Particle system - Part2

src/systems/CMakeLists.txt

@@ -95,6 +95,7 @@ add_subdirectory(magnetometer)
 add_subdirectory(multicopter_motor_model)
 add_subdirectory(multicopter_control)
 add_subdirectory(optical_tactile_plugin)
+add_subdirectory(particle_emitter)
 add_subdirectory(performer_detector)
 add_subdirectory(physics)
 add_subdirectory(pose_publisher)

src/systems/particle_emitter/CMakeLists.txt

@@ -0,0 +1,6 @@
+gz_add_system(particle-emitter
+  SOURCES
+    ParticleEmitter.cc
+  PUBLIC_LINK_LIBS
+    ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
+)

src/systems/particle_emitter/ParticleEmitter.cc

@@ -0,0 +1,186 @@
+/*
+ * 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 <ignition/msgs/particle_emitter.pb.h>
+
+#include <string>
+
+#include <ignition/common/Profiler.hh>
+#include <ignition/msgs/Utility.hh>
+#include <ignition/plugin/Register.hh>
+
+#include <ignition/gazebo/components/Name.hh>
+#include <ignition/gazebo/components/ParticleEmitter.hh>
+#include <ignition/gazebo/components/Pose.hh>
+#include <ignition/gazebo/Conversions.hh>
+#include <sdf/Material.hh>
+#include "ParticleEmitter.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+
+// Private data class.
+class ignition::gazebo::systems::ParticleEmitterPrivate
+{
+  /// \brief The particle emitter.
+  public: ignition::msgs::ParticleEmitter emitter;
+};
+
+//////////////////////////////////////////////////
+ParticleEmitter::ParticleEmitter()
+  : System(), dataPtr(std::make_unique<ParticleEmitterPrivate>())
+{
+}
+
+//////////////////////////////////////////////////
+void ParticleEmitter::Configure(const Entity &/*_entity*/,
+    const std::shared_ptr<const sdf::Element> &_sdf,
+    EntityComponentManager &_ecm,
+    EventManager &/*_eventMgr*/)
+{
+  // Create a particle emitter entity.
+  auto entity = _ecm.CreateEntity();
+  if (entity == kNullEntity)
+  {
+    ignerr << "Failed to create a particle emitter entity" << std::endl;
+    return;
+  }
+
+  // Name.
+  std::string name = "particle_emitter_entity_" + std::to_string(entity);
+  if (_sdf->HasElement("emitter_name"))
+    name = _sdf->Get<std::string>("emitter_name");
+  this->dataPtr->emitter.set_name(name);
+
+  // Type. The default type is point.
+  this->dataPtr->emitter.set_type(
+      ignition::msgs::ParticleEmitter_EmitterType_POINT);
+  std::string type = _sdf->Get<std::string>("type", "point").first;
+  if (type == "box")
+  {
+    this->dataPtr->emitter.set_type(
+      ignition::msgs::ParticleEmitter_EmitterType_BOX);
+  }
+  else if (type == "cylinder")
+  {
+    this->dataPtr->emitter.set_type(
+      ignition::msgs::ParticleEmitter_EmitterType_CYLINDER);
+  }
+  else if (type == "ellipsoid")
+  {
+    this->dataPtr->emitter.set_type(
+      ignition::msgs::ParticleEmitter_EmitterType_ELLIPSOID);
+  }
+  else if (type != "point")
+  {
+    ignerr << "Unknown emitter type [" << type << "]. Using [point] instead"
+           << std::endl;
+  }
+
+  // Pose.
+  ignition::math::Pose3d pose =
+    _sdf->Get<ignition::math::Pose3d>("pose");
+  ignition::msgs::Set(this->dataPtr->emitter.mutable_pose(), pose);
