Edit material ambient/specular/diffuse/emissive in component inspector

include/ignition/gazebo/components/VisualCmd.hh

@@ -0,0 +1,48 @@
+/*
+ * 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_VISUALCMD_HH_
+#define IGNITION_GAZEBO_COMPONENTS_VISUALCMD_HH_
+
+#include <sdf/Visual.hh>
+
+#include <ignition/gazebo/config.hh>
+#include <ignition/gazebo/Export.hh>
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+
+#include <ignition/msgs/visual.pb.h>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief A component type that contains commanded visual of an
+  /// entity in the world frame represented by msgs::Visual.
+  using VisualCmd = Component<ignition::msgs::Visual,
+    class VisualCmdTag, serializers::MsgSerializer>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.VisualCmd",
+      VisualCmd)
+}
+}
+}
+}
+#endif

src/gui/plugins/component_inspector/ComponentInspector.cc

@@ -41,6 +41,7 @@
 #include "ignition/gazebo/components/LinearVelocitySeed.hh"
 #include "ignition/gazebo/components/Link.hh"
 #include "ignition/gazebo/components/MagneticField.hh"
+#include "ignition/gazebo/components/Material.hh"
 #include "ignition/gazebo/components/Model.hh"
 #include "ignition/gazebo/components/Name.hh"
 #include "ignition/gazebo/components/ParentEntity.hh"
@@ -259,6 +260,39 @@ void ignition::gazebo::setData(QStandardItem *_item, const sdf::Physics &_data)
   }), ComponentsModel::RoleNames().key("data"));
 }
 
+//////////////////////////////////////////////////
+template<>
+void ignition::gazebo::setData(QStandardItem *_item,
+    const sdf::Material &_data)
+{
+  if (nullptr == _item)
+    return;
+
+  _item->setData(QString("Material"),
+      ComponentsModel::RoleNames().key("dataType"));
+  _item->setData(QList({
+    QVariant(_data.Ambient().R()),
+    QVariant(_data.Ambient().G()),
+    QVariant(_data.Ambient().B()),
+    QVariant(_data.Ambient().A()),
+    QVariant(_data.Diffuse().R()),
+    QVariant(_data.Diffuse().G()),
+    QVariant(_data.Diffuse().B()),
+    QVariant(_data.Diffuse().A()),
+    QVariant(_data.Specular().R()),
+    QVariant(_data.Specular().G()),
+    QVariant(_data.Specular().B()),
+    QVariant(_data.Specular().A()),
+    QVariant(_data.Emissive().R()),
+    QVariant(_data.Emissive().G()),
+    QVariant(_data.Emissive().B()),
+    QVariant(_data.Emissive().A())
+  }), ComponentsModel::RoleNames().key("data"));
+
+  // TODO(anyone) Only shows colors of material,
+  // need to add others (e.g., pbr)
+}
+
 //////////////////////////////////////////////////
 void ignition::gazebo::setUnit(QStandardItem *_item, const std::string &_unit)
 {
@@ -697,6 +731,15 @@ void ComponentInspector::Update(const UpdateInfo &,
       if (comp)
         setData(item, comp->Data());
     }
+    else if (typeId == components::Material::typeId)
+    {
+      auto comp = _ecm.Component<components::Material>(this->dataPtr->entity);
+      if (comp)
+      {
+        this->SetType("material");
+        setData(item, comp->Data());
+      }
+    }
   }
 
   // Remove components no longer present
@@ -906,6 +949,44 @@ void ComponentInspector::OnPhysics(double _stepSize, double _realTimeFactor)
   this->dataPtr->node.Request(physicsCmdService, req, cb);
 }
 
