diff --git a/.automatedtesting.json b/.automatedtesting.json new file mode 100644 index 000000000..5b8eed4cf --- /dev/null +++ b/.automatedtesting.json @@ -0,0 +1,20 @@ +{ + "REGISTER_ENGINES": [ + ], + "REGISTER_PROJECTS": [ + "Projects/OpenXRTest" + ], + "REGISTER_GEMS": [ + "Gems/XR", + "Gems/OpenXRVk" + ], + "REGISTER_TEMPLATES": [ + "Templates/Multiplayer" + ], + "REGISTER_RESTRICTED": [ + ], + "ENABLE_GEMS": [ + "Gems/XR", + "Gems/OpenXRVk" + ] +} diff --git a/.gitattributes b/.gitattributes index 302923398..c0c8f450f 100644 --- a/.gitattributes +++ b/.gitattributes @@ -125,3 +125,6 @@ Gems/AtomLyIntegration/CommonFeatures/Assets/Objects/Lucy/Lucy_low.fbx filter=lf Gems/AtomLyIntegration/CommonFeatures/Assets/Objects/Lucy/.wip/marmoset_bake.tbscene filter=lfs diff=lfs merge=lfs -text Gems/AtomLyIntegration/CommonFeatures/Assets/Objects/Lucy/.wip/Brass/brass_bake.spp filter=lfs diff=lfs merge=lfs -text Gems/AtomLyIntegration/CommonFeatures/Assets/Objects/Lucy/.wip/stone/stone_bake.spp filter=lfs diff=lfs merge=lfs -text +Gems/WarehouseAssets/docs/images/*.png filter= diff= merge= -text +Templates/Ros2ProjectTemplate/Screenshots/*.png filter= diff= merge= -text +Templates/Ros2FleetRobotTemplate/Screenshots/*.png filter= diff= merge= -text diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS new file mode 100644 index 000000000..541bad89f --- /dev/null +++ b/.github/CODEOWNERS @@ -0,0 +1,36 @@ +# SIG-Build (@o3de/sig-build-maintainers @o3de/sig-build-reviewers) + +# SIG-Content (@o3de/sig-content-maintainers @o3de/sig-content-reviewers) + +# SIG-Core (@o3de/sig-core-reviewers @o3de/sig-core-maintainers) + +# SIG-Docs-Community + +# SIG-Graphics-Audio (@o3de/sig-graphics-audio-maintainers @o3de/sig-graphics-audio-reviewers) + +# SIG-Network (@o3de/sig-network-maintainers) +Templates/Multiplayer/ @o3de/sig-network-maintainers + +# SIG-Operations + +# SIG-Platform (@o3de/sig-platform-reviewers @o3de/sig-platform-maintainers) +Gems/OpenXRVk/ @o3de/sig-platform-reviewers @o3de/sig-platform-maintainers +Gems/XR/ @o3de/sig-platform-reviewers @o3de/sig-platform-maintainers +Projects/OpenXRTest/ @o3de/sig-platform-reviewers @o3de/sig-platform-maintainers + +# SIG-Release + +# SIG-Security + +# SIG-Simulation (@o3de/sig-simulation-reviewers @o3de/sig-simulation-maintainers) +Gems/ROS2/ @o3de/sig-simulation-reviewers @o3de/sig-simulation-maintainers + +# SIG-Testing (@o3de/sig-testing-reviewers) + +# SIG-UI-UX + + + + + + diff --git a/.github/ISSUE_TEMPLATE/ar_bug_report.md.txt b/.github/ISSUE_TEMPLATE/ar_bug_report.md.txt new file mode 100644 index 000000000..5a4dccbf1 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/ar_bug_report.md.txt @@ -0,0 +1,20 @@ +--- +name: Automated Review bug report +about: Create an issue for a bug found in the Automated Review +title: 'AR Bug Report' +labels: 'needs-triage,kind/bug,kind/automation' +assignees: '' + +--- + +**Describe the bug** +A clear and concise description of what the bug is. + +**Failed Jenkins Job Information:** +The name of the job that failed, job build number, and code snippit of the failure. + +**Attachments** +Attach the Jenkins job log as a .txt file and any other relevant information. + +**Additional context** +Add any other context about the problem here. diff --git a/.github/ISSUE_TEMPLATE/bug_template.md.txt b/.github/ISSUE_TEMPLATE/bug_template.md.txt new file mode 100644 index 000000000..56f6487d3 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/bug_template.md.txt @@ -0,0 +1,50 @@ +--- +name: Bug report +about: Create a report to help us improve +title: 'Bug Report' +labels: 'needs-triage,needs-sig,kind/bug' + +--- + +**Describe the bug** +A clear and concise description of what the bug is. Try to isolate the issue to help the community to reproduce it easily and increase chances for a fast fix. + +**Assets required** +[!Important!] Please provide sample assets needed to reproduce the issue, either as an [attachment](https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files) or as a link to a public asset in Github. + +**Steps to reproduce** +Steps to reproduce the behavior: +1. Go to '...' +2. Click on '...' +3. Select attached asset '...' +4. Scroll down to '...' +5. See error + +**Expected behavior** +A clear and concise description of what you expected to happen. + +**Actual behavior** +A clear and concise description of what actually happened. + +**Screenshots/Video** +If applicable, add screenshots and/or a video to help explain your problem. + +**Found in Branch** +Name of or link to the branch where the issue occurs. + +**Commit ID from [o3de/o3de](https://github.com/o3de/o3de) and [o3de/o3de-extras](https://github.com/o3de/o3de-extras) repositories** +Please provide the SHA/hash that identifies the latest commit from the o3de/o3de and o3de/o3de-extras repository if the issue is reproducible in the development or other official branches. +You can get the commit ID by running the `git rev-parse HEAD` command on your current branch. + + +**Desktop/Device (please complete the following information):** + - Device: [e.g. PC, Mac, iPhone, Samsung] + - OS: [e.g. Windows, macOS, iOS, Android, Linux, including distribution and version (e. g. Ubuntu 22.04 / Windows 11 22H2)] + + - Version [e.g. 10, Monterey, Oreo] + - CPU [e.g. Intel I9-9900k , Ryzen 5900x, ] + - GPU [AMD 6800 XT, NVidia RTX 3090] + - Memory [e.g. 16GB] + +**Additional context** +Add any other context about the problem here. diff --git a/.github/ISSUE_TEMPLATE/config.yml.txt b/.github/ISSUE_TEMPLATE/config.yml.txt new file mode 100644 index 000000000..2ba32c191 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/config.yml.txt @@ -0,0 +1,6 @@ +blank_issues_enabled: false +contact_links: + - name: Documentation Issues + about: Report issues with the O3DE.org/docs documentation + url: https://github.com/o3de/o3de.org/issues/new/choose + diff --git a/.github/ISSUE_TEMPLATE/deprecation_template.md.txt b/.github/ISSUE_TEMPLATE/deprecation_template.md.txt new file mode 100644 index 000000000..d8b975515 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/deprecation_template.md.txt @@ -0,0 +1,23 @@ +--- +name: Deprecation Notice +about: A notice for one or more feature or API deprecations +title: 'Deprecation Notice' +labels: 'needs-triage,needs-sig,kind/deprecation' + +--- + +## Deprecated APIs +List the fully qualified APIs/types. For example, `AZ::Quaternion::SetFromEulerRadians(const Vector3&)` + +## Alternatives APIs +List new or updated APIs to replace deprecated API. +For example, use +`Quaternion AZ::Quaternion::CreateFromEulerRadiansXYZ(const Vector3&)` +to repleace +`void AZ::Quaternion::SetFromEulerRadians(const Vector3&)` and `Quaternion AZ::Quaternion::ConvertEulerRadiansToQuaternion(const Vector3&)` + +## Last Release +Describe the last release version before this deprecation. For example: `stabilization/2210` + +## Additional Context +Add some information about the reasons for the deprecations diff --git a/.github/ISSUE_TEMPLATE/feature_request.md.txt b/.github/ISSUE_TEMPLATE/feature_request.md.txt new file mode 100644 index 000000000..6e070ad98 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/feature_request.md.txt @@ -0,0 +1,20 @@ +--- + +name: Feature request +about: Suggest an idea for this project +title: 'Feature Request' +labels: 'needs-triage,needs-sig' + +--- + +**Is your feature request related to a problem? Please describe.** +A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] + +**Describe the solution you'd like** +A clear and concise description of what you want to happen. + +**Describe alternatives you've considered** +A clear and concise description of any alternative solutions or features you've considered. + +**Additional context** +Add any other context or screenshots about the feature request here. \ No newline at end of file diff --git a/.gitignore b/.gitignore index 907df070f..559a97c86 100644 --- a/.gitignore +++ b/.gitignore @@ -21,3 +21,6 @@ _savebackup/ *.swatches /imgui.ini +# Ignore Oculus OpenXR Mobile SDK files except the README.md file +Gems/OpenXRVk/External/OculusOpenXRMobileSDK/** +!Gems/OpenXRVk/External/OculusOpenXRMobileSDK/README.md \ No newline at end of file diff --git a/Gems/AzQtComponentsForPython/CMakeLists.txt b/Gems/AzQtComponentsForPython/CMakeLists.txt new file mode 100644 index 000000000..f34ccf597 --- /dev/null +++ b/Gems/AzQtComponentsForPython/CMakeLists.txt @@ -0,0 +1,20 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +# Query the gem name from the gem.json file if possible +# otherwise fallback to using ${Name} +o3de_find_ancestor_gem_root(gempath gem_name "${CMAKE_CURRENT_SOURCE_DIR}") +if (NOT gem_name) + set(gem_name "AzQtComponentsForPython") +endif() + +set(gem_path ${CMAKE_CURRENT_LIST_DIR}) +set(gem_json ${gem_path}/gem.json) +o3de_restricted_path(${gem_json} gem_restricted_path gem_parent_relative_path) + +add_subdirectory(Code) diff --git a/Gems/AzQtComponentsForPython/Code/CMakeLists.txt b/Gems/AzQtComponentsForPython/Code/CMakeLists.txt new file mode 100644 index 000000000..a6c14c163 --- /dev/null +++ b/Gems/AzQtComponentsForPython/Code/CMakeLists.txt @@ -0,0 +1,48 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +o3de_pal_dir(pal_dir ${CMAKE_CURRENT_LIST_DIR}/Platform/${PAL_PLATFORM_NAME} "${gem_restricted_path}" "${gem_path}" "${gem_parent_relative_path}") + +include(${pal_dir}/PAL_${PAL_PLATFORM_NAME_LOWERCASE}.cmake) + +if (PAL_TRAIT_AZQTCOMPONENTSFORPYTHON_SUPPORTED) + find_package(Qt5 5.12 REQUIRED COMPONENTS Core Gui Widgets) + + # Find the qt package location. + ly_get_package_association("Qt" QT_PACKAGE_NAME) + ly_package_get_target_folder(${QT_PACKAGE_NAME} QT_DOWNLOAD_LOCATION) + set(QT_MODULE_DIR ${QT_DOWNLOAD_LOCATION}/${QT_PACKAGE_NAME}/qt) + + # The library we're creating bindings for. + set(AZQTCOMPONENTS_LIBRARY "AzQtComponents") + + #Define the shared library for which we will create bindings. + set_property(TARGET ${AZQTCOMPONENTS_LIBRARY} PROPERTY PREFIX "") + + add_shiboken_project( + NAME AzQtComponentsForPython + NAMESPACE Gem + MODULE_NAME azqtpyside + WRAPPED_HEADER ${CMAKE_CURRENT_LIST_DIR}/bindings_azqtcomponents.h + TYPESYSTEM_FILE ${CMAKE_CURRENT_LIST_DIR}/bindings_azqtcomponents.xml + GENERATED_FILES ${CMAKE_CURRENT_LIST_DIR}/generated_files.cmake + LICENSE_HEADER ${CMAKE_CURRENT_LIST_DIR}/license_header.txt + DEPENDENCIES + ${AZQTCOMPONENTS_LIBRARY} + Gem::EditorPythonBindings.Static + INCLUDE_DIRS + ${LY_ROOT_FOLDER}/Code/Framework/AzCore + ${LY_ROOT_FOLDER}/Code/Framework/AzQtComponents + ${LY_ROOT_FOLDER}/Code/Framework/AzCore/Platform/${PAL_PLATFORM_NAME} + ${QT_MODULE_DIR}/include + ${QT_MODULE_DIR}/include/QtWidgets + ${QT_MODULE_DIR}/include/QtCore + ${QT_MODULE_DIR}/include/QtGui + ) + +endif() diff --git a/Gems/AzQtComponentsForPython/Code/Platform/Android/PAL_android.cmake b/Gems/AzQtComponentsForPython/Code/Platform/Android/PAL_android.cmake new file mode 100644 index 000000000..cbbdbdbab --- /dev/null +++ b/Gems/AzQtComponentsForPython/Code/Platform/Android/PAL_android.cmake @@ -0,0 +1,9 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(PAL_TRAIT_AZQTCOMPONENTSFORPYTHON_SUPPORTED FALSE) diff --git a/Gems/AzQtComponentsForPython/Code/Platform/Linux/PAL_linux.cmake b/Gems/AzQtComponentsForPython/Code/Platform/Linux/PAL_linux.cmake new file mode 100644 index 000000000..2c37e880c --- /dev/null +++ b/Gems/AzQtComponentsForPython/Code/Platform/Linux/PAL_linux.cmake @@ -0,0 +1,10 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(PAL_TRAIT_AZQTCOMPONENTSFORPYTHON_SUPPORTED TRUE) + diff --git a/Gems/AzQtComponentsForPython/Code/Platform/Mac/PAL_mac.cmake b/Gems/AzQtComponentsForPython/Code/Platform/Mac/PAL_mac.cmake new file mode 100644 index 000000000..cbbdbdbab --- /dev/null +++ b/Gems/AzQtComponentsForPython/Code/Platform/Mac/PAL_mac.cmake @@ -0,0 +1,9 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(PAL_TRAIT_AZQTCOMPONENTSFORPYTHON_SUPPORTED FALSE) diff --git a/Gems/AzQtComponentsForPython/Code/Platform/Windows/PAL_windows.cmake b/Gems/AzQtComponentsForPython/Code/Platform/Windows/PAL_windows.cmake new file mode 100644 index 000000000..d4aa30bd3 --- /dev/null +++ b/Gems/AzQtComponentsForPython/Code/Platform/Windows/PAL_windows.cmake @@ -0,0 +1,9 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(PAL_TRAIT_AZQTCOMPONENTSFORPYTHON_SUPPORTED TRUE) diff --git a/Gems/AzQtComponentsForPython/Code/Platform/iOS/PAL_ios.cmake b/Gems/AzQtComponentsForPython/Code/Platform/iOS/PAL_ios.cmake new file mode 100644 index 000000000..9be71cef9 --- /dev/null +++ b/Gems/AzQtComponentsForPython/Code/Platform/iOS/PAL_ios.cmake @@ -0,0 +1,9 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(PAL_TRAIT_AZQTCOMPONENTSFORPYTHON_SUPPORTED FALSE) \ No newline at end of file diff --git a/Gems/AzQtComponentsForPython/Code/bindings_azqtcomponents.h b/Gems/AzQtComponentsForPython/Code/bindings_azqtcomponents.h new file mode 100644 index 000000000..38a0cc683 --- /dev/null +++ b/Gems/AzQtComponentsForPython/Code/bindings_azqtcomponents.h @@ -0,0 +1,80 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include diff --git a/Gems/AzQtComponentsForPython/Code/bindings_azqtcomponents.xml b/Gems/AzQtComponentsForPython/Code/bindings_azqtcomponents.xml new file mode 100644 index 000000000..a2525b47d --- /dev/null +++ b/Gems/AzQtComponentsForPython/Code/bindings_azqtcomponents.xml @@ -0,0 +1,295 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + #include <AzCore/IO/Path/Path.h> + + + + + AZStd::string pathString(%1.toUtf8()); + AZ::IO::PathView pathView(pathString); + + QApplication* application = static_cast<QApplication*>(QApplication::instance()); + cppSelf->initialize(application, pathView); + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + This method is works in the same way as the cpp version, with the exception that the selected filter + is returned in a tuple with the selected filename (filename, filter), rather than being stored in the + filter argument." + + + + + + + + + + //Comment left in to prevent Shiboken including invalid code. + //%RETURN_TYPE retval_ = %CPPSELF.%FUNCTION_NAME(%1, %2, %3, %4, &%5, %6); + + %RETURN_TYPE retval_ = %CPPSELF.GetSaveFileName_(%1, %2, %3, %4, &%5, %6); + %PYARG_0 = PyTuple_New(2); + PyTuple_SET_ITEM(%PYARG_0, 0, %CONVERTTOPYTHON[%RETURN_TYPE](retval_)); + PyTuple_SET_ITEM(%PYARG_0, 1, %CONVERTTOPYTHON[%ARG5_TYPE](%5)); + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Gems/AzQtComponentsForPython/Code/generated_files.cmake b/Gems/AzQtComponentsForPython/Code/generated_files.cmake new file mode 100644 index 000000000..3b0d3f0f7 --- /dev/null +++ b/Gems/AzQtComponentsForPython/Code/generated_files.cmake @@ -0,0 +1,177 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(GENERATED_FILES + azqtpyside_module_wrapper.cpp + azqtcomponents_wrapper.cpp + + azqtcomponents_buttondivider_wrapper.cpp + azqtcomponents_buttonstripe_wrapper.cpp + azqtcomponents_confighelpers_wrapper.cpp + azqtcomponents_confighelpers_groupguard_wrapper.cpp + azqtcomponents_dockbar_wrapper.cpp + azqtcomponents_dockbarbutton_wrapper.cpp + azqtcomponents_dockbarbutton_config_wrapper.cpp + azqtcomponents_dockmainwindow_wrapper.cpp + azqtcomponents_docktabbar_wrapper.cpp + azqtcomponents_docktabwidget_wrapper.cpp + azqtcomponents_extendedlabel_wrapper.cpp + azqtcomponents_fancydocking_widgetgrab_wrapper.cpp + azqtcomponents_fancydocking_wrapper.cpp + azqtcomponents_fancydockingdropzonewidget_wrapper.cpp + azqtcomponents_fancydockingghostwidget_wrapper.cpp + + azqtcomponents_filtercriteriabutton_wrapper.cpp + azqtcomponents_searchtypefilter_wrapper.cpp + azqtcomponents_searchtypeselector_wrapper.cpp + azqtcomponents_filteredsearchwidget_wrapper.cpp + azqtcomponents_filteredsearchwidget_config_wrapper.cpp + + + flowlayout_wrapper.cpp + azqtcomponents_globaleventfilter_wrapper.cpp + azqtcomponents_helpbutton_wrapper.cpp + azqtcomponents_interactivewindowgeometrychanger_wrapper.cpp + azqtcomponents_searchlineedit_wrapper.cpp + azqtcomponents_style_wrapper.cpp + azqtcomponents_styledbusylabel_wrapper.cpp + azqtcomponents_styleddetailstablemodel_wrapper.cpp + azqtcomponents_styleddetailstableview_wrapper.cpp + azqtcomponents_styleddialog_wrapper.cpp + azqtcomponents_styleddockwidget_wrapper.cpp + azqtcomponents_styledlineedit_wrapper.cpp + azqtcomponents_styleddoublespinbox_wrapper.cpp + azqtcomponents_styledspinbox_wrapper.cpp + azqtcomponents_stylemanager_wrapper.cpp + azqtcomponents_stylesheetcache_wrapper.cpp + azqtcomponents_stylesheetpreprocessor_wrapper.cpp + azqtcomponents_tagselector_wrapper.cpp + + azqtcomponents_titlebar_wrapper.cpp + azqtcomponents_titlebar_config_wrapper.cpp + azqtcomponents_titlebar_config_titlebar_wrapper.cpp + azqtcomponents_titlebar_config_icon_wrapper.cpp + azqtcomponents_titlebar_config_title_wrapper.cpp + azqtcomponents_titlebar_config_buttons_wrapper.cpp + + azqtcomponents_titlebaroverdrawhandler_wrapper.cpp +# azqtcomponents_toastnotification_wrapper.cpp +# azqtcomponents_toastconfiguration_wrapper.cpp + azqtcomponents_toolbararea_wrapper.cpp + azqtcomponents_toolbuttoncombobox_wrapper.cpp + azqtcomponents_toolbuttonlineedit_wrapper.cpp + azqtcomponents_toolbuttonwithwidget_wrapper.cpp + azqtcomponents_vectoredit_wrapper.cpp + azqtcomponents_windowdecorationwrapper_wrapper.cpp + + # azqtcomponents_assetfolderlistview_wrapper.cpp + azqtcomponents_assetfolderthumbnailview_wrapper.cpp + azqtcomponents_assetfolderthumbnailview_config_wrapper.cpp + azqtcomponents_assetfolderthumbnailview_config_thumbnail_wrapper.cpp + azqtcomponents_assetfolderthumbnailview_config_expandbutton_wrapper.cpp + azqtcomponents_assetfolderthumbnailview_config_childframe_wrapper.cpp + azqtcomponents_breadcrumbs_wrapper.cpp + azqtcomponents_breadcrumbs_config_wrapper.cpp + azqtcomponents_browseedit_wrapper.cpp + azqtcomponents_card_wrapper.cpp + azqtcomponents_card_config_wrapper.cpp + azqtcomponents_cardheader_wrapper.cpp + azqtcomponents_cardnotification_wrapper.cpp + azqtcomponents_checkbox_wrapper.cpp + azqtcomponents_checkbox_config_wrapper.cpp + # azqtcomponents_colorlabel_wrapper.cpp + azqtcomponents_comboboxvalidator_wrapper.cpp + azqtcomponents_combobox_wrapper.cpp + azqtcomponents_combobox_config_wrapper.cpp + azqtcomponents_dialogbuttonbox_wrapper.cpp + + azqtcomponents_draganddrop_wrapper.cpp + azqtcomponents_draganddrop_dropindicator_wrapper.cpp + azqtcomponents_draganddrop_dragindicator_wrapper.cpp + azqtcomponents_draganddrop_config_wrapper.cpp + + azqtcomponents_elidinglabel_wrapper.cpp + azqtcomponents_eyedropper_wrapper.cpp + azqtcomponents_eyedropper_config_wrapper.cpp + azqtcomponents_filedialog_wrapper.cpp + # azqtcomponents_gradientslider_wrapper.cpp + azqtcomponents_lineedit_wrapper.cpp + azqtcomponents_lineedit_config_wrapper.cpp + + azqtcomponents_menu_wrapper.cpp + azqtcomponents_menu_margins_wrapper.cpp + azqtcomponents_menu_config_wrapper.cpp + + azqtcomponents_azmessagebox_wrapper.cpp + # azqtcomponents_overlaywidgetbutton_wrapper.cpp + # azqtcomponents_overlaywidget_wrapper.cpp + azqtcomponents_progressbar_wrapper.cpp + azqtcomponents_progressbar_config_wrapper.cpp + + azqtcomponents_pushbutton_wrapper.cpp + azqtcomponents_pushbutton_gradient_wrapper.cpp + azqtcomponents_pushbutton_colorset_wrapper.cpp + azqtcomponents_pushbutton_border_wrapper.cpp + azqtcomponents_pushbutton_frame_wrapper.cpp + azqtcomponents_pushbutton_smallicon_wrapper.cpp + azqtcomponents_pushbutton_iconbutton_wrapper.cpp + azqtcomponents_pushbutton_dropdownbutton_wrapper.cpp + azqtcomponents_pushbutton_config_wrapper.cpp + + azqtcomponents_radiobutton_wrapper.cpp + azqtcomponents_radiobutton_config_wrapper.cpp + azqtcomponents_scrollbar_wrapper.cpp + azqtcomponents_scrollbar_config_wrapper.cpp + azqtcomponents_segmentbar_wrapper.cpp + azqtcomponents_segmentcontrol_wrapper.cpp + + azqtcomponents_slider_wrapper.cpp + azqtcomponents_slider_border_wrapper.cpp + azqtcomponents_slider_gradientsliderconfig_wrapper.cpp + azqtcomponents_slider_sliderconfig_wrapper.cpp + azqtcomponents_slider_sliderconfig_handleconfig_wrapper.cpp + azqtcomponents_slider_sliderconfig_grooveconfig_wrapper.cpp + azqtcomponents_slider_config_wrapper.cpp + azqtcomponents_sliderint_wrapper.cpp + azqtcomponents_sliderdouble_wrapper.cpp + azqtcomponents_slidercombo_wrapper.cpp + azqtcomponents_sliderdoublecombo_wrapper.cpp + + azqtcomponents_spinbox_wrapper.cpp + azqtcomponents_spinbox_config_wrapper.cpp + azqtcomponents_statusbar_wrapper.cpp + azqtcomponents_statusbar_config_wrapper.cpp + # azqtcomponents_tableview_wrapper.cpp + # azqtcomponents_tableview_config_wrapper.cpp + # azqtcomponents_tableviewmodel_wrapper.cpp + # azqtcomponents_tableviewitemdelegate_wrapper.cpp + azqtcomponents_tabwidgetactiontoolbarcontainer_wrapper.cpp + azqtcomponents_tabwidget_wrapper.cpp + azqtcomponents_tabwidget_config_wrapper.cpp + azqtcomponents_tabwidgetactiontoolbar_wrapper.cpp + azqtcomponents_tabbar_wrapper.cpp + + azqtcomponents_text_wrapper.cpp + azqtcomponents_text_config_wrapper.cpp + azqtcomponents_toolbar_wrapper.cpp + azqtcomponents_toolbar_toolbarconfig_wrapper.cpp + azqtcomponents_toolbar_config_wrapper.cpp + + azqtcomponents_toolbutton_wrapper.cpp + azqtcomponents_toolbutton_config_wrapper.cpp + # azqtcomponents_treeview_wrapper.cpp + # azqtcomponents_treeview_config_wrapper.cpp + # azqtcomponents_branchdelegate_wrapper.cpp + # azqtcomponents_styledtreeview_wrapper.cpp + # azqtcomponents_styledtreewidget_wrapper.cpp + azqtcomponents_vectoreditelement_wrapper.cpp + azqtcomponents_vectorelement_wrapper.cpp + azqtcomponents_vectorinput_wrapper.cpp + + azqtcomponents_internal_wrapper.cpp +) diff --git a/Gems/AzQtComponentsForPython/Code/license_header.txt b/Gems/AzQtComponentsForPython/Code/license_header.txt new file mode 100644 index 000000000..30e26966b --- /dev/null +++ b/Gems/AzQtComponentsForPython/Code/license_header.txt @@ -0,0 +1,8 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + \ No newline at end of file diff --git a/Gems/AzQtComponentsForPython/gem.json b/Gems/AzQtComponentsForPython/gem.json new file mode 100644 index 000000000..010957ec7 --- /dev/null +++ b/Gems/AzQtComponentsForPython/gem.json @@ -0,0 +1,23 @@ +{ + "gem_name": "AzQtComponentsForPython", + "display_name": "AzQtComponents For Python", + "license": "Apache-2.0 Or MIT", + "license_url": "https://github.com/o3de/o3de/blob/development/LICENSE.txt", + "origin": "Open 3D Engine - o3de.org", + "origin_url": "https://github.com/o3de/o3de", + "type": "Code", + "summary": "This gem provides a library to use the AzQtComponents library from Python.", + "canonical_tags": [ + "Gem" + ], + "user_tags": [ + "Scripting", + "UI" + ], + "icon_path": "preview.png", + "requirements": "", + "documentation_url": "", + "dependencies": [ + "EditorPythonBindings" + ] +} diff --git a/Gems/AzQtComponentsForPython/preview.png b/Gems/AzQtComponentsForPython/preview.png new file mode 100644 index 000000000..2979dbb6a --- /dev/null +++ b/Gems/AzQtComponentsForPython/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de0e6e480ece5b423222f4feacf56553d73713fe9afea8bbc9a2660a3cd54ec7 +size 1232 diff --git a/Gems/OpenXRVk/3rdParty/Platform/Android/BuiltInPackages_android.cmake b/Gems/OpenXRVk/3rdParty/Platform/Android/BuiltInPackages_android.cmake index 3b1982a81..d7f9252b3 100644 --- a/Gems/OpenXRVk/3rdParty/Platform/Android/BuiltInPackages_android.cmake +++ b/Gems/OpenXRVk/3rdParty/Platform/Android/BuiltInPackages_android.cmake @@ -6,4 +6,12 @@ # # -ly_associate_package(PACKAGE_NAME OpenXR-1.0.22-rev1-android TARGETS OpenXR PACKAGE_HASH 1227204583ce224c7e3843e82bb36deb576df6b458eecce46740cb8941902f21) +set(ANDROID_USE_OCULUS_OPENXR OFF CACHE BOOL "When ON it uses OpenXR library from Oculus SDK.") + +if(ANDROID_USE_OCULUS_OPENXR) + include(${CMAKE_CURRENT_LIST_DIR}/FindOpenXROculus.cmake) + set(openxr_dependency 3rdParty::OpenXROculus) +else() + ly_associate_package(PACKAGE_NAME OpenXR-1.0.22-rev1-android TARGETS OpenXR PACKAGE_HASH 1227204583ce224c7e3843e82bb36deb576df6b458eecce46740cb8941902f21) + set(openxr_dependency 3rdParty::OpenXR) +endif() diff --git a/Gems/OpenXRVk/3rdParty/Platform/Android/FindOpenXROculus.cmake b/Gems/OpenXRVk/3rdParty/Platform/Android/FindOpenXROculus.cmake new file mode 100644 index 000000000..64bd62d55 --- /dev/null +++ b/Gems/OpenXRVk/3rdParty/Platform/Android/FindOpenXROculus.cmake @@ -0,0 +1,42 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +# this file actually ingests the library and defines targets. +set(TARGET_WITH_NAMESPACE "3rdParty::OpenXROculus") +if (TARGET ${TARGET_WITH_NAMESPACE}) + return() +endif() + +set(MY_NAME "OpenXROculus") + +get_property(openxrvk_gem_root GLOBAL PROPERTY "@GEMROOT:OpenXRVk@") + +set(OculusOpenXRSDKPath ${openxrvk_gem_root}/External/OculusOpenXRMobileSDK) + +set(${MY_NAME}_INCLUDE_DIR + ${OculusOpenXRSDKPath}/3rdParty/khronos/openxr/OpenXR-SDK/include + ${OculusOpenXRSDKPath}/OpenXR/Include) + +set(PATH_TO_SHARED_LIBS ${OculusOpenXRSDKPath}/OpenXR/Libs/Android/arm64-v8a) + +if(NOT EXISTS ${PATH_TO_SHARED_LIBS}/Release/libopenxr_loader.so) + message(FATAL_ERROR + "Oculus OpenXR loader library not found at ${PATH_TO_SHARED_LIBS}/Release. " + "Oculus OpenXR Mobile SDK needs to be downloaded via https://developer.oculus.com/downloads/native-android/ " + "and uncompressed into OpenXRVk/External/OculusOpenXRMobileSDK folder.") + return() +endif() + +add_library(${TARGET_WITH_NAMESPACE} SHARED IMPORTED GLOBAL) +ly_target_include_system_directories(TARGET ${TARGET_WITH_NAMESPACE} INTERFACE ${${MY_NAME}_INCLUDE_DIR}) +set_target_properties(${TARGET_WITH_NAMESPACE} + PROPERTIES + IMPORTED_LOCATION ${PATH_TO_SHARED_LIBS}/Release/libopenxr_loader.so + IMPORTED_LOCATION_DEBUG ${PATH_TO_SHARED_LIBS}/Debug/libopenxr_loader.so) + +set(${MY_NAME}_FOUND True) diff --git a/Gems/OpenXRVk/3rdParty/Platform/Linux/BuiltInPackages_linux.cmake b/Gems/OpenXRVk/3rdParty/Platform/Linux/BuiltInPackages_linux.cmake index 3b0cceceb..45c85b485 100644 --- a/Gems/OpenXRVk/3rdParty/Platform/Linux/BuiltInPackages_linux.cmake +++ b/Gems/OpenXRVk/3rdParty/Platform/Linux/BuiltInPackages_linux.cmake @@ -7,3 +7,5 @@ # ly_associate_package(PACKAGE_NAME OpenXR-1.0.22-rev2-linux TARGETS OpenXR PACKAGE_HASH 7d9045de0078a3f4a88bea2e3167e2c159acc8c62ac40ae15f8a31902b8d1f08) + +set(openxr_dependency 3rdParty::OpenXR) diff --git a/Gems/OpenXRVk/3rdParty/Platform/Windows/BuiltInPackages_windows.cmake b/Gems/OpenXRVk/3rdParty/Platform/Windows/BuiltInPackages_windows.cmake index e3c6f892e..f35c938ef 100644 --- a/Gems/OpenXRVk/3rdParty/Platform/Windows/BuiltInPackages_windows.cmake +++ b/Gems/OpenXRVk/3rdParty/Platform/Windows/BuiltInPackages_windows.cmake @@ -7,3 +7,5 @@ # ly_associate_package(PACKAGE_NAME OpenXR-1.0.22-rev1-windows TARGETS OpenXR PACKAGE_HASH 55235d77253efe1af046a4a3e7dd7a8e5f6768401326d5e077c827cce323cd11) + +set(openxr_dependency 3rdParty::OpenXR) diff --git a/Gems/OpenXRVk/Code/CMakeLists.txt b/Gems/OpenXRVk/Code/CMakeLists.txt index db229e6b4..b2b4ddbb3 100644 --- a/Gems/OpenXRVk/Code/CMakeLists.txt +++ b/Gems/OpenXRVk/Code/CMakeLists.txt @@ -55,7 +55,7 @@ ly_add_target( PUBLIC AZ::AzCore AZ::AzFramework - 3rdParty::OpenXR + ${openxr_dependency} AZ::AtomCore Gem::Atom_RHI_Vulkan.Reflect Gem::Atom_RHI_Vulkan.Glad.Static @@ -79,6 +79,41 @@ ly_add_target( Gem::OpenXRVk.Static ) -# use the OpenXRVk module in clients and tools: +# use the OpenXRVk module in all aliases: ly_create_alias(NAME OpenXRVk.Clients NAMESPACE Gem TARGETS Gem::OpenXRVk) -ly_create_alias(NAME OpenXRVk.Tools NAMESPACE Gem TARGETS Gem::OpenXRVk) +ly_create_alias(NAME OpenXRVk.Unified NAMESPACE Gem TARGETS Gem::OpenXRVk) + +if(PAL_TRAIT_BUILD_HOST_TOOLS) + ly_create_alias(NAME OpenXRVk.Tools NAMESPACE Gem TARGETS Gem::OpenXRVk) + ly_create_alias(NAME OpenXRVk.Builders NAMESPACE Gem TARGETS Gem::OpenXRVk) +endif() + +################################################################################ +# Tests +################################################################################ +if(PAL_TRAIT_BUILD_TESTS_SUPPORTED) + + ly_add_target( + NAME OpenXRVk.Tests ${PAL_TRAIT_TEST_TARGET_TYPE} + NAMESPACE Gem + OUTPUT_NAME OpenXRVk.Tests + FILES_CMAKE + openxrvk_tests_files.cmake + ${pal_source_dir}/platform_test_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Tests + . + Source + ${pal_source_dir} + BUILD_DEPENDENCIES + PRIVATE + AZ::AzTestShared + AZ::AzTest + Gem::OpenXRVk.Static + ) + ly_add_googletest( + NAME Gem::OpenXRVk.Tests + ) + +endif() \ No newline at end of file diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/InputDeviceXRController.h b/Gems/OpenXRVk/Code/Include/OpenXRVk/InputDeviceXRController.h new file mode 100644 index 000000000..cbe12602f --- /dev/null +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/InputDeviceXRController.h @@ -0,0 +1,468 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + + +namespace AzFramework +{ + //////////////////////////////////////////////////////////////////////////////////////////////// + //! Defines a generic XR controller pair device, including the ids of all associated input + //! channels. Platform specifics are defined as private implementations so that creating an + //! instance of this generic class will work correctly on any platform supporting this type of + //! hand-held XR controllers. + class InputDeviceXRController + : public InputDevice + , public InputHapticFeedbackRequestBus::Handler + , public AzFramework::DebugDisplayEventBus::Handler + { + public: + //////////////////////////////////////////////////////////////////////////////////////////// + //! The name used to identify an XR Controller input device + static constexpr const char* Name{ "xr_controller" }; + static constexpr InputDeviceId IdForIndex0{ Name, 0 }; + + //////////////////////////////////////////////////////////////////////////////////////////// + //! Check whether an input device id identifies an XR controller (regardless of index) + //! @param inputDeviceId The input device id to check + //! @return True if the input device id identifies as an XR controller, False otherwise + static bool IsXRControllerDevice(const InputDeviceId& inputDeviceId); + + //////////////////////////////////////////////////////////////////////////////////////////// + //! All the input channel ids that identify XR Controller digital button inputs + struct Button + { + static constexpr InputChannelId A{ "xr_controller_button_a" }; //!< The right-hand A button + static constexpr InputChannelId B{ "xr_controller_button_b" }; //!< The right-hand B button + static constexpr InputChannelId X{ "xr_controller_button_x" }; //!< The left-hand X button + static constexpr InputChannelId Y{ "xr_controller_button_y" }; //!< The left-hand Y button + static constexpr InputChannelId Home{ "xr_controller_button_home" }; //!< The right-hand "Home" button + static constexpr InputChannelId Menu{ "xr_controller_button_menu" }; //!< The left-hand "Menu" button + static constexpr InputChannelId L3{ "xr_controller_button_l3" }; //!< The left-hand thumb-stick click button + static constexpr InputChannelId R3{ "xr_controller_button_r3" }; //!< The right-hand thumb-stick click button + + static constexpr InputChannelId TA{ "xr_controller_touch_button_a" }; //!< The A button touch detection + static constexpr InputChannelId TB{ "xr_controller_touch_button_b" }; //!< The B button touch detection + static constexpr InputChannelId TX{ "xr_controller_touch_button_x" }; //!< The X button touch detection + static constexpr InputChannelId TY{ "xr_controller_touch_button_y" }; //!< The Y button touch detection + static constexpr InputChannelId TLStick{ "xr_controller_touch_thumbstick_l" }; //!< The left thumb-stick touch detection + static constexpr InputChannelId TRStick{ "xr_controller_touch_thumbstick_r" }; //!< The right thumb-stick touch detection + static constexpr InputChannelId TLRest{ "xr_controller_touch_thumbrest_l" }; //!< The left thumb-rest touch detection + static constexpr InputChannelId TRRest{ "xr_controller_touch_thumbrest_r" }; //!< The right thumb-rest touch detection + static constexpr InputChannelId TLTrig{ "xr_controller_touch_trigger_l" }; //!< The left trigger touch detection + static constexpr InputChannelId TRTrig{ "xr_controller_touch_trigger_r" }; //!< The right trigger touch detection + + //! All digital XR controller button ids + static constexpr AZStd::array All + { + A, + B, + X, + Y, + Home, + Menu, + L3, + R3, + TA, + TB, + TX, + TY, + TLStick, + TRStick, + TLRest, + TRRest, + TLTrig, + TRTrig, + }; + }; + + //////////////////////////////////////////////////////////////////////////////////////////// + //! All the input channel ids that identify XR Controller analog inputs + struct Trigger + { + static constexpr InputChannelId LTrigger{ "xr_controller_trigger_l" }; //!< The left-hand trigger + static constexpr InputChannelId RTrigger{ "xr_controller_trigger_r" }; //!< The right-hand trigger + static constexpr InputChannelId LGrip{ "xr_controller_grip_l" }; //!< The left-hand grip + static constexpr InputChannelId RGrip{ "xr_controller_grip_r" }; //!< The right-hand grip + + //! All analog XR Controller input ids + static constexpr AZStd::array All + { + LTrigger, + RTrigger, + LGrip, + RGrip + }; + }; + + //////////////////////////////////////////////////////////////////////////////////////////// + //! All the input channel ids that identify XR Controller 1D axis inputs + struct ThumbStickAxis1D + { + static constexpr InputChannelId LX{ "xr_controller_thumbstick_l_x" }; //!< X-axis of the left-hand thumb-stick + static constexpr InputChannelId LY{ "xr_controller_thumbstick_l_y" }; //!< Y-axis of the left-hand thumb-stick + static constexpr InputChannelId RX{ "xr_controller_thumbstick_r_x" }; //!< X-axis of the right-hand thumb-stick + static constexpr InputChannelId RY{ "xr_controller_thumbstick_r_y" }; //!< Y-axis of the right-hand thumb-stick + + //! All 1D axis XR Controller input ids + static constexpr AZStd::array All + { + LX, + LY, + RX, + RY + }; + }; + + //////////////////////////////////////////////////////////////////////////////////////////// + //! All the input channel ids that identify XR Controller 2D axis inputs + struct ThumbStickAxis2D + { + static constexpr InputChannelId L{ "xr_controller_thumbstick_l" }; //!< The left-hand thumb-stick + static constexpr InputChannelId R{ "xr_controller_thumbstick_r" }; //!< The right-hand thumb-stick + + //! All 2D axis XR Controller input ids + static constexpr AZStd::array All + { + L, + R + }; + }; + + //////////////////////////////////////////////////////////////////////////////////////////// + //! All the input channel ids that identify XR Controller thumb-stick directions + struct ThumbStickDirection + { + static constexpr InputChannelId LU{ "xr_controller_thumbstick_l_up" }; //!< Up on the left-hand thumb-stick + static constexpr InputChannelId LD{ "xr_controller_thumbstick_l_down" }; //!< Down on the left-hand thumb-stick + static constexpr InputChannelId LL{ "xr_controller_thumbstick_l_left" }; //!< Left on the left-hand thumb-stick + static constexpr InputChannelId LR{ "xr_controller_thumbstick_l_right" }; //!< Right on the left-hand thumb-stick + static constexpr InputChannelId RU{ "xr_controller_thumbstick_r_up" }; //!< Up on the right-hand thumb-stick + static constexpr InputChannelId RD{ "xr_controller_thumbstick_r_down" }; //!< Down on the right-hand thumb-stick + static constexpr InputChannelId RL{ "xr_controller_thumbstick_r_left" }; //!< Left on the right-hand thumb-stick + static constexpr InputChannelId RR{ "xr_controller_thumbstick_r_right" }; //!< Right on the right-hand thumb-stick + + //! All thumb-stick directional XR Controller input ids + static constexpr AZStd::array All + { + LU, + LD, + LL, + LR, + RU, + RD, + RL, + RR + }; + }; + + //////////////////////////////////////////////////////////////////////////////////////////// + //! All the input channel ids that identify XR Controller 3D axis inputs + struct ControllerPosePosition + { + static constexpr InputChannelId LPos{ "xr_controller_position_l" }; //!< The left-hand position + static constexpr InputChannelId RPos{ "xr_controller_position_r" }; //!< The right-hand position + + //! All XR Controller position input ids + static constexpr AZStd::array All + { + LPos, + RPos, + }; + }; + + //////////////////////////////////////////////////////////////////////////////////////////// + //! All the input channel ids that identify XR Controller orientation inputs + struct ControllerPoseOrientation + { + static constexpr InputChannelId LOrient{ "xr_controller_orientation_l" }; //!< The left-hand orientation + static constexpr InputChannelId ROrient{ "xr_controller_orientation_r" }; //!< The right-hand orientation + + //! All XR Controller orientation input ids + static constexpr AZStd::array All + { + LOrient, + ROrient + }; + }; + + //////////////////////////////////////////////////////////////////////////////////////////// + // Allocator + AZ_CLASS_ALLOCATOR(InputDeviceXRController, AZ::SystemAllocator); + + //////////////////////////////////////////////////////////////////////////////////////////// + // Type Info + AZ_RTTI(InputDeviceXRController, "{31FC6155-5902-46E3-9CB7-C7E7673FE4CC}", InputDevice); + + //////////////////////////////////////////////////////////////////////////////////////////// + // Reflection + static void Reflect(AZ::ReflectContext* context); + + //////////////////////////////////////////////////////////////////////////////////////////// + // The internal implementation class that is passed to the constructor + class Implementation + { + public: + AZ_CLASS_ALLOCATOR(Implementation, AZ::SystemAllocator); + + //////////////////////////////////////////////////////////////////////////////////////// + //! Default factory create function + //! @param inputDevice Reference to the input device being implemented + static Implementation* Create(InputDeviceXRController& inputDevice); + + Implementation(InputDeviceXRController& inputDevice); + AZ_DISABLE_COPY_MOVE(Implementation); + virtual ~Implementation() = default; + + //////////////////////////////////////////////////////////////////////////////////////// + //! Query for a path representing an input channel + //! Used for initializing Xr inputs. + virtual AZStd::string GetInputChannelPath(const InputChannelId& channelId) const = 0; + + virtual AZStd::string GetInputDeviceProfilePath() const = 0; + virtual AZStd::string GetLeftHandSubPath() const = 0; + virtual AZStd::string GetRightHandSubPath() const = 0; + + //////////////////////////////////////////////////////////////////////////////////////// + //! Register a callback function for this implementation to call + //! This callback is called during tick updates and allows for platform code to run + //! updates to refresh state of the controller data. + //! @param callbackFn The callback function + using TickCallbackFn = AZStd::function; + virtual void RegisterTickCallback(TickCallbackFn callbackFn) = 0; + + //////////////////////////////////////////////////////////////////////////////////////// + //! Query the connected state of the device + //! @return True if the input device is currently connected, False otherwise + virtual bool IsConnected() const = 0; + + //////////////////////////////////////////////////////////////////////////////////////// + //! Set the current vibration speed of the motors + //! @param leftMotorSpeedNormalized Speed of the left motor + //! @param rightMotorSpeedNormalized Speed of the right motor + virtual void SetVibration(float leftMotorSpeedNormalized, + float rightMotorSpeedNormalized) = 0; + + //////////////////////////////////////////////////////////////////////////////////////// + //! Tick/update the input device to broadcast all input events since the last frame + virtual void TickInputDevice() = 0; + + //////////////////////////////////////////////////////////////////////////////////////// + //! Broadcast an event when the input device connects to the system + void BroadcastInputDeviceConnectedEvent() const; + + //////////////////////////////////////////////////////////////////////////////////////// + //! Broadcast an event when the input device disconnects from the system + void BroadcastInputDeviceDisconnectedEvent() const; + + using ButtonIdToBitMaskMap = AZStd::unordered_map; + + //////////////////////////////////////////////////////////////////////////////////////// + //! Platform agnostic representation of raw XR Controller state + struct RawXRControllerState + { + //////////////////////////////////////////////////////////////////////////////////// + //! Constructor + //! @param digitalButtonMap A map of digital button ids by bitmask + explicit RawXRControllerState(ButtonIdToBitMaskMap digitalButtonMap); + + AZ_DISABLE_COPY_MOVE(RawXRControllerState); + ~RawXRControllerState() = default; + + //////////////////////////////////////////////////////////////////////////////////// + //! Reset the raw xr controller data + void Reset(); + + //////////////////////////////////////////////////////////////////////////////////// + //! Gets a digital button's current state + bool GetDigitalButtonState(const InputChannelId& channelId) const; + + //////////////////////////////////////////////////////////////////////////////////// + //! Get the left trigger value adjusted for the dead zone and normalized + //! @return The adjusted left trigger value + float GetLeftTriggerAdjustedForDeadZoneAndNormalized() const; + + //////////////////////////////////////////////////////////////////////////////////// + //! Get the right trigger value adjusted for the dead zone and normalized + //! @return The adjusted right trigger value + float GetRightTriggerAdjustedForDeadZoneAndNormalized() const; + + //////////////////////////////////////////////////////////////////////////////////// + //! Get the left grip value adjusted for the dead zone and normalized + //! @return The adjusted left grip value + float GetLeftGripAdjustedForDeadZoneAndNormalized() const; + + //////////////////////////////////////////////////////////////////////////////////// + //! Get the right grip value adjusted for the dead zone and normalized + //! @return The adjusted right grip value + float GetRightGripAdjustedForDeadZoneAndNormalized() const; + + //////////////////////////////////////////////////////////////////////////////////// + //! Get the left thumb-stick values adjusted for the dead zone and normalized + //! @return The adjusted left thumb-stick values + AZ::Vector2 GetLeftThumbStickAdjustedForDeadZoneAndNormalized() const; + + //////////////////////////////////////////////////////////////////////////////////// + //! Get the right thumb-stick values adjusted for the dead zone and normalized + //! @return The adjusted right thumb-stick values + AZ::Vector2 GetRightThumbStickAdjustedForDeadZoneAndNormalized() const; + + //////////////////////////////////////////////////////////////////////////////////// + //! Get the left thumb-stick values normalized with no dead zone applied + //! @return The normalized left thumb-stick values + AZ::Vector2 GetLeftThumbStickNormalizedValues() const; + + //////////////////////////////////////////////////////////////////////////////////// + //! Get the right thumb-stick values normalized with no dead zone applied + //! @return The normalized right thumb-stick values + AZ::Vector2 GetRightThumbStickNormalizedValues() const; + + const ButtonIdToBitMaskMap m_buttonIdsToBitMasks; + + //////////////////////////////////////////////////////////////////////////////////// + // Raw Data + AZ::u32 m_digitalButtonStates = 0; //!< The state of all digital buttons + float m_leftTriggerState = 0.f; //!< The left trigger value + float m_rightTriggerState = 0.f; //!< The right trigger value + float m_leftGripState = 0.f; //!< The left grip value + float m_rightGripState = 0.f; //!< The right grip value + float m_leftThumbStickXState = 0.f; //!< The left thumb-stick x-axis + float m_leftThumbStickYState = 0.f; //!< The left thumb-stick y-axis + float m_rightThumbStickXState = 0.f; //!< The right thumb-stick x-axis + float m_rightThumbStickYState = 0.f; //!< The right thumb-stick y-axis + + float m_triggerMaxValue = 0.f; //!< The maximum value of the analog triggers + float m_triggerDeadZoneValue = 0.f; //!< The dead zone value of the analog triggers + float m_gripMaxValue = 0.f; //!< The maximum value of the grip triggers + float m_gripDeadZoneValue = 0.f; //!< The dead zone value of the grip triggers + float m_thumbStickMaxValue = 0.f; //!< The maximum value of the thumb-sticks + float m_leftThumbStickDeadZoneValue = 0.f; //!< The left thumb-stick dead zone value + float m_rightThumbStickDeadZoneValue = 0.f; //!< The right thumb-stick dead zone value + + float m_leftMotorVibrationValue = 0.f; //!< The vibration amount of the left motor + float m_rightMotorVibrationValue = 0.f; //!< The vibration amount of the right motor + + AZ::Vector3 m_leftPositionState = AZ::Vector3::CreateZero(); //!< The left controller position + AZ::Vector3 m_rightPositionState = AZ::Vector3::CreateZero(); //!< The right controller position + AZ::Quaternion m_leftOrientationState = AZ::Quaternion::CreateIdentity(); //!< The left controller orientation + AZ::Quaternion m_rightOrientationState = AZ::Quaternion::CreateIdentity(); //!< The right controller orientation + }; // struct RawXRControllerState + + virtual RawXRControllerState& GetRawState() = 0; + + protected: + //////////////////////////////////////////////////////////////////////////////////////// + //! Process a controller state that has been obtained since the last call to this function. + //! @param rawControllerState The raw controller state + void ProcessRawControllerState(const RawXRControllerState& rawControllerState); + + //////////////////////////////////////////////////////////////////////////////////////// + //! Reset the state of all this input device's associated input channels + void ResetInputChannelStates(); + + //////////////////////////////////////////////////////////////////////////////////////// + //! @see AzFramework::InputDeviceId::GetIndex + AZ::u32 GetInputDeviceIndex() const; + + private: + InputDeviceXRController& m_inputDevice; + }; // class Implementation + + //////////////////////////////////////////////////////////////////////////////////////////// + // Alias for the function type used to create a custom implementation for this input device + using ImplementationFactory = AZStd::function; + + //////////////////////////////////////////////////////////////////////////////////////////// + InputDeviceXRController(); + explicit InputDeviceXRController(const InputDeviceId& inputDeviceId, + ImplementationFactory implFactoryFn = &Implementation::Create); + AZ_DISABLE_COPY_MOVE(InputDeviceXRController); + ~InputDeviceXRController() override; + + //////////////////////////////////////////////////////////////////////////////////////////// + // AzFramework::InputDevice interface + const InputChannelByIdMap& GetInputChannelsById() const override; + bool IsSupported() const override; + bool IsConnected() const override; + + //////////////////////////////////////////////////////////////////////////////////////////// + // AzFramework::InputDeviceRequests interface + void TickInputDevice() override; + + //////////////////////////////////////////////////////////////////////////////////////////// + // AzFramework::InputHapticFeedbackRequests interface + void SetVibration(float leftMotorSpeedNormalized, float rightMotorSpeedNormalized) override; + + //////////////////////////////////////////////////////////////////////////////////////////// + //! Set the implementation of this input device + //! @param impl The Implementation to use + void SetImplementation(AZStd::unique_ptr impl); + + //////////////////////////////////////////////////////////////////////////////////////////// + //! Set the implementation of this input device + //! @param implFactoryFn The Implementation factory create function to use + void SetImplementation(const ImplementationFactory& implFactoryFn); + + //////////////////////////////////////////////////////////////////////////////////////////// + //! Get the non-owning pointer to the implementation of this input device + //! @return The raw implementation pointer + Implementation* GetImplementation() const; + + protected: + //////////////////////////////////////////////////////////////////////////////////////////// + // AzFramework::DebugDisplayEventBus interface + void DrawGlobalDebugInfo() override; + + //////////////////////////////////////////////////////////////////////////////////////////// + //! Helper routine that checks for a specific controller input combo and will toggle the debug draw. + //! Allows users to quickly display/hide the debug information for the xr controllers without having + //! to type anything into a console. + //! Currently bound to: Button::Menu + Trigger::LTrigger + //! That is, hold the left controller's Menu button and squeeze the left trigger fully. + void CheckDebugDrawCheat() const; + + static constexpr float s_thumbStickMaxValue{ 1.f }; + static constexpr float s_thumbStickMinValue{ -1.f }; + static constexpr float s_thumbStickCenterValue{ 0.f }; + + //////////////////////////////////////////////////////////////////////////////////////////// + using ButtonChannelByIdMap = AZStd::unordered_map; + using TriggerChannelByIdMap = AZStd::unordered_map; + using ThumbStickAxis1DChannelByIdMap = AZStd::unordered_map; + using ThumbStickAxis2DChannelByIdMap = AZStd::unordered_map; + using ThumbStickDirectionChannelByIdMap = AZStd::unordered_map; + using ControllerAxis3DChannelByIdMap = AZStd::unordered_map; + using ControllerPoseChannelByIdMap = AZStd::unordered_map; + + InputChannelByIdMap m_allChannelsById{}; //!< All XR Controller input channels by id + ButtonChannelByIdMap m_buttonChannelsById{}; //!< All digital button channels by id + TriggerChannelByIdMap m_triggerChannelsById{}; //!< All analog trigger channels by id + ThumbStickAxis1DChannelByIdMap m_thumbStick1DChannelsById{}; //!< All thumb-stick 1D axis channels by id + ThumbStickAxis2DChannelByIdMap m_thumbStick2DChannelsById{}; //!< All thumb-stick 2D axis channels by id + ThumbStickDirectionChannelByIdMap m_thumbStickDirectionChannelsById{}; //!< All thumb-stick direction channels by id + ControllerAxis3DChannelByIdMap m_controllerPositionChannelsById{}; //!< All controller position channels by id + ControllerPoseChannelByIdMap m_controllerOrientationChannelsById{}; //!< All controller orientation channels by id + + private: + //////////////////////////////////////////////////////////////////////////////////////////// + //! Private pointer to the platform implementation + AZStd::unique_ptr m_impl; + }; + +} // namespace AzFramework diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkDevice.h b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkDevice.h index 754616806..013863e09 100644 --- a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkDevice.h +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkDevice.h @@ -20,7 +20,7 @@ namespace OpenXRVk : public XR::Device { public: - AZ_CLASS_ALLOCATOR(Device, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Device, AZ::SystemAllocator); AZ_RTTI(Device, "{81FD9B99-EDA5-4381-90EC-335073554379}", XR::Device); static XR::Ptr Create(); @@ -30,9 +30,9 @@ namespace OpenXRVk // Create the xr specific native device object and populate the XRDeviceDescriptor with it. AZ::RHI::ResultCode InitDeviceInternal(AZ::RHI::XRDeviceDescriptor* instanceDescriptor) override; //! Get the Fov data of the view specified by view index - AZ::RPI::FovData GetViewFov(AZ::u32 viewIndex) const override; + AZ::RHI::ResultCode GetViewFov(AZ::u32 viewIndex, AZ::RPI::FovData& outFovData) const override; //! Get the Pose data of the view specified by view index - AZ::RPI::PoseData GetViewPose(AZ::u32 viewIndex) const override; + AZ::RHI::ResultCode GetViewPose(AZ::u32 viewIndex, AZ::RPI::PoseData& outPoseData) const override; ////////////////////////////////////////////////////////////////////////// //! Returns true if rendering data is valid for the current frame. @@ -60,6 +60,8 @@ namespace OpenXRVk bool BeginFrameInternal() override; //! Release the oldest swapchain image and inform the drivers that the frame is ending void EndFrameInternal(XR::Ptr) override; + //! Called after EndFrame has been executed. + void PostFrameInternal() override; //! Locate views, acquire swapchain image and synchronize gpu with cpu bool AcquireSwapChainImageInternal(AZ::u32 viewIndex, XR::SwapChain* baseSwapChain) override; ////////////////////////////////////////////////////////////////////////// @@ -71,6 +73,6 @@ namespace OpenXRVk AZStd::vector m_projectionLayerViews; AZStd::vector m_views; uint32_t m_viewCountOutput = 0; - GladVulkanContext m_context; + GladVulkanContext m_context = {}; }; } \ No newline at end of file diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkInput.h b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkInput.h index 0723d1662..2c6a7b450 100644 --- a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkInput.h +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkInput.h @@ -9,7 +9,10 @@ #pragma once #include +#include +#include #include +#include namespace OpenXRVk { @@ -18,14 +21,14 @@ namespace OpenXRVk : public XR::Input { public: - AZ_CLASS_ALLOCATOR(Input, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Input, AZ::SystemAllocator); AZ_RTTI(Input, "{97ADD1FE-27DF-4F36-9F61-683F881F9477}", XR::Input); static XR::Ptr Create(); - + //! Sync all the actions and update controller - //! as well as various tracked space poses - void PollActions() override; + //! as well as various tracked space poses + void PollActions(); //! Initialize various actions/actions sets and add support for Oculus touch bindings AZ::RHI::ResultCode InitInternal() override; @@ -34,7 +37,7 @@ namespace OpenXRVk AZ::RHI::ResultCode InitializeActionSpace(XrSession xrSession); //! Attach action sets - AZ::RHI::ResultCode InitializeActionSets(XrSession xrSession); + AZ::RHI::ResultCode InitializeActionSets(XrSession xrSession) const; //! Update Controller space information void LocateControllerSpace(XrTime predictedDisplayTime, XrSpace baseSpace, AZ::u32 handIndex); @@ -42,47 +45,84 @@ namespace OpenXRVk //! Update information for a specific tracked space type (i.e visualizedSpaceType) void LocateVisualizedSpace(XrTime predictedDisplayTime, XrSpace space, XrSpace baseSpace, OpenXRVk::SpaceType visualizedSpaceType); - //! Return Pose data for a controller attached to a view index - AZ::RPI::PoseData GetControllerPose(AZ::u32 viewIndex) const; + //! Return Pose data for a controller attached to a hand index + AZ::RHI::ResultCode GetControllerPose(AZ::u32 handIndex, AZ::RPI::PoseData& outPoseData) const; - //! Return scale for a controller attached to a view index - float GetControllerScale(AZ::u32 viewIndex) const; + //! Return scale for a controller attached to a hand index + float GetControllerScale(AZ::u32 handIndex) const; //! Return Pose data for a tracked space type (i.e visualizedSpaceType) - AZ::RPI::PoseData GetVisualizedSpacePose(OpenXRVk::SpaceType visualizedSpaceType) const; + AZ::RHI::ResultCode GetVisualizedSpacePose(OpenXRVk::SpaceType visualizedSpaceType, AZ::RPI::PoseData& outPoseData) const; - //! Get the Grab action - XrAction GetGrabAction() const; + //! Get the Squeeze action + XrAction GetSqueezeAction(AZ::u32 handIndex) const; //! Get the Pose action - XrAction GetPoseAction() const; + XrAction GetPoseAction(AZ::u32 handIndex) const; //! Get the Vibration action XrAction GetVibrationAction() const; //! Get the Quit action XrAction GetQuitAction() const; - private: - //! Create a XrAction + //! Get any button state + bool GetButtonState(const AzFramework::InputChannelId& channelId) const; + + //! Get the X button state + bool GetXButtonState() const; + + //! Get the Y button state + bool GetYButtonState() const; + + //! Get the A button state + bool GetAButtonState() const; + + //! Get the B button state + bool GetBButtonState() const; + + //! Get the joystick state for x-axis + float GetXJoyStickState(AZ::u32 handIndex) const; + + //! Get the joystick state for y-axis + float GetYJoyStickState(AZ::u32 handIndex) const; + + //! Get the Squeeze action + float GetSqueezeState(AZ::u32 handIndex) const; + + //! Get the Squeeze action + float GetTriggerState(AZ::u32 handIndex) const; + + private: + //! Creates an XrAction void CreateAction(XrAction& action, XrActionType actionType, const char* actionName, const char* localizedActionName, - uint32_t countSubactionPathCount, const XrPath* subActionPaths); + uint32_t countSubactionPathCount, const XrPath* subActionPaths) const; + + + void CreateActionSet(const XrInstance& xrInstance); + void CreateAllActions(const XrInstance& xrInstance); + XrAction GetAction(const AzFramework::InputChannelId& channelId) const; //! Destroy native objects void ShutdownInternal() override; XrActionSet m_actionSet{ XR_NULL_HANDLE }; - XrAction m_grabAction{ XR_NULL_HANDLE }; - XrAction m_poseAction{ XR_NULL_HANDLE }; - XrAction m_vibrateAction{ XR_NULL_HANDLE }; - XrAction m_quitAction{ XR_NULL_HANDLE }; - AZStd::array m_handSubactionPath; - AZStd::array m_handSpace; - AZStd::array m_handScale = { { 1.0f, 1.0f } }; - AZStd::array m_handActive; - - AZStd::array m_handSpaceLocation; - AZStd::array m_xrVisualizedSpaceLocations; + + XrAction m_hapticAction{}; + AZStd::vector m_xrActionPaths{}; + AZStd::unordered_map m_xrActionIndices{}; + + AZStd::array m_handSubactionPath{}; + AZStd::array m_handSpace{}; + AZStd::array m_handScale{ { 1.0f, 1.0f } }; + AZStd::array m_handActive{}; + + AZStd::array m_handSpaceLocation{}; + AZStd::array m_xrVisualizedSpaceLocations{}; + + AzFramework::InputDeviceXRController m_xrController{}; + AzFramework::InputDeviceXRController::Implementation* m_xrControllerImpl{}; + bool m_wasQuitPressedLastSync{ false }; }; } diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkInstance.h b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkInstance.h index 68c7f8196..d12b116f3 100644 --- a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkInstance.h +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkInstance.h @@ -17,28 +17,27 @@ namespace OpenXRVk { - //! Vulkan specific XR instance back-end class that will help manage + //! Vulkan specific XR instance back-end class that will help manage //! XR specific vulkan native objects class Instance final : public XR::Instance { public: - AZ_CLASS_ALLOCATOR(Instance, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Instance, AZ::SystemAllocator); AZ_RTTI(Instance, "{1A62DF32-2909-431C-A938-B1E841A50768}", XR::Instance); static XR::Ptr Create(); ////////////////////////////////////////////////////////////////////////// // XR::Instance overrides - AZ::RHI::ResultCode InitInstanceInternal(AZ::RHI::ValidationMode m_validationMode) override; AZ::RHI::ResultCode InitNativeInstance(AZ::RHI::XRInstanceDescriptor* instanceDescriptor) override; AZ::u32 GetNumPhysicalDevices() const override; AZ::RHI::ResultCode GetXRPhysicalDevice(AZ::RHI::XRPhysicalDeviceDescriptor* physicalDeviceDescriptor, int32_t index) override; ////////////////////////////////////////////////////////////////////////// - + //! Enumerate supported extension names. XR::StringList GetInstanceExtensionNames(const char* layerName = nullptr) const; - + //! Enumerate supported layer names. XR::StringList GetInstanceLayerNames() const; @@ -72,11 +71,12 @@ namespace OpenXRVk //! Ge the active VkPhysicalDevice. VkPhysicalDevice GetActivePhysicalDevice() const; - private: - - //! Clean native objects. + protected: + // XR::Instance overrides... + AZ::RHI::ResultCode InitInstanceInternal() override; void ShutdownInternal() override; + private: XrInstance m_xrInstance = XR_NULL_HANDLE; VkInstance m_xrVkInstance = VK_NULL_HANDLE; XrFormFactor m_formFactor = XR_FORM_FACTOR_HEAD_MOUNTED_DISPLAY; @@ -85,7 +85,7 @@ namespace OpenXRVk XrSystemId m_xrSystemId = XR_NULL_SYSTEM_ID; XR::RawStringList m_requiredLayers; XR::RawStringList m_requiredExtensions; - GladVulkanContext m_context; + GladVulkanContext m_context = {}; AZStd::unique_ptr m_functionLoader; AZStd::vector m_supportedXRDevices; AZ::u32 m_physicalDeviceActiveIndex = 0; diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkPhysicalDevice.h b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkPhysicalDevice.h index bb499c437..eb22fc3e1 100644 --- a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkPhysicalDevice.h +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkPhysicalDevice.h @@ -14,6 +14,6 @@ namespace OpenXRVk::PhysicalDevice { //! API to enumerate and return physical devices. - static AZStd::vector EnumerateDeviceList(XrSystemId xrSystemId, XrInstance xrInstance, VkInstance vkInstance); + AZStd::vector EnumerateDeviceList(XrSystemId xrSystemId, XrInstance xrInstance, VkInstance vkInstance); } diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkSession.h b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkSession.h index d0e15719f..ac1a52fd1 100644 --- a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkSession.h +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkSession.h @@ -8,9 +8,9 @@ #pragma once -#include #include #include +#include #include namespace OpenXRVk @@ -20,7 +20,7 @@ namespace OpenXRVk : public XR::Session { public: - AZ_CLASS_ALLOCATOR(Session, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Session, AZ::SystemAllocator); AZ_RTTI(Session, "{6C899F0C-9A3D-4D79-8E4F-92AFB67E5EB1}", XR::Session); static XR::Ptr Create(); @@ -31,7 +31,7 @@ namespace OpenXRVk //! Process session state when it is updated void HandleSessionStateChangedEvent(const XrEventDataSessionStateChanged& stateChangedEvent); - //! Try and poll the next event + //! Try and poll the next event const XrEventDataBaseHeader* TryReadNextEvent(); //! Return the native session @@ -49,24 +49,34 @@ namespace OpenXRVk bool IsExitRenderLoopRequested() const override; void PollEvents() override; void LocateControllerSpace(AZ::u32 handIndex) override; - AZ::RPI::PoseData GetControllerPose(AZ::u32 handIndex) const override; - AZ::RPI::PoseData GetViewFrontPose() const override; + AZ::RHI::ResultCode GetControllerPose(AZ::u32 handIndex, AZ::RPI::PoseData& outPoseData) const override; + AZ::RHI::ResultCode GetControllerStagePose(AZ::u32 handIndex, AZ::RPI::PoseData& outPoseData) const override; + AZ::RHI::ResultCode GetViewFrontPose(AZ::RPI::PoseData& outPoseData) const override; + AZ::RHI::ResultCode GetViewLocalPose(AZ::RPI::PoseData& outPoseData) const override; float GetControllerScale(AZ::u32 handIndex) const override; + float GetXButtonState() const override; + float GetYButtonState() const override; + float GetAButtonState() const override; + float GetBButtonState() const override; + float GetXJoyStickState(AZ::u32 handIndex) const override; + float GetYJoyStickState(AZ::u32 handIndex) const override; + float GetSqueezeState(AZ::u32 handIndex) const override; + float GetTriggerState(AZ::u32 handIndex) const override; ////////////////////////////////////////////////////////////////////////// private: - void ShutdownInternal() override; void LogActionSourceName(XrAction action, const AZStd::string_view actionName) const; - + Input* GetNativeInput() const; + XrSession m_session = XR_NULL_HANDLE; XrSessionState m_sessionState = XR_SESSION_STATE_UNKNOWN; XrEventDataBuffer m_eventDataBuffer; XrInstance m_xrInstance = XR_NULL_HANDLE; - XrGraphicsBindingVulkan2KHR m_graphicsBinding{ XR_TYPE_GRAPHICS_BINDING_VULKAN2_KHR }; + XrGraphicsBindingVulkan2KHR m_graphicsBinding{ XR_TYPE_GRAPHICS_BINDING_VULKAN_KHR }; bool m_sessionRunning = false; bool m_exitRenderLoop = false; - bool m_requestRestart = false; + bool m_requestRestart = false; }; } diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkSpace.h b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkSpace.h index 57f43ec50..f33b0030a 100644 --- a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkSpace.h +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkSpace.h @@ -32,13 +32,13 @@ namespace OpenXRVk : public XR::Space { public: - AZ_CLASS_ALLOCATOR(Space, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Space, AZ::SystemAllocator); AZ_RTTI(Space, "{E99557D0-9061-4691-9524-CE0ACC3A14FA}", XR::Space); - - static XR::Ptr Create(); + + static XR::Ptr Create(); AZ::RHI::ResultCode InitInternal() override; void ShutdownInternal() override; - + //!Initialize XrSpace per SpaceType we want to track void CreateVisualizedSpaces(XrSession xrSession); @@ -49,7 +49,6 @@ namespace OpenXRVk XrSpace GetXrSpace(SpaceType spaceType) const; private: - //! XrPose specific matrix translation, Rotation functions XrPosef Identity(); XrPosef Translation(const XrVector3f& translation); diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkSwapChain.h b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkSwapChain.h index 34f5e56fc..14ae0019f 100644 --- a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkSwapChain.h +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkSwapChain.h @@ -18,7 +18,7 @@ namespace OpenXRVk : public XR::SwapChain { public: - AZ_CLASS_ALLOCATOR(SwapChain, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(SwapChain, AZ::SystemAllocator); AZ_RTTI(SwapChain, "{3DD88236-8C9F-4864-86F5-018C198BC07E}", XR::SwapChain); static XR::Ptr Create(); @@ -28,7 +28,7 @@ namespace OpenXRVk : public XR::SwapChain::Image { public: - AZ_CLASS_ALLOCATOR(Image, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Image, AZ::SystemAllocator); AZ_RTTI(Image, "{717ABDD4-C050-4FDF-8E93-3784F81FE315}", XR::SwapChain::Image); static XR::Ptr Create(); @@ -44,7 +44,7 @@ namespace OpenXRVk : public XR::SwapChain::View { public: - AZ_CLASS_ALLOCATOR(View, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(View, AZ::SystemAllocator); AZ_RTTI(View, "{F8312427-AC2D-4737-9A8F-A16ADA5319D0}", XR::SwapChain::View); static XR::Ptr Create(); @@ -66,14 +66,11 @@ namespace OpenXRVk XrSwapchain m_handle = XR_NULL_HANDLE; }; - //! Assign the correct native Swapchain image based on the swapchain index and swapchain image index + // XR::SwapChain overrides... AZ::RHI::ResultCode GetSwapChainImage(AZ::RHI::XRSwapChainDescriptor* swapchainDescriptor) const override; - - //! Return the recommended swapchain width AZ::u32 GetSwapChainWidth(AZ::u32 viewIndex) const override; - - //! Return the recommended swapchain height AZ::u32 GetSwapChainHeight(AZ::u32 viewIndex) const override; + AZ::RHI::Format GetSwapChainFormat(AZ::u32 viewIndex) const override; //! Get the view configurations supported by the drivers AZStd::vector GetViewConfigs() const; @@ -87,10 +84,10 @@ namespace OpenXRVk void ShutdownInternal() override; //! Return supported swapchain image format - AZ::s64 SelectColorSwapChainFormat(const AZStd::vector& runtimeFormats) const; + VkFormat SelectColorSwapChainFormat(const AZStd::vector& runtimeFormats) const; AZStd::vector m_configViews; - AZ::s64 m_colorSwapChainFormat{ -1 }; + VkFormat m_colorSwapChainFormat{ VK_FORMAT_UNDEFINED }; AZ::u32 m_mipCount = 1; AZ::u32 m_faceCount = 1; AZ::u32 m_arraySize = 1; diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkUtils.h b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkUtils.h index be76a3bb7..b09874548 100644 --- a/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkUtils.h +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/OpenXRVkUtils.h @@ -8,7 +8,6 @@ #pragma once -#include #include #include @@ -34,33 +33,37 @@ namespace OpenXRVk { #define RETURN_XR_RESULT_IF_UNSUCCESSFUL(result) \ - if (result != XR_SUCCESS) {\ - return result;\ + if ((result) != XR_SUCCESS) {\ + return (result);\ } #define RETURN_IF_UNSUCCESSFUL(result) \ - if (result != XR_SUCCESS) {\ + if ((result) != XR_SUCCESS) {\ return;\ } - + #define WARN_IF_UNSUCCESSFUL(result) \ - if (result != XR_SUCCESS) {\ + if ((result) != XR_SUCCESS) {\ AZ_Warning("OpenXRVk", false, "Warning error code: %s", to_string(result));\ } #define ASSERT_IF_UNSUCCESSFUL(result) \ - if (result != XR_SUCCESS) {\ + if ((result) != XR_SUCCESS) {\ AZ_Assert(false, "Assert error code: %s", to_string(result));\ } + AZ::RHI::ResultCode ConvertResult(XrResult xrResult); bool IsSuccess(XrResult result); bool IsError(XrResult result); const char* GetResultString(const XrResult result); XR::RawStringList FilterList(const XR::RawStringList& source, const XR::StringList& filter); - //! Input is an array of chars with multiple ' ' char embedded in it, indicating the start of a new string. - //! Iterate through the characters while caching the starting pointer to a string + //! Input is an array of chars with multiple ' ' char embedded in it, indicating the start of a new string. + //! Iterate through the characters while caching the starting pointer to a string //! and every time ' ' is encountered replace it with '\0' to indicate the end of a string. AZStd::vector ParseExtensionString(char* names); + + //! Disable certain extensions because function pointers didn't load correctly. + void FilterAvailableExtensions(GladVulkanContext& context); } diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/Mac/OpenXRVk_Platform.h b/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/Mac/OpenXRVk_Platform.h new file mode 100644 index 000000000..d2963c0bf --- /dev/null +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/Mac/OpenXRVk_Platform.h @@ -0,0 +1,9 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/Mac/platform_private_mac_files.cmake b/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/Mac/platform_private_mac_files.cmake index c2c5a11c4..7adea3b09 100644 --- a/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/Mac/platform_private_mac_files.cmake +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/Mac/platform_private_mac_files.cmake @@ -7,4 +7,5 @@ # set(FILES + OpenXRVk_Platform.h ) diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/iOS/OpenXRVk_Platform.h b/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/iOS/OpenXRVk_Platform.h new file mode 100644 index 000000000..d2963c0bf --- /dev/null +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/iOS/OpenXRVk_Platform.h @@ -0,0 +1,9 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once diff --git a/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/iOS/platform_private_ios_files.cmake b/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/iOS/platform_private_ios_files.cmake index c2c5a11c4..7adea3b09 100644 --- a/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/iOS/platform_private_ios_files.cmake +++ b/Gems/OpenXRVk/Code/Include/OpenXRVk/Platform/iOS/platform_private_ios_files.cmake @@ -7,4 +7,5 @@ # set(FILES + OpenXRVk_Platform.h ) diff --git a/Gems/OpenXRVk/Code/Source/InputDeviceXRController.cpp b/Gems/OpenXRVk/Code/Source/InputDeviceXRController.cpp new file mode 100644 index 000000000..a2fd4db4e --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/InputDeviceXRController.cpp @@ -0,0 +1,759 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +#include +#include + +// Debug Draw +#include +#include +#include + +namespace OpenXRVk +{ + // Cvar to enable/disable debug drawing of xr controller data on screen. + // No "on change" function defined here, just read the state of the bool + // elsewhere in the draw function. + AZ_CVAR(bool, xr_DebugDrawInput, 0, + nullptr, AZ::ConsoleFunctorFlags::Null, + "Turn off/on debug drawing of XR Input state"); + +} // namespace OpenXRVk + + +namespace AzFramework +{ + //////////////////////////////////////////////////////////////////////////////////////////////// + bool InputDeviceXRController::IsXRControllerDevice(const InputDeviceId& inputDeviceId) + { + // Only need to check the name (crc) to check the device is an xr controller type. + return (inputDeviceId.GetNameCrc32() == IdForIndex0.GetNameCrc32()); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceXRController::Reflect(AZ::ReflectContext* context) + { + if (auto behaviorContext = azrtti_cast(context)) + { +#define BEHAVIOR_XR_CONSTANT(channel) Constant(channel.GetName(), BehaviorConstant(channel.GetName())) + + behaviorContext->Class() + ->Attribute(AZ::Script::Attributes::Storage, AZ::Script::Attributes::StorageType::RuntimeOwn) + ->Constant("name", BehaviorConstant(IdForIndex0.GetName())) + // Standard digital buttons... + ->BEHAVIOR_XR_CONSTANT(Button::A) + ->BEHAVIOR_XR_CONSTANT(Button::B) + ->BEHAVIOR_XR_CONSTANT(Button::X) + ->BEHAVIOR_XR_CONSTANT(Button::Y) + ->BEHAVIOR_XR_CONSTANT(Button::Home) + ->BEHAVIOR_XR_CONSTANT(Button::Menu) + ->BEHAVIOR_XR_CONSTANT(Button::L3) + ->BEHAVIOR_XR_CONSTANT(Button::R3) + // Touch capacitive... + ->BEHAVIOR_XR_CONSTANT(Button::TA) + ->BEHAVIOR_XR_CONSTANT(Button::TB) + ->BEHAVIOR_XR_CONSTANT(Button::TX) + ->BEHAVIOR_XR_CONSTANT(Button::TY) + ->BEHAVIOR_XR_CONSTANT(Button::TLStick) + ->BEHAVIOR_XR_CONSTANT(Button::TRStick) + ->BEHAVIOR_XR_CONSTANT(Button::TLRest) + ->BEHAVIOR_XR_CONSTANT(Button::TRRest) + ->BEHAVIOR_XR_CONSTANT(Button::TLTrig) + ->BEHAVIOR_XR_CONSTANT(Button::TRTrig) + // Analog triggers... + ->BEHAVIOR_XR_CONSTANT(Trigger::LTrigger) + ->BEHAVIOR_XR_CONSTANT(Trigger::RTrigger) + ->BEHAVIOR_XR_CONSTANT(Trigger::LGrip) + ->BEHAVIOR_XR_CONSTANT(Trigger::RGrip) + // Thumbsticks (1D)... + ->BEHAVIOR_XR_CONSTANT(ThumbStickAxis1D::LX) + ->BEHAVIOR_XR_CONSTANT(ThumbStickAxis1D::LY) + ->BEHAVIOR_XR_CONSTANT(ThumbStickAxis1D::RX) + ->BEHAVIOR_XR_CONSTANT(ThumbStickAxis1D::RY) + // Thumbsticks (2D)... + ->BEHAVIOR_XR_CONSTANT(ThumbStickAxis2D::L) + ->BEHAVIOR_XR_CONSTANT(ThumbStickAxis2D::R) + // Thumbstick directions... + ->BEHAVIOR_XR_CONSTANT(ThumbStickDirection::LU) + ->BEHAVIOR_XR_CONSTANT(ThumbStickDirection::LD) + ->BEHAVIOR_XR_CONSTANT(ThumbStickDirection::LL) + ->BEHAVIOR_XR_CONSTANT(ThumbStickDirection::LR) + ->BEHAVIOR_XR_CONSTANT(ThumbStickDirection::RU) + ->BEHAVIOR_XR_CONSTANT(ThumbStickDirection::RD) + ->BEHAVIOR_XR_CONSTANT(ThumbStickDirection::RL) + ->BEHAVIOR_XR_CONSTANT(ThumbStickDirection::RR) + // Position (3D)... + ->BEHAVIOR_XR_CONSTANT(ControllerPosePosition::LPos) + ->BEHAVIOR_XR_CONSTANT(ControllerPosePosition::RPos) + // Orientation (quaternion)... + ->BEHAVIOR_XR_CONSTANT(ControllerPoseOrientation::LOrient) + ->BEHAVIOR_XR_CONSTANT(ControllerPoseOrientation::ROrient) + ; + } + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + //! Default constructor + //! Using the default constructor will not create an implementation. It is then up to the user + //! to call InputDeviceXRController::SetImplementation and supply either a unique_ptr + //! or an ImplementationFactory function. + InputDeviceXRController::InputDeviceXRController() + : InputDeviceXRController(InputDeviceId(Name, 0), nullptr) + { + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + InputDeviceXRController::InputDeviceXRController(const InputDeviceId& inputDeviceId, + ImplementationFactory implFactoryFn) + : InputDevice(inputDeviceId) + { + // Create all digital button input channels + for (const InputChannelId& channelId : Button::All) + { + auto channel = aznew InputChannelDigital(channelId, *this); + m_allChannelsById[channelId] = channel; + m_buttonChannelsById[channelId] = channel; + } + + // Create all analog trigger input channels + for (const InputChannelId& channelId : Trigger::All) + { + auto channel = aznew InputChannelAnalog(channelId, *this); + m_allChannelsById[channelId] = channel; + m_triggerChannelsById[channelId] = channel; + } + + // Create all 1D thumb-stick input channels + for (const InputChannelId& channelId : ThumbStickAxis1D::All) + { + auto channel = aznew InputChannelAxis1D(channelId, *this); + m_allChannelsById[channelId] = channel; + m_thumbStick1DChannelsById[channelId] = channel; + } + + // Create all 2D thumb-stick input channels + for (const InputChannelId& channelId : ThumbStickAxis2D::All) + { + auto channel = aznew InputChannelAxis2D(channelId, *this); + m_allChannelsById[channelId] = channel; + m_thumbStick2DChannelsById[channelId] = channel; + } + + // Create all analog thumb-stick direction input channels + for (const InputChannelId& channelId : ThumbStickDirection::All) + { + auto channel = aznew InputChannelAnalog(channelId, *this); + m_allChannelsById[channelId] = channel; + m_thumbStickDirectionChannelsById[channelId] = channel; + } + + // Create all 3D controller position input channels + for (const InputChannelId& channelId : ControllerPosePosition::All) + { + auto channel = aznew InputChannelAxis3D(channelId, *this); + m_allChannelsById[channelId] = channel; + m_controllerPositionChannelsById[channelId] = channel; + } + + // Create all Quat controller orientation input channels + for (const InputChannelId& channelId : ControllerPoseOrientation::All) + { + auto channel = aznew InputChannelQuaternion(channelId, *this); + m_allChannelsById[channelId] = channel; + m_controllerOrientationChannelsById[channelId] = channel; + } + + // Create the custom implementation + SetImplementation(AZStd::move(implFactoryFn)); + + // Connect to haptic feedback request bus + InputHapticFeedbackRequestBus::Handler::BusConnect(GetInputDeviceId()); + + // Debug Draw + DebugDisplayEventBus::Handler::BusConnect(); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + InputDeviceXRController::~InputDeviceXRController() + { + // Debug Draw + DebugDisplayEventBus::Handler::BusDisconnect(); + + // Disconnect from haptic feedback request bus + InputHapticFeedbackRequestBus::Handler::BusDisconnect(GetInputDeviceId()); + + // Destroy the custom implementation + m_impl.reset(); + + // Destroy all input channels + for (const auto& channelById : m_allChannelsById) + { + delete channelById.second; + } + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + const InputDevice::InputChannelByIdMap& InputDeviceXRController::GetInputChannelsById() const + { + return m_allChannelsById; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + bool InputDeviceXRController::IsSupported() const + { + return m_impl != nullptr; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + bool InputDeviceXRController::IsConnected() const + { + return m_impl ? m_impl->IsConnected() : false; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceXRController::TickInputDevice() + { + if (m_impl) + { + m_impl->TickInputDevice(); + } + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceXRController::SetVibration(float leftMotorSpeedNormalized, float rightMotorSpeedNormalized) + { + if (m_impl) + { + m_impl->SetVibration(leftMotorSpeedNormalized, rightMotorSpeedNormalized); + } + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceXRController::SetImplementation(AZStd::unique_ptr impl) + { + m_impl = AZStd::move(impl); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceXRController::SetImplementation(const ImplementationFactory& implFactoryFn) + { + if (implFactoryFn) + { + m_impl.reset(implFactoryFn(*this)); + } + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + InputDeviceXRController::Implementation* InputDeviceXRController::GetImplementation() const + { + return m_impl.get(); + } + + + //////////////////////////////////////////////////////////////////////////////////////////////// + //! InputDeviceXRController::Implementation + //////////////////////////////////////////////////////////////////////////////////////////////// + + //////////////////////////////////////////////////////////////////////////////////////////////// + InputDeviceXRController::Implementation::Implementation(InputDeviceXRController& inputDevice) + : m_inputDevice(inputDevice) + { + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceXRController::Implementation::BroadcastInputDeviceConnectedEvent() const + { + m_inputDevice.BroadcastInputDeviceConnectedEvent(); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceXRController::Implementation::BroadcastInputDeviceDisconnectedEvent() const + { + m_inputDevice.BroadcastInputDeviceDisconnectedEvent(); + } + + + //////////////////////////////////////////////////////////////////////////////////////////////// + //! InputDeviceXRController::Implementation::RawXRControllerState + //////////////////////////////////////////////////////////////////////////////////////////////// + + //////////////////////////////////////////////////////////////////////////////////////////////// + InputDeviceXRController::Implementation::RawXRControllerState::RawXRControllerState(ButtonIdToBitMaskMap digitalButtonMap) + : m_buttonIdsToBitMasks(AZStd::move(digitalButtonMap)) + , m_triggerMaxValue(1.f) + , m_gripMaxValue(1.f) + , m_thumbStickMaxValue(1.f) + { + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceXRController::Implementation::RawXRControllerState::Reset() + { + m_digitalButtonStates = 0; + m_leftTriggerState = 0.f; + m_rightTriggerState = 0.f; + m_leftGripState = 0.f; + m_rightGripState = 0.f; + m_leftThumbStickXState = 0.f; + m_leftThumbStickYState = 0.f; + m_rightThumbStickXState = 0.f; + m_rightThumbStickYState = 0.f; + m_leftPositionState = AZ::Vector3::CreateZero(); + m_rightPositionState = AZ::Vector3::CreateZero(); + m_leftOrientationState = AZ::Quaternion::CreateIdentity(); + m_rightOrientationState = AZ::Quaternion::CreateIdentity(); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + bool InputDeviceXRController::Implementation::RawXRControllerState::GetDigitalButtonState(const InputChannelId& channelId) const + { + if (auto it = m_buttonIdsToBitMasks.find(channelId); it != m_buttonIdsToBitMasks.end()) + { + return (m_digitalButtonStates & it->second) != 0; + } + return false; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + float InputDeviceXRController::Implementation::RawXRControllerState::GetLeftTriggerAdjustedForDeadZoneAndNormalized() const + { + return AdjustForDeadZoneAndNormalizeAnalogInput(m_leftTriggerState, m_triggerDeadZoneValue, m_triggerMaxValue); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + float InputDeviceXRController::Implementation::RawXRControllerState::GetRightTriggerAdjustedForDeadZoneAndNormalized() const + { + return AdjustForDeadZoneAndNormalizeAnalogInput(m_rightTriggerState, m_triggerDeadZoneValue, m_triggerMaxValue); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + float InputDeviceXRController::Implementation::RawXRControllerState::GetLeftGripAdjustedForDeadZoneAndNormalized() const + { + return AdjustForDeadZoneAndNormalizeAnalogInput(m_leftGripState, m_gripDeadZoneValue, m_gripMaxValue); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + float InputDeviceXRController::Implementation::RawXRControllerState::GetRightGripAdjustedForDeadZoneAndNormalized() const + { + return AdjustForDeadZoneAndNormalizeAnalogInput(m_rightGripState, m_gripDeadZoneValue, m_gripMaxValue); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + AZ::Vector2 InputDeviceXRController::Implementation::RawXRControllerState::GetLeftThumbStickAdjustedForDeadZoneAndNormalized() const + { + return AdjustForDeadZoneAndNormalizeThumbStickInput(m_leftThumbStickXState, m_leftThumbStickYState, + m_leftThumbStickDeadZoneValue, m_thumbStickMaxValue); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + AZ::Vector2 InputDeviceXRController::Implementation::RawXRControllerState::GetRightThumbStickAdjustedForDeadZoneAndNormalized() const + { + return AdjustForDeadZoneAndNormalizeThumbStickInput(m_rightThumbStickXState, m_rightThumbStickYState, + m_rightThumbStickDeadZoneValue, m_thumbStickMaxValue); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + AZ::Vector2 InputDeviceXRController::Implementation::RawXRControllerState::GetLeftThumbStickNormalizedValues() const + { + return AZ::Vector2(m_leftThumbStickXState / m_thumbStickMaxValue, + m_leftThumbStickYState / m_thumbStickMaxValue); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + AZ::Vector2 InputDeviceXRController::Implementation::RawXRControllerState::GetRightThumbStickNormalizedValues() const + { + return AZ::Vector2(m_rightThumbStickXState / m_thumbStickMaxValue, + m_rightThumbStickYState / m_thumbStickMaxValue); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceXRController::Implementation::ProcessRawControllerState([[maybe_unused]] const RawXRControllerState& rawControllerState) + { + // Update digital button channels... + for (const auto& [channelId, bitMask] : rawControllerState.m_buttonIdsToBitMasks) + { + const bool buttonState = (rawControllerState.m_digitalButtonStates & bitMask) != 0; + m_inputDevice.m_buttonChannelsById[channelId]->ProcessRawInputEvent(buttonState); + } + + using xrc = InputDeviceXRController; + + // Update the analog triggers... + const float triggerL = rawControllerState.GetLeftTriggerAdjustedForDeadZoneAndNormalized(); + const float triggerR = rawControllerState.GetRightTriggerAdjustedForDeadZoneAndNormalized(); + const float gripL = rawControllerState.GetLeftGripAdjustedForDeadZoneAndNormalized(); + const float gripR = rawControllerState.GetRightGripAdjustedForDeadZoneAndNormalized(); + m_inputDevice.m_triggerChannelsById[xrc::Trigger::LTrigger]->ProcessRawInputEvent(triggerL); + m_inputDevice.m_triggerChannelsById[xrc::Trigger::RTrigger]->ProcessRawInputEvent(triggerR); + m_inputDevice.m_triggerChannelsById[xrc::Trigger::LGrip]->ProcessRawInputEvent(gripL); + m_inputDevice.m_triggerChannelsById[xrc::Trigger::RGrip]->ProcessRawInputEvent(gripR); + + // Update thumb-stick channels... + const AZ::Vector2 leftThumbStick = rawControllerState.GetLeftThumbStickAdjustedForDeadZoneAndNormalized(); + const AZ::Vector2 leftThumbStickPreDeadZone = rawControllerState.GetLeftThumbStickNormalizedValues(); + const float leftStickUp = AZ::GetClamp(leftThumbStick.GetY(), s_thumbStickCenterValue, s_thumbStickMaxValue); + const float leftStickDown = fabsf(AZ::GetClamp(leftThumbStick.GetY(), s_thumbStickMinValue, s_thumbStickCenterValue)); + const float leftStickLeft = fabsf(AZ::GetClamp(leftThumbStick.GetX(), s_thumbStickMinValue, s_thumbStickCenterValue)); + const float leftStickRight = AZ::GetClamp(leftThumbStick.GetX(), s_thumbStickCenterValue, s_thumbStickMaxValue); + const AZ::Vector2 rightThumbStick = rawControllerState.GetRightThumbStickAdjustedForDeadZoneAndNormalized(); + const AZ::Vector2 rightThumbStickPreDeadZone = rawControllerState.GetRightThumbStickNormalizedValues(); + const float rightStickUp = AZ::GetClamp(rightThumbStick.GetY(), s_thumbStickCenterValue, s_thumbStickMaxValue); + const float rightStickDown = fabsf(AZ::GetClamp(rightThumbStick.GetY(), s_thumbStickMinValue, s_thumbStickCenterValue)); + const float rightStickLeft = fabsf(AZ::GetClamp(rightThumbStick.GetX(), s_thumbStickMinValue, s_thumbStickCenterValue)); + const float rightStickRight = AZ::GetClamp(rightThumbStick.GetX(), s_thumbStickCenterValue, s_thumbStickMaxValue); + + m_inputDevice.m_thumbStick2DChannelsById[xrc::ThumbStickAxis2D::L]->ProcessRawInputEvent(leftThumbStick, &leftThumbStickPreDeadZone); + m_inputDevice.m_thumbStick1DChannelsById[xrc::ThumbStickAxis1D::LX]->ProcessRawInputEvent(leftThumbStick.GetX()); + m_inputDevice.m_thumbStick1DChannelsById[xrc::ThumbStickAxis1D::LY]->ProcessRawInputEvent(leftThumbStick.GetY()); + m_inputDevice.m_thumbStickDirectionChannelsById[xrc::ThumbStickDirection::LU]->ProcessRawInputEvent(leftStickUp); + m_inputDevice.m_thumbStickDirectionChannelsById[xrc::ThumbStickDirection::LD]->ProcessRawInputEvent(leftStickDown); + m_inputDevice.m_thumbStickDirectionChannelsById[xrc::ThumbStickDirection::LL]->ProcessRawInputEvent(leftStickLeft); + m_inputDevice.m_thumbStickDirectionChannelsById[xrc::ThumbStickDirection::LR]->ProcessRawInputEvent(leftStickRight); + m_inputDevice.m_thumbStick2DChannelsById[xrc::ThumbStickAxis2D::R]->ProcessRawInputEvent(rightThumbStick, &rightThumbStickPreDeadZone); + m_inputDevice.m_thumbStick1DChannelsById[xrc::ThumbStickAxis1D::RX]->ProcessRawInputEvent(rightThumbStick.GetX()); + m_inputDevice.m_thumbStick1DChannelsById[xrc::ThumbStickAxis1D::RY]->ProcessRawInputEvent(rightThumbStick.GetY()); + m_inputDevice.m_thumbStickDirectionChannelsById[xrc::ThumbStickDirection::RU]->ProcessRawInputEvent(rightStickUp); + m_inputDevice.m_thumbStickDirectionChannelsById[xrc::ThumbStickDirection::RD]->ProcessRawInputEvent(rightStickDown); + m_inputDevice.m_thumbStickDirectionChannelsById[xrc::ThumbStickDirection::RL]->ProcessRawInputEvent(rightStickLeft); + m_inputDevice.m_thumbStickDirectionChannelsById[xrc::ThumbStickDirection::RR]->ProcessRawInputEvent(rightStickRight); + + // Position update... + m_inputDevice.m_controllerPositionChannelsById[xrc::ControllerPosePosition::LPos] + ->ProcessRawInputEvent(rawControllerState.m_leftPositionState); + m_inputDevice.m_controllerPositionChannelsById[xrc::ControllerPosePosition::RPos] + ->ProcessRawInputEvent(rawControllerState.m_rightPositionState); + + // Orientation update... + m_inputDevice.m_controllerOrientationChannelsById[xrc::ControllerPoseOrientation::LOrient] + ->ProcessRawInputEvent(rawControllerState.m_leftOrientationState); + m_inputDevice.m_controllerOrientationChannelsById[xrc::ControllerPoseOrientation::ROrient] + ->ProcessRawInputEvent(rawControllerState.m_rightOrientationState); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceXRController::Implementation::ResetInputChannelStates() + { + m_inputDevice.ResetInputChannelStates(); + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + AZ::u32 InputDeviceXRController::Implementation::GetInputDeviceIndex() const + { + return m_inputDevice.GetInputDeviceId().GetIndex(); + } + + + + //////////////////////////////////////////////////////////////////////////////////////////////// + // Debug Draw Related Functions + //////////////////////////////////////////////////////////////////////////////////////////////// + +#if !defined(AZ_RELEASE_BUILD) + + static AZ::Transform GetCameraTransformFromCurrentView() + { + if (const auto viewportContextMgr = AZ::Interface::Get(); + viewportContextMgr != nullptr) + { + if (const AZ::RPI::ViewportContextPtr viewportContext = viewportContextMgr->GetDefaultViewportContext(); + viewportContext != nullptr) + { + if (const AZ::RPI::ViewPtr view = viewportContext->GetDefaultView(); + view != nullptr) + { + return view->GetCameraTransform(); + } + } + } + return AZ::Transform::CreateIdentity(); + } + + static void DrawControllerAxes(DebugDisplayRequests& debugDisplay, const AZ::Vector3& position, const AZ::Quaternion& orientation) + { + static const AZ::Color axisColorX(1.f, 0.f, 0.f, 0.9f); + static const AZ::Color axisColorY(0.f, 1.f, 0.f, 0.9f); + static const AZ::Color axisColorZ(0.f, 0.f, 1.f, 0.9f); + + const auto cameraTransform = GetCameraTransformFromCurrentView(); + const AZ::Vector3& cameraPosition = cameraTransform.GetTranslation(); + const AZ::Vector3 controllerPosition = cameraPosition + position; + + const AZ::Transform controllerTransform = AZ::Transform::CreateFromQuaternionAndTranslation(orientation, controllerPosition); + debugDisplay.SetColor(axisColorX); + debugDisplay.DrawLine(controllerPosition, controllerPosition + controllerTransform.GetBasisX()); + debugDisplay.SetColor(axisColorY); + debugDisplay.DrawLine(controllerPosition, controllerPosition + controllerTransform.GetBasisY()); + debugDisplay.SetColor(axisColorZ); + debugDisplay.DrawLine(controllerPosition, controllerPosition + controllerTransform.GetBasisZ()); + } + +#endif // !AZ_RELEASE_BUILD + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceXRController::CheckDebugDrawCheat() const + { +#if !defined(AZ_RELEASE_BUILD) + // This looks for specific controller input and will toggle the debug draw cvar. + const auto& rawControllerData = m_impl->GetRawState(); + using xrc = InputDeviceXRController; + static bool cheatWasPressed = false; + + // Menu button + Left Trigger pulled past 0.9 will toggle. + // To avoid button bounce, block re-toggle until the menu button is released. + const bool menuPressed = rawControllerData.GetDigitalButtonState(xrc::Button::Menu); + const float leftTrigger = rawControllerData.GetLeftTriggerAdjustedForDeadZoneAndNormalized(); + if (menuPressed) + { + if (!cheatWasPressed && leftTrigger > 0.9f) + { + cheatWasPressed = true; + OpenXRVk::xr_DebugDrawInput = !OpenXRVk::xr_DebugDrawInput; + } + } + else + { + cheatWasPressed = false; + } +#endif // !AZ_RELEASE_BUILD + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceXRController::DrawGlobalDebugInfo() + { +#if !defined(AZ_RELEASE_BUILD) + CheckDebugDrawCheat(); + + if (!OpenXRVk::xr_DebugDrawInput) + { + return; + } + + DebugDisplayRequestBus::BusPtr debugDisplayBus; + DebugDisplayRequestBus::Bind(debugDisplayBus, g_defaultSceneEntityDebugDisplayId); + DebugDisplayRequests* debugDisplay{ DebugDisplayRequestBus::FindFirstHandler(debugDisplayBus) }; + if (!debugDisplay || !IsSupported()) + { + return; + } + + // Save previous draw state + const AZ::u32 oldDrawState{ debugDisplay->GetState() }; + + // ... draw data to the screen ... + const auto& rawControllerData = m_impl->GetRawState(); + DrawControllerAxes(*debugDisplay, rawControllerData.m_leftPositionState, rawControllerData.m_leftOrientationState); + DrawControllerAxes(*debugDisplay, rawControllerData.m_rightPositionState, rawControllerData.m_rightOrientationState); + + float drawX = 20.f; // current draw X + float drawY = 20.f; // current draw Y + constexpr float textSize = 0.8f; + constexpr float lineHeight = 15.f; + + const AZ::Color whiteColor{ 1.f, 1.f, 1.f, 1.f }; + const AZ::Color pressedColor{ 0.f, 1.f, 0.2f, 1.f }; + const AZ::Color touchedColor{ 0.7f, 0.5f, 0.2f, 1.f }; + const AZ::Color defaultColor{ 0.2f, 0.2f, 0.2f, 0.8f }; + + auto printButtonWithTouchState = [&](const InputChannelId& buttonChannel, + const InputChannelId& touchedButtonChannel, const char* buttonText) + { + AZStd::string text{ buttonText }; + if (rawControllerData.GetDigitalButtonState(buttonChannel)) + { + text.append(" Pressed"); + debugDisplay->SetColor(pressedColor); + } + else if (rawControllerData.GetDigitalButtonState(touchedButtonChannel)) + { + text.append(" Touched"); + debugDisplay->SetColor(touchedColor); + } + else + { + debugDisplay->SetColor(defaultColor); + } + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, text.c_str()); + + drawY += lineHeight; + }; + + auto printButtonState = [&](const InputChannelId& buttonChannel, const char* buttonText) + { + AZStd::string text{ buttonText }; + if (rawControllerData.GetDigitalButtonState(buttonChannel)) + { + text.append(" Pressed"); + debugDisplay->SetColor(pressedColor); + } + else + { + debugDisplay->SetColor(defaultColor); + } + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, text.c_str()); + + drawY += lineHeight; + }; + + auto printButtonTouchOnlyState = [&](const InputChannelId& touchChannel, const char* buttonText) + { + AZStd::string text{ buttonText }; + if (rawControllerData.GetDigitalButtonState(touchChannel)) + { + text.append(" Touched"); + debugDisplay->SetColor(touchedColor); + } + else + { + debugDisplay->SetColor(defaultColor); + } + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, text.c_str()); + + drawY += lineHeight; + }; + + auto printAnalogWithTouchState = [&](const InputChannelId& touchedChannel, const char* analogText, float value) + { + AZStd::string text{ analogText }; + if (!AZ::IsClose(value, 0.f)) + { + text.append(AZStd::string::format(" Pressed: %.2f", value)); + debugDisplay->SetColor(pressedColor); + } + else if (rawControllerData.GetDigitalButtonState(touchedChannel)) + { + text.append(" Touched"); + debugDisplay->SetColor(touchedColor); + } + else + { + debugDisplay->SetColor(defaultColor); + } + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, text.c_str()); + + drawY += lineHeight; + }; + + auto printAnalogState = [&](const char* analogText, float value) + { + AZStd::string text{ analogText }; + if (!AZ::IsClose(value, 0.f)) + { + text.append(AZStd::string::format(" = %.2f", value)); + debugDisplay->SetColor(pressedColor); + } + else + { + debugDisplay->SetColor(defaultColor); + } + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, text.c_str()); + + drawY += lineHeight; + }; + + auto print2DThumbStickWithTouchState = [&](const InputChannelId& touchedChannel, const char* thumbStickText, float xvalue, float yvalue) + { + AZStd::string text{ thumbStickText }; + if (!AZ::IsClose(xvalue, 0.f) || !AZ::IsClose(yvalue, 0.f)) + { + text.append(AZStd::string::format(" Pressed: (%.2f, %.2f)", xvalue, yvalue)); + debugDisplay->SetColor(pressedColor); + } + else if (rawControllerData.GetDigitalButtonState(touchedChannel)) + { + text.append(" Touched"); + debugDisplay->SetColor(touchedColor); + } + else + { + debugDisplay->SetColor(defaultColor); + } + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, text.c_str()); + + drawY += lineHeight; + }; + + auto printVector3 = [&](const AZ::Vector3& vec, const char* vectorText) + { + AZStd::string str{ AZStd::string::format("%s = (%.2f, %.2f, %.2f)", vectorText, vec.GetX(), vec.GetY(), vec.GetZ()) }; + debugDisplay->SetColor(whiteColor); + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, str.c_str()); + + drawY += lineHeight; + }; + + auto printMatrix3x4 = [&](const AZ::Matrix3x4& matx, const char* matrixText) + { + debugDisplay->SetColor(whiteColor); + AZStd::string str{ AZStd::string::format("%s:", matrixText) }; + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, str.c_str()); + drawY += lineHeight; + + AZ::Vector3 col0, col1, col2, col3; + matx.GetColumns(&col0, &col1, &col2, &col3); + str = AZStd::string::format(" | %.2f %.2f %.2f %.2f |", col0.GetX(), col1.GetX(), col2.GetX(), col3.GetX()); + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, str.c_str()); + drawY += lineHeight; + str = AZStd::string::format(" | %.2f %.2f %.2f %.2f |", col0.GetY(), col1.GetY(), col2.GetY(), col3.GetY()); + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, str.c_str()); + drawY += lineHeight; + str = AZStd::string::format(" | %.2f %.2f %.2f %.2f |", col0.GetZ(), col1.GetZ(), col2.GetZ(), col3.GetZ()); + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, str.c_str()); + drawY += lineHeight; + }; + + + using xrc = InputDeviceXRController; + + // Left controller... + debugDisplay->SetColor(whiteColor); + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, "Left XR Controller"); + drawY += lineHeight; + + printButtonWithTouchState(xrc::Button::X, xrc::Button::TX, "X"); + printButtonWithTouchState(xrc::Button::Y, xrc::Button::TY, "Y"); + printButtonState(xrc::Button::L3, "L3"); + printButtonState(xrc::Button::Menu, "Menu"); + printButtonTouchOnlyState(xrc::Button::TLRest, "L ThumbRest"); + printAnalogWithTouchState(xrc::Button::TLTrig, "L Trigger", rawControllerData.m_leftTriggerState); + printAnalogState("L Grip", rawControllerData.m_leftGripState); + print2DThumbStickWithTouchState(xrc::Button::TLStick, "L Thumb-Stick", + rawControllerData.m_leftThumbStickXState, rawControllerData.m_leftThumbStickYState); + + drawY += (2.f * lineHeight); + + // Right controller... + debugDisplay->SetColor(whiteColor); + debugDisplay->Draw2dTextLabel(drawX, drawY, textSize, "Right XR Controller"); + drawY += lineHeight; + + printButtonWithTouchState(xrc::Button::A, xrc::Button::TA, "A"); + printButtonWithTouchState(xrc::Button::B, xrc::Button::TB, "B"); + printButtonState(xrc::Button::R3, "R3"); + printButtonState(xrc::Button::Home, "Home"); + printButtonTouchOnlyState(xrc::Button::TRRest, "R ThumbRest"); + printAnalogWithTouchState(xrc::Button::TLTrig, "R Trigger", rawControllerData.m_rightTriggerState); + printAnalogState("R Grip", rawControllerData.m_rightGripState); + print2DThumbStickWithTouchState(xrc::Button::TRStick, "R Thumb-Stick", + rawControllerData.m_rightThumbStickXState, rawControllerData.m_rightThumbStickYState); + + drawY += (2.f * lineHeight); + + // Positions and Orientation + printVector3(rawControllerData.m_leftPositionState, "Left Controller Position"); + printMatrix3x4(AZ::Matrix3x4::CreateFromQuaternion(rawControllerData.m_leftOrientationState), "Left Controller Orientation"); + printVector3(rawControllerData.m_rightPositionState, "Right Controller Position"); + printMatrix3x4(AZ::Matrix3x4::CreateFromQuaternion(rawControllerData.m_rightOrientationState), "Right Controller Orientation"); + + // Restore previous state + debugDisplay->SetState(oldDrawState); +#endif // !AZ_RELEASE_BUILD + } + +} // namespace AzFramework diff --git a/Gems/OpenXRVk/Code/Source/OpenXRVkCommon.h b/Gems/OpenXRVk/Code/Source/OpenXRVkCommon.h new file mode 100644 index 000000000..546440e21 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/OpenXRVkCommon.h @@ -0,0 +1,28 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +namespace OpenXRVk::Platform +{ + //! Initializes the XR loader for this platform. + bool OpenXRInitializeLoader(); + + //! Called when the device is beginning a frame for processing. + //! @note This function is called from the thread related to the presentation queue. + void OpenXRBeginFrameInternal(); + + //! Called when the device is ending a frame for processing. + //! @note This function is called from the thread related to the presentation queue. + void OpenXREndFrameInternal(); + + //! Called after the EndFrame has been executed. + //! @note This function is called from the main thread. + void OpenXRPostFrameInternal(); + +} // namespace OpenXRVk::Platform diff --git a/Gems/OpenXRVk/Code/Source/OpenXRVkDevice.cpp b/Gems/OpenXRVk/Code/Source/OpenXRVkDevice.cpp index e89b30c77..b7929c64f 100644 --- a/Gems/OpenXRVk/Code/Source/OpenXRVkDevice.cpp +++ b/Gems/OpenXRVk/Code/Source/OpenXRVkDevice.cpp @@ -12,6 +12,7 @@ #include #include #include +#include #include #include @@ -53,6 +54,15 @@ namespace OpenXRVk extensions.push_back(xrDeviceCreateInfo.vulkanCreateInfo->ppEnabledExtensionNames[i]); } + if (GetDescriptor().m_validationMode == AZ::RHI::ValidationMode::Enabled) + { + AZ_Printf("OpenXRVk", "Vulkan device extensions to enable: (%i)\n", extensions.size()); + for (const AZStd::string& extension : extensions) + { + AZ_Printf("OpenXRVk", "Name=%s\n", extension.c_str()); + } + } + VkPhysicalDeviceFeatures features{}; memcpy(&features, xrDeviceCreateInfo.vulkanCreateInfo->pEnabledFeatures, sizeof(features)); @@ -80,29 +90,33 @@ namespace OpenXRVk return AZ::RHI::ResultCode::Fail; } - // Now that we have created the device, load the function pointers for it. - // NOTE: Passing the xr physical device to LoadProcAddresses causes a crash in glad vulkan - // inside 'glad_vk_find_core_vulkan' function when calling 'context->GetPhysicalDeviceProperties'. - // It's OK to pass VK_NULL_HANDLE at the moment, which means glad vulkan will use only device and instance - // to check for vulkan extensions. - if (!xrVkInstance->GetFunctionLoader().LoadProcAddresses( - &m_context, xrVkInstance->GetNativeInstance(), VK_NULL_HANDLE/*xrVkInstance->GetActivePhysicalDevice()*/, m_xrVkDevice)) { - // Something went wrong loading function pointers, use the glad context from the instance to shut down the device. - m_context = xrVkInstance->GetContext(); - ShutdownInternal(); - AZ_Error("OpenXRVk", false, "Failed to initialize function loader for the device."); - return AZ::RHI::ResultCode::Fail; + VkPhysicalDevice xrVkPhysicalDevice = xrVkInstance->GetActivePhysicalDevice(); + // Now that we have created the device, load the function pointers for it. + const bool functionsLoaded = xrVkInstance->GetFunctionLoader().LoadProcAddresses( + &m_context, xrVkInstance->GetNativeInstance(), xrVkPhysicalDevice, m_xrVkDevice); + + FilterAvailableExtensions(m_context); + + if (!functionsLoaded) + { + ShutdownInternal(); + AZ_Error("OpenXRVk", false, "Failed to initialize function loader for the device."); + return AZ::RHI::ResultCode::Fail; + } } //Populate the output data of the descriptor xrDeviceDescriptor->m_outputData.m_xrVkDevice = m_xrVkDevice; + xrDeviceDescriptor->m_outputData.m_context = m_context; return AZ::RHI::ResultCode::Success; } bool Device::BeginFrameInternal() { + Platform::OpenXRBeginFrameInternal(); + Session* session = static_cast(GetSession().get()); XrSession xrSession = session->GetXrSession(); @@ -125,6 +139,8 @@ namespace OpenXRVk void Device::EndFrameInternal(XR::Ptr baseSwapChain) { + Platform::OpenXREndFrameInternal(); + Session* session = static_cast(GetSession().get()); Instance* instance = static_cast(GetDescriptor().m_instance.get()); SwapChain* swapChain = static_cast(baseSwapChain.get()); @@ -168,9 +184,13 @@ namespace OpenXRVk } } + void Device::PostFrameInternal() + { + Platform::OpenXRPostFrameInternal(); + } + bool Device::AcquireSwapChainImageInternal(AZ::u32 viewIndex, XR::SwapChain* baseSwapChain) { - SwapChain* swapChain = static_cast(baseSwapChain); XR::SwapChain::View* baseSwapChainView = baseSwapChain->GetView(viewIndex); SwapChain::View* swapChainView = static_cast(baseSwapChainView); Space* xrSpace = static_cast(GetSession()->GetSpace()); @@ -198,7 +218,7 @@ namespace OpenXRVk } AZ_Assert(m_viewCountOutput == viewCapacityInput, "Size mismatch between xrLocateViews %i and xrEnumerateViewConfigurationViews %i", m_viewCountOutput, viewCapacityInput); - AZ_Assert(m_viewCountOutput == swapChain->GetViewConfigs().size(), "Size mismatch between xrLocateViews %i and xrEnumerateViewConfigurationViews %i", m_viewCountOutput, swapChain->GetViewConfigs().size()); + AZ_Assert(m_viewCountOutput == static_cast(baseSwapChain)->GetViewConfigs().size(), "Size mismatch between xrLocateViews %i and xrEnumerateViewConfigurationViews %i", m_viewCountOutput, static_cast(baseSwapChain)->GetViewConfigs().size()); m_projectionLayerViews.resize(m_viewCountOutput); XrSwapchainImageAcquireInfo acquireInfo{ XR_TYPE_SWAPCHAIN_IMAGE_ACQUIRE_INFO }; @@ -243,35 +263,35 @@ namespace OpenXRVk return m_context; } - AZ::RPI::FovData Device::GetViewFov(AZ::u32 viewIndex) const + AZ::RHI::ResultCode Device::GetViewFov(AZ::u32 viewIndex, AZ::RPI::FovData& outFovData) const { - AZ::RPI::FovData viewFov; if(viewIndex < m_projectionLayerViews.size()) { - viewFov.m_angleLeft = m_projectionLayerViews[viewIndex].fov.angleLeft; - viewFov.m_angleRight = m_projectionLayerViews[viewIndex].fov.angleRight; - viewFov.m_angleUp = m_projectionLayerViews[viewIndex].fov.angleUp; - viewFov.m_angleDown = m_projectionLayerViews[viewIndex].fov.angleDown; + outFovData.m_angleLeft = m_projectionLayerViews[viewIndex].fov.angleLeft; + outFovData.m_angleRight = m_projectionLayerViews[viewIndex].fov.angleRight; + outFovData.m_angleUp = m_projectionLayerViews[viewIndex].fov.angleUp; + outFovData.m_angleDown = m_projectionLayerViews[viewIndex].fov.angleDown; + return AZ::RHI::ResultCode::Success; } - return viewFov; + return AZ::RHI::ResultCode::Fail; } - AZ::RPI::PoseData Device::GetViewPose(AZ::u32 viewIndex) const - { - AZ::RPI::PoseData viewPose; + AZ::RHI::ResultCode Device::GetViewPose(AZ::u32 viewIndex, AZ::RPI::PoseData& outPoseData) const + { if (viewIndex < m_projectionLayerViews.size()) { const XrQuaternionf& orientation = m_projectionLayerViews[viewIndex].pose.orientation; const XrVector3f& position = m_projectionLayerViews[viewIndex].pose.position; - viewPose.orientation = AZ::Quaternion(orientation.x, - orientation.y, - orientation.z, - orientation.w); - viewPose.position = AZ::Vector3(position.x, - position.y, - position.z); - } - return viewPose; + outPoseData.m_orientation.Set(orientation.x, + orientation.y, + orientation.z, + orientation.w); + outPoseData.m_position.Set(position.x, + position.y, + position.z); + return AZ::RHI::ResultCode::Success; + } + return AZ::RHI::ResultCode::Fail; } XrTime Device::GetPredictedDisplayTime() const diff --git a/Gems/OpenXRVk/Code/Source/OpenXRVkInput.cpp b/Gems/OpenXRVk/Code/Source/OpenXRVkInput.cpp index 3a2444c26..8f8758abf 100644 --- a/Gems/OpenXRVk/Code/Source/OpenXRVkInput.cpp +++ b/Gems/OpenXRVk/Code/Source/OpenXRVkInput.cpp @@ -18,111 +18,174 @@ namespace OpenXRVk { XR::Ptr Input::Create() { - return aznew Input; + const auto newInput = aznew Input; + newInput->m_xrController.SetImplementation(&AzFramework::InputDeviceXRController::Implementation::Create); + newInput->m_xrControllerImpl = newInput->m_xrController.GetImplementation(); + return newInput; } AZ::RHI::ResultCode Input::InitInternal() { - Instance* xrVkInstance = static_cast(GetDescriptor().m_instance.get()); - XrInstance xrInstance = xrVkInstance->GetXRInstance(); + const auto xrVkInstance = static_cast(GetDescriptor().m_instance.get()); + const XrInstance xrInstance = xrVkInstance->GetXRInstance(); // Create an action set. - XrActionSetCreateInfo actionSetInfo{ XR_TYPE_ACTION_SET_CREATE_INFO }; - azstrcpy(actionSetInfo.actionSetName, sizeof(actionSetInfo.actionSetName), "gameplay"); - azstrcpy(actionSetInfo.localizedActionSetName, sizeof(actionSetInfo.localizedActionSetName), "Gameplay"); - actionSetInfo.priority = 0; - XrResult result = xrCreateActionSet(xrInstance, &actionSetInfo, &m_actionSet); - WARN_IF_UNSUCCESSFUL(result); + CreateActionSet(xrInstance); - // Get the XrPath for the left and right hands - we will use them as subaction paths. - result = xrStringToPath(xrInstance, "/user/hand/left", &m_handSubactionPath[static_cast(XR::Side::Left)]); - WARN_IF_UNSUCCESSFUL(result); - result = xrStringToPath(xrInstance, "/user/hand/right", &m_handSubactionPath[static_cast(XR::Side::Right)]); - WARN_IF_UNSUCCESSFUL(result); + // Create all the XrActions + CreateAllActions(xrInstance); - // Create actions. - // Create an input action for grabbing objects with the left and right hands. - CreateAction(m_grabAction, XR_ACTION_TYPE_FLOAT_INPUT, "grab_object", "Grab Object", - aznumeric_cast(m_handSubactionPath.size()), m_handSubactionPath.data()); - - CreateAction(m_poseAction, XR_ACTION_TYPE_POSE_INPUT, "hand_pose", "Hand Pose", - aznumeric_cast(m_handSubactionPath.size()), m_handSubactionPath.data()); - - CreateAction(m_vibrateAction, XR_ACTION_TYPE_VIBRATION_OUTPUT, "vibrate_hand", "Vibrate Hand", - aznumeric_cast(m_handSubactionPath.size()), m_handSubactionPath.data()); - - CreateAction(m_quitAction, XR_ACTION_TYPE_BOOLEAN_INPUT, "quit_session", "Quit Session", 0, nullptr); - - AZStd::array(XR::Side::Count)> squeezeValuePath; - AZStd::array(XR::Side::Count)> posePath; - AZStd::array(XR::Side::Count)> hapticPath; - AZStd::array(XR::Side::Count)> menuClickPath; - - result = xrStringToPath(xrInstance, "/user/hand/left/input/squeeze/value", &squeezeValuePath[static_cast(XR::Side::Left)]); - result = xrStringToPath(xrInstance, "/user/hand/right/input/squeeze/value", &squeezeValuePath[static_cast(XR::Side::Right)]); - result = xrStringToPath(xrInstance, "/user/hand/left/input/grip/pose", &posePath[static_cast(XR::Side::Left)]); - result = xrStringToPath(xrInstance, "/user/hand/right/input/grip/pose", &posePath[static_cast(XR::Side::Right)]); - result = xrStringToPath(xrInstance, "/user/hand/left/output/haptic", &hapticPath[static_cast(XR::Side::Left)]); - result = xrStringToPath(xrInstance, "/user/hand/right/output/haptic", &hapticPath[static_cast(XR::Side::Right)]); - result = xrStringToPath(xrInstance, "/user/hand/left/input/menu/click", &menuClickPath[static_cast(XR::Side::Left)]); - result = xrStringToPath(xrInstance, "/user/hand/right/input/menu/click", &menuClickPath[static_cast(XR::Side::Right)]); - - // Bindings for the Occulus Touch. + // Bindings for the Oculus Touch. XrPath oculusTouchInteractionProfilePath; - result = xrStringToPath(xrInstance, "/interaction_profiles/oculus/touch_controller", &oculusTouchInteractionProfilePath); - AZStd::vector bindings{ { { m_grabAction, squeezeValuePath[static_cast(XR::Side::Left)] }, - { m_grabAction, squeezeValuePath[static_cast(XR::Side::Right)] }, - { m_poseAction, posePath[static_cast(XR::Side::Left)] }, - { m_poseAction, posePath[static_cast(XR::Side::Right)] }, - { m_quitAction, menuClickPath[static_cast(XR::Side::Left)] }, - { m_vibrateAction, hapticPath[static_cast(XR::Side::Left)] }, - { m_vibrateAction, hapticPath[static_cast(XR::Side::Right)] } } }; - XrInteractionProfileSuggestedBinding suggestedBindings{ XR_TYPE_INTERACTION_PROFILE_SUGGESTED_BINDING }; + AZStd::string controllerProfilePath{ m_xrControllerImpl->GetInputDeviceProfilePath() }; + [[maybe_unused]] XrResult result = xrStringToPath(xrInstance, controllerProfilePath.data(), &oculusTouchInteractionProfilePath); + WARN_IF_UNSUCCESSFUL(result); + + XrInteractionProfileSuggestedBinding suggestedBindings{}; + suggestedBindings.type = XR_TYPE_INTERACTION_PROFILE_SUGGESTED_BINDING; suggestedBindings.interactionProfile = oculusTouchInteractionProfilePath; - suggestedBindings.suggestedBindings = bindings.data(); - suggestedBindings.countSuggestedBindings = aznumeric_cast(bindings.size()); + suggestedBindings.suggestedBindings = m_xrActionPaths.data(); + suggestedBindings.countSuggestedBindings = aznumeric_cast(m_xrActionPaths.size()); result = xrSuggestInteractionProfileBindings(xrInstance, &suggestedBindings); WARN_IF_UNSUCCESSFUL(result); - + + //Init the location data so we dont read bad data when the device is in a bad state at start + for (int i = 0; i < AZ::RPI::XRMaxNumControllers; i++) + { + m_handSpaceLocation[i].pose.orientation.x = 0.0f; + m_handSpaceLocation[i].pose.orientation.y = 0.0f; + m_handSpaceLocation[i].pose.orientation.z = 0.0f; + m_handSpaceLocation[i].pose.orientation.w = 0.0f; + m_handSpaceLocation[i].pose.position.x = 0.0f; + m_handSpaceLocation[i].pose.position.y = 0.0f; + m_handSpaceLocation[i].pose.position.z = 0.0f; + } + + for (int i = 0; i < SpaceType::Count; i++) + { + m_xrVisualizedSpaceLocations[i].pose.orientation.x = 0.0f; + m_xrVisualizedSpaceLocations[i].pose.orientation.y = 0.0f; + m_xrVisualizedSpaceLocations[i].pose.orientation.z = 0.0f; + m_xrVisualizedSpaceLocations[i].pose.orientation.w = 0.0f; + m_xrVisualizedSpaceLocations[i].pose.position.x = 0.0f; + m_xrVisualizedSpaceLocations[i].pose.position.y = 0.0f; + m_xrVisualizedSpaceLocations[i].pose.position.z = 0.0f; + } return ConvertResult(result); } void Input::CreateAction(XrAction& action, XrActionType actionType, - const char* actionName, const char* localizedActionName, - uint32_t countSubactionPathCount, const XrPath* subActionPaths) + const char* actionName, const char* localizedActionName, + uint32_t countSubactionPathCount, const XrPath* subActionPaths) const { - XrActionCreateInfo actionInfo{ XR_TYPE_ACTION_CREATE_INFO }; + XrActionCreateInfo actionInfo{}; + actionInfo.type = XR_TYPE_ACTION_CREATE_INFO; actionInfo.actionType = actionType; azstrcpy(actionInfo.actionName, sizeof(actionInfo.actionName), actionName); azstrcpy(actionInfo.localizedActionName, sizeof(actionInfo.localizedActionName), localizedActionName); actionInfo.countSubactionPaths = countSubactionPathCount; actionInfo.subactionPaths = subActionPaths; - [[maybe_unused]] XrResult result = xrCreateAction(m_actionSet, &actionInfo, &action); + + [[maybe_unused]] const XrResult result = xrCreateAction(m_actionSet, &actionInfo, &action); + WARN_IF_UNSUCCESSFUL(result); + } + + void Input::CreateActionSet(const XrInstance& xrInstance) + { + // Create an action set. + XrActionSetCreateInfo actionSetInfo{}; + actionSetInfo.type = XR_TYPE_ACTION_SET_CREATE_INFO; + azstrcpy(actionSetInfo.actionSetName, sizeof(actionSetInfo.actionSetName), "gameplay"); + azstrcpy(actionSetInfo.localizedActionSetName, sizeof(actionSetInfo.localizedActionSetName), "Gameplay"); + actionSetInfo.priority = 0; + + [[maybe_unused]] const XrResult result = xrCreateActionSet(xrInstance, &actionSetInfo, &m_actionSet); + WARN_IF_UNSUCCESSFUL(result); + } + + void Input::CreateAllActions(const XrInstance& xrInstance) + { + // Get the XrPath for the left and right hands - we will use them as subaction paths. + const AZStd::string leftHandPath{ m_xrControllerImpl->GetLeftHandSubPath() }; + const AZStd::string rightHandPath{ m_xrControllerImpl->GetRightHandSubPath() }; + + XrResult result = xrStringToPath(xrInstance, leftHandPath.data(), &m_handSubactionPath[static_cast(XR::Side::Left)]); + WARN_IF_UNSUCCESSFUL(result); + result = xrStringToPath(xrInstance, rightHandPath.data(), &m_handSubactionPath[static_cast(XR::Side::Right)]); WARN_IF_UNSUCCESSFUL(result); + + // Lambda to create an action and path, store them in m_xrActionPaths + using namespace AzFramework; + auto createXrAction = [this, &xrInstance](const InputChannelId& channelId, const XrActionType actionType) + { + m_xrActionIndices[channelId] = m_xrActionPaths.size(); + m_xrActionPaths.push_back({}); + + CreateAction(m_xrActionPaths.back().action, actionType, channelId.GetName(), channelId.GetName(), + aznumeric_cast(AZStd::size(m_handSubactionPath)), m_handSubactionPath.data()); + + const AZStd::string xrPathStr{ m_xrControllerImpl->GetInputChannelPath(channelId) }; + [[maybe_unused]] const XrResult pathResult = xrStringToPath(xrInstance, xrPathStr.data(), &m_xrActionPaths.back().binding); + WARN_IF_UNSUCCESSFUL(pathResult); + }; + + for (const InputChannelId& channelId : InputDeviceXRController::Button::All) + { + createXrAction(channelId, XR_ACTION_TYPE_BOOLEAN_INPUT); + } + + for (const InputChannelId& channelId : InputDeviceXRController::Trigger::All) + { + createXrAction(channelId, XR_ACTION_TYPE_FLOAT_INPUT); + } + + for (const InputChannelId& channelId : InputDeviceXRController::ThumbStickAxis1D::All) + { + createXrAction(channelId, XR_ACTION_TYPE_FLOAT_INPUT); + } + + for (const InputChannelId& channelId : InputDeviceXRController::ControllerPosePosition::All) + { + createXrAction(channelId, XR_ACTION_TYPE_POSE_INPUT); + } + + for (const InputChannelId& channelId : InputDeviceXRController::ControllerPoseOrientation::All) + { + createXrAction(channelId, XR_ACTION_TYPE_POSE_INPUT); // is this correct? + } + + m_xrControllerImpl->RegisterTickCallback([this](){ PollActions(); }); } AZ::RHI::ResultCode Input::InitializeActionSpace(XrSession xrSession) { - XrActionSpaceCreateInfo actionSpaceInfo{ XR_TYPE_ACTION_SPACE_CREATE_INFO }; - actionSpaceInfo.action = m_poseAction; + XrActionSpaceCreateInfo actionSpaceInfo{}; + actionSpaceInfo.type = XR_TYPE_ACTION_SPACE_CREATE_INFO; + actionSpaceInfo.action = GetAction(AzFramework::InputDeviceXRController::ControllerPosePosition::LPos); actionSpaceInfo.poseInActionSpace.orientation.w = 1.f; actionSpaceInfo.subactionPath = m_handSubactionPath[static_cast(XR::Side::Left)]; + XrResult result = xrCreateActionSpace(xrSession, &actionSpaceInfo, &m_handSpace[static_cast(XR::Side::Left)]); WARN_IF_UNSUCCESSFUL(result); RETURN_RESULTCODE_IF_UNSUCCESSFUL(ConvertResult(result)); + + actionSpaceInfo.action = GetAction(AzFramework::InputDeviceXRController::ControllerPosePosition::RPos); actionSpaceInfo.subactionPath = m_handSubactionPath[static_cast(XR::Side::Right)]; + result = xrCreateActionSpace(xrSession, &actionSpaceInfo, &m_handSpace[static_cast(XR::Side::Right)]); WARN_IF_UNSUCCESSFUL(result); return ConvertResult(result); } - AZ::RHI::ResultCode Input::InitializeActionSets(XrSession xrSession) + AZ::RHI::ResultCode Input::InitializeActionSets(XrSession xrSession) const { - XrSessionActionSetsAttachInfo attachInfo{ XR_TYPE_SESSION_ACTION_SETS_ATTACH_INFO }; + XrSessionActionSetsAttachInfo attachInfo{}; + attachInfo.type = XR_TYPE_SESSION_ACTION_SETS_ATTACH_INFO; attachInfo.countActionSets = 1; attachInfo.actionSets = &m_actionSet; - XrResult result = xrAttachSessionActionSets(xrSession, &attachInfo); + + const XrResult result = xrAttachSessionActionSets(xrSession, &attachInfo); WARN_IF_UNSUCCESSFUL(result); return ConvertResult(result); @@ -130,96 +193,212 @@ namespace OpenXRVk void Input::ShutdownInternal() { - if (m_actionSet != XR_NULL_HANDLE) + if (m_actionSet != XR_NULL_HANDLE) { - for (auto hand : { XR::Side::Left, XR::Side::Right }) + for (const auto hand : { XR::Side::Left, XR::Side::Right }) { - xrDestroySpace(m_handSpace[static_cast(hand)]); + xrDestroySpace(m_handSpace[static_cast(hand)]); } xrDestroyActionSet(m_actionSet); } + + // Turn off the tick callback and reset the (non-owning) impl pointer back to null + m_xrControllerImpl->RegisterTickCallback(nullptr); + m_xrControllerImpl = nullptr; + } + + XrAction Input::GetAction(const AzFramework::InputChannelId& channelId) const + { + // this is a private function and only input channel ids that were used to + // initialize structures in this class should be passed. + + // "at" will assert if the channelId is something unexpected for xr controller + const auto index = m_xrActionIndices.at(channelId); + return m_xrActionPaths[index].action; } void Input::PollActions() { - Session* session = static_cast(GetDescriptor().m_session.get()); + const auto session = static_cast(GetDescriptor().m_session.get()); XrSession xrSession = session->GetXrSession(); - Device* device = static_cast(GetDescriptor().m_device.get()); + const auto device = static_cast(GetDescriptor().m_device.get()); m_handActive = { XR_FALSE, XR_FALSE }; + auto& rawControllerData = m_xrControllerImpl->GetRawState(); + + // Might not need to reset if we're constantly refreshing all raw values. + // In the future we may want to store off a couple ticks of data in a history + // so that derivatives and edge detection can be computed. + rawControllerData.Reset(); + // Sync actions const XrActiveActionSet activeActionSet{ m_actionSet, XR_NULL_PATH }; - XrActionsSyncInfo syncInfo{ XR_TYPE_ACTIONS_SYNC_INFO }; + XrActionsSyncInfo syncInfo{}; + syncInfo.type = XR_TYPE_ACTIONS_SYNC_INFO; syncInfo.countActiveActionSets = 1; syncInfo.activeActionSets = &activeActionSet; + XrResult result = xrSyncActions(xrSession, &syncInfo); + if (result != XR_SUCCESS) + { + // This will hit when the device gets put down / goes idle. + // So to avoid spam, just return here. + return; + } - // Get pose and grab action state and start haptic vibrate when hand is 90% squeezed for testing purposes - for (auto hand : { XR::Side::Left, XR::Side::Right }) + using namespace AzFramework; + using xrc = InputDeviceXRController; + + // Updating digital buttons is somewhat unique, because it compacts and combines them all to a u32 with bit masks... + for (const auto& [channelId, bitMask] : rawControllerData.m_buttonIdsToBitMasks) { - XrActionStateGetInfo getInfo{ XR_TYPE_ACTION_STATE_GET_INFO }; - getInfo.action = m_grabAction; - getInfo.subactionPath = m_handSubactionPath[static_cast(hand)]; + XrActionStateGetInfo getButtonInfo{}; + getButtonInfo.type = XR_TYPE_ACTION_STATE_GET_INFO; + getButtonInfo.next = nullptr; + getButtonInfo.action = GetAction(channelId); + getButtonInfo.subactionPath = XR_NULL_PATH; + + XrActionStateBoolean buttonValue{}; + buttonValue.type = XR_TYPE_ACTION_STATE_BOOLEAN; + + result = xrGetActionStateBoolean(xrSession, &getButtonInfo, &buttonValue); + WARN_IF_UNSUCCESSFUL(result); + + rawControllerData.m_digitalButtonStates |= ( + (buttonValue.isActive == XR_TRUE && buttonValue.currentState == XR_TRUE) + ? bitMask + : 0 + ); + } + + // lambda that obtains a float state from an action... + auto getActionStateFloat = [&xrSession, this](const InputChannelId& channelId) -> float + { + XrActionStateGetInfo getAnalogInfo{}; + getAnalogInfo.type = XR_TYPE_ACTION_STATE_GET_INFO; + getAnalogInfo.next = nullptr; + getAnalogInfo.action = GetAction(channelId); + getAnalogInfo.subactionPath = XR_NULL_PATH; + + XrActionStateFloat analogValue{}; + analogValue.type = XR_TYPE_ACTION_STATE_FLOAT; - XrActionStateFloat grabValue{ XR_TYPE_ACTION_STATE_FLOAT }; - result = xrGetActionStateFloat(xrSession, &getInfo, &grabValue); + const XrResult result = xrGetActionStateFloat(xrSession, &getAnalogInfo, &analogValue); WARN_IF_UNSUCCESSFUL(result); - if (grabValue.isActive == XR_TRUE) + + if (analogValue.isActive == XR_TRUE) + { + return analogValue.currentState; + } + return 0.f; + }; + + // Update Analog values... + rawControllerData.m_leftTriggerState = getActionStateFloat(xrc::Trigger::LTrigger); + rawControllerData.m_rightTriggerState = getActionStateFloat(xrc::Trigger::RTrigger); + rawControllerData.m_leftGripState = getActionStateFloat(xrc::Trigger::LGrip); + rawControllerData.m_rightGripState = getActionStateFloat(xrc::Trigger::RGrip); + rawControllerData.m_leftThumbStickXState = getActionStateFloat(xrc::ThumbStickAxis1D::LX); + rawControllerData.m_leftThumbStickYState = getActionStateFloat(xrc::ThumbStickAxis1D::LY); + rawControllerData.m_rightThumbStickXState = getActionStateFloat(xrc::ThumbStickAxis1D::RX); + rawControllerData.m_rightThumbStickYState = getActionStateFloat(xrc::ThumbStickAxis1D::RY); + + // Scale the rendered hand by 1.0f (open) to 0.5f (fully squeezed). + m_handScale[static_cast(XR::Side::Left)] = 1.f - 0.5f * rawControllerData.m_leftGripState; + m_handScale[static_cast(XR::Side::Right)] = 1.f - 0.5f * rawControllerData.m_rightGripState; + + // lambda that outputs vibration amount to a particular side + auto setHapticVibration = [this, &xrSession](AZ::u32 side, float amount) + { + if (amount > 0.f) { - // Scale the rendered hand by 1.0f (open) to 0.5f (fully squeezed). - m_handScale[static_cast(hand)] = 1.0f - 0.5f * grabValue.currentState; - if (grabValue.currentState > 0.9f) - { - XrHapticVibration vibration{ XR_TYPE_HAPTIC_VIBRATION }; - vibration.amplitude = 0.5; - vibration.duration = XR_MIN_HAPTIC_DURATION; - vibration.frequency = XR_FREQUENCY_UNSPECIFIED; - - XrHapticActionInfo hapticActionInfo{ XR_TYPE_HAPTIC_ACTION_INFO }; - hapticActionInfo.action = m_vibrateAction; - hapticActionInfo.subactionPath = m_handSubactionPath[static_cast(hand)]; - result = xrApplyHapticFeedback(xrSession, &hapticActionInfo, (XrHapticBaseHeader*)&vibration); - WARN_IF_UNSUCCESSFUL(result); - } + XrHapticVibration hapticVibration{}; + hapticVibration.type = XR_TYPE_HAPTIC_VIBRATION; + hapticVibration.amplitude = amount; + hapticVibration.duration = XR_MIN_HAPTIC_DURATION; + hapticVibration.frequency = XR_FREQUENCY_UNSPECIFIED; + + XrHapticActionInfo hapticActionInfo{}; + hapticActionInfo.type = XR_TYPE_HAPTIC_ACTION_INFO; + hapticActionInfo.action = m_hapticAction; + hapticActionInfo.subactionPath = m_handSubactionPath[side]; + + [[maybe_unused]] const XrResult result = xrApplyHapticFeedback( + xrSession, &hapticActionInfo, reinterpret_cast(&hapticVibration)); + WARN_IF_UNSUCCESSFUL(result); } + }; + + setHapticVibration(static_cast(XR::Side::Left), rawControllerData.m_leftMotorVibrationValue); + setHapticVibration(static_cast(XR::Side::Right), rawControllerData.m_rightMotorVibrationValue); + // after the vibration values have been used, reset them + rawControllerData.m_leftMotorVibrationValue = 0.f; + rawControllerData.m_rightMotorVibrationValue = 0.f; + + // Update poses + for (const auto hand : { XR::Side::Left, XR::Side::Right }) + { + XrActionStateGetInfo getInfo{}; + getInfo.type = XR_TYPE_ACTION_STATE_GET_INFO; + getInfo.action = GetPoseAction(static_cast(hand)); + + XrActionStatePose poseState{}; + poseState.type = XR_TYPE_ACTION_STATE_POSE; - getInfo.action = m_poseAction; - XrActionStatePose poseState{ XR_TYPE_ACTION_STATE_POSE }; result = xrGetActionStatePose(xrSession, &getInfo, &poseState); WARN_IF_UNSUCCESSFUL(result); - m_handActive[static_cast(hand)] = poseState.isActive; + m_handActive[static_cast(hand)] = poseState.isActive; - LocateControllerSpace(device->GetPredictedDisplayTime(), session->GetXrSpace(OpenXRVk::SpaceType::View), static_cast(hand)); - } + LocateControllerSpace(device->GetPredictedDisplayTime(), session->GetXrSpace(OpenXRVk::SpaceType::View), static_cast(hand)); + } - //Cache 3d location information - for (uint32_t i = 0; i < static_cast(SpaceType::Count); i++) + // Cache 3d location information + for (AZ::u32 i = 0; i < static_cast(SpaceType::Count); i++) { - SpaceType spaceType = static_cast(i); + const auto spaceType = static_cast(i); LocateVisualizedSpace(device->GetPredictedDisplayTime(), session->GetXrSpace(spaceType), - session->GetXrSpace(OpenXRVk::SpaceType::View), spaceType); + session->GetXrSpace(OpenXRVk::SpaceType::View), spaceType); } - // There were no subaction paths specified for the quit action, because we don't care which hand did it. - XrActionStateGetInfo getInfo{ XR_TYPE_ACTION_STATE_GET_INFO, nullptr, m_quitAction, XR_NULL_PATH }; - XrActionStateBoolean quitValue{ XR_TYPE_ACTION_STATE_BOOLEAN }; - result = xrGetActionStateBoolean(xrSession, &getInfo, &quitValue); - WARN_IF_UNSUCCESSFUL(result); - if ((quitValue.isActive == XR_TRUE) && (quitValue.changedSinceLastSync == XR_TRUE) && (quitValue.currentState == XR_TRUE)) + // XR to AZ vector conversion... + // Goes from y-up to z-up configuration (keeping Right Handed system) + const auto convertVector3 = [](const XrVector3f& xrVec3) -> AZ::Vector3 + { + return AZ::Vector3{ xrVec3.x, -xrVec3.z, xrVec3.y }; + }; + + // XR to AZ quaternion conversion... + // Goes from y-up to z-up configuration (keeping Right Handed system) + const auto convertQuat = [](const XrQuaternionf& xrQuat) -> AZ::Quaternion + { + return AZ::Quaternion{ xrQuat.x, -xrQuat.z, xrQuat.y, xrQuat.w }; + }; + + rawControllerData.m_leftPositionState = convertVector3(m_handSpaceLocation[static_cast(XR::Side::Left)].pose.position); + rawControllerData.m_rightPositionState = convertVector3(m_handSpaceLocation[static_cast(XR::Side::Right)].pose.position); + + rawControllerData.m_leftOrientationState = convertQuat(m_handSpaceLocation[static_cast(XR::Side::Left)].pose.orientation); + rawControllerData.m_rightOrientationState = convertQuat(m_handSpaceLocation[static_cast(XR::Side::Right)].pose.orientation); + + // Check if the Quit (Home) button was pressed this sync... + const bool quitPressed = GetButtonState(InputDeviceXRController::Button::Home); + if (quitPressed && !m_wasQuitPressedLastSync) { result = xrRequestExitSession(xrSession); WARN_IF_UNSUCCESSFUL(result); } + m_wasQuitPressedLastSync = quitPressed; } - void Input::LocateControllerSpace(XrTime predictedDisplayTime, XrSpace baseSpace, uint32_t handIndex) + void Input::LocateControllerSpace(XrTime predictedDisplayTime, XrSpace baseSpace, AZ::u32 handIndex) { - XrSpaceLocation spaceLocation{ XR_TYPE_SPACE_LOCATION }; - XrResult result = xrLocateSpace(m_handSpace[handIndex], baseSpace, predictedDisplayTime, &spaceLocation); - if (result== XR_SUCCESS) + XrSpaceLocation spaceLocation{}; + spaceLocation.type = XR_TYPE_SPACE_LOCATION; + if (const XrResult result = xrLocateSpace(m_handSpace[handIndex], baseSpace, predictedDisplayTime, &spaceLocation); + result == XR_SUCCESS) { if ((spaceLocation.locationFlags & XR_SPACE_LOCATION_POSITION_VALID_BIT) != 0 && - (spaceLocation.locationFlags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) != 0) + (spaceLocation.locationFlags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) != 0) { m_handSpaceLocation[handIndex] = spaceLocation; } @@ -228,9 +407,10 @@ namespace OpenXRVk void Input::LocateVisualizedSpace(XrTime predictedDisplayTime, XrSpace space, XrSpace baseSpace, OpenXRVk::SpaceType visualizedSpaceType) { - XrSpaceLocation spaceLocation{ XR_TYPE_SPACE_LOCATION }; - XrResult result = xrLocateSpace(space, baseSpace, predictedDisplayTime, &spaceLocation); - if (result == XR_SUCCESS) + XrSpaceLocation spaceLocation{}; + spaceLocation.type = XR_TYPE_SPACE_LOCATION; + if (const XrResult result = xrLocateSpace(space, baseSpace, predictedDisplayTime, &spaceLocation); + result == XR_SUCCESS) { if ((spaceLocation.locationFlags & XR_SPACE_LOCATION_POSITION_VALID_BIT) != 0 && (spaceLocation.locationFlags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) != 0) @@ -240,55 +420,118 @@ namespace OpenXRVk } } - AZ::RPI::PoseData Input::GetControllerPose(AZ::u32 viewIndex) const + AZ::RHI::ResultCode Input::GetControllerPose(AZ::u32 handIndex, AZ::RPI::PoseData& outPoseData) const { - AZ::RPI::PoseData viewPose; - if (viewIndex < m_handSpaceLocation.size()) + if (handIndex < AZStd::size(m_handSpaceLocation)) { - const XrQuaternionf& orientation = m_handSpaceLocation[viewIndex].pose.orientation; - const XrVector3f& position = m_handSpaceLocation[viewIndex].pose.position; - viewPose.orientation = AZ::Quaternion(orientation.x, orientation.y, orientation.z, orientation.w); - viewPose.position = AZ::Vector3(position.x, position.y, position.z); + const XrQuaternionf& orientation = m_handSpaceLocation[handIndex].pose.orientation; + const XrVector3f& position = m_handSpaceLocation[handIndex].pose.position; + outPoseData.m_orientation.Set(orientation.x, orientation.y, orientation.z, orientation.w); + outPoseData.m_position.Set(position.x, position.y, position.z); + return AZ::RHI::ResultCode::Success; } - return viewPose; + return AZ::RHI::ResultCode::Fail; } - AZ::RPI::PoseData Input::GetVisualizedSpacePose(OpenXRVk::SpaceType visualizedSpaceType) const + AZ::RHI::ResultCode Input::GetVisualizedSpacePose(OpenXRVk::SpaceType visualizedSpaceType, AZ::RPI::PoseData& outPoseData) const { - AZ::RPI::PoseData viewPose; - uint32_t spaceIndex = static_cast(visualizedSpaceType); - if (spaceIndex < m_xrVisualizedSpaceLocations.size()) + const auto spaceIndex = static_cast(visualizedSpaceType); + if (spaceIndex < AZStd::size(m_xrVisualizedSpaceLocations)) { const XrQuaternionf& orientation = m_xrVisualizedSpaceLocations[spaceIndex].pose.orientation; const XrVector3f& position = m_xrVisualizedSpaceLocations[spaceIndex].pose.position; - viewPose.orientation = AZ::Quaternion(orientation.x, orientation.y, orientation.z, orientation.w); - viewPose.position = AZ::Vector3(position.x, position.y, position.z); + outPoseData.m_orientation.Set(orientation.x, orientation.y, orientation.z, orientation.w); + outPoseData.m_position.Set(position.x, position.y, position.z); + return AZ::RHI::ResultCode::Success; } - return viewPose; + return AZ::RHI::ResultCode::Fail; } - float Input::GetControllerScale(AZ::u32 viewIndex) const + float Input::GetControllerScale(AZ::u32 handIndex) const { - return m_handScale[viewIndex]; + return m_handScale[handIndex]; } - XrAction Input::GetGrabAction() const + XrAction Input::GetSqueezeAction(AZ::u32 handIndex) const { - return m_grabAction; + return (handIndex == static_cast(XR::Side::Left)) + ? GetAction(AzFramework::InputDeviceXRController::Trigger::LGrip) + : GetAction(AzFramework::InputDeviceXRController::Trigger::RGrip); } - XrAction Input::GetPoseAction() const + XrAction Input::GetPoseAction(AZ::u32 handIndex) const { - return m_poseAction; + return (handIndex == static_cast(XR::Side::Left)) + ? GetAction(AzFramework::InputDeviceXRController::ControllerPosePosition::LPos) + : GetAction(AzFramework::InputDeviceXRController::ControllerPosePosition::RPos); } XrAction Input::GetVibrationAction() const { - return m_vibrateAction; + return m_hapticAction; } XrAction Input::GetQuitAction() const { - return m_quitAction; + return GetAction(AzFramework::InputDeviceXRController::Button::Home); + } + + bool Input::GetButtonState(const AzFramework::InputChannelId& channelId) const + { + const auto& state = m_xrControllerImpl->GetRawState(); + return state.GetDigitalButtonState(channelId); + } + + bool Input::GetXButtonState() const + { + return GetButtonState(AzFramework::InputDeviceXRController::Button::X); + } + + bool Input::GetYButtonState() const + { + return GetButtonState(AzFramework::InputDeviceXRController::Button::Y); + } + + bool Input::GetAButtonState() const + { + return GetButtonState(AzFramework::InputDeviceXRController::Button::A); + } + + bool Input::GetBButtonState() const + { + return GetButtonState(AzFramework::InputDeviceXRController::Button::B); + } + + float Input::GetXJoyStickState(AZ::u32 handIndex) const + { + const auto& state = m_xrControllerImpl->GetRawState(); + return (handIndex == static_cast(XR::Side::Left)) + ? state.m_leftThumbStickXState + : state.m_rightThumbStickXState; + } + + float Input::GetYJoyStickState(AZ::u32 handIndex) const + { + const auto& state = m_xrControllerImpl->GetRawState(); + return (handIndex == static_cast(XR::Side::Left)) + ? state.m_leftThumbStickYState + : state.m_rightThumbStickYState; } -} + + float Input::GetSqueezeState(AZ::u32 handIndex) const + { + const auto& state = m_xrControllerImpl->GetRawState(); + return (handIndex == static_cast(XR::Side::Left)) + ? state.m_leftGripState + : state.m_rightGripState; + } + + float Input::GetTriggerState(AZ::u32 handIndex) const + { + const auto& state = m_xrControllerImpl->GetRawState(); + return (handIndex == static_cast(XR::Side::Left)) + ? state.m_leftTriggerState + : state.m_rightTriggerState; + } + +} // namespace OpenXRVk diff --git a/Gems/OpenXRVk/Code/Source/OpenXRVkInstance.cpp b/Gems/OpenXRVk/Code/Source/OpenXRVkInstance.cpp index 43837de7a..272ec85e0 100644 --- a/Gems/OpenXRVk/Code/Source/OpenXRVkInstance.cpp +++ b/Gems/OpenXRVk/Code/Source/OpenXRVkInstance.cpp @@ -10,6 +10,7 @@ #include #include #include +#include namespace OpenXRVk { @@ -82,8 +83,14 @@ namespace OpenXRVk return layerNames; } - AZ::RHI::ResultCode Instance::InitInstanceInternal(AZ::RHI::ValidationMode validationMode) + AZ::RHI::ResultCode Instance::InitInstanceInternal() { + if (!Platform::OpenXRInitializeLoader()) + { + AZ_Error("OpenXRVk", false, "Could not initialize xr loader."); + return AZ::RHI::ResultCode::Fail; + } + XR::RawStringList optionalLayers; XR::RawStringList optionalExtensions = { XR_KHR_VULKAN_ENABLE_EXTENSION_NAME }; @@ -95,7 +102,7 @@ namespace OpenXRVk XR::RawStringList supportedExtensions = FilterList(optionalExtensions, instanceExtensions); m_requiredExtensions.insert(m_requiredExtensions.end(), supportedExtensions.begin(), supportedExtensions.end()); - if (validationMode == AZ::RHI::ValidationMode::Enabled) + if (m_validationMode == AZ::RHI::ValidationMode::Enabled) { AZ_Printf("OpenXRVk", "Available Extensions: (%i)\n", instanceExtensions.size()); for (const AZStd::string& extension : instanceExtensions) @@ -103,6 +110,12 @@ namespace OpenXRVk AZ_Printf("OpenXRVk", "Name=%s\n", extension.c_str()); } + AZ_Printf("OpenXRVk", "Extensions to enable: (%i)\n", m_requiredExtensions.size()); + for (const char* extension : m_requiredExtensions) + { + AZ_Printf("OpenXRVk", "Name=%s\n", extension); + } + AZ_Printf("OpenXRVk", "Available Layers: (%i)\n", instanceLayerNames.size()); for (const AZStd::string& layerName : instanceLayerNames) { @@ -113,8 +126,8 @@ namespace OpenXRVk AZ_Assert(m_xrInstance == XR_NULL_HANDLE, "XR Instance is already initialized"); XrInstanceCreateInfo createInfo{ XR_TYPE_INSTANCE_CREATE_INFO }; createInfo.next = nullptr; - createInfo.enabledExtensionCount = aznumeric_cast(supportedExtensions.size()); - createInfo.enabledExtensionNames = supportedExtensions.data(); + createInfo.enabledExtensionCount = aznumeric_cast(m_requiredExtensions.size()); + createInfo.enabledExtensionNames = m_requiredExtensions.data(); createInfo.enabledApiLayerCount = aznumeric_cast(supportedLayers.size()); createInfo.enabledApiLayerNames = supportedLayers.data(); @@ -129,7 +142,7 @@ namespace OpenXRVk return AZ::RHI::ResultCode::Fail; } - if (validationMode == AZ::RHI::ValidationMode::Enabled) + if (m_validationMode == AZ::RHI::ValidationMode::Enabled) { XrInstanceProperties instanceProperties{ XR_TYPE_INSTANCE_PROPERTIES }; result = xrGetInstanceProperties(m_xrInstance, &instanceProperties); @@ -143,7 +156,7 @@ namespace OpenXRVk } } - AZ_Assert(m_xrInstance != XR_NULL_HANDLE, "XR Isntance is Null"); + AZ_Assert(m_xrInstance != XR_NULL_HANDLE, "XR Instance is Null"); AZ_Assert(m_xrSystemId == XR_NULL_SYSTEM_ID, "XR System id already initialized"); //TODO::Add support for handheld display @@ -177,7 +190,7 @@ namespace OpenXRVk graphicsRequirements.maxApiVersionSupported = legacyRequirements.maxApiVersionSupported; graphicsRequirements.minApiVersionSupported = legacyRequirements.minApiVersionSupported; - if (validationMode == AZ::RHI::ValidationMode::Enabled) + if (m_validationMode == AZ::RHI::ValidationMode::Enabled) { AZ_Printf("OpenXRVk", "graphicsRequirements.maxApiVersionSupported %d.