+
+  // Size.
+  ignition::math::Vector3d size = ignition::math::Vector3d::One;
+  if (_sdf->HasElement("size"))
+    size = _sdf->Get<ignition::math::Vector3d>("size");
+  ignition::msgs::Set(this->dataPtr->emitter.mutable_size(), size);
+
+  // Rate.
+  this->dataPtr->emitter.set_rate(_sdf->Get<double>("rate", 10).first);
+
+  // Duration.
+  this->dataPtr->emitter.set_duration(_sdf->Get<double>("duration", 0).first);
+
+  // Emitting.
+  this->dataPtr->emitter.set_emitting(_sdf->Get<bool>("emitting", false).first);
+
+  // Particle size.
+  size = ignition::math::Vector3d::One;
+  if (_sdf->HasElement("particle_size"))
+    size = _sdf->Get<ignition::math::Vector3d>("particle_size");
+  ignition::msgs::Set(this->dataPtr->emitter.mutable_particle_size(), size);
+
+  // Lifetime.
+  this->dataPtr->emitter.set_lifetime(_sdf->Get<double>("lifetime", 5).first);
+
+  // Material.
+  if (_sdf->HasElement("material"))
+  {
+    auto materialElem = _sdf->GetElementImpl("material");
+    sdf::Material material;
+    material.Load(materialElem);
+    ignition::msgs::Material materialMsg = convert<msgs::Material>(material);
+  }
+
+  // Min velocity.
+  this->dataPtr->emitter.set_min_velocity(
+    _sdf->Get<double>("min_velocity", 1).first);
+
+  // Max velocity.
+  this->dataPtr->emitter.set_max_velocity(
+    _sdf->Get<double>("max_velocity", 1).first);
+
+  // Color start.
+  ignition::math::Color color = ignition::math::Color::White;
+  if (_sdf->HasElement("color_start"))
+    color = _sdf->Get<ignition::math::Color>("color_start");
+  ignition::msgs::Set(this->dataPtr->emitter.mutable_color_start(), color);
+
+  // Color end.
+  color = ignition::math::Color::White;
+  if (_sdf->HasElement("color_end"))
+    color = _sdf->Get<ignition::math::Color>("color_end");
+  ignition::msgs::Set(this->dataPtr->emitter.mutable_color_end(), color);
+
+  // Scale rate.
+  this->dataPtr->emitter.set_scale_rate(
+    _sdf->Get<double>("scale_rate", 1).first);
+
+  // Color range image.
+  this->dataPtr->emitter.set_color_range_image(
+    _sdf->Get<std::string>("color_range_image", "").first);
+
+  igndbg << "Loading particle emitter:" << std::endl
+         << this->dataPtr->emitter.DebugString() << std::endl;
+
+  // Create components.
+  _ecm.CreateComponent(entity, components::Name(this->dataPtr->emitter.name()));
+
+  _ecm.CreateComponent(entity,
+    components::ParticleEmitter(this->dataPtr->emitter));
+
+  _ecm.CreateComponent(entity, components::Pose(pose));
+}
+
+//////////////////////////////////////////////////
+void ParticleEmitter::PreUpdate(const ignition::gazebo::UpdateInfo &/*_info*/,
+    ignition::gazebo::EntityComponentManager &/*_ecm*/)
+{
+  IGN_PROFILE("ParticleEmitter::PreUpdate");
+}
+
+IGNITION_ADD_PLUGIN(ParticleEmitter,
+                    ignition::gazebo::System,
+                    ParticleEmitter::ISystemConfigure,
+                    ParticleEmitter::ISystemPreUpdate)
+
+IGNITION_ADD_PLUGIN_ALIAS(ParticleEmitter,
+                          "ignition::gazebo::systems::ParticleEmitter")

