Joint visual

examples/visualization_demo/Main.cc

@@ -122,7 +122,7 @@ void buildScene(ScenePtr _scene)
   VisualPtr box = _scene->CreateVisual("parent_box");
   box->AddGeometry(_scene->CreateBox());
   box->SetOrigin(0.0, 0.0, 0.0);
-  box->SetLocalPosition(4.5, 0.0, 0.0);
+  box->SetLocalPosition(4.5, -1.0, 0.0);
   box->SetLocalRotation(0, 0, 0);
   box->SetMaterial(blue);
   root->AddChild(box);
@@ -149,7 +149,7 @@ void buildScene(ScenePtr _scene)
   ignition::math::Pose3d p(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
   ignition::math::Inertiald inertial{massMatrix, p};
   inertiaVisual->SetInertial(inertial);
-  inertiaVisual->SetLocalPosition(1, 0, 0);
+  inertiaVisual->SetLocalPosition(1.5, -1.0, 0);
   root->AddChild(inertiaVisual);
 
   // create CoM visual
@@ -162,6 +162,36 @@ void buildScene(ScenePtr _scene)
   comVisual->SetInertial(comVisualInertial);
   box->AddChild(comVisual);
 
+  // create joint child visual
+  VisualPtr jointChildBox = _scene->CreateVisual("joint_child");
+  jointChildBox->AddGeometry(_scene->CreateBox());
+  jointChildBox->SetOrigin(0.0, 0.0, 0.0);
+  jointChildBox->SetLocalPosition(3.5, 0.5, 0.0);
+  jointChildBox->SetLocalRotation(0, 0, 0);
+  jointChildBox->SetMaterial(blue);
+  root->AddChild(jointChildBox);
+
+  // create joint parent visual
+  VisualPtr jointParentBox = _scene->CreateVisual("joint_parent");
+  jointParentBox->AddGeometry(_scene->CreateBox());
+  jointParentBox->SetOrigin(0.0, 0.0, 0.0);
+  jointParentBox->SetLocalPosition(2.0, 0.5, 0.0);
+  jointParentBox->SetLocalRotation(0, 0, 0);
+  jointParentBox->SetMaterial(blue);
+  jointParentBox->Material()->SetTransparency(0.5);
+  jointParentBox->Material()->SetDepthWriteEnabled(false);
+  root->AddChild(jointParentBox);
+
+  // create joint visual
+  JointVisualPtr jointVisual = _scene->CreateJointVisual();
+  jointChildBox->AddChild(jointVisual);
+  jointVisual->SetType(JointVisualType::JVT_REVOLUTE);
+  ignition::math::Vector3d axis2(1.0, 0.0, 0.0);
+  jointVisual->SetAxis(axis2, "");
+
+  ignition::math::Vector3d axis1(1.0, 0.0, 0.0);
+  jointVisual->SetParentAxis(axis1, "__model__", jointParentBox->Name());
+
   // create camera
   CameraPtr camera = _scene->CreateCamera("camera");
   camera->SetLocalPosition(0.0, 0.0, 0.0);

include/ignition/rendering/ArrowVisual.hh

@@ -42,9 +42,21 @@ namespace ignition
       /// \return The arrow-shaft visual
       public: virtual VisualPtr Shaft() const = 0;
 
+      /// \brief Get arrow-rotation visual
+      /// \return The arrow-rotation visual
+      public: virtual VisualPtr Rotation() const = 0;
+
       /// \brief set true to show the arrow head, false otherwise
       /// \param[in] _b true to show the arrow head, false otherwise
       public: virtual void ShowArrowHead(bool _b) = 0;
+
+      /// \brief set true to show the arrow shaft, false otherwise
+      /// \param[in] _b true to show the arrow shaft, false otherwise
+      public: virtual void ShowArrowShaft(bool _b) = 0;
+
+      /// \brief Set true to show the rotation of the arrow, false otherwise
+      /// \param[in] _b True to show the arrow rotation.
+      public: virtual void ShowArrowRotation(bool _b) = 0;
     };
     }
   }

