Add Metal support to Gazebo for macOS

src/cmd/cmdsim.rb.in

@@ -472,7 +472,8 @@ Please use [GZ_SIM_RESOURCE_PATH] instead."
       if options['server'] == 0 && options['gui'] == 0
 
         if plugin.end_with? ".dylib"
-          puts "`gz sim` currently only works with the -s argument on macOS.
+          puts "On macOS `gz sim` currently only works with either the -s argument
+or the -g argument, you cannot run both server and gui in one terminal. 
 See https://github.com/gazebosim/gz-sim/issues/44 for more info."
           exit(-1)
         end
@@ -530,12 +531,6 @@ See https://github.com/gazebosim/gz-sim/issues/44 for more info."
             options['wait_gui'], options['headless-rendering'])
             # Otherwise run the gui
       else options['gui']
-        if plugin.end_with? ".dylib"
-          puts "`gz sim` currently only works with the -s argument on macOS.
-See https://github.com/gazebosim/gz-sim/issues/44 for more info."
-          exit(-1)
-        end
-
         ENV['RMT_PORT'] = '1501'
         Importer.runGui(options['gui_config'], options['file'],
             options['wait_gui'], options['render_engine_gui'])

src/gui/plugins/component_inspector/Boolean.qml

@@ -34,6 +34,8 @@ Rectangle {
   // Horizontal margins
   property int margin: 5
 
+  property int tooltipDelay: 500
+
   RowLayout {
     anchors.fill: parent
 

src/gui/plugins/modules/TypeIcon.qml

@@ -31,6 +31,8 @@ Image {
    */
   property string entityType: ''
 
+  property int tooltipDelay: 500
+
   /**
    * Image address according to type
    */

src/gui/plugins/visualize_lidar/VisualizeLidar.qml

@@ -30,6 +30,9 @@ GridLayout {
   anchors.leftMargin: 10
   anchors.rightMargin: 10
 
+  property int tooltipDelay: 500
+  property int tooltipTimeout: 1000
+
   CheckBox {
     Layout.alignment: Qt.AlignHCenter
     id: displayVisual

src/rendering/RenderUtil.cc

@@ -2583,11 +2583,20 @@ void RenderUtil::Init()
   rendering::setPluginPaths(pluginPath.PluginPaths());
 
   std::map<std::string, std::string> params;
+#ifdef __APPLE__
+  // TODO(srmainwaring): implement facility for overriding the default
+  //    graphics API in macOS, in which case there are restrictions on
+  //    the version of OpenGL used.
+  params["metal"] = "1";
+#else
   if (this->dataPtr->useCurrentGLContext)
     params["useCurrentGLContext"] = "1";
+#endif
+
   if (this->dataPtr->isHeadlessRendering)
     params["headless"] = "1";
   params["winID"] = this->dataPtr->winID;
+
   this->dataPtr->engine = rendering::engine(this->dataPtr->engineName, params);
   if (!this->dataPtr->engine)
   {

src/systems/sensors/Sensors.cc

@@ -248,7 +248,12 @@ void SensorsPrivate::WaitForInit()
         this->renderUtil.SetBackgroundColor(*this->backgroundColor);
       if (this->ambientLight)
         this->renderUtil.SetAmbientLight(*this->ambientLight);
+#ifndef __APPLE__
       this->renderUtil.Init();
+#else
+      // On macOS the render engine must be initialised on the main thread.
+      // See Sensors::Update.
+#endif
       this->scene = this->renderUtil.Scene();
       this->scene->SetCameraPassCountPerGpuFlush(6u);
       this->initialized = true;
@@ -599,6 +604,24 @@ void Sensors::Update(const UpdateInfo &_info,
 {
   GZ_PROFILE("Sensors::Update");
   std::unique_lock<std::mutex> lock(this->dataPtr->renderMutex);
+
+#ifdef __APPLE__
+  // On macOS the render engine must be initialised on the main thread.
+  if (!this->dataPtr->initialized &&
+      (_ecm.HasComponentType(components::BoundingBoxCamera::typeId) ||
+       _ecm.HasComponentType(components::Camera::typeId) ||
+       _ecm.HasComponentType(components::DepthCamera::typeId) ||
+       _ecm.HasComponentType(components::GpuLidar::typeId) ||
+       _ecm.HasComponentType(components::RgbdCamera::typeId) ||
+       _ecm.HasComponentType(components::ThermalCamera::typeId) ||
+       _ecm.HasComponentType(components::SegmentationCamera::typeId) ||
+       _ecm.HasComponentType(components::WideAngleCamera::typeId)))
+  {
+    igndbg << "Initialization needed" << std::endl;
+    this->dataPtr->renderUtil.Init();
+  }
+#endif
+
   if (this->dataPtr->running && this->dataPtr->initialized)
   {
     this->dataPtr->renderUtil.UpdateECM(_info, _ecm);