProperty('Alpha', self.hoverAlpha)
self.pickedObj = curPickedObj
self.draw()
def getPointPick(self, displayPoint):
return vis.pickPoint(displayPoint,
self.view,
obj=self.points,
pickType='cells',
tolerance=0.01)
def getHandlePick(self, displayPoint):
return vis.pickPoint(displayPoint,
self.view,
obj=self.handle,
pickType='cells',
tolerance=0.01)
def getPointPick(self, displayPoint):
return vis.pickPoint(displayPoint, self.view, obj=self.points, pickType='cells', tolerance=0.01)
def getHandlePick(self, displayPoint):
return vis.pickPoint(displayPoint, self.view, obj=self.handle, pickType='cells', tolerance=0.01)
