MinimalScene.hh

/*
 * Copyright (C) 2017 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.
 *
*/

#ifndef IGNITION_GUI_PLUGINS_SCENE3D_HH_
#define IGNITION_GUI_PLUGINS_SCENE3D_HH_

#include <string>
#include <memory>

#include <ignition/common/KeyEvent.hh>
#include <ignition/common/MouseEvent.hh>
#include <ignition/math/Color.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector2.hh>
#include <ignition/utils/ImplPtr.hh>
#include <ignition/rendering/GraphicsAPI.hh>

#include "ignition/gui/Plugin.hh"

#include "MinimalSceneRhi.hh"

namespace ignition
{
namespace gui
{
namespace plugins
{
  /// \brief Creates an ignition rendering scene and user camera.
  /// It is possible to orbit the camera around the scene with
  /// the mouse. Use other plugins to manage objects in the scene.
  ///
  /// Only one plugin displaying an Gazebo Rendering scene can be used at a
  /// time.
  ///
  /// ## Configuration
  ///
  /// * \<engine\> : Optional render engine name, defaults to 'ogre'. If another
  ///                engine is already loaded, that will be used, because only
  ///                one engine is supported at a time currently.
  /// * \<scene\> : Optional scene name, defaults to 'scene'. The plugin will
  ///               create a scene with this name if there isn't one yet. If
  ///               there is already one, a new camera is added to it.
  /// * \<ambient_light\> : Optional color for ambient light, defaults to
  ///                       (0.3, 0.3, 0.3, 1.0)
  /// * \<background_color\> : Optional background color, defaults to
  ///                          (0.3, 0.3, 0.3, 1.0)
  /// * \<camera_pose\> : Optional starting pose for the camera, defaults to
  ///                     (0, 0, 5, 0, 0, 0)
  /// * \<camera_clip\> : Optional near/far clipping distance for camera
  ///     * \<near\> : Camera's near clipping plane distance, defaults to 0.01
  ///     * \<far\> : Camera's far clipping plane distance, defaults to 1000.0
  /// * \<sky\> : If present, sky is enabled.
  /// * \<graphics_api\> : Optional graphics API name. Valid choices are:
  ///                      'opengl', 'metal'. Defaults to 'opengl'.
  class MinimalScene : public Plugin
  {
    Q_OBJECT

    /// \brief Loading error message
    Q_PROPERTY(
      QString loadingError
      READ LoadingError
      WRITE SetLoadingError
      NOTIFY LoadingErrorChanged
    )

    /// \brief Constructor
    public: MinimalScene();

    /// \brief Callback when the mouse hovers to a new position.
    /// \param[in] _mouseX x coordinate of the hovered mouse position.
    /// \param[in] _mouseY y coordinate of the hovered mouse position.
    public slots: void OnHovered(int _mouseX, int _mouseY);

    /// \brief Callback when the mouse enters the render window to
    /// focus the window for mouse/key events
    public slots: void OnFocusWindow();

    /// \brief Callback when receives a drop event.
    /// \param[in] _drop Dropped string.
    /// \param[in] _mouseX x coordinate of mouse position.
    /// \param[in] _mouseY y coordinate of mouse position.
    public slots: void OnDropped(const QString &_drop,
        int _mouseX, int _mouseY);

    // Documentation inherited
    public: virtual void LoadConfig(const tinyxml2::XMLElement *_pluginElem)
        override;

    /// \brief Get the loading error string.
    /// \return String explaining the loading error. If empty, there's no error.
    public: Q_INVOKABLE QString LoadingError() const;

    /// \brief Set the loading error message.
    /// \param[in] _loadingError Error message.
    public: Q_INVOKABLE void SetLoadingError(const QString &_loadingError);

    /// \brief Notify that loading error has changed
    signals: void LoadingErrorChanged();

    /// \brief Loading error message
    public: QString loadingError;

    /// \internal
    /// \brief Pointer to private data.
    IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr)
  };

  class RenderSync;

