Particle system - Part 1

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-gazebo4 VERSION 4.4.0)
+project(ignition-gazebo4 VERSION 4.5.0)
 
 #============================================================================
 # Find ignition-cmake
@@ -53,7 +53,7 @@ set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-msgs
-ign_find_package(ignition-msgs6 REQUIRED VERSION 6.2)
+ign_find_package(ignition-msgs6 REQUIRED VERSION 6.3)
 set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
 
 #--------------------------------------

Changelog.md

@@ -1,5 +1,25 @@
 ## Ignition Gazebo 4.x
 
+### Ignition Gazebo 4.5.0 (2020-02-17)
+
+1. Added particle system.
+    * [Pull Request 516](https://github.com/ignitionrobotics/ign-gazebo/pull/516)
+
+1. Add Light Usercommand and include Light parameters in the componentInspector
+    * [Pull Request 482](https://github.com/ignitionrobotics/ign-gazebo/pull/482)
+
+1. Added link to HW-accelerated video recording.
+    * [Pull Request 627](https://github.com/ignitionrobotics/ign-gazebo/pull/627)
+
+1. Fix EntityComponentManager race condition.
+    * [Pull Request 601](https://github.com/ignitionrobotics/ign-gazebo/pull/601)
+
+1. Add SDF topic validity check.
+    * [Pull Request 632](https://github.com/ignitionrobotics/ign-gazebo/pull/632)
+
+1. Add JointTrajectoryController system plugin.
+    * [Pull Request 473](https://github.com/ignitionrobotics/ign-gazebo/pull/473)
+
 ### Ignition Gazebo 4.4.0 (2020-02-10)
 
 1. Added issue and PR templates

examples/worlds/particle_emitter.sdf

@@ -0,0 +1,90 @@
+<?xml version="1.0" ?>
+
+<!--
+  Launch this example with:
+
+      ign gazebo -r particle_emitter.sdf
+
+  Try modifying some parameters of the emitter:
+
+    To disable the particle emitter:
+
+      ign topic -t /model/smoke_generator/particle_emitter/smoke_generator -m ignition.msgs.ParticleEmitter -p 'name: "smoke_generator" pose { position { } orientation { w: 1 } } size { x: 1 y: 1 z: 1 } rate: 10 emitting: false particle_size { x: 1 y: 1 z: 1 } lifetime: 2 material { header { data { key: "double_sided" value: "0" } } ambient { a: 1 } diffuse { r: 0.7 g: 0.7 b: 0.7 a: 1 } specular { a: 1 } emissive { a: 1 } lighting: true pbr { type: METAL albedo_map: "/home/caguero/.ignition/fuel/fuel.ignitionrobotics.org/caguero/models/smoke_generator/2/materials/textures/smoke.png" metalness: 0.5 roughness: 0.5 } } min_velocity: 10 max_velocity: 20 color_start { r: 1 g: 1 b: 1 a: 1 } color_end { r: 1 g: 1 b: 1 a: 1 } scale_rate: 10 color_range_image: "/home/caguero/.ignition/fuel/fuel.ignitionrobotics.org/caguero/models/smoke_generator/2/materials/textures/smokecolors.png"'
+
+    Enable back the particle emitter:
+
+      ign topic -t /model/smoke_generator/particle_emitter/smoke_generator -m ignition.msgs.ParticleEmitter -p 'name: "smoke_generator" pose { position { } orientation { w: 1 } } size { x: 1 y: 1 z: 1 } rate: 10 emitting: true particle_size { x: 1 y: 1 z: 1 } lifetime: 2 material { header { data { key: "double_sided" value: "0" } } ambient { a: 1 } diffuse { r: 0.7 g: 0.7 b: 0.7 a: 1 } specular { a: 1 } emissive { a: 1 } lighting: true pbr { type: METAL albedo_map: "/home/caguero/.ignition/fuel/fuel.ignitionrobotics.org/caguero/models/smoke_generator/2/materials/textures/smoke.png" metalness: 0.5 roughness: 0.5 } } min_velocity: 10 max_velocity: 20 color_start { r: 1 g: 1 b: 1 a: 1 } color_end { r: 1 g: 1 b: 1 a: 1 } scale_rate: 10 color_range_image: "/home/caguero/.ignition/fuel/fuel.ignitionrobotics.org/caguero/models/smoke_generator/2/materials/textures/smokecolors.png"'
+
+    Then, change the particle rate:
+
+      ign topic -t /model/smoke_generator/particle_emitter/smoke_generator -m ignition.msgs.ParticleEmitter -p 'name: "smoke_generator" pose { position { } orientation { w: 1 } } size { x: 1 y: 1 z: 1 } rate: 100 emitting: true particle_size { x: 1 y: 1 z: 1 } lifetime: 2 material { header { data { key: "double_sided" value: "0" } } ambient { a: 1 } diffuse { r: 0.7 g: 0.7 b: 0.7 a: 1 } specular { a: 1 } emissive { a: 1 } lighting: true pbr { type: METAL albedo_map: "/home/caguero/.ignition/fuel/fuel.ignitionrobotics.org/caguero/models/smoke_generator/2/materials/textures/smoke.png" metalness: 0.5 roughness: 0.5 } } min_velocity: 10 max_velocity: 20 color_start { r: 1 g: 1 b: 1 a: 1 } color_end { r: 1 g: 1 b: 1 a: 1 } scale_rate: 10 color_range_image: "/home/caguero/.ignition/fuel/fuel.ignitionrobotics.org/caguero/models/smoke_generator/2/materials/textures/smokecolors.png"'
+-->
+
+<sdf version="1.6">
+  <world name="particle_emitters">
+
+    <physics name="1ms" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.5 0.5 0.5 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <include>
+      <uri>https://fuel.ignitionrobotics.org/1.0/caguero/models/smoke_generator</uri>
+    </include>
+
+  </world>
+</sdf>
+
+

