0031798: Visualization, SelectMgr_ViewerSelector - fix comparing depth of direct and indirect triangle hits

SelectMgr_RectangularFrustum now stores also a distance from picking Ray within SelectBasics_PickResult
to better prioritize results and prefer entities closer to ray.

src/AIS/AIS_Manipulator.hxx

@@ -94,9 +94,6 @@ DEFINE_STANDARD_HANDLE (AIS_Manipulator, AIS_InteractiveObject)
 //! @endcode
 //! The last method erases manipulator object.
 //! @warning
-//! On construction an instance of AIS_Manipulator object is bound to Graphic3d_ZLayerId_Topmost layer,
-//! so make sure to call for your AIS_InteractiveContext the method MainSelector()->SetPickClosest (Standard_False)
-//! otherwise you may notice issues with activation of modes.
 class AIS_Manipulator : public AIS_InteractiveObject
 {
 public:

src/Select3D/Select3D_SensitivePrimitiveArray.cxx

@@ -932,7 +932,7 @@ Standard_Boolean Select3D_SensitivePrimitiveArray::Matches (SelectBasics_Selecti
       {
         myDetectedNodeMap->ChangeMap().Unite (aChild->myDetectedNodeMap->Map());
       }
-      if (thePickResult.Depth() > aPickResult.Depth())
+      if (thePickResult.DepthWithOffset() > aPickResult.DepthWithOffset())
       {
         myDetectedIdx = aGroupIter;
         thePickResult = aPickResult;

src/Select3D/Select3D_SensitiveSet.cxx

@@ -111,6 +111,8 @@ Standard_Boolean Select3D_SensitiveSet::processElements (SelectBasics_SelectingV
         continue;
       }
 
+      //if (thePickResult.DepthWithOffset() > aPickResult.DepthWithOffset())
+      //if (thePickResult.Depth() > aPickResult.Depth())
       if (thePickResult.Depth() > aPickResult.Depth())
       {
         thePickResult = aPickResult;

src/SelectBasics/SelectBasics_PickResult.hxx

@@ -35,6 +35,7 @@ public:
   SelectBasics_PickResult()
   : myObjPickedPnt (RealLast(), 0.0, 0.0),
     myDepth (RealLast()),
+    myRayDistance (0.0),
     myDistToCenter (RealLast()) {}
 
   //! Constructor with initialization.
@@ -43,6 +44,7 @@ public:
                            const gp_Pnt& theObjPickedPnt)
   : myObjPickedPnt (theObjPickedPnt),
     myDepth (theDepth),
+    myRayDistance (0.0),
     myDistToCenter (theDistToCenter) {}
 
 public:
@@ -54,6 +56,7 @@ public:
   void Invalidate()
   {
     myDepth = RealLast();
+    myRayDistance = 0.0;
     myObjPickedPnt = gp_Pnt (RealLast(), 0.0, 0.0);
     myNormal.SetValues (0.0f, 0.0f, 0.0f);
   }
@@ -64,6 +67,14 @@ public:
   //! Set depth along picking ray.
   void SetDepth (Standard_Real theDepth) { myDepth = theDepth; }
 
+  //! Return distance from picking ray to picked point.
+  Standard_Real RayDistance() const { return myRayDistance; }
+
+  //! Set distance from picking ray to picked point.
+  void SetRayDistance (Standard_Real theDistance) { myRayDistance = theDistance; }
+
+  Standard_Real DepthWithOffset() const { return myDepth + myRayDistance; }
+
   //! Return TRUE if Picked Point lying on detected entity was set.
   Standard_Boolean HasPickedPoint() const { return myObjPickedPnt.X() != RealLast(); }
 
