Added capsule geometry (#200)

Signed-off-by: ahcorde <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>

Co-authored-by: Louise Poubel <[email protected]>
Co-authored-by: Ian Chen <[email protected]>

examples/gazebo_scene_viewer/SceneManager.cc

@@ -1505,6 +1505,19 @@ void SubSceneManager::ProcessCone(
   _parent->AddGeometry(cone);
 }
 
+//////////////////////////////////////////////////
+void SubSceneManager::ProcessCapsule(
+    const gazebo::msgs::Geometry & _geometryMsg, VisualPtr _parent)
+{
+  GeometryPtr capsule = this->activeScene->CreateCapsule();
+  const gazebo::msgs::CapsuleGeom &capsuleMsg = _geometryMsg.capsule();
+  double x = 2 * capsuleMsg.radius();
+  double y = 2 * capsuleMsg.radius();
+  double z = capsuleMsg.length();
+  _parent->SetLocalScale(x, y, z);
+  _parent->AddGeometry(capsule);
+}
+
 //////////////////////////////////////////////////
 //! [process cylinder]
 void SubSceneManager::ProcessCylinder(
@@ -1824,6 +1837,9 @@ void SubSceneManager::CreateGeometryFunctionMap()
   // this->geomFunctions[gazebo::msgs::Geometry::CONE] =
   //     &SubSceneManager::ProcessCone;
 
+  this->geomFunctions[gazebo::msgs::Geometry::CAPSULE] =
+      &SubSceneManager::ProcessSphere;
+
   this->geomFunctions[gazebo::msgs::Geometry::CYLINDER] =
       &SubSceneManager::ProcessCylinder;
 

examples/gazebo_scene_viewer/SceneManagerPrivate.hh

@@ -325,6 +325,9 @@ namespace ignition
       protected: virtual void ProcessCone(
           const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent);
 
+      protected: virtual void ProcessCapsule(
+          const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent);
+
       protected: virtual void ProcessCylinder(
           const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent);
 

examples/simple_demo/Main.cc

@@ -137,6 +137,17 @@ void buildScene(ScenePtr _scene)
   white->SetRenderOrder(0);
 //! [white material]
 
+  VisualPtr capsuleVisual = _scene->CreateVisual();
+  CapsulePtr capsule = _scene->CreateCapsule();
+  capsule->SetLength(0.2);
+  capsule->SetRadius(0.2);
+  capsuleVisual->AddGeometry(capsule);
+  capsuleVisual->SetOrigin(0.0, 0.0, 0.0);
+  capsuleVisual->SetLocalPosition(4, 2, 0);
+  capsuleVisual->SetLocalScale(1, 1, 1);
+  capsuleVisual->SetMaterial(red);
+  root->AddChild(capsuleVisual);
+
   // create plane visual
   VisualPtr plane = _scene->CreateVisual();
   plane->AddGeometry(_scene->CreatePlane());

include/ignition/rendering/Capsule.hh

@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2021 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_RENDERING_CAPSULE_HH_
+#define IGNITION_RENDERING_CAPSULE_HH_
+
+#include "ignition/rendering/config.hh"
+#include "ignition/rendering/Geometry.hh"
+#include "ignition/rendering/Object.hh"
+
+namespace ignition
+{
+  namespace rendering
+  {
+    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+    /// \class Capsule Capsule.hh ignition/rendering/Capsule
+    /// \brief Geometry for a capsule shape.
+    class IGNITION_RENDERING_VISIBLE Capsule :
+      public virtual Geometry
+    {
+      /// \brief Destructor
+      public: virtual ~Capsule() { }
+
+      /// \brief Set the radius of the capsule
+      public: virtual void SetRadius(double _radius) = 0;
+
+      /// \brief Set the length of the capsule
+      public: virtual void SetLength(double _length) = 0;
+
+      /// \brief Get the radius of the capsule
+      public: virtual double Radius() const = 0;
+
+      /// \brief Get the length of the capsule
+      public: virtual double Length() const = 0;
+    };
+    }
+  }
+}
+#endif

include/ignition/rendering/Marker.hh

@@ -65,7 +65,10 @@ namespace ignition
       MT_TRIANGLE_LIST  = 9,
 
       /// \brief Triangle strip primitive
-      MT_TRIANGLE_STRIP = 10
+      MT_TRIANGLE_STRIP = 10,
+
+      /// \brief Capsule geometry
+      MT_CAPSULE        = 11,
     };
 