include/ignition/gazebo/components/ParticleEmitter.hh

@@ -0,0 +1,52 @@
+/*
+ * 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_COMPONENTS_PARTICLEEMITTER_HH_
+#define IGNITION_GAZEBO_COMPONENTS_PARTICLEEMITTER_HH_
+
+#include <ignition/msgs/particle_emitter.pb.h>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief A component that contains a particle emitter.
+  using ParticleEmitter = Component<msgs::ParticleEmitter,
+        class ParticleEmitterTag,
+        serializers::MsgSerializer>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.ParticleEmitter",
+      ParticleEmitter)
+
+  /// \brief A component that contains a particle emitter command.
+  using ParticleEmitterCmd = Component<msgs::ParticleEmitter,
+        class ParticleEmitterCmdTag,
+        serializers::MsgSerializer>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.ParticleEmitterCmd",
+      ParticleEmitterCmd)
+}
+}
+}
+}
+
+#endif

include/ignition/gazebo/rendering/SceneManager.hh

@@ -34,6 +34,8 @@
 #include <ignition/common/Animation.hh>
 #include <ignition/common/graphics/Types.hh>
 
+#include <ignition/msgs/particle_emitter.pb.h>
+
 #include <ignition/rendering/RenderTypes.hh>
 
 #include <ignition/gazebo/config.hh>
@@ -161,6 +163,21 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     public: rendering::LightPtr CreateLight(Entity _id,
         const sdf::Light &_light, Entity _parentId);
 
+    /// \brief Create a particle emitter.
+    /// \param[in] _id Unique particle emitter id
+    /// \param[in] _emitter Particle emitter data
+    /// \param[in] _parentId Parent id
+    /// \return Default particle emitter object created
+    public: rendering::ParticleEmitterPtr CreateParticleEmitter(
+        Entity _id, const msgs::ParticleEmitter &_emitter, Entity _parentId);
+
+    /// \brief Update an existing particle emitter
+    /// \brief _id Emitter id to update
+    /// \brief _emitter Data to update the particle emitter
+    /// \return Particle emitter updated
+    public: rendering::ParticleEmitterPtr UpdateParticleEmitter(Entity _id,
+        const msgs::ParticleEmitter &_emitter);
+
     /// \brief Ignition sensors is the one responsible for adding sensors
     /// to the scene. Here we just keep track of it and make sure it has
     /// the correct parent.

src/rendering/RenderUtil.cc

@@ -63,6 +63,7 @@
 #include "ignition/gazebo/components/Model.hh"
 #include "ignition/gazebo/components/Name.hh"
 #include "ignition/gazebo/components/ParentEntity.hh"
+#include "ignition/gazebo/components/ParticleEmitter.hh"
 #include "ignition/gazebo/components/Pose.hh"
 #include "ignition/gazebo/components/RgbdCamera.hh"
 #include "ignition/gazebo/components/Scene.hh"
@@ -166,6 +167,17 @@ class ignition::gazebo::RenderUtilPrivate
   public: std::vector<std::tuple<Entity, sdf::Sensor, Entity>>
       newSensors;
 
+  /// \brief New particle emitter to be created. The elements in the tuple are:
+  /// [0] entity id, [1], particle emitter, [2] parent entity id
+  public: std::vector<std::tuple<Entity, msgs::ParticleEmitter, Entity>>
+      newParticleEmitters;
+
+  /// \brief New particle emitter commands to be requested.
+  /// The map key and value are: entity id of the particle emitter to
+  /// update, and particle emitter msg
+  public: std::unordered_map<Entity, msgs::ParticleEmitter>
+      newParticleEmittersCmds;
+
   /// \brief Map of ids of entites to be removed and sim iteration when the
   /// remove request is received
   public: std::unordered_map<Entity, uint64_t> removeEntities;
@@ -329,6 +341,27 @@ void RenderUtil::UpdateECM(const UpdateInfo &/*_info*/,
 {
   std::lock_guard<std::mutex> lock(this->dataPtr->updateMutex);
 
