PickHandler also returns position of mouse click on world frame.

include/gepetto/gui/osgwidget.hh

@@ -58,7 +58,7 @@ namespace gepetto {
         WindowsManager::WindowID windowID () const;
 
 signals:
-        void selected (QString name);
+        void selected (QString name, QVector3D positionInWorldFrame);
         void requestMotion (graphics::NodePtr_t node, graphics::Node::Arrow direction,
             float speed);
 
@@ -85,10 +85,8 @@ signals:
 
         virtual void paintEvent( QPaintEvent* paintEvent );
 
-    private slots:
-        void transferSelected (QString name);
-
       private:
+        void emitSelected (QString name, QVector3D positionInWorldFrame);
         osgGA::EventQueue* getEventQueue() const;
 
         osg::ref_ptr<osgQt::GraphicsWindowQt> graphicsWindow_;

include/gepetto/gui/pick-handler.hh

@@ -16,7 +16,7 @@ namespace gepetto {
       Q_OBJECT
 
     public:
-      PickHandler (WindowsManagerPtr_t wsm);
+      PickHandler (OSGWidget* parent, WindowsManagerPtr_t wsm);
 
       virtual ~PickHandler();
 
@@ -31,9 +31,6 @@ namespace gepetto {
       void bodyTreeCurrentChanged (const QModelIndex &current,
           const QModelIndex &previous);
 
-    signals:
-      void selected (QString name);
-
     private:
       std::list <graphics::NodePtr_t> computeIntersection (osgGA::GUIActionAdapter& aa,
                                                            const float& x, const float& y);

pyplugins/gepetto/gui/pythonwidget.py

@@ -85,7 +85,7 @@ class Plugin(QtGui.QDockWidget):
 
     ### If present, this function is called when a new OSG Widget is created.
     def osgWidget(self, osgWindow):
-        osgWindow.connect('selected(QString)', self.selected)
+        osgWindow.connect('selected(QString,QVector3D)', self.selected)
 
     def resetConnection(self):
         self.client = Client()
@@ -93,5 +93,5 @@ class Plugin(QtGui.QDockWidget):
     def refresh(self):
         self.nodeCreator.update()
 
-    def selected(self, name):
-        QtGui.QMessageBox.information(self, "Selected object", name)
+    def selected(self, name, posInWorldFrame):
+        QtGui.QMessageBox.information(self, "Selected object", name + " " + str(posInWorldFrame))

src/gui/osgwidget.cc

@@ -81,7 +81,7 @@ namespace gepetto {
       : QWidget( parent, f )
         , graphicsWindow_()
         , wsm_ (wm)
-        , pickHandler_ (new PickHandler (wsm_))
+        , pickHandler_ (new PickHandler (this, wsm_))
         , wid_ (-1)
         , wm_ ()
         , viewer_ (new osgViewer::Viewer)
@@ -134,8 +134,6 @@ namespace gepetto {
             1);
       viewer_->addEventHandler(screenCapture_);
       viewer_->addEventHandler(new osgViewer::HelpHandler);
-
-      connect(pickHandler_, SIGNAL(selected(QString)), SLOT(transferSelected(QString)));
       viewer_->addEventHandler(pickHandler_);
 
       wid_ = wm->createWindow (name.c_str(), viewer_, graphicsWindow_.get());
@@ -155,8 +153,8 @@ namespace gepetto {
       render_.start ();
 
       parent->bodyTree()->connect(this,
-          SIGNAL (selected(QString)), SLOT (selectBodyByName(QString)));
-      parent->connect(this, SIGNAL (selected(QString)),
+          SIGNAL (selected(QString,QVector3D)), SLOT (selectBodyByName(QString)));
+      parent->connect(this, SIGNAL (selected(QString,QVector3D)),
           SLOT (requestSelectJointFromBodyName(QString)));
     }
 
@@ -198,9 +196,9 @@ namespace gepetto {
       //        wsm_->lock().unlock();
     }
 
-    void gepetto::gui::OSGWidget::transferSelected(QString name)
+    void OSGWidget::emitSelected(QString name, QVector3D positionInWorldFrame)
     {
-      emit selected (name);
+      emit selected (name, positionInWorldFrame);
     }
 
     void OSGWidget::onHome()

src/gui/pick-handler.cc

@@ -20,8 +20,10 @@
 
 namespace gepetto {
   namespace gui {
-    PickHandler::PickHandler(WindowsManagerPtr_t wsm)
-      : wsm_ (wsm)
+    PickHandler::PickHandler(OSGWidget *parent, WindowsManagerPtr_t wsm)
+      : QObject (parent)
+      , wsm_ (wsm)
+      , parent_ (parent)
       , last_ ()
       , pushed_ (false)
       , lastX_ (0)
@@ -130,7 +132,9 @@ namespace gepetto {
                       if (boost::regex_match (n->getID(), boost::regex ("^.*_[0-9]+$")))
                         continue;
                       select (n);
-                      emit selected (QString::fromStdString(n->getID ()));
+                      osg::Vec3d p = it->getWorldIntersectPoint();
+                      QVector3D pWF (p[0],p[1],p[2]);
+                      parent_->emitSelected(QString::fromStdString(n->getID ()), pWF);
                       return nodes;
                       // nodes.push_back(n);
                       // break;