def selectLink(self, displayPoint, view):
if not self.enabled():
return False
robotModel, _ = vis.findPickedObject(displayPoint, view)
try:
robotModel.model.getLinkNameForMesh
except AttributeError:
return False
model = robotModel.model
pickedPoint, _, polyData = vis.pickProp(displayPoint, view)
linkName = model.getLinkNameForMesh(polyData)
if not linkName:
return False
fadeValue = 1.0 if linkName == self.selectedLink else 0.05
for name in model.getLinkNames():
linkColor = model.getLinkColor(name)
linkColor.setAlphaF(fadeValue)
model.setLinkColor(name, linkColor)
if linkName == self.selectedLink:
self.selectedLink = None
vis.hideCaptionWidget()
om.removeFromObjectModel(
om.findObjectByName('selected link frame'))
else:
self.selectedLink = linkName
linkColor = model.getLinkColor(self.selectedLink)
linkColor.setAlphaF(1.0)
model.setLinkColor(self.selectedLink, linkColor)
vis.showCaptionWidget(robotModel.getLinkFrame(
self.selectedLink).GetPosition(),
self.selectedLink,
view=view)
vis.updateFrame(robotModel.getLinkFrame(self.selectedLink),
'selected link frame',
scale=0.2,
parent=robotModel)
return True
def selectLink(self, displayPoint, view):
if not self.enabled():
return False
robotModel, _ = vis.findPickedObject(displayPoint, view)
try:
robotModel.model.getLinkNameForMesh
except AttributeError:
return False
model = robotModel.model
pickedPoint, _, polyData = vis.pickProp(displayPoint, view)
linkName = model.getLinkNameForMesh(polyData)
if not linkName:
return False
fadeValue = 1.0 if linkName == self.selectedLink else 0.05
for name in model.getLinkNames():
linkColor = model.getLinkColor(name)
linkColor.setAlphaF(fadeValue)
model.setLinkColor(name, linkColor)
if linkName == self.selectedLink:
self.selectedLink = None
vis.hideCaptionWidget()
om.removeFromObjectModel(om.findObjectByName('selected link frame'))
else:
self.selectedLink = linkName
linkColor = model.getLinkColor(self.selectedLink)
linkColor.setAlphaF(1.0)
model.setLinkColor(self.selectedLink, linkColor)
vis.showCaptionWidget(robotModel.getLinkFrame(self.selectedLink).GetPosition(), self.selectedLink, view=view)
vis.updateFrame(robotModel.getLinkFrame(self.selectedLink), 'selected link frame', scale=0.2, parent=robotModel)
return True
def zoomToPick(displayPoint, view):
pickedPoint, prop, _ = vis.pickProp(displayPoint, view)
if not prop:
return
flyer = cameracontrol.Flyer(view)
flyer.zoomTo(pickedPoint)
