Generate a window manually with GLFW when using irrlicht (#1071)

Co-authored-by: Silvio Traversaro <silvio.traversaro@iit.it>

.github/workflows/ci.yml

@@ -75,7 +75,7 @@ jobs:
       if: contains(matrix.os, 'windows')
       shell: bash -l {0}
       run: |
-        bash_vc_install=${VCToolsInstallDir//\\//}        
+        bash_vc_install=${VCToolsInstallDir//\\//}
         compiler_path=${bash_vc_install}bin/Hostx64/x64/cl.exe
         echo "CC=${compiler_path}" >> $GITHUB_ENV
         echo "CXX=${compiler_path}" >> $GITHUB_ENV
@@ -182,7 +182,7 @@ jobs:
         apt-get -y update
         apt-get -y install \
             git build-essential cmake libace-dev coinor-libipopt-dev libeigen3-dev swig \
-            libxml2-dev liboctave-dev python3-dev python3-numpy valgrind libassimp-dev libirrlicht-dev curl unzip
+            libxml2-dev liboctave-dev python3-dev python3-numpy valgrind libassimp-dev libirrlicht-dev curl unzip libglfw3-dev
 
     - name: Install files to enable compilation of mex files [apt]
       run: |

.github/workflows/matlab.yml

@@ -5,11 +5,11 @@ on:
   pull_request:
   schedule:
   # * is a special character in YAML so you have to quote this string
-  # Execute a "nightly" build at 2 AM UTC 
+  # Execute a "nightly" build at 2 AM UTC
   - cron:  '0 2 * * *'
-  
+
 jobs:
-  build-matlab-tests:    
+  build-matlab-tests:
     name: '[matlab:${{ matrix.matlab_version }}:${{ matrix.os }}]'
     runs-on: ${{ matrix.os }}
     defaults:
@@ -56,22 +56,22 @@ jobs:
       run: |
         # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
         conda config --remove channels defaults
-        # Compilation related dependencies 
+        # Compilation related dependencies
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
-        mamba install eigen libxml2 assimp ipopt irrlicht osqp-eigen
+        mamba install eigen libxml2 assimp ipopt irrlicht osqp-eigen glfw
 
     # Additional dependencies useful only on Linux
     - name: Dependencies [Conda/Linux]
-      if: contains(matrix.os, 'ubuntu') 
+      if: contains(matrix.os, 'ubuntu')
       run: |
         # Additional dependencies only useful on Linux
         # See https://github.com/robotology/robotology-superbuild/issues/477
         mamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64
 
     # Additional dependencies useful only on Windows
     - name: Dependencies [Conda/Windows]
-      if: contains(matrix.os, 'windows') 
+      if: contains(matrix.os, 'windows')
       run: |
         # Additional dependencies only useful on Windows
         # See https://github.com/robotology/robotology-superbuild/issues/477
@@ -120,8 +120,8 @@ jobs:
       run: |
         cd build
         # Only run matlab tests as the rest of tests are already run by other jobs
-        ctest --output-on-failure -C ${{ matrix.build_type }} -R "matlab" -VV . 
-     
+        ctest --output-on-failure -C ${{ matrix.build_type }} -R "matlab" -VV .
+
     - name: Install [Conda]
       run: |
         cd build

.github/workflows/python.yml

@@ -46,7 +46,8 @@ jobs:
             swig \
             libxml2-dev \
             libassimp-dev \
-            libirrlicht-dev
+            libirrlicht-dev \
+            libglfw3-dev
           pip install build
 
       - name: Build sdist

CHANGELOG.md

@@ -8,14 +8,15 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
-## [8.999.0] - 2023-03-05
+## [8.999.0] - YYYY-MM-DD
 
 ### Fixed
 - Fix export of `iDynTree::PrismaticJoint` in `iDynTree::getRandomModel` (https://github.com/robotology/idyntree/pull/1057).
 
