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merge from 6 to 7
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Signed-off-by: Ian Chen <[email protected]>
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@iche033
iche033 committed Dec 7, 2022
2 parents 127dfaa + 5dfd0fd commit adaa4a9
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Showing 6 changed files with 278 additions and 32 deletions.
14 changes: 14 additions & 0 deletions Changelog.md
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Expand Up @@ -163,6 +163,20 @@

## Gazebo GUI 6

### Gazebo GUI 6.7.0 (2022-12-02)

1. Set View Camera controller from plugin configuration
* [Pull request #506](https://github.com/gazebosim/gz-gui/pull/506)

1. Add service for configuring view control sensitivity
* [Pull request #504](https://github.com/gazebosim/gz-gui/pull/504)

1. Fix large / unexpected camera movements
* [Pull request #502](https://github.com/gazebosim/gz-gui/pull/502)

1. Add view control reference visual
* [Pull request #500](https://github.com/gazebosim/gz-gui/pull/500)

### Gazebo GUI 6.6.1 (2022-08-17)

1. Fix mistaken dialog error message
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182 changes: 174 additions & 8 deletions src/plugins/interactive_view_control/InteractiveViewControl.cc
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Expand Up @@ -16,6 +16,7 @@
*/

#include <gz/msgs/boolean.pb.h>
#include <gz/msgs/double.pb.h>
#include <gz/msgs/stringmsg.pb.h>

#include <string>
Expand All @@ -30,6 +31,8 @@
#include <gz/plugin/Register.hh>

#include <gz/rendering/Camera.hh>
#include <gz/rendering/Geometry.hh>
#include <gz/rendering/Material.hh>
#include <gz/rendering/OrbitViewController.hh>
#include <gz/rendering/OrthoViewController.hh>
#include <gz/rendering/RenderingIface.hh>
Expand All @@ -48,14 +51,41 @@ class gz::gui::plugins::InteractiveViewControlPrivate

/// \brief Callback for camera view controller request
/// \param[in] _msg Request message to set the camera view controller
/// \param[in] _res Response data
/// \param[out] _res Response data
/// \return True if the request is received
public: bool OnViewControl(const msgs::StringMsg &_msg,
msgs::Boolean &_res);

/// \brief Callback for camera reference visual request
/// \param[in] _msg Request message to enable/disable the reference visual
/// \param[out] _res Response data
/// \return True if the request is received
public: bool OnReferenceVisual(const msgs::Boolean &_msg,
msgs::Boolean &_res);

/// \brief Callback for camera view control sensitivity request
/// \param[in] _msg Request message to set the camera view controller
/// sensitivity. Value must be greater than zero. The higher the number
/// the more sensitive camera control is to mouse movements. Affects all
/// camera movements (pan, orbit, zoom)
/// \param[out] _res Response data
/// \return True if the request is received
public: bool OnViewControlSensitivity(const msgs::Double &_msg,
msgs::Boolean &_res);

/// \brief Update the reference visual. Adjust scale based on distance from
/// camera to target point so it remains the same size on screen.
public: void UpdateReferenceVisual();

/// \brief Flag to indicate if mouse event is dirty
public: bool mouseDirty = false;

/// \brief Flag to indicate if hover event is dirty
public: bool hoverDirty = false;

/// \brief Flag to indicate if mouse press event is dirty
public: bool mousePressDirty = false;

/// \brief True to block orbiting with the mouse.
public: bool blockOrbit = false;

Expand Down Expand Up @@ -86,17 +116,32 @@ class gz::gui::plugins::InteractiveViewControlPrivate
/// \brief View controller
public: std::string viewController{"orbit"};

/// \brief Enable / disable reference visual
public: bool enableRefVisual{true};

/// \brief Camera view control service
public: std::string cameraViewControlService;

/// \brief Camera reference visual service
public: std::string cameraRefVisualService;

/// \brief Camera view control sensitivity service
public: std::string cameraViewControlSensitivityService;

/// \brief Ray query for mouse clicks
public: rendering::RayQueryPtr rayQuery{nullptr};

//// \brief Pointer to the rendering scene
public: rendering::ScenePtr scene{nullptr};

/// \brief Reference visual for visualizing the target point
public: rendering::VisualPtr refVisual{nullptr};

/// \brief Transport node for making transform control requests
public: transport::Node node;

