tweaks

Signed-off-by: Louise Poubel <louise@openrobotics.org>

examples/worlds/minimal_scene.sdf

@@ -13,14 +13,15 @@ Features:
 * Grid config
 * Select entities
 * Transform controls
+* Spawn entities through GUI
 
 Missing for parity with GzScene3D:
 
-* Spawn entities through GUI
 * Context menu
 * Record video
 * View angles
 * View collisions, wireframe, transparent, CoM, etc
+* Drag and drop from Fuel / meshes
 * ...
 
 -->

src/gui/plugins/select_entities/SelectEntities.cc

@@ -136,8 +136,8 @@ class ignition::gazebo::gui::SelectEntitiesPrivate
  /// \brief is transform control active ?
  public: bool transformControlActive = false;
 
- /// \brief is Spawning from description active
- public: bool isSpawnFromDescription{false};
+ /// \brief Is an entity being spawned
+ public: bool isSpawning{false};
 };
 
 using namespace ignition;
@@ -488,13 +488,13 @@ bool SelectEntities::eventFilter(QObject *_obj, QEvent *_event)
  ignition::gui::events::LeftClickOnScene *_e =
  static_cast<ignition::gui::events::LeftClickOnScene*>(_event);
  this->dataPtr->mouseEvent = _e->Mouse();
- // handle transform control
+
  if (this->dataPtr->mouseEvent.Button() == common::MouseEvent::LEFT &&
- this->dataPtr->mouseEvent.Type() == common::MouseEvent::PRESS)
+ this->dataPtr->mouseEvent.Type() == common::MouseEvent::RELEASE)
  {
- if(this->dataPtr->isSpawnFromDescription)
+ if (this->dataPtr->isSpawning)
  {
- this->dataPtr->isSpawnFromDescription = false;
+ this->dataPtr->isSpawning = false;
  }
  else
  {
@@ -559,7 +559,7 @@ bool SelectEntities::eventFilter(QObject *_obj, QEvent *_event)
  ignition::gui::events::SpawnFromDescription::kType ||
  _event->type() == ignition::gui::events::SpawnFromPath::kType)
  {
- this->dataPtr->isSpawnFromDescription = true;
+ this->dataPtr->isSpawning = true;
  this->dataPtr->mouseDirty = true;
  }
  else if (_event->type() == ignition::gui::events::KeyReleaseOnScene::kType)
@@ -570,7 +570,7 @@ bool SelectEntities::eventFilter(QObject *_obj, QEvent *_event)
  {
  this->dataPtr->mouseDirty = true;
  this->dataPtr->selectionHelper.deselectAll = true;
- this->dataPtr->isSpawnFromDescription = false;
+ this->dataPtr->isSpawning = false;
  }
  }
 

src/gui/plugins/spawn/Spawn.cc

@@ -18,7 +18,7 @@
 #include "Spawn.hh"
 
 #include <ignition/msgs/boolean.pb.h>
-#include <ignition/msgs/stringmsg.pb.h>
+#include <ignition/msgs/entity_factory.pb.h>
 
 #include <algorithm>
 #include <limits>
@@ -36,6 +36,7 @@
 #include <ignition/gui/MainWindow.hh>
 
 #include <ignition/math/Vector2.hh>
+#include <ignition/msgs/Utility.hh>
 
 #include <ignition/plugin/Register.hh>
 
@@ -57,7 +58,7 @@ namespace ignition::gazebo
 {
  class SpawnPrivate
  {
- /// \brief Update the 3D scene with new entities
+ /// \brief Perform operations in the render thread.
  public: void OnRender();
 
  /// \brief Delete the visuals generated while an entity is being spawned.
@@ -68,8 +69,8 @@ namespace ignition::gazebo
  /// \return True on success, false if failure
  public: bool GeneratePreview(const sdf::Root &_sdf);
 
- /// \brief Handle model placement requests
- public: void HandleModelPlacement();
+ /// \brief Handle placement requests
+ public: void HandlePlacement();
 
