Scene3D.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef IGNITION_GAZEBO_GUI_SCENE3D_HH_
#define IGNITION_GAZEBO_GUI_SCENE3D_HH_

#include <ignition/msgs/boolean.pb.h>
#include <ignition/msgs/gui_camera.pb.h>
#include <ignition/msgs/stringmsg.pb.h>
#include <ignition/msgs/vector3d.pb.h>
#include <ignition/msgs/video_record.pb.h>

#include <string>
#include <memory>
#include <mutex>

#include <sdf/Root.hh>

#include <ignition/math/Color.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector2.hh>
#include <ignition/math/Vector3.hh>

#include <ignition/common/MouseEvent.hh>
#include <ignition/common/KeyEvent.hh>

#include <ignition/rendering/Camera.hh>

#include <ignition/gazebo/gui/GuiSystem.hh>

#include "ignition/gui/qt.h"


namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
  class IgnRendererPrivate;
  class RenderWindowItemPrivate;
  class Scene3DPrivate;
  class RenderUtil;

  class Scene3D : public ignition::gazebo::GuiSystem
  {
    Q_OBJECT

    public: Scene3D();

    public: ~Scene3D() override;

    // Documentation inherited
    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;

    // Documentation inherited
    public: void Update(const UpdateInfo &_info,
        EntityComponentManager &_ecm) override;

    public slots: void OnDropped(const QString &_drop,
        int _mouseX, int _mouseY);

    public slots: void OnHovered(int _mouseX, int _mouseY);

    public slots: void OnFocusWindow();

    // Documentation inherited
    protected: bool eventFilter(QObject *_obj, QEvent *_event) override;

    private: bool OnTransformMode(const msgs::StringMsg &_msg,
        msgs::Boolean &_res);

    private: bool OnRecordVideo(const msgs::VideoRecord &_msg,
        msgs::Boolean &_res);

    private: bool OnMoveTo(const msgs::StringMsg &_msg,
        msgs::Boolean &_res);

    private: bool OnFollow(const msgs::StringMsg &_msg,
        msgs::Boolean &_res);

    private: bool OnViewAngle(const msgs::Vector3d &_msg,
        msgs::Boolean &_res);

    private: bool OnMoveToPose(const msgs::GUICamera &_msg,
                 msgs::Boolean &_res);

    private: std::unique_ptr<Scene3DPrivate> dataPtr;
  };

  class IgnRenderer : public QObject
  {
    Q_OBJECT

    public: IgnRenderer();

    public: ~IgnRenderer() override;

    public: void Render();

    public: void Initialize();

    public: void Destroy();

    public: class RenderUtil *RenderUtil() const;

    public: void SetTransformMode(const std::string &_mode);

    public: void SetModel(const std::string &_model);

    public: void SetModelPath(const std::string &_filePath);

    public: void SetRecordVideo(bool _record, const std::string &_format,
        const std::string &_savePath);

    public: void SetMoveTo(const std::string &_target);

    public: void SetFollowTarget(const std::string &_target,
        bool _waitForTarget = false);

    public: void SetViewAngle(const math::Vector3d &_direction);

    public: void SetMoveToPose(const math::Pose3d &_pose);

    public: void SetFollowPGain(double _gain);

    public: void SetFollowWorldFrame(bool _worldFrame);

    public: void SetFollowOffset(const math::Vector3d &_offset);

    public: std::string FollowTarget() const;

    public: bool FollowWorldFrame() const;

    public: math::Vector3d FollowOffset() const;

    public: void SetInitCameraPose(const math::Pose3d &_pose);

    public: void NewMouseEvent(const common::MouseEvent &_e,
        const math::Vector2d &_drag = math::Vector2d::Zero);

    public: void NewHoverEvent(const math::Vector2i &_hoverPos);

    public: void HandleKeyPress(QKeyEvent *_e);

    public: void HandleKeyRelease(QKeyEvent *_e);

    public: void SetXYZSnap(const math::Vector3d &_xyz);

    public: math::Vector3d XYZSnap() const;

    public: void SetRPYSnap(const math::Vector3d &_rpy);

    public: math::Vector3d RPYSnap() const;

    public: void SetScaleSnap(const math::Vector3d &_scale);

    public: math::Vector3d ScaleSnap() const;

    public: void SnapPoint(
                math::Vector3d &_point,
                math::Vector3d &_snapVals, double _sensitivity = 0.4) const;

    public: void RequestSelectionChange(Entity _selectedEntity,
        bool _deselectAll, bool _sendEvent);

    private: double SnapValue(
                 double _coord, double _interval, double _sensitivity) const;

    private: void XYZConstraint(math::Vector3d &_axis);

    private: void HandleMouseEvent();

    private: void HandleMouseContextMenu();

    private: void HandleMouseViewControl();

    private: void HandleMouseTransformControl();

    private: void HandleEntitySelection();

    private: void HandleModelPlacement();

    private: void BroadcastHoverPos();

    private: void BroadcastLeftClick();

