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source: experimental/distortionNG/DistortionManipulator.cpp @ 379

Last change on this file since 379 was 379, checked in by Torben Dannhauer, 12 years ago

File size: 18.9 KB

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1	/* osgVisual test. distortionNG, experimental.
2	*
3	* Permission is hereby granted, free of charge, to any person obtaining a copy
4	* of this software and associated documentation files (the "Software"), to deal
5	* in the Software without restriction, including without limitation the rights
6	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
7	* copies of the Software, and to permit persons to whom the Software is
8	* furnished to do so, subject to the following conditions:
9	*
10	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
11	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
12	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
13	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
14	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
15	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
16	* THE SOFTWARE.
17	*/
18
19	#include "DistortionManipulator.h"
20
21	#include <osgViewer/Viewer>
22	#include <osg/Point>
23	#include <osg/PolygonMode>
24
25	#include <osgDB/Registry>
26	#include <osgDB/ReaderWriter>
27	#include <osgDB/WriteFile>
28
29	#include "DistortionSetupStrategy.h"
30
31	using namespace osg;
32	using namespace osgViewer;
33
34
35	DistortionManipulator::DistortionManipulator(DistortionSet* ds)
36	: _highlightColor( osg::Vec4(1.0f, 1.0f, 0.0f, 1.0f) ), _distortionSet( ds )
37	{
38	activeSetupMode = DISABLED;
39	activeDistortionMode = MESH;
40	activeManualSetupMode = DISTORTION;
41	activeVisualizationMode = NONE;
42
43	_delegatedDistortionSetupStrategy = NULL;
44
45	_highlighter = NULL;
46
47	createVertexHighlighter();
48	createHUD();
49
50	_camera = 0;
51	//_distortionMesh(distortionMesh)
52
53	// Create Shader to vizualize intensitymap during blending setup.
54	osg::Shader* sh = osg::Shader::readShaderFile( osg::Shader::FRAGMENT, "shaderIntensityMapVis.frag" );
55	sh->setName("shaderIntensityMapVis");
56	ds->setShaderIntensityMapVis( sh );
57
58	//LF Get Screen Resolution for Cursor Position Scaling
59	osg::GraphicsContext::WindowingSystemInterface* wsi = osg::GraphicsContext::getWindowingSystemInterface();
60	if (!wsi) { osg::notify(osg::NOTICE)<<"Error, no WindowSystemInterface available, cannot create windows."<<std::endl; }
61	wsi->getScreenResolution(osg::GraphicsContext::ScreenIdentifier(0), _screenPixWidth, _screenPixHeight);
62
63
64	}
65
66	DistortionManipulator::~DistortionManipulator()
67	{
68	}
69
70	void DistortionManipulator::getUsage(osg::ApplicationUsage& usage) const
71	{
72	usage.addKeyboardMouseBinding("Keypad 0","Show/Hide distortion HUD.");
73	usage.addKeyboardMouseBinding("Keypad 1","Reset distortion.");
74	usage.addKeyboardMouseBinding("Keypad 2","Reset intensity blending.");
75	usage.addKeyboardMouseBinding("Keypad 4","Toggles Setup Mode between DISABLED, MANUAL & DELEGATED.");
76	usage.addKeyboardMouseBinding("Keypad 5","MANUAL Mode: Toggle between blending & distortion setup.");
77	usage.addKeyboardMouseBinding("Keypad 6","MANUAL Mode: Toggle if distortion drags affect mesh or rtt texture coordinates."); // Defaults to Mesh
78	usage.addKeyboardMouseBinding("Keypad 7","Show distortion mesh / intensity map / none.");
79	usage.addKeyboardMouseBinding("Keypad 8","Save distortion set."); // via plugin
80	}
81
82	bool DistortionManipulator::handle(const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter& aa, osg::Object* obj, osg::NodeVisitor* nv)
83	{
84
85
86	switch(ea.getEventType())