  /// \brief Ign-rendering renderer.
  /// All ign-rendering calls should be performed inside this class as it makes
  /// sure that opengl calls in the underlying render engine do not interfere
  /// with QtQuick's opengl render operations. The main Render function will
  /// render to an offscreen texture and notify via signal and slots when it's
  /// ready to be displayed.
  class IgnRenderer
  {
    ///  \brief Constructor
    public: IgnRenderer();

    /// \param[in] _renderSync RenderSync to safely
    /// synchronize Qt and worker thread (this)
    public: void Render(RenderSync *_renderSync);

    /// \brief Initialize the render engine and scene.
    /// On macOS this must be called on the main thread.
    /// \return Error message if initialization failed. If empty, no errors
    /// occurred.
    public: std::string Initialize();

    /// \brief Set the graphics API
    /// \param[in] _graphicsAPI The type of graphics API
    public: void SetGraphicsAPI(const rendering::GraphicsAPI &_graphicsAPI);

    /// \brief Destroy camera associated with this renderer
    public: void Destroy();

    /// \brief New mouse event triggered
    /// \param[in] _e New mouse event
    public: void NewMouseEvent(const common::MouseEvent &_e);

    /// \brief New hover event triggered.
    /// \param[in] _hoverPos Mouse hover screen position
    public: void NewHoverEvent(const math::Vector2i &_hoverPos);

    /// \brief New hover event triggered.
    /// \param[in] _dropText Text dropped on the scene
    /// \param[in] _dropPos Mouse drop screen position
    public: void NewDropEvent(const std::string &_dropText,
      const math::Vector2i &_dropPos);

    /// \brief Handle key press event for snapping
    /// \param[in] _e The key event to process.
    public: void HandleKeyPress(const common::KeyEvent &_e);

    /// \brief Handle key release event for snapping
    /// \param[in] _e The key event to process.
    public: void HandleKeyRelease(const common::KeyEvent &_e);

    /// \brief Handle mouse event for view control
    private: void HandleMouseEvent();

    /// \brief Broadcasts the currently hovered 3d scene location.
    private: void BroadcastHoverPos();

    /// \brief Broadcasts drag events.
    private: void BroadcastDrag();

    /// \brief Broadcasts a left click (release) within the scene
    private: void BroadcastLeftClick();

    /// \brief Broadcasts a right click (release) within the scene
    private: void BroadcastRightClick();

    /// \brief Broadcasts a mouse press within the scene
    private: void BroadcastMousePress();

    /// \brief Broadcasts a scroll event within the scene.
    private: void BroadcastScroll();

    /// \brief Broadcasts a key release event within the scene
    private: void BroadcastKeyRelease();

    /// \brief Broadcasts a drop event within the scene
    private: void BroadcastDrop();

    /// \brief Broadcasts a key press event within the scene
    private: void BroadcastKeyPress();

    /// Values is constantly constantly cycled/swapped/changed
    /// from a worker thread
    /// Don't read this directly
    /// \param[out] _texturePtr Pointer to a texture Id
    public: void TextureId(void* _texturePtr);

    /// \brief Render engine to use
    public: std::string engineName = "ogre";

    /// \brief Unique scene name
    public: std::string sceneName = "scene";

    /// \brief Initial Camera pose
    public: math::Pose3d cameraPose = math::Pose3d(0, 0, 2, 0, 0.4, 0);

    /// \brief Default camera near clipping plane distance
    public: double cameraNearClip = 0.01;

    /// \brief Default camera far clipping plane distance
    public: double cameraFarClip = 1000.0;

    /// \brief Scene background color
    public: math::Color backgroundColor = math::Color::Black;

    /// \brief Ambient color
    public: math::Color ambientLight = math::Color(0.3f, 0.3f, 0.3f, 1.0f);

    /// \brief True if engine has been initialized;
    public: bool initialized = false;

    /// \brief Render texture size
    public: QSize textureSize = QSize(1024, 1024);

    /// \brief Flag to indicate texture size has changed.
    public: bool textureDirty = true;

