Visualization tools for ApplyForceTorque #2051
Conversation
Signed-off-by: Henrique-BO <[email protected]>
Signed-off-by: Henrique-BO <[email protected]>
Signed-off-by: Henrique-BO <[email protected]>
Signed-off-by: Henrique-BO <[email protected]>
Signed-off-by: Henrique-BO <[email protected]>
Signed-off-by: Henrique-BO <[email protected]>
Signed-off-by: Henrique-BO <[email protected]>
Signed-off-by: Henrique-BO <[email protected]>
Signed-off-by: Henrique-BO <[email protected]>
Signed-off-by: Henrique-BO <[email protected]>
Codecov Report
@@ Coverage Diff @@
## gz-sim7 #2051 +/- ##
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- Coverage 65.01% 64.97% -0.05%
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Files 353 356 +3
Lines 28618 28783 +165
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+ Hits 18606 18701 +95
- Misses 10012 10082 +70
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@Henrique-BO this is really cool. It would be nice if we could extract the rendering logic out to some common area so it can be shared by other plugins. #1898 seeks to do visualizations but on arbitrary objects. It would be nice to have a consistent visual language between these two PRs. Perhaps if you were to create a new utility class called "Force Visuallization" and make the material configurable, we would be able to reuse this code in #1898. |
Signed-off-by: Henrique-BO <[email protected]>
Signed-off-by: Henrique-BO <[email protected]>
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| math::Vector3d startPos; | ||
| this->ray->SetFromCamera(this->camera, start); | ||
| if (auto v = plane.Intersection( |
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| math::Vector3d endPos; | ||
| this->ray->SetFromCamera(this->camera, end); | ||
| if (auto v = plane.Intersection( |
Signed-off-by: Henrique-BO <[email protected]>
…m into apply_force_torque_vis
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@arjo129 I think that's a great idea. I created a |
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Sounds awesome! |
Signed-off-by: Henrique-BO <[email protected]>
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Changes addressed in b5cafc3. The 3D scene interaction is working on my end, like this: Screencast.2023-08-16.16.31.46.mp4Is this not working for you? |
| for (unsigned int i = 0; i < this->scene->NodeCount(); ++i) | ||
| { | ||
| auto cam = std::dynamic_pointer_cast<rendering::Camera>( | ||
| this->scene->NodeByIndex(i)); |
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Camera is registered as a Sensor gz-rendering so you can reduce the search space by using SensorCount and SensorByIndex since there's probably only one camera in the scene.
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Good point, changed it in d6afb10
Signed-off-by: Henrique-BO <[email protected]>
Ah, I didn't click on the arrow, I thought it would appear with the arrow. I also tried to drag the arrow but that didn't help. I think a helpful message in the GUI card would be good to add. |
Signed-off-by: Henrique-BO <[email protected]>
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Good point, I added a message to the GUI in 419b34f |
Adds tutorials for the new ApplyForceTorque plugin (including the features added in #2051 and #2056) and for the new MouseDrag plugin. --------- Signed-off-by: Henrique-BO <[email protected]>
🎉 New feature
Requires #2014
Summary
Adds visualization tools to the new ApplyForceTorque GUI plugin. This allows the user to see the force (represented by an arrow) and the torque (represented by a circle) displayed on the scene at their application point before applying them.
When one of the vectors (force or torque) is clicked, a rotation tool (represented by a gizmo) is displayed. This allows the user to freely rotate the selected vector. Still WIP.
TODO:
Test it
Open any test world.
Load the Apply Force Torque plugin from the plugin dropdown.
Select a model or link and specify a force or torque to see its direction on the scene.
Click on the force or torque vector to display the rotation tool, and click and drag the circles to rotate.
Checklist
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Signed-off-bymessages.