Visualize collisions #531

jennuine · 2021-01-05T23:05:43Z

Closes #105

Ability to visualize collision (basic shapes or meshes) similar to Gazebo-classic, which are displayed in orange.

Collision visualization can be toggled from (in the scene or in the entity tree):

A model's right-click context menu, which toggle all collisions in the model
A link's right-click context menu, which toggles all collisions in the link

Collision visuals can be created for basic shapes and meshes but depending on the render order when a collision (visual) is coplaner with the shape/mesh visual there are times when the collision visual can not be seen. This should be resolved in Edifice from this PR gazebosim/gz-rendering#188

Here's an example:

codecov · 2021-01-05T23:40:22Z

Codecov Report

Merging #531 (9f653db) into ign-gazebo3 (347fd51) will decrease coverage by 0.02%.
The diff coverage is 20.00%.

@@               Coverage Diff               @@
##           ign-gazebo3     #531      +/-   ##
===============================================
- Coverage        77.73%   77.71%   -0.03%     
===============================================
  Files              208      208              
  Lines            11590    11595       +5     
===============================================
+ Hits              9010     9011       +1     
- Misses            2580     2584       +4

Impacted Files	Coverage Δ
src/gui/plugins/modules/EntityContextMenu.cc	`19.23% <20.00%> (+0.08%)`	⬆️

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Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

iche033

Works well for me. Did a first review pass and left some comments.

include/ignition/gazebo/rendering/SceneManager.hh

src/gui/plugins/modules/EntityContextMenu.cc

src/gui/plugins/modules/EntityContextMenu.qml

src/gui/plugins/scene3d/Scene3D.cc

src/rendering/RenderUtil.cc

iche033 · 2021-01-09T01:00:31Z

src/rendering/RenderUtil.cc

+  // create new collision visuals
+  {
+    if (!newCollisionLinks.empty())
+      DeselectAllEntities();


is this done so that the object does not get highlighted with bright white emissive material?

This was done to avoid encountering this error after a new collision was created and clicking elsewhere (deselecting an entity) https://github.com/ignitionrobotics/ign-gazebo/blob/4a1cba6d2e32e493c5dc0f7233db01b406681adf/src/rendering/RenderUtil.cc#L1427-L1428

I tried commenting the above two lines out to see what's causing this error msg appear but I couldn't reproduce it by selecting the model and toggling View > Collision. Can you list the steps to reproduce this?

Start up Ignition with a sample world

Select a model in Scene3D so that it is highlighted

Then right click the model, View > Collisions

Then click anywhere else in the scene and the error should appear

The error only appears once, after the collision visual has been created. If you toggle off the collision then run through the above steps again then the error doesn't appear again.

Thanks I was able to reproduce the problem now. I think the issue is that It was trying to update the emissive property of a new geometry (collision visual's geom) that it does not previously know about. The current code works around this problem by deselecting all entities before creating the new collision visual. But there would now a mismatch between what's selected in scene 3d and the entity tree (and other plugins) for example. It's more of a usability issue now. I would recommend seeing if there's another way around this without deselecting all entities, e.g. updating the logic in the LowlightNode function or simply removing that error msg.

Fixed the issue by adding the collision visual's geometry emissive property to the originalEmissive map after creation of the collision visual: df7f009

iche033 · 2021-01-09T01:04:48Z

src/rendering/RenderUtil.cc

+    [&](const Entity &_entity, const components::Collision *)->bool
+      {
+        this->removeEntities[_entity] = _info.iterations;
+        this->viewingCollisions.erase(_entity);


do you also need to update entityCollisions and linkToCollisionEntities, and probably also modelToLinkEntities when links are removed? hmm there's a bit of maintenance that need to be done to keep these maps update-to-date.

Done in 8522398. Since only a model or a light can be removed from the gui (not a link or a collision), I didn't have to iterate through the maps to keep them updated.

iche033 · 2021-01-09T01:16:04Z

src/rendering/RenderUtil.cc

+          sdf::Visual visual;
+          visual.SetGeom(*collision.Geom());
+          visual.SetMaterial(material);
+          this->dataPtr->sceneManager.CreateVisual(colEntity, visual, link);


The code here for creating collision visuals would be a good addition to the SceneManager class, i.e. a new CreateCollision function

and we just have to call rendering::VisualPtr colVisual = this->dataPtr->sceneManager.CreateCollision(colEntity, collision, link)

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

iche033

New changes look good. I couldn't visualize collision for the ground plane. Does it work for you?

iche033 · 2021-01-14T23:09:46Z

src/rendering/RenderUtil.cc

+  // create new collision visuals
+  {
+    if (!newCollisionLinks.empty())
+      DeselectAllEntities();


I tried commenting the above two lines out to see what's causing this error msg appear but I couldn't reproduce it by selecting the model and toggling View > Collision. Can you list the steps to reproduce this?

jennuine · 2021-01-15T13:48:27Z

New changes look good. I couldn't visualize collision for the ground plane. Does it work for you?

