added CreateCollision function to SceneManager

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>
gazebosim · Jan 12, 2021 · 704af0d · 704af0d
1 parent 4a1cba6
commit 704af0d
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Showing 6 changed files with 42 additions and 27 deletions.
diff --git a/include/ignition/gazebo/rendering/SceneManager.hh b/include/ignition/gazebo/rendering/SceneManager.hh
@@ -96,10 +96,18 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     public: rendering::VisualPtr CreateVisual(Entity _id,
         const sdf::Visual &_visual, Entity _parentId = 0);
 
+    /// \brief Create a collision visual
+    /// \param[in] _id Unique visual id
+    /// \param[in] _collision Collision sdf dom
+    /// \param[in] _parentId Parent id
+    /// \return Visual (collision) object created from the sdf dom
+    public: rendering::VisualPtr CreateCollision(Entity _id,
+        const sdf::Collision &_collision, Entity _parentId = 0);
+
     /// \brief Retrieve visual
     /// \param[in] _id Unique visual (entity) id
     /// \return Pointer to requested visual
-    public: rendering::VisualPtr GetVisual(Entity _id);
+    public: rendering::VisualPtr VisualById(Entity _id);
 
     /// \brief Create an actor
     /// \param[in] _id Unique actor id

diff --git a/src/gui/plugins/modules/EntityContextMenu.cc b/src/gui/plugins/modules/EntityContextMenu.cc
@@ -152,7 +152,7 @@ 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 == "viewCollisions")
+  else if (request == "view_collisions")
   {
     ignition::msgs::StringMsg req;
     req.set_data(_data.toStdString());

diff --git a/src/gui/plugins/modules/EntityContextMenu.qml b/src/gui/plugins/modules/EntityContextMenu.qml
@@ -37,6 +37,17 @@ Item {
       text: "Remove"
       onTriggered: context.OnRemove(context.entity, context.type)
     }
+    //   // cascading submenu only works in Qt 5.10+ on focal
+    //   Menu {
+    //     id: viewSubmenu
+    //     title: "View"
+    //     MenuItem {
+    //       id: viewCollisionsMenu
+    //       text: "Collisions"
+    //       onTriggered: context.OnRequest("view_collisions", context.entity)
+    //     }
+    //   }
+    // workaround for getting submenu's to work on bionic (< Qt 5.10)
     MenuItem {
       id: viewSubmenu
       text: "View >"
@@ -57,7 +68,7 @@ Item {
       text: "Collisions"
       onTriggered: {
         menu.close()
-        context.OnRequest("viewCollisions", context.entity)
+        context.OnRequest("view_collisions", context.entity)
       }
     }
   }

diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc
@@ -817,17 +817,6 @@ void IgnRenderer::Render()
       rendering::NodePtr targetNode =
           scene->NodeByName(this->dataPtr->viewCollisionsTarget);
 
-      if (!targetNode)
-      {
-        // workaround for selecting collision
-        size_t found = this->dataPtr->viewCollisionsTarget.find_last_of("::");
-        if (found != std::string::npos)
-        {
-          targetNode = scene->NodeByName(
-              this->dataPtr->viewCollisionsTarget.substr(0, found-1));
-        }
-      }
-
       if (targetNode)
       {
         Entity targetEntity =

diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
@@ -535,17 +535,8 @@ void RenderUtil::Update()
       {
         if (!this->dataPtr->sceneManager.HasEntity(colEntity))
         {
-          sdf::Collision collision = this->dataPtr->entityCollisions[colEntity];
-
-          sdf::Material material;
-          material.SetAmbient(math::Color(1, 0.5088, 0.0468, 1));
-          material.SetDiffuse(math::Color(1, 0.5088, 0.0468, 1));
-          material.SetSpecular(math::Color(0.5, 0.5, 0.5, 1));
-
-          sdf::Visual visual;
-          visual.SetGeom(*collision.Geom());
-          visual.SetMaterial(material);
-          this->dataPtr->sceneManager.CreateVisual(colEntity, visual, link);
+          this->dataPtr->sceneManager.CreateCollision(colEntity, 
+              this->dataPtr->entityCollisions[colEntity], link);
           this->dataPtr->viewingCollisions[colEntity] = true;
         }
       }
@@ -1493,7 +1484,7 @@ void RenderUtil::ViewCollisions(const Entity &_entity)
     }
 
     rendering::VisualPtr colVisual =
-        this->dataPtr->sceneManager.GetVisual(colEntity);
+        this->dataPtr->sceneManager.VisualById(colEntity);
     if (colVisual == nullptr)
     {
       ignerr << "Could not find collision visual for entity [" << colEntity

diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc
@@ -19,6 +19,7 @@
 #include <map>
 
 #include <sdf/Box.hh>
+#include <sdf/Collision.hh>
 #include <sdf/Cylinder.hh>
 #include <sdf/Mesh.hh>
 #include <sdf/Pbr.hh>
@@ -342,7 +343,7 @@ rendering::VisualPtr SceneManager::CreateVisual(Entity _id,
 }
 
 /////////////////////////////////////////////////
-rendering::VisualPtr SceneManager::GetVisual(Entity _id)
+rendering::VisualPtr SceneManager::VisualById(Entity _id)
 {
   if (this->dataPtr->visuals.find(_id) == this->dataPtr->visuals.end())
   {
@@ -352,6 +353,21 @@ rendering::VisualPtr SceneManager::GetVisual(Entity _id)
   return this->dataPtr->visuals[_id];
 }
 
+/////////////////////////////////////////////////
+rendering::VisualPtr SceneManager::CreateCollision(Entity _id,
+    const sdf::Collision &_collision, Entity _parentId)
+{
+  sdf::Material material;
+  material.SetAmbient(math::Color(1, 0.5088, 0.0468, 0.7));
+  material.SetDiffuse(math::Color(1, 0.5088, 0.0468, 0.7));
+
+  sdf::Visual visual;
+  visual.SetGeom(*_collision.Geom());
+  visual.SetMaterial(material);
+  visual.SetCastShadows(false);
+  rendering::VisualPtr collisionVis = CreateVisual(_id, visual, _parentId);
+  return collisionVis;
+}
 /////////////////////////////////////////////////
 rendering::GeometryPtr SceneManager::LoadGeometry(const sdf::Geometry &_geom,
     math::Vector3d &_scale, math::Pose3d &_localPose)