    private: Entity UniqueId();

    public: bool GeneratePreview(const sdf::Root &_sdf);

    public: void TerminateSpawnPreview();

    public: math::Vector3d ScreenToPlane(const math::Vector2i &_screenPos)
        const;

    public: math::Vector3d ScreenToScene(const math::Vector2i &_screenPos)
        const;

    public: math::Pose3d CameraPose() const;

    private: void OnMoveToComplete();

    private: void OnViewAngleComplete();

    private: void OnMoveToPoseComplete();

    private: void UpdateSelectedEntity(const rendering::NodePtr &_node,
        bool _sendEvent);

    private: void DeselectAllEntities(bool _sendEvent);

    signals: void ContextMenuRequested(QString _entity);

    signals: void FollowTargetChanged(const std::string &_target,
        bool _waitForTarget);

    public: GLuint textureId = 0u;

    public: math::Pose3d cameraPose = math::Pose3d(0, 0, 2, 0, 0.4, 0);

    public: std::string worldName;

    public: uint32_t visibilityMask = 0xFFFFFFFFu;

    public: bool initialized = false;

    public: QSize textureSize = QSize(1024, 1024);

    public: bool textureDirty = false;

    private: std::unique_ptr<IgnRendererPrivate> dataPtr;
  };

  class RenderThread : public QThread
  {
    Q_OBJECT

    public: RenderThread();

    public slots: void RenderNext();

    public slots: void ShutDown();

    public slots: void SizeChanged();

    signals: void TextureReady(int _id, const QSize &_size);

    public: QOffscreenSurface *surface = nullptr;

    public: QOpenGLContext *context = nullptr;

    public: IgnRenderer ignRenderer;
  };


  class RenderWindowItem : public QQuickItem
  {
    Q_OBJECT

    public: explicit RenderWindowItem(QQuickItem *_parent = nullptr);

    public: ~RenderWindowItem() override;

    public: class RenderUtil *RenderUtil() const;

    public: void SetCameraPose(const math::Pose3d &_pose);

    public: math::Pose3d CameraPose() const;

    public: void SetInitCameraPose(const math::Pose3d &_pose);

    public: void SetVisibilityMask(uint32_t _mask);

    public: void SetTransformMode(const std::string &_mode);

    public: void SetModel(const std::string &_model);

    public: void SetModelPath(const std::string &_filePath);

    public: void SetRecordVideo(bool _record, const std::string &_format,
        const std::string &_savePath);

    public: void SetMoveTo(const std::string &_target);

    public Q_SLOTS: void SetFollowTarget(const std::string &_target,
        bool _waitForTarget = false);

    public: void SetViewAngle(const math::Vector3d &_direction);

    public: void SetMoveToPose(const math::Pose3d &_pose);

    public: void SetFollowPGain(double _gain);

    public: void SetFollowWorldFrame(bool _worldFrame);

    public: void SetFollowOffset(const math::Vector3d &_offset);

    public: void SetWorldName(const std::string &_name);

    public: void UpdateSelectedEntity(Entity _entity,
        bool _sendEvent);

    public: void DeselectAllEntities(bool _sendEvent);

    public: void SetXYZSnap(const math::Vector3d &_xyz);

    public: void SetRPYSnap(const math::Vector3d &_rpy);

    public: void SetScaleSnap(const math::Vector3d &_scale);

    public: math::Vector3d ScreenToScene(const math::Vector2i &_screenPos);

    public: void OnHovered(const ignition::math::Vector2i &_hoverPos);

    public Q_SLOTS: void Ready();

    public: void HandleKeyPress(QKeyEvent *_e);

    public: void HandleKeyRelease(QKeyEvent *_e);

    // Documentation inherited
    protected: void mousePressEvent(QMouseEvent *_e) override;

    // Documentation inherited
    protected: void mouseReleaseEvent(QMouseEvent *_e) override;

    // Documentation inherited
    protected: void mouseMoveEvent(QMouseEvent *_e) override;

    // Documentation inherited
    protected: void wheelEvent(QWheelEvent *_e) override;

    private: QSGNode *updatePaintNode(QSGNode *_oldNode,
        QQuickItem::UpdatePaintNodeData *_data) override;

    signals: void openContextMenu(QString _entity); // NOLINT

    public slots: void OnContextMenuRequested(QString _entity);

    private: std::unique_ptr<RenderWindowItemPrivate> dataPtr;
  };

  class TextureNode : public QObject, public QSGSimpleTextureNode
  {
    Q_OBJECT

    public: explicit TextureNode(QQuickWindow *_window);

    public: ~TextureNode() override;

    public slots: void NewTexture(int _id, const QSize &_size);

    public slots: void PrepareNode();

    signals: void TextureInUse();

    signals: void PendingNewTexture();

    public: int id = 0;

    public: QSize size = QSize(0, 0);

    public: QMutex mutex;

    public: QSGTexture *texture = nullptr;

    public: QQuickWindow *window = nullptr;
  };
}
}
}

#endif