@@ -97,6 +108,7 @@ private:
   gp_Pnt                  myObjPickedPnt; //!< User-picked selection point onto object
   NCollection_Vec3<float> myNormal;       //!< surface normal
   Standard_Real           myDepth;        //!< Depth to detected point
+  Standard_Real           myRayDistance;  //!< distance from picked ray to detected point
   Standard_Real           myDistToCenter; //!< Distance from 3d projection user-picked selection point to entity's geometry center
 };
 

src/SelectMgr/FILES

@@ -57,6 +57,7 @@ SelectMgr_TriangularFrustum.hxx
 SelectMgr_TriangularFrustumSet.cxx
 SelectMgr_TriangularFrustumSet.hxx
 SelectMgr_TypeOfBVHUpdate.hxx
+SelectMgr_TypeOfDepthTolerance.hxx
 SelectMgr_TypeOfUpdate.hxx
 SelectMgr_VectorTypes.hxx
 SelectMgr_ViewClipRange.cxx

src/SelectMgr/SelectMgr_RectangularFrustum.cxx

@@ -81,12 +81,14 @@ void SelectMgr_RectangularFrustum::segmentSegmentDistance (const gp_Pnt& theSegP
    || aFigureVecMod <= gp::Resolution())
   {
     thePickResult.SetPickedPoint (aClosestPnt);
+    thePickResult.SetRayDistance (0.0);
     return;
   }
 
   const Standard_Real aCosOfAngle = aFigureVec.Dot (aPickedVec) / (aPickedVecMod * aFigureVecMod);
   const Standard_Real aSegPntShift = Min(aFigureVecMod, Max(0.0, aCosOfAngle * aPickedVecMod));
   thePickResult.SetPickedPoint (theSegPnt1.XYZ() + aFigureVec.XYZ() * (aSegPntShift / aFigureVecMod));
+  thePickResult.SetRayDistance (thePickResult.PickedPoint().Distance (aClosestPnt) * myScale); ///
 }
 
 // =======================================================================
@@ -537,6 +539,7 @@ Standard_Boolean SelectMgr_RectangularFrustum::Overlaps (const gp_Pnt& thePnt,
 
   thePickResult.SetDepth (Abs (aDepth) * myScale);
   thePickResult.SetPickedPoint (thePnt);
+  thePickResult.SetRayDistance (thePnt.Distance (myNearPickedPnt.XYZ() + myViewRayDir.XYZ() * aDepth) * myScale);
 
   return !theClipRange.IsClipped (thePickResult.Depth());
 }
@@ -695,6 +698,7 @@ Standard_Boolean SelectMgr_RectangularFrustum::Overlaps (const gp_Pnt& thePnt1,
     {
       thePickResult.SetDepth (myNearPickedPnt.Distance (aPtOnPlane) * myScale);
       thePickResult.SetPickedPoint (aPtOnPlane);
+      thePickResult.SetRayDistance (0.0);
       thePickResult.SetSurfaceNormal (aTriangleNormal);
       return !theClipRange.IsClipped (thePickResult.Depth());
     }

src/SelectMgr/SelectMgr_SortCriterion.hxx

@@ -32,12 +32,12 @@ public:
   gp_Pnt             Point;           //!< 3D point
   Graphic3d_Vec3     Normal;          //!< surface normal or 0 vector if undefined
   Standard_Real      Depth;           //!< distance from the view plane to the entity
+  Standard_Real      RayDistance;     //!< distance from picked ray to detected point
   Standard_Real      MinDist;         //!< distance from the clicked point to the entity on the view plane
   Standard_Real      Tolerance;       //!< tolerance used for selecting candidates
   Standard_Integer   Priority;        //!< selection priority
   Standard_Integer   ZLayerPosition;  //!< ZLayer rendering order index, stronger than a depth
   Standard_Integer   NbOwnerMatches;  //!< overall number of entities collected for the same owner
-  Standard_Boolean   ToPreferClosest; //!< whether closest object is preferred even if has less priority
 
 public:
   DEFINE_STANDARD_ALLOC
@@ -45,21 +45,17 @@ public:
   //! Empty constructor.
   SelectMgr_SortCriterion()
   : Depth    (0.0),
+    RayDistance(0.0),
     MinDist  (0.0),
     Tolerance(0.0),
     Priority (0),
-    ZLayerPosition  (0),
-    NbOwnerMatches  (0),
-    ToPreferClosest (Standard_True) {}
+    ZLayerPosition (0),
+    NbOwnerMatches (0) {}
 