87	{
88	case(osgGA::GUIEventAdapter::MOVE): break;
89	case(osgGA::GUIEventAdapter::DRAG):
90	{
91	if ( activeSetupMode == MANUAL)
92	{
93	OSG_ALWAYS<<std::endl<<"Drag:"<<std::endl<<"ea.getGraphicsContext()="<<ea.getGraphicsContext()<<std::endl;
94	OSG_ALWAYS<<"ea.getXnormalized()="<<ea.getXnormalized()<<std::endl;
95	OSG_ALWAYS<<"ea.getYnormalized()="<<ea.getYnormalized()<<std::endl;
96	OSG_ALWAYS<<"ea.getX()="<<ea.getX()<<std::endl;
97	OSG_ALWAYS<<"ea.getXin()="<<ea.getXmin()<<std::endl;
98	OSG_ALWAYS<<"ea.getXmax()="<<ea.getXmax()<<std::endl;
99	OSG_ALWAYS<<"ea.getY()="<<ea.getY()<<std::endl;
100	OSG_ALWAYS<<"ea.getYin()="<<ea.getYmin()<<std::endl;
101	OSG_ALWAYS<<"ea.getYmax()="<<ea.getYmax()<<std::endl;
102
103	//LF get X,Y normalized to lowerleftcorner (0,0) / upperrightcorner (1,1)
104	OSG_ALWAYS<<"getXnormalizedLF()="<<(ea.getXnormalized()+1.0)/2.0<<std::endl;
105	OSG_ALWAYS<<"getYnormalizedLF()="<<(ea.getYnormalized()+1.0)/2.0<<std::endl;
106
107	//LF get X,Y in pixels (lowerleftcorner (0,0) / upperrightcorner (screenwidth,screenheigth)
108	OSG_ALWAYS<<std::endl<<"Screen Resolution: "<<_screenPixWidth<<" x "<<_screenPixHeight<<std::endl;
109	OSG_ALWAYS<<"getXPixelspaceLF()="<<(int)((float)_screenPixWidth*(ea.getXnormalized()+1.0)/2.0)<<std::endl;
110	OSG_ALWAYS<<"getYPixelspaceLF()="<<(int)((float)_screenPixHeight*(ea.getYnormalized()+1.0)/2.0)<<std::endl;
111
112	if(activeDistortionMode == MESH)
113	{
114	OSG_ALWAYS<<"MESH!"<<std::endl;
115	}
116	else if (activeDistortionMode == TEXCOORDINATES)
117	{
118	OSG_ALWAYS<<"TEXCOORDINATES!"<<std::endl;
119	}
120
121	return true; // true means event handled: not forwarded to the camera manipulator;
122	}
123	break;
124
125	}
126	case(osgGA::GUIEventAdapter::PUSH):
127	{
128	OSG_ALWAYS<<"mouse click!"<<std::endl;
129	if ( activeSetupMode == MANUAL /&& ea.getModKeyMask()&osgGA::GUIEventAdapter::MODKEY_CTRL/ && ea.getButton() == osgGA::GUIEventAdapter::LEFT_MOUSE_BUTTON )
130	{
131	osgViewer::View* viewer = dynamic_cast<osgViewer::View*>(&aa);
132	if ( viewer )
133	{
134	osg::notify(osg::ALWAYS)<<std::endl<<"Intersection:"<<std::endl<<"ea.getX()="<<ea.getX()<<std::endl;
135	osg::notify(osg::ALWAYS)<<"ea.getY()="<<ea.getY()<<std::endl;
136	osg::ref_ptr<osgUtil::LineSegmentIntersector> intersector = new osgUtil::LineSegmentIntersector(osgUtil::Intersector::PROJECTION, ea.getX(), ea.getY());
137	osgUtil::IntersectionVisitor iv( intersector.get() );
138	_distortionSet->getDistortionCamera()->accept( iv );
139
140	if ( intersector->containsIntersections() )
141	{
142	//osgUtil::LineSegmentIntersector::Intersection& result = *(intersector->getIntersections().begin());
143	osgUtil::LineSegmentIntersector::Intersection *result;
144	result=&intersector->getFirstIntersection();
145	computeSelectedVertex( *result );
146	//computeSelectedVertex( result );
147	}
148	}
149	}
150	break;
151	}
152	case(osgGA::GUIEventAdapter::RELEASE): break;
153	case(osgGA::GUIEventAdapter::KEYDOWN):
154	{
155	if (ea.getKey()==osgGA::GUIEventAdapter::KEY_KP_Insert) // KP 0: Show/Hide HUD
156	{
157	bool oldValue = _distortionSet->getDistortionInternals()->getValue(DistortionSet::HUD);
158	_distortionSet->getDistortionInternals()->setValue(DistortionSet::HUD, !oldValue);
159	return(true);
160	}
161	if (ea.getKey()==osgGA::GUIEventAdapter::KEY_KP_End) // KP 1: reset distortion
162	{
163	resetDistortion();
164	return(true);
165	}
166	if (ea.getKey()==osgGA::GUIEventAdapter::KEY_KP_Down) // KP 2: reset intensity map
167	{
168	resetIntensityMap();
169	return(true);
170	}
171	if (ea.getKey()==osgGA::GUIEventAdapter::KEY_KP_Left) // KP 4: Toggles Setup Mode between DISABLED, MANUAL & DELEGATED.
