Particles with THREE Nebula

[german-e-mas]

This PR adds https://three-nebula.org/ in order to handle particles. It also removes SPE.

The only thing that cannot be handled by this library is the color range image, as we cannot interpolate between more than two points for Color behaviour.

Can you ptal @nkoenig ?

[nkoenig]

What did you use to test this? I'm trying with this world file:

<?xml version='1.0' encoding='utf-8'?>
<sdf version="1.9">
  <world name="test">
    <!--
     <include>
        <uri>https://fuel.ignitionrobotics.org/1.0/hyundai/models/rubicon</uri>
    </include>
    -->
    <scene>
      <sky>
      </sky>
    </scene>

    <model name="snow">
      <static>true</static>
      <link name="link">
        <particle_emitter name="snow_emitter" type="box">
            <emitting>true</emitting>
            <size>75 75 0</size>
            <particle_size>0.1 0.1 0.1</particle_size>
            <lifetime>10</lifetime>
            <min_velocity>2</min_velocity>
            <max_velocity>4</max_velocity>
            <scale_rate>0</scale_rate>
            <rate>100</rate>
            <material>
                <diffuse>0.7 0.7 0.7</diffuse>
                <specular>1.0 1.0 1.0</specular>
                <pbr>
                    <metal>
                      <albedo_map>/home/nkoenig/.ignition/fuel/fuel.ignitionrobotics.org/hyundai/models/rubicon snowy/1/materials/textures/snowflake.png</albedo_map>
                    </metal>
                </pbr>
            </material>
            <color_range_image>/home/nkoenig/.ignition/fuel/fuel.ignitionrobotics.org/hyundai/models/rubicon snowy/1/materials/textures/fogcolors.png</color_range_image>
        </particle_emitter>

      </link>
    </model>
  </world>
</sdf>

and I get the following errors:

core.mjs:7643 ERROR TypeError: Cannot read properties of null (reading 'data')
    at GZ3D.SdfParser.createParticleEmitter (gz3d.min.js:1:1043851)
    at GZ3D.SdfParser.createLink (gz3d.min.js:1:1041927)
    at GZ3D.SdfParser.spawnModelFromSDF (gz3d.min.js:1:1037878)
    at GZ3D.SdfParser.spawnFromObj (gz3d.min.js:1:1036477)
    at visualization.component.ts:241:41
    at Array.forEach (<anonymous>)
    at Object.next (visualization.component.ts:240:26)
    at ConsumerObserver.next (Subscriber.js:91:33)
    at SafeSubscriber._next (Subscriber.js:60:26)
    at SafeSubscriber.next (Subscriber.js:31:18)

[german-e-mas]

What did you use to test this? I'm trying with this world file:

<?xml version='1.0' encoding='utf-8'?>
<sdf version="1.9">
  <world name="test">
    <!--
     <include>
        <uri>https://fuel.ignitionrobotics.org/1.0/hyundai/models/rubicon</uri>
    </include>
    -->
    <scene>
      <sky>
      </sky>
    </scene>

    <model name="snow">
      <static>true</static>
      <link name="link">
        <particle_emitter name="snow_emitter" type="box">
            <emitting>true</emitting>
            <size>75 75 0</size>
            <particle_size>0.1 0.1 0.1</particle_size>
            <lifetime>10</lifetime>
            <min_velocity>2</min_velocity>
            <max_velocity>4</max_velocity>
            <scale_rate>0</scale_rate>
            <rate>100</rate>
            <material>
                <diffuse>0.7 0.7 0.7</diffuse>
                <specular>1.0 1.0 1.0</specular>
                <pbr>
                    <metal>
                      <albedo_map>/home/nkoenig/.ignition/fuel/fuel.ignitionrobotics.org/hyundai/models/rubicon snowy/1/materials/textures/snowflake.png</albedo_map>
                    </metal>
                </pbr>
            </material>
            <color_range_image>/home/nkoenig/.ignition/fuel/fuel.ignitionrobotics.org/hyundai/models/rubicon snowy/1/materials/textures/fogcolors.png</color_range_image>
        </particle_emitter>

      </link>
    </model>
  </world>
</sdf>

and I get the following errors:

core.mjs:7643 ERROR TypeError: Cannot read properties of null (reading 'data')
    at GZ3D.SdfParser.createParticleEmitter (gz3d.min.js:1:1043851)
    at GZ3D.SdfParser.createLink (gz3d.min.js:1:1041927)
    at GZ3D.SdfParser.spawnModelFromSDF (gz3d.min.js:1:1037878)
    at GZ3D.SdfParser.spawnFromObj (gz3d.min.js:1:1036477)
    at visualization.component.ts:241:41
    at Array.forEach (<anonymous>)
    at Object.next (visualization.component.ts:240:26)
    at ConsumerObserver.next (Subscriber.js:91:33)
    at SafeSubscriber._next (Subscriber.js:60:26)
    at SafeSubscriber.next (Subscriber.js:31:18)

Good call. I was connecting with a simulation via websocket. I think there could be inconsistencies between protobuf and sdf values, given that we are trying to read data from a null value. I'll take a look.

[german-e-mas]

I'm having an issue while testing the world directly.

ign gazebo testWorld.sdf 
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-developer'
libEGL warning: failed to open /dev/dri/renderD128: Permission denied

And nothing is being rendered on Gazebo. Note that on my test world, I had to change the path of the snow sprites.

---

EDIT: Running in headless mode worked well.

[german-e-mas]

Thanks @nkoenig . I'll merge this and get ready for a new release.