-  //! Comparison operator.
-  bool operator> (const SelectMgr_SortCriterion& theOther) const { return IsGreater (theOther); }
+  Standard_Real DepthWithOffset() const { return Depth + RayDistance; }
 
-  //! Comparison operator.
-  bool operator< (const SelectMgr_SortCriterion& theOther) const { return IsLower   (theOther); }
-
-  //! Compare with another item.
-  bool IsGreater (const SelectMgr_SortCriterion& theOther) const
+  //! Compare with another item by depth, priority and minDist.
+  bool IsCloserDepth (const SelectMgr_SortCriterion& theOther) const
   {
     // the object within different ZLayer groups can not be compared by depth
     if (ZLayerPosition != theOther.ZLayerPosition)
@@ -67,26 +63,34 @@ public:
       return ZLayerPosition > theOther.ZLayerPosition;
     }
 
-    if (ToPreferClosest)
+    // closest object is selected unless difference is within tolerance
+    ///const Standard_Real aDepthDelta = Depth - theOther.Depth;
+    const Standard_Real aDepthDelta = DepthWithOffset() - theOther.DepthWithOffset();
+    if (Abs (aDepthDelta) > (Tolerance + theOther.Tolerance))
     {
-      // closest object is selected unless difference is within tolerance
-      if (Abs (Depth - theOther.Depth) > (Tolerance + theOther.Tolerance))
-      {
-        return Depth < theOther.Depth;
-      }
-
-      // if two objects have similar depth, select the one with higher priority
-      if (Priority > theOther.Priority)
-      {
-        return true;
-      }
-
-      // if priorities are equal, one closest to the mouse
-      return Priority == theOther.Priority
-          && MinDist  <  theOther.MinDist;
+      return aDepthDelta < 0.0;
+    }
+
+    // if two objects have similar depth, select the one with higher priority
+    if (Priority > theOther.Priority)
+    {
+      return true;
+    }
+
+    // if priorities are equal, one closest to the mouse
+    return Priority == theOther.Priority
+        && MinDist  <  theOther.MinDist;
+  }
+
+  //! Compare with another item using old logic (OCCT version <= 6.3.1) with priority considered preceding depth.
+  bool IsHigherPriority (const SelectMgr_SortCriterion& theOther) const
+  {
+    // the object within different ZLayer groups can not be compared by depth
+    if (ZLayerPosition != theOther.ZLayerPosition)
+    {
+      return ZLayerPosition > theOther.ZLayerPosition;
     }
 
-    // old logic (OCCT version <= 6.3.1)
     if (Priority > theOther.Priority)
     {
       return true;
@@ -96,7 +100,7 @@ public:
       return false;
     }
 
-    if (Abs (Depth - theOther.Depth) <= Precision::Confusion())
+    if (Abs (Depth - theOther.Depth) <= (Tolerance + theOther.Tolerance))
     {
       return MinDist < theOther.MinDist;
     }
@@ -104,53 +108,6 @@ public:
     return Depth < theOther.Depth;
   }
 