172	{
173	switch(activeSetupMode)
174	{
175	case DISABLED :
176	{
177	activeSetupMode = MANUAL;
178	OSG_NOTICE<<"SetupMode MANUAL activated"<<std::endl;
179	_distortionSet->getDistortionInternals()->setValue(DistortionSet::HIGHLIGHTER, true);
180	break;
181	}
182	case MANUAL :
183	{
184	activeSetupMode = DELEGATED;
185	_distortionSet->getDistortionInternals()->setValue(DistortionSet::HIGHLIGHTER, false);
186	OSG_NOTICE<<"SetupMode DELEGATED activated"<<std::endl;
187	break;
188	}
189	case DELEGATED :
190	{
191	activeSetupMode = DISABLED;
192	_distortionSet->getDistortionInternals()->setValue(DistortionSet::HIGHLIGHTER, false);
193	OSG_NOTICE<<"SetupMode DISABLED activated"<<std::endl;
194	break;
195	}
196	}
197	updateHUD();
198	return(true);
199	}
200	if (ea.getKey()==osgGA::GUIEventAdapter::KEY_KP_Begin) // KP 5: MANUAL Mode: Toggle between blending & distortion setup.
201	{
202
203	activeManualSetupMode = (activeManualSetupMode==DISTORTION?BLENDING:DISTORTION);
204	updateHUD();
205	return(true);
206	}
207	if (ea.getKey()==osgGA::GUIEventAdapter::KEY_KP_Right) // KP 6: MANUAL Mode: Toggle if distortion drags affect mesh or rtt texture coordinates -> defaults to Mesh
208	{
209	activeDistortionMode = (activeDistortionMode==MESH?TEXCOORDINATES:MESH);
210	updateHUD();
211	return(true);
212	}
213	if (ea.getKey()==osgGA::GUIEventAdapter::KEY_KP_Home) // KP 7: Show distortion mesh / intensity map / none.
214	{
215	switch(activeVisualizationMode)
216	{
217	case DISTORTION_MESH :
218	{
219	activeVisualizationMode = INTENSITY_MAP;
220	showDistortionMesh(false);
221	showIntensityMap(true);
222	break;
223	}
224	case INTENSITY_MAP :
225	{
226	activeVisualizationMode = NONE;
227	showDistortionMesh(false);
228	showIntensityMap(false);
229	break;
230	}
231	case NONE :
232	{
233	activeVisualizationMode = DISTORTION_MESH;
234	showDistortionMesh(true);
235	showIntensityMap(false);
236	break;
237	}
238	}
239
240	updateHUD();
241	return(true);
242	}
243	if (ea.getKey()==osgGA::GUIEventAdapter::KEY_KP_Up) // KP 8: Save distortion set via plugin
244	{
245	OSG_ALWAYS<<"KEY_KP_8 : todo: Save DistortionContainer"<<std::endl;
246
247	osgDB::writeObjectFile( *_distortionSet, "distortionset.dist" );
248	return(true);
249	}
250
251	return false; // Event ignored
252	}
253	case(osgGA::GUIEventAdapter::KEYUP): break;
254	case(osgGA::GUIEventAdapter::FRAME):
255	{
256	if ( activeSetupMode == DELEGATED && _delegatedDistortionSetupStrategy.valid())
257	{
258	//OSG_ALWAYS<<"Calling delegated class.."<<std::endl;
259	_delegatedDistortionSetupStrategy->delegateDistortionSetup(_distortionSet);
260	if( _distortionSet->isDirty() )
261	{
262	// todo: transfer matrixes into viewer camera.
