Inertia visual

include/ignition/rendering/InertiaVisual.hh

@@ -0,0 +1,49 @@
+/*
+ * 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_RENDERING_INERTIAVISUAL_HH_
+#define IGNITION_RENDERING_INERTIAVISUAL_HH_
+
+#include "ignition/rendering/config.hh"
+#include "ignition/rendering/Object.hh"
+#include "ignition/rendering/RenderTypes.hh"
+#include "ignition/rendering/Visual.hh"
+
+namespace ignition
+{
+  namespace rendering
+  {
+    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+
+    /// \class InertiaVisual InertiaVisual.hh
+    /// ignition/rendering/InertiaVisual.hh
+    /// \brief Represents a inertia visual
+    class IGNITION_RENDERING_VISIBLE InertiaVisual :
+      public virtual Visual
+    {
+      /// \brief Destructor
+      public: virtual ~InertiaVisual() {}
+
+      /// \brief Load the Inertia visual from its pose and scale
+      /// \param[in] _pose Pose of the Inertia visual
+      /// \param[in] _scale scale factor of the box visual
+      public: virtual void Load(const ignition::math::Pose3d &_pose,
+          const ignition::math::Vector3d &_scale) = 0;
+    };
+    }
+  }
+}
+#endif

include/ignition/rendering/RenderTypes.hh

@@ -59,6 +59,7 @@ namespace ignition
     class Grid;
     class Heightmap;
     class Image;
+    class InertiaVisual;
     class Light;
     class LightVisual;
     class JointVisual;
@@ -149,6 +150,10 @@ namespace ignition
     /// \brief Shared pointer to Image
     typedef shared_ptr<Image> ImagePtr;
 
+    /// \def InertiaVisualPtr
+    /// \def Shared pointer to InertiaVisual
+    typedef shared_ptr<InertiaVisual> InertiaVisualPtr;
+
     /// \def LightPtr
     /// \brief Shared pointer to Light
     typedef shared_ptr<Light> LightPtr;

include/ignition/rendering/Scene.hh

@@ -823,6 +823,35 @@ namespace ignition
       public: virtual GizmoVisualPtr CreateGizmoVisual(
                   unsigned int _id, const std::string &_name) = 0;
 
+      /// \brief Create new inertia visual. A unique ID and name will
+      /// automatically be assigned to the inertia visual.
+      /// \return The created inertia visual
+      public: virtual InertiaVisualPtr CreateInertiaVisual() = 0;
+
+      /// \brief Create new inertia visual with the given ID. A unique name
+      /// will automatically be assigned to the visual. If the given ID is
+      /// already in use, NULL will be returned.
+      /// \param[in] _id ID of the new inertia visual
+      /// \return The created light visual
+      public: virtual InertiaVisualPtr CreateInertiaVisual(
+                  unsigned int _id) = 0;
+
+      /// \brief Create new inertia visual with the given name. A unique ID
+      /// will automatically be assigned to the visual. If the given name is
+      /// already in use, NULL will be returned.
+      /// \param[in] _name Name of the new inertia visual
+      /// \return The created light visual
+      public: virtual InertiaVisualPtr CreateInertiaVisual(
+                  const std::string &_name) = 0;
+
+      /// \brief Create new inertia visual with the given name. If either the
+      /// given ID or name is already in use, NULL will be returned.
+      /// \param[in] _id ID of the new inertia visual
+      /// \param[in] _name Name of the new inertia visual
+      /// \return The created inertia visual
+      public: virtual InertiaVisualPtr CreateInertiaVisual(
+                  unsigned int _id, const std::string &_name) = 0;
+
       /// \brief Create new light visual. A unique ID and name will
       /// automatically be assigned to the light visual.
       /// \return The created light visual

include/ignition/rendering/base/BaseInertiaVisual.hh

@@ -0,0 +1,92 @@
+/*
+ * 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_RENDERING_BASE_BASEINERTIAVISUAL_HH_
+#define IGNITION_RENDERING_BASE_BASEINERTIAVISUAL_HH_
+
+#include <vector>
+
+#include "ignition/rendering/base/BaseObject.hh"
+#include "ignition/rendering/base/BaseRenderTypes.hh"
+#include "ignition/rendering/InertiaVisual.hh"
+#include "ignition/rendering/Scene.hh"
+
+namespace ignition
+{
+  namespace rendering
+  {
+    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+    //
+    /// \brief Base implementation of an inertia visual
+    template <class T>
+    class BaseInertiaVisual :
+      public virtual InertiaVisual,
+      public virtual T
+    {
+      /// \brief Constructor
+      protected: BaseInertiaVisual();
+
+      /// \brief Destructor
+      public: virtual ~BaseInertiaVisual();
+
+      // Documentation inherited.
+      protected: virtual void Init() override;
+
+      // Documentation inherited.
+      protected: virtual void PreRender() override;
+
+      // Documentation inherited.
+      public: virtual void Load(const ignition::math::Pose3d &,
+          const ignition::math::Vector3d &) override;
+    };
+
+    //////////////////////////////////////////////////
+    template <class T>
+    BaseInertiaVisual<T>::BaseInertiaVisual()
+    {
+    }
+
+    //////////////////////////////////////////////////
+    template <class T>
+    BaseInertiaVisual<T>::~BaseInertiaVisual()
+    {
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseInertiaVisual<T>::PreRender()
+    {
+      T::PreRender();
+    }
+
+    //////////////////////////////////////////////////
+    template <class T>
+    void BaseInertiaVisual<T>::Init()
+    {
+      T::Init();
+    }
+
+    //////////////////////////////////////////////////
+    template <class T>
+    void BaseInertiaVisual<T>::Load(const ignition::math::Pose3d &,
+        const ignition::math::Vector3d &)
+    {
+      // no op
+    }
+    }
+  }
+}
+#endif

include/ignition/rendering/base/BaseScene.hh

@@ -265,6 +265,12 @@ namespace ignition
       public: virtual PointLightPtr CreatePointLight(unsigned int _id,
                   const std::string &_name) override;
 