 ### Changed
 
 - Binary wheels available on PyPI now target `manylinux_2_28`, and the options `IDYNTREE_USES_ASSIMP`, `IDYNTREE_USES_IPOPT` and `IDYNTREE_USES_IRRLICHT` are disable in binary wheels on PyPI. If you need these options enabled, please use conda-forge binaries or build iDynTree from source (https://github.com/robotology/idyntree/pull/1068).
+- Compilation with `IDYNTREE_USES_IRRLICHT` set to `ON` now requires `glfw` library. Furthermore, now `IDYNTREE_USES_IRRLICHT`  on Windows requires irrlicht to be compiled with SDL support. This changes have been done to support resizable visualizer windows on Windows (https://github.com/robotology/idyntree/issues/1070, https://github.com/robotology/idyntree/pull/1071). 
 - Use iDynTree::InverseKinematicsRotationParametrizationRollPitchYaw as default parametrization in iDynTree::InverseKinematics (https://github.com/robotology/idyntree/pull/1058).
 
 #### URDF XML parser change 

ci_env.yml

@@ -13,6 +13,7 @@ dependencies:
   - assimp
   - ipopt
   - irrlicht
+  - glfw
   - swig
   - pybind11
   - python

src/visualization/CMakeLists.txt

@@ -72,8 +72,9 @@ target_compile_options(${libraryname} PRIVATE ${IDYNTREE_WARNING_FLAGS})
 if(IDYNTREE_USES_IRRLICHT)
     find_package(OpenGL)
     find_package(Irrlicht REQUIRED)
+    find_package(glfw3 REQUIRED)
 
-    target_link_libraries(${libraryname} PRIVATE Irrlicht::Irrlicht)
+    target_link_libraries(${libraryname} PRIVATE Irrlicht::Irrlicht glfw)
     if(TARGET OpenGL::GL)
       target_link_libraries(${libraryname} PRIVATE OpenGL::GL)
     endif()

src/visualization/src/Camera.cpp

@@ -51,6 +51,12 @@ void Camera::setAspectRatio(double aspectRatio)
     }
 }
 
+void Camera::setWindowDimensions(unsigned int width, unsigned int height)
+{
+    setAspectRatio(width/ (float)height);
+    m_animator->setWindowDimensions(width, height);
+}
+
 void Camera::setIrrlichtCamera(irr::scene::ICameraSceneNode* cam)
 {
     m_irrCamera = cam;

src/visualization/src/Camera.h

@@ -36,6 +36,8 @@ class Camera: public ICamera
 
     void setAspectRatio(double aspectRatio);
 
+    void setWindowDimensions(unsigned int width, unsigned int height);
+
     virtual void setPosition(const Position& cameraPos);
     virtual void setTarget(const Position& targetPos);
     virtual void setUpVector(const Direction& upVector);

src/visualization/src/CameraAnimator.cpp

@@ -16,22 +16,17 @@ namespace iDynTree
 {
 
 //! constructor
-CameraAnimator::CameraAnimator(irr::gui::ICursorControl* cursor, irr::scene::ISceneNode *cameraAxis,
+CameraAnimator::CameraAnimator(irr::scene::ISceneNode *cameraAxis, unsigned int windowWidth, unsigned int windowHeight,
     double rotateSpeed, double zoomSpeed, double translateSpeed)
-    : m_cursorControl(cursor), m_mousePos(0.5f, 0.5f), m_initialMousePosition(m_mousePos),
+    : m_mousePos(0.5f, 0.5f), m_initialMousePosition(m_mousePos),
     m_zoomSpeed(zoomSpeed), m_rotateSpeed(rotateSpeed), m_translateSpeed(translateSpeed),
-    m_zooming(false), m_rotating(false), m_movingUp(false), m_translating(false), m_isEnabled(false)
+    m_zooming(false), m_rotating(false), m_movingUp(false), m_translating(false), m_isEnabled(false),
+    m_width(windowWidth), m_height(windowHeight)
 {
     #ifdef _DEBUG
     setDebugName("iDynTreeCameraAnimator");
     #endif
 