  /// \brief Retrieve the point on a plane at z = 0 in the 3D scene hit by a
  /// ray cast from the given 2D screen coordinates.
@@ -79,23 +80,23 @@ namespace ignition::gazebo
  /// \param[in] _offset Offset along the plane normal
  /// \return 3D coordinates of a point in the 3D scene.
  math::Vector3d ScreenToPlane(
- const ignition::math::Vector2i &_screenPos,
- const ignition::rendering::CameraPtr &_camera,
- const ignition::rendering::RayQueryPtr &_rayQuery,
+ const math::Vector2i &_screenPos,
+ const rendering::CameraPtr &_camera,
+ const rendering::RayQueryPtr &_rayQuery,
  const float offset = 0.0);
 
  /// \brief Generate a unique entity id.
  /// \return The unique entity id
- ignition::gazebo::Entity UniqueId();
+ Entity UniqueId();
 
  /// \brief Ignition communication node.
  public: transport::Node node;
 
- /// \brief Flag for indicating whether we are spawning or not.
- public: bool isSpawning = false;
+ /// \brief Flag for indicating whether the preview needs to be generated.
+ public: bool generatePreview = false;
 
  /// \brief Flag for indicating whether the user is currently placing a
- /// resource with the shapes plugin or not
+ /// resource or not
  public: bool isPlacing = false;
 
  /// \brief The SDF string of the resource to be used with plugins that spawn
@@ -106,21 +107,21 @@ namespace ignition::gazebo
  public: std::string spawnSdfPath;
 
  /// \brief Pointer to the rendering scene
- public: ignition::rendering::ScenePtr scene{nullptr};
+ public: rendering::ScenePtr scene{nullptr};
 
  /// \brief A record of the ids currently used by the entity spawner
  /// for easy deletion of visuals later
- public: std::vector<ignition::gazebo::Entity> previewIds;
+ public: std::vector<Entity> previewIds;
 
- /// \brief The visual generated from the spawnSdfString
- public: ignition::rendering::NodePtr spawnPreview{nullptr};
+ /// \brief Pointer to the preview that the user is placing.
+ public: rendering::NodePtr spawnPreview{nullptr};
 
  /// \brief Scene manager
- public: ignition::gazebo::SceneManager sceneManager;
+ public: SceneManager sceneManager;
 
  /// \brief The pose of the spawn preview.
- public: ignition::math::Pose3d spawnPreviewPose =
- ignition::math::Pose3d::Zero;
+ public: math::Pose3d spawnPreviewPose =
+ math::Pose3d::Zero;
 
  /// \brief Mouse event
  public: common::MouseEvent mouseEvent;
@@ -180,7 +181,7 @@ void Spawn::LoadConfig(const tinyxml2::XMLElement *)
 }
 
 
-// TODO(ahcorde): Replace this when this PR is on ign-rendering6
+// TODO(ahcorde): Replace this when this function is on ign-rendering6
 /////////////////////////////////////////////////
 math::Vector3d SpawnPrivate::ScreenToPlane(
  const math::Vector2i &_screenPos,
@@ -199,7 +200,7 @@ math::Vector3d SpawnPrivate::ScreenToPlane(
  _rayQuery->SetFromCamera(
  _camera, math::Vector2d(nx, ny));
 
- ignition::math::Planed plane(ignition::math::Vector3d(0, 0, 1), offset);
+ math::Planed plane(math::Vector3d(0, 0, 1), offset);
 
  math::Vector3d origin = _rayQuery->Origin();
  math::Vector3d direction = _rayQuery->Direction();
@@ -208,7 +209,7 @@ math::Vector3d SpawnPrivate::ScreenToPlane(
 }
 
 /////////////////////////////////////////////////
-void SpawnPrivate::HandleModelPlacement()
+void SpawnPrivate::HandlePlacement()
 {
  if (!this->isPlacing)
  return;
@@ -228,16 +229,16 @@ void SpawnPrivate::HandleModelPlacement()
  // Delete the generated visuals
  this->TerminateSpawnPreview();
 