+      /// \brief Implementation for creating Inertia visual.
+      /// \param[in] _id Unique id
+      /// \param[in] _name Name of inertia visual
+      protected: virtual InertiaVisualPtr CreateInertiaVisualImpl(
+                     unsigned int _id, const std::string &_name) = 0;
+
       /// \brief Implementation for creating Light visual.
       /// \param[in] _id Unique id
       /// \param[in] _name Name of light visual
@@ -360,6 +366,21 @@ namespace ignition
       public: virtual AxisVisualPtr CreateAxisVisual(unsigned int _id,
                   const std::string &_name) override;
 
+      // Documentation inherited
+      public: virtual InertiaVisualPtr CreateInertiaVisual() override;
+
+      // Documentation inherited
+      public: virtual InertiaVisualPtr CreateInertiaVisual(unsigned int _id)
+                      override;
+
+      // Documentation inherited
+      public: virtual InertiaVisualPtr CreateInertiaVisual(
+                  const std::string &_name) override;
+
+      // Documentation inherited
+      public: virtual InertiaVisualPtr CreateInertiaVisual(unsigned int _id,
+                  const std::string &_name) override;
+
       // Documentation inherited
       public: virtual LightVisualPtr CreateLightVisual() override;
 

ogre/include/ignition/rendering/ogre/OgreInertiaVisual.hh

@@ -0,0 +1,85 @@
+/*
+ * 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_RENDERING_OGRE_OGREINERTIAVISUAL_HH_
+#define IGNITION_RENDERING_OGRE_OGREINERTIAVISUAL_HH_
+
+#include <memory>
+
+#include "ignition/rendering/base/BaseInertiaVisual.hh"
+#include "ignition/rendering/ogre/OgreIncludes.hh"
+#include "ignition/rendering/ogre/OgreMaterial.hh"
+#include "ignition/rendering/ogre/OgreVisual.hh"
+
+namespace Ogre
+{
+  class MovableObject;
+}
+
+namespace ignition
+{
+  namespace rendering
+  {
+    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+
+    // Forward declaration
+    class OgreInertiaVisualPrivate;
+
+    class IGNITION_RENDERING_OGRE_VISIBLE OgreInertiaVisual :
+      public BaseInertiaVisual<OgreVisual>
+    {
+      /// \brief Constructor
+      protected: OgreInertiaVisual();
+
+      /// \brief Destructor
+      public: virtual ~OgreInertiaVisual();
+
+      // Documentation inherited.
+      public: virtual void Init() override;
+
+      // Documentation inherited.
+      public: virtual void PreRender() override;
+
+      // Documentation inherited.
+      public: Ogre::MovableObject *OgreObject() const;
+
+      /// \brief Load the Inertia visual from its pose and scale
+      /// \param[in] _pose Pose of the Inertia visual
+      /// \param[in] _scale scale factor of the box visual
+      public: void Load(const ignition::math::Pose3d &_pose,
+          const ignition::math::Vector3d &_scale) override;
+
+      // Documentation inherited.
+      public: virtual MaterialPtr Material() const;
+
+      // Documentation inherited.
+      public: virtual void SetMaterial(
+        MaterialPtr _material, bool _unique) override;
+
+      /// \brief Set material to grid geometry.
+      /// \param[in] _material Ogre material.
+      protected: virtual void SetMaterialImpl(OgreMaterialPtr _material);
+
+      private: friend class OgreScene;
+
+      /// \brief Private data class
+      private: std::unique_ptr<OgreInertiaVisualPrivate> dataPtr;
+    };
+    }
+  }
+}
+#endif

ogre/include/ignition/rendering/ogre/OgreRenderTypes.hh

@@ -37,6 +37,7 @@ namespace ignition
     class OgreGpuRays;
     class OgreGrid;
     class OgreHeightmap;
+    class OgreInertiaVisual;
     class OgreJointVisual;
     class OgreLight;
     class OgreLightVisual;
@@ -86,6 +87,7 @@ namespace ignition
     typedef shared_ptr<OgreGpuRays>              OgreGpuRaysPtr;
     typedef shared_ptr<OgreGrid>                 OgreGridPtr;
     typedef shared_ptr<OgreHeightmap>            OgreHeightmapPtr;
+    typedef shared_ptr<OgreInertiaVisual>        OgreInertiaVisualPtr;
     typedef shared_ptr<OgreJointVisual>          OgreJointVisualPtr;
     typedef shared_ptr<OgreLight>                OgreLightPtr;
     typedef shared_ptr<OgreLightVisual>          OgreLightVisualPtr;

ogre/include/ignition/rendering/ogre/OgreScene.hh

@@ -79,6 +79,9 @@ namespace ignition
                      unsigned int _id, const std::string &_name) override;
 
       // Documentation inherited
+      protected: virtual InertiaVisualPtr CreateInertiaVisualImpl(
+                     unsigned int _id, const std::string &_name) override;
+
       protected: virtual LightVisualPtr CreateLightVisualImpl(unsigned int _id,
                      const std::string &_name) override;