%d.%d\n", XR_VERSION_MAJOR(graphicsRequirements.maxApiVersionSupported), @@ -311,6 +324,15 @@ namespace OpenXRVk extensions.push_back(createInfo.vulkanCreateInfo->ppEnabledExtensionNames[i]); } + if (m_validationMode == AZ::RHI::ValidationMode::Enabled) + { + AZ_Printf("OpenXRVk", "Vulkan instance extensions to enable: (%i)\n", extensions.size()); + for (const AZStd::string& extension : extensions) + { + AZ_Printf("OpenXRVk", "Name=%s\n", extension.c_str()); + } + } + VkInstanceCreateInfo instInfo{ VK_STRUCTURE_TYPE_INSTANCE_CREATE_INFO }; memcpy(&instInfo, createInfo.vulkanCreateInfo, sizeof(instInfo)); instInfo.enabledExtensionCount = aznumeric_cast(extensions.size()); @@ -333,8 +355,11 @@ namespace OpenXRVk return AZ::RHI::ResultCode::Fail; } + FilterAvailableExtensions(m_context); + //Populate the instance descriptor with the correct VkInstance xrInstanceDescriptor->m_outputData.m_xrVkInstance = m_xrVkInstance; + xrInstanceDescriptor->m_outputData.m_context = m_context; //Get the list of Physical devices m_supportedXRDevices = PhysicalDevice::EnumerateDeviceList(m_xrSystemId, m_xrInstance, m_xrVkInstance); diff --git a/Gems/OpenXRVk/Code/Source/OpenXRVkModule.cpp b/Gems/OpenXRVk/Code/Source/OpenXRVkModule.cpp index b1ab53ac4..3db92e124 100644 --- a/Gems/OpenXRVk/Code/Source/OpenXRVkModule.cpp +++ b/Gems/OpenXRVk/Code/Source/OpenXRVkModule.cpp @@ -9,6 +9,7 @@ #include #include #include +#include namespace OpenXRVk { @@ -18,13 +19,14 @@ namespace OpenXRVk { public: AZ_RTTI(Module, "{C34AA64E-0983-4D30-A33C-0D7C7676A20E}", AZ::Module); - AZ_CLASS_ALLOCATOR(Module, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Module, AZ::SystemAllocator); Module() : AZ::Module() { m_descriptors.insert(m_descriptors.end(), { - SystemComponent::CreateDescriptor(), + SystemComponent::CreateDescriptor(), + XRCameraMovementComponent::CreateDescriptor(), }); } diff --git a/Gems/OpenXRVk/Code/Source/OpenXRVkPhysicalDevice.cpp b/Gems/OpenXRVk/Code/Source/OpenXRVkPhysicalDevice.cpp index d8f92c702..eab001cbb 100644 --- a/Gems/OpenXRVk/Code/Source/OpenXRVkPhysicalDevice.cpp +++ b/Gems/OpenXRVk/Code/Source/OpenXRVkPhysicalDevice.cpp @@ -9,26 +9,20 @@ #include #include -namespace OpenXRVk +namespace OpenXRVk::PhysicalDevice { - AZStd::vector PhysicalDevice::EnumerateDeviceList(XrSystemId xrSystemId, XrInstance xrInstance, VkInstance vkInstance) + AZStd::vector EnumerateDeviceList(XrSystemId xrSystemId, XrInstance xrInstance, VkInstance vkInstance) { - AZStd::vector physicalDevices; - - XrVulkanGraphicsDeviceGetInfoKHR deviceGetInfo{ XR_TYPE_VULKAN_GRAPHICS_DEVICE_GET_INFO_KHR }; - deviceGetInfo.systemId = xrSystemId; - deviceGetInfo.vulkanInstance = vkInstance; - VkPhysicalDevice vkPhysicalDevice = VK_NULL_HANDLE; - PFN_xrGetVulkanGraphicsDeviceKHR pfnGetVulkanGraphicsDeviceKHR = nullptr; XrResult result = xrGetInstanceProcAddr( - xrInstance, "xrGetVulkanGraphicsDeviceKHR", reinterpret_cast(&pfnGetVulkanGraphicsDeviceKHR)); + xrInstance, "xrGetVulkanGraphicsDeviceKHR", reinterpret_cast(&pfnGetVulkanGraphicsDeviceKHR)); ASSERT_IF_UNSUCCESSFUL(result); - //TODO::Look into api that can retreive multiple physicall devices if connected + //TODO::Look into api that can retreive multiple physical devices if connected + VkPhysicalDevice vkPhysicalDevice = VK_NULL_HANDLE; result = pfnGetVulkanGraphicsDeviceKHR(xrInstance, xrSystemId, vkInstance, &vkPhysicalDevice); ASSERT_IF_UNSUCCESSFUL(result); - physicalDevices.push_back(vkPhysicalDevice); - return physicalDevices; + + return {vkPhysicalDevice}; } } diff --git a/Gems/OpenXRVk/Code/Source/OpenXRVkSession.cpp b/Gems/OpenXRVk/Code/Source/OpenXRVkSession.cpp index cdc5f6968..2bb104ba1 100644 --- a/Gems/OpenXRVk/Code/Source/OpenXRVkSession.cpp +++ b/Gems/OpenXRVk/Code/Source/OpenXRVkSession.cpp @@ -14,6 +14,7 @@ #include #include #include +#include #include namespace OpenXRVk @@ -47,7 +48,7 @@ namespace OpenXRVk ASSERT_IF_UNSUCCESSFUL(result); LogReferenceSpaces(); - Input* xrVkInput = static_cast(GetInput()); + Input* xrVkInput = GetNativeInput(); xrVkInput->InitializeActionSpace(m_session); xrVkInput->InitializeActionSets(m_session); @@ -197,10 +198,12 @@ namespace OpenXRVk { if (GetDescriptor().m_validationMode == AZ::RHI::ValidationMode::Enabled) { - Input* xrVkInput = static_cast(GetInput()); - LogActionSourceName(xrVkInput->GetGrabAction(), "Grab"); + Input* xrVkInput = GetNativeInput(); + LogActionSourceName(xrVkInput->GetSqueezeAction(static_cast(XR::Side::Left)), "Squeeze Left"); + LogActionSourceName(xrVkInput->GetSqueezeAction(static_cast(XR::Side::Right)), "Squeeze Right"); LogActionSourceName(xrVkInput->GetQuitAction(), "Quit"); - LogActionSourceName(xrVkInput->GetPoseAction(), "Pose"); + LogActionSourceName(xrVkInput->GetPoseAction(static_cast(XR::Side::Left)), "Pose Left"); + LogActionSourceName(xrVkInput->GetPoseAction(static_cast(XR::Side::Right)), "Pose Right"); LogActionSourceName(xrVkInput->GetVibrationAction(), "Vibrate"); } break; @@ -265,28 +268,77 @@ namespace OpenXRVk void Session::LocateControllerSpace(AZ::u32 handIndex) { - Input* xrInput = static_cast(GetInput()); + Input* xrInput = GetNativeInput(); Device* device = static_cast(GetDescriptor().m_device.get()); Space* space = static_cast(GetSpace()); xrInput->LocateControllerSpace(device->GetPredictedDisplayTime(), space->GetXrSpace(OpenXRVk::SpaceType::View), handIndex); } - AZ::RPI::PoseData Session::GetControllerPose(AZ::u32 handIndex) const + AZ::RHI::ResultCode Session::GetControllerPose(AZ::u32 handIndex, AZ::RPI::PoseData& outPoseData) const { - Input* xrInput = static_cast(GetInput()); - return xrInput->GetControllerPose(handIndex); + return GetNativeInput()->GetControllerPose(handIndex, outPoseData); } + AZ::RHI::ResultCode Session::GetControllerStagePose(AZ::u32 handIndex, AZ::RPI::PoseData& outPoseData) const + { + Input* xrInput = GetNativeInput(); + return handIndex == 0 ? xrInput->GetVisualizedSpacePose(OpenXRVk::SpaceType::StageLeft, outPoseData) : + xrInput->GetVisualizedSpacePose(OpenXRVk::SpaceType::StageRight, outPoseData); + } + + AZ::RHI::ResultCode Session::GetViewFrontPose(AZ::RPI::PoseData& outPoseData) const + { + return GetNativeInput()->GetVisualizedSpacePose(OpenXRVk::SpaceType::ViewFront, outPoseData); + } + + AZ::RHI::ResultCode Session::GetViewLocalPose(AZ::RPI::PoseData& outPoseData) const + { + return GetNativeInput()->GetVisualizedSpacePose(OpenXRVk::SpaceType::Local, outPoseData); + } + float Session::GetControllerScale(AZ::u32 handIndex) const { - Input* xrInput = static_cast(GetInput()); - return xrInput->GetControllerScale(handIndex); + return GetNativeInput()->GetControllerScale(handIndex); } - AZ::RPI::PoseData Session::GetViewFrontPose() const + float Session::GetSqueezeState(AZ::u32 handIndex) const { - Input* xrInput = static_cast(GetInput()); - return xrInput->GetVisualizedSpacePose(OpenXRVk::SpaceType::ViewFront); + return GetNativeInput()->GetSqueezeState(handIndex); + } + + float Session::GetTriggerState(AZ::u32 handIndex) const + { + return GetNativeInput()->GetTriggerState(handIndex); + } + + float Session::GetXButtonState() const + { + return (GetNativeInput()->GetXButtonState() ? 1.f : 0.f); + } + + float Session::GetYButtonState() const + { + return (GetNativeInput()->GetYButtonState() ? 1.f : 0.f); + } + + float Session::GetAButtonState() const + { + return (GetNativeInput()->GetAButtonState() ? 1.f : 0.f); + } + + float Session::GetBButtonState() const + { + return (GetNativeInput()->GetBButtonState() ? 1.f : 0.f); + } + + float Session::GetXJoyStickState(AZ::u32 handIndex) const + { + return GetNativeInput()->GetXJoyStickState(handIndex); + } + + float Session::GetYJoyStickState(AZ::u32 handIndex) const + { + return GetNativeInput()->GetYJoyStickState(handIndex); } XrSession Session::GetXrSession() const @@ -327,4 +379,9 @@ namespace OpenXRVk xrDestroySession(m_session); } } + + Input* Session::GetNativeInput() const + { + return static_cast(GetInput()); + } } diff --git a/Gems/OpenXRVk/Code/Source/OpenXRVkSpace.cpp b/Gems/OpenXRVk/Code/Source/OpenXRVkSpace.cpp index 2133d0b86..dbbf74bbb 100644 --- a/Gems/OpenXRVk/Code/Source/OpenXRVkSpace.cpp +++ b/Gems/OpenXRVk/Code/Source/OpenXRVkSpace.cpp @@ -25,7 +25,7 @@ namespace OpenXRVk void Space::CreateVisualizedSpaces(XrSession xrSession) { AZ_Assert(xrSession != XR_NULL_HANDLE, "XR session is null"); - + for (uint32_t i = 0; i < static_cast(SpaceType::Count); i++) { XrReferenceSpaceCreateInfo referenceSpaceCreateInfo = GetXrReferenceSpaceCreateInfo(static_cast(i)); @@ -50,7 +50,7 @@ namespace OpenXRVk { case SpaceType::View: { - //Track the view origin used to generate view transforms for the primary viewer (or centroid of + //Track the view origin used to generate view transforms for the primary viewer (or centroid of //view origins if stereo), with +Y up, +X to the right, and -Z forward. referenceSpaceCreateInfo.referenceSpaceType = XR_REFERENCE_SPACE_TYPE_VIEW; break; @@ -64,7 +64,7 @@ namespace OpenXRVk } case SpaceType::Local: { - //Track center Local space which is world-locked origin, gravity-aligned to exclude + //Track center Local space which is world-locked origin, gravity-aligned to exclude //pitch and roll, with +Y up, +X to the right, and -Z forward. referenceSpaceCreateInfo.referenceSpaceType = XR_REFERENCE_SPACE_TYPE_LOCAL; break; @@ -77,14 +77,14 @@ namespace OpenXRVk } case SpaceType::StageLeft: { - //Track Left Stage space which is basically the center stage translated to the left and down by 5m. + //Track Left Stage space which is basically the center stage translated to the left and down by 5m. referenceSpaceCreateInfo.poseInReferenceSpace = RotateCCWAboutYAxis(0.f, { -5.f, 0.f, -5.f }); referenceSpaceCreateInfo.referenceSpaceType = XR_REFERENCE_SPACE_TYPE_STAGE; break; } case SpaceType::StageRight: { - //Track Right Stage space which is basically the center stage translated to the right and down by 5m. + //Track Right Stage space which is basically the center stage translated to the right and down by 5m. referenceSpaceCreateInfo.poseInReferenceSpace = RotateCCWAboutYAxis(0.f, { 5.f, 0.f, -5.f }); referenceSpaceCreateInfo.referenceSpaceType = XR_REFERENCE_SPACE_TYPE_STAGE; break; diff --git a/Gems/OpenXRVk/Code/Source/OpenXRVkSwapChain.cpp b/Gems/OpenXRVk/Code/Source/OpenXRVkSwapChain.cpp index d7bab3f14..d1dbb1dfc 100644 --- a/Gems/OpenXRVk/Code/Source/OpenXRVkSwapChain.cpp +++ b/Gems/OpenXRVk/Code/Source/OpenXRVkSwapChain.cpp @@ -6,10 +6,14 @@ * */ +#include #include #include #include #include +#include +#include +#include #include #include #include @@ -41,7 +45,7 @@ namespace OpenXRVk m_height = height; return AZ::RHI::ResultCode::Success; } - + AZ::u32 SwapChain::View::GetCurrentImageIndex() const { return m_activeImageIndex; @@ -62,7 +66,7 @@ namespace OpenXRVk { return m_handle; } - + AZ::u32 SwapChain::View::GetWidth() const { return m_width; @@ -109,13 +113,13 @@ namespace OpenXRVk //Only supporting XR_VIEW_CONFIGURATION_TYPE_PRIMARY_STEREO for now XrViewConfigurationType viewConfigType = XR_VIEW_CONFIGURATION_TYPE_PRIMARY_STEREO; - result = xrEnumerateViewConfigurationViews(xrInstance, xrSystemId, - viewConfigType, 0, &m_numViews, nullptr); + result = xrEnumerateViewConfigurationViews(xrInstance, xrSystemId, + viewConfigType, 0, &m_numViews, nullptr); WARN_IF_UNSUCCESSFUL(result); m_configViews.resize(m_numViews, { XR_TYPE_VIEW_CONFIGURATION_VIEW }); - result = xrEnumerateViewConfigurationViews(xrInstance, xrSystemId, - viewConfigType, m_numViews, &m_numViews, m_configViews.data()); + result = xrEnumerateViewConfigurationViews(xrInstance, xrSystemId, + viewConfigType, m_numViews, &m_numViews, m_configViews.data()); WARN_IF_UNSUCCESSFUL(result); // Create and cache view buffer for xrLocateViews later. @@ -129,7 +133,7 @@ namespace OpenXRVk result = xrEnumerateSwapchainFormats(xrSession, 0, &swapchainFormatCount, nullptr); AZStd::vector swapChainFormats(swapchainFormatCount); result = xrEnumerateSwapchainFormats(xrSession, aznumeric_cast(swapChainFormats.size()), - &swapchainFormatCount, swapChainFormats.data()); + &swapchainFormatCount, swapChainFormats.data()); WARN_IF_UNSUCCESSFUL(result); AZ_Assert(swapchainFormatCount == swapChainFormats.size(), "Size mismatch swapchainFormatCount %i swapChainFormats size %i", swapchainFormatCount, swapChainFormats.size()); @@ -141,7 +145,7 @@ namespace OpenXRVk AZStd::string swapchainFormatsString; for (int64_t format : swapChainFormats) { - const bool selected = format == m_colorSwapChainFormat; + const bool selected = format == static_cast(m_colorSwapChainFormat); swapchainFormatsString += " "; if (selected) { @@ -156,10 +160,21 @@ namespace OpenXRVk AZ_Printf("OpenXRVk", "Swapchain Formats: %s\n", swapchainFormatsString.c_str()); } + double xrViewResolutionScale = 1.0; + if (auto* settingsRegistry = AZ::SettingsRegistry::Get(); + settingsRegistry != nullptr) + { + AZ::SettingsRegistryMergeUtils::PlatformGet(*settingsRegistry, xrViewResolutionScale, + "/O3DE/Atom/OpenXR", "ViewResolutionScale"); + } + // Create a swapchain for each view. for (uint32_t i = 0; i < m_numViews; i++) { - const XrViewConfigurationView& configView = m_configViews[i]; + XrViewConfigurationView& configView = m_configViews[i]; + + configView.recommendedImageRectWidth = static_cast(static_cast(configView.recommendedImageRectWidth) * xrViewResolutionScale); + configView.recommendedImageRectHeight = static_cast(static_cast(configView.recommendedImageRectHeight) * xrViewResolutionScale); if (GetDescriptor().m_validationMode == AZ::RHI::ValidationMode::Enabled) { @@ -175,7 +190,7 @@ namespace OpenXRVk // Create the xr swapchain. XrSwapchainCreateInfo swapchainCreateInfo{ XR_TYPE_SWAPCHAIN_CREATE_INFO }; swapchainCreateInfo.arraySize = m_arraySize; - swapchainCreateInfo.format = m_colorSwapChainFormat; + swapchainCreateInfo.format = static_cast(m_colorSwapChainFormat); swapchainCreateInfo.width = configView.recommendedImageRectWidth; swapchainCreateInfo.height = configView.recommendedImageRectHeight; swapchainCreateInfo.mipCount = m_mipCount; @@ -189,14 +204,14 @@ namespace OpenXRVk AZ::RHI::ResultCode resultCode = viewSwapChain->Init(handle, swapchainCreateInfo.width, swapchainCreateInfo.height); if(resultCode == AZ::RHI::ResultCode::Success) - { + { m_viewSwapchains.push_back(viewSwapChain); } } result = xrEnumerateSwapchainImages(viewSwapChain->GetSwapChainHandle(), 0, &viewSwapChain->m_numImages, nullptr); WARN_IF_UNSUCCESSFUL(result); - + viewSwapChain->m_swapChainImageHeaders.resize(viewSwapChain->m_numImages); viewSwapChain->m_swapchainImages.resize(viewSwapChain->m_numImages); for (AZ::u32 j = 0; j < viewSwapChain->m_numImages; ++j) @@ -223,20 +238,21 @@ namespace OpenXRVk return AZ::RHI::ResultCode::Success; } - AZ::s64 SwapChain::SelectColorSwapChainFormat(const AZStd::vector& runtimeFormats) const + VkFormat SwapChain::SelectColorSwapChainFormat(const AZStd::vector& runtimeFormats) const { // List of supported color swapchain formats. - constexpr AZ::s64 SupportedColorSwapchainFormats[] = { VK_FORMAT_B8G8R8A8_UNORM }; + constexpr int64_t SupportedColorSwapchainFormats[] = { VK_FORMAT_B8G8R8A8_UNORM, VK_FORMAT_R8G8B8A8_UNORM }; auto swapchainFormatIt = AZStd::find_first_of(runtimeFormats.begin(), runtimeFormats.end(), AZStd::begin(SupportedColorSwapchainFormats), AZStd::end(SupportedColorSwapchainFormats)); - if (swapchainFormatIt == runtimeFormats.end()) + if (swapchainFormatIt == runtimeFormats.end()) { AZ_Error("OpenXRVk", false, "No runtime swapchain format supported for color swapchain"); + return VK_FORMAT_UNDEFINED; } - return *swapchainFormatIt; + return static_cast(*swapchainFormatIt); } AZStd::vector SwapChain::GetViewConfigs() const @@ -249,7 +265,7 @@ namespace OpenXRVk AZ::Vulkan::XRSwapChainDescriptor* xrSwapChainDescriptor = static_cast(swapchainDescriptor); uint32_t swapChainIndex = xrSwapChainDescriptor->m_inputData.m_swapChainIndex; uint32_t swapChainImageIndex = xrSwapChainDescriptor->m_inputData.m_swapChainImageIndex; - + XR::SwapChain::View* viewSwapChain = GetView(swapChainIndex); SwapChain::Image* swapchainImage = static_cast(viewSwapChain->m_images[swapChainImageIndex].get()); xrSwapChainDescriptor->m_outputData.m_nativeImage = swapchainImage->GetNativeImage(); @@ -266,6 +282,11 @@ namespace OpenXRVk return m_configViews[viewIndex].recommendedImageRectHeight; } + AZ::RHI::Format SwapChain::GetSwapChainFormat([[maybe_unused]] AZ::u32 viewIndex) const + { + return AZ::Vulkan::ConvertFormat(m_colorSwapChainFormat); + } + void SwapChain::ShutdownInternal() { for(XR::Ptr viewSwapChain : m_viewSwapchains) diff --git a/Gems/OpenXRVk/Code/Source/OpenXRVkSystemComponent.cpp b/Gems/OpenXRVk/Code/Source/OpenXRVkSystemComponent.cpp index c7303fc49..e826317ff 100644 --- a/Gems/OpenXRVk/Code/Source/OpenXRVkSystemComponent.cpp +++ b/Gems/OpenXRVk/Code/Source/OpenXRVkSystemComponent.cpp @@ -6,7 +6,9 @@ * */ + #include + #include #include #include @@ -24,11 +26,13 @@ namespace OpenXRVk void SystemComponent::Reflect(AZ::ReflectContext* context) { - if (AZ::SerializeContext* serializeContext = azrtti_cast(context)) + if (auto serializeContext = azrtti_cast(context)) { serializeContext->Class() ->Version(1); } + + AzFramework::InputDeviceXRController::Reflect(context); } SystemComponent::SystemComponent() diff --git a/Gems/OpenXRVk/Code/Source/OpenXRVkUtils.cpp b/Gems/OpenXRVk/Code/Source/OpenXRVkUtils.cpp index 32215b376..bf066e2e4 100644 --- a/Gems/OpenXRVk/Code/Source/OpenXRVkUtils.cpp +++ b/Gems/OpenXRVk/Code/Source/OpenXRVkUtils.cpp @@ -74,4 +74,14 @@ namespace OpenXRVk } return list; } + + void FilterAvailableExtensions(GladVulkanContext& context) + { + // In some cases (like when running with the GPU profiler on Quest2) the extension is reported as available + // but the function pointers do not load. Disable the extension if that's the case. + if (context.EXT_debug_utils && !context.CmdBeginDebugUtilsLabelEXT) + { + context.EXT_debug_utils = 0; + } + } } diff --git a/Gems/OpenXRVk/Code/Source/Platform/Android/OpenXRVkCommon_Android.cpp b/Gems/OpenXRVk/Code/Source/Platform/Android/OpenXRVkCommon_Android.cpp new file mode 100644 index 000000000..94e02aad6 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Android/OpenXRVkCommon_Android.cpp @@ -0,0 +1,74 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include + + +namespace OpenXRVk::Platform +{ + bool OpenXRInitializeLoader() + { + PFN_xrInitializeLoaderKHR initializeLoader = nullptr; + XrResult result = xrGetInstanceProcAddr( + XR_NULL_HANDLE, "xrInitializeLoaderKHR", + reinterpret_cast(&initializeLoader)); + if (IsError(result)) + { + return false; + } + + AZ::Android::AndroidEnv* androidEnv = AZ::Android::AndroidEnv::Get(); + AZ_Assert(androidEnv != nullptr, "Invalid android environment"); + + JavaVM* javaVM = nullptr; + androidEnv->GetJniEnv()->GetJavaVM(&javaVM); + AZ_Assert(javaVM != nullptr, "Invalid Java VM"); + jobject javaActivity = androidEnv->GetActivityRef(); + + XrLoaderInitInfoAndroidKHR loaderInitInfoAndroid; + memset(&loaderInitInfoAndroid, 0, sizeof(loaderInitInfoAndroid)); + loaderInitInfoAndroid.type = XR_TYPE_LOADER_INIT_INFO_ANDROID_KHR; + loaderInitInfoAndroid.next = nullptr; + loaderInitInfoAndroid.applicationVM = javaVM; + loaderInitInfoAndroid.applicationContext = javaActivity; + + result = initializeLoader(reinterpret_cast(&loaderInitInfoAndroid)); + if (IsError(result)) + { + return false; + } + + return true; + } + + void OpenXRBeginFrameInternal() + { + } + + void OpenXREndFrameInternal() + { + // OpenXR's xrEndFrame function internally uses the application's Java VM (passed in OpenXRInitializeLoader). + // xrEndFrame function is called from the thread related to the presentation queue (not the main thread) and + // that causes to create a temporary JNI Environment for this thread, which is not optimal. + // Calling GetJniEnv() will attach the JNI Environment to this thread. + AZ::Android::AndroidEnv* androidEnv = AZ::Android::AndroidEnv::Get(); + AZ_Assert(androidEnv != nullptr, "Invalid android environment"); + androidEnv->GetJniEnv(); + } + + void OpenXRPostFrameInternal() + { + // Now that EndFrame has finished, calling GetJniEnv() again from the main thread + // to attach the JNI Environment back to the main thread. + AZ::Android::AndroidEnv* androidEnv = AZ::Android::AndroidEnv::Get(); + AZ_Assert(androidEnv != nullptr, "Invalid android environment"); + androidEnv->GetJniEnv(); + } +} diff --git a/Gems/OpenXRVk/Code/Source/Platform/Android/OpenXRVk_Traits_Android.h b/Gems/OpenXRVk/Code/Source/Platform/Android/OpenXRVk_Traits_Android.h index 03320d1dd..e0b410959 100644 --- a/Gems/OpenXRVk/Code/Source/Platform/Android/OpenXRVk_Traits_Android.h +++ b/Gems/OpenXRVk/Code/Source/Platform/Android/OpenXRVk_Traits_Android.h @@ -6,3 +6,5 @@ * */ #pragma once + +#define O3DE_TRAIT_DISABLE_FAILED_OPENXRVK_TESTS diff --git a/Gems/OpenXRVk/Code/Source/Platform/Android/platform_private_android_files.cmake b/Gems/OpenXRVk/Code/Source/Platform/Android/platform_private_android_files.cmake index c05430695..5dfe1318d 100644 --- a/Gems/OpenXRVk/Code/Source/Platform/Android/platform_private_android_files.cmake +++ b/Gems/OpenXRVk/Code/Source/Platform/Android/platform_private_android_files.cmake @@ -7,6 +7,10 @@ # set(FILES + OpenXRVkCommon_Android.cpp OpenXRVk_Traits_Android.h OpenXRVk_Traits_Platform.h + ../Common/Default/InputDeviceXRController_Default.cpp + ../Common/Default/OculusTouch_Default.cpp + ../Common/Default/OculusTouch_Default.h ) diff --git a/Gems/OpenXRVk/Code/Source/Platform/Android/platform_test_android_files.cmake b/Gems/OpenXRVk/Code/Source/Platform/Android/platform_test_android_files.cmake new file mode 100644 index 000000000..83a7f063a --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Android/platform_test_android_files.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ../Common/Unimplemented/OpenXRVkTest_Unimplemented.cpp +) diff --git a/Gems/OpenXRVk/Code/Source/Platform/Common/Default/InputDeviceXRController_Default.cpp b/Gems/OpenXRVk/Code/Source/Platform/Common/Default/InputDeviceXRController_Default.cpp new file mode 100644 index 000000000..3f6a92ea2 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Common/Default/InputDeviceXRController_Default.cpp @@ -0,0 +1,23 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include "OculusTouch_Default.h" + +namespace AzFramework +{ + //////////////////////////////////////////////////////////////////////////////////////////////// + InputDeviceXRController::Implementation* InputDeviceXRController::Implementation::Create( + InputDeviceXRController& inputDevice) + { + // Future versions of this function may be able to select from a variety of different device + // types and do so based on knowledge of the hardware, but for now force the Oculus Touch controller. + return aznew OpenXRVk::InputDeviceOculusTouch(inputDevice); + } + +} // namespace AzFramework diff --git a/Gems/OpenXRVk/Code/Source/Platform/Common/Default/OculusTouch_Default.cpp b/Gems/OpenXRVk/Code/Source/Platform/Common/Default/OculusTouch_Default.cpp new file mode 100644 index 000000000..6f8aad84e --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Common/Default/OculusTouch_Default.cpp @@ -0,0 +1,161 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "OculusTouch_Default.h" + +#include + +namespace OpenXRVk +{ + //////////////////////////////////////////////////////////////////////////////////////////////// + //! Map of digital button ids keyed by their button bitmask + const AzFramework::InputDeviceXRController::Implementation::ButtonIdToBitMaskMap GetButtonIdToBitMaskMap() + { + using xrc = AzFramework::InputDeviceXRController; + return { + { xrc::Button::A, (1 << 0) }, + { xrc::Button::B, (1 << 1) }, + { xrc::Button::X, (1 << 2) }, + { xrc::Button::Y, (1 << 3) }, + { xrc::Button::Home, (1 << 4) }, + { xrc::Button::Menu, (1 << 5) }, + { xrc::Button::L3, (1 << 6) }, + { xrc::Button::R3, (1 << 7) }, + { xrc::Button::TA, (1 << 8) }, + { xrc::Button::TB, (1 << 9) }, + { xrc::Button::TX, (1 << 10) }, + { xrc::Button::TY, (1 << 11) }, + { xrc::Button::TLStick, (1 << 12) }, + { xrc::Button::TRStick, (1 << 13) }, + { xrc::Button::TLRest, (1 << 14) }, + { xrc::Button::TRRest, (1 << 15) }, + { xrc::Button::TLTrig, (1 << 16) }, + { xrc::Button::TRTrig, (1 << 17) }, + }; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + InputDeviceOculusTouch::InputDeviceOculusTouch(AzFramework::InputDeviceXRController& inputDevice) + : AzFramework::InputDeviceXRController::Implementation(inputDevice) + , m_rawControllerState(GetButtonIdToBitMaskMap()) + { + // These are guesses for now + m_rawControllerState.m_triggerMaxValue = 1.f; + m_rawControllerState.m_triggerDeadZoneValue = 0.1f; + m_rawControllerState.m_thumbStickMaxValue = 1.f; + m_rawControllerState.m_leftThumbStickDeadZoneValue = 0.1f; + m_rawControllerState.m_rightThumbStickDeadZoneValue = 0.1f; + + using xrc = AzFramework::InputDeviceXRController; + m_xrPathMap = { + { xrc::Button::A, "/user/hand/right/input/a/click" }, + { xrc::Button::B, "/user/hand/right/input/b/click" }, + { xrc::Button::X, "/user/hand/left/input/x/click" }, + { xrc::Button::Y, "/user/hand/left/input/y/click" }, + { xrc::Button::Home, "/user/hand/right/input/system/click" }, + { xrc::Button::Menu, "/user/hand/left/input/menu/click" }, + { xrc::Button::L3, "/user/hand/left/input/thumbstick/click" }, + { xrc::Button::R3, "/user/hand/right/input/thumbstick/click" }, + { xrc::Button::TA, "/user/hand/right/input/a/touch" }, + { xrc::Button::TB, "/user/hand/right/input/b/touch" }, + { xrc::Button::TX, "/user/hand/left/input/x/touch" }, + { xrc::Button::TY, "/user/hand/left/input/y/touch" }, + { xrc::Button::TLStick, "/user/hand/left/input/thumbstick/touch" }, + { xrc::Button::TRStick, "/user/hand/right/input/thumbstick/touch" }, + { xrc::Button::TLRest, "/user/hand/left/input/thumbrest/touch" }, + { xrc::Button::TRRest, "/user/hand/right/input/thumbrest/touch" }, + { xrc::Button::TLTrig, "/user/hand/left/input/trigger/touch" }, + { xrc::Button::TRTrig, "/user/hand/right/input/trigger/touch" }, + { xrc::Trigger::LTrigger, "/user/hand/left/input/trigger/value" }, + { xrc::Trigger::RTrigger, "/user/hand/right/input/trigger/value" }, + { xrc::Trigger::LGrip, "/user/hand/left/input/squeeze/value" }, + { xrc::Trigger::RGrip, "/user/hand/right/input/squeeze/value" }, + { xrc::ThumbStickAxis1D::LX, "/user/hand/left/input/thumbstick/x" }, + { xrc::ThumbStickAxis1D::LY, "/user/hand/left/input/thumbstick/y" }, + { xrc::ThumbStickAxis1D::RX, "/user/hand/right/input/thumbstick/x" }, + { xrc::ThumbStickAxis1D::RY, "/user/hand/right/input/thumbstick/y" }, + { xrc::ControllerPosePosition::LPos, "/user/hand/left/input/grip/pose" }, + { xrc::ControllerPosePosition::RPos, "/user/hand/right/input/grip/pose" }, + { xrc::ControllerPoseOrientation::LOrient, "/user/hand/left/input/aim/pose" }, + { xrc::ControllerPoseOrientation::ROrient, "/user/hand/right/input/aim/pose" }, + }; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + InputDeviceOculusTouch::~InputDeviceOculusTouch() = default; + + //////////////////////////////////////////////////////////////////////////////////////////////// + AZStd::string InputDeviceOculusTouch::GetInputChannelPath(const AzFramework::InputChannelId& channelId) const + { + if (const auto it = m_xrPathMap.find(channelId); + it != m_xrPathMap.end()) + { + return{ it->second }; + } + return {}; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + AZStd::string InputDeviceOculusTouch::GetInputDeviceProfilePath() const + { + return { "/interaction_profiles/oculus/touch_controller" }; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + AZStd::string InputDeviceOculusTouch::GetLeftHandSubPath() const + { + return { "/user/hand/left" }; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + AZStd::string InputDeviceOculusTouch::GetRightHandSubPath() const + { + return { "/user/hand/right" }; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceOculusTouch::RegisterTickCallback(TickCallbackFn callbackFn) + { + m_tickCallback = callbackFn; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + InputDeviceOculusTouch::RawXRControllerState& InputDeviceOculusTouch::GetRawState() + { + return m_rawControllerState; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + bool InputDeviceOculusTouch::IsConnected() const + { + return m_isConnected; + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceOculusTouch::SetVibration(float leftMotorSpeedNormalized, float rightMotorSpeedNormalized) + { + if (m_isConnected) + { + // Set vibration values on the raw data structure, they will be consumed on the next tick + m_rawControllerState.m_leftMotorVibrationValue = leftMotorSpeedNormalized; + m_rawControllerState.m_rightMotorVibrationValue = rightMotorSpeedNormalized; + } + } + + //////////////////////////////////////////////////////////////////////////////////////////////// + void InputDeviceOculusTouch::TickInputDevice() + { + if (m_tickCallback) + { + m_tickCallback(); + + ProcessRawControllerState(m_rawControllerState); + } + } + +} // namespace OpenXRVk diff --git a/Gems/OpenXRVk/Code/Source/Platform/Common/Default/OculusTouch_Default.h b/Gems/OpenXRVk/Code/Source/Platform/Common/Default/OculusTouch_Default.h new file mode 100644 index 000000000..1c9ec61a5 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Common/Default/OculusTouch_Default.h @@ -0,0 +1,62 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + + +namespace OpenXRVk +{ + //////////////////////////////////////////////////////////////////////////////////////////////// + //! Platform/API-specific implementation for Oculus Touch Controller input device + class InputDeviceOculusTouch + : public AzFramework::InputDeviceXRController::Implementation + { + public: + //////////////////////////////////////////////////////////////////////////////////////////// + // Allocator + AZ_CLASS_ALLOCATOR(InputDeviceOculusTouch, AZ::SystemAllocator); + + //////////////////////////////////////////////////////////////////////////////////////////// + explicit InputDeviceOculusTouch(AzFramework::InputDeviceXRController& inputDevice); + AZ_DISABLE_COPY_MOVE(InputDeviceOculusTouch); + ~InputDeviceOculusTouch() override; + + AZStd::string GetInputChannelPath(const AzFramework::InputChannelId& channelId) const override; + AZStd::string GetInputDeviceProfilePath() const override; + AZStd::string GetLeftHandSubPath() const override; + AZStd::string GetRightHandSubPath() const override; + void RegisterTickCallback(TickCallbackFn callbackFn) override; + RawXRControllerState& GetRawState() override; + + private: + //////////////////////////////////////////////////////////////////////////////////////////// + //! @see AzFramework::InputDeviceXRController::Implementation::IsConnected + bool IsConnected() const override; + + //////////////////////////////////////////////////////////////////////////////////////////// + //! @see AzFramework::InputDeviceXRController::Implementation::SetVibration + void SetVibration(float leftMotorSpeedNormalized, float rightMotorSpeedNormalized) override; + + //////////////////////////////////////////////////////////////////////////////////////////// + //! @see AzFramework::InputDeviceXRController::Implementation::TickInputDevice + void TickInputDevice() override; + + //////////////////////////////////////////////////////////////////////////////////////////// + // Data + RawXRControllerState m_rawControllerState; //!< The latest raw xr controller input state + bool m_isConnected{}; //!< Is the controller(s) currently connected? + + TickCallbackFn m_tickCallback{ nullptr }; + + AZStd::unordered_map m_xrPathMap{}; + }; + +} // namespace OpenXRVk diff --git a/Gems/OpenXRVk/Code/Source/Platform/Common/Unimplemented/InputDeviceXRController_Unimplemented.cpp b/Gems/OpenXRVk/Code/Source/Platform/Common/Unimplemented/InputDeviceXRController_Unimplemented.cpp new file mode 100644 index 000000000..c1b5ed97d --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Common/Unimplemented/InputDeviceXRController_Unimplemented.cpp @@ -0,0 +1,20 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +namespace AzFramework +{ + //////////////////////////////////////////////////////////////////////////////////////////////// + InputDeviceXRController::Implementation* InputDeviceXRController::Implementation::Create( + InputDeviceXRController& inputDevice) + { + return nullptr; + } + +} // namespace AzFramework diff --git a/Gems/OpenXRVk/Code/Source/Platform/Common/Unimplemented/OpenXRVkCommon_Unimplemented.cpp b/Gems/OpenXRVk/Code/Source/Platform/Common/Unimplemented/OpenXRVkCommon_Unimplemented.cpp new file mode 100644 index 000000000..a25a35af1 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Common/Unimplemented/OpenXRVkCommon_Unimplemented.cpp @@ -0,0 +1,29 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +namespace OpenXRVk::Platform +{ + bool OpenXRInitializeLoader() + { + return true; + } + + void OpenXRBeginFrameInternal() + { + } + + void OpenXREndFrameInternal() + { + } + + void OpenXRPostFrameInternal() + { + } +} diff --git a/Gems/OpenXRVk/Code/Source/Platform/Common/Unimplemented/OpenXRVkTest_Unimplemented.cpp b/Gems/OpenXRVk/Code/Source/Platform/Common/Unimplemented/OpenXRVkTest_Unimplemented.cpp new file mode 100644 index 000000000..9ee996aee --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Common/Unimplemented/OpenXRVkTest_Unimplemented.cpp @@ -0,0 +1,24 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +#include "OpenXRVk_Traits_Platform.h" +#include "OpenXRVkTests.h" + +void OpenXRVkTest::SetupInternal() +{ + +} + +void OpenXRVkTest::TearDownInternal() +{ + +} + + diff --git a/Gems/OpenXRVk/Code/Source/Platform/Linux/OpenXRVk_Traits_Linux.h b/Gems/OpenXRVk/Code/Source/Platform/Linux/OpenXRVk_Traits_Linux.h index 03320d1dd..e0b410959 100644 --- a/Gems/OpenXRVk/Code/Source/Platform/Linux/OpenXRVk_Traits_Linux.h +++ b/Gems/OpenXRVk/Code/Source/Platform/Linux/OpenXRVk_Traits_Linux.h @@ -6,3 +6,5 @@ * */ #pragma once + +#define O3DE_TRAIT_DISABLE_FAILED_OPENXRVK_TESTS diff --git a/Gems/OpenXRVk/Code/Source/Platform/Linux/PAL_linux.cmake b/Gems/OpenXRVk/Code/Source/Platform/Linux/PAL_linux.cmake index 8c94a2c04..23924e2e1 100644 --- a/Gems/OpenXRVk/Code/Source/Platform/Linux/PAL_linux.cmake +++ b/Gems/OpenXRVk/Code/Source/Platform/Linux/PAL_linux.cmake @@ -6,4 +6,4 @@ # # -set(PAL_TRAIT_OPENXRVK_SUPPORTED TRUE) +set(PAL_TRAIT_OPENXRVK_SUPPORTED FALSE) diff --git a/Gems/OpenXRVk/Code/Source/Platform/Linux/platform_private_linux_files.cmake b/Gems/OpenXRVk/Code/Source/Platform/Linux/platform_private_linux_files.cmake index 38ea7b3a8..d6bc81be5 100644 --- a/Gems/OpenXRVk/Code/Source/Platform/Linux/platform_private_linux_files.cmake +++ b/Gems/OpenXRVk/Code/Source/Platform/Linux/platform_private_linux_files.cmake @@ -9,4 +9,8 @@ set(FILES OpenXRVk_Traits_Linux.h OpenXRVk_Traits_Platform.h + ../Common/Default/InputDeviceXRController_Default.cpp + ../Common/Default/OculusTouch_Default.cpp + ../Common/Default/OculusTouch_Default.h + ../Common/Unimplemented/OpenXRVkCommon_Unimplemented.cpp ) diff --git a/Gems/OpenXRVk/Code/Source/Platform/Linux/platform_test_linux_files.cmake b/Gems/OpenXRVk/Code/Source/Platform/Linux/platform_test_linux_files.cmake new file mode 100644 index 000000000..83a7f063a --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Linux/platform_test_linux_files.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ../Common/Unimplemented/OpenXRVkTest_Unimplemented.cpp +) diff --git a/Gems/OpenXRVk/Code/Source/Platform/Mac/OpenXRVk_Traits_Mac.h b/Gems/OpenXRVk/Code/Source/Platform/Mac/OpenXRVk_Traits_Mac.h new file mode 100644 index 000000000..e0b410959 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Mac/OpenXRVk_Traits_Mac.h @@ -0,0 +1,10 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#define O3DE_TRAIT_DISABLE_FAILED_OPENXRVK_TESTS diff --git a/Gems/OpenXRVk/Code/Source/Platform/Mac/OpenXRVk_Traits_Platform.h b/Gems/OpenXRVk/Code/Source/Platform/Mac/OpenXRVk_Traits_Platform.h new file mode 100644 index 000000000..cefae2d74 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Mac/OpenXRVk_Traits_Platform.h @@ -0,0 +1,10 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include diff --git a/Gems/OpenXRVk/Code/Source/Platform/Mac/platform_private_mac_files.cmake b/Gems/OpenXRVk/Code/Source/Platform/Mac/platform_private_mac_files.cmake new file mode 100644 index 000000000..8d894cd70 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Mac/platform_private_mac_files.cmake @@ -0,0 +1,14 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + OpenXRVk_Traits_Mac.h + OpenXRVk_Traits_Platform.h + ../Common/Unimplemented/InputDeviceXRController_Unimplemented.cpp + ../Common/Unimplemented/OpenXRVkCommon_Unimplemented.cpp +) diff --git a/Gems/OpenXRVk/Code/Source/Platform/Mac/platform_private_static_mac.cmake b/Gems/OpenXRVk/Code/Source/Platform/Mac/platform_private_static_mac.cmake new file mode 100644 index 000000000..5cd1fb5a2 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Mac/platform_private_static_mac.cmake @@ -0,0 +1,8 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + diff --git a/Gems/OpenXRVk/Code/Source/Platform/Mac/platform_test_mac_files.cmake b/Gems/OpenXRVk/Code/Source/Platform/Mac/platform_test_mac_files.cmake new file mode 100644 index 000000000..83a7f063a --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Mac/platform_test_mac_files.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ../Common/Unimplemented/OpenXRVkTest_Unimplemented.cpp +) diff --git a/Gems/OpenXRVk/Code/Source/Platform/Windows/OpenXRVk_Traits_Windows.h b/Gems/OpenXRVk/Code/Source/Platform/Windows/OpenXRVk_Traits_Windows.h index 03320d1dd..e0b410959 100644 --- a/Gems/OpenXRVk/Code/Source/Platform/Windows/OpenXRVk_Traits_Windows.h +++ b/Gems/OpenXRVk/Code/Source/Platform/Windows/OpenXRVk_Traits_Windows.h @@ -6,3 +6,5 @@ * */ #pragma once + +#define O3DE_TRAIT_DISABLE_FAILED_OPENXRVK_TESTS diff --git a/Gems/OpenXRVk/Code/Source/Platform/Windows/platform_private_windows_files.cmake b/Gems/OpenXRVk/Code/Source/Platform/Windows/platform_private_windows_files.cmake index 5ab63336a..314d4cb95 100644 --- a/Gems/OpenXRVk/Code/Source/Platform/Windows/platform_private_windows_files.cmake +++ b/Gems/OpenXRVk/Code/Source/Platform/Windows/platform_private_windows_files.cmake @@ -9,4 +9,8 @@ set(FILES OpenXRVk_Traits_Windows.h OpenXRVk_Traits_Platform.h + ../Common/Default/InputDeviceXRController_Default.cpp + ../Common/Default/OculusTouch_Default.cpp + ../Common/Default/OculusTouch_Default.h + ../Common/Unimplemented/OpenXRVkCommon_Unimplemented.cpp ) diff --git a/Gems/OpenXRVk/Code/Source/Platform/Windows/platform_test_windows_files.cmake b/Gems/OpenXRVk/Code/Source/Platform/Windows/platform_test_windows_files.cmake new file mode 100644 index 000000000..83a7f063a --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/Windows/platform_test_windows_files.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ../Common/Unimplemented/OpenXRVkTest_Unimplemented.cpp +) diff --git a/Gems/OpenXRVk/Code/Source/Platform/iOS/OpenXRVk_Traits_Platform.h b/Gems/OpenXRVk/Code/Source/Platform/iOS/OpenXRVk_Traits_Platform.h new file mode 100644 index 000000000..63ff45fa4 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/iOS/OpenXRVk_Traits_Platform.h @@ -0,0 +1,10 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include diff --git a/Gems/OpenXRVk/Code/Source/Platform/iOS/OpenXRVk_Traits_iOS.h b/Gems/OpenXRVk/Code/Source/Platform/iOS/OpenXRVk_Traits_iOS.h new file mode 100644 index 000000000..e0b410959 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/iOS/OpenXRVk_Traits_iOS.h @@ -0,0 +1,10 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#define O3DE_TRAIT_DISABLE_FAILED_OPENXRVK_TESTS diff --git a/Gems/OpenXRVk/Code/Source/Platform/iOS/platform_private_ios_files.cmake b/Gems/OpenXRVk/Code/Source/Platform/iOS/platform_private_ios_files.cmake new file mode 100644 index 000000000..3232054f7 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/iOS/platform_private_ios_files.cmake @@ -0,0 +1,14 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + OpenXRVk_Traits_iOS.h + OpenXRVk_Traits_Platform.h + ../Common/Unimplemented/InputDeviceXRController_Unimplemented.cpp + ../Common/Unimplemented/OpenXRVkCommon_Unimplemented.cpp +) diff --git a/Gems/OpenXRVk/Code/Source/Platform/iOS/platform_private_static_ios.cmake b/Gems/OpenXRVk/Code/Source/Platform/iOS/platform_private_static_ios.cmake new file mode 100644 index 000000000..5cd1fb5a2 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/iOS/platform_private_static_ios.cmake @@ -0,0 +1,8 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + diff --git a/Gems/OpenXRVk/Code/Source/Platform/iOS/platform_test_ios_files.cmake b/Gems/OpenXRVk/Code/Source/Platform/iOS/platform_test_ios_files.cmake new file mode 100644 index 000000000..83a7f063a --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/Platform/iOS/platform_test_ios_files.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ../Common/Unimplemented/OpenXRVkTest_Unimplemented.cpp +) diff --git a/Gems/OpenXRVk/Code/Source/XRCameraMovementComponent.cpp b/Gems/OpenXRVk/Code/Source/XRCameraMovementComponent.cpp new file mode 100644 index 000000000..1978c3a12 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/XRCameraMovementComponent.cpp @@ -0,0 +1,166 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include +#include + + +namespace OpenXRVk +{ + static AZ::Transform GetCameraTransformFromCurrentView() + { + if (const auto viewportContextMgr = AZ::Interface::Get(); + viewportContextMgr != nullptr) + { + if (const AZ::RPI::ViewportContextPtr viewportContext = viewportContextMgr->GetDefaultViewportContext(); + viewportContext != nullptr) + { + if (const AZ::RPI::ViewPtr view = viewportContext->GetDefaultView(); + view != nullptr) + { + return view->GetCameraTransform(); + } + } + } + return AZ::Transform::CreateIdentity(); + } + + void XRCameraMovementComponent::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class() + ->Version(1) + ->Field("Move Speed", &XRCameraMovementComponent::m_moveSpeed) + ->Field("Movement Sensitivity", &XRCameraMovementComponent::m_movementSensitivity) + ; + + if (AZ::EditContext* editContext = serializeContext->GetEditContext()) + { + editContext->Class("XR Camera Movement", "Provides XR controller input to control the camera") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "Gameplay") + ->Attribute(AZ::Edit::Attributes::Icon, "Icons/Components/Component_Placeholder.svg") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->DataElement(AZ::Edit::UIHandlers::Default, &XRCameraMovementComponent::m_moveSpeed, "Move Speed", "Speed of camera movement") + ->Attribute(AZ::Edit::Attributes::Min, 1.f) + ->Attribute(AZ::Edit::Attributes::Max, 50.f) + ->DataElement(AZ::Edit::UIHandlers::Default, &XRCameraMovementComponent::m_movementSensitivity, "Move Sensitivity", "Fine movement sensitivity factor") + ->Attribute(AZ::Edit::Attributes::Min, 0.f) + ->Attribute(AZ::Edit::Attributes::Max, 1.f) + ; + } + } + + if (auto behaviorContext = azrtti_cast(context)) + { + behaviorContext->Class("XRCameraMovement Component Group") + ->Attribute(AZ::Script::Attributes::Category, "OpenXRVk Gem Group") + ; + } + } + + void XRCameraMovementComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC_CE("CameraMovementService")); + } + + void XRCameraMovementComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + incompatible.push_back(AZ_CRC_CE("CameraMovementService")); + } + + void XRCameraMovementComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("TransformService")); + } + + void XRCameraMovementComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent) + { + } + + void XRCameraMovementComponent::Activate() + { + AzFramework::InputChannelEventListener::Connect(); + AZ::TickBus::Handler::BusConnect(); + } + + void XRCameraMovementComponent::Deactivate() + { + AZ::TickBus::Handler::BusDisconnect(); + AzFramework::InputChannelEventListener::Disconnect(); + } + + void XRCameraMovementComponent::OnTick(float deltaTime, [[maybe_unused]] AZ::ScriptTimePoint timePoint) + { + AZ::Transform cameraTransform = GetCameraTransformFromCurrentView(); + + // Update movement... + const float moveSpeed = m_moveSpeed * deltaTime; + const AZ::Vector3 movementVec = (cameraTransform.GetBasisX() * m_movement.GetX()) + + (cameraTransform.GetBasisY() * m_movement.GetY()) + + (AZ::Vector3{0.f, 0.f, 1.f} * m_movement.GetZ()); // use a fixed UP for the Z direction + const AZ::Vector3 newPosition{ (cameraTransform.GetTranslation() + (movementVec * moveSpeed)) }; + cameraTransform.SetTranslation(newPosition); + + AZ::TransformBus::Event(GetEntityId(), &AZ::TransformBus::Events::SetWorldTM, cameraTransform); + } + + bool XRCameraMovementComponent::OnInputChannelEventFiltered([[maybe_unused]] const AzFramework::InputChannel& inputChannel) + { + const auto& deviceId = inputChannel.GetInputDevice().GetInputDeviceId(); + if (AzFramework::InputDeviceXRController::IsXRControllerDevice(deviceId)) + { + OnXRControllerEvent(inputChannel); + } + return false; + } + + void XRCameraMovementComponent::OnXRControllerEvent([[maybe_unused]] const AzFramework::InputChannel& inputChannel) + { + const auto& channelId = inputChannel.GetInputChannelId(); + + // This currently uses specific xr controller channels to drive the movement. Future iterations might + // use a higher-level concepts like InputMappings and InputContexts to generalize to additional + // input devices. + + // Left thumb-stick X/Y move the camera + if (channelId == AzFramework::InputDeviceXRController::ThumbStickAxis1D::LX) + { + m_movement.SetX(inputChannel.GetValue() * m_movementSensitivity); + } + if (channelId == AzFramework::InputDeviceXRController::ThumbStickAxis1D::LY) + { + m_movement.SetY(inputChannel.GetValue() * m_movementSensitivity); + } + + // A/B buttons update the height in Z of the camera + if (channelId == AzFramework::InputDeviceXRController::Button::A) + { // down + m_movement.SetZ(-inputChannel.GetValue() * m_movementSensitivity); + } + if (channelId == AzFramework::InputDeviceXRController::Button::B) + { // up + m_movement.SetZ(inputChannel.GetValue() * m_movementSensitivity); + } + } + +} // namespace OpenXRVk diff --git a/Gems/OpenXRVk/Code/Source/XRCameraMovementComponent.h b/Gems/OpenXRVk/Code/Source/XRCameraMovementComponent.h new file mode 100644 index 000000000..356cd50d1 --- /dev/null +++ b/Gems/OpenXRVk/Code/Source/XRCameraMovementComponent.h @@ -0,0 +1,59 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include + + +namespace OpenXRVk +{ + //! XRCameraMovementComponent integrates XR Controller inputs to control a camera. + //! This is an example that hooks up a limited set of inputs, mostly thumbsticks, to + //! drive the camera position to new places. + class XRCameraMovementComponent + : public AZ::Component + , public AZ::TickBus::Handler + , public AzFramework::InputChannelEventListener + { + public: + AZ_COMPONENT(OpenXRVk::XRCameraMovementComponent, "{7FEC0A04-D994-445C-B8DE-190D03BC3820}"); + + static void Reflect(AZ::ReflectContext* context); + + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent); + + protected: + // AZ::Component + void Activate() override; + void Deactivate() override; + + // AZ::TickBus::Handler + void OnTick(float deltaTime, AZ::ScriptTimePoint timePoint) override; + + // AzFramework::InputChannelEventListener + bool OnInputChannelEventFiltered(const AzFramework::InputChannel& inputChannel) override; + + private: + void OnXRControllerEvent(const AzFramework::InputChannel& inputChannel); + + // Transient data... + AZ::Vector3 m_movement = AZ::Vector3::CreateZero(); + float m_heightZ = 0.f; + + // Serialized data... + float m_moveSpeed = 20.f; + float m_movementSensitivity = 0.025f; + }; + +} // namespace OpenXRVk diff --git a/Gems/OpenXRVk/Code/Tests/OpenXRVkTests.cpp b/Gems/OpenXRVk/Code/Tests/OpenXRVkTests.cpp new file mode 100644 index 000000000..5de8019bc --- /dev/null +++ b/Gems/OpenXRVk/Code/Tests/OpenXRVkTests.cpp @@ -0,0 +1,40 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include "OpenXRVkTests.h" + +void OpenXRVkTest::SetUp() +{ + SetupInternal(); +} + +void OpenXRVkTest::TearDown() +{ + TearDownInternal(); +} + +#ifndef O3DE_TRAIT_DISABLE_ALL_OPENXRVK_TESTS + +TEST_F(OpenXRVkTest, PassThisTest) +{ + EXPECT_TRUE(true); +} + +#ifdef O3DE_TRAIT_DISABLE_FAILED_OPENXRVK_TESTS +TEST_F(OpenXRVkTest, DISABLED_ExpectTrue) +#else +TEST_F(OpenXRVkTest, ExpectTrue) +#endif // O3DE_TRAIT_DISABLE_FAILED_OPENXRVK_TESTS +{ + EXPECT_TRUE(false); +} + +#endif // !O3DE_TRAIT_DISABLE_ALL_OPENXRVK_TESTS + +AZ_UNIT_TEST_HOOK(DEFAULT_UNIT_TEST_ENV); diff --git a/Gems/OpenXRVk/Code/Tests/OpenXRVkTests.h b/Gems/OpenXRVk/Code/Tests/OpenXRVkTests.h new file mode 100644 index 000000000..f5070e4e4 --- /dev/null +++ b/Gems/OpenXRVk/Code/Tests/OpenXRVkTests.h @@ -0,0 +1,24 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +class OpenXRVkTest + : public ::testing::Test +{ +protected: + void SetUp() override; + void TearDown() override; + + void SetupInternal(); + void TearDownInternal(); +}; + diff --git a/Gems/OpenXRVk/Code/openxrvk_private_common_files.cmake b/Gems/OpenXRVk/Code/openxrvk_private_common_files.cmake index 206528243..78afced92 100644 --- a/Gems/OpenXRVk/Code/openxrvk_private_common_files.cmake +++ b/Gems/OpenXRVk/Code/openxrvk_private_common_files.cmake @@ -7,6 +7,7 @@ # set(FILES + Include/OpenXRVk/InputDeviceXRController.h Include/OpenXRVk/OpenXRVkDevice.h Include/OpenXRVk/OpenXRVkInput.h Include/OpenXRVk/OpenXRVkInstance.h @@ -16,6 +17,8 @@ set(FILES Include/OpenXRVk/OpenXRVkSwapChain.h Include/OpenXRVk/OpenXRVkSystemComponent.h Include/OpenXRVk/OpenXRVkUtils.h + Source/InputDeviceXRController.cpp + Source/OpenXRVkCommon.h Source/OpenXRVkDevice.cpp Source/OpenXRVkInput.cpp Source/OpenXRVkInstance.cpp @@ -25,4 +28,6 @@ set(FILES Source/OpenXRVkSwapChain.cpp Source/OpenXRVkSystemComponent.cpp Source/OpenXRVkUtils.cpp + Source/XRCameraMovementComponent.cpp + Source/XRCameraMovementComponent.h ) diff --git a/Gems/OpenXRVk/Code/openxrvk_tests_files.cmake b/Gems/OpenXRVk/Code/openxrvk_tests_files.cmake new file mode 100644 index 000000000..ce7842864 --- /dev/null +++ b/Gems/OpenXRVk/Code/openxrvk_tests_files.cmake @@ -0,0 +1,12 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + Tests/OpenXRVkTests.cpp + Tests/OpenXRVkTests.h +) diff --git a/Gems/OpenXRVk/External/OculusOpenXRMobileSDK/README.md b/Gems/OpenXRVk/External/OculusOpenXRMobileSDK/README.md new file mode 100644 index 000000000..f90734977 --- /dev/null +++ b/Gems/OpenXRVk/External/OculusOpenXRMobileSDK/README.md @@ -0,0 +1,7 @@ +# Oculus OpenXR Mobile SDK + +The Oculus OpenXR Mobile SDK is not included as part of O3DE. + +When enabling OpenXRVk Gem, download the SDK and uncompress it in the following folder within the gem: `OpenXRVk\External\OculusOpenXRMobileSDK` + +The Oculus OpenXR Mobile SDK can be found in the following link: https://developer.oculus.com/downloads/native-android/ diff --git a/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Front_Double_Lights.material b/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Front_Double_Lights.material new file mode 100755 index 000000000..701707536 --- /dev/null +++ b/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Front_Double_Lights.material @@ -0,0 +1,13 @@ +{ + "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype", + "materialTypeVersion": 5, + "propertyValues": { + "baseColor.textureMap": "../Textures/Lights_Emissive.png", + "emissive.enable": true, + "emissive.intensity": 7.0, + "emissive.textureMap": "../Textures/Lights_Emissive.png", + "normal.textureMap": "../Textures/Proteus_Normal.png", + "opacity.factor": 1.0, + "roughness.factor": 0.5 + } +} \ No newline at end of file diff --git a/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Front_Light.material b/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Front_Light.material new file mode 100755 index 000000000..701707536 --- /dev/null +++ b/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Front_Light.material @@ -0,0 +1,13 @@ +{ + "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype", + "materialTypeVersion": 5, + "propertyValues": { + "baseColor.textureMap": "../Textures/Lights_Emissive.png", + "emissive.enable": true, + "emissive.intensity": 7.0, + "emissive.textureMap": "../Textures/Lights_Emissive.png", + "normal.textureMap": "../Textures/Proteus_Normal.png", + "opacity.factor": 1.0, + "roughness.factor": 0.5 + } +} \ No newline at end of file diff --git a/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Indicator.material b/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Indicator.material new file mode 100755 index 000000000..701707536 --- /dev/null +++ b/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Indicator.material @@ -0,0 +1,13 @@ +{ + "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype", + "materialTypeVersion": 5, + "propertyValues": { + "baseColor.textureMap": "../Textures/Lights_Emissive.png", + "emissive.enable": true, + "emissive.intensity": 7.0, + "emissive.textureMap": "../Textures/Lights_Emissive.png", + "normal.textureMap": "../Textures/Proteus_Normal.png", + "opacity.factor": 1.0, + "roughness.factor": 0.5 + } +} \ No newline at end of file diff --git a/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Proteus.material b/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Proteus.material new file mode 100755 index 000000000..d671a412e --- /dev/null +++ b/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Proteus.material @@ -0,0 +1,18 @@ +{ + "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype", + "materialTypeVersion": 5, + "propertyValues": { + "baseColor.textureMap": "../Textures/Proteus_BaseMap.png", + "emissive.enable": true, + "emissive.intensity": 7.420000076293945, + "emissive.textureMap": "../Textures/Lights_Emissive.png", + "metallic.textureMap": "../Textures/Proteus_MaskMap_R.png", + "normal.textureMap": "../Textures/Proteus_Normal.png", + "opacity.factor": 1.0, + "roughness.factor": 0.5, + "roughness.lowerBound": 0.49000000953674316, + "roughness.textureMap": "../Textures/Proteus_MaskMap_A.png", + "roughness.upperBound": 0.15000000596046448, + "specularF0.factor": 0.5099999904632568 + } +} \ No newline at end of file diff --git a/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Rear_Lights.material b/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Rear_Lights.material new file mode 100755 index 000000000..701707536 --- /dev/null +++ b/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Rear_Lights.material @@ -0,0 +1,13 @@ +{ + "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype", + "materialTypeVersion": 5, + "propertyValues": { + "baseColor.textureMap": "../Textures/Lights_Emissive.png", + "emissive.enable": true, + "emissive.intensity": 7.0, + "emissive.textureMap": "../Textures/Lights_Emissive.png", + "normal.textureMap": "../Textures/Proteus_Normal.png", + "opacity.factor": 1.0, + "roughness.factor": 0.5 + } +} \ No newline at end of file diff --git a/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Side_Lights.material b/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Side_Lights.material new file mode 100755 index 000000000..701707536 --- /dev/null +++ b/Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Side_Lights.material @@ -0,0 +1,13 @@ +{ + "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype", + 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100644 index 000000000..e604ecccf --- /dev/null +++ b/Gems/ProteusRobot/CMakeLists.txt @@ -0,0 +1,22 @@ + +# Query the gem name from the gem.json file if possible +# otherwise fallback to using ProteusRobot +o3de_find_ancestor_gem_root(gem_path gem_name "${CMAKE_CURRENT_SOURCE_DIR}") +if (NOT gem_name) + set(gem_name "ProteusRobot") +endif() + +# Fallback to using the current source CMakeLists.txt directory as the gem root path +if (NOT gem_path) + set(gem_path ${CMAKE_CURRENT_SOURCE_DIR}) +endif() + +set(gem_json ${gem_path}/gem.json) + +o3de_restricted_path(${gem_json} gem_restricted_path gem_parent_relative_path) + +o3de_pal_dir(pal_dir ${CMAKE_CURRENT_SOURCE_DIR}/Platform/${PAL_PLATFORM_NAME} "${gem_restricted_path}" "${gem_path}" "${gem_parent_relative_path}") + +ly_add_external_target_path(${CMAKE_CURRENT_SOURCE_DIR}/3rdParty) + +add_subdirectory(Code) diff --git a/Gems/ProteusRobot/Code/CMakeLists.txt b/Gems/ProteusRobot/Code/CMakeLists.txt new file mode 100644 index 000000000..5a92c9467 --- /dev/null +++ b/Gems/ProteusRobot/Code/CMakeLists.txt @@ -0,0 +1,210 @@ + +# Currently we are in the Code folder: ${CMAKE_CURRENT_LIST_DIR} +# Get the platform specific folder ${pal_dir} for the current folder: ${CMAKE_CURRENT_LIST_DIR}/Platform/${PAL_PLATFORM_NAME} +# Note: o3de_pal_dir will take care of the details for us, as this may be a restricted platform +# in which case it will see if that platform is present here or in the restricted folder. +# i.e. It could here in our gem : Gems/ProteusRobot/Code/Platform/ or +# //Gems/ProteusRobot/Code +o3de_pal_dir(pal_dir ${CMAKE_CURRENT_LIST_DIR}/Platform/${PAL_PLATFORM_NAME} "${gem_restricted_path}" "${gem_path}" "${gem_parent_relative_path}") + +# Now that we have the platform abstraction layer (PAL) folder for this folder, thats where we will find the +# traits for this platform. Traits for a platform are defines for things like whether or not something in this gem +# is supported by this platform. +include(${pal_dir}/PAL_${PAL_PLATFORM_NAME_LOWERCASE}.cmake) + +# Check to see if building the Gem Modules are supported for the current platform +if(NOT PAL_TRAIT_PROTEUSROBOT_SUPPORTED) + return() +endif() + +# The ${gem_name}.API target declares the common interface that users of this gem should depend on in their targets +ly_add_target( + NAME ${gem_name}.API INTERFACE + NAMESPACE Gem + FILES_CMAKE + proteusrobot_api_files.cmake + ${pal_dir}/proteusrobot_api_files.cmake + INCLUDE_DIRECTORIES + INTERFACE + Include + BUILD_DEPENDENCIES + INTERFACE + AZ::AzCore +) + +# The ${gem_name}.Private.Object target is an internal target +# It should not be used outside of this Gems CMakeLists.txt +ly_add_target( + NAME ${gem_name}.Private.Object STATIC + NAMESPACE Gem + FILES_CMAKE + proteusrobot_private_files.cmake + ${pal_dir}/proteusrobot_private_files.cmake + TARGET_PROPERTIES + O3DE_PRIVATE_TARGET TRUE + INCLUDE_DIRECTORIES + PRIVATE + Include + Source + BUILD_DEPENDENCIES + PUBLIC + AZ::AzCore + AZ::AzFramework +) + +# Here add ${gem_name} target, it depends on the Private Object library and Public API interface +ly_add_target( + NAME ${gem_name} ${PAL_TRAIT_MONOLITHIC_DRIVEN_MODULE_TYPE} + NAMESPACE Gem + FILES_CMAKE + proteusrobot_shared_files.cmake + ${pal_dir}/proteusrobot_shared_files.cmake + INCLUDE_DIRECTORIES + PUBLIC + Include + PRIVATE + Source + BUILD_DEPENDENCIES + PUBLIC + Gem::${gem_name}.API + PRIVATE + Gem::${gem_name}.Private.Object +) + +# By default, we will specify that the above target ${gem_name} would be used by +# Client and Server type targets when this gem is enabled. If you don't want it +# active in Clients or Servers by default, delete one of both of the following lines: +ly_create_alias(NAME ${gem_name}.Clients NAMESPACE Gem TARGETS Gem::${gem_name}) +ly_create_alias(NAME ${gem_name}.Servers NAMESPACE Gem TARGETS Gem::${gem_name}) +ly_create_alias(NAME ${gem_name}.Unified NAMESPACE Gem TARGETS Gem::${gem_name}) + +# For the Client and Server variants of ${gem_name} Gem, an alias to the ${gem_name}.API target will be made +ly_create_alias(NAME ${gem_name}.Clients.API NAMESPACE Gem TARGETS Gem::${gem_name}.API) +ly_create_alias(NAME ${gem_name}.Servers.API NAMESPACE Gem TARGETS Gem::${gem_name}.API) +ly_create_alias(NAME ${gem_name}.Unified.API NAMESPACE Gem TARGETS Gem::${gem_name}.API) + +# If we are on a host platform, we want to add the host tools targets like the ${gem_name}.Editor MODULE target +if(PAL_TRAIT_BUILD_HOST_TOOLS) + # The ${gem_name}.Editor.API target can be used by other gems that want to interact with the ${gem_name}.Editor module + ly_add_target( + NAME ${gem_name}.Editor.API INTERFACE + NAMESPACE Gem + FILES_CMAKE + proteusrobot_editor_api_files.cmake + ${pal_dir}/proteusrobot_editor_api_files.cmake + INCLUDE_DIRECTORIES + INTERFACE + Include + BUILD_DEPENDENCIES + INTERFACE + AZ::AzToolsFramework + ) + + # The ${gem_name}.Editor.Private.Object target is an internal target + # which is only to be used by this gems CMakeLists.txt and any subdirectories + # Other gems should not use this target + ly_add_target( + NAME ${gem_name}.Editor.Private.Object STATIC + NAMESPACE Gem + FILES_CMAKE + proteusrobot_editor_private_files.cmake + TARGET_PROPERTIES + O3DE_PRIVATE_TARGET TRUE + INCLUDE_DIRECTORIES + PRIVATE + Include + Source + BUILD_DEPENDENCIES + PUBLIC + AZ::AzToolsFramework + $ + ) + + ly_add_target( + NAME ${gem_name}.Editor GEM_MODULE + NAMESPACE Gem + AUTOMOC + FILES_CMAKE + proteusrobot_editor_shared_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Source + PUBLIC + Include + BUILD_DEPENDENCIES + PUBLIC + Gem::${gem_name}.Editor.API + PRIVATE + Gem::${gem_name}.Editor.Private.Object + ) + + # By default, we will specify that the above target ${gem_name} would be used by + # Tool and Builder type targets when this gem is enabled. If you don't want it + # active in Tools or Builders by default, delete one of both of the following lines: + ly_create_alias(NAME ${gem_name}.Tools NAMESPACE Gem TARGETS Gem::${gem_name}.Editor) + ly_create_alias(NAME ${gem_name}.Builders NAMESPACE Gem TARGETS Gem::${gem_name}.Editor) + + # For the Tools and Builders variants of ${gem_name} Gem, an alias to the ${gem_name}.Editor API target will be made + ly_create_alias(NAME ${gem_name}.Tools.API NAMESPACE Gem TARGETS Gem::${gem_name}.Editor.API) + ly_create_alias(NAME ${gem_name}.Builders.API NAMESPACE Gem TARGETS Gem::${gem_name}.Editor.API) + +endif() + +################################################################################ +# Tests +################################################################################ +# See if globally, tests are supported +if(PAL_TRAIT_BUILD_TESTS_SUPPORTED) + # We globally support tests, see if we support tests on this platform for ${gem_name}.Tests + if(PAL_TRAIT_PROTEUSROBOT_TEST_SUPPORTED) + # We support ${gem_name}.Tests on this platform, add dependency on the Private Object target + ly_add_target( + NAME ${gem_name}.Tests ${PAL_TRAIT_TEST_TARGET_TYPE} + NAMESPACE Gem + FILES_CMAKE + proteusrobot_tests_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Tests + Source + BUILD_DEPENDENCIES + PRIVATE + AZ::AzTest + AZ::AzFramework + Gem::${gem_name}.Private.Object + ) + + # Add ${gem_name}.Tests to googletest + ly_add_googletest( + NAME Gem::${gem_name}.Tests + ) + endif() + + # If we are a host platform we want to add tools test like editor tests here + if(PAL_TRAIT_BUILD_HOST_TOOLS) + # We are a host platform, see if Editor tests are supported on this platform + if(PAL_TRAIT_PROTEUSROBOT_EDITOR_TEST_SUPPORTED) + # We support ${gem_name}.Editor.Tests on this platform, add ${gem_name}.Editor.Tests target which depends on + # private ${gem_name}.Editor.Private.Object target + ly_add_target( + NAME ${gem_name}.Editor.Tests ${PAL_TRAIT_TEST_TARGET_TYPE} + NAMESPACE Gem + FILES_CMAKE + proteusrobot_editor_tests_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Tests + Source + BUILD_DEPENDENCIES + PRIVATE + AZ::AzTest + Gem::${gem_name}.Private.Object + ) + + # Add ${gem_name}.Editor.Tests to googletest + ly_add_googletest( + NAME Gem::${gem_name}.Editor.Tests + ) + endif() + endif() +endif() diff --git a/Gems/ProteusRobot/Code/Include/ProteusRobot/ProteusRobotBus.h b/Gems/ProteusRobot/Code/Include/ProteusRobot/ProteusRobotBus.h new file mode 100644 index 000000000..8ee7e88df --- /dev/null +++ b/Gems/ProteusRobot/Code/Include/ProteusRobot/ProteusRobotBus.h @@ -0,0 +1,31 @@ + +#pragma once + +#include +#include + +namespace ProteusRobot +{ + class ProteusRobotRequests + { + public: + AZ_RTTI(ProteusRobotRequests, "{2480DA88-89C0-40D0-9C27-CA19C99FECC7}"); + virtual ~ProteusRobotRequests() = default; + // Put your public methods here + }; + + class ProteusRobotBusTraits + : public AZ::EBusTraits + { + public: + ////////////////////////////////////////////////////////////////////////// + // EBusTraits overrides + static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Single; + static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::Single; + ////////////////////////////////////////////////////////////////////////// + }; + + using ProteusRobotRequestBus = AZ::EBus; + using ProteusRobotInterface = AZ::Interface; + +} // namespace ProteusRobot diff --git a/Gems/ProteusRobot/Code/Platform/Android/PAL_android.cmake b/Gems/ProteusRobot/Code/Platform/Android/PAL_android.cmake new file mode 100644 index 000000000..ebbf6148b --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Android/PAL_android.cmake @@ -0,0 +1,4 @@ + +set(PAL_TRAIT_PROTEUSROBOT_SUPPORTED TRUE) +set(PAL_TRAIT_PROTEUSROBOT_TEST_SUPPORTED FALSE) +set(PAL_TRAIT_PROTEUSROBOT_EDITOR_TEST_SUPPORTED FALSE) diff --git a/Gems/ProteusRobot/Code/Platform/Android/proteusrobot_api_files.cmake b/Gems/ProteusRobot/Code/Platform/Android/proteusrobot_api_files.cmake new file mode 100644 index 000000000..f5526eeb3 --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Android/proteusrobot_api_files.cmake @@ -0,0 +1,3 @@ + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Android/proteusrobot_private_files.cmake b/Gems/ProteusRobot/Code/Platform/Android/proteusrobot_private_files.cmake new file mode 100644 index 000000000..f773e3f1d --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Android/proteusrobot_private_files.cmake @@ -0,0 +1,8 @@ + +# Platform specific files for Android +# i.e. ../Source/Android/ProteusRobotAndroid.cpp +# ../Source/Android/ProteusRobotAndroid.h +# ../Include/Android/ProteusRobotAndroid.h + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Android/proteusrobot_shared_files.cmake b/Gems/ProteusRobot/Code/Platform/Android/proteusrobot_shared_files.cmake new file mode 100644 index 000000000..f773e3f1d --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Android/proteusrobot_shared_files.cmake @@ -0,0 +1,8 @@ + +# Platform specific files for Android +# i.e. ../Source/Android/ProteusRobotAndroid.cpp +# ../Source/Android/ProteusRobotAndroid.h +# ../Include/Android/ProteusRobotAndroid.h + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Linux/PAL_linux.cmake b/Gems/ProteusRobot/Code/Platform/Linux/PAL_linux.cmake new file mode 100644 index 000000000..ebbf6148b --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Linux/PAL_linux.cmake @@ -0,0 +1,4 @@ + +set(PAL_TRAIT_PROTEUSROBOT_SUPPORTED TRUE) +set(PAL_TRAIT_PROTEUSROBOT_TEST_SUPPORTED FALSE) +set(PAL_TRAIT_PROTEUSROBOT_EDITOR_TEST_SUPPORTED FALSE) diff --git a/Gems/ProteusRobot/Code/Platform/Linux/proteusrobot_api_files.cmake b/Gems/ProteusRobot/Code/Platform/Linux/proteusrobot_api_files.cmake new file mode 100644 index 000000000..f5526eeb3 --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Linux/proteusrobot_api_files.cmake @@ -0,0 +1,3 @@ + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Linux/proteusrobot_editor_api_files.cmake b/Gems/ProteusRobot/Code/Platform/Linux/proteusrobot_editor_api_files.cmake new file mode 100644 index 000000000..f5526eeb3 --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Linux/proteusrobot_editor_api_files.cmake @@ -0,0 +1,3 @@ + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Linux/proteusrobot_private_files.cmake b/Gems/ProteusRobot/Code/Platform/Linux/proteusrobot_private_files.cmake new file mode 100644 index 000000000..65b415277 --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Linux/proteusrobot_private_files.cmake @@ -0,0 +1,8 @@ + +# Platform specific files for Linux +# i.e. ../Source/Linux/ProteusRobotLinux.cpp +# ../Source/Linux/ProteusRobotLinux.h +# ../Include/Linux/ProteusRobotLinux.h + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Linux/proteusrobot_shared_files.cmake b/Gems/ProteusRobot/Code/Platform/Linux/proteusrobot_shared_files.cmake new file mode 100644 index 000000000..65b415277 --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Linux/proteusrobot_shared_files.cmake @@ -0,0 +1,8 @@ + +# Platform specific files for Linux +# i.e. ../Source/Linux/ProteusRobotLinux.cpp +# ../Source/Linux/ProteusRobotLinux.h +# ../Include/Linux/ProteusRobotLinux.h + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Mac/PAL_mac.cmake b/Gems/ProteusRobot/Code/Platform/Mac/PAL_mac.cmake new file mode 100644 index 000000000..ebbf6148b --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Mac/PAL_mac.cmake @@ -0,0 +1,4 @@ + +set(PAL_TRAIT_PROTEUSROBOT_SUPPORTED TRUE) +set(PAL_TRAIT_PROTEUSROBOT_TEST_SUPPORTED FALSE) +set(PAL_TRAIT_PROTEUSROBOT_EDITOR_TEST_SUPPORTED FALSE) diff --git a/Gems/ProteusRobot/Code/Platform/Mac/proteusrobot_api_files.cmake b/Gems/ProteusRobot/Code/Platform/Mac/proteusrobot_api_files.cmake new file mode 100644 index 000000000..f5526eeb3 --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Mac/proteusrobot_api_files.cmake @@ -0,0 +1,3 @@ + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Mac/proteusrobot_editor_api_files.cmake b/Gems/ProteusRobot/Code/Platform/Mac/proteusrobot_editor_api_files.cmake new file mode 100644 index 000000000..f5526eeb3 --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Mac/proteusrobot_editor_api_files.cmake @@ -0,0 +1,3 @@ + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Mac/proteusrobot_private_files.cmake b/Gems/ProteusRobot/Code/Platform/Mac/proteusrobot_private_files.cmake new file mode 100644 index 000000000..002dfd77d --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Mac/proteusrobot_private_files.cmake @@ -0,0 +1,8 @@ + +# Platform specific files for Mac +# i.e. ../Source/Mac/ProteusRobotMac.cpp +# ../Source/Mac/ProteusRobotMac.h +# ../Include/Mac/ProteusRobotMac.h + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Mac/proteusrobot_shared_files.cmake b/Gems/ProteusRobot/Code/Platform/Mac/proteusrobot_shared_files.cmake new file mode 100644 index 000000000..002dfd77d --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Mac/proteusrobot_shared_files.cmake @@ -0,0 +1,8 @@ + +# Platform specific files for Mac +# i.e. ../Source/Mac/ProteusRobotMac.cpp +# ../Source/Mac/ProteusRobotMac.h +# ../Include/Mac/ProteusRobotMac.h + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Windows/PAL_windows.cmake b/Gems/ProteusRobot/Code/Platform/Windows/PAL_windows.cmake new file mode 100644 index 000000000..ebbf6148b --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Windows/PAL_windows.cmake @@ -0,0 +1,4 @@ + +set(PAL_TRAIT_PROTEUSROBOT_SUPPORTED TRUE) +set(PAL_TRAIT_PROTEUSROBOT_TEST_SUPPORTED FALSE) +set(PAL_TRAIT_PROTEUSROBOT_EDITOR_TEST_SUPPORTED FALSE) diff --git a/Gems/ProteusRobot/Code/Platform/Windows/proteusrobot_api_files.cmake b/Gems/ProteusRobot/Code/Platform/Windows/proteusrobot_api_files.cmake new file mode 100644 index 000000000..f5526eeb3 --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Windows/proteusrobot_api_files.cmake @@ -0,0 +1,3 @@ + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Windows/proteusrobot_editor_api_files.cmake b/Gems/ProteusRobot/Code/Platform/Windows/proteusrobot_editor_api_files.cmake new file mode 100644 index 000000000..f5526eeb3 --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Windows/proteusrobot_editor_api_files.cmake @@ -0,0 +1,3 @@ + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Windows/proteusrobot_private_files.cmake b/Gems/ProteusRobot/Code/Platform/Windows/proteusrobot_private_files.cmake new file mode 100644 index 000000000..730b236e2 --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Windows/proteusrobot_private_files.cmake @@ -0,0 +1,8 @@ + +# Platform specific files for Windows +# i.e. ../Source/Windows/ProteusRobotWindows.cpp +# ../Source/Windows/ProteusRobotWindows.h +# ../Include/Windows/ProteusRobotWindows.h + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/Windows/proteusrobot_shared_files.cmake b/Gems/ProteusRobot/Code/Platform/Windows/proteusrobot_shared_files.cmake new file mode 100644 index 000000000..730b236e2 --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/Windows/proteusrobot_shared_files.cmake @@ -0,0 +1,8 @@ + +# Platform specific files for Windows +# i.e. ../Source/Windows/ProteusRobotWindows.cpp +# ../Source/Windows/ProteusRobotWindows.h +# ../Include/Windows/ProteusRobotWindows.h + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/iOS/PAL_ios.cmake b/Gems/ProteusRobot/Code/Platform/iOS/PAL_ios.cmake new file mode 100644 index 000000000..ebbf6148b --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/iOS/PAL_ios.cmake @@ -0,0 +1,4 @@ + +set(PAL_TRAIT_PROTEUSROBOT_SUPPORTED TRUE) +set(PAL_TRAIT_PROTEUSROBOT_TEST_SUPPORTED FALSE) +set(PAL_TRAIT_PROTEUSROBOT_EDITOR_TEST_SUPPORTED FALSE) diff --git a/Gems/ProteusRobot/Code/Platform/iOS/proteusrobot_api_files.cmake b/Gems/ProteusRobot/Code/Platform/iOS/proteusrobot_api_files.cmake new file mode 100644 index 000000000..f5526eeb3 --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/iOS/proteusrobot_api_files.cmake @@ -0,0 +1,3 @@ + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/iOS/proteusrobot_private_files.cmake b/Gems/ProteusRobot/Code/Platform/iOS/proteusrobot_private_files.cmake new file mode 100644 index 000000000..52c79c1af --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/iOS/proteusrobot_private_files.cmake @@ -0,0 +1,8 @@ + +# Platform specific files for iOS +# i.e. ../Source/iOS/ProteusRobotiOS.cpp +# ../Source/iOS/ProteusRobotiOS.h +# ../Include/iOS/ProteusRobotiOS.h + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Platform/iOS/proteusrobot_shared_files.cmake b/Gems/ProteusRobot/Code/Platform/iOS/proteusrobot_shared_files.cmake new file mode 100644 index 000000000..52c79c1af --- /dev/null +++ b/Gems/ProteusRobot/Code/Platform/iOS/proteusrobot_shared_files.cmake @@ -0,0 +1,8 @@ + +# Platform specific files for iOS +# i.e. ../Source/iOS/ProteusRobotiOS.cpp +# ../Source/iOS/ProteusRobotiOS.h +# ../Include/iOS/ProteusRobotiOS.h + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/Source/Clients/ProteusRobotModule.cpp b/Gems/ProteusRobot/Code/Source/Clients/ProteusRobotModule.cpp new file mode 100644 index 000000000..b840e71b2 --- /dev/null +++ b/Gems/ProteusRobot/Code/Source/Clients/ProteusRobotModule.cpp @@ -0,0 +1,17 @@ + + +#include +#include "ProteusRobotSystemComponent.h" + +namespace ProteusRobot +{ + class ProteusRobotModule + : public ProteusRobotModuleInterface + { + public: + AZ_RTTI(ProteusRobotModule, "{F9558D3E-566B-4824-8634-015F21864F5E}", ProteusRobotModuleInterface); + AZ_CLASS_ALLOCATOR(ProteusRobotModule, AZ::SystemAllocator); + }; +}// namespace ProteusRobot + +AZ_DECLARE_MODULE_CLASS(Gem_ProteusRobot, ProteusRobot::ProteusRobotModule) diff --git a/Gems/ProteusRobot/Code/Source/Clients/ProteusRobotSystemComponent.cpp b/Gems/ProteusRobot/Code/Source/Clients/ProteusRobotSystemComponent.cpp new file mode 100644 index 000000000..463dd313f --- /dev/null +++ b/Gems/ProteusRobot/Code/Source/Clients/ProteusRobotSystemComponent.cpp @@ -0,0 +1,83 @@ + +#include "ProteusRobotSystemComponent.h" + +#include +#include +#include + +namespace ProteusRobot +{ + void ProteusRobotSystemComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(0) + ; + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ProteusRobot", "[Description of functionality provided by this System Component]") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC("System")) + ->Attribute(AZ::Edit::Attributes::AutoExpand, true) + ; + } + } + } + + void ProteusRobotSystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC_CE("ProteusRobotService")); + } + + void ProteusRobotSystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + incompatible.push_back(AZ_CRC_CE("ProteusRobotService")); + } + + void ProteusRobotSystemComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required) + { + } + + void ProteusRobotSystemComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent) + { + } + + ProteusRobotSystemComponent::ProteusRobotSystemComponent() + { + if (ProteusRobotInterface::Get() == nullptr) + { + ProteusRobotInterface::Register(this); + } + } + + ProteusRobotSystemComponent::~ProteusRobotSystemComponent() + { + if (ProteusRobotInterface::Get() == this) + { + ProteusRobotInterface::Unregister(this); + } + } + + void ProteusRobotSystemComponent::Init() + { + } + + void ProteusRobotSystemComponent::Activate() + { + ProteusRobotRequestBus::Handler::BusConnect(); + AZ::TickBus::Handler::BusConnect(); + } + + void ProteusRobotSystemComponent::Deactivate() + { + AZ::TickBus::Handler::BusDisconnect(); + ProteusRobotRequestBus::Handler::BusDisconnect(); + } + + void ProteusRobotSystemComponent::OnTick([[maybe_unused]] float deltaTime, [[maybe_unused]] AZ::ScriptTimePoint time) + { + } + +} // namespace ProteusRobot diff --git a/Gems/ProteusRobot/Code/Source/Clients/ProteusRobotSystemComponent.h b/Gems/ProteusRobot/Code/Source/Clients/ProteusRobotSystemComponent.h new file mode 100644 index 000000000..331128661 --- /dev/null +++ b/Gems/ProteusRobot/Code/Source/Clients/ProteusRobotSystemComponent.h @@ -0,0 +1,47 @@ + +#pragma once + +#include +#include +#include + +namespace ProteusRobot +{ + class ProteusRobotSystemComponent + : public AZ::Component + , protected ProteusRobotRequestBus::Handler + , public AZ::TickBus::Handler + { + public: + AZ_COMPONENT(ProteusRobotSystemComponent, "{250B4B63-AF8F-4DC0-BF73-9880E8BEA444}"); + + static void Reflect(AZ::ReflectContext* context); + + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent); + + ProteusRobotSystemComponent(); + ~ProteusRobotSystemComponent(); + + protected: + //////////////////////////////////////////////////////////////////////// + // ProteusRobotRequestBus interface implementation + + //////////////////////////////////////////////////////////////////////// + + //////////////////////////////////////////////////////////////////////// + // AZ::Component interface implementation + void Init() override; + void Activate() override; + void Deactivate() override; + //////////////////////////////////////////////////////////////////////// + + //////////////////////////////////////////////////////////////////////// + // AZTickBus interface implementation + void OnTick(float deltaTime, AZ::ScriptTimePoint time) override; + //////////////////////////////////////////////////////////////////////// + }; + +} // namespace ProteusRobot diff --git a/Gems/ProteusRobot/Code/Source/ProteusRobotModuleInterface.h b/Gems/ProteusRobot/Code/Source/ProteusRobotModuleInterface.h new file mode 100644 index 000000000..6ab8471dc --- /dev/null +++ b/Gems/ProteusRobot/Code/Source/ProteusRobotModuleInterface.h @@ -0,0 +1,36 @@ + +#include +#include +#include + +namespace ProteusRobot +{ + class ProteusRobotModuleInterface + : public AZ::Module + { + public: + AZ_RTTI(ProteusRobotModuleInterface, "{C2853683-8867-42E4-BAF8-6BAE29CB53E1}", AZ::Module); + AZ_CLASS_ALLOCATOR(ProteusRobotModuleInterface, AZ::SystemAllocator); + + ProteusRobotModuleInterface() + { + // Push results of [MyComponent]::CreateDescriptor() into m_descriptors here. + // Add ALL components descriptors associated with this gem to m_descriptors. + // This will associate the AzTypeInfo information for the components with the the SerializeContext, BehaviorContext and EditContext. + // This happens through the [MyComponent]::Reflect() function. + m_descriptors.insert(m_descriptors.end(), { + ProteusRobotSystemComponent::CreateDescriptor(), + }); + } + + /** + * Add required SystemComponents to the SystemEntity. + */ + AZ::ComponentTypeList GetRequiredSystemComponents() const override + { + return AZ::ComponentTypeList{ + azrtti_typeid(), + }; + } + }; +}// namespace ProteusRobot diff --git a/Gems/ProteusRobot/Code/Source/Tools/ProteusRobotEditorModule.cpp b/Gems/ProteusRobot/Code/Source/Tools/ProteusRobotEditorModule.cpp new file mode 100644 index 000000000..4f3807f08 --- /dev/null +++ b/Gems/ProteusRobot/Code/Source/Tools/ProteusRobotEditorModule.cpp @@ -0,0 +1,38 @@ + +#include +#include "ProteusRobotEditorSystemComponent.h" + +namespace ProteusRobot +{ + class ProteusRobotEditorModule + : public ProteusRobotModuleInterface + { + public: + AZ_RTTI(ProteusRobotEditorModule, "{F9558D3E-566B-4824-8634-015F21864F5E}", ProteusRobotModuleInterface); + AZ_CLASS_ALLOCATOR(ProteusRobotEditorModule, AZ::SystemAllocator); + + ProteusRobotEditorModule() + { + // Push results of [MyComponent]::CreateDescriptor() into m_descriptors here. + // Add ALL components descriptors associated with this gem to m_descriptors. + // This will associate the AzTypeInfo information for the components with the the SerializeContext, BehaviorContext and EditContext. + // This happens through the [MyComponent]::Reflect() function. + m_descriptors.insert(m_descriptors.end(), { + ProteusRobotEditorSystemComponent::CreateDescriptor(), + }); + } + + /** + * Add required SystemComponents to the SystemEntity. + * Non-SystemComponents should not be added here + */ + AZ::ComponentTypeList GetRequiredSystemComponents() const override + { + return AZ::ComponentTypeList { + azrtti_typeid(), + }; + } + }; +}// namespace ProteusRobot + +AZ_DECLARE_MODULE_CLASS(Gem_ProteusRobot, ProteusRobot::ProteusRobotEditorModule) diff --git a/Gems/ProteusRobot/Code/Source/Tools/ProteusRobotEditorSystemComponent.cpp b/Gems/ProteusRobot/Code/Source/Tools/ProteusRobotEditorSystemComponent.cpp new file mode 100644 index 000000000..938f919d7 --- /dev/null +++ b/Gems/ProteusRobot/Code/Source/Tools/ProteusRobotEditorSystemComponent.cpp @@ -0,0 +1,54 @@ + +#include +#include "ProteusRobotEditorSystemComponent.h" + +namespace ProteusRobot +{ + void ProteusRobotEditorSystemComponent::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class() + ->Version(0); + } + } + + ProteusRobotEditorSystemComponent::ProteusRobotEditorSystemComponent() = default; + + ProteusRobotEditorSystemComponent::~ProteusRobotEditorSystemComponent() = default; + + void ProteusRobotEditorSystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + BaseSystemComponent::GetProvidedServices(provided); + provided.push_back(AZ_CRC_CE("ProteusRobotEditorService")); + } + + void ProteusRobotEditorSystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + BaseSystemComponent::GetIncompatibleServices(incompatible); + incompatible.push_back(AZ_CRC_CE("ProteusRobotEditorService")); + } + + void ProteusRobotEditorSystemComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required) + { + BaseSystemComponent::GetRequiredServices(required); + } + + void ProteusRobotEditorSystemComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent) + { + BaseSystemComponent::GetDependentServices(dependent); + } + + void ProteusRobotEditorSystemComponent::Activate() + { + ProteusRobotSystemComponent::Activate(); + AzToolsFramework::EditorEvents::Bus::Handler::BusConnect(); + } + + void ProteusRobotEditorSystemComponent::Deactivate() + { + AzToolsFramework::EditorEvents::Bus::Handler::BusDisconnect(); + ProteusRobotSystemComponent::Deactivate(); + } + +} // namespace ProteusRobot diff --git a/Gems/ProteusRobot/Code/Source/Tools/ProteusRobotEditorSystemComponent.h b/Gems/ProteusRobot/Code/Source/Tools/ProteusRobotEditorSystemComponent.h new file mode 100644 index 000000000..5da317550 --- /dev/null +++ b/Gems/ProteusRobot/Code/Source/Tools/ProteusRobotEditorSystemComponent.h @@ -0,0 +1,33 @@ + +#pragma once + +#include + +#include + +namespace ProteusRobot +{ + /// System component for ProteusRobot editor + class ProteusRobotEditorSystemComponent + : public ProteusRobotSystemComponent + , protected AzToolsFramework::EditorEvents::Bus::Handler + { + using BaseSystemComponent = ProteusRobotSystemComponent; + public: + AZ_COMPONENT(ProteusRobotEditorSystemComponent, "{1AD25C4B-B8F7-4C54-BF46-3F5A9E02E90B}", BaseSystemComponent); + static void Reflect(AZ::ReflectContext* context); + + ProteusRobotEditorSystemComponent(); + ~ProteusRobotEditorSystemComponent(); + + private: + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent); + + // AZ::Component + void Activate() override; + void Deactivate() override; + }; +} // namespace ProteusRobot diff --git a/Gems/ProteusRobot/Code/Tests/Clients/ProteusRobotTest.cpp b/Gems/ProteusRobot/Code/Tests/Clients/ProteusRobotTest.cpp new file mode 100644 index 000000000..274a99080 --- /dev/null +++ b/Gems/ProteusRobot/Code/Tests/Clients/ProteusRobotTest.cpp @@ -0,0 +1,4 @@ + +#include + +AZ_UNIT_TEST_HOOK(DEFAULT_UNIT_TEST_ENV); diff --git a/Gems/ProteusRobot/Code/Tests/Tools/ProteusRobotEditorTest.cpp b/Gems/ProteusRobot/Code/Tests/Tools/ProteusRobotEditorTest.cpp new file mode 100644 index 000000000..274a99080 --- /dev/null +++ b/Gems/ProteusRobot/Code/Tests/Tools/ProteusRobotEditorTest.cpp @@ -0,0 +1,4 @@ + +#include + +AZ_UNIT_TEST_HOOK(DEFAULT_UNIT_TEST_ENV); diff --git a/Gems/ProteusRobot/Code/proteusrobot_api_files.cmake b/Gems/ProteusRobot/Code/proteusrobot_api_files.cmake new file mode 100644 index 000000000..850825091 --- /dev/null +++ b/Gems/ProteusRobot/Code/proteusrobot_api_files.cmake @@ -0,0 +1,4 @@ + +set(FILES + Include/ProteusRobot/ProteusRobotBus.h +) diff --git a/Gems/ProteusRobot/Code/proteusrobot_editor_api_files.cmake b/Gems/ProteusRobot/Code/proteusrobot_editor_api_files.cmake new file mode 100644 index 000000000..8cd37a5cf --- /dev/null +++ b/Gems/ProteusRobot/Code/proteusrobot_editor_api_files.cmake @@ -0,0 +1,4 @@ + + +set(FILES +) diff --git a/Gems/ProteusRobot/Code/proteusrobot_editor_private_files.cmake b/Gems/ProteusRobot/Code/proteusrobot_editor_private_files.cmake new file mode 100644 index 000000000..f5117c474 --- /dev/null +++ b/Gems/ProteusRobot/Code/proteusrobot_editor_private_files.cmake @@ -0,0 +1,5 @@ + +set(FILES + Source/Tools/ProteusRobotEditorSystemComponent.cpp + Source/Tools/ProteusRobotEditorSystemComponent.h +) diff --git a/Gems/ProteusRobot/Code/proteusrobot_editor_shared_files.cmake b/Gems/ProteusRobot/Code/proteusrobot_editor_shared_files.cmake new file mode 100644 index 000000000..d84920316 --- /dev/null +++ b/Gems/ProteusRobot/Code/proteusrobot_editor_shared_files.cmake @@ -0,0 +1,4 @@ + +set(FILES + Source/Tools/ProteusRobotEditorModule.cpp +) diff --git a/Gems/ProteusRobot/Code/proteusrobot_editor_tests_files.cmake b/Gems/ProteusRobot/Code/proteusrobot_editor_tests_files.cmake new file mode 100644 index 000000000..19d5b4ac9 --- /dev/null +++ b/Gems/ProteusRobot/Code/proteusrobot_editor_tests_files.cmake @@ -0,0 +1,4 @@ + +set(FILES + Tests/Tools/ProteusRobotEditorTest.cpp +) diff --git a/Gems/ProteusRobot/Code/proteusrobot_private_files.cmake b/Gems/ProteusRobot/Code/proteusrobot_private_files.cmake new file mode 100644 index 000000000..6a251865e --- /dev/null +++ b/Gems/ProteusRobot/Code/proteusrobot_private_files.cmake @@ -0,0 +1,6 @@ + +set(FILES + Source/ProteusRobotModuleInterface.h + Source/Clients/ProteusRobotSystemComponent.cpp + Source/Clients/ProteusRobotSystemComponent.h +) diff --git a/Gems/ProteusRobot/Code/proteusrobot_shared_files.cmake b/Gems/ProteusRobot/Code/proteusrobot_shared_files.cmake new file mode 100644 index 000000000..819855914 --- /dev/null +++ b/Gems/ProteusRobot/Code/proteusrobot_shared_files.cmake @@ -0,0 +1,4 @@ + +set(FILES + Source/Clients/ProteusRobotModule.cpp +) diff --git a/Gems/ProteusRobot/Code/proteusrobot_tests_files.cmake b/Gems/ProteusRobot/Code/proteusrobot_tests_files.cmake new file mode 100644 index 000000000..e55f73955 --- /dev/null +++ b/Gems/ProteusRobot/Code/proteusrobot_tests_files.cmake @@ -0,0 +1,4 @@ + +set(FILES + Tests/Clients/ProteusRobotTest.cpp +) diff --git a/Gems/ProteusRobot/Registry/assetprocessor_settings.setreg b/Gems/ProteusRobot/Registry/assetprocessor_settings.setreg new file mode 100644 index 000000000..450bbb4ef --- /dev/null +++ b/Gems/ProteusRobot/Registry/assetprocessor_settings.setreg @@ -0,0 +1,18 @@ +{ + "Amazon": { + "AssetProcessor": { + "Settings": { + "ScanFolder ProteusRobot/Assets": { + "watch": "@GEMROOT:ProteusRobot@/Assets", + "recursive": 1, + "order": 101 + }, + "ScanFolder ProteusRobot/Registry": { + "watch": "@GEMROOT:ProteusRobot@/Registry", + "recursive": 1, + "order": 102 + } + } + } + } +} diff --git a/Gems/ProteusRobot/gem.json b/Gems/ProteusRobot/gem.json new file mode 100644 index 000000000..fde828a18 --- /dev/null +++ b/Gems/ProteusRobot/gem.json @@ -0,0 +1,28 @@ +{ + "gem_name": "ProteusRobot", + "version": "1.0.0", + "display_name": "ProteusRobot", + "license": "License used i.e. Apache-2.0 or MIT", + "license_url": "Link to the license web site i.e. https://opensource.org/licenses/Apache-2.0", + "origin": "The name of the originator or creator", + "origin_url": "https://github.com/o3de/o3de-extras/tree/development/Gems/ProteusRobot", + "type": "Code", + "summary": "Proteus: Warehouse robot with Lidar sensor", + "canonical_tags": [ + "Gem" + ], + "user_tags": [ + "ProteusRobot" + ], + "platforms": [ + "" + ], + "icon_path": "preview.png", + "requirements": "Notice of any requirements for this Gem i.e. This requires X other gem", + "documentation_url": "Link to any documentation of your Gem", + "dependencies": [], + "repo_uri": "", + "compatible_engines": [], + "engine_api_dependencies": [], + "restricted": "ProteusRobot" +} diff --git a/Gems/ProteusRobot/preview.png b/Gems/ProteusRobot/preview.png new file mode 100644 index 000000000..7d6835f1d --- /dev/null +++ b/Gems/ProteusRobot/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e2408737fe2bba9016b8bfaf0e09ba7624ab298720c51307a51cec1c816ebd7 +size 125915 diff --git a/Gems/ROS2/.clang-format b/Gems/ROS2/.clang-format new file mode 100644 index 000000000..fddf24403 --- /dev/null +++ b/Gems/ROS2/.clang-format @@ -0,0 +1,61 @@ +Language: Cpp + +AccessModifierOffset: -4 +AlignAfterOpenBracket: AlwaysBreak +AlignConsecutiveAssignments: false +AlignConsecutiveDeclarations: false +AlignEscapedNewlines: Right +AlignOperands: false +AlignTrailingComments: false +AllowAllArgumentsOnNextLine: true +AllowAllParametersOfDeclarationOnNextLine: true +AllowShortFunctionsOnASingleLine: None +AllowShortLambdasOnASingleLine: None +AlwaysBreakAfterReturnType: None +AlwaysBreakTemplateDeclarations: true +BinPackArguments: false +BinPackParameters: false +BreakBeforeBraces: Custom +BraceWrapping: + AfterClass: true + AfterControlStatement: true + AfterEnum: true + AfterFunction: true + AfterNamespace: true + BeforeLambdaBody: true + AfterStruct: true + BeforeElse: true + SplitEmptyFunction: true +BreakBeforeTernaryOperators: true +BreakConstructorInitializers: BeforeComma +BreakInheritanceList: BeforeComma +ColumnLimit: 140 +ConstructorInitializerIndentWidth: 4 +ContinuationIndentWidth: 4 +Cpp11BracedListStyle: false +FixNamespaceComments: true +IncludeBlocks: Preserve +IndentCaseBlocks: true +IndentCaseLabels: false +IndentPPDirectives: None +IndentWidth: 4 +KeepEmptyLinesAtTheStartOfBlocks: false +MaxEmptyLinesToKeep: 1 +NamespaceIndentation: All +PenaltyReturnTypeOnItsOwnLine: 1000 +PointerAlignment: Left +SortIncludes: true +SpaceAfterLogicalNot: false +SpaceAfterTemplateKeyword: false +SpaceBeforeAssignmentOperators: true +SpaceBeforeCpp11BracedList: false +SpaceBeforeCtorInitializerColon: true +SpaceBeforeInheritanceColon: true +SpaceBeforeParens: ControlStatements +SpaceBeforeRangeBasedForLoopColon: true +SpaceInEmptyParentheses: false +SpacesInAngles: false +SpacesInCStyleCastParentheses: false +SpacesInParentheses: false +Standard: c++17 +UseTab: Never \ No newline at end of file diff --git a/Gems/ROS2/.gitignore b/Gems/ROS2/.gitignore new file mode 100644 index 000000000..92fc1b533 --- /dev/null +++ b/Gems/ROS2/.gitignore @@ -0,0 +1,35 @@ +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +# workspace +.idea/ diff --git a/Gems/ROS2/.licenserc.yaml b/Gems/ROS2/.licenserc.yaml new file mode 100644 index 000000000..3b5b408a4 --- /dev/null +++ b/Gems/ROS2/.licenserc.yaml @@ -0,0 +1,10 @@ +header: + license: + content: | + Copyright (c) Contributors to the Open 3D Engine Project. + For complete copyright and license terms please see the LICENSE at the root of this distribution. + + SPDX-License-Identifier: Apache-2.0 OR MIT + paths: + - 'Code' + - 'CMakeLists.txt' diff --git a/Gems/ROS2/Assets/Editor/Images/Icons/ROS2.qrc b/Gems/ROS2/Assets/Editor/Images/Icons/ROS2.qrc new file mode 100644 index 000000000..5afa45d5d --- /dev/null +++ b/Gems/ROS2/Assets/Editor/Images/Icons/ROS2.qrc @@ -0,0 +1,5 @@ + + + ROS_import_icon.svg + + \ No newline at end of file diff --git a/Gems/ROS2/Assets/Editor/Images/Icons/ROS_import_icon.svg b/Gems/ROS2/Assets/Editor/Images/Icons/ROS_import_icon.svg new file mode 100644 index 000000000..c355cd348 --- /dev/null +++ b/Gems/ROS2/Assets/Editor/Images/Icons/ROS_import_icon.svg @@ -0,0 +1,181 @@ + + + +image/svg+xml + + + + + \ No newline at end of file diff --git a/Gems/ROS2/Assets/Materials/wheel_material.physxmaterial b/Gems/ROS2/Assets/Materials/wheel_material.physxmaterial new file mode 100644 index 000000000..38b0d075c --- /dev/null +++ b/Gems/ROS2/Assets/Materials/wheel_material.physxmaterial @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/Gems/ROS2/Assets/Models/Sensors/Camera/AO.png b/Gems/ROS2/Assets/Models/Sensors/Camera/AO.png new file mode 100644 index 000000000..5e538c454 --- /dev/null +++ b/Gems/ROS2/Assets/Models/Sensors/Camera/AO.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a02e1525050efa303a1e2f4f0873a27565a8e9c86601f6bd6dba59ae05110645 +size 1488731 diff --git a/Gems/ROS2/Assets/Models/Sensors/Camera/Body_Diffuse.png b/Gems/ROS2/Assets/Models/Sensors/Camera/Body_Diffuse.png new file mode 100644 index 000000000..2dc52e865 --- /dev/null +++ b/Gems/ROS2/Assets/Models/Sensors/Camera/Body_Diffuse.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9988892afcb8f4a2fc35b2059ce9364cdb8eb1f795be1da753ffad36bf7b7392 +size 62867 diff --git a/Gems/ROS2/Assets/Models/Sensors/Camera/CameraOrbbeck.fbx b/Gems/ROS2/Assets/Models/Sensors/Camera/CameraOrbbeck.fbx new file mode 100644 index 000000000..4fcd15c96 --- /dev/null +++ b/Gems/ROS2/Assets/Models/Sensors/Camera/CameraOrbbeck.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a409d15dff6905764f833d9c1776d91d47aa106cea0f36def24d3997e3f670b7 +size 86204 diff --git a/Gems/ROS2/Assets/Models/Sensors/Camera/CameraOrbbeck.fbx.assetinfo b/Gems/ROS2/Assets/Models/Sensors/Camera/CameraOrbbeck.fbx.assetinfo new file mode 100755 index 000000000..f67833a77 --- /dev/null +++ b/Gems/ROS2/Assets/Models/Sensors/Camera/CameraOrbbeck.fbx.assetinfo @@ -0,0 +1,47 @@ +{ + "values": [ + { + "$type": "{5B03C8E6-8CEE-4DA0-A7FA-CD88689DD45B} MeshGroup", + "id": "{4EC8CA5C-ED77-539D-A0D5-FDE774D3AE48}", + "name": "CameraOrbbeck", + "NodeSelectionList": { + "selectedNodes": [ + "RootNode.Collider" + ], + "unselectedNodes": [ + {}, + "RootNode", + "RootNode.Orbbeck" + ] + }, + "MaterialSlots": [ + "DefaultMaterial" + ], + "PhysicsMaterials": [ + "" + ] + }, + { + "$type": "{07B356B7-3635-40B5-878A-FAC4EFD5AD86} MeshGroup", + "name": "CameraOrbbeck", + "nodeSelectionList": { + "selectedNodes": [ + {}, + "RootNode", + "RootNode.Orbbeck" + ], + "unselectedNodes": [ + "RootNode.Collider" + ] + }, + "rules": { + "rules": [ + { + "$type": "MaterialRule" + } + ] + }, + "id": "{DD50FDF8-5780-543A-AA6E-E5D30DFE7E72}" + } + ] +} \ No newline at end of file diff --git a/Gems/ROS2/Assets/Models/Sensors/LidarOS2/LidarOS2.fbx b/Gems/ROS2/Assets/Models/Sensors/LidarOS2/LidarOS2.fbx new file mode 100644 index 000000000..feedc23b4 --- /dev/null +++ b/Gems/ROS2/Assets/Models/Sensors/LidarOS2/LidarOS2.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1a630c97a3b192f56b42e87650edfb1f10a4967cb2c7211d7ac00eb487d1b0f +size 237180 diff --git a/Gems/ROS2/Assets/Models/Sensors/LidarOS2/LidarOS2.fbx.assetinfo b/Gems/ROS2/Assets/Models/Sensors/LidarOS2/LidarOS2.fbx.assetinfo new file mode 100755 index 000000000..f034668f2 --- /dev/null +++ b/Gems/ROS2/Assets/Models/Sensors/LidarOS2/LidarOS2.fbx.assetinfo @@ -0,0 +1,47 @@ +{ + "values": [ + { + "$type": "{5B03C8E6-8CEE-4DA0-A7FA-CD88689DD45B} MeshGroup", + "id": "{8B671FF3-450D-5007-AC79-F2E406301A08}", + "name": "LidarOS2", + "NodeSelectionList": { + "selectedNodes": [ + "RootNode.Collider" + ], + "unselectedNodes": [ + {}, + "RootNode", + "RootNode.OS2" + ] + }, + "MaterialSlots": [ + "DefaultMaterial" + ], + "PhysicsMaterials": [ + "" + ] + }, + { + "$type": "{07B356B7-3635-40B5-878A-FAC4EFD5AD86} MeshGroup", + "name": "LidarOS2", + "nodeSelectionList": { + "selectedNodes": [ + {}, + "RootNode", + "RootNode.OS2" + ], + "unselectedNodes": [ + "RootNode.Collider" + ] + }, + "rules": { + "rules": [ + { + "$type": "MaterialRule" + } + ] + }, + "id": "{830ADBFF-66E2-505D-BEE1-EFBD789FDF62}" + } + ] +} \ No newline at end of file diff --git a/Gems/ROS2/Assets/Models/Sensors/LidarOS2/LidarOS2_OS2Material.material 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"Component_[13444160964623421011]": { + "$type": "EditorLockComponent", + "Id": 13444160964623421011 + }, + "Component_[14110476541514862518]": { + "$type": "EditorOnlyEntityComponent", + "Id": 14110476541514862518 + }, + "Component_[17124975368240161289]": { + "$type": "EditorVisibilityComponent", + "Id": 17124975368240161289 + }, + "Component_[1863593986687460136]": { + "$type": "EditorDisabledCompositionComponent", + "Id": 1863593986687460136 + }, + "Component_[3070834537283917104]": { + "$type": "EditorInspectorComponent", + "Id": 3070834537283917104 + }, + "Component_[7054215981025466544]": { + "$type": "EditorEntitySortComponent", + "Id": 7054215981025466544 + }, + "Component_[8854312938977545065]": { + "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent", + "Id": 8854312938977545065, + "Parent Entity": "Entity_[417184227077]", + "Transform Data": { + "Translate": [ + 0.0, + 0.0, + 0.06961321830749512 + ] + } + } + } + }, + "Entity_[417184227077]": { + "Id": "Entity_[417184227077]", + "Name": "LidarOS2", + "Components": { + "Component_[10387713135725007135]": { + "$type": "AZ::Render::EditorMeshComponent", + "Id": 10387713135725007135, + "Controller": { + "Configuration": { + "ModelAsset": { + "assetId": { + "guid": "{99D850A3-8E59-5E78-93FE-AE8DB228684D}", + "subId": 268955557 + }, + "assetHint": "models/sensors/lidaros2/lidaros2.azmodel" + } + } + } + }, + "Component_[11659553095730431803]": { + "$type": "EditorPendingCompositionComponent", + "Id": 11659553095730431803 + }, + "Component_[13177781661023720894]": { + "$type": "EditorOnlyEntityComponent", + "Id": 13177781661023720894 + }, + "Component_[14535670656735835043]": { + "$type": "EditorMeshColliderComponent", + "Id": 14535670656735835043, + "ColliderConfiguration": { + "CollisionGroupId": { + "GroupId": "{DED3A46E-3588-4BB8-BADF-E3114DBA95A6}" + }, + "MaterialSlots": { + "Slots": [ + { + "Name": "DefaultMaterial" + } + ] + } + }, + "ShapeConfiguration": { + "PhysicsAsset": { + "Asset": { + "assetId": { + "guid": "{99D850A3-8E59-5E78-93FE-AE8DB228684D}", + "subId": 2574200790 + }, + "assetHint": "models/sensors/lidaros2/lidaros2.pxmesh" + }, + "Configuration": { + "PhysicsAsset": { + "assetId": { + "guid": "{99D850A3-8E59-5E78-93FE-AE8DB228684D}", + "subId": 2574200790 + }, + "loadBehavior": "QueueLoad", + "assetHint": "models/sensors/lidaros2/lidaros2.pxmesh" + } + } + } + } + }, + "Component_[17075071070477116796]": { + "$type": "EditorDisabledCompositionComponent", + "Id": 17075071070477116796 + }, + "Component_[226256536131696604]": { + "$type": "EditorStaticRigidBodyComponent", + "Id": 226256536131696604 + }, + "Component_[3201525403568523459]": { + "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent", + "Id": 3201525403568523459, + "Parent Entity": "ContainerEntity" + }, + "Component_[5004394864880282263]": { + "$type": "EditorEntityIconComponent", + "Id": 5004394864880282263 + }, + "Component_[5142969012241927438]": { + "$type": "EditorInspectorComponent", + "Id": 5142969012241927438, + "ComponentOrderEntryArray": [ + { + "ComponentId": 3201525403568523459 + }, + { + "ComponentId": 10387713135725007135, + "SortIndex": 1 + }, + { + "ComponentId": 18284489930066132216, + "SortIndex": 2 + }, + { + "ComponentId": 98811077871648366, + "SortIndex": 3 + } + ] + }, + "Component_[6216877561479815861]": { + "$type": "EditorMaterialComponent", + "Id": 6216877561479815861, + "Controller": { + "Configuration": { + "materials": [ + { + "Key": { + "materialSlotStableId": 3498918361 + }, + "Value": { + "MaterialAsset": { + "assetId": { + "guid": "{305BAE93-C067-5CA7-8C6F-6D9737E15C1B}" + }, + "assetHint": "models/sensors/lidaros2/lidaros2_os2material.azmaterial" + } + } + } + ] + } + } + }, + "Component_[6868930103042649999]": { + "$type": "EditorLockComponent", + "Id": 6868930103042649999 + }, + "Component_[8621809176728013021]": { + "$type": "EditorVisibilityComponent", + "Id": 8621809176728013021 + }, + "Component_[8808389010192194694]": { + "$type": "EditorEntitySortComponent", + "Id": 8808389010192194694, + "Child Entity Order": [ + "Entity_[1273969985848]" + ] + } + } + } + } +} \ No newline at end of file diff --git a/Gems/ROS2/CMakeLists.txt b/Gems/ROS2/CMakeLists.txt new file mode 100644 index 000000000..ad30aeb14 --- /dev/null +++ b/Gems/ROS2/CMakeLists.txt @@ -0,0 +1,26 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT + +# Query the gem name from the gem.json file if possible +# otherwise fallback to using ${Name} +o3de_find_ancestor_gem_root(gempath gem_name "${CMAKE_CURRENT_SOURCE_DIR}") +if (NOT gem_name) + set(gem_name "ROS2") +endif() + +list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Code") +set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} PARENT_SCOPE) + +set(gem_path ${CMAKE_CURRENT_LIST_DIR}) +set(gem_json ${gem_path}/gem.json) +o3de_restricted_path(${gem_json} gem_restricted_path gem_parent_relative_path) + +ly_add_external_target_path(${CMAKE_CURRENT_LIST_DIR}/3rdParty) + +# Include ROS2 target function here so that every Project with this Gem can make use of it +# Currently only affects the Gem itself but this likely will change in the future +include(${CMAKE_CURRENT_LIST_DIR}/Code/ros2_target_depends.cmake) + +add_subdirectory(Code) diff --git a/Gems/ROS2/CONTRIBUTING.md b/Gems/ROS2/CONTRIBUTING.md new file mode 100644 index 000000000..d97374e2b --- /dev/null +++ b/Gems/ROS2/CONTRIBUTING.md @@ -0,0 +1,18 @@ + +### Code of conduct + +Please refer to and respect the [O3DE Code of Conduct](https://www.o3de.org/docs/contributing/code-of-conduct/). + +### Authorship and Developer Certificate of Origin (DCO) + +When creating a pull request to this repository, make sure that: +- Authorship of the code is properly attributed. You need to agree with the [Developer Certificate of Origin](https://developercertificate.org/) to contribute. Some important points: + - Make sure your username and user email are [set up](https://docs.github.com/en/get-started/getting-started-with-git/setting-your-username-in-git). + - If you commit parts of code which are not yours, make sure you are allowed to do so (in terms of license) and respect all the requirements of the license, such as Attribution. + - If you are not the author of the commit, indicate authorship with `--author` flag of `git commit` command. + - Try to divide your work into commits done by a single author. If you decide to use a single commit for a multi-author work, use the [Co-authored-by syntax](https://docs.github.com/en/pull-requests/committing-changes-to-your-project/creating-and-editing-commits/creating-a-commit-with-multiple-authors) in the commit message. +- Your commits are signed, indicating complience with the DCO: use `git commit -s` to ensure that. + +### Additional information + +We recommend you to read [O3DE contribution guide](https://github.com/o3de/community/blob/main/CONTRIBUTING.md) and [ROS contribution guide](https://docs.ros.org/en/humble/Contributing.html) as well. diff --git a/Gems/ROS2/Code/CMakeLists.txt b/Gems/ROS2/Code/CMakeLists.txt new file mode 100644 index 000000000..980bfb0cb --- /dev/null +++ b/Gems/ROS2/Code/CMakeLists.txt @@ -0,0 +1,201 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT + + +# Only allow this gem to be configured on platforms that are currently supported +include(${CMAKE_CURRENT_SOURCE_DIR}/Platform/${PAL_PLATFORM_NAME}/PAL_${PAL_PLATFORM_NAME_LOWERCASE}.cmake) +if(NOT PAL_TRAIT_BUILD_ROS2_GEM_SUPPORTED) + message(FATAL_ERROR "The ROS2 Gem is not currently supported on ${PAL_PLATFORM_NAME}") + return() +endif() + +# If no ROS2 is found, no targets are valid for this Gem +find_package(ROS2 MODULE) +if (NOT ROS2_FOUND) + message(FATAL_ERROR "Unable to detect a the ROS2 distribution on this system. Make sure it is installed and enabled.") + return() +endif() +message(DEBUG "Building ${gem_name} Gem with ros2 $ENV{ROS_DISTRO}") + +# Add the ROS2.Static target +# Note: We include the common files and the platform specific files which are set in ros2_common_files.cmake +# and in ${pal_dir}/ros2_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake +ly_add_target( + NAME ${gem_name}.Static STATIC + NAMESPACE Gem + FILES_CMAKE + ros2_header_files.cmake + ros2_files.cmake + INCLUDE_DIRECTORIES + PUBLIC + Include + PRIVATE + Source + Source/VehicleDynamics + BUILD_DEPENDENCIES + PUBLIC + AZ::AzCore + AZ::AzFramework + Gem::Atom_RPI.Public + Gem::Atom_Feature_Common.Static + Gem::Atom_Component_DebugCamera.Static + Gem::StartingPointInput + Gem::PhysX.Static +) + +target_depends_on_ros2_packages(${gem_name}.Static rclcpp builtin_interfaces std_msgs sensor_msgs nav_msgs tf2_ros ackermann_msgs gazebo_msgs) +target_depends_on_ros2_package(${gem_name}.Static control_toolbox 2.2.0 REQUIRED) + +ly_add_target( + NAME ${gem_name}.API HEADERONLY + NAMESPACE Gem + FILES_CMAKE + ros2_header_files.cmake + INCLUDE_DIRECTORIES + INTERFACE + Include +) + +# Here add ROS2 target, it depends on the ROS2.Static +ly_add_target( + NAME ${gem_name} ${PAL_TRAIT_MONOLITHIC_DRIVEN_MODULE_TYPE} + NAMESPACE Gem + FILES_CMAKE + ros2_shared_files.cmake + INCLUDE_DIRECTORIES + PUBLIC + Include + PRIVATE + Source + BUILD_DEPENDENCIES + PRIVATE + Gem::${gem_name}.Static + Gem::Atom_Feature_Common.Static +) + +# By default, we will specify that the above target ROS2 would be used by +# Client, Server and Unified type targets when this gem is enabled. If you don't want it +# active in Clients, Servers or Unified by default, delete one or more of the following lines: +ly_create_alias(NAME ${gem_name}.Clients NAMESPACE Gem TARGETS Gem::${gem_name}) +ly_create_alias(NAME ${gem_name}.Servers NAMESPACE Gem TARGETS Gem::${gem_name}) +ly_create_alias(NAME ${gem_name}.Unified NAMESPACE Gem TARGETS Gem::${gem_name}) + +# If we are on a host platform, we want to add the host tools targets like the ${gem_name}.Editor target which +# will also depend on ${gem_name}.Static +if(PAL_TRAIT_BUILD_HOST_TOOLS) + ly_add_target( + NAME ${gem_name}.Editor.Static STATIC + NAMESPACE Gem + AUTOMOC + AUTORCC + FILES_CMAKE + ros2_editor_files.cmake + PLATFORM_INCLUDE_FILES + ${CMAKE_CURRENT_LIST_DIR}/Platform/Common/${PAL_TRAIT_COMPILER_ID}/ros2_static_editor_${PAL_TRAIT_COMPILER_ID_LOWERCASE}.cmake + INCLUDE_DIRECTORIES + PRIVATE + Source + Source/RobotImporter + PUBLIC + Include + COMPILE_DEFINITIONS + PRIVATE + ROS2_EDITOR + BUILD_DEPENDENCIES + PUBLIC + AZ::AzToolsFramework + Gem::AtomLyIntegration_CommonFeatures.Editor.Static + Gem::LmbrCentral.API + Gem::PhysX.Editor.Static + Gem::${gem_name}.Static + ) + + find_package(urdfdom) + target_link_libraries(${gem_name}.Editor.Static PUBLIC urdfdom::urdfdom_model) + + ly_add_target( + NAME ${gem_name}.Editor GEM_MODULE + NAMESPACE Gem + FILES_CMAKE + ros2_editor_shared_files.cmake + PLATFORM_INCLUDE_FILES + ${CMAKE_CURRENT_LIST_DIR}/Platform/Common/${PAL_TRAIT_COMPILER_ID}/ros2_static_editor_${PAL_TRAIT_COMPILER_ID_LOWERCASE}.cmake + COMPILE_DEFINITIONS + PRIVATE + ROS2_EDITOR + INCLUDE_DIRECTORIES + PRIVATE + Source + PUBLIC + Include + BUILD_DEPENDENCIES + PUBLIC + Gem::${gem_name}.Editor.Static + Gem::Atom_Feature_Common.Static + ) + + # By default, we will specify that the above target ROS2 would be used by + # Tool and Builder type targets when this gem is enabled. If you don't want it + # active in Tools or Builders by default, delete one of both of the following lines: + ly_create_alias(NAME ${gem_name}.Tools NAMESPACE Gem TARGETS Gem::${gem_name}.Editor) + ly_create_alias(NAME ${gem_name}.Builders NAMESPACE Gem TARGETS Gem::${gem_name}.Editor) +endif() + +################################################################################ +# Tests +################################################################################ +# See if globally, tests are supported +if(PAL_TRAIT_BUILD_TESTS_SUPPORTED) + if(PAL_TRAIT_TEST_GOOGLE_TEST_SUPPORTED) + # We support ROS2.Tests on this platform, add ROS2.Tests target which depends on ROS2.Static + ly_add_target( + NAME ${gem_name}.Tests ${PAL_TRAIT_TEST_TARGET_TYPE} + NAMESPACE Gem + FILES_CMAKE + ros2_tests_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Tests + Source + BUILD_DEPENDENCIES + PRIVATE + AZ::AzTest + Gem::${gem_name}.Static + ) + + # Add ROS2.Tests to googletest + ly_add_googletest( + NAME Gem::${gem_name}.Tests + ) + endif() + + # If we are a host platform we want to add tools test like editor tests here + if(PAL_TRAIT_BUILD_HOST_TOOLS) + if(PAL_TRAIT_TEST_GOOGLE_TEST_SUPPORTED) + # We support ROS2.Editor.Tests on this platform, add ROS2.Editor.Tests target which depends on ROS2.Editor + ly_add_target( + NAME ${gem_name}.Editor.Tests ${PAL_TRAIT_TEST_TARGET_TYPE} + NAMESPACE Gem + FILES_CMAKE + ros2_editor_tests_files.cmake + PLATFORM_INCLUDE_FILES + ${CMAKE_CURRENT_LIST_DIR}/Platform/Common/${PAL_TRAIT_COMPILER_ID}/ros2_static_editor_${PAL_TRAIT_COMPILER_ID_LOWERCASE}.cmake + INCLUDE_DIRECTORIES + PRIVATE + Tests + Source + BUILD_DEPENDENCIES + PRIVATE + AZ::AzTest + Gem::${gem_name}.Editor + ) + + # Add ROS2.Editor.Tests to googletest + ly_add_googletest( + NAME Gem::${gem_name}.Editor.Tests + ) + endif() + endif() +endif() diff --git a/Gems/ROS2/Code/FindROS2.cmake b/Gems/ROS2/Code/FindROS2.cmake new file mode 100644 index 000000000..04d969d27 --- /dev/null +++ b/Gems/ROS2/Code/FindROS2.cmake @@ -0,0 +1,13 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT + +# Note that this does not find any ros2 package in particular, but determines whether a distro is sourced properly +# Can be extended to handle supported / unsupported distros +if (NOT DEFINED ENV{ROS_DISTRO} OR NOT DEFINED ENV{AMENT_PREFIX_PATH}) + message(WARNING, "To build ROS2 Gem a ROS distribution needs to be sourced, but none detected") + set(ROS2_FOUND FALSE) + return() +endif() +set(ROS2_FOUND TRUE) \ No newline at end of file diff --git a/Gems/ROS2/Code/Include/ROS2/Camera/CameraPostProcessingRequestBus.h b/Gems/ROS2/Code/Include/ROS2/Camera/CameraPostProcessingRequestBus.h new file mode 100644 index 000000000..3e277e9d3 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Camera/CameraPostProcessingRequestBus.h @@ -0,0 +1,47 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include + +#include + +namespace ROS2 +{ + //! Interface class that allows to add post-processing to the pipeline + class CameraPostProcessingRequests : public AZ::EBusTraits + { + public: + using BusIdType = AZ::EntityId; + static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::ById; + static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Multiple; + using MutexType = AZStd::recursive_mutex; + + //! Set to true to allow multiple threads to call ApplyPostProcessing at the same time. + //! Otherwise, the bus will be locked to a single thread for each entity. + static constexpr bool LocklessDispatch = true; + + //! Apply post-processing function, if any implementations to the bus are in the entity. + //! @param image standard image message passed as a reference. It will be changed through post-processing. + //! @note you should check whether the encoding format is supported first with SupportsFormat. + virtual void ApplyPostProcessing(sensor_msgs::msg::Image& image) = 0; + + //! Query whether a particular image encoding is supported by registered postprocessing. + //! @param encodingFormat name of the format. + virtual bool SupportsFormat(const AZStd::string& encodingFormat) = 0; + + protected: + ~CameraPostProcessingRequests() = default; + }; + + using CameraPostProcessingRequestBus = AZ::EBus; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/Clock/PhysicallyStableClock.h b/Gems/ROS2/Code/Include/ROS2/Clock/PhysicallyStableClock.h new file mode 100644 index 000000000..fd50eb60a --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Clock/PhysicallyStableClock.h @@ -0,0 +1,38 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once +#include "SimulationClock.h" +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! Simulation clock which changes source to physics of timestamps that are provided by \ref GetROSTimestamp. + //! The simulated clock is incremented with delta times that were simulated by physics. + //! Clock register and observes AZ::PhysicsScene and when simulation starts, it attaches and starts to count updates. + //! It is recommended to use with high-frequency sensors such as odometry and IMUs. + class PhysicallyStableClock : public SimulationClock + { + public: + // SimulationClock overrides ... + void Activate() override; + void Deactivate() override; + builtin_interfaces::msg::Time GetROSTimestamp() const override; + + virtual ~PhysicallyStableClock() = default; + + private: + double m_elapsed = 0; + AzPhysics::SceneEvents::OnSceneSimulationFinishHandler m_onSceneSimulationEvent; + AzPhysics::SystemEvents::OnSceneAddedEvent::Handler m_onSceneAdded; + AzPhysics::SystemEvents::OnSceneRemovedEvent::Handler m_onSceneRemoved; + }; +} // namespace ROS2 \ No newline at end of file diff --git a/Gems/ROS2/Code/Include/ROS2/Clock/SimulationClock.h b/Gems/ROS2/Code/Include/ROS2/Clock/SimulationClock.h new file mode 100644 index 000000000..8f2a61acd --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Clock/SimulationClock.h @@ -0,0 +1,49 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! Simulation clock which can tick and serve time stamps. + class SimulationClock + { + static constexpr size_t FramesNumberForStats = 60; + + public: + virtual void Activate(){}; + virtual void Deactivate(){}; + + //! Get simulation time as ROS2 message. + //! @see ROS2Requests::GetROSTimestamp() for more details. + virtual builtin_interfaces::msg::Time GetROSTimestamp() const; + + //! Update time in the ROS 2 ecosystem. + //! This will publish current time to the ROS 2 `/clock` topic. + virtual void Tick(); + + //! Returns an expected loop time of simulation. It is an estimation from past frames. + AZStd::chrono::duration GetExpectedSimulationLoopTime() const; + virtual ~SimulationClock() = default; + + private: + //! Get the time since start of sim, scaled with t_simulationTickScale + int64_t GetElapsedTimeMicroseconds() const; + + AZ::s64 m_lastExecutionTime{ 0 }; + + rclcpp::Publisher::SharedPtr m_clockPublisher; + AZ::s64 m_currentMedian{ 0 }; + AZStd::deque m_frameTimes; + }; +} // namespace ROS2 \ No newline at end of file diff --git a/Gems/ROS2/Code/Include/ROS2/Communication/QoS.h b/Gems/ROS2/Code/Include/ROS2/Communication/QoS.h new file mode 100644 index 000000000..e6b6268d4 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Communication/QoS.h @@ -0,0 +1,37 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! A wrapper for rclcpp::QoS (Quality of Service for DDS) with reflection. + //! @see Quality of Service policies. + struct QoS + { + public: + AZ_TYPE_INFO(QoS, "{46692EA4-EA4C-495E-AD3C-426EAB8954D3}"); + QoS(const rclcpp::QoS& qos = rclcpp::QoS(rmw_qos_profile_default.depth)); + static void Reflect(AZ::ReflectContext* context); + + //! Convert and return a rclcpp::QoS instance based on member values (Editor combos selection). + //! @return a ROS2 QoS struct. + rclcpp::QoS GetQoS() const; + + private: + AZ::Crc32 OnQoSSelected() const; + + rclcpp::ReliabilityPolicy m_reliabilityPolicy; + rclcpp::DurabilityPolicy m_durabilityPolicy; + uint32_t m_depth; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/Communication/TopicConfiguration.h b/Gems/ROS2/Code/Include/ROS2/Communication/TopicConfiguration.h new file mode 100644 index 000000000..31c5c319d --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Communication/TopicConfiguration.h @@ -0,0 +1,37 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include "QoS.h" +#include +#include +#include + +namespace ROS2 +{ + //! A structure for a single ROS2 topic, a part of publisher or subscriber configuration. + struct TopicConfiguration + { + public: + AZ_TYPE_INFO(TopicConfiguration, "{7535D58F-5284-4657-A799-1F69D3F5AA42}"); + static void Reflect(AZ::ReflectContext* context); + + AZStd::string m_type = "std_msgs::msg::Empty"; //!< descriptive topic type for identification. + AZStd::string m_topic = "default_topic"; //!< Topic to publish. Final topic will have a namespace added. + + //! Get topic QoS (Quality of Service) settings. + //! @see ROS2::QoS. + rclcpp::QoS GetQoS() const + { + return m_qos.GetQoS(); + } + + private: + QoS m_qos = rclcpp::SensorDataQoS(); + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/Frame/NamespaceConfiguration.h b/Gems/ROS2/Code/Include/ROS2/Frame/NamespaceConfiguration.h new file mode 100644 index 000000000..5c07070ba --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Frame/NamespaceConfiguration.h @@ -0,0 +1,58 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! Configuration for handling of namespaces. + //! Namespaces are useful for various ROS2 components. This structure encapsulates the namespace itself, + //! composing namespaces and context-dependent default values. + //! @note This structure is handled through ROS2FrameComponent. + struct NamespaceConfiguration + { + public: + AZ_TYPE_INFO(NamespaceConfiguration, "{5E5BC6EA-DD01-480E-A4D1-6857CF70FDC8}"); + static void Reflect(AZ::ReflectContext* context); + + //! A choice of methods to handle namespaces. + //! @note Top level ROS2FrameComponent will likely be associated with an interesting object (robot). For multi-robot + //! simulations, namespaces are often derived from the robot name itself. For this reason, the default behavior + //! for top level ROS2FrameComponent is to generate the namespace from entity name. + enum class NamespaceStrategy + { + Default, //!< FromEntityName for top-level frames, Empty otherwise. + Empty, //!< An empty, blank namespace + FromEntityName, //!< Generate from Entity name, but substitute disallowed characters through RosifyName. + Custom //!< Non-empty and based on user-provided value. + }; + + //! Set namespace based on context. + //! @param isRoot Whether or not the namespace belongs to top-level entity in the entity hierarchy. + //! @param entityName Raw (not ros-ified) name of the entity to which the namespace belongs. + void PopulateNamespace(bool isRoot, const AZStd::string& entityName); + AZStd::string GetNamespace(const AZStd::string& parentNamespace) const; + + private: + AZStd::string m_namespace; + NamespaceStrategy m_namespaceStrategy = NamespaceStrategy::Default; + bool m_isRoot; + AZStd::string m_entityName; + + //! Determine if namespace is using the Custom namespace strategy + bool IsNamespaceCustom() const; + + //! Update the namespace based on the current attributes + void UpdateNamespace(); + + AZ::Crc32 OnNamespaceStrategySelected(); + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/Frame/ROS2FrameComponent.h b/Gems/ROS2/Code/Include/ROS2/Frame/ROS2FrameComponent.h new file mode 100644 index 000000000..b5b7e658e --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Frame/ROS2FrameComponent.h @@ -0,0 +1,93 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! This component marks an interesting reference frame for ROS2 ecosystem. + //! It serves as sensor data frame of reference and is responsible, through ROS2Transform, for publishing + //! ros2 static and dynamic transforms (/tf_static, /tf). It also facilitates namespace handling. + //! An entity can only have a single ROS2Frame on each level. Many ROS2 Components require this component. + //! @note A robot should have this component on every level of entity hierarchy (for each joint, fixed or dynamic) + class ROS2FrameComponent + : public AZ::Component + , public AZ::TickBus::Handler + { + public: + AZ_COMPONENT(ROS2FrameComponent, "{EE743472-3E25-41EA-961B-14096AC1D66F}"); + + ROS2FrameComponent(); + //! Initialize to a specific frame id + ROS2FrameComponent(const AZStd::string& frameId); + + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + + static void Reflect(AZ::ReflectContext* context); + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + + //! Get a frame id, which is needed for any ROS2 message with a Header + //! @return Frame id which includes the namespace, ready to send in a ROS2 message + AZStd::string GetFrameID() const; + + //! Set a above-mentioned frame id + void SetFrameID(const AZStd::string& frameId); + + //! Get a namespace, which should be used for any publisher or subscriber in the same entity. + //! @return A complete namespace (including parent namespaces) + AZStd::string GetNamespace() const; + + //! Get a transform between this frame and the next frame up in hierarchy. + //! @return If the parent frame is found, return a Transform between this frame and the parent. + //! Otherwise, return a global Transform. + //! @note Parent frame is not the same as parent Transform: there could be many Transforms in between without ROS2Frame components. + AZ::Transform GetFrameTransform() const; + + //! Global frame name in ros2 ecosystem. + //! @return The name of the global frame with namespace attached. It is typically "odom", "map", "world". + AZStd::string GetGlobalFrameName() const; + + private: + ////////////////////////////////////////////////////////////////////////// + // AZ::TickBus::Handler overrides + void OnTick(float deltaTime, AZ::ScriptTimePoint time) override; + ////////////////////////////////////////////////////////////////////////// + + bool IsTopLevel() const; //!