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Updates after the removal of Scene3D plugin #304

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Updates after the removal of Scene3D plugin #304

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a25b01b
Use gz instead of ign
j-rivero Sep 9, 2022
d249a11
Try to replace GzScene3D with Migration.md instructions
j-rivero Sep 9, 2022
dd5db60
Update world_demo.sdf after the removal of Scene3D
j-rivero Sep 12, 2022
3f2366b
Update instructions after the removal of Scene3D
j-rivero Sep 12, 2022
5120e69
Update garden/sdf_worlds.md
j-rivero Jun 17, 2024
1216ada
Merge branch 'master' into update_sdf_worlds
j-rivero Jun 17, 2024
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54 changes: 25 additions & 29 deletions garden/sdf_worlds.md
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Original file line number Diff line number Diff line change
Expand Up @@ -76,44 +76,40 @@ Now let's define the GUI. Under the `<gui>` tag we specify anything related to t

[gazebo-gui](https://github.com/gazebosim/gz-gui/) has a bunch of plugins to choose from. We will add the ones that are necessary to get our world up and running with basic functionality.

### Scene 3D plugin

```xml
<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre2</engine>
<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 0</camera_pose>
<camera_clip>
<near>0.25</near>
<far>25000</far>
</camera_clip>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<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>
</gz-gui>
<plugin filename="MinimalScene">
<gz-gui>
<title>3D View</title>
<property type="string" key="state">docked</property>
</gz-gui>
<engine>ogre2</engine>
<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 0</camera_pose>
</plugin>
```

`MinimalScene` and `GzSceneManager` are responsible for displaying the 3D scene of our world.
It has the following properties (most of the GUI plugins have them):
The `MinimalScene` plugin is responsible for displaying the 3D scene of our world. It has the following properties (most of the GUI plugins have them):
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Should we keep GzSceneManager here since nothing would work without it? cc @ahcorde


* `showTitleBar` if true it will show the blue title bar over the plugin with the name mentioned in the `<title>` tag.
* `state` is the state of the plugin it can be docked in its place using `docked` or it can be `floating`.

For the rendering engine we can choose `ogre` or `ogre2`. The `<ambient_light>` and the `<background_color>` specify the ambient and the background color of the scene. `<camera_pose>` specifies the `X Y Z` position of the camera followed by its rotation in `Roll Pitch Yaw`.

#### Common used 3D scene controllers

To provide some minimal functionality and controls, a part of the 3D scene implemented by `MinimalScene`,
a [usual set of plugins](https://github.com/gazebosim/gz-sim/blob/ff1c82b41e548dfdc8076374f9500db2df2c35a1/examples/worlds/minimal_scene.sdf#L29-L128) can be copied from the `gz-sim` repository.
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These plugins have the following properties (most of the GUI plugins have them):

* `resizable`: if true the user can change plugin size in the interface
* `height` and `width`: size measures of the plugin
* `state` is the state of the plugin it can be docked in its place using `docked` or it can be `floating`.
* `showTitleBar` if true it will show the blue title bar over the plugin with the name mentioned in the `<title>` tag.

### World control plugin

```xml
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157 changes: 157 additions & 0 deletions garden/tutorials/sdf_worlds/world_demo.sdf
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Expand Up @@ -18,6 +18,163 @@
name="gz::sim::systems::SceneBroadcaster">
</plugin>

<gui fullscreen="0">
<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre2</engine>
<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 0</camera_pose>
<camera_clip>
<near>0.25</near>
<far>25000</far>
</camera_clip>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-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>
</gz-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<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>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<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>
</gz-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<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>
</gz-gui>
</plugin>
<plugin filename="MarkerManager" name="Marker manager">
<gz-gui>
<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>
</gz-gui>
</plugin>
<plugin filename="SelectEntities" name="Select Entities">
<gz-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>
</gz-gui>
</plugin>
<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
<gz-gui>
<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>
</gz-gui>
</plugin>

<plugin filename="Spawn" name="Spawn Entities">
<gz-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>
</gz-gui>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/world_demo/control</service>
<stats_topic>/world/world_demo/stats</stats_topic>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/world_demo/stats</topic>

</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
</plugin>
</gui>

<!--light-->
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
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