- math::Pose3d modelPose = this->spawnPreviewPose;
- std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
- [](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
+ auto pose = this->spawnPreviewPose;
+ std::function<void(const msgs::Boolean &, const bool)> cb =
+ [](const msgs::Boolean &/*_rep*/, const bool _result)
  {
  if (!_result)
- ignerr << "Error creating model" << std::endl;
+ ignerr << "Error creating entity" << std::endl;
  };
  math::Vector3d pos = this->ScreenToPlane(
  this->mouseEvent.Pos(), this->camera, this->rayQuery);
- pos.Z(modelPose.Pos().Z());
+ pos.Z(pose.Pos().Z());
  msgs::EntityFactory req;
  if (!this->spawnSdfString.empty())
  {
@@ -252,7 +253,7 @@ void SpawnPrivate::HandleModelPlacement()
  ignwarn << "Failed to find SDF string or file path" << std::endl;
  }
  req.set_allow_renaming(true);
- msgs::Set(req.mutable_pose(), math::Pose3d(pos, modelPose.Rot()));
+ msgs::Set(req.mutable_pose(), math::Pose3d(pos, pose.Rot()));
 
  if (this->createCmdService.empty())
  {
@@ -277,7 +278,7 @@ void SpawnPrivate::HandleModelPlacement()
 }
 
 /////////////////////////////////////////////////
-ignition::gazebo::Entity SpawnPrivate::UniqueId()
+Entity SpawnPrivate::UniqueId()
 {
  auto timeout = 100000u;
  for (auto i = 0u; i < timeout; ++i)
@@ -324,7 +325,7 @@ void SpawnPrivate::OnRender()
 
  // Spawn
  IGN_PROFILE("IgnRenderer::Render Spawn");
- if (this->isSpawning)
+ if (this->generatePreview)
  {
  // Generate spawn preview
  rendering::VisualPtr rootVis = this->scene->RootVisual();
@@ -342,7 +343,7 @@ void SpawnPrivate::OnRender()
  ignwarn << "Failed to spawn: no SDF string or path" << std::endl;
  }
  this->isPlacing = this->GeneratePreview(root);
- this->isSpawning = false;
+ this->generatePreview = false;
  }
 
  // Escape action, clear all selections and terminate any
@@ -355,14 +356,16 @@ void SpawnPrivate::OnRender()
  }
  }
 
- this->HandleModelPlacement();
+ this->HandlePlacement();
 }
 
 /////////////////////////////////////////////////
 void SpawnPrivate::TerminateSpawnPreview()
 {
  for (auto _id : this->previewIds)
+ {
  this->sceneManager.RemoveEntity(_id);
+ }
  this->previewIds.clear();
  this->isPlacing = false;
 }
@@ -375,8 +378,8 @@ bool SpawnPrivate::GeneratePreview(const sdf::Root &_sdf)
 
  if (nullptr == _sdf.Model() && nullptr == _sdf.Light())
  {
- ignwarn << "Only model entities can be spawned at the moment." << std::endl;
- this->TerminateSpawnPreview();
+ ignwarn << "Only model or light entities can be spawned at the moment."
+  << std::endl;
  return false;
  }
 
@@ -385,54 +388,50 @@ bool SpawnPrivate::GeneratePreview(const sdf::Root &_sdf)
  // Only preview first model
  sdf::Model model = *(_sdf.Model());
  this->spawnPreviewPose = model.RawPose();
- model.SetName(ignition::common::Uuid().String());
+ model.SetName(common::Uuid().String());
  Entity modelId = this->UniqueId();
- if (!modelId)
+ if (kNullEntity == modelId)
  {
  this->TerminateSpawnPreview();
  return false;
  }
- this->spawnPreview =
- this->sceneManager.CreateModel(
- modelId, model,
- this->sceneManager.WorldId());
+ this->spawnPreview = this->sceneManager.CreateModel(
+ modelId, model, this->sceneManager.WorldId());
 