< True if this entity does not have a parent entity with ROS2. + + //! Whether transformation to parent frame can change during the simulation, or is fixed. + bool IsDynamic() const; + + const ROS2FrameComponent* GetParentROS2FrameComponent() const; + + //! Return the frame id of this frame's parent. It can be useful to determine ROS 2 transformations. + //! @return Parent frame ID. + //! @note This also works with top-level frames, returning a global frame name. + //! @see GetGlobalFrameName(). + AZStd::string GetParentFrameID() const; + + NamespaceConfiguration m_namespaceConfiguration; + AZStd::string m_frameName = "sensor_frame"; + + bool m_publishTransform = true; + bool m_isDynamic = false; + AZStd::unique_ptr m_ros2Transform; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/Frame/ROS2Transform.h b/Gems/ROS2/Code/Include/ROS2/Frame/ROS2Transform.h new file mode 100644 index 000000000..c1eb14441 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Frame/ROS2Transform.h @@ -0,0 +1,40 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! Publishes transforms as standard ROS2 tf2 messages. Static transforms are published once. + //! @note This class is already used through ROS2FrameComponent. + class ROS2Transform + { + public: + //! Create a transform between given frames. + //! @param parentFrame id of parent frame of transformation. + //! @param childFrame id of child frame of transformation. + //! @param isDynamic whether the transformation is dynamic (should be computed every frame) or static (only once). + ROS2Transform(AZStd::string parentFrame, AZStd::string childFrame, bool isDynamic); + + //! Construct and delegate publishing of a transform according to members' values. + //! @param transform AZ::Transform with current transformation between m_parentFrame and m_childFrame. + //! @note The actual publishing is done by singleton tf broadcasters. + void Publish(const AZ::Transform& transform); + + private: + geometry_msgs::msg::TransformStamped CreateTransformMessage(const AZ::Transform& transform); + + const AZStd::string m_parentFrame; + const AZStd::string m_childFrame; + bool m_isPublished = false; + bool m_isDynamic; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/Lidar/LidarRaycasterBus.h b/Gems/ROS2/Code/Include/ROS2/Lidar/LidarRaycasterBus.h new file mode 100644 index 000000000..bc8fb559a --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Lidar/LidarRaycasterBus.h @@ -0,0 +1,217 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include + +namespace ROS2 +{ + //! Class used for creating typesafe Uuid types. + //! It utilizes the phantom types technique. + template + class StronglyTypedUuid + { + public: + StronglyTypedUuid() = default; + explicit constexpr StronglyTypedUuid(AZ::Uuid value) + : m_uuid(value) + { + } + + constexpr static StronglyTypedUuid CreateNull() + { + return StronglyTypedUuid(AZ::Uuid::CreateNull()); + } + + constexpr static StronglyTypedUuid CreateRandom() + { + return StronglyTypedUuid(AZ::Uuid::CreateRandom()); + } + + constexpr bool IsNull() const + { + return m_uuid.IsNull(); + } + + constexpr bool operator==(const StronglyTypedUuid& rhs) const + { + return m_uuid == rhs.m_uuid; + } + + constexpr bool operator!=(const StronglyTypedUuid& rhs) const + { + return m_uuid != rhs.m_uuid; + } + + constexpr bool operator<(const StronglyTypedUuid& rhs) const + { + return m_uuid < rhs.m_uuid; + } + + constexpr bool operator>(const StronglyTypedUuid& rhs) const + { + return m_uuid > rhs.m_uuid; + } + + constexpr bool operator<=(const StronglyTypedUuid& rhs) const + { + return m_uuid <= rhs.m_uuid; + } + + constexpr bool operator>=(const StronglyTypedUuid& rhs) const + { + return m_uuid >= rhs.m_uuid; + } + + constexpr size_t GetHash() const + { + return m_uuid.GetHash(); + } + + private: + AZ::Uuid m_uuid; + }; + + //! Unique id used by lidar raycasters. + using LidarId = StronglyTypedUuid; + + enum class RaycastResultFlags : AZ::u8 + { + Points = (1 << 0), //!< return 3D point coordinates + Ranges = (1 << 1), //!< return array of distances + }; + + //! Bitwise operators for RaycastResultFlags + AZ_DEFINE_ENUM_BITWISE_OPERATORS(RaycastResultFlags) + + struct RaycastResult + { + AZStd::vector m_points; + AZStd::vector m_ranges; + }; + + //! Interface class that allows for communication with a single Lidar instance. + class LidarRaycasterRequests + { + public: + AZ_RTTI(LidarRaycasterRequests, "{253a02c8-b6cb-493c-b16f-012ccf9db226}"); + + //! Configures ray orientations. + //! @param orientations Vector of orientations as Euler angles in radians. Each ray direction is computed by transforming a unit + //! vector in the positive z direction first by the y, next by the z axis. The x axis is currently not included in calculations. + virtual void ConfigureRayOrientations(const AZStd::vector& orientations) = 0; + + //! Configures ray maximum travel distance. + //! @param range Ray range in meters. + virtual void ConfigureRayRange(float range) = 0; + + //! Configures ray minimum travel distance. + //! @param range Ray range in meters. + virtual void ConfigureMinimumRayRange(float range) + { + AZ_Assert(false, "This Lidar Implementation does not support minimum ray range configurations!"); + } + + //! Configures result flags. + //! @param flags Raycast result flags define set of data types returned by lidar. + virtual void ConfigureRaycastResultFlags(RaycastResultFlags flags) + { + AZ_Assert(false, "This Lidar Implementation does not support configurable result flags!"); + } + + //! Schedules a raycast that originates from the point described by the lidarTransform. + //! @param lidarTransform Current transform from global to lidar reference frame. + //! @param flags Used to request different kinds of data returned by raycast query + //! @return Results of the raycast in the requested form including 3D space coordinates and/or ranges. + virtual RaycastResult PerformRaycast(const AZ::Transform& lidarTransform) = 0; + + //! Configures ray Gaussian Noise parameters. + //! Each call overrides the previous configuration. + //! This type of noise is especially useful when trying to simulate real-life lidars, since its noise mimics + //! the imperfections arising due to various physical factors e.g. fluctuations in rotary motion of the lidar (angular noise) or + //! distance accuracy (distance noise). + //! For the the details about Gaussian noise, please refer to https://en.wikipedia.org/wiki/Gaussian_noise. + //! @param angularNoiseStdDev Angular noise standard deviation. + //! @param distanceNoiseStdDevBase Base value for Distance noise standard deviation. + //! @param distanceNoiseStdDevRisePerMeter Value by which the distance noise standard deviation increases per meter length from + //! the lidar. + virtual void ConfigureNoiseParameters( + [[maybe_unused]] float angularNoiseStdDev, + [[maybe_unused]] float distanceNoiseStdDevBase, + [[maybe_unused]] float distanceNoiseStdDevRisePerMeter) + { + AZ_Assert(false, "This Lidar Implementation does not support noise!"); + } + + //! Configures Layer ignoring parameters + //! @param ignoreLayer Should a specified collision layer be ignored? + //! @param layerIndex Index of collision layer to be ignored. + virtual void ConfigureLayerIgnoring([[maybe_unused]] bool ignoreLayer, [[maybe_unused]] AZ::u32 layerIndex) + { + AZ_Assert(false, "This Lidar Implementation does not support collision layer configurations!"); + } + + //! Excludes entities with given EntityIds from raycasting. + //! @param excludedEntities List of entities marked for exclusion. + virtual void ExcludeEntities([[maybe_unused]] const AZStd::vector& excludedEntities) + { + AZ_Assert(false, "This Lidar Implementation does not support entity exclusion!"); + } + + //! Configures max range point addition. + //! @param includeMaxRange Should the raycaster add points at max range for rays that exceeded their range? + virtual void ConfigureMaxRangePointAddition([[maybe_unused]] bool addMaxRangePoints) + { + AZ_Assert(false, "This Lidar Implementation does not support Max range point addition configuration!"); + } + + protected: + ~LidarRaycasterRequests() = default; + + static void ValidateRayRange([[maybe_unused]] float range) + { + AZ_Assert(range > 0.0f, "Provided ray range was of incorrect value: Ray range value must be greater than zero.") + } + + static void ValidateRayOrientations([[maybe_unused]] const AZStd::vector& orientations) + { + AZ_Assert(!orientations.empty(), "Provided ray orientations were of incorrect value: Ray orientations must not be empty.") + } + }; + + class LidarRaycasterBusTraits : public AZ::EBusTraits + { + public: + ////////////////////////////////////////////////////////////////////////// + // EBusTraits overrides + using BusIdType = LidarId; + static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Multiple; + static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::ById; + ////////////////////////////////////////////////////////////////////////// + }; + + using LidarRaycasterRequestBus = AZ::EBus; +} // namespace ROS2 + +// Since we want to use the LidarId type as a Bus Id type, +// we need to create a specialization for the hash template operator. +namespace AZStd +{ + // hash specialization + template<> + struct hash + { + constexpr size_t operator()(const ROS2::LidarId& id) const + { + return id.GetHash(); + } + }; +} // namespace AZStd diff --git a/Gems/ROS2/Code/Include/ROS2/Lidar/LidarRegistrarBus.h b/Gems/ROS2/Code/Include/ROS2/Lidar/LidarRegistrarBus.h new file mode 100644 index 000000000..2c11a3b9b --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Lidar/LidarRegistrarBus.h @@ -0,0 +1,76 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! Enum bitwise flags used to describe LidarSystem's feature support. + enum LidarSystemFeatures : uint16_t + { + None = 0b0000000000000000, + Noise = 0b0000000000000001, + CollisionLayers = 0b0000000000000010, + EntityExclusion = 0b0000000000000100, + MaxRangePoints = 0b0000000000001000, + All = 0b1111111111111111 + }; + + //! Structure used to hold LidarSystem's metadata. + struct LidarSystemMetaData + { + AZStd::string m_name; + AZStd::string m_description; + LidarSystemFeatures m_features; + }; + + //! Interface class that allows for communication with the LidarRegistrarSystemComponent. + class LidarRegistrarRequests + { + public: + AZ_RTTI(LidarRegistrarRequests, "{22030dc7-a1db-43bd-b748-0fb9ec43ce2e}"); + + //! Registers a new lidar system under the provided name. + //! To obtain the busId of a lidarSystem use the AZ_CRC macro as follows. + //! @code + //! AZ::Crc32 busId = AZ_CRC(); + //! @endcode + //! @param name Name of the newly registered lidar system. + //! @param description Further information about the lidar system. + virtual void RegisterLidarSystem(const char* name, const char* description, const LidarSystemFeatures& features) = 0; + + //! Returns A list of all registered lidar systems. + //! @return A vector of registered lidar systems' names. + virtual AZStd::vector GetRegisteredLidarSystems() const = 0; + + //! Returns metadata of a registered lidar system. + //! If no lidar system with provided name was found returns nullptr. + //! @param name Name of a registered lidar system. + //! @return Pointer to the metadata of a lidar system with the provided name. + virtual const LidarSystemMetaData* GetLidarSystemMetaData(const AZStd::string& name) const = 0; + + protected: + ~LidarRegistrarRequests() = default; + }; + + class LidarRegistrarBusTraits : public AZ::EBusTraits + { + public: + ////////////////////////////////////////////////////////////////////////// + // EBusTraits overrides + static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Single; + static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::Single; + ////////////////////////////////////////////////////////////////////////// + }; + + using LidarRegistrarRequestBus = AZ::EBus; + using LidarRegistrarInterface = AZ::Interface; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/Lidar/LidarSystemBus.h b/Gems/ROS2/Code/Include/ROS2/Lidar/LidarSystemBus.h new file mode 100644 index 000000000..4355cf34b --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Lidar/LidarSystemBus.h @@ -0,0 +1,43 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! Interface class that allows for communication with a given Lidar System (implementation). + class LidarSystemRequests + { + public: + AZ_RTTI(LidarSystemRequests, "{007871d1-2783-4382-977b-558f436c54a5}"); + + //! Creates a new Lidar. + //! @param lidarEntityId EntityId holding the ROS2LidarSensorComponent. + //! @return A unique Id of the newly created Lidar. + virtual LidarId CreateLidar(AZ::EntityId lidarEntityId) = 0; + + protected: + ~LidarSystemRequests() = default; + }; + + class LidarSystemBusTraits : public AZ::EBusTraits + { + public: + ////////////////////////////////////////////////////////////////////////// + // EBusTraits overrides + using BusIdType = AZ::Crc32; + static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Multiple; + static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::ById; + ////////////////////////////////////////////////////////////////////////// + }; + + using LidarSystemRequestBus = AZ::EBus; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/Manipulator/MotorizedJointBus.h b/Gems/ROS2/Code/Include/ROS2/Manipulator/MotorizedJointBus.h new file mode 100644 index 000000000..385dceaad --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Manipulator/MotorizedJointBus.h @@ -0,0 +1,57 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! Interface to communicate with motorized joints. + //! It allows to apply setpoint and tracking performance of the PID controller. + class MotorizedJointRequest : public AZ::EBusTraits + { + public: + static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::ById; + using BusIdType = AZ::EntityId; + + virtual ~MotorizedJointRequest() = default; + + //! Set current setpoint value for position controller. + //! The setpoint is the desired position for a simulated actuator. + //! For linear actuators, the setpoint is given in meters. + //! For the rotational actuators, the setpoint is given in radians. + //! @param setpoint value in meters or radians + virtual void SetSetpoint(float setpoint) = 0; + + //! Get current setpoint value for position controller. + //! If `SetSetpoint` has not been called, it returns initial position of joint. + //! For linear actuators, the setpoint is given in meters. + //! For the rotational actuators, the setpoint is given in radians. + //! @returns setpoint value in meters or radians + virtual float GetSetpoint() = 0; + + //! Retrieve current measurement. + //! Measurement is the value of the movement - eg protrusion of an actuator. + //! For linear actuators, measurement is given in meters. + //! For the rotational actuators, measurement is given in radians. + //! When the setpoint is reached this should be close to setpoint. + //! @returns measurement value in meters or radians. + virtual float GetCurrentMeasurement() = 0; + + //! Retrieve current control error (difference between setpoint and measurement) + //! When the setpoint is reached this should be close to zero. + //! For linear actuators, the error is given in meters. + //! For the rotational actuators, the error is given in radians. + //! @returns controller error's value in meters or radians + virtual float GetError() = 0; + }; + + using MotorizedJointRequestBus = AZ::EBus; +} // namespace ROS2 \ No newline at end of file diff --git a/Gems/ROS2/Code/Include/ROS2/Manipulator/MotorizedJointComponent.h b/Gems/ROS2/Code/Include/ROS2/Manipulator/MotorizedJointComponent.h new file mode 100644 index 000000000..9eab938e0 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Manipulator/MotorizedJointComponent.h @@ -0,0 +1,93 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include "MotorizedJointBus.h" +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! A prototype component for simulated joint with a motor. + //! It works with either TransformBus or RigidBodyBus. + //! TransformBus mode, called `AnimationMode` changes local transform. In this mode, you cannot have a rigid body + //! controller enabled. With RigidBodyBus it applies forces and torque according to PID control. + //! @note This class is already used through ROS2FrameComponent. + class MotorizedJointComponent + : public AZ::Component + , public AZ::TickBus::Handler + , public MotorizedJointRequestBus::Handler + { + public: + AZ_COMPONENT(MotorizedJointComponent, "{AE9207DB-5B7E-4F70-A7DD-C4EAD8DD9403}", AZ::Component); + + MotorizedJointComponent() = default; + ~MotorizedJointComponent() = default; + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + static void Reflect(AZ::ReflectContext* context); + ////////////////////////////////////////////////////////////////////////// + + //////////////////////////////////////////////////////////////////////// + // MotorizedJointRequestBus::Handler overrides + void SetSetpoint(float setpoint) override; + float GetSetpoint() override; + float GetError() override; + float GetCurrentMeasurement() override; + //////////////////////////////////////////////////////////////////////// + + //! Get a degree of freedom direction. + //! @returns direction of joint movement in global coordinates. + AZ::Vector3 GetDir() const + { + return m_jointDir; + }; + + private: + float ComputeMeasurement(AZ::ScriptTimePoint time); + void SetVelocity(float velocity /* m/s */, float deltaTime /* seconds */); + void ApplyLinVelAnimation(float velocity /* m/s */, float deltaTime /* seconds */); + void ApplyLinVelRigidBodyImpulse(float velocity /* m/s */, float deltaTime /* seconds */); + void ApplyLinVelRigidBody(float velocity /* m/s */, float deltaTime /* seconds */); + ////////////////////////////////////////////////////////////////////////// + // AZ::TickBus::Handler overrides + void OnTick(float deltaTime, AZ::ScriptTimePoint time) override; + ////////////////////////////////////////////////////////////////////////// + + AZ::Vector3 m_jointDir{ 0.f, 0.f, 1.f }; //!< Direction of joint movement in parent frame of reference, used to compute measurement. + AZ::Vector3 m_effortAxis{ 0.f, 0.f, 1.f }; //!< Direction of force or torque application in owning entity frame of reference. + AZStd::pair m_limits{ -0.5f, 0.5f }; //!< limits of joint, the force is applied only when joint is within limits. + Controllers::PidConfiguration m_pidPos; //!< PID controller for position. + + bool m_linear{ true }; //!< Linear mode. The force is applied through RigidBodyBus. + bool m_animationMode{ true }; //!< Use TransformBus (animation mode, no physics) instead of RigidBodyBus. + + bool m_testSinusoidal{ true }; //!< Enable sinusoidal signal generator to setpoint (for tuning). + float m_sinAmplitude{ 0.5 }; //!< Amplitude of test signal generator. + float m_sinDC{ 0.25 }; //!< DC of test signal generator. + float m_sinFreq{ 0.1 }; //!< Frequency of test signal generator. + + float m_zeroOffset{ 0.f }; //!< offset added to setpoint. + float m_setpoint{ 0 }; //!< Desired local position. + float m_error{ 0 }; //!< Current error (difference between control value and measurement). + float m_currentPosition{ 0 }; //!< Last measured position. + float m_currentVelocity{ 0 }; //!< Last measured velocity. + double m_lastMeasurementTime{ 0 }; //!< Last measurement time in seconds. + + AZ::EntityId m_debugDrawEntity; //!< Optional Entity that allows to visualize desired setpoint value. + AZ::Transform m_debugDrawEntityInitialTransform; //!< Initial transform of m_debugDrawEntity. + bool m_debugPrint{ false }; //!< Print debug info to the console. + + AZ::EntityId m_measurementReferenceEntity; //!< Entity used for reference for measurements. Defaults to parent entity. + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/ROS2Bus.h b/Gems/ROS2/Code/Include/ROS2/ROS2Bus.h new file mode 100644 index 000000000..60ed0341a --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/ROS2Bus.h @@ -0,0 +1,73 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! Interface to the central ROS2SystemComponent. + //! Use this API through ROS2Interface, for example: + //! @code + //! auto node = ROS2Interface::Get()->GetNode(); + //! @endcode + class ROS2Requests + { + public: + AZ_RTTI(ROS2Requests, "{a9bdbff6-e644-430d-8096-cdb53c88e8fc}"); + virtual ~ROS2Requests() = default; + + //! Get a central ROS2 node of the Gem. + //! You can use this node to create publishers and subscribers. + //! @return The central ROS2 node which holds default publishers for core topics such as /clock and /tf. + //! @note Alternatively, you can use your own node along with an executor. + virtual std::shared_ptr GetNode() const = 0; + + //! Acquire current time as ROS2 timestamp. + //! Timestamps provide temporal context for messages such as sensor data. + //! @code + //! auto message = sensor_msgs::msg::PointCloud2(); + //! message.header.stamp = ROS2Interface::Get()->GetROSTimestamp(); + //! @endcode + //! @return Simulation time in ROS2 format. Time source is also valid with non-real time settings. + //! @note Make sure to set the use_sim_time parameter for ROS2 nodes which will use the simulation data. + virtual builtin_interfaces::msg::Time GetROSTimestamp() const = 0; + + //! Send transformation between ROS2 frames. + //! @param t is a ROS2 TransformStamped + //! message. + //! @param isDynamic controls whether a static or dynamic transform is sent. Static transforms are published + //! only once and are to be used when the spatial relationship between two frames does not change. + //! @note Transforms are already published by each ROS2FrameComponent. + //! Use this function directly only when default behavior of ROS2FrameComponent is not sufficient. + virtual void BroadcastTransform(const geometry_msgs::msg::TransformStamped& t, bool isDynamic) const = 0; + + //! Obtains a simulation clock that is used across simulation. + //! @returns constant reference to currently running clock. + virtual const SimulationClock& GetSimulationClock() const = 0; + + }; + + class ROS2BusTraits : public AZ::EBusTraits + { + public: + ////////////////////////////////////////////////////////////////////////// + // EBusTraits overrides + static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Single; + static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::Single; + ////////////////////////////////////////////////////////////////////////// + }; + + using ROS2RequestBus = AZ::EBus; + using ROS2Interface = AZ::Interface; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/ROS2GemUtilities.h b/Gems/ROS2/Code/Include/ROS2/ROS2GemUtilities.h new file mode 100644 index 000000000..7652da825 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/ROS2GemUtilities.h @@ -0,0 +1,47 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#ifdef ROS2_EDITOR +#include +#endif +namespace ROS2 +{ + namespace Utils + { + /// Create component for a given entity in safe way. + /// @param entityId entity that will own component + /// @param componentType Uuid of component to create + /// @return The created componentId if successful, otherwise returns an invalid id + AZ::ComponentId CreateComponent(const AZ::EntityId entityId, const AZ::Uuid componentType); + + /// Retrieve component from entity given by a pointer. It is a way to get game components and wrapped components. + /// We should use that that we are not sure if we access eg ROS2FrameComponent in game mode or from Editor + /// @param entity pointer to entity eg with GetEntity() + /// @return pointer to component with type T + + template + ComponentType* GetGameOrEditorComponent(const AZ::Entity* entity) + { + AZ_Assert(entity, "Called with empty entity"); + ComponentType* component = entity->FindComponent(); + if (component) + { + return component; + } +#ifdef ROS2_EDITOR + // failed to get game object, let us retry as editor + component = AzToolsFramework::FindWrappedComponentForEntity(entity); +#endif + return component; + } + + } // namespace Utils +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/RobotControl/Ackermann/AckermannBus.h b/Gems/ROS2/Code/Include/ROS2/RobotControl/Ackermann/AckermannBus.h new file mode 100644 index 000000000..ca778138c --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/RobotControl/Ackermann/AckermannBus.h @@ -0,0 +1,30 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include "AckermannCommandStruct.h" +#include +#include + +namespace ROS2 +{ + //! Interface class for handling Ackermann kinematics steering commands through EBus notifications. + //! The interface serves to enable control through AckermannDrive (and AckermannDriveStamped) messages. + class AckermannNotifications : public AZ::EBusTraits + { + public: + static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::ById; + using BusIdType = AZ::EntityId; + + //! Handle Ackermann command + //! @param ackermannCommand A structure with AckermannDrive message fields + virtual void AckermannReceived(const AckermannCommandStruct& ackermannCommand) = 0; + }; + + using AckermannNotificationBus = AZ::EBus; +} // namespace ROS2 \ No newline at end of file diff --git a/Gems/ROS2/Code/Include/ROS2/RobotControl/Ackermann/AckermannCommandStruct.h b/Gems/ROS2/Code/Include/ROS2/RobotControl/Ackermann/AckermannCommandStruct.h new file mode 100644 index 000000000..ac36e2232 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/RobotControl/Ackermann/AckermannCommandStruct.h @@ -0,0 +1,24 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include + +namespace ROS2 +{ + //! Abstracted from ROS message: http://docs.ros.org/en/api/ackermann_msgs/html/msg/AckermannDrive.html + struct AckermannCommandStruct + { + AZ_TYPE_INFO(AckermannCommandStruct, "{6D03C30F-F06B-4CEE-8AD1-DDCCCB57C4B5}"); + float m_steeringAngle = 0; //!< desired virtual angle (radians) + float m_steeringAngleVelocity = 0; //!< desired rate of change (radians/s) + float m_speed = 0; //!< desired forward speed (m/s) + float m_acceleration = 0; //!< desired acceleration (m/s^2) + float m_jerk = 0; //!< desired jerk (m/s^3) + }; +} // namespace ROS2 \ No newline at end of file diff --git a/Gems/ROS2/Code/Include/ROS2/RobotControl/ControlConfiguration.h b/Gems/ROS2/Code/Include/ROS2/RobotControl/ControlConfiguration.h new file mode 100644 index 000000000..5dca45df6 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/RobotControl/ControlConfiguration.h @@ -0,0 +1,36 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! Configuration for handling of robot control buses. + //! Used through ROS2RobotControlComponent. + struct ControlConfiguration + { + public: + AZ_TYPE_INFO(ControlConfiguration, "{3D3E69EE-0F28-46D5-95F1-956550BA97B9}"); + + //! Type of control for the robot. + //! Different types of steering can fit different platforms, + //! depending on the type their mobile base (four wheels, omniwheels, ..). + enum class Steering + { + Twist, //!< @see Twist. + Ackermann //!< @see AckermannDrive. + }; + + static void Reflect(AZ::ReflectContext* context); + + Steering m_steering = Steering::Twist; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/RobotControl/ControlSubscriptionHandler.h b/Gems/ROS2/Code/Include/ROS2/RobotControl/ControlSubscriptionHandler.h new file mode 100644 index 000000000..1b80b6428 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/RobotControl/ControlSubscriptionHandler.h @@ -0,0 +1,89 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! Component extension enabling polymorphic use of generics. + class IControlSubscriptionHandler + { + public: + //! Interface handling component activation + //! Only activated IComponentActivationHandler will receive and process control messages. + //! @param entity Activation context for the owning Component - the entity it belongs to. + //! @param subscriberConfiguration configuration with topic and qos + virtual void Activate(const AZ::Entity* entity, const TopicConfiguration& subscriberConfiguration) = 0; + //! Interface handling component deactivation + virtual void Deactivate() = 0; + virtual ~IControlSubscriptionHandler() = default; + }; + + //! The generic class for handling subscriptions to ROS2 control messages of different types. + //! @see ControlConfiguration::Steering. + template + class ControlSubscriptionHandler : public IControlSubscriptionHandler + { + public: + void Activate(const AZ::Entity* entity, const TopicConfiguration& subscriberConfiguration) override final + { + m_active = true; + m_entityId = entity->GetId(); + if (!m_controlSubscription) + { + auto ros2Frame = entity->FindComponent(); + AZStd::string namespacedTopic = ROS2Names::GetNamespacedName(ros2Frame->GetNamespace(), subscriberConfiguration.m_topic); + + auto ros2Node = ROS2Interface::Get()->GetNode(); + m_controlSubscription = ros2Node->create_subscription( + namespacedTopic.data(), + subscriberConfiguration.GetQoS(), + [this](const T& message) + { + OnControlMessage(message); + }); + } + }; + + void Deactivate() override final + { + m_active = false; + m_controlSubscription.reset(); // Note: topic and qos can change, need to re-subscribe + }; + + virtual ~ControlSubscriptionHandler() = default; + + protected: + AZ::EntityId GetEntityId() const + { + return m_entityId; + } + + private: + void OnControlMessage(const T& message) + { + if (!m_active) + { + return; + } + + SendToBus(message); + }; + + virtual void SendToBus(const T& message) = 0; + + AZ::EntityId m_entityId; + bool m_active = false; + typename rclcpp::Subscription::SharedPtr m_controlSubscription; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/RobotControl/Twist/TwistBus.h b/Gems/ROS2/Code/Include/ROS2/RobotControl/Twist/TwistBus.h new file mode 100644 index 000000000..4ceac3deb --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/RobotControl/Twist/TwistBus.h @@ -0,0 +1,31 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! Interface class for handling Twist commands through EBus notifications. + //! The interface serves to enable control through Twist (and TwistStamped) messages. + class TwistNotifications : public AZ::EBusTraits + { + public: + static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::ById; + using BusIdType = AZ::EntityId; + + //! Handle control command + //! @param linear Linear speed in each axis, in robot reference frame, in m/s. + //! @param angular Angular speed in each axis, in robot reference frame, in m/s. + virtual void TwistReceived(const AZ::Vector3& linear, const AZ::Vector3& angular) = 0; + }; + + using TwistNotificationBus = AZ::EBus; +} // namespace ROS2 \ No newline at end of file diff --git a/Gems/ROS2/Code/Include/ROS2/Sensor/ROS2SensorComponent.h b/Gems/ROS2/Code/Include/ROS2/Sensor/ROS2SensorComponent.h new file mode 100644 index 000000000..28afa20f4 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Sensor/ROS2SensorComponent.h @@ -0,0 +1,74 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include "SensorConfiguration.h" +#include +#include +#include +#include + +namespace ROS2 +{ + //! Captures common behavior of ROS2 sensor Components. + //! Sensors acquire data from the simulation engine and publish it to ROS2 ecosystem. + //! Derive this Component to implement a new ROS2 sensor. Each sensor Component requires ROS2FrameComponent. + class ROS2SensorComponent + : public AZ::Component + , public AZ::TickBus::Handler + { + public: + ROS2SensorComponent() = default; + virtual ~ROS2SensorComponent() = default; + AZ_COMPONENT(ROS2SensorComponent, "{91BCC1E9-6D93-4466-9CDB-E73D497C6B5E}"); + + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + + static void Reflect(AZ::ReflectContext* context); + void OnTick(float deltaTime, AZ::ScriptTimePoint time) override; + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + + protected: + AZStd::string GetNamespace() const; //!< Get a complete namespace for this sensor topics and frame ids. + AZStd::string GetFrameID() const; //!< Returns this sensor frame ID. The ID contains namespace. + + SensorConfiguration m_sensorConfiguration; + + //! Check if execution deadline has arrived. + //! This function needs to be called every loop's iteration (eg TickBus::Handler::OnTick). + //! @param expectedLoopTime the expected time to loop call in seconds. + //! @returns if measurement should be done/published. + bool IsPublicationDeadline(float expectedLoopTime); + + //! Virtual function that setup refresh loop for the sensor. + //! Default implementation is calling \ref FrequencyTick periodically in AZ::TickBus::Handler::OnTick. + //! This function can be overridden to subscribe to higher frequency loops or to spawn sensor threads. + virtual void SetupRefreshLoop(); + + //! Executes the sensor action (acquire data -> publish) according to frequency. + //! Override to implement a specific sensor behavior. + virtual void FrequencyTick(){}; + + private: + //! Visualise sensor operation. + //! For example, draw points or rays for a lidar, viewport for a camera, etc. + //! Visualisation can be turned on or off in SensorConfiguration. + virtual void Visualise(){}; + + //! The number of ticks that are expected to pass to trigger next measurement. + AZ::s32 m_tickCountDown{ 0 }; + + //! Optional callback that will be called in overridden onTick method. + //! Used in default implementation of \ref SetupRefreshLoop + AZStd::function m_onTickCall; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/Sensor/SensorConfiguration.h b/Gems/ROS2/Code/Include/ROS2/Sensor/SensorConfiguration.h new file mode 100644 index 000000000..074195ab0 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Sensor/SensorConfiguration.h @@ -0,0 +1,39 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! General configuration for sensors. + //! All sensors can be set to a certain frequency, have their data published or not, + //! and visualised or not. + struct SensorConfiguration + { + public: + AZ_TYPE_INFO(SensorConfiguration, "{4755363D-0B5A-42D7-BBEF-152D87BA10D7}"); + static void Reflect(AZ::ReflectContext* context); + + //! ROS2 Publishers of this sensor. + //! Some sensors can have more than one publisher (example: Camera). + //! @note This map will typically hold 1-3 elements. + AZStd::map m_publishersConfigurations; + + //! Frequency in Hz (1/s). + //! Applies both to data acquisition and publishing. + float m_frequency = 10; + + bool m_publishingEnabled = true; //!< Determines whether the sensor is publishing (sending data to ROS 2 ecosystem). + bool m_visualise = true; //!< Determines whether the sensor is visualised in O3DE (for example, point cloud is drawn for LIDAR). + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/Spawner/SpawnerBus.h b/Gems/ROS2/Code/Include/ROS2/Spawner/SpawnerBus.h new file mode 100644 index 000000000..f40aac22e --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Spawner/SpawnerBus.h @@ -0,0 +1,35 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include + +namespace ROS2 +{ + //! Interface class allowing requesting Spawner interface from other components. + class SpawnerRequests : public AZ::ComponentBus + { + public: + AZ_RTTI(SpawnerRequests, "{3C42A3A1-1B8E-4800-9473-E4441315D7C8}"); + + static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Single; + + virtual ~SpawnerRequests() = default; + + //! Default spawn pose getter + //! @return default spawn point coordinates set by user in Editor (by default: translation: {0, 0, 0}, rotation: {0, 0, 0, 1}, + //! scale: 1.0) + virtual const AZ::Transform& GetDefaultSpawnPose() const = 0; + }; + + using SpawnerRequestsBus = AZ::EBus; + using SpawnerInterface = AZ::Interface; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/Utilities/Controllers/PidConfiguration.h b/Gems/ROS2/Code/Include/ROS2/Utilities/Controllers/PidConfiguration.h new file mode 100644 index 000000000..16ec17830 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Utilities/Controllers/PidConfiguration.h @@ -0,0 +1,43 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include + +namespace ROS2::Controllers +{ + //! A wrapper for ROS 2 control_toolbox pid controller. + //! @see control_toolbox. + class PidConfiguration + { + public: + AZ_TYPE_INFO(PidConfiguration, "{814E0D1E-2C33-44A5-868E-C914640E2F7E}"); + static void Reflect(AZ::ReflectContext* context); + + //! Initialize PID using member fields as set by the user. + void InitializePid(); + + //! Compute the value of PID command. + //! @param error Value of difference between target and state since last call. + //! @param deltaTimeNanoseconds change in time since last call (nanoseconds). + //! @returns Value of computed command. + double ComputeCommand(double error, uint64_t deltaTimeNanoseconds); + + private: + double m_p = 1.0; //!< proportional gain. + double m_i = 0.0; //!< integral gain. + double m_d = 0.0; //!< derivative gain. + double m_iMax = 10.0; //!< maximal allowable integral term. + double m_iMin = -10.0; //!< minimal allowable integral term. + bool m_antiWindup = false; //!< prevents condition of integrator overflow in integral action. + double m_outputLimit = 0.0; //!< limit PID output; set to 0.0 to disable. + + control_toolbox::Pid m_pid; //!< PID implementation object from control_toolbox (of ros2_control). + }; +} // namespace ROS2::Controllers diff --git a/Gems/ROS2/Code/Include/ROS2/Utilities/ROS2Conversions.h b/Gems/ROS2/Code/Include/ROS2/Utilities/ROS2Conversions.h new file mode 100644 index 000000000..c8063db53 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Utilities/ROS2Conversions.h @@ -0,0 +1,31 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! Utility class for conversions between ROS2 types and O3DE (AZ::) types. + namespace ROS2Conversions + { + AZ::Vector3 FromROS2Vector3(const geometry_msgs::msg::Vector3& ros2vector); + geometry_msgs::msg::Vector3 ToROS2Vector3(const AZ::Vector3& azvector); + geometry_msgs::msg::Point ToROS2Point(const AZ::Vector3& azvector); + geometry_msgs::msg::Quaternion ToROS2Quaternion(const AZ::Quaternion& azquaternion); + geometry_msgs::msg::Pose ToROS2Pose(const AZ::Transform& aztransform); + AZ::Transform FromROS2Pose(const geometry_msgs::msg::Pose& ros2pose); + AZ::Vector3 FromROS2Point(const geometry_msgs::msg::Point& ros2point); + AZ::Quaternion FromROS2Quaternion(const geometry_msgs::msg::Quaternion& ros2quaternion); + }; // namespace ROS2Conversions +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/Utilities/ROS2Names.h b/Gems/ROS2/Code/Include/ROS2/Utilities/ROS2Names.h new file mode 100644 index 000000000..5f70bad27 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/Utilities/ROS2Names.h @@ -0,0 +1,38 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! Utility class for handling ROS2 naming rules. + namespace ROS2Names + { + //! Joins namespace and the given name. + AZStd::string GetNamespacedName(const AZStd::string& ns, const AZStd::string& name); + + //! Converts input to a ROS2-acceptable name for topics and namespaces. + //! Any characters not fitting ROS2 naming specification are replaced with underscores. + AZStd::string RosifyName(const AZStd::string& input); + + //! Validate namespace adherence to ROS2 specification. Delegates validation to ROS2 layers. + AZ::Outcome ValidateNamespace(const AZStd::string& ros2Namespace); + + //! Validate namespace field. Fits ChangeValidate for Editor fields. + AZ::Outcome ValidateNamespaceField(void* newValue, const AZ::Uuid& valueType); + + //! Validate topic adherence to ROS2 specification. + AZ::Outcome ValidateTopic(const AZStd::string& topic); + + //! Validate topic field. Fits ChangeValidate for Editor fields. + AZ::Outcome ValidateTopicField(void* newValue, const AZ::Uuid& valueType); + }; // namespace ROS2Names +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Include/ROS2/VehicleDynamics/VehicleInputControlBus.h b/Gems/ROS2/Code/Include/ROS2/VehicleDynamics/VehicleInputControlBus.h new file mode 100644 index 000000000..5f76c0cb7 --- /dev/null +++ b/Gems/ROS2/Code/Include/ROS2/VehicleDynamics/VehicleInputControlBus.h @@ -0,0 +1,77 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + //! Inputs (speed, steering, acceleration etc.) for vehicle dynamics system + //! Inputs are valid for a short time (configurable) and need to be repeated if continuous movement is needed. + //! (Use cruise system to set cruise speed). + class VehicleInputControlRequests : public AZ::EBusTraits + { + public: + static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::ById; + using BusIdType = AZ::EntityId; + + virtual ~VehicleInputControlRequests() = default; + + //! Set target for the vehicle linear speed. It should be realized over time according to drive model. + //! @param speedMps is a linear speed vectors, unit is meters per second. + virtual void SetTargetLinearSpeedV3(const AZ::Vector3& speedMps) = 0; + + //! Set target for the vehicle linear speed. It should be realized over time according to drive model. + //! @param speedMpsX is a linear speed in meters per second with the plus sign in the forward direction. + virtual void SetTargetLinearSpeed(float speedMpsX) = 0; + + //! Steer in a direction given in relative coordinate system (current direction is 0). + //! @param steering is angle in radians, positive to the right and negative to the left. + //! @note The actual angle applied is subject to limits and implementation (eg smoothing). + virtual void SetTargetSteering(float steering) = 0; + + //! Set target for the angular speed. It should be realized over time according to drive model. + //! @param rate is an angular speed vector, unit is radians per second. + virtual void SetTargetAngularSpeedV3(const AZ::Vector3& rate) = 0; + + //! Set target for the angular speed. It should be realized over time according to drive model. + //! @param rateZ is an angular speed in radians per second in up direction . + virtual void SetTargetAngularSpeed(float rateZ) = 0; + + //! Accelerate without target speed, relative to the limits. + //! @param accelerationFraction is relative to limits of possible acceleration. + //! 1 - accelerate as much as possible, -1 - brake as much as possible. + virtual void SetTargetAccelerationFraction(float accelerationFraction) = 0; + + //! Steer input version which is relative to limits. + //! @param steeringFraction is -1 to 1, which applies as a fraction of vehicle model steering limits. + //! @note The actual angle applied is subject to limits and implementation (eg smoothing). + virtual void SetTargetSteeringFraction(float steeringFraction) = 0; + + //! Speed input version which is relative to limits. + //! @param speedFractionX is -1 to 1, which applies as a fraction of vehicle model speed limits. + virtual void SetTargetLinearSpeedFraction(float speedFractionX) = 0; + + //! Set target for the angular speed. It should be realized over time according to drive model. + //! @param rateFractionZ is an angular speed in radians per second in up direction, fraction of maximum speed. + virtual void SetTargetAngularSpeedFraction(float rateFractionZ) = 0; + + //! Disables (or enables) the vehicle dynamics + //! @param disable if set true no torque will be applied + virtual void SetDisableVehicleDynamics(bool disable) = 0; + + //! Returns vehicle's velocity in its local coordinate system + //! @returns pair of Vectors : Linear speed (in m/s) and angular speed (in rad/s) + virtual AZStd::pair GetWheelsOdometry() = 0; + }; + + using VehicleInputControlRequestBus = AZ::EBus; +} // namespace ROS2::VehicleDynamics \ No newline at end of file diff --git a/Gems/ROS2/Code/Platform/Android/PAL_android.cmake b/Gems/ROS2/Code/Platform/Android/PAL_android.cmake new file mode 100644 index 000000000..0cf0eb7fc --- /dev/null +++ b/Gems/ROS2/Code/Platform/Android/PAL_android.cmake @@ -0,0 +1,9 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(PAL_TRAIT_BUILD_ROS2_GEM_SUPPORTED FALSE) diff --git a/Gems/ROS2/Code/Platform/Common/Clang/ros2_static_editor_clang.cmake b/Gems/ROS2/Code/Platform/Common/Clang/ros2_static_editor_clang.cmake new file mode 100644 index 000000000..c4f61a05d --- /dev/null +++ b/Gems/ROS2/Code/Platform/Common/Clang/ros2_static_editor_clang.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# + +set(LY_COMPILE_OPTIONS + PRIVATE + -fexceptions +) diff --git a/Gems/ROS2/Code/Platform/Common/GCC/ros2_static_editor_gcc.cmake b/Gems/ROS2/Code/Platform/Common/GCC/ros2_static_editor_gcc.cmake new file mode 100644 index 000000000..c4f61a05d --- /dev/null +++ b/Gems/ROS2/Code/Platform/Common/GCC/ros2_static_editor_gcc.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# + +set(LY_COMPILE_OPTIONS + PRIVATE + -fexceptions +) diff --git a/Gems/ROS2/Code/Platform/Common/msvc/ros2_static_editor_msvc.cmake b/Gems/ROS2/Code/Platform/Common/msvc/ros2_static_editor_msvc.cmake new file mode 100644 index 000000000..ffd438779 --- /dev/null +++ b/Gems/ROS2/Code/Platform/Common/msvc/ros2_static_editor_msvc.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# + +set(LY_COMPILE_OPTIONS + PRIVATE + /EHsc +) diff --git a/Gems/ROS2/Code/Platform/Linux/PAL_linux.cmake b/Gems/ROS2/Code/Platform/Linux/PAL_linux.cmake new file mode 100644 index 000000000..b278d0179 --- /dev/null +++ b/Gems/ROS2/Code/Platform/Linux/PAL_linux.cmake @@ -0,0 +1,9 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(PAL_TRAIT_BUILD_ROS2_GEM_SUPPORTED TRUE) diff --git a/Gems/ROS2/Code/Platform/Mac/PAL_mac.cmake b/Gems/ROS2/Code/Platform/Mac/PAL_mac.cmake new file mode 100644 index 000000000..0cf0eb7fc --- /dev/null +++ b/Gems/ROS2/Code/Platform/Mac/PAL_mac.cmake @@ -0,0 +1,9 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(PAL_TRAIT_BUILD_ROS2_GEM_SUPPORTED FALSE) diff --git a/Gems/ROS2/Code/Platform/Windows/PAL_windows.cmake b/Gems/ROS2/Code/Platform/Windows/PAL_windows.cmake new file mode 100644 index 000000000..0cf0eb7fc --- /dev/null +++ b/Gems/ROS2/Code/Platform/Windows/PAL_windows.cmake @@ -0,0 +1,9 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(PAL_TRAIT_BUILD_ROS2_GEM_SUPPORTED FALSE) diff --git a/Gems/ROS2/Code/Platform/iOS/PAL_ios.cmake b/Gems/ROS2/Code/Platform/iOS/PAL_ios.cmake new file mode 100644 index 000000000..0cf0eb7fc --- /dev/null +++ b/Gems/ROS2/Code/Platform/iOS/PAL_ios.cmake @@ -0,0 +1,9 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(PAL_TRAIT_BUILD_ROS2_GEM_SUPPORTED FALSE) diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp b/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp new file mode 100644 index 000000000..93de60378 --- /dev/null +++ b/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp @@ -0,0 +1,327 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#include "CameraSensor.h" +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + namespace Internal + { + /// @FormatMappings - contains the mapping from RHI to ROS image encodings. List of supported + /// ROS image encodings lives in `sensor_msgs/image_encodings.hpp` + /// We are not including `image_encodings.hpp` since it uses exceptions. + AZStd::unordered_map FormatMappings{ + { AZ::RHI::Format::R8G8B8A8_UNORM, "rgba8" }, { AZ::RHI::Format::R16G16B16A16_UNORM, "rgba16" }, + { AZ::RHI::Format::R32G32B32A32_FLOAT, "32FC4" }, // Unsupported by RVIZ2 + { AZ::RHI::Format::R8_UNORM, "mono8" }, { AZ::RHI::Format::R16_UNORM, "mono16" }, + { AZ::RHI::Format::R32_FLOAT, "32FC1" }, + }; + + /// @BitDepth - contains the mapping from RHI to size used in `step` size computation. + /// It is some equivalent to `bitDepth()` function from `sensor_msgs/image_encodings.hpp` + AZStd::unordered_map BitDepth{ + { AZ::RHI::Format::R8G8B8A8_UNORM, 4 * sizeof(uint8_t) }, + { AZ::RHI::Format::R16G16B16A16_UNORM, 4 * sizeof(uint16_t) }, + { AZ::RHI::Format::R32G32B32A32_FLOAT, 4 * sizeof(float) }, // Unsupported by RVIZ2 + { AZ::RHI::Format::R8_UNORM, sizeof(uint8_t) }, + { AZ::RHI::Format::R16_UNORM, sizeof(uint16_t) }, + { AZ::RHI::Format::R32_FLOAT, sizeof(float) }, + }; + } // namespace Internal + + CameraSensorDescription::CameraSensorDescription(const AZStd::string& cameraName, const CameraConfiguration& configuration) + : m_cameraConfiguration(configuration) + , m_cameraName(cameraName) + , m_aspectRatio(static_cast(configuration.m_width) / static_cast(configuration.m_height)) + , m_viewToClipMatrix(MakeViewToClipMatrix()) + , m_cameraIntrinsics(MakeCameraIntrinsics()) + { + ValidateParameters(); + } + + AZ::Matrix4x4 CameraSensorDescription::MakeViewToClipMatrix() const + { + const float nearDist = 0.1f, farDist = 100.0f; + AZ::Matrix4x4 localViewToClipMatrix; + AZ::MakePerspectiveFovMatrixRH( + localViewToClipMatrix, AZ::DegToRad(m_cameraConfiguration.m_verticalFieldOfViewDeg), m_aspectRatio, nearDist, farDist, true); + return localViewToClipMatrix; + } + + void CameraSensorDescription::ValidateParameters() const + { + AZ_Assert( + m_cameraConfiguration.m_verticalFieldOfViewDeg > 0.0f && m_cameraConfiguration.m_verticalFieldOfViewDeg < 180.0f, + "Vertical fov should be in range 0.0 < FoV < 180.0 degrees"); + AZ_Assert(!m_cameraName.empty(), "Camera name cannot be empty"); + } + + AZStd::array CameraSensorDescription::MakeCameraIntrinsics() const + { + /* Intrinsic camera matrix of the camera image is being created here + It is based on other parameters available in the structure - they must be initialized before this function is called + Matrix is row-major and has the following form: + [fx 0 cx] + [ 0 fy cy] + [ 0 0 1] + Projects 3D points in the camera coordinate frame to 2D pixel + coordinates using the focal lengths (fx, fy) and principal point + (cx, cy). + */ + const auto w = static_cast(m_cameraConfiguration.m_width); + const auto h = static_cast(m_cameraConfiguration.m_height); + const double verticalFieldOfView = AZ::DegToRad(m_cameraConfiguration.m_verticalFieldOfViewDeg); + const double horizontalFoV = 2.0 * AZStd::atan(AZStd::tan(verticalFieldOfView / 2.0) * m_aspectRatio); + const double focalLengthX = w / (2.0 * AZStd::tan(horizontalFoV / 2.0)); + const double focalLengthY = h / (2.0 * AZStd::tan(verticalFieldOfView / 2.0)); + return { focalLengthX, 0.0, w / 2.0, 0.0, focalLengthY, h / 2.0, 0.0, 0.0, 1.0 }; + } + + CameraSensor::CameraSensor(const CameraSensorDescription& cameraSensorDescription, const AZ::EntityId& entityId) + : m_cameraSensorDescription(cameraSensorDescription) + , m_entityId(entityId) + { + } + + void CameraSensor::SetupPasses() + { + AZ_TracePrintf("CameraSensor", "Initializing pipeline for %s\n", m_cameraSensorDescription.m_cameraName.c_str()); + + const AZ::Name viewName = AZ::Name("MainCamera"); + m_view = AZ::RPI::View::CreateView(viewName, AZ::RPI::View::UsageCamera); + m_view->SetViewToClipMatrix(m_cameraSensorDescription.m_viewToClipMatrix); + m_scene = AZ::RPI::RPISystemInterface::Get()->GetSceneByName(AZ::Name("Main")); + + m_pipelineName = AZStd::string::format( + "%sPipeline%s%s", m_cameraSensorDescription.m_cameraName.c_str(), GetPipelineTypeName().c_str(), m_entityId.ToString().c_str()); + AZ::RPI::RenderPipelineDescriptor pipelineDesc; + pipelineDesc.m_mainViewTagName = "MainCamera"; + pipelineDesc.m_name = m_pipelineName; + + pipelineDesc.m_rootPassTemplate = GetPipelineTemplateName(); + + pipelineDesc.m_renderSettings.m_multisampleState = AZ::RPI::RPISystemInterface::Get()->GetApplicationMultisampleState(); + m_pipeline = AZ::RPI::RenderPipeline::CreateRenderPipeline(pipelineDesc); + m_pipeline->RemoveFromRenderTick(); + + if (auto renderToTexturePass = azrtti_cast(m_pipeline->GetRootPass().get())) + { + renderToTexturePass->ResizeOutput( + m_cameraSensorDescription.m_cameraConfiguration.m_width, m_cameraSensorDescription.m_cameraConfiguration.m_height); + } + + m_scene->AddRenderPipeline(m_pipeline); + + m_passHierarchy.push_back(m_pipelineName); + m_passHierarchy.push_back("CopyToSwapChain"); + + m_pipeline->SetDefaultView(m_view); + const AZ::RPI::ViewPtr targetView = m_scene->GetDefaultRenderPipeline()->GetDefaultView(); + if (auto* fp = m_scene->GetFeatureProcessor()) + { + fp->SetViewAlias(m_view, targetView); + } + } + + CameraSensor::~CameraSensor() + { + if (m_scene) + { + if (auto* fp = m_scene->GetFeatureProcessor()) + { + fp->RemoveViewAlias(m_view); + } + m_scene->RemoveRenderPipeline(m_pipeline->GetId()); + m_scene = nullptr; + } + m_passHierarchy.clear(); + m_pipeline.reset(); + m_view.reset(); + } + + void CameraSensor::RequestFrame( + const AZ::Transform& cameraPose, AZStd::function callback) + { + const AZ::Transform inverse = (cameraPose * AtomToRos).GetInverse(); + m_view->SetWorldToViewMatrix(AZ::Matrix4x4::CreateFromQuaternionAndTranslation(inverse.GetRotation(), inverse.GetTranslation())); + + AZ::Render::FrameCaptureOutcome captureOutcome; + + m_pipeline->AddToRenderTickOnce(); + AZ::Render::FrameCaptureRequestBus::BroadcastResult( + captureOutcome, + &AZ::Render::FrameCaptureRequestBus::Events::CapturePassAttachmentWithCallback, + callback, + m_passHierarchy, + AZStd::string("Output"), + AZ::RPI::PassAttachmentReadbackOption::Output); + + AZ_Error( + "CameraSensor", + captureOutcome.IsSuccess(), + "Frame capture initialization failed. %s", + captureOutcome.GetError().m_errorMessage.c_str()); + } + + const CameraSensorDescription& CameraSensor::GetCameraSensorDescription() const + { + return m_cameraSensorDescription; + } + + void CameraSensor::RequestMessagePublication( + std::shared_ptr> publisher, + const AZ::Transform& cameraPose, + const std_msgs::msg::Header& header) + { + RequestFrame( + cameraPose, + [header, publisher, entityId = m_entityId](const AZ::RPI::AttachmentReadback::ReadbackResult& result) + { + if (result.m_state != AZ::RPI::AttachmentReadback::ReadbackState::Success) + { + return; + } + + const AZ::RHI::ImageDescriptor& descriptor = result.m_imageDescriptor; + const auto format = descriptor.m_format; + AZ_Assert(Internal::FormatMappings.contains(format), "Unknown format in result %u", static_cast(format)); + sensor_msgs::msg::Image message; + message.encoding = Internal::FormatMappings.at(format); + message.width = descriptor.m_size.m_width; + message.height = descriptor.m_size.m_height; + message.step = message.width * Internal::BitDepth.at(format); + message.data = std::vector(result.m_dataBuffer->data(), result.m_dataBuffer->data() + result.m_dataBuffer->size()); + message.header = header; + bool registeredPostProcessingSupportsEncoding = false; + CameraPostProcessingRequestBus::EventResult( + registeredPostProcessingSupportsEncoding, + entityId, + &CameraPostProcessingRequests::SupportsFormat, + AZStd::string(Internal::FormatMappings.at(format))); + if (registeredPostProcessingSupportsEncoding) + { + CameraPostProcessingRequestBus::Event(entityId, &CameraPostProcessingRequests::ApplyPostProcessing, message); + } + publisher->publish(message); + }); + } + + void CameraSensor::RequestMessagePublication( + AZStd::span>> publishers, + const AZ::Transform& cameraPose, + const std_msgs::msg::Header& header) + { + if (!publishers.empty()) + { + RequestMessagePublication(publishers.front(), cameraPose, header); + } + } + + CameraDepthSensor::CameraDepthSensor(const CameraSensorDescription& cameraSensorDescription, const AZ::EntityId& entityId) + : CameraSensor(cameraSensorDescription, entityId) + { + SetupPasses(); + } + + AZStd::string CameraDepthSensor::GetPipelineTemplateName() const + { + return "PipelineRenderToTextureROSDepth"; + }; + + AZStd::string CameraDepthSensor::GetPipelineTypeName() const + { + return "Depth"; + }; + + CameraColorSensor::CameraColorSensor(const CameraSensorDescription& cameraSensorDescription, const AZ::EntityId& entityId) + : CameraSensor(cameraSensorDescription, entityId) + { + SetupPasses(); + } + + AZStd::string CameraColorSensor::GetPipelineTemplateName() const + { + return "PipelineRenderToTextureROSColor"; + }; + + AZStd::string CameraColorSensor::GetPipelineTypeName() const + { + return "Color"; + }; + + CameraRGBDSensor::CameraRGBDSensor(const CameraSensorDescription& cameraSensorDescription, const AZ::EntityId& entityId) + : CameraColorSensor(cameraSensorDescription, entityId) + { + } + + void CameraRGBDSensor::ReadBackDepth(AZStd::function callback) + { + AZ::Render::FrameCaptureOutcome captureOutcome; + AZStd::vector passHierarchy{ m_pipelineName, "DepthPrePass" }; + AZ::Render::FrameCaptureRequestBus::BroadcastResult( + captureOutcome, + &AZ::Render::FrameCaptureRequestBus::Events::CapturePassAttachmentWithCallback, + callback, + passHierarchy, + AZStd::string("DepthLinear"), + AZ::RPI::PassAttachmentReadbackOption::Output); + } + + void CameraRGBDSensor::RequestMessagePublication( + AZStd::span>> publishers, + const AZ::Transform& cameraPose, + const std_msgs::msg::Header& header) + { + AZ_Assert(publishers.size() == 2, "RequestMessagePublication for CameraRGBDSensor should be called with exactly two publishers"); + const auto publisherDepth = publishers.back(); + ReadBackDepth( + [header, publisherDepth, entityId = m_entityId](const AZ::RPI::AttachmentReadback::ReadbackResult& result) + { + if (result.m_state == AZ::RPI::AttachmentReadback::ReadbackState::Success) + { + const AZ::RHI::ImageDescriptor& descriptor = result.m_imageDescriptor; + const auto format = descriptor.m_format; + AZ_Assert(Internal::FormatMappings.contains(format), "Unknown format in result %u", static_cast(format)); + sensor_msgs::msg::Image message; + message.encoding = Internal::FormatMappings.at(format); + message.width = descriptor.m_size.m_width; + message.height = descriptor.m_size.m_height; + message.step = message.width * Internal::BitDepth.at(format); + message.data = + std::vector(result.m_dataBuffer->data(), result.m_dataBuffer->data() + result.m_dataBuffer->size()); + message.header = header; + bool registeredPostProcessingSupportsEncoding = false; + CameraPostProcessingRequestBus::EventResult( + registeredPostProcessingSupportsEncoding, + entityId, + &CameraPostProcessingRequests::SupportsFormat, + AZStd::string(Internal::FormatMappings.at(format))); + if (registeredPostProcessingSupportsEncoding) + { + CameraPostProcessingRequestBus::Event(entityId, &CameraPostProcessingRequests::ApplyPostProcessing, message); + } + publisherDepth->publish(message); + } + }); + CameraSensor::RequestMessagePublication(publishers, cameraPose, header); + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensor.h b/Gems/ROS2/Code/Source/Camera/CameraSensor.h new file mode 100644 index 000000000..cdf9ca553 --- /dev/null +++ b/Gems/ROS2/Code/Source/Camera/CameraSensor.h @@ -0,0 +1,155 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + struct CameraConfiguration + { + float m_verticalFieldOfViewDeg = 90.0f; //!< Vertical field of view of camera sensor. + int m_width = 640; //!< Camera image width in pixels. + int m_height = 480; //!< Camera image height in pixels. + }; + + //! Structure containing all information required to create the camera sensor. + struct CameraSensorDescription + { + //! Constructor to create the description + //! @param cameraName - name of the camera; used to differentiate cameras in a multi-camera setup. + //! @param configuration - configuration structure for the camera, defining its characteristics. + CameraSensorDescription(const AZStd::string& cameraName, const CameraConfiguration& configuration); + + const CameraConfiguration m_cameraConfiguration; //!< Configuration of the camera. + const AZStd::string m_cameraName; //!< Camera name to differentiate cameras in a multi-camera setup. + + const float m_aspectRatio; //!< Camera image aspect ratio; equal to (width / height). + const AZ::Matrix4x4 m_viewToClipMatrix; //!< Camera view to clip space transform matrix; derived from other parameters. + const AZStd::array m_cameraIntrinsics; //!< Camera intrinsics; derived from other parameters. + + private: + AZ::Matrix4x4 MakeViewToClipMatrix() const; + AZStd::array MakeCameraIntrinsics() const; + void ValidateParameters() const; + }; + + //! Class to create camera sensor using Atom renderer + //! It creates dedicated rendering pipeline for each camera + class CameraSensor + { + public: + //! Initializes rendering pipeline for the camera sensor. + //! @param cameraSensorDescription - camera sensor description used to create camera pipeline. + //! @param entityId - entityId for the owning sensor component. + CameraSensor(const CameraSensorDescription& cameraSensorDescription, const AZ::EntityId& entityId); + + //! Deinitializes rendering pipeline for the camera sensor + virtual ~CameraSensor(); + + //! Publish Image Message frame from rendering pipeline + //! @param publishers - ROS2 publishers to publish image in future : color, depth ... + //! @param header - header with filled message information (frame, timestamp, seq) + //! @param cameraPose - current camera pose from which the rendering should take place + virtual void RequestMessagePublication( + AZStd::span>> publishers, + const AZ::Transform& cameraPose, + const std_msgs::msg::Header& header); + + //! Get the camera sensor description + [[nodiscard]] const CameraSensorDescription& GetCameraSensorDescription() const; + + private: + //! Publish Image Message frame from rendering pipeline + //! @param publisher - ROS2 publisher to publish image in future + //! @param header - header with filled message information (frame, timestamp, seq) + //! @param cameraPose - current camera pose from which the rendering should take place + void RequestMessagePublication( + std::shared_ptr> publisher, + const AZ::Transform& cameraPose, + const std_msgs::msg::Header& header); + + CameraSensorDescription m_cameraSensorDescription; + AZStd::vector m_passHierarchy; + AZ::RPI::ViewPtr m_view; + AZ::RPI::Scene* m_scene = nullptr; + const AZ::Transform AtomToRos{ AZ::Transform::CreateFromQuaternion( + AZ::Quaternion::CreateFromMatrix3x3(AZ::Matrix3x3::CreateFromRows({ 1, 0, 0 }, { 0, -1, 0 }, { 0, 0, -1 }))) }; + virtual AZStd::string GetPipelineTemplateName() const = 0; //! Returns name of pass template to use in pipeline + virtual AZStd::string GetPipelineTypeName() const = 0; //! Type of returned data eg Color, Depth, Optical flow + + protected: + AZ::EntityId m_entityId; + AZ::RPI::RenderPipelinePtr m_pipeline; + AZStd::string m_pipelineName; + + //! Request a frame from the rendering pipeline + //! @param cameraPose - current camera pose from which the rendering should take place + //! @param callback - callback function object that will be called when capture is ready. + //! It's argument is readback structure containing, among other things, a captured image + void RequestFrame( + const AZ::Transform& cameraPose, AZStd::function callback); + + //! Request an additional frame from the rendering pipeline + //! @param callback - callback function object that will be called when capture is ready. + //! It's argument is readback structure containing, among other things, a captured image + //! @param passName - pass name in pipeline, eg `DepthToLinearDepthPass` + //! @param slotName - slot name in selected pass, eg `Output` + void RequestAdditionalFrame( + AZStd::function callback, + const AZStd::string& passName, + const AZStd::string& slotName); + + //! Read and setup Atom Passes + void SetupPasses(); + }; + + //! Implementation of camera sensors that runs pipeline which produces depth image + class CameraDepthSensor : public CameraSensor + { + public: + CameraDepthSensor(const CameraSensorDescription& cameraSensorDescription, const AZ::EntityId& entityId); + + private: + AZStd::string GetPipelineTemplateName() const override; + AZStd::string GetPipelineTypeName() const override; + }; + + //! Implementation of camera sensors that runs pipeline which produces color image + class CameraColorSensor : public CameraSensor + { + public: + CameraColorSensor(const CameraSensorDescription& cameraSensorDescription, const AZ::EntityId& entityId); + + private: + AZStd::string GetPipelineTemplateName() const override; + AZStd::string GetPipelineTypeName() const override; + }; + + //! Implementation of camera sensors that runs pipeline which produces color image and readbacks a depth image from pipeline + class CameraRGBDSensor : public CameraColorSensor + { + public: + CameraRGBDSensor(const CameraSensorDescription& cameraSensorDescription, const AZ::EntityId& entityId); + + // CameraSensor overrides + void RequestMessagePublication( + AZStd::span>> publishers, + const AZ::Transform& cameraPose, + const std_msgs::msg::Header& header) override; + + private: + void ReadBackDepth(AZStd::function callback); + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensorConfiguration.cpp b/Gems/ROS2/Code/Source/Camera/CameraSensorConfiguration.cpp new file mode 100644 index 000000000..c951fdafe --- /dev/null +++ b/Gems/ROS2/Code/Source/Camera/CameraSensorConfiguration.cpp @@ -0,0 +1,42 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "CameraSensorConfiguration.h" +#include +#include + +namespace ROS2 +{ + void CameraSensorConfiguration::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class() + ->Version(1) + ->Field("VerticalFieldOfViewDeg", &CameraSensorConfiguration::m_verticalFieldOfViewDeg) + ->Field("Width", &CameraSensorConfiguration::m_width) + ->Field("Height", &CameraSensorConfiguration::m_height) + ->Field("Depth", &CameraSensorConfiguration::m_depthCamera) + ->Field("Color", &CameraSensorConfiguration::m_colorCamera); + + if (AZ::EditContext* ec = serializeContext->GetEditContext()) + { + ec->Class("Camera Sensor Configuration", "Configuration for image size, FOV and type of images") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &CameraSensorConfiguration::m_verticalFieldOfViewDeg, + "Vertical field of view", + "Camera's vertical (y axis) field of view in degrees.") + ->DataElement(AZ::Edit::UIHandlers::Default, &CameraSensorConfiguration::m_width, "Image width", "Image width") + ->DataElement(AZ::Edit::UIHandlers::Default, &CameraSensorConfiguration::m_height, "Image height", "Image height") + ->DataElement(AZ::Edit::UIHandlers::Default, &CameraSensorConfiguration::m_colorCamera, "Color Camera", "Color Camera") + ->DataElement(AZ::Edit::UIHandlers::Default, &CameraSensorConfiguration::m_depthCamera, "Depth Camera", "Depth Camera"); + } + } + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensorConfiguration.h b/Gems/ROS2/Code/Source/Camera/CameraSensorConfiguration.h new file mode 100644 index 000000000..371f861df --- /dev/null +++ b/Gems/ROS2/Code/Source/Camera/CameraSensorConfiguration.h @@ -0,0 +1,28 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! A structure capturing configuration of a single camera sensor with up to two image sources (color and depth). + struct CameraSensorConfiguration + { + AZ_TYPE_INFO(CameraSensorConfiguration, "{386A2640-442B-473D-BC2A-665D049D7EF5}"); + static void Reflect(AZ::ReflectContext* context); + + float m_verticalFieldOfViewDeg = 90.0f; //!< Vertical field of view of camera sensor. + int m_width = 640; //!< Camera image width in pixels. + int m_height = 480; //!< Camera image height in pixels. + bool m_colorCamera = true; //!< Use color camera? + bool m_depthCamera = true; //!< Use depth camera? + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorComponent.cpp b/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorComponent.cpp new file mode 100644 index 000000000..b47f594cc --- /dev/null +++ b/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorComponent.cpp @@ -0,0 +1,110 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "ROS2CameraSensorComponent.h" +#include +#include + +#include +#include +#include +#include + +#include + +namespace ROS2 +{ + ROS2CameraSensorComponent::ROS2CameraSensorComponent( + const SensorConfiguration& sensorConfiguration, const CameraSensorConfiguration& cameraConfiguration) + : m_cameraConfiguration(cameraConfiguration) + { + m_sensorConfiguration = sensorConfiguration; + } + + void ROS2CameraSensorComponent::Reflect(AZ::ReflectContext* context) + { + auto* serialize = azrtti_cast(context); + if (serialize) + { + serialize->Class()->Version(4)->Field( + "CameraSensorConfig", &ROS2CameraSensorComponent::m_cameraConfiguration); + } + } + + void ROS2CameraSensorComponent::Activate() + { + ROS2SensorComponent::Activate(); + + if (m_cameraConfiguration.m_colorCamera && m_cameraConfiguration.m_depthCamera) + { + AddImageSource(); + } + else if (m_cameraConfiguration.m_colorCamera) + { + AddImageSource(); + } + else if (m_cameraConfiguration.m_depthCamera) + { + AddImageSource(); + } + + const auto* component = Utils::GetGameOrEditorComponent(GetEntity()); + AZ_Assert(component, "Entity has no ROS2FrameComponent"); + m_frameName = component->GetFrameID(); + } + + void ROS2CameraSensorComponent::Deactivate() + { + m_cameraSensor.reset(); + m_imagePublishers.clear(); + m_cameraInfoPublishers.clear(); + ROS2SensorComponent::Deactivate(); + } + + void ROS2CameraSensorComponent::FrequencyTick() + { + const AZ::Transform transform = GetEntity()->GetTransform()->GetWorldTM(); + const auto timestamp = ROS2Interface::Get()->GetROSTimestamp(); + std_msgs::msg::Header ros_header; + if (!m_imagePublishers.empty() && m_cameraSensor) + { + const auto& cameraDescription = m_cameraSensor->GetCameraSensorDescription(); + const auto& cameraIntrinsics = cameraDescription.m_cameraIntrinsics; + sensor_msgs::msg::CameraInfo cameraInfo; + ros_header.stamp = timestamp; + ros_header.frame_id = m_frameName.c_str(); + cameraInfo.header = ros_header; + cameraInfo.width = m_cameraConfiguration.m_width; + cameraInfo.height = m_cameraConfiguration.m_height; + cameraInfo.distortion_model = sensor_msgs::distortion_models::PLUMB_BOB; + AZ_Assert(cameraIntrinsics.size() == 9, "camera matrix should have 9 elements"); + AZ_Assert(cameraInfo.k.size() == 9, "camera matrix should have 9 elements"); + AZStd::copy(cameraIntrinsics.begin(), cameraIntrinsics.end(), cameraInfo.k.begin()); + cameraInfo.p = { cameraInfo.k[0], cameraInfo.k[1], cameraInfo.k[2], 0, cameraInfo.k[3], cameraInfo.k[4], cameraInfo.k[5], 0, + cameraInfo.k[6], cameraInfo.k[7], cameraInfo.k[8], 0 }; + for (CameraInfoPublisherPtrType& cameraInfoPublisher : m_cameraInfoPublishers) + { + cameraInfoPublisher->publish(cameraInfo); + } + m_cameraSensor->RequestMessagePublication(m_imagePublishers, transform, ros_header); + } + } + + AZStd::string ROS2CameraSensorComponent::GetCameraNameFromFrame(const AZ::Entity* entity) const + { + const auto* component = Utils::GetGameOrEditorComponent(entity); + AZ_Assert(component, "Entity %s has no ROS2CameraSensorComponent", entity->GetName().c_str()); + if (component) + { + AZStd::string cameraName = component->GetFrameID(); + AZStd::replace(cameraName.begin(), cameraName.end(), '/', '_'); + return cameraName; + } + return AZStd::string{}; + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorComponent.h b/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorComponent.h new file mode 100644 index 000000000..0ff4d9b5f --- /dev/null +++ b/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorComponent.h @@ -0,0 +1,164 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +#include + +#include "CameraSensor.h" +#include "CameraSensorConfiguration.h" +#include "ROS2/Communication/TopicConfiguration.h" +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + namespace CameraConstants + { + inline constexpr char ImageMessageType[] = "sensor_msgs::msg::Image"; + inline constexpr char DepthImageConfig[] = "Depth Image"; + inline constexpr char ColorImageConfig[] = "Color Image"; + inline constexpr char DepthInfoConfig[] = "Depth Camera Info"; + inline constexpr char ColorInfoConfig[] = "Color Camera Info"; + inline constexpr char CameraInfoMessageType[] = "sensor_msgs::msg::CameraInfo"; + } // namespace CameraConstants + + //! ROS2 Camera sensor component class + //! Allows turning an entity into a camera sensor + //! Can be parametrized with following values: + //! - camera name + //! - camera image width and height in pixels + //! - camera vertical field of view in degrees + //! Camera frustum is facing negative Z axis; image plane is parallel to X,Y plane: X - right, Y - up + class ROS2CameraSensorComponent : public ROS2SensorComponent + { + public: + ROS2CameraSensorComponent() = default; + ROS2CameraSensorComponent(const SensorConfiguration& sensorConfiguration, const CameraSensorConfiguration& cameraConfiguration); + + ~ROS2CameraSensorComponent() override = default; + AZ_COMPONENT(ROS2CameraSensorComponent, "{3C6B8AE6-9721-4639-B8F9-D8D28FD7A071}", ROS2SensorComponent); + static void Reflect(AZ::ReflectContext* context); + + void Activate() override; + void Deactivate() override; + + private: + //! Pointer to ROS2 image publisher type + using ImagePublisherPtrType = std::shared_ptr>; + + //! Pointer to ROS2 camera sensor publisher type + using CameraInfoPublisherPtrType = std::shared_ptr>; + + template + AZStd::vector GetCameraTopicConfiguration() + { + TopicConfiguration defaultConfig; + return { defaultConfig }; + } + + template + AZStd::vector GetCameraInfoTopicConfiguration() + { + TopicConfiguration defaultConfig; + return { defaultConfig }; + } + + template<> + AZStd::vector GetCameraTopicConfiguration() + { + return { m_sensorConfiguration.m_publishersConfigurations[CameraConstants::ColorImageConfig] }; + } + + template<> + AZStd::vector GetCameraInfoTopicConfiguration() + { + return { m_sensorConfiguration.m_publishersConfigurations[CameraConstants::ColorInfoConfig] }; + } + + template<> + AZStd::vector GetCameraTopicConfiguration() + { + return { m_sensorConfiguration.m_publishersConfigurations[CameraConstants::DepthImageConfig] }; + } + + template<> + AZStd::vector GetCameraInfoTopicConfiguration() + { + return { m_sensorConfiguration.m_publishersConfigurations[CameraConstants::DepthInfoConfig] }; + } + + template<> + AZStd::vector GetCameraTopicConfiguration() + { + // Note: the order matters. + return { m_sensorConfiguration.m_publishersConfigurations[CameraConstants::ColorImageConfig], + m_sensorConfiguration.m_publishersConfigurations[CameraConstants::DepthImageConfig] }; + } + + template<> + AZStd::vector GetCameraInfoTopicConfiguration() + { + // Note: the order matters. + return { m_sensorConfiguration.m_publishersConfigurations[CameraConstants::ColorInfoConfig], + m_sensorConfiguration.m_publishersConfigurations[CameraConstants::DepthInfoConfig] }; + } + + //! Helper that adds publishers based on predefined configuration. + template + void AddPublishersFromConfiguration( + const AZStd::vector configurations, + AZStd::vector>>& publishers) + { + for (const auto& configuration : configurations) + { + AZStd::string fullTopic = ROS2Names::GetNamespacedName(GetNamespace(), configuration.m_topic); + auto ros2Node = ROS2Interface::Get()->GetNode(); + auto publisher = ros2Node->create_publisher(fullTopic.data(), configuration.GetQoS()); + publishers.emplace_back(publisher); + } + } + + //! Helper that adds an image source. + //! @tparam CameraType type of camera sensor (eg 'CameraColorSensor') + template + void AddImageSource() + { + CameraConfiguration cameraConfiguration = { m_cameraConfiguration.m_verticalFieldOfViewDeg, + m_cameraConfiguration.m_width, + m_cameraConfiguration.m_height }; + const CameraSensorDescription description{ GetCameraNameFromFrame(GetEntity()), cameraConfiguration }; + const auto cameraImagePublisherConfigs = GetCameraTopicConfiguration(); + AddPublishersFromConfiguration(cameraImagePublisherConfigs, m_imagePublishers); + const auto cameraInfoPublisherConfigs = GetCameraInfoTopicConfiguration(); + AddPublishersFromConfiguration(cameraInfoPublisherConfigs, m_cameraInfoPublishers); + m_cameraSensor = AZStd::make_shared(description, GetEntityId()); + } + + //! Retrieve camera name from ROS2FrameComponent's FrameID. + //! @param entity pointer entity that has ROS2FrameComponent + //! @returns FrameID from ROS2FrameComponent + AZStd::string GetCameraNameFromFrame(const AZ::Entity* entity) const; + + void FrequencyTick() override; + + CameraSensorConfiguration m_cameraConfiguration; + AZStd::string m_frameName; + + AZStd::vector m_imagePublishers; + AZStd::shared_ptr m_cameraSensor; + AZStd::vector m_cameraInfoPublishers; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorEditorComponent.cpp b/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorEditorComponent.cpp new file mode 100644 index 000000000..181f8656f --- /dev/null +++ b/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorEditorComponent.cpp @@ -0,0 +1,179 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "ROS2CameraSensorEditorComponent.h" +#include "ROS2CameraSensorComponent.h" +#include +#include + +namespace ROS2 +{ + ROS2CameraSensorEditorComponent::ROS2CameraSensorEditorComponent() + { + m_sensorConfiguration.m_frequency = 10; + m_sensorConfiguration.m_publishersConfigurations.insert( + MakeTopicConfigurationPair("camera_image_color", CameraConstants::ImageMessageType, CameraConstants::ColorImageConfig)); + m_sensorConfiguration.m_publishersConfigurations.insert( + MakeTopicConfigurationPair("camera_image_depth", CameraConstants::ImageMessageType, CameraConstants::DepthImageConfig)); + m_sensorConfiguration.m_publishersConfigurations.insert( + MakeTopicConfigurationPair("color_camera_info", CameraConstants::CameraInfoMessageType, CameraConstants::ColorInfoConfig)); + m_sensorConfiguration.m_publishersConfigurations.insert( + MakeTopicConfigurationPair("depth_camera_info", CameraConstants::CameraInfoMessageType, CameraConstants::DepthInfoConfig)); + } + + void ROS2CameraSensorEditorComponent::Reflect(AZ::ReflectContext* context) + { + CameraSensorConfiguration::Reflect(context); + + if (auto* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(4) + ->Field("CameraSensorConfig", &ROS2CameraSensorEditorComponent::m_cameraSensorConfiguration) + ->Field("SensorConfig", &ROS2CameraSensorEditorComponent::m_sensorConfiguration); + + if (AZ::EditContext* editContext = serialize->GetEditContext()) + { + editContext->Class("ROS2 Camera Sensor", "[Camera component]") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC("Game")) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2CameraSensorEditorComponent::m_sensorConfiguration, + "Sensor configuration", + "Sensor configuration") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2CameraSensorEditorComponent::m_cameraSensorConfiguration, + "Camera configuration", + "Camera configuration."); + } + } + } + + void ROS2CameraSensorEditorComponent::Activate() + { + AzFramework::EntityDebugDisplayEventBus::Handler::BusConnect(this->GetEntityId()); + AzToolsFramework::Components::EditorComponentBase::Activate(); + } + + void ROS2CameraSensorEditorComponent::Deactivate() + { + AzToolsFramework::Components::EditorComponentBase::Deactivate(); + AzFramework::EntityDebugDisplayEventBus::Handler::BusDisconnect(); + } + + void ROS2CameraSensorEditorComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC("ROS2Frame")); + } + + void ROS2CameraSensorEditorComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + incompatible.push_back(AZ_CRC_CE("ROS2CameraSensor")); + } + + void ROS2CameraSensorEditorComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("ROS2CameraSensor")); + } + + void ROS2CameraSensorEditorComponent::BuildGameEntity(AZ::Entity* gameEntity) + { + gameEntity->CreateComponent(m_sensorConfiguration, m_cameraSensorConfiguration); + } + + void ROS2CameraSensorEditorComponent::DisplayEntityViewport( + [[maybe_unused]] const AzFramework::ViewportInfo& viewportInfo, AzFramework::DebugDisplayRequests& debugDisplay) + { + if (!m_sensorConfiguration.m_visualise) + { + return; + } + const AZ::u32 stateBefore = debugDisplay.GetState(); + AZ::Transform transform = GetEntity()->GetTransform()->GetWorldTM(); + + // dimension of drawing + const float arrowRise = 1.1f; + const float arrowSize = 0.5f; + const float frustumScale = 0.1f; + + transform.SetUniformScale(frustumScale); + debugDisplay.DepthTestOff(); + const float vertical = 0.5f * AZStd::tan((AZ::DegToRad(m_cameraSensorConfiguration.m_verticalFieldOfViewDeg * 0.5f))); + const float horizontal = m_cameraSensorConfiguration.m_height * vertical / m_cameraSensorConfiguration.m_width; + + // frustum drawing + const AZ::Vector3 p1(-vertical, -horizontal, 1.f); + const AZ::Vector3 p2(vertical, -horizontal, 1.f); + const AZ::Vector3 p3(vertical, horizontal, 1.f); + const AZ::Vector3 p4(-vertical, horizontal, 1.f); + const AZ::Vector3 p0(0, 0, 0); + const AZ::Vector3 py(0.1, 0, 0); + + const auto pt1 = transform.TransformPoint(p1); + const auto pt2 = transform.TransformPoint(p2); + const auto pt3 = transform.TransformPoint(p3); + const auto pt4 = transform.TransformPoint(p4); + const auto pt0 = transform.TransformPoint(p0); + const auto ptz = transform.TransformPoint(AZ::Vector3::CreateAxisZ(0.2f)); + const auto pty = transform.TransformPoint(AZ::Vector3::CreateAxisY(0.2f)); + const auto ptx = transform.TransformPoint(AZ::Vector3::CreateAxisX(0.2f)); + + debugDisplay.SetColor(AZ::Color(0.f, 1.f, 1.f, 1.f)); + debugDisplay.SetLineWidth(1); + debugDisplay.DrawLine(pt1, pt2); + debugDisplay.DrawLine(pt2, pt3); + debugDisplay.DrawLine(pt3, pt4); + debugDisplay.DrawLine(pt4, pt1); + debugDisplay.DrawLine(pt1, pt0); + debugDisplay.DrawLine(pt2, pt0); + debugDisplay.DrawLine(pt3, pt0); + debugDisplay.DrawLine(pt4, pt0); + + // up-arrow drawing + const AZ::Vector3 pa1(-arrowSize * vertical, -arrowRise * horizontal, 1.f); + const AZ::Vector3 pa2(arrowSize * vertical, -arrowRise * horizontal, 1.f); + const AZ::Vector3 pa3(0, (-arrowRise - arrowSize) * horizontal, 1.f); + const auto pat1 = transform.TransformPoint(pa1); + const auto pat2 = transform.TransformPoint(pa2); + const auto pat3 = transform.TransformPoint(pa3); + + debugDisplay.SetColor(AZ::Color(0.f, 0.6f, 1.f, 1.f)); + debugDisplay.SetLineWidth(1); + debugDisplay.DrawLine(pat1, pat2); + debugDisplay.DrawLine(pat2, pat3); + debugDisplay.DrawLine(pat3, pat1); + + // coordinate system drawing + debugDisplay.SetColor(AZ::Color(1.f, 0.f, 0.f, 1.f)); + debugDisplay.SetLineWidth(2); + debugDisplay.DrawLine(ptx, pt0); + + debugDisplay.SetColor(AZ::Color(0.f, 1.f, 0.f, 1.f)); + debugDisplay.SetLineWidth(2); + debugDisplay.DrawLine(pty, pt0); + + debugDisplay.SetColor(AZ::Color(0.f, 0.f, 1.f, 1.f)); + debugDisplay.SetLineWidth(2); + debugDisplay.DrawLine(ptz, pt0); + + debugDisplay.SetState(stateBefore); + } + + AZStd::pair ROS2CameraSensorEditorComponent::MakeTopicConfigurationPair( + const AZStd::string& topic, const AZStd::string& messageType, const AZStd::string& configName) const + { + TopicConfiguration config; + config.m_topic = topic; + config.m_type = messageType; + return AZStd::make_pair(configName, config); + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorEditorComponent.h b/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorEditorComponent.h new file mode 100644 index 000000000..06039deb2 --- /dev/null +++ b/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorEditorComponent.h @@ -0,0 +1,53 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include + +#include "CameraSensorConfiguration.h" +#include +#include +#include + +namespace ROS2 +{ + //! ROS2 Camera Editor sensor component class + //! Allows turning an entity into a camera sensor in Editor + //! Component draws camera frustrum in the Editor + class ROS2CameraSensorEditorComponent + : public AzToolsFramework::Components::EditorComponentBase + , protected AzFramework::EntityDebugDisplayEventBus::Handler + { + public: + ROS2CameraSensorEditorComponent(); + ~ROS2CameraSensorEditorComponent() override = default; + AZ_EDITOR_COMPONENT(ROS2CameraSensorEditorComponent, "{3C2A86B2-AD58-4BF1-A5EF-71E0F94A2B42}"); + static void Reflect(AZ::ReflectContext* context); + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& required); + + void Activate() override; + void Deactivate() override; + + // AzToolsFramework::Components::EditorComponentBase overrides + void BuildGameEntity(AZ::Entity* gameEntity) override; + + private: + // EntityDebugDisplayEventBus::Handler overrides + void DisplayEntityViewport(const AzFramework::ViewportInfo& viewportInfo, AzFramework::DebugDisplayRequests& debugDisplay) override; + + AZStd::pair MakeTopicConfigurationPair( + const AZStd::string& topic, const AZStd::string& messageType, const AZStd::string& configName) const; + SensorConfiguration m_sensorConfiguration; + CameraSensorConfiguration m_cameraSensorConfiguration; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Clock/PhysicallyStableClock.cpp b/Gems/ROS2/Code/Source/Clock/PhysicallyStableClock.cpp new file mode 100644 index 000000000..145283afc --- /dev/null +++ b/Gems/ROS2/Code/Source/Clock/PhysicallyStableClock.cpp @@ -0,0 +1,67 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include + +#include +#include + +namespace ROS2 +{ + + void PhysicallyStableClock::Activate() + { + auto* systemInterface = AZ::Interface::Get(); + m_onSceneSimulationEvent = AzPhysics::SceneEvents::OnSceneSimulationFinishHandler( + [this](AzPhysics::SceneHandle sceneHandle, float deltaTime) + { + m_elapsed += static_cast(deltaTime); + }); + + m_onSceneAdded = AzPhysics::SystemEvents::OnSceneAddedEvent::Handler( + [this](AzPhysics::SceneHandle sceneHandle) + { + auto* sceneInterface = AZ::Interface::Get(); + AzPhysics::SceneHandle defaultSceneHandle = sceneInterface->GetSceneHandle(AzPhysics::DefaultPhysicsSceneName); + if (sceneHandle == defaultSceneHandle) + { + AZ_Printf("SimulationPhysicalClock", "Registering clock to default scene"); + m_elapsed = 0.0; + sceneInterface->RegisterSceneSimulationFinishHandler(sceneHandle, m_onSceneSimulationEvent); + } + }); + systemInterface->RegisterSceneAddedEvent(m_onSceneAdded); + + m_onSceneRemoved = AzPhysics::SystemEvents::OnSceneRemovedEvent::Handler( + [this](AzPhysics::SceneHandle sceneHandle) + { + auto* sceneInterface = AZ::Interface::Get(); + AzPhysics::SceneHandle defaultSceneHandle = sceneInterface->GetSceneHandle(AzPhysics::DefaultPhysicsSceneName); + if (sceneHandle == defaultSceneHandle) + { + AZ_Printf("SimulationPhysicalClock", "Removing clock to default scene"); + m_onSceneSimulationEvent.Disconnect(); + } + }); + systemInterface->RegisterSceneRemovedEvent(m_onSceneRemoved); + } + + void PhysicallyStableClock::Deactivate() + { + m_onSceneSimulationEvent.Disconnect(); + }; + + builtin_interfaces::msg::Time PhysicallyStableClock::GetROSTimestamp() const + { + builtin_interfaces::msg::Time timeStamp; + timeStamp.sec = static_cast(AZStd::floor(m_elapsed)); + timeStamp.nanosec = static_cast((m_elapsed - timeStamp.sec) * 1e9); + return timeStamp; + } +} // namespace ROS2 \ No newline at end of file diff --git a/Gems/ROS2/Code/Source/Clock/SimulationClock.cpp b/Gems/ROS2/Code/Source/Clock/SimulationClock.cpp new file mode 100644 index 000000000..96eb4fca7 --- /dev/null +++ b/Gems/ROS2/Code/Source/Clock/SimulationClock.cpp @@ -0,0 +1,76 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + builtin_interfaces::msg::Time SimulationClock::GetROSTimestamp() const + { + const auto elapsedTime = GetElapsedTimeMicroseconds(); + + builtin_interfaces::msg::Time timeStamp; + timeStamp.sec = static_cast(elapsedTime / 1000000); + timeStamp.nanosec = static_cast((elapsedTime % 1000000) * 1000); + return timeStamp; + } + + int64_t SimulationClock::GetElapsedTimeMicroseconds() const + { + if (auto* timeSystem = AZ::Interface::Get()) + { + return static_cast(timeSystem->GetElapsedTimeUs()); + } + else + { + AZ_Error("SimulationClock", false, "No ITime interface available for ROS2 Gem simulation clock"); + return 0; + } + } + + AZStd::chrono::duration SimulationClock::GetExpectedSimulationLoopTime() const + { + return AZStd::chrono::duration(m_currentMedian); + } + + void SimulationClock::Tick() + { + auto elapsed = GetElapsedTimeMicroseconds(); + if (!m_clockPublisher) + { // Lazy construct + auto ros2Node = ROS2Interface::Get()->GetNode(); + + rclcpp::ClockQoS qos; + m_clockPublisher = ros2Node->create_publisher("/clock", qos); + } + + rosgraph_msgs::msg::Clock msg; + msg.clock = GetROSTimestamp(); + m_clockPublisher->publish(msg); + + AZ::s64 deltaTime = elapsed - m_lastExecutionTime; + m_lastExecutionTime = elapsed; + + // statistics on execution time + m_frameTimes.push_back(deltaTime); + if (m_frameTimes.size() > FramesNumberForStats) + { + m_frameTimes.pop_front(); + } + AZStd::vector frameTimeSorted{ m_frameTimes.begin(), m_frameTimes.end() }; + AZStd::sort(frameTimeSorted.begin(), frameTimeSorted.end()); + m_currentMedian = frameTimeSorted[frameTimeSorted.size() / 2]; + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Communication/QoS.cpp b/Gems/ROS2/Code/Source/Communication/QoS.cpp new file mode 100644 index 000000000..f7fcf520f --- /dev/null +++ b/Gems/ROS2/Code/Source/Communication/QoS.cpp @@ -0,0 +1,67 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include + +namespace ROS2 +{ + QoS::QoS(const rclcpp::QoS& qos) + : m_reliabilityPolicy(qos.reliability()) + , m_durabilityPolicy(qos.durability()) + , m_depth(qos.depth()) + { + } + + AZ::Crc32 QoS::OnQoSSelected() const + { + return AZ::Edit::PropertyRefreshLevels::AttributesAndValues; + } + + rclcpp::QoS QoS::GetQoS() const + { + rclcpp::QoS qos(m_depth); + return qos.reliability(m_reliabilityPolicy).durability(m_durabilityPolicy); + } + + void QoS::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class() + ->Version(1) + ->Field("Reliability", &QoS::m_reliabilityPolicy) + ->Field("Durability", &QoS::m_durabilityPolicy) + ->Field("Depth", &QoS::m_depth); + + if (AZ::EditContext* ec = serializeContext->GetEditContext()) + { + ec->Class("Quality of Service configuration", "") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->DataElement( + AZ::Edit::UIHandlers::ComboBox, + &QoS::m_reliabilityPolicy, + "Reliability policy", + "Determines DDS reliability policy for the publisher") + ->Attribute(AZ::Edit::Attributes::ChangeNotify, &QoS::OnQoSSelected) + ->EnumAttribute(rclcpp::ReliabilityPolicy::Reliable, "Reliable") + ->EnumAttribute(rclcpp::ReliabilityPolicy::BestEffort, "Best Effort") + ->DataElement( + AZ::Edit::UIHandlers::ComboBox, + &QoS::m_durabilityPolicy, + "Durability policy", + "Determines DDS durability policy for the publisher") + ->Attribute(AZ::Edit::Attributes::ChangeNotify, &QoS::OnQoSSelected) + ->EnumAttribute(rclcpp::DurabilityPolicy::Volatile, "Volatile") + ->EnumAttribute(rclcpp::DurabilityPolicy::TransientLocal, "Transient Local") + ->DataElement(AZ::Edit::UIHandlers::Default, &QoS::m_depth, "History depth", "Determines DDS publisher queue size"); + } + } + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Communication/TopicConfiguration.cpp b/Gems/ROS2/Code/Source/Communication/TopicConfiguration.cpp new file mode 100644 index 000000000..07853592a --- /dev/null +++ b/Gems/ROS2/Code/Source/Communication/TopicConfiguration.cpp @@ -0,0 +1,36 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include + +namespace ROS2 +{ + void TopicConfiguration::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class() + ->Version(1) + ->Field("Type", &TopicConfiguration::m_type) + ->Field("Topic", &TopicConfiguration::m_topic) + ->Field("QoS", &TopicConfiguration::m_qos); + + if (AZ::EditContext* ec = serializeContext->GetEditContext()) + { + ec->Class("Publisher configuration", "") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->DataElement(AZ::Edit::UIHandlers::Default, &TopicConfiguration::m_type, "Type", "Type of topic messages") + ->DataElement(AZ::Edit::UIHandlers::Default, &TopicConfiguration::m_topic, "Topic", "Topic with no namespace") + ->Attribute(AZ::Edit::Attributes::ChangeValidate, &ROS2Names::ValidateTopicField) + ->DataElement(AZ::Edit::UIHandlers::Default, &TopicConfiguration::m_qos, "QoS", "Quality of Service"); + } + } + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Frame/NamespaceConfiguration.cpp b/Gems/ROS2/Code/Source/Frame/NamespaceConfiguration.cpp new file mode 100644 index 000000000..196b128f1 --- /dev/null +++ b/Gems/ROS2/Code/Source/Frame/NamespaceConfiguration.cpp @@ -0,0 +1,99 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include + +namespace ROS2 +{ + void NamespaceConfiguration::PopulateNamespace(bool isRoot, const AZStd::string& entityName) + { + m_isRoot = isRoot; + m_entityName = entityName; + OnNamespaceStrategySelected(); + } + + void NamespaceConfiguration::UpdateNamespace() + { + switch (m_namespaceStrategy) + { + case NamespaceStrategy::Empty: + m_namespace = ""; + break; + case NamespaceStrategy::Default: + m_namespace = m_isRoot ? ROS2Names::RosifyName(m_entityName) : ""; + break; + case NamespaceStrategy::FromEntityName: + m_namespace = ROS2Names::RosifyName(m_entityName); + break; + case NamespaceStrategy::Custom: + // Leave the namespace as is + break; + default: + AZ_Assert(false, "Unhandled namespace strategy"); + break; + } + } + + AZ::Crc32 NamespaceConfiguration::OnNamespaceStrategySelected() + { + UpdateNamespace(); + return AZ::Edit::PropertyRefreshLevels::EntireTree; + } + + AZStd::string NamespaceConfiguration::GetNamespace(const AZStd::string& parentNamespace) const + { + if (parentNamespace.empty()) + { + return m_namespace; + } + + if (m_namespace.empty()) + { + return parentNamespace; + } + + return ROS2Names::GetNamespacedName(parentNamespace, m_namespace); + } + + bool NamespaceConfiguration::IsNamespaceCustom() const + { + return m_namespaceStrategy == NamespaceConfiguration::NamespaceStrategy::Custom; + } + + void NamespaceConfiguration::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class() + ->Version(1) + ->Field("Namespace Strategy", &NamespaceConfiguration::m_namespaceStrategy) + ->Field("Namespace", &NamespaceConfiguration::m_namespace); + + if (AZ::EditContext* ec = serializeContext->GetEditContext()) + { + ec->Class("Namespace Configuration", "Handles ROS2 namespaces") + ->DataElement( + AZ::Edit::UIHandlers::ComboBox, + &NamespaceConfiguration::m_namespaceStrategy, + "Namespace strategy", + "Determines how namespace for frames and topics is created from the hierarchy") + ->Attribute(AZ::Edit::Attributes::ChangeNotify, &NamespaceConfiguration::OnNamespaceStrategySelected) + ->EnumAttribute(NamespaceConfiguration::NamespaceStrategy::Default, "Default") + ->EnumAttribute(NamespaceConfiguration::NamespaceStrategy::Empty, "Empty") + ->EnumAttribute(NamespaceConfiguration::NamespaceStrategy::FromEntityName, "Generate from entity name") + ->EnumAttribute(NamespaceConfiguration::NamespaceStrategy::Custom, "Custom") + ->DataElement(AZ::Edit::UIHandlers::Default, &NamespaceConfiguration::m_namespace, "Namespace", "Namespace") + ->Attribute(AZ::Edit::Attributes::Visibility, &NamespaceConfiguration::IsNamespaceCustom) + ->Attribute(AZ::Edit::Attributes::ChangeValidate, &ROS2Names::ValidateNamespaceField); + } + } + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Frame/ROS2FrameComponent.cpp b/Gems/ROS2/Code/Source/Frame/ROS2FrameComponent.cpp new file mode 100644 index 000000000..b5be0b0c4 --- /dev/null +++ b/Gems/ROS2/Code/Source/Frame/ROS2FrameComponent.cpp @@ -0,0 +1,252 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + namespace Internal + { + AZ::TransformInterface* GetEntityTransformInterface(const AZ::Entity* entity) + { + if (!entity) + { + AZ_Error("GetEntityTransformInterface", false, "Invalid entity!"); + return nullptr; + } + + auto* interface = Utils::GetGameOrEditorComponent(entity); + + return interface; + } + + const ROS2FrameComponent* GetFirstROS2FrameAncestor(const AZ::Entity* entity) + { + auto* entityTransformInterface = GetEntityTransformInterface(entity); + if (!entityTransformInterface) + { + AZ_Error("GetFirstROS2FrameAncestor", false, "Invalid transform interface!"); + return nullptr; + } + + AZ::EntityId parentEntityId = entityTransformInterface->GetParentId(); + if (!parentEntityId.IsValid()) + { // We have reached the top level, there is no parent entity so there can be no parent ROS2Frame + return nullptr; + } + AZ::Entity* parentEntity = nullptr; + AZ::ComponentApplicationBus::BroadcastResult(parentEntity, &AZ::ComponentApplicationRequests::FindEntity, parentEntityId); + AZ_Assert(parentEntity, "No parent entity id : %s", parentEntityId.ToString().c_str()); + + auto* component = Utils::GetGameOrEditorComponent(parentEntity); + if (component == nullptr) + { // Parent entity has no ROS2Frame, but there can still be a ROS2Frame in its ancestors + return GetFirstROS2FrameAncestor(parentEntity); + } + + // Found the component! + return component; + } + + //! Checks whether the entity has a component of the given type + //! @param entity pointer to entity + //! @param typeId type of the component + //! @returns true if entity has component with given type + static bool CheckIfEntityHasComponentOfType(const AZ::Entity* entity, const AZ::Uuid typeId) + { + auto components = AZ::EntityUtils::FindDerivedComponents(entity, typeId); + return !components.empty(); + } + + } // namespace Internal + + void ROS2FrameComponent::Activate() + { + m_namespaceConfiguration.PopulateNamespace(IsTopLevel(), GetEntity()->GetName()); + + if (m_publishTransform) + { + AZ_TracePrintf("ROS2FrameComponent", "Setting up %s", GetFrameID().data()); + + // The frame will always be dynamic if it's a top entity. + if (IsTopLevel()) + { + m_isDynamic = true; + } + // Otherwise it'll be dynamic when it has joints and it's not a fixed joint. + else + { + const bool hasJoints = Internal::CheckIfEntityHasComponentOfType( + m_entity, AZ::Uuid("{B01FD1D2-1D91-438D-874A-BF5EB7E919A8}")); // Physx::JointComponent; + const bool hasFixedJoints = Internal::CheckIfEntityHasComponentOfType( + m_entity, AZ::Uuid("{02E6C633-8F44-4CEE-AE94-DCB06DE36422}")); // Physx::FixedJointComponent + m_isDynamic = hasJoints && !hasFixedJoints; + } + + AZ_TracePrintf( + "ROS2FrameComponent", + "Setting up %s transform between parent %s and child %s to be published %s\n", + IsDynamic() ? "dynamic" : "static", + GetParentFrameID().data(), + GetFrameID().data(), + IsDynamic() ? "continuously to /tf" : "once to /tf_static"); + + m_ros2Transform = AZStd::make_unique(GetParentFrameID(), GetFrameID(), IsDynamic()); + if (IsDynamic()) + { + AZ::TickBus::Handler::BusConnect(); + } + else + { + m_ros2Transform->Publish(GetFrameTransform()); + } + } + } + + void ROS2FrameComponent::Deactivate() + { + if (m_publishTransform) + { + if (IsDynamic()) + { + AZ::TickBus::Handler::BusDisconnect(); + } + m_ros2Transform.reset(); + } + } + + void ROS2FrameComponent::OnTick([[maybe_unused]] float deltaTime, [[maybe_unused]] AZ::ScriptTimePoint time) + { + m_ros2Transform->Publish(GetFrameTransform()); + } + + AZStd::string ROS2FrameComponent::GetGlobalFrameName() const + { + return ROS2Names::GetNamespacedName(GetNamespace(), AZStd::string("odom")); + } + + bool ROS2FrameComponent::IsTopLevel() const + { + return GetGlobalFrameName() == GetParentFrameID(); + } + + bool ROS2FrameComponent::IsDynamic() const + { + return m_isDynamic; + } + const ROS2FrameComponent* ROS2FrameComponent::GetParentROS2FrameComponent() const + { + return Internal::GetFirstROS2FrameAncestor(GetEntity()); + } + + AZ::Transform ROS2FrameComponent::GetFrameTransform() const + { + auto* transformInterface = Internal::GetEntityTransformInterface(GetEntity()); + if (const auto* parentFrame = GetParentROS2FrameComponent(); parentFrame != nullptr) + { + auto* ancestorTransformInterface = Internal::GetEntityTransformInterface(parentFrame->GetEntity()); + AZ_Assert(ancestorTransformInterface, "No transform interface for an entity with a ROS2Frame component, which requires it!"); + + const auto worldFromAncestor = ancestorTransformInterface->GetWorldTM(); + const auto worldFromThis = transformInterface->GetWorldTM(); + const auto ancestorFromWorld = worldFromAncestor.GetInverse(); + return ancestorFromWorld * worldFromThis; + } + return transformInterface->GetWorldTM(); + } + + AZStd::string ROS2FrameComponent::GetParentFrameID() const + { + if (auto parentFrame = GetParentROS2FrameComponent(); parentFrame != nullptr) + { + return parentFrame->GetFrameID(); + } + // If parent entity does not exist or does not have a ROS2FrameComponent, return ROS2 default global frame. + return GetGlobalFrameName(); + } + + AZStd::string ROS2FrameComponent::GetFrameID() const + { + return ROS2Names::GetNamespacedName(GetNamespace(), m_frameName); + } + + void ROS2FrameComponent::SetFrameID(const AZStd::string& frameId) + { + m_frameName = frameId; + } + + AZStd::string ROS2FrameComponent::GetNamespace() const + { + auto parentFrame = GetParentROS2FrameComponent(); + AZStd::string parentNamespace; + if (parentFrame != nullptr) + { + parentNamespace = parentFrame->GetNamespace(); + } + return m_namespaceConfiguration.GetNamespace(parentNamespace); + } + + void ROS2FrameComponent::Reflect(AZ::ReflectContext* context) + { + NamespaceConfiguration::Reflect(context); + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(1) + ->Field("Namespace Configuration", &ROS2FrameComponent::m_namespaceConfiguration) + ->Field("Frame Name", &ROS2FrameComponent::m_frameName) + ->Field("Publish Transform", &ROS2FrameComponent::m_publishTransform); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ROS2 Frame", "[ROS2 Frame component]") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2FrameComponent::m_namespaceConfiguration, + "Namespace Configuration", + "Namespace Configuration") + ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2FrameComponent::m_frameName, "Frame Name", "Frame Name") + ->DataElement( + AZ::Edit::UIHandlers::Default, &ROS2FrameComponent::m_publishTransform, "Publish Transform", "Publish Transform"); + } + } + } + + void ROS2FrameComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC_CE("ROS2Frame")); + } + + void ROS2FrameComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + incompatible.push_back(AZ_CRC_CE("ROS2Frame")); + } + + void ROS2FrameComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("TransformService")); + } + + ROS2FrameComponent::ROS2FrameComponent() = default; + + ROS2FrameComponent::ROS2FrameComponent(const AZStd::string& frameId) + : m_frameName(frameId) + { + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Frame/ROS2Transform.cpp b/Gems/ROS2/Code/Source/Frame/ROS2Transform.cpp new file mode 100644 index 000000000..36432694f --- /dev/null +++ b/Gems/ROS2/Code/Source/Frame/ROS2Transform.cpp @@ -0,0 +1,44 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include + +namespace ROS2 +{ + ROS2Transform::ROS2Transform(AZStd::string parentFrame, AZStd::string childFrame, bool isDynamic) + : m_parentFrame(AZStd::move(parentFrame)) + , m_childFrame(AZStd::move(childFrame)) + , m_isDynamic(isDynamic) + { + } + + geometry_msgs::msg::TransformStamped ROS2Transform::CreateTransformMessage(const AZ::Transform& o3deTransform) + { + geometry_msgs::msg::TransformStamped t; + t.header.stamp = ROS2Interface::Get()->GetROSTimestamp(); + t.header.frame_id = m_parentFrame.data(); + t.child_frame_id = m_childFrame.data(); + t.transform.translation = ROS2Conversions::ToROS2Vector3(o3deTransform.GetTranslation()); + t.transform.rotation = ROS2Conversions::ToROS2Quaternion(o3deTransform.GetRotation()); + return t; + } + + void ROS2Transform::Publish(const AZ::Transform& transform) + { + if (m_isPublished && !m_isDynamic) + { // Only publish static transforms once + return; + } + ROS2Interface::Get()->BroadcastTransform(CreateTransformMessage(transform), m_isDynamic); + m_isPublished = true; + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/GNSS/GNSSFormatConversions.cpp b/Gems/ROS2/Code/Source/GNSS/GNSSFormatConversions.cpp new file mode 100644 index 000000000..f7db5fd97 --- /dev/null +++ b/Gems/ROS2/Code/Source/GNSS/GNSSFormatConversions.cpp @@ -0,0 +1,107 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "GNSSFormatConversions.h" + +constexpr double earthSemimajorAxis = 6378137.0f; +constexpr double reciprocalFlattening = 1 / 298.257223563f; +constexpr double earthSemiminorAxis = earthSemimajorAxis * (1.0f - reciprocalFlattening); +constexpr double firstEccentricitySquared = 2 * reciprocalFlattening - reciprocalFlattening * reciprocalFlattening; +constexpr double secondEccentrictySquared = + reciprocalFlattening * (2.0f - reciprocalFlattening) / ((1.0f - reciprocalFlattening) * (1.0f - reciprocalFlattening)); + +// Based on http://wiki.gis.com/wiki/index.php/Geodetic_system +namespace ROS2::GNSS +{ + + AZ::Vector3 WGS84ToECEF(const AZ::Vector3& latitudeLongitudeAltitude) + { + const double latitudeRad = AZ::DegToRad(latitudeLongitudeAltitude.GetX()); + const double longitudeRad = AZ::DegToRad(latitudeLongitudeAltitude.GetY()); + const double altitude = latitudeLongitudeAltitude.GetZ(); + + const double helper = AZStd::sqrt(1.0f - firstEccentricitySquared * AZStd::sin(latitudeRad) * AZStd::sin(latitudeRad)); + + const double X = (earthSemimajorAxis / helper + altitude) * AZStd::cos(latitudeRad) * AZStd::cos(longitudeRad); + const double Y = (earthSemimajorAxis / helper + altitude) * AZStd::cos(latitudeRad) * AZStd::sin(longitudeRad); + const double Z = (earthSemimajorAxis * (1.0f - firstEccentricitySquared) / helper + altitude) * AZStd::sin(latitudeRad); + + return { static_cast(X), static_cast(Y), static_cast(Z) }; + } + + AZ::Vector3 ECEFToENU(const AZ::Vector3& referenceLatitudeLongitudeAltitude, const AZ::Vector3& ECEFPoint) + { + const AZ::Vector3 referencePointInECEF = WGS84ToECEF(referenceLatitudeLongitudeAltitude); + const AZ::Vector3 pointToReferencePointECEF = ECEFPoint - referencePointInECEF; + + const float referenceLatitudeRad = AZ::DegToRad(referenceLatitudeLongitudeAltitude.GetX()); + const float referenceLongitudeRad = AZ::DegToRad(referenceLatitudeLongitudeAltitude.GetY()); + + return { + -AZStd::sin(referenceLongitudeRad) * pointToReferencePointECEF.GetX() + + AZStd::cos(referenceLongitudeRad) * pointToReferencePointECEF.GetY(), + -AZStd::sin(referenceLatitudeRad) * AZStd::cos(referenceLongitudeRad) * pointToReferencePointECEF.GetX() - + AZStd::sin(referenceLatitudeRad) * AZStd::sin(referenceLongitudeRad) * pointToReferencePointECEF.GetY() + + AZStd::cos(referenceLatitudeRad) * pointToReferencePointECEF.GetZ(), + AZStd::cos(referenceLatitudeRad) * AZStd::cos(referenceLongitudeRad) * pointToReferencePointECEF.GetX() + + AZStd::cos(referenceLatitudeRad) * AZStd::sin(referenceLongitudeRad) * pointToReferencePointECEF.GetY() + + AZStd::sin(referenceLatitudeRad) * pointToReferencePointECEF.GetZ(), + }; + } + + AZ::Vector3 ENUToECEF(const AZ::Vector3& referenceLatitudeLongitudeAltitude, const AZ::Vector3& ENUPoint) + { + AZ::Vector3 referenceECEF = WGS84ToECEF(referenceLatitudeLongitudeAltitude); + + const float referenceLatitudeRad = AZ::DegToRad(referenceLatitudeLongitudeAltitude.GetX()); + const float referenceLongitudeRad = AZ::DegToRad(referenceLatitudeLongitudeAltitude.GetY()); + const float e = ENUPoint.GetX(); + const float n = ENUPoint.GetY(); + const float u = ENUPoint.GetZ(); + + return { -AZStd::sin(referenceLongitudeRad) * e - AZStd::cos(referenceLongitudeRad) * AZStd::sin(referenceLatitudeRad) * n + + AZStd::cos(referenceLongitudeRad) * AZStd::cos(referenceLatitudeRad) * u + referenceECEF.GetX(), + AZStd::cos(referenceLongitudeRad) * e - AZStd::sin(referenceLongitudeRad) * AZStd::sin(referenceLatitudeRad) * n + + AZStd::cos(referenceLatitudeRad) * AZStd::sin(referenceLongitudeRad) * u + referenceECEF.GetY(), + AZStd::cos(referenceLatitudeRad) * n + AZStd::sin(referenceLatitudeRad) * u + referenceECEF.GetZ() }; + } + + AZ::Vector3 ECEFToWGS84(const AZ::Vector3& ECFEPoint) + { + const double x = ECFEPoint.GetX(); + const double y = ECFEPoint.GetY(); + const double z = ECFEPoint.GetZ(); + + const double radiusSquared = x * x + y * y; + const double radius = AZStd::sqrt(radiusSquared); + + const double E2 = earthSemimajorAxis * earthSemimajorAxis - earthSemiminorAxis * earthSemiminorAxis; + const double F = 54.0f * earthSemiminorAxis * earthSemiminorAxis * z * z; + const double G = radiusSquared + (1.0f - firstEccentricitySquared) * z * z - firstEccentricitySquared * E2; + const double c = (firstEccentricitySquared * firstEccentricitySquared * F * radiusSquared) / (G * G * G); + const double s = AZStd::pow(1. + c + AZStd::sqrt(c * c + 2. * c), 1. / 3); + const double P = F / (3.0f * (s + 1.0f / s + 1.0f) * (s + 1.0f / s + 1.0f) * G * G); + const double Q = AZStd::sqrt(1.0f + 2.0f * firstEccentricitySquared * firstEccentricitySquared * P); + + const double ro = -(firstEccentricitySquared * P * radius) / (1.0f + Q) + + AZStd::sqrt( + (earthSemimajorAxis * earthSemimajorAxis / 2.0f) * (1.0f + 1.0f / Q) - + ((1.0f - firstEccentricitySquared) * P * z * z) / (Q * (1.0f + Q)) - P * radiusSquared / 2.0f); + const double tmp = (radius - firstEccentricitySquared * ro) * (radius - firstEccentricitySquared * ro); + const double U = AZStd::sqrt(tmp + z * z); + const double V = AZStd::sqrt(tmp + (1.0f - firstEccentricitySquared) * z * z); + const double zo = (earthSemiminorAxis * earthSemiminorAxis * z) / (earthSemimajorAxis * V); + + const double latitude = AZStd::atan((z + secondEccentrictySquared * zo) / radius); + const double longitude = AZStd::atan2(y, x); + const double altitude = U * (1.0f - earthSemiminorAxis * earthSemiminorAxis / (earthSemimajorAxis * V)); + + return { AZ::RadToDeg(static_cast(latitude)), AZ::RadToDeg(static_cast(longitude)), static_cast(altitude) }; + } + +} // namespace ROS2::GNSS diff --git a/Gems/ROS2/Code/Source/GNSS/GNSSFormatConversions.h b/Gems/ROS2/Code/Source/GNSS/GNSSFormatConversions.h new file mode 100644 index 000000000..9e3596294 --- /dev/null +++ b/Gems/ROS2/Code/Source/GNSS/GNSSFormatConversions.h @@ -0,0 +1,45 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include + +namespace ROS2::GNSS +{ + + //! Converts point in 1984 World Geodetic System (GS84) to Earth Centred Earth Fixed (ECEF) + //! @param latitudeLongitudeAltitude - point's latitude, longitude and altitude as 3d vector. + //! latitude and longitude are in decimal degrees + //! altitude is in meters + //! @return 3d vector of ECEF coordinates. + AZ::Vector3 WGS84ToECEF(const AZ::Vector3& latitudeLongitudeAltitude); + + //! Converts Earth Centred Earth Fixed (ECEF) coordinates to local east, north, up (ENU) + //! @param referenceLatitudeLongitudeAltitude - reference point's latitude, longitude and altitude as 3d vector. + //! latitude and longitude are in decimal degrees + //! altitude is in meters + //! @param ECEFPoint - ECEF point to bo converted. + //! @return 3d vector of local east, north, up (ENU) coordinates. + AZ::Vector3 ECEFToENU(const AZ::Vector3& referenceLatitudeLongitudeAltitude, const AZ::Vector3& ECEFPoint); + + //! Converts local east, north, up (ENU) coordinates to Earth Centred Earth Fixed (ECEF) + //! @param referenceLatitudeLongitudeAltitude - reference point's latitude, longitude and altitude as 3d vector. + //! latitude and longitude are in decimal degrees + //! altitude is in meters + //! @param ENUPoint - ENU point to bo converted. + //! @return 3d vector of ECEF coordinates. + AZ::Vector3 ENUToECEF(const AZ::Vector3& referenceLatitudeLongitudeAltitude, const AZ::Vector3& ENUPoint); + + //! Converts point in Earth Centred Earth Fixed (ECEF) to 984 World Geodetic System (GS84) + //! @param ECEFPoint - ECEF point to bo converted. + //! @return point's latitude, longitude and altitude as 3d vector. + //! latitude and longitude are in decimal degrees + //! altitude is in meters + AZ::Vector3 ECEFToWGS84(const AZ::Vector3& ECFEPoint); +} // namespace ROS2::GNSS diff --git a/Gems/ROS2/Code/Source/GNSS/ROS2GNSSSensorComponent.cpp b/Gems/ROS2/Code/Source/GNSS/ROS2GNSSSensorComponent.cpp new file mode 100644 index 000000000..74c8f4904 --- /dev/null +++ b/Gems/ROS2/Code/Source/GNSS/ROS2GNSSSensorComponent.cpp @@ -0,0 +1,114 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "ROS2GNSSSensorComponent.h" +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "GNSSFormatConversions.h" + +namespace ROS2 +{ + namespace Internal + { + const char* kGNSSMsgType = "sensor_msgs::msg::NavSatFix"; + } + + void ROS2GNSSSensorComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(1) + ->Field("gnssOriginLatitude", &ROS2GNSSSensorComponent::m_gnssOriginLatitudeDeg) + ->Field("gnssOriginLongitude", &ROS2GNSSSensorComponent::m_gnssOriginLongitudeDeg) + ->Field("gnssOriginAltitude", &ROS2GNSSSensorComponent::m_gnssOriginAltitude); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ROS2 GNSS Sensor", "GNSS sensor component") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2GNSSSensorComponent::m_gnssOriginLatitudeDeg, + "Latitude offset", + "GNSS latitude position offset in degrees") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2GNSSSensorComponent::m_gnssOriginLongitudeDeg, + "Longitude offset", + "GNSS longitude position offset in degrees") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2GNSSSensorComponent::m_gnssOriginAltitude, + "Altitude offset", + "GNSS altitude position offset in meters"); + } + } + } + + ROS2GNSSSensorComponent::ROS2GNSSSensorComponent() + { + TopicConfiguration pc; + pc.m_type = Internal::kGNSSMsgType; + pc.m_topic = "gnss"; + m_sensorConfiguration.m_frequency = 10; + m_sensorConfiguration.m_publishersConfigurations.insert(AZStd::make_pair(Internal::kGNSSMsgType, pc)); + } + + void ROS2GNSSSensorComponent::Activate() + { + ROS2SensorComponent::Activate(); + auto ros2Node = ROS2Interface::Get()->GetNode(); + AZ_Assert(m_sensorConfiguration.m_publishersConfigurations.size() == 1, "Invalid configuration of publishers for GNSS sensor"); + + const auto publisherConfig = m_sensorConfiguration.m_publishersConfigurations[Internal::kGNSSMsgType]; + const auto fullTopic = ROS2Names::GetNamespacedName(GetNamespace(), publisherConfig.m_topic); + m_gnssPublisher = ros2Node->create_publisher(fullTopic.data(), publisherConfig.GetQoS()); + + m_gnssMsg.header.frame_id = "gnss_frame_id"; + } + + void ROS2GNSSSensorComponent::Deactivate() + { + ROS2SensorComponent::Deactivate(); + m_gnssPublisher.reset(); + } + + void ROS2GNSSSensorComponent::FrequencyTick() + { + const AZ::Vector3 currentPosition = GetCurrentPose().GetTranslation(); + const AZ::Vector3 currentPositionECEF = + GNSS::ENUToECEF({ m_gnssOriginLatitudeDeg, m_gnssOriginLongitudeDeg, m_gnssOriginAltitude }, currentPosition); + const AZ::Vector3 currentPositionWGS84 = GNSS::ECEFToWGS84(currentPositionECEF); + + m_gnssMsg.latitude = currentPositionWGS84.GetX(); + m_gnssMsg.longitude = currentPositionWGS84.GetY(); + m_gnssMsg.altitude = currentPositionWGS84.GetZ(); + + m_gnssMsg.status.status = sensor_msgs::msg::NavSatStatus::STATUS_SBAS_FIX; + m_gnssMsg.status.service = sensor_msgs::msg::NavSatStatus::SERVICE_GALILEO; + + m_gnssPublisher->publish(m_gnssMsg); + } + + AZ::Transform ROS2GNSSSensorComponent::GetCurrentPose() const + { + auto* ros2Frame = Utils::GetGameOrEditorComponent(GetEntity()); + return ros2Frame->GetFrameTransform(); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/GNSS/ROS2GNSSSensorComponent.h b/Gems/ROS2/Code/Source/GNSS/ROS2GNSSSensorComponent.h new file mode 100644 index 000000000..ada69e45d --- /dev/null +++ b/Gems/ROS2/Code/Source/GNSS/ROS2GNSSSensorComponent.h @@ -0,0 +1,51 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! Global Navigation Satellite Systems (GNSS) sensor component class + //! It provides NavSatFix data of sensor's position in GNSS frame which is defined by GNSS origin offset + //! Offset is provided as latitude [deg], longitude [deg], altitude [m] of o3de global frame + //! It is assumed that o3de global frame overlaps with ENU coordinate system + class ROS2GNSSSensorComponent : public ROS2SensorComponent + { + public: + AZ_COMPONENT(ROS2GNSSSensorComponent, "{55B4A299-7FA3-496A-88F0-764C75B0E9A7}", ROS2SensorComponent); + ROS2GNSSSensorComponent(); + ~ROS2GNSSSensorComponent() = default; + static void Reflect(AZ::ReflectContext* context); + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + + private: + float m_gnssOriginLatitudeDeg = 0.0f; + float m_gnssOriginLongitudeDeg = 0.0f; + float m_gnssOriginAltitude = 0.0f; + + ////////////////////////////////////////////////////////////////////////// + // ROS2SensorComponent overrides + void FrequencyTick() override; + ////////////////////////////////////////////////////////////////////////// + + AZ::Transform GetCurrentPose() const; + + std::shared_ptr> m_gnssPublisher; + sensor_msgs::msg::NavSatFix m_gnssMsg; + }; + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Imu/ROS2ImuSensorComponent.cpp b/Gems/ROS2/Code/Source/Imu/ROS2ImuSensorComponent.cpp new file mode 100644 index 000000000..2146572d7 --- /dev/null +++ b/Gems/ROS2/Code/Source/Imu/ROS2ImuSensorComponent.cpp @@ -0,0 +1,151 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "ROS2ImuSensorComponent.h" +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + namespace Internal + { + const char* kImuMsgType = "sensor_msgs::msg::Imu"; + } + + void ROS2ImuSensorComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(1) + ->Field("FilterSize", &ROS2ImuSensorComponent::m_filterSize) + ->Field("IncludeGravity", &ROS2ImuSensorComponent::m_includeGravity) + ->Field("AbsoluteRotation", &ROS2ImuSensorComponent::m_absoluteRotation); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ROS2 Imu Sensor", "Imu sensor component") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2ImuSensorComponent::m_filterSize, + "Filter Length", + "Filter Length, large value allows to reduce numeric noise") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2ImuSensorComponent::m_includeGravity, + "Include Gravitation", + "Enable accelerometer to observe gravity force.") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2ImuSensorComponent::m_absoluteRotation, + "Absolute Rotation", + "Include Absolute rotation in message."); + } + } + } + + ROS2ImuSensorComponent::ROS2ImuSensorComponent() + { + const AZStd::string type = Internal::kImuMsgType; + TopicConfiguration pc; + pc.m_type = type; + pc.m_topic = "imu"; + m_sensorConfiguration.m_frequency = 50; + m_sensorConfiguration.m_publishersConfigurations.insert(AZStd::make_pair(type, pc)); + } + + void ROS2ImuSensorComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("PhysicsRigidBodyService")); + required.push_back(AZ_CRC_CE("ROS2Frame")); + } + + void ROS2ImuSensorComponent::SetupRefreshLoop() + { + InstallPhysicalCallback(m_entity->GetId()); + } + + void ROS2ImuSensorComponent::OnPhysicsSimulationFinished(AzPhysics::SceneHandle sceneHandle, float deltaTime) + { + auto* sceneInterface = AZ::Interface::Get(); + const auto gravity = sceneInterface->GetGravity(sceneHandle); + auto* body = sceneInterface->GetSimulatedBodyFromHandle(sceneHandle, m_bodyHandle); + auto rigidbody = azrtti_cast(body); + AZ_Assert(rigidbody, "Requested simulated body is not a rigid body"); + auto inv = rigidbody->GetTransform().GetInverse(); + const auto linearVelocity = inv.TransformVector(rigidbody->GetLinearVelocity()); + m_filterAcceleration.push_back(linearVelocity); + const auto angularVelocity = inv.TransformVector(rigidbody->GetAngularVelocity()); + m_filterAngularVelocity.push_back(angularVelocity); + if (m_filterAcceleration.size() > m_filterSize) + { + m_filterAcceleration.pop_front(); + m_filterAngularVelocity.pop_front(); + } + if (IsPublicationDeadline(deltaTime)) + { + const AZ::Vector3 linearVelocityFilter = + AZStd::accumulate(m_filterAcceleration.begin(), m_filterAcceleration.end(), AZ::Vector3{ 0 }) / m_filterAcceleration.size(); + + const AZ::Vector3 angularRateFiltered = + AZStd::accumulate(m_filterAngularVelocity.begin(), m_filterAngularVelocity.end(), AZ::Vector3{ 0 }) / + m_filterAngularVelocity.size(); + + auto acc = (linearVelocityFilter - m_previousLinearVelocity) / deltaTime; + + m_previousLinearVelocity = linearVelocityFilter; + m_acceleration = -acc + angularRateFiltered.Cross(linearVelocityFilter); + if (m_includeGravity) + { + m_acceleration += inv.TransformVector(gravity); + } + m_imuMsg.linear_acceleration = ROS2Conversions::ToROS2Vector3(m_acceleration); + m_imuMsg.angular_velocity = ROS2Conversions::ToROS2Vector3(angularRateFiltered); + if (m_absoluteRotation) + { + m_imuMsg.orientation = ROS2Conversions::ToROS2Quaternion(rigidbody->GetTransform().GetRotation()); + } + m_imuMsg.header.stamp = ROS2Interface::Get()->GetROSTimestamp(); + this->m_imuPublisher->publish(m_imuMsg); + } + }; + + void ROS2ImuSensorComponent::Activate() + { + auto ros2Node = ROS2Interface::Get()->GetNode(); + AZ_Assert(m_sensorConfiguration.m_publishersConfigurations.size() == 1, "Invalid configuration of publishers for IMU sensor"); + m_imuMsg.header.frame_id = GetFrameID().c_str(); + const auto publisherConfig = m_sensorConfiguration.m_publishersConfigurations[Internal::kImuMsgType]; + const auto fullTopic = ROS2Names::GetNamespacedName(GetNamespace(), publisherConfig.m_topic); + m_imuPublisher = ros2Node->create_publisher(fullTopic.data(), publisherConfig.GetQoS()); + ROS2SensorComponent::Activate(); + } + + void ROS2ImuSensorComponent::Deactivate() + { + RemovePhysicalCallback(); + m_bodyHandle = AzPhysics::InvalidSimulatedBodyHandle; + m_imuPublisher.reset(); + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Imu/ROS2ImuSensorComponent.h b/Gems/ROS2/Code/Source/Imu/ROS2ImuSensorComponent.h new file mode 100644 index 000000000..be921d4d3 --- /dev/null +++ b/Gems/ROS2/Code/Source/Imu/ROS2ImuSensorComponent.h @@ -0,0 +1,65 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! An IMU (Inertial Measurement Unit) sensor Component. + //! IMUs typically include gyroscopes, accelerometers and magnetometers. This component encapsulates data + //! acquisition and its publishing to ROS2 ecosystem. IMU Component requires ROS2FrameComponent. + class ROS2ImuSensorComponent + : public ROS2SensorComponent + , public ROS2::Utils::PhysicsCallbackHandler + { + public: + AZ_COMPONENT(ROS2ImuSensorComponent, "{502A955E-7742-4E23-AD77-5E4063739DCA}", ROS2SensorComponent); + ROS2ImuSensorComponent(); + ~ROS2ImuSensorComponent() = default; + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void Reflect(AZ::ReflectContext* context); + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + + private: + //! Length of filter that removes numerical noise + int m_filterSize{ 10 }; + + //! Include gravity acceleration + bool m_includeGravity{ true }; + + //! Measure also absolute rotation + bool m_absoluteRotation{ true }; + + std::shared_ptr> m_imuPublisher; + sensor_msgs::msg::Imu m_imuMsg; + AZ::Vector3 m_previousLinearVelocity = AZ::Vector3::CreateZero(); + + AZ::Vector3 m_acceleration{ 0 }; + AZStd::deque m_filterAcceleration; + AZStd::deque m_filterAngularVelocity; + + private: + // ROS2SensorComponent overrides ... + void SetupRefreshLoop() override; + + // ROS2::Utils::PhysicsCallbackHandler overrides ... + void OnPhysicsSimulationFinished(AzPhysics::SceneHandle sceneHandle, float deltaTime) override; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/LidarRaycaster.cpp b/Gems/ROS2/Code/Source/Lidar/LidarRaycaster.cpp new file mode 100644 index 000000000..e93c56161 --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/LidarRaycaster.cpp @@ -0,0 +1,189 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + static AzPhysics::SceneHandle GetPhysicsSceneFromEntityId(const AZ::EntityId& entityId) + { + auto* physicsSystem = AZ::Interface::Get(); + auto foundBody = physicsSystem->FindAttachedBodyHandleFromEntityId(entityId); + AzPhysics::SceneHandle lidarPhysicsSceneHandle = foundBody.first; + if (foundBody.first == AzPhysics::InvalidSceneHandle) + { + auto* sceneInterface = AZ::Interface::Get(); + lidarPhysicsSceneHandle = sceneInterface->GetSceneHandle(AzPhysics::DefaultPhysicsSceneName); + } + + AZ_Assert(lidarPhysicsSceneHandle != AzPhysics::InvalidSceneHandle, "Invalid physics scene handle for entity"); + return lidarPhysicsSceneHandle; + } + + LidarRaycaster::LidarRaycaster(LidarId busId, AZ::EntityId sceneEntityId) + : m_busId{ busId } + , m_sceneEntityId{ sceneEntityId } + { + ROS2::LidarRaycasterRequestBus::Handler::BusConnect(busId); + } + + LidarRaycaster::LidarRaycaster(LidarRaycaster&& lidarRaycaster) + : m_busId{ lidarRaycaster.m_busId } + , m_sceneEntityId{ lidarRaycaster.m_sceneEntityId } + , m_sceneHandle{ lidarRaycaster.m_sceneHandle } + , m_range{ lidarRaycaster.m_range } + , m_addMaxRangePoints{ lidarRaycaster.m_addMaxRangePoints } + , m_rayRotations{ AZStd::move(lidarRaycaster.m_rayRotations) } + , m_ignoreLayer{ lidarRaycaster.m_ignoreLayer } + , m_ignoredLayerIndex{ lidarRaycaster.m_ignoredLayerIndex } + { + lidarRaycaster.BusDisconnect(); + lidarRaycaster.m_busId = LidarId::CreateNull(); + + ROS2::LidarRaycasterRequestBus::Handler::BusConnect(m_busId); + } + + LidarRaycaster::~LidarRaycaster() + { + ROS2::LidarRaycasterRequestBus::Handler::BusDisconnect(); + } + + void LidarRaycaster::ConfigureRayOrientations(const AZStd::vector& orientations) + { + ValidateRayOrientations(orientations); + m_rayRotations = orientations; + } + + void LidarRaycaster::ConfigureRayRange(float range) + { + ValidateRayRange(range); + m_range = range; + } + + void LidarRaycaster::ConfigureMinimumRayRange(float range) + { + m_minRange = range; + } + + void LidarRaycaster::ConfigureRaycastResultFlags(RaycastResultFlags flags) + { + m_resultFlags = flags; + } + + AzPhysics::SceneQueryRequests LidarRaycaster::prepareRequests( + const AZ::Transform& lidarTransform, const AZStd::vector& rayDirections) const + { + using AzPhysics::SceneQuery::HitFlags; + const AZ::Vector3& lidarPosition = lidarTransform.GetTranslation(); + + AzPhysics::SceneQueryRequests requests; + requests.reserve(rayDirections.size()); + for (const AZ::Vector3& direction : rayDirections) + { + AZStd::shared_ptr request = AZStd::make_shared(); + request->m_start = lidarPosition; + request->m_direction = direction; + request->m_distance = m_range; + request->m_reportMultipleHits = false; + request->m_filterCallback = [ignoredLayerIndex = this->m_ignoredLayerIndex, ignoreLayer = this->m_ignoreLayer]( + const AzPhysics::SimulatedBody* simBody, const Physics::Shape* shape) + { + if (ignoreLayer && (shape->GetCollisionLayer().GetIndex() == ignoredLayerIndex)) + { + return AzPhysics::SceneQuery::QueryHitType::None; + } + else + { + return AzPhysics::SceneQuery::QueryHitType::Block; + } + }; + requests.emplace_back(AZStd::move(request)); + } + return requests; + } + + RaycastResult LidarRaycaster::PerformRaycast(const AZ::Transform& lidarTransform) + { + AZ_Assert(!m_rayRotations.empty(), "Ray poses are not configured. Unable to Perform a raycast."); + AZ_Assert(m_range > 0.0f, "Ray range is not configured. Unable to Perform a raycast."); + + if (m_sceneHandle == AzPhysics::InvalidSceneHandle) + { + m_sceneHandle = GetPhysicsSceneFromEntityId(m_sceneEntityId); + } + + const AZStd::vector rayDirections = LidarTemplateUtils::RotationsToDirections(m_rayRotations, lidarTransform); + + AzPhysics::SceneQueryRequests requests = prepareRequests(lidarTransform, rayDirections); + + RaycastResult results; + const bool handlePoints = (m_resultFlags & RaycastResultFlags::Points) == RaycastResultFlags::Points; + const bool handleRanges = (m_resultFlags & RaycastResultFlags::Ranges) == RaycastResultFlags::Ranges; + if (handlePoints) + { + results.m_points.reserve(rayDirections.size()); + } + if (handleRanges) + { + results.m_ranges.reserve(rayDirections.size()); + } + + auto* sceneInterface = AZ::Interface::Get(); + auto requestResults = sceneInterface->QuerySceneBatch(m_sceneHandle, requests); + AZ_Assert(requestResults.size() == rayDirections.size(), "Request size should be equal to directions size"); + const auto localTransform = lidarTransform.GetInverse(); + const float maxRange = m_addMaxRangePoints ? m_range : AZStd::numeric_limits::infinity(); + + for (int i = 0; i < requestResults.size(); i++) + { + const auto& requestResult = requestResults[i]; + float hitRange = requestResult ? requestResult.m_hits[0].m_distance : maxRange; + if (hitRange < m_minRange) + { + hitRange = -AZStd::numeric_limits::infinity(); + } + if (handleRanges) + { + results.m_ranges.push_back(hitRange); + } + if (handlePoints) + { + if (hitRange == maxRange) + { + // to properly visualize max points they need to be transformed to local coordinate system before applying maxRange + const AZ::Vector3 maxPoint = lidarTransform.TransformPoint(localTransform.TransformVector(rayDirections[i]) * hitRange); + results.m_points.push_back(maxPoint); + } + else if (!AZStd::isinf(hitRange)) + { + // otherwise they are already calculated by PhysX + results.m_points.push_back(requestResult.m_hits[0].m_position); + } + } + } + + return results; + } + + void LidarRaycaster::ConfigureLayerIgnoring(bool ignoreLayer, AZ::u32 layerIndex) + { + m_ignoreLayer = ignoreLayer; + m_ignoredLayerIndex = layerIndex; + } + void LidarRaycaster::ConfigureMaxRangePointAddition(bool addMaxRangePoints) + { + m_addMaxRangePoints = addMaxRangePoints; + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/LidarRaycaster.h b/Gems/ROS2/Code/Source/Lidar/LidarRaycaster.h new file mode 100644 index 000000000..dd2293bf1 --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/LidarRaycaster.h @@ -0,0 +1,56 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + class LidarRaycaster : protected LidarRaycasterRequestBus::Handler + { + public: + LidarRaycaster(LidarId busId, AZ::EntityId sceneEntityId); + LidarRaycaster(LidarRaycaster&& lidarSystem); + LidarRaycaster(const LidarRaycaster& lidarSystem) = default; + ~LidarRaycaster() override; + + protected: + // LidarRaycasterRequestBus overrides + void ConfigureRayOrientations(const AZStd::vector& orientations) override; + void ConfigureRayRange(float range) override; + void ConfigureMinimumRayRange(float range) override; + void ConfigureRaycastResultFlags(RaycastResultFlags flags) override; + + RaycastResult PerformRaycast(const AZ::Transform& lidarTransform) override; + + void ConfigureLayerIgnoring(bool ignoreLayer, AZ::u32 layerIndex) override; + void ConfigureMaxRangePointAddition(bool addMaxRangePoints) override; + + private: + AzPhysics::SceneQueryRequests prepareRequests( + const AZ::Transform& lidarTransform, const AZStd::vector& rayDirections) const; + LidarId m_busId; + //! EntityId that is used to acquire the physics scene handle. + AZ::EntityId m_sceneEntityId; + AzPhysics::SceneHandle m_sceneHandle{ AzPhysics::InvalidSceneHandle }; + + RaycastResultFlags m_resultFlags{ RaycastResultFlags::Points }; + float m_minRange{ 0.0f }; + float m_range{ 1.0f }; + bool m_addMaxRangePoints{ false }; + AZStd::vector m_rayRotations{ { AZ::Vector3::CreateZero() } }; + + bool m_ignoreLayer{ false }; + AZ::u32 m_ignoredLayerIndex{ 0 }; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/LidarRegistrarEditorSystemComponent.cpp b/Gems/ROS2/Code/Source/Lidar/LidarRegistrarEditorSystemComponent.cpp new file mode 100644 index 000000000..1df24567f --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/LidarRegistrarEditorSystemComponent.cpp @@ -0,0 +1,53 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include + +namespace ROS2 +{ + void LidarRegistrarEditorSystemComponent::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class()->Version(0); + } + } + + void LidarRegistrarEditorSystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + LidarRegistrarSystemComponent::GetProvidedServices(provided); + provided.push_back(AZ_CRC_CE("LidarRegistrarEditorService")); + } + + void LidarRegistrarEditorSystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + LidarRegistrarSystemComponent::GetIncompatibleServices(incompatible); + incompatible.push_back(AZ_CRC_CE("LidarRegistrarEditorService")); + } + + void LidarRegistrarEditorSystemComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required) + { + LidarRegistrarSystemComponent::GetRequiredServices(required); + } + + void LidarRegistrarEditorSystemComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent) + { + LidarRegistrarSystemComponent::GetDependentServices(dependent); + } + + void LidarRegistrarEditorSystemComponent::Activate() + { + LidarRegistrarSystemComponent::Activate(); + } + + void LidarRegistrarEditorSystemComponent::Deactivate() + { + LidarRegistrarSystemComponent::Deactivate(); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/LidarRegistrarEditorSystemComponent.h b/Gems/ROS2/Code/Source/Lidar/LidarRegistrarEditorSystemComponent.h new file mode 100644 index 000000000..6fe616dda --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/LidarRegistrarEditorSystemComponent.h @@ -0,0 +1,34 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +namespace ROS2 +{ + class LidarRegistrarEditorSystemComponent : public LidarRegistrarSystemComponent + { + public: + AZ_COMPONENT(LidarRegistrarEditorSystemComponent, "{7f11b599-5ace-4498-a9a4-ad280c92bacc}", LidarRegistrarSystemComponent); + static void Reflect(AZ::ReflectContext* context); + + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent); + + LidarRegistrarEditorSystemComponent() = default; + ~LidarRegistrarEditorSystemComponent() = default; + + private: + void Activate() override; + void Deactivate() override; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/LidarRegistrarSystemComponent.cpp b/Gems/ROS2/Code/Source/Lidar/LidarRegistrarSystemComponent.cpp new file mode 100644 index 000000000..ce6edc253 --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/LidarRegistrarSystemComponent.cpp @@ -0,0 +1,126 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include + +namespace ROS2 +{ + LidarRegistrarSystemComponent::LidarRegistrarSystemComponent() + { + if (!LidarRegistrarInterface::Get()) + { + LidarRegistrarInterface::Register(this); + } + } + + LidarRegistrarSystemComponent::~LidarRegistrarSystemComponent() + { + if (LidarRegistrarInterface::Get() == this) + { + LidarRegistrarInterface::Unregister(this); + } + } + + void LidarRegistrarSystemComponent::Init() + { + } + + void LidarRegistrarSystemComponent::Activate() + { + m_physxLidarSystem.Activate(); + } + + void LidarRegistrarSystemComponent::Deactivate() + { + m_physxLidarSystem.Deactivate(); + } + + void LidarRegistrarSystemComponent::Reflect(AZ::ReflectContext* context) + { + LidarTemplate::Reflect(context); + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class()->Version(0); + + if (AZ::EditContext* editContext = serializeContext->GetEditContext()) + { + editContext + ->Class( + "Lidar Registrar", "Manages the LidarSystem registration and stores their metadata.") