Merge pull request #130 from resibots/remove_gui

Allow for removals of robots in GUI

Author: costashatz

src/robot_dart/gui/magnum/base_application.cpp

@@ -315,6 +315,47 @@ namespace robot_dart {
                 /* Refresh the graphical models */
                 _dart_world->refresh();
 
+                /* Remove unused/deleted objects */
+                auto& unused = _dart_world->unusedObjects();
+                for (auto& p : unused) {
+                    auto obj = &p->object();
+                    auto it = _drawable_objects.begin();
+                    while (it != _drawable_objects.end()) {
+                        auto obj2 = (it->second->drawable->object().parent());
+                        if (obj == obj2) {
+                            // Update variables
+                            if (_transparent_shadows) {
+                                /* Check if it was transparent */
+                                auto& mats = it->second->drawable->materials();
+                                bool any = false;
+                                for (size_t j = 0; j < mats.size(); j++) {
+                                    // Assume textures are transparent objects so that everything gets drawn better
+                                    // TO-DO: Check if this is okay to do?
+                                    bool isTextured = mats[j].has_diffuse_texture();
+                                    if (isTextured || mats[j].diffuse_color().a() != 1.f) {
+                                        any = true;
+                                        break;
+                                    }
+                                }
+
+                                if (any)
+                                    _transparentSize--;
+                            }
+                            // Remove it from the drawable lists
+                            _drawables.remove(*it->second->drawable);
+                            _shadowed_drawables.remove(*it->second->shadowed);
+                            _shadowed_color_drawables.remove(*it->second->shadowed_color);
+                            _cubemap_drawables.remove(*it->second->cubemapped);
+                            _cubemap_color_drawables.remove(*it->second->cubemapped_color);
+                            // Delete it completely
+                            delete it->second;
+                            _drawable_objects.erase(it);
+                            break;
+                        }
+                        it++;
+                    }
+                }
+
                 /* For each update object */
                 for (Magnum::DartIntegration::Object& object : _dart_world->updatedShapeObjects()) {
                     /* Get material information */
@@ -688,7 +729,6 @@ namespace robot_dart {
                 for (auto& it : _drawable_objects)
                     delete it.second;
                 _drawable_objects.clear();
-                _dart_objects.clear();
                 _lights.clear();
                 _shadow_data.clear();
             }

src/robot_dart/gui/magnum/base_application.hpp

@@ -210,7 +210,6 @@ namespace robot_dart {
                 RobotDARTSimu* _simu;
                 std::unique_ptr<Magnum::DartIntegration::World> _dart_world;
                 std::unordered_map<Magnum::DartIntegration::Object*, ObjectStruct*> _drawable_objects;
-                std::vector<Object3D*> _dart_objects;
                 std::vector<gs::Light> _lights;
 
                 /* Shadows */

src/robot_dart/gui/magnum/drawables.hpp

@@ -24,7 +24,7 @@ namespace robot_dart {
 
     namespace gui {
         namespace magnum {
-            class DrawableObject : public Object3D, Magnum::SceneGraph::Drawable3D {
+            class DrawableObject : public Object3D, public Magnum::SceneGraph::Drawable3D {
             public:
                 explicit DrawableObject(
                     RobotDARTSimu* simu,
@@ -66,7 +66,7 @@ namespace robot_dart {
                 bool _isTransparent;
             };
 
-            class ShadowedObject : public Object3D, Magnum::SceneGraph::Drawable3D {
+            class ShadowedObject : public Object3D, public Magnum::SceneGraph::Drawable3D {
             public:
                 explicit ShadowedObject(
                     RobotDARTSimu* simu,
@@ -95,7 +95,7 @@ namespace robot_dart {
                 std::vector<Magnum::Vector3> _scalings;
             };
 
-            class ShadowedColorObject : public Object3D, Magnum::SceneGraph::Drawable3D {
+            class ShadowedColorObject : public Object3D, public Magnum::SceneGraph::Drawable3D {
             public:
                 explicit ShadowedColorObject(
                     RobotDARTSimu* simu,
@@ -124,7 +124,7 @@ namespace robot_dart {
                 std::vector<Magnum::Vector3> _scalings;
             };
 
-            class CubeMapShadowedObject : public Object3D, Magnum::SceneGraph::Drawable3D {
+            class CubeMapShadowedObject : public Object3D, public Magnum::SceneGraph::Drawable3D {
             public:
                 explicit CubeMapShadowedObject(
                     RobotDARTSimu* simu,
@@ -153,7 +153,7 @@ namespace robot_dart {
                 std::vector<Magnum::Vector3> _scalings;
             };
 
-            class CubeMapShadowedColorObject : public Object3D, Magnum::SceneGraph::Drawable3D {
+            class CubeMapShadowedColorObject : public Object3D, public Magnum::SceneGraph::Drawable3D {
             public:
                 explicit CubeMapShadowedColorObject(
                     RobotDARTSimu* simu,

src/robot_dart/robot_dart_simu.cpp

@@ -369,23 +369,24 @@ namespace robot_dart {
     {
         auto it = std::find(_robots.begin(), _robots.end(), robot);
         if (it != _robots.end()) {
+            _gui_data->remove_robot(robot);
             _world->removeSkeleton(robot->skeleton());
             _robots.erase(it);
-
-            _gui_data->remove_robot(robot);
         }
     }
 
     void RobotDARTSimu::remove_robot(size_t index)
     {
         ROBOT_DART_ASSERT(index < _robots.size(), "Robot index out of bounds", );
+        _gui_data->remove_robot(_robots[index]);
         _world->removeSkeleton(_robots[index]->skeleton());
         _robots.erase(_robots.begin() + index);
     }
 
     void RobotDARTSimu::clear_robots()
     {
         for (auto& robot : _robots) {
+            _gui_data->remove_robot(robot);
             _world->removeSkeleton(robot->skeleton());
         }
         _robots.clear();