Merge pull request #406 from ignitionrobotics/5_to_6_20210914

5 -> 6

examples/simple_demo_qml/CMakeLists.txt

@@ -0,0 +1,92 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+project(ignition-rendering-simple-demo-qml)
+
+#------------------------------------------------------------------------
+# Compile as C++14
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+#------------------------------------------------------------------------
+# Find ignition-cmake
+find_package(ignition-cmake2 2.3 REQUIRED)
+set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
+
+#------------------------------------------------------------------------
+# Find ign-rendering
+find_package(ignition-rendering6)
+
+#======================================
+# Find Qt
+find_package(Qt5 REQUIRED COMPONENTS
+    Core
+    Gui
+    Qml
+    Quick
+    QuickControls2
+    Widgets
+)
+
+include_directories(
+    ${PROJECT_SOURCE_DIR}/include
+    ${Qt5Core_INCLUDE_DIRS}
+    ${Qt5Qml_INCLUDE_DIRS}
+    ${Qt5Quick_INCLUDE_DIRS}
+    ${Qt5QuickControls2_INCLUDE_DIRS}
+    ${Qt5Widgets_INCLUDE_DIRS}
+)
+
+add_definitions(
+    ${Qt5Widgets_DEFINITIONS}
+    ${Qt5Qml_DEFINITIONS}
+    ${${Qt5Quick_DEFINITIONS}}
+)
+
+#======================================
+# Configure Qt
+
+qt5_add_resources(QT_RESOURCES
+    Main.qrc
+)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${Qt5Widgets_EXECUTABLE_COMPILE_FLAGS}")
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTORCC ON)
+set(CMAKE_AUTOUIC ON)
+
+#======================================
+# Build
+
+add_executable(simple_demo_qml
+    Main.cc
+    IgnitionRenderer.hh
+    IgnitionRenderer.cc
+    ThreadRenderer.h
+    ThreadRenderer.cpp
+    ${QT_RESOURCES}
+)
+
+target_include_directories(simple_demo_qml PUBLIC
+    ${IGNITION-RENDERING_INCLUDE_DIRS}
+    ${OGRE2_INCLUDE_DIRS}
+    ${OpenGL_INCLUDE_DIRS}
+)
+
+target_link_libraries(simple_demo_qml PUBLIC
+    ${IGNITION-RENDERING_LIBRARIES}
+    ${OGRE2_LIBRARIES}
+    ${OPENGL_LIBRARIES}
+    Qt5::Core
+    Qt5::Gui
+    Qt5::Qml
+    Qt5::Quick
+)
+
+set_target_properties(simple_demo_qml
+    PROPERTIES
+        QT_QML_MODULE_VERSION 1.0
+        QT_QML_MODULE_URI IgnitionRendering
+    ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+    RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+)