No, but it's because it's missing the <size> element in the geometry of the SDF. So for example, in the diff_drive.sdf example the ground_plane has https://github.com/ignitionrobotics/ign-gazebo/blob/b432081c6b9f1926285f448c5ff3a24a528cfcba/examples/worlds/diff_drive.sdf#L55-L61

and if <size> is added:

 <collision name="collision"> 
   <geometry> 
     <plane> 
       <normal>0 0 1</normal> 
       <size>100 100</size>
     </plane> 
   </geometry> 
 </collision>

The collision for the ground plane is viewable. It's required spec of SDFormat, should I add the <size> element for all the examples?

iche033 · 2021-01-16T01:52:53Z

No, but it's because it's missing the element in the geometry of the SDF.

that's interesting because I thought if a required field is missing, sdf parser would complain. Even if it went through the parser, the default value should 1x1m which is not the behavior we're seeing. So I think we should add <size> to <plane> in the ign-gazebo worlds. Can you do that in a separate PR?

jennuine · 2021-01-19T13:49:30Z

Can you do that in a separate PR?

Yes, I'm assuming branched from and merged to ign-gazebo3?

iche033 · 2021-01-19T18:29:56Z

Yes, I'm assuming branched from and merged to ign-gazebo3?

yes, thanks!

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

chapulina

I haven't finished reviewing everything yet, but I think there's a problem with the collision poses:

chapulina · 2021-01-21T02:39:03Z

include/ignition/gazebo/rendering/RenderUtil.hh

@@ -21,6 +21,7 @@
 #include <string>
 #include <vector>

+#include <sdf/Collision.hh>


Is this include needed by the header? Can it be moved to the cc file?

Yup, done dbf7a0c

src/gui/plugins/modules/EntityContextMenu.qml

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

jennuine · 2021-01-21T14:30:25Z

I think there's a problem with the collision poses

Oops, thank you for catching that. It is fixed in dbf7a0c

nkoenig · 2021-01-28T00:20:49Z

Works for me.

chapulina

Works great!

jennuine requested a review from iche033 January 5, 2021 23:05

jennuine requested a review from chapulina as a code owner January 5, 2021 23:05

github-actions bot added the 🏰 citadel Ignition Citadel label Jan 5, 2021

chapulina added close the gap Features from Gazebo-classic GUI Gazebo's graphical interface (not pure Ignition GUI) rendering Involves Ignition Rendering labels Jan 6, 2021

jennuine added 5 commits January 6, 2021 09:22

init visualizing collisions

93360d2

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

missing method definition

d047bad

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

enable/disable visualizing collisions

e24ce53

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

moved creating collision visuals to rendering thread

1882b80

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

fixed encountered error after collision visual creation

6d06daf

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

mjcarroll mentioned this pull request Jan 6, 2021

Automatically load a subset of world plugins #281

Merged

merge branch ign-gazebo3 into viz_collisions

4a1cba6

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

jennuine force-pushed the viz_collisions branch from 7b2985a to 4a1cba6 Compare January 6, 2021 15:19

iche033 reviewed Jan 9, 2021

View reviewed changes

jennuine added 6 commits January 12, 2021 16:51

added CreateCollision function to SceneManager

704af0d

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

removed map items when entity is removed

8522398

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

fixed view collisions toggle

8cd6b98

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

Merge branch 'ign-gazebo3' into viz_collisions

94bc95d

Merge branch 'ign-gazebo3' into viz_collisions

1b755da

removed unneeded continue

b432081

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

jennuine self-assigned this Jan 14, 2021

iche033 reviewed Jan 14, 2021

View reviewed changes

jennuine mentioned this pull request Jan 20, 2021

Updated SDF examples #573

Merged

added emissive for new colision vis geom

df7f009

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

iche033 approved these changes Jan 20, 2021

View reviewed changes

Merge branch 'ign-gazebo3' into viz_collisions

f5ad502

chapulina suggested changes Jan 21, 2021

View reviewed changes

fixed collision poses

dbf7a0c

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

Merge branch 'ign-gazebo3' into viz_collisions

e49f875

nkoenig approved these changes Jan 28, 2021

View reviewed changes

Merge branch 'ign-gazebo3' into viz_collisions

9f653db

chapulina approved these changes Jan 28, 2021

View reviewed changes

chapulina merged commit ebd09d4 into ign-gazebo3 Jan 28, 2021

chapulina deleted the viz_collisions branch January 28, 2021 04:05

jennuine mentioned this pull request Jan 28, 2021

Show when collision visuals are on/off #589

Open

jennuine mentioned this pull request Apr 14, 2021

Update visualize collisions to support 1.8 composition #767

Closed

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Visualize collisions #531

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