Model editor: Add links to model (#1165)

* add an add entity button to component inspector. Currently only enabled for models

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* add model editor gui plugin that inserts visuals to the scene in the render thread

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* write to ECM

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* support adding light links

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* notify other GUI plugins of added/removed entities via GUI events

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

* use const ref for constructor input params

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

* guarantee 64 bit entity IDs with gazebo::Entity instead of unsigned int

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

* testing makr as new entity  func

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* rm printouts

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* register type

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* refactor render util

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* workaround for avoiding crash on exit

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* refactor, comment out unused menu items

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* remove commented out code, add CreateLight function

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* add model editor src files

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* remove more commented out code

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* use entity instead of entity name (#1176)

Signed-off-by: Nate Koenig <nate@openrobotics.org>

Co-authored-by: Nate Koenig <nate@openrobotics.org>

* Add link menu updates (#1177)

* use entity instead of entity name

Signed-off-by: Nate Koenig <nate@openrobotics.org>

* Update link add menu

Signed-off-by: Nate Koenig <nate@openrobotics.org>

Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Ian Chen <ichen@osrfoundation.org>

* fix adding ellipsoid

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* merge model_editor into component_inspector

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* fixing warnings

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* Adjust tool tips

Signed-off-by: Nate Koenig <nate@openrobotics.org>

* fix adding light

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* Fix codecheck

Signed-off-by: Nate Koenig <nate@openrobotics.org>

* Fixed documentation

Signed-off-by: Nate Koenig <nate@openrobotics.org>

Co-authored-by: Ashton Larkin <ashton@openrobotics.org>
Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com>

include/ignition/gazebo/gui/GuiEvents.hh

@@ -18,6 +18,8 @@
 #define IGNITION_GAZEBO_GUI_GUIEVENTS_HH_
 
 #include <QEvent>
+#include <QString>
+
 #include <set>
 #include <string>
 #include <utility>
@@ -182,6 +184,51 @@ namespace events
     /// \brief True if a transform mode is active.
     private: bool tranformModeActive;
   };
+
+  /// \brief Event that notifies an entity is to be added to the model editor
+  class ModelEditorAddEntity : public QEvent
+  {
+    /// \brief Constructor
+    /// \param[in] _tranformModeActive is the transform control mode active
+    public: explicit ModelEditorAddEntity(QString _entity, QString _type,
+                ignition::gazebo::Entity _parent, QString _uri) :
+      QEvent(kType), entity(_entity), type(_type), parent(_parent), uri(_uri)
+    {
+    }
+
+    /// \brief Get the entity to add
+    public: QString Entity() const
+    {
+      return this->entity;
+    }
+
+    /// \brief Get the URI, if any, associated with the entity to add
+    public: QString Uri() const
+    {
+      return this->uri;
+    }
+
+    /// \brief Get the entity type
+    public: QString EntityType() const
+    {
+      return this->type;
+    }
+
+    /// \brief Get the parent entity to add the entity to
+    public: ignition::gazebo::Entity ParentEntity() const
+    {
+      return this->parent;
+    }
+
+    /// \brief Unique type for this event.
+    static const QEvent::Type kType = QEvent::Type(QEvent::User + 7);
+
+    private: QString entity;
+    private: QString type;
+    private: ignition::gazebo::Entity parent;
+    private: QString uri;
+  };
+
 }  // namespace events
 }
 }  // namespace gui

include/ignition/gazebo/rendering/RenderUtil.hh

@@ -18,6 +18,7 @@
 #define IGNITION_GAZEBO_RENDERUTIL_HH_
 
 #include <memory>
+#include <set>
 #include <string>
 #include <vector>
 
@@ -76,6 +77,14 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     public: void UpdateFromECM(const UpdateInfo &_info,
                                const EntityComponentManager &_ecm);
 
+    /// \brief Helper function to create visuals for new entities created in
+    /// ECM. This function is intended to be used by other GUI plugins when
+    /// new entities are created on the GUI side.
+    /// \param[in] _ecm Const reference to the entity component manager
+    /// \param[in] _entities Entities to create visuals for.
+    public: void CreateVisualsForEntities(const EntityComponentManager &_ecm,
+                const std::set<Entity> &_entities);
+
     /// \brief Set the rendering engine to use
     /// \param[in] _engineName Name of the rendering engine.
     public: void SetEngineName(const std::string &_engineName);

src/gui/plugins/component_inspector/CMakeLists.txt

@@ -1,4 +1,4 @@
 gz_add_gui_plugin(ComponentInspector
-  SOURCES ComponentInspector.cc
-  QT_HEADERS ComponentInspector.hh
+  SOURCES ComponentInspector.cc ModelEditor.cc
+  QT_HEADERS ComponentInspector.hh ModelEditor.hh
 )

src/gui/plugins/component_inspector/ComponentInspector.cc

@@ -19,6 +19,7 @@
 #include <list>
 #include <regex>
 #include <ignition/common/Console.hh>
+#include <ignition/common/MeshManager.hh>
 #include <ignition/common/Profiler.hh>
 #include <ignition/gui/Application.hh>
 #include <ignition/gui/MainWindow.hh>
@@ -67,6 +68,7 @@
 #include "ignition/gazebo/gui/GuiEvents.hh"
 