-  //! Compare with another item.
-  bool IsLower (const SelectMgr_SortCriterion& theOther) const
-  {
-    // the object within different ZLayer groups can not be compared by depth
-    if (ZLayerPosition != theOther.ZLayerPosition)
-    {
-      return ZLayerPosition < theOther.ZLayerPosition;
-    }
-
-    if (ToPreferClosest)
-    {
-      // closest object is selected unless difference is within tolerance
-      if (ToPreferClosest
-       && Abs (Depth - theOther.Depth) > (Tolerance + theOther.Tolerance))
-      {
-        return Depth > theOther.Depth;
-      }
-
-      // if two objects have similar depth, select the one with higher priority
-      if (Priority < theOther.Priority)
-      {
-        return true;
-      }
-
-      // if priorities are equal, one closest to the mouse
-      return Priority == theOther.Priority
-          && MinDist  >  theOther.MinDist;
-    }
-
-    // old logic (OCCT version <= 6.3.1)
-    if (Priority > theOther.Priority)
-    {
-      return false;
-    }
-    else if (Priority != theOther.Priority)
-    {
-      return true;
-    }
-
-    if (Abs (Depth - theOther.Depth) <= Precision::Confusion())
-    {
-      return MinDist > theOther.MinDist;
-    }
-
-    return Depth > theOther.Depth;
-  }
-
 };
 
 #endif // _SelectMgr_SortCriterion_HeaderFile

src/SelectMgr/SelectMgr_TypeOfDepthTolerance.hxx

@@ -0,0 +1,26 @@
+// Copyright (c) 2020 OPEN CASCADE SAS
+//
+// This file is part of Open CASCADE Technology software library.
+//
+// This library is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License version 2.1 as published
+// by the Free Software Foundation, with special exception defined in the file
+// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
+// distribution for complete text of the license and disclaimer of any warranty.
+//
+// Alternatively, this file may be used under the terms of Open CASCADE
+// commercial license or contractual agreement.
+
+#ifndef _SelectMgr_TypeOfDepthTolerance_HeaderFile
+#define _SelectMgr_TypeOfDepthTolerance_HeaderFile
+
+//! Define the type of depth tolerance for considering picked entities to lie on the same depth (distance from eye to entity).
+//! @sa SelectMgr_SortCriterion, SelectMgr_ViewerSelector
+enum SelectMgr_TypeOfDepthTolerance
+{
+  SelectMgr_TypeOfDepthTolerance_Uniform,           //!< use a predefined tolerance value (defined in 3D world scale) to compare any entities
+  SelectMgr_TypeOfDepthTolerance_UniformPixels,     //!< use a predefined tolerance value (defined in pixels) to compare any entities
+  SelectMgr_TypeOfDepthTolerance_SensitivityFactor, //!< use sensitivity factor (in pixels) assigned to specific entity
+};
+
+#endif // _SelectMgr_TypeOfDepthTolerance_HeaderFile

src/SelectMgr/SelectMgr_ViewerSelector.cxx

@@ -42,18 +42,28 @@ namespace
   {
   public:
 
-    CompareResults (const SelectMgr_IndexedDataMapOfOwnerCriterion& theMapOfCriterion)
-    : myMapOfCriterion (&theMapOfCriterion)
-    {
-    }
+    CompareResults (const SelectMgr_IndexedDataMapOfOwnerCriterion& theMapOfCriterion,
+                    bool theToPreferClosest)
+    : myMapOfCriterion (&theMapOfCriterion),
+      myToPreferClosest (theToPreferClosest) {}
 
     Standard_Boolean operator() (Standard_Integer theLeft, Standard_Integer theRight) const
     {
-      return myMapOfCriterion->FindFromIndex (theLeft) > myMapOfCriterion->FindFromIndex (theRight);
+      const SelectMgr_SortCriterion& anElemLeft  = myMapOfCriterion->FindFromIndex (theLeft);
+      const SelectMgr_SortCriterion& anElemRight = myMapOfCriterion->FindFromIndex (theRight);
+      if (myToPreferClosest)
+      {
+        return anElemLeft.IsCloserDepth (anElemRight);
+      }
+      else
+      {
+        return anElemLeft.IsHigherPriority (anElemRight);
+      }
     }
 
   private:
     const SelectMgr_IndexedDataMapOfOwnerCriterion* myMapOfCriterion;
+    bool myToPreferClosest;
   };
 
   static const Graphic3d_Mat4d SelectMgr_ViewerSelector_THE_IDENTITY_MAT;
@@ -114,18 +124,33 @@ void SelectMgr_ViewerSelector::updatePoint3d (SelectMgr_SortCriterion& theCriter
     }
   }
 
