Wireframe mode (#816)

* Visualize wireframes Signed-off-by: Atharva Pusalkar <[email protected]> * Fix nested models Signed-off-by: Atharva Pusalkar <[email protected]> * Reorder menu items Signed-off-by: Atharva Pusalkar <[email protected]> * Style fix Signed-off-by: Atharva Pusalkar <[email protected]>
gazebosim · May 17, 2021 · c2a4a40 · c2a4a40
1 parent d19dda1
commit c2a4a40
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diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh
@@ -126,6 +126,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     public : void SetRemoveSensorCb(
         std::function<void(const gazebo::Entity &)> _removeSensorCb);
 
+    /// \brief View wireframes of specified entity
+    /// \param[in] _entity Entity to view wireframes
+    public: void ViewWireframes(const Entity &_entity);
+
     /// \brief View collisions of specified entity which are shown in orange
     /// \param[in] _entity Entity to view collisions
     public: void ViewCollisions(const Entity &_entity);

diff --git a/src/gui/plugins/modules/EntityContextMenu.cc b/src/gui/plugins/modules/EntityContextMenu.cc
@@ -47,6 +47,9 @@ namespace ignition::gazebo
     /// \brief Remove service name
     public: std::string removeService;
 
+    /// \brief View wireframes service name
+    public: std::string viewWireframesService;
+
     /// \brief View collisions service name
     public: std::string viewCollisionsService;
 
@@ -79,6 +82,9 @@ EntityContextMenu::EntityContextMenu()
   // For remove service requests
   this->dataPtr->removeService = "/world/default/remove";
 
+  // For view wireframes service requests
+  this->dataPtr->viewWireframesService = "/gui/view/wireframes";
+
   // For view collisions service requests
   this->dataPtr->viewCollisionsService = "/gui/view/collisions";
 }
@@ -152,6 +158,12 @@ void EntityContextMenu::OnRequest(const QString &_request, const QString &_data)
     req.set_data(_data.toStdString());
     this->dataPtr->node.Request(this->dataPtr->followService, req, cb);
   }
+  else if (request == "view_wireframes")
+  {
+    ignition::msgs::StringMsg req;
+    req.set_data(_data.toStdString());
+    this->dataPtr->node.Request(this->dataPtr->viewWireframesService, req, cb);
+  }
   else if (request == "view_collisions")
   {
     ignition::msgs::StringMsg req;

diff --git a/src/gui/plugins/modules/EntityContextMenu.qml b/src/gui/plugins/modules/EntityContextMenu.qml
@@ -71,6 +71,14 @@ Item {
         context.OnRequest("view_collisions", context.entity)
       }
     }
+    MenuItem {
+      id: viewWireframesMenu
+      text: "Wireframe"
+      onTriggered: {
+        menu.close()
+        context.OnRequest("view_wireframes", context.entity)
+      }
+    }
   }
 
   function open(_entity, _type, _x, _y) {
@@ -81,6 +89,7 @@ Item {
     moveToMenu.enabled = false
     followMenu.enabled = false
     removeMenu.enabled = false
+    viewWireframesMenu.enabled = false;
     viewCollisionsMenu.enabled = false;
 
     // enable / disable menu items
@@ -99,6 +108,7 @@ Item {
 
     if (context.type == "model" || context.type == "link")
     {
+      viewWireframesMenu.enabled = true;
       viewCollisionsMenu.enabled = true;
     }
 

diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc
@@ -233,6 +233,9 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \brief Helper object to move user camera
     public: MoveToHelper moveToHelper;
 
+    /// \brief Target to view wireframes
+    public: std::string viewWireframesTarget;
+
     /// \brief Target to view collisions
     public: std::string viewCollisionsTarget;
 
@@ -435,6 +438,9 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// Used when recording in lockstep mode.
     public: std::mutex renderMutex;
 
+    /// \brief View wireframes service
+    public: std::string viewWireframesService;
+
     /// \brief View collisions service
     public: std::string viewCollisionsService;
   };
@@ -811,6 +817,32 @@ void IgnRenderer::Render()
     }
   }
 