  this->previewIds.push_back(modelId);
  for (auto j = 0u; j < model.LinkCount(); j++)
  {
  sdf::Link link = *(model.LinkByIndex(j));
- link.SetName(ignition::common::Uuid().String());
+ link.SetName(common::Uuid().String());
  Entity linkId = this->UniqueId();
  if (!linkId)
  {
  this->TerminateSpawnPreview();
  return false;
  }
- this->sceneManager.CreateLink(
- linkId, link, modelId);
+ this->sceneManager.CreateLink(linkId, link, modelId);
  this->previewIds.push_back(linkId);
  for (auto k = 0u; k < link.VisualCount(); k++)
  {
- sdf::Visual visual = *(link.VisualByIndex(k));
- visual.SetName(ignition::common::Uuid().String());
- Entity visualId = this->UniqueId();
- if (!visualId)
- {
- this->TerminateSpawnPreview();
- return false;
- }
- this->sceneManager.CreateVisual(
- visualId, visual, linkId);
- this->previewIds.push_back(visualId);
+ sdf::Visual visual = *(link.VisualByIndex(k));
+ visual.SetName(common::Uuid().String());
+ Entity visualId = this->UniqueId();
+ if (!visualId)
+ {
+ this->TerminateSpawnPreview();
+ return false;
+ }
+ this->sceneManager.CreateVisual(visualId, visual, linkId);
+ this->previewIds.push_back(visualId);
  }
  }
  }
  else if (_sdf.Light())
  {
- // Only preview first model
+ // Only preview first light
  sdf::Light light = *(_sdf.Light());
  this->spawnPreviewPose = light.RawPose();
- light.SetName(ignition::common::Uuid().String());
+ light.SetName(common::Uuid().String());
  Entity lightVisualId = this->UniqueId();
  if (!lightVisualId)
  {
@@ -445,10 +444,8 @@ bool SpawnPrivate::GeneratePreview(const sdf::Root &_sdf)
  this->TerminateSpawnPreview();
  return false;
  }
- this->spawnPreview =
- this->sceneManager.CreateLight(
- lightId, light,
- this->sceneManager.WorldId());
+ this->spawnPreview = this->sceneManager.CreateLight(
+ lightId, light, this->sceneManager.WorldId());
  this->sceneManager.CreateLightVisual(
  lightVisualId, light, lightId);
 
@@ -470,7 +467,7 @@ bool Spawn::eventFilter(QObject *_obj, QEvent *_event)
  ignition::gui::events::LeftClickOnScene *_e =
  static_cast<ignition::gui::events::LeftClickOnScene*>(_event);
  this->dataPtr->mouseEvent = _e->Mouse();
- if (this->dataPtr->isSpawning || this->dataPtr->isPlacing)
+ if (this->dataPtr->generatePreview || this->dataPtr->isPlacing)
  this->dataPtr->mouseDirty = true;
  }
  else if (_event->type() == ignition::gui::events::HoverOnScene::kType)
@@ -486,14 +483,14 @@ bool Spawn::eventFilter(QObject *_obj, QEvent *_event)
  ignition::gui::events::SpawnFromDescription *_e =
  static_cast<ignition::gui::events::SpawnFromDescription*>(_event);
  this->dataPtr->spawnSdfString = _e->Description();
- this->dataPtr->isSpawning = true;
+ this->dataPtr->generatePreview = true;
  }
  else if (_event->type() == ignition::gui::events::SpawnFromPath::kType)
  {
  auto spawnPreviewPathEvent =
  reinterpret_cast<ignition::gui::events::SpawnFromPath *>(_event);
  this->dataPtr->spawnSdfPath = spawnPreviewPathEvent->FilePath();
- this->dataPtr->isSpawning = true;
+ this->dataPtr->generatePreview = true;
  }
  else if (_event->type() == ignition::gui::events::KeyReleaseOnScene::kType)
  {