Particle system - Part4

examples/worlds/particle_emitter.sdf

@@ -1,4 +1,25 @@
 <?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">
 

include/ignition/gazebo/components/ParticleEmitter.hh

@@ -37,6 +37,13 @@ namespace components
         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)
 }
 }
 }

include/ignition/gazebo/rendering/SceneManager.hh

@@ -163,13 +163,20 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     public: rendering::LightPtr CreateLight(Entity _id,
         const sdf::Light &_light, Entity _parentId);
 
-    /// \brief Create a particle emitter
+    /// \brief Create a particle emitter.
     /// \param[in] _id Unique particle emitter id
     /// \param[in] _emitter Particle emitter data
     /// \param[in] _parentId Parent id
-    /// \return Particle emitter object created
-    public: rendering::ParticleEmitterPtr CreateParticleEmitter(Entity _id,
-        const msgs::ParticleEmitter &_emitter, Entity _parentId);
+    /// \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

src/gui/plugins/scene3d/Scene3D.cc

@@ -2752,6 +2752,7 @@ void Scene3D::Update(const UpdateInfo &_info,
     msgs::Pose poseMsg = msgs::Convert(renderWindow->CameraPose());
     this->dataPtr->cameraPosePub.Publish(poseMsg);
   }
+  this->dataPtr->renderUtil->UpdateECM(_info, _ecm);
   this->dataPtr->renderUtil->UpdateFromECM(_info, _ecm);
 
   // check if video recording is enabled and if we need to lock step

src/rendering/RenderUtil.cc

@@ -42,6 +42,8 @@
 #include <ignition/math/Matrix4.hh>
 #include <ignition/math/Pose3.hh>
 
+#include <ignition/msgs/Utility.hh>
+
 #include <ignition/rendering.hh>
 #include <ignition/rendering/RenderEngine.hh>
 #include <ignition/rendering/RenderingIface.hh>
@@ -169,6 +171,12 @@ class ignition::gazebo::RenderUtilPrivate
   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;
@@ -295,6 +303,28 @@ void RenderUtil::UpdateECM(const UpdateInfo &/*_info*/,
                            EntityComponentManager &_ecm)
 {
   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 thermal cameras
   _ecm.Each<components::ThermalCamera>(
       [&](const Entity &_entity,
@@ -420,6 +450,8 @@ void RenderUtil::Update()
   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 trajectoryPoses = std::move(this->dataPtr->trajectoryPoses);
@@ -436,6 +468,7 @@ void RenderUtil::Update()
   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->trajectoryPoses.clear();
@@ -543,6 +576,12 @@ void RenderUtil::Update()
           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)
@@ -1501,6 +1540,14 @@ 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

src/rendering/SceneManager.cc

@@ -969,8 +969,8 @@ rendering::LightPtr SceneManager::CreateLight(Entity _id,
 }
 
 /////////////////////////////////////////////////
-rendering::ParticleEmitterPtr SceneManager::CreateParticleEmitter(Entity _id,
-    const msgs::ParticleEmitter &_emitter, Entity _parentId)
+rendering::ParticleEmitterPtr SceneManager::CreateParticleEmitter(
+    Entity _id, const msgs::ParticleEmitter &_emitter, Entity _parentId)
 {
   if (!this->dataPtr->scene)
     return rendering::ParticleEmitterPtr();
@@ -1005,11 +1005,32 @@ rendering::ParticleEmitterPtr SceneManager::CreateParticleEmitter(Entity _id,
   rendering::ParticleEmitterPtr emitter;
   emitter = this->dataPtr->scene->CreateParticleEmitter(name);
 
-  if (emitter == nullptr)
+  this->dataPtr->particleEmitters[_id] = emitter;
+
+  if (parent)
+    parent->AddChild(emitter);
+
+  this->UpdateParticleEmitter(_id, _emitter);
+
+  return emitter;
+}
+
+/////////////////////////////////////////////////
+rendering::ParticleEmitterPtr SceneManager::UpdateParticleEmitter(Entity _id,
+    const msgs::ParticleEmitter &_emitter)
+{
+  if (!this->dataPtr->scene)
+    return rendering::ParticleEmitterPtr();
+
+  // Sanity check: Make sure that the id exists.
+  auto emitterIt = this->dataPtr->particleEmitters.find(_id);
+  if (emitterIt == this->dataPtr->particleEmitters.end())
   {
-    ignerr << "Failed to create particle emitter with name[" << name << "]\n";
+    ignerr << "Particle emitter with Id: [" << _id << "] not found in the "
+           << "scene" << std::endl;
     return rendering::ParticleEmitterPtr();
   }
+  auto emitter = emitterIt->second;
 
   // Type.
   switch (_emitter.type())
@@ -1036,7 +1057,8 @@ rendering::ParticleEmitterPtr SceneManager::CreateParticleEmitter(Entity _id,
   }
 
   // Emitter size.
-  emitter->SetEmitterSize(ignition::msgs::Convert(_emitter.size()));
+  if (_emitter.has_size())
+    emitter->SetEmitterSize(ignition::msgs::Convert(_emitter.size()));
 
   // Rate.
   emitter->SetRate(_emitter.rate());
@@ -1065,22 +1087,25 @@ rendering::ParticleEmitterPtr SceneManager::CreateParticleEmitter(Entity _id,
   // Velocity range.
   emitter->SetVelocityRange(_emitter.min_velocity(), _emitter.max_velocity());
 
-  // Color range.
-  emitter->SetColorRange(
-    ignition::msgs::Convert(_emitter.color_start()),
-    ignition::msgs::Convert(_emitter.color_end()));
-
-  // Scale rate.
-  emitter->SetScaleRate(_emitter.scale_rate());
-
   // Color range image.
   if (!_emitter.color_range_image().empty())
+  {
     emitter->SetColorRangeImage(_emitter.color_range_image());
+  }
+  // Color range.
+  else if (_emitter.has_color_start() && _emitter.has_color_end())
+  {
+    emitter->SetColorRange(
+      ignition::msgs::Convert(_emitter.color_start()),
+      ignition::msgs::Convert(_emitter.color_end()));
+  }
 
-  this->dataPtr->particleEmitters[_id] = emitter;
+  // Scale rate.
+  emitter->SetScaleRate(_emitter.scale_rate());
 
-  if (parent)
-    parent->AddChild(emitter);
+  // pose
+  if (_emitter.has_pose())
+    emitter->SetLocalPose(msgs::Convert(_emitter.pose()));
 
   return emitter;
 }
@@ -1385,6 +1410,16 @@ void SceneManager::RemoveEntity(Entity _id)
     }
   }
 
+  {
+    auto it = this->dataPtr->particleEmitters.find(_id);
+    if (it != this->dataPtr->particleEmitters.end())
+    {
+      this->dataPtr->scene->DestroyVisual(it->second);
+      this->dataPtr->particleEmitters.erase(it);
+      return;
+    }
+  }
+
   {
     auto it = this->dataPtr->sensors.find(_id);
     if (it != this->dataPtr->sensors.end())

src/systems/particle_emitter/CMakeLists.txt

@@ -2,5 +2,8 @@ gz_add_system(particle-emitter
   SOURCES
     ParticleEmitter.cc
   PUBLIC_LINK_LIBS
+    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
     ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
+    ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
+    ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
 )