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Heightmap physics (with DART) 🏔️ #661

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merged 15 commits into from
Jul 17, 2021
Merged

Heightmap physics (with DART) 🏔️ #661

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f7d3c38
Heightmap physics (with DART)
chapulina Mar 3, 2021
250514d
Merge branch 'main' into chapulina/5/heightmap_physics
chapulina Mar 10, 2021
a4d918a
Update API
chapulina Mar 17, 2021
e1e45a7
Merge branch 'main' into chapulina/5/heightmap_physics
chapulina Mar 17, 2021
94b0f78
Merge branch 'ign-gazebo5' into chapulina/5/heightmap_physics
chapulina Apr 23, 2021
100a08a
typo
chapulina Apr 23, 2021
bbca548
merged from ign-gazebo5
chapulina Jun 16, 2021
0142166
Prevent crash when selecting heightmap
chapulina Jun 16, 2021
33512b5
Merge branch 'ign-gazebo5' into chapulina/5/heightmap_physics
ahcorde Jun 30, 2021
247831e
Merge branch 'ign-gazebo5' into chapulina/5/heightmap_physics
scpeters Jul 13, 2021
9b0d908
PR feedback, cppcheck
chapulina Jul 16, 2021
288dfa6
fix spelling
scpeters Jul 16, 2021
2990e8f
add simple test
chapulina Jul 16, 2021
17c0b10
Merge branch 'chapulina/5/heightmap_physics' of ssh://github.com/igni…
chapulina Jul 16, 2021
68a6e07
merged from ign-gazebo5
chapulina Jul 16, 2021
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1 change: 1 addition & 0 deletions CMakeLists.txt
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Expand Up @@ -89,6 +89,7 @@ ign_find_package (Qt5
# Find ignition-physics
ign_find_package(ignition-physics4
COMPONENTS
heightmap
mesh
sdf
REQUIRED
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265 changes: 261 additions & 4 deletions examples/worlds/heightmap.sdf
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Expand Up @@ -3,12 +3,15 @@

Demonstrates a heightmap terrain.

At the moment, only the visuals work, but not the physics collisions, see
https://github.com/ignitionrobotics/ign-physics/issues/156.

-->
<sdf version="1.6">
<world name="heightmap">
<physics name="1ms" type="ignored">
<dart>
<!-- Heightmaps behave better with the bullet collision detector -->
<collision_detector>bullet</collision_detector>
</dart>
</physics>

<!-- 3D scene -->
<gui>
Expand All @@ -23,7 +26,113 @@
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-16.6 7.3 8.6 0.0 0.4 -0.45</camera_pose>
<camera_pose>-80 40 60 0.0 0.4 -0.45</camera_pose>
</plugin>

<!-- Play / pause / step -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>

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</plugin>

<!-- Time / RTF -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>

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</plugin>

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<ignition-gui>
<title>Transform control</title>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</ignition-gui>
</plugin>

<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">0</property>
<property key="width" type="double">150</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</ignition-gui>
</plugin>

<!-- Insert lights -->
<plugin filename="Lights" name="Lights">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">400</property>
<property key="y" type="double">0</property>
<property key="width" type="double">150</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</ignition-gui>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<ignition-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>

</gui>
Expand All @@ -42,6 +151,154 @@
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="sphere_red">
<pose>30 30 10 0 0 0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>3</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>3</iyy>
<iyz>0</iyz>
<izz>3</izz>
</inertia>
<mass>3.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>

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<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="sphere_green">
<pose>30 -30 10 0 0 0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>3</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>3</iyy>
<iyz>0</iyz>
<izz>3</izz>
</inertia>
<mass>3.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>

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<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="sphere_blue">
<pose>-30 30 10 0 0 0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>3</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>3</iyy>
<iyz>0</iyz>
<izz>3</izz>
</inertia>
<mass>3.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>

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<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
</link>
</model>

<model name="sphere_yellow">
<pose>-30 -30 20 0 0 0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>3</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>3</iyy>
<iyz>0</iyz>
<izz>3</izz>
</inertia>
<mass>3.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>

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<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
</material>
</visual>
</link>
</model>

<include>
<uri>
https://fuel.ignitionrobotics.org/1.0/chapulina/models/Heightmap Bowl
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12 changes: 9 additions & 3 deletions src/rendering/RenderUtil.cc
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Expand Up @@ -1893,9 +1893,15 @@ void RenderUtilPrivate::HighlightNode(const rendering::NodePtr &_node)
white->SetEmissive(1.0, 1.0, 1.0);
}

ignition::rendering::WireBoxPtr wireBox =
this->scene->CreateWireBox();
ignition::math::AxisAlignedBox aabb = vis->LocalBoundingBox();
auto aabb = vis->LocalBoundingBox();
if (aabb == math::AxisAlignedBox())
{
// Infinite bounding box, skip hihglighting this node.
// This happens for Heightmaps, for example.
return;
}

auto wireBox = this->scene->CreateWireBox();
wireBox->SetBox(aabb);

// Create visual and add wire box
Expand Down
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