Add view control gui plugin and support orthographic view

src/gui/plugins/scene3d/Scene3D.cc

@@ -48,6 +48,7 @@
 
 #include <ignition/rendering/Image.hh>
 #include <ignition/rendering/OrbitViewController.hh>
+#include <ignition/rendering/OrthoViewController.hh>
 #include <ignition/rendering/RayQuery.hh>
 #include <ignition/rendering/RenderEngine.hh>
 #include <ignition/rendering/RenderingIface.hh>
@@ -184,8 +185,14 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
  /// \brief User camera
  public: rendering::CameraPtr camera;
 
- /// \brief Camera orbit controller
- public: rendering::OrbitViewController viewControl;
+ /// \brief Orbit view controller
+ public: rendering::OrbitViewController orbitViewControl;
+
+ /// \brief Ortho view controller
+ public: rendering::OrthoViewController orthoViewControl;
+
+ /// \brief Camera view controller
+ public: rendering::ViewController *viewControl{nullptr};
 
  /// \brief Transform controller for models
  public: rendering::TransformController transformControl;
@@ -239,6 +246,9 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
  /// \brief Target to view collisions
  public: std::string viewCollisionsTarget;
 
+ /// \brief View controller
+ public: std::string viewController{"orbit"};
+
  /// \brief Helper object to select entities. Only the latest selection
  /// request is kept.
  public: SelectionHelper selectionHelper;
@@ -443,6 +453,9 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 
  /// \brief View collisions service
  public: std::string viewCollisionsService;
+
+ /// \brief Camera view control service
+ public: std::string cameraViewControlService;
  };
 }
 }
@@ -503,6 +516,9 @@ void IgnRenderer::Render()
  IGN_PROFILE("IgnRenderer::Render Pre-render camera");
  this->dataPtr->camera->PreRender();
  }
+ // mark mouse dirty to force update view projection in HandleMouseEvent
+ this->dataPtr->mouseDirty = true;
+
  this->textureDirty = false;
  }
 
@@ -1716,39 +1732,54 @@ void IgnRenderer::HandleMouseViewControl()
  if (!this->dataPtr->followTarget.empty())
  this->dataPtr->camera->WorldPosition();
 
- this->dataPtr->viewControl.SetCamera(this->dataPtr->camera);
+ if (this->dataPtr->viewController == "ortho")
+ {
+ this->dataPtr->viewControl = &this->dataPtr->orthoViewControl;
+ }
+ else if (this->dataPtr->viewController == "orbit")
+ {
+ this->dataPtr->viewControl = &this->dataPtr->orbitViewControl;
+ }
+ else
+ {
+ ignerr << "Unknown view controller: " << this->dataPtr->viewController
+ << ". Defaulting to orbit view controller" << std::endl;
+ this->dataPtr->viewController = "orbit";
+ this->dataPtr->viewControl = &this->dataPtr->orbitViewControl;
+ }
+ this->dataPtr->viewControl->SetCamera(this->dataPtr->camera);
 
  if (this->dataPtr->mouseEvent.Type() == common::MouseEvent::SCROLL)
  {
  this->dataPtr->target =
  this->ScreenToScene(this->dataPtr->mouseEvent.Pos());
- this->dataPtr->viewControl.SetTarget(this->dataPtr->target);
+ this->dataPtr->viewControl->SetTarget(this->dataPtr->target);
  double distance = this->dataPtr->camera->WorldPosition().Distance(
  this->dataPtr->target);
  double amount = -this->dataPtr->drag.Y() * distance / 5.0;
- this->dataPtr->viewControl.Zoom(amount);
+ this->dataPtr->viewControl->Zoom(amount);
  }
  else
  {
  if (this->dataPtr->mouseEvent.Type() == common::MouseEvent::PRESS)
  {
  this->dataPtr->target = this->ScreenToScene(
  this->dataPtr->mouseEvent.PressPos());
- this->dataPtr->viewControl.SetTarget(this->dataPtr->target);
+ this->dataPtr->viewControl->SetTarget(this->dataPtr->target);
  }
 