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC("System")) + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->Attribute(AZ::Edit::Attributes::AutoExpand, true); + } + } + } + + void LidarRegistrarSystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC_CE("LidarRegistrarService")); + } + + void LidarRegistrarSystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + incompatible.push_back(AZ_CRC_CE("LidarRegistrarService")); + } + + void LidarRegistrarSystemComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("ROS2Service")); + } + + void LidarRegistrarSystemComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent) + { + } + + void LidarRegistrarSystemComponent::RegisterLidarSystem(const char* name, const char* description, const LidarSystemFeatures& features) + { + AZ_Assert( + !m_registeredLidarSystems.contains(AZ_CRC(name)), + "A lidar system with the provided name already exists. Please choose a different name."); + m_registeredLidarSystems.emplace(AZ_CRC(name), LidarSystemMetaData{ name, description, features }); + } + + AZStd::vector LidarRegistrarSystemComponent::GetRegisteredLidarSystems() const + { + AZStd::vector lidarSystemList; + lidarSystemList.reserve(m_registeredLidarSystems.size()); + for (const auto& lidarSystem : m_registeredLidarSystems) + { + lidarSystemList.push_back(lidarSystem.second.m_name); + } + + return lidarSystemList; + } + + const LidarSystemMetaData* LidarRegistrarSystemComponent::GetLidarSystemMetaData(const AZStd::string& name) const + { + if (auto lidarSystem = m_registeredLidarSystems.find(AZ_CRC(name)); lidarSystem != m_registeredLidarSystems.end()) + { + return &lidarSystem->second; + } + + return nullptr; + } + + AZStd::string Details::GetDefaultLidarSystem() + { + const auto& lidarSystemList = LidarRegistrarInterface::Get()->GetRegisteredLidarSystems(); + if (lidarSystemList.empty()) + { + AZ_Warning("ROS2LidarSensorComponent", false, "No LIDAR system for the sensor to use."); + return {}; + } + return lidarSystemList.front(); + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/LidarRegistrarSystemComponent.h b/Gems/ROS2/Code/Source/Lidar/LidarRegistrarSystemComponent.h new file mode 100644 index 000000000..6a6bad6f1 --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/LidarRegistrarSystemComponent.h @@ -0,0 +1,54 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! A Component that manages LidarSystems' registration and storage of their metadata. + class LidarRegistrarSystemComponent + : public AZ::Component + , protected LidarRegistrarRequestBus::Handler + { + public: + AZ_COMPONENT(LidarRegistrarSystemComponent, "{78cba3f1-db2c-46de-9c3d-c40dd72f2f1e}"); + static void Reflect(AZ::ReflectContext* context); + + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent); + + LidarRegistrarSystemComponent(); + virtual ~LidarRegistrarSystemComponent(); + + protected: + void Init() override; + void Activate() override; + void Deactivate() override; + + // LidarRegistrarRequestBus overrides + void RegisterLidarSystem(const char* name, const char* description, const LidarSystemFeatures& features) override; + AZStd::vector GetRegisteredLidarSystems() const override; + const LidarSystemMetaData* GetLidarSystemMetaData(const AZStd::string& name) const override; + + private: + LidarSystem m_physxLidarSystem; + AZStd::unordered_map m_registeredLidarSystems; + }; + + namespace Details + { + AZStd::string GetDefaultLidarSystem(); + } // namespace Details + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/LidarSystem.cpp b/Gems/ROS2/Code/Source/Lidar/LidarSystem.cpp new file mode 100644 index 000000000..96b1b7184 --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/LidarSystem.cpp @@ -0,0 +1,56 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#include +#include + +namespace ROS2 +{ + LidarSystem::LidarSystem(LidarSystem&& lidarSystem) + : m_lidars{ AZStd::move(lidarSystem.m_lidars) } + { + lidarSystem.BusDisconnect(); + } + + LidarSystem& LidarSystem::operator=(LidarSystem&& lidarSystem) + { + lidarSystem.BusDisconnect(); + return lidarSystem; + } + + void LidarSystem::Activate() + { + static constexpr const char* Description = "Collider-based lidar implementation that uses the PhysX engine's raycasting."; + static constexpr auto SupportedFeatures = + aznumeric_cast(LidarSystemFeatures::CollisionLayers | LidarSystemFeatures::MaxRangePoints); + + LidarSystemRequestBus::Handler::BusConnect(AZ_CRC(SystemName)); + + auto* lidarRegistrarInterface = ROS2::LidarRegistrarInterface::Get(); + AZ_Assert(lidarRegistrarInterface != nullptr, "The Lidar Registrar interface was inaccessible."); + + if (!lidarRegistrarInterface->GetLidarSystemMetaData(SystemName)) + { + lidarRegistrarInterface->RegisterLidarSystem(SystemName, Description, SupportedFeatures); + } + } + + void LidarSystem::Deactivate() + { + if (LidarSystemRequestBus::Handler::BusIsConnectedId(AZ_CRC(SystemName))) + { + LidarSystemRequestBus::Handler::BusDisconnect(); + } + } + + LidarId LidarSystem::CreateLidar(AZ::EntityId lidarEntityId) + { + LidarId lidarId = LidarId::CreateRandom(); + m_lidars.emplace_back(lidarId, lidarEntityId); + return lidarId; + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/LidarSystem.h b/Gems/ROS2/Code/Source/Lidar/LidarSystem.h new file mode 100644 index 000000000..77f4a8941 --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/LidarSystem.h @@ -0,0 +1,37 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include + +namespace ROS2 +{ + class LidarSystem : protected ROS2::LidarSystemRequestBus::Handler + { + public: + LidarSystem() = default; + LidarSystem(LidarSystem&& lidarSystem); + LidarSystem& operator=(LidarSystem&& lidarSystem); + LidarSystem(const LidarSystem& lidarSystem) = default; + LidarSystem& operator=(const LidarSystem& lidarSystem) = default; + + ~LidarSystem() = default; + + void Activate(); + void Deactivate(); + + private: + static constexpr const char* SystemName = "Scene Queries"; + + // LidarSystemRequestBus overrides + LidarId CreateLidar(AZ::EntityId lidarEntityId) override; + + AZStd::vector m_lidars; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/LidarTemplate.cpp b/Gems/ROS2/Code/Source/Lidar/LidarTemplate.cpp new file mode 100644 index 000000000..c9cf88b64 --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/LidarTemplate.cpp @@ -0,0 +1,112 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include + +namespace ROS2 +{ + void LidarTemplate::NoiseParameters::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class() + ->Version(1) + ->Field("Angular noise standard deviation", &NoiseParameters::m_angularNoiseStdDev) + ->Field("Distance noise standard deviation base", &NoiseParameters::m_distanceNoiseStdDevBase) + ->Field("Distance noise standard deviation slope", &NoiseParameters::m_distanceNoiseStdDevRisePerMeter); + + if (AZ::EditContext* editContext = serializeContext->GetEditContext()) + { + editContext->Class("Noise Parameters", "Noise Parameters") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &NoiseParameters::m_angularNoiseStdDev, + "Angular noise std dev [Deg]", + "Angular noise standard deviation") + ->Attribute(AZ::Edit::Attributes::Min, 0.0f) + ->Attribute(AZ::Edit::Attributes::Max, 180.0f) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &NoiseParameters::m_distanceNoiseStdDevBase, + "Distance noise std dev base [m]", + "Distance noise standard deviation base") + ->Attribute(AZ::Edit::Attributes::Min, 0.0f) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &NoiseParameters::m_distanceNoiseStdDevRisePerMeter, + "Distance noise std dev slope [m]", + "Distance noise standard deviation slope") + ->Attribute(AZ::Edit::Attributes::Min, 0.0f); + } + } + } + + bool LidarTemplate::IsLayersVisible() const + { + return m_model != LidarTemplate::LidarModel::Custom2DLidar; + } + + void LidarTemplate::Reflect(AZ::ReflectContext* context) + { + NoiseParameters::Reflect(context); + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class() + ->Version(2) + ->Field("Name", &LidarTemplate::m_name) + ->Field("Layers", &LidarTemplate::m_layers) + ->Field("Points per layer", &LidarTemplate::m_numberOfIncrements) + ->Field("Min horizontal angle", &LidarTemplate::m_minHAngle) + ->Field("Max horizontal angle", &LidarTemplate::m_maxHAngle) + ->Field("Min vertical angle", &LidarTemplate::m_minVAngle) + ->Field("Max vertical angle", &LidarTemplate::m_maxVAngle) + ->Field("Min range", &LidarTemplate::m_minRange) + ->Field("Max range", &LidarTemplate::m_maxRange) + ->Field("Noise Parameters", &LidarTemplate::m_noiseParameters); + + if (AZ::EditContext* ec = serializeContext->GetEditContext()) + { + ec->Class("Lidar Template", "Lidar Template") + ->DataElement(AZ::Edit::UIHandlers::Default, &LidarTemplate::m_name, "Name", "Custom lidar name") + ->DataElement(AZ::Edit::UIHandlers::Default, &LidarTemplate::m_layers, "Layers", "Vertical dimension") + ->Attribute(AZ::Edit::Attributes::Visibility, &LidarTemplate::IsLayersVisible) + ->DataElement( + AZ::Edit::UIHandlers::Default, &LidarTemplate::m_numberOfIncrements, "Points per layer", "Horizontal dimension") + ->DataElement( + AZ::Edit::UIHandlers::Default, &LidarTemplate::m_minHAngle, "Min horizontal angle [Deg]", "Left-most reach of fov") + ->Attribute(AZ::Edit::Attributes::Min, -180.0f) + ->Attribute(AZ::Edit::Attributes::Max, 180.0f) + ->DataElement( + AZ::Edit::UIHandlers::Default, &LidarTemplate::m_maxHAngle, "Max horizontal angle [Deg]", "Right-most reach of fov") + ->Attribute(AZ::Edit::Attributes::Min, -180.0f) + ->Attribute(AZ::Edit::Attributes::Max, 180.0f) + ->DataElement( + AZ::Edit::UIHandlers::Default, &LidarTemplate::m_minVAngle, "Min vertical angle [Deg]", "Downwards reach of fov") + ->Attribute(AZ::Edit::Attributes::Min, -180.0f) + ->Attribute(AZ::Edit::Attributes::Max, 180.0f) + ->DataElement( + AZ::Edit::UIHandlers::Default, &LidarTemplate::m_maxVAngle, "Max vertical angle [Deg]", "Upwards reach of fov") + ->Attribute(AZ::Edit::Attributes::Min, -180.0f) + ->Attribute(AZ::Edit::Attributes::Max, 180.0f) + ->DataElement(AZ::Edit::UIHandlers::Default, &LidarTemplate::m_minRange, "Min range", "Minimum beam range [m]") + ->Attribute(AZ::Edit::Attributes::Min, 0.0f) + ->Attribute(AZ::Edit::Attributes::Max, 1000.0f) + ->DataElement(AZ::Edit::UIHandlers::Default, &LidarTemplate::m_maxRange, "Max range", "Maximum beam range [m]") + ->Attribute(AZ::Edit::Attributes::Min, 0.001f) + ->Attribute(AZ::Edit::Attributes::Max, 1000.0f) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &LidarTemplate::m_noiseParameters, + "Noise parameters", + "Parameters for Noise Configuration") + ->Attribute(AZ::Edit::Attributes::Visibility, &LidarTemplate::m_showNoiseConfig); + } + } + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/LidarTemplate.h b/Gems/ROS2/Code/Source/Lidar/LidarTemplate.h new file mode 100644 index 000000000..8f590aa34 --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/LidarTemplate.h @@ -0,0 +1,80 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! Configuration reflecting a specific Lidar model. + //! This is meant to capture differences between different Lidars available on the market. + //! @note Current implementation is simplified. Rays in real lidars are often not uniformly + //! distributed among angular range, there is noise etc. + struct LidarTemplate + { + public: + AZ_TYPE_INFO(LidarTemplate, "{9E9EF583-733D-4450-BBA0-ADD4D1BEFBF2}"); + static void Reflect(AZ::ReflectContext* context); + + enum class LidarModel + { + Custom3DLidar, + Ouster_OS0_64, + Ouster_OS1_64, + Ouster_OS2_64, + Velodyne_Puck, + Velodyne_HDL_32E, + // 2D Lidars + Custom2DLidar, + Slamtec_RPLIDAR_S1 + }; + + struct NoiseParameters + { + public: + AZ_TYPE_INFO(NoiseParameters, "{58c007ad-320f-49df-bc20-6419159ee176}"); + static void Reflect(AZ::ReflectContext* context); + + //! Angular noise standard deviation, in degrees + float m_angularNoiseStdDev = 0.0f; + //! Distance noise standard deviation base value, in meters + float m_distanceNoiseStdDevBase = 0.0f; + //! Distance noise standard deviation increase per meter distance travelled, in meters + float m_distanceNoiseStdDevRisePerMeter = 0.0f; + }; + + LidarModel m_model; + + //! Name of lidar template + AZStd::string m_name; + //! Minimum horizontal angle (altitude of the ray), in degrees + float m_minHAngle = 0.0f; + //! Maximum horizontal angle (altitude of the ray), in degrees + float m_maxHAngle = 0.0f; + //! Minimum vertical angle (azimuth of the ray), in degrees + float m_minVAngle = 0.0f; + //! Maximum vertical angle (azimuth of the ray), in degrees + float m_maxVAngle = 0.0f; + //! Number of lasers layers (resolution in horizontal direction) + unsigned int m_layers = 0; + //! Resolution in vertical direction + unsigned int m_numberOfIncrements = 0; + //! Minimum range of simulated LiDAR + float m_minRange = 0.0f; + //! Maximum range of simulated LiDAR + float m_maxRange = 0.0f; + + NoiseParameters m_noiseParameters; + bool m_showNoiseConfig = false; + + private: + bool IsLayersVisible() const; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/LidarTemplateUtils.cpp b/Gems/ROS2/Code/Source/Lidar/LidarTemplateUtils.cpp new file mode 100644 index 000000000..a6d7f66c8 --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/LidarTemplateUtils.cpp @@ -0,0 +1,243 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include + +namespace ROS2 +{ + LidarTemplate LidarTemplateUtils::GetTemplate(LidarTemplate::LidarModel model) + { + using Model = LidarTemplate::LidarModel; + + static const std::unordered_map templates = { + { + Model::Custom3DLidar, + { + /*.m_model = */ Model::Custom3DLidar, + /*.m_name = */ "CustomLidar", + /*.m_minHAngle = */ -180.0f, + /*.m_maxHAngle = */ 180.0f, + /*.m_minVAngle = */ -35.0f, + /*.m_maxVAngle = */ 35.0f, + /*.m_layers = */ 24, + /*.m_numberOfIncrements = */ 924, + /*.m_minRange = */ 0.0f, + /*.m_maxRange = */ 100.0f, + /*.m_noiseParameters = */ + { + /*.m_angularNoiseStdDev = */ 0.0f, + /*.m_distanceNoiseStdDevBase = */ 0.01f, + /*.m_distanceNoiseStdDevRisePerMeter = */ 0.001f, + }, + }, + }, + { + Model::Ouster_OS0_64, + { + /*.m_model = */ Model::Ouster_OS0_64, + /*.m_name = */ "Ouster OS0-64", + /*.m_minHAngle = */ -180.0f, + /*.m_maxHAngle = */ 180.0f, + /*.m_minVAngle = */ -45.0f, + /*.m_maxVAngle = */ 45.0f, + /*.m_layers = */ 64, + /*.m_numberOfIncrements = */ 2048, + /*.m_minRange = */ 0.0f, + /*.m_maxRange = */ 47.5f, + /*.m_noiseParameters = */ + { + /*.m_angularNoiseStdDev = */ 0.0f, + /*.m_distanceNoiseStdDevBase = */ 0.0f, + /*.m_distanceNoiseStdDevRisePerMeter = */ 0.002f, + }, + }, + }, + { + Model::Ouster_OS1_64, + { + /*.m_model = */ Model::Ouster_OS1_64, + /*.m_name = */ "Ouster OS1-64", + /*.m_minHAngle = */ -180.0f, + /*.m_maxHAngle = */ 180.0f, + /*.m_minVAngle = */ 22.5f, + /*.m_maxVAngle = */ -22.5f, + /*.m_layers = */ 64, + /*.m_numberOfIncrements = */ 2048, + /*.m_minRange = */ 0.0f, + /*.m_maxRange = */ 120.0f, + /*.m_noiseParameters = */ + { + /*.m_angularNoiseStdDev = */ 0.0f, + /*.m_distanceNoiseStdDevBase = */ 0.002f, + /*.m_distanceNoiseStdDevRisePerMeter = */ 0.0008f, + }, + }, + }, + { + Model::Ouster_OS2_64, + { + /*.m_model = */ Model::Ouster_OS1_64, + /*.m_name = */ "Ouster OS1-64", + /*.m_minHAngle = */ -180.0f, + /*.m_maxHAngle = */ 180.0f, + /*.m_minVAngle = */ 11.25f, + /*.m_maxVAngle = */ -11.25f, + /*.m_layers = */ 64, + /*.m_numberOfIncrements = */ 2048, + /*.m_minRange = */ 0.0f, + /*.m_maxRange = */ 225.0f, + /*.m_noiseParameters = */ + { + /*.m_angularNoiseStdDev = */ 0.0f, + /*.m_distanceNoiseStdDevBase = */ 0.006f, + /*.m_distanceNoiseStdDevRisePerMeter = */ 0.001f, + }, + }, + }, + { + Model::Velodyne_Puck, + { + /*.m_model = */ Model::Velodyne_Puck, + /*.m_name = */ "Velodyne Puck (VLP-16)", + /*.m_minHAngle = */ -180.0f, + /*.m_maxHAngle = */ 180.0f, + /*.m_minVAngle = */ 15.0f, + /*.m_maxVAngle = */ -15.0f, + /*.m_layers = */ 16, + /*.m_numberOfIncrements = */ 1800, // For 0.2 angular resolution + /*.m_minRange = */ 0.0f, + /*.m_maxRange = */ 100.0f, + /*.m_noiseParameters = */ + { + /*.m_angularNoiseStdDev = */ 0.0f, + /*.m_distanceNoiseStdDevBase = */ 0.03f, + /*.m_distanceNoiseStdDevRisePerMeter = */ 0.001f, + }, + }, + }, + { + Model::Velodyne_HDL_32E, + { + /*.m_model = */ Model::Velodyne_HDL_32E, + /*.m_name = */ "Velodyne HDL-32E", + /*.m_minHAngle = */ -180.0f, + /*.m_maxHAngle = */ 180.0f, + /*.m_minVAngle = */ 10.67f, + /*.m_maxVAngle = */ -30.67f, + /*.m_layers = */ 32, + /*.m_numberOfIncrements = */ 1800, // For 0.2 angular resolution + /*.m_minRange = */ 0.0f, + /*.m_maxRange = */ 100.0f, + /*.m_noiseParameters = */ + { + /*.m_angularNoiseStdDev = */ 0.0f, + /*.m_distanceNoiseStdDevBase = */ 0.02f, + /*.m_distanceNoiseStdDevRisePerMeter = */ 0.001f, + }, + }, + }, + { + Model::Custom2DLidar, + { + /*.m_model = */ Model::Custom2DLidar, + /*.m_name = */ "CustomLidar2D", + /*.m_minHAngle = */ -180.0f, + /*.m_maxHAngle = */ 180.0f, + /*.m_minVAngle = */ 0.f, + /*.m_maxVAngle = */ 0.f, + /*.m_layers = */ 1, + /*.m_numberOfIncrements = */ 924, + /*.m_minRange = */ 0.0f, + /*.m_maxRange = */ 100.0f, + /*.m_noiseParameters = */ + { + /*.m_angularNoiseStdDev = */ 0.0f, + /*.m_distanceNoiseStdDevBase = */ 0.02f, + /*.m_distanceNoiseStdDevRisePerMeter = */ 0.001f, + }, + } + }, + { + Model::Slamtec_RPLIDAR_S1, + { + /*.m_model = */ Model::Slamtec_RPLIDAR_S1, + /*.m_name = */ "Slamtec RPLIDAR S1", + /*.m_minHAngle = */ -180.0f, + /*.m_maxHAngle = */ 180.0f, + /*.m_minVAngle = */ 0.f, + /*.m_maxVAngle = */ 0.f, + /*.m_layers = */ 1, + /*.m_numberOfIncrements = */ 921, + /*.m_minRange = */ 0.1f, + /*.m_maxRange = */ 40.0f, + /*.m_noiseParameters = */ + { + /*.m_angularNoiseStdDev = */ 0.0f, + /*.m_distanceNoiseStdDevBase = */ 0.02f, + /*.m_distanceNoiseStdDevRisePerMeter = */ 0.001f, + }, + } + }, + }; + + auto it = templates.find(model); + if (it == templates.end()) + { + return {}; + } + + return it->second; + } + + size_t LidarTemplateUtils::TotalPointCount(const LidarTemplate& t) + { + return t.m_layers * t.m_numberOfIncrements; + } + + AZStd::vector LidarTemplateUtils::PopulateRayRotations(const LidarTemplate& lidarTemplate) + { + const float minVertAngle = AZ::DegToRad(lidarTemplate.m_minVAngle); + const float maxVertAngle = AZ::DegToRad(lidarTemplate.m_maxVAngle); + const float minHorAngle = AZ::DegToRad(lidarTemplate.m_minHAngle); + const float maxHorAngle = AZ::DegToRad(lidarTemplate.m_maxHAngle); + + const float verticalStep = (maxVertAngle - minVertAngle) / static_cast(lidarTemplate.m_layers); + const float horizontalStep = (maxHorAngle - minHorAngle) / static_cast(lidarTemplate.m_numberOfIncrements); + + AZStd::vector rotations; + for (int incr = 0; incr < lidarTemplate.m_numberOfIncrements; incr++) + { + const float yaw = minHorAngle + incr * horizontalStep; + for (int layer = 0; layer < lidarTemplate.m_layers; layer++) + { + const float pitch = minVertAngle + layer * verticalStep; + + rotations.emplace_back(0.0f, pitch, yaw); + } + } + + return rotations; + } + + AZStd::vector LidarTemplateUtils::RotationsToDirections( + const AZStd::vector& rotations, const AZ::Transform& rootTransform) + { + AZStd::vector directions; + directions.reserve(rotations.size()); + for (const auto& angle : rotations) + { + const AZ::Quaternion rotation = + rootTransform.GetRotation() * AZ::Quaternion::CreateFromEulerRadiansZYX({ 0.0f, -angle.GetY(), angle.GetZ() }); + directions.emplace_back(rotation.TransformVector(AZ::Vector3::CreateAxisX())); + } + + return directions; + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/LidarTemplateUtils.h b/Gems/ROS2/Code/Source/Lidar/LidarTemplateUtils.h new file mode 100644 index 000000000..54837fbff --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/LidarTemplateUtils.h @@ -0,0 +1,40 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2 +{ + //! Utility class for Lidar model computations. + namespace LidarTemplateUtils + { + //! Get the lidar template for a model. + //! @param model lidar model. + //! @return the matching template which describes parameters for the model. + LidarTemplate GetTemplate(LidarTemplate::LidarModel model); + + //! Get total point count for a given template. + //! @param t lidar template. + //! @return total count of points that the lidar specified by the template would produce on each scan. + size_t TotalPointCount(const LidarTemplate& t); + + //! Compute ray Rotation angles based on lidar model. + //! @param lidarTemplate Lidar model to use. Note that different models will produce different number of rays. + //! @return Ray rotations angles as Euler angles in radians. + AZStd::vector PopulateRayRotations(const LidarTemplate& lidarTemplate); + + //! Compute ray directions from rotations. + //! @param rotations Rotations as Euler angles in radians to compute directions from. + //! @param rootRotation Root rotation as Euler angles in radians. + //! @return Ray directions constructed by transforming an X axis unit vector by the provided rotations. + AZStd::vector RotationsToDirections(const AZStd::vector& rotations, const AZ::Transform& rootTransform); + }; // namespace LidarTemplateUtils +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/ROS2Lidar2DSensorComponent.cpp b/Gems/ROS2/Code/Source/Lidar/ROS2Lidar2DSensorComponent.cpp new file mode 100644 index 000000000..bdb637ace --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/ROS2Lidar2DSensorComponent.cpp @@ -0,0 +1,300 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + namespace Internal + { + const char* kLaserScanType = "sensor_msgs::msg::LaserScan"; + } + + void ROS2Lidar2DSensorComponent::Reflect(AZ::ReflectContext* context) + { + if (auto* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(1) + ->Field("lidarModel", &ROS2Lidar2DSensorComponent::m_lidarModel) + ->Field("lidarImplementation", &ROS2Lidar2DSensorComponent::m_lidarSystem) + ->Field("LidarParameters", &ROS2Lidar2DSensorComponent::m_lidarParameters) + ->Field("IgnoreLayer", &ROS2Lidar2DSensorComponent::m_ignoreLayer) + ->Field("IgnoredLayerIndex", &ROS2Lidar2DSensorComponent::m_ignoredLayerIndex) + ->Field("ExcludedEntities", &ROS2Lidar2DSensorComponent::m_excludedEntities) + ->Field("PointsAtMax", &ROS2Lidar2DSensorComponent::m_addPointsAtMax); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ROS2 Lidar 2D Sensor", "Lidar 2D sensor component") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->DataElement(AZ::Edit::UIHandlers::ComboBox, &ROS2Lidar2DSensorComponent::m_lidarModel, "Lidar Model", "Lidar model") + ->Attribute(AZ::Edit::Attributes::ChangeNotify, &ROS2Lidar2DSensorComponent::OnLidarModelSelected) + ->EnumAttribute(LidarTemplate::LidarModel::Custom2DLidar, "Custom Lidar 2D") + ->EnumAttribute(LidarTemplate::LidarModel::Slamtec_RPLIDAR_S1, "Slamtec RPLIDAR S1") + ->DataElement( + AZ::Edit::UIHandlers::ComboBox, + &ROS2Lidar2DSensorComponent::m_lidarSystem, + "Lidar Implementation", + "Select a lidar implementation out of registered ones.") + ->Attribute(AZ::Edit::Attributes::ChangeNotify, &ROS2Lidar2DSensorComponent::OnLidarImplementationSelected) + ->Attribute(AZ::Edit::Attributes::StringList, &ROS2Lidar2DSensorComponent::FetchLidarSystemList) + ->DataElement( + AZ::Edit::UIHandlers::EntityId, + &ROS2Lidar2DSensorComponent::m_lidarParameters, + "Lidar parameters", + "Configuration of Custom lidar") + ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2Lidar2DSensorComponent::IsConfigurationVisible) + ->DataElement( + AZ::Edit::UIHandlers::ComboBox, + &ROS2Lidar2DSensorComponent::m_ignoreLayer, + "Ignore layer", + "Should we ignore selected layer index") + ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2Lidar2DSensorComponent::IsIgnoredLayerConfigurationVisible) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2Lidar2DSensorComponent::m_ignoredLayerIndex, + "Ignored layer index", + "Layer index to ignore") + ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2Lidar2DSensorComponent::IsIgnoredLayerConfigurationVisible) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2Lidar2DSensorComponent::m_excludedEntities, + "Excluded Entities", + "List of entities excluded from raycasting.") + ->Attribute(AZ::Edit::Attributes::AutoExpand, true) + ->Attribute(AZ::Edit::Attributes::ContainerCanBeModified, true) + ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2Lidar2DSensorComponent::IsEntityExclusionVisible) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2Lidar2DSensorComponent::m_addPointsAtMax, + "Points at Max", + "If set true LiDAR will produce points at max range for free space") + ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2Lidar2DSensorComponent::IsMaxPointsConfigurationVisible); + } + } + } + + void ROS2Lidar2DSensorComponent::FetchLidarImplementationFeatures() + { + if (m_lidarSystem.empty()) + { + m_lidarSystem = Details::GetDefaultLidarSystem(); + } + const auto* lidarMetaData = LidarRegistrarInterface::Get()->GetLidarSystemMetaData(m_lidarSystem); + AZ_Warning("ROS2Lidar2DSensorComponent", lidarMetaData, "No metadata for \"%s\"", m_lidarSystem.c_str()); + if (lidarMetaData) + { + m_lidarSystemFeatures = LidarRegistrarInterface::Get()->GetLidarSystemMetaData(m_lidarSystem)->m_features; + } + } + + bool ROS2Lidar2DSensorComponent::IsConfigurationVisible() const + { + return m_lidarModel == LidarTemplate::LidarModel::Custom2DLidar; + } + + bool ROS2Lidar2DSensorComponent::IsIgnoredLayerConfigurationVisible() const + { + return m_lidarSystemFeatures & LidarSystemFeatures::CollisionLayers; + } + + bool ROS2Lidar2DSensorComponent::IsEntityExclusionVisible() const + { + return m_lidarSystemFeatures & LidarSystemFeatures::EntityExclusion; + } + + bool ROS2Lidar2DSensorComponent::IsMaxPointsConfigurationVisible() const + { + return m_lidarSystemFeatures & LidarSystemFeatures::MaxRangePoints; + } + + AZStd::vector ROS2Lidar2DSensorComponent::FetchLidarSystemList() + { + FetchLidarImplementationFeatures(); + return LidarRegistrarInterface::Get()->GetRegisteredLidarSystems(); + } + + AZ::Crc32 ROS2Lidar2DSensorComponent::OnLidarModelSelected() + { + m_lidarParameters = LidarTemplateUtils::GetTemplate(m_lidarModel); + return AZ::Edit::PropertyRefreshLevels::EntireTree; + } + + AZ::Crc32 ROS2Lidar2DSensorComponent::OnLidarImplementationSelected() + { + FetchLidarImplementationFeatures(); + return AZ::Edit::PropertyRefreshLevels::EntireTree; + } + + void ROS2Lidar2DSensorComponent::ConnectToLidarRaycaster() + { + if (auto raycasterId = m_implementationToRaycasterMap.find(m_lidarSystem); raycasterId != m_implementationToRaycasterMap.end()) + { + m_lidarRaycasterId = raycasterId->second; + return; + } + + m_lidarRaycasterId = LidarId::CreateNull(); + LidarSystemRequestBus::EventResult( + m_lidarRaycasterId, AZ_CRC(m_lidarSystem), &LidarSystemRequestBus::Events::CreateLidar, GetEntityId()); + AZ_Assert(!m_lidarRaycasterId.IsNull(), "Could not access selected Lidar System."); + + m_implementationToRaycasterMap.emplace(m_lidarSystem, m_lidarRaycasterId); + } + + void ROS2Lidar2DSensorComponent::ConfigureLidarRaycaster() + { + FetchLidarImplementationFeatures(); + LidarRaycasterRequestBus::Event(m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRayOrientations, m_lastRotations); + LidarRaycasterRequestBus::Event( + m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRayRange, m_lidarParameters.m_maxRange); + LidarRaycasterRequestBus::Event( + m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureMinimumRayRange, m_lidarParameters.m_minRange); + + RaycastResultFlags requestedFlags = RaycastResultFlags::Ranges; + if (m_sensorConfiguration.m_visualise) + { + requestedFlags |= RaycastResultFlags::Points; + } + LidarRaycasterRequestBus::Event(m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRaycastResultFlags, requestedFlags); + + if (m_lidarSystemFeatures & LidarSystemFeatures::CollisionLayers) + { + LidarRaycasterRequestBus::Event( + m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureLayerIgnoring, m_ignoreLayer, m_ignoredLayerIndex); + } + + if (m_lidarSystemFeatures & LidarSystemFeatures::EntityExclusion) + { + LidarRaycasterRequestBus::Event(m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ExcludeEntities, m_excludedEntities); + } + + if (m_lidarSystemFeatures & LidarSystemFeatures::MaxRangePoints) + { + LidarRaycasterRequestBus::Event( + m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureMaxRangePointAddition, m_addPointsAtMax); + } + } + + ROS2Lidar2DSensorComponent::ROS2Lidar2DSensorComponent() + { + TopicConfiguration ls; + AZStd::string type = Internal::kLaserScanType; + ls.m_type = type; + ls.m_topic = "ls"; + m_sensorConfiguration.m_frequency = 10; + m_sensorConfiguration.m_publishersConfigurations.insert(AZStd::make_pair(type, ls)); + } + + void ROS2Lidar2DSensorComponent::Visualise() + { + if (m_visualisationPoints.empty()) + { + return; + } + + if (m_drawQueue) + { + const uint8_t pixelSize = 2; + AZ::RPI::AuxGeomDraw::AuxGeomDynamicDrawArguments drawArgs; + drawArgs.m_verts = m_visualisationPoints.data(); + drawArgs.m_vertCount = m_visualisationPoints.size(); + drawArgs.m_colors = &AZ::Colors::Red; + drawArgs.m_colorCount = 1; + drawArgs.m_opacityType = AZ::RPI::AuxGeomDraw::OpacityType::Opaque; + drawArgs.m_size = pixelSize; + m_drawQueue->DrawPoints(drawArgs); + } + } + + void ROS2Lidar2DSensorComponent::Activate() + { + auto ros2Node = ROS2Interface::Get()->GetNode(); + AZ_Assert(m_sensorConfiguration.m_publishersConfigurations.size() == 1, "Invalid configuration of publishers for lidar sensor"); + + const TopicConfiguration& publisherConfig = m_sensorConfiguration.m_publishersConfigurations[Internal::kLaserScanType]; + AZStd::string fullTopic = ROS2Names::GetNamespacedName(GetNamespace(), publisherConfig.m_topic); + m_laserScanPublisher = ros2Node->create_publisher(fullTopic.data(), publisherConfig.GetQoS()); + + if (m_sensorConfiguration.m_visualise) + { + auto* entityScene = AZ::RPI::Scene::GetSceneForEntityId(GetEntityId()); + m_drawQueue = AZ::RPI::AuxGeomFeatureProcessorInterface::GetDrawQueueForScene(entityScene); + } + + m_lastRotations = LidarTemplateUtils::PopulateRayRotations(m_lidarParameters); + + FetchLidarImplementationFeatures(); + ConnectToLidarRaycaster(); + ConfigureLidarRaycaster(); + + ROS2SensorComponent::Activate(); + } + + void ROS2Lidar2DSensorComponent::Deactivate() + { + ROS2SensorComponent::Deactivate(); + m_laserScanPublisher.reset(); + } + + void ROS2Lidar2DSensorComponent::FrequencyTick() + { + auto entityTransform = GetEntity()->FindComponent(); + + RaycastResultFlags requestedFlags = RaycastResultFlags::Ranges; + if (m_sensorConfiguration.m_visualise) + { + requestedFlags |= RaycastResultFlags::Points; + } + LidarRaycasterRequestBus::EventResult( + m_lastScanResults, m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::PerformRaycast, entityTransform->GetWorldTM()); + if (m_lastScanResults.m_ranges.empty()) + { + AZ_TracePrintf("Lidar Sensor Component", "No results from raycast\n"); + return; + } + + if (m_sensorConfiguration.m_visualise) + { // Store points for visualisation purposes, in global frame + m_visualisationPoints = m_lastScanResults.m_points; + } + + // TODO(mzak): possibly unneccessary post-proc? + const auto inverseLidarTM = entityTransform->GetWorldTM().GetInverse(); + for (auto& point : m_lastScanResults.m_points) + { + point = inverseLidarTM.TransformPoint(point); + } + + auto* ros2Frame = Utils::GetGameOrEditorComponent(GetEntity()); + auto message = sensor_msgs::msg::LaserScan(); + message.header.frame_id = ros2Frame->GetFrameID().data(); + message.header.stamp = ROS2Interface::Get()->GetROSTimestamp(); + message.angle_min = AZ::DegToRad(m_lidarParameters.m_minHAngle); + message.angle_max = AZ::DegToRad(m_lidarParameters.m_maxHAngle); + message.angle_increment = (message.angle_max - message.angle_min) / aznumeric_cast(m_lidarParameters.m_numberOfIncrements); + + message.range_min = m_lidarParameters.m_minRange; + message.range_max = m_lidarParameters.m_maxRange; + message.scan_time = 1.f / m_sensorConfiguration.m_frequency; + message.time_increment = 0.0f; + + message.ranges.assign(m_lastScanResults.m_ranges.begin(), m_lastScanResults.m_ranges.end()); + m_laserScanPublisher->publish(message); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/ROS2Lidar2DSensorComponent.h b/Gems/ROS2/Code/Source/Lidar/ROS2Lidar2DSensorComponent.h new file mode 100644 index 000000000..e4173db56 --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/ROS2Lidar2DSensorComponent.h @@ -0,0 +1,81 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! Lidar 2D sensor Component. + //! Lidars (Light Detection and Ranging) emit laser light and measure it after reflection. + //! Lidar Component allows customization of lidar type and behavior and encapsulates both simulation + //! and data publishing. It requires ROS2FrameComponent. + class ROS2Lidar2DSensorComponent : public ROS2SensorComponent + { + public: + AZ_COMPONENT(ROS2Lidar2DSensorComponent, "{F4C2D970-1D69-40F2-9D4D-B52DCFDD2704}", ROS2SensorComponent); + ROS2Lidar2DSensorComponent(); + ~ROS2Lidar2DSensorComponent() = default; + static void Reflect(AZ::ReflectContext* context); + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + + private: + ////////////////////////////////////////////////////////////////////////// + // ROS2SensorComponent overrides + void FrequencyTick() override; + void Visualise() override; + + bool IsConfigurationVisible() const; + bool IsIgnoredLayerConfigurationVisible() const; + bool IsEntityExclusionVisible() const; + bool IsMaxPointsConfigurationVisible() const; + + AZ::Crc32 OnLidarModelSelected(); + AZ::Crc32 OnLidarImplementationSelected(); + void FetchLidarImplementationFeatures(); + AZStd::vector FetchLidarSystemList(); + void ConnectToLidarRaycaster(); + void ConfigureLidarRaycaster(); + + LidarSystemFeatures m_lidarSystemFeatures; + LidarTemplate::LidarModel m_lidarModel = LidarTemplate::LidarModel::Custom2DLidar; + LidarTemplate m_lidarParameters = LidarTemplateUtils::GetTemplate(LidarTemplate::LidarModel::Custom2DLidar); + AZStd::vector m_lastRotations; + + AZStd::string m_lidarSystem; + // A structure that maps each lidar implementation busId to the busId of a raycaster created by this LidarSensorComponent. + AZStd::unordered_map m_implementationToRaycasterMap; + LidarId m_lidarRaycasterId; + std::shared_ptr> m_laserScanPublisher; + + // Used only when visualisation is on - points differ since they are in global transform as opposed to local + AZStd::vector m_visualisationPoints; + AZ::RPI::AuxGeomDrawPtr m_drawQueue; + + RaycastResult m_lastScanResults; + + AZ::u32 m_ignoredLayerIndex = 0; + bool m_ignoreLayer = false; + AZStd::vector m_excludedEntities; + + bool m_addPointsAtMax = false; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.cpp b/Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.cpp new file mode 100644 index 000000000..51c03f01a --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.cpp @@ -0,0 +1,313 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + namespace Internal + { + const char* kPointCloudType = "sensor_msgs::msg::PointCloud2"; + } + + void ROS2LidarSensorComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(1) + ->Field("lidarModel", &ROS2LidarSensorComponent::m_lidarModel) + ->Field("lidarImplementation", &ROS2LidarSensorComponent::m_lidarSystem) + ->Field("LidarParameters", &ROS2LidarSensorComponent::m_lidarParameters) + ->Field("IgnoreLayer", &ROS2LidarSensorComponent::m_ignoreLayer) + ->Field("IgnoredLayerIndex", &ROS2LidarSensorComponent::m_ignoredLayerIndex) + ->Field("ExcludedEntities", &ROS2LidarSensorComponent::m_excludedEntities) + ->Field("PointsAtMax", &ROS2LidarSensorComponent::m_addPointsAtMax); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ROS2 Lidar Sensor", "Lidar sensor component") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->DataElement(AZ::Edit::UIHandlers::ComboBox, &ROS2LidarSensorComponent::m_lidarModel, "Lidar Model", "Lidar model") + ->Attribute(AZ::Edit::Attributes::ChangeNotify, &ROS2LidarSensorComponent::OnLidarModelSelected) + ->EnumAttribute(LidarTemplate::LidarModel::Custom3DLidar, "Custom Lidar") + ->EnumAttribute(LidarTemplate::LidarModel::Ouster_OS0_64, "Ouster OS0-64") + ->EnumAttribute(LidarTemplate::LidarModel::Ouster_OS1_64, "Ouster OS1-64") + ->EnumAttribute(LidarTemplate::LidarModel::Ouster_OS2_64, "Ouster OS2-64") + ->EnumAttribute(LidarTemplate::LidarModel::Velodyne_Puck, "Velodyne Puck (VLP-16)") + ->EnumAttribute(LidarTemplate::LidarModel::Velodyne_HDL_32E, "Velodyne HDL-32E") + ->DataElement( + AZ::Edit::UIHandlers::ComboBox, + &ROS2LidarSensorComponent::m_lidarSystem, + "Lidar Implementation", + "Select a lidar implementation out of registered ones.") + ->Attribute(AZ::Edit::Attributes::ChangeNotify, &ROS2LidarSensorComponent::OnLidarImplementationSelected) + ->Attribute(AZ::Edit::Attributes::StringList, &ROS2LidarSensorComponent::FetchLidarSystemList) + ->DataElement( + AZ::Edit::UIHandlers::EntityId, + &ROS2LidarSensorComponent::m_lidarParameters, + "Lidar parameters", + "Configuration of Custom lidar") + ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2LidarSensorComponent::IsConfigurationVisible) + ->DataElement( + AZ::Edit::UIHandlers::ComboBox, + &ROS2LidarSensorComponent::m_ignoreLayer, + "Ignore layer", + "Should we ignore selected layer index") + ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2LidarSensorComponent::IsIgnoredLayerConfigurationVisible) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2LidarSensorComponent::m_ignoredLayerIndex, + "Ignored layer index", + "Layer index to ignore") + ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2LidarSensorComponent::IsIgnoredLayerConfigurationVisible) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2LidarSensorComponent::m_excludedEntities, + "Excluded Entities", + "List of entities excluded from raycasting.") + ->Attribute(AZ::Edit::Attributes::AutoExpand, true) + ->Attribute(AZ::Edit::Attributes::ContainerCanBeModified, true) + ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2LidarSensorComponent::IsEntityExclusionVisible) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2LidarSensorComponent::m_addPointsAtMax, + "Points at Max", + "If set true LiDAR will produce points at max range for free space") + ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2LidarSensorComponent::IsMaxPointsConfigurationVisible); + } + } + } + + void ROS2LidarSensorComponent::FetchLidarImplementationFeatures() + { + if (m_lidarSystem.empty()) + { + m_lidarSystem = Details::GetDefaultLidarSystem(); + } + const auto* lidarMetaData = LidarRegistrarInterface::Get()->GetLidarSystemMetaData(m_lidarSystem); + AZ_Warning("ROS2LidarSensorComponent", lidarMetaData, "No metadata for \"%s\"", m_lidarSystem.c_str()); + if (lidarMetaData) + { + m_lidarSystemFeatures = LidarRegistrarInterface::Get()->GetLidarSystemMetaData(m_lidarSystem)->m_features; + } + } + + bool ROS2LidarSensorComponent::IsConfigurationVisible() const + { + return m_lidarModel == LidarTemplate::LidarModel::Custom3DLidar; + } + + bool ROS2LidarSensorComponent::IsIgnoredLayerConfigurationVisible() const + { + return m_lidarSystemFeatures & LidarSystemFeatures::CollisionLayers; + } + + bool ROS2LidarSensorComponent::IsEntityExclusionVisible() const + { + return m_lidarSystemFeatures & LidarSystemFeatures::EntityExclusion; + } + + bool ROS2LidarSensorComponent::IsMaxPointsConfigurationVisible() const + { + return m_lidarSystemFeatures & LidarSystemFeatures::MaxRangePoints; + } + + AZStd::vector ROS2LidarSensorComponent::FetchLidarSystemList() + { + FetchLidarImplementationFeatures(); + return LidarRegistrarInterface::Get()->GetRegisteredLidarSystems(); + } + + AZ::Crc32 ROS2LidarSensorComponent::OnLidarModelSelected() + { + m_lidarParameters = LidarTemplateUtils::GetTemplate(m_lidarModel); + return AZ::Edit::PropertyRefreshLevels::EntireTree; + } + + AZ::Crc32 ROS2LidarSensorComponent::OnLidarImplementationSelected() + { + FetchLidarImplementationFeatures(); + return AZ::Edit::PropertyRefreshLevels::EntireTree; + } + + void ROS2LidarSensorComponent::ConnectToLidarRaycaster() + { + if (auto raycasterId = m_implementationToRaycasterMap.find(m_lidarSystem); raycasterId != m_implementationToRaycasterMap.end()) + { + m_lidarRaycasterId = raycasterId->second; + return; + } + + m_lidarRaycasterId = LidarId::CreateNull(); + LidarSystemRequestBus::EventResult( + m_lidarRaycasterId, AZ_CRC(m_lidarSystem), &LidarSystemRequestBus::Events::CreateLidar, GetEntityId()); + AZ_Assert(!m_lidarRaycasterId.IsNull(), "Could not access selected Lidar System."); + + m_implementationToRaycasterMap.emplace(m_lidarSystem, m_lidarRaycasterId); + } + + void ROS2LidarSensorComponent::ConfigureLidarRaycaster() + { + FetchLidarImplementationFeatures(); + LidarRaycasterRequestBus::Event(m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRayOrientations, m_lastRotations); + LidarRaycasterRequestBus::Event( + m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureMinimumRayRange, m_lidarParameters.m_minRange); + LidarRaycasterRequestBus::Event( + m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRayRange, m_lidarParameters.m_maxRange); + LidarRaycasterRequestBus::Event( + m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRaycastResultFlags, RaycastResultFlags::Points); + + if (m_lidarSystemFeatures & LidarSystemFeatures::Noise) + { + LidarRaycasterRequestBus::Event( + m_lidarRaycasterId, + &LidarRaycasterRequestBus::Events::ConfigureNoiseParameters, + m_lidarParameters.m_noiseParameters.m_angularNoiseStdDev, + m_lidarParameters.m_noiseParameters.m_distanceNoiseStdDevBase, + m_lidarParameters.m_noiseParameters.m_distanceNoiseStdDevRisePerMeter); + } + + if (m_lidarSystemFeatures & LidarSystemFeatures::CollisionLayers) + { + LidarRaycasterRequestBus::Event( + m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureLayerIgnoring, m_ignoreLayer, m_ignoredLayerIndex); + } + + if (m_lidarSystemFeatures & LidarSystemFeatures::EntityExclusion) + { + LidarRaycasterRequestBus::Event(m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ExcludeEntities, m_excludedEntities); + } + + if (m_lidarSystemFeatures & LidarSystemFeatures::MaxRangePoints) + { + LidarRaycasterRequestBus::Event( + m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureMaxRangePointAddition, m_addPointsAtMax); + } + } + + ROS2LidarSensorComponent::ROS2LidarSensorComponent() + { + TopicConfiguration pc; + AZStd::string type = Internal::kPointCloudType; + pc.m_type = type; + pc.m_topic = "pc"; + m_sensorConfiguration.m_frequency = 10; + m_sensorConfiguration.m_publishersConfigurations.insert(AZStd::make_pair(type, pc)); + } + + void ROS2LidarSensorComponent::Visualise() + { + if (m_visualisationPoints.empty()) + { + return; + } + + if (m_drawQueue) + { + const uint8_t pixelSize = 2; + AZ::RPI::AuxGeomDraw::AuxGeomDynamicDrawArguments drawArgs; + drawArgs.m_verts = m_visualisationPoints.data(); + drawArgs.m_vertCount = m_visualisationPoints.size(); + drawArgs.m_colors = &AZ::Colors::Red; + drawArgs.m_colorCount = 1; + drawArgs.m_opacityType = AZ::RPI::AuxGeomDraw::OpacityType::Opaque; + drawArgs.m_size = pixelSize; + m_drawQueue->DrawPoints(drawArgs); + } + } + + void ROS2LidarSensorComponent::Activate() + { + auto ros2Node = ROS2Interface::Get()->GetNode(); + AZ_Assert(m_sensorConfiguration.m_publishersConfigurations.size() == 1, "Invalid configuration of publishers for lidar sensor"); + + const TopicConfiguration& publisherConfig = m_sensorConfiguration.m_publishersConfigurations[Internal::kPointCloudType]; + AZStd::string fullTopic = ROS2Names::GetNamespacedName(GetNamespace(), publisherConfig.m_topic); + m_pointCloudPublisher = ros2Node->create_publisher(fullTopic.data(), publisherConfig.GetQoS()); + + if (m_sensorConfiguration.m_visualise) + { + auto* entityScene = AZ::RPI::Scene::GetSceneForEntityId(GetEntityId()); + m_drawQueue = AZ::RPI::AuxGeomFeatureProcessorInterface::GetDrawQueueForScene(entityScene); + } + + m_lastRotations = LidarTemplateUtils::PopulateRayRotations(m_lidarParameters); + + FetchLidarImplementationFeatures(); + ConnectToLidarRaycaster(); + ConfigureLidarRaycaster(); + + ROS2SensorComponent::Activate(); + } + + void ROS2LidarSensorComponent::Deactivate() + { + ROS2SensorComponent::Deactivate(); + m_pointCloudPublisher.reset(); + } + + void ROS2LidarSensorComponent::FrequencyTick() + { + auto entityTransform = GetEntity()->FindComponent(); + + LidarRaycasterRequestBus::EventResult( + m_lastScanResults, m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::PerformRaycast, entityTransform->GetWorldTM()); + if (m_lastScanResults.m_points.empty()) + { + AZ_TracePrintf("Lidar Sensor Component", "No results from raycast\n"); + return; + } + + if (m_sensorConfiguration.m_visualise) + { // Store points for visualisation purposes, in global frame + m_visualisationPoints = m_lastScanResults.m_points; + } + + const auto inverseLidarTM = entityTransform->GetWorldTM().GetInverse(); + for (auto& point : m_lastScanResults.m_points) + { + point = inverseLidarTM.TransformPoint(point); + } + + auto* ros2Frame = Utils::GetGameOrEditorComponent(GetEntity()); + auto message = sensor_msgs::msg::PointCloud2(); + message.header.frame_id = ros2Frame->GetFrameID().data(); + message.header.stamp = ROS2Interface::Get()->GetROSTimestamp(); + message.height = 1; + message.width = m_lastScanResults.m_points.size(); + message.point_step = sizeof(AZ::Vector3); + message.row_step = message.width * message.point_step; + + AZStd::array point_field_names = { "x", "y", "z" }; + for (int i = 0; i < point_field_names.size(); i++) + { + sensor_msgs::msg::PointField pf; + pf.name = point_field_names[i]; + pf.offset = i * 4; + pf.datatype = sensor_msgs::msg::PointField::FLOAT32; + pf.count = 1; + message.fields.push_back(pf); + } + + size_t sizeInBytes = m_lastScanResults.m_points.size() * sizeof(AZ::Vector3); + message.data.resize(sizeInBytes); + AZ_Assert(message.row_step * message.height == sizeInBytes, "Inconsistency in the size of point cloud data"); + memcpy(message.data.data(), m_lastScanResults.m_points.data(), sizeInBytes); + m_pointCloudPublisher->publish(message); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.h b/Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.h new file mode 100644 index 000000000..dcbcfb6fe --- /dev/null +++ b/Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.h @@ -0,0 +1,81 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! Lidar sensor Component. + //! Lidars (Light Detection and Ranging) emit laser light and measure it after reflection. + //! Lidar Component allows customization of lidar type and behavior and encapsulates both simulation + //! and data publishing. It requires ROS2FrameComponent. + class ROS2LidarSensorComponent : public ROS2SensorComponent + { + public: + AZ_COMPONENT(ROS2LidarSensorComponent, "{502A955F-7742-4E23-AD77-5E4063739DCA}", ROS2SensorComponent); + ROS2LidarSensorComponent(); + ~ROS2LidarSensorComponent() = default; + static void Reflect(AZ::ReflectContext* context); + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + + private: + ////////////////////////////////////////////////////////////////////////// + // ROS2SensorComponent overrides + void FrequencyTick() override; + void Visualise() override; + + bool IsConfigurationVisible() const; + bool IsIgnoredLayerConfigurationVisible() const; + bool IsEntityExclusionVisible() const; + bool IsMaxPointsConfigurationVisible() const; + + AZ::Crc32 OnLidarModelSelected(); + AZ::Crc32 OnLidarImplementationSelected(); + void FetchLidarImplementationFeatures(); + AZStd::vector FetchLidarSystemList(); + void ConnectToLidarRaycaster(); + void ConfigureLidarRaycaster(); + + LidarSystemFeatures m_lidarSystemFeatures; + LidarTemplate::LidarModel m_lidarModel = LidarTemplate::LidarModel::Custom3DLidar; + LidarTemplate m_lidarParameters = LidarTemplateUtils::GetTemplate(LidarTemplate::LidarModel::Custom3DLidar); + AZStd::vector m_lastRotations; + + AZStd::string m_lidarSystem; + // A structure that maps each lidar implementation busId to the busId of a raycaster created by this LidarSensorComponent. + AZStd::unordered_map m_implementationToRaycasterMap; + LidarId m_lidarRaycasterId; + std::shared_ptr> m_pointCloudPublisher; + + // Used only when visualisation is on - points differ since they are in global transform as opposed to local + AZStd::vector m_visualisationPoints; + AZ::RPI::AuxGeomDrawPtr m_drawQueue; + + RaycastResult m_lastScanResults; + + AZ::u32 m_ignoredLayerIndex = 0; + bool m_ignoreLayer = false; + AZStd::vector m_excludedEntities; + + bool m_addPointsAtMax = false; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Manipulator/MotorizedJointComponent.cpp b/Gems/ROS2/Code/Source/Manipulator/MotorizedJointComponent.cpp new file mode 100644 index 000000000..499428a29 --- /dev/null +++ b/Gems/ROS2/Code/Source/Manipulator/MotorizedJointComponent.cpp @@ -0,0 +1,273 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + void MotorizedJointComponent::Activate() + { + AZ::TickBus::Handler::BusConnect(); + m_pidPos.InitializePid(); + if (m_debugDrawEntity.IsValid()) + { + AZ::TransformBus::EventResult(m_debugDrawEntityInitialTransform, this->GetEntityId(), &AZ::TransformBus::Events::GetLocalTM); + } + MotorizedJointRequestBus::Handler::BusConnect(m_entity->GetId()); + } + + void MotorizedJointComponent::Deactivate() + { + AZ::TickBus::Handler::BusDisconnect(); + MotorizedJointRequestBus::Handler::BusDisconnect(); + } + + void MotorizedJointComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(2) + ->Field("JointAxis", &MotorizedJointComponent::m_jointDir) + ->Field("EffortAxis", &MotorizedJointComponent::m_effortAxis) + ->Field("Limit", &MotorizedJointComponent::m_limits) + ->Field("Linear", &MotorizedJointComponent::m_linear) + ->Field("AnimationMode", &MotorizedJointComponent::m_animationMode) + ->Field("ZeroOffset", &MotorizedJointComponent::m_zeroOffset) + ->Field("PidPosition", &MotorizedJointComponent::m_pidPos) + ->Field("DebugDrawEntity", &MotorizedJointComponent::m_debugDrawEntity) + ->Field("TestSinActive", &MotorizedJointComponent::m_testSinusoidal) + ->Field("TestSinAmplitude", &MotorizedJointComponent::m_sinAmplitude) + ->Field("TestSinFreq", &MotorizedJointComponent::m_sinFreq) + ->Field("TestSinDC", &MotorizedJointComponent::m_sinDC) + ->Field("DebugPrint", &MotorizedJointComponent::m_debugPrint) + ->Field("OverrideParent", &MotorizedJointComponent::m_measurementReferenceEntity); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("MotorizedJointComponent", "MotorizedJointComponent") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "MotorizedJointComponent") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->Attribute(AZ::Edit::Attributes::Category, "MotorizedJointComponent") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &MotorizedJointComponent::m_jointDir, + "Joint Dir.", + "Direction of joint in parent's reference frame.") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &MotorizedJointComponent::m_effortAxis, + "Effort Dir.", + "Desired direction of force/torque vector that is applied to rigid body.") + + ->DataElement( + AZ::Edit::UIHandlers::Default, + &MotorizedJointComponent::m_limits, + "ControllerLimits", + "When measurement is outside the limits, ") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &MotorizedJointComponent::m_debugDrawEntity, + "Setpoint", + "Allows to apply debug setpoint visualizer") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &MotorizedJointComponent::m_zeroOffset, + "Zero Off.", + "Allows to change offset of zero to set point") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &MotorizedJointComponent::m_linear, + "Linear joint", + "Applies linear force instead of torque") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &MotorizedJointComponent::m_animationMode, + "Animation mode", + "In animation mode, the transform API is used instead of Rigid Body. " + "If this property is set to true the Rigid Body Component should be disabled.") + ->DataElement(AZ::Edit::UIHandlers::Default, &MotorizedJointComponent::m_pidPos, "PidPosition", "PidPosition") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &MotorizedJointComponent::m_testSinusoidal, + "SinusoidalTest", + "Allows to apply sinusoidal test signal") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &MotorizedJointComponent::m_sinAmplitude, + "Amplitude", + "Amplitude of sinusoidal test signal.") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &MotorizedJointComponent::m_sinFreq, + "Frequency", + "Frequency of sinusoidal test signal.") + ->DataElement(AZ::Edit::UIHandlers::Default, &MotorizedJointComponent::m_sinDC, "DC", "DC of sinusoidal test signal.") + ->DataElement(AZ::Edit::UIHandlers::Default, &MotorizedJointComponent::m_debugPrint, "Debug", "Print debug to console") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &MotorizedJointComponent::m_measurementReferenceEntity, + "Step Parent", + "Allows to override a parent to get correct measurement"); + } + } + } + void MotorizedJointComponent::OnTick([[maybe_unused]] float deltaTime, [[maybe_unused]] AZ::ScriptTimePoint time) + { + const float measurement = ComputeMeasurement(time); + if (m_testSinusoidal) + { + m_setpoint = m_sinDC + m_sinAmplitude * AZ::Sin(m_sinFreq * time.GetSeconds()); + } + const float control_position_error = (m_setpoint + m_zeroOffset) - measurement; + m_error = control_position_error; + + if (m_debugDrawEntity.IsValid()) + { + if (m_linear) + { + AZ::Transform transform = AZ::Transform::Identity(); + transform.SetTranslation(m_jointDir * (m_setpoint + m_zeroOffset)); + AZ::TransformBus::Event( + m_debugDrawEntity, &AZ::TransformBus::Events::SetLocalTM, transform * m_debugDrawEntityInitialTransform); + } + else + { + AZ_Assert(false, "Not implemented"); + } + } + + const uint64_t deltaTimeNs = deltaTime * 1'000'000'000; + float speed_control = m_pidPos.ComputeCommand(control_position_error, deltaTimeNs); + + if (measurement <= m_limits.first) + { + // allow only positive control + speed_control = AZStd::max(0.f, speed_control); + } + else if (measurement >= m_limits.second) + { + // allow only negative control + speed_control = AZStd::min(0.f, speed_control); + } + + if (m_debugPrint) + { + AZ_Printf( + "MotorizedJointComponent", + " %s | pos: %f | err: %f | cntrl : %f | set : %f |\n", + GetEntity()->GetName().c_str(), + measurement, + control_position_error, + speed_control, + m_setpoint); + } + SetVelocity(speed_control, deltaTime); + } + + float MotorizedJointComponent::ComputeMeasurement(AZ::ScriptTimePoint time) + { + AZ::Transform transform; + if (!m_measurementReferenceEntity.IsValid()) + { + AZ::TransformBus::EventResult(transform, this->GetEntityId(), &AZ::TransformBus::Events::GetLocalTM); + } + else + { + AZ::Transform transformStepParent; + AZ::TransformBus::EventResult(transformStepParent, m_measurementReferenceEntity, &AZ::TransformBus::Events::GetWorldTM); + AZ::Transform transformStepChild; + AZ::TransformBus::EventResult(transformStepChild, GetEntityId(), &AZ::TransformBus::Events::GetWorldTM); + transform = transformStepParent.GetInverse() * transformStepChild; + } + if (m_linear) + { + const float last_position = m_currentPosition; + m_currentPosition = transform.GetTranslation().Dot(this->m_jointDir); + if (m_lastMeasurementTime > 0) + { + double delta_time = time.GetSeconds() - m_lastMeasurementTime; + m_currentVelocity = (m_currentPosition - last_position) / delta_time; + } + m_lastMeasurementTime = time.GetSeconds(); + return m_currentPosition; + } + AZ_Assert(false, "Measurement computation for rotation is not implemented"); + return 0; + } + + void MotorizedJointComponent::SetVelocity(float velocity, float deltaTime) + { + if (m_animationMode) + { + ApplyLinVelAnimation(velocity, deltaTime); + } + else + { + deltaTime = AZStd::min(deltaTime, 0.1f); // this affects applied force. Need to prevent value that is too large. + if (m_linear) + { + ApplyLinVelRigidBodyImpulse(velocity, deltaTime); + } + } + } + + void MotorizedJointComponent::ApplyLinVelAnimation(float velocity, float deltaTime) + { + AZ::Transform transform; + AZ::TransformBus::EventResult(transform, this->GetEntityId(), &AZ::TransformBus::Events::GetLocalTM); + transform.SetTranslation(transform.GetTranslation() + velocity * m_jointDir * deltaTime); + AZ::TransformBus::Event(this->GetEntityId(), &AZ::TransformBus::Events::SetLocalTM, transform); + } + + void MotorizedJointComponent::ApplyLinVelRigidBodyImpulse(float velocity, float deltaTime) + { + AZ::Quaternion transform; + AZ::TransformBus::EventResult(transform, this->GetEntityId(), &AZ::TransformBus::Events::GetWorldRotationQuaternion); + auto force_impulse = transform.TransformVector(m_effortAxis * velocity); + Physics::RigidBodyRequestBus::Event( + this->GetEntityId(), &Physics::RigidBodyRequests::ApplyLinearImpulse, force_impulse * deltaTime); + } + + void MotorizedJointComponent::ApplyLinVelRigidBody(float velocity, float deltaTime) + { + AZ::Quaternion transform; + AZ::TransformBus::EventResult(transform, this->GetEntityId(), &AZ::TransformBus::Events::GetWorldRotationQuaternion); + AZ::Vector3 currentVelocity; + auto transformed_velocity_increment = transform.TransformVector(m_effortAxis * velocity); + Physics::RigidBodyRequestBus::EventResult(currentVelocity, this->GetEntityId(), &Physics::RigidBodyRequests::GetLinearVelocity); + AZ::Vector3 new_velocity = currentVelocity + transformed_velocity_increment; + Physics::RigidBodyRequestBus::Event(this->GetEntityId(), &Physics::RigidBodyRequests::SetLinearVelocity, new_velocity); + } + + void MotorizedJointComponent::SetSetpoint(float setpoint) + { + m_setpoint = setpoint; + } + + float MotorizedJointComponent::GetSetpoint() + { + return m_setpoint; + } + + float MotorizedJointComponent::GetError() + { + return m_error; + } + + float MotorizedJointComponent::GetCurrentMeasurement() + { + return m_currentPosition - m_zeroOffset; + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Odometry/ROS2OdometrySensorComponent.cpp b/Gems/ROS2/Code/Source/Odometry/ROS2OdometrySensorComponent.cpp new file mode 100644 index 000000000..5e0e701e7 --- /dev/null +++ b/Gems/ROS2/Code/Source/Odometry/ROS2OdometrySensorComponent.cpp @@ -0,0 +1,116 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "ROS2OdometrySensorComponent.h" +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + namespace Internal + { + const char* kOdometryMsgType = "nav_msgs::msg::Odometry"; + } + + void ROS2OdometrySensorComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(1); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ROS2 Odometry Sensor", "Odometry sensor component") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")); + } + } + } + + ROS2OdometrySensorComponent::ROS2OdometrySensorComponent() + { + TopicConfiguration tc; + const AZStd::string type = Internal::kOdometryMsgType; + tc.m_type = type; + tc.m_topic = "odom"; + m_sensorConfiguration.m_frequency = 10; + m_sensorConfiguration.m_publishersConfigurations.insert(AZStd::make_pair(type, tc)); + } + + void ROS2OdometrySensorComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("PhysicsRigidBodyService")); + required.push_back(AZ_CRC_CE("ROS2Frame")); + } + + // ROS2SensorComponent overrides ... + void ROS2OdometrySensorComponent::SetupRefreshLoop() + { + InstallPhysicalCallback(m_entity->GetId()); + } + + void ROS2OdometrySensorComponent::OnPhysicsInitialization(AzPhysics::SceneHandle sceneHandle) + { + auto* sceneInterface = AZ::Interface::Get(); + auto* simulatedBodyPtr = sceneInterface->GetSimulatedBodyFromHandle(sceneHandle, m_bodyHandle); + auto rigidbodyPtr = azrtti_cast(simulatedBodyPtr); + AZ_Assert(rigidbodyPtr, "Requested simulated body is not a rigid body"); + m_initialTransform = rigidbodyPtr->GetTransform(); + } + + void ROS2OdometrySensorComponent::OnPhysicsSimulationFinished(AzPhysics::SceneHandle sceneHandle, float deltaTime) + { + auto* sceneInterface = AZ::Interface::Get(); + auto* simulatedBodyPtr = sceneInterface->GetSimulatedBodyFromHandle(sceneHandle, m_bodyHandle); + auto rigidbodyPtr = azrtti_cast(simulatedBodyPtr); + AZ_Assert(rigidbodyPtr, "Requested simulated body is not a rigid body"); + + const auto transform = rigidbodyPtr->GetTransform().GetInverse(); + const auto localAngular = transform.TransformVector(rigidbodyPtr->GetAngularVelocity()); + const auto localLinear = transform.TransformVector(rigidbodyPtr->GetLinearVelocity()); + + m_odometryMsg.header.stamp = ROS2Interface::Get()->GetROSTimestamp(); + m_odometryMsg.twist.twist.linear = ROS2Conversions::ToROS2Vector3(localLinear); + m_odometryMsg.twist.twist.angular = ROS2Conversions::ToROS2Vector3(localAngular); + + const auto odometry = m_initialTransform.GetInverse() * rigidbodyPtr->GetTransform(); + + if (IsPublicationDeadline(deltaTime)) + { + m_odometryMsg.pose.pose = ROS2Conversions::ToROS2Pose(odometry); + m_odometryPublisher->publish(m_odometryMsg); + } + } + void ROS2OdometrySensorComponent::Activate() + { + // "odom" is globally fixed frame for all robots, no matter the namespace + m_odometryMsg.header.frame_id = ROS2Names::GetNamespacedName(GetNamespace(), "odom").c_str(); + m_odometryMsg.child_frame_id = GetFrameID().c_str(); + auto ros2Node = ROS2Interface::Get()->GetNode(); + AZ_Assert(m_sensorConfiguration.m_publishersConfigurations.size() == 1, "Invalid configuration of publishers for Odometry sensor"); + + const auto publisherConfig = m_sensorConfiguration.m_publishersConfigurations[Internal::kOdometryMsgType]; + const auto fullTopic = ROS2Names::GetNamespacedName(GetNamespace(), publisherConfig.m_topic); + m_odometryPublisher = ros2Node->create_publisher(fullTopic.data(), publisherConfig.GetQoS()); + + ROS2SensorComponent::Activate(); + } + + void ROS2OdometrySensorComponent::Deactivate() + { + ROS2SensorComponent::Deactivate(); + m_odometryPublisher.reset(); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Odometry/ROS2OdometrySensorComponent.h b/Gems/ROS2/Code/Source/Odometry/ROS2OdometrySensorComponent.h new file mode 100644 index 000000000..4f933a033 --- /dev/null +++ b/Gems/ROS2/Code/Source/Odometry/ROS2OdometrySensorComponent.h @@ -0,0 +1,57 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! Odometry sensor Component. + //! It constructs and publishes an odometry message, which contains information about vehicle velocity and position in space. + //! This is a ground truth "sensor", which can be helpful for development and machine learning. + //! @see nav_msgs package. + class ROS2OdometrySensorComponent + : public ROS2SensorComponent + , public ROS2::Utils::PhysicsCallbackHandler + { + public: + AZ_COMPONENT(ROS2OdometrySensorComponent, "{61387448-63AA-4563-AF87-60C72B05B863}", ROS2SensorComponent); + ROS2OdometrySensorComponent(); + ~ROS2OdometrySensorComponent() = default; + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void Reflect(AZ::ReflectContext* context); + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + + private: + std::shared_ptr> m_odometryPublisher; + nav_msgs::msg::Odometry m_odometryMsg; + AZ::Transform m_initialTransform; + + private: + // ROS2SensorComponent overrides ... + void SetupRefreshLoop() override; + + // ROS2::Utils::PhysicsCallbackHandler overrides ... + void OnPhysicsSimulationFinished(AzPhysics::SceneHandle sceneHandle, float deltaTime) override; + void OnPhysicsInitialization(AzPhysics::SceneHandle sceneHandle) override; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Odometry/ROS2WheelOdometry.cpp b/Gems/ROS2/Code/Source/Odometry/ROS2WheelOdometry.cpp new file mode 100644 index 000000000..abb4e0f67 --- /dev/null +++ b/Gems/ROS2/Code/Source/Odometry/ROS2WheelOdometry.cpp @@ -0,0 +1,113 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "ROS2WheelOdometry.h" +#include "VehicleModelComponent.h" +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + namespace Internal + { + const char* kWheelOdometryMsgType = "nav_msgs::msg::Odometry"; + } + + void ROS2WheelOdometryComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(1); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ROS2 Wheel Odometry Sensor", "Odometry sensor component") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")); + } + } + } + + ROS2WheelOdometryComponent::ROS2WheelOdometryComponent() + { + TopicConfiguration tc; + const AZStd::string type = Internal::kWheelOdometryMsgType; + tc.m_type = type; + tc.m_topic = "odom"; + m_sensorConfiguration.m_frequency = 10; + m_sensorConfiguration.m_publishersConfigurations.insert(AZStd::make_pair(type, tc)); + } + + void ROS2WheelOdometryComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("ROS2Frame")); + required.push_back(AZ_CRC_CE("SkidSteeringModelService")); + } + + void ROS2WheelOdometryComponent::SetupRefreshLoop() + { + InstallPhysicalCallback(m_entity->GetId()); + } + + void ROS2WheelOdometryComponent::OnPhysicsSimulationFinished(AzPhysics::SceneHandle sceneHandle, float deltaTime) + { + AZStd::pair vt; + + VehicleDynamics::VehicleInputControlRequestBus::EventResult( + vt, GetEntityId(), &VehicleDynamics::VehicleInputControlRequests::GetWheelsOdometry); + + m_odometryMsg.header.stamp = ROS2Interface::Get()->GetROSTimestamp(); + m_odometryMsg.twist.twist.linear = ROS2Conversions::ToROS2Vector3(vt.first); + m_odometryMsg.twist.twist.angular = ROS2Conversions::ToROS2Vector3(vt.second); + if (m_sensorConfiguration.m_frequency > 0) + { + auto updatePos = deltaTime * vt.first; // in meters + auto updateRot = deltaTime * vt.second; // in radians + m_robotPose += m_robotRotation.TransformVector(updatePos); + m_robotRotation *= AZ::Quaternion::CreateFromScaledAxisAngle(updateRot); + } + if (IsPublicationDeadline(deltaTime)) + { + m_odometryMsg.pose.pose.position = ROS2Conversions::ToROS2Point(m_robotPose); + m_odometryMsg.pose.pose.orientation = ROS2Conversions::ToROS2Quaternion(m_robotRotation); + + m_odometryPublisher->publish(m_odometryMsg); + } + } + + void ROS2WheelOdometryComponent::Activate() + { + m_robotPose = AZ::Vector3{ 0 }; + m_robotRotation = AZ::Quaternion{ 0, 0, 0, 1 }; + + // "odom" is globally fixed frame for all robots, no matter the namespace + m_odometryMsg.header.frame_id = ROS2Names::GetNamespacedName(GetNamespace(), "odom").c_str(); + m_odometryMsg.child_frame_id = GetFrameID().c_str(); + + auto ros2Node = ROS2Interface::Get()->GetNode(); + AZ_Assert(m_sensorConfiguration.m_publishersConfigurations.size() == 1, "Invalid configuration of publishers for Odometry sensor"); + + const auto publisherConfig = m_sensorConfiguration.m_publishersConfigurations[Internal::kWheelOdometryMsgType]; + const auto fullTopic = ROS2Names::GetNamespacedName(GetNamespace(), publisherConfig.m_topic); + m_odometryPublisher = ros2Node->create_publisher(fullTopic.data(), publisherConfig.GetQoS()); + ROS2SensorComponent::Activate(); + } + + void ROS2WheelOdometryComponent::Deactivate() + { + RemovePhysicalCallback(); + ROS2SensorComponent::Deactivate(); + m_odometryPublisher.reset(); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Odometry/ROS2WheelOdometry.h b/Gems/ROS2/Code/Source/Odometry/ROS2WheelOdometry.h new file mode 100644 index 000000000..512412cfd --- /dev/null +++ b/Gems/ROS2/Code/Source/Odometry/ROS2WheelOdometry.h @@ -0,0 +1,53 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! Wheel odometry sensor component. + //! It constructs and publishes an odometry message, which contains information about the vehicle's velocity and position in space. + //! This is a physical sensor that takes a vehicle's configuration and computes updates from the wheels' rotations. + //! @see nav_msgs package. + class ROS2WheelOdometryComponent + : public ROS2SensorComponent + , public ROS2::Utils::PhysicsCallbackHandler + { + public: + AZ_COMPONENT(ROS2WheelOdometryComponent, "{9bdb8c23-ac76-4c25-8d35-37aaa9f43fac}", ROS2SensorComponent); + ROS2WheelOdometryComponent(); + ~ROS2WheelOdometryComponent() = default; + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void Reflect(AZ::ReflectContext* context); + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + + private: + std::shared_ptr> m_odometryPublisher; + nav_msgs::msg::Odometry m_odometryMsg; + AZ::Vector3 m_robotPose{ 0 }; + AZ::Quaternion m_robotRotation{ 0, 0, 0, 1 }; + + // ROS2SensorComponent overrides ... + void SetupRefreshLoop() override; + // ROS2::Utils::PhysicsCallbackHandler overrides ... + void OnPhysicsSimulationFinished(AzPhysics::SceneHandle sceneHandle, float deltaTime) override; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/ROS2EditorModule.cpp b/Gems/ROS2/Code/Source/ROS2EditorModule.cpp new file mode 100644 index 000000000..3435a4f15 --- /dev/null +++ b/Gems/ROS2/Code/Source/ROS2EditorModule.cpp @@ -0,0 +1,63 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#include +#include +#include +#include +#include + +#include + +void InitROS2Resources() +{ + // Registration of Qt (ROS2.qrc) resources + Q_INIT_RESOURCE(ROS2); +} + +namespace ROS2 +{ + class ROS2EditorModule : public ROS2ModuleInterface + { + public: + AZ_RTTI(ROS2EditorModule, "{3DDFC98F-D1CC-4658-BAF8-2CC34A9D39F3}", ROS2ModuleInterface); + AZ_CLASS_ALLOCATOR(ROS2EditorModule, AZ::SystemAllocator); + + ROS2EditorModule() + { + InitROS2Resources(); + + // Push results of [MyComponent]::CreateDescriptor() into m_descriptors here. + // Add ALL components descriptors associated with this gem to m_descriptors. + // This will associate the AzTypeInfo information for the components with the SerializeContext, BehaviorContext and + // EditContext. This happens through the [MyComponent]::Reflect() function. + m_descriptors.insert( + m_descriptors.end(), + { + ROS2EditorSystemComponent::CreateDescriptor(), + LidarRegistrarEditorSystemComponent::CreateDescriptor(), + ROS2RobotImporterEditorSystemComponent::CreateDescriptor(), + ROS2CameraSensorEditorComponent::CreateDescriptor(), + }); + } + + /** + * Add required SystemComponents to the SystemEntity. + * Non-SystemComponents should not be added here + */ + AZ::ComponentTypeList GetRequiredSystemComponents() const override + { + return AZ::ComponentTypeList{ + azrtti_typeid(), + azrtti_typeid(), + azrtti_typeid(), + }; + } + }; +} // namespace ROS2 + +AZ_DECLARE_MODULE_CLASS(Gem_ROS2, ROS2::ROS2EditorModule) diff --git a/Gems/ROS2/Code/Source/ROS2EditorSystemComponent.cpp b/Gems/ROS2/Code/Source/ROS2EditorSystemComponent.cpp new file mode 100644 index 000000000..91efaf3b5 --- /dev/null +++ b/Gems/ROS2/Code/Source/ROS2EditorSystemComponent.cpp @@ -0,0 +1,57 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#include +#include + +namespace ROS2 +{ + void ROS2EditorSystemComponent::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class()->Version(0); + } + } + + ROS2EditorSystemComponent::ROS2EditorSystemComponent() = default; + + ROS2EditorSystemComponent::~ROS2EditorSystemComponent() = default; + + void ROS2EditorSystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + BaseSystemComponent::GetProvidedServices(provided); + provided.push_back(AZ_CRC_CE("ROS2EditorService")); + } + + void ROS2EditorSystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + BaseSystemComponent::GetIncompatibleServices(incompatible); + incompatible.push_back(AZ_CRC_CE("ROS2EditorService")); + } + + void ROS2EditorSystemComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required) + { + BaseSystemComponent::GetRequiredServices(required); + } + + void ROS2EditorSystemComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent) + { + BaseSystemComponent::GetDependentServices(dependent); + } + + void ROS2EditorSystemComponent::Activate() + { + ROS2SystemComponent::Activate(); + } + + void ROS2EditorSystemComponent::Deactivate() + { + ROS2SystemComponent::Deactivate(); + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/ROS2EditorSystemComponent.h b/Gems/ROS2/Code/Source/ROS2EditorSystemComponent.h new file mode 100644 index 000000000..1a8226d47 --- /dev/null +++ b/Gems/ROS2/Code/Source/ROS2EditorSystemComponent.h @@ -0,0 +1,40 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include + +#include + +namespace ROS2 +{ + /// System component for ROS2 editor + class ROS2EditorSystemComponent : public ROS2SystemComponent + { + using BaseSystemComponent = ROS2SystemComponent; + + public: + AZ_COMPONENT(ROS2EditorSystemComponent, "{34fa5d9a-956b-4655-a6bc-1d57dce8e7a2}", BaseSystemComponent); + static void Reflect(AZ::ReflectContext* context); + + ROS2EditorSystemComponent(); + ~ROS2EditorSystemComponent(); + + private: + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent); + + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/ROS2GemUtilities.cpp b/Gems/ROS2/Code/Source/ROS2GemUtilities.cpp new file mode 100644 index 000000000..5f1bc88e9 --- /dev/null +++ b/Gems/ROS2/Code/Source/ROS2GemUtilities.cpp @@ -0,0 +1,41 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include + +namespace ROS2 +{ + + AZ::ComponentId Utils::CreateComponent(const AZ::EntityId entityId, const AZ::Uuid componentType) + { + const AZ::ComponentTypeList componentsToAdd{ componentType }; + const AZStd::vector entityIds{ entityId }; + AzToolsFramework::EntityCompositionRequests::AddComponentsOutcome addComponentsOutcome = AZ::Failure(AZStd::string()); + AzToolsFramework::EntityCompositionRequestBus::BroadcastResult( + addComponentsOutcome, &AzToolsFramework::EntityCompositionRequests::AddComponentsToEntities, entityIds, componentsToAdd); + if (!addComponentsOutcome.IsSuccess()) + { + AZ_Warning( + "URDF importer", + false, + "Failed to create component %s, entity %s : %s", + componentType.ToString().c_str(), + entityId.ToString().c_str(), + addComponentsOutcome.GetError().c_str()); + } + const auto& added = addComponentsOutcome.GetValue().at(entityId).m_componentsAdded; + if (!added.empty()) + { + return added.front()->GetId(); + } + return AZ::InvalidComponentId; + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/ROS2Module.cpp b/Gems/ROS2/Code/Source/ROS2Module.cpp new file mode 100644 index 000000000..9eb042096 --- /dev/null +++ b/Gems/ROS2/Code/Source/ROS2Module.cpp @@ -0,0 +1,22 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include + +namespace ROS2 +{ + class ROS2Module : public ROS2ModuleInterface + { + public: + AZ_RTTI(ROS2Module, "{e23a1379-787c-481e-ad83-c0e04a3d06fe}", ROS2ModuleInterface); + AZ_CLASS_ALLOCATOR(ROS2Module, AZ::SystemAllocator); + }; +} // namespace ROS2 + +AZ_DECLARE_MODULE_CLASS(Gem_ROS2, ROS2::ROS2Module) diff --git a/Gems/ROS2/Code/Source/ROS2ModuleInterface.h b/Gems/ROS2/Code/Source/ROS2ModuleInterface.h new file mode 100644 index 000000000..4181f4101 --- /dev/null +++ b/Gems/ROS2/Code/Source/ROS2ModuleInterface.h @@ -0,0 +1,85 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include "ROS2SystemComponent.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + class ROS2ModuleInterface : public AZ::Module + { + public: + AZ_RTTI(ROS2ModuleInterface, "{8b5567cb-1de9-49af-9cd4-9750d4abcd6b}", AZ::Module); + AZ_CLASS_ALLOCATOR(ROS2ModuleInterface, AZ::SystemAllocator); + + ROS2ModuleInterface() + { + // Push results of [MyComponent]::CreateDescriptor() into m_descriptors here. + // Add ALL components descriptors associated with this gem to m_descriptors. + // This will associate the AzTypeInfo information for the components with the SerializeContext, BehaviorContext and EditContext. + // This happens through the [MyComponent]::Reflect() function. + m_descriptors.insert( + m_descriptors.end(), + { ROS2SystemComponent::CreateDescriptor(), + LidarRegistrarSystemComponent::CreateDescriptor(), + ROS2RobotImporterSystemComponent::CreateDescriptor(), + ROS2SensorComponent::CreateDescriptor(), + ROS2ImuSensorComponent::CreateDescriptor(), + ROS2GNSSSensorComponent::CreateDescriptor(), + ROS2LidarSensorComponent::CreateDescriptor(), + ROS2Lidar2DSensorComponent::CreateDescriptor(), + ROS2OdometrySensorComponent::CreateDescriptor(), + ROS2WheelOdometryComponent::CreateDescriptor(), + ROS2FrameComponent::CreateDescriptor(), + ROS2RobotControlComponent::CreateDescriptor(), + ROS2CameraSensorComponent::CreateDescriptor(), + AckermannControlComponent::CreateDescriptor(), + RigidBodyTwistControlComponent::CreateDescriptor(), + SkidSteeringControlComponent::CreateDescriptor(), + ROS2SpawnerComponent::CreateDescriptor(), + ROS2SpawnPointComponent::CreateDescriptor(), + VehicleDynamics::AckermannVehicleModelComponent::CreateDescriptor(), + VehicleDynamics::WheelControllerComponent::CreateDescriptor(), + VehicleDynamics::SkidSteeringModelComponent::CreateDescriptor(), + MotorizedJointComponent::CreateDescriptor() }); + } + + //! Add required SystemComponents to the SystemEntity. + AZ::ComponentTypeList GetRequiredSystemComponents() const override + { + return AZ::ComponentTypeList{ + azrtti_typeid(), + azrtti_typeid(), + azrtti_typeid(), + }; + } + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/ROS2SystemComponent.cpp b/Gems/ROS2/Code/Source/ROS2SystemComponent.cpp new file mode 100644 index 000000000..c276a92c0 --- /dev/null +++ b/Gems/ROS2/Code/Source/ROS2SystemComponent.cpp @@ -0,0 +1,190 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + constexpr AZStd::string_view EnablePhysicsSteadyClockConfigurationKey = "/O3DE/ROS2/SteadyClock"; + + void ROS2SystemComponent::Reflect(AZ::ReflectContext* context) + { + // Reflect structs not strictly owned by any single component + QoS::Reflect(context); + TopicConfiguration::Reflect(context); + VehicleDynamics::VehicleModelComponent::Reflect(context); + ROS2::Controllers::PidConfiguration::Reflect(context); + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(0); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ROS2 System Component", "[Description of functionality provided by this System Component]") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("System")) + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->Attribute(AZ::Edit::Attributes::AutoExpand, true); + } + } + } + + void ROS2SystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC_CE("ROS2Service")); + } + + void ROS2SystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + incompatible.push_back(AZ_CRC_CE("ROS2Service")); + } + + void ROS2SystemComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC("AssetDatabaseService", 0x3abf5601)); + required.push_back(AZ_CRC("RPISystem", 0xf2add773)); + } + + void ROS2SystemComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent) + { + } + + ROS2SystemComponent::ROS2SystemComponent() + { + if (ROS2Interface::Get() == nullptr) + { + ROS2Interface::Register(this); + } + + bool useSteadyTime = false; + auto* registry = AZ::SettingsRegistry::Get(); + AZ_Assert(registry, "No Registry available"); + if (registry) + { + registry->Get(useSteadyTime, EnablePhysicsSteadyClockConfigurationKey); + if (useSteadyTime) + { + AZ_Printf("ROS2SystemComponent", "Enabling Physical steady clock"); + m_simulationClock = AZStd::make_unique(); + return; + } + } + AZ_Printf("ROS2SystemComponent", "Enabling realtime clock"); + m_simulationClock = AZStd::make_unique(); + return; + } + + ROS2SystemComponent::~ROS2SystemComponent() + { + if (ROS2Interface::Get() == this) + { + ROS2Interface::Unregister(this); + } + rclcpp::shutdown(); + } + + void ROS2SystemComponent::Init() + { + rclcpp::init(0, 0); + m_simulationClock->Activate(); + m_ros2Node = std::make_shared("o3de_ros2_node"); + m_executor = AZStd::make_shared(); + m_executor->add_node(m_ros2Node); + } + + void ROS2SystemComponent::Activate() + { + m_staticTFBroadcaster = AZStd::make_unique(m_ros2Node); + m_dynamicTFBroadcaster = AZStd::make_unique(m_ros2Node); + + auto* passSystem = AZ::RPI::PassSystemInterface::Get(); + AZ_Assert(passSystem, "Cannot get the pass system."); + + m_loadTemplatesHandler = AZ::RPI::PassSystemInterface::OnReadyLoadTemplatesEvent::Handler( + [this]() + { + this->LoadPassTemplateMappings(); + }); + passSystem->ConnectEvent(m_loadTemplatesHandler); + + ROS2RequestBus::Handler::BusConnect(); + AZ::TickBus::Handler::BusConnect(); + } + + void ROS2SystemComponent::Deactivate() + { + AZ::TickBus::Handler::BusDisconnect(); + ROS2RequestBus::Handler::BusDisconnect(); + m_simulationClock->Deactivate(); + m_loadTemplatesHandler.Disconnect(); + m_dynamicTFBroadcaster.reset(); + m_staticTFBroadcaster.reset(); + } + + builtin_interfaces::msg::Time ROS2SystemComponent::GetROSTimestamp() const + { + return m_simulationClock->GetROSTimestamp(); + } + + std::shared_ptr ROS2SystemComponent::GetNode() const + { + return m_ros2Node; + } + + const SimulationClock& ROS2SystemComponent::GetSimulationClock() const + { + return *m_simulationClock; + } + + void ROS2SystemComponent::BroadcastTransform(const geometry_msgs::msg::TransformStamped& t, bool isDynamic) const + { + if (isDynamic) + { + m_dynamicTFBroadcaster->sendTransform(t); + } + else + { + m_staticTFBroadcaster->sendTransform(t); + } + } + + void ROS2SystemComponent::OnTick([[maybe_unused]] float deltaTime, [[maybe_unused]] AZ::ScriptTimePoint time) + { + if (rclcpp::ok()) + { + m_simulationClock->Tick(); + m_executor->spin_some(); + } + } + + void ROS2SystemComponent::LoadPassTemplateMappings() + { + AZ_Printf("ROS2CameraSensorComponent", "LoadPassTemplateMappings\n"); + auto* passSystem = AZ::RPI::PassSystemInterface::Get(); + AZ_Assert(passSystem, "PassSystemInterface is null"); + + const char* passTemplatesFile = "Passes/ROSPassTemplates.azasset"; + [[maybe_unused]] bool isOk = passSystem->LoadPassTemplateMappings(passTemplatesFile); + AZ_Assert(isOk, "LoadPassTemplateMappings return false "); + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/ROS2SystemComponent.h b/Gems/ROS2/Code/Source/ROS2SystemComponent.h new file mode 100644 index 000000000..62e164020 --- /dev/null +++ b/Gems/ROS2/Code/Source/ROS2SystemComponent.h @@ -0,0 +1,91 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/** + * \mainpage + * + * Welcome to the **Open 3D Engine (O3DE)** API Reference for the **ROS 2 Gem**! + * + * The Components and Classes of this Gem support direct interaction with the ROS 2 ecosystem. + * The Robot Operating System (ROS) middleware documentation links in this API Reference point to the most recent ROS distribution. If you + * are using an older version, you might need to navigate to the corresponding documentation pages for the distribution which you have + * installed. + * + * For the overview, features and usage of this Gem, please refer to [ROS 2 Gem + * Documentation](https://development--o3deorg.netlify.app/docs/user-guide/gems/reference/robotics/ros2/). + * + * o3de-doxygen-insert-table + * + */ + +namespace ROS2 +{ + //! Central singleton-like System Component for ROS2 Gem. + class ROS2SystemComponent + : public AZ::Component + , public AZ::TickBus::Handler + , protected ROS2RequestBus::Handler + { + public: + AZ_COMPONENT(ROS2SystemComponent, "{cb28d486-afa4-4a9f-a237-ac5eb42e1c87}"); + + static void Reflect(AZ::ReflectContext* context); + + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent); + + ROS2SystemComponent(); + ~ROS2SystemComponent() override; + + ////////////////////////////////////////////////////////////////////////// + // ROS2RequestBus::Handler overrides + std::shared_ptr GetNode() const override; + builtin_interfaces::msg::Time GetROSTimestamp() const override; + void BroadcastTransform(const geometry_msgs::msg::TransformStamped& t, bool isDynamic) const override; + const SimulationClock& GetSimulationClock() const override; + ////////////////////////////////////////////////////////////////////////// + + protected: + //////////////////////////////////////////////////////////////////////// + // AZ::Component interface implementation + void Init() override; + void Activate() override; + void Deactivate() override; + //////////////////////////////////////////////////////////////////////// + + //////////////////////////////////////////////////////////////////////// + // AZTickBus interface implementation + void OnTick(float deltaTime, AZ::ScriptTimePoint time) override; + //////////////////////////////////////////////////////////////////////// + private: + std::shared_ptr m_ros2Node; + AZStd::shared_ptr m_executor; + AZStd::unique_ptr m_dynamicTFBroadcaster; + AZStd::unique_ptr m_staticTFBroadcaster; + AZStd::unique_ptr m_simulationClock; + //! Load the pass templates of the ROS2 gem. + void LoadPassTemplateMappings(); + AZ::RPI::PassSystemInterface::OnReadyLoadTemplatesEvent::Handler m_loadTemplatesHandler; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/Ackermann/AckermannSubscriptionHandler.cpp b/Gems/ROS2/Code/Source/RobotControl/Ackermann/AckermannSubscriptionHandler.cpp new file mode 100644 index 000000000..790958953 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/Ackermann/AckermannSubscriptionHandler.cpp @@ -0,0 +1,25 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "AckermannSubscriptionHandler.h" +#include +#include + +namespace ROS2 +{ + void AckermannSubscriptionHandler::SendToBus(const ackermann_msgs::msg::AckermannDrive& message) + { + AckermannCommandStruct acs; + acs.m_acceleration = message.acceleration; + acs.m_jerk = message.jerk; + acs.m_speed = message.speed; + acs.m_steeringAngle = message.steering_angle; + acs.m_steeringAngleVelocity = message.steering_angle_velocity; + AckermannNotificationBus::Event(GetEntityId(), &AckermannNotifications::AckermannReceived, acs); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/Ackermann/AckermannSubscriptionHandler.h b/Gems/ROS2/Code/Source/RobotControl/Ackermann/AckermannSubscriptionHandler.h new file mode 100644 index 000000000..10acf3938 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/Ackermann/AckermannSubscriptionHandler.h @@ -0,0 +1,20 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include + +namespace ROS2 +{ + class AckermannSubscriptionHandler : public ControlSubscriptionHandler + { + private: + void SendToBus(const ackermann_msgs::msg::AckermannDrive& message) override; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/ControlConfiguration.cpp b/Gems/ROS2/Code/Source/RobotControl/ControlConfiguration.cpp new file mode 100644 index 000000000..72a7abb06 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/ControlConfiguration.cpp @@ -0,0 +1,34 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include + +namespace ROS2 +{ + void ControlConfiguration::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class()->Version(1)->Field("Steering", &ControlConfiguration::m_steering); + + if (AZ::EditContext* ec = serializeContext->GetEditContext()) + { + ec->Class("Robot control", "Handles robot control") + ->DataElement( + AZ::Edit::UIHandlers::ComboBox, + &ControlConfiguration::m_steering, + "Steering", + "Determines how the robot is controlled.") + ->Attribute(AZ::Edit::Attributes::ChangeNotify, AZ::Edit::PropertyRefreshLevels::EntireTree) + ->EnumAttribute(ControlConfiguration::Steering::Twist, "Twist") + ->EnumAttribute(ControlConfiguration::Steering::Ackermann, "Ackermann"); + } + } + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/Controllers/AckermannController/AckermannControlComponent.cpp b/Gems/ROS2/Code/Source/RobotControl/Controllers/AckermannController/AckermannControlComponent.cpp new file mode 100644 index 000000000..1c5d79d34 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/Controllers/AckermannController/AckermannControlComponent.cpp @@ -0,0 +1,55 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "AckermannControlComponent.h" +#include +#include +#include +#include + +namespace ROS2 +{ + void AckermannControlComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(1); + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Ackermann Control", "Relays Ackermann commands to vehicle inputs") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->Attribute(AZ::Edit::Attributes::Category, "ROS2"); + } + } + } + + void AckermannControlComponent::Activate() + { + AckermannNotificationBus::Handler::BusConnect(GetEntityId()); + } + void AckermannControlComponent::Deactivate() + { + AckermannNotificationBus::Handler::BusDisconnect(); + } + + void AckermannControlComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("ROS2RobotControl")); + required.push_back(AZ_CRC_CE("AckermannModelService")); + } + + void AckermannControlComponent::AckermannReceived(const AckermannCommandStruct& acs) + { + // Notify input system for vehicle dynamics. Only speed and steering is currently supported. + VehicleDynamics::VehicleInputControlRequestBus::Event( + GetEntityId(), &VehicleDynamics::VehicleInputControlRequests::SetTargetLinearSpeed, acs.m_speed); + VehicleDynamics::VehicleInputControlRequestBus::Event( + GetEntityId(), &VehicleDynamics::VehicleInputControlRequests::SetTargetSteering, acs.m_steeringAngle); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/Controllers/AckermannController/AckermannControlComponent.h b/Gems/ROS2/Code/Source/RobotControl/Controllers/AckermannController/AckermannControlComponent.h new file mode 100644 index 000000000..338c2b169 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/Controllers/AckermannController/AckermannControlComponent.h @@ -0,0 +1,38 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include + +namespace ROS2 +{ + //! A simple component which translates ackermann commands to vehicle dynamics inputs + class AckermannControlComponent + : public AZ::Component + , private AckermannNotificationBus::Handler + { + public: + AZ_COMPONENT(AckermannControlComponent, "{16EC2F18-F579-414C-8B3B-DB47078729BC}", AZ::Component); + AckermannControlComponent() = default; + + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void Reflect(AZ::ReflectContext* context); + + private: + ////////////////////////////////////////////////////////////////////////// + // AckermannNotificationBus::Handler overrides + void AckermannReceived(const AckermannCommandStruct& angular) override; + ////////////////////////////////////////////////////////////////////////// + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/Controllers/RigidBodyController/RigidBodyTwistControlComponent.cpp b/Gems/ROS2/Code/Source/RobotControl/Controllers/RigidBodyController/RigidBodyTwistControlComponent.cpp new file mode 100644 index 000000000..bfdaebe0f --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/Controllers/RigidBodyController/RigidBodyTwistControlComponent.cpp @@ -0,0 +1,68 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "RigidBodyTwistControlComponent.h" +#include +#include +#include +#include +#include + +namespace ROS2 +{ + void RigidBodyTwistControlComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(1); + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Rigid Body Twist Control", "Simple control through RigidBody") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->Attribute(AZ::Edit::Attributes::Category, "ROS2"); + } + } + } + + void RigidBodyTwistControlComponent::Activate() + { + TwistNotificationBus::Handler::BusConnect(GetEntityId()); + } + + void RigidBodyTwistControlComponent::Deactivate() + { + TwistNotificationBus::Handler::BusDisconnect(); + } + + void RigidBodyTwistControlComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("ROS2RobotControl")); + required.push_back(AZ_CRC_CE("PhysicsRigidBodyService")); + } + + void RigidBodyTwistControlComponent::TwistReceived(const AZ::Vector3& linear, const AZ::Vector3& angular) + { + auto thisEntityId = GetEntityId(); + AZ::Vector3 currentLinearVelocity; + Physics::RigidBodyRequestBus::EventResult(currentLinearVelocity, thisEntityId, &Physics::RigidBodyRequests::GetLinearVelocity); + + // Convert local steering to world frame + AZ::Transform robotTransform; + AZ::TransformBus::EventResult(robotTransform, thisEntityId, &AZ::TransformBus::Events::GetWorldTM); + auto transformedLinearVelocity = robotTransform.TransformVector(linear); + + // Overwrite control velocities on two axis + currentLinearVelocity.SetX(transformedLinearVelocity.GetX()); + currentLinearVelocity.SetY(transformedLinearVelocity.GetY()); + + // Reapply desired velocities + Physics::RigidBodyRequestBus::Event(thisEntityId, &Physics::RigidBodyRequests::SetLinearVelocity, currentLinearVelocity); + Physics::RigidBodyRequestBus::Event(thisEntityId, &Physics::RigidBodyRequests::SetAngularVelocity, angular); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/Controllers/RigidBodyController/RigidBodyTwistControlComponent.h b/Gems/ROS2/Code/Source/RobotControl/Controllers/RigidBodyController/RigidBodyTwistControlComponent.h new file mode 100644 index 000000000..4434f15c6 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/Controllers/RigidBodyController/RigidBodyTwistControlComponent.h @@ -0,0 +1,40 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include + +namespace ROS2 +{ + //! A component with a simple handler for Twist type of control (linear and angular velocities). + //! Velocities are directly applied to a selected body. + class RigidBodyTwistControlComponent + : public AZ::Component + , private TwistNotificationBus::Handler + { + public: + AZ_COMPONENT(RigidBodyTwistControlComponent, "{D994FE1A-AA6A-42B9-8B8E-B3B375891F5B}", AZ::Component); + RigidBodyTwistControlComponent() = default; + + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void Reflect(AZ::ReflectContext* context); + + private: + ////////////////////////////////////////////////////////////////////////// + // TwistNotificationBus::Handler overrides + void TwistReceived(const AZ::Vector3& linear, const AZ::Vector3& angular) override; + ////////////////////////////////////////////////////////////////////////// + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/Controllers/SkidSteeringController/SkidSteeringControlComponent.cpp b/Gems/ROS2/Code/Source/RobotControl/Controllers/SkidSteeringController/SkidSteeringControlComponent.cpp new file mode 100644 index 000000000..8e6262819 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/Controllers/SkidSteeringController/SkidSteeringControlComponent.cpp @@ -0,0 +1,60 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "SkidSteeringControlComponent.h" +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + void SkidSteeringControlComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(1); + if (AZ::EditContext* editorContext = serialize->GetEditContext()) + { + editorContext->Class("Skid steering Twist Control", "") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->Attribute(AZ::Edit::Attributes::Category, "ROS2"); + } + } + } + + void SkidSteeringControlComponent::Activate() + { + TwistNotificationBus::Handler::BusConnect(GetEntityId()); + } + + void SkidSteeringControlComponent::Deactivate() + { + TwistNotificationBus::Handler::BusDisconnect(); + } + + void SkidSteeringControlComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("ROS2RobotControl")); + required.push_back(AZ_CRC_CE("SkidSteeringModelService")); + } + + void SkidSteeringControlComponent::TwistReceived(const AZ::Vector3& linear, const AZ::Vector3& angular) + { + // Notify input system for vehicle dynamics. Only speed and steering is currently supported. + VehicleDynamics::VehicleInputControlRequestBus::Event( + GetEntityId(), &VehicleDynamics::VehicleInputControlRequests::SetTargetLinearSpeedV3, linear); + VehicleDynamics::VehicleInputControlRequestBus::Event( + GetEntityId(), &VehicleDynamics::VehicleInputControlRequests::SetTargetAngularSpeedV3, angular); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/Controllers/SkidSteeringController/SkidSteeringControlComponent.h b/Gems/ROS2/Code/Source/RobotControl/Controllers/SkidSteeringController/SkidSteeringControlComponent.h new file mode 100644 index 000000000..82fee3c5d --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/Controllers/SkidSteeringController/SkidSteeringControlComponent.h @@ -0,0 +1,39 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include +#include + +namespace ROS2 +{ + + //! Component that contains skid steering model. + class SkidSteeringControlComponent + : public AZ::Component + , private TwistNotificationBus::Handler + { + public: + AZ_COMPONENT(SkidSteeringControlComponent, "{7FEE7851-1284-4AE5-9C2C-763916BFE641}", AZ::Component); + SkidSteeringControlComponent() = default; + + // Component overrides + void Activate() override; + void Deactivate() override; + + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void Reflect(AZ::ReflectContext* context); + + private: + // TwistNotificationBus::Handler overrides + void TwistReceived(const AZ::Vector3& linear, const AZ::Vector3& angular) override; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/ROS2RobotControlComponent.cpp b/Gems/ROS2/Code/Source/RobotControl/ROS2RobotControlComponent.cpp new file mode 100644 index 000000000..719a9dbee --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/ROS2RobotControlComponent.cpp @@ -0,0 +1,112 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "ROS2RobotControlComponent.h" +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + void ROS2RobotControlComponent::Activate() + { + switch (m_controlConfiguration.m_steering) + { + case ControlConfiguration::Steering::Twist: + m_subscriptionHandler = AZStd::make_unique(); + break; + case ControlConfiguration::Steering::Ackermann: + m_subscriptionHandler = AZStd::make_unique(); + break; + default: + AZ_Error("ROS2RobotControlComponent", false, "Control type %d not implemented", m_controlConfiguration.m_steering); + break; + } + + if (m_subscriptionHandler) + { + m_subscriptionHandler->Activate(GetEntity(), m_subscriberConfiguration); + } + } + + void ROS2RobotControlComponent::Deactivate() + { + if (m_subscriptionHandler) + { + m_subscriptionHandler->Deactivate(); + m_subscriptionHandler.reset(); + } + } + + void ROS2RobotControlComponent::Reflect(AZ::ReflectContext* context) + { + ControlConfiguration::Reflect(context); + + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(2) + ->Field("ControlConfiguration", &ROS2RobotControlComponent::m_controlConfiguration) + ->Field("SubscriberConfiguration", &ROS2RobotControlComponent::m_subscriberConfiguration); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ROS2 Robot control", "Customizable robot control component") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2RobotControlComponent::m_controlConfiguration, + "Control settings", + "Control subscription setting and type of control") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2RobotControlComponent::m_subscriberConfiguration, + "Topic subscriber configuration", + "Configuration of ROS2 topic Robot Control subscribes to"); + } + } + } + + void ROS2RobotControlComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("ROS2Frame")); + } + + const ControlConfiguration& ROS2RobotControlComponent::GetControlConfiguration() const + { + return m_controlConfiguration; + } + + const TopicConfiguration& ROS2RobotControlComponent::GetSubscriberConfigration() const + { + return m_subscriberConfiguration; + } + + void ROS2RobotControlComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC_CE("ROS2RobotControl")); + } + + void ROS2RobotControlComponent::SetControlConfiguration(const ControlConfiguration& controlConfiguration) + { + m_controlConfiguration = controlConfiguration; + } + + void ROS2RobotControlComponent::SetSubscriberConfiguration(const TopicConfiguration& subscriberConfiguration) + { + m_subscriberConfiguration = subscriberConfiguration; + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/ROS2RobotControlComponent.h b/Gems/ROS2/Code/Source/RobotControl/ROS2RobotControlComponent.h new file mode 100644 index 000000000..149daa312 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/ROS2RobotControlComponent.h @@ -0,0 +1,55 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! A Component responsible for controlling a robot movement. + //! Uses IRobotControl implementation depending on type of ROS2 control message. + //! Depends on ROS2FrameComponent. Can be configured through ControlConfiguration. + class ROS2RobotControlComponent : public AZ::Component + { + public: + AZ_COMPONENT(ROS2RobotControlComponent, "{CBFB0764-99F9-40EE-9FEE-F5F5A66E59D2}", AZ::Component); + ROS2RobotControlComponent() = default; + ROS2RobotControlComponent(ControlConfiguration controlConfiguration) + : m_controlConfiguration(AZStd::move(controlConfiguration)) + { + } + + const ControlConfiguration& GetControlConfiguration() const; + + void SetControlConfiguration(const ControlConfiguration& controlConfiguration); + + const TopicConfiguration& GetSubscriberConfigration() const; + + void SetSubscriberConfiguration(const TopicConfiguration& subscriberConfiguration); + + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + + // Required Reflect function. + static void Reflect(AZ::ReflectContext* context); + + private: + AZStd::unique_ptr m_subscriptionHandler; + ControlConfiguration m_controlConfiguration; + TopicConfiguration m_subscriberConfiguration; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/Twist/TwistSubscriptionHandler.cpp b/Gems/ROS2/Code/Source/RobotControl/Twist/TwistSubscriptionHandler.cpp new file mode 100644 index 000000000..a993e6637 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/Twist/TwistSubscriptionHandler.cpp @@ -0,0 +1,21 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "TwistSubscriptionHandler.h" +#include +#include + +namespace ROS2 +{ + void TwistSubscriptionHandler::SendToBus(const geometry_msgs::msg::Twist& message) + { + const AZ::Vector3 linearVelocity = ROS2Conversions::FromROS2Vector3(message.linear); + const AZ::Vector3 angularVelocity = ROS2Conversions::FromROS2Vector3(message.angular); + TwistNotificationBus::Event(GetEntityId(), &TwistNotifications::TwistReceived, linearVelocity, angularVelocity); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotControl/Twist/TwistSubscriptionHandler.h b/Gems/ROS2/Code/Source/RobotControl/Twist/TwistSubscriptionHandler.h new file mode 100644 index 000000000..b8afe77d6 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotControl/Twist/TwistSubscriptionHandler.h @@ -0,0 +1,20 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include + +namespace ROS2 +{ + class TwistSubscriptionHandler : public ControlSubscriptionHandler + { + private: + void SendToBus(const geometry_msgs::msg::Twist& message) override; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckAssetPage.cpp b/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckAssetPage.cpp new file mode 100644 index 000000000..3361ad7ce --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckAssetPage.cpp @@ -0,0 +1,248 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "CheckAssetPage.h" +#include "RobotImporter/Utils/SourceAssetsStorage.h" +#include +#include +#include +#include +#include +namespace ROS2 +{ + namespace Columns + { + constexpr int UrdfMeshPath{ 0 }; + constexpr int ResolvedMeshPath{ 1 }; + constexpr int SourceAsset{ 3 }; + constexpr int ProductAsset{ 2 }; + constexpr int Type{ 4 }; + } // namespace Columns + + CheckAssetPage::CheckAssetPage(QWizard* parent) + : QWizardPage(parent) + , m_success(true) + , m_missingCount(0) + , m_failureIcon(QStringLiteral(":/stylesheet/img/logging/failure.svg")) + , m_okIcon(QStringLiteral(":/stylesheet/img/logging/valid.svg")) + { + m_table = new QTableWidget(parent); + SetTitle(); + QVBoxLayout* layout = new QVBoxLayout; + layout->addWidget(m_table); + m_table->setEnabled(true); + m_table->setAlternatingRowColors(true); + m_table->setMinimumHeight(800); + m_table->setMinimumWidth(1250); + m_table->horizontalHeader()->setStretchLastSection(true); + m_table->setCornerButtonEnabled(false); + m_table->setSortingEnabled(false); + m_table->setColumnCount(5); + m_table->setShowGrid(true); + m_table->setMouseTracking(true); + m_table->setSelectionBehavior(QAbstractItemView::SelectRows); + m_table->setSelectionMode(QAbstractItemView::SingleSelection); + // Set the header items. + QTableWidgetItem* headerItem = new QTableWidgetItem(tr("URDF mesh path")); + headerItem->setTextAlignment(Qt::AlignVCenter | Qt::AlignLeft); + m_table->setHorizontalHeaderItem(Columns::UrdfMeshPath, headerItem); + headerItem = new QTableWidgetItem(tr("Resolved mesh from URDF")); + headerItem->setTextAlignment(Qt::AlignVCenter | Qt::AlignLeft); + m_table->setHorizontalHeaderItem(Columns::ResolvedMeshPath, headerItem); + headerItem = new QTableWidgetItem(tr("Type")); + headerItem->setTextAlignment(Qt::AlignVCenter | Qt::AlignLeft); + m_table->setHorizontalHeaderItem(Columns::Type, headerItem); + headerItem = new QTableWidgetItem(tr("Source asset")); + headerItem->setTextAlignment(Qt::AlignVCenter | Qt::AlignLeft); + m_table->setHorizontalHeaderItem(Columns::SourceAsset, headerItem); + headerItem = new QTableWidgetItem(tr("Product asset")); + headerItem->setTextAlignment(Qt::AlignVCenter | Qt::AlignLeft); + m_table->setHorizontalHeaderItem(Columns::ProductAsset, headerItem); + m_table->horizontalHeader()->resizeSection(Columns::UrdfMeshPath, 200); + m_table->horizontalHeader()->resizeSection(Columns::ResolvedMeshPath, 350); + m_table->horizontalHeader()->resizeSection(Columns::Type, 50); + m_table->horizontalHeader()->resizeSection(Columns::SourceAsset, 400); + m_table->horizontalHeader()->resizeSection(Columns::ProductAsset, 400); + m_table->verticalHeader()->hide(); + connect(m_table, &QTableWidget::cellDoubleClicked, this, &CheckAssetPage::DoubleClickRow); + this->setLayout(layout); + m_refreshTimer = new QTimer(this); + m_refreshTimer->setInterval(250); + m_refreshTimer->setSingleShot(false); + connect(m_refreshTimer, &QTimer::timeout, this, &CheckAssetPage::RefreshTimerElapsed); + } + + void CheckAssetPage::SetTitle() + { + if (m_missingCount == 0) + { + setTitle(tr("Resolved meshes")); + } + else + { + setTitle(tr("There are ") + QString::number(m_missingCount) + tr(" unresolved meshes")); + } + } + + bool CheckAssetPage::isComplete() const + { + return m_success; + }; + + void CheckAssetPage::ReportAsset( + const AZ::Uuid assetUuid, + const AZStd::string urdfPath, + const QString& type, + const AZStd::string assetSourcePath, + const AZ::Crc32& crc32, + const AZStd::string resolvedUrdfPath) + { + int i = m_table->rowCount(); + m_table->setRowCount(i + 1); + + bool isOk = !assetSourcePath.empty(); + if (!isOk) + { + m_missingCount++; + } + SetTitle(); + AZStd::string crcStr = AZStd::to_string(crc32); + QTableWidgetItem* p = createCell(isOk, QString::fromUtf8(urdfPath.data(), urdfPath.size())); + if (crc32 != AZ::Crc32()) + { + p->setToolTip(tr("CRC for file : ") + QString::fromUtf8(crcStr.data(), crcStr.size())); + } + m_table->setItem(i, Columns::UrdfMeshPath, p); + m_table->setItem( + i, Columns::ResolvedMeshPath, createCell(isOk, QString::fromUtf8(resolvedUrdfPath.data(), resolvedUrdfPath.size()))); + m_table->setItem(i, Columns::Type, createCell(isOk, type)); + m_table->setItem(i, Columns::SourceAsset, createCell(isOk, QString::fromUtf8(assetSourcePath.data(), assetSourcePath.size()))); + if (isOk) + { + m_table->item(i, Columns::ResolvedMeshPath)->setIcon(m_okIcon); + } + else + { + m_table->item(i, Columns::ResolvedMeshPath)->setIcon(m_failureIcon); + m_table->setItem(i, Columns::ProductAsset, createCell(false, QString())); + } + m_assetsPaths.push_back(assetSourcePath); + m_assetsUuids.push_back(assetUuid); + } + + void CheckAssetPage::StartWatchAsset() + { + m_refreshTimer->start(); + } + + QTableWidgetItem* CheckAssetPage::createCell(bool isOk, const QString& text) + { + QTableWidgetItem* p = new QTableWidgetItem(text); + if (!isOk) + { + p->setBackground(Qt::darkRed); + } + p->setToolTip(text); + p->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable); + return p; + } + + void CheckAssetPage::ClearAssetsList() + { + m_assetsUuids.clear(); + m_assetsUuidsFinished.clear(); + m_assetsPaths.clear(); + m_table->setRowCount(0); + m_missingCount = 0; + m_failedCount = 0; + m_refreshTimer->stop(); + } + + bool CheckAssetPage::IsEmpty() const + { + return m_assetsUuids.empty(); + } + + void CheckAssetPage::DoubleClickRow(int row, int col) + { + AZ_Printf("CheckAssetPage", "Clicked on row", row); + if (row < m_assetsPaths.size()) + { + AzFramework::AssetSystemRequestBus::Broadcast( + &AzFramework::AssetSystem::AssetSystemRequests::ShowInAssetProcessor, m_assetsPaths[row]); + } + } + + void CheckAssetPage::RefreshTimerElapsed() + { + for (int i = 0; i < m_assetsUuids.size(); i++) + { + const AZ::Uuid& assetUuid = m_assetsUuids[i]; + const AZStd::string& sourceAssetFullPath = m_assetsPaths[i]; + if (!m_assetsUuidsFinished.contains(assetUuid)) + { + using namespace AzToolsFramework; + using namespace AzToolsFramework::AssetSystem; + + AZ::Outcome result = AZ::Failure(); + AssetSystemJobRequestBus::BroadcastResult( + result, &AssetSystemJobRequestBus::Events::GetAssetJobsInfo, sourceAssetFullPath, true); + if (result) + { + bool allFinished = true; + bool failed = false; + JobInfoContainer& allJobs = result.GetValue(); + for (const JobInfo& job : allJobs) + { + if (job.m_status == JobStatus::Queued || job.m_status == JobStatus::InProgress) + { + allFinished = false; + } + if (job.m_status == JobStatus::Failed) + { + failed = true; + m_failedCount++; + } + } + if (allFinished) + { + if (!failed) + { + const AZStd::string productRelPathVisual = Utils::GetModelProductAsset(assetUuid); + const AZStd::string productRelPathCollider = Utils::GetPhysXMeshProductAsset(assetUuid); + QString text = QString::fromUtf8(productRelPathVisual.data(), productRelPathVisual.size()) + " " + + QString::fromUtf8(productRelPathCollider.data(), productRelPathCollider.size()); + m_table->setItem(i, Columns::ProductAsset, createCell(true, text)); + m_table->item(i, Columns::ProductAsset)->setIcon(m_okIcon); + } + else + { + m_table->setItem(i, Columns::ProductAsset, createCell(false, tr("Failed"))); + m_table->item(i, Columns::ProductAsset)->setIcon(m_failureIcon); + } + m_assetsUuidsFinished.insert(assetUuid); + } + } + } + } + if (m_assetsUuidsFinished.size() == m_assetsUuids.size()) + { + m_refreshTimer->stop(); + if (m_failedCount == 0 && m_missingCount == 0) + { + setTitle(tr("All meshes were processed")); + } + else + { + setTitle( + tr("There are ") + QString::number(m_missingCount) + tr(" unresolved meshes.") + tr("There are ") + + QString::number(m_failedCount) + tr(" failed asset processor jobs.")); + } + } + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckAssetPage.h b/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckAssetPage.h new file mode 100644 index 000000000..d63566911 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckAssetPage.h @@ -0,0 +1,64 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#if !defined(Q_MOC_RUN) +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace ROS2 +{ + class CheckAssetPage : public QWizardPage + { + Q_OBJECT + public: + explicit CheckAssetPage(QWizard* parent); + + //! Function reports assets that are will be processed by asset processor. + void ReportAsset( + const AZ::Uuid assetUuid, + const AZStd::string urdfPath, + const QString& type, + const AZStd::string assetSourcePath, + const AZ::Crc32& crc32, + const AZStd::string resolvedUrdfPath); + void ClearAssetsList(); + bool IsEmpty() const; + bool isComplete() const override; + void StartWatchAsset(); + + private: + bool m_success; + QTimer* m_refreshTimer{}; + QTableWidget* m_table{}; + QTableWidgetItem* createCell(bool isOk, const QString& text); + QLabel* m_numberOfAssetLabel{}; + unsigned int m_missingCount{ 0 }; + unsigned int m_failedCount{ 0 }; + void SetTitle(); + AZStd::vector m_assetsUuids; + AZStd::vector m_assetsPaths; + AZStd::unordered_set m_assetsUuidsFinished; + void DoubleClickRow(int row, int col); + void RefreshTimerElapsed(); + QIcon m_failureIcon; + QIcon m_okIcon; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckUrdfPage.cpp b/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckUrdfPage.cpp new file mode 100644 index 000000000..2c68a830e --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckUrdfPage.cpp @@ -0,0 +1,38 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "CheckUrdfPage.h" +#include + +namespace ROS2 +{ + CheckUrdfPage::CheckUrdfPage(QWizard* parent) + : QWizardPage(parent) + , m_success(false) + { + m_log = new QTextEdit(this); + setTitle(tr("URDF opening results:")); + QVBoxLayout* layout = new QVBoxLayout; + layout->addWidget(m_log); + m_log->acceptRichText(); + m_log->setReadOnly(true); + setLayout(layout); + } + + void CheckUrdfPage::ReportURDFResult(const QString& status, bool isSuccess) + { + m_log->setMarkdown(status); + m_success = isSuccess; + emit completeChanged(); + } + + bool CheckUrdfPage::isComplete() const + { + return m_success; + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckUrdfPage.h b/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckUrdfPage.h new file mode 100644 index 000000000..7877f4af3 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckUrdfPage.h @@ -0,0 +1,33 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#if !defined(Q_MOC_RUN) +#include +#include +#include +#include +#endif + +namespace ROS2 +{ + class CheckUrdfPage : public QWizardPage + { + Q_OBJECT + public: + explicit CheckUrdfPage(QWizard* parent); + void ReportURDFResult(const QString& result, bool isSuccess); + bool isComplete() const override; + + private: + QTextEdit* m_log; + QString m_fileName; + bool m_success; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/FileSelectionPage.cpp b/Gems/ROS2/Code/Source/RobotImporter/Pages/FileSelectionPage.cpp new file mode 100644 index 000000000..d52a9fd14 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Pages/FileSelectionPage.cpp @@ -0,0 +1,73 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "FileSelectionPage.h" +#include +#include +#include +#include + +namespace ROS2 +{ + FileSelectionPage::FileSelectionPage(QWizard* parent) + : QWizardPage(parent) + { + m_fileDialog = new QFileDialog(this); + m_fileDialog->setDirectory(QString::fromUtf8(AZ::Utils::GetProjectPath().data())); + m_fileDialog->setNameFilter("URDF, XACRO (*.urdf *.xacro)"); + m_button = new QPushButton("...", this); + m_textEdit = new QLineEdit("", this); + m_copyFiles = new QCheckBox(tr("Import meshes during URDF load"), this); + m_copyFiles->setCheckState(Qt::CheckState::Checked); + setTitle(tr("Load URDF file")); + QVBoxLayout* layout = new QVBoxLayout; + layout->addStretch(); + layout->addWidget(new QLabel(tr("URDF file path to load : "), this)); + QHBoxLayout* layout_in = new QHBoxLayout; + layout_in->addWidget(m_button); + layout_in->addWidget(m_textEdit); + layout->addLayout(layout_in); + layout->addWidget(m_copyFiles); + layout->addStretch(); + this->setLayout(layout); + connect(m_button, &QPushButton::pressed, this, &FileSelectionPage::onLoadButtonPressed); + connect(m_fileDialog, &QFileDialog::fileSelected, this, &FileSelectionPage::onFileSelected); + connect(m_textEdit, &QLineEdit::editingFinished, this, &FileSelectionPage::onEditingFinished); + FileSelectionPage::onEditingFinished(); + } + + void FileSelectionPage::onLoadButtonPressed() + { + m_fileDialog->show(); + } + + void FileSelectionPage::onFileSelected(const QString& file) + { + QFileInfo urdfFile(file); + m_textEdit->setText(file); + m_fileExists = urdfFile.exists() && urdfFile.isFile(); + emit completeChanged(); + } + + void FileSelectionPage::onEditingFinished() + { + QFileInfo urdfFile(m_textEdit->text()); + m_fileExists = urdfFile.exists() && urdfFile.isFile(); + emit completeChanged(); + } + + bool FileSelectionPage::isComplete() const + { + return m_fileExists; + } + + bool FileSelectionPage::getIfCopyAssetsDuringUrdfImport() const + { + return m_copyFiles->isChecked(); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/FileSelectionPage.h b/Gems/ROS2/Code/Source/RobotImporter/Pages/FileSelectionPage.h new file mode 100644 index 000000000..c507b209e --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Pages/FileSelectionPage.h @@ -0,0 +1,55 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#if !defined(Q_MOC_RUN) +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace ROS2 +{ + + class FileSelectionPage : public QWizardPage + { + Q_OBJECT + public: + explicit FileSelectionPage(QWizard* parent); + + bool isComplete() const override; + + QString getFileName() const + { + if (m_fileExists) + { + return m_textEdit->text(); + } + return ""; + } + bool getIfCopyAssetsDuringUrdfImport() const; + + private: + QFileDialog* m_fileDialog; + QPushButton* m_button; + QLineEdit* m_textEdit; + QCheckBox* m_copyFiles; + void onLoadButtonPressed(); + + void onFileSelected(const QString& file); + + void onEditingFinished(); + + bool m_fileExists{ false }; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/IntroPage.cpp b/Gems/ROS2/Code/Source/RobotImporter/Pages/IntroPage.cpp new file mode 100644 index 000000000..a19f53610 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Pages/IntroPage.cpp @@ -0,0 +1,38 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "IntroPage.h" +#include + +namespace ROS2 +{ + IntroPage::IntroPage(QWizard* parent) + : QWizardPage(parent) + { + setTitle(QObject::tr("Introduction")); + + m_label = new QLabel( + QObject::tr("This wizard allows you to build a robot prefab using a URDF description file." + " Before processing, please make sure that all of the robot's description packages have been built and sourced." + " Details can be found here." + " The Open 3D Engine can only use files in its internal format." + "During the import process, the assets will be imported and processed." + "A level must be opened before using the URDF Importer.")); + m_label->setTextFormat(Qt::RichText); + m_label->setOpenExternalLinks(true); + m_label->setWordWrap(true); + + QVBoxLayout* layout = new QVBoxLayout; + layout->addWidget(m_label); + setLayout(layout); + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/IntroPage.h b/Gems/ROS2/Code/Source/RobotImporter/Pages/IntroPage.h new file mode 100644 index 000000000..2b94feb54 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Pages/IntroPage.h @@ -0,0 +1,29 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#if !defined(Q_MOC_RUN) +#include +#include +#include +#include +#endif + +namespace ROS2 +{ + class IntroPage : public QWizardPage + { + Q_OBJECT + public: + IntroPage(QWizard* parent); + + private: + QLabel* m_label; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/PrefabMakerPage.cpp b/Gems/ROS2/Code/Source/RobotImporter/Pages/PrefabMakerPage.cpp new file mode 100644 index 000000000..1c099c75a --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Pages/PrefabMakerPage.cpp @@ -0,0 +1,64 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "PrefabMakerPage.h" +#include + +namespace ROS2 +{ + + PrefabMakerPage::PrefabMakerPage(RobotImporterWidget* parent) + : QWizardPage(parent) + , m_parentImporterWidget(parent) + , m_success(false) + { + m_prefabName = new QLineEdit(this); + m_createButton = new QPushButton(tr("Create Prefab"), this); + m_log = new QTextEdit(this); + m_useArticulation = new QCheckBox(tr("Use articulation for joints and rigid bodies"), this); + setTitle(tr("Prefab creation")); + QVBoxLayout* layout = new QVBoxLayout; + QHBoxLayout* layoutInner = new QHBoxLayout; + layoutInner->addWidget(m_prefabName); + layoutInner->addWidget(m_createButton); + layout->addLayout(layoutInner); + layout->addWidget(m_useArticulation); + layout->addWidget(m_log); + setLayout(layout); + connect(m_createButton, &QPushButton::pressed, this, &PrefabMakerPage::onCreateButtonPressed); + } + + void PrefabMakerPage::setProposedPrefabName(const AZStd::string prefabName) + { + m_prefabName->setText(QString::fromUtf8(prefabName.data(), int(prefabName.size()))); + } + + AZStd::string PrefabMakerPage::getPrefabName() const + { + return AZStd::string(m_prefabName->text().toUtf8().constData()); + } + + void PrefabMakerPage::reportProgress(const AZStd::string& progressForUser) + { + m_log->setText(QString::fromUtf8(progressForUser.data(), int(progressForUser.size()))); + } + void PrefabMakerPage::setSuccess(bool success) + { + m_success = success; + emit completeChanged(); + } + bool PrefabMakerPage::isComplete() const + { + return m_success; + } + bool PrefabMakerPage::IsUseArticulations() const + { + return m_useArticulation->isChecked(); + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/PrefabMakerPage.h b/Gems/ROS2/Code/Source/RobotImporter/Pages/PrefabMakerPage.h new file mode 100644 index 000000000..42bbd8032 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Pages/PrefabMakerPage.h @@ -0,0 +1,48 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#if !defined(Q_MOC_RUN) +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace ROS2 +{ + class RobotImporterWidget; + class PrefabMakerPage : public QWizardPage + { + Q_OBJECT + public: + explicit PrefabMakerPage(RobotImporterWidget* parent); + void setProposedPrefabName(const AZStd::string prefabName); + AZStd::string getPrefabName() const; + void reportProgress(const AZStd::string& progressForUser); + void setSuccess(bool success); + bool isComplete() const override; + bool IsUseArticulations() const; + Q_SIGNALS: + void onCreateButtonPressed(); + + private: + bool m_success; + QLineEdit* m_prefabName; + QPushButton* m_createButton; + QTextEdit* m_log; + QCheckBox* m_useArticulation; + RobotImporterWidget* m_parentImporterWidget; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/XacroParamsPage.cpp b/Gems/ROS2/Code/Source/RobotImporter/Pages/XacroParamsPage.cpp new file mode 100644 index 000000000..9529aeeb3 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Pages/XacroParamsPage.cpp @@ -0,0 +1,79 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "XacroParamsPage.h" +#include + +namespace ROS2 +{ + + XacroParamsPage::XacroParamsPage(RobotImporterWidget* parent) + : QWizardPage(parent) + { + setTitle(tr("Xacro Parameters")); + m_table = new QTableWidget(this); + + m_table->setColumnCount(2); + m_table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::Stretch); + m_table->setShowGrid(true); + m_table->setSelectionMode(QAbstractItemView::SingleSelection); + m_table->setSelectionBehavior(QAbstractItemView::SelectRows); + m_table->setHorizontalHeaderLabels({ tr("Parameter"), tr("Value") }); + m_table->horizontalHeader()->setStretchLastSection(true); + + QVBoxLayout* layout = new QVBoxLayout; + layout->addWidget(m_table); + setLayout(layout); + } + + bool XacroParamsPage::isComplete() const + { + return true; + } + + void XacroParamsPage::SetXacroParameters(const Utils::xacro::Params& params) + { + m_defaultParams = params; + m_table->setRowCount(0); + for (const auto& [name, value] : params) + { + const int rowIndex = m_table->rowCount(); + m_table->setRowCount(rowIndex + 1); + QTableWidgetItem* p1 = new QTableWidgetItem(QString::fromUtf8(name.data())); + QTableWidgetItem* p2 = new QTableWidgetItem(QString::fromUtf8(value.data())); + m_table->setItem(rowIndex, 0, p1); + m_table->setItem(rowIndex, 1, p2); + } + } + + Utils::xacro::Params XacroParamsPage::GetXacroParameters() const + { + Utils::xacro::Params params; + const int rowCount = m_table->rowCount(); + for (int i = 0; i < rowCount; i++) + { + const auto* p1 = m_table->item(i, 0); + const auto* p2 = m_table->item(i, 1); + AZ_Assert(p1, "cell should exist"); + AZ_Assert(p2, "cell should exist"); + const AZStd::string name(p1->text().toUtf8().constData()); + const AZStd::string value(p2->text().toUtf8().constData()); + auto it = m_defaultParams.find(name); + if (it != m_defaultParams.end()) + { + if (it->second != value) + { + params[name] = value; + } + } + } + AZ_Printf("XacroParamsPage", "number of modified parameters %d\n", params.size()); + return params; + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/XacroParamsPage.h b/Gems/ROS2/Code/Source/RobotImporter/Pages/XacroParamsPage.h new file mode 100644 index 000000000..3c7456ee6 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Pages/XacroParamsPage.h @@ -0,0 +1,42 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#if !defined(Q_MOC_RUN) +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace ROS2 +{ + class RobotImporterWidget; + + //! Wizard page that allows user to modify Xacro parameters + class XacroParamsPage : public QWizardPage + { + Q_OBJECT + public: + explicit XacroParamsPage(RobotImporterWidget* parent); + + bool isComplete() const override; + + void SetXacroParameters(const Utils::xacro::Params& params); + Utils::xacro::Params GetXacroParameters() const; + + private: + Utils::xacro::Params m_defaultParams; + QTableWidget* m_table {}; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.cpp b/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.cpp new file mode 100644 index 000000000..943df41aa --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.cpp @@ -0,0 +1,64 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "ROS2RobotImporterEditorSystemComponent.h" +#include "RobotImporterWidget.h" +#include +#include +#if !defined(Q_MOC_RUN) +#include +#endif + +namespace ROS2 +{ + void ROS2RobotImporterEditorSystemComponent::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class()->Version(0); + } + } + + void ROS2RobotImporterEditorSystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + ROS2RobotImporterSystemComponent::GetProvidedServices(provided); + provided.push_back(AZ_CRC_CE("ROS2RobotImporterEditorService")); + } + + void ROS2RobotImporterEditorSystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + ROS2RobotImporterSystemComponent::GetIncompatibleServices(incompatible); + incompatible.push_back(AZ_CRC_CE("ROS2RobotImporterEditorService")); + } + + void ROS2RobotImporterEditorSystemComponent::Activate() + { + ROS2RobotImporterSystemComponent::Activate(); + AzToolsFramework::EditorEvents::Bus::Handler::BusConnect(); + } + + void ROS2RobotImporterEditorSystemComponent::Deactivate() + { + AzToolsFramework::EditorEvents::Bus::Handler::BusDisconnect(); + ROS2RobotImporterSystemComponent::Deactivate(); + } + + void ROS2RobotImporterEditorSystemComponent::NotifyRegisterViews() + { + AzToolsFramework::ViewPaneOptions options; + options.showOnToolsToolbar = true; + options.isDockable = false; + options.detachedWindow = true; + options.canHaveMultipleInstances = false; + options.isDisabledInSimMode = true; + options.isDeletable = true; + + options.toolbarIcon = ":/ROS2/ROS_import_icon.svg"; + AzToolsFramework::RegisterViewPane("Robot Importer", "ROS2", options); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.h b/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.h new file mode 100644 index 000000000..9e429270a --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.h @@ -0,0 +1,43 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include "ROS2RobotImporterSystemComponent.h" +#include + +namespace ROS2 +{ + //! Editor component for RobotImporter widget + class ROS2RobotImporterEditorSystemComponent + : public ROS2RobotImporterSystemComponent + , private AzToolsFramework::EditorEvents::Bus::Handler + { + public: + AZ_COMPONENT(ROS2RobotImporterEditorSystemComponent, "{1cc069d0-72f9-411e-a94b-9159979e5a0c}", ROS2RobotImporterSystemComponent); + static void Reflect(AZ::ReflectContext* context); + + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + + ROS2RobotImporterEditorSystemComponent() = default; + ~ROS2RobotImporterEditorSystemComponent() = default; + + private: + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + + ////////////////////////////////////////////////////////////////////////// + // AzToolsFramework::EditorEvents::Bus::Handler overrides + void NotifyRegisterViews() override; + ////////////////////////////////////////////////////////////////////////// + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterSystemComponent.cpp b/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterSystemComponent.cpp new file mode 100644 index 000000000..f72e4b105 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterSystemComponent.cpp @@ -0,0 +1,43 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "ROS2RobotImporterSystemComponent.h" +#include +#include +#include + +namespace ROS2 +{ + void ROS2RobotImporterSystemComponent::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class()->Version(0); + + if (AZ::EditContext* ec = serializeContext->GetEditContext()) + { + ec->Class( + "Robot Importer", "Use this component to import robot definition from supported formats") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("System")) + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->Attribute(AZ::Edit::Attributes::AutoExpand, true); + } + } + } + + void ROS2RobotImporterSystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC_CE("RobotImporterService")); + } + + void ROS2RobotImporterSystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + incompatible.push_back(AZ_CRC_CE("RobotImporterService")); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterSystemComponent.h b/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterSystemComponent.h new file mode 100644 index 000000000..cf034d5ac --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterSystemComponent.h @@ -0,0 +1,37 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include + +namespace ROS2 +{ + //! A Component for importing robot definition from standard formats such as URDF. + //! Sometimes, user decisions will be involved in the process. + class ROS2RobotImporterSystemComponent : public AZ::Component + { + public: + AZ_COMPONENT(ROS2RobotImporterSystemComponent, "{f2566021-450a-4eae-896f-b268492a58eb}"); + static void Reflect(AZ::ReflectContext* context); + + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + + ROS2RobotImporterSystemComponent() = default; + virtual ~ROS2RobotImporterSystemComponent() = default; + + protected: + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Init() override{}; + void Activate() override{}; + void Deactivate() override{}; + ////////////////////////////////////////////////////////////////////////// + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/RobotImporterWidget.cpp b/Gems/ROS2/Code/Source/RobotImporter/RobotImporterWidget.cpp new file mode 100644 index 000000000..740355931 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/RobotImporterWidget.cpp @@ -0,0 +1,436 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include + +#include "RobotImporterWidget.h" +#include "URDF/URDFPrefabMaker.h" +#include "URDF/UrdfParser.h" +#include "Utils/RobotImporterUtils.h" +#include +#include +#include + +namespace ROS2 +{ + + RobotImporterWidget::RobotImporterWidget(QWidget* parent) + : QWizard(parent) + { + m_introPage = new IntroPage(this); + m_fileSelectPage = new FileSelectionPage(this); + m_checkUrdfPage = new CheckUrdfPage(this); + m_assetPage = new CheckAssetPage(this); + m_prefabMakerPage = new PrefabMakerPage(this); + m_xacroParamsPage = new XacroParamsPage(this); + + addPage(m_introPage); + addPage(m_fileSelectPage); + addPage(m_xacroParamsPage); + addPage(m_checkUrdfPage); + addPage(m_assetPage); + addPage(m_prefabMakerPage); + + connect(this, &QWizard::currentIdChanged, this, &RobotImporterWidget::onCurrentIdChanged); + connect(m_prefabMakerPage, &QWizardPage::completeChanged, this, &RobotImporterWidget::OnUrdfCreated); + connect(m_prefabMakerPage, &PrefabMakerPage::onCreateButtonPressed, this, &RobotImporterWidget::onCreateButtonPressed); + connect( + this, + &QWizard::customButtonClicked, + this, + [this](int id) + { + if (id == PrefabCreationButtonId) + { + this->onCreateButtonPressed(); + } + }); + + void onCreateButtonPressed(); + + setWindowTitle(tr("Robot Import Wizard")); + connect( + this, + &QDialog::finished, + [this](int id) + { + AZ_Printf("page", "QDialog::finished : %d", id); + parentWidget()->close(); + }); + } + + void RobotImporterWidget::OnUrdfCreated() + { + // hide cancel and back buttons when last page succeed + if (currentPage() == m_prefabMakerPage && m_prefabMakerPage->isComplete()) + { + QWizard::button(QWizard::CancelButton)->hide(); + QWizard::button(QWizard::BackButton)->hide(); + QWizard::button(PrefabCreationButtonId)->hide(); + } + } + + void RobotImporterWidget::OpenUrdf() + { + QString report; + if (!m_urdfPath.empty()) + { + if (IsFileXacro(m_urdfPath)) + { + Utils::xacro::ExecutionOutcome outcome = Utils::xacro::ParseXacro(m_urdfPath.String(), m_params); + if (outcome) + { + m_parsedUrdf = outcome.m_urdfHandle; + report += "# " + tr("XACRO execution succeeded") + "\n"; + m_assetPage->ClearAssetsList(); + } + else + { + report += "# " + tr("XACRO parsing failed") + "\n"; + report += "\n\n## " + tr("Command called") + "\n\n`" + QString::fromUtf8(outcome.m_called.data()) + "`"; + report += "\n\n" + tr("Process failed"); + report += "\n\n## " + tr("Error output") + "\n\n"; + report += "```\n"; + if (outcome.m_logErrorOutput.size()) + { + report += + QString::fromLocal8Bit(outcome.m_logErrorOutput.data(), static_cast(outcome.m_logErrorOutput.size())); + } + else + { + report += tr("(EMPTY)"); + } + report += "\n```"; + report += "\n\n## " + tr("Standard output") + "\n\n"; + report += "```\n"; + if (outcome.m_logStandardOutput.size()) + { + report += QString::fromLocal8Bit( + outcome.m_logStandardOutput.data(), static_cast(outcome.m_logStandardOutput.size())); + } + else + { + report += tr("(EMPTY)"); + } + report += "\n```"; + m_checkUrdfPage->ReportURDFResult(report, false); + m_parsedUrdf = nullptr; + return; + } + } + else if (IsFileUrdf(m_urdfPath)) + { + // standard URDF + m_parsedUrdf = UrdfParser::ParseFromFile(m_urdfPath.Native()); + } + else + { + AZ_Assert(false, "Unknown file extension : %s \n", m_urdfPath.c_str()); + } + const auto log = UrdfParser::GetUrdfParsingLog(); + if (m_parsedUrdf) + { + report += "# " + tr("The URDF was parsed and opened successfully") + "\n"; + m_prefabMaker.reset(); + // Report the status of skipping this page + AZ_Printf("Wizard", "Wizard skips m_checkUrdfPage since there is no errors in URDF\n"); + m_meshNames = Utils::GetMeshesFilenames(m_parsedUrdf->getRoot(), true, true); + m_assetPage->ClearAssetsList(); + } + else + { + report += "# " + tr("The URDF was not opened") + "\n"; + report += tr("URDF parser returned following errors:") + "\n\n"; + } + if (!log.empty()) + { + report += "`"; + report += QString::fromUtf8(log.data(), int(log.size())); + report += "`"; + } + m_checkUrdfPage->ReportURDFResult(report, m_parsedUrdf != nullptr); + } + } + + void RobotImporterWidget::onCurrentIdChanged(int id) + { + AZ_Printf("Wizard", "Wizard at page %d", id); + + if (currentPage() == m_assetPage) + { + FillAssetPage(); + } + else if (currentPage() == m_prefabMakerPage) + { + FillPrefabMakerPage(); + } + } + + void RobotImporterWidget::FillAssetPage() + { + if (m_parsedUrdf && m_assetPage->IsEmpty()) + { + auto collidersNames = Utils::GetMeshesFilenames(m_parsedUrdf->getRoot(), false, true); + auto visualNames = Utils::GetMeshesFilenames(m_parsedUrdf->getRoot(), true, false); + + if (m_importAssetWithUrdf) + { + m_urdfAssetsMapping = AZStd::make_shared( + Utils::CopyAssetForURDFAndCreateAssetMap(m_meshNames, m_urdfPath.String(), collidersNames, visualNames)); + } + else + { + m_urdfAssetsMapping = AZStd::make_shared(Utils::FindAssetsForUrdf(m_meshNames, m_urdfPath.String())); + for (const AZStd::string& meshPath : m_meshNames) + { + if (m_urdfAssetsMapping->contains(meshPath)) + { + const auto& asset = m_urdfAssetsMapping->at(meshPath); + bool visual = visualNames.contains(meshPath); + bool collider = collidersNames.contains(meshPath); + Utils::CreateSceneManifest(asset.m_availableAssetInfo.m_sourceAssetGlobalPath, collider, visual); + } + } + }; + + for (const AZStd::string& meshPath : m_meshNames) + { + const QString kNotFound = tr("not found"); + const AZStd::string kNotFoundAz(kNotFound.toUtf8()); + AZ::Uuid sourceAssetUuid; + if (m_urdfAssetsMapping->contains(meshPath)) + { + QString type = kNotFound; + AZStd::string sourcePath(kNotFoundAz); + AZStd::string resolvedPath(kNotFoundAz); + QString productAssetText; + auto crc = AZ::Crc32(); + QString tooltip = kNotFound; + bool visual = visualNames.contains(meshPath); + bool collider = collidersNames.contains(meshPath); + if (visual && collider) + { + type = tr("Visual and Collider"); + } + else if (visual) + { + type = tr("Visual"); + } + else if (collider) + { + type = tr("Collider"); + } + + if (m_urdfAssetsMapping->contains(meshPath)) + { + const auto& asset = m_urdfAssetsMapping->at(meshPath); + sourceAssetUuid = asset.m_availableAssetInfo.m_sourceGuid; + sourcePath = asset.m_availableAssetInfo.m_sourceAssetRelativePath; + resolvedPath = asset.m_resolvedUrdfPath.data(); + crc = asset.m_urdfFileCRC; + tooltip = QString::fromUtf8(resolvedPath.data(), resolvedPath.size()); + } + m_assetPage->ReportAsset(sourceAssetUuid, meshPath, type, sourcePath, crc, resolvedPath); + } + else + { + m_assetPage->ReportAsset(sourceAssetUuid, meshPath, kNotFound, kNotFoundAz, AZ::Crc32(), kNotFoundAz); + }; + } + m_assetPage->StartWatchAsset(); + } + } + + void RobotImporterWidget::FillPrefabMakerPage() + { + if (m_parsedUrdf) + { + AZStd::string robotName = AZStd::string(m_parsedUrdf->getName().c_str(), m_parsedUrdf->getName().size()) + ".prefab"; + m_prefabMakerPage->setProposedPrefabName(robotName); + QWizard::button(PrefabCreationButtonId)->setText(tr("Create Prefab")); + QWizard::setOption(HavePrefabCreationButton, true); + } + } + + bool RobotImporterWidget::validateCurrentPage() + { + if (currentPage() == m_fileSelectPage) + { + m_params.clear(); + m_urdfPath = AZStd::string(m_fileSelectPage->getFileName().toUtf8().constData()); + if (IsFileXacro(m_urdfPath)) + { + m_params = Utils::xacro::GetParameterFromXacroFile(m_urdfPath.String()); + AZ_Printf("RobotImporterWidget", "Xacro has %d arguments\n", m_params.size()); + m_xacroParamsPage->SetXacroParameters(m_params); + } + // no need to wait for param page - parse urdf now, nextId will skip unnecessary pages + if (m_params.empty()) + { + OpenUrdf(); + } + m_importAssetWithUrdf = m_fileSelectPage->getIfCopyAssetsDuringUrdfImport(); + } + if (currentPage() == m_xacroParamsPage) + { + m_params = m_xacroParamsPage->GetXacroParameters(); + OpenUrdf(); + } + if (currentPage() == m_introPage) + { + AZ::EntityId levelEntityId; + AzToolsFramework::ToolsApplicationRequestBus::BroadcastResult( + levelEntityId, &AzToolsFramework::ToolsApplicationRequests::GetCurrentLevelEntityId); + + AZ::Entity* levelEntity{ nullptr }; + AZ::ComponentApplicationBus::BroadcastResult(levelEntity, &AZ::ComponentApplicationRequests::FindEntity, levelEntityId); + + if (!levelEntityId.IsValid() || levelEntity == nullptr) + { + QMessageBox noLevelLoadedMessage; + noLevelLoadedMessage.critical(0, "No level opened", "A level must be opened before using URDF Importer"); + noLevelLoadedMessage.setFixedSize(500, 200); + + return false; + } + } + return currentPage()->validatePage(); + } + + int RobotImporterWidget::nextId() const + { + if ((currentPage() == m_fileSelectPage && m_params.empty()) || currentPage() == m_xacroParamsPage) + { + if (m_parsedUrdf) + { + if (m_meshNames.size() == 0) + { + // skip two pages when urdf is parsed without problems, and it has no meshes + return m_assetPage->nextId(); + } + else + { + // skip one page when urdf is parsed without problems + return m_checkUrdfPage->nextId(); + } + } + } + return currentPage()->nextId(); + } + + void RobotImporterWidget::CreatePrefab(AZStd::string prefabName) + { + const AZ::IO::Path prefabPathRealative(AZ::IO::Path("Assets") / "Importer" / prefabName); + const AZ::IO::Path prefabPath(AZ::IO::Path(AZ::Utils::GetProjectPath()) / prefabPathRealative); + bool fileExists = AZ::IO::FileIOBase::GetInstance()->Exists(prefabPath.c_str()); + + if (CheckCyclicalDependency(prefabPathRealative)) + { + m_prefabMakerPage->setSuccess(false); + return; + } + if (fileExists) + { + QMessageBox msgBox; + msgBox.setText(tr("Prefab with this name already exists")); + msgBox.setInformativeText(tr("Do you want to overwrite existing prefab?")); + msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel); + msgBox.setDefaultButton(QMessageBox::Cancel); + int ret = msgBox.exec(); + if (ret == QMessageBox::Cancel) + { + m_prefabMakerPage->setSuccess(false); + return; + } + } + const bool useArticulation = m_prefabMakerPage->IsUseArticulations(); + m_prefabMaker = AZStd::make_unique( + m_urdfPath.String(), m_parsedUrdf, prefabPath.String(), m_urdfAssetsMapping, useArticulation); + + auto prefabOutcome = m_prefabMaker->CreatePrefabFromURDF(); + if (prefabOutcome.IsSuccess()) + { + AZStd::string status = m_prefabMaker->GetStatus(); + m_prefabMakerPage->reportProgress(status); + m_prefabMakerPage->setSuccess(true); + } + else + { + AZStd::string status = "Failed to create prefab\n"; + status += prefabOutcome.GetError() + "\n"; + status += m_prefabMaker->GetStatus(); + m_prefabMakerPage->reportProgress(status); + m_prefabMakerPage->setSuccess(false); + } + } + + void RobotImporterWidget::onCreateButtonPressed() + { + CreatePrefab(m_prefabMakerPage->getPrefabName()); + } + + bool RobotImporterWidget::CheckCyclicalDependency(AZ::IO::Path importedPrefabPath) + { + AzFramework::EntityContextId contextId; + AzFramework::EntityIdContextQueryBus::BroadcastResult(contextId, &AzFramework::EntityIdContextQueryBus::Events::GetOwningContextId); + + AZ_Printf("CheckCyclicalDependency", "CheckCyclicalDependency %s\n", importedPrefabPath.Native().c_str()); + auto focusInterface = AZ::Interface::Get(); + + if (!focusInterface) + { + ReportError(tr("Imported prefab could not be validated.