include/ignition/rendering/AxisVisual.hh

@@ -37,6 +37,11 @@ namespace ignition
       /// \brief set true to show the axis heads, false otherwise
       /// \param[in] _b true to show the axis heads, false otherwise
       public: virtual void ShowAxisHead(bool _b) = 0;
+
+      /// \brief set true to show the specified axis head, false otherwise
+      /// \param[in] _axis Axis index. 0: x, 1: y, 2: z
+      /// \param[in] _b true to show the specified axis head, false otherwise
+      public: virtual void ShowAxisHead(unsigned int _axis, bool _b) = 0;
     };
     }
   }

include/ignition/rendering/JointVisual.hh

@@ -0,0 +1,146 @@
+/*
+ * 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_RENDERING_JOINTVISUAL_HH_
+#define IGNITION_RENDERING_JOINTVISUAL_HH_
+
+#include <string>
+#include <ignition/math/Vector3.hh>
+#include "ignition/rendering/config.hh"
+#include "ignition/rendering/Object.hh"
+#include "ignition/rendering/RenderTypes.hh"
+#include "ignition/rendering/Visual.hh"
+
+namespace ignition
+{
+  namespace rendering
+  {
+    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+    //
+    /// \brief Enum for JointVisual types
+    enum IGNITION_RENDERING_VISIBLE JointVisualType
+    {
+      /// \brief No type
+      JVT_NONE           = 0,
+
+      /// \brief Revolute joint type
+      JVT_REVOLUTE       = 1,
+
+      /// \brief Revolute2 joint type
+      JVT_REVOLUTE2      = 2,
+
+      /// \brief Prismatic joint type
+      JVT_PRISMATIC      = 3,
+
+      /// \brief Universal joint type
+      JVT_UNIVERSAL      = 4,
+
+      /// \brief Ball joint type
+      JVT_BALL           = 5,
+
+      /// \brief Screw joint type
+      JVT_SCREW          = 6,
+
+      /// \brief Gearbox joint type
+      JVT_GEARBOX        = 7,
+
+      /// \brief Fixed joint type
+      JVT_FIXED          = 8
+    };
+
+    /// \class JointVisual JointVisual.hh
+    /// ignition/rendering/JointVisual.hh
+    /// \brief Represents a joint visual
+    class IGNITION_RENDERING_VISIBLE JointVisual :
+      public virtual Visual
+    {
+      /// \brief Destructor
+      public: virtual ~JointVisual() {}
+
+      /// \brief Create an axis and attach it to the joint visual.
+      /// \param[in] _axis Axis vector.
+      /// \param[in] _xyzExpressedIn Frame in which the axis vector is
+      /// expressed.
+      public: virtual void SetAxis(const ignition::math::Vector3d &_axis,
+          const std::string &_xyzExpressedIn) = 0;
+
+      /// \brief Get axis vector.
+      /// \return The axis vector.
+      public: virtual ignition::math::Vector3d Axis() const = 0;
+
+      /// \brief Get axis frame.
+      /// \return The axis frame.
+      public: virtual std::string AxisFrame() const = 0;
+
+      /// \brief Create a parent axis for hinge2 and universal joint types
+      /// and attach it to the joint visual.
+      /// \param[in] _axis Axis vector.
+      /// \param[in] _xyzExpressedIn Frame in which the axis vector is
+      /// expressed.
+      /// \param[in] _parentName Joint parent name.
+      public: virtual void SetParentAxis(
+          const ignition::math::Vector3d &_axis,
+          const std::string &_xyzExpressedIn,
+          const std::string &_parentName) = 0;
+
+      /// \brief Get parent axis vector.
+      /// \return The parent axis vector.
+      public: virtual ignition::math::Vector3d ParentAxis() const = 0;
+
+      /// \brief Get parent axis frame.
+      /// \return The parent axis frame.
+      public: virtual std::string ParentAxisFrame() const = 0;
+
+      /// \brief Update an axis' arrow visual.
+      /// \param[in] _axis Axis vector.
+      /// \param[in] _xyzExpressedIn Frame in which the axis vector is
+      /// expressed.
+      /// \return True if axis was updated else false.
+      public: virtual bool UpdateAxis(const ignition::math::Vector3d &_axis,
+          const std::string &_xyzExpressedIn) = 0;
+
+      /// \brief Update the parent axis' arrow visual if it exists.
+      /// \param[in] _arrowVisual Arrow visual to be updated.
+      /// \param[in] _axis Axis vector.
+      /// \param[in] _xyzExpressedIn Frame in which the axis vector is
+      /// expressed.
+      /// \param[in] _parentName Name of the joint parent.
+      /// \return True if parent axis was updated else false.
+      public: virtual bool UpdateParentAxis(
+          const ignition::math::Vector3d &_axis,
+          const std::string &_xyzExpressedIn) = 0;
+
+      /// \brief Set type for joint visual.
+      /// \param[in] _type The type of visualisation for joint.
+      public: virtual void SetType(const JointVisualType _type) = 0;
+
+      /// \brief Get joint visual type.
+      /// \return The joint visual type.
+      public: virtual JointVisualType Type() const = 0;
+
+      /// \brief Get the JointVisual which is attached to the parent.
+      /// \return Parent axis visual.
+      public: virtual JointVisualPtr ParentAxisVisual() const = 0;
+
+      /// \brief Get the arrow visual which represents the axis attached to the
+      /// child.
+      /// \return Arrow visual.
+      public: virtual ArrowVisualPtr ArrowVisual() const = 0;
+    };
+    }
+  }
+}
+#endif