/// \brief View control sensitivity value. Must be greater than 0.
public: double viewControlSensitivity = 1.0;
};

using namespace gz;
Expand Down Expand Up @@ -151,10 +196,18 @@ void InteractiveViewControlPrivate::OnRender()
return;
}

if (!this->mouseDirty)
if (!this->camera)
return;

if (!this->camera)
// hover
if (this->hoverDirty)
{
if (this->refVisual)
this->refVisual->SetVisible(false);
this->hoverDirty = false;
}

if (!this->mouseDirty)
return;

std::lock_guard<std::mutex> lock(this->mutex);
Expand All @@ -176,6 +229,34 @@ void InteractiveViewControlPrivate::OnRender()
}
this->viewControl->SetCamera(this->camera);

if (this->enableRefVisual)
{
if (!this->refVisual)
{
// create ref visual
this->refVisual = scene->CreateVisual();
rendering::GeometryPtr sphere = scene->CreateSphere();
this->refVisual->AddGeometry(sphere);
this->refVisual->SetLocalScale(math::Vector3d(0.2, 0.2, 0.1));
this->refVisual->SetVisibilityFlags(
GZ_VISIBILITY_GUI & ~GZ_VISIBILITY_SELECTABLE
);

// create material
math::Color diffuse(1.0f, 1.0f, 0.0f, 1.0f);
math::Color specular(1.0f, 1.0f, 0.0f, 1.0f);
double transparency = 0.3;
rendering::MaterialPtr material = scene->CreateMaterial();
material->SetDiffuse(diffuse);
material->SetSpecular(specular);
material->SetTransparency(transparency);
material->SetCastShadows(false);
this->refVisual->SetMaterial(material);
scene->DestroyMaterial(material);
}
this->refVisual->SetVisible(true);
}

if (this->mouseEvent.Type() == common::MouseEvent::SCROLL)
{
this->target = rendering::screenToScene(
Expand All @@ -184,46 +265,73 @@ void InteractiveViewControlPrivate::OnRender()
this->viewControl->SetTarget(this->target);
double distance = this->camera->WorldPosition().Distance(
this->target);
double amount = -this->drag.Y() * distance / 5.0;

math::Vector2d newDrag = this->drag * this->viewControlSensitivity;
double amount = -newDrag.Y() * distance / 5.0;
this->viewControl->Zoom(amount);
this->UpdateReferenceVisual();
}
else if (this->mouseEvent.Type() == common::MouseEvent::PRESS)
{
this->target = rendering::screenToScene(
this->mouseEvent.PressPos(), this->camera, this->rayQuery);

this->viewControl->SetTarget(this->target);
this->UpdateReferenceVisual();
this->mousePressDirty = false;
}
else
{
math::Vector2d newDrag = this->drag * this->viewControlSensitivity;
// Pan with left button
if (this->mouseEvent.Buttons() & common::MouseEvent::LEFT)
{
if (Qt::ShiftModifier == QGuiApplication::queryKeyboardModifiers())
this->viewControl->Orbit(this->drag);
this->viewControl->Orbit(newDrag);
else
this->viewControl->Pan(this->drag);
this->viewControl->Pan(newDrag);
this->UpdateReferenceVisual();
}
// Orbit with middle button
else if (this->mouseEvent.Buttons() & common::MouseEvent::MIDDLE)
{
this->viewControl->Orbit(this->drag);
this->viewControl->Orbit(newDrag);
this->UpdateReferenceVisual();
}
// Zoom with right button
else if (this->mouseEvent.Buttons() & common::MouseEvent::RIGHT)
{
double hfov = this->camera->HFOV().Radian();
double vfov = 2.0f * atan(tan(hfov / 2.0f) / this->camera->AspectRatio());
double distance = this->camera->WorldPosition().Distance(this->target);
double amount = ((-this->drag.Y() /
double amount = ((-newDrag.Y() /
static_cast<double>(this->camera->ImageHeight()))
* distance * tan(vfov/2.0) * 6.0);
this->viewControl->Zoom(amount);
this->UpdateReferenceVisual();
}
}

this->drag = 0;
this->mouseDirty = false;
}

/////////////////////////////////////////////////
void InteractiveViewControlPrivate::UpdateReferenceVisual()
{
if (!this->refVisual || !this->enableRefVisual)
return;
this->refVisual->SetWorldPosition(this->target);
// Update the size of the reference visual based on the distance to the
// target point.
double distance =
this->camera->WorldPosition().Distance(this->target);

double scale = distance * atan(GZ_DTOR(1.0));
this->refVisual->SetLocalScale(
math::Vector3d(scale, scale, scale * 0.5));
}