\nImport aborted.")); + return true; + } + + auto focusedPrefabInstance = focusInterface->GetFocusedPrefabInstance(contextId); + + if (!focusedPrefabInstance) + { + ReportError(tr("Imported prefab could not be validated.\nImport aborted.")); + return true; + } + + auto focusPrefabFilename = focusedPrefabInstance.value().get().GetTemplateSourcePath(); + + if (focusPrefabFilename == importedPrefabPath) + { + ReportError( + tr("Cyclical dependency detected.\nSelected URDF model is currently being edited. Exit prefab edit mode and try again.")); + return true; + } + + return false; + } + + void RobotImporterWidget::ReportError(const QString& errorMessage) + { + QMessageBox::critical(this, QObject::tr("Error"), errorMessage); + AZ_Error("RobotImporterWidget", false, "%s", errorMessage.toUtf8().constData()); + } + + AZStd::string RobotImporterWidget::GetCapitalizedExtension(const AZ::IO::Path& filename) const + { + AZStd::string extension{ filename.Extension().Native() }; + AZStd::to_upper(extension.begin(), extension.end()); + return extension; + } + + bool RobotImporterWidget::IsFileXacro(const AZ::IO::Path& filename) const + { + return filename.HasExtension() && GetCapitalizedExtension(filename) == ".XACRO"; + } + + bool RobotImporterWidget::IsFileUrdf(const AZ::IO::Path& filename) const + { + return filename.HasExtension() && GetCapitalizedExtension(filename) == ".URDF"; + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/RobotImporterWidget.h b/Gems/ROS2/Code/Source/RobotImporter/RobotImporterWidget.h new file mode 100644 index 000000000..d2c6f604b --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/RobotImporterWidget.h @@ -0,0 +1,114 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#if !defined(Q_MOC_RUN) +#include "Pages/CheckAssetPage.h" +#include "Pages/CheckUrdfPage.h" +#include "Pages/FileSelectionPage.h" +#include "Pages/IntroPage.h" +#include "Pages/PrefabMakerPage.h" +#include "Pages/XacroParamsPage.h" + +#include "URDF/URDFPrefabMaker.h" +#include "URDF/UrdfParser.h" +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace ROS2 +{ + class RobotImporterWidget; + class URDFPrefabMaker; + + //! Handles UI for the process of URDF importing + class RobotImporterWidget : public QWizard + { + Q_OBJECT + public: + explicit RobotImporterWidget(QWidget* parent = nullptr); + void CreatePrefab(AZStd::string prefabName); + + private: + int nextId() const override; + bool validateCurrentPage() override; + void OpenUrdf(); + void OnUrdfCreated(); + void onCreateButtonPressed(); + + IntroPage* m_introPage; + FileSelectionPage* m_fileSelectPage; + CheckUrdfPage* m_checkUrdfPage; + CheckAssetPage* m_assetPage; + PrefabMakerPage* m_prefabMakerPage; + XacroParamsPage* m_xacroParamsPage; + AZ::IO::Path m_urdfPath; + urdf::ModelInterfaceSharedPtr m_parsedUrdf; + + //! User's choice to copy meshes during urdf import + bool m_importAssetWithUrdf{ false }; + + /// mapping from urdf path to asset source + AZStd::shared_ptr m_urdfAssetsMapping; + AZStd::unique_ptr m_prefabMaker; + AZStd::unordered_set m_meshNames; + + /// Xacro params + Utils::xacro::Params m_params; + + void onCurrentIdChanged(int id); + void FillAssetPage(); + void FillPrefabMakerPage(); + + //! Checks if the importedPrefabFilename is the same as focused prefab name. + //! @param importedPrefabFilename name of imported prefab + //! @return True if names of prefabs are identical or an erorr occured during validation + bool CheckCyclicalDependency(AZ::IO::Path importedPrefabFilename); + + //! Report an error to the user. + //! Populates the log, sets status information in the status label and shows an error popup with the message + //! @param errorMessage error message to display to the user + void ReportError(const QString& errorMessage); + + //! Returns if file is xacro. + //! @param filename path to check + bool IsFileXacro(const AZ::IO::Path& filename) const; + + //! Returns if file is urdf. + //! @param filename path to check + bool IsFileUrdf(const AZ::IO::Path& filename) const; + + //! Returns capitalized extension. + //! @param filename path to check + AZStd::string GetCapitalizedExtension(const AZ::IO::Path& filename) const; + + static constexpr QWizard::WizardButton PrefabCreationButtonId{ QWizard::CustomButton1 }; + static constexpr QWizard::WizardOption HavePrefabCreationButton{ QWizard::HaveCustomButton1 }; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/ArticulationsMaker.cpp b/Gems/ROS2/Code/Source/RobotImporter/URDF/ArticulationsMaker.cpp new file mode 100644 index 000000000..c52d282b5 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/ArticulationsMaker.cpp @@ -0,0 +1,111 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "ArticulationsMaker.h" +#include "RobotImporter/Utils/DefaultSolverConfiguration.h" +#include +#include +#include +#include + +namespace ROS2 +{ + + namespace + { + using ArticulationCfg = PhysX::EditorArticulationLinkConfiguration; + static const AZStd::unordered_map SupportedJointTypes{ { + { urdf::Joint::REVOLUTE, PhysX::ArticulationJointType::Hinge }, + { urdf::Joint::CONTINUOUS, PhysX::ArticulationJointType::Hinge }, + { urdf::Joint::PRISMATIC, PhysX::ArticulationJointType::Prismatic }, + { urdf::Joint::FIXED, PhysX::ArticulationJointType::Fix }, + } }; + } // namespace + + ArticulationCfg& AddToArticulationConfig(ArticulationCfg& articulationLinkConfiguration, const urdf::JointSharedPtr joint) + { + if (!joint) + { + return articulationLinkConfiguration; + } + auto supportedArticulationType = SupportedJointTypes.find(joint->type); + AZ_Warning( + "ArticulationsMaker", + supportedArticulationType != SupportedJointTypes.end(), + "Articulations do not support type %d for URDF joint %s.", + joint->type, + joint->name.c_str()); + if (supportedArticulationType != SupportedJointTypes.end()) + { + const auto type = supportedArticulationType->second; + articulationLinkConfiguration.m_articulationJointType = type; + const AZ::Vector3 o3deJointDir{ 1.0, 0.0, 0.0 }; + const AZ::Vector3 jointAxis = URDF::TypeConversions::ConvertVector3(joint->axis); + const auto quaternion = + jointAxis.IsZero() ? AZ::Quaternion::CreateIdentity() : AZ::Quaternion::CreateShortestArc(o3deJointDir, jointAxis); + const AZ::Vector3 rotation = quaternion.GetEulerDegrees(); + articulationLinkConfiguration.m_localRotation = rotation; + + if (joint->limits) + { + if (type == PhysX::ArticulationJointType::Hinge) + { + const double limitUpper = AZ::RadToDeg(joint->limits->upper); + const double limitLower = AZ::RadToDeg(joint->limits->lower); + articulationLinkConfiguration.m_angularLimitNegative = limitLower; + articulationLinkConfiguration.m_angularLimitPositive = limitUpper; + } + else if (type == PhysX::ArticulationJointType::Prismatic) + { + articulationLinkConfiguration.m_linearLimitLower = joint->limits->upper; + articulationLinkConfiguration.m_linearLimitUpper = joint->limits->lower; + } + } + else + { + articulationLinkConfiguration.m_isLimited = false; + } + } + return articulationLinkConfiguration; + } + + ArticulationCfg& AddToArticulationConfig(ArticulationCfg& articulationLinkConfiguration, const urdf::InertialSharedPtr inertial) + { + if (!inertial) + { + return articulationLinkConfiguration; + } + articulationLinkConfiguration.m_solverPositionIterations = + AZStd::max(articulationLinkConfiguration.m_solverPositionIterations, URDF::DefaultNumberPosSolver); + articulationLinkConfiguration.m_solverVelocityIterations = + AZStd::max(articulationLinkConfiguration.m_solverVelocityIterations, URDF::DefaultNumberVelSolver); + + articulationLinkConfiguration.m_mass = inertial->mass; + articulationLinkConfiguration.m_centerOfMassOffset = URDF::TypeConversions::ConvertVector3(inertial->origin.position); + + if (!URDF::TypeConversions::ConvertQuaternion(inertial->origin.rotation).IsIdentity()) + { // There is a rotation component in URDF that we are not able to apply + AZ_Warning("AddArticulationLink", false, "Ignoring URDF inertial origin rotation (no such field in rigid body configuration)"); + } + return articulationLinkConfiguration; + } + + void ArticulationsMaker::AddArticulationLink(const urdf::LinkSharedPtr link, AZ::EntityId entityId) const + { + AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId); + AZ_Assert(entity, "No entity for id %s", entityId.ToString().c_str()); + + AZ_TracePrintf("ArticulationsMaker", "Processing inertial for entity id: %s\n", entityId.ToString().c_str()); + PhysX::EditorArticulationLinkConfiguration articulationLinkConfiguration; + + articulationLinkConfiguration = AddToArticulationConfig(articulationLinkConfiguration, link->inertial); + articulationLinkConfiguration = AddToArticulationConfig(articulationLinkConfiguration, link->parent_joint); + + entity->CreateComponent(articulationLinkConfiguration); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/ArticulationsMaker.h b/Gems/ROS2/Code/Source/RobotImporter/URDF/ArticulationsMaker.h new file mode 100644 index 000000000..fd5a9e39a --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/ArticulationsMaker.h @@ -0,0 +1,27 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include "UrdfParser.h" +#include +#include +#include + +namespace ROS2 +{ + //! Populates the entity with contents of the and tag in the robot description. + class ArticulationsMaker + { + public: + //! Add zero or one inertial and joints elements to a given entity (depending on link content). + //! @param link A pointer to a parsed URDF link. + //! @param entityId A non-active entity which will be populated according to inertial content. + void AddArticulationLink(urdf::LinkSharedPtr link, AZ::EntityId entityId) const; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/CollidersMaker.cpp b/Gems/ROS2/Code/Source/RobotImporter/URDF/CollidersMaker.cpp new file mode 100644 index 000000000..59dbfc2f8 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/CollidersMaker.cpp @@ -0,0 +1,370 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "CollidersMaker.h" +#include "PrefabMakerUtils.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + namespace Internal + { + static const char* CollidersMakerLoggingTag = "CollidersMaker"; + } // namespace Internal + + CollidersMaker::CollidersMaker(const AZStd::shared_ptr& urdfAssetsMapping) + : m_urdfAssetsMapping(urdfAssetsMapping) + { + FindWheelMaterial(); + } + + void CollidersMaker::FindWheelMaterial() + { + // The `wheel_material.physicsmaterial` is created by Asset Processor from `Materials/wheel_material.physxmaterial` + // that is provided by this Gem source. The `wheel_material.physicsmaterial` is located in project's cache + // and that is a critical asset that is automatically loaded. + const char* physicsMaterialAssetRelPath = "materials/wheel_material.physicsmaterial"; // relative path to cache folder. + AZ::Data::AssetId assetId; + AZ::Data::AssetCatalogRequestBus::BroadcastResult( + assetId, + &AZ::Data::AssetCatalogRequestBus::Events::GetAssetIdByPath, + physicsMaterialAssetRelPath, + Physics::MaterialAsset::TYPEINFO_Uuid(), + false); + + if (assetId.IsValid()) + { + m_wheelMaterial = + AZ::Data::Asset(assetId, Physics::MaterialAsset::TYPEINFO_Uuid(), physicsMaterialAssetRelPath); + AZ_TracePrintf(Internal::CollidersMakerLoggingTag, "Waiting for asset load\n"); + m_wheelMaterial.BlockUntilLoadComplete(); + } + else + { + AZ_Warning(Internal::CollidersMakerLoggingTag, false, "Cannot load wheel material"); + } + } + + void CollidersMaker::BuildColliders(urdf::LinkSharedPtr link) + { + for (auto collider : link->collision_array) + { + BuildCollider(collider); + } + + if (link->collision_array.empty()) + { + BuildCollider(link->collision); + } + } + + void CollidersMaker::BuildCollider(urdf::CollisionSharedPtr collision) + { + if (!collision) + { // it is ok not to have collision in a link + return; + } + + auto geometry = collision->geometry; + bool isPrimitiveShape = geometry->type != urdf::Geometry::MESH; + if (!isPrimitiveShape) + { + auto meshGeometry = std::dynamic_pointer_cast(geometry); + if (!meshGeometry) + { + return; + } + const auto asset = PrefabMakerUtils::GetAssetFromPath(*m_urdfAssetsMapping, meshGeometry->filename); + if (!asset) + { + return; + } + const AZStd::string& azMeshPath = asset->m_sourceAssetGlobalPath; + + AZStd::shared_ptr scene; + AZ::SceneAPI::Events::SceneSerializationBus::BroadcastResult( + scene, &AZ::SceneAPI::Events::SceneSerialization::LoadScene, azMeshPath.c_str(), AZ::Uuid::CreateNull(), ""); + if (!scene) + { + AZ_Error( + Internal::CollidersMakerLoggingTag, + false, + "Error loading collider. Invalid scene: %s, URDF path: %s", + azMeshPath.c_str(), + meshGeometry->filename.c_str()); + return; + } + + AZ::SceneAPI::Containers::SceneManifest& manifest = scene->GetManifest(); + auto valueStorage = manifest.GetValueStorage(); + if (valueStorage.empty()) + { + AZ_Error( + Internal::CollidersMakerLoggingTag, false, "Error loading collider. Invalid value storage: %s", azMeshPath.c_str()); + return; + } + + auto view = AZ::SceneAPI::Containers::MakeDerivedFilterView(valueStorage); + if (view.empty()) + { + AZ_Error(Internal::CollidersMakerLoggingTag, false, "Error loading collider. Invalid node views: %s", azMeshPath.c_str()); + return; + } + + // Select all nodes for both visual and collision nodes + for (AZ::SceneAPI::DataTypes::ISceneNodeGroup& mg : view) + { + AZ::SceneAPI::Utilities::SceneGraphSelector::SelectAll(scene->GetGraph(), mg.GetSceneNodeSelectionList()); + } + + // Update scene with all nodes selected + AZ::SceneAPI::Events::ProcessingResultCombiner result; + AZ::SceneAPI::Events::AssetImportRequestBus::BroadcastResult( + result, + &AZ::SceneAPI::Events::AssetImportRequest::UpdateManifest, + *scene, + AZ::SceneAPI::Events::AssetImportRequest::ManifestAction::Update, + AZ::SceneAPI::Events::AssetImportRequest::RequestingApplication::Editor); + + if (result.GetResult() != AZ::SceneAPI::Events::ProcessingResult::Success) + { + AZ_TracePrintf(Internal::CollidersMakerLoggingTag, "Scene updated\n"); + return; + } + + auto assetInfoFilePath = AZ::IO::Path{ azMeshPath }; + assetInfoFilePath.Native() += ".assetinfo"; + AZ_Printf(Internal::CollidersMakerLoggingTag, "Saving collider manifest to %s\n", assetInfoFilePath.c_str()); + scene->GetManifest().SaveToFile(assetInfoFilePath.c_str()); + + // Set export method to convex mesh + auto readOutcome = AZ::JsonSerializationUtils::ReadJsonFile(assetInfoFilePath.c_str()); + if (!readOutcome.IsSuccess()) + { + AZ_Error( + Internal::CollidersMakerLoggingTag, + false, + "Could not read %s with %s", + assetInfoFilePath.c_str(), + readOutcome.GetError().c_str()); + return; + } + rapidjson::Document assetInfoJson = readOutcome.TakeValue(); + auto manifestObject = assetInfoJson.GetObject(); + auto valuesIterator = manifestObject.FindMember("values"); + if (valuesIterator == manifestObject.MemberEnd()) + { + AZ_Error( + Internal::CollidersMakerLoggingTag, false, "Invalid json file: %s (Missing 'values' node)", assetInfoFilePath.c_str()); + return; + } + + constexpr AZStd::string_view physXMeshGroupType = "{5B03C8E6-8CEE-4DA0-A7FA-CD88689DD45B} MeshGroup"; + auto valuesArray = valuesIterator->value.GetArray(); + for (auto& value : valuesArray) + { + auto object = value.GetObject(); + + auto physXMeshGroupIterator = object.FindMember("$type"); + if (AZ::StringFunc::Equal(physXMeshGroupIterator->value.GetString(), physXMeshGroupType)) + { + value.AddMember(rapidjson::StringRef("export method"), rapidjson::StringRef("1"), assetInfoJson.GetAllocator()); + } + } + + auto saveOutcome = AZ::JsonSerializationUtils::WriteJsonFile(assetInfoJson, assetInfoFilePath.c_str()); + if (!saveOutcome.IsSuccess()) + { + AZ_Error( + Internal::CollidersMakerLoggingTag, + false, + "Could not save %s with %s", + assetInfoFilePath.c_str(), + saveOutcome.GetError().c_str()); + return; + } + } + } + + void CollidersMaker::AddColliders(urdf::LinkSharedPtr link, AZ::EntityId entityId) + { + AZStd::string typeString = "collider"; + const bool isWheelEntity = Utils::IsWheelURDFHeuristics(link); + if (isWheelEntity) + { + AZ_Printf(Internal::CollidersMakerLoggingTag, "Due to its name, %s is considered a wheel entity\n", link->name.c_str()); + } + const AZ::Data::Asset materialAsset = + isWheelEntity ? m_wheelMaterial : AZ::Data::Asset(); + size_t nameSuffixIndex = 0; // For disambiguation when multiple unnamed colliders are present. The order does not matter here + for (auto collider : link->collision_array) + { // Add colliders (if any) from the collision array + AddCollider( + collider, entityId, PrefabMakerUtils::MakeEntityName(link->name.c_str(), typeString, nameSuffixIndex), materialAsset); + nameSuffixIndex++; + } + + if (nameSuffixIndex == 0) + { // If there are no colliders in the array, the element member is used instead + AddCollider(link->collision, entityId, PrefabMakerUtils::MakeEntityName(link->name.c_str(), typeString), materialAsset); + } + } + + void CollidersMaker::AddCollider( + urdf::CollisionSharedPtr collision, + AZ::EntityId entityId, + const AZStd::string& generatedName, + const AZ::Data::Asset& materialAsset) + { + if (!collision) + { // it is ok not to have collision in a link + return; + } + AZ_TracePrintf(Internal::CollidersMakerLoggingTag, "Processing collisions for entity id:%s\n", entityId.ToString().c_str()); + + auto geometry = collision->geometry; + if (!geometry) + { // non-empty visual should have a geometry + AZ_Warning(Internal::CollidersMakerLoggingTag, false, "No Geometry for a collider of entity %s", entityId.ToString().c_str()); + return; + } + + AddColliderToEntity(collision, entityId, materialAsset); + } + + void CollidersMaker::AddColliderToEntity( + urdf::CollisionSharedPtr collision, AZ::EntityId entityId, const AZ::Data::Asset& materialAsset) const + { + AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId); + AZ_Assert(entity, "AddColliderToEntity called with invalid entityId"); + auto geometry = collision->geometry; + bool isPrimitiveShape = geometry->type != urdf::Geometry::MESH; + + Physics::ColliderConfiguration colliderConfig; + + colliderConfig.m_materialSlots.SetMaterialAsset(0, materialAsset); + colliderConfig.m_position = URDF::TypeConversions::ConvertVector3(collision->origin.position); + colliderConfig.m_rotation = URDF::TypeConversions::ConvertQuaternion(collision->origin.rotation); + if (!isPrimitiveShape) + { + AZ_Printf(Internal::CollidersMakerLoggingTag, "Adding mesh collider to %s\n", entityId.ToString().c_str()); + auto meshGeometry = std::dynamic_pointer_cast(geometry); + AZ_Assert(meshGeometry, "geometry is not meshGeometry"); + + auto asset = PrefabMakerUtils::GetAssetFromPath(*m_urdfAssetsMapping, meshGeometry->filename); + if (!asset) + { + return; + } + + AZStd::string pxmodelPath = Utils::GetPhysXMeshProductAsset(asset->m_sourceGuid); + if (pxmodelPath.empty()) + { + AZ_Error( + Internal::CollidersMakerLoggingTag, false, "Could not find pxmodel for %s", asset->m_sourceAssetGlobalPath.c_str()); + entity->Deactivate(); + return; + } + AZ_Printf(Internal::CollidersMakerLoggingTag, "pxmodelPath %s\n", pxmodelPath.c_str()); + // Get asset product id (pxmesh) + AZ::Data::AssetId assetId; + const AZ::Data::AssetType PhysxMeshAssetType = azrtti_typeid(); + AZ::Data::AssetCatalogRequestBus::BroadcastResult( + assetId, &AZ::Data::AssetCatalogRequests::GetAssetIdByPath, pxmodelPath.c_str(), PhysxMeshAssetType, true); + AZ_Printf( + Internal::CollidersMakerLoggingTag, + "Collider %s has assetId %s\n", + entityId.ToString().c_str(), + assetId.ToString().c_str()); + + Physics::PhysicsAssetShapeConfiguration shapeConfiguration; + shapeConfiguration.m_useMaterialsFromAsset = false; + if (assetId.IsValid()) + { + auto mesh = AZ::Data::Asset(assetId, PhysxMeshAssetType); + shapeConfiguration.m_asset = mesh; + entity->CreateComponent(colliderConfig, shapeConfiguration); + } + return; + } + + AZ_Printf(Internal::CollidersMakerLoggingTag, "URDF geometry type: %d\n", geometry->type); + switch (geometry->type) + { + case urdf::Geometry::SPHERE: + { + auto sphereGeometry = std::dynamic_pointer_cast(geometry); + AZ_Assert(sphereGeometry, "geometry is not sphereGeometry"); + const Physics::SphereShapeConfiguration cfg{ static_cast(sphereGeometry->radius) }; + entity->CreateComponent(colliderConfig, cfg); + } + break; + case urdf::Geometry::BOX: + { + const auto boxGeometry = std::dynamic_pointer_cast(geometry); + AZ_Assert(boxGeometry, "geometry is not boxGeometry"); + const Physics::BoxShapeConfiguration cfg{ URDF::TypeConversions::ConvertVector3(boxGeometry->dim) }; + entity->CreateComponent(colliderConfig, cfg); + } + break; + case urdf::Geometry::CYLINDER: + { + auto cylinderGeometry = std::dynamic_pointer_cast(geometry); + AZ_Assert(cylinderGeometry, "geometry is not cylinderGeometry"); + Physics::BoxShapeConfiguration cfg; + auto* component = entity->CreateComponent(colliderConfig, cfg); + entity->Activate(); + if (entity->GetState() == AZ::Entity::State::Active) + { + PhysX::EditorPrimitiveColliderComponentRequestBus::Event( + AZ::EntityComponentIdPair(entityId, component->GetId()), + &PhysX::EditorPrimitiveColliderComponentRequests::SetShapeType, + Physics::ShapeType::Cylinder); + PhysX::EditorPrimitiveColliderComponentRequestBus::Event( + AZ::EntityComponentIdPair(entityId, component->GetId()), + &PhysX::EditorPrimitiveColliderComponentRequests::SetCylinderHeight, + cylinderGeometry->length); + PhysX::EditorPrimitiveColliderComponentRequestBus::Event( + AZ::EntityComponentIdPair(entityId, component->GetId()), + &PhysX::EditorPrimitiveColliderComponentRequests::SetCylinderRadius, + cylinderGeometry->radius); + PhysX::EditorPrimitiveColliderComponentRequestBus::Event( + AZ::EntityComponentIdPair(entityId, component->GetId()), + &PhysX::EditorPrimitiveColliderComponentRequests::SetCylinderSubdivisionCount, + 120); + entity->Deactivate(); + } + else + { + AZ_Warning(Internal::CollidersMakerLoggingTag, false, "The entity was no activated %s", entity->GetName().c_str()); + } + } + break; + default: + AZ_Warning(Internal::CollidersMakerLoggingTag, false, "Unsupported collider geometry type: %d", geometry->type); + break; + } + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/CollidersMaker.h b/Gems/ROS2/Code/Source/RobotImporter/URDF/CollidersMaker.h new file mode 100644 index 000000000..db9fb916b --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/CollidersMaker.h @@ -0,0 +1,65 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include "UrdfParser.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + using BuildReadyCallback = AZStd::function; + + //! Populates a given entity with all the contents of the tag in robot description. + class CollidersMaker + { + public: + //! Construct the class based on URDF asset mapping. + //! @param urdfAssetsMapping a prepared mapping of Assets used by the source URDF. + CollidersMaker(const AZStd::shared_ptr& urdfAssetsMapping); + + //! Prevent copying of existing CollidersMaker + CollidersMaker(const CollidersMaker& other) = delete; + + //! Builds .pxmeshes for every collider in link collider mesh. + //! @param link A parsed URDF tree link node which could hold information about colliders. + void BuildColliders(urdf::LinkSharedPtr link); + //! Add zero, one or many collider elements (depending on link content). + //! @param link A parsed URDF tree link node which could hold information about colliders. + //! @param entityId A non-active entity which will be affected. + void AddColliders(urdf::LinkSharedPtr link, AZ::EntityId entityId); + //! Sends meshes required for colliders to asset processor. + //! @param buildReadyCb Function to call when the processing finishes. + void ProcessMeshes(BuildReadyCallback notifyBuildReadyCb); + + private: + void FindWheelMaterial(); + void BuildCollider(urdf::CollisionSharedPtr collision); + void AddCollider( + urdf::CollisionSharedPtr collision, + AZ::EntityId entityId, + const AZStd::string& generatedName, + const AZ::Data::Asset& materialAsset); + void AddColliderToEntity( + urdf::CollisionSharedPtr collision, AZ::EntityId entityId, const AZ::Data::Asset& materialAsset) const; + + AZ::Data::Asset m_wheelMaterial; + AZStd::shared_ptr m_urdfAssetsMapping; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/InertialsMaker.cpp b/Gems/ROS2/Code/Source/RobotImporter/URDF/InertialsMaker.cpp new file mode 100644 index 000000000..7361d3386 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/InertialsMaker.cpp @@ -0,0 +1,55 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "InertialsMaker.h" +#include "RobotImporter/Utils/DefaultSolverConfiguration.h" +#include +#include +#include +#include + +namespace ROS2 +{ + void InertialsMaker::AddInertial(urdf::InertialSharedPtr inertial, AZ::EntityId entityId) const + { + if (!inertial) + { // it is ok not to have inertia in a link + return; + } + AZ_TracePrintf("AddInertial", "Processing inertial for entity id: %s\n", entityId.ToString().c_str()); + + AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId); + PhysX::EditorRigidBodyConfiguration rigidBodyConfiguration; + PhysX::RigidBodyConfiguration physxSpecificConfiguration; + physxSpecificConfiguration.m_solverPositionIterations = + AZStd::max(physxSpecificConfiguration.m_solverPositionIterations, URDF::DefaultNumberPosSolver); + physxSpecificConfiguration.m_solverVelocityIterations = + AZStd::max(physxSpecificConfiguration.m_solverVelocityIterations, URDF::DefaultNumberVelSolver); + + rigidBodyConfiguration.m_mass = inertial->mass; + rigidBodyConfiguration.m_computeMass = false; + + rigidBodyConfiguration.m_centerOfMassOffset = URDF::TypeConversions::ConvertVector3(inertial->origin.position); + rigidBodyConfiguration.m_computeCenterOfMass = false; + + if (!URDF::TypeConversions::ConvertQuaternion(inertial->origin.rotation).IsIdentity()) + { // There is a rotation component in URDF that we are not able to apply + AZ_Warning("AddInertial", false, "Ignoring URDF inertial origin rotation (no such field in rigid body configuration)"); + } + + // Inertia tensor is symmetrical + auto inertiaMatrix = AZ::Matrix3x3::CreateFromRows( + AZ::Vector3(inertial->ixx, inertial->ixy, inertial->ixz), + AZ::Vector3(inertial->ixy, inertial->iyy, inertial->iyz), + AZ::Vector3(inertial->ixz, inertial->iyz, inertial->izz)); + rigidBodyConfiguration.m_inertiaTensor = inertiaMatrix; + rigidBodyConfiguration.m_computeInertiaTensor = false; + + entity->CreateComponent(rigidBodyConfiguration, physxSpecificConfiguration); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/InertialsMaker.h b/Gems/ROS2/Code/Source/RobotImporter/URDF/InertialsMaker.h new file mode 100644 index 000000000..2475225a1 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/InertialsMaker.h @@ -0,0 +1,25 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include "UrdfParser.h" +#include + +namespace ROS2 +{ + //! Populates the entity with contents of the tag in robot description. + class InertialsMaker + { + public: + //! Add zero or one inertial elements to a given entity (depending on link content). + //! @param inertial A pointer to a parsed URDF inertial structure, might be null. + //! @param entityId A non-active entity which will be populated according to inertial content. + void AddInertial(urdf::InertialSharedPtr inertial, AZ::EntityId entityId) const; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/JointsMaker.cpp b/Gems/ROS2/Code/Source/RobotImporter/URDF/JointsMaker.cpp new file mode 100644 index 000000000..0e7b84d9a --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/JointsMaker.cpp @@ -0,0 +1,132 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "JointsMaker.h" +#include "PrefabMakerUtils.h" +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + + JointsMaker::JointsMakerResult JointsMaker::AddJointComponent( + urdf::JointSharedPtr joint, AZ::EntityId followColliderEntityId, AZ::EntityId leadColliderEntityId) const + { + AZ::Entity* followColliderEntity = AzToolsFramework::GetEntityById(followColliderEntityId); + PhysX::EditorJointComponent* jointComponent = nullptr; + + // URDF has a joint axis configurable by a normalized vector - that is given by the 'axis' sub-element in the joint element. + // The o3de has a slightly different way of configuring the axis of the joint. The o3de has an axis around positive `X` and rotation + // with Euler angles can be applied to configure the desirable direction of the joint. A quaternion that transforms a unit vector X + // {1,0,0} to a vector given by the URDF joint need to be found. Heavily suboptimal element in this conversion is needed of + // converting the unit quaternion to Euler vector. + const AZ::Vector3 o3de_joint_dir{ 1.0, 0.0, 0.0 }; + const AZ::Vector3 joint_axis = URDF::TypeConversions::ConvertVector3(joint->axis); + const auto quaternion = + joint_axis.IsZero() ? AZ::Quaternion::CreateIdentity() : AZ::Quaternion::CreateShortestArc(o3de_joint_dir, joint_axis); + + AZ_Printf( + "JointsMaker", + "Quaternion from URDF to o3de %f, %f, %f, %f", + quaternion.GetX(), + quaternion.GetY(), + quaternion.GetZ(), + quaternion.GetW()); + const AZ::Vector3 rotation = quaternion.GetEulerDegrees(); + + switch (joint->type) + { + case urdf::Joint::FIXED: + { + jointComponent = followColliderEntity->CreateComponent(); + } + break; + case urdf::Joint::PRISMATIC: + { + jointComponent = followColliderEntity->CreateComponent(); + followColliderEntity->Activate(); + + PhysX::EditorJointRequestBus::Event( + AZ::EntityComponentIdPair(followColliderEntityId, jointComponent->GetId()), + &PhysX::EditorJointRequests::SetVector3Value, + PhysX::JointsComponentModeCommon::ParameterNames::Rotation, + rotation); + + PhysX::EditorJointRequestBus::Event( + AZ::EntityComponentIdPair(followColliderEntityId, jointComponent->GetId()), + &PhysX::EditorJointRequests::SetLinearValuePair, + PhysX::JointsComponentModeCommon::ParameterNames::LinearLimits, + PhysX::AngleLimitsFloatPair(joint->limits->upper, joint->limits->lower)); + + followColliderEntity->Deactivate(); + } + break; + case urdf::Joint::CONTINUOUS: + { // Implemented as Hinge with angular limit disabled + jointComponent = followColliderEntity->CreateComponent(); + followColliderEntity->Activate(); + + PhysX::EditorJointRequestBus::Event( + AZ::EntityComponentIdPair(followColliderEntityId, jointComponent->GetId()), + [&rotation](PhysX::EditorJointRequests* editorJointRequest) + { + editorJointRequest->SetVector3Value(PhysX::JointsComponentModeCommon::ParameterNames::Rotation, rotation); + editorJointRequest->SetLinearValuePair( + PhysX::JointsComponentModeCommon::ParameterNames::TwistLimits, + PhysX::AngleLimitsFloatPair(AZ::RadToDeg(AZ::Constants::TwoPi), -AZ::RadToDeg(AZ::Constants::TwoPi))); + editorJointRequest->SetBoolValue(PhysX::JointsComponentModeCommon::ParameterNames::EnableLimits, false); + }); + followColliderEntity->Deactivate(); + } + break; + case urdf::Joint::REVOLUTE: + { // Hinge + jointComponent = followColliderEntity->CreateComponent(); + followColliderEntity->Activate(); + + const double limitUpper = AZ::RadToDeg(joint->limits->upper); + const double limitLower = AZ::RadToDeg(joint->limits->lower); + AZ_Printf( + "JointsMaker", + "Setting limits : upper: %.1f lower: %.1f (URDF:%f,%f)", + limitUpper, + limitLower, + joint->limits->upper, + joint->limits->lower); + PhysX::EditorJointRequestBus::Event( + AZ::EntityComponentIdPair(followColliderEntityId, jointComponent->GetId()), + [&rotation, &limitLower, &limitUpper](PhysX::EditorJointRequests* editorJointRequest) + { + editorJointRequest->SetVector3Value(PhysX::JointsComponentModeCommon::ParameterNames::Rotation, rotation); + editorJointRequest->SetLinearValuePair( + PhysX::JointsComponentModeCommon::ParameterNames::TwistLimits, + PhysX::AngleLimitsFloatPair(limitUpper, limitLower)); + }); + followColliderEntity->Deactivate(); + } + break; + default: + AZ_Warning("AddJointComponent", false, "Unknown or unsupported joint type %d for joint %s", joint->type, joint->name.c_str()); + return AZ::Failure(AZStd::string::format("unsupported joint type : %d", joint->type)); + } + + followColliderEntity->Activate(); + PhysX::EditorJointRequestBus::Event( + AZ::EntityComponentIdPair(followColliderEntityId, jointComponent->GetId()), + &PhysX::EditorJointRequests::SetEntityIdValue, + PhysX::JointsComponentModeCommon::ParameterNames::LeadEntity, + leadColliderEntityId); + followColliderEntity->Deactivate(); + return AZ::Success(jointComponent->GetId()); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/JointsMaker.h b/Gems/ROS2/Code/Source/RobotImporter/URDF/JointsMaker.h new file mode 100644 index 000000000..cdf2f4253 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/JointsMaker.h @@ -0,0 +1,33 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include "UrdfParser.h" +#include +#include +#include + +namespace ROS2 +{ + //! Populates a given entity with all the contents of the tag in robot description. + //! In URDF, joints are specified between two given links, but in PhysX they are between two Bodies / Colliders. + class JointsMaker + { + public: + using JointsMakerResult = AZ::Outcome; + + //! Add a joint to an entity and sets it accordingly to urdf::Joint + //! @param joint Joint data + //! @param followColliderEntityId A non-active entity which will be populated with Joint components. + //! @param leadColliderEntityId An entity higher in hierarchy which is connected through the joint with the child entity. + //! @returns created components Id or string with fail + JointsMakerResult AddJointComponent( + urdf::JointSharedPtr joint, AZ::EntityId followColliderEntityId, AZ::EntityId leadColliderEntityId) const; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/PrefabMakerUtils.cpp b/Gems/ROS2/Code/Source/RobotImporter/URDF/PrefabMakerUtils.cpp new file mode 100644 index 000000000..c0e5476db --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/PrefabMakerUtils.cpp @@ -0,0 +1,120 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "RobotImporter/URDF/PrefabMakerUtils.h" +#include "RobotImporter/Utils/TypeConversions.h" +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2::PrefabMakerUtils +{ + AZ::IO::Path GetAzModelAssetPathFromModelPath(const AZ::IO::Path& modelPath) + { + bool assetFound = false; + AZ::Data::AssetInfo assetInfo; + AZ::IO::Path watchDir; + AzToolsFramework::AssetSystemRequestBus::BroadcastResult( + assetFound, + &AzToolsFramework::AssetSystem::AssetSystemRequest::GetSourceInfoBySourcePath, + modelPath.c_str(), + assetInfo, + watchDir.Native()); + + if (!assetFound) + { + AZ_Error("PrefabMakerUtils", false, "Could not find model asset for %s", modelPath.c_str()); + return {}; + } + + auto assetPath = AZ::IO::Path(assetInfo.m_relativePath).ReplaceExtension("azmodel"); + AZStd::to_lower(assetPath.Native().begin(), assetPath.Native().end()); + + return assetPath; + } + + void SetEntityTransformLocal(const urdf::Pose& origin, AZ::EntityId entityId) + { + urdf::Vector3 urdfPosition = origin.position; + urdf::Rotation urdfRotation = origin.rotation; + AZ::Quaternion azRotation = URDF::TypeConversions::ConvertQuaternion(urdfRotation); + AZ::Vector3 azPosition = URDF::TypeConversions::ConvertVector3(urdfPosition); + AZ::Transform tf(azPosition, azRotation, 1.0f); + + AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId); + auto* transformInterface = entity->FindComponent(); + + if (!transformInterface) + { + AZ_Error("SetEntityTransform", false, "Missing Transform component!"); + return; + } + transformInterface->SetLocalTM(tf); + } + + AzToolsFramework::Prefab::PrefabEntityResult CreateEntity(AZ::EntityId parentEntityId, const AZStd::string& name) + { + auto* prefabInterface = AZ::Interface::Get(); + auto createEntityResult = prefabInterface->CreateEntity(parentEntityId, AZ::Vector3()); + if (!createEntityResult.IsSuccess()) + { + return createEntityResult; + } + + + // Verify that a valid entity is created. + AZ::EntityId entityId = createEntityResult.GetValue(); + if (!entityId.IsValid()) + { + return AZ::Failure(AZStd::string("Invalid id for created entity")); + } + + AZ_TracePrintf("CreateEntity", "Processing entity id: %s with name: %s\n", entityId.ToString().c_str(), name.c_str()); + AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId); + entity->SetName(name); + entity->Deactivate(); + AddRequiredComponentsToEntity(entityId); + return createEntityResult; + } + + void AddRequiredComponentsToEntity(AZ::EntityId entityId) + { + AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId); + AZ_Assert(entity, "Unknown entity %s", entityId.ToString().c_str()); + AzToolsFramework::EditorEntityContextRequestBus::Broadcast( + &AzToolsFramework::EditorEntityContextRequests::AddRequiredComponents, *entity); + } + + AZStd::string MakeEntityName(const AZStd::string& rootName, const AZStd::string& type, size_t index) + { + const AZStd::string suffix = index == 0 ? AZStd::string() : AZStd::string::format("_%zu", index); + return AZStd::string::format("%s_%s%s", rootName.c_str(), type.c_str(), suffix.c_str()); + } + + AZStd::optional GetAssetFromPath(const Utils::UrdfAssetMap& urdfAssetsMapping, const AZStd::string& urdfMeshPath) + { + if (!urdfAssetsMapping.contains(urdfMeshPath)) + { + AZ_Warning("GetAssetFromPath", false, "there is no asset for mesh %s ", urdfMeshPath.c_str()); + return AZStd::optional(); + } + + return urdfAssetsMapping.at(urdfMeshPath).m_availableAssetInfo; + } + + AZStd::optional GetAssetFromPath(const Utils::UrdfAssetMap& urdfAssetsMapping, const std::string& urdfMeshPath) + { + return GetAssetFromPath(urdfAssetsMapping, AZStd::string(urdfMeshPath.c_str(), urdfMeshPath.size())); + } + +} // namespace ROS2::PrefabMakerUtils diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/PrefabMakerUtils.h b/Gems/ROS2/Code/Source/RobotImporter/URDF/PrefabMakerUtils.h new file mode 100644 index 000000000..ffabeee69 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/PrefabMakerUtils.h @@ -0,0 +1,61 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include "UrdfParser.h" +#include +#include +#include +#include + +#include + +//! Common utils for Prefab Maker classes +namespace ROS2::PrefabMakerUtils +{ + //! Add required components to the entity. + //! Calling this will ensure all the required (default) components are added. + //! @param entityId entity to modify. + void AddRequiredComponentsToEntity(AZ::EntityId entityId); + + //! For a given model, return path to its Assets. + //! @param modelPath path to the model. + //! @return path to assets directory for this model. + AZ::IO::Path GetAzModelAssetPathFromModelPath(const AZ::IO::Path& modelPath); + + //! Set the transform for an entity. + //! @param origin pose for the entity to set. + //! @param entityId entity which will be modified. + void SetEntityTransformLocal(const urdf::Pose& origin, AZ::EntityId entityId); + + //! Create a prefab entity in hierarchy. + //! @param parentEntityId id of parent entity for this new entity. + //! Passing an invalid id would get the entity in the current context (for example, an entity which is currently open in the Editor). + //! @param name name for the new entity. + //! @return a result which is either a created prefab entity or an error. + AzToolsFramework::Prefab::PrefabEntityResult CreateEntity(AZ::EntityId parentEntityId, const AZStd::string& name); + + //! Create an entity name from arguments. + //! @param rootName root of entity's name. + //! @param type type of entity, depending on corresponding URDF tag. For example, "visual". + //! @param index index of entity, useful when multiple visuals or colliders are present for a single link. + //! @return entity name, for example "robotBumper_visual_1". + AZStd::string MakeEntityName(const AZStd::string& rootName, const AZStd::string& type, size_t index = 0); + + //! Get an Asset for a specified mesh given its path and mapping. + //! @param urdfAssetsMapping mapping of URDF assets. + //! @param urdfMeshPath a path to the mesh for which the Asset is requested. + //! @return Asset for the mesh, if found in the mapping. + AZStd::optional GetAssetFromPath( + const Utils::UrdfAssetMap& urdfAssetsMapping, const AZStd::string& urdfMeshPath); + + //! Get Asset from path. Version for std::string. + //! @see GetAssetFromPath. + AZStd::optional GetAssetFromPath(const Utils::UrdfAssetMap& urdfAssetsMapping, const std::string& urdfMeshPath); +} // namespace ROS2::PrefabMakerUtils diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/URDFPrefabMaker.cpp b/Gems/ROS2/Code/Source/RobotImporter/URDF/URDFPrefabMaker.cpp new file mode 100644 index 000000000..36cad81f9 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/URDFPrefabMaker.cpp @@ -0,0 +1,348 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "URDFPrefabMaker.h" +#include "CollidersMaker.h" +#include "PrefabMakerUtils.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + URDFPrefabMaker::URDFPrefabMaker( + const AZStd::string& modelFilePath, + urdf::ModelInterfaceSharedPtr model, + AZStd::string prefabPath, + const AZStd::shared_ptr urdfAssetsMapping, + bool useArticulations) + : m_model(model) + , m_visualsMaker(model->materials_, urdfAssetsMapping) + , m_collidersMaker(urdfAssetsMapping) + , m_prefabPath(std::move(prefabPath)) + , m_urdfAssetsMapping(urdfAssetsMapping) + , m_useArticulations(useArticulations) + { + AZ_Assert(!m_prefabPath.empty(), "Prefab path is empty"); + AZ_Assert(m_model, "Model is nullptr"); + } + + void URDFPrefabMaker::BuildAssetsForLink(urdf::LinkSharedPtr link) + { + m_collidersMaker.BuildColliders(link); + for (auto childLink : link->child_links) + { + BuildAssetsForLink(childLink); + } + } + + AzToolsFramework::Prefab::CreatePrefabResult URDFPrefabMaker::CreatePrefabFromURDF() + { + { + AZStd::lock_guard lck(m_statusLock); + m_status.clear(); + } + + // Begin an undo batch for prefab creation process + AzToolsFramework::UndoSystem::URSequencePoint* currentUndoBatch = nullptr; + AzToolsFramework::ToolsApplicationRequests::Bus::BroadcastResult( + currentUndoBatch, &AzToolsFramework::ToolsApplicationRequests::BeginUndoBatch, "Robot Importer prefab creation"); + if (currentUndoBatch == nullptr) + { + AZ_Warning("URDF Prefab Maker", false, "Unable to start undobatch, EBus might not be listening"); + } + + AZStd::unordered_map createdLinks; + AzToolsFramework::Prefab::PrefabEntityResult createEntityRoot = AddEntitiesForLink(m_model->root_link_, AZ::EntityId()); + AZStd::string rootName(m_model->root_link_->name.c_str(), m_model->root_link_->name.size()); + createdLinks[rootName] = createEntityRoot; + if (!createEntityRoot.IsSuccess()) + { + // End undo batch labeled "Robot Importer prefab creation" preemptively if an error occurs + if (currentUndoBatch != nullptr) + { + AzToolsFramework::ToolsApplicationRequests::Bus::Broadcast( + &AzToolsFramework::ToolsApplicationRequests::Bus::Events::EndUndoBatch); + } + + return AZ::Failure(AZStd::string(createEntityRoot.GetError())); + } + + auto links = Utils::GetAllLinks(m_model->root_link_->child_links); + + for (const auto& [name, linkPtr] : links) + { + createdLinks[name] = AddEntitiesForLink(linkPtr, createEntityRoot.GetValue()); + } + + for (const auto& [name, result] : createdLinks) + { + AZ_TracePrintf( + "CreatePrefabFromURDF", + "Link with name %s was created as: %s\n", + name.c_str(), + result.IsSuccess() ? (result.GetValue().ToString().c_str()) : ("[Failed]")); + AZStd::lock_guard lck(m_statusLock); + if (result.IsSuccess()) + { + m_status.emplace(name, AZStd::string::format("created as: %s", result.GetValue().ToString().c_str())); + } + else + { + m_status.emplace(name, AZStd::string::format("failed : %s", result.GetError().c_str())); + } + } + + // Set the transforms of links + for (const auto& [name, linkPtr] : links) + { + const auto this_entry = createdLinks.at(name); + if (this_entry.IsSuccess()) + { + AZ::Transform tf = Utils::GetWorldTransformURDF(linkPtr); + auto* entity = AzToolsFramework::GetEntityById(this_entry.GetValue()); + if (entity) + { + auto* transformInterface = entity->FindComponent(); + if (transformInterface) + { + AZ_TracePrintf( + "CreatePrefabFromURDF", + "Setting transform %s %s to [%f %f %f] [%f %f %f %f]\n", + name.c_str(), + this_entry.GetValue().ToString().c_str(), + tf.GetTranslation().GetX(), + tf.GetTranslation().GetY(), + tf.GetTranslation().GetZ(), + tf.GetRotation().GetX(), + tf.GetRotation().GetY(), + tf.GetRotation().GetZ(), + tf.GetRotation().GetW()); + transformInterface->SetWorldTM(tf); + } + else + { + AZ_TracePrintf( + "CreatePrefabFromURDF", "Setting transform failed: %s does not have transform interface\n", name.c_str()); + } + } + } + } + + // Set the hierarchy + for (const auto& [name, linkPtr] : links) + { + const auto thisEntry = createdLinks.at(name); + if (!thisEntry.IsSuccess()) + { + AZ_TracePrintf("CreatePrefabFromURDF", "Link %s creation failed\n", name.c_str()); + continue; + } + auto parentPtr = linkPtr->getParent(); + if (!parentPtr) + { + AZ_TracePrintf("CreatePrefabFromURDF", "Link %s has no parents\n", name.c_str()); + continue; + } + AZStd::string parentName(parentPtr->name.c_str(), parentPtr->name.size()); + const auto parentEntry = createdLinks.find(parentName); + if (parentEntry == createdLinks.end()) + { + AZ_TracePrintf("CreatePrefabFromURDF", "Link %s has invalid parent name %s\n", name.c_str(), parentName.c_str()); + continue; + } + if (!parentEntry->second.IsSuccess()) + { + AZ_TracePrintf( + "CreatePrefabFromURDF", "Link %s has parent %s which has failed to create\n", name.c_str(), parentName.c_str()); + continue; + } + AZ_TracePrintf( + "CreatePrefabFromURDF", + "Link %s setting parent to %s\n", + thisEntry.GetValue().ToString().c_str(), + parentEntry->second.GetValue().ToString().c_str()); + AZ_TracePrintf("CreatePrefabFromURDF", "Link %s setting parent to %s\n", name.c_str(), parentName.c_str()); + auto* entity = AzToolsFramework::GetEntityById(thisEntry.GetValue()); + entity->Activate(); + AZ::TransformBus::Event(thisEntry.GetValue(), &AZ::TransformBus::Events::SetParent, parentEntry->second.GetValue()); + entity->Deactivate(); + } + + if (!m_useArticulations) + { + auto joints = Utils::GetAllJoints(m_model->root_link_->child_links); + for (const auto& [name, jointPtr] : joints) + { + AZ_Assert(jointPtr, "joint %s is null", name.c_str()); + AZ_TracePrintf( + "CreatePrefabFromURDF", + "Creating joint %s : %s -> %s\n", + name.c_str(), + jointPtr->parent_link_name.c_str(), + jointPtr->child_link_name.c_str()); + + auto leadEntity = createdLinks.at(jointPtr->parent_link_name.c_str()); + auto childEntity = createdLinks.at(jointPtr->child_link_name.c_str()); + // check if both has RigidBody + if (leadEntity.IsSuccess() && childEntity.IsSuccess()) + { + AZStd::lock_guard lck(m_statusLock); + auto result = m_jointsMaker.AddJointComponent(jointPtr, childEntity.GetValue(), leadEntity.GetValue()); + m_status.emplace( + name, AZStd::string::format(" %s %llu", result.IsSuccess() ? "created as" : "Failed", result.GetValue())); + } + else + { + AZ_Warning("CreatePrefabFromURDF", false, "cannot create joint %s", name.c_str()); + } + } + } + + MoveEntityToDefaultSpawnPoint(createEntityRoot.GetValue()); + + auto contentEntityId = createEntityRoot.GetValue(); + AddRobotControl(contentEntityId); + + // Create prefab, save it to disk immediately + // Remove prefab, if it was already created. + + AZ::EntityId entityId = createEntityRoot.GetValue(); + + auto prefabSystemComponent = AZ::Interface::Get(); + auto prefabLoaderInterface = AZ::Interface::Get(); + auto prefabInterface = AZ::Interface::Get(); + + AZ::IO::Path relativeFilePath = prefabLoaderInterface->GenerateRelativePath(m_prefabPath.c_str()); + + const auto templateId = prefabSystemComponent->GetTemplateIdFromFilePath(relativeFilePath); + AZ_TracePrintf("CreatePrefabFromURDF", "GetTemplateIdFromFilePath %s -> %d \n", m_prefabPath.c_str(), templateId); + + if (templateId != AzToolsFramework::Prefab::InvalidTemplateId) + { + AZ_TracePrintf("CreatePrefabFromURDF", "Prefab was already loaded\n"); + prefabSystemComponent->RemoveTemplate(templateId); + } + + auto outcome = prefabInterface->CreatePrefabInDisk(AzToolsFramework::EntityIdList{ entityId }, m_prefabPath.c_str()); + if (outcome.IsSuccess()) + { + AZ::EntityId prefabContainerEntityId = outcome.GetValue(); + PrefabMakerUtils::AddRequiredComponentsToEntity(prefabContainerEntityId); + } + AZ_TracePrintf("CreatePrefabFromURDF", "Successfully created prefab %s\n", m_prefabPath.c_str()); + + // End undo batch labeled "Robot Importer prefab creation" + if (currentUndoBatch != nullptr) + { + AzToolsFramework::ToolsApplicationRequests::Bus::Broadcast( + &AzToolsFramework::ToolsApplicationRequests::Bus::Events::EndUndoBatch); + } + + return outcome; + } + + AzToolsFramework::Prefab::PrefabEntityResult URDFPrefabMaker::AddEntitiesForLink(urdf::LinkSharedPtr link, AZ::EntityId parentEntityId) + { + if (!link) + { + AZ::Failure(AZStd::string("Failed to create prefab entity - link is null")); + } + + auto createEntityResult = PrefabMakerUtils::CreateEntity(parentEntityId, link->name.c_str()); + if (!createEntityResult.IsSuccess()) + { + return createEntityResult; + } + AZ::EntityId entityId = createEntityResult.GetValue(); + AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId); + + const auto frameCompontentId = Utils::CreateComponent(entityId, ROS2FrameComponent::TYPEINFO_Uuid()); + if (frameCompontentId) + { + auto* component = Utils::GetGameOrEditorComponent(entity); + AZ_Assert(component, "ROS2 Frame Component does not exist for %s", entityId.ToString().c_str()); + component->SetFrameID(AZStd::string(link->name.c_str(), link->name.size())); + } + m_visualsMaker.AddVisuals(link, entityId); + if (!m_useArticulations) + { + m_inertialsMaker.AddInertial(link->inertial, entityId); + } + else + { + m_articulationsMaker.AddArticulationLink(link, entityId); + } + + m_collidersMaker.AddColliders(link, entityId); + return AZ::Success(entityId); + } + + void URDFPrefabMaker::AddRobotControl(AZ::EntityId rootEntityId) + { + const auto componentId = Utils::CreateComponent(rootEntityId, ROS2RobotControlComponent::TYPEINFO_Uuid()); + if (componentId) + { + ControlConfiguration controlConfiguration; + TopicConfiguration subscriberConfiguration; + subscriberConfiguration.m_topic = "cmd_vel"; + AZ::Entity* rootEntity = AzToolsFramework::GetEntityById(rootEntityId); + auto* component = Utils::GetGameOrEditorComponent(rootEntity); + component->SetControlConfiguration(controlConfiguration); + component->SetSubscriberConfiguration(subscriberConfiguration); + } + } + + const AZStd::string& URDFPrefabMaker::GetPrefabPath() const + { + return m_prefabPath; + } + + void URDFPrefabMaker::MoveEntityToDefaultSpawnPoint(const AZ::EntityId& rootEntityId) + { + auto spawner = ROS2::SpawnerInterface::Get(); + + if (spawner == nullptr) + { + AZ_TracePrintf("URDF Importer", "Spawner not found - creating entity in (0,0,0)\n") return; + } + + auto entity_ = AzToolsFramework::GetEntityById(rootEntityId); + auto* transformInterface_ = entity_->FindComponent(); + + if (transformInterface_ == nullptr) + { + AZ_TracePrintf("URDF Importer", "TransformComponent not found in created entity\n") return; + } + + auto pose = spawner->GetDefaultSpawnPose(); + + transformInterface_->SetWorldTM(pose); + } + + AZStd::string URDFPrefabMaker::GetStatus() + { + AZStd::string str; + AZStd::lock_guard lck(m_statusLock); + for (const auto& [entry, entryStatus] : m_status) + { + str += entry + " " + entryStatus + "\n"; + } + return str; + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/URDFPrefabMaker.h b/Gems/ROS2/Code/Source/RobotImporter/URDF/URDFPrefabMaker.h new file mode 100644 index 000000000..f6a68d610 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/URDFPrefabMaker.h @@ -0,0 +1,78 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include "ArticulationsMaker.h" +#include "CollidersMaker.h" +#include "InertialsMaker.h" +#include "JointsMaker.h" +#include "UrdfParser.h" +#include "VisualsMaker.h" +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! Encapsulates constructive mapping of URDF elements to a complete prefab with entities and components + class URDFPrefabMaker + { + public: + //! Construct URDFPrefabMaker from arguments. + //! @param modelFilePath path to the source URDF model. + //! @param model parsed model. + //! @param prefabPath path to the prefab which will be created as a result of import. + //! @param urdfAssetsMapping prepared mapping of URDF meshes to Assets. + //! @param useArticulations allows urdfImporter to create PhysXArticulations instead of multiple rigid bodies and joints. + URDFPrefabMaker( + const AZStd::string& modelFilePath, + urdf::ModelInterfaceSharedPtr model, + AZStd::string prefabPath, + const AZStd::shared_ptr urdfAssetsMapping, + bool useArticulations = false); + + ~URDFPrefabMaker() = default; + + //! Create and return a prefab corresponding to the URDF model as set through the constructor. + //! @return result which is either a prefab containing the imported model based on URDF or an error. + AzToolsFramework::Prefab::CreatePrefabResult CreatePrefabFromURDF(); + + //! Get path to the prefab resulting from the import. + //! @return path to the prefab. + const AZStd::string& GetPrefabPath() const; + + //! Get descriptive status of import. + //! A string with the status, which can be understood by the user. + AZStd::string GetStatus(); + + private: + AzToolsFramework::Prefab::PrefabEntityResult AddEntitiesForLink(urdf::LinkSharedPtr link, AZ::EntityId parentEntityId); + void BuildAssetsForLink(urdf::LinkSharedPtr link); + void AddRobotControl(AZ::EntityId rootEntityId); + static void MoveEntityToDefaultSpawnPoint(const AZ::EntityId& rootEntityId); + + urdf::ModelInterfaceSharedPtr m_model; + AZStd::string m_prefabPath; + VisualsMaker m_visualsMaker; + CollidersMaker m_collidersMaker; + InertialsMaker m_inertialsMaker; + JointsMaker m_jointsMaker; + ArticulationsMaker m_articulationsMaker; + + AZStd::mutex m_statusLock; + AZStd::multimap m_status; + + AZStd::shared_ptr m_urdfAssetsMapping; + bool m_useArticulations{ false }; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/UrdfParser.cpp b/Gems/ROS2/Code/Source/RobotImporter/URDF/UrdfParser.cpp new file mode 100644 index 000000000..a5d81fe10 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/UrdfParser.cpp @@ -0,0 +1,98 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "UrdfParser.h" + +#include + +#include +#include +#include +#include + +namespace ROS2 +{ + namespace UrdfParser::Internal + { + void CheckIfCurrentLocaleHasDotAsADecimalSeparator() + { + // Due to the fact that URDF parser takes into account the locale information, incompatibility between URDF file locale and + // system locale might lead to incorrect URDF parsing. Mainly it affects floating point numbers, and the decimal separator. When + // locales are set to system with comma as decimal separator and URDF file is created with dot as decimal separator, URDF parser + // will trim the floating point number after comma. For example, if parsing 0.1, URDF parser will parse it as 0. + // This might lead to incorrect URDF loading. If the current locale is not a dot (as per standard ROS locale), we warn the user. + std::locale currentLocale(""); + if (std::use_facet>(currentLocale).decimal_point() != '.') + { + AZ_Warning( + "UrdfParser", false, "Locale %s might be incompatible with the URDF file content.\n", currentLocale.name().c_str()); + } + } + + class CustomConsoleHandler : public console_bridge::OutputHandler + { + private: + std::stringstream console_ss; + + public: + void log(const std::string& text, console_bridge::LogLevel level, const char* filename, int line) override final; + + //! Clears accumulated log + void Clear(); + + //! Read accumulated log to a string + AZStd::string GetLog(); + }; + + void CustomConsoleHandler::log(const std::string& text, console_bridge::LogLevel level, const char* filename, int line) + { + AZ_Printf("UrdfParser", "%s\n", text.c_str()); + console_ss << text << "\n"; + } + + void CustomConsoleHandler::Clear() + { + console_ss = std::stringstream(); + } + + AZStd::string CustomConsoleHandler::GetLog() + { + return AZStd::string(console_ss.str().c_str(), console_ss.str().size()); + } + + CustomConsoleHandler customConsoleHandler; + } // namespace UrdfParser::Internal + + urdf::ModelInterfaceSharedPtr UrdfParser::Parse(const AZStd::string& xmlString) + { + console_bridge::useOutputHandler(&Internal::customConsoleHandler); + Internal::CheckIfCurrentLocaleHasDotAsADecimalSeparator(); + const auto ret = urdf::parseURDF(xmlString.c_str()); + console_bridge::restorePreviousOutputHandler(); + return ret; + } + + urdf::ModelInterfaceSharedPtr UrdfParser::ParseFromFile(const AZStd::string& filePath) + { + std::ifstream istream(filePath.c_str()); + if (!istream) + { + AZ_Error("UrdfParser", false, "File %s does not exist", filePath.c_str()); + return nullptr; + } + + std::string xmlStr((std::istreambuf_iterator(istream)), std::istreambuf_iterator()); + return Parse(xmlStr.c_str()); + } + + AZStd::string UrdfParser::GetUrdfParsingLog() + { + return Internal::customConsoleHandler.GetLog(); + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/UrdfParser.h b/Gems/ROS2/Code/Source/RobotImporter/URDF/UrdfParser.h new file mode 100644 index 000000000..094aeb699 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/UrdfParser.h @@ -0,0 +1,34 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +namespace ROS2 +{ + //! Class for parsing URDF data. + namespace UrdfParser + { + //! Parse string with URDF data and generate model. + //! @param xmlString a string that contains URDF data (XML format). + //! @return model represented as a tree of parsed links. + urdf::ModelInterfaceSharedPtr Parse(const AZStd::string& xmlString); + + //! Parse file with URDF data and generate model. + //! @param filePath is a path to file with URDF data that will be loaded and parsed. + //! @return model represented as a tree of parsed links. + urdf::ModelInterfaceSharedPtr ParseFromFile(const AZStd::string& filePath); + + //! Retrieve console log from URDF parsing + //! @return a log with output from urdf_parser + AZStd::string GetUrdfParsingLog(); + + }; // namespace UrdfParser +} // namespace ROS2 \ No newline at end of file diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/VisualsMaker.cpp b/Gems/ROS2/Code/Source/RobotImporter/URDF/VisualsMaker.cpp new file mode 100644 index 000000000..ca8e02e64 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/VisualsMaker.cpp @@ -0,0 +1,226 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "RobotImporter/URDF/VisualsMaker.h" +#include "RobotImporter/URDF/PrefabMakerUtils.h" +#include "RobotImporter/Utils/TypeConversions.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + VisualsMaker::VisualsMaker( + const std::map& materials, const AZStd::shared_ptr& urdfAssetsMapping) + : m_urdfAssetsMapping(urdfAssetsMapping) + { + AZStd::ranges::for_each( + materials, + [&](const auto& p) + { + m_materials[AZStd::string(p.first.c_str(), p.first.size())] = p.second; + }); + } + + void VisualsMaker::AddVisuals(urdf::LinkSharedPtr link, AZ::EntityId entityId) const + { + const AZStd::string typeString = "visual"; + if (link->visual_array.size() < 1) + { // For zero visuals, element is used + AddVisual(link->visual, entityId, PrefabMakerUtils::MakeEntityName(link->name.c_str(), typeString)); + return; + } + size_t nameSuffixIndex = 0; // For disambiguation when multiple unnamed visuals are present. The order does not matter here + + for (auto visual : link->visual_array) + { // For one or more visuals, an array is used + AddVisual(visual, entityId, PrefabMakerUtils::MakeEntityName(link->name.c_str(), typeString, nameSuffixIndex)); + nameSuffixIndex++; + } + } + + void VisualsMaker::AddVisual(urdf::VisualSharedPtr visual, AZ::EntityId entityId, const AZStd::string& generatedName) const + { + if (!visual) + { // It is ok not to have a visual in a link + return; + } + + if (!visual->geometry) + { // Non-empty visual should have a geometry. Warn if no geometry present + AZ_Warning("AddVisual", false, "No Geometry for a visual"); + return; + } + + AZ_TracePrintf("AddVisual", "Processing visual for entity id:%s\n", entityId.ToString().c_str()); + + // Use a name generated from the link unless specific name is defined for this visual + const char* subEntityName = visual->name.empty() ? generatedName.c_str() : visual->name.c_str(); + // Since O3DE does not allow origin for visuals, we need to create a sub-entity and store visual there + auto createEntityResult = PrefabMakerUtils::CreateEntity(entityId, subEntityName); + if (!createEntityResult.IsSuccess()) + { + AZ_Error("AddVisual", false, "Unable to create a sub-entity for visual element %s\n", subEntityName); + return; + } + auto visualEntityId = createEntityResult.GetValue(); + AddVisualToEntity(visual, visualEntityId); + AddMaterialForVisual(visual, visualEntityId); + } + + void VisualsMaker::AddVisualToEntity(urdf::VisualSharedPtr visual, AZ::EntityId entityId) const + { + // Apply transform as per origin + PrefabMakerUtils::SetEntityTransformLocal(visual->origin, entityId); + + AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId); + auto geometry = visual->geometry; + switch (geometry->type) + { + case urdf::Geometry::SPHERE: + { + auto sphereGeometry = std::dynamic_pointer_cast(geometry); + AZ_Assert(sphereGeometry, "geometry is not Sphere"); + entity->CreateComponent(LmbrCentral::EditorSphereShapeComponentTypeId); + entity->Activate(); + LmbrCentral::SphereShapeComponentRequestsBus::Event( + entityId, &LmbrCentral::SphereShapeComponentRequests::SetRadius, sphereGeometry->radius); + LmbrCentral::EditorShapeComponentRequestsBus::Event( + entityId, &LmbrCentral::EditorShapeComponentRequests::SetVisibleInGame, true); + entity->Deactivate(); + } + break; + case urdf::Geometry::CYLINDER: + { + auto cylinderGeometry = std::dynamic_pointer_cast(geometry); + AZ_Assert(cylinderGeometry, "geometry is not Cylinder"); + entity->CreateComponent(LmbrCentral::EditorCylinderShapeComponentTypeId); + entity->Activate(); + LmbrCentral::CylinderShapeComponentRequestsBus::Event( + entityId, &LmbrCentral::CylinderShapeComponentRequests::SetRadius, cylinderGeometry->radius); + LmbrCentral::CylinderShapeComponentRequestsBus::Event( + entityId, &LmbrCentral::CylinderShapeComponentRequests::SetHeight, cylinderGeometry->length); + LmbrCentral::EditorShapeComponentRequestsBus::Event( + entityId, &LmbrCentral::EditorShapeComponentRequests::SetVisibleInGame, true); + entity->Deactivate(); + } + break; + case urdf::Geometry::BOX: + { + auto boxGeometry = std::dynamic_pointer_cast(geometry); + AZ_Assert(boxGeometry, "geometry is not Box"); + entity->CreateComponent(LmbrCentral::EditorBoxShapeComponentTypeId); + AZ::Vector3 boxDimensions = URDF::TypeConversions::ConvertVector3(boxGeometry->dim); + entity->Activate(); + LmbrCentral::BoxShapeComponentRequestsBus::Event( + entityId, &LmbrCentral::BoxShapeComponentRequests::SetBoxDimensions, boxDimensions); + LmbrCentral::EditorShapeComponentRequestsBus::Event( + entityId, &LmbrCentral::EditorShapeComponentRequests::SetVisibleInGame, true); + entity->Deactivate(); + } + break; + case urdf::Geometry::MESH: + { + auto meshGeometry = std::dynamic_pointer_cast(geometry); + AZ_Assert(meshGeometry, "geometry is not Mesh"); + + const auto asset = PrefabMakerUtils::GetAssetFromPath(*m_urdfAssetsMapping, meshGeometry->filename); + + if (asset) + { + entity->CreateComponent(AZ::Render::EditorMeshComponentTypeId); + + // Prepare scale + AZ::Vector3 scaleVector = URDF::TypeConversions::ConvertVector3(meshGeometry->scale); + bool isUniformScale = + AZ::IsClose(scaleVector.GetMaxElement(), scaleVector.GetMinElement(), AZ::Constants::FloatEpsilon); + if (!isUniformScale) + { + entity->CreateComponent(); + } + + entity->Activate(); + + const auto productAssetPath = Utils::GetModelProductAsset(asset->m_sourceGuid); + AZ_Warning( + "AddVisual", + productAssetPath.size(), + "There is no product asset for %s.", + asset->m_sourceAssetRelativePath.c_str()); + // Set asset path + AZ::Render::MeshComponentRequestBus::Event( + entityId, &AZ::Render::MeshComponentRequestBus::Events::SetModelAssetPath, productAssetPath); + + // Set scale, uniform or non-uniform + if (isUniformScale) + { + AZ::TransformBus::Event(entityId, &AZ::TransformBus::Events::SetLocalUniformScale, scaleVector.GetX()); + } + else + { + AZ::NonUniformScaleRequestBus::Event(entityId, &AZ::NonUniformScaleRequests::SetScale, scaleVector); + } + entity->Deactivate(); + } + } + break; + default: + AZ_Warning("AddVisual", false, "Unsupported visual geometry type, %d", geometry->type); + return; + } + } + + void VisualsMaker::AddMaterialForVisual(urdf::VisualSharedPtr visual, AZ::EntityId entityId) const + { + // URDF does not include information from tags with specific materials, diffuse, specular and emissive params + if (!visual->material || !visual->geometry) + { + // Material is optional, and it requires geometry + return; + } + + AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId); + + const AZStd::string material_name{ visual->material->name.c_str() }; + + // If present in map, take map color definition as priority, otherwise apply local node definition + const auto materialColorUrdf = m_materials.contains(material_name) ? m_materials.at(material_name)->color : visual->material->color; + + const AZ::Color materialColor = URDF::TypeConversions::ConvertColor(materialColorUrdf); + bool isPrimitive = visual->geometry->type != urdf::Geometry::MESH; + if (isPrimitive) + { // For primitives, set the color in the shape component + entity->Activate(); + LmbrCentral::EditorShapeComponentRequestsBus::Event( + entityId, &LmbrCentral::EditorShapeComponentRequests::SetShapeColor, materialColor); + entity->Deactivate(); + return; + } + + entity->CreateComponent(AZ::Render::EditorMaterialComponentTypeId); + AZ_Printf("AddVisual", "Setting color for material %s\n", visual->material->name.c_str()); + entity->Activate(); + AZ::Render::MaterialComponentRequestBus::Event( + entityId, + &AZ::Render::MaterialComponentRequestBus::Events::SetPropertyValue, + AZ::Render::DefaultMaterialAssignmentId, + "settings.color", + AZStd::any(materialColor)); + entity->Deactivate(); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/VisualsMaker.h b/Gems/ROS2/Code/Source/RobotImporter/URDF/VisualsMaker.h new file mode 100644 index 000000000..96cd7ba34 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/URDF/VisualsMaker.h @@ -0,0 +1,42 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include "UrdfParser.h" +#include +#include +#include +#include +#include + +namespace ROS2 +{ + //! Populates a given entity with all the contents of the tag in robot description + class VisualsMaker + { + public: + VisualsMaker( + const std::map& materials, + const AZStd::shared_ptr& urdfAssetsMapping); + + //! Add zero, one or many visual elements to a given entity (depending on link content). + //! Note that a sub-entity will be added to hold each visual (since they can have different transforms). + //! @param link A parsed URDF tree link node which could hold information about visuals. + //! @param entityId A non-active entity which will be affected. + void AddVisuals(urdf::LinkSharedPtr link, AZ::EntityId entityId) const; + + private: + void AddVisual(urdf::VisualSharedPtr visual, AZ::EntityId entityId, const AZStd::string& generatedName) const; + void AddVisualToEntity(urdf::VisualSharedPtr visual, AZ::EntityId entityId) const; + void AddMaterialForVisual(urdf::VisualSharedPtr visual, AZ::EntityId entityId) const; + + AZStd::unordered_map m_materials; + AZStd::shared_ptr m_urdfAssetsMapping; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Utils/DefaultSolverConfiguration.h b/Gems/ROS2/Code/Source/RobotImporter/Utils/DefaultSolverConfiguration.h new file mode 100644 index 000000000..c4d7e85cc --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Utils/DefaultSolverConfiguration.h @@ -0,0 +1,18 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include + +namespace ROS2::URDF +{ + // Here is the recommended, minimal number of iterations for position and velocity solver. + // It is needed since currently O3DE default values are optimized for the gaming experience, not a simulation. + constexpr AZ::u8 DefaultNumberPosSolver = 40; + constexpr AZ::u8 DefaultNumberVelSolver = 10; +} // namespace ROS2::URDF diff --git a/Gems/ROS2/Code/Source/RobotImporter/Utils/RobotImporterUtils.cpp b/Gems/ROS2/Code/Source/RobotImporter/Utils/RobotImporterUtils.cpp new file mode 100644 index 000000000..b4b257a2a --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Utils/RobotImporterUtils.cpp @@ -0,0 +1,256 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "RobotImporterUtils.h" +#include "TypeConversions.h" +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + + bool Utils::IsWheelURDFHeuristics(const urdf::LinkConstSharedPtr& link) + { + const AZStd::regex wheel_regex("wheel[_]||[_]wheel"); + const AZStd::regex joint_regex("(?i)joint"); + const AZStd::string link_name(link->name.c_str(), link->name.size()); + AZStd::smatch match; + // Check if name is catchy for wheel + if (!AZStd::regex_search(link_name, match, wheel_regex)) + { + return false; + } + // The name should contain a joint word + if (AZStd::regex_search(link_name, match, joint_regex)) + { + return false; + } + // Wheels need to have collision and visuals + if (!(link->collision && link->visual)) + { + return false; + } + // Parent joint needs to be CONTINOUS + if (link->parent_joint && link->parent_joint->type == urdf::Joint::CONTINUOUS) + { + return true; + } + return false; + } + + AZ::Transform Utils::GetWorldTransformURDF(const urdf::LinkSharedPtr& link, AZ::Transform t) + { + if (link->getParent() != nullptr) + { + t = URDF::TypeConversions::ConvertPose(link->parent_joint->parent_to_joint_origin_transform) * t; + return GetWorldTransformURDF(link->getParent(), t); + } + return t; + } + + AZStd::unordered_map Utils::GetAllLinks(const std::vector& childLinks) + { + AZStd::unordered_map pointers; + AZStd::function&)> link_visitor = + [&](const std::vector& child_links) -> void + { + for (const urdf::LinkSharedPtr& child_link : child_links) + { + AZStd::string link_name(child_link->name.c_str(), child_link->name.size()); + pointers[link_name] = child_link; + link_visitor(child_link->child_links); + } + }; + link_visitor(childLinks); + return pointers; + } + + AZStd::unordered_map Utils::GetAllJoints(const std::vector& childLinks) + { + AZStd::unordered_map joints; + AZStd::function&)> link_visitor = + [&](const std::vector& child_links) -> void + { + for (auto child_link : child_links) + { + const auto& joint = child_link->parent_joint; + AZStd::string joint_name(joint->name.c_str(), joint->name.size()); + joints[joint_name] = joint; + link_visitor(child_link->child_links); + } + }; + link_visitor(childLinks); + return joints; + } + + AZStd::unordered_set Utils::GetMeshesFilenames(const urdf::LinkConstSharedPtr& rootLink, bool visual, bool colliders) + { + AZStd::unordered_set filenames; + const auto addFilenameFromGeometry = [&filenames](const urdf::GeometrySharedPtr& geometry) + { + if (geometry->type == urdf::Geometry::MESH) + { + auto pMesh = std::dynamic_pointer_cast(geometry); + if (pMesh) + { + filenames.insert(AZStd::string(pMesh->filename.c_str(), pMesh->filename.size())); + } + } + }; + + const auto processLink = [&addFilenameFromGeometry, visual, colliders](const urdf::Link& link) + { + if (visual) + { + for (auto& p : link.visual_array) + { + addFilenameFromGeometry(p->geometry); + } + } + if (colliders) + { + for (auto& p : link.collision_array) + { + addFilenameFromGeometry(p->geometry); + } + } + }; + + AZStd::function&)> linkVisitor = + [&](const std::vector& child_links) -> void + { + for (auto link : child_links) + { + processLink(*link); + std::vector childVector(link->child_links.size()); + std::transform( + link->child_links.begin(), + link->child_links.end(), + childVector.begin(), + [](const urdf::LinkSharedPtr& p) + { + return urdf::const_pointer_cast(p); + }); + linkVisitor(childVector); + } + }; + linkVisitor({ rootLink }); + return filenames; + } + + AZStd::optional GetResolvedPath(const AZ::IO::Path &packagePath, + const AZ::IO::Path &unresolvedPath, + const AZStd::function& fileExists) + { + AZ::IO::Path packageXmlCandite = packagePath / "package.xml"; + if (fileExists(packageXmlCandite.String())) + { + AZ::IO::Path resolvedPath = packagePath / unresolvedPath; + if (fileExists(resolvedPath.String())) + { + return AZStd::optional{resolvedPath}; + } + } + return AZStd::optional{}; + } + + AZ::IO::Path GetPathFromSubPath(const AZ::IO::Path::const_iterator& begin, const AZ::IO::Path::const_iterator& end) + { + AZ::IO::Path subpath; + if (begin == end) + { + return subpath; + } + for (AZ::IO::Path::iterator pathIt = begin;pathIt!=end;pathIt++) + { + subpath /= *pathIt; + } + return subpath; + } + + /// Finds global path from URDF path + AZStd::string Utils::ResolveURDFPath( + AZStd::string unresolvedPath, + const AZStd::string& urdfFilePath, + const AZStd::string& amentPrefixPath, + const AZStd::function& fileExists) + { + AZ_Printf("ResolveURDFPath", "ResolveURDFPath with %s\n", unresolvedPath.c_str()); + if (unresolvedPath.starts_with("package://")) + { + AZ::StringFunc::Replace(unresolvedPath, "package://", "", true, true); + + const AZ::IO::Path unresolvedProperPath(unresolvedPath); + if (!unresolvedProperPath.empty()) + { + const AZStd::string packageNameCandidate = unresolvedProperPath.begin()->String(); + AZStd::vector amentPathTokenized; + AZ::StringFunc::Tokenize(amentPrefixPath, amentPathTokenized, ':'); + for (const auto& package : amentPathTokenized) + { + if (package.ends_with(packageNameCandidate)) + { + auto pathIt = unresolvedProperPath.begin(); + AZStd::advance(pathIt,1); + if (pathIt != unresolvedProperPath.end()) + { + AZ::IO::Path unresolvedPathStripped = GetPathFromSubPath(pathIt, unresolvedProperPath.end()); + + const AZ::IO::Path packagePath = AZ::IO::Path{ package } / "share"; + auto resolvedPath = + GetResolvedPath(packagePath / AZ::IO::Path{ packageNameCandidate }, unresolvedPathStripped, fileExists); + if (resolvedPath.has_value()) + { + AZ_Printf("ResolveURDFPath", "Resolved to using Ament to : %s\n", resolvedPath->String().c_str()); + return resolvedPath->String(); + } + } + } + } + } + + const AZ::IO::Path urdfProperPath(urdfFilePath); + if (!urdfProperPath.empty()) + { + auto it = --urdfProperPath.end(); + for (; it != urdfProperPath.begin(); it--) + { + const auto packagePath = GetPathFromSubPath(urdfProperPath.begin(),it); + std::cout << "packagePath : " << packagePath.String().c_str() << std::endl; + const auto resolvedPath = GetResolvedPath(packagePath, unresolvedPath, fileExists); + if (resolvedPath.has_value()) + { + AZ_Printf("ResolveURDFPath", "ResolveURDFPath with relative path to : %s\n", resolvedPath->String().c_str()); + return resolvedPath->String(); + } + } + } + // No path available + return ""; + } + if (unresolvedPath.starts_with("file:///")) + { + // Paths that start with 'file:///' are absolute paths + AZ::StringFunc::Replace(unresolvedPath, "file://", "", true, true); + AZ_Printf("ResolveURDFPath", "ResolveURDFPath with absolute path to : %s\n", unresolvedPath.c_str()); + return unresolvedPath; + } + // seems to be relative path + AZ::IO::Path relativePath(unresolvedPath); + AZ::IO::Path urdfProperPath(urdfFilePath); + AZ::IO::Path urdfParentPath = urdfProperPath.ParentPath(); + const AZ::IO::Path resolvedPath = urdfParentPath / relativePath; + AZ_Printf("ResolveURDFPath", "ResolveURDFPath with relative path to : %s\n", unresolvedPath.c_str()); + return resolvedPath.String(); + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/RobotImporter/Utils/RobotImporterUtils.h b/Gems/ROS2/Code/Source/RobotImporter/Utils/RobotImporterUtils.h new file mode 100644 index 000000000..20494b601 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Utils/RobotImporterUtils.h @@ -0,0 +1,74 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + namespace + { + static inline bool FileExistsCall(const AZStd::string& filename) + { + return AZ::IO::SystemFile::Exists(filename.c_str()); + }; + } // namespace + + namespace Utils + { + //! Determine whether a given link is likely a wheel link. + //! This can be useful to provide a good default behavior - for example, to add Vehicle Dynamics components to this link's entity. + //! @param link the link that will be subjected to the heuristic. + //! @return true if the link is likely a wheel link. + bool IsWheelURDFHeuristics(const urdf::LinkConstSharedPtr& link); + + //! The recursive function for the given link goes through URDF and finds world-to-entity transformation for us. + //! @param link pointer to URDF link that root of robot description + //! @param t initial transform, should be identity for non-recursive call. + //! @returns root to entity transform + AZ::Transform GetWorldTransformURDF(const urdf::LinkSharedPtr& link, AZ::Transform t = AZ::Transform::Identity()); + + //! Retrieve all links in URDF as a map, where a key is link's name and a value is a pointer to link. + //! Allows to retrieve a pointer to a link given it name. + //! @param childLinks list of links in a query + //! @returns mapping from link name to link pointer + AZStd::unordered_map GetAllLinks(const std::vector& childLinks); + + //! Retrieve all joints in URDF. + //! @param childLinks list of links in a query + //! @returns mapping from joint name to joint pointer + AZStd::unordered_map GetAllJoints(const std::vector& childLinks); + + //! Retrieve all meshes referenced in URDF as unresolved URDF patches. + //! Note that returned filenames are unresolved URDF patches. + //! @param visual - search for visual meshes. + //! @param colliders - search for collider meshes. + //! @param rootLink - pointer to URDF link that is a root of robot description + //! @returns set of meshes' filenames. + AZStd::unordered_set GetMeshesFilenames(const urdf::LinkConstSharedPtr& rootLink, bool visual, bool colliders); + + //! Resolves path from unresolved URDF path. + //! @param unresolvedPath - unresolved URDF path, example : `package://meshes/foo.dae`. + //! @param urdfFilePath - the absolute path of URDF file which contains the path that is to be resolved. + //! @param amentPrefixPath - the string that contains available packages' path, separated by ':' signs. + //! @param fileExists - functor to check if the given file exists. Exposed for unit test, default one should be used. + //! @returns resolved path to the mesh + AZStd::string ResolveURDFPath( + AZStd::string unresolvedPath, + const AZStd::string& urdfFilePath, + const AZStd::string& amentPrefixPath, + const AZStd::function& fileExists = FileExistsCall); + + } // namespace Utils +} // namespace ROS2 \ No newline at end of file diff --git a/Gems/ROS2/Code/Source/RobotImporter/Utils/SourceAssetsStorage.cpp b/Gems/ROS2/Code/Source/RobotImporter/Utils/SourceAssetsStorage.cpp new file mode 100644 index 000000000..9e298cb2a --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Utils/SourceAssetsStorage.cpp @@ -0,0 +1,495 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "SourceAssetsStorage.h" +#include "RobotImporterUtils.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include // PhysX/Code/Source/Pipeline/MeshGroup.h + +namespace ROS2::Utils +{ + + //! A helper class that do no extend PhysX::Pipeline::MeshGroup functionality, but gives neccessary setters. + class UrdfPhysxMeshGroupHelper : public PhysX::Pipeline::MeshGroup + { + public: + void SetIsDecomposeMeshes(bool decompose) + { + m_decomposeMeshes = decompose; + } + void SetMeshExportMethod(PhysX::Pipeline::MeshExportMethod method) + { + m_exportMethod = method; + } + }; + + //! Returns supported filenames by Asset Processor + AZStd::vector GetSupportedExtensions() + { + struct Visitor : AZ::SettingsRegistryInterface::Visitor + { + void Visit(const AZ::SettingsRegistryInterface::VisitArgs&, AZStd::string_view value) override + { + m_supportedFileExtensions.emplace_back(value); + } + + AZStd::vector m_supportedFileExtensions; + }; + auto settingsRegistry = AZ::SettingsRegistry::Get(); + + if (settingsRegistry == nullptr) + { + AZ_Warning("GetInterestingSourceAssetsCRC", false, "Global Settings Registry is not set."); + return AZStd::vector(); + } + + using namespace AzToolsFramework::AssetUtils; + Visitor assetImporterVisitor; + settingsRegistry->Visit( + assetImporterVisitor, + AZ::SettingsRegistryInterface::FixedValueString("/O3DE/SceneAPI/AssetImporter/SupportedFileTypeExtensions")); + return assetImporterVisitor.m_supportedFileExtensions; + } + + /// Function computes CRC32 on first kilobyte of file. + AZ::Crc32 GetFileCRC(const AZStd::string& filename) + { + auto fileSize = AZ::IO::SystemFile::Length(filename.c_str()); + fileSize = AZStd::min(fileSize, 1024ull); // limit crc computation to first kilobyte + if (fileSize == 0) + { + return AZ::Crc32(); + } + AZStd::vector buffer; + buffer.resize_no_construct(fileSize + 1); + buffer[fileSize] = '\0'; + if (!AZ::IO::SystemFile::Read(filename.c_str(), buffer.data(), fileSize)) + { + return AZ::Crc32(); + } + AZ::Crc32 r; + r.Add(buffer.data(), fileSize); + return r; + } + + AZStd::string GetProductAsset(const AZ::Uuid& sourceAssetUUID, const AZ::TypeId typeId) + { + AZStd::vector productsAssetInfo; + using AssetSysReqBus = AzToolsFramework::AssetSystemRequestBus; + bool ok{ false }; + AssetSysReqBus::BroadcastResult(ok, &AssetSysReqBus::Events::GetAssetsProducedBySourceUUID, sourceAssetUUID, productsAssetInfo); + if (ok) + { + for (auto& product : productsAssetInfo) + { + if (product.m_assetType == typeId) + { + AZStd::string assetPath; + AZ::Data::AssetCatalogRequestBus::BroadcastResult( + assetPath, &AZ::Data::AssetCatalogRequestBus::Events::GetAssetPathById, product.m_assetId); + return assetPath; + } + } + } + return ""; + } + + AZStd::string GetModelProductAsset(const AZ::Uuid& sourceAssetUUID) + { + return GetProductAsset(sourceAssetUUID, AZ::TypeId("{2C7477B6-69C5-45BE-8163-BCD6A275B6D8}")); // AZ::RPI::ModelAsset; + } + + AZStd::string GetPhysXMeshProductAsset(const AZ::Uuid& sourceAssetUUID) + { + return GetProductAsset(sourceAssetUUID, AZ::TypeId("{7A2871B9-5EAB-4DE0-A901-B0D2C6920DDB}")); // PhysX::Pipeline::MeshAsset + } + + AvailableAsset GetAvailableAssetInfo(const AZStd::string& globalSourceAssetPath) + { + using AssetSysReqBus = AzToolsFramework::AssetSystemRequestBus; + AvailableAsset foundAsset; + + // get relativePath + bool relativePathFound{ false }; + AZStd::string relativeSourcePath; + AZStd::string rootFilePath; + AssetSysReqBus::BroadcastResult( + relativePathFound, + &AssetSysReqBus::Events::GenerateRelativeSourcePath, + globalSourceAssetPath, + relativeSourcePath, + rootFilePath); + if (!relativePathFound) + { + return foundAsset; + } + + // get source asset info + bool sourceAssetFound{ false }; + AZ::Data::AssetInfo assetInfo; + AZStd::string watchFolder; + AssetSysReqBus::BroadcastResult( + sourceAssetFound, &AssetSysReqBus::Events::GetSourceInfoBySourcePath, relativeSourcePath.c_str(), assetInfo, watchFolder); + if (!sourceAssetFound) + { + return foundAsset; + } + + foundAsset.m_sourceGuid = assetInfo.m_assetId.m_guid; + + foundAsset.m_sourceAssetRelativePath = assetInfo.m_relativePath; + foundAsset.m_sourceAssetGlobalPath = globalSourceAssetPath; + + AZ::Crc32 crc = Utils::GetFileCRC(foundAsset.m_sourceAssetGlobalPath); + if (crc == AZ::Crc32(0)) + { + AZ_Warning("GetInterestingSourceAssetsCRC", false, "Zero CRC for source asset %s", foundAsset.m_sourceAssetGlobalPath.c_str()); + return foundAsset; + } + // Todo Remove in review + AZ_Printf("GetAvailableAssetInfo", "Found asset:"); + AZ_Printf("GetAvailableAssetInfo", "\tm_sourceAssetRelativePath : %s", foundAsset.m_sourceAssetRelativePath.c_str()); + AZ_Printf("GetAvailableAssetInfo", "\tm_sourceAssetGlobalPath : %s", foundAsset.m_sourceAssetGlobalPath.c_str()); + AZ_Printf("GetAvailableAssetInfo", "\tm_productAssetRelativePath : %s", foundAsset.m_productAssetRelativePath.c_str()); + AZ_Printf("GetAvailableAssetInfo", "\tm_sourceGuid : %s", foundAsset.m_sourceGuid.ToString().c_str()); + + return foundAsset; + } + + AZStd::unordered_map GetInterestingSourceAssetsCRC() + { + // connect to database API + const AZStd::vector InterestingExtensions = GetSupportedExtensions(); + AZStd::unordered_map availableAssets; + + AzToolsFramework::AssetDatabase::AssetDatabaseConnection assetDatabaseConnection; + if (!assetDatabaseConnection.OpenDatabase()) + { + AZ_Warning("GetInterestingSourceAssetsCRC", false, "Cannot open database"); + } + auto callback = [&availableAssets](AzToolsFramework::AssetDatabase::SourceDatabaseEntry& entry) + { + using AssetSysReqBus = AzToolsFramework::AssetSystemRequestBus; + AvailableAsset foundAsset; + foundAsset.m_sourceGuid = entry.m_sourceGuid; + + using AssetSysReqBus = AzToolsFramework::AssetSystemRequestBus; + + // get source asset info + bool sourceAssetFound{ false }; + AZ::Data::AssetInfo assetInfo; + AZStd::string watchFolder; + AssetSysReqBus::BroadcastResult( + sourceAssetFound, &AssetSysReqBus::Events::GetSourceInfoBySourceUUID, entry.m_sourceGuid, assetInfo, watchFolder); + if (!sourceAssetFound) + { + AZ_Warning("GetInterestingSourceAssetsCRC", false, "Cannot find source asset info for %s", entry.ToString().c_str()); + return true; + } + + const auto fullSourcePath = AZ::IO::Path(watchFolder) / AZ::IO::Path(assetInfo.m_relativePath); + + foundAsset.m_sourceAssetRelativePath = assetInfo.m_relativePath; + foundAsset.m_sourceAssetGlobalPath = fullSourcePath.String(); + + AZ::Crc32 crc = Utils::GetFileCRC(foundAsset.m_sourceAssetGlobalPath); + if (crc == AZ::Crc32(0)) + { + AZ_Warning( + "GetInterestingSourceAssetsCRC", false, "Zero CRC for source asset %s", foundAsset.m_sourceAssetGlobalPath.c_str()); + return true; + } + AZ_Printf("GetInterestingSourceAssetsCRC", "Found asset:"); + AZ_Printf("GetInterestingSourceAssetsCRC", "\tm_sourceAssetRelativePath : %s", foundAsset.m_sourceAssetRelativePath.c_str()); + AZ_Printf("GetInterestingSourceAssetsCRC", "\tm_sourceAssetGlobalPath : %s", foundAsset.m_sourceAssetGlobalPath.c_str()); + AZ_Printf("GetInterestingSourceAssetsCRC", "\tm_productAssetRelativePath : %s", foundAsset.m_productAssetRelativePath.c_str()); + AZ_Printf( + "GetInterestingSourceAssetsCRC", + "\tm_sourceGuid : %s", + foundAsset.m_sourceGuid.ToString().c_str()); + AZ_Printf("GetInterestingSourceAssetsCRC", "\tcrc : %d", crc); + + auto availableAssetIt = availableAssets.find(crc); + if (availableAssetIt != availableAssets.end()) + { + AZ_Warning( + "GetInterestingSourceAssetsCRC", false, "Asset already in database : %s ", foundAsset.m_sourceAssetGlobalPath.c_str()); + AZ_Warning( + "GetInterestingSourceAssetsCRC", false, "Found asset : %s ", availableAssetIt->second.m_sourceAssetGlobalPath.c_str()); + } + else + { + availableAssets.insert({ crc, foundAsset }); + } + return true; + }; + + for (auto& extension : InterestingExtensions) + { + assetDatabaseConnection.QuerySourceLikeSourceName( + extension.c_str(), AzToolsFramework::AssetDatabase::AssetDatabaseConnection::LikeType::EndsWith, callback); + } + return availableAssets; + } + + UrdfAssetMap CopyAssetForURDFAndCreateAssetMap( + const AZStd::unordered_set& meshesFilenames, + const AZStd::string& urdfFilename, + const AZStd::unordered_set& colliders, + const AZStd::unordered_set& visuals, + AZ::IO::FileIOBase* fileIO) + { + auto enviromentalVariable = std::getenv("AMENT_PREFIX_PATH"); + AZ_Error("UrdfAssetMap", enviromentalVariable, "AMENT_PREFIX_PATH is not found."); + + UrdfAssetMap urdfAssetMap; + if (meshesFilenames.empty()) + { + return urdfAssetMap; + } + + //! Maps the unresolved urdf path to global path + AZStd::unordered_map copiedFiles; + + AZ_Assert(fileIO, "No FileIO instance"); + AZ::Crc32 urdfFileCrc; + urdfFileCrc.Add(urdfFilename); + const AZ::IO::Path urdfPath(urdfFilename); + const AZStd::string directoryNameTmp = AZStd::string::format("$tmp_%u.tmp", AZ::u32(urdfFileCrc)); + const AZStd::string directoryNameDst = AZStd::string::format("%u_%s", AZ::u32(urdfFileCrc), urdfPath.Stem().String().c_str()); + + const AZ::IO::Path importDirectoryTmp = AZ::IO::Path(AZ::Utils::GetProjectPath()) / "Assets" / "UrdfImporter" / directoryNameTmp; + const AZ::IO::Path importDirectoryDst = AZ::IO::Path(AZ::Utils::GetProjectPath()) / "Assets" / "UrdfImporter" / directoryNameDst; + + fileIO->DestroyPath(importDirectoryTmp.c_str()); + const auto outcomeCreateDstDir = fileIO->CreatePath(importDirectoryDst.c_str()); + const auto outcomeCreateTmpDir = fileIO->CreatePath(importDirectoryTmp.c_str()); + AZ_Error("CopyAssetForURDF", outcomeCreateDstDir, "Cannot create destination directory : %s", importDirectoryDst.c_str()); + AZ_Error("CopyAssetForURDF", outcomeCreateTmpDir, "Cannot create temporary directory : %s", importDirectoryTmp.c_str()); + + if (!outcomeCreateDstDir || !outcomeCreateTmpDir) + { + return urdfAssetMap; + } + AZStd::string amentPrefixPath{ enviromentalVariable }; + AZStd::set files; + + for (const auto& unresolvedUrfFileName : meshesFilenames) + { + auto resolved = Utils::ResolveURDFPath(unresolvedUrfFileName, urdfFilename, amentPrefixPath); + if (resolved.empty()) + { + AZ_Warning("CopyAssetForURDF", false, "There is not resolved path for %s", unresolvedUrfFileName.c_str()); + continue; + } + + AZ::IO::Path resolvedPath(resolved); + AZ::IO::Path targetPathAssetDst(importDirectoryDst / resolvedPath.Filename()); + AZ::IO::Path targetPathAssetTmp(importDirectoryTmp / resolvedPath.Filename()); + + AZ::IO::Path targetPathAssetInfo(targetPathAssetDst.Native() + ".assetinfo"); + + const bool needsVisual = visuals.contains(unresolvedUrfFileName); + const bool needsCollider = colliders.contains(unresolvedUrfFileName); + + if (!fileIO->Exists(targetPathAssetDst.c_str())) + { + // Copy from ROS2 install to temporary + const auto outcomeCopyTmp = fileIO->Copy(resolvedPath.c_str(), targetPathAssetTmp.c_str()); + AZ_Printf( + "CopyAssetForURDF", + "Copy %s to %s, result: %d", + resolvedPath.c_str(), + targetPathAssetTmp.c_str(), + outcomeCopyTmp.GetResultCode()); + if (outcomeCopyTmp) + { + // create asset info at destination + const bool assetInfoOk = + CreateSceneManifest(targetPathAssetTmp.String(), targetPathAssetInfo.String(), needsCollider, needsVisual); + + if (assetInfoOk) + { + const auto outcomeMoveDst = fileIO->Copy(targetPathAssetTmp.c_str(), targetPathAssetDst.c_str()); + AZ_Printf( + "CopyAssetForURDF", + "Move %s to %s, result: %d", + targetPathAssetTmp.c_str(), + targetPathAssetDst.c_str(), + outcomeMoveDst.GetResultCode()); + if (outcomeMoveDst) + { + copiedFiles[unresolvedUrfFileName] = targetPathAssetDst.String(); + } + }; + } + } + else + { + AZ_Printf("CopyAssetForURDF", "File %s already exists, omitting import", targetPathAssetDst.c_str()); + copiedFiles[unresolvedUrfFileName] = targetPathAssetDst.String(); + } + + Utils::UrdfAsset asset; + asset.m_urdfPath = urdfFilename; + asset.m_resolvedUrdfPath = Utils::ResolveURDFPath(unresolvedUrfFileName, urdfFilename, amentPrefixPath); + asset.m_urdfFileCRC = AZ::Crc32(); + urdfAssetMap.emplace(unresolvedUrfFileName, AZStd::move(asset)); + } + + fileIO->DestroyPath(importDirectoryTmp.c_str()); + for (const auto& copied : copiedFiles) + { + AZ_Printf("CopyAssetForURDF", " %s is copied to %s", copied.first.c_str(), copied.second.c_str()); + } + + // add available asset info + for (const auto& [unresolvedUrfFileName, sourceAssetGlobalPath] : copiedFiles) + { + AZ_Assert( + urdfAssetMap.contains(unresolvedUrfFileName), "urdfAssetMap should contain urdf path %s", unresolvedUrfFileName.c_str()); + urdfAssetMap[unresolvedUrfFileName].m_availableAssetInfo = Utils::GetAvailableAssetInfo(sourceAssetGlobalPath.String()); + } + + return urdfAssetMap; + } + + UrdfAssetMap FindAssetsForUrdf(const AZStd::unordered_set& meshesFilenames, const AZStd::string& urdfFilename) + { + auto enviromentalVariable = std::getenv("AMENT_PREFIX_PATH"); + AZ_Error("UrdfAssetMap", enviromentalVariable, "AMENT_PREFIX_PATH is not found."); + AZStd::string amentPrefixPath{ enviromentalVariable }; + + UrdfAssetMap urdfToAsset; + for (const auto& t : meshesFilenames) + { + Utils::UrdfAsset asset; + asset.m_urdfPath = t; + asset.m_resolvedUrdfPath = Utils::ResolveURDFPath(asset.m_urdfPath, urdfFilename, amentPrefixPath); + asset.m_urdfFileCRC = Utils::GetFileCRC(asset.m_resolvedUrdfPath); + urdfToAsset.emplace(t, AZStd::move(asset)); + } + + AZStd::unordered_map availableAssets = Utils::GetInterestingSourceAssetsCRC(); + + // Search for suitable mappings by comparing checksum + for (auto it = urdfToAsset.begin(); it != urdfToAsset.end(); it++) + { + Utils::UrdfAsset& asset = it->second; + auto found_source_asset = availableAssets.find(asset.m_urdfFileCRC); + if (found_source_asset != availableAssets.end()) + { + asset.m_availableAssetInfo = found_source_asset->second; + } + } + + return urdfToAsset; + } + + bool CreateSceneManifest(const AZStd::string& sourceAssetPath, const AZStd::string& assetInfoFile, bool collider, bool visual) + { + const AZStd::string azMeshPath = sourceAssetPath; + AZ_Printf("CreateSceneManifest", "Creating manifest for asset %s at : %s ", sourceAssetPath.c_str(), assetInfoFile.c_str()); + AZStd::shared_ptr scene; + AZ::SceneAPI::Events::SceneSerializationBus::BroadcastResult( + scene, &AZ::SceneAPI::Events::SceneSerialization::LoadScene, azMeshPath.c_str(), AZ::Uuid::CreateNull(), ""); + if (!scene) + { + AZ_Error("CreateSceneManifest", false, "Error loading collider. Invalid scene: %s", azMeshPath.c_str()); + return false; + } + + AZ::SceneAPI::Containers::SceneManifest& manifest = scene->GetManifest(); + auto valueStorage = manifest.GetValueStorage(); + if (valueStorage.empty()) + { + AZ_Error("CreateSceneManifest", false, "Error loading collider. Invalid value storage: %s", azMeshPath.c_str()); + return false; + } + + // remove default configuration to avoid procedural prefab creation + AZStd::vector> toDelete; + for (size_t i = 0; i < manifest.GetEntryCount(); i++) + { + AZStd::shared_ptr obj = manifest.GetValue(i); + toDelete.push_back(obj); + } + + for (auto obj : toDelete) + { + AZ_Printf("CreateSceneManifest", "Deleting %s", obj->RTTI_GetType().ToString().c_str()); + manifest.RemoveEntry(obj); + } + + if (visual) + { + AZStd::shared_ptr sceneDataMeshGroup = + AZStd::make_shared(); + + // select all nodes to this mesh group + AZ::SceneAPI::Utilities::SceneGraphSelector::SelectAll(scene->GetGraph(), sceneDataMeshGroup->GetSceneNodeSelectionList()); + + // enable auto-generation of UVs + sceneDataMeshGroup->GetRuleContainer().AddRule(AZStd::make_shared()); + + manifest.AddEntry(sceneDataMeshGroup); + } + + if (collider) + { + AZStd::shared_ptr physxDataMeshGroup = AZStd::make_shared(); + physxDataMeshGroup->SetIsDecomposeMeshes(true); + physxDataMeshGroup->SetMeshExportMethod(PhysX::Pipeline::MeshExportMethod::Convex); + + // select all nodes to this mesh group + AZ::SceneAPI::Utilities::SceneGraphSelector::SelectAll(scene->GetGraph(), physxDataMeshGroup->GetSceneNodeSelectionList()); + + manifest.AddEntry(physxDataMeshGroup); + } + + // Update assetinfo + AZ::SceneAPI::Events::ProcessingResultCombiner result; + AZ::SceneAPI::Events::AssetImportRequestBus::BroadcastResult( + result, + &AZ::SceneAPI::Events::AssetImportRequest::UpdateManifest, + *scene, + AZ::SceneAPI::Events::AssetImportRequest::ManifestAction::Update, + AZ::SceneAPI::Events::AssetImportRequest::RequestingApplication::Editor); + + if (result.GetResult() != AZ::SceneAPI::Events::ProcessingResult::Success) + { + AZ_TracePrintf("CreateSceneManifest", "Scene updated\n"); + return false; + } + + scene->GetManifest().SaveToFile(assetInfoFile.c_str()); + AZ_Printf("CreateSceneManifest", "Saving scene manifest to %s\n", assetInfoFile.c_str()); + + return true; + } + + bool CreateSceneManifest(const AZStd::string& sourceAssetPath, bool collider, bool visual) + { + auto assetInfoFilePath = AZ::IO::Path{ sourceAssetPath }; + assetInfoFilePath.Native() += ".assetinfo"; + return CreateSceneManifest(sourceAssetPath, assetInfoFilePath.String(), collider, visual); + } +} // namespace ROS2::Utils diff --git a/Gems/ROS2/Code/Source/RobotImporter/Utils/SourceAssetsStorage.h b/Gems/ROS2/Code/Source/RobotImporter/Utils/SourceAssetsStorage.h new file mode 100644 index 000000000..a17587d2a --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Utils/SourceAssetsStorage.h @@ -0,0 +1,126 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2::Utils +{ + //! Structure contains essential information about the source and product assets in O3DE. + //! It is designed to provide necessary information for other classes in URDF converter, eg CollidersMaker or VisualsMaker. + struct AvailableAsset + { + //! Relative path to source asset eg `Assets/foo_robot/meshes/bar_link.dae`. + AZStd::string m_sourceAssetRelativePath; + + //! Relative path to source asset eg `/home/user/project/Assets/foo_robot/meshes/bar_link.dae`. + AZStd::string m_sourceAssetGlobalPath; + + //! Relative path to source asset eg `foo_robot/meshes/bar_link.azmodel`. + AZStd::string m_productAssetRelativePath; + + //! Source GUID of source asset + AZ::Uuid m_sourceGuid = AZ::Uuid::CreateNull(); + }; + + //! The structure contains a mapping between URDF's path to O3DE asset information. + struct UrdfAsset + { + //! Unresolved URDF path to mesh, eg `package://meshes/bar_link.dae`. + AZStd::string m_urdfPath; + + //! Resolved URDF path, points to the valid mesh in the filestystem, eg `/home/user/ros_ws/src/foo_robot/meshes/bar_link.dae' + AZStd::string m_resolvedUrdfPath; + + //! Checksum of the file located pointed by `m_resolvedUrdfPath`. + AZ::Crc32 m_urdfFileCRC; + + //! Found O3DE asset. + AvailableAsset m_availableAssetInfo; + }; + + /// Type that hold result of mapping from URDF path to asset info + using UrdfAssetMap = AZStd::unordered_map; + + //! Function computes CRC32 on first kilobyte of file. + AZ::Crc32 GetFileCRC(const AZStd::string& filename); + + //! Compute CRC for every source mesh from the assets catalog. + //! @returns map where key is crc of source file and value is AvailableAsset. + AZStd::unordered_map GetInterestingSourceAssetsCRC(); + + //! Discover an association between meshes in URDF and O3DE source and product assets. + //! The @param meshesFilenames contains the list of unresolved URDF filenames that are to be found as assets. + //! Steps: + //! - Functions resolves URDF filenames with `ResolveURDFPath`. + //! - Files pointed by resolved URDF patches have their checksum computed `GetFileCRC`. + //! - Function scans all available O3DE assets by calling `GetInterestingSourceAssetsCRC`. + //! - Suitable mapping to the O3DE asset is found by comparing the checksum of the file pointed by the URDF path and source asset. + //! @param meshesFilenames - list of the unresolved path from the URDF file + //! @param urdfFilename - filename of URDF file, used for resolvement + //! @returns a URDF Asset map where the key is unresolved URDF path to AvailableAsset + UrdfAssetMap FindAssetsForUrdf(const AZStd::unordered_set& meshesFilenames, const AZStd::string& urdfFilename); + + //! Helper function that gives product's path from source asset GUID + //! @param sourceAssetUUID is source asset GUID + //! @param typeId type of product asset + //! @returns relative path to product, empty string if product is not found + AZStd::string GetProductAsset(const AZ::Uuid& sourceAssetUUID, const AZ::TypeId typeId); + + //! Helper function that gives AZ::RPI::ModelAsset product asset from source asset GUID + //! @param sourceAssetUUID is source asset GUID + //! @returns relative path to product, empty string if product is not found + AZStd::string GetModelProductAsset(const AZ::Uuid& sourceAssetUUID); + + //! Helper function that gives PhysX::Pipeline::MeshAsset product asset from source asset GUID + //! @param sourceAssetUUID is source asset GUID + //! @returns relative path to product, empty string if product is not found + AZStd::string GetPhysXMeshProductAsset(const AZ::Uuid& sourceAssetUUID); + + //! Creates side-car file (.assetinfo) that configures the imported scene (eg DAE file). + //! The .assetinfo will be create next to scene's file. + //! @param sourceAssetPath - global path to source asset + //! @param collider - create assetinfo section for collider product asset + //! @param visual - create assetinfo section for visual mesh + //! @returns true if succeed + bool CreateSceneManifest(const AZStd::string& sourceAssetPath, bool collider, bool visual); + + //! Creates side-car file (.assetinfo) that configures the imported scene (eg DAE file). + //! @param sourceAssetPath - global path to source asset + //! @param assetInfoFile - global path to assetInfo file to create + //! @param collider - create assetinfo section for collider product asset + //! @param visual - create assetinfo section for visual mesh + //! @returns true if succeed + bool CreateSceneManifest(const AZStd::string& sourceAssetPath, const AZStd::string& assetInfoFile, bool collider, bool visual); + + //! A function that copies and prepares meshes that are referenced in URDF. + //! It resolves every mesh, creates a directory in Project's Asset directory, copies files, and prepares assets info. + //! Finally, it assembles its results into mapping that allows mapping Urdf's mesh name to the source asset. + //! @param meshesFilenames - files to copy (as unresolved urdf paths) + //! @param urdFilename - path to URDF file (as a global path) + //! @param colliders - files to create collider assetinfo (as unresolved urdf paths) + //! @param visuals - files to create visual assetinfo (as unresolved urdf paths) + //! @param fileIO - instance to fileIO class + //! @returns mapping from unresolved urdf paths to source asset info + UrdfAssetMap CopyAssetForURDFAndCreateAssetMap( + const AZStd::unordered_set& meshesFilenames, + const AZStd::string& urdfFilename, + const AZStd::unordered_set& colliders, + const AZStd::unordered_set& visual, + AZ::IO::FileIOBase* fileIO = AZ::IO::FileIOBase::GetInstance()); + +} // namespace ROS2::Utils diff --git a/Gems/ROS2/Code/Source/RobotImporter/Utils/TypeConversions.cpp b/Gems/ROS2/Code/Source/RobotImporter/Utils/TypeConversions.cpp new file mode 100644 index 000000000..32ec5ae77 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Utils/TypeConversions.cpp @@ -0,0 +1,35 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "TypeConversions.h" + +namespace ROS2::URDF +{ + AZ::Vector3 TypeConversions::ConvertVector3(const urdf::Vector3& urdfVector) + { + return AZ::Vector3(urdfVector.x, urdfVector.y, urdfVector.z); + } + + AZ::Quaternion TypeConversions::ConvertQuaternion(const urdf::Rotation& urdfQuaternion) + { + return AZ::Quaternion(urdfQuaternion.x, urdfQuaternion.y, urdfQuaternion.z, urdfQuaternion.w); + } + + AZ::Color TypeConversions::ConvertColor(const urdf::Color& color) + { + return AZ::Color(color.r, color.g, color.b, color.a); + } + + AZ::Transform TypeConversions::ConvertPose(const urdf::Pose& pose) + { + AZ::Quaternion azRotation = URDF::TypeConversions::ConvertQuaternion(pose.rotation); + AZ::Vector3 azPosition = URDF::TypeConversions::ConvertVector3(pose.position); + return AZ::Transform(azPosition, azRotation, 1.0f); + } + +} // namespace ROS2::URDF diff --git a/Gems/ROS2/Code/Source/RobotImporter/Utils/TypeConversions.h b/Gems/ROS2/Code/Source/RobotImporter/Utils/TypeConversions.h new file mode 100644 index 000000000..749fa69a1 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/Utils/TypeConversions.h @@ -0,0 +1,27 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include +#include +#include + +namespace ROS2::URDF +{ + //! Common types conversion between urdf and AZ formats + namespace TypeConversions + { + AZ::Vector3 ConvertVector3(const urdf::Vector3& urdfVector); + AZ::Quaternion ConvertQuaternion(const urdf::Rotation& urdfQuaternion); + AZ::Color ConvertColor(const urdf::Color& color); + AZ::Transform ConvertPose(const urdf::Pose& pose); + }; // namespace TypeConversions +} // namespace ROS2::URDF diff --git a/Gems/ROS2/Code/Source/RobotImporter/xacro/XacroUtils.cpp b/Gems/ROS2/Code/Source/RobotImporter/xacro/XacroUtils.cpp new file mode 100644 index 000000000..ae17cfab7 --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/xacro/XacroUtils.cpp @@ -0,0 +1,143 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "XacroUtils.h" +#include +#include +#include +#include +#include +#include + +namespace ROS2::Utils::xacro +{ + + ExecutionOutcome ParseXacro(const AZStd::string& filename, const Params& params) + { + ExecutionOutcome outcome; + // test if xacro exists + AZStd::string xacroPath = "xacro"; + auto settingsRegistry = AZ::SettingsRegistry::Get(); + AZStd::string xacroExecutablePath; + if (settingsRegistry && settingsRegistry->Get(xacroExecutablePath, "/O3DE/ROS2/xacro_executable_path")) + { + // Validate the path using AZ::IO::SystemFile:Exists + const bool pathExists = AZ::IO::SystemFile::Exists(xacroExecutablePath.c_str()); + // Use the AzProcessWatcher to launch the executable. + if (pathExists) + { + xacroPath = xacroExecutablePath; + } + } + + AZ_Warning("ParseXacro", !xacroPath.empty(), "There is xacro executable in your path"); + if (xacroPath.empty()) + { + return ExecutionOutcome{}; + } + AZ_Printf("ParseXacro", "xacro executable : %s \n", xacroPath.c_str()); + AZ_Printf("ParseXacro", "Convert xacro file : %s \n", filename.c_str()); + const QString program = QString::fromUtf8(xacroPath.data(), xacroPath.size()); + AzFramework::ProcessLauncher::ProcessLaunchInfo processLaunchInfo; + processLaunchInfo.m_processExecutableString = xacroPath; + processLaunchInfo.m_commandlineParameters.emplace>({ filename }); + for (const auto& param : params) + { + const AZStd::string& name{ param.first }; + const AZStd::string& value{ param.second }; + AZStd::string command_line_parameter{ name + ":=" + value }; + AZStd::get>(processLaunchInfo.m_commandlineParameters).emplace_back(command_line_parameter); + } + + outcome.m_called = processLaunchInfo.m_processExecutableString + " " + processLaunchInfo.GetCommandLineParametersAsString(); + AZ_Printf("ParseXacro", "calling file : %s \n", outcome.m_called.c_str()); + + AzFramework::ProcessOutput process_output; + const bool succeed = AzFramework::ProcessWatcher::LaunchProcessAndRetrieveOutput( + processLaunchInfo, AzFramework::ProcessCommunicationType::COMMUNICATOR_TYPE_STDINOUT, process_output); + + if (succeed && process_output.HasOutput() && !process_output.HasError()) + { + AZ_Printf("ParseXacro", "xacro finished with success \n"); + const auto& output = process_output.outputResult; + outcome.m_urdfHandle = UrdfParser::Parse(output.data()); + outcome.m_succeed = true; + } + else + { + AZ_Printf("ParseXacro", "xacro finished with error \n"); + const auto& stdStream = process_output.outputResult; + const auto& cerrStream = process_output.errorResult; + outcome.m_logStandardOutput = AZStd::string(stdStream.data(), stdStream.size()); + outcome.m_logErrorOutput = AZStd::string(cerrStream.data(), cerrStream.size()); + outcome.m_succeed = false; + } + return outcome; + } + + AZStd::unordered_map GetParameterFromXacroData(const AZStd::string& data) + { + AZStd::vector dataArray; + dataArray.resize_no_construct(data.size() + 1); + AZStd::copy(data.data(), data.end(), dataArray.begin()); + dataArray.back() = '\0'; + + constexpr char argNameTag[]{ "xacro:arg" }; + constexpr char nameTag[]{ "name" }; + constexpr char defaultTag[]{ "default" }; + + AZStd::unordered_map params; + AZ::rapidxml::xml_document doc; + doc.parse(dataArray.data()); + AZ::rapidxml::xml_node* xmlRootNode = doc.first_node("robot"); + for (AZ::rapidxml::xml_node<>* child_node = xmlRootNode->first_node(); child_node; child_node = child_node->next_sibling()) + { + if (strcmp(argNameTag, child_node->name()) == 0) + { + const auto* attributeName = child_node->first_attribute(nameTag); + const auto* attributeDefault = child_node->first_attribute(defaultTag); + + if (attributeName) + { + AZStd::string name{ attributeName->value() }; + AZStd::string value; + if (attributeDefault) + { + value = AZStd::string{ attributeDefault->value() }; + } + params.emplace(AZStd::make_pair(AZStd::move(name), AZStd::move(value))); + } + } + } + return params; + } + + AZStd::unordered_map GetParameterFromXacroFile(const AZStd::string& filename) + { + AZ::IO::FileIOStream fileStream; + if (!fileStream.Open(filename.c_str(), AZ::IO::OpenMode::ModeRead | AZ::IO::OpenMode::ModeBinary)) + { + return xacro::Params(); + } + + AZ::IO::SizeType length = fileStream.GetLength(); + if (length == 0) + { + return xacro::Params(); + } + + AZStd::string charBuffer; + auto ReadFile = [&fileStream](char* buffer, size_t size) + { + return fileStream.Read(size, buffer); + }; + charBuffer.resize_and_overwrite(length, ReadFile); + return GetParameterFromXacroData(charBuffer); + } + +} // namespace ROS2::Utils::xacro diff --git a/Gems/ROS2/Code/Source/RobotImporter/xacro/XacroUtils.h b/Gems/ROS2/Code/Source/RobotImporter/xacro/XacroUtils.h new file mode 100644 index 000000000..b2ca9af8e --- /dev/null +++ b/Gems/ROS2/Code/Source/RobotImporter/xacro/XacroUtils.h @@ -0,0 +1,47 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include + +namespace ROS2::Utils::xacro +{ + + static const char* XacroExecutable = "xacro"; + using Params = AZStd::unordered_map; + //! Structure that keeps all artifacts of xacro execution + struct ExecutionOutcome + { + //! Parsed URDF from successful xacro's output + urdf::ModelInterfaceSharedPtr m_urdfHandle; + //! Return code of 'xacro' program + bool m_succeed{ false }; + //! Called program name + AZStd::string m_called; + //! Standard output of xacro execution + AZStd::string m_logStandardOutput; + //! Standard error output of xacro process + AZStd::string m_logErrorOutput; + + //! Gets if execution was a success + explicit operator bool() const + { + return m_succeed && m_urdfHandle != nullptr; + } + }; + + AZStd::unordered_map GetParameterFromXacroData(const AZStd::string& data); + AZStd::unordered_map GetParameterFromXacroFile(const AZStd::string& filename); + + ExecutionOutcome ParseXacro(const AZStd::string& filename, const Params& params); + + +} // namespace ROS2::Utils::xacro diff --git a/Gems/ROS2/Code/Source/Sensor/ROS2SensorComponent.cpp b/Gems/ROS2/Code/Source/Sensor/ROS2SensorComponent.cpp new file mode 100644 index 000000000..b213edd70 --- /dev/null +++ b/Gems/ROS2/Code/Source/Sensor/ROS2SensorComponent.cpp @@ -0,0 +1,111 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + void ROS2SensorComponent::Activate() + { + SetupRefreshLoop(); + AZ::TickBus::Handler::BusConnect(); + } + + void ROS2SensorComponent::Deactivate() + { + m_onTickCall.clear(); + AZ::TickBus::Handler::BusDisconnect(); + } + + void ROS2SensorComponent::Reflect(AZ::ReflectContext* context) + { + SensorConfiguration::Reflect(context); + + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(1)->Field( + "SensorConfiguration", &ROS2SensorComponent::m_sensorConfiguration); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ROS2 Sensor", "Base component for sensors") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &ROS2SensorComponent::m_sensorConfiguration, + "Sensor configuration", + "Sensor configuration"); + } + } + } + + AZStd::string ROS2SensorComponent::GetNamespace() const + { + auto* ros2Frame = Utils::GetGameOrEditorComponent(GetEntity()); + return ros2Frame->GetNamespace(); + }; + + AZStd::string ROS2SensorComponent::GetFrameID() const + { + auto* ros2Frame = Utils::GetGameOrEditorComponent(GetEntity()); + return ros2Frame->GetFrameID(); + } + + void ROS2SensorComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("ROS2Frame")); + } + + void ROS2SensorComponent::OnTick([[maybe_unused]] float deltaTime, [[maybe_unused]] AZ::ScriptTimePoint time) + { + Visualise(); // each frame + if (m_onTickCall) + { + m_onTickCall(); + } + } + + bool ROS2SensorComponent::IsPublicationDeadline(float expectedLoopTime) + { + if (!m_sensorConfiguration.m_publishingEnabled) + { + return false; + } + m_tickCountDown--; + if (m_tickCountDown <= 0) + { + const auto frequency = m_sensorConfiguration.m_frequency; + const auto frameTime = frequency == 0.f ? 1.f : 1.f / frequency; + const float numberOfFrames = frameTime / expectedLoopTime; + m_tickCountDown = AZStd::round(numberOfFrames); + return true; + } + return false; + } + + void ROS2SensorComponent::SetupRefreshLoop() + { + m_onTickCall = [this]() + { + const AZStd::chrono::duration expectedLoopTime = + ROS2Interface::Get()->GetSimulationClock().GetExpectedSimulationLoopTime(); + if (IsPublicationDeadline(expectedLoopTime.count())) + { + FrequencyTick(); + } + }; + } + +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Sensor/SensorConfiguration.cpp b/Gems/ROS2/Code/Source/Sensor/SensorConfiguration.cpp new file mode 100644 index 000000000..3956f4c31 --- /dev/null +++ b/Gems/ROS2/Code/Source/Sensor/SensorConfiguration.cpp @@ -0,0 +1,49 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include + +namespace ROS2 +{ + void SensorConfiguration::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->RegisterGenericType>(); + serializeContext->RegisterGenericType>>(); + serializeContext->Class() + ->Version(2) + ->Field("Visualise", &SensorConfiguration::m_visualise) + ->Field("Publishing Enabled", &SensorConfiguration::m_publishingEnabled) + ->Field("Frequency (HZ)", &SensorConfiguration::m_frequency) + ->Field("Publishers", &SensorConfiguration::m_publishersConfigurations); + + if (AZ::EditContext* ec = serializeContext->GetEditContext()) + { + ec->Class("ROS2 Sensor Configuration", "Sensor configuration") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->DataElement(AZ::Edit::UIHandlers::Default, &SensorConfiguration::m_visualise, "Visualise", "Visualise") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &SensorConfiguration::m_publishingEnabled, + "Publishing Enabled", + "Toggle publishing for topic") + ->DataElement( + AZ::Edit::UIHandlers::Default, &SensorConfiguration::m_frequency, "Frequency", "Frequency of publishing [Hz]") + ->DataElement( + AZ::Edit::UIHandlers::Default, &SensorConfiguration::m_publishersConfigurations, "Publishers", "Publishers") + ->Attribute(AZ::Edit::Attributes::AutoExpand, true) + ->Attribute(AZ::Edit::Attributes::Visibility, AZ::Edit::PropertyVisibility::ShowChildrenOnly) + ->Attribute(AZ::Edit::Attributes::ContainerCanBeModified, false) + ->ElementAttribute(AZ::Edit::Attributes::AutoExpand, true); + } + } + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Spawner/ROS2SpawnPointComponent.cpp b/Gems/ROS2/Code/Source/Spawner/ROS2SpawnPointComponent.cpp new file mode 100644 index 000000000..6a15bda32 --- /dev/null +++ b/Gems/ROS2/Code/Source/Spawner/ROS2SpawnPointComponent.cpp @@ -0,0 +1,63 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "ROS2SpawnPointComponent.h" +#include + +#include +#include +#include + +#include + +namespace ROS2 +{ + void ROS2SpawnPointComponent::Activate() + { + } + + void ROS2SpawnPointComponent::Deactivate() + { + } + + void ROS2SpawnPointComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(1) + ->Field("Name", &ROS2SpawnPointComponent::m_name) + ->Field("Info", &ROS2SpawnPointComponent::m_info); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ROS2 Spawn Point", "Spawn Point") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "Stores information about available spawn point") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->DataElement(AZ::Edit::UIHandlers::EntityId, &ROS2SpawnPointComponent::m_name, "Name", "Name") + ->DataElement( + AZ::Edit::UIHandlers::EntityId, &ROS2SpawnPointComponent::m_info, "Info", "Spawn point detailed description"); + } + } + } + + AZStd::pair ROS2SpawnPointComponent::GetInfo() const + { + auto transform_component = GetEntity()->FindComponent(); + + // if SpawnPointComponent entity for some reason does not include TransformComponent - this default pose will be returned + AZ::Transform transform = { AZ::Vector3{ 0, 0, 0 }, AZ::Quaternion{ 0, 0, 0, 1.0 }, 1.0 }; + + if (transform_component != nullptr) + { + transform = transform_component->GetWorldTM(); + } + return { m_name, SpawnPointInfo{ m_info, transform } }; + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Spawner/ROS2SpawnPointComponent.h b/Gems/ROS2/Code/Source/Spawner/ROS2SpawnPointComponent.h new file mode 100644 index 000000000..6a9297ae4 --- /dev/null +++ b/Gems/ROS2/Code/Source/Spawner/ROS2SpawnPointComponent.h @@ -0,0 +1,43 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include + +namespace ROS2 +{ + struct SpawnPointInfo + { + AZStd::string info; + AZ::Transform pose; + }; + + //! SpawnPoint indicates a place which is suitable to spawn a robot. + class ROS2SpawnPointComponent : public AZ::Component + { + public: + AZ_COMPONENT(ROS2SpawnPointComponent, "{2AE1CAAE-B300-49FD-8F6D-F7AAABED1EC3}", AZ::Component); + + ROS2SpawnPointComponent() = default; + + ~ROS2SpawnPointComponent() = default; + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + static void Reflect(AZ::ReflectContext* context); + + AZStd::pair GetInfo() const; + + private: + AZStd::string m_name; + AZStd::string m_info; + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.cpp b/Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.cpp new file mode 100644 index 000000000..caf3cb3dd --- /dev/null +++ b/Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.cpp @@ -0,0 +1,234 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "ROS2SpawnerComponent.h" +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + + void ROS2SpawnerComponent::Activate() + { + auto ros2Node = ROS2Interface::Get()->GetNode(); + + m_getSpawnablesNamesService = ros2Node->create_service( + "get_available_spawnable_namespawnable_names", + [this](const GetAvailableSpawnableNamesRequest request, GetAvailableSpawnableNamesResponse response) + { + GetAvailableSpawnableNames(request, response); + }); + + m_spawnService = ros2Node->create_service( + "spawn_entity", + [this](const SpawnEntityRequest request, SpawnEntityResponse response) + { + SpawnEntity(request, response); + }); + + m_getSpawnPointInfoService = ros2Node->create_service( + "get_spawn_point_info", + [this](const GetSpawnPointInfoRequest request, GetSpawnPointInfoResponse response) + { + GetSpawnPointInfo(request, response); + }); + + m_getSpawnPointsNamesService = ros2Node->create_service( + "get_spawn_points_names", + [this](const GetSpawnPointsNamesRequest request, GetSpawnPointsNamesResponse response) + { + GetSpawnPointsNames(request, response); + }); + } + + void ROS2SpawnerComponent::Deactivate() + { + m_getSpawnablesNamesService.reset(); + m_spawnService.reset(); + m_getSpawnPointInfoService.reset(); + m_getSpawnPointsNamesService.reset(); + } + + void ROS2SpawnerComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(1) + ->Field("Spawnables", &ROS2SpawnerComponent::m_spawnables) + ->Field("Default spawn point", &ROS2SpawnerComponent::m_defaultSpawnPose); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("ROS2 Spawner", "Spawner component") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "Manages spawning of robots in configurable locations") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->DataElement(AZ::Edit::UIHandlers::EntityId, &ROS2SpawnerComponent::m_spawnables, "Spawnables", "Spawnables") + ->DataElement( + AZ::Edit::UIHandlers::EntityId, + &ROS2SpawnerComponent::m_defaultSpawnPose, + "Default spawn pose", + "Default spawn pose"); + } + } + } + + void ROS2SpawnerComponent::GetAvailableSpawnableNames( + const GetAvailableSpawnableNamesRequest request, GetAvailableSpawnableNamesResponse response) + { + for (const auto& spawnable : m_spawnables) + { + response->model_names.emplace_back(spawnable.first.c_str()); + } + } + + void ROS2SpawnerComponent::SpawnEntity(const SpawnEntityRequest request, SpawnEntityResponse response) + { + AZStd::string spawnableName(request->name.c_str()); + AZStd::string spawnPointName(request->xml.c_str(), request->xml.size()); + + auto spawnPoints = GetSpawnPoints(); + + if (!m_spawnables.contains(spawnableName)) + { + response->success = false; + response->status_message = "Could not find spawnable with given name: " + request->name; + return; + } + + if (!m_tickets.contains(spawnableName)) + { + // if a ticket for this spawnable was not created but the spawnable name is correct, create the ticket and then use it to + // spawn an entity + auto spawnable = m_spawnables.find(spawnableName); + m_tickets.emplace(spawnable->first, AzFramework::EntitySpawnTicket(spawnable->second)); + } + + auto spawner = AZ::Interface::Get(); + + AzFramework::SpawnAllEntitiesOptionalArgs optionalArgs; + + AZ::Transform transform; + + if (spawnPoints.contains(spawnPointName)) + { + transform = spawnPoints.at(spawnPointName).pose; + } + else + { + transform = { AZ::Vector3(request->initial_pose.position.x, request->initial_pose.position.y, request->initial_pose.position.z), + AZ::Quaternion( + request->initial_pose.orientation.x, + request->initial_pose.orientation.y, + request->initial_pose.orientation.z, + request->initial_pose.orientation.w), + 1.0f }; + } + + optionalArgs.m_preInsertionCallback = [this, transform, spawnableName](auto id, auto view) + { + PreSpawn(id, view, transform, spawnableName); + }; + + spawner->SpawnAllEntities(m_tickets.at(spawnableName), optionalArgs); + + response->success = true; + } + + void ROS2SpawnerComponent::PreSpawn( + AzFramework::EntitySpawnTicket::Id id [[maybe_unused]], + AzFramework::SpawnableEntityContainerView view, + const AZ::Transform& transform, + const AZStd::string& spawnableName) + { + if (view.empty()) + { + return; + } + AZ::Entity* root = *view.begin(); + + auto* transformInterface = root->FindComponent(); + transformInterface->SetWorldTM(transform); + + AZStd::string instanceName = AZStd::string::format("%s_%d", spawnableName.c_str(), m_counter++); + for (AZ::Entity* entity : view) + { // Update name for the first entity with ROS2Frame in hierarchy (left to right) + const auto* frameComponent = Utils::GetGameOrEditorComponent(entity); + if (frameComponent) + { + entity->SetName(instanceName); + break; + } + } + } + + const AZ::Transform& ROS2SpawnerComponent::GetDefaultSpawnPose() const + { + return m_defaultSpawnPose; + } + + void ROS2SpawnerComponent::GetSpawnPointsNames( + const ROS2::GetSpawnPointsNamesRequest request, ROS2::GetSpawnPointsNamesResponse response) + { + for (auto spawnPoint : GetSpawnPoints()) + { + response->model_names.emplace_back(spawnPoint.first.c_str()); + } + } + + void ROS2SpawnerComponent::GetSpawnPointInfo(const ROS2::GetSpawnPointInfoRequest request, ROS2::GetSpawnPointInfoResponse response) + { + const AZStd::string_view key(request->model_name.c_str(), request->model_name.size()); + + auto spawnPoints = GetSpawnPoints(); + if (spawnPoints.contains(key)) + { + auto info = spawnPoints.at(key); + response->pose = ROS2Conversions::ToROS2Pose(info.pose); + response->status_message = info.info.c_str(); + } + else + { + response->status_message = "Could not find spawn point with given name: " + request->model_name; + } + } + + AZStd::unordered_map ROS2SpawnerComponent::GetSpawnPoints() + { + AZStd::vector children; + AZ::TransformBus::EventResult(children, GetEntityId(), &AZ::TransformBus::Events::GetChildren); + + AZStd::unordered_map result; + + for (const AZ::EntityId& child : children) + { + AZ::Entity* childEntity = nullptr; + AZ::ComponentApplicationBus::BroadcastResult(childEntity, &AZ::ComponentApplicationRequests::FindEntity, child); + AZ_Assert(childEntity, "No child entity %s", child.ToString().c_str()); + const auto* spawnPoint = childEntity->FindComponent(); + + if (spawnPoint == nullptr) + { + continue; + } + + result.insert(spawnPoint->GetInfo()); + } + + // setting name of spawn point component "default" in a child entity will have no effect since it is overwritten here with the + // default spawn pose of spawner + result["default"] = SpawnPointInfo{ "Default spawn pose defined in the Editor", m_defaultSpawnPose }; + return result; + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.h b/Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.h new file mode 100644 index 000000000..06ce1ae11 --- /dev/null +++ b/Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.h @@ -0,0 +1,83 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include "ROS2SpawnPointComponent.