263	}
264	//OSG_ALWAYS<<"..done"<<std::endl;
265	}
266	break;
267	}
268	case (osgGA::GUIEventAdapter::RESIZE): // todo: adapt distortion mesh to new screen size
269	{
270	OSG_ALWAYS<<"RESIZE!"<<std::endl;
271	break;
272	}
273
274	default:
275	return false;
276	}
277	return false;
278	}
279
280	void DistortionManipulator::resetIntensityMap()
281	{
282	if(!_distortionSet.valid())
283	return;
284
285	osg::ref_ptr<osg::Image> image = _distortionSet->getIntensityMap();
286
287	OSG_ALWAYS<<"Reseting IntensityMap Blending."<<std::endl;
288
289	if (!image->isDataContiguous())
290	{
291	OSG_WARN<<"Warning: DistortionManipulator does not support working with non contiguous imagery as blendmaps!"<<std::endl;
292	return;
293	}
294
295	// Fill intensity map with 255
296	unsigned char* dataPtr = image->data();
297	for(unsigned int i=0;i<image->getTotalSizeInBytes();i++)
298	{
299	*dataPtr++ = 255;
300	}
301	image->dirty();
302	}
303
304	void DistortionManipulator::resetDistortion()
305	{
306	if(!_distortionSet.valid())
307	return;
308
309	OSG_ALWAYS<<"ToDo: resetDistortion()"<<std::endl;
310	}
311
312	void DistortionManipulator::showDistortionMesh(bool show)
313	{
314	osg::StateSet* stateset = _distortionSet->getDistortionInternals()->getChild(DistortionSet::MESH)->getOrCreateStateSet();
315
316	// Append a PolygonMode stateset if required
317	osg::PolygonMode* polyModeObj = dynamic_cast<osg::PolygonMode*>(stateset->getAttribute(osg::StateAttribute::POLYGONMODE));
318	if (!polyModeObj)
319	{
320	polyModeObj = new osg::PolygonMode;
321	stateset->setAttribute(polyModeObj, osg::StateAttribute::PROTECTED\|osg::StateAttribute::ON);
322	}
323
324	// Set Polygonmode
325	if(show)
326	polyModeObj->setMode(osg::PolygonMode::FRONT_AND_BACK,osg::PolygonMode::LINE);
327	else
328	polyModeObj->setMode(osg::PolygonMode::FRONT_AND_BACK,osg::PolygonMode::FILL);
329	}
330
331	void DistortionManipulator::showIntensityMap(bool show)
332	{
333	if(_distortionSet.valid())
334	{
335	osg::StateSet* stateset = _distortionSet->getDistortionInternals()->getChild(DistortionSet::MESH)->getOrCreateStateSet();
336	osg::Program* program = static_cast<osg::Program*>(stateset->getAttribute(::osg::StateAttribute::PROGRAM));
337
338	if(show)
339	{
340	program->removeShader( _distortionSet->getShaderIntensityMap() );
341	program->addShader( _distortionSet->getShaderIntensityMapVis() );
342	}
343	else
344	{
345	program->removeShader( _distortionSet->getShaderIntensityMapVis() );
346	program->addShader( _distortionSet->getShaderIntensityMap() );
347	}
348	}
349	}
350
351	void DistortionManipulator::createVertexHighlighter()
352	{
353	osg::ref_ptr<osg::Vec4Array> colors = new osg::Vec4Array(1);
354	(*colors)[0] = _highlightColor;
355
356	_highlighter = new osg::Geometry;
357	_highlighter->setDataVariance( osg::Object::DYNAMIC );
358	_highlighter->setUseDisplayList( false );
359	_highlighter->setUseVertexBufferObjects( true );
360	_highlighter->setVertexArray( new osg::Vec3Array(1) ); // The highlighter vertex is updated by computeSelectedVertex(..)
