New scene manager GUI plugin that works with ign-gui's MinimalScene (g…

…azebosim#813)

Signed-off-by: Louise Poubel <[email protected]>

Co-authored-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: William Lew <[email protected]>

include/ignition/gazebo/rendering/RenderUtil.hh

@@ -92,6 +92,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \return Name of the rendering scene.
     public: std::string SceneName() const;
 
+    /// \brief Set the scene to use.
+    /// \param[in] _scene Pointer to the scene.
+    public: void SetScene(const rendering::ScenePtr &_scene);
+
     /// \brief Set background color of render window
     /// \param[in] _color Color of render window background
     public: void SetBackgroundColor(const math::Color &_color);

src/gui/plugins/CMakeLists.txt

@@ -130,6 +130,7 @@ add_subdirectory(plot_3d)
 add_subdirectory(plotting)
 add_subdirectory(resource_spawner)
 add_subdirectory(scene3d)
+add_subdirectory(scene_manager)
 add_subdirectory(shapes)
 add_subdirectory(tape_measure)
 add_subdirectory(transform_control)

src/gui/plugins/scene_manager/CMakeLists.txt

@@ -0,0 +1,7 @@
+gz_add_gui_plugin(GzSceneManager
+  SOURCES GzSceneManager.cc
+  QT_HEADERS GzSceneManager.hh
+  PRIVATE_LINK_LIBS
+    ${PROJECT_LIBRARY_TARGET_NAME}-rendering
+    ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER}
+)

src/gui/plugins/scene_manager/GzSceneManager.cc

@@ -0,0 +1,115 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include "GzSceneManager.hh"
+
+#include <ignition/common/Profiler.hh>
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/GuiEvents.hh>
+#include <ignition/gui/MainWindow.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/rendering/RenderingIface.hh>
+#include <ignition/rendering/Scene.hh>
+
+#include "ignition/gazebo/EntityComponentManager.hh"
+#include "ignition/gazebo/components/Name.hh"
+#include "ignition/gazebo/components/World.hh"
+#include "ignition/gazebo/rendering/RenderUtil.hh"
+
+namespace ignition
+{
+namespace gazebo
+{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+  /// \brief Private data class for GzSceneManager
+  class GzSceneManagerPrivate
+  {
+    /// \brief Update the 3D scene based on the latest state of the ECM.
+    public: void OnRender();
+
+    //// \brief Pointer to the rendering scene
+    public: rendering::ScenePtr scene;
+
+    /// \brief Rendering utility
+    public: RenderUtil renderUtil;
+  };
+}
+}
+}
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+GzSceneManager::GzSceneManager()
+  : GuiSystem(), dataPtr(std::make_unique<GzSceneManagerPrivate>())
+{
+}
+
+/////////////////////////////////////////////////
+GzSceneManager::~GzSceneManager() = default;
+
+/////////////////////////////////////////////////
+void GzSceneManager::LoadConfig(const tinyxml2::XMLElement *)
+{
+  if (this->title.empty())
+    this->title = "Scene Manager";
+
+  ignition::gui::App()->findChild<
+      ignition::gui::MainWindow *>()->installEventFilter(this);
+}
+
+//////////////////////////////////////////////////
+void GzSceneManager::Update(const UpdateInfo &_info,
+    EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("GzSceneManager::Update");
+
+  this->dataPtr->renderUtil.UpdateECM(_info, _ecm);
+  this->dataPtr->renderUtil.UpdateFromECM(_info, _ecm);
+}
+
+/////////////////////////////////////////////////
+bool GzSceneManager::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (_event->type() == gui::events::Render::kType)
+  {
+    this->dataPtr->OnRender();
+  }
+
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
+}
+
+/////////////////////////////////////////////////
+void GzSceneManagerPrivate::OnRender()
+{
+  if (nullptr == this->scene)
+  {
+    this->scene = rendering::sceneFromFirstRenderEngine();
+    if (nullptr == this->scene)
+      return;
+
+    this->renderUtil.SetScene(this->scene);
+  }
+
+  this->renderUtil.Update();
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(ignition::gazebo::GzSceneManager,
+                    ignition::gui::Plugin)

src/gui/plugins/scene_manager/GzSceneManager.hh

@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_GAZEBO_GUI_GZSCENEMANAGER_HH_
+#define IGNITION_GAZEBO_GUI_GZSCENEMANAGER_HH_
+
+#include <memory>
+
+#include <ignition/gazebo/gui/GuiSystem.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+  class GzSceneManagerPrivate;
+
+  /// \brief Updates a 3D scene based on information coming from the ECM.
+  /// This plugin doesn't instantiate a new 3D scene. Instead, it relies on
+  /// another plugin being loaded alongside it that will create and paint the
+  /// scene to the window, such as `ignition::gui::plugins::Scene3D`.
+  class GzSceneManager : public GuiSystem
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    public: GzSceneManager();
+
+    /// \brief Destructor
+    public: ~GzSceneManager() override;
+
+    // Documentation inherited
+    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+        override;
+
+    // Documentation inherited
+    public: void Update(const UpdateInfo &_info,
+        EntityComponentManager &_ecm) override;
+
+    // Documentation inherited
+    private: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
+    /// \internal
+    /// \brief Pointer to private data.
+    private: std::unique_ptr<GzSceneManagerPrivate> dataPtr;
+  };
+}
+}
+}
+
+#endif

src/gui/plugins/scene_manager/GzSceneManager.qml

@@ -0,0 +1,28 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+import QtQuick 2.0
+import QtQuick.Controls 2.0
+import QtQuick.Layouts 1.3
+
+// TODO: remove invisible rectangle, see
+// https://github.com/ignitionrobotics/ign-gui/issues/220
+Rectangle {
+  visible: false
+  Layout.minimumWidth: 100
+  Layout.minimumHeight: 100
+}

src/gui/plugins/scene_manager/GzSceneManager.qrc

@@ -0,0 +1,5 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource prefix="GzSceneManager/">
+  <file>GzSceneManager.qml</file>
+</qresource>
+</RCC>

src/rendering/RenderUtil.cc

@@ -1676,6 +1676,10 @@ void RenderUtilPrivate::RemoveRenderingEntities(
 /////////////////////////////////////////////////
 void RenderUtil::Init()
 {
+  // Already initialized
+  if (nullptr != this->dataPtr->scene)
+    return;
+
   ignition::common::SystemPaths pluginPath;
   pluginPath.SetPluginPathEnv(kRenderPluginPathEnv);
   rendering::setPluginPaths(pluginPath.PluginPaths());
@@ -1776,6 +1780,14 @@ void RenderUtil::SetSceneName(const std::string &_name)
   this->dataPtr->sceneName = _name;
 }
 
+/////////////////////////////////////////////////
+void RenderUtil::SetScene(const rendering::ScenePtr &_scene)
+{
+  this->dataPtr->scene = _scene;
+  this->dataPtr->sceneManager.SetScene(_scene);
+  this->dataPtr->engine = _scene == nullptr ? nullptr : _scene->Engine();
+}
+
 /////////////////////////////////////////////////
 std::string RenderUtil::SceneName() const
 {