+  // particle emitters commands
+  _ecm.Each<components::ParticleEmitterCmd>(
+      [&](const Entity &_entity,
+          const components::ParticleEmitterCmd *_emitterCmd) -> bool
+      {
+        // store emitter properties and update them in rendering thread
+        this->dataPtr->newParticleEmittersCmds[_entity] =
+            _emitterCmd->Data();
+
+        // update pose comp here
+        if (_emitterCmd->Data().has_pose())
+        {
+          auto poseComp = _ecm.Component<components::Pose>(_entity);
+          if (poseComp)
+            poseComp->Data() = msgs::Convert(_emitterCmd->Data().pose());
+        }
+        _ecm.RemoveComponent<components::ParticleEmitterCmd>(_entity);
+
+        return true;
+      });
+
   // Update lights
   auto olderEntitiesLightsCmdToDelete =
     std::move(this->dataPtr->entityLightsCmdToDelete);
@@ -483,6 +516,9 @@ void RenderUtil::Update()
   auto newVisuals = std::move(this->dataPtr->newVisuals);
   auto newActors = std::move(this->dataPtr->newActors);
   auto newLights = std::move(this->dataPtr->newLights);
+  auto newParticleEmitters = std::move(this->dataPtr->newParticleEmitters);
+  auto newParticleEmittersCmds =
+    std::move(this->dataPtr->newParticleEmittersCmds);
   auto removeEntities = std::move(this->dataPtr->removeEntities);
   auto entityPoses = std::move(this->dataPtr->entityPoses);
   auto entityLights = std::move(this->dataPtr->entityLights);
@@ -499,6 +535,8 @@ void RenderUtil::Update()
   this->dataPtr->newVisuals.clear();
   this->dataPtr->newActors.clear();
   this->dataPtr->newLights.clear();
+  this->dataPtr->newParticleEmitters.clear();
+  this->dataPtr->newParticleEmittersCmds.clear();
   this->dataPtr->removeEntities.clear();
   this->dataPtr->entityPoses.clear();
   this->dataPtr->entityLights.clear();
@@ -601,6 +639,18 @@ void RenderUtil::Update()
           std::get<0>(light), std::get<1>(light), std::get<2>(light));
     }
 
+    for (const auto &emitter : newParticleEmitters)
+    {
+      this->dataPtr->sceneManager.CreateParticleEmitter(
+          std::get<0>(emitter), std::get<1>(emitter), std::get<2>(emitter));
+    }
+
+    for (const auto &emitterCmd : newParticleEmittersCmds)
+    {
+      this->dataPtr->sceneManager.UpdateParticleEmitter(
+          emitterCmd.first, emitterCmd.second);
+    }
+
     if (this->dataPtr->enableSensors && this->dataPtr->createSensorCb)
     {
       for (const auto &sensor : newSensors)
@@ -1174,6 +1224,17 @@ void RenderUtilPrivate::CreateRenderingEntities(
           return true;
         });
 
+    // particle emitters
+    _ecm.Each<components::ParticleEmitter, components::ParentEntity>(
+        [&](const Entity &_entity,
+            const components::ParticleEmitter *_emitter,
+            const components::ParentEntity *_parent) -> bool
+        {
+          this->newParticleEmitters.push_back(
+              std::make_tuple(_entity, _emitter->Data(), _parent->Data()));
+          return true;
+        });
+
     if (this->enableSensors)
     {
       // Create cameras
@@ -1385,6 +1446,17 @@ void RenderUtilPrivate::CreateRenderingEntities(
           return true;
         });
 
+    // particle emitters
+    _ecm.EachNew<components::ParticleEmitter, components::ParentEntity>(
+        [&](const Entity &_entity,
+            const components::ParticleEmitter *_emitter,
+            const components::ParentEntity *_parent) -> bool
+        {
+          this->newParticleEmitters.push_back(
+              std::make_tuple(_entity, _emitter->Data(), _parent->Data()));
+          return true;
+        });
+
     if (this->enableSensors)
     {
       // Create cameras
@@ -1626,6 +1698,14 @@ void RenderUtilPrivate::RemoveRenderingEntities(
         return true;
       });
 
+  // particle emitters
+  _ecm.EachRemoved<components::ParticleEmitter>(
+      [&](const Entity &_entity, const components::ParticleEmitter *)->bool
+      {
+        this->removeEntities[_entity] = _info.iterations;
+        return true;
+      });
+
   // cameras
   _ecm.EachRemoved<components::Camera>(
     [&](const Entity &_entity, const components::Camera *)->bool