  // Pan with left button
  if (this->dataPtr->mouseEvent.Buttons() & common::MouseEvent::LEFT)
  {
  if (Qt::ShiftModifier == QGuiApplication::queryKeyboardModifiers())
- this->dataPtr->viewControl.Orbit(this->dataPtr->drag);
+ this->dataPtr->viewControl->Orbit(this->dataPtr->drag);
  else
- this->dataPtr->viewControl.Pan(this->dataPtr->drag);
+ this->dataPtr->viewControl->Pan(this->dataPtr->drag);
  }
  // Orbit with middle button
  else if (this->dataPtr->mouseEvent.Buttons() & common::MouseEvent::MIDDLE)
  {
- this->dataPtr->viewControl.Orbit(this->dataPtr->drag);
+ this->dataPtr->viewControl->Orbit(this->dataPtr->drag);
  }
  else if (this->dataPtr->mouseEvent.Buttons() & common::MouseEvent::RIGHT)
  {
@@ -1760,7 +1791,7 @@ void IgnRenderer::HandleMouseViewControl()
  double amount = ((-this->dataPtr->drag.Y() /
  static_cast<double>(this->dataPtr->camera->ImageHeight()))
  * distance * tan(vfov/2.0) * 6.0);
- this->dataPtr->viewControl.Zoom(amount);
+ this->dataPtr->viewControl->Zoom(amount);
  }
  }
  this->dataPtr->drag = 0;
@@ -2052,6 +2083,17 @@ void IgnRenderer::SetViewCollisionsTarget(const std::string &_target)
  this->dataPtr->viewCollisionsTarget = _target;
 }
 
+/////////////////////////////////////////////////
+void IgnRenderer::SetViewController(const std::string &_controller)
+{
+ std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+ this->dataPtr->viewController = _controller;
+
+ // mark mouse dirty to trigger HandleMouseEvent call and
+ // set up a new view controller
+ this->dataPtr->mouseDirty = true;
+}
+
 /////////////////////////////////////////////////
 void IgnRenderer::SetFollowPGain(double _gain)
 {
@@ -2792,6 +2834,13 @@ void Scene3D::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
  ignmsg << "View collisions service on ["
  << this->dataPtr->viewCollisionsService << "]" << std::endl;
 
+ // camera view control mode
+ this->dataPtr->cameraViewControlService = "/gui/camera/view_control";
+ this->dataPtr->node.Advertise(this->dataPtr->cameraViewControlService,
+ &Scene3D::OnViewControl, this);
+ ignmsg << "Camera view controller topic advertised on ["
+ << this->dataPtr->cameraViewControlService << "]" << std::endl;
+
  ignition::gui::App()->findChild<
  ignition::gui::MainWindow *>()->QuickWindow()->installEventFilter(this);
  ignition::gui::App()->findChild<
@@ -2971,6 +3020,19 @@ bool Scene3D::OnViewCollisions(const msgs::StringMsg &_msg,
  return true;
 }
 
+/////////////////////////////////////////////////
+bool Scene3D::OnViewControl(const msgs::StringMsg &_msg,
+ msgs::Boolean &_res)
+{
+ auto renderWindow = this->PluginItem()->findChild<RenderWindowItem *>();
+
+ renderWindow->SetViewController(_msg.data());
+
+ _res.set_data(true);
+ return true;
+}
+
+
 /////////////////////////////////////////////////
 void Scene3D::OnHovered(int _mouseX, int _mouseY)
 {
@@ -3240,6 +3302,12 @@ void RenderWindowItem::SetViewCollisionsTarget(const std::string &_target)
  this->dataPtr->renderThread->ignRenderer.SetViewCollisionsTarget(_target);
 }
 
+/////////////////////////////////////////////////
+void RenderWindowItem::SetViewController(const std::string &_controller)
+{
+ this->dataPtr->renderThread->ignRenderer.SetViewController(_controller);
+}
+
 /////////////////////////////////////////////////
 void RenderWindowItem::SetFollowPGain(double _gain)
 {

src/gui/plugins/scene3d/Scene3D.hh

@@ -168,6 +168,13 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
  private: bool OnViewCollisions(const msgs::StringMsg &_msg,
  msgs::Boolean &_res);
 