src/systems/particle_emitter/ParticleEmitter.hh

@@ -0,0 +1,128 @@
+/*
+ * 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.
+ *
+ */
+#ifndef IGNITION_GAZEBO_SYSTEMS_PARTICLE_EMITTER_HH_
+#define IGNITION_GAZEBO_SYSTEMS_PARTICLE_EMITTER_HH_
+
+#include <memory>
+
+#include <ignition/gazebo/System.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace systems
+{
+  class ParticleEmitterPrivate;
+
+  /// \brief A system for creating a particle emitter.
+  ///
+  /// System parameters
+  ///
+  /// `<emitter_name>`: Unique name for the particle emitter. The name will be
+  ///                   automatically generated if this parameter is not set.
+  /// `<type>`: The emitter type (point, box, cylinder, ellipsoid).
+  ///           Default value is point.
+  /// `<pose>`: The pose of the emitter. Default value is {0, 0, 0, 0, 0, 0}.
+  /// `<size>`: The size of the emitter where the particles are sampled.
+  ///           Default value is (1, 1, 1).
+  ///           Note that the interpretation of the emitter area varies
+  ///           depending on the emmiter type:
+  ///             - point: The area is ignored.
+  ///             - box: The area is interpreted as width X height X depth.
+  ///             - cylinder: The area is interpreted as the bounding box of the
+  ///                         cilinder. The cylinder is oriented along the
+  ///                         Z-axis.
+  ///             - ellipsoid: The area is interpreted as the bounding box of an
+  ///                          ellipsoid shaped area, i.e. a sphere or
+  ///                          squashed-sphere area. The parameters are again
+  ///                          identical to EM_BOX, except that the dimensions
+  ///                          describe the widest points along each of the
+  ///                          axes.
+  /// `<rate>`: How many particles per second should be emitted.
+  ///           Default value is 10.
+  /// `<duration`>: The number of seconds the emitter is active. A value of 0
+  ///               means infinite duration. Default value is 0.
+  /// `<emitting>`: This is used to turn on or off particle emission.
+  ///               Default value is false.
+  /// `<particle_size>`: Set the particle dimensions (width, height, depth).
+  ///                    Default value is {1, 1, 1}.
+  /// `<lifetime>`: Set the number of seconds each particle will ’live’ for
+  ///               before being destroyed. Default value is 5.
+  /// `<material>`: Sets the material which all particles in the emitter will
+  ///               use.
+  /// `<min_velocity>`: Sets a minimum velocity for each particle (m/s).
+  ///                   Default value is 1.
+  /// `<max_velocity>`: Sets a maximum velocity for each particle (m/s).
+  ///                   Default value is 1.
+  /// `<color_start>`: Sets the starting color for all particle emitted.
+  ///                  The actual color will be interpolated between this color
+  ///                  and the one set under <color_end>.
+  ///                  Color::White is the default color for the particles
+  ///                  unless a specific function is used.
+  ///                  Note that this function overrides the particle colors set
+  ///                  with <ColorRangeImage>.
+  /// `<color_end>`: Sets the end color for all particle emitted.
+  ///                The actual color will be interpolated between this color
+  ///                and the one set under <color_start>.
+  ///                Color::White is the default color for the particles
+  ///                unless a specific function is used.
+  ///                Note that this function overrides the particle colors set
+  ///                with <ColorRangeImage>.
+  /// `<scale_rate>`: Sets the amount by which to scale the particles in both x
+  ///                 and y direction per second. Default value is 1.
+  /// `<color_range_image>`: Sets the path to the color image used as an
+  ///                        affector. This affector modifies the color of
+  ///                        particles in flight. The colors are taken from a
+  ///                        specified image file. The range of color values
+  ///                        begins from the left side of the image and move to
+  ///                        the right over the lifetime of the particle,
+  ///                        therefore only the horizontal dimension of the
+  ///                        image is used.
+  ///                        Note that this function overrides the particle
+  /// colors set with <color_start> and <color_end>.
+  class IGNITION_GAZEBO_VISIBLE ParticleEmitter
+      : public System,
+        public ISystemConfigure,
+        public ISystemPreUpdate
+  {
+    /// \brief Constructor
+    public: ParticleEmitter();
+
+    // Documentation inherited
+    public: void Configure(const Entity &_entity,
+                           const std::shared_ptr<const sdf::Element> &_sdf,
+                           EntityComponentManager &_ecm,
+                           EventManager &_eventMgr) override;
+
+    // Documentation inherited
+    public: void PreUpdate(
+                const ignition::gazebo::UpdateInfo &_info,
+                ignition::gazebo::EntityComponentManager &_ecm) override;
+
+    /// \brief Private data pointer
+    private: std::unique_ptr<ParticleEmitterPrivate> dataPtr;
+  };
+  }
+}
+}
+}
+
+#endif
+

test/integration/CMakeLists.txt

@@ -31,6 +31,7 @@ set(tests
   model.cc
   multicopter.cc
   network_handshake.cc
+  particle_emitter.cc
   performer_detector.cc
   physics_system.cc
   play_pause.cc