Fix issues with manipulators of scaled Transform nodes

src/webots/app/WbSelection.cpp

@@ -44,6 +44,8 @@ void WbSelection::selectNodeFromSceneTree(WbBaseNode *node) {
     return;
   selectNode(node);
   emit selectionChangedFromSceneTree(mSelectedAbstractPose);
+  if (mSelectedAbstractPose)
+    updateHandlesScale();
 }
 
 void WbSelection::selectPoseFromView3D(WbAbstractPose *p, bool handlesDisabled) {

src/webots/gui/WbDragPoseEvent.cpp

@@ -163,7 +163,8 @@ WbDragTranslateAlongAxisEvent::WbDragTranslateAlongAxisEvent(const QPoint &initi
   mHandleNumber(handleNumber),
   mManipulator(selectedPose->translateRotateManipulator()),
   mWidgetSizeFactor(1.0 / widgetSize.width(), 1.0 / widgetSize.height()),
-  mStepSize(selectedPose->translationStep()) {
+  mStepSize(selectedPose->translationStep()),
+  mAbsoluteScale(1.0) {
   mCoordinate = mManipulator->coordinate(mHandleNumber);
 
   mManipulator->highlightAxis(mHandleNumber);
@@ -182,12 +183,11 @@ WbDragTranslateAlongAxisEvent::WbDragTranslateAlongAxisEvent(const QPoint &initi
   mTextOverlay->applyChangesToWren();
 
   WbMatrix4 matrix(mSelectedPose->matrix());
-
-  const WbTransform *t = dynamic_cast<const WbTransform *>(mSelectedPose);
-  if (t) {
-    const WbVector3 &scale = t->scale();
-    matrix.scale(1.0f / scale.x(), 1.0f / scale.y(), 1.0f / scale.z());
-  }
+  const WbVector3 &scale = matrix.scale();
+  matrix.scale(1.0f / scale.x(), 1.0f / scale.y(), 1.0f / scale.z());
+  const WbTransform *pt = mSelectedPose->baseNode()->upperTransform();
+  if (pt)
+    mAbsoluteScale = pt->absoluteScale()[mCoordinate];
 
   // local offset
   const WbVector3 attachedHandlePosition(matrix *
@@ -198,7 +198,7 @@ WbDragTranslateAlongAxisEvent::WbDragTranslateAlongAxisEvent(const QPoint &initi
   mHandleOffset = WbVector3(0.0, 0.0, 0.0);
   mHandleOffset[mCoordinate] = mouse3dPosition[mCoordinate];
   if (mStepSize > 0)
-    mHandleOffset[mCoordinate] -= mStepSize * 0.5;
+    mHandleOffset[mCoordinate] -= mStepSize * 0.5 * mAbsoluteScale;
   mMouseOffset =
     (mViewDistanceUnscaling * mManipulator->relativeHandlePosition(mHandleNumber)[mCoordinate]) - mouse3dPosition[mCoordinate];
 
@@ -228,19 +228,16 @@ void WbDragTranslateAlongAxisEvent::apply(const QPoint &currentMousePosition) {
   mViewDistanceUnscaling = mViewpoint->viewDistanceUnscaling(mSelectedPose->position());
 
   WbMatrix4 matrix(mSelectedPose->matrix());
-  const WbTransform *t = dynamic_cast<const WbTransform *>(mSelectedPose);
-  if (t) {
-    const WbVector3 &scale = t->scale();
-    matrix.scale(1.0f / scale.x(), 1.0f / scale.y(), 1.0f / scale.z());
-  }
+  const WbVector3 &scale = matrix.scale();
+  matrix.scale(1.0f / scale.x(), 1.0f / scale.y(), 1.0f / scale.z());
 
   WbVector3 attachedHandlePosition = matrix * (mManipulator->relativeHandlePosition(mHandleNumber) * mViewDistanceUnscaling);
   const double zEye = mViewpoint->zEye(attachedHandlePosition);
 
   WbVector3 detachedHandlePosition = mViewpoint->pick(currentMousePosition.x(), currentMousePosition.y(), zEye);
   detachedHandlePosition = matrix.pseudoInversed(detachedHandlePosition);  // local position
 
-  const double difference = detachedHandlePosition[mCoordinate] - mHandleOffset[mCoordinate];
+  const double difference = (detachedHandlePosition[mCoordinate] - mHandleOffset[mCoordinate]) / mAbsoluteScale;
   WbVector3 translationOffset;
   if (mStepSize <= 0)
     translationOffset[mCoordinate] = difference;
@@ -271,8 +268,8 @@ void WbDragTranslateAlongAxisEvent::apply(const QPoint &currentMousePosition) {
   if (mTranslationOffset > -1e-10 && mTranslationOffset < +1e-10)
     mTextOverlay->updateText("0.00 m");
   else {
-    int left = mTranslationOffset;
-    int right = abs(100 * (mTranslationOffset - left));
+    const int left = mTranslationOffset;
+    const int right = abs(100 * (mTranslationOffset - left));
     mTextOverlay->updateText((mTranslationOffset < 0 ? "-" : "") + QString::number(abs(left)) +
                              QString(".%1").arg(right, 2, 10, QChar('0')) + " m");
   }

src/webots/gui/WbDragPoseEvent.hpp

@@ -113,6 +113,7 @@ class WbDragTranslateAlongAxisEvent : public WbDragPoseEvent {
   WbVector2 mWidgetSizeFactor;
   double mStepSize;
   WbVector2 mDirectionOnScreen;
+  double mAbsoluteScale;
 };
 
 class WbDragRotateAroundWorldVerticalAxisEvent : public WbDragPoseEvent {

src/webots/nodes/WbAbstractPose.cpp

@@ -299,6 +299,12 @@ void WbAbstractPose::updateTranslateRotateHandlesSize() {
   if (!mTranslateRotateManipulator)
     return;
 
+  const WbTransform *transform = dynamic_cast<WbTransform *>(mBaseNode);
+  if (!transform)
+    transform = mBaseNode->upperTransform();
+  if (transform)
+    mTranslateRotateManipulator->updateHandleScale(transform->absoluteScale().ptr());
+
   if (!WbNodeUtilities::isNodeOrAncestorLocked(mBaseNode))
     mTranslateRotateManipulator->computeHandleScaleFromViewportSize();
 }