Distance check.lua

sim = require 'sim'

function sysCall_info()
    return {autoStart = false, menu = 'Geometry / Mesh\nDistance check'}
end

function sysCall_addOnScriptSuspend()
    return {cmd = 'cleanup'}
end

function close_callback()
    leaveNow = true
end

function dist(ui, id)
    restoreScene()
    local entity1 = obj1
    local entity2 = obj2
    local entity1 = sim.createCollection(0)
    local entity2 = sim.createCollection(0)
    if obj1IsModel then
        sim.addItemToCollection(entity1, sim.handle_tree, obj1, 0)
    else
        sim.addItemToCollection(entity1, sim.handle_single, obj1, 0)
    end
    if obj2 ~= -1 then
        if obj2IsModel then
            sim.addItemToCollection(entity2, sim.handle_tree, obj2, 0)
        else
            sim.addItemToCollection(entity2, sim.handle_single, obj2, 0)
        end
    else
        sim.addItemToCollection(entity2, sim.handle_all, -1, 0)
        if obj1IsModel then
            sim.addItemToCollection(entity2, sim.handle_tree, obj1, 1)
        else
            sim.addItemToCollection(entity2, sim.handle_single, obj1, 1)
        end
    end

    local r, distData, pair = sim.checkDistance(entity1, entity2)
    sim.destroyCollection(entity1)
    sim.destroyCollection(entity2)
    restoreData = {time = sim.getSystemTime()}
    if r > 0 then
        sim.addLog(
            sim.verbosity_scriptinfos,
            string.format("measured distance is %.3f meters", distData[7])
        )
        restoreData.lineContainer = sim.addDrawingObject(sim.drawing_lines, 4, 0, -1, 99, {0, 0, 0})
        sim.addDrawingObjectItem(restoreData.lineContainer, distData)
    else
        sim.addLog(sim.verbosity_scriptinfos, "no distance could be measured")
        restoreData = nil
    end
end

function sysCall_init()
    simUI = require 'simUI'
    sim.addLog(
        sim.verbosity_scriptinfos,
        "This add-on allows to quickly measure the distance between two entities, or between one entity and the environment. Just select one or two entities."
    )
    obj1 = -1
    obj2 = -1
end

function showDlg()
    if not ui and sim.isHandle(obj1) then
        local pos = 'position="-50,50" placement="relative"'
        if uiPos then
            pos = 'position="' .. uiPos[1] .. ',' .. uiPos[2] .. '" placement="absolute"'
        end
        local txt1
        if obj2 == -1 then
            if obj1IsModel then
                txt1 = "Check distance to the environment for model " .. sim.getObjectAlias(obj1, 5)
            else
                txt1 = "Check distance to the environment for object " ..
                           sim.getObjectAlias(obj1, 5)
            end
        else
            txt1 = "Check distance between "
            if obj1IsModel then
                txt1 = txt1 .. "model "
            else
                txt1 = txt1 .. "object "
            end
            txt1 = txt1 .. sim.getObjectAlias(obj1, 5) .. " and "
            if obj2IsModel then
                txt1 = txt1 .. "model "
            else
                txt1 = txt1 .. "object "
            end
            txt1 = txt1 .. sim.getObjectAlias(obj2, 5)
        end
        local xml =
            '<ui title="Distance check" activate="false" closeable="true" on-close="close_callback" layout="vbox" ' ..
                pos .. '>'
        xml = xml .. '<button text="' .. txt1 ..
                  '" on-click="dist" style="* {min-width: 300px; min-height: 50px;}" id="1"/>'
        xml = xml .. '</ui>'
        ui = simUI.create(xml)
    end
end

function hideDlg()
    if ui then
        uiPos = {}
        uiPos[1], uiPos[2] = simUI.getPosition(ui)
        simUI.destroy(ui)
        ui = nil
    end
    obj1 = -1
    obj2 = -1
    restoreScene()
end

function restoreScene()
    if restoreData then
        sim.removeDrawingObject(restoreData.lineContainer)
        restoreData = nil
    end
end

function sysCall_sensing()
    return update()
end

function sysCall_nonSimulation()
    if leaveNow then return {cmd = 'cleanup'} end
end

function sysCall_selChange(inData)
    update()
end

function update()
    local s = sim.getObjectSel()
    local o1 = -1
    local o2 = -1
    if #s >= 1 and #s <= 2 then
        obj1IsModel = (sim.getModelProperty(s[1]) & sim.modelproperty_not_model) == 0
        local t = sim.getObjectType(s[1])
        if t == sim.sceneobject_shape or t == sim.sceneobject_dummy or t == sim.sceneobject_octree or
            t == sim.sceneobject_pointcloud or obj1IsModel then o1 = s[1] end
        if #s == 2 then
            obj2IsModel = (sim.getModelProperty(s[2]) & sim.modelproperty_not_model) == 0
            local t = sim.getObjectType(s[2])
            if t == sim.sceneobject_shape or t == sim.sceneobject_dummy or t ==
                sim.sceneobject_octree or t == sim.sceneobject_pointcloud or obj2IsModel then
                o2 = s[2]
            else
                o1 = -1
            end
        end
        if obj1 ~= o1 or obj2 ~= o2 then hideDlg() end
    end
    obj1 = o1
    obj2 = o2
    if obj1 ~= -1 then
        showDlg()
    else
        hideDlg()
    end
    if restoreData then if sim.getSystemTime() - restoreData.time > 1 then restoreScene() end end
end

function sysCall_cleanup()
    hideDlg()
end

function sysCall_beforeInstanceSwitch()
    hideDlg()
    obj1 = -99
end