-    if (m_cursorControl)
-    {
-        m_cursorControl->grab();
-        m_mousePos = m_cursorControl->getRelativePosition();
-    }
-
     allKeysUp();
     m_cameraAxis = cameraAxis;
 
@@ -41,8 +36,13 @@ CameraAnimator::CameraAnimator(irr::gui::ICursorControl* cursor, irr::scene::ISc
 //! destructor
 CameraAnimator::~CameraAnimator()
 {
-    if (m_cursorControl)
-        m_cursorControl->drop();
+
+}
+
+void CameraAnimator::setWindowDimensions(unsigned int width, unsigned int height)
+{
+    m_width = width;
+    m_height = height;
 }
 
 
@@ -60,11 +60,11 @@ bool CameraAnimator::OnEvent(const irr::SEvent& event)
     {
     case irr::EMIE_LMOUSE_PRESSED_DOWN:
         m_mouseKeys[0] = true;
-        m_initialMousePosition = m_cursorControl->getRelativePosition();
+        m_initialMousePosition = m_mousePos;
         break;
     case irr::EMIE_RMOUSE_PRESSED_DOWN:
         m_mouseKeys[2] = true;
-        m_initialMousePosition = m_cursorControl->getRelativePosition();
+        m_initialMousePosition = m_mousePos;
         break;
     case irr::EMIE_MMOUSE_PRESSED_DOWN:
         m_mouseKeys[1] = true;
@@ -79,7 +79,7 @@ bool CameraAnimator::OnEvent(const irr::SEvent& event)
         m_mouseKeys[1] = false;
         break;
     case irr::EMIE_MOUSE_MOVED:
-        m_mousePos = m_cursorControl->getRelativePosition();
+        m_mousePos.set(static_cast<float>(event.MouseInput.X) / m_width, static_cast<float>(event.MouseInput.Y) / m_height);
         break;
     case irr::EMIE_MOUSE_WHEEL:
         m_wheelMoving = true;
@@ -328,7 +328,7 @@ double CameraAnimator::getZoomSpeed() const
 irr::scene::ISceneNodeAnimator* CameraAnimator::createClone(irr::scene::ISceneNode* /*node*/, irr::scene::ISceneManager* /*newManager*/)
 {
     CameraAnimator * newAnimator =
-        new CameraAnimator(m_cursorControl, m_cameraAxis->clone(), m_rotateSpeed, m_zoomSpeed, m_translateSpeed);
+        new CameraAnimator(m_cameraAxis->clone(), m_width, m_height, m_rotateSpeed, m_zoomSpeed, m_translateSpeed);
     return newAnimator;
 }
 

src/visualization/src/CameraAnimator.h

@@ -21,12 +21,14 @@ namespace iDynTree
     {
     public:
         //! Constructor
-        CameraAnimator(irr::gui::ICursorControl* cursor, irr::scene::ISceneNode *cameraAxis, double rotateSpeed = 10.0f,
+        CameraAnimator(irr::scene::ISceneNode *cameraAxis, unsigned int windowWidth, unsigned int windowHeight, double rotateSpeed = 10.0f,
             double zoomSpeed = 0.5f, double translationSpeed = 10.0f);
 
         //! Destructor
         virtual ~CameraAnimator();
 
+        void setWindowDimensions(unsigned int width, unsigned int height);
+
         //! Animates the scene node, currently only works on cameras
         virtual void animateNode(irr::scene::ISceneNode* node, irr::u32 timeMs) override;
 
@@ -78,7 +80,6 @@ namespace iDynTree
         bool m_wheelMoving;
         irr::f32 m_wheelDirection;
 
-        irr::gui::ICursorControl *m_cursorControl;
         irr::scene::ISceneNode *m_cameraAxis;
         irr::core::position2df m_mousePos;
         irr::core::position2df m_initialMousePosition;
@@ -90,6 +91,8 @@ namespace iDynTree
         bool m_movingUp;
         bool m_translating;
         bool m_isEnabled;
+        unsigned int m_width;
+        unsigned int m_height;
     };
 
 } // end namespace irr