include/ignition/rendering/Node.hh

@@ -62,6 +62,10 @@ namespace ignition
       /// \return The local pose
       public: virtual math::Pose3d LocalPose() const = 0;
 
+      /// \brief Get the initial local pose
+      /// \return The initial local pose
+      public: virtual math::Pose3d InitialLocalPose() const = 0;
+
       /// \brief Set the local pose
       /// \param[in] _pose New local pose
       public: virtual void SetLocalPose(const math::Pose3d &_pose) = 0;

include/ignition/rendering/Scene.hh

@@ -881,6 +881,35 @@ namespace ignition
       public: virtual InertiaVisualPtr CreateInertiaVisual(
                   unsigned int _id, const std::string &_name) = 0;
 
+      /// \brief Create new Joint visual. A unique ID and name will
+      /// automatically be assigned to the Joint visual.
+      /// \return The created Joint visual
+      public: virtual JointVisualPtr CreateJointVisual() = 0;
+
+      /// \brief Create new Joint visual with the given ID. A unique name
+      /// will automatically be assigned to the visual. If the given ID is
+      /// already in use, NULL will be returned.
+      /// \param[in] _id ID of the new Joint visual
+      /// \return The created Joint visual
+      public: virtual JointVisualPtr CreateJointVisual(
+                  unsigned int _id) = 0;
+
+      /// \brief Create new Joint visual with the given name. A unique ID
+      /// will automatically be assigned to the visual. If the given name is
+      /// already in use, NULL will be returned.
+      /// \param[in] _name Name of the new Joint visual
+      /// \return The created Joint visual
+      public: virtual JointVisualPtr CreateJointVisual(
+                  const std::string &_name) = 0;
+
+      /// \brief Create new Joint visual with the given name. If either the
+      /// given ID or name is already in use, NULL will be returned.
+      /// \param[in] _id ID of the new Joint visual
+      /// \param[in] _name Name of the new Joint visual
+      /// \return The created Joint visual
+      public: virtual JointVisualPtr CreateJointVisual(
+                  unsigned int _id, const std::string &_name) = 0;
+
       /// \brief Create new light visual. A unique ID and name will
       /// automatically be assigned to the light visual.
       /// \return The created light visual