Visualization tools for ApplyForceTorque #2051

Henrique-BO · 2023-07-26T15:27:00Z

🎉 New feature

Requires #2014

Summary

Adds visualization tools to the new ApplyForceTorque GUI plugin. This allows the user to see the force (represented by an arrow) and the torque (represented by a circle) displayed on the scene at their application point before applying them.

When one of the vectors (force or torque) is clicked, a rotation tool (represented by a gizmo) is displayed. This allows the user to freely rotate the selected vector. Still WIP.

TODO:

Improve torque visualization
Implement rotation tool for the vectors (like in Classic)

Test it

Open any test world.

Load the Apply Force Torque plugin from the plugin dropdown.

Select a model or link and specify a force or torque to see its direction on the scene.

Click on the force or torque vector to display the rotation tool, and click and drag the circles to rotate.

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

codecov · 2023-07-26T16:55:11Z

Codecov Report

Merging #2051 (434e4f1) into gz-sim7 (b0ddc34) will decrease coverage by 0.05%.
Report is 20 commits behind head on gz-sim7.
The diff coverage is 57.08%.

❗ Current head 434e4f1 differs from pull request most recent head 419b34f. Consider uploading reports for the commit 419b34f to get more accurate results

@@             Coverage Diff             @@
##           gz-sim7    #2051      +/-   ##
===========================================
- Coverage    65.01%   64.97%   -0.05%     
===========================================
  Files          353      356       +3     
  Lines        28618    28783     +165     
===========================================
+ Hits         18606    18701      +95     
- Misses       10012    10082      +70

Files Changed	Coverage Δ
include/gz/sim/Link.hh	`100.00% <ø> (ø)`
include/gz/sim/Util.hh	`100.00% <ø> (ø)`
include/gz/sim/rendering/WrenchVisualizer.hh	`0.00% <0.00%> (ø)`
.../plugins/component_inspector/ComponentInspector.cc	`5.57% <0.00%> (-0.05%)`	⬇️
.../gui/plugins/transform_control/TransformControl.cc	`6.01% <0.00%> (-0.12%)`	⬇️
src/rendering/RenderUtil.cc	`39.03% <0.00%> (ø)`
src/rendering/WrenchVisualizer.cc	`0.00% <0.00%> (ø)`
src/systems/apply_link_wrench/ApplyLinkWrench.hh	`100.00% <ø> (ø)`
src/systems/buoyancy/Buoyancy.cc	`82.25% <0.00%> (ø)`
.../systems/environment_preload/EnvironmentPreload.cc	`69.69% <0.00%> (ø)`
... and 20 more

... and 2 files with indirect coverage changes

arjo129 · 2023-07-28T03:10:02Z

@Henrique-BO this is really cool. It would be nice if we could extract the rendering logic out to some common area so it can be shared by other plugins. #1898 seeks to do visualizations but on arbitrary objects. It would be nice to have a consistent visual language between these two PRs. Perhaps if you were to create a new utility class called "Force Visuallization" and make the material configurable, we would be able to reuse this code in #1898.

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

src/gui/plugins/apply_force_torque/ApplyForceTorque.cc

ahcorde · 2023-07-31T06:49:07Z

src/gui/plugins/apply_force_torque/ApplyForceTorque.cc

+
+    math::Vector3d startPos;
+    this->ray->SetFromCamera(this->camera, start);
+    if (auto v = plane.Intersection(


nit: use {}

ahcorde · 2023-07-31T06:49:11Z

src/gui/plugins/apply_force_torque/ApplyForceTorque.cc

+
+    math::Vector3d endPos;
+    this->ray->SetFromCamera(this->camera, end);
+    if (auto v = plane.Intersection(


nit: use {}

Done in bfbb1bd

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

…m into apply_force_torque_vis

Henrique-BO · 2023-08-03T17:59:53Z

@arjo129 I think that's a great idea. I created a WrenchVisualizer utility class that creates and updates the force and torque visuals I'm using. What do you think?

arjo129 · 2023-08-04T01:03:58Z

Sounds awesome!

azeey

Looks great! I wasn't able to get the 3D Scene interaction to work. Can you try it again? Otherwise, just a few minor comments.

include/gz/sim/rendering/WrenchVisualizer.hh

src/rendering/WrenchVisualizer.cc

src/gui/plugins/apply_force_torque/ApplyForceTorque.cc

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Henrique-BO · 2023-08-16T19:39:37Z

Changes addressed in b5cafc3.

The 3D scene interaction is working on my end, like this:

Screencast.2023-08-16.16.31.46.mp4

Is this not working for you?

iche033 · 2023-08-17T19:04:02Z

src/gui/plugins/apply_force_torque/ApplyForceTorque.cc

+    for (unsigned int i = 0; i < this->scene->NodeCount(); ++i)
+    {
+      auto cam = std::dynamic_pointer_cast<rendering::Camera>(
+        this->scene->NodeByIndex(i));


Camera is registered as a Sensor gz-rendering so you can reduce the search space by using SensorCount and SensorByIndex since there's probably only one camera in the scene.

Good point, changed it in d6afb10

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

azeey · 2023-08-22T16:59:32Z

Changes addressed in b5cafc3.

The 3D scene interaction is working on my end, like this:

Screencast.2023-08-16.16.31.46.mp4
Is this not working for you?

Ah, I didn't click on the arrow, I thought it would appear with the arrow. I also tried to drag the arrow but that didn't help. I think a helpful message in the GUI card would be good to add.