     /// \class Marker Marker.hh ignition/rendering/Marker

include/ignition/rendering/RenderTypes.hh

@@ -49,6 +49,7 @@ namespace ignition
     class ArrowVisual;
     class AxisVisual;
     class Camera;
+    class Capsule;
     class DepthCamera;
     class DirectionalLight;
     class GaussianNoisePass;
@@ -128,6 +129,10 @@ namespace ignition
     /// \brief Shared pointer to GizmoVisual
     typedef shared_ptr<GizmoVisual> GizmoVisualPtr;
 
+    /// \def CapsulePtr
+    /// \brief Shared pointer to Capsule
+    typedef shared_ptr<Capsule> CapsulePtr;
+
     /// \def GridPtr
     /// \brief Shared pointer to Grid
     typedef shared_ptr<Grid> GridPtr;

include/ignition/rendering/Scene.hh

@@ -856,6 +856,10 @@ namespace ignition
       /// \return The created box
       public: virtual GeometryPtr CreateBox() = 0;
 
+      /// \brief Create new capsule geometry
+      /// \return The created capsule
+      public: virtual CapsulePtr CreateCapsule() = 0;
+
       /// \brief Create new cone geometry
       /// \return The created cone
       public: virtual GeometryPtr CreateCone() = 0;

include/ignition/rendering/base/BaseCapsule.hh

@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2021 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_RENDERING_BASECAPSULE_HH_
+#define IGNITION_RENDERING_BASECAPSULE_HH_
+
+#include "ignition/rendering/Capsule.hh"
+#include "ignition/rendering/base/BaseObject.hh"
+
+namespace ignition
+{
+  namespace rendering
+  {
+    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+    /// \brief Base implementation of a Capsule Geometry
+    template <class T>
+    class BaseCapsule :
+      public virtual Capsule,
+      public virtual T
+    {
+      // Documentation inherited
+      protected: BaseCapsule();
+
+      // Documentation inherited
+      public: virtual ~BaseCapsule();
+
+      // Documentation inherited
+      public: virtual void SetRadius(double _radius) override;
+
+      // Documentation inherited
+      public: virtual void SetLength(double _length) override;
+
+      // Documentation inherited
+      public: virtual double Radius() const override;
+
+      // Documentation inherited
+      public: virtual double Length() const override;
+
+      /// \brief Radius of the capsule
+      protected: double radius = 0.5;
+
+      /// \brief Length of the capsule
+      protected: double length = 0.5;
+
+      /// \brief Flag to indicate capsule properties have changed
+      protected: bool capsuleDirty = false;
+    };
+
+    /////////////////////////////////////////////////
+    // BaseCapsule
+    /////////////////////////////////////////////////
+    template <class T>
+    BaseCapsule<T>::BaseCapsule()
+    {
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    BaseCapsule<T>::~BaseCapsule()
+    {
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseCapsule<T>::SetRadius(double _radius)
+    {
+      this->radius = _radius;
+      this->capsuleDirty = true;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    double BaseCapsule<T>::Radius() const
+    {
+      return this->radius;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    void BaseCapsule<T>::SetLength(double _length)
+    {
+      this->length = _length;
+      this->capsuleDirty = true;
+    }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    double BaseCapsule<T>::Length() const
+    {
+      return this->length;
+    }
+    }
+  }
+}
+#endif

include/ignition/rendering/base/BaseScene.hh

@@ -407,6 +407,9 @@ namespace ignition
 
       public: virtual MeshPtr CreateMesh(const MeshDescriptor &_desc) override;
 
+      // Documentation inherited.
+      public: virtual CapsulePtr CreateCapsule() override;
+
       // Documentation inherited.
       public: virtual GridPtr CreateGrid() override;
 