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2 +{ + using GetAvailableSpawnableNamesRequest = std::shared_ptr; + using GetAvailableSpawnableNamesResponse = std::shared_ptr; + using SpawnEntityRequest = std::shared_ptr; + using SpawnEntityResponse = std::shared_ptr; + using GetSpawnPointInfoRequest = std::shared_ptr; + using GetSpawnPointInfoResponse = std::shared_ptr; + using GetSpawnPointsNamesRequest = std::shared_ptr; + using GetSpawnPointsNamesResponse = std::shared_ptr; + + //! Manages robots spawning. + //! Allows user to set spawnable prefabs in the Editor and spawn them using ROS2 service during the simulation. + class ROS2SpawnerComponent + : public AZ::Component + , public SpawnerRequestsBus::Handler + { + public: + AZ_COMPONENT(ROS2SpawnerComponent, "{5950AC6B-75F3-4E0F-BA5C-17C877013710}", AZ::Component, SpawnerRequestsBus::Handler); + + // AZ::Component interface implementation. + ROS2SpawnerComponent() = default; + ~ROS2SpawnerComponent() = default; + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + static void Reflect(AZ::ReflectContext* context); + + ////////////////////////////////////////////////////////////////////////// + // SpawnerRequestsBus::Handler overrides + const AZ::Transform& GetDefaultSpawnPose() const override; + ////////////////////////////////////////////////////////////////////////// + + private: + int m_counter = 1; + AZStd::unordered_map> m_spawnables; + AZStd::unordered_map m_tickets; + + rclcpp::Service::SharedPtr m_getSpawnablesNamesService; + rclcpp::Service::SharedPtr m_getSpawnPointsNamesService; + rclcpp::Service::SharedPtr m_spawnService; + rclcpp::Service::SharedPtr m_getSpawnPointInfoService; + + AZ::Transform m_defaultSpawnPose = { AZ::Vector3{ 0, 0, 0 }, AZ::Quaternion{ 0, 0, 0, 1 }, 1.0 }; + + void GetAvailableSpawnableNames(const GetAvailableSpawnableNamesRequest request, GetAvailableSpawnableNamesResponse response); + void SpawnEntity(const SpawnEntityRequest request, SpawnEntityResponse response); + void PreSpawn( + AzFramework::EntitySpawnTicket::Id, + AzFramework::SpawnableEntityContainerView, + const AZ::Transform&, + const AZStd::string& spawnableName); + + void GetSpawnPointsNames(const GetSpawnPointsNamesRequest request, GetSpawnPointsNamesResponse response); + void GetSpawnPointInfo(const GetSpawnPointInfoRequest request, GetSpawnPointInfoResponse response); + + AZStd::unordered_map GetSpawnPoints(); + }; +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Utilities/Controllers/PidConfiguration.cpp b/Gems/ROS2/Code/Source/Utilities/Controllers/PidConfiguration.cpp new file mode 100644 index 000000000..0ed8f7581 --- /dev/null +++ b/Gems/ROS2/Code/Source/Utilities/Controllers/PidConfiguration.cpp @@ -0,0 +1,68 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include + +namespace ROS2::Controllers +{ + void PidConfiguration::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class() + ->Version(1) + ->Field("P", &PidConfiguration::m_p) + ->Field("I", &PidConfiguration::m_i) + ->Field("D", &PidConfiguration::m_d) + ->Field("IMin", &PidConfiguration::m_iMin) + ->Field("IMax", &PidConfiguration::m_iMax) + ->Field("Anti windup", &PidConfiguration::m_antiWindup) + ->Field("Output limit", &PidConfiguration::m_outputLimit); + + if (AZ::EditContext* ec = serializeContext->GetEditContext()) + { + ec->Class("PID configuration", "Configures a PID controller") + ->DataElement(1, &PidConfiguration::m_p, "P", "Proportional gain") + ->Attribute(AZ::Edit::Attributes::Min, 0.0) + ->DataElement(AZ::Edit::UIHandlers::Default, &PidConfiguration::m_i, "I", "Integral gain") + ->Attribute(AZ::Edit::Attributes::Min, 0.0) + ->DataElement(AZ::Edit::UIHandlers::Default, &PidConfiguration::m_d, "D", "Derivative gain") + ->Attribute(AZ::Edit::Attributes::Min, 0.0) + ->DataElement(AZ::Edit::UIHandlers::Default, &PidConfiguration::m_iMin, "IMin", "Minimum allowable integral term") + ->Attribute(AZ::Edit::Attributes::Min, 0.0) + ->DataElement(AZ::Edit::UIHandlers::Default, &PidConfiguration::m_iMax, "IMax", "Maximum allowable integral term") + ->Attribute(AZ::Edit::Attributes::Min, 0.0) + ->DataElement(AZ::Edit::UIHandlers::Default, &PidConfiguration::m_antiWindup, "AntiWindup", "Anti windup") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &PidConfiguration::m_outputLimit, + "OutputLimit", + "Limit of the PID output [0, INF]. Set to 0.0 to disable.") + ->Attribute(AZ::Edit::Attributes::Min, 0.0); + } + } + } + + void PidConfiguration::InitializePid() + { + m_pid.initPid(m_p, m_i, m_d, m_iMax, m_iMin, m_antiWindup); + } + + double PidConfiguration::ComputeCommand(double error, uint64_t deltaTimeNanoseconds) + { + double output = m_pid.computeCommand(error, deltaTimeNanoseconds); + if (m_outputLimit > 0.0) + { + output = AZStd::clamp(output, -m_outputLimit, m_outputLimit); + } + return output; + } +} // namespace ROS2::Controllers diff --git a/Gems/ROS2/Code/Source/Utilities/PhysicsCallbackHandler.cpp b/Gems/ROS2/Code/Source/Utilities/PhysicsCallbackHandler.cpp new file mode 100644 index 000000000..08e34619e --- /dev/null +++ b/Gems/ROS2/Code/Source/Utilities/PhysicsCallbackHandler.cpp @@ -0,0 +1,58 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#include "PhysicsCallbackHandler.h" +#include "AzFramework/Physics/RigidBodyBus.h" +#include "AzFramework/Physics/SimulatedBodies/RigidBody.h" + +namespace ROS2::Utils +{ + void PhysicsCallbackHandler::InstallPhysicalCallback(AZ::EntityId entityId) + { + m_bodyHandle = AzPhysics::InvalidSimulatedBodyHandle; + m_onSceneSimulationStart = AzPhysics::SceneEvents::OnSceneSimulationStartHandler( + [this, entityId](AzPhysics::SceneHandle sceneHandle, float deltaTime) + { + AzPhysics::RigidBody* rigidBody = nullptr; + Physics::RigidBodyRequestBus::EventResult(rigidBody, entityId, &Physics::RigidBodyRequests::GetRigidBody); + AZ_Assert(rigidBody, "Entity %s does not have rigid body.", entityId.ToString().c_str()); + if (rigidBody) + { + m_bodyHandle = rigidBody->m_bodyHandle; + OnPhysicsInitialization(sceneHandle); + m_onSceneSimulationStart.Disconnect(); + } + }); + + m_onSceneSimulationEvent = AzPhysics::SceneEvents::OnSceneSimulationFinishHandler( + [this](AzPhysics::SceneHandle sceneHandle, float deltaTime) + { + if (m_bodyHandle == AzPhysics::InvalidSimulatedBodyHandle) + { + return; + } + OnPhysicsSimulationFinished(sceneHandle, deltaTime); + }); + + auto* sceneInterface = AZ::Interface::Get(); + AzPhysics::SceneHandle sceneHandle = sceneInterface->GetSceneHandle(AzPhysics::DefaultPhysicsSceneName); + sceneInterface->RegisterSceneSimulationFinishHandler(sceneHandle, m_onSceneSimulationEvent); + sceneInterface->RegisterSceneSimulationStartHandler(sceneHandle, m_onSceneSimulationStart); + } + + void PhysicsCallbackHandler::RemovePhysicalCallback() + { + if (m_onSceneSimulationStart.IsConnected()) + { + m_onSceneSimulationStart.Disconnect(); + } + if (m_onSceneSimulationEvent.IsConnected()) + { + m_onSceneSimulationEvent.Disconnect(); + } + } +} // namespace ROS2::Utils diff --git a/Gems/ROS2/Code/Source/Utilities/PhysicsCallbackHandler.h b/Gems/ROS2/Code/Source/Utilities/PhysicsCallbackHandler.h new file mode 100644 index 000000000..2f6f6c5d0 --- /dev/null +++ b/Gems/ROS2/Code/Source/Utilities/PhysicsCallbackHandler.h @@ -0,0 +1,45 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once +#include +#include +#include + +namespace ROS2::Utils +{ + //! Helper class that register OnSceneSimulationFinishHandler and retrieve handle to Simulated Body from the Default Scene. + class PhysicsCallbackHandler + { + protected: + //! Install to default physics scene callbacks, when the scene is created, the @member m_bodyHandle is populated with the handle to + //! simulated body. + //! @param m_entityId Entity id to get m_bodyHandle to. + void InstallPhysicalCallback(AZ::EntityId m_entityId); + + //! Removes all attached callbacks + void RemovePhysicalCallback(); + + //! Called multiple times per frame after every inner loop of physics engine. + //! It virtual version of callback AzPhysics::SceneEvents::OnSceneSimulationFinishHandler. + //! @param sceneHandle - scene handle, only handle to Default Scene is expected + //! @param deltaTime - update of simulated time in seconds. + virtual void OnPhysicsSimulationFinished(AzPhysics::SceneHandle sceneHandle, float deltaTime) {}; + + //! Callback called on begging of the first physical simulation. + //! inner loop of physics engine. + //! @param sceneHandle - scene handle, only handle to Default Scene is expected + virtual void OnPhysicsInitialization(AzPhysics::SceneHandle sceneHandle) {}; + + //! Handler to simulated physical body + AzPhysics::SimulatedBodyHandle m_bodyHandle = AzPhysics::InvalidSimulatedBodyHandle; + private: + AzPhysics::SceneEvents::OnSceneSimulationFinishHandler m_onSceneSimulationEvent; + AzPhysics::SceneEvents::OnSceneSimulationStartHandler m_onSceneSimulationStart; + }; +} // namespace ROS2::Utils diff --git a/Gems/ROS2/Code/Source/Utilities/ROS2Conversions.cpp b/Gems/ROS2/Code/Source/Utilities/ROS2Conversions.cpp new file mode 100644 index 000000000..b196d340b --- /dev/null +++ b/Gems/ROS2/Code/Source/Utilities/ROS2Conversions.cpp @@ -0,0 +1,74 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include + +namespace ROS2 +{ + AZ::Vector3 ROS2Conversions::FromROS2Vector3(const geometry_msgs::msg::Vector3& ros2vector) + { // Same coordinate systems - just translate types + return AZ::Vector3(ros2vector.x, ros2vector.y, ros2vector.z); + } + + geometry_msgs::msg::Vector3 ROS2Conversions::ToROS2Vector3(const AZ::Vector3& azvector) + { + geometry_msgs::msg::Vector3 ros2vector; + ros2vector.x = azvector.GetX(); + ros2vector.y = azvector.GetY(); + ros2vector.z = azvector.GetZ(); + return ros2vector; + } + + geometry_msgs::msg::Point ROS2Conversions::ToROS2Point(const AZ::Vector3& azvector) + { + geometry_msgs::msg::Point ros2point; + ros2point.x = azvector.GetX(); + ros2point.y = azvector.GetY(); + ros2point.z = azvector.GetZ(); + return ros2point; + } + + geometry_msgs::msg::Quaternion ROS2Conversions::ToROS2Quaternion(const AZ::Quaternion& azquaternion) + { + geometry_msgs::msg::Quaternion ros2Quaternion; + ros2Quaternion.x = azquaternion.GetX(); + ros2Quaternion.y = azquaternion.GetY(); + ros2Quaternion.z = azquaternion.GetZ(); + ros2Quaternion.w = azquaternion.GetW(); + return ros2Quaternion; + } + + geometry_msgs::msg::Pose ROS2Conversions::ToROS2Pose(const AZ::Transform& aztransform) + { + geometry_msgs::msg::Pose pose; + pose.position = ToROS2Point(aztransform.GetTranslation()); + pose.orientation = ToROS2Quaternion(aztransform.GetRotation()); + return pose; + } + + AZ::Transform ROS2Conversions::FromROS2Pose(const geometry_msgs::msg::Pose& ros2pose) + { + return { FromROS2Point(ros2pose.position), FromROS2Quaternion(ros2pose.orientation), 1.0f }; + } + + AZ::Vector3 ROS2Conversions::FromROS2Point(const geometry_msgs::msg::Point& ros2point) + { + return AZ::Vector3(ros2point.x, ros2point.y, ros2point.z); + } + + AZ::Quaternion ROS2Conversions::FromROS2Quaternion(const geometry_msgs::msg::Quaternion& ros2quaternion) + { + AZ::Quaternion azquaternion; + azquaternion.SetX(ros2quaternion.x); + azquaternion.SetY(ros2quaternion.y); + azquaternion.SetZ(ros2quaternion.z); + azquaternion.SetW(ros2quaternion.w); + return azquaternion; + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/Utilities/ROS2Names.cpp b/Gems/ROS2/Code/Source/Utilities/ROS2Names.cpp new file mode 100644 index 000000000..5f6efe2ed --- /dev/null +++ b/Gems/ROS2/Code/Source/Utilities/ROS2Names.cpp @@ -0,0 +1,132 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include + +namespace ROS2 +{ + AZStd::string ROS2Names::GetNamespacedName(const AZStd::string& ns, const AZStd::string& name) + { + if (ns.empty()) + { + return name; + } + + return AZStd::string::format("%s/%s", ns.c_str(), name.c_str()); + ; + } + + AZStd::string ROS2Names::RosifyName(const AZStd::string& input) + { + AZStd::string rosified = input; + if (input.empty()) + { + return rosified; + } + + const char underscore = '_'; + if (input[0] == underscore) + { + AZ_Warning( + "RosifyName", + false, + "'%s' name starts with an underscore, which makes topic/namespace/parameter hidden by default. Is this intended?", + input.c_str()); + } + + const AZStd::string stringToReplaceViolations(1, underscore); + const AZStd::regex ros2Disallowedlist("[^0-9|a-z|A-Z|_]"); + rosified = AZStd::regex_replace(rosified, ros2Disallowedlist, stringToReplaceViolations); + + if (AZStd::isdigit(rosified[0]) || (input[0] != underscore && rosified[0] == underscore)) + { // Prepend "o3de_" if it would otherwise start with a number (which would violate ros2 name requirements) + // Also, starting with '_' is not desired unless explicit. Topics/namespaces/parameters starting with "_" are hidden by default. + const AZStd::string prependToNumberStart = "o3de_"; + rosified = prependToNumberStart + rosified; + } + + if (input != rosified) + { + AZ_TracePrintf( + "RosifyName", + "Name '%s' has been changed to '%s' to conform with ros2 naming restrictions\n", + input.c_str(), + rosified.c_str()); + } + return rosified; + } + + AZ::Outcome ROS2Names::ValidateNamespace(const AZStd::string& ros2Namespace) + { + auto ros2GlobalizedNamespace = ros2Namespace; + const char namespacePrefix = '/'; + if (!ros2Namespace.starts_with(namespacePrefix)) + { // Prepend "/" if not included, this is done automatically by rclcpp so "/"-less namespaces are ok. + ros2GlobalizedNamespace = namespacePrefix + ros2Namespace; + } + + int validationResult = 0; + auto ret = rmw_validate_namespace(ros2GlobalizedNamespace.c_str(), &validationResult, NULL); + if (ret != RMW_RET_OK) + { + AZ_Error("ValidateNamespace", false, "Call to rmw validation for namespace failed"); + return AZ::Failure(AZStd::string("Unable to validate namespace due to rmw error")); + } + + if (validationResult != RMW_NAMESPACE_VALID) + { + return AZ::Failure(AZStd::string(rmw_namespace_validation_result_string(validationResult))); + } + + return AZ::Success(); + } + + AZ::Outcome ROS2Names::ValidateNamespaceField(void* newValue, const AZ::Uuid& valueType) + { + if (azrtti_typeid() != valueType) + { + return AZ::Failure(AZStd::string("Unexpected field type: the only valid input is a character string")); + } + + const AZStd::string& ros2Namespace(*reinterpret_cast(newValue)); + return ValidateNamespace(ros2Namespace); + } + + AZ::Outcome ROS2Names::ValidateTopic(const AZStd::string& topic) + { + int validationResult = 0; + [[maybe_unused]] size_t invalidIndex; + if (rcl_validate_topic_name(topic.c_str(), &validationResult, &invalidIndex) != RCL_RET_OK) + { + AZ_Error("ValidateTopic", false, "Call to rcl validation for topic failed"); + return AZ::Failure(AZStd::string("Unable to validate topic due to rcl error")); + } + + if (RCL_TOPIC_NAME_VALID != validationResult) + { + return AZ::Failure(AZStd::string(rcl_topic_name_validation_result_string(validationResult))); + } + + return AZ::Success(); + } + + AZ::Outcome ROS2Names::ValidateTopicField(void* newValue, const AZ::Uuid& valueType) + { + if (azrtti_typeid() != valueType) + { + return AZ::Failure(AZStd::string("Unexpected field type: the only valid input is a character string")); + } + + const AZStd::string& topic(*reinterpret_cast(newValue)); + return ValidateTopic(topic); + } +} // namespace ROS2 diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/AxleConfiguration.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/AxleConfiguration.cpp new file mode 100644 index 000000000..f1dffb336 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/AxleConfiguration.cpp @@ -0,0 +1,78 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "AxleConfiguration.h" +#include +#include + +namespace ROS2::VehicleDynamics +{ + void AxleConfiguration::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(2) + ->Field("AxleTag", &AxleConfiguration::m_axleTag) + ->Field("AxleWheels", &AxleConfiguration::m_axleWheels) + ->Field("WheelRadius", &AxleConfiguration::m_wheelRadius) + ->Field("IsSteering", &AxleConfiguration::m_isSteering) + ->Field("IsDrive", &AxleConfiguration::m_isDrive); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Axle configuration", "Axles of the vehicle model") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->DataElement( + AZ::Edit::UIHandlers::Default, &AxleConfiguration::m_axleTag, "Axle tag", "Helpful description of the axle") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &AxleConfiguration::m_isSteering, + "Is it a steering axle", + "Is this axle used for steering (all attached wheels)") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &AxleConfiguration::m_isDrive, + "Is it a drive axle", + "Is this axle used for drive (all attached wheels)") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &AxleConfiguration::m_wheelRadius, + "Wheel radius", + "Radius of each wheel attached to axle") + ->Attribute(AZ::Edit::Attributes::Min, 0.01f) + ->Attribute(AZ::Edit::Attributes::Max, 10.0f) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &AxleConfiguration::m_axleWheels, + "Axle wheels", + "One or more wheels attached to this axle. First wheel is the leftmost, last is the rightmost") + ->Attribute(AZ::Edit::Attributes::AutoExpand, true); + } + } + } + + AZ::EntityId AxleConfiguration::GetLeftWheelEntityId() const + { + if (m_axleWheels.empty()) + { + return AZ::EntityId(); + } + return m_axleWheels.front(); + } + + AZ::EntityId AxleConfiguration::GetRightWheelEntityId() const + { + if (m_axleWheels.empty()) + { + return AZ::EntityId(); + } + return m_axleWheels.back(); + } +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/AxleConfiguration.h b/Gems/ROS2/Code/Source/VehicleDynamics/AxleConfiguration.h new file mode 100644 index 000000000..6ed9e2e21 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/AxleConfiguration.h @@ -0,0 +1,37 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + //! An axle has one or more wheels attached. Axle configuration is abstracted form the physical object + class AxleConfiguration + { + public: + AZ_TYPE_INFO(AxleConfiguration, "{75BD5FEA-EADE-4371-8B2C-96F05A886BEB}"); + AxleConfiguration() = default; + static void Reflect(AZ::ReflectContext* context); + + // Helper functions for wheel entities. If there is only one wheel, same value is returned from both. + // If no wheels are set, this will return invalid EntityId (check with IsValid()) + AZ::EntityId GetLeftWheelEntityId() const; //!< Return left-most wheel of the axis. + AZ::EntityId GetRightWheelEntityId() const; //!< Return right-most wheel of the axis. + + AZStd::string m_axleTag; //!< Useful to differentiate between axles, can be empty. + AZStd::vector m_axleWheels; //!< One or more wheels attached to this axle (typically 2), sorted left to right. + + float m_wheelRadius = 0.35f; //!< A wheel radius for all attached wheels, in meters. + bool m_isSteering = false; //! A wheel is steered with intention to change direction of movement + bool m_isDrive = false; //! A wheel is driven (drive torque is applied) + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/DriveModel.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/DriveModel.cpp new file mode 100644 index 000000000..aa168be8d --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/DriveModel.cpp @@ -0,0 +1,47 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "DriveModel.h" +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + void DriveModel::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(1); + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Drive Model", "Abstract class for drive models") + ->ClassElement(AZ::Edit::ClassElements::EditorData, ""); + } + } + } + + void DriveModel::SetDisabled(bool isDisabled) + { + m_disabled = isDisabled; + } + + void DriveModel::ApplyInputState(const VehicleInputs& inputs, AZ::u64 deltaTimeNs) + { + const VehicleInputs filteredInputs = GetVehicleLimitPtr()->LimitState(inputs); + ApplyState(filteredInputs, deltaTimeNs); + } + + VehicleInputs DriveModel::GetMaximumPossibleInputs() const + { + auto* vehicleLimitPtr = GetVehicleLimitPtr(); + AZ_Assert(vehicleLimitPtr, "DriveModel should provide pointer to limits"); + return vehicleLimitPtr->GetMaximumState(); + } + +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/DriveModel.h b/Gems/ROS2/Code/Source/VehicleDynamics/DriveModel.h new file mode 100644 index 000000000..480183d42 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/DriveModel.h @@ -0,0 +1,62 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include "VehicleConfiguration.h" +#include "VehicleInputs.h" +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + //! Abstract class for turning vehicle inputs into behavior of wheels and steering elements + class DriveModel + { + public: + AZ_RTTI(DriveModel, "{1B57E83D-19BF-4403-8712-1AE98A12F0CD}"); + enum class DriveModelType + { + SimplifiedDriveModelType + }; + + static void Reflect(AZ::ReflectContext* context); + virtual ~DriveModel() = default; + + //! Activate the model. Vehicle configuration is to remain the same until another Activate is called. + //! @param vehicleConfig configuration containing axes and wheels information + virtual void Activate(const VehicleConfiguration& vehicleConfig) = 0; + + //! Applies inputs to the drive. This model will calculate and apply physical forces. + //! @param inputs captured state of inputs to use. + //! @param deltaTimeNs nanoseconds passed since last call of this function. + void ApplyInputState(const VehicleInputs& inputs, AZ::u64 deltaTimeNs); + + //! Computes expected velocity from individual wheels velocity. + //! The method queries all wheels for rotation speed, and computes vehicle's expected velocity in its coordinate frame. + //! @returns pair of linear and angular velocities + virtual AZStd::pair GetVelocityFromModel() = 0; + + //! Allows to disable vehicle dynamics. + //! @param isDisable true if drive model should be disabled. + void SetDisabled(bool isDisable); + + //! Get vehicle maximum limits. + VehicleInputs GetMaximumPossibleInputs() const; + + protected: + //! Returns pointer to implementation specific Vehicle limits. + virtual const VehicleModelLimits* GetVehicleLimitPtr() const = 0; + + //! Apply input to implemented vehicle model. + virtual void ApplyState(const VehicleInputs& inputs, AZ::u64 deltaTimeNs) = 0; + + //! True if model is disabled. + bool m_disabled{ false }; + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/DriveModels/AckermannDriveModel.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/DriveModels/AckermannDriveModel.cpp new file mode 100644 index 000000000..4be08ef19 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/DriveModels/AckermannDriveModel.cpp @@ -0,0 +1,149 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "AckermannDriveModel.h" +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + void AckermannDriveModel::Reflect(AZ::ReflectContext* context) + { + AckermannModelLimits::Reflect(context); + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(1) + ->Field("SteeringPID", &AckermannDriveModel::m_steeringPid) + ->Field("Limits", &AckermannDriveModel::m_limits); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Simplified Drive Model", "Configuration of a simplified vehicle dynamics drive model") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &AckermannDriveModel::m_steeringPid, + "Steering PID", + "Configuration of steering PID controller") + ->DataElement(AZ::Edit::UIHandlers::Default, &AckermannDriveModel::m_limits, "Vehicle Limits", "Limits"); + } + } + } + + void AckermannDriveModel::Activate(const VehicleConfiguration& vehicleConfig) + { + m_driveWheelsData.clear(); + m_steeringData.clear(); + m_vehicleConfiguration = vehicleConfig; + m_steeringPid.InitializePid(); + } + + void AckermannDriveModel::ApplyState(const VehicleInputs& inputs, AZ::u64 deltaTimeNs) + { + if (m_driveWheelsData.empty()) + { + m_driveWheelsData = VehicleDynamics::Utilities::GetAllDriveWheelsData(m_vehicleConfiguration); + } + + if (m_steeringData.empty()) + { + m_steeringData = VehicleDynamics::Utilities::GetAllSteeringEntitiesData(m_vehicleConfiguration); + } + const auto jointPositions = inputs.m_jointRequestedPosition; + const float steering = jointPositions.empty() ? 0 : jointPositions.front(); + ApplySteering(steering, deltaTimeNs); + ApplySpeed(inputs.m_speed.GetX(), deltaTimeNs); + } + + void AckermannDriveModel::ApplyWheelSteering(SteeringDynamicsData& wheelData, float steering, double deltaTimeNs) + { + const auto& steeringEntity = wheelData.m_steeringEntity; + const auto& hingeComponent = wheelData.m_hingeJoint; + + auto id = AZ::EntityComponentIdPair(steeringEntity, hingeComponent); + + PhysX::JointRequestBus::Event( + id, + [&](PhysX::JointRequests* joint) + { + double currentSteeringAngle = joint->GetPosition(); + const double pidCommand = m_steeringPid.ComputeCommand(steering - currentSteeringAngle, deltaTimeNs); + joint->SetVelocity(pidCommand); + }); + } + + void AckermannDriveModel::ApplySteering(float steering, AZ::u64 deltaTimeNs) + { + if (m_disabled) + { + return; + } + if (m_steeringData.empty()) + { + AZ_Warning("ApplySteering", false, "Cannot apply steering since no steering elements are defined in the model"); + return; + } + + auto innerSteering = AZ::Atan2( + (m_vehicleConfiguration.m_wheelbase * tan(steering)), + (m_vehicleConfiguration.m_wheelbase - 0.5 * m_vehicleConfiguration.m_track * tan(steering))); + auto outerSteering = AZ::Atan2( + (m_vehicleConfiguration.m_wheelbase * tan(steering)), + (m_vehicleConfiguration.m_wheelbase + 0.5 * m_vehicleConfiguration.m_track * tan(steering))); + + ApplyWheelSteering(m_steeringData.front(), innerSteering, deltaTimeNs); + ApplyWheelSteering(m_steeringData.back(), outerSteering, deltaTimeNs); + } + + void AckermannDriveModel::ApplySpeed(float speed, AZ::u64 deltaTimeNs) + { + if (m_disabled) + { + return; + } + const float acceleration = m_limits.GetLinearAcceleration(); + const float maxSpeed = m_limits.GetLinearSpeedLimit(); + m_speedCommand = Utilities::ComputeRampVelocity(speed, m_speedCommand, deltaTimeNs, acceleration, maxSpeed); + + if (m_driveWheelsData.empty()) + { + AZ_Warning("ApplySpeed", false, "Cannot apply speed since no diving wheels are defined in the model"); + return; + } + + for (const auto& wheelData : m_driveWheelsData) + { + const auto wheelEntity = wheelData.m_wheelEntity; + float wheelRadius = wheelData.m_wheelRadius; + const auto hingeComponent = wheelData.m_hingeJoint; + const auto id = AZ::EntityComponentIdPair(wheelEntity, hingeComponent); + AZ_Assert(wheelRadius != 0, "wheelRadius must be non-zero"); + auto desiredAngularSpeedX = (m_speedCommand / wheelRadius); + PhysX::JointRequestBus::Event(id, &PhysX::JointRequests::SetVelocity, desiredAngularSpeedX); + } + } + + const VehicleModelLimits* AckermannDriveModel::GetVehicleLimitPtr() const + { + return &m_limits; + } + + AZStd::pair AckermannDriveModel::GetVelocityFromModel() + { + AZ_Warning("ApplySpeed", false, "GetVelocityFromModel is not implemented for AckermannDriveModel"); + return AZStd::pair{ AZ::Vector3::CreateZero(), AZ::Vector3::CreateZero() }; + } + +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/DriveModels/AckermannDriveModel.h b/Gems/ROS2/Code/Source/VehicleDynamics/DriveModels/AckermannDriveModel.h new file mode 100644 index 000000000..315e0685c --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/DriveModels/AckermannDriveModel.h @@ -0,0 +1,49 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + //! A simple Ackermann system implementation converting speed and steering inputs into wheel impulse and steering element torque + class AckermannDriveModel : public DriveModel + { + public: + AZ_RTTI(AckermannDriveModel, "{104AC31D-E30B-4454-BF42-4FB37B8CFD9B}", DriveModel); + + // DriveModel overrides + void Activate(const VehicleConfiguration& vehicleConfig) override; + + static void Reflect(AZ::ReflectContext* context); + + protected: + // DriveModel overrides + void ApplyState(const VehicleInputs& inputs, AZ::u64 deltaTimeNs) override; + const VehicleModelLimits* GetVehicleLimitPtr() const override; + AZStd::pair GetVelocityFromModel() override; + + private: + void ApplySteering(float steering, AZ::u64 deltaTimeNs); + void ApplySpeed(float speed, AZ::u64 deltaTimeNs); + void ApplyWheelSteering(SteeringDynamicsData& wheelData, float steering, double deltaTimeNs); + + VehicleConfiguration m_vehicleConfiguration; + AZStd::vector m_driveWheelsData; + AZStd::vector m_steeringData; + ROS2::Controllers::PidConfiguration m_steeringPid; + float m_speedCommand = 0.0f; + AckermannModelLimits m_limits; + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/DriveModels/SkidSteeringDriveModel.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/DriveModels/SkidSteeringDriveModel.cpp new file mode 100644 index 000000000..4091a7a11 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/DriveModels/SkidSteeringDriveModel.cpp @@ -0,0 +1,181 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "SkidSteeringDriveModel.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + void SkidSteeringDriveModel::Reflect(AZ::ReflectContext* context) + { + SkidSteeringModelLimits::Reflect(context); + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(1)->Field("Limits", &SkidSteeringDriveModel::m_limits); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Skid Steering Drive Model", "Configuration of a simplified vehicle dynamics drive model") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->DataElement(AZ::Edit::UIHandlers::Default, &SkidSteeringDriveModel::m_limits, "Vehicle Limits", "Limits"); + } + } + } + + void SkidSteeringDriveModel::Activate(const VehicleConfiguration& vehicleConfig) + { + m_config = vehicleConfig; + m_wheelsData.clear(); + m_wheelColumns.clear(); + } + + AZStd::tuple SkidSteeringDriveModel::ProduceWheelColumn( + int wheelNumber, const AxleConfiguration& axle, const int axisCount) const + { + const auto wheelCount = axle.m_axleWheels.size(); + const auto wheelEntityId = axle.m_axleWheels[wheelNumber]; + AZ::Entity* wheelEntityPtr = nullptr; + AZ::ComponentApplicationBus::BroadcastResult(wheelEntityPtr, &AZ::ComponentApplicationRequests::FindEntity, wheelEntityId); + AZ_Assert(wheelEntityPtr, "The wheelEntity should not be null here"); + auto* wheelControllerComponentPtr = Utils::GetGameOrEditorComponent(wheelEntityPtr); + auto hingeId = VehicleDynamics::Utilities::GetWheelPhysxHinge(wheelEntityId); + AZ::Transform hingeTransform{ AZ::Transform::Identity() }; + PhysX::JointRequestBus::EventResult(hingeTransform, hingeId, &PhysX::JointRequests::GetTransform); + if (wheelControllerComponentPtr) + { + const float normalizedWheelId = -1.f + 2.f * wheelNumber / (wheelCount - 1); + AZ::Vector3 axis = hingeTransform.TransformVector({ 0.f, 1.f, 0.f }); + float wheelBase = normalizedWheelId * m_config.m_wheelbase; + AZ_Assert(axle.m_wheelRadius != 0, "axle.m_wheelRadius must be non-zero"); + float dX = axle.m_wheelRadius / (wheelCount * axisCount); + float dPhi = axle.m_wheelRadius / (wheelBase * axisCount); + return { wheelControllerComponentPtr, AZ::Vector2{ dX, dPhi }, axis }; + } + return { nullptr, AZ::Vector2::CreateZero(), AZ::Vector3::CreateZero() }; + } + + AZStd::pair SkidSteeringDriveModel::GetVelocityFromModel() + { + // compute every wheel contribution to vehicle velocity + if (m_wheelColumns.empty()) + { + for (const auto& axle : m_config.m_axles) + { + const auto wheelCount = axle.m_axleWheels.size(); + if (!axle.m_isDrive || wheelCount < 1) + { + continue; + } + for (size_t wheelId = 0; wheelId < wheelCount; wheelId++) + { + const auto column = ProduceWheelColumn(wheelId, axle, m_config.m_axles.size()); + if (AZStd::get<0>(column)) + { + m_wheelColumns.emplace_back(column); + } + } + } + } + + //! accumulated contribution to vehicle's linear movements of every wheel + float d_x = 0; + + //! accumulated contribution to vehicle's rotational movements of every wheel + float d_fi = 0; + + // It is basically multiplication of matrix by a vector. + for (auto& [wheel, column, axis] : m_wheelColumns) + { + const float omega = axis.Dot(wheel->GetRotationVelocity()); + d_x += omega * column.GetX(); + d_fi += omega * column.GetY(); + } + + return AZStd::pair{ { d_x, 0, 0 }, { 0, 0, d_fi } }; + } + + void SkidSteeringDriveModel::ApplyState(const VehicleInputs& inputs, AZ::u64 deltaTimeNs) + { + if (m_disabled) + { + return; + } + const float angularTargetSpeed = inputs.m_angularRates.GetZ(); + const float linearTargetSpeed = inputs.m_speed.GetX(); + const float angularAcceleration = m_limits.GetAngularAcceleration(); + const float linearAcceleration = m_limits.GetLinearAcceleration(); + const float maxLinearVelocity = m_limits.GetLinearSpeedLimit(); + const float maxAngularVelocity = m_limits.GetAngularSpeedLimit(); + + m_currentAngularVelocity = Utilities::ComputeRampVelocity( + angularTargetSpeed, m_currentAngularVelocity, deltaTimeNs, angularAcceleration, maxAngularVelocity); + m_currentLinearVelocity = + Utilities::ComputeRampVelocity(linearTargetSpeed, m_currentLinearVelocity, deltaTimeNs, linearAcceleration, maxLinearVelocity); + // cache PhysX Hinge component IDs + if (m_wheelsData.empty()) + { + int driveAxesCount = 0; + for (const auto& axle : m_config.m_axles) + { + if (axle.m_isDrive) + { + driveAxesCount++; + } + for (const auto& wheel : axle.m_axleWheels) + { + auto hinge = VehicleDynamics::Utilities::GetWheelPhysxHinge(wheel); + m_wheelsData[wheel] = hinge; + } + AZ_Warning( + "SkidSteeringDriveModel", + axle.m_axleWheels.size() > 1, + "Axle %s has not enough wheels (%d)", + axle.m_axleTag.c_str(), + axle.m_axleWheels.size()); + } + AZ_Warning("SkidSteeringDriveModel", driveAxesCount != 0, "Skid steering model does not have any drive wheels."); + } + + for (const auto& axle : m_config.m_axles) + { + const auto wheelCount = axle.m_axleWheels.size(); + if (!axle.m_isDrive || wheelCount < 1) + { + continue; + } + for (size_t wheelId = 0; wheelId < wheelCount; wheelId++) + { + const auto& wheel = axle.m_axleWheels[wheelId]; + auto hingePtr = m_wheelsData.find(wheel); + if (hingePtr == m_wheelsData.end()) + { + continue; + } + float normalizedWheelId = -1.f + 2.f * wheelId / (wheelCount - 1); + float wheelBase = normalizedWheelId * m_config.m_wheelbase / 2.f; + AZ_Assert(axle.m_wheelRadius != 0, "axle.m_wheelRadius must be non-zero"); + float wheelRate = (m_currentLinearVelocity + m_currentAngularVelocity * wheelBase) / axle.m_wheelRadius; + PhysX::JointRequestBus::Event(hingePtr->second, &PhysX::JointRequests::SetVelocity, wheelRate); + } + } + } + + const VehicleModelLimits* SkidSteeringDriveModel::GetVehicleLimitPtr() const + { + return &m_limits; + } + +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/DriveModels/SkidSteeringDriveModel.h b/Gems/ROS2/Code/Source/VehicleDynamics/DriveModels/SkidSteeringDriveModel.h new file mode 100644 index 000000000..ca0b90ae4 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/DriveModels/SkidSteeringDriveModel.h @@ -0,0 +1,61 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +#include +#include +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + //! A simple Ackermann system implementation converting speed and steering inputs into wheel impulse and steering element torque + class SkidSteeringDriveModel : public DriveModel + { + public: + AZ_RTTI(SkidSteeringDriveModel, "{04AE1BF2-621A-46C3-B025-E0875856850D}", DriveModel); + + // DriveModel overrides + void Activate(const VehicleConfiguration& vehicleConfig) override; + + static void Reflect(AZ::ReflectContext* context); + + protected: + // DriveModel overrides + void ApplyState(const VehicleInputs& inputs, AZ::u64 deltaTimeNs) override; + const VehicleModelLimits* GetVehicleLimitPtr() const override; + AZStd::pair GetVelocityFromModel() override; + + private: + //! Collect all necessary data to compute the impact of the wheel on the vehicle's velocity. + //! It can be thought of as a column of the Jacobian matrix of the mechanical system. Jacobian matrix for this model is a matrix of + //! size 2 x number of wheels. This function returns elements of column that corresponds to the given wheel and cache necessary data + //! to find the wheel's rotation as a scalar. + //! @param wheelNumber - number of wheels in axis + //! @param axle - the wheel's axle configuration + //! @param axisCount - number of axles in the vehicle + //! @returns A tuple containing of : + //! - pointer to WheelControllerComponent (API to query for wheel's ration speed), + //! - a contribution to vehicle linear and angular velocity (elements of Jacobian matrix) + //! - the axis of wheel (to convert 3D rotation speed to given scalar + AZStd::tuple ProduceWheelColumn( + int wheelNumber, const AxleConfiguration& axle, const int axisCount) const; + + SkidSteeringModelLimits m_limits; + AZStd::unordered_map m_wheelsData; + AZStd::vector> m_wheelColumns; + VehicleConfiguration m_config; + float m_currentLinearVelocity = 0.0f; + float m_currentAngularVelocity = 0.0f; + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/ManualControlEventHandler.h b/Gems/ROS2/Code/Source/VehicleDynamics/ManualControlEventHandler.h new file mode 100644 index 000000000..9e7ed8650 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/ManualControlEventHandler.h @@ -0,0 +1,100 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + //! A handler for a single input event. + class ManualControlSingleEventHandler : private StartingPointInput::InputEventNotificationBus::Handler + { + public: + using OnHeldHandlerFunction = AZStd::function; + + //! Construct the event handler. + //! @param eventName which event to handle (eg "steering", "accelerate") + //! @param handler a function which handles the input, typically through re-publishing it to a vehicle input bus. + ManualControlSingleEventHandler(const AZStd::string& eventName, OnHeldHandlerFunction handler) + : m_eventName(eventName) + , m_handler(AZStd::move(handler)) + { + } + + void Activate() + { + StartingPointInput::InputEventNotificationBus::Handler::BusConnect( + StartingPointInput::InputEventNotificationId(m_eventName.c_str())); + } + + void Deactivate() + { + StartingPointInput::InputEventNotificationBus::Handler::BusDisconnect( + StartingPointInput::InputEventNotificationId(m_eventName.c_str())); + } + + private: + AZStd::string m_eventName; + OnHeldHandlerFunction m_handler; + + void OnHeld(float value) override + { + m_handler(value); + } + }; + + //! Registers to "steering" and "acceleration" input events, and translates them into vehicle inputs + class ManualControlEventHandler + { + public: + void Activate(AZ::EntityId ownerEntityId) + { + m_eventHandlers.push_back(ManualControlSingleEventHandler( + "steering", + [ownerEntityId](float inputValue) + { + VehicleInputControlRequestBus::Event( + ownerEntityId, &VehicleInputControlRequests::SetTargetSteeringFraction, inputValue); + })); + + m_eventHandlers.push_back(ManualControlSingleEventHandler( + "accelerate", + [ownerEntityId](float inputValue) + { + VehicleInputControlRequestBus::Event( + ownerEntityId, &VehicleInputControlRequests::SetTargetLinearSpeedFraction, inputValue); + })); + + m_eventHandlers.push_back(ManualControlSingleEventHandler( + "rotate", + [ownerEntityId](float inputValue) + { + VehicleInputControlRequestBus::Event( + ownerEntityId, &VehicleInputControlRequests::SetTargetAngularSpeedFraction, inputValue); + })); + + for (auto& handler : m_eventHandlers) + { + handler.Activate(); + } + } + + void Deactivate() + { + for (auto& handler : m_eventHandlers) + { + handler.Deactivate(); + } + } + + private: + AZStd::vector m_eventHandlers; + }; +} // namespace ROS2::VehicleDynamics \ No newline at end of file diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/ModelComponents/AckermannModelComponent.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/ModelComponents/AckermannModelComponent.cpp new file mode 100644 index 000000000..9ea6db526 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/ModelComponents/AckermannModelComponent.cpp @@ -0,0 +1,61 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "AckermannModelComponent.h" +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + void AckermannVehicleModelComponent::Reflect(AZ::ReflectContext* context) + { + AckermannDriveModel::Reflect(context); + + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(3)->Field( + "DriveModel", &AckermannVehicleModelComponent::m_driveModel); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Ackermann Vehicle Model", "Ackermann vehicle model component") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &AckermannVehicleModelComponent::m_driveModel, + "Drive model", + "Settings of the selected drive model"); + } + } + } + + void AckermannVehicleModelComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC_CE("AckermannModelService")); + } + + void AckermannVehicleModelComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + incompatible.push_back(AZ_CRC_CE("AckermannModelService")); + } + + VehicleDynamics::DriveModel* AckermannVehicleModelComponent::GetDriveModel() + { + return &m_driveModel; + }; + + void AckermannVehicleModelComponent::Activate() + { + VehicleModelComponent::Activate(); + m_driveModel.Activate(m_vehicleConfiguration); + } + +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/ModelComponents/AckermannModelComponent.h b/Gems/ROS2/Code/Source/VehicleDynamics/ModelComponents/AckermannModelComponent.h new file mode 100644 index 000000000..2b2bcf2fb --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/ModelComponents/AckermannModelComponent.h @@ -0,0 +1,38 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + class AckermannVehicleModelComponent : public VehicleModelComponent + { + public: + AZ_COMPONENT(AckermannVehicleModelComponent, "{7618dbb9-fad4-44b3-8587-0d4f97336d3c}", VehicleModelComponent); + AckermannVehicleModelComponent() = default; + + static void Reflect(AZ::ReflectContext* context); + + // Component overrides + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + void Activate() override; + + private: + VehicleDynamics::AckermannDriveModel m_driveModel; + + protected: + // VehicleModelComponent overrides + VehicleDynamics::DriveModel* GetDriveModel() override; + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/ModelComponents/SkidSteeringModelComponent.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/ModelComponents/SkidSteeringModelComponent.cpp new file mode 100644 index 000000000..77c6cf282 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/ModelComponents/SkidSteeringModelComponent.cpp @@ -0,0 +1,60 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "SkidSteeringModelComponent.h" +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + void SkidSteeringModelComponent::Reflect(AZ::ReflectContext* context) + { + SkidSteeringDriveModel::Reflect(context); + + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(3)->Field( + "DriveModel", &SkidSteeringModelComponent::m_driveModel); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Skid Steering Vehicle Model", "Skid steering vehicle model component") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &SkidSteeringModelComponent::m_driveModel, + "Drive model", + "Settings of the selected drive model"); + } + } + } + + void SkidSteeringModelComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC_CE("SkidSteeringModelService")); + } + + void SkidSteeringModelComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + incompatible.push_back(AZ_CRC_CE("SkidSteeringModelService")); + } + + VehicleDynamics::DriveModel* SkidSteeringModelComponent::GetDriveModel() + { + return &m_driveModel; + }; + + void SkidSteeringModelComponent::Activate() + { + VehicleModelComponent::Activate(); + m_driveModel.Activate(m_vehicleConfiguration); + } +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/ModelComponents/SkidSteeringModelComponent.h b/Gems/ROS2/Code/Source/VehicleDynamics/ModelComponents/SkidSteeringModelComponent.h new file mode 100644 index 000000000..44e1e3523 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/ModelComponents/SkidSteeringModelComponent.h @@ -0,0 +1,39 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + class SkidSteeringModelComponent : public VehicleModelComponent + { + public: + AZ_COMPONENT(SkidSteeringModelComponent, "{57950C15-F7CF-422B-A452-E4487118F53E}", VehicleModelComponent); + SkidSteeringModelComponent() = default; + + static void Reflect(AZ::ReflectContext* context); + + // Component overrides + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + + // Component overrides + void Activate() override; + + private: + VehicleDynamics::SkidSteeringDriveModel m_driveModel; + + protected: + // VehicleModelComponent overrides + VehicleDynamics::DriveModel* GetDriveModel() override; + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/ModelLimits/AckermannModelLimits.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/ModelLimits/AckermannModelLimits.cpp new file mode 100644 index 000000000..12ecb1462 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/ModelLimits/AckermannModelLimits.cpp @@ -0,0 +1,77 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "AckermannModelLimits.h" +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + void AckermannModelLimits::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(1) + ->Field("SpeedLimit", &AckermannModelLimits::m_speedLimit) + ->Field("SteeringLimit", &AckermannModelLimits::m_steeringLimit) + ->Field("Acceleration", &AckermannModelLimits::m_accelearation); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Skid steering Model Limits", "Limitations of speed, steering angles and other values") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->DataElement( + AZ::Edit::UIHandlers::Default, &AckermannModelLimits::m_speedLimit, "Speed Limit", "Max linear speed (meters/sec)") + ->Attribute(AZ::Edit::Attributes::Min, 0.0f) + ->Attribute(AZ::Edit::Attributes::Max, 100.0f) + ->DataElement( + AZ::Edit::UIHandlers::Default, &AckermannModelLimits::m_steeringLimit, "Steering Limit", "Max steering angle (rad)") + ->Attribute(AZ::Edit::Attributes::Min, 0.0f) + ->Attribute(AZ::Edit::Attributes::Max, 1.57f) + ->DataElement( + AZ::Edit::UIHandlers::Default, &AckermannModelLimits::m_accelearation, "Acceleration", "Acceleration in m/s²") + ->Attribute(AZ::Edit::Attributes::Min, 0.0f) + ->Attribute(AZ::Edit::Attributes::Max, 100.0f); + } + } + } + + VehicleInputs AckermannModelLimits::LimitState(const VehicleInputs& inputState) const + { + VehicleInputs ret = inputState; + ret.m_angularRates = AZ::Vector3{ 0 }; + ret.m_speed = AZ::Vector3{ LimitValue(ret.m_speed.GetX(), m_speedLimit), 0.f, 0.f }; + if (!ret.m_jointRequestedPosition.empty()) + { + ret.m_jointRequestedPosition.front() = LimitValue(ret.m_jointRequestedPosition.front(), m_steeringLimit); + } + return ret; + } + + VehicleInputs AckermannModelLimits::GetMaximumState() const + { + VehicleInputs ret; + ret.m_speed = { m_speedLimit, 0, 0 }; + ret.m_jointRequestedPosition = { m_steeringLimit }; + return ret; + } + + float AckermannModelLimits::GetLinearSpeedLimit() const + { + return m_speedLimit; + } + + float AckermannModelLimits::GetLinearAcceleration() const + { + return m_accelearation; + } + +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/ModelLimits/AckermannModelLimits.h b/Gems/ROS2/Code/Source/VehicleDynamics/ModelLimits/AckermannModelLimits.h new file mode 100644 index 000000000..2a0afbb3e --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/ModelLimits/AckermannModelLimits.h @@ -0,0 +1,36 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include +namespace ROS2::VehicleDynamics +{ + //! A structure holding limits of vehicle, including speed and steering limits + class AckermannModelLimits : public VehicleModelLimits + { + public: + AZ_RTTI(AckermannModelLimits, "{796928D9-436F-472D-B841-E67F28F9CC82}", VehicleModelLimits); + AckermannModelLimits() = default; + static void Reflect(AZ::ReflectContext* context); + + // VehicleModelLimits overrides + VehicleInputs LimitState(const VehicleInputs& inputState) const; + VehicleInputs GetMaximumState() const; + + float GetLinearAcceleration() const; + float GetLinearSpeedLimit() const; + + private: + float m_speedLimit = 10.0f; //!< [Mps] Applies to absolute value + float m_steeringLimit = 0.7f; //!< [rad] Applies to absolute value + float m_accelearation = 10.0f; //!< [m*s^(-2)] Linear acceleration limit + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/ModelLimits/SkidSteeringModelLimits.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/ModelLimits/SkidSteeringModelLimits.cpp new file mode 100644 index 000000000..b4421fdfb --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/ModelLimits/SkidSteeringModelLimits.cpp @@ -0,0 +1,101 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "SkidSteeringModelLimits.h" +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + void SkidSteeringModelLimits::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(1) + ->Field("LinearLimit", &SkidSteeringModelLimits::m_linearLimit) + ->Field("AngularLimit", &SkidSteeringModelLimits::m_angularLimit) + ->Field("LinearAcceleration", &SkidSteeringModelLimits::m_linearAcceleration) + ->Field("AngularAcceleration", &SkidSteeringModelLimits::m_angularAccleration); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Skid steering Model Limits", "Limitations of speed, steering angles and other values") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &SkidSteeringModelLimits::m_linearLimit, + "Linear speed Limit", + "Max linear speed (meters/sec)") + ->Attribute(AZ::Edit::Attributes::Min, 0.0f) + ->Attribute(AZ::Edit::Attributes::Max, 100.0f) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &SkidSteeringModelLimits::m_angularLimit, + "Angular speed Limit", + "Max angular speed (rad/s)") + ->Attribute(AZ::Edit::Attributes::Min, 0.0f) + ->Attribute(AZ::Edit::Attributes::Max, 10.0f) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &SkidSteeringModelLimits::m_angularAccleration, + "Angular acceleration", + "Acceleration in rad/s²") + ->Attribute(AZ::Edit::Attributes::Min, 0.0f) + ->Attribute(AZ::Edit::Attributes::Max, 100.0f) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &SkidSteeringModelLimits::m_linearAcceleration, + "Linear acceleration", + "Acceleration in m/s²") + ->Attribute(AZ::Edit::Attributes::Min, 0.0f) + ->Attribute(AZ::Edit::Attributes::Max, 100.0f); + } + } + } + + VehicleInputs SkidSteeringModelLimits::LimitState(const VehicleInputs& inputState) const + { + VehicleInputs ret = inputState; + ret.m_speed = AZ::Vector3{ LimitValue(ret.m_speed.GetX(), m_linearLimit), 0.f, 0.f }; + ret.m_angularRates = AZ::Vector3{ 0.f, 0.f, LimitValue(ret.m_angularRates.GetZ(), m_angularLimit) }; + return ret; + } + + VehicleInputs SkidSteeringModelLimits::GetMaximumState() const + { + VehicleInputs ret; + ret.m_speed = { m_linearLimit, 0, 0 }; + ret.m_angularRates = { 0, 0, m_angularLimit }; + return ret; + } + + float SkidSteeringModelLimits::GetLinearAcceleration() const + { + return m_linearAcceleration; + } + + float SkidSteeringModelLimits::GetAngularAcceleration() const + { + return m_angularAccleration; + } + + float SkidSteeringModelLimits::GetLinearSpeedLimit() const + { + return m_linearLimit; + } + + float SkidSteeringModelLimits::GetAngularSpeedLimit() const + { + return m_angularLimit; + } + + +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/ModelLimits/SkidSteeringModelLimits.h b/Gems/ROS2/Code/Source/VehicleDynamics/ModelLimits/SkidSteeringModelLimits.h new file mode 100644 index 000000000..219d58877 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/ModelLimits/SkidSteeringModelLimits.h @@ -0,0 +1,41 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + + //! A structure holding limits of skid-steering robot. + class SkidSteeringModelLimits : public VehicleModelLimits + { + public: + AZ_RTTI(SkidSteeringModelLimits, "{23420EFB-BB62-48C7-AD37-E50580A53C39}", VehicleModelLimits); + SkidSteeringModelLimits() = default; + static void Reflect(AZ::ReflectContext* context); + + // VehicleModelLimits overrides + VehicleInputs LimitState(const VehicleInputs& inputState) const; + VehicleInputs GetMaximumState() const; + + float GetLinearAcceleration() const; + float GetAngularAcceleration() const; + float GetLinearSpeedLimit() const; + float GetAngularSpeedLimit() const; + + private: + float m_linearLimit = 2.0f; //!< [m/s] Maximum travel velocity. + float m_angularLimit = 3.5f; //!< [Rad/s] Maximum rotation speed. + float m_angularAccleration = 2.0f; //!< [rad*s^(-2)] Angular acceleration limit + float m_linearAcceleration = 3.5f; //!< [m*s^(-2)] Linear acceleration limit + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/Utilities.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/Utilities.cpp new file mode 100644 index 000000000..67ae4f7b4 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/Utilities.cpp @@ -0,0 +1,214 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "Utilities.h" +#include "WheelControllerComponent.h" +#include +#include +#include +#include +#include + +namespace ROS2::VehicleDynamics::Utilities +{ + AxleConfiguration Create2WheelAxle( + AZ::EntityId leftWheel, AZ::EntityId rightWheel, AZStd::string tag, float wheelRadius, bool steering, bool drive) + { + VehicleDynamics::AxleConfiguration axleConfiguration; + axleConfiguration.m_axleWheels.push_back(leftWheel); + axleConfiguration.m_axleWheels.push_back(rightWheel); + axleConfiguration.m_axleTag = AZStd::move(tag); + axleConfiguration.m_isSteering = steering; + axleConfiguration.m_isDrive = drive; + axleConfiguration.m_wheelRadius = wheelRadius; + return axleConfiguration; + } + + AxleConfiguration CreateFrontSteerAndDriveAxle(AZ::EntityId leftWheel, AZ::EntityId rightWheel, float wheelRadius) + { + return Create2WheelAxle(leftWheel, rightWheel, "Front", wheelRadius, true, true); + } + + AxleConfiguration CreateRearDriveAxle(AZ::EntityId leftWheel, AZ::EntityId rightWheel, float wheelRadius) + { + return Create2WheelAxle(leftWheel, rightWheel, "Rear", wheelRadius, false, true); + } + + AZStd::vector GetAllSteeringEntitiesData(const VehicleConfiguration& vehicleConfig) + { + AZStd::vector steeringEntitiesAndAxis; + for (const auto& axle : vehicleConfig.m_axles) + { + if (!axle.m_isSteering) + { // Only steering axles will have steering entities + continue; + } + + for (const auto& wheel : axle.m_axleWheels) + { + if (!wheel.IsValid()) + { + AZ_Warning("GetAllSteeringEntitiesData", false, "Wheel entity in axle %s is invalid, ignoring", axle.m_axleTag.c_str()); + continue; + } + AZ::Entity* wheelEntity = nullptr; + AZ::ComponentApplicationBus::BroadcastResult(wheelEntity, &AZ::ComponentApplicationRequests::FindEntity, wheel); + if (!wheelEntity) + { + AZ_Warning("GetAllSteeringEntitiesData", false, "Wheel entity in axle %s is null, ignoring", axle.m_axleTag.c_str()); + continue; + } + + auto* controllerComponent = wheelEntity->FindComponent(); + if (!controllerComponent) + { + AZ_Warning( + "GetAllSteeringEntitiesData", + false, + "Missing a WheelController in wheel entity %s, ignoring", + wheel.ToString().c_str()); + continue; + } + + AZ::EntityId steeringEntity = controllerComponent->m_steeringEntity; + if (!steeringEntity.IsValid()) + { + AZ_Warning( + "GetAllSteeringEntitiesData", + false, + "Steering entity specified for WheelController in entity %s is invalid, ignoring", + wheel.ToString().c_str()); + continue; + } + + const float steeringScale = controllerComponent->m_steeringScale; + PhysX::HingeJointComponent* hingeComponent{ nullptr }; + AZ::Entity* steeringEntityptr{ nullptr }; + AZ::ComponentApplicationBus::BroadcastResult( + steeringEntityptr, &AZ::ComponentApplicationRequests::FindEntity, steeringEntity); + AZ_Assert(steeringEntityptr, "Cannot find a steering entity for %s", steeringEntity.ToString().c_str()); + hingeComponent = steeringEntityptr->FindComponent(); + + if (!hingeComponent) + { + AZ_Warning( + "GetAllSteeringEntitiesData", + false, + "Steering entity specified for WheelController in entity %s does not not have HingeJointComponent, ignoring", + wheel.ToString().c_str()); + continue; + } + + VehicleDynamics::SteeringDynamicsData steeringData; + steeringData.m_steeringScale = steeringScale; + steeringData.m_steeringEntity = steeringEntity; + steeringData.m_hingeJoint = hingeComponent->GetId(); + steeringEntitiesAndAxis.push_back(steeringData); + } + } + return steeringEntitiesAndAxis; + } + + AZStd::vector GetAllDriveWheelsData(const VehicleConfiguration& vehicleConfig) + { + AZStd::vector driveWheelEntities; + for (const AxleConfiguration& axle : vehicleConfig.m_axles) + { + if (!axle.m_isDrive) + { // Get only drive wheels, which are attached to a drive axle + continue; + } + + for (const AZ::EntityId& wheel : axle.m_axleWheels) + { + if (!wheel.IsValid()) + { + AZ_Warning("GetAllSteeringEntitiesData", false, "Wheel entity in axle %s is invalid, ignoring", axle.m_axleTag.c_str()); + continue; + } + AZ::Entity* wheelEntity = nullptr; + AZ::ComponentApplicationBus::BroadcastResult(wheelEntity, &AZ::ComponentApplicationRequests::FindEntity, wheel); + if (!wheelEntity) + { + AZ_Warning("GetAllSteeringEntitiesData", false, "Wheel entity in axle %s is null, ignoring", axle.m_axleTag.c_str()); + continue; + } + auto* controllerComponent = wheelEntity->FindComponent(); + if (!controllerComponent) + { + AZ_Warning( + "GetAllDriveWheelsData", + false, + "Wheel entity for axle %s is missing a WheelController component, ignoring", + axle.m_axleTag.c_str()); + continue; + } + + PhysX::HingeJointComponent* hingeComponent{ nullptr }; + hingeComponent = wheelEntity->FindComponent(); + + if (!hingeComponent) + { + AZ_Warning( + "GetAllDriveWheelsData", + false, + "Wheel entity for axle %s is missing a HingeJointComponent component, ignoring", + axle.m_axleTag.c_str()); + continue; + } + + VehicleDynamics::WheelDynamicsData wheelData; + wheelData.m_wheelEntity = wheel; + wheelData.m_hingeJoint = hingeComponent->GetId(); + wheelData.m_wheelRadius = axle.m_wheelRadius; + driveWheelEntities.push_back(wheelData); + } + } + return driveWheelEntities; + } + + AZ::EntityComponentIdPair GetWheelPhysxHinge(const AZ::EntityId wheelEntityId) + { + AZ::Entity* wheelEntity = nullptr; + AZ::ComponentApplicationBus::BroadcastResult(wheelEntity, &AZ::ComponentApplicationRequests::FindEntity, wheelEntityId); + if (!wheelEntity) + { + AZ_Warning("GetWheelDynamicData", false, "Entity %s was not found", wheelEntityId.ToString().c_str()); + return AZ::EntityComponentIdPair(); + } + PhysX::HingeJointComponent* hingeComponent{ nullptr }; + hingeComponent = wheelEntity->FindComponent(); + if (!hingeComponent) + { + AZ_Warning("GetWheelDynamicData", false, "Entity %s has no PhysX::HingeJointComponent", wheelEntityId.ToString().c_str()); + return AZ::EntityComponentIdPair(); + } + return AZ::EntityComponentIdPair(wheelEntityId, hingeComponent->GetId()); + } + + float ComputeRampVelocity(float targetVelocty, float lastVelocity, AZ::u64 deltaTimeNs, float acceleration, float maxVelocity) + { + const float deltaTimeSec = 1e-9f * static_cast(deltaTimeNs); + const float deltaAcceleration = deltaTimeSec * acceleration; + float commandVelocity = 0; + if (AZStd::abs(lastVelocity - targetVelocty) < deltaAcceleration) + { + commandVelocity = targetVelocty; + } + else if (targetVelocty > lastVelocity) + { + commandVelocity = lastVelocity + deltaAcceleration; + } + else if (targetVelocty < lastVelocity) + { + commandVelocity = lastVelocity - deltaAcceleration; + } + return AZStd::clamp(commandVelocity, -maxVelocity, maxVelocity); + } + +} // namespace ROS2::VehicleDynamics::Utilities diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/Utilities.h b/Gems/ROS2/Code/Source/VehicleDynamics/Utilities.h new file mode 100644 index 000000000..c82448c28 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/Utilities.h @@ -0,0 +1,69 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include "AxleConfiguration.h" +#include "VehicleConfiguration.h" +#include "WheelDynamicsData.h" +#include +#include +#include + +namespace ROS2::VehicleDynamics::Utilities +{ + //! Create the most common two wheel axle out of existing wheel entities. + //! @param leftWheel Left wheel entity. It needs a WheelControllerComponent if it is a drive or steering axis. + //! @param rightWheel Right wheel entity. It needs a WheelControllerComponent if it is a drive or steering axis. + //! @param tag Additional information for the user (and reflected in the configuration) about what this axle is. + //! @param wheelRadius Radius for both wheels, in meters. Wheels with different radii are not supported. + //! @param steering Is this axle used for vehicle steering. If true, wheels need to have steering entities set in + //! WheelControlComponents. + //! @param drive Is this axle used to drive vehicle? + //! @returns An axle configuration created according to call parameters. + AxleConfiguration Create2WheelAxle( + AZ::EntityId leftWheel, AZ::EntityId rightWheel, AZStd::string tag, float wheelRadius, bool steering, bool drive); + + //! Create an axle for both steering and drive, named "Front". @see Create2WheelAxle. + //! @param leftWheel left wheel entity's id (entity should has rigid body and collider component) + //! @param rightWheel right wheel entity's id (entity should has rigid body and collider component) + //! @param wheelRadius radius in meters + AxleConfiguration CreateFrontSteerAndDriveAxle(AZ::EntityId leftWheel, AZ::EntityId rightWheel, float wheelRadius); + + //! Create an axle for drive, named "Rear". @see Create2WheelAxle. + //! @param leftWheel left wheel entity's id (entity should has rigid body and collider component) + //! @param rightWheel right wheel entity's id (entity should has rigid body and collider component) + //! @param wheelRadius radius in meters + AxleConfiguration CreateRearDriveAxle(AZ::EntityId leftWheel, AZ::EntityId rightWheel, float wheelRadius); + + //! Retrieve all steering entities for a given vehicle configuration. + //! @param vehicleConfig Vehicle configuration to process. + //! @returns This function will only return data for properly set up steering entities and raise warnings if something is not right. + //! Wheels with a WheelControllerComponent need a SteeringEntity set, and the axle must be a steering axle. + AZStd::vector GetAllSteeringEntitiesData(const VehicleConfiguration& vehicleConfig); + + //! Retrieve all drive entities for a given vehicle configuration. + //! @param vehicleConfig Vehicle configuration to process. + //! @returns This function will only return data for properly set up wheels and raise warnings if something is not right. + //! Wheels need a WheelControllerComponent, and the axle must be a drive axle. + AZStd::vector GetAllDriveWheelsData(const VehicleConfiguration& vehicleConfig); + + //! Get Physx Hinge Joint Component AZ::EntityComponentIdPair from Entity + //! @param wheelEntityId id of entity that has Physx Hinge Joint Controller + //! @returns EntityComponentIdPair that contains id of Hinge component and @param wheelEntityId + AZ::EntityComponentIdPair GetWheelPhysxHinge(const AZ::EntityId wheelEntityId); + + //! Computes ramped velocity. + //! @param targetVelocity Last commanded velocity to send to robot (in eg m/s or rad/s) + //! @param lastVelocity Last commanded Velocity (in eg m/s or rad/s) + //! @param deltaTimeNs Duration between subsequent calls to @fn ComputeRampVelocity in nanoseconds + //! @param acceleration Acceleration (in eg m/s² or rad/s²) + //! @param maxVelocity Limit for velocity to clamp to (in eg m/s or rad/s) + //! @returns ramped velocity according to time, acceleration and clamped to @param maxVelocity + float ComputeRampVelocity(float targetVelocity, float lastVelocity, AZ::u64 deltaTimeNs, float acceleration, float maxVelocity); + +} // namespace ROS2::VehicleDynamics::Utilities diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/VehicleConfiguration.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleConfiguration.cpp new file mode 100644 index 000000000..ecbbebe33 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleConfiguration.cpp @@ -0,0 +1,50 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "VehicleConfiguration.h" +#include "Utilities.h" +#include +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + void VehicleConfiguration::Reflect(AZ::ReflectContext* context) + { + AxleConfiguration::Reflect(context); + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(1) + ->Field("AxlesConfigurations", &VehicleConfiguration::m_axles) + ->Field("Track", &VehicleConfiguration::m_track) + ->Field("Wheelbase", &VehicleConfiguration::m_wheelbase); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Vehicle configuration", "Configuration of vehicle") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->DataElement( + AZ::Edit::UIHandlers::Default, &VehicleConfiguration::m_axles, "Axles", "Configurations of axles for this vehicle") + ->Attribute(AZ::Edit::Attributes::AutoExpand, true) + ->DataElement( + AZ::Edit::UIHandlers::Default, + &VehicleConfiguration::m_track, + "Track", + "The distance in meters between the hub flanges on an axle") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &VehicleConfiguration::m_wheelbase, + "Wheelbase", + "The distance in meters between the midpoints of vehicles front and rear wheels"); + } + } + } +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/VehicleConfiguration.h b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleConfiguration.h new file mode 100644 index 000000000..51309c031 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleConfiguration.h @@ -0,0 +1,29 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include "AxleConfiguration.h" +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + //! Drive and steering configuration for a vehicle. The class only holds axle information now but it is meant to be expanded. + class VehicleConfiguration + { + public: + AZ_TYPE_INFO(VehicleConfiguration, "{C616E333-E618-4E37-8CE6-1E8A28182D00}"); + VehicleConfiguration() = default; + static void Reflect(AZ::ReflectContext* context); + + AZStd::vector m_axles; //!> Axles of the vehicle, front to rear + float m_wheelbase = 2.0; //!> The distance in meters between the midpoints of vehicles front and rear wheels + float m_track = 1.0; //!> The distance in meters between the hub flanges on an axle + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/VehicleInputs.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleInputs.cpp new file mode 100644 index 000000000..65448c871 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleInputs.cpp @@ -0,0 +1,31 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "VehicleInputs.h" + +namespace ROS2::VehicleDynamics +{ + template<> + AZ::Vector3& InputZeroedOnTimeout::Zero(AZ::Vector3& input) + { + input = AZ::Vector3::CreateZero(); + return input; + } + + template<> + AZStd::vector& InputZeroedOnTimeout>::Zero(AZStd::vector& input) + { + AZStd::fill(input.begin(), input.end(), 0); + return input; + } + + VehicleInputs VehicleInputDeadline::GetValueCheckingDeadline() + { + return VehicleInputs{ m_speed.GetValue(), m_angularRates.GetValue(), m_jointRequestedPosition.GetValue() }; + } +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/VehicleInputs.h b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleInputs.h new file mode 100644 index 000000000..db1bbfecc --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleInputs.h @@ -0,0 +1,71 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + //! Inputs with an expiration date - effectively is zero after a certain time since update + + template + class InputZeroedOnTimeout + { + public: + InputZeroedOnTimeout(int64_t timeoutUs = 200000) + : m_timeoutUs(timeoutUs) + { + } + + void UpdateValue(T updatedInput) + { + m_input = updatedInput; + m_lastUpdateUs = GetTimeSinceStartupUs(); + } + + T& GetValue() + { + if (auto timeSinceStartUs = GetTimeSinceStartupUs(); timeSinceStartUs - m_lastUpdateUs > m_timeoutUs) + { + m_input = Zero(m_input); + } + return m_input; + } + + private: + T& Zero(T& input); + int64_t GetTimeSinceStartupUs() const + { + return static_cast(AZ::Interface::Get()->GetElapsedTimeUs()); + } + + int64_t m_timeoutUs; + int64_t m_lastUpdateUs = 0; + T m_input{ 0 }; + }; + + //! Structure defining the most recent vehicle inputs state + struct VehicleInputs + { + AZ::Vector3 m_speed; //!< Linear speed control measured in m/s + AZ::Vector3 m_angularRates; //!< Angular speed control of vehicle + AZStd::vector m_jointRequestedPosition; //!< Steering angle in radians. Negative is right, positive is left, + }; + + struct VehicleInputDeadline + { + InputZeroedOnTimeout m_speed; //!< Linear speed control measured in m/s + InputZeroedOnTimeout m_angularRates; //!< Linear speed control measured in m/s + InputZeroedOnTimeout> + m_jointRequestedPosition; //!< Steering angle in radians. Negative is right, positive is left, + VehicleInputs GetValueCheckingDeadline(); + }; + +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelComponent.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelComponent.cpp new file mode 100644 index 000000000..b662e94a1 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelComponent.cpp @@ -0,0 +1,125 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "VehicleModelComponent.h" +#include "DriveModels/AckermannDriveModel.h" +#include "Utilities.h" +#include "VehicleConfiguration.h" +#include "VehicleModelLimits.h" +#include +#include +#include +#include +#include +#include +namespace ROS2::VehicleDynamics +{ + void VehicleModelComponent::Activate() + { + VehicleInputControlRequestBus::Handler::BusConnect(GetEntityId()); + m_manualControlEventHandler.Activate(GetEntityId()); + AZ::TickBus::Handler::BusConnect(); + } + + void VehicleModelComponent::Deactivate() + { + AZ::TickBus::Handler::BusDisconnect(); + m_manualControlEventHandler.Deactivate(); + VehicleInputControlRequestBus::Handler::BusDisconnect(); + } + + void VehicleModelComponent::Reflect(AZ::ReflectContext* context) + { + VehicleConfiguration::Reflect(context); + VehicleModelLimits::Reflect(context); + DriveModel::Reflect(context); + + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(4)->Field( + "VehicleConfiguration", &VehicleModelComponent::m_vehicleConfiguration); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Vehicle Model", "Customizable vehicle model component") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &VehicleModelComponent::m_vehicleConfiguration, + "Vehicle settings", + "Vehicle settings including axles and common wheel parameters"); + } + } + } + + void VehicleModelComponent::SetTargetLinearSpeed(float speedMpsX) + { + m_inputsState.m_speed.UpdateValue({ speedMpsX, 0, 0 }); + } + + void VehicleModelComponent::SetTargetLinearSpeedV3(const AZ::Vector3& speedMps) + { + m_inputsState.m_speed.UpdateValue(speedMps); + } + + void VehicleModelComponent::SetTargetLinearSpeedFraction(float speedFractionX) + { + const auto& maxState = GetDriveModel()->GetMaximumPossibleInputs(); + m_inputsState.m_speed.UpdateValue(maxState.m_speed * speedFractionX); + } + + void VehicleModelComponent::SetTargetAccelerationFraction([[maybe_unused]] float accelerationFraction) + { + AZ_Error("SetTargetAccelerationFraction", false, "Not implemented"); + } + + void VehicleModelComponent::SetDisableVehicleDynamics(bool isDisable) + { + GetDriveModel()->SetDisabled(isDisable); + } + + void VehicleModelComponent::SetTargetSteering(float steering) + { + m_inputsState.m_jointRequestedPosition.UpdateValue({ steering }); + } + + void VehicleModelComponent::SetTargetSteeringFraction(float steeringFraction) + { + const auto& maxState = GetDriveModel()->GetMaximumPossibleInputs(); + if (!maxState.m_jointRequestedPosition.empty()) + { + m_inputsState.m_jointRequestedPosition.UpdateValue({ maxState.m_jointRequestedPosition.front() * steeringFraction }); + } + } + + void VehicleModelComponent::SetTargetAngularSpeed(float rateZ) + { + m_inputsState.m_angularRates.UpdateValue({ 0, 0, rateZ }); + }; + + void VehicleModelComponent::SetTargetAngularSpeedV3(const AZ::Vector3& rate) + { + m_inputsState.m_angularRates.UpdateValue(rate); + }; + + void VehicleModelComponent::SetTargetAngularSpeedFraction(float rateFractionZ) + { + const auto& maxState = GetDriveModel()->GetMaximumPossibleInputs(); + m_inputsState.m_angularRates.UpdateValue(maxState.m_angularRates * rateFractionZ); + }; + + void VehicleModelComponent::OnTick(float deltaTime, [[maybe_unused]] AZ::ScriptTimePoint time) + { + const uint64_t deltaTimeNs = deltaTime * 1'000'000'000; + GetDriveModel()->ApplyInputState(m_inputsState.GetValueCheckingDeadline(), deltaTimeNs); + } + + AZStd::pair VehicleModelComponent::GetWheelsOdometry() + { + return GetDriveModel()->GetVelocityFromModel(); + } +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelComponent.h b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelComponent.h new file mode 100644 index 000000000..ed1000235 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelComponent.h @@ -0,0 +1,61 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include "DriveModels/AckermannDriveModel.h" +#include "ManualControlEventHandler.h" +#include "VehicleConfiguration.h" +#include "VehicleInputs.h" +#include +#include +#include +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + //! A central vehicle (and robot) dynamics component, which can be extended with additional modules. + class VehicleModelComponent + : public AZ::Component + , private VehicleInputControlRequestBus::Handler + , private AZ::TickBus::Handler + { + public: + AZ_RTTI(VehicleModelComponent, "{7093AE7A-9F64-4C77-8189-02C6B7802C1A}", AZ::Component); + VehicleModelComponent() = default; + + // Component overrides + void Activate() override; + void Deactivate() override; + + static void Reflect(AZ::ReflectContext* context); + + private: + void OnTick(float deltaTime, AZ::ScriptTimePoint time) override; + + // VehicleInputControlRequestBus::Handler overrides + void SetTargetLinearSpeed(float speedMpsX) override; + void SetTargetLinearSpeedV3(const AZ::Vector3& speedMps) override; + void SetTargetSteering(float steering) override; + void SetTargetAngularSpeed(float rateZ) override; + void SetTargetAngularSpeedV3(const AZ::Vector3& rate) override; + void SetTargetAccelerationFraction(float accelerationFraction) override; + void SetTargetSteeringFraction(float steeringFraction) override; + void SetTargetLinearSpeedFraction(float speedFractionX) override; + void SetTargetAngularSpeedFraction(float rateFractionZ) override; + void SetDisableVehicleDynamics(bool isDisable) override; + AZStd::pair GetWheelsOdometry() override; + + protected: + ManualControlEventHandler m_manualControlEventHandler; + VehicleInputDeadline m_inputsState; + VehicleDynamics::VehicleConfiguration m_vehicleConfiguration; + virtual DriveModel* GetDriveModel() = 0; + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelLimits.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelLimits.cpp new file mode 100644 index 000000000..e66ba0ec4 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelLimits.cpp @@ -0,0 +1,36 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "VehicleModelLimits.h" +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + void VehicleModelLimits::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class()->Version(2); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Vehicle Model Limits", "Limitations of speed, steering angles and other values") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "ROS2"); + } + } + } + + float VehicleModelLimits::LimitValue(float value, float absoluteLimit) + { + float absoluteLimitAbs = AZStd::abs(absoluteLimit); + return AZStd::clamp(value, -absoluteLimitAbs, absoluteLimitAbs); + } +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelLimits.h b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelLimits.h new file mode 100644 index 000000000..03b6b5160 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelLimits.h @@ -0,0 +1,41 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include "VehicleInputs.h" +#include +#include + +namespace ROS2::VehicleDynamics +{ + //! A structure holding limits of vehicle, including speed and steering limits + class VehicleModelLimits + { + public: + AZ_RTTI(VehicleModelLimits, "{76DA392D-64BB-45A8-BC90-84AAE7901991}"); + VehicleModelLimits() = default; + virtual ~VehicleModelLimits() = default; + static void Reflect(AZ::ReflectContext* context); + + //! Limit input state to values that are possible for model. + //! @param inputState Input state to filter. + //! @returns Filtered, pruned state. + virtual VehicleInputs LimitState(const VehicleInputs& inputState) const = 0; + + //! Returns maximal permissible input states. + //! @returns VehicleInputsState + virtual VehicleInputs GetMaximumState() const = 0; + + protected: + //! Limit value with a symmetrical range. + //! @param value Input value. + //! @param absoluteLimit Limits for value (between -absoluteLimit and absoluteLimit). + //! @returns A limited value. Always returns either value, -absoluteLimit or absoluteLimit. + static float LimitValue(float value, float absoluteLimit); + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/WheelControllerComponent.cpp b/Gems/ROS2/Code/Source/VehicleDynamics/WheelControllerComponent.cpp new file mode 100644 index 000000000..f28b4ee50 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/WheelControllerComponent.cpp @@ -0,0 +1,87 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "WheelControllerComponent.h" +#include +#include +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + void WheelControllerComponent::Activate() + { + m_rigidBodyPtr = nullptr; + } + + void WheelControllerComponent::Deactivate() + { + } + + void WheelControllerComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("PhysicsRigidBodyService")); + } + + void WheelControllerComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC_CE("WheelControllerService")); + } + + void WheelControllerComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + // Only one per entity + incompatible.push_back(AZ_CRC_CE("WheelControllerService")); + } + + AZ::Vector3 WheelControllerComponent::GetRotationVelocity() + { + if (m_rigidBodyPtr == nullptr) + { + Physics::RigidBodyRequestBus::EventResult(m_rigidBodyPtr, m_entity->GetId(), &Physics::RigidBodyRequests::GetRigidBody); + } + AZ_Assert(m_rigidBodyPtr, "No Rigid Body in the WheelController entity!"); + if (m_rigidBodyPtr) + { + const auto transform = m_rigidBodyPtr->GetTransform().GetInverse(); + const auto local = transform.TransformVector(m_rigidBodyPtr->GetAngularVelocity()); + return local; + } + return AZ::Vector3::CreateZero(); + } + + void WheelControllerComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class() + ->Version(3) + ->Field("SteeringEntity", &WheelControllerComponent::m_steeringEntity) + ->Field("SteeringScale", &WheelControllerComponent::m_steeringScale); + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class("Wheel controller", "Handle wheel physics") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->Attribute(AZ::Edit::Attributes::Category, "ROS2") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &WheelControllerComponent::m_steeringEntity, + "Steering entity", + "Entity which steers the wheel - typically a parent entity") + ->DataElement( + AZ::Edit::UIHandlers::Default, + &WheelControllerComponent::m_steeringScale, + "Scale of steering axis", + "The direction of torque applied to the steering entity"); + } + } + } +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/WheelControllerComponent.h b/Gems/ROS2/Code/Source/VehicleDynamics/WheelControllerComponent.h new file mode 100644 index 000000000..34d015b7e --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/WheelControllerComponent.h @@ -0,0 +1,44 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include +#include +#include + +namespace ROS2::VehicleDynamics +{ + //! A component responsible for control (steering, forward motion) of a single wheel + class WheelControllerComponent : public AZ::Component + { + public: + AZ_COMPONENT(WheelControllerComponent, "{AC594E08-DA5C-4B8D-9388-84D0840C177A}", AZ::Component); + WheelControllerComponent() = default; + ~WheelControllerComponent() = default; + + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + + static void Reflect(AZ::ReflectContext* context); + + AZ::Vector3 GetRotationVelocity(); + + AZ::EntityId m_steeringEntity; //!< Rigid body to apply velocity to. + float m_steeringScale{ 1.0f }; //!< The direction of torque applied to steering entity when steering is applied + private: + AzPhysics::RigidBody* m_rigidBodyPtr{ nullptr }; + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Source/VehicleDynamics/WheelDynamicsData.h b/Gems/ROS2/Code/Source/VehicleDynamics/WheelDynamicsData.h new file mode 100644 index 000000000..e365c0030 --- /dev/null +++ b/Gems/ROS2/Code/Source/VehicleDynamics/WheelDynamicsData.h @@ -0,0 +1,30 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include +#include + +namespace ROS2::VehicleDynamics +{ + //! Data structure to pass wheel dynamics data for a single wheel entity. + struct WheelDynamicsData + { + AZ::EntityId m_wheelEntity; //!< An entity which is expected to have a WheelControllerComponent. + AZ::ComponentId m_hingeJoint{ AZ::InvalidComponentId }; //!< Steering joint + float m_wheelRadius{ 0.25f }; //!< Radius of the wheel in meters. + }; + + //! Data structure to pass steering dynamics data for a single steering entity. + struct SteeringDynamicsData + { + AZ::EntityId m_steeringEntity; //!< Steering entity needs to be connected (directly or indirectly) by a Joint with a wheelEntity. + AZ::ComponentId m_hingeJoint{ AZ::InvalidComponentId }; //!< Steering joint + float m_steeringScale{ 1.0f }; //!< Scale for direction for the steering element to turn the attached wheel sideways. + }; +} // namespace ROS2::VehicleDynamics diff --git a/Gems/ROS2/Code/Tests/GNSSTest.cpp b/Gems/ROS2/Code/Tests/GNSSTest.cpp new file mode 100644 index 000000000..ba3e1795b --- /dev/null +++ b/Gems/ROS2/Code/Tests/GNSSTest.cpp @@ -0,0 +1,92 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include + +#include + +namespace UnitTest +{ + + class GNSSTest : public LeakDetectionFixture + { + }; + + TEST_F(GNSSTest, WGS84ToECEF) + { + const AZStd::vector> inputGoldSet = { + { { 10.0f, 20.0f, 300.0f }, { 5903307.167667380f, 2148628.092761247f, 1100300.642188661f } }, + { { -70.0f, 170.0f, 500.0f }, { -2154856.524084172f, 379959.3447517005f, -5971509.853428957f } }, + { { 50.0f, -120.0f, -100.0f }, { -2053899.906222906f, -3557458.991239029f, 4862712.433262121f } }, + }; + for (const auto& [input, goldResult] : inputGoldSet) + { + AZ::Vector3 result = ROS2::GNSS::WGS84ToECEF(input); + EXPECT_NEAR(result.GetX(), goldResult.GetX(), 1.0f); + EXPECT_NEAR(result.GetY(), goldResult.GetY(), 1.0f); + EXPECT_NEAR(result.GetZ(), goldResult.GetZ(), 1.0f); + } + } + + TEST_F(GNSSTest, ECEFToENU) + { + const AZStd::vector> inputGoldSet = { + { { -2053900.0f, -3557459.0f, 4862712.0f }, { 50.0f, -120.0f, -100.0f }, { -0.076833f, -0.3202f, -0.2969f } }, + { { 5903307.167667380f, 2148628.092761247f, 1100300.642188661f }, + { 11.0f, 21.0f, 400.0f }, + { -109638.9539891188f, -110428.2398398574f, -2004.501240225796f } }, + { { -2154856.524084172f, 379959.3447517005f, -5971509.853428957f }, + { -72.0f, 169.0f, 1000.0f }, + { 38187.58712786288f, 222803.8182465429f, -4497.428919329745f } }, + }; + for (const auto& [input, refWGS84, goldResult] : inputGoldSet) + { + AZ::Vector3 result = ROS2::GNSS::ECEFToENU(refWGS84, input); + EXPECT_NEAR(result.GetX(), goldResult.GetX(), 1.0f); + EXPECT_NEAR(result.GetY(), goldResult.GetY(), 1.0f); + EXPECT_NEAR(result.GetZ(), goldResult.GetZ(), 1.0f); + } + } + + TEST_F(GNSSTest, ENUToECEF) + { + const AZStd::vector> inputGoldSet = { + { { -0.076833f, -0.3202f, -0.2969f }, { 50.0f, -120.0f, -100.0f }, { -2053900.0f, -3557459.0f, 4862712.0f } }, + { { -109638.9539891188f, -110428.2398398574f, -2004.501240225796f }, + { 11.0f, 21.0f, 400.0f }, + { 5903307.167667380f, 2148628.092761247f, 1100300.642188661f } }, + { { 38187.58712786288f, 222803.8182465429f, -4497.428919329745f }, + { -72.0f, 169.0f, 1000.0f }, + { -2154856.524084172f, 379959.3447517005f, -5971509.853428957f } }, + }; + for (const auto& [input, refWGS84, goldResult] : inputGoldSet) + { + AZ::Vector3 result = ROS2::GNSS::ENUToECEF(refWGS84, input); + EXPECT_NEAR(result.GetX(), goldResult.GetX(), 1.0f); + EXPECT_NEAR(result.GetY(), goldResult.GetY(), 1.0f); + EXPECT_NEAR(result.GetZ(), goldResult.GetZ(), 1.0f); + } + } + + TEST_F(GNSSTest, ECEFToWSG84) + { + const AZStd::vector> inputGoldSet = { + { { 5903307.167667380f, 2148628.092761247f, 1100300.642188661f }, { 10.0f, 20.0f, 300.0f } }, + { { -2154856.524084172f, 379959.3447517005f, -5971509.853428957f }, { -70.0f, 170.0f, 500.0f } }, + { { -2053899.906222906f, -3557458.991239029f, 4862712.433262121f }, { 50.0f, -120.0f, -100.0f } }, + }; + for (const auto& [input, goldResult] : inputGoldSet) + { + AZ::Vector3 result = ROS2::GNSS::ECEFToWGS84(input); + EXPECT_NEAR(result.GetX(), goldResult.GetX(), 0.001f); + EXPECT_NEAR(result.GetY(), goldResult.GetY(), 0.001f); + EXPECT_NEAR(result.GetZ(), goldResult.GetZ(), 1.0f); + } + } +} // namespace UnitTest diff --git a/Gems/ROS2/Code/Tests/ROS2EditorTest.cpp b/Gems/ROS2/Code/Tests/ROS2EditorTest.cpp new file mode 100644 index 000000000..40217ff9b --- /dev/null +++ b/Gems/ROS2/Code/Tests/ROS2EditorTest.cpp @@ -0,0 +1,11 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +AZ_UNIT_TEST_HOOK(DEFAULT_UNIT_TEST_ENV); diff --git a/Gems/ROS2/Code/Tests/ROS2Test.cpp b/Gems/ROS2/Code/Tests/ROS2Test.cpp new file mode 100644 index 000000000..40217ff9b --- /dev/null +++ b/Gems/ROS2/Code/Tests/ROS2Test.cpp @@ -0,0 +1,11 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +AZ_UNIT_TEST_HOOK(DEFAULT_UNIT_TEST_ENV); diff --git a/Gems/ROS2/Code/Tests/UrdfParserTest.cpp b/Gems/ROS2/Code/Tests/UrdfParserTest.cpp new file mode 100644 index 000000000..8b6406a97 --- /dev/null +++ b/Gems/ROS2/Code/Tests/UrdfParserTest.cpp @@ -0,0 +1,474 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include + +namespace UnitTest +{ + + class UrdfParserTest : public LeakDetectionFixture + { + public: + AZStd::string GetXacroParams() + { + return "\n" + " \n" + ""; + } + AZStd::string GetUrdfWithOneLink() + { + return "" + " \n" + " \n" + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + ""; + } + + AZStd::string GetUrdfWithTwoLinksAndJoint() + { + return " " + " \n" + " \n" + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + " " + ""; + } + AZStd::string GetURDFWithTranforms() + { + return "\n" + "\n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + ""; + } + + AZStd::string GetURDFWithWheel( + const AZStd::string& wheel_name, + const AZStd::string& wheel_joint_type, + bool wheel_has_visual = true, + bool wheel_has_collider = true) + { + // clang-format off + return "\n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + +(wheel_has_visual?"\n" + " \n" + " \n" + " \n" + " \n" + " \n":"")+ + +(wheel_has_collider?"\n" + " \n" + " \n" + " \n" + " \n" + " \n":"")+ + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + " \n" + ""; + // clang-format on + } + }; + + TEST_F(UrdfParserTest, ParseUrdfWithOneLink) + { + + const auto xmlStr = GetUrdfWithOneLink(); + const auto urdf = ROS2::UrdfParser::Parse(xmlStr); + + EXPECT_EQ(urdf->getName(), "test_one_link"); + + std::vector links; + urdf->getLinks(links); + EXPECT_EQ(links.size(), 1U); + + const auto link1 = urdf->getLink("link1"); + + ASSERT_TRUE(link1); + EXPECT_EQ(link1->inertial->mass, 1.0); + EXPECT_EQ(link1->inertial->ixx, 1.0); + EXPECT_EQ(link1->inertial->ixy, 0.0); + EXPECT_EQ(link1->inertial->ixz, 0.0); + EXPECT_EQ(link1->inertial->iyy, 1.0); + EXPECT_EQ(link1->inertial->iyz, 0.0); + EXPECT_EQ(link1->inertial->izz, 1.0); + + EXPECT_EQ(link1->visual->geometry->type, 1); + const auto visualBox = std::dynamic_pointer_cast(link1->visual->geometry); + EXPECT_EQ(visualBox->dim.x, 1.0); + EXPECT_EQ(visualBox->dim.y, 2.0); + EXPECT_EQ(visualBox->dim.z, 1.0); + + EXPECT_EQ(link1->collision->geometry->type, 1); + const auto collisionBox = std::dynamic_pointer_cast(link1->visual->geometry); + EXPECT_EQ(collisionBox->dim.x, 1.0); + EXPECT_EQ(collisionBox->dim.y, 2.0); + EXPECT_EQ(collisionBox->dim.z, 1.0); + } + + TEST_F(UrdfParserTest, ParseUrdfWithTwoLinksAndJoint) + { + + const auto xmlStr = GetUrdfWithTwoLinksAndJoint(); + const auto urdf = ROS2::UrdfParser::Parse(xmlStr); + + EXPECT_EQ(urdf->getName(), "test_two_links_one_joint"); + + std::vector links; + urdf->getLinks(links); + EXPECT_EQ(links.size(), 2U); + + const auto link1 = urdf->getLink("link1"); + ASSERT_TRUE(link1); + + const auto link2 = urdf->getLink("link2"); + ASSERT_TRUE(link2); + + const auto joint12 = urdf->getJoint("joint12"); + ASSERT_TRUE(joint12); + + EXPECT_EQ(joint12->parent_link_name, "link1"); + EXPECT_EQ(joint12->child_link_name, "link2"); + + EXPECT_EQ(joint12->parent_to_joint_origin_transform.position.x, 1.0); + EXPECT_EQ(joint12->parent_to_joint_origin_transform.position.y, 0.5); + EXPECT_EQ(joint12->parent_to_joint_origin_transform.position.z, 0.0); + + double roll, pitch, yaw; + joint12->parent_to_joint_origin_transform.rotation.getRPY(roll, pitch, yaw); + EXPECT_DOUBLE_EQ(roll, 0.0); + EXPECT_DOUBLE_EQ(pitch, 0.0); + EXPECT_DOUBLE_EQ(yaw, 0.0); + + EXPECT_EQ(joint12->dynamics->damping, 10.0); + EXPECT_EQ(joint12->dynamics->friction, 5.0); + + EXPECT_EQ(joint12->limits->lower, 10.0); + EXPECT_EQ(joint12->limits->upper, 20.0); + EXPECT_EQ(joint12->limits->effort, 90.0); + EXPECT_EQ(joint12->limits->velocity, 10.0); + } + + TEST_F(UrdfParserTest, WheelHeuristicNameValid) + { + const AZStd::string wheel_name("wheel_left_link"); + const auto xmlStr = GetURDFWithWheel(wheel_name, "continuous"); + const auto urdf = ROS2::UrdfParser::Parse(xmlStr); + auto wheel_candidate = urdf->getLink(wheel_name.c_str()); + ASSERT_TRUE(wheel_candidate); + EXPECT_EQ(ROS2::Utils::IsWheelURDFHeuristics(wheel_candidate), true); + } + + TEST_F(UrdfParserTest, WheelHeuristicNameNotValid1) + { + const AZStd::string wheel_name("wheel_left_joint"); + const auto xmlStr = GetURDFWithWheel(wheel_name, "continuous"); + const auto urdf = ROS2::UrdfParser::Parse(xmlStr); + auto wheel_candidate = urdf->getLink(wheel_name.c_str()); + ASSERT_TRUE(wheel_candidate); + EXPECT_EQ(ROS2::Utils::IsWheelURDFHeuristics(wheel_candidate), false); + } + + TEST_F(UrdfParserTest, WheelHeuristicJointNotValid) + { + const AZStd::string wheel_name("wheel_left_link"); + const auto xmlStr = GetURDFWithWheel(wheel_name, "fixed"); + const auto urdf = ROS2::UrdfParser::Parse(xmlStr); + auto wheel_candidate = urdf->getLink(wheel_name.c_str()); + ASSERT_TRUE(wheel_candidate); + EXPECT_EQ(ROS2::Utils::IsWheelURDFHeuristics(wheel_candidate), false); + } + + TEST_F(UrdfParserTest, WheelHeuristicJointVisualNotValid) + { + const AZStd::string wheel_name("wheel_left_link"); + const auto xmlStr = GetURDFWithWheel(wheel_name, "continuous", false, true); + const auto urdf = ROS2::UrdfParser::Parse(xmlStr); + auto wheel_candidate = urdf->getLink(wheel_name.c_str()); + ASSERT_TRUE(wheel_candidate); + EXPECT_EQ(ROS2::Utils::IsWheelURDFHeuristics(wheel_candidate), false); + } + + TEST_F(UrdfParserTest, WheelHeuristicJointColliderNotValid) + { + const AZStd::string wheel_name("wheel_left_link"); + const auto xmlStr = GetURDFWithWheel(wheel_name, "continuous", true, false); + const auto urdf = ROS2::UrdfParser::Parse(xmlStr); + auto wheel_candidate = urdf->getLink(wheel_name.c_str()); + ASSERT_TRUE(wheel_candidate); + EXPECT_EQ(ROS2::Utils::IsWheelURDFHeuristics(wheel_candidate), false); + } + + TEST_F(UrdfParserTest, TestLinkListing) + { + const auto xmlStr = GetURDFWithTranforms(); + const auto urdf = ROS2::UrdfParser::Parse(xmlStr); + auto links = ROS2::Utils::GetAllLinks(urdf->getRoot()->child_links); + EXPECT_EQ(links.size(), 3); + ASSERT_TRUE(links.contains("link1")); + ASSERT_TRUE(links.contains("link2")); + ASSERT_TRUE(links.contains("link3")); + EXPECT_EQ(links.at("link1")->name, "link1"); + EXPECT_EQ(links.at("link2")->name, "link2"); + EXPECT_EQ(links.at("link3")->name, "link3"); + } + + TEST_F(UrdfParserTest, TestJointLink) + { + const auto xmlStr = GetURDFWithTranforms(); + const auto urdf = ROS2::UrdfParser::Parse(xmlStr); + auto joints = ROS2::Utils::GetAllJoints(urdf->getRoot()->child_links); + EXPECT_EQ(joints.size(), 3); + } + + TEST_F(UrdfParserTest, TestTransforms) + { + const auto xmlStr = GetURDFWithTranforms(); + const auto urdf = ROS2::UrdfParser::Parse(xmlStr); + const auto links = ROS2::Utils::GetAllLinks(urdf->getRoot()->child_links); + const auto link1_ptr = links.at("link1"); + const auto link2_ptr = links.at("link2"); + const auto link3_ptr = links.at("link3"); + + // values exported from Blender + const AZ::Vector3 expected_translation_link1{ 0.0, 0.0, 0.0 }; + const AZ::Vector3 expected_translation_link2{ -1.2000000476837158, 2.0784599781036377, 0.0 }; + const AZ::Vector3 expected_translation_link3{ -2.4000000953674316, 0.0, 0.0 }; + + const AZ::Transform transform_from_urdf_link1 = ROS2::Utils::GetWorldTransformURDF(link1_ptr); + EXPECT_NEAR(expected_translation_link1.GetX(), transform_from_urdf_link1.GetTranslation().GetX(), 1e-5); + EXPECT_NEAR(expected_translation_link1.GetY(), transform_from_urdf_link1.GetTranslation().GetY(), 1e-5); + EXPECT_NEAR(expected_translation_link1.GetZ(), transform_from_urdf_link1.GetTranslation().GetZ(), 1e-5); + + const AZ::Transform transform_from_urdf_link2 = ROS2::Utils::GetWorldTransformURDF(link2_ptr); + EXPECT_NEAR(expected_translation_link2.GetX(), transform_from_urdf_link2.GetTranslation().GetX(), 1e-5); + EXPECT_NEAR(expected_translation_link2.GetY(), transform_from_urdf_link2.GetTranslation().GetY(), 1e-5); + EXPECT_NEAR(expected_translation_link2.GetZ(), transform_from_urdf_link2.GetTranslation().GetZ(), 1e-5); + + const AZ::Transform transform_from_urdf_link3 = ROS2::Utils::GetWorldTransformURDF(link3_ptr); + EXPECT_NEAR(expected_translation_link3.GetX(), transform_from_urdf_link3.GetTranslation().GetX(), 1e-5); + EXPECT_NEAR(expected_translation_link3.GetY(), transform_from_urdf_link3.GetTranslation().GetY(), 1e-5); + EXPECT_NEAR(expected_translation_link3.GetZ(), transform_from_urdf_link3.GetTranslation().GetZ(), 1e-5); + } + + TEST_F(UrdfParserTest, TestPathResolvementGlobal) + { + AZStd::string dae = "file:///home/foo/ros_ws/install/foo_robot/meshes/bar.dae"; + AZStd::string urdf = "/home/foo/ros_ws/install/foo_robot/foo_robot.urdf"; + auto result = ROS2::Utils::ResolveURDFPath( + dae, + urdf, "", + [](const AZStd::string& p) -> bool + { + return false; + }); + EXPECT_EQ(result, "/home/foo/ros_ws/install/foo_robot/meshes/bar.dae"); + } + + TEST_F(UrdfParserTest, TestPathResolvementRelative) + { + AZStd::string dae = "meshes/bar.dae"; + AZStd::string urdf = "/home/foo/ros_ws/install/foo_robot/foo_robot.urdf"; + auto result = ROS2::Utils::ResolveURDFPath( + dae, + urdf, "", + [](const AZStd::string& p) -> bool + { + return false; + }); + EXPECT_EQ(result, "/home/foo/ros_ws/install/foo_robot/meshes/bar.dae"); + } + + TEST_F(UrdfParserTest, TestPathResolvementRelativePackage) + { + AZStd::string dae = "package://meshes/bar.dae"; + AZStd::string urdf = "/home/foo/ros_ws/install/foo_robot/description/foo_robot.urdf"; + AZStd::string xml = "/home/foo/ros_ws/install/foo_robot/package.xml"; + AZStd::string resolvedDae = "/home/foo/ros_ws/install/foo_robot/meshes/bar.dae"; + auto mockFileSystem = [&](const AZStd::string& p) -> bool + { + return (p == xml || p == resolvedDae); + }; + auto result = ROS2::Utils::ResolveURDFPath(dae, urdf, "", mockFileSystem); + EXPECT_EQ(result, resolvedDae); + } + + TEST_F(UrdfParserTest, TestPathResolvementExplicitPackageName) + { + AZStd::string dae = "package://foo_robot/meshes/bar.dae"; + AZStd::string urdf = "/home/foo/ros_ws/install/foo_robot/share/foo_robot/description/foo_robot.urdf"; + AZStd::string xml = "/home/foo/ros_ws/install/foo_robot/share/foo_robot/package.xml"; + AZStd::string resolvedDae = "/home/foo/ros_ws/install/foo_robot/share/foo_robot/meshes/bar.dae"; + auto mockFileSystem = [&](const AZStd::string& p) -> bool + { + return (p == xml || p == resolvedDae); + }; + auto result = ROS2::Utils::ResolveURDFPath(dae, urdf, "/home/foo/ros_ws/install/foo_robot", mockFileSystem); + EXPECT_EQ(result, resolvedDae); + } + + TEST_F(UrdfParserTest, XacroParseArgs) + { + AZStd::string xacroParams = GetXacroParams(); + ROS2::Utils::xacro::Params params = ROS2::Utils::xacro::GetParameterFromXacroData(xacroParams); + EXPECT_EQ(params.size(), 1); + ASSERT_TRUE(params.contains("laser_enabled")); + EXPECT_EQ(params["laser_enabled"], "false"); + } + +} // namespace UnitTest diff --git a/Gems/ROS2/Code/ros2_editor_files.cmake b/Gems/ROS2/Code/ros2_editor_files.cmake new file mode 100644 index 000000000..c889a6735 --- /dev/null +++ b/Gems/ROS2/Code/ros2_editor_files.cmake @@ -0,0 +1,57 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT + +set(FILES + ../Assets/Editor/Images/Icons/ROS2.qrc + ../Assets/Editor/Images/Icons/ROS_import_icon.svg + Source/Camera/ROS2CameraSensorEditorComponent.cpp + Source/Camera/ROS2CameraSensorEditorComponent.h + Source/Lidar/LidarRegistrarEditorSystemComponent.cpp + Source/Lidar/LidarRegistrarEditorSystemComponent.h + Source/RobotImporter/Pages/CheckAssetPage.cpp + Source/RobotImporter/Pages/CheckAssetPage.h + Source/RobotImporter/Pages/CheckUrdfPage.cpp + Source/RobotImporter/Pages/CheckUrdfPage.h + Source/RobotImporter/Pages/FileSelectionPage.cpp + Source/RobotImporter/Pages/FileSelectionPage.h + Source/RobotImporter/Pages/PrefabMakerPage.cpp + Source/RobotImporter/Pages/PrefabMakerPage.h + Source/RobotImporter/Pages/IntroPage.cpp + Source/RobotImporter/Pages/IntroPage.h + Source/RobotImporter/Pages/XacroParamsPage.cpp + Source/RobotImporter/Pages/XacroParamsPage.h + Source/RobotImporter/RobotImporterWidget.cpp + Source/RobotImporter/RobotImporterWidget.h + Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.cpp + Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.h + Source/RobotImporter/URDF/ArticulationsMaker.cpp + Source/RobotImporter/URDF/ArticulationsMaker.h + Source/RobotImporter/URDF/CollidersMaker.cpp + Source/RobotImporter/URDF/CollidersMaker.h + Source/RobotImporter/URDF/InertialsMaker.cpp + Source/RobotImporter/URDF/InertialsMaker.h + Source/RobotImporter/URDF/JointsMaker.cpp + Source/RobotImporter/URDF/JointsMaker.h + Source/RobotImporter/URDF/PrefabMakerUtils.cpp + Source/RobotImporter/URDF/PrefabMakerUtils.h + Source/RobotImporter/URDF/UrdfParser.cpp + Source/RobotImporter/URDF/UrdfParser.h + Source/RobotImporter/URDF/URDFPrefabMaker.cpp + Source/RobotImporter/URDF/URDFPrefabMaker.h + Source/RobotImporter/URDF/VisualsMaker.cpp + Source/RobotImporter/URDF/VisualsMaker.h + Source/RobotImporter/xacro/XacroUtils.cpp + Source/RobotImporter/xacro/XacroUtils.h + Source/RobotImporter/Utils/DefaultSolverConfiguration.h + Source/RobotImporter/Utils/RobotImporterUtils.cpp + Source/RobotImporter/Utils/RobotImporterUtils.h + Source/RobotImporter/Utils/SourceAssetsStorage.cpp + Source/RobotImporter/Utils/SourceAssetsStorage.h + Source/RobotImporter/Utils/TypeConversions.cpp + Source/RobotImporter/Utils/TypeConversions.h + Source/ROS2EditorSystemComponent.cpp + Source/ROS2EditorSystemComponent.h + Source/ROS2GemUtilities.cpp +) diff --git a/Gems/ROS2/Code/ros2_editor_shared_files.cmake b/Gems/ROS2/Code/ros2_editor_shared_files.cmake new file mode 100644 index 000000000..28dc7da74 --- /dev/null +++ b/Gems/ROS2/Code/ros2_editor_shared_files.cmake @@ -0,0 +1,8 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT + +set(FILES + Source/ROS2EditorModule.cpp +) diff --git a/Gems/ROS2/Code/ros2_editor_tests_files.cmake b/Gems/ROS2/Code/ros2_editor_tests_files.cmake new file mode 100644 index 000000000..0b3fb6437 --- /dev/null +++ b/Gems/ROS2/Code/ros2_editor_tests_files.cmake @@ -0,0 +1,9 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT + +set(FILES + Tests/ROS2EditorTest.cpp + Tests/UrdfParserTest.cpp +) diff --git a/Gems/ROS2/Code/ros2_files.cmake b/Gems/ROS2/Code/ros2_files.cmake new file mode 100644 index 000000000..c92cc6a70 --- /dev/null +++ b/Gems/ROS2/Code/ros2_files.cmake @@ -0,0 +1,108 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT + +set(FILES + ../Assets/Passes/PipelineRenderToTextureROSColor.pass + ../Assets/Passes/PipelineRenderToTextureROSDepth.pass + ../Assets/Passes/PipelineROSColor.pass + ../Assets/Passes/PipelineROSDepth.pass + ../Assets/Passes/ROSPassTemplates.azasset + Source/Camera/CameraSensor.cpp + Source/Camera/CameraSensor.h + Source/Camera/CameraSensorConfiguration.cpp + Source/Camera/CameraSensorConfiguration.h + Source/Camera/ROS2CameraSensorComponent.cpp + Source/Camera/ROS2CameraSensorComponent.h + Source/Clock/PhysicallyStableClock.cpp + Source/Clock/SimulationClock.cpp + Source/Communication/QoS.cpp + Source/Communication/TopicConfiguration.cpp + Source/Frame/NamespaceConfiguration.cpp + Source/Frame/ROS2FrameComponent.cpp + Source/Frame/ROS2Transform.cpp + Source/GNSS/GNSSFormatConversions.cpp + Source/GNSS/GNSSFormatConversions.h + Source/GNSS/ROS2GNSSSensorComponent.cpp + Source/GNSS/ROS2GNSSSensorComponent.h + Source/Imu/ROS2ImuSensorComponent.cpp + Source/Imu/ROS2ImuSensorComponent.h + Source/Lidar/LidarRaycaster.cpp + Source/Lidar/LidarRaycaster.h + Source/Lidar/LidarRegistrarSystemComponent.cpp + Source/Lidar/LidarRegistrarSystemComponent.h + Source/Lidar/LidarSystem.cpp + Source/Lidar/LidarSystem.h + Source/Lidar/LidarTemplate.cpp + Source/Lidar/LidarTemplate.h + Source/Lidar/LidarTemplateUtils.cpp + Source/Lidar/LidarTemplateUtils.h + Source/Lidar/ROS2Lidar2DSensorComponent.cpp + Source/Lidar/ROS2Lidar2DSensorComponent.h + Source/Lidar/ROS2LidarSensorComponent.cpp + Source/Lidar/ROS2LidarSensorComponent.h + Source/Manipulator/MotorizedJointComponent.cpp + Source/Odometry/ROS2OdometrySensorComponent.cpp + Source/Odometry/ROS2OdometrySensorComponent.h + Source/Odometry/ROS2WheelOdometry.cpp + Source/Odometry/ROS2WheelOdometry.h + Source/RobotControl/Ackermann/AckermannSubscriptionHandler.cpp + Source/RobotControl/Ackermann/AckermannSubscriptionHandler.h + Source/RobotControl/ControlConfiguration.cpp + Source/RobotControl/Controllers/AckermannController/AckermannControlComponent.cpp + Source/RobotControl/Controllers/AckermannController/AckermannControlComponent.h + Source/RobotControl/Controllers/RigidBodyController/RigidBodyTwistControlComponent.cpp + Source/RobotControl/Controllers/RigidBodyController/RigidBodyTwistControlComponent.h + Source/RobotControl/Controllers/SkidSteeringController/SkidSteeringControlComponent.cpp + Source/RobotControl/Controllers/SkidSteeringController/SkidSteeringControlComponent.h + Source/RobotControl/ROS2RobotControlComponent.cpp + Source/RobotControl/ROS2RobotControlComponent.h + Source/RobotControl/Twist/TwistSubscriptionHandler.cpp + Source/RobotImporter/ROS2RobotImporterSystemComponent.cpp + Source/RobotImporter/ROS2RobotImporterSystemComponent.h + Source/ROS2ModuleInterface.h + Source/ROS2SystemComponent.cpp + Source/ROS2SystemComponent.h + Source/Sensor/ROS2SensorComponent.cpp + Source/Sensor/SensorConfiguration.cpp + Source/Spawner/ROS2SpawnerComponent.cpp + Source/Spawner/ROS2SpawnerComponent.h + Source/Spawner/ROS2SpawnPointComponent.cpp + Source/Spawner/ROS2SpawnPointComponent.h + Source/Utilities/Controllers/PidConfiguration.cpp + Source/Utilities/PhysicsCallbackHandler.cpp + Source/Utilities/PhysicsCallbackHandler.h + Source/Utilities/ROS2Conversions.cpp + Source/Utilities/ROS2Names.cpp + Source/VehicleDynamics/AxleConfiguration.cpp + Source/VehicleDynamics/AxleConfiguration.h + Source/VehicleDynamics/DriveModel.cpp + Source/VehicleDynamics/DriveModel.h + Source/VehicleDynamics/DriveModels/AckermannDriveModel.cpp + Source/VehicleDynamics/DriveModels/AckermannDriveModel.h + Source/VehicleDynamics/DriveModels/SkidSteeringDriveModel.cpp + Source/VehicleDynamics/DriveModels/SkidSteeringDriveModel.h + Source/VehicleDynamics/ManualControlEventHandler.h + Source/VehicleDynamics/Utilities.cpp + Source/VehicleDynamics/Utilities.h + Source/VehicleDynamics/VehicleConfiguration.cpp + Source/VehicleDynamics/VehicleConfiguration.h + Source/VehicleDynamics/VehicleInputs.cpp + Source/VehicleDynamics/VehicleInputs.h + Source/VehicleDynamics/VehicleModelComponent.cpp + Source/VehicleDynamics/VehicleModelComponent.h + Source/VehicleDynamics/ModelComponents/AckermannModelComponent.cpp + Source/VehicleDynamics/ModelComponents/AckermannModelComponent.h + Source/VehicleDynamics/ModelComponents/SkidSteeringModelComponent.cpp + Source/VehicleDynamics/ModelComponents/SkidSteeringModelComponent.h + Source/VehicleDynamics/VehicleModelLimits.cpp + Source/VehicleDynamics/VehicleModelLimits.h + Source/VehicleDynamics/ModelLimits/AckermannModelLimits.cpp + Source/VehicleDynamics/ModelLimits/AckermannModelLimits.h + Source/VehicleDynamics/ModelLimits/SkidSteeringModelLimits.cpp + Source/VehicleDynamics/ModelLimits/SkidSteeringModelLimits.h + Source/VehicleDynamics/WheelControllerComponent.cpp + Source/VehicleDynamics/WheelControllerComponent.h + Source/VehicleDynamics/WheelDynamicsData.h + ) diff --git a/Gems/ROS2/Code/ros2_header_files.cmake b/Gems/ROS2/Code/ros2_header_files.cmake new file mode 100644 index 000000000..287bd4563 --- /dev/null +++ b/Gems/ROS2/Code/ros2_header_files.cmake @@ -0,0 +1,29 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT + +set(FILES + Include/ROS2/Camera/CameraPostProcessingRequestBus.h + Include/ROS2/Clock/PhysicallyStableClock.h + Include/ROS2/Clock/SimulationClock.h + Include/ROS2/Frame/NamespaceConfiguration.h + Include/ROS2/Frame/ROS2FrameComponent.h + Include/ROS2/Frame/ROS2Transform.h + Include/ROS2/Manipulator/MotorizedJointBus.h + Include/ROS2/Manipulator/MotorizedJointComponent.h + Include/ROS2/RobotControl/ControlConfiguration.h + Include/ROS2/RobotControl/ControlSubscriptionHandler.h + Include/ROS2/Lidar/LidarRaycasterBus.h + Include/ROS2/Lidar/LidarSystemBus.h + Include/ROS2/Lidar/LidarRegistrarBus.h + Include/ROS2/ROS2Bus.h + Include/ROS2/ROS2GemUtilities.h + Include/ROS2/Sensor/ROS2SensorComponent.h + Include/ROS2/Sensor/SensorConfiguration.h + Include/ROS2/Spawner/SpawnerBus.h + Include/ROS2/Utilities/Controllers/PidConfiguration.h + Include/ROS2/Utilities/ROS2Conversions.h + Include/ROS2/Utilities/ROS2Names.h + Include/ROS2/VehicleDynamics/VehicleInputControlBus.h + ) diff --git a/Gems/ROS2/Code/ros2_shared_files.cmake b/Gems/ROS2/Code/ros2_shared_files.cmake new file mode 100644 index 000000000..0cc4c0e80 --- /dev/null +++ b/Gems/ROS2/Code/ros2_shared_files.cmake @@ -0,0 +1,8 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT + +set(FILES + Source/ROS2Module.cpp +) diff --git a/Gems/ROS2/Code/ros2_target_depends.cmake b/Gems/ROS2/Code/ros2_target_depends.cmake new file mode 100644 index 000000000..71b928bee --- /dev/null +++ b/Gems/ROS2/Code/ros2_target_depends.cmake @@ -0,0 +1,22 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT + +function(target_depends_on_ros2_package TARGET_NAME) + list(GET ARGN 0 _package) + find_package(${ARGN}) + include(${${_package}_DIR}/${_package}Config.cmake OPTIONAL) + if (${${_package}_FOUND_AMENT_PACKAGE}) + message(DEBUG "Package ${_package} was found (${${_package}_DIR}) version ${${_package}_VERSION} targets : ${${_package}_TARGETS}") + target_link_libraries(${TARGET_NAME} PUBLIC ${${_package}_TARGETS}) + else () + message(FATAL_ERROR "Package ${_package} was found (${${_package}_DIR}), but package is not an Ament package.") + endif () +endfunction() + +function(target_depends_on_ros2_packages TARGET_NAME) + foreach (_package IN LISTS ARGN) + target_depends_on_ros2_package(${TARGET_NAME} ${_package} REQUIRED) + endforeach () +endfunction() diff --git a/Gems/ROS2/Code/ros2_tests_files.cmake b/Gems/ROS2/Code/ros2_tests_files.cmake new file mode 100644 index 000000000..463eac5b9 --- /dev/null +++ b/Gems/ROS2/Code/ros2_tests_files.cmake @@ -0,0 +1,9 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT + +set(FILES + Tests/ROS2Test.cpp + Tests/GNSSTest.cpp +) diff --git a/Gems/ROS2/README.md b/Gems/ROS2/README.md new file mode 100644 index 000000000..21e7eb95f --- /dev/null +++ b/Gems/ROS2/README.md @@ -0,0 +1,112 @@ +# O3DE ROS2 Gem + +This Gem enables users to develop robotic simulations through ROS2 tools and components. + +## Requirements + +* Ubuntu 20.04 or 22.04. Other Ubuntu versions and Linux distros could also work as long as they can support ROS 2. +* [O3DE](https://www.o3de.org/) development branch. The Gem does not work with a release version of O3DE yet. +* Modern version of ROS 2. This instruction assumes that the `desktop` version is installed. Otherwise some packages might be missing. We support and tested with: + * [ROS 2 Galactic](https://docs.ros.org/en/galactic/Installation.html) with Ubuntu 20.04. + * [ROS 2 Humble](https://docs.ros.org/en/humble/Installation.html) with Ubuntu 22.04. + +#### Additional ros packages required + +Once the desired version of ROS 2 is installed, you will need to install additional ROS 2 packages. +Before running the following commands, make sure that the ROS 2 environment is setup. Replace \ with the ROS 2 distribution name (galactic, humble, ..) below and run the following command: +``` +source /opt/ros//setup.bash +``` + +* gazebo_msgs: `sudo apt install ros-${ROS_DISTRO}-gazebo-msgs` +* Ackermann messages: `sudo apt install ros-${ROS_DISTRO}-ackermann-msgs` +* Control toolbox `sudo apt install ros-${ROS_DISTRO}-control-toolbox` +* Xacro (XML Macros) `sudo apt install ros-${ROS_DISTRO}-xacro` + +If a `desktop` installation of ROS 2 distro was selected, everything else should be there. + +Use this helpful command to install: + +``` +sudo apt install ros-${ROS_DISTRO}-ackermann-msgs ros-${ROS_DISTRO}-control-toolbox ros-${ROS_DISTRO}-nav-msgs ros-${ROS_DISTRO}-gazebo-msgs +``` + +## Features + +* Direct and natural support of ROS2 ecosystem: + * No bridges. Your simulation node will function as any other ROS2 node. + * This is also good for performance + * Easy way to include ROS2 dependencies. +* Sensors: + * Sensor Component serving as a handy abstraction. + * Example implementations of Lidar, Camera, IMU sensors. + * Including a few Assets and prefabs which are ready to use. +* Automated handling of: + * Simulation time, publishing `/clock` supporting non-real time. + * Publishing of transformation frames (`/tf`, `/tf_static`). + * Validation for topic and namespace names. +* Robot Control Component: + * A quick to use method of controlling your robot with Twist messages. + * Can be used with custom LUA scripting. + +For a "feel" of these features, see an [example project](#example-project) which uses this Gem to run navigation stack. + +## Clone this repository + +Clone the o3de-extras repository from Github: + +``` +git clone https://github.com/o3de/o3de-extras.git +``` + +## Building + +The Gem is built through building a project which uses it. Make sure to +[source your ros2 workspace](https://docs.ros.org/en/rolling/Tutorials/Configuring-ROS2-Environment.html#source-the-setup-files) +before building. + +## Adding Gem to your project + +To use this Gem in your project, you need to register the Gem with O3DE. First, clone this repository. Then, +in o3de folder: +``` +scripts/o3de.sh register --gem-path /Gems/ROS2 +scripts/o3de.sh enable-gem -gn ROS2 -pp +``` + +## Example project + +You can test O3DE ROS2 Gem with the [Robot Vacuum](https://github.com/o3de/RobotVacuumSample) project. +It will allow you to run robot navigation. All necessary assets are included. + +## User Guides + +Follow the [ROS 2 Gem User Guide](docs/guides/ros2-gem.md) to understand its concepts and components. + +If you plan on contributing please follow the [Pull Request Publishing](docs/guides/pr_publishing.md) guide. For those using the Clion IDE we advise to follow the [Development in Clion](docs/guides/development_in_clion.md) guide. + +## How to create your own robotic simulation + +>This section is to be detailed. + +Once you are set up and familiar with the example project, consider the following steps: +1. [Create a new O3DE project](https://www.o3de.org/docs/welcome-guide/create/) with [this Gem enabled](#adding-gem-to-your-project). +2. Create or import Assets for your robots and environment. + 1. You can use formats supported by O3DE. + 2. You can import your robot from URDF. + 3. Imported models might require some adjustments to be simulation-ready. +3. Determine which sensors you need to simulate. + 1. Some sensors are already implemented in this Gem. + 1. They might require specialization (implementation specific for particular models). + 2. You might want to consider tradeoffs between performance and realism in each case. + 2. Use ROS2SensorComponent as a base class if you are implementing a new sensor. +4. Develop necessary sensors and their prefabs. +5. Consider developing additional abstraction to handle spawning and despawning robots. + 1. This would also be a valuable contribution to the Gem. +6. Develop your scene and simulation scenario, placing Assets and configuring Components. + +Enjoy simulation with some of many [ROS2 packages](https://index.ros.org/packages/#humble) and projects in [ROS2 ecosystem](https://project-awesome.org/fkromer/awesome-ros2). + +## Acknowledgements + +This project was originally developed by [Robotec.ai](https://robotec.ai) in cooperation with [AWS Game Tech](https://aws.amazon.com/gametech/) and [AWS RoboMaker](https://aws.amazon.com/robomaker/). diff --git a/Gems/ROS2/Registry/assetprocessor_settings.setreg b/Gems/ROS2/Registry/assetprocessor_settings.setreg new file mode 100644 index 000000000..0bf124fac --- /dev/null +++ b/Gems/ROS2/Registry/assetprocessor_settings.setreg @@ -0,0 +1,18 @@ +{ + "Amazon": { + "AssetProcessor": { + "Settings": { + "ScanFolder ROS2/Assets": { + "watch": "@GEMROOT:ROS2@/Assets", + "recursive": 1, + "order": 101 + }, + "ScanFolder ROS2/Registry": { + "watch": "@GEMROOT:ROS2@/Registry", + "recursive": 1, + "order": 102 + } + } + } + } +} diff --git a/Gems/ROS2/docs/design/manipulation/analysis.md b/Gems/ROS2/docs/design/manipulation/analysis.md new file mode 100644 index 000000000..f5e825234 --- /dev/null +++ b/Gems/ROS2/docs/design/manipulation/analysis.md @@ -0,0 +1,200 @@ +# Manipulators in O3DE - analysis + +## Intro + +According to the Robot Manipulation department of the University of Leeds: +robotic manipulation refers to the ways robots interact with the objects around +them: grasping an object, opening a door, packing an order into a box, folding +laundry,etc. All these actions require robots to plan and control the motion of +their hands and arms in an intelligent way. + +### Manipulation areas + +Organizing the different areas involved in this course of actions, the MIT +manipulation department at CSAIL propose three main points that affect to the +manipulation in robotics: + + * Perception: this includes both geometric perception to understand the local + geometry of the objects and environment and semantic perception to understand + what opportunities for manipulation are available in the scene. + + * Planning: typically includes reasoning about the kinematic and dynamic + constraints of the task. But it also includes higher-level task planning. + + * Control: control the interactive forces and torques between the robot and its + environment. + +### Actuators, end effectors and sensors + +The simplest manipulation approaches typically involve computer vision and a +parallel gripper and are enough for most pick and place tasks in a controlled +environment. To support more advanced manipulation force and contact sensors +can come into consideration + +Beyond parallel grippers three-finger hands are useful. Anything beyond three +fingers, as the time of writing, is still under heavy research. Beyond that, +there are special cases for specialized grippers or other end effectors like +suction tools. + +### Summary + +Manipulation in robotics involves a set of actions that are each of them +pretty complex and sometimes shared outside of the manipulation act with other +fields in the robotics world. This document will focus on the simulation aspects +that affect the manipulation task without going deeply into others that are +also common in other robotics fields. + +## Areas involved in manipulation + + * Object detection: + * Geometry perception + * Semantic perception + * Sensors for manipulation perception: + * Depth camera sensors + * Contact sensors + * ... + + * Motion planning: + * High level planning of actions + * Motion planning: planning to resolve kinematics and dynamics constraints + * ... + + * Motion execution: + * Trajectory execution + * Controllers + * ... + +Note: this analysis does not include object detection. The design will also +focus on the interaction and interfaces designed to use external libraries, +software and/or frameworks already dedicated to perception, motion planning +or motion execution. + +#### Considerations for implementation within the O3DE simulator + +The main focus of this analysis is to provide an overview of the +capabilities that a simulator needs to implement for the simulation of manipulation tasks in approximation of a real robot and the respective design considerations and trade-offs, e.g. how hardware interaction +can be replaced by the O3DE simulator features, on which level of abstraction, and which interfaces can and should be provided. + + * Object detection (perception): as described in the introduction the sensor + simulation is usually a basic part of manipulation workflow. This document + does not focus on it. + + * Motion planning: + + * High level general planning: O3DE can act passively (by providing + services to an external orchestration tool) or actively being (using + native O3DE scripts to drive the manipulation course of actions). + + * Manipulation planning: integral manipulation planning could be delegated + to third party libraries (such as MoveIt) or parts of the planning to + external planners (such as OMPL). In both cases O3DE will probably need + to provide information about the state of joints, the state of the scene, + and other data/metadata about the state of the whole simulaton. + + * Motion execution: having the ability to use both, internal native O3DE + motion controllers, or external controllers implemented in frameworks + or libraries (such as ros2_control) is an important part of the + manipulation pipeline. Note that the use of controllers is optional + for quick prototyping so the manipulation planning could interact + directly with the simulator without using a controller. + +Diagram of input/outpus and data flows using ROS 2: + +![Manipulation diagram](manipulation.svg) + +To implement these set of actions, the O3DE simulator should have at least: + + * The capacity of publish information about the state of the joints (**RO2JointStatePub** component): + Include the needed information from O3DE simulation related to the joints of + the simulated robot in `sensor_msgs/JointState.msg` and publish it in the `/joint_states` + topic. This is required to interact with ROS 2 packages (such as MoveIt) + See [gazebo_ros_pkgs plugin for reference](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/galactic/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_state_publisher.hpp#L44-L73) + + * Receive orders to move the different joints (**ROS2PoseTrajectory** component): + Set the trajectory of points to be followed by joints in the O3DE simulation using as input + `trajectory_msgs/msg/JointTrajectory.msg` + See [gazebo_ros_pkgs plugin for reference](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/galactic/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.hpp#L26-L48) + + * The ability to request picks or motion movements to external manipulation planners (**ROS2ManipulationRequester**): + Request a motion plan to external planners given different types of inputs, + a target pose for end effector or a joint state target. MoveIt `move_group_interface` interaction + is an example of this. + See [MoveIt 2 joint state target goal](https://github.com/ros-planning/moveit2/blob/main/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h#L305-L320) + or [MoveIt 2](https://github.com/ros-planning/moveit2/blob/main/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h#L640-L554) + + * Provide data from the simulated sensors: not in the scope of this document + +For an initial implementation, a lighter version of the diagram can be an intermediate goal (simplified by danielemorra98): + +![Manipulation light](manipulation_minimal.svg) + +## Other simulators – review of selected implementations of manipulation + +The support for the simulation of manipulation is quite common among all the existing software dedicated to the robot simulation. Most of them + +* [Drake](https://drake.mit.edu/): Drake is a software composed by a + multibody dynamics engine, a “systems framework” for organizing and combining + system models from a library into a block diagram, and a optimization + framework for mathematical programming. + Drake-ROS is mostly geared towards someone who is doing most things in Drake + (like motion planning) but wants to connect to ROS for either commands or + visualization, no integration with ros_control or Moveit. + +* [IssacSim](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_advanced_adding_new_manipulator.html) + NVIDIA simulator using NVIDIA PhysX framework. It has its own sub-product + called [Cortex](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_cortex_overview.html) + for implementing the whole mmanipulation pipeline from detection to control. + It has many GUI tools to help with manipulation tuning and design. + +* [Simulink](https://www.mathworks.com/solutions/robotics/robot-manipulators.html) - Mathworks. + Mathworks offers a large collection of products to address all the aspect of + the manipulation workflow: Use functionalities for inverse/forward kinematics + and dynamics, motion plan, trajectory generation, and collision checking + +## Design considerations + +### Implementation in O3DE + +### Use of MoveIt 2 + +[MoveIt 2](https://moveit.picknik.ai/humble/index.html) is the main motion +planner framework used by ROS 2. There are many ways of interacting with it. In +this design, the `ROS2ManipulationRequester` component should act as the +interface for accepting inputs in the form of request for manipulation and call +MoveIt 2 ([see the code needed to implement a Pose for the end +effector](https://moveit.picknik.ai/humble/doc/tutorials/your_first_project/your_first_project.html)) +or any other motion planner. + +The `ROS2ManipulationRequester` component should also take care of controlling +the status of the request and provide internal O3DE Gem information on the +status of the execution. + +### Use of controllers: ros2_control and native O3DE + +The integration of the [ros2_control](https://github.com/ros-controls/ros2_control) into the +architecture have some difficulties: + +- controllers are typically not modular in a sense that they handle everything + (parameters, communication and computations). + - we would like to handle some of these elements separately for more + flexibility and better UX. +- some of their design is not as flexible (likely since they have been only + used with Gazebo so far). + - for example, we would like to handle parameters in the Editor, without + running publishers/subscribers already. + +The benefits are important though. It is valuable to reuse implementations +which are tried and tested, and benefit from the joint effort of the community. +There should be the option of using native O3DE controllers if there is a good +reason to do so like big performance improvements or much better integration in +the UI. + +Regardless of whether the controllers are `ros2_control` or native O3DE +controllers, an interface is needed to communicate between MoveIt 2 and +the controllers. + +# References + +https://robotics.leeds.ac.uk/research/ai-for-robotics/robotic-manipulation/ +https://manipulation.csail.mit.edu/intro.html +https://medium.com/toyotaresearch/drake-model-based-design-in-the-age-of-robotics-and-machine-learning-59938c985515 diff --git a/Gems/ROS2/docs/design/manipulation/architecture.md b/Gems/ROS2/docs/design/manipulation/architecture.md new file mode 100644 index 000000000..292daab15 --- /dev/null +++ b/Gems/ROS2/docs/design/manipulation/architecture.md @@ -0,0 +1 @@ +(TODO) diff --git a/Gems/ROS2/docs/design/manipulation/design.md b/Gems/ROS2/docs/design/manipulation/design.md new file mode 100644 index 000000000..ee4f796e4 --- /dev/null +++ b/Gems/ROS2/docs/design/manipulation/design.md @@ -0,0 +1,44 @@ +## Design document: Manipulation for robots in O3DE with ROS 2 Gem + +### Rationale + +One the most used features in the robotics worlds are the interaction of the +robots with the objects that exists in the real life. + +The manipulation act is composed by many different areas that are themselves +large research topics such as perception, planning and control. From the physic +point of view the robot manipulation is generally done by a series of actuators +usually connected each other in many different ways and a good variety of end +effectors to support operations on the desired objects. + +A good part of the manipulation work load is designed to deal with kinematics +and dynamics constraints imposed by the physical design of the robots and the +real world physics properties. + +This design must consider the connection from O3DE to third party libraries and +frameworks that already implement large part of the topics listed above and do +not try to reimplement them although native capabilities can be consider in a +case by case basics. + +### Purpose + +To support developers of robotic use-cases in O3DE, a modular, extendable system for robot manipulation +is required. + +### Subsections + + - [Analysis](analysis.md) + - [Features](features.md) + - [Architecture](architecture.md) + - [Implementation Roadmap](roadmap.md) + +### Notes + + * The design does not consider any topic related to perception. + * The design will prioritize the connection with the usual ROS 2 frameworks and tools + * The design does not consider any grasping technique although external frameworks can provide this + capability. + +| In the first iteration, only support for car-like 4-wheeled robots will be targeted. | +|--------------------------------------------------------------------------------------| + diff --git a/Gems/ROS2/docs/design/manipulation/features.md b/Gems/ROS2/docs/design/manipulation/features.md new file mode 100644 index 000000000..f780b72eb --- /dev/null +++ b/Gems/ROS2/docs/design/manipulation/features.md @@ -0,0 +1,12 @@ + Selected features and their suggested importance + +| Feature | Description | Importance | +| ------- | ----------- | ---------- | +| Modular and configurable design |
  • Highly customizable – can support variety of robots/manipulators
  • Modular – easy to replace implementations of parts with alternatives
  • Good defaults – less steep learning curve
| Crucial | +| Core dynamics |
  • Realistic movements for manipulation operations
  • Consider all the physics parameters involved in the manipulation operations
| Crucial | +| Manipulator configuration |
  • Kinematics of the manipulator, number of actuators, end effectors, etc.