/////////////////////////////////////////////////
bool InteractiveViewControlPrivate::OnViewControl(const msgs::StringMsg &_msg,
msgs::Boolean &_res)
Expand All @@ -248,6 +356,37 @@ bool InteractiveViewControlPrivate::OnViewControl(const msgs::StringMsg &_msg,
return true;
}

/////////////////////////////////////////////////
bool InteractiveViewControlPrivate::OnReferenceVisual(const msgs::Boolean &_msg,
msgs::Boolean &_res)
{
std::lock_guard<std::mutex> lock(this->mutex);
this->enableRefVisual = _msg.data();

_res.set_data(true);
return true;
}

/////////////////////////////////////////////////
bool InteractiveViewControlPrivate::OnViewControlSensitivity(
const msgs::Double &_msg, msgs::Boolean &_res)
{
std::lock_guard<std::mutex> lock(this->mutex);

if (_msg.data() <= 0.0)
{
gzwarn << "View controller sensitivity must be greater than zero ["
<< _msg.data() << "]" << std::endl;
_res.set_data(false);
return true;
}

this->viewControlSensitivity = _msg.data();

_res.set_data(true);
return true;
}

/////////////////////////////////////////////////
InteractiveViewControl::InteractiveViewControl()
: Plugin(), dataPtr(std::make_unique<InteractiveViewControlPrivate>())
Expand All @@ -271,6 +410,25 @@ void InteractiveViewControl::LoadConfig(
gzmsg << "Camera view controller topic advertised on ["
<< this->dataPtr->cameraViewControlService << "]" << std::endl;

// camera reference visual
this->dataPtr->cameraRefVisualService =
"/gui/camera/view_control/reference_visual";
this->dataPtr->node.Advertise(this->dataPtr->cameraRefVisualService,
&InteractiveViewControlPrivate::OnReferenceVisual, this->dataPtr.get());
gzmsg << "Camera reference visual topic advertised on ["
<< this->dataPtr->cameraRefVisualService << "]" << std::endl;

// camera view control sensitivity
this->dataPtr->cameraViewControlSensitivityService =
"/gui/camera/view_control/sensitivity";
this->dataPtr->node.Advertise(
this->dataPtr->cameraViewControlSensitivityService,
&InteractiveViewControlPrivate::OnViewControlSensitivity,
this->dataPtr.get());
gzmsg << "Camera view control sensitivity advertised on ["
<< this->dataPtr->cameraViewControlSensitivityService << "]"
<< std::endl;

gz::gui::App()->findChild<
gz::gui::MainWindow *>()->installEventFilter(this);
}
Expand All @@ -296,12 +454,16 @@ bool InteractiveViewControl::eventFilter(QObject *_obj, QEvent *_event)
auto pressOnScene =
reinterpret_cast<gz::gui::events::MousePressOnScene *>(_event);
this->dataPtr->mouseDirty = true;
this->dataPtr->mousePressDirty = true;

this->dataPtr->drag = math::Vector2d::Zero;
this->dataPtr->mouseEvent = pressOnScene->Mouse();
}
else if (_event->type() == events::DragOnScene::kType)
{
if (this->dataPtr->mousePressDirty)
return QObject::eventFilter(_obj, _event);

auto dragOnScene =
reinterpret_cast<gz::gui::events::DragOnScene *>(_event);
this->dataPtr->mouseDirty = true;
Expand Down Expand Up @@ -332,6 +494,10 @@ bool InteractiveViewControl::eventFilter(QObject *_obj, QEvent *_event)
_event);
this->dataPtr->blockOrbit = blockOrbit->Block();
}
else if (_event->type() == gui::events::HoverOnScene::kType)
{
this->dataPtr->hoverDirty = true;
}

// Standard event processing
return QObject::eventFilter(_obj, _event);
Expand Down
1 change: 1 addition & 0 deletions src/plugins/minimal_scene/CMakeLists.txt
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Expand Up @@ -26,6 +26,7 @@ gz_gui_add_plugin(MinimalScene
MinimalScene.hh
PUBLIC_LINK_LIBS
gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
${PROJECT_LINK_LIBS}
)

Expand Down
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