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Henrique-BO · 2023-08-22T19:24:59Z

Good point, I added a message to the GUI in 419b34f

iche033

nice, the tool works well for me

Adds tutorials for the new ApplyForceTorque plugin (including the features added in #2051 and #2056) and for the new MouseDrag plugin. --------- Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Henrique-BO added 18 commits June 4, 2023 02:18

Create ApplyForceTorque GUI

89c5b9c

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Apply forces using the apply_link_wrench system

15746ef

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Add the ability to select the link of wrench application

992a6f5

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Clean up ApplyForceTorque and improve debug messages

2c69d18

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Merge branch 'gazebosim:gz-sim7' into apply_force_torque

5d63bdf

Merge branch 'gazebosim:gz-sim7' into apply_force_torque

5af8dfc

Fix codecheck

2364fc9

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Merge branch 'gazebosim:gz-sim7' into apply_force_torque

17693a0

Remove force offset from interface and store only the selected entity

6fbbfc0

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Merge branch 'gazebosim:gz-sim7' into apply_force_torque

814d501

Merge branch 'gazebosim:gz-sim7' into apply_force_torque

7450833

Apply force to COM and minor changes

ca1c904

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Merge branch 'gazebosim:gz-sim7' into apply_force_torque

de6000b

Wrench specified in link-fixed frame

4243567

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Merge branch 'gazebosim:gz-sim7' into apply_force_torque

12f6fbe

Merge branch 'gazebosim:gz-sim7' into apply_force_torque

3f08e6d

Automatically load ApplyLinkWrench and minor fixes

3911d73

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Add force and torque visual indicators

cc162ca

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

github-actions bot added the 🌱 garden Ignition Garden label Jul 26, 2023

azeey self-requested a review July 26, 2023 16:50

Merge branch 'gz-sim7' into apply_force_torque_vis

10f6873

Henrique-BO mentioned this pull request Jul 27, 2023

Force offset and vector magnitude support in ApplyForceTorque #2056

Merged

9 tasks

arjo129 mentioned this pull request Jul 28, 2023

Force Visualization #1898

Open

17 tasks

Henrique-BO added 2 commits July 28, 2023 11:50

Add GizmoVisual to rotate force vector

5b31c43

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Enable selecting vector for rotation

86be94c

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

ahcorde reviewed Jul 31, 2023

View reviewed changes

azeey added the beta Targeting beta release of upcoming collection label Jul 31, 2023

New WrenchVisualizer class and fix rotation tool bugs

bfbb1bd

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Merge branch 'apply_force_torque_vis' of github.com:Henrique-BO/gz-si…

bcac463

…m into apply_force_torque_vis

Henrique-BO marked this pull request as ready for review August 3, 2023 18:03

Henrique-BO requested review from iche033 and mjcarroll as code owners August 3, 2023 18:03

Henrique-BO added 2 commits August 7, 2023 10:40

Merge branch 'gazebosim:gz-sim7' into apply_force_torque_vis

b0890b7

Merge branch 'gazebosim:gz-sim7' into apply_force_torque_vis

ad8911e

azeey reviewed Aug 15, 2023

View reviewed changes

azeey reviewed Aug 16, 2023

View reviewed changes

src/gui/plugins/apply_force_torque/ApplyForceTorque.cc Show resolved Hide resolved

Henrique-BO added 2 commits August 16, 2023 15:30

Merge branch 'gazebosim:gz-sim7' into apply_force_torque_vis

c5f5cb6

Minor changes

b5cafc3

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

iche033 mentioned this pull request Aug 16, 2023

Add minor comments to BaseGizmoVisual gazebosim/gz-rendering#881

Merged

8 tasks

Merge branch 'gazebosim:gz-sim7' into apply_force_torque_vis

f3ee0d6

iche033 reviewed Aug 17, 2023

View reviewed changes

Henrique-BO added 2 commits August 21, 2023 13:48

Merge branch 'gazebosim:gz-sim7' into apply_force_torque_vis

8f31b53

Use SensorCount instead of NodeCount

d6afb10

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

Henrique-BO mentioned this pull request Aug 21, 2023

Add tutorials for ApplyForceTorque and MouseDrag plugins #2083

Merged

9 tasks

Merge branch 'gazebosim:gz-sim7' into apply_force_torque_vis

9561e68

Henrique-BO added 2 commits August 22, 2023 16:14

Merge branch 'gazebosim:gz-sim7' into apply_force_torque_vis

2a2bf8f

Update ApplyForceTorque interface

419b34f

Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>

iche033 approved these changes Aug 22, 2023

View reviewed changes

azeey approved these changes Aug 23, 2023

View reviewed changes

azeey merged commit 30eeb62 into gazebosim:gz-sim7 Aug 23, 2023
4 checks passed

Henrique-BO deleted the apply_force_torque_vis branch August 23, 2023 13:41

iche033 mentioned this pull request Jan 23, 2024

Gizmo uses a transform identifier not included in TransformAxis gazebosim/gz-rendering#880

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Visualization tools for ApplyForceTorque #2051

Visualization tools for ApplyForceTorque #2051

Henrique-BO commented Jul 26, 2023 •

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arjo129 commented Jul 28, 2023 •

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ahcorde Jul 31, 2023

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Henrique-BO commented Aug 3, 2023

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iche033 Aug 17, 2023

Henrique-BO Aug 21, 2023

azeey commented Aug 22, 2023

Henrique-BO commented Aug 22, 2023

iche033 left a comment

Visualization tools for ApplyForceTorque #2051

Visualization tools for ApplyForceTorque #2051

Conversation

Henrique-BO commented Jul 26, 2023 • edited Loading

🎉 New feature

Summary

Test it

Checklist

codecov bot commented Jul 26, 2023 • edited Loading

Codecov Report

arjo129 commented Jul 28, 2023 • edited Loading

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