-  if (mySelectingVolumeMgr.Camera().IsNull())
+  const Standard_Real aSensFactor = myDepthTolType == SelectMgr_TypeOfDepthTolerance_SensitivityFactor ? theEntity->SensitivityFactor() : myDepthTolerance;
+  switch (myDepthTolType)
   {
-    theCriterion.Tolerance = theEntity->SensitivityFactor() / 33.0;
-  }
-  else if (mySelectingVolumeMgr.Camera()->IsOrthographic())
-  {
-    theCriterion.Tolerance = myCameraScale * theEntity->SensitivityFactor();
-  }
-  else
-  {
-    const Standard_Real aDistFromEye = Abs ((theCriterion.Point.XYZ() - myCameraEye.XYZ()).Dot (myCameraDir.XYZ()));
-    theCriterion.Tolerance = aDistFromEye * myCameraScale * theEntity->SensitivityFactor();
+    case SelectMgr_TypeOfDepthTolerance_Uniform:
+    {
+      theCriterion.Tolerance = myDepthTolerance;
+      break;
+    }
+    case SelectMgr_TypeOfDepthTolerance_UniformPixels:
+    case SelectMgr_TypeOfDepthTolerance_SensitivityFactor:
+    {
+      if (mySelectingVolumeMgr.Camera().IsNull())
+      {
+        // fallback for an arbitrary projection matrix
+        theCriterion.Tolerance = aSensFactor / 33.0;
+      }
+      else if (mySelectingVolumeMgr.Camera()->IsOrthographic())
+      {
+        theCriterion.Tolerance = myCameraScale * aSensFactor;
+      }
+      else
+      {
+        const Standard_Real aDistFromEye = Abs ((theCriterion.Point.XYZ() - myCameraEye.XYZ()).Dot (myCameraDir.XYZ()));
+        theCriterion.Tolerance = aDistFromEye * myCameraScale * aSensFactor;
+      }
+      break;
+    }
   }
 }
 
@@ -133,14 +158,15 @@ void SelectMgr_ViewerSelector::updatePoint3d (SelectMgr_SortCriterion& theCriter
 // Function: Initialize
 // Purpose :
 //==================================================
-SelectMgr_ViewerSelector::SelectMgr_ViewerSelector():
-preferclosest(Standard_True),
-myToUpdateTolerance (Standard_True),
-myCameraScale (1.0),
-myToPrebuildBVH (Standard_False),
-myCurRank (0),
-myIsLeftChildQueuedFirst (Standard_False),
-myEntityIdx (0)
+SelectMgr_ViewerSelector::SelectMgr_ViewerSelector()
+: myDepthTolerance (0.0),
+  myDepthTolType (SelectMgr_TypeOfDepthTolerance_SensitivityFactor),
+  myToPreferClosest (Standard_True),
+  myToUpdateTolerance (Standard_True),
+  myCameraScale (1.0),
+  myToPrebuildBVH (Standard_False),
+  myCurRank (0),
+  myIsLeftChildQueuedFirst (Standard_False)
 {
   myEntitySetBuilder = new BVH_BinnedBuilder<Standard_Real, 3, 4> (BVH_Constants_LeafNodeSizeSingle, BVH_Constants_MaxTreeDepth, Standard_True);
 }
@@ -261,8 +287,8 @@ void SelectMgr_ViewerSelector::checkOverlap (const Handle(Select3D_SensitiveEnti
   aCriterion.Entity    = theEntity;
   aCriterion.Priority  = anOwner->Priority();
   aCriterion.Depth     = aPickResult.Depth();
+  aCriterion.RayDistance = aPickResult.RayDistance();
   aCriterion.MinDist   = aPickResult.DistToGeomCenter();
-  aCriterion.ToPreferClosest = preferclosest;
 