  • Use semantic groups to define the different manipulator parts such as arm and end effector
| Crucial | +| Motion planning |
  • Ability to request a motion planning for the manipulator given different kinds of inputs.
  • Generate information from O3DE simulation about the state of the movable parts
  • Handle self collisions among the manipulator parts
| Crucial | +| Motion execution |
  • Successfully apply techniques of motion execution (controllers) to a O3DE simulation
  • Capacity to interact with third party libraries providing controllers
  • Interface to develop native controllers inside O3DE
  • Receive and execute trajectories generated by third party planners
| Crucial | +| Input system |
  • Basic input for an end effector in the form of a 6D Pose (position + orientation)
  • Consider other inputs (similar to end effector pose) based only on the position or orientation
  • Support goals based on the position/angle of each joint in the manipulator
| Crucial | +| Multirobot collaborative manipulation |
  • Use multiple robots for manipulation
| Optional | +| High-fidelity physics model |
  • Support for multiple contact points between bodies
  • Soft-contact model
  • Soft-body and deformable object physics simulation
  • Efficient and stable solver for articulate-chain systems
| Optional | diff --git a/Gems/ROS2/docs/design/manipulation/manipulation.svg b/Gems/ROS2/docs/design/manipulation/manipulation.svg new file mode 100644 index 000000000..5bc9db8ef --- /dev/null +++ b/Gems/ROS2/docs/design/manipulation/manipulation.svg @@ -0,0 +1,1521 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + Object detection + joint_trajectory.msg + + + + Motionplanning + + + ROS2Gem + sensor simulation + + + MoveIt + + + ros2_control + + + + sensor_msgs/* + Motionsimulation + + + joints move + + + + ROS2SensorComponent + + + joint_trajectory.msg + + o3de interactions + positionsvelocitiesaccelerationseffort + Motionexecution + + joints state + + + + /joint_states + + sensors_msgs::JointState + joints info + config .srdf + joints state + + + + ROS2ManipulationRequesterComponent + /joint_states + + sensors_msgs::JointState + joints info + + BehaviorTrees + + + SMACK + + Scripting + + + + sensor datasensor metada + third partyinteractions + ROS interactions + + + ROS interactions + Manipulationplanning + High levelplanning + + controllers + + + + ROS2PoseTrajectoryComponent + + + + positionsvelocitiesaccelerationseffort + joint_trajectory.msg + + + + joints info + positionsvelocitiesaccelerationseffort + + + ROS2JointStatePubComponent + + + ROS2PoseTrajectoryComponent + + + + ROS2JointStatePubComponent + ROS interactions + o3de interactions + + MoveGroupInterface::Plan + + + + diff --git a/Gems/ROS2/docs/design/manipulation/manipulation_minimal.svg b/Gems/ROS2/docs/design/manipulation/manipulation_minimal.svg new file mode 100644 index 000000000..61ab1c087 --- /dev/null +++ b/Gems/ROS2/docs/design/manipulation/manipulation_minimal.svg @@ -0,0 +1,1129 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + Object detection + joint_trajectory.msg + + + + Motionplanning + + + ROS2Gem + sensor simulation + + + MoveIt + + + ros2_velocity_controller + + + + sensor_msgs/* + Motionsimulation + + joints move + + + + ROS2SensorComponent + + + joint_trajectory.msg + + o3de interactions + set velocities + Motionexecution + config .srdf + joints state + + + + + /joint_states + + sensors_msgs::JointState + joints info + Scripting + + + + sensor datasensor metada + third partyinteractions + Manipulationplanning + High levelplanning + + ROS2PoseTrajectoryComponent + + + ROS2JointStatePubComponent + ROS interactions + MoveGroupInterface::Plan + + + Rviz MotionPlanningPlugin + + + + /joint_states + + diff --git a/Gems/ROS2/docs/design/manipulation/roadmap.md b/Gems/ROS2/docs/design/manipulation/roadmap.md new file mode 100644 index 000000000..dd094ca54 --- /dev/null +++ b/Gems/ROS2/docs/design/manipulation/roadmap.md @@ -0,0 +1,64 @@ +# Manipulation in O3DE - implementation roadmap + +This roadmap outlines the implementation steps for the light version of the +manipulation diagram (simplified by danielemorra98): + +![manipulation_light](manipulation_minimal.svg) + +## Mesh models and configurations + +- Model the arm and end-effector to be loaded into the simulation and MoveIt. +- Model the collision geometry, using simple primitives to approximate the arm + and end-effector. +- Set up MoveIt configuration (SRDF, etc.) for the robot. + See [`panda_ign_moveit2`](https://github.com/AndrejOrsula/panda_ign_moveit2) + for an example of an arm model and MoveIt 2 configuration. + +## Object detection + +- If using camera to do actual detection (as opposed to using ground truth) + - Choose camera configuration - RGB, depth, resolution, FOV, etc. + - Set up O3DE [`ROS2SensorComponent`](https://github.com/RobotecAI/o3de-ros2-gem/blob/de2d1cdfa68310c6c0d885d65c0d62fa972a4a69/Code/Include/ROS2/Sensor/ROS2SensorComponent.h). + Choose camera transport topic name and type ( + [`sensor_msgs/*`](https://docs.ros2.org/latest/api/sensor_msgs/index-msg.html)) + for communication with ROS. + - Set up ROS node for object detection, using OpenCV, for example. +- Determine ROS topic and type (e.g. + [`geometry_msgs/PoseStamped`](https://docs.ros2.org/latest/api/geometry_msgs/msg/PoseStamped.html)), + to publish object pose in simulator to ROS. + +## Motion planning + +- Scripting + - Calculate end-effector goal pose based on object pose in simulator. + Publish end-effector goal pose for MoveIt. +- Create `ROS2JointStatePubComponent` to obtain joints information from + simulation and publish a message of + [`sensor_msgs/JointState`](https://docs.ros2.org/latest/api/sensor_msgs/msg/JointState.html) + type on topic `/joint_states`, to be consumed by MoveIt and the controller. + - If using [`ros2_control`](https://github.com/ros-controls/ros2_control), + it can be modeled after + [`joint_state_broadcaster`](https://control.ros.org/master/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html), + in `ros2_controllers`, which reads state interfaces and publishes `/joint_states`. + - For starters, it can be a minimal implementation of + [`JointStateBroadcaster`](https://github.com/ros-controls/ros2_controllers/blob/master/joint_state_broadcaster/src/joint_state_broadcaster.cpp) +- Use MoveIt interface ([`moveit::planning_interface::MoveGroupInterface`](https://moveit.picknik.ai/main/api/html/classmoveit_1_1planning__interface_1_1MoveGroupInterface.html)) + to set the goal pose and to plan a trajectory. + +## Motion execution and simulation + +- Interface to communicate the joint trajectory from MoveIt 2 with the + controller and the simulation. + - If using [`ros2_control`](https://github.com/ros-controls/ros2_control), + an `o3de_ros2_control` can be modeled after + [`ign_ros2_control`](https://github.com/ros-controls/gz_ros2_control/tree/master/ign_ros2_control), + which communicates between the Gazebo simulator, ROS 2, and MoveIt 2. + - The main interface needed is documented in a Gazebo example + [`ign_moveit2_examples`](https://github.com/j-rivero/ign_moveit2_examples/pull/1). + - For starters, a new `ros2_velocity_controller` can be a minimal + implementation of `o3de_ros2_control`, with only the velocity controller. + - If using native O3DE controllers, then some interface should communicate + between O3DE, ROS 2, and MoveIt 2. +- Create `ROS2PoseTrajectoryComponent` to receive the joint trajectory and + execute the trajectory in simulation, where collisions, contacts, and dynamics + are simulated. diff --git a/Gems/ROS2/docs/design/vehicle_dynamics/analysis.md b/Gems/ROS2/docs/design/vehicle_dynamics/analysis.md new file mode 100644 index 000000000..6f85506ac --- /dev/null +++ b/Gems/ROS2/docs/design/vehicle_dynamics/analysis.md @@ -0,0 +1,98 @@ +# Vehicle Physics in O3DE - analysis + +## Types of robot mobility and the scope of analysis + +- Airborne robots +- Ground robots + - **Wheeled robots** + - **...** + - Tracked robots + - Walking robots + - Bipedal (e.g., humanoid) + - Quadrupedal (e.g., dogs) + - … + - Crawling robots (snake-like) + - Climbing robots + - ... +- (Under)water robots +- Space robots +- ... + +| This analysis only includes **wheeled robots** | +|------------------------------------------------| + +## Types of wheels + +There are many types of wheels and their mounting used in robotics. Some examples include: + +- **Fixed wheels** – fixed to the chassis. They are used to drive the robot and to steer it (using differential drive). +- **Omni-wheels** (including Mecanum wheels): they are equipped with rollers which enable multi-directional movement. They are used both for driving and steering. +- **Castor wheels** (and balls) - passive wheels used for balance. +- **Car-like wheels** – connected through axles, with additional steering elements, with tires. + +## Selected robot steering types + +### Differential drive (skid-steering) + +Two independent wheels, steering is achieved through different rates of rotation. In many cases, unpowered wheel(s) are added for balance. +This drive is also used in heavy machinery with tracks and other vehicles which traverse difficult terrain. + +![Differential drive](pictures/DifferentialDrive.png) + +#### How to handle in the simulation + +The desired movement can be achieved with both _**Twist**_ and _**Ackermann**_ commands, through parametrized controllers (sharing some common implementation between message types). + +Optional: Sim-side controller should reflect the real controller so that similar steering is achieved. + +### Car-like steering (e.g., Ackermann Steering or Side Pivot Steering) + +Car steering avoids side slip on wheels when moving on a curve, which is especially important for stability at high speeds. +Less slippage also improves reliability of the odometry. + +![Ackermann steering](pictures/Ackermann.png) + +#### How to handle in the simulation + +Use _**Ackermann**_ commands to control. + +Provide steering component which moves the steering wheel according to the steering component of `AckermannDrive` message. This should be translated within the model into wheels’ steering. + +Provide acceleration input control and a cruise control system. Implement controllers for the pipeline: Speed component of `AckermannDrive` message -> acceleration input -> force on wheel -> resulting wheel speed. + +## Other simulators – review of selected implementations of Vehicle Physics + +Simulated Vehicle Dynamics / Vehicle Physics solutions are the most common. Some support a wider range of vehicles such as trucks, construction vehicles, boats; some are dedicated to cars. Some are a part of a vehicle design, development, and validation package. Selected examples are: + +- [Vehicle Dynamics Blockset](https://www.mathworks.com/products/vehicle-dynamics.html) – Mathworks. Features include modeling propulsion, steering, suspension, vehicle bodies, brakes, and tires. +- [Vehicle Physics Pro](https://vehiclephysics.com) – a kit for Unity 3D. A comprehensive set of customizable features for vehicle dynamics, driving assists, extensions, and useful tools for simulation of cargo and automation. +- [NWH Vehicle Physics 2](http://nwhvehiclephysics.com) – a vehicle simulation package for Unity 3D. Modular architecture with sub-solvers (e.g., for drivetrain) and plenty of components. Supports external modules for features such as cruise control and trailers. +- [CarSim](https://www.amet.it/en/software/carsim-en/) – Amet. Standalone application with support for SiL, MiL, HiL and interface to MATLAB / Simulink. Aside from vehicle dynamics it also supports sensors and traffic. It comes with plenty of example vehicles. +- [Simcenter](https://www.plm.automation.siemens.com/global/en/products/simulation-test/vehicle-dynamics.html) - Vehicle System Dynamics Simulation (Siemens). Integrated solution for developing vehicles and validation process using MiL, SiL and HiL. + +## Design considerations + +#### Loss of connection or control + +In robotics, it is typical to expect relatively high frequency on drive command topic, and to zero inputs if nothing arrives after expected time. + +**Solution**: restart a timeout after receiving an input. On timeout, zero inputs (steering, speed). + +#### Implementation in O3DE + +Vehicle Dynamics feature will use O3DE abstractions of physics engine. +JointComponent(s), RigidBodyComponent(s) and other O3DE-level components will be used as means to achieve the behavior. +However, once PhysX Vehicle Gem is made available in O3DE, the design could be switched to use it instead. The implementation +following this design and our experiences could prove to be informative for preparing the Vehicle Gem. + +#### Use of ros2_control + +In the second design phase, we will be looking to integrate elements of [ros2_control](https://github.com/ros-controls/ros2_control) into the architecture. +There are some challenges with this: +- controllers are typically not modular in a sense that they handle everything (parameters, communication and computations). + - we would like to handle some of these elements separately for more flexibility and better UX. +- ackermann controller is not yet included in ros2_control +- some of their design is not as flexible (likely since they have been only used with Gazebo so far). + - for example, we would like to handle parameters in the Editor, without running publishers/subscribers already. + +The benefits are important though. It is valuable to reuse implementations which are tried and tested, and benefit from the joint effort of the community. \ No newline at end of file diff --git a/Gems/ROS2/docs/design/vehicle_dynamics/architecture.md b/Gems/ROS2/docs/design/vehicle_dynamics/architecture.md new file mode 100644 index 000000000..a9d11742a --- /dev/null +++ b/Gems/ROS2/docs/design/vehicle_dynamics/architecture.md @@ -0,0 +1,5 @@ +# Architecture + +## Diagram + +![](diagrams/ROSVehicleDynamics_planned.png) \ No newline at end of file diff --git a/Gems/ROS2/docs/design/vehicle_dynamics/design.md b/Gems/ROS2/docs/design/vehicle_dynamics/design.md new file mode 100644 index 000000000..161d99515 --- /dev/null +++ b/Gems/ROS2/docs/design/vehicle_dynamics/design.md @@ -0,0 +1,26 @@ +## Design document: Vehicle Dynamics for robot control in O3DE with ROS 2 Gem + +### Rationale + +Many simulated robots need to move around in their environment. +Whether they drive, walk or crawl, their movement needs to be similar to how a real robot behaves. +Depending on the purpose of simulation for a given use-case, a rough approximation of the actual movement might be enough. +In other cases, the robot dynamics and its interaction with the environment through movement is the key property to validate. + +Much of the work that is required to create a dynamics model for variety of simulated robots is common and can be +abstracted into convenient components and tooling. + +### Purpose + +To support developers of robotic use-cases in O3DE, a modular, extendable system for simulation of vehicle dynamics is required. + +### Subsections + +- [Analysis](analysis.md) +- [Features](features.md) +- [Architecture](architecture.md) + +### Note + +| In the first iteration, only support for car-like 4-wheeled robots will be targeted. | +|--------------------------------------------------------------------------------------| diff --git a/Gems/ROS2/docs/design/vehicle_dynamics/diagrams/ROSVehicleDynamics_planned.graphml b/Gems/ROS2/docs/design/vehicle_dynamics/diagrams/ROSVehicleDynamics_planned.graphml new file mode 100644 index 000000000..86c65a2e6 --- /dev/null +++ b/Gems/ROS2/docs/design/vehicle_dynamics/diagrams/ROSVehicleDynamics_planned.graphml @@ -0,0 +1,787 @@ + + + + + + + + + + + + + + + + + + + + + + + ROS2RobotControlComponent + + + + + + + + + + + + + + + + + + + + + ControlConfiguration + type of steering +topic +QoS +control mode + + + + + + + + + + + + + TwistSubscriptionHandler + Broadcast to bus + + + + + + + + + + + + + TwistBus + + + + + + + + + + + ControlSubscriptionHandler + Control subscription<T> + + + + + + + + + + + + + AckermannSubscriptionHandler + Broadcast to bus + + + + + + + + + + + + + AckermannBus + + + + + + + + + + + IControlSubscriptionHandler + Activate, deactivate with config + + + + + + + + + + + + + InputControlRequestBus + set acceleration +set steering +turn / stop lights etc +set other inputs for the model +stop on no inputs + + + + + + + + + + + + + ManualControlComponent + key/input map +inputs handler + + + + + + + + + + + + + VehicleModelComponent + apply inputs +get current states +vehicle-level parameters + + + + + + + + + + + + + VehicleConfiguration + + + + + + + + + + + + + + + + + + + + + WheelControllerComponent + tire material (overwrite) +drive and steering axes +steering entity (parent) + + + + + + + + + + + + + + Wheel Collider + + + + + + + + + + + Wheel Visual + + + + + + + + + + + EngineConfiguration + power curve +limits + + + + + + + + + + + + + TransmissionConfiguration + type of transmission +gear rations / shifting + + + + + + + + + + + + + DriveModel + ApplyInputState + + + + + + + + + + + + + + + + Behavior extensions + + + + + + + + + + Folder 1 + + + + + + + + + + + + + + + + CruiseControlComponent + keep set speed + + + + + + + + + + + + + PathFollowerComponent + keep to path + + + + + + + + + + + + + + + AckermannControlComponent + Handle bus notification +Calculate and send inputs + + + + + + + + + + + + + RigidBodyTwistControlComponent + Handle bus notification +Apply directly to RigidBody + + + + + + + + + + + + + InputControlBus + + + + + + + + + + + AxleConfiguration + wheels (with placement) +is drive +is steering +wheel radius + + + + + + + + + + + + + Steering Entity + + + + + + + + + + + Utilities + Get all steering entities +Get all drive wheels +Create front steer axle +.... + + + + + + + + + + + + + RigidBody + + + + + + + + + + + Prismatic Joint + + + + + + + + + + + VehicleModelLimits + speedLimit +steeringLimit + + + + + + + + + + + + + SimplifiedDriveModel + steeringPid +speedPid + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + n + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + (to be implemented later) + + + + + + + + + + + n + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Gems/ROS2/docs/design/vehicle_dynamics/diagrams/ROSVehicleDynamics_planned.png b/Gems/ROS2/docs/design/vehicle_dynamics/diagrams/ROSVehicleDynamics_planned.png new file mode 100644 index 000000000..62363310b --- /dev/null +++ b/Gems/ROS2/docs/design/vehicle_dynamics/diagrams/ROSVehicleDynamics_planned.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1245ebddd8d8d28ba59d82d9822a2c01de20cfd0b43817eaf7482944bb95c918 +size 177143 diff --git a/Gems/ROS2/docs/design/vehicle_dynamics/features.md b/Gems/ROS2/docs/design/vehicle_dynamics/features.md new file mode 100644 index 000000000..c7a8cb75e --- /dev/null +++ b/Gems/ROS2/docs/design/vehicle_dynamics/features.md @@ -0,0 +1,20 @@ +# Selected features and their suggested importance + +| Feature | Description | Importance | +| ------- | ----------- | ---------- | +| Modular and configurable design |
  • Highly customizable – can support variety of robots/vehicles
  • Modular – easy to replace implementations of parts with alternatives
  • Good defaults – less steep learning curve
| Crucial | +| Vehicle configuration |
  • Number and configuration of wheels, axles, etc.
| Crucial | +| Core dynamics |
  • Realistically transfer inputs to robot/vehicle behavior
  • Multiple steps per simulation step (sub-step solver)
  • Considering vehicle parameters such as mass and inertia
  • Considering engine/transmission parameters, such as max torque, max angular velocity
  • Selection of drive wheels (minimum: front and/or rear)
| Crucial | +| Wheels and suspension |
  • Handle ground detection
  • Apply friction model (speed dependent)
  • Use wheel 3D geometry for collision
  • Adjust camber, caster, rim offset
  • Handle wheel visuals (rotate, turn)
  • Handle spring and damper, adjustable curves
  • Type of steering (differential or car-like)
  • Selection of steering wheels
| Crucial | +| ROS 2 Control |
  • Setting a topic, QoS, handling subscriptions
  • Selecting message type for control – AckermanDrive or Twist (see [this discussion](https://discourse.ros.org/t/is-twist-still-a-good-velocity-command-interface/13218/4))
  • Applying control to the robot/vehicle. Stopping on no input.
| Crucial | +| Input System |
  • At least inputs for brakes, acceleration, and steering wheel
  • Other inputs such as turn signals, lights, clutch, handbrake etc.
  • Connect with a manual control component for testing (inputs can be bound to keys/controls)
| Crucial | +| Axles |
  • Set wheels for axle
  • Adjust steering (coefficient, Ackermann, toe angle)
  • Adjust caster and camber angles Brake and handbrake, adjustable strength
| Important | +| Cruise control |
  • Keep a given speed
| Important | +| Path following |
  • Follow a given path with a configurable speed limit
  • Adjust speed when approaching curves
  • Optional: stop when something is in the way (based on ground truth). This could be useful for testing.
| Important | +| Engine |
  • Power curve, losses, limits
| Optional | +| Transmission |
  • Automatic, Manual, etc.
  • Gears, gear ratios, shifting behavior
| Optional | +| Aerodynamics |
  • At least a simple model to calculate aerodynamic drag
| Optional | +| Visuals and sounds |
  • Lights
  • Engine and other sounds
  • Skid marks
  • Particle effects, exhaust smoke
| Optional | +| Transmission |
  • Power distribution between wheels
| Optional | +| Axles |
  • Brake force distribution between wheels
| Optional | +| Wheels and suspension (additional features) |
  • Steering angle difference/coefficient for each wheel
  • Specify several types of suspension
  • Spring compression/force curve
  • Damper velocity/force curve
  • Handle differential drive mechanism and its configuration
| Optional | diff --git a/Gems/ROS2/docs/design/vehicle_dynamics/pictures/Ackermann.png b/Gems/ROS2/docs/design/vehicle_dynamics/pictures/Ackermann.png new file mode 100644 index 000000000..d7c094dd8 --- /dev/null +++ b/Gems/ROS2/docs/design/vehicle_dynamics/pictures/Ackermann.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:863fd7483547bacd482e5b22902a69ffc0932b633af4ace3424eb86fed4901f3 +size 141788 diff --git a/Gems/ROS2/docs/design/vehicle_dynamics/pictures/DifferentialDrive.png b/Gems/ROS2/docs/design/vehicle_dynamics/pictures/DifferentialDrive.png new file mode 100644 index 000000000..455d00bd7 --- /dev/null +++ b/Gems/ROS2/docs/design/vehicle_dynamics/pictures/DifferentialDrive.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d611c02c570548245d5840a79faab61500ab6d8c439353697b24d106f14c8dd +size 10593 diff --git a/Gems/ROS2/docs/design/vehicle_dynamics/pictures/pictures_source_and_licenses.txt b/Gems/ROS2/docs/design/vehicle_dynamics/pictures/pictures_source_and_licenses.txt new file mode 100644 index 000000000..651567e5a --- /dev/null +++ b/Gems/ROS2/docs/design/vehicle_dynamics/pictures/pictures_source_and_licenses.txt @@ -0,0 +1,5 @@ +Public Domain +1. DifferentialDrive.png: https://en.wikipedia.org/wiki/Differential_wheeled_robot#/media/File:Tanklike.png + +CC BY-SA 3.0 (https://creativecommons.org/licenses/by-sa/3.0/) +1. Ackermann.png: https://commons.wikimedia.org/wiki/File:Ackermann.svg. Author User:Bromskloss, more information under the link. \ No newline at end of file diff --git a/Gems/ROS2/docs/guides/development_in_clion.md b/Gems/ROS2/docs/guides/development_in_clion.md new file mode 100644 index 000000000..324852b7a --- /dev/null +++ b/Gems/ROS2/docs/guides/development_in_clion.md @@ -0,0 +1,63 @@ +# Gem Development - Clion + +## Clion Project Setup + +### Requirements + +These steps assume that you: + +- have met all of the o3de engine requirements +- have installed the o3de engine (source) +- have registered the engine +- have met all of the [o3de ros2 gem requirements](https://github.com/RobotecAI/o3de-ros2-gem#requirements) +- have installed the Clion IDE + +### Creating and Configuring the Clion Project + +```bash +cd +git clone https://github.com/RobotecAI/o3de-ros2-gem.git +# = /o3de-ros2-gem +cd +mkdir ~/o3de-projects +scripts/o3de.sh create-project --pp ~/o3de-projects/ +# = ~/o3de-projects/ +scripts/o3de.sh register --gem-path +scripts/o3de.sh enable-gem -gn ROS2 -pp +``` +💡 ***Note:*** Some commands may generate cycle dependency errors but they can be ignored since this is a known o3de engine bug ([this issue](https://github.com/o3de/o3de/issues/10515)). + + +1. Open Clion and select the `` folder. +2. In the Clion IDE interface select *File/Settings/Build, Execution, Deployment*. + 1. Create a new toolchain that matches the one provided below. + + ![Untitled](static/toolchain.png) + + 2. Create a new CMake profile (*under CMake*) that matches the one provided below (*build type can for now be Debug; we will change that when we load the CMake project*). + + You can adjust the **-j** flag (*use the **nproc** bash command*). + + ![Untitled](static/cmake-profile.png) + + ``` + CMake options: + -G "Ninja Multi-Config" -DLY_3RDPARTY_PATH=~/o3de-packages + Build options: + -j 12 + ``` + +3. Now in the IDE interface right click on the **CMakeLists.txt** file under the **** directory and select **Load CMake Project** option. +4. You should now be able to select between release, debug and profile Build types and see the o3de and the gem folders in Project files. Let the Clion perform all of the background tasks and you’re good to go! + +### Building the Project + +In the Select *Run/Debug Configuration* you should be able to see all the Configurations generated by CMake. You can now create compound configurations that allow you to build and run the project (for example Project (name of your project) with Editor and AssetProcessor). + +![Untitled](static/build-config.png) + +## Code Formatting + +Make sure to enable ClangFormat in the Clion Interface under *File/Settings/Editor/Code Style.* Clion should detect the **.clang-format** file (*located in the root directory of the gem*) automatically. + +To reformat the code simply select *Code/Reformat Code* (**Ctrl+Alt+L**). \ No newline at end of file diff --git a/Gems/ROS2/docs/guides/pr_publishing.md b/Gems/ROS2/docs/guides/pr_publishing.md new file mode 100644 index 000000000..b11279b5f --- /dev/null +++ b/Gems/ROS2/docs/guides/pr_publishing.md @@ -0,0 +1,39 @@ +# Publishing a pull request + +## Overview +Make sure to read this guide and adjust your code accordingly before publishing a pull request. + +The repository performs 3 pull request checks: + +- License header check +- Code formatting check +- Build check + +## License Header check + +Each file in the Code directory (and CMakeLists.txt located at root) + +should contain the license header (in form of a comment) provided below (you can also find it in the *[.licenserc.yaml](https://github.com/RobotecAI/o3de-ros2-gem/blob/development/.licenserc.yaml)* file): + +``` +Copyright (c) Contributors to the Open 3D Engine Project. +For complete copyright and license terms please see the LICENSE at the root of this distribution. + +SPDX-License-Identifier: Apache-2.0 OR MIT +``` + +## Code formatting check + +All of the *C++* files located in the Code directory **should be formatted** using clang-format + +(version **13**) with the *[.clang-format](https://github.com/RobotecAI/o3de-ros2-gem/blob/development/.clang-format)* file located in the root of the repository. + +💡 ***Note:*** If you plan on using Clion follow the Code Formatting section in the [Development in Clion](docs/static/development_in_clion.md) guide. + +## Build check + +New changes in the O3DE engine API may require the build workflow to be configured. This can be achieved by adjusting the ***O3DE_SHA*** environment variable in the [Build.yml](https://github.com/RobotecAI/o3de-ros2-gem/blob/development/.github/workflows/Build.yml) file (located in the *.github/workflows* directory) to a different o3de **long format** commit hash. + +## Additional requirements + +Remember to sign all of your commits (*-s flag*). \ No newline at end of file diff --git a/Gems/ROS2/docs/guides/ros2-gem.md b/Gems/ROS2/docs/guides/ros2-gem.md new file mode 100644 index 000000000..6258cabfa --- /dev/null +++ b/Gems/ROS2/docs/guides/ros2-gem.md @@ -0,0 +1,227 @@ +# ROS 2 Gem + +The Gem and its build instructions can be found in [this repository](https://github.com/RobotecAI/o3de-ros2-gem). The +ROS 2 Gem helps to build robotic simulations with [ROS 2 / Robot Operating System](https://www.ros.org/). For an example +of use see [Warehouse Demo Project](https://github.com/RobotecAI/Ros2WarehouseDemo). + +## Gem classes documentation + +You can browse Doxygen-generated documentation on [Gem's GitHub page](https://robotecai.github.io/o3de-ros2-gem/). + +# Components overview + +- __Central Singleton__ + - ROS2SystemComponent +- __Core abstractions__ + - ROS2FrameComponent + - ROS2SensorComponent +- __Sensors__ + - ROS2CameraSensorComponent + - ROS2GNSSSensorComponent + - ROS2IMUSensorComponent + - ROS2LidarSensorComponent + - ROS2Lidar2DSensorComponent + - ROS2OdometrySensorComponent +- __Robot control__ + - ROS2RobotControlComponent + - AckermannControlComponent + - RigidBodyTwistControlComponent +- __Spawner__ + - ROS2SpawnerComponent + - ROS2SpawnPointComponent +- __Vehicle dynamics__ + - VehicleModelComponent + - WheelControllerComponent +- __Robot Import (URDF) system component__ + - ROS2RobotImporterSystemComponent + +# The Gem and ROS 2 ecosystem + +## Supported Platforms and versions + +The Gem is currently Linux-only and is being tested with ROS 2 Humble on Ubuntu 22.04 as well as ROS 2 Galactic with +Ubuntu 20.04. + +It is intended to support any modern ROS 2 version, following these priorities: + +- The most recent LTS version (e.g. in June 2022, [ROS 2 Humble](https://docs.ros.org/en/humble/Installation.html)). +- The most recent non-LTS version ([ROS 2 Galactic](https://docs.ros.org/en/galactic/Installation.html)). +- The always-fresh [ROS 2 Rolling](https://docs.ros.org/en/rolling/Installation.html). +- Older versions. + +Currently tested and validated versions / platforms will be detailed in +the [project repository](https://github.com/RobotecAI/o3de-ros2-gem). + +If you have multiple versions installed, make sure +you [source](https://docs.ros.org/en/galactic/Tutorials/Workspace/Creating-A-Workspace.html#source-the-overlay) the one +you want to use. You can check which version is sourced in your console by checking the value of `ROS_DISTRO` +environment variable (`echo $ROS_DISTRO`). + +## ROS 2 Concepts + +Please refer to [ROS 2 Concepts documentation](https://docs.ros.org/en/humble/Concepts.html) if you are not familiar +with how ROS 2 works. + +## Structure and Communication + +The Gem creates a [ROS 2 node](https://docs.ros.org/en/galactic/Tutorials/Understanding-ROS2-Nodes.html) which is +directly a part of ROS 2 ecosystem. As such, your simulation will not use any bridges to communicate and is subject to +configuration through settings such as Environment Variables. It is truly a part of the ecosystem. + +Note that the simulation node is handled through `ROS2SystemComponent` - a singleton. However, you are free to create +and use your own nodes if you need more than one. + +Typically, you will be creating publishers and subscriptions. This is done +through [rclcpp API](https://docs.ros2.org/galactic/api/rclcpp/classrclcpp_1_1Node.html). Example: + +``` +auto ros2Node = ROS2Interface::Get()->GetNode(); +AZStd::string fullTopic = ROS2Names::GetNamespacedName(GetNamespace(), m_MyTopic); +m_myPublisher = ros2Node->create_publisher(fullTopic.data(), QoS()); +``` + +Note that QoS class is a simple wrapper +to [rclcpp::QoS](https://docs.ros2.org/galactic/api/rclcpp/classrclcpp_1_1QoS.html). + +### Frames + +`ROS2FrameComponent` is a representation of an interesting physical part of the robot. It handles spatio-temporal +relationship between this part and other frames of reference. It also encapsulates namespaces, which help to distinguish +between different robots and different parts of the robot, such as in case of multiple identical sensors on one robot. + +All Sensors and the Robot Control Component require `ROS2FrameComponent`. + +### Sensors + +Sensors are Components deriving from `ROS2SensorComponent`. They acquire data from the simulated environment and publish +it to ROS 2 domain. + +- Each sensor has a configuration, including one or more Publishers. +- Sensors publish at a given rate (frequency). +- Some sensors can be visualised. + +If you intend to add your own sensor, it might be useful to look at how sensors already provided within the Gem are +implemented. + +Sensors can be fall into one of two categories: +- sensors which replicate real devices to some degree of realism. +- ground truth "sensors", which can be useful for development and machine learning. + +### Robot Control + +The Gem comes with `ROS2RobotControlComponent`, which you can use to move your robot through: + +- [Twist](https://github.com/ros2/common_interfaces/blob/master/geometry_msgs/msg/Twist.msg) messages. +- [AckermannDrive](https://index.ros.org/p/ackermann_msgs/#rolling) + The component subscribes to these command messages on a configured topic. The topic is "cmd_vel" by default, in a + namespace as dictated by ROS2Frame. + +To make use of received command messages, use either `AckermannControlComponent` or `RigidBodyTwistControlComponent`, +depending on steering type. You can also implement your own control component or use LUA scripting to handle these +commands. + +Unless scripting is used, control components should translate ROS 2 commands to events on `VehicleInputControlBus`. +These events will be handled by a [`VehicleModelComponent`](#vehicle-model) if it is present. + +You can use tools such as [rqt_robot_steering](https://index.ros.org/p/rqt_robot_steering/) to move your robot with +Twist messages. +`RobotControl` is suitable to use with [ROS 2 navigation stack](https://navigation.ros.org/). + +It is possible to implement your own control mechanisms with this Component. + +### Vehicle Model + +`VehicleModelComponent` serves the purpose of converting inputs such as target velocity, steering or acceleration to +physical forces on parts of a vehicle (robot). +`VehicleModel` has a `VehicleConfiguration` which is used to define axles, parametrize and assign wheels. + +The model requires a `WheelControllerComponent` present in each wheel entity. It also uses an implementation +of `DriveModel`, which converts vehicle inputs to forces acting on steering elements and wheels. + +#### Simplified drive model + +The only implementation of `DriveModel` available at this moment is the `SimplifiedDriveModel`. It +uses [PID controllers](https://en.wikipedia.org/wiki/PID_controller) +from [control_toolbox](https://github.com/ros-controls/control_toolbox) package. These controllers are likely not going +to work with default parameters. The user should tune PID parameters manually. They are exposed through +the `VehicleModel` component parameters. + +#### Manual control + +The `VehicleModel` will handle input events with names "steering" and "accelerate". This means you can add +an [InputComponent](https://www.o3de.org/docs/user-guide/components/reference/gameplay/input/) to the same entity and +define an input map for your input devices (such as keyboard or a game pad) to control the vehicle manually. + +#### Design document + +To understand how vehicle dynamics works, please refer to the +[design document](../design/vehicle_dynamics/design.md) and +[class diagram](../design/vehicle_dynamics/diagrams/ROSVehicleDynamics_planned.png) + +You can use tools such as [rqt_robot_steering](https://index.ros.org/p/rqt_robot_steering/) to move your robot with +Twist messages. +`RobotControl` is suitable to use with [ROS 2 navigation stack](https://navigation.ros.org/). + +It is possible to implement your own control mechanisms with this Component. + +### Spawner + +`ROS2SpawnerComponent` handles spawning entities during simulation. +Available spawnables have to be set up as the component's field before the simulation. +User is able to define named spawn points inside the Editor. This can be done by adding `ROS2SpawnPointComponent` to a child entity of an entity with `ROS2SpawnerComponent`. + +During the simulation user can access names of available spawnables and request spawning using ros2 services. +The names of services are `/get_available_spawnable_names` and `/spawn_entity` respectivly. +GetWorldProperties.srv and SpawnEntity.srv types are used to handle these features. +In order to request defined spawn points names user can use `/get_spawn_points_names` service with GetWorldProperties.srv type. +Detailed information about specific spawn point (e.g. pose) can be accessed using `/get_spawn_point_info` service with GetModelState.srv type. +All used services types are defined in gazebo_msgs package. + +- Spawning: spawnable name should be passed in request.name and the position of entity in request.initial_pose + - example call: `ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'robot', initial_pose: {position:{ x: 4, y: 4, z: 0.2}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}'` +- Spawning in defined spawn point: spawnable name should be passed in request.name and the name of the spawn point in request.xml + - example call: `ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'robot', xml: 'spawn_spot'}'` +- Available spawnable names access: names of available spawnables are sent in response.model_names + - example call: `ros2 service call /get_available_spawnable_names gazebo_msgs/srv/GetWorldProperties` +- Defined spawn points' names access: names of defined points are sent in response.model_names + - example call: `ros2 service call /get_spawn_points_names gazebo_msgs/srv/GetWorldProperties` +- Detailed spawn point info access: spawn point name should be passed in request.model_name. Defined pose is sent in response.pose. + - example call: `ros2 service call /get_spawn_point_info gazebo_msgs/srv/GetModelState '{model_name: 'spawn_spot'}'` + +## Handling custom ROS 2 dependencies + +The ROS 2 Gem will respect your choice of [__ +sourced__](https://docs.ros.org/en/galactic/Tutorials/Workspace/Creating-A-Workspace.html#source-the-overlay) ROS 2 +environment. The Gem comes with a number of ROS 2 packages already included and linked, but you might want to include +additional packages in your project. To do so, use the `target_depends_on_ros2` function: + +``` +target_depends_on_ros2_packages( ) +``` + +in your project's `Gem/CMakeLists.txt`. + +#### Example + +It could be the case that you need to create new type of sensor publishing a custom message. + +Lets assume your project is called `MyProject`, the custom message package is called `my_sensor_msgs` and ROS 2 +workspace +`my_ros2_ws`. Take following steps: + +1. Build your ROS 2 message package in a workspace as you normally would (e.g. `~/projects/my_ros2_ws`) +2. Source the overlay: `source ~/projects/my_ros2_ws/install/setup.bash`. +3. Put `target_depends_on_ros2_packages(MyProject my_sensor_msgs)` in your `Gem/CMakeLists.txt` file. +4. You can now build `MyProject` and use the new messages. + +Remember to __always have your ROS 2 overlay sourced__ when building and running the project as sourcing provides +visibility of ROS 2 package paths. + +# Diagram of classes + +Some classes with relationships and functions are presented on this diagram. Specific sensor classes (e.g. Lidar) are +not included. Some classes are presented in sub-diagrams: + +- [Vehicle Dynamics](../design/vehicle_dynamics/diagrams/ROSVehicleDynamics_planned.png) + +![classes diagram](static/diagrams/diagram_ros2_gem.png) diff --git a/Gems/ROS2/docs/guides/static/build-config.png b/Gems/ROS2/docs/guides/static/build-config.png new file mode 100644 index 000000000..7dd223f91 --- /dev/null +++ b/Gems/ROS2/docs/guides/static/build-config.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba7abb3460d97ee59aa171c11f4bef871a3a25849db9bf6ba549d12ebc3530e5 +size 118316 diff --git a/Gems/ROS2/docs/guides/static/cmake-profile.png b/Gems/ROS2/docs/guides/static/cmake-profile.png new file mode 100644 index 000000000..e1a489826 --- /dev/null +++ b/Gems/ROS2/docs/guides/static/cmake-profile.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b77b3a7ef5ab17b9adeb1e98b092ef46d08703a1b573c1ad2cc20bff82ae0540 +size 143678 diff --git 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+ + + + + + + + Robot Control + + + + + + + + + + Folder 4 + + + + + + + + + + + + + + + + TwistSubscriptionHandler + + + + + + + + + + + + + IControlSubscriptionHandler + + + + + + + + + + + + + ControlSubscriptionHandler<T> + Activate() +Deactivate() +BroadcastBus() + + + + + + + + + + + + + + ROS2RobotControlComponent + + + + + + + + + + + + + ControlConfiguration + m_qos +m_topic +m_steering + + + + + + + + + + + + + AckermannSubscriptionHandler + + + + + + + + + + + + + AckermannControlComponent + + + + + + + + + + + + + RigidBodyTwistControlComponent + + + + + + + + + + + + + + + + + + + Utilities + + + + + + + + + + Folder 5 + + + + + + + + + + + + + + + + ROS2Conversions + FromROS2Vector3() +ToROS2Vector3() +ToROS2Quaternion() + + + + + + + + + + + + + ROS2Names + GetNamespacedName() +RosifyName() +Validate*() + + + + + + + + + + + + + + + + + + Robot Importer + + + + + + + + + + Folder 5 + + + + + + + + + + + + + + + + Robot Importer Classes + + + + + + + + + + + + + + + Frame + + + + + + + + + + Folder 6 + + + + + + + + + + + + + + + + TransformPublisher + + + + + + + + + + + + + ROS2FrameComponent + GetGrameID() +GetNamespace() +GetFrameTransform() + + + + + + + + + + + + + NamespaceConfiguration + PopulateNamespace() +GetNamespace() +m_namespaceStrategy + + + + + + + + + + + + + + + + + + Sensor + + + + + + + + + + Folder 8 + + + + + + + + + + + + + + + + ROS2SensorComponent + + + + + + + + + + + + + SensorConfiguration + m_frequency +m_publishingEnabled +m_visualise + + + + + + + + + + + + + PublisherConfiguration + m_type +m_topic +GetQoS() + + + + + + + + + + + + + + + + + + QoS + + + + + + + + + + Folder 8 + + + + + + + + + + + + + + + + QoS + GetQoS() + + + + + + + + + + + + + + + + + + IMU + + + + + + + + + + Folder 9 + + + + + + + + + + + + + + + + ROS2IMUSensorComponent + ... + + + + + + + + + + + + + + + + + + GNSS + + + + + + + + + + Folder 9 + + + + + + + + + + + + + + + + ROS2GNSSSensorComponent + ... + + + + + + + + + + + + + + + + + + Camera 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+ + + + diff --git a/Gems/ROS2/docs/guides/static/toolchain.png b/Gems/ROS2/docs/guides/static/toolchain.png new file mode 100644 index 000000000..02f88ce91 --- /dev/null +++ b/Gems/ROS2/docs/guides/static/toolchain.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:911419ab51e0ee785e885a3379bb9bd2a0b64b97287295d5e57a3a1d7468970f +size 67853 diff --git a/Gems/ROS2/gem.json b/Gems/ROS2/gem.json new file mode 100644 index 000000000..dcfa1c314 --- /dev/null +++ b/Gems/ROS2/gem.json @@ -0,0 +1,21 @@ +{ + "gem_name": "ROS2", + "display_name": "ROS2", + "license": "Apache-2.0", + "license_url": "https://opensource.org/licenses/Apache-2.0", + "origin": "RobotecAI", + "origin_url": "https://github.com/o3de/o3de-extras/development/Gems/ROS2", + "type": "Code", + "summary": "Tools and components to support creating simulations for ros2 systems such as robots", + "canonical_tags": [ + "Gem" + ], + "user_tags": [ + "ROS2" + ], + "icon_path": "preview.png", + 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Gems/RosRobotSample/Assets/robot/ros_components_description/meshes/velodyne_puck_Black.material b/Gems/RosRobotSample/Assets/robot/ros_components_description/meshes/velodyne_puck_Black.material new file mode 100755 index 000000000..ae1c014a3 --- /dev/null +++ b/Gems/RosRobotSample/Assets/robot/ros_components_description/meshes/velodyne_puck_Black.material @@ -0,0 +1,19 @@ +{ + "materialType": "@projectroot@/Cache/Intermediate Assets/materials/types/standardpbr_generated.materialtype", + "materialTypeVersion": 5, + "propertyValues": { + "baseColor.color": [ + 0.05000000074505806, + 0.05000000074505806, + 0.05000000074505806, + 1.0 + ], + "emissive.color": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "opacity.factor": 1.0 + } +} \ No newline at end of file diff --git a/Gems/RosRobotSample/Assets/robot/ros_components_description/meshes/velodyne_puck_Blue.material b/Gems/RosRobotSample/Assets/robot/ros_components_description/meshes/velodyne_puck_Blue.material new file mode 100755 index 000000000..9f49e41b3 --- /dev/null +++ b/Gems/RosRobotSample/Assets/robot/ros_components_description/meshes/velodyne_puck_Blue.material @@ -0,0 +1,22 @@ +{ + "materialType": "@projectroot@/Cache/Intermediate Assets/materials/types/standardpbr_generated.materialtype", + "materialTypeVersion": 5, + "propertyValues": { + "baseColor.color": [ + 0.0, + 0.18853029608726501, + 1.0, + 1.0 + ], + "emissive.color": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "metallic.factor": 0.23000000417232513, + "opacity.factor": 1.0, + "roughness.factor": 0.1599999964237213, + "specularF0.factor": 1.0 + } +} \ No newline at end of file diff --git a/Gems/RosRobotSample/Assets/robot/ros_components_description/meshes/velodyne_puck_White.material b/Gems/RosRobotSample/Assets/robot/ros_components_description/meshes/velodyne_puck_White.material new file mode 100755 index 000000000..6834ad8ec --- /dev/null +++ b/Gems/RosRobotSample/Assets/robot/ros_components_description/meshes/velodyne_puck_White.material @@ -0,0 +1,22 @@ +{ + "materialType": "@projectroot@/Cache/Intermediate Assets/materials/types/standardpbr_generated.materialtype", + "materialTypeVersion": 5, + "propertyValues": { + "baseColor.color": [ + 0.9258266091346741, + 0.9258266091346741, + 0.9258266091346741, + 1.0 + ], + "emissive.color": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "metallic.factor": 0.11999999731779099, + "opacity.factor": 1.0, + "roughness.factor": 0.33000001311302185, + "specularF0.factor": 1.0 + } +} \ No newline at end of file diff --git a/Gems/RosRobotSample/Assets/robot/rosbot_xl_description/NOTICE b/Gems/RosRobotSample/Assets/robot/rosbot_xl_description/NOTICE new file mode 100644 index 000000000..614b5dfe5 --- /dev/null +++ b/Gems/RosRobotSample/Assets/robot/rosbot_xl_description/NOTICE @@ -0,0 +1,9 @@ +ROSbot XL ROS +Part of the ROS2 package developed by Husarion sp. z o.o. for their robotic platform ROSBot XL. +Available at: https://github.com/husarion/rosbot_xl_ros/tree/2ab1290469893dd18e6429e31427aae48dfb0bdb + +Our changes include: + - Adding UV maps in all Collada files + - Updates in model shading + - Conversion `base.dae` to `base.fbx` with minor changes in model + diff --git a/Gems/RosRobotSample/Assets/robot/rosbot_xl_description/meshes/base.material b/Gems/RosRobotSample/Assets/robot/rosbot_xl_description/meshes/base.material new file mode 100755 index 000000000..0c8c5c618 --- /dev/null +++ b/Gems/RosRobotSample/Assets/robot/rosbot_xl_description/meshes/base.material @@ -0,0 +1,24 @@ +{ + "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype", + "materialTypeVersion": 5, + "propertyValues": { + "baseColor.textureMap": "../textures/Rosbot_BaseColor.png", + "emissive.color": [ + 1.0, + 0.0, + 0.0, + 1.0 + ], + "emissive.enable": true, + "emissive.textureMap": "../textures/Rosbot_Emissive.png", + "metallic.textureMap": 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b/Gems/RosRobotSample/CMakeLists.txt new file mode 100644 index 000000000..90b625bc8 --- /dev/null +++ b/Gems/RosRobotSample/CMakeLists.txt @@ -0,0 +1,15 @@ + +# Query the gem name from the gem.json file if possible +# otherwise fallback to using RosRobotSample +o3de_find_ancestor_gem_root(gem_root_path gem_name "${CMAKE_CURRENT_SOURCE_DIR}") +if (NOT gem_name) + set(gem_name "RosRobotSample") +endif() + +# This will export the path to the directory containing the gem.json +# to the "SourcePaths" entry within the "cmake_dependencies..assetbuilder.setreg" +# which is generated when cmake is run +# This path is the gem root directory +if(PAL_TRAIT_BUILD_HOST_TOOLS) + ly_create_alias(NAME ${gem_name}.Builders NAMESPACE Gem) +endif() diff --git a/Gems/RosRobotSample/README.md b/Gems/RosRobotSample/README.md new file mode 100644 index 000000000..5b6234136 --- /dev/null +++ b/Gems/RosRobotSample/README.md @@ -0,0 +1,9 @@ +# ROS2 Robot Sample + +This gem contains a sample robot asset, ready to be used with the ROS2 Gem. + +The robot is delivered as a ready to use prefab containing models, physics and following ROS components: +- ROS2 Frame +- ROS2 Robot Control +- Twist Control +- ROS2 Lidar Sensor diff --git a/Gems/RosRobotSample/Registry/assetprocessor_settings.setreg b/Gems/RosRobotSample/Registry/assetprocessor_settings.setreg new file mode 100644 index 000000000..68702734f --- /dev/null +++ b/Gems/RosRobotSample/Registry/assetprocessor_settings.setreg @@ -0,0 +1,18 @@ +{ + "Amazon": { + "AssetProcessor": { + "Settings": { + "ScanFolder RosRobotSample/Assets": { + "watch": "@GEMROOT:RosRobotSample@/Assets", + "recursive": 1, + "order": 101 + }, + "ScanFolder RosRobotSample/Registry": { + "watch": "@GEMROOT:RosRobotSample@/Registry", + "recursive": 1, + "order": 102 + } + } + } + } +} diff --git a/Gems/RosRobotSample/gem.json b/Gems/RosRobotSample/gem.json new file mode 100644 index 000000000..5d28776a2 --- /dev/null +++ b/Gems/RosRobotSample/gem.json @@ -0,0 +1,27 @@ 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gem.json file if possible +# otherwise fallback to using WarehouseSample +o3de_find_ancestor_gem_root(gem_root_path gem_name "${CMAKE_CURRENT_SOURCE_DIR}") +if (NOT gem_name) + set(gem_name "WarehouseAssets") +endif() + +# This will export the path to the directory containing the gem.json +# to the "SourcePaths" entry within the "cmake_dependencies..assetbuilder.setreg" +# which is generated when cmake is run +# This path is the gem root directory +if(PAL_TRAIT_BUILD_HOST_TOOLS) + ly_create_alias(NAME ${gem_name}.Builders NAMESPACE Gem) +endif() diff --git a/Gems/WarehouseAssets/README.md b/Gems/WarehouseAssets/README.md new file mode 100644 index 000000000..a66efa2db --- /dev/null +++ b/Gems/WarehouseAssets/README.md @@ -0,0 +1,138 @@ +## Warehouse Assets Gem + +![](docs/images/WarehouseGem.png) + +### General description + +This gem contains a set of models and prefabs which can be used to create a warehouse project suitable for robotic simulations. + +### Contents + +All of the contents of this gem reside in the folder `Assets`. It comprises 2 sub-folders: + +- `assets` containing models, textures, and material definitions +- `Prefabs` containing prefabs that can be used to build the scene + +The `Prefabs` folder has the following structure: + +![](docs/images/PrefabsFolder.png) + +All the prefabs have appropriate physics parameters including collision shapes. + +#### Basic Components + +![](docs/images/Components.png) + +A set of basic items to be used in the warehouse is located in the `Components` folder. The prefabs (in the image, left to right): + +- `WarehouseRack.prefab` +- `WarehouseBox1.prefab` +- `WarehouseBox2.prefab` +- `WarehouseBox3.prefab` +- `WarehouseBox4.prefab` + +#### Storage Racks + +![](docs/images/StorageRacks.png) + +Storage racks are created from basic components, combined in 5 different permutations. The prefabs (in the image, left to right): + +- `Storage_rack1.prefab` +- `Storage_rack2.prefab` +- `Storage_rack3.prefab` +- `Storage_rack4.prefab` +- `Storage_rack5.prefab` + +#### Storage Rack Packs + +![](docs/images/StorageRackPacks.png) + +The rack packs were created by stacking 4 storage rack prefabs in different combinations. These prefabs may simplify creating larger warehouses. The prefabs (in the image, left to right): + +- `Storage_2x2_Pack1.prefab` +- `Storage_2x2_Pack2.prefab` +- `Storage_2x2_Pack3.prefab` + +#### Storage on Wheels + +![](docs/images/StorageOnWheels.png) + +`Storage_on_wheels.prefab` is a storage cage on wheels. As opposed to other prefabs it can be moved around the scene. The collision shape was designed in a way, that allows the Proteus robot to ride below it. + +#### Rack protection + +![](docs/images/RackProtection.png) + +There are 2 elements, located in the `Rack_protectors` folder, that can be placed next to the racks. These are (in the image, left to right): + +- `Rack_front_protection.prefab` +- `Rack_side_protection.prefab` + +#### Misc + +The `Misc` folder contains prefabs with floor lines. + +#### Warehouse structural + +The `Warehouse_structural` folder contains prefabs comprising the warehouse building. These are: + +- `Warehouse_Floor.prefab` +- `Warehouse_Walls.prefab` +- `Warehouse_Roof.prefab` + +The folder contains also a `Components` subfolder, containing assets used in these 3 prefabs. + +#### Warehouse scene + +![](docs/images/WarehouseScene.png) + +The `WarehouseScene.prefab` contains a sample, ready-to-use warehouse scene, built from prefabs listed in this document. + +### Tips on using Warehouse Assets Gem + +#### Creating Warehouse scene + +***Tip 1*** + +To achieve alignment, all 3 "structural" prefabs (floor, walls and roof) should be instantiated in the same coordinates. + +***Tip 2*** + +Each of the frontal walls in the `Warehouse_Walls.prefab` contains optional gate openings and gates. It consists of 3 entities: + +- `Front_no_gates` - solid wall without opening +- `Front_gate` - wall with gate opening +- `Gate` - gate matching the opening + +Each of them can be activated or deactivated by enabling or disabling `PhysX Collider` and `Mesh` components. It is possible to obtain one of the following variants: + +1. Solid wall - enable `Front_no_gates`, disable the other 2 +2. Open gate - enable `Front_gate`, disable the other 2 +3. closed gate - enable `Front_gate` and `Gate`, disable `Front_no_gates` + +***Tip 3*** + +Warehouses with open gates may be connected by placing them one after another. + +#### Visual quality + +***Tip 4*** + +For best visual results when using the `WarehouseScene.prefab` it is advised to apply the following effects to the camera entity: + +- Bloom +- SSAO +- Deferred Fog + +A sample set of parameters can be seen in this image: + +![](docs/images/CameraSettings.png) + +***Tip 5*** + +The `WarehouseScene.prefab` is equipped with 2 Reflection Probes, which can be found in: `Warehouse/Global_illumination/Reflection_Probe`. To work correctly, Reflection Probes require baked materials, thus are disabled by default. For a better visual experience, it is advised to enable them. To do so follow these steps: + +1. Open the `WarehouseScene.prefab` +2. Navigate to `Warehouse/Global_illumination` and locate 2 `Reflection_Probe` entities. +3. Select each of them, enable the `Reflection Probe` component, and click `Bake Reflection Probe` + diff --git a/Gems/WarehouseAssets/Registry/assetprocessor_settings.setreg b/Gems/WarehouseAssets/Registry/assetprocessor_settings.setreg new file mode 100644 index 000000000..9c0996409 --- /dev/null +++ b/Gems/WarehouseAssets/Registry/assetprocessor_settings.setreg @@ -0,0 +1,18 @@ +{ + "Amazon": { + "AssetProcessor": { + "Settings": { + "ScanFolder WarehouseAssets/Assets": { + "watch": "@GEMROOT:WarehouseAssets@/Assets", + "recursive": 1, + "order": 101 + }, + "ScanFolder WarehouseAssets/Registry": { + "watch": "@GEMROOT:WarehouseAssets@/Registry", + "recursive": 1, + "order": 102 + } + } + } + } +} diff --git a/Gems/WarehouseAssets/docs/images/CameraSettings.png b/Gems/WarehouseAssets/docs/images/CameraSettings.png new file mode 100644 index 000000000..7e4128c86 Binary files /dev/null and b/Gems/WarehouseAssets/docs/images/CameraSettings.png differ diff --git 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diff --git a/Gems/WarehouseSample/Assets/O3DEScene/Warehouse.fbx b/Gems/WarehouseSample/Assets/O3DEScene/Warehouse.fbx new file mode 100644 index 000000000..193449ac1 --- /dev/null +++ b/Gems/WarehouseSample/Assets/O3DEScene/Warehouse.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:536b7eed38bb149afdde18586e151ff7a48143e1237d96a1b71348e1f7cf49e7 +size 2161708 diff --git a/Gems/WarehouseSample/Assets/O3DEScene/Warehouse.fbx.assetinfo b/Gems/WarehouseSample/Assets/O3DEScene/Warehouse.fbx.assetinfo new file mode 100755 index 000000000..17ffc3e2a --- /dev/null +++ b/Gems/WarehouseSample/Assets/O3DEScene/Warehouse.fbx.assetinfo @@ -0,0 +1,335 @@ +{ + "values": [ + { + "$type": "{5B03C8E6-8CEE-4DA0-A7FA-CD88689DD45B} MeshGroup", + "id": "{6966C6EA-0189-5429-AC58-CF02C06F36C8}", + "name": "Warehouse", + "NodeSelectionList": { + "selectedNodes": [ + "RootNode", + "RootNode.warehouse - low tex", + "RootNode.Vehicles", + "RootNode.warehouse - low tex.transform", + "RootNode.warehouse - low tex.custom_properties", + "RootNode.warehouse - low tex.UV0", + "RootNode.warehouse - low tex.Plastick_Black", + "RootNode.warehouse - low tex.Steering_Panel", + "RootNode.warehouse - low tex.Paper", + "RootNode.warehouse - low tex.Wood", + "RootNode.warehouse - low tex.Metal_Painted_Yellow", + "RootNode.warehouse - low tex.Concrete", + "RootNode.warehouse - low tex.Metal_Galvanized", + "RootNode.warehouse - low tex.White", + "RootNode.warehouse - low tex.Wall_Concrete", + "RootNode.warehouse - low tex.Glass", + "RootNode.warehouse - low tex.Metal_Painted_White", + "RootNode.warehouse - low tex.Metal_Scratched", + "RootNode.warehouse - low tex.Metal_Painted_Red", + "RootNode.warehouse - low tex.Wall_Paint", + "RootNode.warehouse - low tex.Metal_Rusted", + "RootNode.warehouse - low tex.Extinguisher", + "RootNode.warehouse - low tex.Yellow", + "RootNode.Vehicles.transform", + "RootNode.Vehicles.custom_properties", + "RootNode.Vehicles.UV0", + "RootNode.Vehicles.Blue_Vehicles", + "RootNode.Vehicles.White_Vehicles", + "RootNode.Vehicles.Black_Vehicles", + "RootNode.Vehicles.Tire_Vehicles", + "RootNode.Vehicles.Glass", + "RootNode.Vehicles.Silver_Vehicles", + "RootNode.Vehicles.Yellow_Vehicles", + "RootNode.Vehicles.Black_Plastic_Vehicles", + "RootNode.Vehicles.Gray_Vehicles" + ] + }, + "PhysicsMaterialSlots": { + "Slots": [ + { + "Name": "Plastick_Black", + "MaterialAsset": { + "assetId": { + "guid": "{07918D02-A9A8-5954-8E5D-C2FE080F8010}", + "subId": 1 + }, + "assetHint": "physx/plastic.physicsmaterial" + } + }, + { + "Name": "Steering_Panel" + }, + { + "Name": "Paper" + }, + { + "Name": "Wood", + "MaterialAsset": { + "assetId": { + "guid": "{0C799856-9E0E-568D-A282-597D13A8556C}", + "subId": 1 + }, + "assetHint": "physx/wood.physicsmaterial" + } + }, + { + "Name": "Metal_Painted_Yellow", + "MaterialAsset": { + "assetId": { + "guid": "{92A5EC27-1AC1-523E-88BB-9A6278DBD853}", + "subId": 1 + }, + "assetHint": "physx/metal.physicsmaterial" + } + }, + { + "Name": "Concrete", + "MaterialAsset": { + "assetId": { + "guid": "{6D044767-4E3B-5116-A1A7-9C65BCF586A0}", + "subId": 1 + }, + "assetHint": "physx/terrain_dirt.physicsmaterial" + } + }, + { + "Name": "Metal_Galvanized", + "MaterialAsset": { + "assetId": { + "guid": "{92A5EC27-1AC1-523E-88BB-9A6278DBD853}", + "subId": 1 + }, + "assetHint": "physx/metal.physicsmaterial" + } + }, + { + "Name": "White", + "MaterialAsset": { + "assetId": { + "guid": "{AEFC12E4-B92E-5473-9B09-C6CDEC23EC7E}", + "subId": 1 + }, + "assetHint": "physx/concrete.physicsmaterial" + } + }, + { + "Name": "Wall_Concrete", + "MaterialAsset": { + "assetId": { + "guid": "{AEFC12E4-B92E-5473-9B09-C6CDEC23EC7E}", + "subId": 1 + }, + "assetHint": "physx/concrete.physicsmaterial" + } + }, + { + "Name": "Glass", + "MaterialAsset": { + "assetId": { + "guid": "{EF76347C-319F-584E-9DDE-A06D328F4304}", + "subId": 1 + }, + "assetHint": "physx/glass.physicsmaterial" + } + }, + { + "Name": "Metal_Painted_White", + "MaterialAsset": { + "assetId": { + "guid": "{92A5EC27-1AC1-523E-88BB-9A6278DBD853}", + "subId": 1 + }, + "assetHint": "physx/metal.physicsmaterial" + } + }, + { + "Name": "Metal_Scratched", + "MaterialAsset": { + "assetId": { + "guid": "{92A5EC27-1AC1-523E-88BB-9A6278DBD853}", + "subId": 1 + }, + "assetHint": "physx/metal.physicsmaterial" + } + }, + { + "Name": "Metal_Painted_Red", + "MaterialAsset": { + "assetId": { + "guid": "{92A5EC27-1AC1-523E-88BB-9A6278DBD853}", + "subId": 1 + }, + "assetHint": "physx/metal.physicsmaterial" + } + }, + { + "Name": "Wall_Paint", + "MaterialAsset": { + "assetId": { + "guid": "{AEFC12E4-B92E-5473-9B09-C6CDEC23EC7E}", + "subId": 1 + }, + "assetHint": "physx/concrete.physicsmaterial" + } + }, + { + "Name": "Metal_Rusted", + "MaterialAsset": { + "assetId": { + "guid": "{0A945400-0986-5053-9811-D4F349E73B9C}", + "subId": 1 + }, + "assetHint": "physx/character.physicsmaterial" + } + }, + { + "Name": "Extinguisher" + }, + { + "Name": "Yellow" + }, + { + "Name": "Blue_Vehicles" + }, + { + "Name": "White_Vehicles" + }, + { + "Name": "Black_Vehicles" + }, + { + "Name": "Tire_Vehicles", + "MaterialAsset": { + "assetId": { + "guid": "{6D9F8E0A-466E-5774-8974-FC7F0872FD00}", + "subId": 1 + }, + "assetHint": "physx/rubber.physicsmaterial" + } + }, + { + "Name": "Silver_Vehicles" + }, + { + "Name": "Yellow_Vehicles" + }, + { + "Name": "Black_Plastic_Vehicles" + }, + { + "Name": "Gray_Vehicles" + } + ] + } + }, + { + "$type": "{07B356B7-3635-40B5-878A-FAC4EFD5AD86} MeshGroup", + "name": "Warehouse", + "nodeSelectionList": { + "selectedNodes": [ + "RootNode", + "RootNode.warehouse - low tex", + "RootNode.Vehicles", + "RootNode.warehouse - low tex.transform", + "RootNode.warehouse - low tex.custom_properties", + "RootNode.warehouse - low tex.UV0", + "RootNode.warehouse - low tex.Plastick_Black", + "RootNode.warehouse - low tex.Steering_Panel", + "RootNode.warehouse - low tex.Paper", + "RootNode.warehouse - low tex.Wood", + "RootNode.warehouse - low tex.Metal_Painted_Yellow", + "RootNode.warehouse - low tex.Concrete", + "RootNode.warehouse - low tex.Metal_Galvanized", + "RootNode.warehouse - low tex.White", + "RootNode.warehouse - low tex.Wall_Concrete", + "RootNode.warehouse - low tex.Glass", + "RootNode.warehouse - low tex.Metal_Painted_White", + "RootNode.warehouse - low tex.Metal_Scratched", + "RootNode.warehouse - low tex.Metal_Painted_Red", + "RootNode.warehouse - low tex.Wall_Paint", + "RootNode.warehouse - low tex.Metal_Rusted", + "RootNode.warehouse - low tex.Extinguisher", + "RootNode.warehouse - low tex.Yellow", + "RootNode.Vehicles.transform", + "RootNode.Vehicles.custom_properties", + "RootNode.Vehicles.UV0", + "RootNode.Vehicles.Blue_Vehicles", + "RootNode.Vehicles.White_Vehicles", + "RootNode.Vehicles.Black_Vehicles", + "RootNode.Vehicles.Tire_Vehicles", + "RootNode.Vehicles.Glass", + "RootNode.Vehicles.Silver_Vehicles", + "RootNode.Vehicles.Yellow_Vehicles", + "RootNode.Vehicles.Black_Plastic_Vehicles", + "RootNode.Vehicles.Gray_Vehicles" + ] + }, + "rules": { + "rules": [ + { + "$type": "MaterialRule" + } + ] + }, + "id": "{30F16F94-FD26-5F9C-BC30-0A9287A0A159}" + }, + { + "$type": "{07B356B7-3635-40B5-878A-FAC4EFD5AD86} MeshGroup", + "name": "default_Warehouse_06FD3121_C75F_578C_9CE9_7231D1AA9928_", + "nodeSelectionList": { + "selectedNodes": [ + "RootNode.warehouse - low tex" + ], + "unselectedNodes": [ + "RootNode.Vehicles" + ] + }, + "rules": { + "rules": [ + { + "$type": "ProceduralMeshGroupRule" + }, + { + "$type": "CoordinateSystemRule", + "useAdvancedData": true + }, + { + "$type": "{6E796AC8-1484-4909-860A-6D3F22A7346F} LodRule" + } + ] + }, + "id": "{06FD3121-C75F-578C-9CE9-7231D1AA9928}" + }, + { + "$type": "{07B356B7-3635-40B5-878A-FAC4EFD5AD86} MeshGroup", + "name": "default_Warehouse_BCC556B0_B90C_5A6B_B555_1C312540BB5A_", + "nodeSelectionList": { + "selectedNodes": [ + "RootNode.Vehicles" + ], + "unselectedNodes": [ + "RootNode.warehouse - low tex" + ] + }, + "rules": { + "rules": [ + { + "$type": "ProceduralMeshGroupRule" + }, + { + "$type": "CoordinateSystemRule", + "useAdvancedData": true + }, + { + "$type": "{6E796AC8-1484-4909-860A-6D3F22A7346F} LodRule" + } + ] + }, + "id": "{BCC556B0-B90C-5A6B-B555-1C312540BB5A}" + }, + { + "$type": "PrefabGroup", + "name": "O3DEScene/Warehouse_fbx.procprefab", + "id": "{23D4319C-050B-5706-8239-C293267F786D}" + } + ] +} \ No newline at end of file diff --git a/Gems/WarehouseSample/CMakeLists.txt b/Gems/WarehouseSample/CMakeLists.txt new file mode 100644 index 000000000..7689613f1 --- /dev/null +++ b/Gems/WarehouseSample/CMakeLists.txt @@ -0,0 +1,15 @@ + +# Query the gem name from the gem.json file if possible +# otherwise fallback to using WarehouseSample +o3de_find_ancestor_gem_root(gem_root_path gem_name "${CMAKE_CURRENT_SOURCE_DIR}") +if (NOT gem_name) + set(gem_name "WarehouseSample") +endif() + +# This will export the path to the directory containing the gem.json +# to the "SourcePaths" entry within the "cmake_dependencies..assetbuilder.setreg" +# which is generated when cmake is run +# This path is the gem root directory +if(PAL_TRAIT_BUILD_HOST_TOOLS) + ly_create_alias(NAME ${gem_name}.Builders NAMESPACE Gem) +endif() diff --git a/Gems/WarehouseSample/README.md b/Gems/WarehouseSample/README.md new file mode 100644 index 000000000..776f6e5f2 --- /dev/null +++ b/Gems/WarehouseSample/README.md @@ -0,0 +1,13 @@ +# Warehouse Sample + +This gem contains a sample warehouse scene, suitable for the ROS robotic simulations. + +The gem contains: +- `Warehouse.fbx` mesh asset +- `Terrain.fbx` mesh asset +- All necessary materials and textures. + +Setting the scene - tips: +1. The `Warehouse` and `Terrain` assets should be located in the same coordinates. It is recommended to create the Terrain as a child of the Warehouse and set its translation and rotation to `0`. +2. The gem contains all the necessary materials. Names of materials correspond model materials in the fbx meshes. +3. Both fbx meshes can be used as PhysX colliders. diff --git a/Gems/WarehouseSample/Registry/assetprocessor_settings.setreg b/Gems/WarehouseSample/Registry/assetprocessor_settings.setreg new file mode 100644 index 000000000..dbe272df7 --- /dev/null +++ b/Gems/WarehouseSample/Registry/assetprocessor_settings.setreg @@ -0,0 +1,18 @@ +{ + "Amazon": { + "AssetProcessor": { + "Settings": { + "ScanFolder WarehouseSample/Assets": { + "watch": "@GEMROOT:WarehouseSample@/Assets", + "recursive": 1, + "order": 101 + }, + "ScanFolder WarehouseSample/Registry": { + "watch": "@GEMROOT:WarehouseSample@/Registry", + "recursive": 1, + "order": 102 + } + } + } + } +} diff --git a/Gems/WarehouseSample/gem.json b/Gems/WarehouseSample/gem.json new file mode 100644 index 000000000..3ee5768a5 --- /dev/null +++ b/Gems/WarehouseSample/gem.json @@ -0,0 +1,25 @@ +{ + "gem_name": "WarehouseSample", + "display_name": "WarehouseSample", + "license": "Apache-2.0 or MIT", + "license_url": "https://opensource.org/licenses/Apache-2.0", + "origin": "WarehouseSample", + "origin_url": "https://github.com/o3de/o3de-extras/tree/main/Gems/WarehouseSample", + "type": "Asset", + "summary": "This project contains a Warehouse sample scene", + "canonical_tags": [ + "Gem" + ], + "user_tags": [ + "WarehouseSample" + ], + "platforms": [ + "" + ], + "icon_path": "preview.png", + "requirements": "", + "documentation_url": "", + "dependencies": [], + "repo_uri": "", + "restricted": "" +} diff --git a/Gems/WarehouseSample/preview.png b/Gems/WarehouseSample/preview.png new file mode 100644 index 000000000..d16e3463f --- /dev/null +++ b/Gems/WarehouseSample/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4526dcbccb7003cbe5238dba24bf213615c69061d6030d6f3b9e13a00dd60f6 +size 29924 diff --git a/Gems/XR/Code/CMakeLists.txt b/Gems/XR/Code/CMakeLists.txt index e6699a360..7cdca95b3 100644 --- a/Gems/XR/Code/CMakeLists.txt +++ b/Gems/XR/Code/CMakeLists.txt @@ -70,6 +70,7 @@ ly_add_target( ${pal_source_dir} PUBLIC Include + ${pal_include_dir} BUILD_DEPENDENCIES PRIVATE Gem::XR.Static @@ -77,4 +78,34 @@ ly_add_target( # use the XR module in clients and tools: ly_create_alias(NAME XR.Clients NAMESPACE Gem TARGETS Gem::XR) -ly_create_alias(NAME XR.Tools NAMESPACE Gem TARGETS Gem::XR) +ly_create_alias(NAME XR.Unified NAMESPACE Gem TARGETS Gem::XR) + +if(PAL_TRAIT_BUILD_HOST_TOOLS) + ly_create_alias(NAME XR.Tools NAMESPACE Gem TARGETS Gem::XR) +endif() + +################################################################################ +# Tests +################################################################################ +if(PAL_TRAIT_BUILD_TESTS_SUPPORTED) + ly_add_target( + NAME XR.Tests ${PAL_TRAIT_TEST_TARGET_TYPE} + NAMESPACE Gem + OUTPUT_NAME XR.Tests + FILES_CMAKE + xr_tests_files.cmake + ${pal_source_dir}/platform_test_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Tests + Source + ${pal_source_dir} + BUILD_DEPENDENCIES + PRIVATE + AZ::AzTest + Gem::XR.Static + ) + ly_add_googletest( + NAME Gem::XR.Tests + ) +endif() diff --git a/Gems/XR/Code/Include/XR/XRBase.h b/Gems/XR/Code/Include/XR/XRBase.h index 241e69ae4..d6f8c8109 100644 --- a/Gems/XR/Code/Include/XR/XRBase.h +++ b/Gems/XR/Code/Include/XR/XRBase.h @@ -11,6 +11,7 @@ #include #include #include +#include // For AZ::RHI::ResultCode namespace XR { @@ -22,17 +23,17 @@ namespace XR using StringList = AZStd::vector; using RawStringList = AZStd::vector; - + enum class Side : uint32_t { Left = 0, Right, Count - }; + }; #define RETURN_RESULTCODE_IF_UNSUCCESSFUL(result) \ - if (result != AZ::RHI::ResultCode::Success) {\ - return result;\ + if ((result) != AZ::RHI::ResultCode::Success) {\ + return (result);\ } } diff --git a/Gems/XR/Code/Include/XR/XRDevice.h b/Gems/XR/Code/Include/XR/XRDevice.h index 269fc33a1..bbaed368e 100644 --- a/Gems/XR/Code/Include/XR/XRDevice.h +++ b/Gems/XR/Code/Include/XR/XRDevice.h @@ -13,22 +13,23 @@ #include #include #include -#include #include +#include namespace XR { + class SwapChain; + //! Base XR device class which will provide access to the back-end concrete object - class Session; class Device : public XR::Object { public: - AZ_CLASS_ALLOCATOR(Device, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Device, AZ::SystemAllocator); AZ_RTTI(Device, "{A31B0DC2-BD54-443E-9350-EB1B10670FF9}"); Device() = default; - virtual ~Device() = default; + ~Device() override = default; struct Descriptor { @@ -38,31 +39,37 @@ namespace XR //! Create the xr specific native device object and populate the XRDeviceDescriptor with it. virtual AZ::RHI::ResultCode InitDeviceInternal(AZ::RHI::XRDeviceDescriptor* instanceDescriptor) = 0; - + //! Returns true if rendering data is valid for the current frame. virtual bool ShouldRender() const = 0; - + //! Returns fov data for a give view index. - virtual AZ::RPI::FovData GetViewFov(AZ::u32 viewIndex) const = 0; + virtual AZ::RHI::ResultCode GetViewFov(AZ::u32 viewIndex, AZ::RPI::FovData& outFovData) const = 0; //! Returns pose data for a give view index. - virtual AZ::RPI::PoseData GetViewPose(AZ::u32 viewIndex) const = 0; + virtual AZ::RHI::ResultCode GetViewPose(AZ::u32 viewIndex, AZ::RPI::PoseData& outPoseData) const = 0; //! Init the XR device. AZ::RHI::ResultCode Init(Descriptor descriptor); - + //! Signal Begin frame to the underlying back end. + //! @note This function is called from the thread related to the presentation queue. bool BeginFrame(); //! Signal End frame to the underlying back end. + //! @note This function is called from the thread related to the presentation queue. void EndFrame(Ptr); + //! Signal after Endframe has been executed to the underlying back end. + //! @note This function is called from the main thread. + void PostFrame(); + //! Signal the back-end to acquire swapchain images. bool AcquireSwapChainImage(AZ::u32 viewIndex, SwapChain* swapChain); //! Register XR session with the device. void RegisterSession(Ptr session); - + //! UnRegister XR session with the device. void UnRegisterSession(); @@ -73,22 +80,26 @@ namespace XR Ptr GetSession() const; protected: - //! Called when the device is being shutdown. virtual void ShutdownInternal() = 0; //! Called when the device is beginning a frame for processing. + //! @note This function is called from the thread related to the presentation queue. virtual bool BeginFrameInternal() = 0; - //! Called when the device is ending a frame for processing. + //! Called when the device is ending a frame for processing. //! Pass in the active swapchain in order to allow the back end to release the swap chain images + //! @note This function is called from the thread related to the presentation queue. virtual void EndFrameInternal(XR::Ptr) = 0; + //! Called after the EndFrame has been executed. + //! @note This function is called from the main thread. + virtual void PostFrameInternal() = 0; + //! Called when the device is beginning a frame for processing. virtual bool AcquireSwapChainImageInternal(AZ::u32 viewIndex, XR::SwapChain* baseSwapChain) = 0; private: - /////////////////////////////////////////////////////////////////// // XR::Object void Shutdown() override; @@ -97,4 +108,4 @@ namespace XR Ptr m_session; Descriptor m_descriptor; }; -} \ No newline at end of file +} diff --git a/Gems/XR/Code/Include/XR/XRFactory.h b/Gems/XR/Code/Include/XR/XRFactory.h index 796a47066..761d1f977 100644 --- a/Gems/XR/Code/Include/XR/XRFactory.h +++ b/Gems/XR/Code/Include/XR/XRFactory.h @@ -12,10 +12,9 @@ #include #include -#include #include -#include #include +#include #include #include @@ -26,7 +25,7 @@ namespace XR class Factory { public: - AZ_CLASS_ALLOCATOR(Factory, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Factory, AZ::SystemAllocator); AZ_RTTI(Factory, "{A3D7271A-64FD-442C-9116-DBC32224222F}"); Factory() = default; diff --git a/Gems/XR/Code/Include/XR/XRInput.h b/Gems/XR/Code/Include/XR/XRInput.h index aeafcccfa..316a9451d 100644 --- a/Gems/XR/Code/Include/XR/XRInput.h +++ b/Gems/XR/Code/Include/XR/XRInput.h @@ -10,36 +10,30 @@ #include #include +#include #include namespace XR -{ - class Session; - class Instance; +{ // This class will be responsible for creating XR::Input // which manage event queue or poll actions class Input : public XR::Object { public: - AZ_CLASS_ALLOCATOR(Input, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Input, AZ::SystemAllocator); AZ_RTTI(Input, "{DCDFC6A7-B457-414B-BC24-0831C2AC628B}"); - Input() = default; - virtual ~Input() = default; - struct Descriptor { Ptr m_instance; Ptr m_device; Ptr m_session; }; - + AZ::RHI::ResultCode Init(Descriptor descriptor); const Descriptor& GetDescriptor() const; - virtual void PollActions() = 0; - private: /////////////////////////////////////////////////////////////////// // XR::Object diff --git a/Gems/XR/Code/Include/XR/XRInstance.h b/Gems/XR/Code/Include/XR/XRInstance.h index 7398c5c79..0fffceb02 100644 --- a/Gems/XR/Code/Include/XR/XRInstance.h +++ b/Gems/XR/Code/Include/XR/XRInstance.h @@ -20,14 +20,14 @@ namespace XR : public XR::Object { public: - AZ_CLASS_ALLOCATOR(Instance, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Instance, AZ::SystemAllocator); AZ_RTTI(Instance, "{1C457924-56A4-444F-BC72-4D31A097BA70}"); Instance() = default; - virtual ~Instance() = default; + ~Instance() override = default; - //! Init the back-end instance. It is responsible for figuring out supported layers and extensions - //! and based on that a xr instance is created. It also has logging support based on validation mode. + //! Init the back-end instance. It is responsible for figuring out supported layers and extensions + //! and based on that a xr instance is created. It also has logging support based on validation mode. AZ::RHI::ResultCode Init(AZ::RHI::ValidationMode validationMode); //! API to init the native instance object and populate the XRInstanceDecriptor with it. @@ -39,21 +39,21 @@ namespace XR //! API to retrieve the native physical device for a specific index. virtual AZ::RHI::ResultCode GetXRPhysicalDevice(AZ::RHI::XRPhysicalDeviceDescriptor* physicalDeviceDescriptor, int32_t index) = 0; - private: - - /////////////////////////////////////////////////////////////////// - // XR::Object - void Shutdown() override; - /////////////////////////////////////////////////////////////////// + protected: + //! API to allow backend object to initialize native xr instance. + virtual AZ::RHI::ResultCode InitInstanceInternal() = 0; //! Called when the XR instance is being shutdown. virtual void ShutdownInternal() = 0; - //! API to allow backend object to initialize native xr instance. - virtual AZ::RHI::ResultCode InitInstanceInternal(AZ::RHI::ValidationMode m_validationMode) = 0; - //Cache validation mode in case the backend object needs to use it. AZ::RHI::ValidationMode m_validationMode = AZ::RHI::ValidationMode::Disabled; + + private: + /////////////////////////////////////////////////////////////////// + // XR::Object + void Shutdown() override; + /////////////////////////////////////////////////////////////////// }; } // namespace XR diff --git a/Gems/XR/Code/Include/XR/XRObject.h b/Gems/XR/Code/Include/XR/XRObject.h index 325b91057..038a4f651 100644 --- a/Gems/XR/Code/Include/XR/XRObject.h +++ b/Gems/XR/Code/Include/XR/XRObject.h @@ -31,7 +31,7 @@ namespace XR { public: AZ_RTTI(Object, "{74FCA8BF-CBDA-43EB-A378-89F752ED2FCA}"); - virtual ~Object() = default; + ~Object() override = default; //! Sets the name of the object. void SetName(const AZ::Name& name) diff --git a/Gems/XR/Code/Include/XR/XRSession.h b/Gems/XR/Code/Include/XR/XRSession.h index 916ac7d0a..64d480b50 100644 --- a/Gems/XR/Code/Include/XR/XRSession.h +++ b/Gems/XR/Code/Include/XR/XRSession.h @@ -9,15 +9,16 @@ #pragma once #include - +#include #include -#include +#include #include #include namespace XR { class Device; + class Input; // This class will be responsible for creating XR::Session and // all the code around managing the session state @@ -25,7 +26,7 @@ namespace XR : public XR::Object { public: - AZ_CLASS_ALLOCATOR(Session, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Session, AZ::SystemAllocator); AZ_RTTI(Session, "{E7276FE1-94B8-423A-9C1D-1BCF1A0066BC}"); struct Descriptor @@ -36,8 +37,8 @@ namespace XR }; Session() = default; - virtual ~Session() = default; - + ~Session() override = default; + //! Initialize the XrSession object which is responsible for creating //! XrInput and XrSpace AZ::RHI::ResultCode Init(const Descriptor& descriptor); @@ -50,7 +51,7 @@ namespace XR //! Get the Xr Space object Space* GetSpace() const; - + //! Return true if session is running virtual bool IsSessionRunning() const = 0; @@ -59,7 +60,7 @@ namespace XR //! Return true if a restart is requested virtual bool IsRestartRequested() const = 0; - + //! Return true if render loop skip is requested virtual bool IsExitRenderLoopRequested() const = 0; @@ -73,16 +74,45 @@ namespace XR virtual void LocateControllerSpace(AZ::u32 handIndex) = 0; //! Api to retrieve the controller space data - virtual AZ::RPI::PoseData GetControllerPose(AZ::u32 handIndex) const = 0; + virtual AZ::RHI::ResultCode GetControllerPose(AZ::u32 handIndex, AZ::RPI::PoseData& outPoseData) const = 0; + + //! Api to retrieve the controller space data associated with local view translated and rotated by 60 deg left or right based on handIndex + virtual AZ::RHI::ResultCode GetControllerStagePose(AZ::u32 handIndex, AZ::RPI::PoseData& outPoseData) const = 0; //! Api to retrieve the controller scale data virtual float GetControllerScale(AZ::u32 handIndex) const = 0; //! Api to retrieve the front view space data - virtual AZ::RPI::PoseData GetViewFrontPose() const = 0; + virtual AZ::RHI::ResultCode GetViewFrontPose(AZ::RPI::PoseData& outPoseData) const = 0; - private: + //! Api to retrieve the local view space data + virtual AZ::RHI::ResultCode GetViewLocalPose(AZ::RPI::PoseData& outPoseData) const = 0; + + //! Api to retrieve the controller X button state + virtual float GetXButtonState() const = 0; + + //! Api to retrieve the controller Y button state + virtual float GetYButtonState() const = 0; + //! Api to retrieve the controller A button state + virtual float GetAButtonState() const = 0; + + //! Api to retrieve the controller B button state + virtual float GetBButtonState() const = 0; + + //! Api to retrieve the joystick controller state related to x-axis + virtual float GetXJoyStickState(AZ::u32 handIndex) const = 0; + + //! Api to retrieve the joystick controller state related to y-axis + virtual float GetYJoyStickState(AZ::u32 handIndex) const = 0; + + //! Api to retrieve the controller Y button state + virtual float GetSqueezeState(AZ::u32 handIndex) const = 0; + + //! Api to retrieve the controller Y button state + virtual float GetTriggerState(AZ::u32 handIndex) const = 0; + + private: /////////////////////////////////////////////////////////////////// // XR::Object void Shutdown() override; diff --git a/Gems/XR/Code/Include/XR/XRSpace.h b/Gems/XR/Code/Include/XR/XRSpace.h index cc5b73fe2..790da84e2 100644 --- a/Gems/XR/Code/Include/XR/XRSpace.h +++ b/Gems/XR/Code/Include/XR/XRSpace.h @@ -10,6 +10,8 @@ #include #include +#include +#include #include namespace XR @@ -18,9 +20,8 @@ namespace XR class Space : public ::XR::Object { - public: - AZ_CLASS_ALLOCATOR(Space, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Space, AZ::SystemAllocator); AZ_RTTI(Space, "{A78A37F1-8861-4EB4-8FC6-0E9C11394EF1}"); struct Descriptor @@ -30,8 +31,8 @@ namespace XR AZ::RHI::ResultCode Init(Descriptor descriptor); const Space::Descriptor& GetDescriptor() const; - private: + private: /////////////////////////////////////////////////////////////////// // XR::Object void Shutdown() override; @@ -40,7 +41,7 @@ namespace XR //! Called when the XR instance is being shutdown. virtual void ShutdownInternal() = 0; virtual AZ::RHI::ResultCode InitInternal() = 0; - + Descriptor m_descriptor; }; } // namespace XR diff --git a/Gems/XR/Code/Include/XR/XRSwapChain.h b/Gems/XR/Code/Include/XR/XRSwapChain.h index c86de97ce..0484ea66b 100644 --- a/Gems/XR/Code/Include/XR/XRSwapChain.h +++ b/Gems/XR/Code/Include/XR/XRSwapChain.h @@ -11,44 +11,45 @@ #include #include #include -#include +#include +#include +#include +#include #include +#include namespace XR { - class Session; - class Device; - //! This class will be responsible for creating multiple XR::SwapChain::ViewSwapchains //! (one per view). Each XR::SwapChain::ViewSwapchain will then be responsible //! for manging and synchronizing multiple swap chain images - class SwapChain + class SwapChain : public XR::Object { public: - AZ_CLASS_ALLOCATOR(SwapChain, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(SwapChain, AZ::SystemAllocator); AZ_RTTI(SwapChain, "{0C666E76-E4B7-4097-8D14-713DC2C446EF}"); - class Image + class Image : public AZStd::intrusive_base { public: - AZ_CLASS_ALLOCATOR(Image, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Image, AZ::SystemAllocator); AZ_RTTI(Image, "{4037835D-F1BB-4407-BC98-2299CC7BE0A3}"); Image() = default; - virtual ~Image() = default; + ~Image() override = default; }; - class View + class View : public AZStd::intrusive_base { public: - AZ_CLASS_ALLOCATOR(View, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(View, AZ::SystemAllocator); AZ_RTTI(View, "{774EB724-8261-4684-AA78-EDF6BBECD48A}"); View() = default; - virtual ~View() = default; + ~View() override = default; virtual void Shutdown() = 0; virtual AZ::u32 GetCurrentImageIndex() const = 0; @@ -66,7 +67,7 @@ namespace XR //! Width of the swap chain view. AZ::u32 m_width = 0; - + //! Height of the swap chain view. AZ::u32 m_height = 0; }; @@ -80,7 +81,7 @@ namespace XR }; //! Returns the view swap chain related to the index. - SwapChain::View* GetView(const AZ::u32 swapChainIndex) const; + SwapChain::View* GetView(AZ::u32 swapChainIndex) const; //! Returns the image associated with the provided image //! index and view swap chain index. @@ -89,7 +90,7 @@ namespace XR //! Initialize the XR swapchain. AZ::RHI::ResultCode Init(const Descriptor& descriptor); - //! Get the descriptor. + //! Get the descriptor. const Descriptor& GetDescriptor() const; //! Get the number of Xr views @@ -97,21 +98,23 @@ namespace XR //! Api to allow the back end object to return the requested native swapchain image virtual AZ::RHI::ResultCode GetSwapChainImage(AZ::RHI::XRSwapChainDescriptor* swapchainDescriptor) const = 0; - + //! Api to allow the back end to report the recommended swapchain width virtual AZ::u32 GetSwapChainWidth(AZ::u32 viewIndex) const = 0; - + //! Api to allow the back end to report the recommended swapchain height virtual AZ::u32 GetSwapChainHeight(AZ::u32 viewIndex) const = 0; + //! Api to allow the back end to report the swapchain format. + virtual AZ::RHI::Format GetSwapChainFormat(AZ::u32 viewIndex) const = 0; + protected: - //! Number of Xr views AZ::u32 m_numViews = 0; //! Vector to hold all the SwapChain View objects AZStd::vector> m_viewSwapchains; - + private: /////////////////////////////////////////////////////////////////// // XR::Object override @@ -121,7 +124,7 @@ namespace XR //! Called when the swapchain is being shutdown. virtual void ShutdownInternal() = 0; - //! Api to allow the back end object to initialize + //! Api to allow the back end object to initialize virtual AZ::RHI::ResultCode InitInternal() = 0; Descriptor m_descriptor; diff --git a/Gems/XR/Code/Include/XR/XRSystem.h b/Gems/XR/Code/Include/XR/XRSystem.h index 91ebb8e02..97d8736f6 100644 --- a/Gems/XR/Code/Include/XR/XRSystem.h +++ b/Gems/XR/Code/Include/XR/XRSystem.h @@ -11,19 +11,18 @@ #include #include #include -#include #include +#include #include -#include #include -#include +#include #include namespace XR { - //! This class is the window to everything XR related. It implements - //! RPI::RenderingInterface and RHI::RenderingInterface but - //! can be extended to implement other non rendering interfaces if needed. + //! This class is the window to everything XR related. + //! It implements RPI::RenderingInterface and RHI::RenderingInterface but + //! can be extended to implement other non rendering interfaces if needed. class System : public AZ::RPI::XRRenderingInterface , public AZ::RHI::XRRenderingInterface @@ -31,13 +30,12 @@ namespace XR , public AZStd::intrusive_base { public: - AZ_CLASS_ALLOCATOR(System, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(System, AZ::SystemAllocator); AZ_RTTI(System, "{C3E0291D-FB30-4E27-AB0D-14606A8C3C1F}"); - AZ_DISABLE_COPY_MOVE(System); - System() = default; - ~System() = default; + ~System() override = default; + AZ_DISABLE_COPY_MOVE(System); struct Descriptor { @@ -47,7 +45,7 @@ namespace XR //! Init the XRSystem. void Init(const Descriptor& descriptor); - //! Destroy any relevant objects held by this .class + //! Destroy any relevant objects held by this .class void Shutdown(); //! Handle XR events and actions @@ -61,15 +59,28 @@ namespace XR AZ::RHI::ResultCode GetSwapChainImage(AZ::RHI::XRSwapChainDescriptor* swapchainDescriptor) const override; AZ::u32 GetSwapChainWidth(AZ::u32 viewIndex) const override; AZ::u32 GetSwapChainHeight(AZ::u32 viewIndex) const override; - AZ::RPI::FovData GetViewFov(AZ::u32 viewIndex) const override; - AZ::RPI::PoseData GetViewPose(AZ::u32 viewIndex) const override; - AZ::RPI::PoseData GetViewFrontPose() const override; - AZ::RPI::PoseData GetControllerPose(AZ::u32 handIndex) const override; + AZ::RHI::Format GetSwapChainFormat(AZ::u32 viewIndex) const override; + AZ::RHI::ResultCode GetViewFov(AZ::u32 viewIndex, AZ::RPI::FovData& outFovData) const override; + AZ::RHI::ResultCode GetViewPose(AZ::u32 viewIndex, AZ::RPI::PoseData& outPoseData) const override; + AZ::RHI::ResultCode GetViewFrontPose(AZ::RPI::PoseData& outPoseData) const override; + AZ::RHI::ResultCode GetViewLocalPose(AZ::RPI::PoseData& outPoseData) const override; + AZ::RHI::ResultCode GetControllerStagePose(AZ::u32 handIndex, AZ::RPI::PoseData& outPoseData) const override; + AZ::RHI::ResultCode GetControllerPose(AZ::u32 handIndex, AZ::RPI::PoseData& outPoseData) const override; float GetControllerScale(AZ::u32 handIndex) const override; bool ShouldRender() const override; - AZ::Matrix4x4 CreateProjectionOffset(float angleLeft, float angleRight, - float angleBottom, float angleTop, - float nearDist, float farDist) override; + AZ::Matrix4x4 CreateStereoscopicProjection(float angleLeft, float angleRight, + float angleBottom, float angleTop, + float nearDist, float farDist, bool reverseDepth) override; + AZ::RHI::XRRenderingInterface* GetRHIXRRenderingInterface() override; + float GetXButtonState() const override; + float GetYButtonState() const override; + float GetAButtonState() const override; + float GetBButtonState() const override; + float GetXJoyStickState(AZ::u32 handIndex) const override; + float GetYJoyStickState(AZ::u32 handIndex) const override; + float GetSqueezeState(AZ::u32 handIndex) const override; + float GetTriggerState(AZ::u32 handIndex) const override; + AZ::Data::Instance InitPassFoveatedAttachment(const AZ::RPI::PassTemplate& passTemplate, const AZ::RHI::XRFoveatedLevel* level = nullptr) const override; /////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////// @@ -83,6 +94,10 @@ namespace XR AZ::u32 GetCurrentImageIndex(AZ::u32 viewIndex) const override; void BeginFrame() override; void EndFrame() override; + void PostFrame() override; + bool IsDefaultRenderPipelineNeeded() const override; + bool IsDefaultRenderPipelineEnabledOnHost() const override; + AZ::RHI::ResultCode InitVariableRateShadingImageContent(AZ::RHI::Image* image, AZ::RHI::XRFoveatedLevel type) const override; /////////////////////////////////////////////////////////////////// private: diff --git a/Gems/XR/Code/Include/XR/XRSystemComponent.h b/Gems/XR/Code/Include/XR/XRSystemComponent.h index 31887d921..97e71cf1b 100644 --- a/Gems/XR/Code/Include/XR/XRSystemComponent.h +++ b/Gems/XR/Code/Include/XR/XRSystemComponent.h @@ -23,8 +23,8 @@ namespace XR static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); static void Reflect(AZ::ReflectContext* context); - SystemComponent(); - ~SystemComponent() = default; + SystemComponent() = default; + ~SystemComponent() override = default; ////////////////////////////////////////////////////////////////////////// // Component diff --git a/Gems/XR/Code/Include/XR/XRUtils.h b/Gems/XR/Code/Include/XR/XRUtils.h index 5008a3cde..6352b36d3 100644 --- a/Gems/XR/Code/Include/XR/XRUtils.h +++ b/Gems/XR/Code/Include/XR/XRUtils.h @@ -12,6 +12,12 @@ namespace XR { - //! Creates an off-center projection matrix suitable for VR - AZ::Matrix4x4 CreateProjectionOffset(float angleLeft, float angleRight, float angleBottom, float angleTop, float nearDist, float farDist); + //! Creates an off-center projection matrix suitable for VR. + //! It does the following in order to provide a stereoscopic projection: + //! Stretch more horizontally and vertically + //! Generate asymmetric or off-center projection matrix + //! Right-handed coord system as OpenXR provides data in that system + //! Provides support for reverse depth in case we want better depth precision + //! Handles the case where farDist is less than nearDist whereby it will place far plane at infinity. + AZ::Matrix4x4 CreateStereoscopicProjection(float angleLeft, float angleRight, float angleBottom, float angleTop, float nearDist, float farDist, bool reverseDepth); } diff --git a/Gems/XR/Code/Source/Platform/Android/XR_Traits_Android.h b/Gems/XR/Code/Source/Platform/Android/XR_Traits_Android.h index c4cb36c3c..9b3750c0f 100644 --- a/Gems/XR/Code/Source/Platform/Android/XR_Traits_Android.h +++ b/Gems/XR/Code/Source/Platform/Android/XR_Traits_Android.h @@ -7,3 +7,4 @@ */ #pragma once +#define O3DE_TRAIT_DISABLE_FAILED_XR_TESTS \ No newline at end of file diff --git a/Gems/XR/Code/Source/Platform/Android/platform_test_android_files.cmake b/Gems/XR/Code/Source/Platform/Android/platform_test_android_files.cmake new file mode 100644 index 000000000..e1d2e90f4 --- /dev/null +++ b/Gems/XR/Code/Source/Platform/Android/platform_test_android_files.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ../Common/Unimplemented/XRTest_Unimplemented.cpp +) diff --git a/Gems/XR/Code/Source/Platform/Common/Unimplemented/XRTest_Unimplemented.cpp b/Gems/XR/Code/Source/Platform/Common/Unimplemented/XRTest_Unimplemented.cpp new file mode 100644 index 000000000..08f4dd7f5 --- /dev/null +++ b/Gems/XR/Code/Source/Platform/Common/Unimplemented/XRTest_Unimplemented.cpp @@ -0,0 +1,24 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +#include "XR_Traits_Platform.h" +#include "XRTest.h" + +void XRTest::SetupInternal() +{ + +} + +void XRTest::TearDownInternal() +{ + +} + + diff --git a/Gems/XR/Code/Source/Platform/Linux/PAL_linux.cmake b/Gems/XR/Code/Source/Platform/Linux/PAL_linux.cmake index dbc1eeab9..87df1fb41 100644 --- a/Gems/XR/Code/Source/Platform/Linux/PAL_linux.cmake +++ b/Gems/XR/Code/Source/Platform/Linux/PAL_linux.cmake @@ -6,4 +6,4 @@ # # -set(PAL_TRAIT_XR_SUPPORTED TRUE) +set(PAL_TRAIT_XR_SUPPORTED FALSE) diff --git a/Gems/XR/Code/Source/Platform/Linux/XR_Traits_Linux.h b/Gems/XR/Code/Source/Platform/Linux/XR_Traits_Linux.h index c4cb36c3c..12fbc72fb 100644 --- a/Gems/XR/Code/Source/Platform/Linux/XR_Traits_Linux.h +++ b/Gems/XR/Code/Source/Platform/Linux/XR_Traits_Linux.h @@ -7,3 +7,4 @@ */ #pragma once +#define O3DE_TRAIT_DISABLE_FAILED_XR_TESTS diff --git a/Gems/XR/Code/Source/Platform/Linux/platform_test_linux_files.cmake b/Gems/XR/Code/Source/Platform/Linux/platform_test_linux_files.cmake new file mode 100644 index 000000000..e1d2e90f4 --- /dev/null +++ b/Gems/XR/Code/Source/Platform/Linux/platform_test_linux_files.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ../Common/Unimplemented/XRTest_Unimplemented.cpp +) diff --git a/Gems/XR/Code/Source/Platform/Mac/XR_Traits_Mac.h b/Gems/XR/Code/Source/Platform/Mac/XR_Traits_Mac.h new file mode 100644 index 000000000..12fbc72fb --- /dev/null +++ b/Gems/XR/Code/Source/Platform/Mac/XR_Traits_Mac.h @@ -0,0 +1,10 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#define O3DE_TRAIT_DISABLE_FAILED_XR_TESTS diff --git a/Gems/XR/Code/Source/Platform/Mac/XR_Traits_Platform.h b/Gems/XR/Code/Source/Platform/Mac/XR_Traits_Platform.h new file mode 100644 index 000000000..048111159 --- /dev/null +++ b/Gems/XR/Code/Source/Platform/Mac/XR_Traits_Platform.h @@ -0,0 +1,10 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include diff --git a/Gems/XR/Code/Source/Platform/Mac/platform_test_mac_files.cmake b/Gems/XR/Code/Source/Platform/Mac/platform_test_mac_files.cmake new file mode 100644 index 000000000..e1d2e90f4 --- /dev/null +++ b/Gems/XR/Code/Source/Platform/Mac/platform_test_mac_files.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ../Common/Unimplemented/XRTest_Unimplemented.cpp +) diff --git a/Gems/XR/Code/Source/Platform/Windows/XR_Traits_Windows.h b/Gems/XR/Code/Source/Platform/Windows/XR_Traits_Windows.h index c4cb36c3c..68a0987b0 100644 --- a/Gems/XR/Code/Source/Platform/Windows/XR_Traits_Windows.h +++ b/Gems/XR/Code/Source/Platform/Windows/XR_Traits_Windows.h @@ -7,3 +7,5 @@ */ #pragma once +#define O3DE_TRAIT_DISABLE_FAILED_XR_TESTS + diff --git a/Gems/XR/Code/Source/Platform/Windows/platform_test_windows_files.cmake b/Gems/XR/Code/Source/Platform/Windows/platform_test_windows_files.cmake new file mode 100644 index 000000000..e1d2e90f4 --- /dev/null +++ b/Gems/XR/Code/Source/Platform/Windows/platform_test_windows_files.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ../Common/Unimplemented/XRTest_Unimplemented.cpp +) diff --git a/Gems/XR/Code/Source/Platform/iOS/XR_Traits_Platform.h b/Gems/XR/Code/Source/Platform/iOS/XR_Traits_Platform.h new file mode 100644 index 000000000..ce35a664d --- /dev/null +++ b/Gems/XR/Code/Source/Platform/iOS/XR_Traits_Platform.h @@ -0,0 +1,10 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#include diff --git a/Gems/XR/Code/Source/Platform/iOS/XR_Traits_iOS.h b/Gems/XR/Code/Source/Platform/iOS/XR_Traits_iOS.h new file mode 100644 index 000000000..12fbc72fb --- /dev/null +++ b/Gems/XR/Code/Source/Platform/iOS/XR_Traits_iOS.h @@ -0,0 +1,10 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +#pragma once + +#define O3DE_TRAIT_DISABLE_FAILED_XR_TESTS diff --git a/Gems/XR/Code/Source/Platform/iOS/platform_test_ios_files.cmake b/Gems/XR/Code/Source/Platform/iOS/platform_test_ios_files.cmake new file mode 100644 index 000000000..e1d2e90f4 --- /dev/null +++ b/Gems/XR/Code/Source/Platform/iOS/platform_test_ios_files.cmake @@ -0,0 +1,11 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ../Common/Unimplemented/XRTest_Unimplemented.cpp +) diff --git a/Gems/XR/Code/Source/XRDevice.cpp b/Gems/XR/Code/Source/XRDevice.cpp index 6bd3e72eb..a34a033c1 100644 --- a/Gems/XR/Code/Source/XRDevice.cpp +++ b/Gems/XR/Code/Source/XRDevice.cpp @@ -37,6 +37,11 @@ namespace XR EndFrameInternal(swapChain); } + void Device::PostFrame() + { + PostFrameInternal(); + } + bool Device::AcquireSwapChainImage(AZ::u32 viewIndex, XR::SwapChain* baseSwapChain) { return AcquireSwapChainImageInternal(viewIndex, baseSwapChain); diff --git a/Gems/XR/Code/Source/XRInstance.cpp b/Gems/XR/Code/Source/XRInstance.cpp index ae130d6c4..c8b257991 100644 --- a/Gems/XR/Code/Source/XRInstance.cpp +++ b/Gems/XR/Code/Source/XRInstance.cpp @@ -13,7 +13,7 @@ namespace XR AZ::RHI::ResultCode Instance::Init(AZ::RHI::ValidationMode validationMode) { m_validationMode = validationMode; - return InitInstanceInternal(validationMode); + return InitInstanceInternal(); } void Instance::Shutdown() diff --git a/Gems/XR/Code/Source/XRModule.cpp b/Gems/XR/Code/Source/XRModule.cpp index 644f2fc4e..51118d8e1 100644 --- a/Gems/XR/Code/Source/XRModule.cpp +++ b/Gems/XR/Code/Source/XRModule.cpp @@ -16,7 +16,7 @@ namespace XR { public: AZ_RTTI(Module, "{71A99524-7D31-42D3-955E-3F4774F310AC}", AZ::Module); - AZ_CLASS_ALLOCATOR(Module, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(Module, AZ::SystemAllocator); Module() : AZ::Module() diff --git a/Gems/XR/Code/Source/XRSession.cpp b/Gems/XR/Code/Source/XRSession.cpp index bbebcaa97..9eb15ac2b 100644 --- a/Gems/XR/Code/Source/XRSession.cpp +++ b/Gems/XR/Code/Source/XRSession.cpp @@ -9,6 +9,7 @@ #include #include #include +#include namespace XR { @@ -25,7 +26,7 @@ namespace XR AZ_Error("XR", result == AZ::RHI::ResultCode::Success, "XR Space was not initialized"); RETURN_RESULTCODE_IF_UNSUCCESSFUL(result); } - + m_input = Factory::Get().CreateInput(); AZ_Error("XR", m_input, "XR Input was not created"); if (m_input) @@ -48,7 +49,7 @@ namespace XR m_descriptor.m_device->UnRegisterSession(); ShutdownInternal(); } - + Input* Session::GetInput() const { return m_input.get(); @@ -57,5 +58,5 @@ namespace XR Space* Session::GetSpace() const { return m_space.get(); - } + } } // namespace XR diff --git a/Gems/XR/Code/Source/XRSwapChain.cpp b/Gems/XR/Code/Source/XRSwapChain.cpp index 15f44b3fe..983db22e7 100644 --- a/Gems/XR/Code/Source/XRSwapChain.cpp +++ b/Gems/XR/Code/Source/XRSwapChain.cpp @@ -10,7 +10,7 @@ namespace XR { - SwapChain::View* SwapChain::GetView(const AZ::u32 swapchainIndex) const + SwapChain::View* SwapChain::GetView(AZ::u32 swapchainIndex) const { return m_viewSwapchains[swapchainIndex].get(); } diff --git a/Gems/XR/Code/Source/XRSystem.cpp b/Gems/XR/Code/Source/XRSystem.cpp index 468f8b04f..9aeaef64e 100644 --- a/Gems/XR/Code/Source/XRSystem.cpp +++ b/Gems/XR/Code/Source/XRSystem.cpp @@ -8,12 +8,36 @@ #include #include +#include +#include #include #include #include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + namespace XR { +#if AZ_TRAIT_OS_IS_HOST_OS_PLATFORM + AZ_CVAR( + bool, + r_EnableHostRenderPipelineOnXR, + true, + nullptr, + AZ::ConsoleFunctorFlags::Null, + "When an XR system is present in a host platform, this will enable the regular render pipeline on the host PC as well " + "(true by default)."); +#endif + void System::Init(const System::Descriptor& descriptor) { m_validationMode = descriptor.m_validationMode; @@ -122,12 +146,21 @@ namespace XR return 0; } + AZ::RHI::Format System::GetSwapChainFormat(AZ::u32 viewIndex) const + { + AZ_Assert(m_swapChain, "SwapChain is null"); + if (m_swapChain) + { + return m_swapChain->GetSwapChainFormat(viewIndex); + } + return AZ::RHI::Format::Unknown; + } + void System::OnSystemTick() { - m_session->PollEvents(); - if (m_session->IsSessionRunning()) + if (m_session) { - m_session->GetInput()->PollActions(); + m_session->PollEvents(); } } @@ -148,6 +181,14 @@ namespace XR } } + void System::PostFrame() + { + if (m_device && m_session && m_session->IsSessionRunning()) + { + m_device->PostFrame(); + } + } + void System::AcquireSwapChainImage(AZ::u32 viewIndex) { if (m_isInFrame && m_device->ShouldRender()) @@ -158,7 +199,13 @@ namespace XR AZ::u32 System::GetNumViews() const { - return m_swapChain->GetNumViews(); + if (m_swapChain) + { + return m_swapChain->GetNumViews(); + } + + AZ_Warning("XRSystem", false, "SwapChain is null"); + return 0; } AZ::u32 System::GetCurrentImageIndex(AZ::u32 viewIndex) const @@ -169,30 +216,57 @@ namespace XR bool System::ShouldRender() const { - if (m_session->IsSessionRunning()) + if (m_session && m_session->IsSessionRunning()) { return m_device->ShouldRender(); } return false; } - AZ::RPI::FovData System::GetViewFov(AZ::u32 viewIndex) const + AZ::RHI::ResultCode System::GetViewFov(AZ::u32 viewIndex, AZ::RPI::FovData& outFovData) const + { + return m_device->GetViewFov(viewIndex, outFovData); + } + + AZ::RHI::ResultCode System::GetViewPose(AZ::u32 viewIndex, AZ::RPI::PoseData& outPoseData) const + { + return m_device->GetViewPose(viewIndex, outPoseData); + } + + AZ::RHI::ResultCode System::GetControllerPose(AZ::u32 handIndex, AZ::RPI::PoseData& outPoseData) const { - return m_device->GetViewFov(viewIndex); + if (m_session->IsSessionRunning()) + { + return m_session->GetControllerPose(handIndex, outPoseData); + } + return AZ::RHI::ResultCode::NotReady; + } + + AZ::RHI::ResultCode System::GetControllerStagePose(AZ::u32 handIndex, AZ::RPI::PoseData& outPoseData) const + { + if (m_session->IsSessionRunning()) + { + return m_session->GetControllerStagePose(handIndex, outPoseData); + } + return AZ::RHI::ResultCode::NotReady; } - AZ::RPI::PoseData System::GetViewPose(AZ::u32 viewIndex) const + AZ::RHI::ResultCode System::GetViewFrontPose(AZ::RPI::PoseData& outPoseData) const { - return m_device->GetViewPose(viewIndex); + if (m_session->IsSessionRunning()) + { + return m_session->GetViewFrontPose(outPoseData); + } + return AZ::RHI::ResultCode::NotReady; } - AZ::RPI::PoseData System::GetControllerPose(AZ::u32 handIndex) const + AZ::RHI::ResultCode System::GetViewLocalPose(AZ::RPI::PoseData& outPoseData) const { if (m_session->IsSessionRunning()) { - return m_session->GetControllerPose(handIndex); + return m_session->GetViewLocalPose(outPoseData); } - return AZ::RPI::PoseData(); + return AZ::RHI::ResultCode::NotReady; } float System::GetControllerScale(AZ::u32 handIndex) const @@ -204,20 +278,164 @@ namespace XR return 1.0f; } - AZ::RPI::PoseData System::GetViewFrontPose() const + float System::GetSqueezeState(AZ::u32 handIndex) const + { + if (m_session->IsSessionRunning()) + { + return m_session->GetSqueezeState(handIndex); + } + return 0.0f; + } + + float System::GetTriggerState(AZ::u32 handIndex) const + { + if (m_session->IsSessionRunning()) + { + return m_session->GetTriggerState(handIndex); + } + return 0.0f; + } + + AZ::Data::Instance System::InitPassFoveatedAttachment(const AZ::RPI::PassTemplate& passTemplate, const AZ::RHI::XRFoveatedLevel* level) const + { + // Need to fill the contents of the Variable shade rating image. + // Find the Shading Rate Attachment + AZ::Data::Asset vrsImageAsset; + for (const auto& imageAttachment : passTemplate.m_imageAttachments) + { + if (AZ::RHI::CheckBitsAll(imageAttachment.m_imageDescriptor.m_bindFlags, AZ::RHI::ImageBindFlags::ShadingRate)) + { + vrsImageAsset = AZ::RPI::AssetUtils::LoadAssetById(imageAttachment.m_assetRef.m_assetId, AZ::RPI::AssetUtils::TraceLevel::Error); + break; + } + } + + AZ::Data::Instance textureAsset; + if (vrsImageAsset && vrsImageAsset.IsReady()) + { + AZ::RHI::Device* device = AZ::RHI::RHISystemInterface::Get()->GetDevice(); + // Resize the image to match the proper tile size + AZ::u32 outputWidth = GetSwapChainWidth(1); + AZ::u32 outputHeight = GetSwapChainHeight(1); + + const auto& tileSize = device->GetLimits().m_shadingRateTileSize; + AZ::RHI::ImageDescriptor imageDescriptor = vrsImageAsset->GetImageDescriptor(); + imageDescriptor.m_size.m_width = aznumeric_cast(ceil(static_cast(outputWidth) / tileSize.m_width)); + imageDescriptor.m_size.m_height = aznumeric_cast(ceil(static_cast(outputHeight) / tileSize.m_height)); + + // Find the appropiate format for the image + for (uint32_t i = 0; i < static_cast(AZ::RHI::Format::Count); ++i) + { + AZ::RHI::Format format = static_cast(i); + AZ::RHI::FormatCapabilities capabilities = device->GetFormatCapabilities(format); + if (AZ::RHI::CheckBitsAll(capabilities, AZ::RHI::FormatCapabilities::ShadingRate)) + { + imageDescriptor.m_format = format; + break; + } + } + + // Create the new asset with the proper size and format and register it in the AZ::RPI::AttachmentImage database + AZ::RPI::AttachmentImageAssetCreator imageAssetCreator; + imageAssetCreator.Begin(vrsImageAsset->GetId()); + imageAssetCreator.SetImageDescriptor(imageDescriptor); + imageAssetCreator.SetName(vrsImageAsset->GetName(), vrsImageAsset->HasUniqueName()); + + AZ::Data::Asset asset; + if (imageAssetCreator.End(asset)) + { + textureAsset = AZ::RPI::AttachmentImage::FindOrCreate(asset); + AZ::RHI::XRFoveatedLevel foveatedType = AZ::RHI::XRFoveatedLevel::None; + if (level) + { + foveatedType = *level; + } + else + { + // Check settings registry for the foveated level + if (AZ::SettingsRegistryInterface* settingsRegistry = AZ::SettingsRegistry::Get()) + { + if (AZ::u64 foveatedLevel; settingsRegistry->Get(foveatedLevel, AZ::RHI::XRFoveatedLevelKey)) + { + AZ_Assert( + foveatedLevel <= static_cast(AZ::RHI::XRFoveatedLevel::High), + "Invalid foveated level %d", static_cast(foveatedLevel)); + foveatedType = static_cast(foveatedLevel); + } + } + } + // Fill up the contents of the shading rate image + InitVariableRateShadingImageContent(textureAsset->GetRHIImage(), foveatedType); + } + } + + return textureAsset; + } + + float System::GetXButtonState() const { if (m_session->IsSessionRunning()) { - return m_session->GetViewFrontPose(); + return m_session->GetXButtonState(); } - return AZ::RPI::PoseData(); + return 0.0f; } - AZ::Matrix4x4 System::CreateProjectionOffset(float angleLeft, float angleRight, + float System::GetYButtonState() const + { + if (m_session->IsSessionRunning()) + { + return m_session->GetYButtonState(); + } + return 0.0f; + } + + float System::GetAButtonState() const + { + if (m_session->IsSessionRunning()) + { + return m_session->GetAButtonState(); + } + return 0.0f; + } + + float System::GetBButtonState() const + { + if (m_session->IsSessionRunning()) + { + return m_session->GetBButtonState(); + } + return 0.0f; + } + + float System::GetXJoyStickState(AZ::u32 handIndex) const + { + if (m_session->IsSessionRunning()) + { + return m_session->GetXJoyStickState(handIndex); + } + return 0.0f; + } + + float System::GetYJoyStickState(AZ::u32 handIndex) const + { + if (m_session->IsSessionRunning()) + { + return m_session->GetYJoyStickState(handIndex); + } + return 0.0f; + } + + AZ::Matrix4x4 System::CreateStereoscopicProjection(float angleLeft, float angleRight, float angleBottom, float angleTop, - float nearDist, float farDist) + float nearDist, float farDist, bool reverseDepth) + { + return XR::CreateStereoscopicProjection(angleLeft, angleRight, angleBottom, angleTop, nearDist, farDist, reverseDepth); + } + + AZ::RHI::XRRenderingInterface* System::GetRHIXRRenderingInterface() { - return XR::CreateProjectionOffset(angleLeft, angleRight, angleBottom, angleTop, nearDist, farDist); + return this; } void System::Shutdown() @@ -226,4 +444,169 @@ namespace XR m_instance = nullptr; m_device = nullptr; } + + bool System::IsDefaultRenderPipelineNeeded() const + { + // While there is an XR system the default render pipeline is only needed on host platforms, + // in case we also render on PC as well as in the XR device. +#if AZ_TRAIT_OS_IS_HOST_OS_PLATFORM + return true; +#else + return false; +#endif + } + + bool System::IsDefaultRenderPipelineEnabledOnHost() const + { +#if AZ_TRAIT_OS_IS_HOST_OS_PLATFORM + return r_EnableHostRenderPipelineOnXR; +#else + return false; +#endif + } + + AZ::RHI::ResultCode System::InitVariableRateShadingImageContent(AZ::RHI::Image* image, AZ::RHI::XRFoveatedLevel level) const + { + AZ_Assert(image, "Null variable rate shading image"); + const auto& imageDescriptor = image->GetDescriptor(); + uint32_t width = imageDescriptor.m_size.m_width; + uint32_t height = imageDescriptor.m_size.m_height; + uint32_t formatSize = GetFormatSize(imageDescriptor.m_format); + uint32_t bufferSize = width * height * formatSize; + + // Get a list of supported shading rates so we always write a valid one + const AZ::RHI::Device& device = image->GetDevice(); + const auto& features = device.GetFeatures(); + AZ::RHI::ShadingRate supportedRates[static_cast(AZ::RHI::ShadingRate::Count)]; + AZ::RHI::ShadingRate lastSupported = AZ::RHI::ShadingRate::Rate1x1; + for (int i = 0; i < AZ_ARRAY_SIZE(supportedRates); ++i) + { + if (AZ::RHI::CheckBitsAll(features.m_shadingRateMask, static_cast(AZ_BIT(i)))) + { + supportedRates[i] = static_cast(i); + lastSupported = supportedRates[i]; + } + else + { + supportedRates[i] = lastSupported; + } + } + + // Divide the image in a grid of "gridSize" and each cell will have a shading rate. + constexpr uint32_t gridSize = 8; + AZStd::vector shadingRatePatternData(bufferSize); + AZ::RHI::ShadingRate rateGrid[gridSize][gridSize]; + // Initialize the whole image with the normal rate + ::memset(rateGrid, static_cast(AZ::RHI::ShadingRate::Rate1x1), sizeof(rateGrid)); + + // Helper function to fill up the grid + auto fillFunc = [&](AZ::RHI::ShadingRate rate, int col, int row, int colCount, int rowCount) + { + for (int i = col; i < col + colCount; ++i) + { + for (int ii = row; ii < row + rowCount; ++ii) + { + rateGrid[i][ii] = supportedRates[static_cast(rate)]; + // The image is symetric on the vertical axis + rateGrid[gridSize - 1 - i][ii] = supportedRates[static_cast(rate)]; + } + } + }; + + // Each level has it's own shading rates and regions + switch (level) + { + case AZ::RHI::XRFoveatedLevel::Low: + { + // _______________________________________________ + // |____2x2____|__________2x1__________|____2x2____| + // | | | | + // | | | | + // | | | | + // | 1x2 | 1x1 | 1x2 | + // | | | | + // |_____|___________________________________|_____| + // |_2x2_|____2x1____|____1x1____|____2x1____|_2x2_| + // + fillFunc(AZ::RHI::ShadingRate::Rate2x2, 0, 0, 2, 1); + fillFunc(AZ::RHI::ShadingRate::Rate2x2, 0, gridSize - 1, 1, 1); + fillFunc(AZ::RHI::ShadingRate::Rate2x1, 2, 0, 2, 1); + fillFunc(AZ::RHI::ShadingRate::Rate2x1, 1, gridSize - 1, 2, 1); + fillFunc(AZ::RHI::ShadingRate::Rate1x2, 0, 1, 1, gridSize - 2); + } + break; + case AZ::RHI::XRFoveatedLevel::Medium: + { + // _______________________________________________ + // |_4x2_|________________2x2________________|_4x2_| + // | | 1x2 | | 1x2 | | + // | |_____| |_____| | + // | | | | + // | 2x2 | 1x1 | 2x2 | + // | | | | + // | |___________________________________| | + // |___________|__________2x1__________|___________| + // + fillFunc(AZ::RHI::ShadingRate::Rate4x2, 0, 0, 1, 1); + fillFunc(AZ::RHI::ShadingRate::Rate2x2, 1, 0, 3, 1); + fillFunc(AZ::RHI::ShadingRate::Rate2x2, 0, 1, 1, gridSize - 1); + fillFunc(AZ::RHI::ShadingRate::Rate2x2, 1, gridSize - 1, 1, 1); + fillFunc(AZ::RHI::ShadingRate::Rate1x2, 1, 1, 1, 2); + fillFunc(AZ::RHI::ShadingRate::Rate2x1, 2, gridSize - 1, 2, 1); + } + break; + case AZ::RHI::XRFoveatedLevel::High: + { + // _______________________________________________ + // |_4x4_|____4x2____|____2x2____|____4x2____|_4x4_| + // | 2x4 |_2x2_| |_2x2_| 2x4 | + // |_____|_____| |_____|_____| + // | | | | | | + // | 2x2 | 1x2 | 1x1 | 1x2 | 2x2 | + // | | | | | | + // |_____|_____|_______________________|_____|_____| + // |_2x4_|____2x2____|____2x1____|____2x2____|_2x4_| + // + fillFunc(AZ::RHI::ShadingRate::Rate4x4, 0, 0, 1, 1); + fillFunc(AZ::RHI::ShadingRate::Rate4x2, 1, 0, 2, 1); + fillFunc(AZ::RHI::ShadingRate::Rate2x4, 0, 1, 1, 2); + fillFunc(AZ::RHI::ShadingRate::Rate2x4, 0, gridSize - 1, 1, 1); + fillFunc(AZ::RHI::ShadingRate::Rate2x2, 3, 0, 1, 1); + fillFunc(AZ::RHI::ShadingRate::Rate2x2, 1, 1, 1, 2); + fillFunc(AZ::RHI::ShadingRate::Rate2x2, 0, 3, 1, 4); + fillFunc(AZ::RHI::ShadingRate::Rate2x2, 1, gridSize - 1, 2, 1); + fillFunc(AZ::RHI::ShadingRate::Rate1x2, 1, 3, 1, 4); + fillFunc(AZ::RHI::ShadingRate::Rate2x1, 3, gridSize - 1, 2, 1); + } + break; + case AZ::RHI::XRFoveatedLevel::None: + // Intentionally leave the rate grid with default values + break; + default: + AZ_Assert(false, "Invalid AZ::RHI::XRFoveatedLevel value %d", level); + return AZ::RHI::ResultCode::InvalidArgument; + } + + uint8_t* ptrData = shadingRatePatternData.data(); + float widthRegion = width / static_cast(gridSize); + float heightRegion = height / static_cast(gridSize); + for (uint32_t y = 0; y < height; y++) + { + for (uint32_t x = 0; x < width; x++) + { + auto val = device.ConvertShadingRate(rateGrid[static_cast(x / widthRegion)][static_cast(y / heightRegion)]); + ::memcpy(ptrData, &val, formatSize); + ptrData += formatSize; + } + } + + AZ::RHI::ImageUpdateRequest request; + request.m_image = image; + request.m_sourceData = shadingRatePatternData.data(); + request.m_sourceSubresourceLayout = + AZ::RHI::ImageSubresourceLayout(AZ::RHI::Size(width, height, 1), height, width * formatSize, bufferSize, 1, 1); + + AZ::RHI::ImagePool* imagePool = azrtti_cast(image->GetPool()); + return imagePool->UpdateImageContents(request); + } } diff --git a/Gems/XR/Code/Source/XRSystemComponent.cpp b/Gems/XR/Code/Source/XRSystemComponent.cpp index 63393664f..cdde7cfbb 100644 --- a/Gems/XR/Code/Source/XRSystemComponent.cpp +++ b/Gems/XR/Code/Source/XRSystemComponent.cpp @@ -16,7 +16,7 @@ #include #include -static constexpr char OpenXREnableSetting[] = "/O3DE/Atom/OpenXREnable"; +static constexpr char OpenXREnableSetting[] = "/O3DE/Atom/OpenXR/Enable"; namespace XR { @@ -33,11 +33,6 @@ namespace XR } } - SystemComponent::SystemComponent() - { - m_xrSystem = aznew System(); - } - void SystemComponent::Activate() { // Register XR system interface if openxr is enabled via command line or settings registry @@ -50,6 +45,7 @@ namespace XR //Init the XRSystem System::Descriptor descriptor; descriptor.m_validationMode = validationMode; + m_xrSystem = aznew System(); m_xrSystem->Init(descriptor); //Register xr system with RPI @@ -59,7 +55,11 @@ namespace XR void SystemComponent::Deactivate() { - m_xrSystem->Shutdown(); + if (m_xrSystem) + { + m_xrSystem->Shutdown(); + m_xrSystem.reset(); + } } bool SystemComponent::IsOpenXREnabled() diff --git a/Gems/XR/Code/Source/XRUtils.cpp b/Gems/XR/Code/Source/XRUtils.cpp index 97cb9e2a0..a05de4665 100644 --- a/Gems/XR/Code/Source/XRUtils.cpp +++ b/Gems/XR/Code/Source/XRUtils.cpp @@ -10,7 +10,7 @@ namespace XR { - AZ::Matrix4x4 CreateProjectionOffset(float angleLeft, float angleRight, float angleBottom, float angleTop, float nearDist, float farDist) + AZ::Matrix4x4 CreateStereoscopicProjection(float angleLeft, float angleRight, float angleBottom, float angleTop, float nearDist, float farDist, bool reverseDepth) { AZ::Matrix4x4 result; AZ_MATH_ASSERT(nearDist > 0.0f, "Near plane distance must be greater than 0"); @@ -32,16 +32,32 @@ namespace XR { result.SetRow(0, 2.0f / tanAngleWidth, 0.0f, (left + right) / tanAngleWidth, 0.0f); result.SetRow(1, 0.0f, 2.0f / tanAngleHeight, (top + bottom) / tanAngleHeight, 0.0f); - result.SetRow(2, 0.0f, 0.0f, -1 * (farDist + nearDist) * invfn, -2.0f * farDist * nearDist * invfn); + if(reverseDepth) + { + result.SetRow(2, 0.0f, 0.0f, 2.0f * nearDist * invfn, 2.0f * farDist * nearDist * invfn); + } + else + { + result.SetRow(2, 0.0f, 0.0f, -1.0f * (farDist + nearDist) * invfn, -2.0f * farDist * nearDist * invfn); + } result.SetRow(3, 0.0f, 0.0f, -1.0f, 0.0f); } else { + // place the far plane at infinity result.SetRow(0, 2.0f / tanAngleWidth, 0.0f, (left + right) / tanAngleWidth, 0.0f); result.SetRow(1, 0.0f, 2.0f / tanAngleHeight, (top + bottom) / tanAngleHeight, 0.0f); - result.SetRow(2, 0.0f, 0.0f, -1.0f, -2.0f * nearDist); + if (reverseDepth) + { + result.SetRow(2, 0.0f, 0.0f, 0.0f, 2.0f * nearDist); + } + else + { + result.SetRow(2, 0.0f, 0.0f, -1.0f, -2.0f * nearDist); + } result.SetRow(3, 0.0f, 0.0f, -1.0f, 0.0f); } + return result; } } diff --git a/Gems/XR/Code/Tests/XRTest.cpp b/Gems/XR/Code/Tests/XRTest.cpp new file mode 100644 index 000000000..9a6d395ab --- /dev/null +++ b/Gems/XR/Code/Tests/XRTest.cpp @@ -0,0 +1,40 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include "XRTest.h" + +void XRTest::SetUp() +{ + SetupInternal(); +} + +void XRTest::TearDown() +{ + TearDownInternal(); +} + +#ifndef O3DE_TRAIT_DISABLE_ALL_XR_TESTS + +TEST_F(XRTest, PassThisTest) +{ + EXPECT_TRUE(true); +} + +#ifdef O3DE_TRAIT_DISABLE_FAILED_XR_TESTS +TEST_F(XRTest, DISABLED_ExpectTrue) +#else +TEST_F(XRTest, ExpectTrue) +#endif // defined O3DE_TRAIT_DISABLE_FAILED_XR_TESTS +{ + EXPECT_TRUE(false); +} + +#endif // !O3DE_TRAIT_DISABLE_ALL_XR_TESTS + +AZ_UNIT_TEST_HOOK(DEFAULT_UNIT_TEST_ENV); diff --git a/Gems/XR/Code/Tests/XRTest.h b/Gems/XR/Code/Tests/XRTest.h new file mode 100644 index 000000000..c4f12dedb --- /dev/null +++ b/Gems/XR/Code/Tests/XRTest.h @@ -0,0 +1,24 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +class XRTest + : public ::testing::Test +{ +protected: + void SetUp() override; + void TearDown() override; + + void SetupInternal(); + void TearDownInternal(); +}; + diff --git a/Gems/XR/Code/xr_tests_files.cmake b/Gems/XR/Code/xr_tests_files.cmake new file mode 100644 index 000000000..5b9ccff52 --- /dev/null +++ b/Gems/XR/Code/xr_tests_files.cmake @@ -0,0 +1,12 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + Tests/XRTest.h + Tests/XRTest.cpp +) diff --git a/LICENSE.txt b/LICENSE.txt index a825f5a01..dd0572fff 100644 --- a/LICENSE.txt +++ b/LICENSE.txt @@ -24,4 +24,4 @@ https://github.com/o3de/3p-package-source/tree/main/package-system/Qt - The AWS Python SDK uses Chardet https://chardet.github.io/, which is subject to the GNU Lesser General Public License version 2.1. A copy of the source code may be found at https://github.com/chardet/chardet. - \ No newline at end of file + diff --git a/Projects/OpenXRTest/Assets/BlockToy.fbx b/Projects/OpenXRTest/Assets/BlockToy.fbx new file mode 100644 index 000000000..40763814c --- /dev/null +++ b/Projects/OpenXRTest/Assets/BlockToy.