Added transform control and select entities GUI plugins

include/ignition/gazebo/gui/GuiEvents.hh

@@ -210,6 +210,27 @@ namespace events
     /// \brief The path of SDF file to be previewed.
     std::string filePath;
   };
+
+  class TransformControlMode : public QEvent
+  {
+    /// \brief Constructor
+    /// \param[in] _filePath The path to an SDF file.
+    public: explicit TransformControlMode(const bool _tranformModeActive)
+        : QEvent(kType), tranformModeActive(_tranformModeActive)
+    {
+    }
+
+    /// \brief Unique type for this event.
+    static const QEvent::Type kType = QEvent::Type(QEvent::User + 6);
+
+    public: bool TransformControl()
+    {
+      return this->tranformModeActive;
+    }
+
+    private: bool tranformModeActive;
+  };
+
 }  // namespace events
 }
 }  // namespace gui

include/ignition/gazebo/rendering/RenderUtil.hh

@@ -92,6 +92,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \return Name of the rendering scene.
     public: std::string SceneName() const;
 
+    /// \brief Set the scene to use.
+    /// \param[in] _scene Pointer to the scene.
+    public: void SetScene(const rendering::ScenePtr &_scene);
+
     /// \brief Set background color of render window
     /// \param[in] _color Color of render window background
     public: void SetBackgroundColor(const math::Color &_color);

src/gui/gui.config

@@ -26,7 +26,7 @@
 <!-- GUI plugins -->
 
 <!-- 3D scene -->
-<plugin filename="GzScene3D" name="3D View">
+<plugin filename="MinimalScene" name="3D View">
   <ignition-gui>
     <title>3D View</title>
     <property type="bool" key="showTitleBar">false</property>
@@ -40,6 +40,62 @@
   <camera_pose>6 0 6 0 0.5 3.14</camera_pose>
 </plugin>
 
+<plugin filename="GzSceneManager" name="Scene Manager">
+  <ignition-gui>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+
+<plugin filename="TransformControlLogic" name="Transform Control Logic">
+  <ignition-gui>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+
+<plugin filename="SelectEntities" name="Select Entities">
+  <ignition-gui>
+    <anchors target="Select entities">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+
+<plugin filename="ViewControl" name="View control">
+  <ignition-gui>
+    <anchors target="View Control">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+
 <!-- Play / pause / step -->
 <plugin filename="WorldControl" name="World control">
   <ignition-gui>

src/gui/plugins/CMakeLists.txt

@@ -128,9 +128,12 @@ add_subdirectory(playback_scrubber)
 add_subdirectory(plotting)
 add_subdirectory(resource_spawner)
 add_subdirectory(scene3d)
+add_subdirectory(select_entities)
+add_subdirectory(scene_manager)
 add_subdirectory(shapes)
 add_subdirectory(tape_measure)
 add_subdirectory(transform_control)
+add_subdirectory(transform_control_logic)
 add_subdirectory(video_recorder)
 add_subdirectory(view_angle)
 add_subdirectory(visualize_lidar)

src/gui/plugins/scene_manager/CMakeLists.txt

@@ -0,0 +1,7 @@
+gz_add_gui_plugin(GzSceneManager
+  SOURCES GzSceneManager.cc
+  QT_HEADERS GzSceneManager.hh
+  PRIVATE_LINK_LIBS
+    ${PROJECT_LIBRARY_TARGET_NAME}-rendering
+    ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER}
+)

