Merge remote-tracking branch 'origin/ign-gazebo6' into ahcorde/6_to_7…

…/11_29_2022

src/SdfEntityCreator.cc

@@ -560,6 +560,19 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Light *_light)
   this->dataPtr->ecm->CreateComponent(lightEntity,
     components::LightType(convert(_light->Type())));
 
+  // Light Visual
+  Entity lightVisualEntity = this->dataPtr->ecm->CreateEntity();
+  this->dataPtr->ecm->CreateComponent(lightVisualEntity, components::Visual());
+  this->dataPtr->ecm->CreateComponent(lightVisualEntity,
+      components::Pose());
+  this->dataPtr->ecm->CreateComponent(lightVisualEntity,
+      components::Name(_light->Name() + "Visual"));
+  this->dataPtr->ecm->CreateComponent(lightVisualEntity,
+      components::CastShadows(false));
+  this->dataPtr->ecm->CreateComponent(lightVisualEntity,
+      components::Transparency(false));
+  this->SetParent(lightVisualEntity, lightEntity);
+
   return lightEntity;
 }
 

src/gui/plugins/view_angle/ViewAngle.cc

@@ -59,6 +59,9 @@ namespace gz::sim
     /// \brief View Control service name
     public: std::string viewControlService;
 
+    /// \brief View Control reference visual service name
+    public: std::string viewControlRefVisualService;
+
     /// \brief gui camera pose
     public: math::Pose3d camPose;
 
@@ -121,6 +124,9 @@ void ViewAngle::LoadConfig(const tinyxml2::XMLElement *)
   // view control requests
   this->dataPtr->viewControlService = "/gui/camera/view_control";
 
+  // view control reference visual requests
+  this->dataPtr->viewControlRefVisualService = "/gui/camera/reference_visual";
+
   // Subscribe to camera pose
   std::string topic = "/gui/camera/pose";
   this->dataPtr->node.Subscribe(
@@ -204,6 +210,23 @@ void ViewAngle::OnViewControl(const QString &_controller)
   this->dataPtr->node.Request(this->dataPtr->viewControlService, req, cb);
 }
 
+/////////////////////////////////////////////////
+void ViewAngle::OnViewControlReferenceVisual(bool _enable)
+{
+  std::function<void(const msgs::Boolean &, const bool)> cb =
+      [](const msgs::Boolean &/*_rep*/, const bool _result)
+  {
+    if (!_result)
+      ignerr << "Error setting view controller reference visual" << std::endl;
+  };
+
+  msgs::Boolean req;
+  req.set_data(_enable);
+
+  this->dataPtr->node.Request(
+      this->dataPtr->viewControlRefVisualService, req, cb);
+}
+
 /////////////////////////////////////////////////
 QList<double> ViewAngle::CamPose() const
 {

src/gui/plugins/view_angle/ViewAngle.hh

@@ -78,6 +78,12 @@ namespace sim
     /// \param[in] _mode New camera view controller
     public slots: void OnViewControl(const QString &_controller);
 
+    /// \brief Callback in Qt thread when camera view reference visual state
+    /// changes.
+    /// \param[in] _enable True to enable camera view control reference visual,
+    /// false to hide it
+    public slots: void OnViewControlReferenceVisual(bool _enable);
+
     /// \brief Get the current gui camera pose.
     public: Q_INVOKABLE QList<double> CamPose() const;
 

src/gui/plugins/view_angle/ViewAngle.qml

@@ -207,6 +207,19 @@ ColumnLayout {
     }
   }
 
+  // toggle view control reference visual
+  CheckBox {
+    Layout.alignment: Qt.AlignHCenter
+    id: displayVisual
+    Layout.columnSpan: 6
+    Layout.fillWidth: true
+    text: qsTr("Display View Control Reference Visual")
+    checked: true
+    onClicked: {
+      ViewAngle.OnViewControlReferenceVisual(checked)
+    }
+  }
+
   // Set camera pose
   Text {
     text: "Camera Pose"

src/rendering/RenderUtil.cc

@@ -1201,27 +1201,26 @@ void RenderUtil::Update()
 
     for (const auto &light : newLights)
     {
-      this->dataPtr->sceneManager.CreateLight(std::get<0>(light),
-          std::get<1>(light), std::get<2>(light), std::get<3>(light));
-
-      // TODO(anyone) This needs to be updated for when sensors and GUI use
-      // the same scene
-      // create a new id for the light visual, if we're not loading sensors
-      if (!this->dataPtr->enableSensors)
+      auto newLightRendering = this->dataPtr->sceneManager.CreateLight(
+        std::get<0>(light),
+        std::get<1>(light),
+        std::get<2>(light),
+        std::get<3>(light));
+
+      if (newLightRendering)
+      {
+        rendering::VisualPtr lightVisual =
+          this->dataPtr->sceneManager.CreateLightVisual(
+            std::get<0>(light) + 1,
+            std::get<1>(light),
+            std::get<2>(light),
+            std::get<0>(light));
+        this->dataPtr->matchLightWithVisuals[std::get<0>(light)] =
+          std::get<0>(light) + 1;
+      }
+      else
       {
-        auto attempts = 100000u;
-        for (auto i = 0u; i < attempts; ++i)
-        {
-          Entity id = std::numeric_limits<uint64_t>::min() + i;
-          if (!this->dataPtr->sceneManager.HasEntity(id))
-          {
-            rendering::VisualPtr lightVisual =
-              this->dataPtr->sceneManager.CreateLightVisual(
-                id, std::get<1>(light), std::get<2>(light), std::get<0>(light));
-            this->dataPtr->matchLightWithVisuals[std::get<0>(light)] = id;
-            break;
-          }
-        }
+        ignerr << "Failed to create light" << std::endl;
       }
     }
 

src/rendering/SceneManager.cc

@@ -1174,6 +1174,13 @@ rendering::LightPtr SceneManager::CreateLight(Entity _id,
   if (!this->dataPtr->scene)
     return rendering::LightPtr();
 
+  if (this->HasEntity(_id))
+  {
+    ignerr << "Light with Id: [" << _id << "] can not be create there is "
+              "another entity with the same entity number" << std::endl;
+    return nullptr;
+  }
+
   if (this->dataPtr->lights.find(_id) != this->dataPtr->lights.end())
   {
     gzerr << "Light with Id: [" << _id << "] already exists in the scene"
@@ -2275,7 +2282,14 @@ SceneManager::LoadAnimations(const sdf::Actor &_actor)
         }
       }
       if (addAnim)
-        meshSkel->AddBvhAnimation(animFilename, animScale);
+      {
+        if (!meshSkel->AddBvhAnimation(animFilename, animScale))
+        {
+          ignerr << "Bvh animation in file " << animFilename
+                 << " failed to load during actor creation" << std::endl;
+          continue;
+        }
+      }
       mapAnimNameId[animName] = numAnims++;
     }
     else if (extension == "dae")