+/////////////////////////////////////////////////
+void ComponentInspector::OnMaterialColor(
+  double _rAmbient, double _gAmbient, double _bAmbient, double _aAmbient,
+  double _rDiffuse, double _gDiffuse, double _bDiffuse, double _aDiffuse,
+  double _rSpecular, double _gSpecular, double _bSpecular, double _aSpecular,
+  double _rEmissive, double _gEmissive, double _bEmissive, double _aEmissive)
+{
+  std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
+      [](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
+  {
+    if (!_result)
+      ignerr << "Error setting material color configuration"
+             << " on visual" << std::endl;
+  };
+
+  msgs::Visual req;
+  req.set_id(this->dataPtr->entity);
+
+  msgs::Set(req.mutable_material()->mutable_ambient(),
+            math::Color(_rAmbient, _gAmbient, _bAmbient, _aAmbient));
+  msgs::Set(req.mutable_material()->mutable_diffuse(),
+            math::Color(_rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse));
+  msgs::Set(req.mutable_material()->mutable_specular(),
+            math::Color(_rSpecular, _gSpecular, _bSpecular, _aSpecular));
+  msgs::Set(req.mutable_material()->mutable_emissive(),
+            math::Color(_rEmissive, _gEmissive, _bEmissive, _aEmissive));
+
+  auto materialCmdService = "/world/" + this->dataPtr->worldName
+      + "/visual_config";
+  materialCmdService = transport::TopicUtils::AsValidTopic(materialCmdService);
+  if (materialCmdService.empty())
+  {
+    ignerr << "Invalid material command service topic provided" << std::endl;
+    return;
+  }
+  this->dataPtr->node.Request(materialCmdService, req, cb);
+}
+
 /////////////////////////////////////////////////
 bool ComponentInspector::NestedModel() const
 {

src/gui/plugins/component_inspector/ComponentInspector.hh

@@ -115,6 +115,13 @@ namespace gazebo
   template<>
   void setData(QStandardItem *_item, const std::ostream &_data);
 
+  /// \brief Specialized to set material data.
+  /// \param[in] _item Item whose data will be set.
+  /// \param[in] _data Data to set.
+  template<>
+  void setData(QStandardItem *_item, const sdf::Material &_data);
+
+
   /// \brief Set the unit of a given item.
   /// \param[in] _item Item whose unit will be set.
   /// \param[in] _unit Unit to be displayed, such as 'm' for meters.
@@ -259,6 +266,31 @@ namespace gazebo
     public: Q_INVOKABLE void OnPhysics(double _stepSize,
         double _realTimeFactor);
 
+    // \brief Callback in Qt thread when material color changes for a visual
+    /// \param[in] _rAmbient ambient red
+    /// \param[in] _gAmbient ambient green
+    /// \param[in] _bAmbient ambient blue
+    /// \param[in] _aAmbient ambient alpha
+    /// \param[in] _rDiffuse diffuse red
+    /// \param[in] _gDiffuse diffuse green
+    /// \param[in] _bDiffuse diffuse blue
+    /// \param[in] _aDiffuse diffuse alpha
+    /// \param[in] _rSpecular specular red
+    /// \param[in] _gSpecular specular green
+    /// \param[in] _bSpecular specular blue
+    /// \param[in] _aSpecular specular alpha
+    /// \param[in] _rEmissive emissive red
+    /// \param[in] _gEmissive emissive green
+    /// \param[in] _bEmissive emissive blue
+    /// \param[in] _aEmissive emissive alpha
+    public: Q_INVOKABLE void OnMaterialColor(
+      double _rAmbient, double _gAmbient, double _bAmbient,
+      double _aAmbient, double _rDiffuse, double _gDiffuse,
+      double _bDiffuse, double _aDiffuse, double _rSpecular,
+      double _gSpecular, double _bSpecular, double _aSpecular,
+      double _rEmissive, double _gEmissive, double _bEmissive, double _aEmissive
+    );
+
     /// \brief Get whether the entity is a nested model or not
     /// \return True if the entity is a nested model, false otherwise
     public: Q_INVOKABLE bool NestedModel() const;

src/gui/plugins/component_inspector/ComponentInspector.qml

@@ -116,6 +116,20 @@ Rectangle {
     ComponentInspector.OnPhysics(_stepSize, _realTimeFactor)
   }
 
+  /**
+   * Forward material color changes to C++
+   */
+  function onMaterialColor(_rAmbient, _gAmbient, _bAmbient, _aAmbient,
+                           _rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse,
+                           _rSpecular, _gSpecular, _bSpecular, _aSpecular,
+                           _rEmissive, _gEmissive, _bEmissive, _aEmissive) {
+    ComponentInspector.OnMaterialColor(
+        _rAmbient, _gAmbient, _bAmbient, _aAmbient,
+        _rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse,
+        _rSpecular, _gSpecular, _bSpecular, _aSpecular,
+        _rEmissive, _gEmissive, _bEmissive, _aEmissive)
+  }
+
   Rectangle {
     id: header
     height: lockButton.height

src/gui/plugins/component_inspector/ComponentInspector.qrc

@@ -4,6 +4,7 @@
   <file>ComponentInspector.qml</file>
   <file>Light.qml</file>
   <file>NoData.qml</file>
+  <file>Material.qml</file>
   <file>Physics.qml</file>
   <file>Pose3d.qml</file>
   <file>String.qml</file>