361	_highlighter->setColorArray( colors.get() );
362	_highlighter->setColorBinding( osg::Geometry::BIND_OVERALL );
363	_highlighter->addPrimitiveSet( new osg::DrawArrays(GL_POINTS, 0, 1) );
364
365
366	osg::ref_ptr<osg::Geode> geode = new osg::Geode;
367	geode->addDrawable( _highlighter.get() );
368	geode->getOrCreateStateSet()->setAttributeAndModes( new osg::Point(8.0f) );
369	geode->getOrCreateStateSet()->setMode( GL_LIGHTING, osg::StateAttribute::OFF );
370	geode->setCullingActive(false); // disable the culling for the selector, otherwise the selector is culled away on the edge.
371
372	_distortionSet->getDistortionInternals()->addChild(geode, false); // = child #1 :definition: child #0 = mesh, #1 = highlighter, #2 HUD
373	}
374
375	void DistortionManipulator::createHUD()
376	{
377	osg::ref_ptr<osg::Geode> geode = new osg::Geode;
378
379	osg::StateSet* stateSet = geode->getOrCreateStateSet();
380	stateSet->setRenderBinDetails( 99, "RenderBin");
381	// disable depth test to ensure that it is always drawn.
382	stateSet->setMode(GL_DEPTH_TEST,osg::StateAttribute::OFF);
383	stateSet->setMode(GL_LIGHTING,osg::StateAttribute::OFF);
384
385	// Modify StateSet to protect it against state changes by the stateset Manipulator
386	osg::PolygonMode* polyModeObj = new osg::PolygonMode;
387	stateSet->setAttribute(polyModeObj, osg::StateAttribute::PROTECTED\|osg::StateAttribute::ON);
388
389	// Add Text:
390	osg::Vec3 position(20.0f,120.0f,0.0f);
391	osg::Vec3 delta(0.0f,-25.0f,0.0f);
392	std::string timesFont("fonts/arial.ttf");
393	{
394	osg::ref_ptr<osgText::Text> textHeader = new osgText::Text;
395	textHeader->setText("Distortion Setup:");
396	textHeader->setFont(timesFont);
397	textHeader->setPosition(position);
398	textHeader->setCharacterSize(21);
399	textHeader->setDataVariance(osg::Object::STATIC);
400	geode->addDrawable( textHeader );
401
402	position += delta;
403
404	hudSetupMode = new osgText::Text;
405	hudSetupMode->setFont(timesFont);
406	hudSetupMode->setPosition(position);
407	hudSetupMode->setCharacterSize(21);
408	hudSetupMode->setDataVariance(osg::Object::DYNAMIC);
409	geode->addDrawable( hudSetupMode );
410
411	position += delta;
412
413	hudDistortionMode = new osgText::Text;
414	hudDistortionMode->setFont(timesFont);
415	hudDistortionMode->setPosition(position);
416	hudDistortionMode->setCharacterSize(21);
417	hudDistortionMode->setDataVariance(osg::Object::DYNAMIC);
418	geode->addDrawable( hudDistortionMode );
419
420	position += delta;
421
422	hudManualSetupMode = new osgText::Text;
423	hudManualSetupMode->setFont(timesFont);
424	hudManualSetupMode->setPosition(position);
425	hudManualSetupMode->setCharacterSize(21);
426	hudManualSetupMode->setDataVariance(osg::Object::DYNAMIC);
427	geode->addDrawable( hudManualSetupMode );
428
429	position += delta;
430
431	hudVisualizationMode = new osgText::Text;
432	hudVisualizationMode->setFont(timesFont);
433	hudVisualizationMode->setPosition(position);
434	hudVisualizationMode->setCharacterSize(21);
435	hudVisualizationMode->setDataVariance(osg::Object::DYNAMIC);
436	geode->addDrawable( hudVisualizationMode );
437	}
438
439	updateHUD();
440	_distortionSet->getDistortionInternals()->addChild(geode, false); // = child #2. The definition is: child #0 = mesh, #1 = highlighter, #2 HUD
441	}
442
443	void DistortionManipulator::updateHUD()