@@ -565,6 +568,13 @@ namespace ignition
                      const std::string &_name,
                      const MeshDescriptor &_desc) = 0;
 
+      /// \brief Implementation for creating a capsule geometry object
+      /// \param[in] _id unique object id.
+      /// \param[in] _name unique object name.
+      /// \return Pointer to a capsule geometry object
+      protected: virtual CapsulePtr CreateCapsuleImpl(unsigned int _id,
+                     const std::string &_name) = 0;
+
       /// \brief Implementation for creating a grid geometry object
       /// \param[in] _id unique object id.
       /// \param[in] _name unique object name.

ogre/include/ignition/rendering/ogre/OgreCapsule.hh

@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2021 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_RENDERING_OGRE_OGRECAPSULE_HH_
+#define IGNITION_RENDERING_OGRE_OGRECAPSULE_HH_
+
+#include <memory>
+#include "ignition/rendering/base/BaseCapsule.hh"
+#include "ignition/rendering/ogre/OgreGeometry.hh"
+#include "ignition/rendering/ogre/OgreIncludes.hh"
+
+namespace Ogre
+{
+  class MovableObject;
+}
+
+namespace ignition
+{
+  namespace rendering
+  {
+    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+      // Forward declaration
+      class OgreCapsulePrivate;
+
+      /// \brief Ogre 2.x implementation of a Capsule Visual.
+      class IGNITION_RENDERING_OGRE_VISIBLE OgreCapsule
+        : public BaseCapsule<OgreGeometry>
+      {
+        /// \brief Constructor
+        protected: OgreCapsule();
+
+        /// \brief Destructor
+        public: virtual ~OgreCapsule();
+
+        // Documentation inherited.
+        public: virtual void Init() override;
+
+        // Documentation inherited.
+        public: virtual void Destroy() override;
+
+        // Documentation inherited.
+        public: virtual Ogre::MovableObject *OgreObject() const override;
+
+        // Documentation inherited.
+        public: virtual void PreRender() override;
+
+        // Documentation inherited.
+        public: virtual MaterialPtr Material() const override;
+
+        // Documentation inherited.
+        public: virtual void
+          SetMaterial(MaterialPtr _material, bool _unique) override;
+
+        /// \brief Update the capsule geometry in ogre
+        private: void Update();
+
+        /// \brief Capsule should only be created by scene.
+        private: friend class OgreScene;
+
+        /// \brief Private data class
+        private: std::unique_ptr<OgreCapsulePrivate> dataPtr;
+      };
+    }
+  }
+}
+#endif

ogre/include/ignition/rendering/ogre/OgreRenderTypes.hh

@@ -29,6 +29,7 @@ namespace ignition
     class OgreArrowVisual;
     class OgreAxisVisual;
     class OgreCamera;
+    class OgreCapsule;
     class OgreDepthCamera;
     class OgreDirectionalLight;
     class OgreGeometry;
@@ -76,6 +77,7 @@ namespace ignition
     typedef shared_ptr<OgreArrowVisual>          OgreArrowVisualPtr;
     typedef shared_ptr<OgreAxisVisual>           OgreAxisVisualPtr;
     typedef shared_ptr<OgreCamera>               OgreCameraPtr;
+    typedef shared_ptr<OgreCapsule>              OgreCapsulePtr;
     typedef shared_ptr<OgreDepthCamera>          OgreDepthCameraPtr;
     typedef shared_ptr<OgreDirectionalLight>     OgreDirectionalLightPtr;
     typedef shared_ptr<OgreGeometry>             OgreGeometryPtr;

ogre/include/ignition/rendering/ogre/OgreScene.hh

@@ -148,6 +148,9 @@ namespace ignition
         const HeightmapDescriptor &_desc) override;
 
       // Documentation inherited
+      protected: virtual CapsulePtr CreateCapsuleImpl(unsigned int _id,
+                     const std::string &_name) override;
+
       protected: virtual GridPtr CreateGridImpl(
         unsigned int _id,
         const std::string &_name) override;