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Backport #3039 - Apply Force/Torque for nested models #3053

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merged 1 commit into from
Aug 6, 2021
Merged

Backport #3039 - Apply Force/Torque for nested models #3053

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31 changes: 28 additions & 3 deletions gazebo/gui/ApplyWrenchDialog.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -486,14 +486,29 @@ bool ApplyWrenchDialog::SetModel(const std::string &_modelName)
for (unsigned int i = 0; i < vis->GetChildCount(); ++i)
{
rendering::VisualPtr childVis = vis->GetChild(i);

// Skip all children that aren't links
if (childVis->GetType() != rendering::Visual::VT_LINK)
{
continue;
}

std::string linkName = childVis->Name();

// Issue #1553: This is failing to get real links sometimes:
// uint32_t flags = childVis->GetVisibilityFlags();
// if (!((flags != GZ_VISIBILITY_ALL) && (flags & GZ_VISIBILITY_GUI)))
if (linkName.find("_GL_MANIP_") == std::string::npos)
{
std::string unscopedLinkName = linkName.substr(linkName.find("::") + 2);
size_t modelNamePos = linkName.find(_modelName);
// Skip if the model name isn't in the scoped link name
if (modelNamePos == std::string::npos)
{
continue;
}
std::string unscopedLinkName = linkName.substr(modelNamePos +
+ _modelName.size() + 2);

this->dataPtr->linksComboBox->addItem(
QString::fromStdString(unscopedLinkName));

Expand Down Expand Up @@ -538,8 +553,18 @@ bool ApplyWrenchDialog::SetLink(const std::string &_linkName)
if (!gui::get_active_camera() || !gui::get_active_camera()->GetScene())
return false;

// Select on combo box
std::string unscopedLinkName = _linkName.substr(_linkName.find("::") + 2);
size_t modelNamePos = _linkName.find(this->dataPtr->modelName);
std::string unscopedLinkName;

// Leave unscopedLinkName empty if model name cannot be found
// in the scoped link name
if (modelNamePos != std::string::npos)
{
// Select on combo box
unscopedLinkName = _linkName.substr(modelNamePos +
this->dataPtr->modelName.size() + 2);
}

int index = -1;
for (int i = 0; i < this->dataPtr->linksComboBox->count(); ++i)
{
Expand Down
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