    /// \brief True if sky is enabled;
    public: bool skyEnable = false;

    /// \internal
    /// \brief Pointer to private data.
    IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr)
  };

  /// \brief Rendering thread
  class RenderThread : public QThread
  {
    Q_OBJECT

    /// \brief Constructor
    public: RenderThread();

    /// \brief Render when safe
    /// \param[in] _renderSync RenderSync to safely
    /// synchronize Qt and worker thread (this)
    public slots: void RenderNext(RenderSync *_renderSync);

    /// \brief Shutdown the thread and the render engine
    public slots: void ShutDown();

    /// \brief Slot called to update render texture size
    public slots: void SizeChanged();

    /// \brief Signal to indicate that a frame has been rendered and ready
    /// to be displayed
    /// \param[in] _texturePtr Pointer to a texture Id
    /// \param[in] _size Size of the texture
    signals: void TextureReady(void* _texturePtr, const QSize &_size);

    /// \brief Set a callback to be called in case there are errors.
    /// \param[in] _cb Error callback
    public: void SetErrorCb(std::function<void(const QString &)> _cb);

    /// \brief Function to be called if there are errors.
    public: std::function<void(const QString &)> errorCb;

    /// \brief Offscreen surface to render to
    public: QOffscreenSurface *Surface() const;

    /// \brief Set the offscreen surface to render to
    /// \param[in] _surface Off-screen surface format
    public: void SetSurface(QOffscreenSurface *_surface);

    /// \brief OpenGL context to be passed to the render engine
    public: QOpenGLContext *Context() const;

    /// \brief Set the OpenGL context to be passed to the render engine
    /// \param[in] _context OpenGL context
    public: void SetContext(QOpenGLContext *_context);

    /// \brief Set the graphics API
    /// \param[in] _graphicsAPI The type of graphics API
    public: void SetGraphicsAPI(const rendering::GraphicsAPI &_graphicsAPI);

    /// \brief Carry out initialisation.
    /// On macOS this must be run on the main thread
    public: std::string Initialize();

    /// \brief Ign-rendering renderer
    public: IgnRenderer ignRenderer;

    /// \brief Pointer to render interface to handle OpenGL/Metal compatibility
    private: std::unique_ptr<RenderThreadRhi> rhi;
  };

  /// \brief A QQUickItem that manages the render window
  class RenderWindowItem : public QQuickItem
  {
    Q_OBJECT

    /// \brief Constructor
    /// \param[in] _parent Parent item
    public: explicit RenderWindowItem(QQuickItem *_parent = nullptr);

    public: ~RenderWindowItem();

    /// \brief Set background color of render window
    /// \param[in] _color Color of render window background
    public: void SetBackgroundColor(const math::Color &_color);

    /// \brief Set ambient light of render window
    /// \param[in] _ambient Color of ambient light
    public: void SetAmbientLight(const math::Color &_ambient);

    /// \brief Set engine name used to create the render window
    /// \param[in] _name Name of render engine
    public: void SetEngineName(const std::string &_name);

    /// \brief Set name of scene created inside the render window
    /// \param[in] _name Name of scene
    public: void SetSceneName(const std::string &_name);

    /// \brief Set the initial pose the render window camera
    /// \param[in] _pose Initial camera pose
    public: void SetCameraPose(const math::Pose3d &_pose);

    /// \brief Set the render window camera's near clipping plane distance
    /// \param[in] _near Near clipping plane distance
    public: void SetCameraNearClip(double _near);

    /// \brief Set the render window camera's far clipping plane distance
    /// \param[in] _far Far clipping plane distance
    public: void SetCameraFarClip(double _far);

    /// \brief Called when the mouse hovers to a new position.
    /// \param[in] _hoverPos 2D coordinates of the hovered mouse position on
    /// the render window.
    public: void OnHovered(const ignition::math::Vector2i &_hoverPos);

    /// \brief Callback when receives a drop event.
    /// \param[in] _drop Dropped string.
    /// \param[in] _dropPos x coordinate of mouse position.
    public: void OnDropped(const QString &_drop,
        const ignition::math::Vector2i &_dropPos);