444	{
445	switch(activeSetupMode)
446	{
447	case DISABLED : hudSetupMode->setText("Setup Mode : DISABLED"); break;
448	case MANUAL : hudSetupMode->setText("Setup Mode : MANUAL"); break;
449	case DELEGATED : hudSetupMode->setText("Setup Mode : DELEGATED"); break;
450	default: hudSetupMode->setText("");
451	};
452	switch(activeDistortionMode)
453	{
454	case MESH : hudDistortionMode->setText("Distortion Mode : MESH"); break;
455	case TEXCOORDINATES : hudDistortionMode->setText("Distortion Mode : TEXCOORDINATES"); break;
456	default: hudDistortionMode->setText("");
457	};
458	switch(activeManualSetupMode)
459	{
460	case DISTORTION : hudManualSetupMode->setText("Manual Setup Mode : DISTORTION"); break;
461	case BLENDING : hudManualSetupMode->setText("Manual Setup Mode : BLENDING"); break;
462	default: hudManualSetupMode->setText("");
463	};
464	switch(activeVisualizationMode)
465	{
466	case DISTORTION_MESH : hudVisualizationMode->setText("Visualization Mode : DISTORTION_MESH"); break;
467	case INTENSITY_MAP : hudVisualizationMode->setText("Visualization Mode : INTENSITY_MAP"); break;
468	case NONE : hudVisualizationMode->setText("Visualization Mode : NONE"); break;
469	default: hudVisualizationMode->setText("");
470	};
471	}
472
473	void DistortionManipulator::computeSelectedVertex( osgUtil::LineSegmentIntersector::Intersection& result )
474	{
475	osg::Geometry* geom = dynamic_cast<osg::Geometry*>( result.drawable.get() );
476	if ( !geom \|\| geom==_highlighter )
477	return;
478
479	osg::Vec3Array* vertices = dynamic_cast<osg::Vec3Array*>( geom->getVertexArray() );
480	osg::Vec3Array* selVertices = dynamic_cast<osg::Vec3Array*>( _highlighter->getVertexArray() );
481	if ( !vertices \|\| !selVertices )
482	return;
483
484	OSG_NOTIFY(osg::ALWAYS)<<"size of vertices="<<vertices->size()<<std::endl;
485	OSG_NOTIFY(osg::ALWAYS)<<"size of selVertices="<<selVertices->size()<<std::endl;
486
487	osg::Vec3 point = result.getWorldIntersectPoint();
488	osg::Matrix matrix = osg::computeLocalToWorld( result.nodePath ); // To compute the intersection vertices in world coordinates not in model coordinates
489	OSG_NOTIFY(osg::ALWAYS) << "Intersection-indices: Size=" << result.indexList.size() << std::endl;
490	const std::vector<unsigned int>& selIndices = result.indexList;
491	{
492	double maxRatio = 0.0;
493	int closestVertexIndex = 0;
494	for ( unsigned int i=0; i<3 && i<result.ratioList.size(); i++ ) //iterate through rations and search for maxRation=nearestVertex
495	{
496	if(result.ratioList[i] > maxRatio)
497	{
498	maxRatio = result.ratioList[i];
499	closestVertexIndex = result.indexList[i];
500	}
501	OSG_NOTIFY(osg::ALWAYS)<<"maxRatio="<<maxRatio<<std::endl;
502	OSG_NOTIFY(osg::ALWAYS)<<"closestVertexIndex="<<closestVertexIndex<<std::endl;
503	}
504	OSG_NOTIFY(osg::ALWAYS)<<"nearest vertex: X="<<(vertices)[closestVertexIndex].x()<<" Y="<<(vertices)[closestVertexIndex].y()<<" Z="<<(*vertices)[closestVertexIndex].z()<<std::endl;
505	osg::Vec3 vertex = (vertices)[closestVertexIndex] matrix;
506
507	selVertices->front() = vertex;
508	OSG_NOTIFY(osg::ALWAYS)<<"selected vertice: X="<<vertex.x()<<" Y="<<vertex.y()<<" Z="<<vertex.z()<<std::endl;
509	}
510	selVertices->dirty();
511	_highlighter->dirtyBound();
512	}

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