   if (SelectMgr_SortCriterion* aPrevCriterion = mystored.ChangeSeek (anOwner))
   {
@@ -270,7 +296,7 @@ void SelectMgr_ViewerSelector::checkOverlap (const Handle(Select3D_SensitiveEnti
     aCriterion.NbOwnerMatches = aPrevCriterion->NbOwnerMatches;
     if (theMgr.GetActiveSelectionType() != SelectBasics_SelectingVolumeManager::Box)
     {
-      if (aCriterion > *aPrevCriterion)
+      if (aCriterion.IsCloserDepth (*aPrevCriterion))
       {
         updatePoint3d (aCriterion, aPickResult, theEntity, theInversedTrsf, theMgr);
         *aPrevCriterion = aCriterion;
@@ -887,28 +913,27 @@ TCollection_AsciiString SelectMgr_ViewerSelector::Status (const Handle(SelectMgr
 
 //=======================================================================
 //function : SortResult
-//purpose  :  there is a certain number of entities ranged by criteria
-//            (depth, size, priority, mouse distance from borders or
-//            CDG of the detected primitive. Parsing :
-//             maximum priorities .
-//             then a reasonable compromise between depth and distance...
-// finally the ranges are stored in myindexes depending on the parsing.
-// so, it is possible to only read
+//purpose  :
 //=======================================================================
 void SelectMgr_ViewerSelector::SortResult()
 {
-  if(mystored.IsEmpty()) return;
+  if (mystored.IsEmpty())
+  {
+    return;
+  }
 
   const Standard_Integer anExtent = mystored.Extent();
-  if(myIndexes.IsNull() || anExtent != myIndexes->Length())
+  if (myIndexes.IsNull() || anExtent != myIndexes->Length())
+  {
     myIndexes = new TColStd_HArray1OfInteger (1, anExtent);
+  }
 
   TColStd_Array1OfInteger& anIndexArray = myIndexes->ChangeArray1();
   for (Standard_Integer anIndexIter = 1; anIndexIter <= anExtent; ++anIndexIter)
   {
     anIndexArray.SetValue (anIndexIter, anIndexIter);
   }
-  std::sort (anIndexArray.begin(), anIndexArray.end(), CompareResults (mystored));
+  std::sort (anIndexArray.begin(), anIndexArray.end(), CompareResults (mystored, myToPreferClosest));
 }
 
 //=======================================================================
@@ -1094,7 +1119,7 @@ void SelectMgr_ViewerSelector::DumpJson (Standard_OStream& theOStream, Standard_
 {
   OCCT_DUMP_TRANSIENT_CLASS_BEGIN (theOStream)
 
-  OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, preferclosest)
+  OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, myToPreferClosest)
   OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, myToUpdateTolerance)
   OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, mystored.Extent())
 
@@ -1122,7 +1147,6 @@ void SelectMgr_ViewerSelector::DumpJson (Standard_OStream& theOStream, Standard_
 
   OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, myCurRank)
   OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, myIsLeftChildQueuedFirst)
-  OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, myEntityIdx)
   OCCT_DUMP_FIELD_VALUE_NUMERICAL (theOStream, myMapOfObjectSensitives.Extent())
 }
 

src/SelectMgr/SelectMgr_ViewerSelector.hxx

@@ -30,6 +30,7 @@
 #include <SelectMgr_SelectableObjectSet.hxx>
 #include <SelectMgr_StateOfSelection.hxx>
 #include <SelectMgr_ToleranceMap.hxx>
+#include <SelectMgr_TypeOfDepthTolerance.hxx>
 #include <Standard_OStream.hxx>
 #include <SelectMgr_BVHThreadPool.hxx>
 