    /// \brief Set if sky is enabled
    /// \param[in] _sky True to enable the sky, false otherwise.
    public: void SetSkyEnabled(const bool &_sky);

    /// \brief Set the graphics API
    /// \param[in] _graphicsAPI The type of graphics API
    public: void SetGraphicsAPI(const rendering::GraphicsAPI& _graphicsAPI);

    /// \brief Slot called when thread is ready to be started
    public Q_SLOTS: void Ready();

    /// \brief Handle key press event for snapping
    /// \param[in] _e The key event to process.
    public: void HandleKeyPress(const common::KeyEvent &_e);

    /// \brief Handle key release event for snapping
    /// \param[in] _e The key event to process.
    public: void HandleKeyRelease(const common::KeyEvent &_e);

    /// \brief Set a callback to be called in case there are errors.
    /// \param[in] _cb Error callback
    public: void SetErrorCb(std::function<void(const QString &)> _cb);

    /// \brief Stop rendering and shutdown resources.
    public: void StopRendering();

    // Documentation inherited
    protected: virtual void mousePressEvent(QMouseEvent *_e) override;

    // Documentation inherited
    protected: virtual void mouseReleaseEvent(QMouseEvent *_e) override;

    // Documentation inherited
    protected: virtual void mouseMoveEvent(QMouseEvent *_e) override;

    // Documentation inherited
    protected: virtual void keyPressEvent(QKeyEvent *_e) override;

    // Documentation inherited
    protected: virtual void keyReleaseEvent(QKeyEvent *_e) override;

    // Documentation inherited
    protected: virtual void wheelEvent(QWheelEvent *_e) override;

    /// \brief Overrides the paint event to render the render engine
    /// camera view
    /// \param[in] _oldNode The node passed in previous updatePaintNode
    /// function. It represents the visual representation of the item.
    /// \param[in] _data The node transformation data.
    /// \return Updated node.
    private: QSGNode *updatePaintNode(QSGNode *_oldNode,
        QQuickItem::UpdatePaintNodeData *_data) override;

    /// \internal
    /// \brief Pointer to private data.
    IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr)
  };

  /// \brief Texture node for displaying the render texture from ign-renderer
  class TextureNode : public QObject, public QSGSimpleTextureNode
  {
    Q_OBJECT

    /// \brief Constructor
    /// \param[in] _window Window to display the texture
    /// \param[in] _renderSync RenderSync to safely
    /// synchronize Qt (this) and worker thread
    /// \param[in] _graphicsAPI The type of graphics API
    public: explicit TextureNode(QQuickWindow *_window,
                                 RenderSync &_renderSync,
                                 const rendering::GraphicsAPI &_graphicsAPI);

    /// \brief Destructor
    public: ~TextureNode() override;

    /// \brief This function gets called on the FBO rendering thread and will
    ///  store the texture id and size and schedule an update on the window.
    /// \param[in] _texturePtr Pointer to a texture Id
    /// \param[in] _size Texture size
    // public slots: void NewTexture(uint _id, const QSize &_size);
    public slots: void NewTexture(void* _texturePtr, const QSize &_size);

    /// \brief Before the scene graph starts to render, we update to the
    /// pending texture
    public slots: void PrepareNode();

    /// \param[in] _renderSync RenderSync to send to the worker thread
    signals: void TextureInUse(RenderSync *_renderSync);

    /// \brief Signal emitted when a new texture is ready to trigger window
    /// update
    signals: void PendingNewTexture();

    /// \brief Texture size
    public: QSize size = QSize(0, 0);

    /// \brief Mutex to protect the texture variables
    public: QMutex mutex;

    /// \brief See RenderSync
    public: RenderSync &renderSync;

    /// \brief Qt quick window
    public: QQuickWindow *window = nullptr;

    /// \brief Pointer to render interface to handle OpenGL/Metal compatibility
    private: std::unique_ptr<TextureNodeRhi> rhi;
   };
}
}
}

#endif