examples/simple_demo_qml/IgnitionRenderer.cc

@@ -0,0 +1,294 @@
+/*
+ * Copyright (C) 2021 Rhys Mainwaring
+ *
+ * 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.
+ *
+ */
+
+// The functions BuildScene and createCamera are copied from the simple_demo
+// example.
+
+#include "IgnitionRenderer.hh"
+
+#include <QOpenGLContext>
+#include <QQuickWindow>
+
+#include <ignition/common/Console.hh>
+
+#include <iostream>
+
+using namespace ignition;
+using namespace rendering;
+
+//////////////////////////////////////////////////
+void BuildScene(ignition::rendering::ScenePtr _scene)
+{
+  // initialize _scene
+  _scene->SetAmbientLight(0.3, 0.3, 0.3);
+  VisualPtr root = _scene->RootVisual();
+
+  // create directional light
+  DirectionalLightPtr light0 = _scene->CreateDirectionalLight();
+  light0->SetDirection(-0.5, 0.5, -1);
+  light0->SetDiffuseColor(0.5, 0.5, 0.5);
+  light0->SetSpecularColor(0.5, 0.5, 0.5);
+  root->AddChild(light0);
+
+  // create point light
+  PointLightPtr light2 = _scene->CreatePointLight();
+  light2->SetDiffuseColor(0.5, 0.5, 0.5);
+  light2->SetSpecularColor(0.5, 0.5, 0.5);
+  light2->SetLocalPosition(3, 5, 5);
+  root->AddChild(light2);
+
+  // create green material
+  MaterialPtr green = _scene->CreateMaterial();
+  green->SetAmbient(0.0, 0.5, 0.0);
+  green->SetDiffuse(0.0, 0.7, 0.0);
+  green->SetSpecular(0.5, 0.5, 0.5);
+  green->SetShininess(50);
+  green->SetReflectivity(0);
+
+  // create center visual
+  VisualPtr center = _scene->CreateVisual();
+  center->AddGeometry(_scene->CreateSphere());
+  center->SetLocalPosition(3, 0, 0);
+  center->SetLocalScale(0.1, 0.1, 0.1);
+  center->SetMaterial(green);
+  root->AddChild(center);
+
+  // create red material
+  MaterialPtr red = _scene->CreateMaterial();
+  red->SetAmbient(0.5, 0.0, 0.0);
+  red->SetDiffuse(1.0, 0.0, 0.0);
+  red->SetSpecular(0.5, 0.5, 0.5);
+  red->SetShininess(50);
+  red->SetReflectivity(0);
+  red->SetRenderOrder(3);
+
+  // create sphere visual
+  VisualPtr sphere = _scene->CreateVisual();
+  sphere->AddGeometry(_scene->CreateSphere());
+  sphere->SetOrigin(0.0, -0.5, 0.0);
+  sphere->SetLocalPosition(3, 0, 0);
+  sphere->SetLocalRotation(0, 0, 0);
+  sphere->SetLocalScale(1, 1, 1);
+  sphere->SetMaterial(red);
+  root->AddChild(sphere);
+
+  // create blue material
+  MaterialPtr blue = _scene->CreateMaterial();
+  blue->SetAmbient(0.0, 0.0, 0.3);
+  blue->SetDiffuse(0.0, 0.0, 0.8);
+  blue->SetSpecular(0.5, 0.5, 0.5);
+  blue->SetShininess(50);
+  blue->SetReflectivity(0);
+
+  // create box visual
+  VisualPtr box = _scene->CreateVisual();
+  box->AddGeometry(_scene->CreateBox());
+  box->SetOrigin(0.0, 0.5, 0.0);
+  box->SetLocalPosition(3, 0, 0);
+  box->SetLocalRotation(IGN_PI / 4, 0, IGN_PI / 3);
+  box->SetLocalScale(1, 2.5, 1);
+  box->SetMaterial(blue);
+  root->AddChild(box);
+
+  // create ellipsoid visual
+  VisualPtr ellipsoidVisual = _scene->CreateVisual();
+  auto ellipsoid = _scene->CreateSphere();
+  ellipsoidVisual->SetLocalScale(1.2, 0.7, 0.5);
+  ellipsoidVisual->AddGeometry(ellipsoid);
+  ellipsoidVisual->SetLocalPosition(3, -1, 0);
+  ellipsoidVisual->SetMaterial(green);
+  root->AddChild(ellipsoidVisual);
+
+  // create white material
+  MaterialPtr white = _scene->CreateMaterial();
+  white->SetAmbient(0.5, 0.5, 0.5);
+  white->SetDiffuse(0.8, 0.8, 0.8);
+  white->SetReceiveShadows(true);
+  white->SetReflectivity(0);
+  white->SetRenderOrder(0);
+
+  VisualPtr capsuleVisual = _scene->CreateVisual();
+  CapsulePtr capsule = _scene->CreateCapsule();
+  capsule->SetLength(0.2);
+  capsule->SetRadius(0.2);
+  capsuleVisual->AddGeometry(capsule);
+  capsuleVisual->SetOrigin(0.0, 0.0, 0.0);
+  capsuleVisual->SetLocalPosition(4, 2, 0);
+  capsuleVisual->SetLocalScale(1, 1, 1);
+  capsuleVisual->SetMaterial(red);
+  root->AddChild(capsuleVisual);
+
+  // create plane visual
+  VisualPtr plane = _scene->CreateVisual();
+  plane->AddGeometry(_scene->CreatePlane());
+  plane->SetLocalScale(5, 8, 1);
+  plane->SetLocalPosition(3, 0, -0.5);