@@ -99,8 +100,7 @@ public:
   Standard_Integer PixelTolerance() const { return myTolerances.Tolerance(); }
 
   //! Sorts the detected entites by priority and distance.
-  //!          to be redefined if other criterion are used...
-  Standard_EXPORT void SortResult();
+  Standard_EXPORT virtual void SortResult();
 
   //! Returns the picked element with the highest priority,
   //! and which is the closest to the last successful mouse position.
@@ -111,13 +111,32 @@ public:
          : Picked (1);
   }
 
-  //! Set preference of selecting one object for OnePicked() method:
-  //! - If True, objects with less depth (distance fron the view plane) are
-  //!   preferred regardless of priority (priority is used then to choose among
-  //!   objects with similar depth),
-  //! - If False, objects with higher priority are preferred regardless of the
-  //!   depth which is used to choose among objects of the same priority.
-  void SetPickClosest (const Standard_Boolean theToPreferClosest) { preferclosest = theToPreferClosest; }
+  //! Return the flag determining precedence of picked depth (distance from eye to entity) over entity priority in sorted results; TRUE by default.
+  //! When flag is TRUE, priority will be considered only if entities have the same depth  within the tolerance.
+  //! When flag is FALSE, entities with higher priority will be in front regardless of their depth (like x-ray).
+  bool ToPickClosest() const { return myToPreferClosest; }
+
+  //! Set flag determining precedence of picked depth over entity priority in sorted results.
+  void SetPickClosest (bool theToPreferClosest) { myToPreferClosest = theToPreferClosest; }
+
+  //! Return the type of tolerance for considering two entities having a similar depth (distance from eye to entity);
+  //! SelectMgr_TypeOfDepthTolerance_SensitivityFactor by default.
+  SelectMgr_TypeOfDepthTolerance DepthToleranceType() const { return myDepthTolType; }
+
+  //! Return the tolerance for considering two entities having a similar depth (distance from eye to entity).
+  Standard_Real DepthTolerance() const { return myDepthTolerance; }
+
+  //! Set the tolerance for considering two entities having a similar depth (distance from eye to entity).
+  //! @param theType [in] type of tolerance value
+  //! @param theTolerance [in] tolerance value in 3D scale (SelectMgr_TypeOfDepthTolerance_Uniform)
+  //!                          or in pixels (SelectMgr_TypeOfDepthTolerance_UniformPixels);
+  //!                          value is ignored in case of SelectMgr_TypeOfDepthTolerance_SensitivityFactor
+  void SetDepthTolerance (SelectMgr_TypeOfDepthTolerance theType,
+                          Standard_Real theTolerance)
+  {
+    myDepthTolType   = theType;
+    myDepthTolerance = theTolerance;
+  }
 
   //! Returns the number of detected owners.
   Standard_Integer NbPicked() const { return mystored.Extent(); }
@@ -357,7 +376,9 @@ private: // implementation of deprecated methods
 
 protected:
 
-  Standard_Boolean                              preferclosest;
+  Standard_Real                                 myDepthTolerance;
+  SelectMgr_TypeOfDepthTolerance                myDepthTolType;
+  Standard_Boolean                              myToPreferClosest;
   Standard_Boolean                              myToUpdateTolerance;
   SelectMgr_IndexedDataMapOfOwnerCriterion      mystored;
   SelectMgr_SelectingVolumeManager              mySelectingVolumeMgr;
@@ -372,12 +393,9 @@ protected:
   Standard_Boolean                              myToPrebuildBVH;
   Handle(SelectMgr_BVHThreadPool)               myBVHThreadPool;
 
-private:
-
   Handle(TColStd_HArray1OfInteger)             myIndexes;
   Standard_Integer                             myCurRank;
   Standard_Boolean                             myIsLeftChildQueuedFirst;
-  Standard_Integer                             myEntityIdx;
   SelectMgr_MapOfObjectSensitives              myMapOfObjectSensitives;
 