+  // View wireframes
+  {
+    IGN_PROFILE("IgnRenderer::Render ViewWireframes");
+    if (!this->dataPtr->viewWireframesTarget.empty())
+    {
+      rendering::NodePtr targetNode =
+          scene->NodeByName(this->dataPtr->viewWireframesTarget);
+      auto targetVis = std::dynamic_pointer_cast<rendering::Visual>(targetNode);
+
+      if (targetVis)
+      {
+        Entity targetEntity =
+            std::get<int>(targetVis->UserData("gazebo-entity"));
+        this->dataPtr->renderUtil.ViewWireframes(targetEntity);
+      }
+      else
+      {
+        ignerr << "Unable to find node name ["
+               << this->dataPtr->viewWireframesTarget
+               << "] to view wireframes" << std::endl;
+      }
+
+      this->dataPtr->viewWireframesTarget.clear();
+    }
+  }
+
   // View collisions
   {
     IGN_PROFILE("IgnRenderer::Render ViewCollisions");
@@ -2006,6 +2038,13 @@ void IgnRenderer::SetMoveToPose(const math::Pose3d &_pose)
   this->dataPtr->moveToPoseValue = _pose;
 }
 
+/////////////////////////////////////////////////
+void IgnRenderer::SetViewWireframesTarget(const std::string &_target)
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+  this->dataPtr->viewWireframesTarget = _target;
+}
+
 /////////////////////////////////////////////////
 void IgnRenderer::SetViewCollisionsTarget(const std::string &_target)
 {
@@ -2739,6 +2778,13 @@ void Scene3D::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
   ignmsg << "Camera pose topic advertised on ["
          << this->dataPtr->cameraPoseTopic << "]" << std::endl;
 
+  // view wireframes service
+  this->dataPtr->viewWireframesService = "/gui/view/wireframes";
+  this->dataPtr->node.Advertise(this->dataPtr->viewWireframesService,
+      &Scene3D::OnViewWireframes, this);
+  ignmsg << "View wireframes service on ["
+         << this->dataPtr->viewWireframesService << "]" << std::endl;
+
   // view collisions service
   this->dataPtr->viewCollisionsService = "/gui/view/collisions";
   this->dataPtr->node.Advertise(this->dataPtr->viewCollisionsService,
@@ -2901,6 +2947,18 @@ bool Scene3D::OnMoveToPose(const msgs::GUICamera &_msg, msgs::Boolean &_res)
   return true;
 }
 
+/////////////////////////////////////////////////
+bool Scene3D::OnViewWireframes(const msgs::StringMsg &_msg,
+  msgs::Boolean &_res)
+{
+  auto renderWindow = this->PluginItem()->findChild<RenderWindowItem *>();
+
+  renderWindow->SetViewWireframesTarget(_msg.data());
+
+  _res.set_data(true);
+  return true;
+}
+
 /////////////////////////////////////////////////
 bool Scene3D::OnViewCollisions(const msgs::StringMsg &_msg,
   msgs::Boolean &_res)
@@ -3170,6 +3228,12 @@ void RenderWindowItem::SetMoveToPose(const math::Pose3d &_pose)
   this->dataPtr->renderThread->ignRenderer.SetMoveToPose(_pose);
 }
 
+/////////////////////////////////////////////////
+void RenderWindowItem::SetViewWireframesTarget(const std::string &_target)
+{
+  this->dataPtr->renderThread->ignRenderer.SetViewWireframesTarget(_target);
+}
+
 /////////////////////////////////////////////////
 void RenderWindowItem::SetViewCollisionsTarget(const std::string &_target)
 {

diff --git a/src/gui/plugins/scene3d/Scene3D.hh b/src/gui/plugins/scene3d/Scene3D.hh
@@ -154,6 +154,13 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     private: bool OnMoveToPose(const msgs::GUICamera &_msg,
                  msgs::Boolean &_res);
 
+    /// \brief Callback for view wireframes request
+    /// \param[in] _msg Request message to set the target to view wireframes
+    /// \param[in] _res Response data
+    /// \return True if the request is received
+    private: bool OnViewWireframes(const msgs::StringMsg &_msg,
+        msgs::Boolean &_res);
+
     /// \brief Callback for view collisions request
     /// \param[in] _msg Request message to set the target to view collisions
     /// \param[in] _res Response data
@@ -252,6 +259,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \param[in] _pose The world pose to set the camera to.
     public: void SetMoveToPose(const math::Pose3d &_pose);
 
+    /// \brief View wireframes of the specified target
+    /// \param[in] _target Target to view wireframes
+    public: void SetViewWireframesTarget(const std::string &_target);
+
     /// \brief View collisions of the specified target
     /// \param[in] _target Target to view collisions
     public: void SetViewCollisionsTarget(const std::string &_target);
@@ -598,6 +609,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \param[in] _pose The new camera pose in the world frame.
     public: void SetMoveToPose(const math::Pose3d &_pose);
 
+    /// \brief View wireframes of the specified target
+    /// \param[in] _target Target to view wireframes
+    public: void SetViewWireframesTarget(const std::string &_target);
+
     /// \brief View collisions of the specified target
     /// \param[in] _target Target to view collisions
     public: void SetViewCollisionsTarget(const std::string &_target);