From fbc16c6a8e5b44567bea50922df6bd0afb65feda Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Mon, 11 Apr 2022 17:10:57 +0200
Subject: [PATCH] Removed screenToPlane method and use rendering::screenToPlane
 (#1432)

Signed-off-by: ahcorde <ahcorde@gmail.com>
---
 src/gui/plugins/spawn/Spawn.cc | 45 ++--------------------------------
 1 file changed, 2 insertions(+), 43 deletions(-)

diff --git a/src/gui/plugins/spawn/Spawn.cc b/src/gui/plugins/spawn/Spawn.cc
index 6dfb2c9d58..be60287e52 100644
--- a/src/gui/plugins/spawn/Spawn.cc
+++ b/src/gui/plugins/spawn/Spawn.cc
@@ -80,19 +80,6 @@ namespace ignition::gazebo
     /// \brief Handle placement requests
     public: void HandlePlacement();
 
-    /// \brief Retrieve the point on a plane at z = 0 in the 3D scene hit by a
-    /// ray cast from the given 2D screen coordinates.
-    /// \param[in] _screenPos 2D coordinates on the screen, in pixels.
-    /// \param[in] _camera User camera
-    /// \param[in] _rayQuery Ray query for mouse clicks
-    /// \param[in] _offset Offset along the plane normal
-    /// \return 3D coordinates of a point in the 3D scene.
-    math::Vector3d ScreenToPlane(
-      const math::Vector2i &_screenPos,
-      const rendering::CameraPtr &_camera,
-      const rendering::RayQueryPtr &_rayQuery,
-      const float offset = 0.0);
-
     /// \brief Ignition communication node.
     public: transport::Node node;
 
@@ -201,34 +188,6 @@ void Spawn::LoadConfig(const tinyxml2::XMLElement *)
     <ignition::gui::MainWindow *>()->installEventFilter(this);
 }
 
-
-// TODO(ahcorde): Replace this when this function is on ign-rendering6
-/////////////////////////////////////////////////
-math::Vector3d SpawnPrivate::ScreenToPlane(
-    const math::Vector2i &_screenPos,
-    const rendering::CameraPtr &_camera,
-    const rendering::RayQueryPtr &_rayQuery,
-    const float offset)
-{
-  // Normalize point on the image
-  double width = _camera->ImageWidth();
-  double height = _camera->ImageHeight();
-
-  double nx = 2.0 * _screenPos.X() / width - 1.0;
-  double ny = 1.0 - 2.0 * _screenPos.Y() / height;
-
-  // Make a ray query
-  _rayQuery->SetFromCamera(
-      _camera, math::Vector2d(nx, ny));
-
-  math::Planed plane(math::Vector3d(0, 0, 1), offset);
-
-  math::Vector3d origin = _rayQuery->Origin();
-  math::Vector3d direction = _rayQuery->Direction();
-  double distance = plane.Distance(origin, direction);
-  return origin + direction * distance;
-}
-
 /////////////////////////////////////////////////
 void SpawnPrivate::HandlePlacement()
 {
@@ -237,7 +196,7 @@ void SpawnPrivate::HandlePlacement()
 
   if (this->spawnPreview && this->hoverDirty)
   {
-    math::Vector3d pos = this->ScreenToPlane(
+    math::Vector3d pos = ignition::rendering::screenToPlane(
       this->mouseHoverPos, this->camera, this->rayQuery);
     pos.Z(this->spawnPreview->WorldPosition().Z());
     this->spawnPreview->SetWorldPosition(pos);
@@ -257,7 +216,7 @@ void SpawnPrivate::HandlePlacement()
       if (!_result)
         ignerr << "Error creating entity" << std::endl;
     };
-    math::Vector3d pos = this->ScreenToPlane(
+    math::Vector3d pos = ignition::rendering::screenToPlane(
       this->mouseEvent.Pos(), this->camera, this->rayQuery);
     pos.Z(pose.Pos().Z());
     msgs::EntityFactory req;