Transparent mode #878

atharva-18 · 2021-06-23T14:10:01Z

🎉 New feature

Summary

Adds transparent mode to debug models. This is done by setting the transparency value of the material of the target visual.

Ogre1 doesn't seem to work for me (along with Align Tool's transparent mode). Can someone confirm?

Test it

Test it by selecting an entity and View -> Transparent

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

Signed-off-by: Atharva Pusalkar <[email protected]>

ahcorde

there are some conflicts

…into transparent_mode

iche033

nice, transparency is working for me.

iche033 · 2021-06-24T17:35:55Z

src/rendering/RenderUtil.cc

  /// \param[in] _ecm The entity-component manager
-  public: void FindWireframeVisualLinks(const EntityComponentManager &_ecm);
+  public: void FindVisualLinks(const EntityComponentManager &_ecm);


PopulateViewModeVisualLinks? probably not the best naming suggestion I have but I was thinking ways to make the name more expressive and representative of what it's doing.

iche033 · 2021-06-24T17:51:55Z

src/rendering/SceneManager.cc

@@ -95,6 +96,9 @@ class ignition::gazebo::SceneManagerPrivate
  /// \brief Map of sensor entity in Gazebo to sensor pointers.
  public: std::map<Entity, rendering::SensorPtr> sensors;

+  /// \brief The map of the original transparency values for the nodes.
+  public: std::map<std::string, double> originalTransparency;


consider removing items from this map when visuals are removed from the scene.

iche033 · 2021-06-24T17:59:12Z

src/rendering/SceneManager.cc

+
+    // Geometry material
+    auto geomMat = geom->Material();
+    if (nullptr == geomMat)


One additional check: if (nullptr == geomMat || visMat == geomMat) - just in case if we start setting materials to visuals with unique set to false, which would cause the geometry to get the same material as the parent visual. In this case, we wouldn't need to further update the transparency of the same material.

iche033 · 2021-06-24T18:01:52Z

src/rendering/RenderUtil.cc

@@ -2229,6 +2312,113 @@ void RenderUtilPrivate::LowlightNode(const rendering::NodePtr &_node)
  }
 }

+/////////////////////////////////////////////////
+void RenderUtil::ViewTransparent(const Entity &_entity)


the 3 View***(const Entity &_entity) functions are very similar. Is it possible to merge them or refactor some code in to functions so they can be reused?

8cf713c

We may need to make similar changes to #861, after it is merged.

Signed-off-by: Atharva Pusalkar <[email protected]>

iche033 · 2021-06-28T17:23:04Z

src/rendering/RenderUtil.cc

+  }
+
+  // Find all existing child links for this entity
+  std::vector<Entity> links = this->FindChildLinks(_entity);


how about std::vector<Entity> links = std::move(this->FindChildLinks(_entity)); to avoid copying the vector

iche033 · 2021-06-28T17:23:28Z

src/rendering/RenderUtil.cc

+  // Find all existing child links for this entity
+  std::vector<Entity> links = this->FindChildLinks(_entity);
+
+  for (const auto &link : links)


wrap this block with { ..} brackets

iche033 · 2021-06-28T17:24:25Z

src/rendering/SceneManager.cc

@@ -1593,6 +1597,16 @@ void SceneManager::RemoveEntity(Entity _id)
    auto it = this->dataPtr->visuals.find(_id);
    if (it != this->dataPtr->visuals.end())
    {
+      // Remove visual's original transparency from map
+      rendering::VisualPtr vis = this->dataPtr->visuals[_id];


rendering::VisualPtr vis = it->second to avoid another lookup

Signed-off-by: Atharva Pusalkar <[email protected]>

ahcorde

Some conflicts

…into transparent_mode

ahcorde

Conflicts because of the Inertia PR

…into transparent_mode

atharva-18 · 2021-07-02T16:11:26Z

@ahcorde I resolved the conflicts and updated the inertia mode to use the newer functions

osrf-triage · 2021-09-01T11:46:06Z

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/google-summer-of-code-2021-new-gui-widgets-in-ignition-gazebo/1081/1

Add transparent mode

2dce102

Signed-off-by: Atharva Pusalkar <[email protected]>

atharva-18 requested review from chapulina and iche033 as code owners June 23, 2021 14:10

github-actions bot added the 🏯 fortress Ignition Fortress label Jun 23, 2021

atharva-18 mentioned this pull request Jun 23, 2021

[wip] Added transparent mode gazebosim/gz-rendering#336

Closed

8 tasks

chapulina requested a review from ahcorde June 23, 2021 19:35

chapulina assigned atharva-18 Jun 23, 2021

ahcorde requested changes Jun 24, 2021

View reviewed changes

Merge branch 'main' of https://github.com/ignitionrobotics/ign-gazebo …

16c04f9

…into transparent_mode

iche033 reviewed Jun 24, 2021

View reviewed changes

atharva-18 added 4 commits June 25, 2021 16:03

Rename to PopulateViewModeVisualLinks

8378d41

Signed-off-by: Atharva Pusalkar <[email protected]>

Remove visual's original transparency from map

29f6cd5

Signed-off-by: Atharva Pusalkar <[email protected]>

Add additional material check

e67ddef

Signed-off-by: Atharva Pusalkar <[email protected]>

Refactor view functions

8cf713c

Signed-off-by: Atharva Pusalkar <[email protected]>

iche033 reviewed Jun 28, 2021

View reviewed changes

atharva-18 added 3 commits June 29, 2021 16:55

Use std::move

8818c28

Signed-off-by: Atharva Pusalkar <[email protected]>

Wrap blocks with curly braces

7f352fc

Signed-off-by: Atharva Pusalkar <[email protected]>

Avoid extra lookup

9b15b6a

Signed-off-by: Atharva Pusalkar <[email protected]>

iche033 approved these changes Jun 29, 2021

View reviewed changes

ahcorde requested changes Jul 1, 2021

View reviewed changes

Merge branch 'main' of https://github.com/ignitionrobotics/ign-gazebo …

76b622d

…into transparent_mode

ahcorde enabled auto-merge (squash) July 2, 2021 10:27

ahcorde disabled auto-merge July 2, 2021 14:21

ahcorde requested changes Jul 2, 2021

View reviewed changes

Merge branch 'main' of https://github.com/ignitionrobotics/ign-gazebo …

40511c8

…into transparent_mode

ahcorde approved these changes Jul 5, 2021

View reviewed changes

ahcorde merged commit 2e8419b into gazebosim:main Jul 5, 2021

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Transparent mode #878

Transparent mode #878

atharva-18 commented Jun 23, 2021 •

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osrf-triage commented Sep 1, 2021

Transparent mode #878

Transparent mode #878

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atharva-18 commented Jun 23, 2021 • edited Loading

🎉 New feature

Summary

Test it

Checklist

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atharva-18 commented Jul 2, 2021

osrf-triage commented Sep 1, 2021

atharva-18 commented Jun 23, 2021 •

edited

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