+  plane->SetMaterial(white);
+  root->AddChild(plane);
+
+  // create plane visual
+  VisualPtr plane2 = _scene->CreateVisual();
+  plane2->AddGeometry(_scene->CreatePlane());
+  plane2->SetLocalScale(5, 8, 1);
+  plane2->SetLocalPosition(4, 0.5, -0.5);
+  plane2->Scale(0.1, 0.1, 1);
+  plane2->SetMaterial(red);
+  root->AddChild(plane2);
+
+  // create axis visual
+  VisualPtr axis = _scene->CreateAxisVisual();
+  axis->SetLocalPosition(4.0, 0.5, -0.4);
+  root->AddChild(axis);
+
+  // create camera
+  CameraPtr camera = _scene->CreateCamera("camera");
+  camera->SetLocalPosition(0.0, 0.0, 0.0);
+  camera->SetLocalRotation(0.0, 0.0, 0.0);
+  camera->SetImageWidth(800);
+  camera->SetImageHeight(600);
+  camera->SetAntiAliasing(2);
+  camera->SetAspectRatio(800.0/600.0);
+  camera->SetHFOV(IGN_PI / 2);
+  root->AddChild(camera);
+
+  // track target
+  camera->SetTrackTarget(box);
+}
+
+//////////////////////////////////////////////////
+ignition::rendering::CameraPtr CreateCamera(const std::string &_engineName)
+{
+  // create and populate scene
+  std::map<std::string, std::string> params;
+
+  // ensure that the QML application and Ignition / Ogre2 share an OpenGL
+  // context
+  params["useCurrentGLContext"] = "1";
+  RenderEngine *engine = rendering::engine(_engineName, params);
+  if (!engine)
+  {
+    std::cout << "Engine '" << _engineName
+                << "' is not supported" << std::endl;
+    return CameraPtr();
+  }
+  ScenePtr scene = engine->CreateScene("scene");
+  BuildScene(scene);
+
+  // return camera sensor
+  SensorPtr sensor = scene->SensorByName("camera");
+  return std::dynamic_pointer_cast<Camera>(sensor);
+}
+
+//////////////////////////////////////////////////
+IgnitionRenderer::~IgnitionRenderer()
+{
+}
+
+//////////////////////////////////////////////////
+IgnitionRenderer::IgnitionRenderer()
+{
+}
+
+//////////////////////////////////////////////////
+void IgnitionRenderer::Initialise()
+{
+  // no-op - all initialised on the main thread
+}
+
+//////////////////////////////////////////////////
+void IgnitionRenderer::InitialiseOnMainThread()
+{
+  if (!this->initialised)
+  {
+    this->InitEngine();
+    this->initialised = true;
+  }
+}
+
+//////////////////////////////////////////////////
+void IgnitionRenderer::Render()
+{
+  // pre-render may regenerate textureId if the size changes
+  this->camera->PreRender();
+  this->textureId = this->camera->RenderTextureGLId();
+
+  // render to texture
+  this->camera->Update();
+
+  // Move camera
+  this->UpdateCamera();
+}
+
+//////////////////////////////////////////////////
+bool IgnitionRenderer::Initialised() const
+{
+  return this->initialised;
+}
+
+//////////////////////////////////////////////////
+unsigned int IgnitionRenderer::TextureId() const
+{
+  return this->textureId;
+}
+
+//////////////////////////////////////////////////
+QSize IgnitionRenderer::TextureSize() const
+{
+  return this->textureSize;
+}
+
+//////////////////////////////////////////////////
+void IgnitionRenderer::InitEngine()
+{
+  std::string engineName("ogre2");
+
+  common::Console::SetVerbosity(4);
+
+  try
+  {
+    this->camera = CreateCamera(engineName);
+  }
+  catch (...)
+  {
+    std::cerr << "Error starting up: " << engineName << std::endl;
+  }
+
+  if (!this->camera)
+  {
+    ignerr << "No cameras found. Scene will not be rendered" << std::endl;
+    return;
+  }
+
+  // quick check on sizing...
+  ignmsg << "imageW: " << this->camera->ImageWidth() << "\n";
+  ignmsg << "imageH: " << this->camera->ImageHeight() << "\n";
+
+  // pre-render will force texture creation and may update texture id
+  this->camera->PreRender();
+  this->textureId = this->camera->RenderTextureGLId();
+}
+
+//////////////////////////////////////////////////
+void IgnitionRenderer::UpdateCamera()
+{
+  double angle = this->cameraOffset / 2 * M_PI;
+  double x = sin(angle) * 3.0 + 3.0;
+  double y = cos(angle) * 3.0;
+  this->camera->SetLocalPosition(x, y, 0.0);
+
+  this->cameraOffset += 0.0005;
+}