 #include "ComponentInspector.hh"
+#include "ModelEditor.hh"
 
 namespace ignition::gazebo
 {
@@ -101,6 +103,9 @@ namespace ignition::gazebo
 
     /// \brief Transport node for making command requests
     public: transport::Node node;
+
+    /// \brief Transport node for making command requests
+    public: ModelEditor modelEditor;
   };
 }
 
@@ -405,10 +410,12 @@ void ComponentInspector::LoadConfig(const tinyxml2::XMLElement *)
   // Connect model
   this->Context()->setContextProperty(
       "ComponentsModel", &this->dataPtr->componentsModel);
+
+  this->dataPtr->modelEditor.Load();
 }
 
 //////////////////////////////////////////////////
-void ComponentInspector::Update(const UpdateInfo &,
+void ComponentInspector::Update(const UpdateInfo &_info,
     EntityComponentManager &_ecm)
 {
   IGN_PROFILE("ComponentInspector::Update");
@@ -789,6 +796,8 @@ void ComponentInspector::Update(const UpdateInfo &,
         Qt::QueuedConnection,
         Q_ARG(ignition::gazebo::ComponentTypeId, typeId));
   }
+
+  this->dataPtr->modelEditor.Update(_info, _ecm);
 }
 
 /////////////////////////////////////////////////
@@ -1029,6 +1038,45 @@ bool ComponentInspector::NestedModel() const
   return this->dataPtr->nestedModel;
 }
 
+/////////////////////////////////////////////////
+void ComponentInspector::OnAddEntity(const QString &_entity,
+    const QString &_type)
+{
+  // currently just assumes parent is the model
+  // todo(anyone) support adding visuals / collisions / sensors to links
+  ignition::gazebo::gui::events::ModelEditorAddEntity addEntityEvent(
+      _entity, _type, this->dataPtr->entity, QString(""));
+
+  ignition::gui::App()->sendEvent(
+      ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
+      &addEntityEvent);
+}
+
+/////////////////////////////////////////////////
+void ComponentInspector::OnLoadMesh(const QString &_entity,
+    const QString &_type, const QString &_mesh)
+{
+  std::string meshStr = _mesh.toStdString();
+  if (QUrl(_mesh).isLocalFile())
+  {
+    // mesh to sdf model
+    common::rtrim(meshStr);
+
+    if (!common::MeshManager::Instance()->IsValidFilename(meshStr))
+    {
+      QString errTxt = QString::fromStdString("Invalid URI: " + meshStr +
+        "\nOnly mesh file types DAE, OBJ, and STL are supported.");
+      return;
+    }
+
+    ignition::gazebo::gui::events::ModelEditorAddEntity addEntityEvent(
+        _entity, _type, this->dataPtr->entity, QString(meshStr.c_str()));
+    ignition::gui::App()->sendEvent(
+        ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
+        &addEntityEvent);
+  }
+}
+
 // Register this plugin
 IGNITION_ADD_PLUGIN(ignition::gazebo::ComponentInspector,
                     ignition::gui::Plugin)

src/gui/plugins/component_inspector/ComponentInspector.hh

@@ -331,6 +331,19 @@ namespace gazebo
     /// \brief Notify that paused has changed.
     signals: void PausedChanged();
 
+    /// \brief Callback in Qt thread when an entity is to be added
+    /// \param[in] _entity Entity to add, e.g. box, sphere, cylinder, etc
+    /// \param[in] _type Entity type, e.g. link, visual, collision, etc
+    public: Q_INVOKABLE void OnAddEntity(const QString &_entity,
+                const QString &_type);
+
+    /// \brief Callback to insert a new entity
+    /// \param[in] _entity Entity to add, e.g. box, sphere, cylinder, etc
+    /// \param[in] _type Entity type, e.g. link, visual, collision, etc
+    /// \param[in] _mesh Mesh file to load.
+    public: Q_INVOKABLE void OnLoadMesh(const QString &_entity,
+                const QString &_type, const QString &_mesh);
+
     /// \internal
     /// \brief Pointer to private data.
     private: std::unique_ptr<ComponentInspectorPrivate> dataPtr;