GUI for Global Illumination (VCT / CI VCT) (gazebosim#1597)

Signed-off-by: Matias N. Goldberg <[email protected]>

src/gui/plugins/CMakeLists.txt

@@ -137,6 +137,8 @@ add_subdirectory(entity_context_menu)
 add_subdirectory(entity_tree)
 add_subdirectory(environment_loader)
 add_subdirectory(environment_visualization)
+add_subdirectory(global_illumination_civct)
+add_subdirectory(global_illumination_vct)
 add_subdirectory(joint_position_controller)
 add_subdirectory(lights)
 add_subdirectory(playback_scrubber)

src/gui/plugins/global_illumination_civct/CMakeLists.txt

@@ -0,0 +1,6 @@
+gz_add_gui_plugin(GlobalIlluminationCiVct
+  SOURCES CiVctCascadePrivate.cc CiVctCascadePrivate.qml GlobalIlluminationCiVct.cc GlobalIlluminationCiVct.qml GlobalIlluminationCiVct.qrc
+  QT_HEADERS CiVctCascadePrivate.hh GlobalIlluminationCiVct.hh
+  PRIVATE_LINK_LIBS
+    ${GZ-RENDERING_LIBRARIES}
+)

src/gui/plugins/global_illumination_civct/CiVctCascadePrivate.cc

@@ -0,0 +1,206 @@
+/*
+ * Copyright (C) 2022 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.
+ *
+ */
+
+#define _LIBCPP_ENABLE_THREAD_SAFETY_ANNOTATIONS
+
+#include "CiVctCascadePrivate.hh"
+
+#include "GlobalIlluminationCiVct.hh"
+
+#include "gz/rendering/GlobalIlluminationCiVct.hh"
+
+using namespace gz;
+using namespace sim;
+
+CiVctCascadePrivate::CiVctCascadePrivate(std::mutex &_serviceMutex,
+                                         GlobalIlluminationCiVct &_creator,
+                                         rendering::CiVctCascadePtr _cascade) :
+  cascade(_cascade),
+  creator(_creator),
+  serviceMutex(_serviceMutex)
+{
+}
+
+/////////////////////////////////////////////////
+CiVctCascadePrivate::~CiVctCascadePrivate()
+{
+}
+
+void CiVctCascadePrivate::UpdateResolution(int _axis, uint32_t _res)
+{
+  if (!this->creator.CascadesEditable())
+    return;
+
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  uint32_t resolution[3];
+  memcpy(resolution, this->cascade->Resolution(), sizeof(resolution));
+  resolution[_axis] = _res;
+  this->cascade->SetResolution(resolution);
+}
+
+/////////////////////////////////////////////////
+void CiVctCascadePrivate::UpdateOctantCount(int _axis, uint32_t _count)
+{
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  uint32_t octantCount[3];
+  memcpy(octantCount, this->cascade->OctantCount(), sizeof(octantCount));
+  octantCount[_axis] = _count;
+  this->cascade->SetOctantCount(octantCount);
+}
+
+/////////////////////////////////////////////////
+void CiVctCascadePrivate::UpdateAreaHalfSize(int _axis, float _halfSize)
+{
+  if (!this->creator.CascadesEditable())
+    return;
+
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  math::Vector3d areaHalfSize = this->cascade->AreaHalfSize();
+  areaHalfSize[(size_t)_axis] = static_cast<double>(_halfSize);
+  this->cascade->SetAreaHalfSize(areaHalfSize);
+}
+
+/////////////////////////////////////////////////
+void CiVctCascadePrivate::SetAreaHalfSizeX(const float _v)
+{
+  this->UpdateAreaHalfSize(0, _v);
+}
+
+/////////////////////////////////////////////////
+float CiVctCascadePrivate::AreaHalfSizeX() const
+{
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  return static_cast<float>(this->cascade->AreaHalfSize().X());
+}
+
+/////////////////////////////////////////////////
+void CiVctCascadePrivate::SetAreaHalfSizeY(const float _v)
+{
+  this->UpdateAreaHalfSize(1, _v);
+}
+
+/////////////////////////////////////////////////
+float CiVctCascadePrivate::AreaHalfSizeY() const
+{
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  return static_cast<float>(this->cascade->AreaHalfSize().Y());
+}
+
+/////////////////////////////////////////////////
+void CiVctCascadePrivate::SetAreaHalfSizeZ(const float _v)
+{
+  this->UpdateAreaHalfSize(2, _v);
+}
+
+/////////////////////////////////////////////////
+float CiVctCascadePrivate::AreaHalfSizeZ() const
+{
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  return static_cast<float>(this->cascade->AreaHalfSize().Z());
+}
+
+/////////////////////////////////////////////////
+void CiVctCascadePrivate::SetResolutionX(const uint32_t _res)
+{
+  this->UpdateResolution(0, _res);
+}
+
+/////////////////////////////////////////////////
+uint32_t CiVctCascadePrivate::ResolutionX() const
+{
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  return this->cascade->Resolution()[0];
+}
+
+/////////////////////////////////////////////////
+void CiVctCascadePrivate::SetResolutionY(const uint32_t _res)
+{
+  this->UpdateResolution(1, _res);
+}
+
+/////////////////////////////////////////////////
+uint32_t CiVctCascadePrivate::ResolutionY() const
+{
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  return this->cascade->Resolution()[1];
+}
+
+/////////////////////////////////////////////////
+void CiVctCascadePrivate::SetResolutionZ(const uint32_t _res)
+{
+  this->UpdateResolution(2, _res);
+}
+
+/////////////////////////////////////////////////
+uint32_t CiVctCascadePrivate::ResolutionZ() const
+{
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  return this->cascade->Resolution()[2];
+}
+
+/////////////////////////////////////////////////
+void CiVctCascadePrivate::SetOctantCountX(const uint32_t _octantCount)
+{
+  this->UpdateOctantCount(0, _octantCount);
+}
+
+/////////////////////////////////////////////////
+uint32_t CiVctCascadePrivate::OctantCountX() const
+{
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  return this->cascade->OctantCount()[0];
+}
+
+/////////////////////////////////////////////////
+void CiVctCascadePrivate::SetOctantCountY(const uint32_t _octantCount)
+{
+  this->UpdateOctantCount(1, _octantCount);
+}
+
+/////////////////////////////////////////////////
+uint32_t CiVctCascadePrivate::OctantCountY() const
+{
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  return this->cascade->OctantCount()[1];
+}
+
+/////////////////////////////////////////////////
+void CiVctCascadePrivate::SetOctantCountZ(const uint32_t _octantCount)
+{
+  this->UpdateOctantCount(2, _octantCount);
+}
+
+/////////////////////////////////////////////////
+uint32_t CiVctCascadePrivate::OctantCountZ() const
+{
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  return this->cascade->OctantCount()[2];
+}
+
+/////////////////////////////////////////////////
+void CiVctCascadePrivate::SetThinWallCounter(const float _thinWallCounter)
+{
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  this->cascade->SetThinWallCounter(_thinWallCounter);
+}
+
+/////////////////////////////////////////////////
+float CiVctCascadePrivate::ThinWallCounter() const
+{
+  std::lock_guard<std::mutex> lock(this->serviceMutex);
+  return this->cascade->ThinWallCounter();
+}