src/gui/plugins/scene_manager/GzSceneManager.cc

@@ -0,0 +1,129 @@
+/*
+ * 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.
+ *
+*/
+
+#include "GzSceneManager.hh"
+
+#include <ignition/common/Profiler.hh>
+
+#include <ignition/plugin/Register.hh>
+
+#include <ignition/rendering/RenderingIface.hh>
+#include <ignition/rendering/Scene.hh>
+
+#include <ignition/gui/GuiEvents.hh>
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/MainWindow.hh>
+
+#include "ignition/gazebo/components/Name.hh"
+#include "ignition/gazebo/components/World.hh"
+#include "ignition/gazebo/EntityComponentManager.hh"
+#include "ignition/gazebo/rendering/RenderUtil.hh"
+
+namespace ignition
+{
+namespace gazebo
+{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+  /// \brief Private data class for GzSceneManager
+  class GzSceneManagerPrivate
+  {
+    /// \brief Update the 3D scene based on the latest state of the ECM.
+    public: void OnRender();
+
+    //// \brief Pointer to the rendering scene
+    public: rendering::ScenePtr scene;
+
+    /// \brief Rendering utility
+    public: RenderUtil renderUtil;
+
+    public: bool blockUpdate = false;
+  };
+}
+}
+}
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+GzSceneManager::GzSceneManager()
+  : GuiSystem(), dataPtr(std::make_unique<GzSceneManagerPrivate>())
+{
+}
+
+/////////////////////////////////////////////////
+GzSceneManager::~GzSceneManager() = default;
+
+/////////////////////////////////////////////////
+void GzSceneManager::LoadConfig(const tinyxml2::XMLElement *)
+{
+  if (this->title.empty())
+    this->title = "Scene Manager";
+
+  ignition::gui::App()->findChild<
+      ignition::gui::MainWindow *>()->installEventFilter(this);
+}
+
+//////////////////////////////////////////////////
+void GzSceneManager::Update(const UpdateInfo &_info,
+    EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("GzSceneManager::Update");
+
+  if (!this->dataPtr->blockUpdate)
+  {
+    this->dataPtr->renderUtil.UpdateECM(_info, _ecm);
+    this->dataPtr->renderUtil.UpdateFromECM(_info, _ecm);
+  }
+}
+
+/////////////////////////////////////////////////
+bool GzSceneManager::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (_event->type() == gui::events::Render::kType)
+  {
+    this->dataPtr->OnRender();
+  }
+  else if (_event->type() == ignition::gui::events::BlockOrbit::kType)
+  {
+    auto blockOrbit = reinterpret_cast<ignition::gui::events::BlockOrbit *>(
+        _event);
+    this->dataPtr->blockUpdate = blockOrbit->Block();
+  }
+
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
+}
+
+/////////////////////////////////////////////////
+void GzSceneManagerPrivate::OnRender()
+{
+  if (nullptr == this->scene)
+  {
+    this->scene = rendering::sceneFromFirstRenderEngine();
+    if (nullptr == this->scene)
+      return;
+
+    this->renderUtil.SetScene(this->scene);
+  }
+
+  this->renderUtil.Update();
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(ignition::gazebo::GzSceneManager,
+                    ignition::gui::Plugin)

src/gui/plugins/scene_manager/GzSceneManager.hh

@@ -0,0 +1,66 @@
+/*
+ * 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_GAZEBO_GUI_GZSCENEMANAGER_HH_
+#define IGNITION_GAZEBO_GUI_GZSCENEMANAGER_HH_
+
+#include <memory>
+
+#include <ignition/gazebo/gui/GuiSystem.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+  class GzSceneManagerPrivate;
+
+  /// \brief Updates a 3D scene based on information coming from the ECM.
+  /// This plugin doesn't instantiate a new 3D scene. Instead, it relies on
+  /// another plugin being loaded alongside it that will create and paint the
+  /// scene to the window, such as `ignition::gui::plugins::Scene3D`.
+  class GzSceneManager : public GuiSystem
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    public: GzSceneManager();
+
+    /// \brief Destructor
+    public: ~GzSceneManager() override;
+
+    // Documentation inherited
+    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+        override;
+
+    // Documentation inherited
+    public: void Update(const UpdateInfo &_info,
+        EntityComponentManager &_ecm) override;
+
+    // Documentation inherited
+    private: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
+    /// \internal
+    /// \brief Pointer to private data.
+    private: std::unique_ptr<GzSceneManagerPrivate> dataPtr;
+  };
+}
+}
+}
+
+#endif

src/gui/plugins/scene_manager/GzSceneManager.qml

@@ -0,0 +1,28 @@
+/*
+ * 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.
+ *
+*/
+
+import QtQuick 2.0
+import QtQuick.Controls 2.0
+import QtQuick.Layouts 1.3
+
+// TODO: remove invisible rectangle, see
+// https://github.com/ignitionrobotics/ign-gui/issues/220
+Rectangle {
+  visible: false
+  Layout.minimumWidth: 100
+  Layout.minimumHeight: 100
+}

src/gui/plugins/scene_manager/GzSceneManager.qrc

@@ -0,0 +1,5 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource prefix="GzSceneManager/">
+  <file>GzSceneManager.qml</file>
+</qresource>
+</RCC>

src/gui/plugins/select_entities/CMakeLists.txt

@@ -0,0 +1,11 @@
+gz_add_gui_plugin(SelectEntities
+  SOURCES
+    SelectEntities.cc
+  QT_HEADERS
+    SelectEntities.hh
+  TEST_SOURCES
+    # CameraControllerManager_TEST.cc
+  PUBLIC_LINK_LIBS
+   ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
+   ${PROJECT_LIBRARY_TARGET_NAME}-rendering
+)