 };

src/ViewerTest/ViewerTest_ViewerCommands.cxx

@@ -12821,7 +12821,6 @@ static int VManipulator (Draw_Interpretor& theDi,
 {
   Handle(V3d_View)   aCurrentView   = ViewerTest::CurrentView();
   Handle(V3d_Viewer) aViewer = ViewerTest::GetViewerFromContext();
-  ViewerTest::GetAISContext()->MainSelector()->SetPickClosest (Standard_False);
   if (aCurrentView.IsNull()
    || aViewer.IsNull())
   {
@@ -13300,6 +13299,52 @@ static int VSelectionProperties (Draw_Interpretor& theDi,
     {
       aCtx->SetPixelTolerance (Draw::Atoi (theArgVec[++anArgIter]));
     }
+    else if (anArg == "-preferclosest")
+    {
+      bool toPreferClosest = true;
+      if (anArgIter + 1 < theArgsNb
+       && Draw::ParseOnOff (theArgVec[anArgIter + 1], toPreferClosest))
+      {
+        ++anArgIter;
+      }
+      aCtx->MainSelector()->SetPickClosest (toPreferClosest);
+    }
+    else if ((anArg == "-depthtol"
+           || anArg == "-depthtolerance")
+          && anArgIter + 1 < theArgsNb)
+    {
+      TCollection_AsciiString aTolType (theArgVec[++anArgIter]);
+      aTolType.LowerCase();
+      if (aTolType == "uniform")
+      {
+        if (anArgIter + 1 >= theArgsNb)
+        {
+          Message::SendFail() << "Syntax error: wrong number of arguments";
+          return 1;
+        }
+        aCtx->MainSelector()->SetDepthTolerance (SelectMgr_TypeOfDepthTolerance_Uniform,
+                                                 Draw::Atof (theArgVec[++anArgIter]));
+      }
+      else if (aTolType == "uniformpx")
+      {
+        if (anArgIter + 1 >= theArgsNb)
+        {
+          Message::SendFail() << "Syntax error: wrong number of arguments";
+          return 1;
+        }
+        aCtx->MainSelector()->SetDepthTolerance (SelectMgr_TypeOfDepthTolerance_UniformPixels,
+                                                 Draw::Atof (theArgVec[++anArgIter]));
+      }
+      else if (aTolType == "sensfactor")
+      {
+        aCtx->MainSelector()->SetDepthTolerance (SelectMgr_TypeOfDepthTolerance_SensitivityFactor, 0.0);
+      }
+      else
+      {
+        Message::SendFail() << "Syntax error at '" << aTolType << "'";
+        return 1;
+      }
+    }
     else if ((anArg == "-mode"
            || anArg == "-dispmode")
           && anArgIter + 1 < theArgsNb)
@@ -13429,6 +13474,7 @@ static int VSelectionProperties (Draw_Interpretor& theDi,
     else
     {
       Message::SendFail() << "Syntax error at '" << theArgVec[anArgIter] << "'";
+      return 1;
     }
   }
 
@@ -14898,6 +14944,9 @@ void ViewerTest::ViewerCommands(Draw_Interpretor& theCommands)
     "\n                            'first'   to pick first acceptable (default)"
     "\n                            'topmost' to pick only topmost (and nothing, if topmost is rejected by filters)"
     "\n    -pixTol    value        : sets up pixel tolerance"
+    "\n    -depthTol {uniform|uniformpx} value : sets tolerance for sorting results by depth"
+    "\n    -depthTol {sensfactor}  : use sensitive factor for sorting results by depth"
+    "\n    -preferClosest {0|1}    : sets if depth should take precedence over priority while sorting results"
     "\n    -dispMode  dispMode     : sets display mode for highlighting"
     "\n    -layer     ZLayer       : sets ZLayer for highlighting"
     "\n    -color     {name|r g b} : sets highlight color"