+ /// \brief Callback for camera view controller request
+ /// \param[in] _msg Request message to set the camera view controller
+ /// \param[in] _res Response data
+ /// \return True if the request is received
+ private: bool OnViewControl(const msgs::StringMsg &_msg,
+ msgs::Boolean &_res);
+
  /// \internal
  /// \brief Pointer to private data.
  private: std::unique_ptr<Scene3DPrivate> dataPtr;
@@ -267,6 +274,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
  /// \param[in] _target Target to view collisions
  public: void SetViewCollisionsTarget(const std::string &_target);
 
+ /// \brief Set camera view controller
+ /// \param[in] _viewController. Values are "orbit", and "ortho"
+ public: void SetViewController(const std::string &_viewController);
+
  /// \brief Set the p gain for the camera follow movement
  /// \param[in] _gain Camera follow p gain.
  public: void SetFollowPGain(double _gain);
@@ -617,6 +628,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
  /// \param[in] _target Target to view collisions
  public: void SetViewCollisionsTarget(const std::string &_target);
 
+ /// \brief Set camera view controller
+ /// \param[in] _viewController. Values are "orbit", and "ortho"
+ public: void SetViewController(const std::string &_viewController);
+
  /// \brief Set the p gain for the camera follow movement
  /// \param[in] _gain Camera follow p gain.
  public: void SetFollowPGain(double _gain);

src/gui/plugins/view_angle/ViewAngle.cc

@@ -38,7 +38,10 @@ namespace ignition::gazebo
  public: std::mutex mutex;
 
  /// \brief View Angle service name
- public: std::string service;
+ public: std::string viewAngleService;
+
+ /// \brief View Control service name
+ public: std::string viewControlService;
  };
 }
 
@@ -61,7 +64,10 @@ void ViewAngle::LoadConfig(const tinyxml2::XMLElement *)
  this->title = "View Angle";
 
  // For view angle requests
- this->dataPtr->service = "/gui/view_angle";
+ this->dataPtr->viewAngleService = "/gui/view_angle";
+
+ // view control requests
+ this->dataPtr->viewControlService = "/gui/camera/view_control";
 }
 
 /////////////////////////////////////////////////
@@ -79,7 +85,32 @@ void ViewAngle::OnAngleMode(int _x, int _y, int _z)
  req.set_y(_y);
  req.set_z(_z);
 
- this->dataPtr->node.Request(this->dataPtr->service, req, cb);
+ this->dataPtr->node.Request(this->dataPtr->viewAngleService, req, cb);
+}
+
+/////////////////////////////////////////////////
+void ViewAngle::OnViewControl(const QString &_controller)
+{
+ std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
+ [](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
+ {
+ if (!_result)
+ ignerr << "Error setting view controller" << std::endl;
+ };
+
+ ignition::msgs::StringMsg req;
+ std::string str = _controller.toStdString();
+ if (str.find("Orbit") != std::string::npos)
+ req.set_data("orbit");
+ else if (str.find("Ortho") != std::string::npos)
+ req.set_data("ortho");
+ else
+ {
+ ignerr << "Unknown view controller selected: " << str << std::endl;
+ return;
+ }
+
+ this->dataPtr->node.Request(this->dataPtr->viewControlService, req, cb);
 }
 
 // Register this plugin

src/gui/plugins/view_angle/ViewAngle.hh

@@ -54,6 +54,10 @@ namespace gazebo
  /// to assume. All 0s for x, y, and z indicate the initial camera pose.
  public slots: void OnAngleMode(int _x, int _y, int _z);
 
+ /// \brief Callback in Qt thread when camera view controller changes.
+ /// \param[in] _mode New camera view controller
+ public slots: void OnViewControl(const QString &_controller);
+
  /// \internal
  /// \brief Pointer to private data.
  private: std::unique_ptr<ViewAnglePrivate> dataPtr;