Select Edge wit GraphicPicker

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1

Hello together,

I want to pick an edge on a part in Robotstudio, but I can’t find a direct way to do it. Is it possible to display and select the edge?
With “GraphicPicker” I can set selection to “Face” and snap to “edge”. Then I get the face and Pickposition back, see VB.NET code below. But how can I retrieve the edge that was clicked?

First I set SelectionMode and SnapMode, then add the handler for subPickEdge

        oclass.SetSelectionMode(SelectionModes.Surface)
        oclass.SetSnapMode(SnapMode.Edge)
        AddHandler GraphicPicker.GraphicPick, AddressOf subPickEdge

The Sub for Picking is defined as

    Shared Sub subPickEdge(ByVal sender As Object, ByVal e As GraphicPickEventArgs)
        Try
            If Not (e.PickedObject Is Nothing) Then
                'picked object is a face, even if i pick an edge
                Dim oFace As Face
                oFace = e.PickedObject
                'Pickposition
                Dim oPos As Vector3
                oPos = e.PickedPosition
                'calculate the Pickposition into 'face coordinats'
                Dim oLSBody As Body
                oLSBody = oFace.Body
                Dim mLSTFFace As Matrix4 = oLSBody.Transform.GlobalMatrix
                Dim mLSTFFaceINV As Matrix4 = oLSBody.Transform.GlobalMatrix
                mLSTFFaceINV.InvertRigid()
                Dim oPosinFace As Vector3
                oPosinFace = mLSTFFaceINV.MultiplyPoint(oPos)
                Debug.Print(oPosinFace.ToString & "->" & oPos.ToString)
                'access the coedges of the face
                Dim oPostemp As Vector3
                For Each oLoop In oFace.Loops
                    For Each oCoedge In oLoop.Coedges
                        oPostemp = mLSTFFace.MultiplyPoint(oCoedge.StartVertex.Position)
                        'Print StartVertex of Coedge in both WCS and PartCS
                        Debug.Print(oCoedge.StartVertex.Position.ToString & "->" & oPostemp.ToString)
                    Next
                Next
            End If
        Catch ex As Exception
            MessageBox.Show(ex.Message)
        End Try
    End Sub

Does anyone have any advice or a solution to my problem?

Best Regards

Wolfgang