Particle system - Part 1

include/ignition/gazebo/components/ParticleEmitter.hh

@@ -0,0 +1,45 @@
+/*
+ * 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)
+}
+}
+}
+}
+
+#endif

test/integration/components.cc

@@ -17,6 +17,8 @@
 
 #include <gtest/gtest.h>
 
+#include <ignition/msgs/particle_emitter.pb.h>
+
 #include <chrono>
 
 #include <sdf/Cylinder.hh>
@@ -62,6 +64,7 @@
 #include "ignition/gazebo/components/Name.hh"
 #include "ignition/gazebo/components/ParentEntity.hh"
 #include "ignition/gazebo/components/ParentLinkName.hh"
+#include "ignition/gazebo/components/ParticleEmitter.hh"
 #include "ignition/gazebo/components/Performer.hh"
 #include "ignition/gazebo/components/PerformerAffinity.hh"
 #include "ignition/gazebo/components/PerformerLevels.hh"
@@ -1466,3 +1469,74 @@ TEST_F(ComponentsTest, Scene)
   EXPECT_FALSE(comp3.Data().Grid());
   EXPECT_TRUE(comp3.Data().OriginVisual());
 }
+
+//////////////////////////////////////////////////
+TEST_F(ComponentsTest, ParticleEmitter)
+{
+  msgs::ParticleEmitter emitter1;
+  emitter1.set_name("emitter1");
+  emitter1.set_id(0);
+  emitter1.set_type(ignition::msgs::ParticleEmitter_EmitterType_BOX);
+  emitter1.mutable_size()->set_x(1);
+  emitter1.mutable_size()->set_y(2);
+  emitter1.mutable_size()->set_z(3);
+  emitter1.set_rate(4.0);
+  emitter1.set_duration(5.0);
+  emitter1.set_emitting(false);
+  emitter1.mutable_particle_size()->set_x(0.1);
+  emitter1.mutable_particle_size()->set_y(0.2);
+  emitter1.mutable_particle_size()->set_z(0.3);
+  emitter1.set_lifetime(6.0);
+  emitter1.set_min_velocity(7.0);
+  emitter1.set_max_velocity(8.0);
+  emitter1.mutable_color_start()->set_r(1.0);
+  emitter1.mutable_color_start()->set_g(0);
+  emitter1.mutable_color_start()->set_b(0);
+  emitter1.mutable_color_start()->set_a(0);
+  emitter1.mutable_color_end()->set_r(1.0);
+  emitter1.mutable_color_end()->set_g(1.0);
+  emitter1.mutable_color_end()->set_b(1.0);
+  emitter1.mutable_color_end()->set_a(0);
+  emitter1.set_scale_rate(9.0);
+  emitter1.set_color_range_image("path_to_texture");
+
+  msgs::ParticleEmitter emitter2;
+  emitter2.set_name("emitter2");
+  emitter2.set_id(1);
+  emitter2.set_type(ignition::msgs::ParticleEmitter_EmitterType_BOX);
+  emitter2.mutable_size()->set_x(1);
+  emitter2.mutable_size()->set_y(2);
+  emitter2.mutable_size()->set_z(3);
+  emitter2.set_rate(4.0);
+  emitter2.set_duration(5.0);
+  emitter2.set_emitting(false);
+  emitter2.mutable_particle_size()->set_x(0.1);
+  emitter2.mutable_particle_size()->set_y(0.2);
+  emitter2.mutable_particle_size()->set_z(0.3);
+  emitter2.set_lifetime(6.0);
+  emitter2.set_min_velocity(7.0);
+  emitter2.set_max_velocity(8.0);
+  emitter2.mutable_color_start()->set_r(1.0);
+  emitter2.mutable_color_start()->set_g(0);
+  emitter2.mutable_color_start()->set_b(0);
+  emitter2.mutable_color_start()->set_a(0);
+  emitter2.mutable_color_end()->set_r(1.0);
+  emitter2.mutable_color_end()->set_g(1.0);
+  emitter2.mutable_color_end()->set_b(1.0);
+  emitter2.mutable_color_end()->set_a(0);
+  emitter2.set_scale_rate(9.0);
+  emitter2.set_color_range_image("path_to_texture");
+
+  // Create components.
+  auto comp1 = components::ParticleEmitter(emitter1);
+  auto comp2 = components::ParticleEmitter(emitter2);
+
+  // Stream operators.
+  std::ostringstream ostr;
+  comp1.Serialize(ostr);
+
+  std::istringstream istr(ostr.str());
+  components::ParticleEmitter comp3;
+  comp3.Deserialize(istr);
+  EXPECT_EQ(comp1.Data().id(), comp3.Data().id());
+}