Use MinimalScene by default

examples/worlds/minimal_scene.sdf

@@ -46,6 +46,14 @@ Missing for parity with GzScene3D:
       </plugin>
 
       <!-- Plugins that add functionality to the scene -->
+      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+        <ignition-gui>
+          <property key="state" type="string">floating</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </ignition-gui>
+      </plugin>
       <plugin filename="GzSceneManager" name="Scene Manager">
         <ignition-gui>
           <anchors target="3D View">

src/gui/gui.config

@@ -27,7 +27,7 @@
 <!-- GUI plugins -->
 
 <!-- 3D scene -->
-<plugin filename="GzScene3D" name="3D View">
+<plugin filename="MinimalScene" name="3D View">
   <ignition-gui>
     <title>3D View</title>
     <property type="bool" key="showTitleBar">false</property>
@@ -38,10 +38,77 @@
   <scene>scene</scene>
   <ambient_light>0.4 0.4 0.4</ambient_light>
   <background_color>0.8 0.8 0.8</background_color>
-  <camera_pose>6 0 6 0 0.5 3.14</camera_pose>
+  <camera_pose>-6 0 6 0 0.5 0</camera_pose>
 </plugin>
 
-<!-- Play / pause / step -->
+<!-- Plugins that add functionality to the scene -->
+<plugin filename="GzSceneManager" name="Scene Manager">
+  <ignition-gui>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+  <ignition-gui>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="CameraTracking" name="Camera Tracking">
+  <ignition-gui>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="MarkerManager" name="Marker manager">
+  <ignition-gui>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="SelectEntities" name="Select Entities">
+  <ignition-gui>
+    <anchors target="Select entities">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+
+<!-- World control -->
 <plugin filename="WorldControl" name="World control">
   <ignition-gui>
     <title>World control</title>
@@ -64,7 +131,7 @@
 
 </plugin>
 
-<!-- Time / RTF -->
+<!-- World statistics -->
 <plugin filename="WorldStats" name="World stats">
   <ignition-gui>
     <title>World stats</title>
@@ -85,7 +152,6 @@
   <real_time>true</real_time>
   <real_time_factor>true</real_time_factor>
   <iterations>true</iterations>
-
 </plugin>
 
 <!-- Insert simple shapes -->
@@ -128,6 +194,9 @@
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#777777</property>
   </ignition-gui>
+
+  <!-- disable legacy features used to connect this plugin to GzScene3D -->
+  <legacy>false</legacy>
 </plugin>
 
 <!-- Screenshot -->

src/gui/plugins/CMakeLists.txt

@@ -121,6 +121,7 @@ add_subdirectory(modules)
 add_subdirectory(align_tool)
 add_subdirectory(banana_for_scale)
 add_subdirectory(component_inspector)
+add_subdirectory(entity_context_menu)
 add_subdirectory(entity_tree)
 add_subdirectory(joint_position_controller)
 add_subdirectory(lights)

src/gui/plugins/entity_context_menu/CMakeLists.txt

@@ -0,0 +1,8 @@
+gz_add_gui_plugin(EntityContextMenuPlugin
+  SOURCES
+    EntityContextMenuPlugin.cc
+  QT_HEADERS
+    EntityContextMenuPlugin.hh
+  PUBLIC_LINK_LIBS
+    ${PROJECT_LIBRARY_TARGET_NAME}-rendering
+)

