diff --git a/examples/worlds/minimal_scene.sdf b/examples/worlds/minimal_scene.sdf new file mode 100644 index 00000000000..8dc69f2bbf1 --- /dev/null +++ b/examples/worlds/minimal_scene.sdf @@ -0,0 +1,452 @@ + + + + + + + + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + /world/buoyancy/control + /world/buoyancy/stats + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/buoyancy/stats + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + docked + + + + + + + false + docked + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + 0 0 0.5 0 0 0 + + + + 0.16666 + 0 + 0 + 0.16666 + 0 + 0.16666 + + 1.0 + + + + + 1 1 1 + + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + + 0 -1.5 0.5 0 0 0 + + + + 0.1458 + 0 + 0 + 0.1458 + 0 + 0.125 + + 1.0 + + + + + 0.5 + 1.0 + + + + + + + + 0.5 + 1.0 + + + + 0 1 0 1 + 0 1 0 1 + 0 1 0 1 + + + + + + + 0 1.5 0.5 0 0 0 + + + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + 1.0 + + + + + 0.5 + + + + + + + + 0.5 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + + + + + + + 0 -3.0 0.5 0 0 0 + + + + 0.074154 + 0 + 0 + 0.074154 + 0 + 0.018769 + + 1.0 + + + + + 0.2 + 0.6 + + + + + + + 0.2 + 0.6 + + + + 1 1 0 1 + 1 1 0 1 + 1 1 0 1 + + + + + + + 0 3.0 0.5 0 0 0 + + + + 0.068 + 0 + 0 + 0.058 + 0 + 0.026 + + 1.0 + + + + + 0.2 0.3 0.5 + + + + + + + 0.2 0.3 0.5 + + + + 1 0 1 1 + 1 0 1 1 + 1 0 1 1 + + + + + + diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh index 8f21ff3625e..daecee74220 100644 --- a/include/ignition/gazebo/rendering/RenderUtil.hh +++ b/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); diff --git a/src/gui/plugins/CMakeLists.txt b/src/gui/plugins/CMakeLists.txt index 1c854c24259..d461475ae18 100644 --- a/src/gui/plugins/CMakeLists.txt +++ b/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) diff --git a/src/gui/plugins/scene_manager/CMakeLists.txt b/src/gui/plugins/scene_manager/CMakeLists.txt new file mode 100644 index 00000000000..6e5e884b940 --- /dev/null +++ b/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} +) diff --git a/src/gui/plugins/scene_manager/GzSceneManager.cc b/src/gui/plugins/scene_manager/GzSceneManager.cc new file mode 100644 index 00000000000..f7ec59fbacb --- /dev/null +++ b/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 +#include +#include +#include +#include +#include +#include + +#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()) +{ +} + +///////////////////////////////////////////////// +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) diff --git a/src/gui/plugins/scene_manager/GzSceneManager.hh b/src/gui/plugins/scene_manager/GzSceneManager.hh new file mode 100644 index 00000000000..ab0d5f1be0d --- /dev/null +++ b/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 + +#include + +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 dataPtr; + }; +} +} +} + +#endif diff --git a/src/gui/plugins/scene_manager/GzSceneManager.qml b/src/gui/plugins/scene_manager/GzSceneManager.qml new file mode 100644 index 00000000000..873da30014a --- /dev/null +++ b/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 +} diff --git a/src/gui/plugins/scene_manager/GzSceneManager.qrc b/src/gui/plugins/scene_manager/GzSceneManager.qrc new file mode 100644 index 00000000000..b28c13c3b46 --- /dev/null +++ b/src/gui/plugins/scene_manager/GzSceneManager.qrc @@ -0,0 +1,5 @@ + + + GzSceneManager.qml + + diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 5bb2d771160..05794c225e2 100644 --- a/src/rendering/RenderUtil.cc +++ b/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 {