src/gui/plugins/entity_context_menu/EntityContextMenuPlugin.cc

@@ -0,0 +1,213 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+
+#include "EntityContextMenuPlugin.hh"
+
+#include <memory>
+#include <utility>
+
+#include <QtQml>
+
+#include <ignition/common/Console.hh>
+#include <ignition/common/MouseEvent.hh>
+
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/GuiEvents.hh>
+#include <ignition/gui/Helpers.hh>
+#include <ignition/gui/MainWindow.hh>
+
+#include <ignition/plugin/Register.hh>
+
+#include <ignition/rendering/Camera.hh>
+#include <ignition/rendering/RenderingIface.hh>
+#include <ignition/rendering/Visual.hh>
+#include <ignition/rendering/Scene.hh>
+
+namespace ignition::gazebo
+{
+  class EntityContextMenuPrivate
+  {
+    /// \brief Perform operations in the render thread.
+    public: void OnRender();
+
+    /// \brief Pointer to the rendering scene
+    public: rendering::ScenePtr scene{nullptr};
+
+    /// \brief User camera
+    public: rendering::CameraPtr camera{nullptr};
+
+    /// \brief Entity context menu hanlder
+    public: EntityContextMenuHanlder entityContextMenuHanlder;
+  };
+}
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+void EntityContextMenuPrivate::OnRender()
+{
+  if (nullptr == this->scene)
+  {
+    this->scene = rendering::sceneFromFirstRenderEngine();
+    if (nullptr == this->scene)
+    {
+      return;
+    }
+
+    for (unsigned int i = 0; i < this->scene->NodeCount(); ++i)
+    {
+      auto cam = std::dynamic_pointer_cast<rendering::Camera>(
+        this->scene->NodeByIndex(i));
+      if (cam)
+      {
+        if (std::get<bool>(cam->UserData("user-camera")))
+        {
+          this->camera = cam;
+
+          igndbg << "Spawn plugin is using camera ["
+                 << this->camera->Name() << "]" << std::endl;
+          break;
+        }
+      }
+    }
+  }
+}
+
+/////////////////////////////////////////////////
+EntityContextMenu::EntityContextMenu()
+  : gui::Plugin(), dataPtr(std::make_unique<EntityContextMenuPrivate>())
+{
+  qmlRegisterType<EntityContextMenuItem>(
+    "RenderWindowOverlay", 1, 0, "RenderWindowOverlay");
+}
+
+EntityContextMenu::~EntityContextMenu() = default;
+
+/////////////////////////////////////////////////
+void EntityContextMenu::LoadConfig(const tinyxml2::XMLElement *)
+{
+  EntityContextMenuItem *renderWindowOverlay =
+      this->PluginItem()->findChild<EntityContextMenuItem *>();
+  if (!renderWindowOverlay)
+  {
+    ignerr << "Unable to find Render Window Overlay item. "
+           << "Render window overlay will not be created" << std::endl;
+    return;
+  }
+
+  renderWindowOverlay->SetEntityContextMenuHanlder(
+    this->dataPtr->entityContextMenuHanlder);
+
+  if (this->title.empty())
+    this->title = "EntityContextMenu";
+
+  ignition::gui::App()->findChild
+    <ignition::gui::MainWindow *>()->installEventFilter(this);
+}
+
+////////////////////////////////////////////////
+bool EntityContextMenu::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (_event->type() == ignition::gui::events::Render::kType)
+  {
+    this->dataPtr->OnRender();
+  }
+  else if (_event->type() == ignition::gui::events::RightClickOnScene::kType)
+  {
+    ignition::gui::events::RightClickOnScene *_e =
+      static_cast<ignition::gui::events::RightClickOnScene*>(_event);
+    if (_e)
+    {
+      this->dataPtr->entityContextMenuHanlder.HandleMouseContextMenu(
+        _e->Mouse(), this->dataPtr->camera);
+    }
+  }
+
+  return QObject::eventFilter(_obj, _event);
+}
+
+
+/////////////////////////////////////////////////
+EntityContextMenuItem::EntityContextMenuItem(QQuickItem *_parent)
+  : QQuickItem(_parent)
+{
+  this->setAcceptedMouseButtons(Qt::AllButtons);
+  this->setFlag(ItemHasContents);
+}
+
+/////////////////////////////////////////////////
+void EntityContextMenuItem::SetEntityContextMenuHanlder(
+  EntityContextMenuHanlder &_entityContextMenuHanlder)
+{
+  entityContextMenuHanlder = &_entityContextMenuHanlder;
+  this->connect(
+    entityContextMenuHanlder,
+    &EntityContextMenuHanlder::ContextMenuRequested,
+    this,
+    &EntityContextMenuItem::OnContextMenuRequested,
+    Qt::QueuedConnection);
+}
+
+///////////////////////////////////////////////////
+void EntityContextMenuItem::OnContextMenuRequested(
+  QString _entity, int _mouseX, int _mouseY)
+{
+  emit openContextMenu(std::move(_entity), _mouseX, _mouseY);
+}
+
+/////////////////////////////////////////////////
+EntityContextMenuHanlder::EntityContextMenuHanlder()
+{
+}
+
+void EntityContextMenuHanlder::HandleMouseContextMenu(
+  const common::MouseEvent &_mouseEvent, const rendering::CameraPtr &_camera)
+{
+  if (!_mouseEvent.Dragging() &&
+      _mouseEvent.Type() == common::MouseEvent::RELEASE &&
+      _mouseEvent.Button() == common::MouseEvent::RIGHT)
+  {
+    math::Vector2i dt =
+      _mouseEvent.PressPos() - _mouseEvent.Pos();
+
+    // check for click with some tol for mouse movement
+    if (dt.Length() > 5.0)
+      return;
+
+    rendering::VisualPtr visual = _camera->Scene()->VisualAt(
+          _camera,
+          _mouseEvent.Pos());
+
+    if (!visual)
+      return;
+
+    // get model visual
+    while (visual->HasParent() && visual->Parent() !=
+        visual->Scene()->RootVisual())
+    {
+      visual = std::dynamic_pointer_cast<rendering::Visual>(visual->Parent());
+    }
+
+    emit ContextMenuRequested(
+      visual->Name().c_str(), _mouseEvent.Pos().X(), _mouseEvent.Pos().Y());
+  }
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(ignition::gazebo::EntityContextMenu,
+                    ignition::gui::Plugin)