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfe54a31fc1ebcfe4599bdca0ca3e35c55d8dc8c5ec69c7a9d77c16640dbf567 +size 20764 diff --git a/Projects/OpenXRTest/Assets/BlockToy_GameSteelMAT.material b/Projects/OpenXRTest/Assets/BlockToy_GameSteelMAT.material new file mode 100644 index 000000000..8af4dd419 --- /dev/null +++ b/Projects/OpenXRTest/Assets/BlockToy_GameSteelMAT.material @@ -0,0 +1,20 @@ +{ + "materialType": "Materials/Types/BasePBR.materialtype", + "materialTypeVersion": 5, + "propertyValues": { + "baseColor.color": [ + 0.800000011920929, + 0.800000011920929, + 0.800000011920929, + 1.0 + ], + "emissive.color": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + 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https://git-lfs.github.com/spec/v1 +oid sha256:a4362bbd2bf17ed9996de902b5a62e175608c1d1d8a85b52052dcc6876ca52c6 +size 50331796 diff --git a/Projects/OpenXRTest/Gem/CMakeLists.txt b/Projects/OpenXRTest/Gem/CMakeLists.txt index 0ca922536..67ff3aea2 100644 --- a/Projects/OpenXRTest/Gem/CMakeLists.txt +++ b/Projects/OpenXRTest/Gem/CMakeLists.txt @@ -60,6 +60,7 @@ ly_create_alias(NAME OpenXRTest.Builders NAMESPACE Gem TARGETS Gem::OpenXRTest) ly_create_alias(NAME OpenXRTest.Tools NAMESPACE Gem TARGETS Gem::OpenXRTest) ly_create_alias(NAME OpenXRTest.Clients NAMESPACE Gem TARGETS Gem::OpenXRTest) ly_create_alias(NAME OpenXRTest.Servers NAMESPACE Gem TARGETS Gem::OpenXRTest) +ly_create_alias(NAME OpenXRTest.Unified NAMESPACE Gem TARGETS Gem::OpenXRTest) ################################################################################ # Gem dependencies diff --git a/Projects/OpenXRTest/Gem/Source/OpenXRTestModule.cpp b/Projects/OpenXRTest/Gem/Source/OpenXRTestModule.cpp index 2b10ed072..65618bf0c 100644 --- a/Projects/OpenXRTest/Gem/Source/OpenXRTestModule.cpp +++ b/Projects/OpenXRTest/Gem/Source/OpenXRTestModule.cpp @@ -11,7 +11,7 @@ namespace OpenXRTest { public: AZ_RTTI(OpenXRTestModule, "{5f1ec07d-a7bb-4816-aa3d-abc2104071ae}", AZ::Module); - AZ_CLASS_ALLOCATOR(OpenXRTestModule, AZ::SystemAllocator, 0); + AZ_CLASS_ALLOCATOR(OpenXRTestModule, AZ::SystemAllocator); OpenXRTestModule() : AZ::Module() diff --git a/Projects/OpenXRTest/Gem/Source/OpenXRTestSystemComponent.h b/Projects/OpenXRTest/Gem/Source/OpenXRTestSystemComponent.h index 3365205a8..455cdb08a 100644 --- a/Projects/OpenXRTest/Gem/Source/OpenXRTestSystemComponent.h +++ b/Projects/OpenXRTest/Gem/Source/OpenXRTestSystemComponent.h @@ -22,7 +22,7 @@ namespace OpenXRTest static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent); OpenXRTestSystemComponent(); - ~OpenXRTestSystemComponent(); + ~OpenXRTestSystemComponent() override; protected: 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a/Projects/OpenXRTest/Registry/assetprocessor_settings.setreg +++ b/Projects/OpenXRTest/Registry/assetprocessor_settings.setreg @@ -16,6 +16,9 @@ "watch": "@PROJECTROOT@/Registry", "recursive": 1, "order": 3 + }, + "Platforms": { + "android": "enabled" } } } diff --git a/Projects/OpenXRTest/Registry/autoexec.game.setreg b/Projects/OpenXRTest/Registry/autoexec.game.setreg new file mode 100644 index 000000000..4cfed2fd8 --- /dev/null +++ b/Projects/OpenXRTest/Registry/autoexec.game.setreg @@ -0,0 +1,9 @@ +{ + "O3DE": { + "Autoexec": { + "ConsoleCommands": { + "LoadLevel": "DefaultLevel" + } + } + } +} \ No newline at end of file diff --git a/Projects/OpenXRTest/Registry/material_pipelines.setreg b/Projects/OpenXRTest/Registry/material_pipelines.setreg new file mode 100644 index 000000000..d5046b746 --- /dev/null +++ b/Projects/OpenXRTest/Registry/material_pipelines.setreg @@ -0,0 +1,13 @@ +{ + "O3DE": { + "Atom": { + "RPI": { + "MaterialPipelineFiles": [ + "@gemroot:Atom_Feature_Common@/Assets/Materials/Pipelines/MainPipeline/MainPipeline.materialpipeline", + "@gemroot:Atom_Feature_Common@/Assets/Materials/Pipelines/LowEndPipeline/LowEndPipeline.materialpipeline", + "@gemroot:Atom_Feature_Common@/Assets/Materials/Pipelines/MultiView/MultiViewPipeline.materialpipeline" + ] + } + } + } +} diff --git a/Projects/OpenXRTest/project.json b/Projects/OpenXRTest/project.json index 9f9f746fb..4daa98c34 100644 --- a/Projects/OpenXRTest/project.json +++ b/Projects/OpenXRTest/project.json @@ -1,10 +1,10 @@ { "project_name": "OpenXRTest", "project_id": "{947211d5-689a-437f-8ad7-7f558edcd40a}", - "origin": "The primary repo for OpenXRTest goes here: i.e. http://www.mydomain.com", - "license": "What license OpenXRTest uses goes here: i.e. https://opensource.org/licenses/Apache-2.0 Or https://opensource.org/licenses/MIT etc.", + "origin": "https://github.com/o3de/o3de-extras", + "license": "For terms please see the LICENSE*.TXT files at the root of this distribution.", "display_name": "OpenXRTest", - "summary": "A short description of OpenXRTest.", + "summary": "A sample project that uses OpenXR.", "canonical_tags": [ "Project" ], diff --git a/README.md b/README.md index 71427dca1..2ce3ed80b 100644 --- a/README.md +++ b/README.md @@ -1,11 +1,83 @@ -# O3DE-Extras - -Extras add-on repo for O3DE. +# o3de-extras +As the name implies, o3de-extras repo is for "Extra" O3DE objects that are considered "Canonical" to O3DE but not "Core" to the engine. + +## O3DE modularity +O3DE is highly modular engine and is essentially a collection of O3DE objects. +O3DE objects are things like projects and gems, discrete objects that can be hierarchical, meaning one object may be the parent or child of another object, some O3DE objects have no children or parents at all. +If an O3DE object has no parent, we say it is a "top level object". +O3DE objects can exist anywhere on your local filesystem, so we do have to tell O3DE where they are by registering all top level objects. +Child objects do not need to be registered as O3DE finds them automatically when the parent is registered. +The result of registration is an entry for each top level object in the `/.o3de/o3de_manifest.json`. +As a matter of organization, child objects are always under the root of the parent object. +For instance the engine itself is a top level object and a parent object. +The engine is the parent of many child objects, such as AutomatedTesting project which lives under its root. +AutomatedTesting project is the child of the engine object but also is the parent of still other O3DE objects under its root, and has a child gem. +Gems (which are reusable pieces of an o3de project, which other engines might call a plugin) can have other gems as children, and so on. +Sometimes it is better for an object to not be child, such as when its functionality may not always be needed, or is a community object. + +## Core, Canonical and Non-Canonical repos and objects +Canonical means officially supported, tested and part of an official O3DE release. +Non-Canonical means unofficial, untested and not part of an official O3DE release. +Core means it's in the o3de/o3de core engine repo. +Repos, including some o3de.org repos, may or may not be Canonical. +And it follows that any object in a Canonical repo is a Canonical object. +Canonical objects may not rely on any Non-Canonical objects. +Any object in a Non-Canonical repo is considered a Non-Canonical object. +Currently, the core engine (o3de/o3de) and the extras (o3de/o3de-extras) are Canonical repos, and therefore all the object contained within are Canonical. +Canonical repos/objects must meet a few O3DE requirements: + +1. They are owned by the O3DE.org/Linux Foundation. +2. They are held to the O3DE coding standard. +3. Their content is managed by a O3DE Special Interest Group (SIG). +That SIG controls that Canonical object and has passes judgement on what is and is not included by that object. +4. All additions, changes to existing Canonical objects must pass an automated review (AR) in which multiple maintainers code review and approve the change. +The AR system pulls all Canonical repos, registers all Canonical objects, enable all Canonical gems for the AutomatedTesting project, configures, builds and executes all tests. +Everything must pass before it can be accepted into a Canonical repo. +5. All Canonical repos are by definition part of an O3DE release and so must maintain at least 2 branches, a main branch and a development branch. +The main branch is the stable release which is tagged. +The development branch is the cutting edge and is branched for stabilization for a release. +Once stabilized, the stabilization branch is merged into main and tagged for the release. +All changes to stabilization changes are also merged back into development branch. + +## Core engine objects (i.e. the objects in o3de/o3de) have an additional requirement: +Anything included in the core must build and not rely on anything outside the core. +So with just the o3de/o3de core repo, the engine and AutomatedTesting project must build. +So if an object is needed or the engine will fail to build, then it is by definition a core object and MUST be in the o3de/o3de core engine repo. +What we don't want is to have too many core objects. +We want the core to be as small as possible, so that it can run on the widest range of devices possible. +So consideration of the object size and purpose/usefulness should go into the decision on whether the object belongs in the core, extras or another repo. +What objects are excepted into the core should be held to a higher bar than objects in the extras. +Some objects may not be needed to build the engine or AutomatedTesting project but may be considered so useful or "core" to the engine we decide to just include it in the core. +The objects in the core should represent core functionality and should be useful to nearly anyone using O3DE. + +## Core or Extras or somewhere else? +How do we know where to put a new object? +If an object's functionality is optional, this is a good indication it may not be suitable for the core and more likely should be in the extras or another repo. +If the object is large, such as a large project which can be many gigabytes in size, this definitely not in the core, most likely not in the extras, and should probably be in its own repo. +Extras should be the default place for new development. +New core objects should be a red flag and there should be debate and justification on why this new object is core. +We can always promote an extras object in to the core if we want, and we can always demote a core object into the extras. +Once an object has outlived its usefulness it should be demoted into another Non-Canonical deprecation repo. + +## New Canonical repos +When we add a new Canonical repo all SIG's must update their processes to include checking those repos for issues just as they do for the core engine repo. +So caution should be taken in how many repos we consider Canonical, as this increases load on the SIGs. + +## Testing +All Canonical repos like o3de/o3de-extras and o3de/o3de, use O3DE's automated review (AR) system to gate pull requests (PR's). +So o3de-extras objects are tested with the engine and follow the same coding standards and thus should be thought of as part of the engine. +When AR is performed on a PR to the core engine, o3de-extras development branch is also pulled, registered and gems enabled for the AutomatedTesting project by referencing them in the .automatedtesting.json. +Similarly, when AR is performed on a PR to the extras, the core engine development is pulled, registered and gems enabled for the AutomatedTesting project by referencing them in the .automatedtesting.json. +Everything must build and all tests must pass, with multiple maintainers approving code reviews in order to accept the PR. + +## Branches +Just like the core engine, the main branch is the stable release branch and is tagged for release, while the development branch is the cutting edge. +When working on the code make a branch of development, make your changes, create your PR, run and pass AR, merge into development. ## Contribute -For information about contributing to Open 3D Engine, visit [https://o3de.org/docs/contributing/](https://o3de.org/docs/contributing/). +For more information about contributing to O3DE, visit [https://o3de.org/docs/contributing/](https://o3de.org/docs/contributing/). -## Download and Install +## Download and Register o3de-extras ### Clone the repository @@ -13,44 +85,35 @@ For information about contributing to Open 3D Engine, visit [https://o3de.org/do git clone https://github.com/o3de/o3de-extras ``` -For more details on the steps above, refer to [Setting up O3DE from GitHub](https://o3de.org/docs/welcome-guide/setup/setup-from-github/) in the documentation. - -### Setting up new projects and building the engine - -1. From the O3DE repo folder, set up a new project using the `o3de create-project` command. - ``` - scripts\o3de.bat create-project --project-path - ``` -2. Register gems with this command: - ``` - scripts\o3de.bat register -gp /Gems/ - ``` - > To recursively register all gems in the path, use the `-agp` or `--all-gems-path` parameter - -3. Add these gems to your project with this command: - ``` - scripts\o3de.bat enable-gem -gn -pn - ``` - > To enable all gems in a path, use the `-agp` or `--all-gems-paths` parameter - -4. Configure a solution for your project. - ``` - cmake -B -S -G "Visual Studio 16" - ``` - - Example: - ``` - cmake -B C:\my-project\build\windows -S C:\my-project -G "Visual Studio 16" - ``` - -5. Build the project, Asset Processor, and Editor to binaries by running this command inside your project: - ``` - cmake --build --target .GameLauncher Editor --config profile -- /m - ``` - - > Note: Your project name used in the build target is the same as the directory name of your project. - -This will compile after some time and binaries will be available in the project build path you've specified, under `bin/profile`. +For more details on setting up the engine, refer to [Setting up O3DE from GitHub](https://o3de.org/docs/welcome-guide/setup/setup-from-github/) in the documentation. + +### Setting up o3de-extras + +Since the o3de-extras repo can be cloned anywhere on your local computer, we just need to tell O3DE where to find the extra objects in this repo by registering them. +From the O3DE repo folder, you can register some or all extra objects using the `o3de register` command. +Since these are all optional objects, we may not need or want all the objects. +If we want to register a particular object such as a single gem we would issue the following command: +``` +scripts\o3de.bat register --gem-path /Gems/ +``` +Or you may want to register all the Gems. +Since this repo follows the [standard O3DE compound repo format](https://github.com/o3de/o3de/wiki/O3DE-Standard-repo-formats) all the o3de-extras gems will be in the `/Gems` path. +We can therefore register all the gems in the extras gems path with one command: +``` +scripts\o3de.bat register --all-gems-path /Gems +``` +This can be repeated for any object type (if they exist): +``` +scripts\o3de.bat register --all-engines-path /Engines +scripts\o3de.bat register --all-projects-path /Projects +scripts\o3de.bat register --all-gems-path /Gems +scripts\o3de.bat register --all-templates-path /Templates +scripts\o3de.bat register --all-restricted-path /Restricted +``` +If we registered a gem, which is a piece of a project like a plugin, and we want to use that gem in our project we would only have to tell O3DE to enable that gem for our project by using the `o3de enable-gem` command: +``` +scripts\o3de.bat enable-gem --gem-name --project-name +``` For a complete tutorial on project configuration, see [Creating Projects Using the Command Line Interface](https://o3de.org/docs/welcome-guide/create/creating-projects-using-cli/) in the documentation. diff --git a/Templates/Multiplayer/Template/${NameLower}_asset_files.cmake b/Templates/Multiplayer/Template/${NameLower}_asset_files.cmake new file mode 100644 index 000000000..4dbfb2b1b --- /dev/null +++ b/Templates/Multiplayer/Template/${NameLower}_asset_files.cmake @@ -0,0 +1,13 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + Materials/UVs.azsl + Materials/UVs.materialtype + Materials/UVs.shader + Shaders/CommonVS.azsli +) diff --git a/Templates/Multiplayer/Template/BURT/BURT.motionset b/Templates/Multiplayer/Template/BURT/BURT.motionset new file mode 100644 index 000000000..eab908460 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/BURT.motionset @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b5d6f2719cedb96019f344c76e1910a4e732d2a2a6ef61274ce87cad9f2fc13 +size 32288 diff --git a/Templates/Multiplayer/Template/BURT/BURTActor.fbx b/Templates/Multiplayer/Template/BURT/BURTActor.fbx new file mode 100644 index 000000000..d3c5367e3 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/BURTActor.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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new file mode 100644 index 000000000..4f8522b22 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Motions/Turn_OnSpot_Crouch_90_Right.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f2adce5b33634373d03b9d6f8fcb29d5613538738cbb3cedf3c352cfb64c60c +size 709264 diff --git a/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Crouch_Left.fbx b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Crouch_Left.fbx new file mode 100644 index 000000000..7a16b207e --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Crouch_Left.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a75044b42b0d5f2ee898f29c87fd77581c798aaf10b00319ff6e0b47de0be96e +size 724176 diff --git a/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Crouch_Right.fbx b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Crouch_Right.fbx new file mode 100644 index 000000000..4aa6a6153 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Crouch_Right.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac9b0d6c8267c58cd6384b1bae6a91db14405823f86521e484c7f0d7899c68d7 +size 724176 diff --git a/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Run_Left.fbx b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Run_Left.fbx new file mode 100644 index 000000000..d40e351e6 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Run_Left.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31a9a39f1f1201f89e4ac5a69bc19205e379700693b6c1d193a79bfcce231d14 +size 718416 diff --git a/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Run_Right.fbx b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Run_Right.fbx new file mode 100644 index 000000000..a69686021 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Run_Right.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d660884184423a91438847b99ceca51d704739568a1c1f498ead110dfb1ce554 +size 718416 diff --git a/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Walk_Left.fbx b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Walk_Left.fbx new file mode 100644 index 000000000..6eac7de03 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Walk_Left.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fd166cbacef1bca655d75848de57d3d4e015518813e984a245c80b1196ef0ad +size 722352 diff --git a/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Walk_Left_Backwards.fbx b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Walk_Left_Backwards.fbx new file mode 100644 index 000000000..261f8ed38 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Walk_Left_Backwards.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77b75251f7be424ebc932ffe4a65110aa045842ced149c57758b8c9ab2fe2d53 +size 832384 diff --git a/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Walk_Right.fbx b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Walk_Right.fbx new file mode 100644 index 000000000..670a803f2 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Walk_Right.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8173701637d0722e10a81409c68a82cbd65a11a1830f6469c57ca4f10c4aaf4 +size 722480 diff --git a/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Walk_Right_Backwards.fbx b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Walk_Right_Backwards.fbx new file mode 100644 index 000000000..6f4a89593 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Motions/Turn_Tight_Walk_Right_Backwards.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6d9323fc69c71178b073e35b9836acefe293a651326cc7b7046979b90ac8235 +size 832432 diff --git a/Templates/Multiplayer/Template/BURT/Motions/Victory.fbx b/Templates/Multiplayer/Template/BURT/Motions/Victory.fbx new file mode 100644 index 000000000..9c940f665 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Motions/Victory.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a28d88065a5cd95a0029e54842e2c8ab815087a20cdc1feb2660cdbdbf159cde +size 777760 diff --git a/Templates/Multiplayer/Template/BURT/Textures/BURT_ddn.tif b/Templates/Multiplayer/Template/BURT/Textures/BURT_ddn.tif new file mode 100644 index 000000000..75aaea99c --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Textures/BURT_ddn.tif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91580c098c1653347a20f773a14369bbeb81c975198f7f1a7d91d7f08dd71388 +size 14254984 diff --git a/Templates/Multiplayer/Template/BURT/Textures/BURT_diff.tif b/Templates/Multiplayer/Template/BURT/Textures/BURT_diff.tif new file mode 100644 index 000000000..a8f5db9a9 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Textures/BURT_diff.tif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0457cbbbe1fe7e52fdb9af7ee2bc32df96a453fe248738b35ffe0b8087a28c5 +size 12615988 diff --git a/Templates/Multiplayer/Template/BURT/Textures/BURT_emis.tif b/Templates/Multiplayer/Template/BURT/Textures/BURT_emis.tif new file mode 100644 index 000000000..f5ee4b43b --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Textures/BURT_emis.tif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ba741103d039bddf72d4834c92a5e069285e31b8be2e7f4e8103f9c5c81694f +size 3167864 diff --git a/Templates/Multiplayer/Template/BURT/Textures/BURT_spec_02_spec.tif b/Templates/Multiplayer/Template/BURT/Textures/BURT_spec_02_spec.tif new file mode 100644 index 000000000..3334a5c39 --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/Textures/BURT_spec_02_spec.tif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80a2c56bfcb8c98bf5a72ec9fdb5fcc6eae28ba1c3c26efad5c8a36e6105f1d0 +size 3173936 diff --git a/Templates/Multiplayer/Template/BURT/burtactor.material b/Templates/Multiplayer/Template/BURT/burtactor.material new file mode 100644 index 000000000..7d7d85c4c --- /dev/null +++ b/Templates/Multiplayer/Template/BURT/burtactor.material @@ -0,0 +1,11 @@ +{ + "materialType": "Materials/Types/StandardPBR.materialtype", + "materialTypeVersion": 5, + "propertyValues": { + "baseColor.textureMap": "BURT/Textures/BURT_diff.tif", + "emissive.enable": true, + "emissive.textureMap": "BURT/Textures/BURT_emis.tif", + "normal.textureMap": "BURT/Textures/BURT_ddn.tif", + "specularF0.textureMap": "BURT/Textures/BURT_spec_02_spec.tif" + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/CMakeLists.txt b/Templates/Multiplayer/Template/CMakeLists.txt new file mode 100644 index 000000000..72aba24f8 --- /dev/null +++ b/Templates/Multiplayer/Template/CMakeLists.txt @@ -0,0 +1,31 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + + +if(NOT PROJECT_NAME) + cmake_minimum_required(VERSION 3.19) + include(cmake/CompilerSettings.cmake) + project(${Name} + LANGUAGES C CXX + VERSION 1.0.0.0 + ) + include(cmake/EngineFinder.cmake OPTIONAL) + find_package(o3de REQUIRED) + o3de_initialize() +else() + # Add the project_name to global LY_PROJECTS_TARGET_NAME property + file(READ "${CMAKE_CURRENT_LIST_DIR}/project.json" project_json) + + string(JSON project_target_name ERROR_VARIABLE json_error GET ${project_json} "project_name") + if(json_error) + message(FATAL_ERROR "Unable to read key 'project_name' from 'project.json'") + endif() + + set_property(GLOBAL APPEND PROPERTY LY_PROJECTS_TARGET_NAME ${project_target_name}) + + add_subdirectory(Gem) +endif() diff --git a/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_Linear_to_Auto.preset b/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_Linear_to_Auto.preset new file mode 100644 index 000000000..b0bea80f0 --- /dev/null +++ b/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_Linear_to_Auto.preset @@ -0,0 +1,18 @@ +{ + "Type": "JsonSerialization", + "Version": 1, + "ClassName": "MultiplatformPresetSettings", + "ClassData": { + "DefaultPreset": { + "UUID": "{9E5BBFB4-BDDA-4759-AB74-D047EE25A35D}", + "Name": "Test_Linear_to_Auto", + "SourceColor": "Linear", + "DestColor": "Auto", + "FileMasks": [ + "_linear-to-auto" + ], + "PixelFormat": "R8G8B8X8", + "DiscardAlpha": true + } + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_Linear_to_Linear.preset b/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_Linear_to_Linear.preset new file mode 100644 index 000000000..5517b7266 --- /dev/null +++ b/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_Linear_to_Linear.preset @@ -0,0 +1,18 @@ +{ + "Type": "JsonSerialization", + "Version": 1, + "ClassName": "MultiplatformPresetSettings", + "ClassData": { + "DefaultPreset": { + "UUID": "{31199710-5B61-4A30-99F0-18DF724EC308}", + "Name": "Test_Linear_to_Linear", + "SourceColor": "Linear", + "DestColor": "Linear", + "FileMasks": [ + "_linear-to-linear" + ], + "PixelFormat": "R8G8B8X8", + "DiscardAlpha": true + } + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_Linear_to_sRGB.preset b/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_Linear_to_sRGB.preset new file mode 100644 index 000000000..b36e7c9ad --- /dev/null +++ b/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_Linear_to_sRGB.preset @@ -0,0 +1,18 @@ +{ + "Type": "JsonSerialization", + "Version": 1, + "ClassName": "MultiplatformPresetSettings", + "ClassData": { + "DefaultPreset": { + "UUID": "{F0E6BE7F-376E-4F1B-9244-70E01C1CABD6}", + "Name": "Test_Linear_to_sRGB", + "SourceColor": "Linear", + "DestColor": "sRGB", + "FileMasks": [ + "_linear-to-srgb" + ], + "PixelFormat": "R8G8B8X8", + "DiscardAlpha": true + } + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_sRGB_to_Auto.preset b/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_sRGB_to_Auto.preset new file mode 100644 index 000000000..fe42982d9 --- /dev/null +++ b/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_sRGB_to_Auto.preset @@ -0,0 +1,18 @@ +{ + "Type": "JsonSerialization", + "Version": 1, + "ClassName": "MultiplatformPresetSettings", + "ClassData": { + "DefaultPreset": { + "UUID": "{EE397A40-4430-437F-B0EF-9EC8B6E35176}", + "Name": "Test_sRGB_to_Auto", + "SourceColor": "sRGB", + "DestColor": "Auto", + "FileMasks": [ + "_srgb-to-auto" + ], + "PixelFormat": "R8G8B8X8", + "DiscardAlpha": true + } + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_sRGB_to_Linear.preset b/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_sRGB_to_Linear.preset new file mode 100644 index 000000000..ab031f159 --- /dev/null +++ b/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_sRGB_to_Linear.preset @@ -0,0 +1,18 @@ +{ + "Type": "JsonSerialization", + "Version": 1, + "ClassName": "MultiplatformPresetSettings", + "ClassData": { + "DefaultPreset": { + "UUID": "{2865D7A5-B75D-4D9C-9591-47BD2FF93377}", + "Name": "Test_sRGB_to_Linear", + "SourceColor": "sRGB", + "DestColor": "Linear", + "FileMasks": [ + "_srgb-to-linear" + ], + "PixelFormat": "R8G8B8X8", + "DiscardAlpha": true + } + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_sRGB_to_sRGB.preset b/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_sRGB_to_sRGB.preset new file mode 100644 index 000000000..0c5fd0712 --- /dev/null +++ b/Templates/Multiplayer/Template/Config/AtomImageBuilder/Test_sRGB_to_sRGB.preset @@ -0,0 +1,18 @@ +{ + "Type": "JsonSerialization", + "Version": 1, + "ClassName": "MultiplatformPresetSettings", + "ClassData": { + "DefaultPreset": { + "UUID": "{9FBA54D5-EF6F-4728-AF92-B0176B8308C5}", + "Name": "Test_sRGB_to_sRGB", + "SourceColor": "sRGB", + "DestColor": "sRGB", + "FileMasks": [ + "_srgb-to-srgb" + ], + "PixelFormat": "R8G8B8X8", + "DiscardAlpha": true + } + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Config/shader_global_build_options.json b/Templates/Multiplayer/Template/Config/shader_global_build_options.json new file mode 100644 index 000000000..4caee50ef --- /dev/null +++ b/Templates/Multiplayer/Template/Config/shader_global_build_options.json @@ -0,0 +1,11 @@ +{ + "Type": "JsonSerialization", + "Version": 1, + "ClassName": "GlobalBuildOptions", + "ClassData": { + "ShaderCompilerArguments" : { + "DefaultMatrixOrder" : "Row", + "AzslcAdditionalFreeArguments" : "--strip-unused-srgs" + } + } +} diff --git a/Templates/Multiplayer/Template/Gem/CMakeLists.txt b/Templates/Multiplayer/Template/Gem/CMakeLists.txt new file mode 100644 index 000000000..8f713099e --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/CMakeLists.txt @@ -0,0 +1,12 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(gem_path ${CMAKE_CURRENT_LIST_DIR}) +set(gem_json ${gem_path}/gem.json) +o3de_restricted_path(${gem_json} gem_restricted_path gem_parent_relative_path) + +add_subdirectory(Code) diff --git a/Templates/Multiplayer/Template/Gem/Code/${NameLower}_autogen_files.cmake b/Templates/Multiplayer/Template/Gem/Code/${NameLower}_autogen_files.cmake new file mode 100644 index 000000000..bff0525c5 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/${NameLower}_autogen_files.cmake @@ -0,0 +1,22 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ${LY_ROOT_FOLDER}/Gems/Multiplayer/Code/Include/Multiplayer/AutoGen/AutoComponent_Common.jinja + ${LY_ROOT_FOLDER}/Gems/Multiplayer/Code/Include/Multiplayer/AutoGen/AutoComponent_Header.jinja + ${LY_ROOT_FOLDER}/Gems/Multiplayer/Code/Include/Multiplayer/AutoGen/AutoComponent_Source.jinja + ${LY_ROOT_FOLDER}/Gems/Multiplayer/Code/Include/Multiplayer/AutoGen/AutoComponentTypes_Header.jinja + ${LY_ROOT_FOLDER}/Gems/Multiplayer/Code/Include/Multiplayer/AutoGen/AutoComponentTypes_Source.jinja + Source/AutoGen/NetworkAiComponent.AutoComponent.xml + Source/AutoGen/NetworkAnimationComponent.AutoComponent.xml + Source/AutoGen/NetworkHealthComponent.AutoComponent.xml + Source/AutoGen/NetworkPlayerSpawnerComponent.AutoComponent.xml + Source/AutoGen/NetworkRandomComponent.AutoComponent.xml + Source/AutoGen/NetworkWeaponsComponent.AutoComponent.xml + Source/AutoGen/NetworkSimplePlayerCameraComponent.AutoComponent.xml + Source/AutoGen/NetworkPlayerMovementComponent.AutoComponent.xml +) diff --git a/Templates/Multiplayer/Template/Gem/Code/${NameLower}_files.cmake b/Templates/Multiplayer/Template/Gem/Code/${NameLower}_files.cmake new file mode 100644 index 000000000..a867126bd --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/${NameLower}_files.cmake @@ -0,0 +1,49 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + Include/NetworkPrefabSpawnerInterface.h + Source/Components/ExampleFilteredEntityComponent.h + Source/Components/ExampleFilteredEntityComponent.cpp + Source/Components/NetworkAiComponent.cpp + Source/Components/NetworkAiComponent.h + Source/Components/NetworkAnimationComponent.cpp + Source/Components/NetworkAnimationComponent.h + Source/Components/NetworkHealthComponent.cpp + Source/Components/NetworkHealthComponent.h + Source/Components/NetworkPlayerSpawnerComponent.cpp + Source/Components/NetworkPlayerSpawnerComponent.h + Source/Components/NetworkRandomComponent.cpp + Source/Components/NetworkRandomComponent.h + Source/Components/NetworkWeaponsComponent.cpp + Source/Components/NetworkWeaponsComponent.h + Source/Components/NetworkSimplePlayerCameraComponent.cpp + Source/Components/NetworkSimplePlayerCameraComponent.h + Source/Components/NetworkPrefabSpawnerComponent.cpp + Source/Components/NetworkPrefabSpawnerComponent.h + Source/Components/NetworkPlayerMovementComponent.cpp + Source/Components/NetworkPlayerMovementComponent.h + Source/Spawners/IPlayerSpawner.h + Source/Spawners/RoundRobinSpawner.h + Source/Spawners/RoundRobinSpawner.cpp + Source/Weapons/BaseWeapon.cpp + Source/Weapons/BaseWeapon.h + Source/Weapons/IWeapon.h + Source/Weapons/ProjectileWeapon.cpp + Source/Weapons/ProjectileWeapon.h + Source/Weapons/TraceWeapon.cpp + Source/Weapons/TraceWeapon.h + Source/Weapons/WeaponGathers.cpp + Source/Weapons/WeaponGathers.h + Source/Weapons/WeaponTypes.cpp + Source/Weapons/WeaponTypes.h + Source/Weapons/SceneQuery.cpp + Source/Weapons/SceneQuery.h + Source/${Name}SystemComponent.cpp + Source/${Name}SystemComponent.h + Source/${Name}Types.h +) diff --git a/Templates/Multiplayer/Template/Gem/Code/${NameLower}_shared_files.cmake b/Templates/Multiplayer/Template/Gem/Code/${NameLower}_shared_files.cmake new file mode 100644 index 000000000..5d47ad9a5 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/${NameLower}_shared_files.cmake @@ -0,0 +1,10 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + Source/${Name}Module.cpp +) diff --git a/Templates/Multiplayer/Template/Gem/Code/CMakeLists.txt b/Templates/Multiplayer/Template/Gem/Code/CMakeLists.txt new file mode 100644 index 000000000..27d2cf6b4 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/CMakeLists.txt @@ -0,0 +1,193 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +o3de_pal_dir(pal_dir ${CMAKE_CURRENT_LIST_DIR}/Platform/${PAL_PLATFORM_NAME} "${gem_restricted_path}" "${gem_path}" "${gem_parent_relative_path}") + +ly_add_target( + NAME ${Name}.Client.Static STATIC + NAMESPACE Gem + FILES_CMAKE + ${NameLower}_autogen_files.cmake + ${NameLower}_files.cmake + ${pal_dir}/${NameLower}_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Source + . + PUBLIC + Include + BUILD_DEPENDENCIES + PUBLIC + Gem::DebugDraw + Gem::LyShine + Gem::StartingPointInput + Gem::EMotionFXStaticLib + Gem::PhysX + Gem::Multiplayer + PRIVATE + Gem::LmbrCentral.Static + Gem::Multiplayer.Client.Static + Gem::PhysX.Static + Gem::DebugDraw.Static + Gem::ImGui.Static + Gem::LyShine.Static + Gem::GameState.Static + AUTOGEN_RULES + *.AutoComponent.xml,AutoComponent_Header.jinja,$path/$fileprefix.AutoComponent.h + *.AutoComponent.xml,AutoComponent_Source.jinja,$path/$fileprefix.AutoComponent.cpp + *.AutoComponent.xml,AutoComponentTypes_Header.jinja,$path/AutoComponentTypes.h + *.AutoComponent.xml,AutoComponentTypes_Source.jinja,$path/AutoComponentTypes.cpp +) + +ly_add_target( + NAME ${Name}.Server.Static STATIC + NAMESPACE Gem + FILES_CMAKE + ${NameLower}_autogen_files.cmake + ${NameLower}_files.cmake + ${pal_dir}/${NameLower}_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Source + . + PUBLIC + Include + BUILD_DEPENDENCIES + PUBLIC + Gem::StartingPointInput + Gem::EMotionFXStaticLib + Gem::PhysX + Gem::Multiplayer + PRIVATE + Gem::LmbrCentral.Static + Gem::Multiplayer.Server.Static + Gem::PhysX.Static + Gem::GameState.Static + AUTOGEN_RULES + *.AutoComponent.xml,AutoComponent_Header.jinja,$path/$fileprefix.AutoComponent.h + *.AutoComponent.xml,AutoComponent_Source.jinja,$path/$fileprefix.AutoComponent.cpp + *.AutoComponent.xml,AutoComponentTypes_Header.jinja,$path/AutoComponentTypes.h + *.AutoComponent.xml,AutoComponentTypes_Source.jinja,$path/AutoComponentTypes.cpp +) + +ly_add_target( + NAME ${Name}.Unified.Static STATIC + NAMESPACE Gem + FILES_CMAKE + ${NameLower}_autogen_files.cmake + ${NameLower}_files.cmake + ${pal_dir}/${NameLower}_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Source + . + PUBLIC + Include + BUILD_DEPENDENCIES + PUBLIC + Gem::DebugDraw + Gem::LyShine + Gem::StartingPointInput + Gem::EMotionFXStaticLib + Gem::PhysX + Gem::Multiplayer + PRIVATE + Gem::LmbrCentral.Static + Gem::Multiplayer.Unified.Static + Gem::PhysX.Static + Gem::DebugDraw.Static + Gem::ImGui.Static + Gem::LyShine.Static + Gem::GameState.Static + AUTOGEN_RULES + *.AutoComponent.xml,AutoComponent_Header.jinja,$path/$fileprefix.AutoComponent.h + *.AutoComponent.xml,AutoComponent_Source.jinja,$path/$fileprefix.AutoComponent.cpp + *.AutoComponent.xml,AutoComponentTypes_Header.jinja,$path/AutoComponentTypes.h + *.AutoComponent.xml,AutoComponentTypes_Source.jinja,$path/AutoComponentTypes.cpp +) + +ly_add_target( + NAME ${Name}.Client ${PAL_TRAIT_MONOLITHIC_DRIVEN_MODULE_TYPE} + NAMESPACE Gem + FILES_CMAKE + ${NameLower}_shared_files.cmake + ../../${NameLower}_asset_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Source + . + PUBLIC + Include + BUILD_DEPENDENCIES + PRIVATE + Gem::${Name}.Client.Static + Gem::Atom_AtomBridge.Static +) + +ly_add_target( + NAME ${Name}.Server ${PAL_TRAIT_MONOLITHIC_DRIVEN_MODULE_TYPE} + NAMESPACE Gem + FILES_CMAKE + ${NameLower}_shared_files.cmake + ../../${NameLower}_asset_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Source + . + PUBLIC + Include + BUILD_DEPENDENCIES + PRIVATE + Gem::${Name}.Server.Static + Gem::Atom_AtomBridge.Static +) + +ly_add_target( + NAME ${Name} ${PAL_TRAIT_MONOLITHIC_DRIVEN_MODULE_TYPE} + NAMESPACE Gem + FILES_CMAKE + ${NameLower}_shared_files.cmake + ../../${NameLower}_asset_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Source + . + PUBLIC + Include + BUILD_DEPENDENCIES + PRIVATE + Gem::${Name}.Unified.Static + Gem::Atom_AtomBridge.Static +) + +# if enabled, ${Name} is used by all kinds of applications +ly_create_alias(NAME ${Name}.Builders NAMESPACE Gem TARGETS Gem::${Name}) +ly_create_alias(NAME ${Name}.Tools NAMESPACE Gem TARGETS Gem::${Name}) +ly_create_alias(NAME ${Name}.Clients NAMESPACE Gem TARGETS Gem::${Name}.Client) +ly_create_alias(NAME ${Name}.Servers NAMESPACE Gem TARGETS Gem::${Name}.Server) +ly_create_alias(NAME ${Name}.Unified NAMESPACE Gem TARGETS Gem::${Name}) + +################################################################################ +# Gem dependencies +################################################################################ + +# Maps the ${Name} Project with the specified list of enabled gems +ly_enable_gems(PROJECT_NAME ${Name} GEM_FILE enabled_gems.cmake) + +# If we build a server, then add the project name to the list of server launcher projects +if(PAL_TRAIT_BUILD_SERVER_SUPPORTED) + set_property(GLOBAL APPEND PROPERTY LY_LAUNCHER_SERVER_PROJECTS ${Name}) +endif() + +# If we build a server, then add the project name to the list of server launcher projects +if(PAL_TRAIT_BUILD_UNIFIED_SUPPORTED) + set_property(GLOBAL APPEND PROPERTY LY_LAUNCHER_UNIFIED_PROJECTS ${Name}) +endif() + +set_property(TARGET ${Name} APPEND PROPERTY GAMELAUNCHER_ADDITIONAL_VS_DEBUGGER_COMMAND_ARGUMENTS "--console-command-file=\"launch_client.cfg\"") +set_property(TARGET ${Name} APPEND PROPERTY SERVERLAUNCHER_ADDITIONAL_VS_DEBUGGER_COMMAND_ARGUMENTS "--console-command-file=\"launch_server.cfg\"") +set_property(TARGET ${Name} APPEND PROPERTY UNIFIEDLAUNCHER_ADDITIONAL_VS_DEBUGGER_COMMAND_ARGUMENTS "--console-command-file=\"launch_server.cfg\"") \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Gem/Code/Include/NetworkPrefabSpawnerInterface.h b/Templates/Multiplayer/Template/Gem/Code/Include/NetworkPrefabSpawnerInterface.h new file mode 100644 index 000000000..06b92df36 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Include/NetworkPrefabSpawnerInterface.h @@ -0,0 +1,66 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +namespace ${SanitizedCppName} +{ + using PrefabSpawnCallbackBeforeActivation = AZStd::function, + AzFramework::SpawnableEntityContainerView)>; + + using PrefabSpawnCallback = AZStd::function, + AzFramework::SpawnableConstEntityContainerView)>; + + struct PrefabCallbacks + { + PrefabSpawnCallbackBeforeActivation m_beforeActivateCallback; + PrefabSpawnCallback m_onActivateCallback; + }; + + class NetworkPrefabSpawnerRequests + { + public: + AZ_RTTI(NetworkPrefabSpawnerRequests, "{82e5cfb5-6a1a-4bd1-b48d-cd817474d611}"); + virtual ~NetworkPrefabSpawnerRequests() = default; + + /** + * \brief Spawn a prefab given its asset path at a specified transform. + * \param worldTm Where to spawn the instance. + * \param assetPath Path to .spawnable asset to spawn from. + * \param callbacks Optional structure for pre-activate and post-activate callbacks. + */ + virtual void SpawnPrefab(const AZ::Transform& worldTm, const char* assetPath, PrefabCallbacks callbacks) = 0; + + /** + * \brief Spawn a prefab from spawnable asset at a specified transform. + * \param worldTm Where to spawn the instance. + * \param asset .spawnable asset to spawn from. + * \param callbacks Optional structure for pre-activate and post-activate callbacks. + */ + virtual void SpawnPrefabAsset(const AZ::Transform& worldTm, const AZ::Data::Asset& asset, PrefabCallbacks callbacks) = 0; + + /** + * \brief Spawn a prefab instance from spawnable asset assigned in the spawner component. See @NetworkPrefabSpawnerComponent. + * \param worldTm Where to spawn the instance. + * \param callbacks Optional structure for pre-activate and post-activate callbacks. + */ + virtual void SpawnDefaultPrefab(const AZ::Transform& worldTm, PrefabCallbacks callbacks) = 0; + }; + + class NetworkPrefabSpawnerTraits + : public AZ::ComponentBus + { + }; + + using NetworkPrefabSpawnerRequestBus = AZ::EBus; + using NetworkPrefabSpawnerInterface = AZ::Interface; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Platform/Android/${NameLower}_android_files.cmake b/Templates/Multiplayer/Template/Gem/Code/Platform/Android/${NameLower}_android_files.cmake new file mode 100644 index 000000000..ea5912045 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Platform/Android/${NameLower}_android_files.cmake @@ -0,0 +1,9 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES +) diff --git a/Templates/Multiplayer/Template/Gem/Code/Platform/Linux/${NameLower}_linux_files.cmake b/Templates/Multiplayer/Template/Gem/Code/Platform/Linux/${NameLower}_linux_files.cmake new file mode 100644 index 000000000..ea5912045 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Platform/Linux/${NameLower}_linux_files.cmake @@ -0,0 +1,9 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES +) diff --git a/Templates/Multiplayer/Template/Gem/Code/Platform/Mac/${NameLower}_mac_files.cmake b/Templates/Multiplayer/Template/Gem/Code/Platform/Mac/${NameLower}_mac_files.cmake new file mode 100644 index 000000000..b4e92ff6f --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Platform/Mac/${NameLower}_mac_files.cmake @@ -0,0 +1,10 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ../../../Resources/MacLauncher/Info.plist +) diff --git a/Templates/Multiplayer/Template/Gem/Code/Platform/Windows/${NameLower}_windows_files.cmake b/Templates/Multiplayer/Template/Gem/Code/Platform/Windows/${NameLower}_windows_files.cmake new file mode 100644 index 000000000..ea5912045 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Platform/Windows/${NameLower}_windows_files.cmake @@ -0,0 +1,9 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES +) diff --git a/Templates/Multiplayer/Template/Gem/Code/Platform/iOS/${NameLower}_ios_files.cmake b/Templates/Multiplayer/Template/Gem/Code/Platform/iOS/${NameLower}_ios_files.cmake new file mode 100644 index 000000000..d43675623 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Platform/iOS/${NameLower}_ios_files.cmake @@ -0,0 +1,10 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(FILES + ../../../Resources/IOSLauncher/Info.plist +) diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/${Name}Module.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/${Name}Module.cpp new file mode 100644 index 000000000..e6b5e973b --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/${Name}Module.cpp @@ -0,0 +1,57 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include + +#include "${SanitizedCppName}SystemComponent.h" + +namespace ${SanitizedCppName} +{ + class ${SanitizedCppName}Module + : public AZ::Module + { + public: + AZ_RTTI(${SanitizedCppName}Module, "${ModuleClassId}", AZ::Module); + AZ_CLASS_ALLOCATOR(${SanitizedCppName}Module, AZ::SystemAllocator); + + ${SanitizedCppName}Module() + : AZ::Module() + { + // Push results of [MyComponent]::CreateDescriptor() into m_descriptors here. + m_descriptors.insert(m_descriptors.end(), { + ${SanitizedCppName}SystemComponent::CreateDescriptor(), + ExampleFilteredEntityComponent::CreateDescriptor(), + NetworkPrefabSpawnerComponent::CreateDescriptor(), + }); + + CreateComponentDescriptors(m_descriptors); + } + + /** + * Add required SystemComponents to the SystemEntity. + */ + AZ::ComponentTypeList GetRequiredSystemComponents() const override + { + return AZ::ComponentTypeList{ + azrtti_typeid<${SanitizedCppName}SystemComponent>(), + }; + } + }; +} + +// DO NOT MODIFY THIS LINE UNLESS YOU RENAME THE GEM +// The first parameter should be GemName_GemIdLower +// The second should be the fully qualified name of the class above +#if defined(AZ_MONOLITHIC_BUILD) +AZ_DECLARE_MODULE_CLASS(Gem_${SanitizedCppName}_Client, ${SanitizedCppName}::${SanitizedCppName}Module); +AZ_DECLARE_MODULE_CLASS(Gem_${SanitizedCppName}_Server, ${SanitizedCppName}::${SanitizedCppName}Module); +#endif +AZ_DECLARE_MODULE_CLASS(Gem_${SanitizedCppName}, ${SanitizedCppName}::${SanitizedCppName}Module) diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/${Name}SystemComponent.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/${Name}SystemComponent.cpp new file mode 100644 index 000000000..2b6f4ee23 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/${Name}SystemComponent.cpp @@ -0,0 +1,144 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "${SanitizedCppName}SystemComponent.h" + +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace ${SanitizedCppName} +{ + using namespace AzNetworking; + + void ${SanitizedCppName}SystemComponent::Reflect(AZ::ReflectContext* context) + { + ReflectWeaponEnums(context); + ClientEffect::Reflect(context); + GatherParams::Reflect(context); + HitEffect::Reflect(context); + WeaponParams::Reflect(context); + + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class<${SanitizedCppName}SystemComponent, AZ::Component>() + ->Version(0) + ; + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class<${SanitizedCppName}SystemComponent>("${SanitizedCppName}", "[Description of functionality provided by this System Component]") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC("System")) + ->Attribute(AZ::Edit::Attributes::AutoExpand, true) + ; + } + } + } + + void ${SanitizedCppName}SystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC_CE("${SanitizedCppName}Service")); + } + + void ${SanitizedCppName}SystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + incompatible.push_back(AZ_CRC_CE("${SanitizedCppName}Service")); + } + + void ${SanitizedCppName}SystemComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("NetworkingService")); + required.push_back(AZ_CRC_CE("MultiplayerService")); + } + + void ${SanitizedCppName}SystemComponent::GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent) + { + AZ_UNUSED(dependent); + } + + void ${SanitizedCppName}SystemComponent::Init() + { + ; + } + + void ${SanitizedCppName}SystemComponent::Activate() + { + AZ::TickBus::Handler::BusConnect(); + + //! Register our gems multiplayer components to assign NetComponentIds + RegisterMultiplayerComponents(); + + AZ::Interface::Register(this); + m_playerSpawner = AZStd::make_unique(); + AZ::Interface<${SanitizedCppName}::IPlayerSpawner>::Register(m_playerSpawner.get()); + } + + void ${SanitizedCppName}SystemComponent::Deactivate() + { + AZ::Interface<${SanitizedCppName}::IPlayerSpawner>::Unregister(m_playerSpawner.get()); + AZ::Interface::Unregister(this); + AZ::TickBus::Handler::BusDisconnect(); + } + + void ${SanitizedCppName}SystemComponent::OnTick([[maybe_unused]] float deltaTime, [[maybe_unused]] AZ::ScriptTimePoint time) + { + ; + } + + int ${SanitizedCppName}SystemComponent::GetTickOrder() + { + // Tick immediately after the multiplayer system component + return AZ::TICK_PLACEMENT + 2; + } + + Multiplayer::NetworkEntityHandle ${SanitizedCppName}SystemComponent::OnPlayerJoin( + [[maybe_unused]] uint64_t userId, [[maybe_unused]] const Multiplayer::MultiplayerAgentDatum& agentDatum) + { + AZStd::pair entityParams = AZ::Interface::Get()->GetNextPlayerSpawn(); + + Multiplayer::INetworkEntityManager::EntityList entityList = + AZ::Interface::Get()->GetNetworkEntityManager()->CreateEntitiesImmediate( + entityParams.first, Multiplayer::NetEntityRole::Authority, entityParams.second, Multiplayer::AutoActivate::DoNotActivate); + + for (Multiplayer::NetworkEntityHandle subEntity : entityList) + { + subEntity.Activate(); + } + + Multiplayer::NetworkEntityHandle controlledEntity; + if (!entityList.empty()) + { + controlledEntity = entityList[0]; + } + else + { + AZLOG_WARN("Attempt to spawn prefab %s failed. Check that prefab is network enabled.", + entityParams.first.m_prefabName.GetCStr()); + } + + return controlledEntity; + } + + void ${SanitizedCppName}SystemComponent::OnPlayerLeave( + Multiplayer::ConstNetworkEntityHandle entityHandle, [[maybe_unused]] const Multiplayer::ReplicationSet& replicationSet, [[maybe_unused]] AzNetworking::DisconnectReason reason) + { + AZ::Interface::Get()->GetNetworkEntityManager()->MarkForRemoval(entityHandle); + } +} + diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/${Name}SystemComponent.h b/Templates/Multiplayer/Template/Gem/Code/Source/${Name}SystemComponent.h new file mode 100644 index 000000000..ce90a0605 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/${Name}SystemComponent.h @@ -0,0 +1,69 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +#include +#include + +namespace AzFramework +{ + struct PlayerConnectionConfig; +} + +namespace Multiplayer +{ + struct EntityReplicationData; + using ReplicationSet = AZStd::map; + struct MultiplayerAgentDatum; +} + +namespace ${SanitizedCppName} +{ + class ${SanitizedCppName}SystemComponent + : public AZ::Component + , public AZ::TickBus::Handler + , public Multiplayer::IMultiplayerSpawner + { + public: + AZ_COMPONENT(${SanitizedCppName}SystemComponent, "${SysCompClassId}"); + + static void Reflect(AZ::ReflectContext* context); + + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent); + protected: + //////////////////////////////////////////////////////////////////////// + // AZ::Component interface implementation + void Init() override; + void Activate() override; + void Deactivate() override; + //////////////////////////////////////////////////////////////////////// + + //////////////////////////////////////////////////////////////////////// + // AZ::TickBus::Handler overrides + void OnTick(float deltaTime, AZ::ScriptTimePoint time) override; + int GetTickOrder() override; + //////////////////////////////////////////////////////////////////////// + + //////////////////////////////////////////////////////////////////////// + // IMultiplayerSpawner overrides + Multiplayer::NetworkEntityHandle OnPlayerJoin(uint64_t userId, const Multiplayer::MultiplayerAgentDatum& agentDatum) override; + void OnPlayerLeave( + Multiplayer::ConstNetworkEntityHandle entityHandle, + const Multiplayer::ReplicationSet& replicationSet, + AzNetworking::DisconnectReason reason) override; + //////////////////////////////////////////////////////////////////////// + + AZStd::unique_ptr<${SanitizedCppName}::IPlayerSpawner> m_playerSpawner; + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/${Name}Types.h b/Templates/Multiplayer/Template/Gem/Code/Source/${Name}Types.h new file mode 100644 index 000000000..2be2ff87a --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/${Name}Types.h @@ -0,0 +1,51 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +namespace ${SanitizedCppName} +{ + using StickAxis = AzNetworking::QuantizedValues<1, 1, -1, 1>; + using MouseAxis = AzNetworking::QuantizedValues<1, 2, -1, 1>; + + //! Various character animation states. + enum class CharacterAnimState + { + Idle, + Sprinting, + Crouching, + Jumping, + Falling, + Landing, + Climbing, + Aiming, + Shooting, + Hit, + Dying, + MAX + }; + using CharacterAnimStateBitset = AzNetworking::FixedSizeBitset(CharacterAnimState::MAX)>; + + enum class Action + { + Default, + Strafing, + Sprinting, + Jumping, + Crouching, + COUNT = Crouching + 1 + }; +} + +namespace AZ +{ + AZ_TYPE_INFO_SPECIALIZE(${SanitizedCppName}::CharacterAnimState, "{2DC36B4D-3B14-45A8-911A-60F8732F6A88}"); + AZ_TYPE_INFO_SPECIALIZE(${SanitizedCppName}::Action, "{1BFDEBD3-ED36-465D-BFA0-9160CFB24F37}"); +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/AnimatedHitVolumesComponent.AutoComponent.xml b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/AnimatedHitVolumesComponent.AutoComponent.xml new file mode 100644 index 000000000..84a37867b --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/AnimatedHitVolumesComponent.AutoComponent.xml @@ -0,0 +1,13 @@ + + + + + + diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/MultiplayerAutoComponentSchema.xsd b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/MultiplayerAutoComponentSchema.xsd new file mode 100644 index 000000000..7b06fb519 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/MultiplayerAutoComponentSchema.xsd @@ -0,0 +1,173 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkAiComponent.AutoComponent.xml b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkAiComponent.AutoComponent.xml new file mode 100644 index 000000000..ab484bc59 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkAiComponent.AutoComponent.xml @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkAnimationComponent.AutoComponent.xml b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkAnimationComponent.AutoComponent.xml new file mode 100644 index 000000000..a86702dfd --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkAnimationComponent.AutoComponent.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkHealthComponent.AutoComponent.xml b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkHealthComponent.AutoComponent.xml new file mode 100644 index 000000000..cafb5f88b --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkHealthComponent.AutoComponent.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkPlayerMovementComponent.AutoComponent.xml b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkPlayerMovementComponent.AutoComponent.xml new file mode 100644 index 000000000..ce6c6832b --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkPlayerMovementComponent.AutoComponent.xml @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkPlayerSpawnerComponent.AutoComponent.xml b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkPlayerSpawnerComponent.AutoComponent.xml new file mode 100644 index 000000000..6b84667e5 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkPlayerSpawnerComponent.AutoComponent.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkRandomComponent.AutoComponent.xml b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkRandomComponent.AutoComponent.xml new file mode 100644 index 000000000..ae55d6c5c --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkRandomComponent.AutoComponent.xml @@ -0,0 +1,14 @@ + + + + + + + diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkSimplePlayerCameraComponent.AutoComponent.xml b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkSimplePlayerCameraComponent.AutoComponent.xml new file mode 100644 index 000000000..146e902bb --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkSimplePlayerCameraComponent.AutoComponent.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkWeaponsComponent.AutoComponent.xml b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkWeaponsComponent.AutoComponent.xml new file mode 100644 index 000000000..ebbf324f7 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/AutoGen/NetworkWeaponsComponent.AutoComponent.xml @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/ExampleFilteredEntityComponent.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Components/ExampleFilteredEntityComponent.cpp new file mode 100644 index 000000000..cad7c197e --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/ExampleFilteredEntityComponent.cpp @@ -0,0 +1,75 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include + +AZ_CVAR(bool, mps_EnableFilteringEntities, true, nullptr, AZ::ConsoleFunctorFlags::Null, "If true, enables the example of filtering entities"); + +namespace ${SanitizedCppName} +{ + void ExampleFilteredEntityComponent::Reflect(AZ::ReflectContext* context) + { + AZ::SerializeContext* serializeContext = azrtti_cast(context); + if (serializeContext) + { + serializeContext->Class() + ->Field( "Enabled", &ExampleFilteredEntityComponent::m_enabled ) + ->Field( "Filter Names for Even Connections", &ExampleFilteredEntityComponent::m_filterNamesForEvenConnectionIds ) + ->Field( "Filter Names for Odd Connections", &ExampleFilteredEntityComponent::m_filterNamesForOddConnectionIds ) + ->Version(1); + + if (AZ::EditContext* editContext = serializeContext->GetEditContext()) + { + using namespace AZ::Edit; + editContext->Class("ExampleFilteredEntityComponent", "An example of filtering entities out in network replication") + ->ClassElement(ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "${SanitizedCppName}") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Level")) + ->DataElement(nullptr, &ExampleFilteredEntityComponent::m_enabled, "Enabled", "enabled if checked") + ->DataElement(nullptr, &ExampleFilteredEntityComponent::m_filterNamesForEvenConnectionIds, "Filter for Even", + "if an entity starts with this prefix, don't send them to even connections") + ->DataElement(nullptr, &ExampleFilteredEntityComponent::m_filterNamesForOddConnectionIds, "Filter for Odd", + "if an entity starts with this prefix, don't send them to odd connections") + ; + } + } + } + + void ExampleFilteredEntityComponent::Activate() + { + AZ::Interface::Register(this); + } + + void ExampleFilteredEntityComponent::Deactivate() + { + AZ::Interface::Unregister(this); + } + + bool ExampleFilteredEntityComponent::IsEntityFiltered( + [[maybe_unused]] AZ::Entity* entity, + [[maybe_unused]] Multiplayer::ConstNetworkEntityHandle controllerEntity, + [[maybe_unused]] AzNetworking::ConnectionId connectionId) + { + if (m_enabled && mps_EnableFilteringEntities) + { + // Note: @IsEntityFiltered is a hot code path, so do your best to optimize this method. + // This example just uses entity names for filtering, for the sake of simplicity. + // In practice, one might implement this lookup using a specialized structure such as AZStd::map, etc. + + const bool evenConnectionId = static_cast(connectionId) % 2 == 0; + + if (entity->GetName().starts_with( evenConnectionId ? m_filterNamesForEvenConnectionIds : m_filterNamesForOddConnectionIds )) + { + return true; + } + } + + return false; + } +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/ExampleFilteredEntityComponent.h b/Templates/Multiplayer/Template/Gem/Code/Source/Components/ExampleFilteredEntityComponent.h new file mode 100644 index 000000000..9dca6d9fd --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/ExampleFilteredEntityComponent.h @@ -0,0 +1,43 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +namespace ${SanitizedCppName} +{ + //! @class ExampleFilteredEntityComponent + //! @brief An example of using IFilterEntityManager to filter entities to clients. + class ExampleFilteredEntityComponent final + : public AZ::Component + , public Multiplayer::IFilterEntityManager + { + public: + AZ_COMPONENT(${SanitizedCppName}::ExampleFilteredEntityComponent, "{7BF3BF1D-383A-40E7-BCF2-1ED5B2D2A43C}"); + + static void Reflect(AZ::ReflectContext* context); + + //! AZ::Component overrides. + //! @{ + void Activate() override; + void Deactivate() override; + //! }@ + + //! IFilterEntityManager overrides. + //! @{ + bool IsEntityFiltered(AZ::Entity* entity, Multiplayer::ConstNetworkEntityHandle controllerEntity, AzNetworking::ConnectionId connectionId) override; + //! }@ + + private: + bool m_enabled = true; + + AZStd::string m_filterNamesForEvenConnectionIds{ "Filter Even" }; + AZStd::string m_filterNamesForOddConnectionIds{ "Filter Odd" }; + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkAiComponent.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkAiComponent.cpp new file mode 100644 index 000000000..d8a7cb492 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkAiComponent.cpp @@ -0,0 +1,126 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ${SanitizedCppName} +{ + constexpr static float SecondsToMs = 1000.f; + + NetworkAiComponentController::NetworkAiComponentController(NetworkAiComponent& parent) + : NetworkAiComponentControllerBase(parent) + { + } + +#if AZ_TRAIT_SERVER + void NetworkAiComponentController::TickMovement(NetworkPlayerMovementComponentController& movementController, float deltaTime) + { + // TODO: Execute this tick only if this component is owned by this endpoint (currently ticks on server only) + float deltaTimeMs = deltaTime * SecondsToMs; + ModifyRemainingTimeMs() -= deltaTimeMs; + + if (GetRemainingTimeMs() <= 0) + { + // Determine a new directive after 500 to 9500 ms + SetRemainingTimeMs(m_lcg.GetRandomFloat() * (GetActionIntervalMaxMs() - GetActionIntervalMinMs()) + GetActionIntervalMinMs()); + SetTurnRate(1.f / GetRemainingTimeMs()); + + // Randomize new target yaw and pitch and compute the delta from the current yaw and pitch respectively + SetTargetYawDelta(-movementController.m_viewYaw + (m_lcg.GetRandomFloat() * 2.f - 1.f)); + SetTargetPitchDelta(-movementController.m_viewPitch + (m_lcg.GetRandomFloat() - 0.5f)); + + // Randomize the action and strafe direction (used only if we decide to strafe) + SetAction(static_cast(m_lcg.GetRandom() % static_cast(Action::COUNT))); + SetStrafingRight(static_cast(m_lcg.GetRandom() % 2)); + } + + // Translate desired motion into inputs + + // Interpolate the current view yaw and pitch values towards the desired values + movementController.m_viewYaw += GetTurnRate() * deltaTimeMs * GetTargetYawDelta(); + movementController.m_viewPitch += GetTurnRate() * deltaTimeMs * GetTargetPitchDelta(); + + // Reset keyboard movement inputs decided on the previous frame + movementController.m_forwardDown = false; + movementController.m_backwardDown = false; + movementController.m_leftDown = false; + movementController.m_rightDown = false; + movementController.m_sprinting = false; + movementController.m_jumping = false; + movementController.m_crouching = false; + + switch (GetAction()) + { + case Action::Default: + movementController.m_forwardDown = true; + break; + case Action::Sprinting: + movementController.m_forwardDown = true; + movementController.m_sprinting = true; + break; + case Action::Jumping: + movementController.m_forwardDown = true; + movementController.m_jumping = true; + break; + case Action::Crouching: + movementController.m_forwardDown = true; + movementController.m_crouching = true; + break; + case Action::Strafing: + if (GetStrafingRight()) + { + movementController.m_rightDown = true; + } + else + { + movementController.m_leftDown = true; + } + break; + default: + break; + } + } + + void NetworkAiComponentController::TickWeapons(NetworkWeaponsComponentController& weaponsController, float deltaTime) + { + // TODO: Execute this tick only if this component is owned by this endpoint (currently ticks on server only) + ModifyTimeToNextShot() -= deltaTime * SecondsToMs; + if (GetTimeToNextShot() <= 0) + { + if (GetShotFired()) + { + // Fire weapon between 100 and 10000 ms from now + SetTimeToNextShot(m_lcg.GetRandomFloat() * (GetFireIntervalMaxMs() - GetFireIntervalMinMs()) + GetFireIntervalMinMs()); + SetShotFired(false); + weaponsController.m_weaponFiring = false; + } + else + { + weaponsController.m_weaponFiring = true; + SetShotFired(true); + } + } + } + + void NetworkAiComponentController::ConfigureAi( + float fireIntervalMinMs, float fireIntervalMaxMs, float actionIntervalMinMs, float actionIntervalMaxMs, uint64_t seed) + { + SetFireIntervalMinMs(fireIntervalMinMs); + SetFireIntervalMaxMs(fireIntervalMaxMs); + SetActionIntervalMinMs(actionIntervalMinMs); + SetActionIntervalMaxMs(actionIntervalMaxMs); + m_lcg.SetSeed(seed); + } +#endif +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkAiComponent.h b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkAiComponent.h new file mode 100644 index 000000000..70d5d0641 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkAiComponent.h @@ -0,0 +1,46 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include + +#include + +namespace ${SanitizedCppName} +{ + class NetworkWeaponsComponentController; + class NetworkPlayerMovementComponentController; + + // The NetworkAiComponent, when active, can execute behaviors and produce synthetic inputs to drive the + // NetworkPlayerMovementComponentController and NetworkWeaponsComponentController. + class NetworkAiComponentController + : public NetworkAiComponentControllerBase + { + public: + NetworkAiComponentController(NetworkAiComponent& parent); + + void OnActivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) override {}; + void OnDeactivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) override {}; + +#if AZ_TRAIT_SERVER + void TickMovement(NetworkPlayerMovementComponentController& movementController, float deltaTime); + void TickWeapons(NetworkWeaponsComponentController& weaponsController, float deltaTime); +#endif + + private: + friend class NetworkStressTestComponentController; + +#if AZ_TRAIT_SERVER + void ConfigureAi( + float fireIntervalMinMs, float fireIntervalMaxMs, float actionIntervalMinMs, float actionIntervalMaxMs, uint64_t seed); + + // TODO: Technically this guy should also be authority to autonomous so we don't roll different values after a migration.. + AZ::SimpleLcgRandom m_lcg; +#endif + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkAnimationComponent.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkAnimationComponent.cpp new file mode 100644 index 000000000..291a0a4db --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkAnimationComponent.cpp @@ -0,0 +1,205 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ${SanitizedCppName} +{ + void NetworkAnimationComponent::NetworkAnimationComponent::Reflect(AZ::ReflectContext* context) + { + AZ::SerializeContext* serializeContext = azrtti_cast(context); + if (serializeContext) + { + serializeContext->Class() + ->Version(1); + } + NetworkAnimationComponentBase::Reflect(context); + } + + NetworkAnimationComponent::NetworkAnimationComponent() + : m_preRenderEventHandler([this](float deltaTime) {OnPreRender(deltaTime); }) + { + ; + } + + void NetworkAnimationComponent::OnInit() + { + ; + } + + void NetworkAnimationComponent::OnActivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + m_actorRequests = EMotionFX::Integration::ActorComponentRequestBus::FindFirstHandler(GetEntityId()); + m_networkRequests = EMotionFX::AnimGraphComponentNetworkRequestBus::FindFirstHandler(GetEntityId()); + m_animationGraph = EMotionFX::Integration::AnimGraphComponentRequestBus::FindFirstHandler(GetEntityId()); + + EMotionFX::Integration::ActorComponentNotificationBus::Handler::BusConnect(GetEntityId()); + EMotionFX::Integration::AnimGraphComponentNotificationBus::Handler::BusConnect(GetEntityId()); + + GetNetBindComponent()->AddEntityPreRenderEventHandler(m_preRenderEventHandler); + } + + void NetworkAnimationComponent::OnDeactivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + EMotionFX::Integration::ActorComponentNotificationBus::Handler::BusDisconnect(); + } + + int32_t NetworkAnimationComponent::GetBoneIdByName(const char* boneName) const + { + if (m_actorRequests != nullptr) + { + return static_cast(m_actorRequests->GetJointIndexByName(boneName)); + } + return InvalidBoneId; + } + + bool NetworkAnimationComponent::GetJointTransformByName(const char* jointName, AZ::Transform& outJointTransform) const + { + if (m_actorRequests == nullptr) + { + return false; + } + const int32_t jointId = static_cast(m_actorRequests->GetJointIndexByName(jointName)); + return GetJointTransformById(jointId, outJointTransform); + } + + bool NetworkAnimationComponent::GetJointTransformById(int32_t jointId, AZ::Transform& outJointTransform) const + { + if ((m_actorRequests == nullptr) || (jointId == InvalidBoneId)) + { + return false; + } + outJointTransform = m_actorRequests->GetJointTransform(jointId, EMotionFX::Integration::Space::WorldSpace); + return true; + } + + void NetworkAnimationComponent::OnPreRender(float deltaTime) + { + if (m_animationGraph == nullptr || m_networkRequests == nullptr) + { + return; + } + + if (m_networkRequests->HasSnapshot() == false) + { + constexpr bool isAuthoritative = true; + m_networkRequests->CreateSnapshot(isAuthoritative); + } + m_networkRequests->UpdateActorExternal(deltaTime); + + if (m_velocityParamId == InvalidParamIndex) + { + m_velocityParamId = m_animationGraph->FindParameterIndex(GetVelocityParamName().c_str()); + m_aimTargetParamId = m_animationGraph->FindParameterIndex(GetAimTargetParamName().c_str()); + m_crouchParamId = m_animationGraph->FindParameterIndex(GetCrouchParamName().c_str()); + m_aimingParamId = m_animationGraph->FindParameterIndex(GetAimingParamName().c_str()); + m_shootParamId = m_animationGraph->FindParameterIndex(GetShootParamName().c_str()); + m_jumpParamId = m_animationGraph->FindParameterIndex(GetJumpParamName().c_str()); + m_fallParamId = m_animationGraph->FindParameterIndex(GetFallParamName().c_str()); + m_landParamId = m_animationGraph->FindParameterIndex(GetLandParamName().c_str()); + m_hitParamId = m_animationGraph->FindParameterIndex(GetHitParamName().c_str()); + m_deathParamId = m_animationGraph->FindParameterIndex(GetDeathParamName().c_str()); + } + + if (m_velocityParamId != InvalidParamIndex) + { + const AZ::Vector3 velocity = GetNetworkPlayerMovementComponent()->GetVelocity(); + const AZ::Vector2 velocity2d = AZ::Vector2(velocity.GetX(), velocity.GetY()); + const float maxSpeed = GetNetworkPlayerMovementComponent()->GetSprintSpeed(); + m_animationGraph->SetParameterVector2(m_velocityParamId, velocity2d / maxSpeed); + } + + if (m_aimTargetParamId != InvalidParamIndex) + { + const AZ::Vector3 aimAngles = GetNetworkSimplePlayerCameraComponent()->GetAimAngles(); + const AZ::Quaternion aimRotation = AZ::Quaternion::CreateRotationZ(aimAngles.GetZ()) * AZ::Quaternion::CreateRotationX(aimAngles.GetX()); + const AZ::Transform worldTm = GetEntity()->GetTransform()->GetWorldTM(); + // TODO: This should probably be a physx raycast out to some maxDistance + const AZ::Vector3 fwd = AZ::Vector3::CreateAxisY(); + const AZ::Vector3 aimTarget = worldTm.GetTranslation() + aimRotation.TransformVector(fwd * 5.0f); + m_animationGraph->SetParameterVector3(m_aimTargetParamId, aimTarget); + } + + if (m_crouchParamId != InvalidParamIndex) + { + const bool crouching = GetActiveAnimStates().GetBit(aznumeric_cast(CharacterAnimState::Crouching)); + m_animationGraph->SetParameterBool(m_crouchParamId, crouching); + } + + if (m_aimingParamId != InvalidParamIndex) + { + const bool aiming = GetActiveAnimStates().GetBit(aznumeric_cast(CharacterAnimState::Aiming)); + m_animationGraph->SetParameterBool(m_aimingParamId, aiming); + } + + if (m_shootParamId != InvalidParamIndex) + { + const bool shooting = GetActiveAnimStates().GetBit(aznumeric_cast(CharacterAnimState::Shooting)); + m_animationGraph->SetParameterBool(m_shootParamId, shooting); + } + + if (m_jumpParamId != InvalidParamIndex) + { + const bool jumping = GetActiveAnimStates().GetBit(aznumeric_cast(CharacterAnimState::Jumping)); + m_animationGraph->SetParameterBool(m_jumpParamId, jumping); + } + + if (m_fallParamId != InvalidParamIndex) + { + const bool falling = GetActiveAnimStates().GetBit(aznumeric_cast(CharacterAnimState::Falling)); + m_animationGraph->SetParameterBool(m_fallParamId, falling); + } + + if (m_landParamId != InvalidParamIndex) + { + const bool landing = GetActiveAnimStates().GetBit(aznumeric_cast(CharacterAnimState::Landing)); + m_animationGraph->SetParameterBool(m_landParamId, landing); + } + + if (m_hitParamId != InvalidParamIndex) + { + const bool hit = GetActiveAnimStates().GetBit(aznumeric_cast(CharacterAnimState::Hit)); + m_animationGraph->SetParameterBool(m_hitParamId, hit); + } + + if (m_deathParamId != InvalidParamIndex) + { + const bool dead = GetActiveAnimStates().GetBit(aznumeric_cast(CharacterAnimState::Dying)); + m_animationGraph->SetParameterBool(m_deathParamId, dead); + } + } + + void NetworkAnimationComponent::OnActorInstanceCreated([[maybe_unused]] EMotionFX::ActorInstance* actorInstance) + { + m_actorRequests = EMotionFX::Integration::ActorComponentRequestBus::FindFirstHandler(GetEntityId()); + } + + void NetworkAnimationComponent::OnActorInstanceDestroyed([[maybe_unused]] EMotionFX::ActorInstance* actorInstance) + { + m_actorRequests = nullptr; + } + + void NetworkAnimationComponent::OnAnimGraphInstanceCreated([[maybe_unused]] EMotionFX::AnimGraphInstance* animGraphInstance) + { + // We don't need any more notifications + EMotionFX::Integration::AnimGraphComponentNotificationBus::Handler::BusDisconnect(); + + // Disable automatic EMotionFX updates of transform, network has control + if (m_networkRequests != nullptr) + { + constexpr bool isAuthoritative = true; + m_networkRequests->CreateSnapshot(isAuthoritative); + } + } +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkAnimationComponent.h b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkAnimationComponent.h new file mode 100644 index 000000000..977c40a9d --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkAnimationComponent.h @@ -0,0 +1,85 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include +#include + +namespace EMotionFX +{ + class AnimGraphComponentNetworkRequests; + namespace Integration + { + class ActorComponentRequests; + class AnimGraphComponentRequests; + } +} + +namespace ${SanitizedCppName} +{ + // This is not documented, you kind of have to jump into EMotionFX's private headers to find this, invalid parameter index values are max size_t + // See InvalidIndex in Gems\EMotionFX\Code\EMotionFX\Source\EMotionFXConfig.h + constexpr size_t InvalidParamIndex = 0xffffffffffffffff; + constexpr int32_t InvalidBoneId = -1; + + class NetworkAnimationComponent + : public NetworkAnimationComponentBase + , private EMotionFX::Integration::ActorComponentNotificationBus::Handler + , private EMotionFX::Integration::AnimGraphComponentNotificationBus::Handler + { + public: + AZ_MULTIPLAYER_COMPONENT(${SanitizedCppName}::NetworkAnimationComponent, s_networkAnimationComponentConcreteUuid, ${SanitizedCppName}::NetworkAnimationComponentBase); + + static void Reflect(AZ::ReflectContext* context); + + NetworkAnimationComponent(); + + void OnInit() override; + void OnActivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + void OnDeactivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + + int32_t GetBoneIdByName(const char* boneName) const; + + bool GetJointTransformByName(const char* boneName, AZ::Transform& outJointTransform) const; + bool GetJointTransformById(int32_t boneId, AZ::Transform& outJointTransform) const; + + private: + void OnPreRender(float deltaTime); + + //! EMotionFX::Integration::ActorComponentNotificationBus::Handler + //! @{ + void OnActorInstanceCreated(EMotionFX::ActorInstance* actorInstance) override; + void OnActorInstanceDestroyed(EMotionFX::ActorInstance* actorInstance) override; + //! @} + + //! EMotionFX::Integration::AnimGraphComponentNotificationBus::Handler + //! @{ + void OnAnimGraphInstanceCreated(EMotionFX::AnimGraphInstance* animGraphInstance) override; + //! @} + + Multiplayer::EntityPreRenderEvent::Handler m_preRenderEventHandler; + + EMotionFX::Integration::ActorComponentRequests* m_actorRequests = nullptr; + EMotionFX::AnimGraphComponentNetworkRequests* m_networkRequests = nullptr; + EMotionFX::Integration::AnimGraphComponentRequests* m_animationGraph = nullptr; + + // Hardcoded parameters, be nice if this was flexible and configurable from within the editor + size_t m_velocityParamId = InvalidParamIndex; + size_t m_aimTargetParamId = InvalidParamIndex; + size_t m_crouchParamId = InvalidParamIndex; + size_t m_aimingParamId = InvalidParamIndex; + size_t m_shootParamId = InvalidParamIndex; + size_t m_jumpParamId = InvalidParamIndex; + size_t m_fallParamId = InvalidParamIndex; + size_t m_landParamId = InvalidParamIndex; + size_t m_hitParamId = InvalidParamIndex; + size_t m_deathParamId = InvalidParamIndex; + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkHealthComponent.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkHealthComponent.cpp new file mode 100644 index 000000000..5d6f94160 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkHealthComponent.cpp @@ -0,0 +1,35 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +namespace ${SanitizedCppName} +{ + NetworkHealthComponentController::NetworkHealthComponentController(NetworkHealthComponent& parent) + : NetworkHealthComponentControllerBase(parent) + { + } + + void NetworkHealthComponentController::OnActivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + ; + } + + void NetworkHealthComponentController::OnDeactivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + ; + } + +#if AZ_TRAIT_SERVER + void NetworkHealthComponentController::HandleSendHealthDelta([[maybe_unused]] AzNetworking::IConnection* invokingConnection, const float& healthDelta) + { + float health = GetHealth(); + health = AZStd::max(0.0f, AZStd::min(GetMaxHealth(), health + healthDelta)); + SetHealth(health); + } +#endif +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkHealthComponent.h b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkHealthComponent.h new file mode 100644 index 000000000..63512a5f9 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkHealthComponent.h @@ -0,0 +1,27 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include + +namespace ${SanitizedCppName} +{ + class NetworkHealthComponentController + : public NetworkHealthComponentControllerBase + { + public: + NetworkHealthComponentController(NetworkHealthComponent& parent); + + void OnActivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + void OnDeactivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + +#if AZ_TRAIT_SERVER + void HandleSendHealthDelta(AzNetworking::IConnection* invokingConnection, const float& healthDelta) override; +#endif + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPlayerMovementComponent.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPlayerMovementComponent.cpp new file mode 100644 index 000000000..5339d5338 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPlayerMovementComponent.cpp @@ -0,0 +1,316 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace ${SanitizedCppName} +{ + AZ_CVAR(float, cl_WasdStickAccel, 5.0f, nullptr, AZ::ConsoleFunctorFlags::Null, "The linear acceleration to apply to WASD inputs to simulate analog stick controls"); + AZ_CVAR(float, cl_AimStickScaleZ, 0.1f, nullptr, AZ::ConsoleFunctorFlags::Null, "The scaling to apply to aim and view adjustments"); + AZ_CVAR(float, cl_AimStickScaleX, 0.05f, nullptr, AZ::ConsoleFunctorFlags::Null, "The scaling to apply to aim and view adjustments"); + + NetworkPlayerMovementComponentController::NetworkPlayerMovementComponentController(NetworkPlayerMovementComponent& parent) + : NetworkPlayerMovementComponentControllerBase(parent) + , m_updateAI{ [this] { UpdateAI(); }, AZ::Name{ "MovementControllerAi" } } + { + ; + } + + void NetworkPlayerMovementComponentController::OnActivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + NetworkAiComponent* networkAiComponent = GetParent().GetNetworkAiComponent(); + m_aiEnabled = (networkAiComponent != nullptr) ? networkAiComponent->GetEnabled() : false; + if (m_aiEnabled) + { + m_updateAI.Enqueue(AZ::TimeMs{ 0 }, true); + m_networkAiComponentController = GetNetworkAiComponentController(); + } + else if (IsNetEntityRoleAutonomous()) + { + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(MoveFwdEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(MoveBackEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(MoveLeftEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(MoveRightEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(SprintEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(JumpEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(CrouchEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(LookLeftRightEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(LookUpDownEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(ZoomInEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(ZoomOutEventId); + } + } + + void NetworkPlayerMovementComponentController::OnDeactivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + if (IsNetEntityRoleAutonomous() && !m_aiEnabled) + { + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(MoveFwdEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(MoveBackEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(MoveLeftEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(MoveRightEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(SprintEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(JumpEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(CrouchEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(LookLeftRightEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(LookUpDownEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(ZoomInEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(ZoomOutEventId); + } + } + + void NetworkPlayerMovementComponentController::CreateInput(Multiplayer::NetworkInput& input, float deltaTime) + { + // Movement axis + // Since we're on a keyboard, this adds a touch of an acceleration curve to the keyboard inputs + // This is so that tapping the keyboard moves the virtual stick less than just holding it down + m_forwardWeight = std::min(m_forwardDown ? m_forwardWeight + cl_WasdStickAccel * deltaTime : 0.0f, 1.0f); + m_leftWeight = std::min(m_leftDown ? m_leftWeight + cl_WasdStickAccel * deltaTime : 0.0f, 1.0f); + m_backwardWeight = std::min(m_backwardDown ? m_backwardWeight + cl_WasdStickAccel * deltaTime : 0.0f, 1.0f); + m_rightWeight = std::min(m_rightDown ? m_rightWeight + cl_WasdStickAccel * deltaTime : 0.0f, 1.0f); + + // Inputs for your own component always exist + NetworkPlayerMovementComponentNetworkInput* playerInput = input.FindComponentInput(); + + playerInput->m_forwardAxis = StickAxis(m_forwardWeight - m_backwardWeight); + playerInput->m_strafeAxis = StickAxis(m_leftWeight - m_rightWeight); + + // View Axis + playerInput->m_viewYaw = MouseAxis(m_viewYaw); + playerInput->m_viewPitch = MouseAxis(m_viewPitch); + + // Strafe input + playerInput->m_sprint = m_sprinting; + playerInput->m_jump = m_jumping; + playerInput->m_crouch = m_crouching; + + // Just a note for anyone who is super confused by this, ResetCount is a predictable network property, it gets set on the client + // through correction packets + playerInput->m_resetCount = GetNetworkTransformComponentController()->GetResetCount(); + } + + void NetworkPlayerMovementComponentController::ProcessInput(Multiplayer::NetworkInput& input, float deltaTime) + { + // If the input reset count doesn't match the state's reset count it can mean two things: + // 1) On the server: we were reset and we are now receiving inputs from the client for an old reset count + // 2) On the client: we were reset and we are replaying old inputs after being corrected + // In both cases we don't want to process these inputs + NetworkPlayerMovementComponentNetworkInput* playerInput = input.FindComponentInput(); + if (playerInput->m_resetCount != GetNetworkTransformComponentController()->GetResetCount()) + { + return; + } + + GetNetworkAnimationComponentController()->ModifyActiveAnimStates().SetBit( + aznumeric_cast(CharacterAnimState::Sprinting), playerInput->m_sprint); + GetNetworkAnimationComponentController()->ModifyActiveAnimStates().SetBit( + aznumeric_cast(CharacterAnimState::Jumping), playerInput->m_jump); + GetNetworkAnimationComponentController()->ModifyActiveAnimStates().SetBit( + aznumeric_cast(CharacterAnimState::Crouching), playerInput->m_crouch); + + // Update orientation + AZ::Vector3 aimAngles = GetNetworkSimplePlayerCameraComponentController()->GetAimAngles(); + aimAngles.SetZ(NormalizeHeading(aimAngles.GetZ() - playerInput->m_viewYaw * cl_AimStickScaleZ)); + aimAngles.SetX(NormalizeHeading(aimAngles.GetX() - playerInput->m_viewPitch * cl_AimStickScaleX)); + aimAngles.SetX( + NormalizeHeading(AZ::GetClamp(aimAngles.GetX(), -AZ::Constants::QuarterPi * 0.75f, AZ::Constants::QuarterPi * 0.75f))); + GetNetworkSimplePlayerCameraComponentController()->SetAimAngles(aimAngles); + + const AZ::Quaternion newOrientation = AZ::Quaternion::CreateRotationZ(aimAngles.GetZ()); + GetEntity()->GetTransform()->SetLocalRotationQuaternion(newOrientation); + + // Update velocity + UpdateVelocity(*playerInput); + + GetNetworkCharacterComponentController()->TryMoveWithVelocity(GetVelocity(), deltaTime); + } + + void NetworkPlayerMovementComponentController::UpdateVelocity(const NetworkPlayerMovementComponentNetworkInput& playerInput) + { + const float fwdBack = playerInput.m_forwardAxis; + const float leftRight = playerInput.m_strafeAxis; + + float speed = 0.0f; + if (playerInput.m_crouch) + { + speed = GetCrouchSpeed(); + } + else if (fwdBack < 0.0f) + { + speed = GetReverseSpeed(); + } + else + { + if (playerInput.m_sprint) + { + speed = GetSprintSpeed(); + } + else + { + speed = GetWalkSpeed(); + } + } + + // Not moving? + if (fwdBack == 0.0f && leftRight == 0.0f) + { + SetVelocity(AZ::Vector3::CreateZero()); + } + else + { + const float stickInputAngle = AZ::Atan2(leftRight, fwdBack); + const float currentHeading = GetNetworkTransformComponentController()->GetRotation().GetEulerRadians().GetZ(); + const float targetHeading = + NormalizeHeading(currentHeading + stickInputAngle); // Update current heading with stick input angles + const AZ::Vector3 fwd = AZ::Vector3::CreateAxisY(); + SetVelocity(AZ::Quaternion::CreateRotationZ(targetHeading).TransformVector(fwd) * speed); + } + } + + float NetworkPlayerMovementComponentController::NormalizeHeading(float heading) const + { + // Ensure heading in range [-pi, +pi] + if (heading > AZ::Constants::Pi) + { + return static_cast(heading - AZ::Constants::TwoPi); + } + else if (heading < -AZ::Constants::Pi) + { + return static_cast(heading + AZ::Constants::TwoPi); + } + return heading; + } + + void NetworkPlayerMovementComponentController::OnPressed(float value) + { + const StartingPointInput::InputEventNotificationId* inputId = StartingPointInput::InputEventNotificationBus::GetCurrentBusId(); + + if (inputId == nullptr) + { + return; + } + else if (*inputId == MoveFwdEventId) + { + m_forwardDown = true; + } + else if (*inputId == MoveBackEventId) + { + m_backwardDown = true; + } + else if (*inputId == MoveLeftEventId) + { + m_leftDown = true; + } + else if (*inputId == MoveRightEventId) + { + m_rightDown = true; + } + else if (*inputId == SprintEventId) + { + m_sprinting = true; + } + else if (*inputId == JumpEventId) + { + m_jumping = true; + } + else if (*inputId == CrouchEventId) + { + m_crouching = true; + } + else if (*inputId == LookLeftRightEventId) + { + m_viewYaw = value; + } + else if (*inputId == LookUpDownEventId) + { + m_viewPitch = value; + } + } + + void NetworkPlayerMovementComponentController::OnReleased(float value) + { + const StartingPointInput::InputEventNotificationId* inputId = StartingPointInput::InputEventNotificationBus::GetCurrentBusId(); + + if (inputId == nullptr) + { + return; + } + else if (*inputId == MoveFwdEventId) + { + m_forwardDown = false; + } + else if (*inputId == MoveBackEventId) + { + m_backwardDown = false; + } + else if (*inputId == MoveLeftEventId) + { + m_leftDown = false; + } + else if (*inputId == MoveRightEventId) + { + m_rightDown = false; + } + else if (*inputId == SprintEventId) + { + m_sprinting = false; + } + else if (*inputId == JumpEventId) + { + m_jumping = false; + } + else if (*inputId == CrouchEventId) + { + m_crouching = false; + } + else if (*inputId == LookLeftRightEventId) + { + m_viewYaw = value; + } + else if (*inputId == LookUpDownEventId) + { + m_viewPitch = value; + } + } + + void NetworkPlayerMovementComponentController::OnHeld(float value) + { + const StartingPointInput::InputEventNotificationId* inputId = StartingPointInput::InputEventNotificationBus::GetCurrentBusId(); + + if (inputId == nullptr) + { + return; + } + else if (*inputId == LookLeftRightEventId) + { + m_viewYaw = value; + } + else if (*inputId == LookUpDownEventId) + { + m_viewPitch = value; + } + } + + void NetworkPlayerMovementComponentController::UpdateAI() + { +#if AZ_TRAIT_SERVER + float deltaTime = static_cast(m_updateAI.TimeInQueueMs()) / 1000.f; + if (m_networkAiComponentController != nullptr) + { + m_networkAiComponentController->TickMovement(*this, deltaTime); + } +#endif + } +} // namespace ${SanitizedCppName} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPlayerMovementComponent.h b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPlayerMovementComponent.h new file mode 100644 index 000000000..aa55ca1c5 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPlayerMovementComponent.h @@ -0,0 +1,87 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include + +namespace ${SanitizedCppName} +{ + // Input Event Ids for Player Controls + const StartingPointInput::InputEventNotificationId MoveFwdEventId("move_fwd"); + const StartingPointInput::InputEventNotificationId MoveBackEventId("move_back"); + const StartingPointInput::InputEventNotificationId MoveLeftEventId("move_left"); + const StartingPointInput::InputEventNotificationId MoveRightEventId("move_right"); + + const StartingPointInput::InputEventNotificationId SprintEventId("sprint"); + const StartingPointInput::InputEventNotificationId JumpEventId("jump"); + const StartingPointInput::InputEventNotificationId CrouchEventId("crouch"); + + const StartingPointInput::InputEventNotificationId LookLeftRightEventId("lookLeftRight"); + const StartingPointInput::InputEventNotificationId LookUpDownEventId("lookUpDown"); + + const StartingPointInput::InputEventNotificationId ZoomInEventId("zoomIn"); + const StartingPointInput::InputEventNotificationId ZoomOutEventId("zoomOut"); + + class NetworkPlayerMovementComponentController + : public NetworkPlayerMovementComponentControllerBase + , private StartingPointInput::InputEventNotificationBus::MultiHandler + { + public: + NetworkPlayerMovementComponentController(NetworkPlayerMovementComponent& parent); + + //! NetworkPlayerMovementComponentControllerBase + //! @{ + void OnActivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + void OnDeactivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + + void CreateInput(Multiplayer::NetworkInput& input, float deltaTime) override; + void ProcessInput(Multiplayer::NetworkInput& input, float deltaTime) override; + //! @} + + private: + friend class NetworkAiComponentController; + + void UpdateVelocity(const NetworkPlayerMovementComponentNetworkInput& playerInput); + float NormalizeHeading(float heading) const; + + //! AZ::InputEventNotificationBus interface + //! @{ + void OnPressed(float value) override; + void OnReleased(float value) override; + void OnHeld(float value) override; + //! @} + + void UpdateAI(); + + AZ::ScheduledEvent m_updateAI; + NetworkAiComponentController* m_networkAiComponentController = nullptr; + + // Technically these values should never migrate hosts since they are maintained by the autonomous client + // But due to how the stress test chaos monkey operates, it puppets these values on the server to mimic a client + // This means these values can and will migrate between hosts (and lose any stored state) + // We will need to consider moving these values to Authority to Server network properties if the design doesn't change + float m_forwardWeight = 0.0f; + float m_leftWeight = 0.0f; + float m_backwardWeight = 0.0f; + float m_rightWeight = 0.0f; + + float m_viewYaw = 0.0f; + float m_viewPitch = 0.0f; + + bool m_forwardDown = false; + bool m_leftDown = false; + bool m_backwardDown = false; + bool m_rightDown = false; + bool m_sprinting = false; + bool m_jumping = false; + bool m_crouching = false; + bool m_aiEnabled = false; + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPlayerSpawnerComponent.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPlayerSpawnerComponent.cpp new file mode 100644 index 000000000..307cc7701 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPlayerSpawnerComponent.cpp @@ -0,0 +1,40 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of + * this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +#include +#include + +namespace ${SanitizedCppName} +{ + void NetworkPlayerSpawnerComponent::NetworkPlayerSpawnerComponent::Reflect(AZ::ReflectContext* context) + { + AZ::SerializeContext* serializeContext = azrtti_cast(context); + if (serializeContext) + { + serializeContext->Class()->Version(1); + } + NetworkPlayerSpawnerComponentBase::Reflect(context); + } + + void NetworkPlayerSpawnerComponent::OnInit() + { + ; + } + + void NetworkPlayerSpawnerComponent::OnActivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + AZ::Interface<${SanitizedCppName}::IPlayerSpawner>::Get()->RegisterPlayerSpawner(this); + } + + void NetworkPlayerSpawnerComponent::OnDeactivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + AZ::Interface<${SanitizedCppName}::IPlayerSpawner>::Get()->UnregisterPlayerSpawner(this); + } +} // namespace ${SanitizedCppName} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPlayerSpawnerComponent.h b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPlayerSpawnerComponent.h new file mode 100644 index 000000000..2753b1a96 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPlayerSpawnerComponent.h @@ -0,0 +1,33 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of + * this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +namespace ${SanitizedCppName} +{ + + class NetworkPlayerSpawnerComponent : public NetworkPlayerSpawnerComponentBase + { + public: + AZ_MULTIPLAYER_COMPONENT( + NetworkPlayerSpawnerComponent, + s_networkPlayerSpawnerComponentConcreteUuid, + NetworkPlayerSpawnerComponentBase); + + static void Reflect(AZ::ReflectContext* context); + + NetworkPlayerSpawnerComponent(){}; + + void OnInit() override; + void OnActivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + void OnDeactivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + }; +} // namespace ${SanitizedCppName} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPrefabSpawnerComponent.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPrefabSpawnerComponent.cpp new file mode 100644 index 000000000..d7d35bfcd --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPrefabSpawnerComponent.cpp @@ -0,0 +1,239 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include "NetworkPrefabSpawnerComponent.h" + +#include +#include +#include +#include +#include +#include +#include + +namespace ${SanitizedCppName} +{ + void NetworkPrefabSpawnerComponent::Reflect(AZ::ReflectContext* reflection) + { + if (const auto serializationContext = azrtti_cast(reflection)) + { + serializationContext->Class() + ->Field("Default Prefab", &NetworkPrefabSpawnerComponent::m_defaultSpawnableAsset) + ->Version(1); + + if (const auto editContext = serializationContext->GetEditContext()) + { + editContext->Class("Network Prefab Spawner", + "Handles spawning of prefabs") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::Category, "${SanitizedCppName}") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game")) + ->DataElement(nullptr, &NetworkPrefabSpawnerComponent::m_defaultSpawnableAsset, "Default Prefab", "Default prefab to spawn upon request.") + ; + } + } + } + + void NetworkPrefabSpawnerComponent::Activate() + { + if (NetworkPrefabSpawnerInterface::Get() == nullptr) + { + NetworkPrefabSpawnerInterface::Register(this); + } + + NetworkPrefabSpawnerRequestBus::Handler::BusConnect(GetEntityId()); + + // preload + if (m_defaultSpawnableAsset.GetId().IsValid()) + { + m_defaultSpawnableAsset.QueueLoad(); + } + } + + void NetworkPrefabSpawnerComponent::Deactivate() + { + if (NetworkPrefabSpawnerInterface::Get() == this) + { + NetworkPrefabSpawnerInterface::Unregister(this); + } + + NetworkPrefabSpawnerRequestBus::Handler::BusDisconnect(); + AZ::Data::AssetBus::MultiHandler::BusDisconnect(); + } + + void NetworkPrefabSpawnerComponent::SpawnDefaultPrefab(const AZ::Transform& worldTm, PrefabCallbacks callbacks) + { + AssetItem newAsset; + newAsset.m_pathToAsset = m_defaultSpawnableAsset.GetHint().c_str(); + newAsset.m_spawnableAsset = m_defaultSpawnableAsset; + AZ::Data::AssetBus::MultiHandler::BusConnect(m_defaultSpawnableAsset.GetId()); + + if (newAsset.m_spawnableAsset.IsReady() == false) + { + newAsset.m_spawnableAsset.QueueLoad(); + } + + m_assetMap.emplace(newAsset.m_spawnableAsset.GetId(), newAsset); + + const SpawnRequest request{ newAsset.m_spawnableAsset.GetId(), worldTm, AZStd::move(callbacks) }; + if (newAsset.m_spawnableAsset.IsReady()) + { + CreateInstance(request, &newAsset); + } + else + { + m_requests.push_back(request); + } + } + + void NetworkPrefabSpawnerComponent::SpawnPrefab(const AZ::Transform& worldTm, const char* assetPath, PrefabCallbacks callbacks) + { + const AZ::Data::AssetId assetId = GetSpawnableAssetId(assetPath); + + const SpawnRequest request{ assetId, worldTm, AZStd::move(callbacks) }; + auto foundAsset = m_assetMap.find(assetId); + if (foundAsset != m_assetMap.end()) + { + if (foundAsset->second.m_spawnableAsset.IsReady()) + { + CreateInstance(request, &foundAsset->second); + } + else + { + m_requests.push_back(request); + } + } + else + { + AssetItem newAsset; + newAsset.m_pathToAsset = assetPath; + newAsset.m_spawnableAsset.Create(assetId, false); + AZ::Data::AssetBus::MultiHandler::BusConnect(assetId); + newAsset.m_spawnableAsset.QueueLoad(); + m_assetMap.emplace(assetId, newAsset); + + if (newAsset.m_spawnableAsset.IsReady()) + { + CreateInstance(request, &newAsset); + } + else + { + m_requests.push_back(request); + } + } + } + + void NetworkPrefabSpawnerComponent::SpawnPrefabAsset(const AZ::Transform& worldTm, + const AZ::Data::Asset& asset, PrefabCallbacks callbacks) + { + AssetItem newAsset; + newAsset.m_pathToAsset = asset.GetHint().c_str(); + newAsset.m_spawnableAsset = asset; + AZ::Data::AssetBus::MultiHandler::BusConnect(asset.GetId()); + + if (newAsset.m_spawnableAsset.IsReady() == false) + { + newAsset.m_spawnableAsset.QueueLoad(); + } + + m_assetMap.emplace(newAsset.m_spawnableAsset.GetId(), newAsset); + + const SpawnRequest request{ newAsset.m_spawnableAsset.GetId(), worldTm, AZStd::move(callbacks) }; + if (newAsset.m_spawnableAsset.IsReady()) + { + CreateInstance(request, &newAsset); + } + else + { + m_requests.push_back(request); + } + } + + AZ::Data::AssetId NetworkPrefabSpawnerComponent::GetSpawnableAssetId(const char* assetPath) const + { + if (assetPath) + { + AZ::Data::AssetId assetId; + AZ::Data::AssetCatalogRequestBus::BroadcastResult( + assetId, &AZ::Data::AssetCatalogRequestBus::Events::GetAssetIdByPath, assetPath, + AZ::Data::s_invalidAssetType, false); + if (assetId.IsValid()) + { + return assetId; + } + } + + return {}; + } + + void NetworkPrefabSpawnerComponent::CreateInstance(const SpawnRequest& request, const AssetItem* asset) + { + AZ_Assert(asset, "AssetMap didn't contain the asset id for prefab spawning"); + + AZ::Transform world = request.m_whereToSpawn; + if (asset) + { + auto ticket = AZStd::make_shared(asset->m_spawnableAsset); + + auto preSpawnCallback = [world, request, ticket]([[maybe_unused]] AzFramework::EntitySpawnTicket::Id ticketId, AzFramework::SpawnableEntityContainerView view) + { + const AZ::Entity* rootEntity = *view.begin(); + if (AzFramework::TransformComponent* entityTransform = rootEntity->FindComponent()) + { + entityTransform->SetWorldTM(world); + } + + if (request.m_callbacks.m_beforeActivateCallback) + { + request.m_callbacks.m_beforeActivateCallback(ticket, view); + } + }; + + auto onSpawnedCallback = [request, ticket]([[maybe_unused]] AzFramework::EntitySpawnTicket::Id ticketId, AzFramework::SpawnableConstEntityContainerView view) + { + if (request.m_callbacks.m_onActivateCallback) + { + request.m_callbacks.m_onActivateCallback(ticket, view); + } + }; + + AZ_Assert(ticket->IsValid(), "Unable to instantiate spawnable asset"); + if (ticket->IsValid()) + { + AzFramework::SpawnAllEntitiesOptionalArgs optionalArgs; + optionalArgs.m_preInsertionCallback = AZStd::move(preSpawnCallback); + optionalArgs.m_completionCallback = AZStd::move(onSpawnedCallback); + AzFramework::SpawnableEntitiesInterface::Get()->SpawnAllEntities(*ticket, AZStd::move(optionalArgs)); + } + } + } + + void NetworkPrefabSpawnerComponent::OnAssetReady(AZ::Data::Asset asset) + { + const AZ::Data::AssetId assetId = asset.GetId(); + AZ::Data::AssetBus::MultiHandler::BusDisconnect(assetId); + + const auto foundAsset = m_assetMap.find(assetId); + if (foundAsset != m_assetMap.end()) + { + for (auto requestIterator = m_requests.begin(); requestIterator < m_requests.end(); /*iterating inside the loop body*/) + { + const SpawnRequest& request = *requestIterator; + + if (request.m_assetIdToSpawn == assetId) + { + CreateInstance(request, &foundAsset->second); + requestIterator = m_requests.erase(requestIterator); + } + else + { + ++requestIterator; + } + } + } + } +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPrefabSpawnerComponent.h b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPrefabSpawnerComponent.h new file mode 100644 index 000000000..a82ac8144 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkPrefabSpawnerComponent.h @@ -0,0 +1,70 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include +#include + +namespace ${SanitizedCppName} +{ + /** + * \brief Can spawn prefabs using C++ API. + * Does not keep track of instances. The user should save a copy of the ticket using callbacks in @PrefabCallbacks. + */ + class NetworkPrefabSpawnerComponent + : public AZ::Component + , public NetworkPrefabSpawnerRequestBus::Handler + , public AZ::Data::AssetBus::MultiHandler + { + public: + AZ_COMPONENT(NetworkPrefabSpawnerComponent, "{7E48961B-7E39-4FBC-95E4-74B712229E9B}", Component); + + static void Reflect(AZ::ReflectContext* reflection); + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC_CE("NetworkPrefabSpawnerComponent")); + } + + void Activate() override; + void Deactivate() override; + + // NetworkPrefabSpawnerRequestBus + void SpawnPrefab(const AZ::Transform& worldTm, const char* assetPath, PrefabCallbacks callbacks) override; + void SpawnPrefabAsset(const AZ::Transform& worldTm, const AZ::Data::Asset& asset, PrefabCallbacks callbacks) override; + void SpawnDefaultPrefab(const AZ::Transform& worldTm, PrefabCallbacks callbacks) override; + + // AssetBus + void OnAssetReady(AZ::Data::Asset asset) override; + + private: + AZ::Data::Asset m_defaultSpawnableAsset; + + AZ::Data::AssetId GetSpawnableAssetId(const char* assetPath) const; + + struct AssetItem + { + AZStd::string m_pathToAsset; + AZ::Data::Asset m_spawnableAsset; + }; + AZStd::unordered_map m_assetMap; + + struct SpawnRequest + { + AZ::Data::AssetId m_assetIdToSpawn; + AZ::Transform m_whereToSpawn = AZ::Transform::CreateIdentity(); + PrefabCallbacks m_callbacks; + }; + + AZStd::vector m_requests; + + AZStd::vector> m_instanceTickets; + void CreateInstance(const SpawnRequest& request, const AssetItem* asset); + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkRandomComponent.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkRandomComponent.cpp new file mode 100644 index 000000000..cdce35249 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkRandomComponent.cpp @@ -0,0 +1,65 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +namespace ${SanitizedCppName} +{ + uint64_t NetworkRandomComponentController::GetRandomUint64() + { + // Reimplements SimpleLcgRandom's rand int with a synchronized seed + uint64_t& seed = ModifySeed(); + seed = (GetSeed() * 0x5DEECE66DLL + 0xBLL) & ((1LL << 48) - 1); + return seed; + } + + int NetworkRandomComponentController::GetRandomInt() + { + // Reimplements SimpleLcgRandom's rand int with a synchronized seed + return static_cast(GetRandomUint64() >> 16); + } + + float NetworkRandomComponentController::GetRandomFloat() + { + // Reimplements SimpleLcgRandom's rand float with a synchronized seed + unsigned int r = GetRandomInt(); + r &= 0x007fffff; //sets mantissa to random bits + r |= 0x3f800000; //result is in [1,2), uniformly distributed + union + { + float f; + unsigned int i; + } u; + u.i = r; + return u.f - 1.0f; + } + + NetworkRandomComponentController::NetworkRandomComponentController(NetworkRandomComponent& parent) + : NetworkRandomComponentControllerBase(parent) + { +#if AZ_TRAIT_SERVER + if (IsNetEntityRoleAuthority()) + { + // Setup seed on authority for proxies to pull + AZ::BetterPseudoRandom seedGenerator; + uint64_t seed = 0; + seedGenerator.GetRandom(seed); + SetSeed(seed); + }; +#endif + } + + void NetworkRandomComponentController::OnActivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + ; + } + + void NetworkRandomComponentController::OnDeactivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + ; + } +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkRandomComponent.h b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkRandomComponent.h new file mode 100644 index 000000000..ddf943d23 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkRandomComponent.h @@ -0,0 +1,29 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include + +#include + +namespace ${SanitizedCppName} +{ + class NetworkRandomComponentController + : public NetworkRandomComponentControllerBase + { + public: + NetworkRandomComponentController(NetworkRandomComponent& parent); + + void OnActivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + void OnDeactivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + + uint64_t GetRandomUint64(); + int GetRandomInt(); + float GetRandomFloat(); + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkSimplePlayerCameraComponent.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkSimplePlayerCameraComponent.cpp new file mode 100644 index 000000000..35329b15b --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkSimplePlayerCameraComponent.cpp @@ -0,0 +1,113 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include + +namespace ${SanitizedCppName} +{ + AZ_CVAR(AZ::Vector3, cl_cameraOffset, AZ::Vector3(0.0f, -5.0f, 3.0f), nullptr, AZ::ConsoleFunctorFlags::Null, "Offset to use for the player camera"); + + NetworkSimplePlayerCameraComponentController::NetworkSimplePlayerCameraComponentController(NetworkSimplePlayerCameraComponent& parent) + : NetworkSimplePlayerCameraComponentControllerBase(parent) + { + ; + } + + void NetworkSimplePlayerCameraComponentController::OnActivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + // Synchronize aim angles with initial transform + AZ::Vector3& aimAngles = ModifyAimAngles(); + aimAngles.SetZ(GetEntity()->GetTransform()->GetLocalRotation().GetZ()); + SetSyncAimImmediate(true); + + if (IsNetEntityRoleAutonomous()) + { + m_aiEnabled = FindComponent()->GetEnabled(); + if (!m_aiEnabled) + { + AZ::EntityId activeCameraId; + Camera::CameraSystemRequestBus::BroadcastResult(activeCameraId, &Camera::CameraSystemRequestBus::Events::GetActiveCamera); + m_activeCameraEntity = AZ::Interface::Get()->FindEntity(activeCameraId); + } + } + + AZ::TickBus::Handler::BusConnect(); + } + + void NetworkSimplePlayerCameraComponentController::OnDeactivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + AZ::TickBus::Handler::BusDisconnect(); + } + + float NetworkSimplePlayerCameraComponentController::GetCameraYaw() const + { + return GetAimAngles().GetZ(); + } + + float NetworkSimplePlayerCameraComponentController::GetCameraPitch() const + { + return GetAimAngles().GetX(); + } + + float NetworkSimplePlayerCameraComponentController::GetCameraRoll() const + { + return GetAimAngles().GetY(); + } + + float NetworkSimplePlayerCameraComponentController::GetCameraYawPrevious() const + { + return GetAimAnglesPrevious().GetZ(); + } + + float NetworkSimplePlayerCameraComponentController::GetCameraPitchPrevious() const + { + return GetAimAnglesPrevious().GetX(); + } + + float NetworkSimplePlayerCameraComponentController::GetCameraRollPrevious() const + { + return GetAimAnglesPrevious().GetY(); + } + + void NetworkSimplePlayerCameraComponentController::OnTick([[maybe_unused]] float deltaTime, [[maybe_unused]] AZ::ScriptTimePoint time) + { + if (m_activeCameraEntity != nullptr && m_activeCameraEntity->GetState() == AZ::Entity::State::Active) + { + const AZ::Quaternion targetRotation = AZ::Quaternion::CreateRotationZ(GetCameraYaw()) * AZ::Quaternion::CreateRotationX(GetCameraPitch()); + const float blendFactor = Multiplayer::GetMultiplayer()->GetCurrentBlendFactor(); + + AZ::Quaternion aimRotation = targetRotation; + if (!GetSyncAimImmediate() && !AZ::IsClose(blendFactor, 1.0f)) + { + const AZ::Quaternion prevRotation = AZ::Quaternion::CreateRotationZ(GetCameraYawPrevious()) * AZ::Quaternion::CreateRotationX(GetCameraPitchPrevious()); + if (!prevRotation.IsClose(targetRotation)) + { + aimRotation = prevRotation.Slerp(targetRotation, blendFactor).GetNormalized(); + } + } + const AZ::Vector3 targetTranslation = GetEntity()->GetTransform()->GetWorldTM().GetTranslation(); + const AZ::Vector3 cameraOffset = aimRotation.TransformVector(cl_cameraOffset); + const AZ::Transform cameraTransform = AZ::Transform::CreateFromQuaternionAndTranslation(aimRotation, targetTranslation + cameraOffset); + m_activeCameraEntity->GetTransform()->SetWorldTM(cameraTransform); + } + + if (GetSyncAimImmediate()) + { + SetSyncAimImmediate(false); + } + } + + int NetworkSimplePlayerCameraComponentController::GetTickOrder() + { + return AZ::TICK_PRE_RENDER; + } +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkSimplePlayerCameraComponent.h b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkSimplePlayerCameraComponent.h new file mode 100644 index 000000000..521c5fd31 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkSimplePlayerCameraComponent.h @@ -0,0 +1,43 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +namespace ${SanitizedCppName} +{ + class NetworkSimplePlayerCameraComponentController + : public NetworkSimplePlayerCameraComponentControllerBase + , private AZ::TickBus::Handler + { + public: + NetworkSimplePlayerCameraComponentController(NetworkSimplePlayerCameraComponent& parent); + + void OnActivate(Multiplayer::EntityIsMigrating entityIsMigrating); + void OnDeactivate(Multiplayer::EntityIsMigrating entityIsMigrating); + + float GetCameraYaw() const; + float GetCameraPitch() const; + float GetCameraRoll() const; + + float GetCameraYawPrevious() const; + float GetCameraPitchPrevious() const; + float GetCameraRollPrevious() const; + + private: + //! AZ::TickBus interface + //! @{ + void OnTick(float deltaTime, AZ::ScriptTimePoint time) override; + int GetTickOrder() override; + //! @} + + AZ::Entity* m_activeCameraEntity = nullptr; + bool m_aiEnabled = false; + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkWeaponsComponent.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkWeaponsComponent.cpp new file mode 100644 index 000000000..19b31c09b --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkWeaponsComponent.cpp @@ -0,0 +1,522 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +#include +#include +#include +#include +#include +#include +#include + +#if AZ_TRAIT_CLIENT +#include +#endif + +namespace ${SanitizedCppName} +{ + AZ_CVAR(bool, cl_WeaponsDrawDebug, true, nullptr, AZ::ConsoleFunctorFlags::Null, "If enabled, weapons will debug draw various important events"); + AZ_CVAR(float, cl_WeaponsDrawDebugSize, 0.25f, nullptr, AZ::ConsoleFunctorFlags::Null, "The size of sphere to debug draw during weapon events"); + AZ_CVAR(float, cl_WeaponsDrawDebugDurationSec, 10.0f, nullptr, AZ::ConsoleFunctorFlags::Null, "The number of seconds to display debug draw data"); + AZ_CVAR(float, sv_WeaponsImpulseScalar, 750.0f, nullptr, AZ::ConsoleFunctorFlags::Null, "A fudge factor for imparting impulses on rigid bodies due to weapon hits"); + AZ_CVAR(float, sv_WeaponsStartPositionClampRange, 1.f, nullptr, AZ::ConsoleFunctorFlags::Null, "A fudge factor between the where the client and server say a shot started"); + void NetworkWeaponsComponent::NetworkWeaponsComponent::Reflect(AZ::ReflectContext* context) + { + AZ::SerializeContext* serializeContext = azrtti_cast(context); + if (serializeContext) + { + serializeContext->Class() + ->Version(1); + } + NetworkWeaponsComponentBase::Reflect(context); + } + + NetworkWeaponsComponent::NetworkWeaponsComponent() + : NetworkWeaponsComponentBase() + , m_activationCountHandler([this](int32_t index, uint8_t value) { OnUpdateActivationCounts(index, value); }) + { + ; + } + + void NetworkWeaponsComponent::OnInit() + { + AZStd::uninitialized_fill_n(m_fireBoneJointIds.data(), MaxWeaponsPerComponent, InvalidBoneId); + } + + void NetworkWeaponsComponent::OnActivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + for (uint32_t weaponIndex = 0; weaponIndex < MaxWeaponsPerComponent; ++weaponIndex) + { + const ConstructParams constructParams + { + GetEntityHandle(), + aznumeric_cast(weaponIndex), + GetWeaponParams(weaponIndex), + *this + }; + + m_weapons[weaponIndex] = AZStd::move(CreateWeapon(constructParams)); + } + + if (IsNetEntityRoleClient()) + { + ActivationCountsAddEvent(m_activationCountHandler); + } + +#if AZ_TRAIT_CLIENT + if (m_debugDraw == nullptr) + { + m_debugDraw = DebugDraw::DebugDrawRequestBus::FindFirstHandler(); + } +#endif + } + + void NetworkWeaponsComponent::OnDeactivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + ; + } + +#if AZ_TRAIT_CLIENT + void NetworkWeaponsComponent::HandleSendConfirmHit([[maybe_unused]] AzNetworking::IConnection* invokingConnection, const WeaponIndex& weaponIndex, const HitEvent& hitEvent) + { + if (GetWeapon(weaponIndex) == nullptr) + { + AZLOG_ERROR("Got confirmed hit for null weapon index"); + return; + } + + WeaponHitInfo weaponHitInfo(*GetWeapon(weaponIndex), hitEvent); + OnWeaponConfirmHit(weaponHitInfo); + } +#endif + + void NetworkWeaponsComponent::ActivateWeaponWithParams(WeaponIndex weaponIndex, WeaponState& weaponState, const FireParams& fireParams, bool validateActivations) + { + const AZ::Vector3 position = fireParams.m_sourcePosition; + const AZ::Quaternion orientation = AZ::Quaternion::CreateShortestArc(AZ::Vector3::CreateAxisX(), (fireParams.m_targetPosition - position).GetNormalized()); + const AZ::Transform transform = AZ::Transform::CreateFromQuaternionAndTranslation(orientation, position); + + ActivateEvent activateEvent{ transform, fireParams.m_targetPosition, GetNetEntityId(), Multiplayer::InvalidNetEntityId }; + + IWeapon* weapon = GetWeapon(weaponIndex); + weapon->Activate(weaponState, GetEntityHandle(), activateEvent, validateActivations); + } + + IWeapon* NetworkWeaponsComponent::GetWeapon(WeaponIndex weaponIndex) const + { + return m_weapons[aznumeric_cast(weaponIndex)].get(); + } + + void NetworkWeaponsComponent::OnWeaponActivate([[maybe_unused]] const WeaponActivationInfo& activationInfo) + { + // If we're replaying inputs then early out + if (GetNetBindComponent()->IsReprocessingInput()) + { + return; + } + +#if AZ_TRAIT_CLIENT + if (cl_WeaponsDrawDebug && m_debugDraw) + { + m_debugDraw->DrawSphereAtLocation + ( + activationInfo.m_activateEvent.m_initialTransform.GetTranslation(), + cl_WeaponsDrawDebugSize, + AZ::Colors::Green, + cl_WeaponsDrawDebugDurationSec + ); + + m_debugDraw->DrawSphereAtLocation + ( + activationInfo.m_activateEvent.m_targetPosition, + cl_WeaponsDrawDebugSize, + AZ::Colors::Yellow, + cl_WeaponsDrawDebugDurationSec + ); + } +#endif + } + + void NetworkWeaponsComponent::OnWeaponHit(const WeaponHitInfo& hitInfo) + { + if (IsNetEntityRoleAuthority()) + { +#if AZ_TRAIT_SERVER + OnWeaponConfirmHit(hitInfo); + static_cast(GetController())->SendConfirmHit(hitInfo.m_weapon.GetWeaponIndex(), hitInfo.m_hitEvent); +#endif + } + else + { + OnWeaponPredictHit(hitInfo); + } + } + + void NetworkWeaponsComponent::OnWeaponPredictHit(const WeaponHitInfo& hitInfo) + { + // If we're replaying inputs then early out + if (GetNetBindComponent()->IsReprocessingInput()) + { + return; + } + + for (uint32_t i = 0; i < hitInfo.m_hitEvent.m_hitEntities.size(); ++i) + { + const HitEntity& hitEntity = hitInfo.m_hitEvent.m_hitEntities[i]; + +#if AZ_TRAIT_CLIENT + if (cl_WeaponsDrawDebug && m_debugDraw) + { + m_debugDraw->DrawSphereAtLocation + ( + hitEntity.m_hitPosition, + cl_WeaponsDrawDebugSize, + AZ::Colors::Orange, + cl_WeaponsDrawDebugDurationSec + ); + } +#endif + + AZLOG + ( + NET_Weapons, + "Predicted hit on entity %" PRIu64 " at position %f x %f x %f", + hitEntity.m_hitNetEntityId, + hitEntity.m_hitPosition.GetX(), + hitEntity.m_hitPosition.GetY(), + hitEntity.m_hitPosition.GetZ() + ); + } + } + + void NetworkWeaponsComponent::OnWeaponConfirmHit(const WeaponHitInfo& hitInfo) + { + +#if AZ_TRAIT_SERVER + if (IsNetEntityRoleAuthority()) + { + for (const HitEntity& hitEntity : hitInfo.m_hitEvent.m_hitEntities) + { + Multiplayer::ConstNetworkEntityHandle entityHandle = Multiplayer::GetMultiplayer()->GetNetworkEntityManager()->GetEntity(hitEntity.m_hitNetEntityId); + + if (entityHandle != nullptr && entityHandle.GetEntity() != nullptr) + { + [[maybe_unused]] const AZ::Vector3& hitCenter = hitInfo.m_hitEvent.m_hitTransform.GetTranslation(); + [[maybe_unused]] const AZ::Vector3& hitPoint = hitEntity.m_hitPosition; + + const WeaponParams& weaponParams = hitInfo.m_weapon.GetParams(); + const HitEffect effect = weaponParams.m_damageEffect; + + // Presently set to 1 until we capture falloff range + float hitDistance = 1.f; + float maxDistance = 1.f; + float damage = effect.m_hitMagnitude * powf((effect.m_hitFalloff * (1.0f - hitDistance / maxDistance)), effect.m_hitExponent); + + // Look for physics rigid body component and make impact updates + if (Multiplayer::NetworkRigidBodyComponent* rigidBodyComponent = entityHandle.GetEntity()->FindComponent()) + { + const AZ::Vector3 hitLocation = hitInfo.m_hitEvent.m_hitTransform.GetTranslation(); + const AZ::Vector3 hitDelta = hitEntity.m_hitPosition - hitLocation; + const AZ::Vector3 impulse = hitDelta.GetNormalized() * damage * sv_WeaponsImpulseScalar; + rigidBodyComponent->SendApplyImpulse(impulse, hitLocation); + } + + // Look for health component and directly update health based on hit parameters + if (NetworkHealthComponent* healthComponent = entityHandle.GetEntity()->FindComponent()) + { + healthComponent->SendHealthDelta(damage * -1.0f); + } + } + } + } +#endif + + // If we're a simulated weapon, or if the weapon is not predictive, then issue material hit effects since the predicted callback above will not get triggered + [[maybe_unused]] bool shouldIssueMaterialEffects = !HasController() || !hitInfo.m_weapon.GetParams().m_locallyPredicted; + + for (uint32_t i = 0; i < hitInfo.m_hitEvent.m_hitEntities.size(); ++i) + { + const HitEntity& hitEntity = hitInfo.m_hitEvent.m_hitEntities[i]; + +#if AZ_TRAIT_CLIENT + if (cl_WeaponsDrawDebug && m_debugDraw) + { + m_debugDraw->DrawSphereAtLocation + ( + hitEntity.m_hitPosition, + cl_WeaponsDrawDebugSize, + AZ::Colors::Red, + cl_WeaponsDrawDebugDurationSec + ); + } +#endif + + AZLOG + ( + NET_Weapons, + "Confirmed hit on entity %" PRIu64 " at position %f x %f x %f", + hitEntity.m_hitNetEntityId, + hitEntity.m_hitPosition.GetX(), + hitEntity.m_hitPosition.GetY(), + hitEntity.m_hitPosition.GetZ() + ); + } + } + + void NetworkWeaponsComponent::OnUpdateActivationCounts(int32_t index, uint8_t value) + { + IWeapon* weapon = GetWeapon(aznumeric_cast(index)); + + if (weapon == nullptr) + { + return; + } + + if (HasController() && weapon->GetParams().m_locallyPredicted) + { + // If this is a predicted weapon, exit out because autonomous weapons predict activations + return; + } + + AZLOG(NET_Weapons, "Client activation event for weapon index %u", index); + + WeaponState& weaponState = m_simulatedWeaponStates[index]; + const FireParams& fireParams = GetActivationParams(index); + weapon->SetFireParams(fireParams); + + while (weaponState.m_activationCount != value) + { + const bool validateActivations = false; + ActivateWeaponWithParams(aznumeric_cast(index), weaponState, fireParams, validateActivations); + } + } + + + NetworkWeaponsComponentController::NetworkWeaponsComponentController(NetworkWeaponsComponent& parent) + : NetworkWeaponsComponentControllerBase(parent) + , m_updateAI{[this] { UpdateAI(); }, AZ::Name{ "WeaponsControllerAI" } } + { + ; + } + + void NetworkWeaponsComponentController::OnActivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + NetworkAiComponent* networkAiComponent = GetParent().GetNetworkAiComponent(); + m_aiEnabled = (networkAiComponent != nullptr) ? networkAiComponent->GetEnabled() : false; + if (m_aiEnabled) + { + m_updateAI.Enqueue(AZ::TimeMs{ 0 }, true); + m_networkAiComponentController = GetNetworkAiComponentController(); + } + else if (IsNetEntityRoleAutonomous()) + { + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(DrawEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(FirePrimaryEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusConnect(FireSecondaryEventId); + } + } + + void NetworkWeaponsComponentController::OnDeactivate([[maybe_unused]] Multiplayer::EntityIsMigrating entityIsMigrating) + { + if (IsNetEntityRoleAutonomous() && !m_aiEnabled) + { + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(DrawEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(FirePrimaryEventId); + StartingPointInput::InputEventNotificationBus::MultiHandler::BusDisconnect(FireSecondaryEventId); + } + } + + void NetworkWeaponsComponentController::CreateInput(Multiplayer::NetworkInput& input, [[maybe_unused]] float deltaTime) + { + // Inputs for your own component always exist + NetworkWeaponsComponentNetworkInput* weaponInput = input.FindComponentInput(); + + weaponInput->m_draw = m_weaponDrawn; + weaponInput->m_firing = m_weaponFiring; + + // All weapon indices point to the same bone so only send one instance + uint32_t weaponIndexInt = 0; + if (weaponInput->m_firing.GetBit(weaponIndexInt)) + { + const char* fireBoneName = GetFireBoneNames(weaponIndexInt).c_str(); + int32_t boneIdx = GetNetworkAnimationComponentController()->GetParent().GetBoneIdByName(fireBoneName); + + AZ::Transform fireBoneTransform; + if (!GetNetworkAnimationComponentController()->GetParent().GetJointTransformById(boneIdx, fireBoneTransform)) + { + AZLOG_WARN("Failed to get transform for fire bone joint Id %u", boneIdx); + } + weaponInput->m_shotStartPosition = fireBoneTransform.GetTranslation(); + } + } + + void NetworkWeaponsComponentController::ProcessInput(Multiplayer::NetworkInput& input, [[maybe_unused]] float deltaTime) + { + NetworkWeaponsComponentNetworkInput* weaponInput = input.FindComponentInput(); + GetNetworkAnimationComponentController()->ModifyActiveAnimStates().SetBit( + aznumeric_cast(CharacterAnimState::Aiming), weaponInput->m_draw); + + for (AZStd::size_t weaponIndex = 0; weaponIndex < MaxWeaponsPerComponent; ++weaponIndex) + { + const CharacterAnimState animState = CharacterAnimState::Shooting; + GetNetworkAnimationComponentController()->ModifyActiveAnimStates().SetBit( + aznumeric_cast(animState), weaponInput->m_firing.GetBit(static_cast(weaponIndex))); + } + + const AZ::Transform worldTm = GetParent().GetEntity()->GetTransform()->GetWorldTM(); + + for (uint32_t weaponIndexInt = 0; weaponIndexInt < MaxWeaponsPerComponent; ++weaponIndexInt) + { + if (weaponInput->m_firing.GetBit(weaponIndexInt)) + { + const AZ::Vector3& aimAngles = GetNetworkSimplePlayerCameraComponentController()->GetAimAngles(); + const AZ::Quaternion aimRotation = + AZ::Quaternion::CreateRotationZ(aimAngles.GetZ()) * AZ::Quaternion::CreateRotationX(aimAngles.GetX()); + // TODO: This should probably be a physx raycast out to some maxDistance + const AZ::Vector3 fwd = AZ::Vector3::CreateAxisY(); + const AZ::Vector3 aimTarget = worldTm.GetTranslation() + aimRotation.TransformVector(fwd * 5.0f); + AZ::Vector3 aimSource = weaponInput->m_shotStartPosition; + + const char* fireBoneName = GetFireBoneNames(weaponIndexInt).c_str(); + int32_t boneIdx = GetNetworkAnimationComponentController()->GetParent().GetBoneIdByName(fireBoneName); + + AZ::Transform fireBoneTransform; + if (!GetNetworkAnimationComponentController()->GetParent().GetJointTransformById(boneIdx, fireBoneTransform)) + { + AZLOG_WARN("Failed to get transform for fire bone joint Id %u", boneIdx); + } + + // Validate the proposed start position is reasonably close to the related bone + if ((fireBoneTransform.GetTranslation() - aimSource).GetLength() > sv_WeaponsStartPositionClampRange) + { + aimSource = fireBoneTransform.GetTranslation(); + AZLOG_WARN("Shot origin was outside of clamp range, resetting to bone position"); + } + FireParams fireParams{ weaponInput->m_shotStartPosition, aimTarget, Multiplayer::InvalidNetEntityId }; + TryStartFire(aznumeric_cast(weaponIndexInt), fireParams); + } + } + + UpdateWeaponFiring(deltaTime); + } + + void NetworkWeaponsComponentController::UpdateWeaponFiring([[maybe_unused]] float deltaTime) + { + for (uint32_t weaponIndexInt = 0; weaponIndexInt < MaxWeaponsPerComponent; ++weaponIndexInt) + { + IWeapon* weapon = GetParent().GetWeapon(aznumeric_cast(weaponIndexInt)); + + if ((weapon == nullptr) || !weapon->GetParams().m_locallyPredicted) + { + continue; + } + + WeaponState& weaponState = ModifyWeaponStates(weaponIndexInt); + if ((weaponState.m_status == WeaponStatus::Firing) && (weaponState.m_cooldownTime <= 0.0f)) + { + AZLOG(NET_Weapons, "Weapon predicted activation event for weapon index %u", weaponIndexInt); + + const bool validateActivations = true; + const FireParams& fireParams = weapon->GetFireParams(); + GetParent().ActivateWeaponWithParams( + aznumeric_cast(weaponIndexInt), weaponState, fireParams, validateActivations); + +#if AZ_TRAIT_SERVER + if (IsNetEntityRoleAuthority()) + { + SetActivationParams(weaponIndexInt, fireParams); + SetActivationCounts(weaponIndexInt, weaponState.m_activationCount); + } +#endif + } + weapon->UpdateWeaponState(weaponState, deltaTime); + } + } + + bool NetworkWeaponsComponentController::TryStartFire(WeaponIndex weaponIndex, const FireParams& fireParams) + { + const uint32_t weaponIndexInt = aznumeric_cast(weaponIndex); + AZLOG(NET_Weapons, "Weapon start fire on %u", weaponIndexInt); + + IWeapon* weapon = GetParent().GetWeapon(weaponIndex); + if (weapon == nullptr) + { + return false; + } + + WeaponState& weaponState = ModifyWeaponStates(weaponIndexInt); + if (weapon->TryStartFire(weaponState, fireParams)) + { + const uint32_t animBit = static_cast(weapon->GetParams().m_animFlag); + if (!GetNetworkAnimationComponentController()->GetActiveAnimStates().GetBit(animBit)) + { + GetNetworkAnimationComponentController()->ModifyActiveAnimStates().SetBit(animBit, true); + } + return true; + } + + return false; + } + + void NetworkWeaponsComponentController::OnPressed([[maybe_unused]] float value) + { + const StartingPointInput::InputEventNotificationId* inputId = StartingPointInput::InputEventNotificationBus::GetCurrentBusId(); + + if (inputId == nullptr) + { + return; + } + else if (*inputId == DrawEventId) + { + m_weaponDrawn = !m_weaponDrawn; + } + else if (*inputId == FirePrimaryEventId) + { + m_weaponFiring.SetBit(aznumeric_cast(PrimaryWeaponIndex), true); + } + else if (*inputId == FireSecondaryEventId) + { + m_weaponFiring.SetBit(aznumeric_cast(SecondaryWeaponIndex), true); + } + } + + void NetworkWeaponsComponentController::OnReleased([[maybe_unused]] float value) + { + const StartingPointInput::InputEventNotificationId* inputId = StartingPointInput::InputEventNotificationBus::GetCurrentBusId(); + + if (inputId == nullptr) + { + return; + } + else if (*inputId == FirePrimaryEventId) + { + m_weaponFiring.SetBit(aznumeric_cast(PrimaryWeaponIndex), false); + } + else if (*inputId == FireSecondaryEventId) + { + m_weaponFiring.SetBit(aznumeric_cast(SecondaryWeaponIndex), false); + } + } + + void NetworkWeaponsComponentController::OnHeld([[maybe_unused]] float value) + { + ; + } + + void NetworkWeaponsComponentController::UpdateAI() + { +#if AZ_TRAIT_SERVER + float deltaTime = static_cast(m_updateAI.TimeInQueueMs()) / 1000.f; + if (m_networkAiComponentController != nullptr) + { + m_networkAiComponentController->TickWeapons(*this, deltaTime); + } +#endif + } +} // namespace ${SanitizedCppName} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkWeaponsComponent.h b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkWeaponsComponent.h new file mode 100644 index 000000000..becf6db19 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Components/NetworkWeaponsComponent.h @@ -0,0 +1,115 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include +#include + +namespace DebugDraw { class DebugDrawRequests; } + +namespace ${SanitizedCppName} +{ + // Input Event Ids for Player Controls + const StartingPointInput::InputEventNotificationId DrawEventId("drawWeapon"); + const StartingPointInput::InputEventNotificationId FirePrimaryEventId("firePrimaryWeapon"); + const StartingPointInput::InputEventNotificationId FireSecondaryEventId("fireSecondaryWeapon"); + + const WeaponIndex PrimaryWeaponIndex = WeaponIndex{ 0 }; + const WeaponIndex SecondaryWeaponIndex = WeaponIndex{ 1 }; + + class NetworkWeaponsComponent + : public NetworkWeaponsComponentBase + , private WeaponListener + { + public: + AZ_MULTIPLAYER_COMPONENT(${SanitizedCppName}::NetworkWeaponsComponent, s_networkWeaponsComponentConcreteUuid, ${SanitizedCppName}::NetworkWeaponsComponentBase); + + static void Reflect(AZ::ReflectContext* context); + + NetworkWeaponsComponent(); + + void OnInit() override; + void OnActivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + void OnDeactivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + +#if AZ_TRAIT_CLIENT + void HandleSendConfirmHit(AzNetworking::IConnection* invokingConnection, const WeaponIndex& weaponIndex, const HitEvent& hitEvent) override; +#endif + void ActivateWeaponWithParams(WeaponIndex weaponIndex, WeaponState& weaponState, const FireParams& fireParams, bool validateActivations); + + IWeapon* GetWeapon(WeaponIndex weaponIndex) const; + + private: + //! WeaponListener interface + //! @{ + void OnWeaponActivate(const WeaponActivationInfo& activationInfo) override; + void OnWeaponHit(const WeaponHitInfo& hitInfo) override; + //! @} + + void OnWeaponPredictHit(const WeaponHitInfo& hitInfo); + void OnWeaponConfirmHit(const WeaponHitInfo& hitInfo); + + void OnUpdateActivationCounts(int32_t index, uint8_t value); + + using WeaponPointer = AZStd::unique_ptr; + AZStd::array m_weapons; + + AZ::Event::Handler m_activationCountHandler; + AZStd::array m_simulatedWeaponStates; + AZStd::array m_fireBoneJointIds; + + DebugDraw::DebugDrawRequests* m_debugDraw = nullptr; + }; + + class NetworkWeaponsComponentController + : public NetworkWeaponsComponentControllerBase + , private StartingPointInput::InputEventNotificationBus::MultiHandler + { + public: + NetworkWeaponsComponentController(NetworkWeaponsComponent& parent); + + void OnActivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + void OnDeactivate(Multiplayer::EntityIsMigrating entityIsMigrating) override; + + void CreateInput(Multiplayer::NetworkInput& input, float deltaTime) override; + void ProcessInput(Multiplayer::NetworkInput& input, float deltaTime) override; + + private: + friend class NetworkAiComponentController; + + void UpdateAI(); + + //! Update pump for player controlled weapons + //! @param deltaTime the time in seconds since last tick + void UpdateWeaponFiring(float deltaTime); + + //! Starts a weapon with the frame id from the client + //! @return boolean true on activate, false if the weapon failed to activate + virtual bool TryStartFire(WeaponIndex weaponIndex, const FireParams& fireParams); + + //! AZ::InputEventNotificationBus interface + //! @{ + void OnPressed(float value) override; + void OnReleased(float value) override; + void OnHeld(float value) override; + //! @} + + AZ::ScheduledEvent m_updateAI; + NetworkAiComponentController* m_networkAiComponentController = nullptr; + + // Technically these values should never migrate hosts since they are maintained by the autonomous client + // But due to how the stress test chaos monkey operates, it puppets these values on the server to mimick a client + // This means these values can and will migrate between hosts (and lose any stored state) + // We will need to consider moving these values to Authority to Server network properties if the design doesn't change + bool m_aiEnabled = false; + bool m_weaponDrawn = false; + WeaponActivationBitset m_weaponFiring; + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Spawners/IPlayerSpawner.h b/Templates/Multiplayer/Template/Gem/Code/Source/Spawners/IPlayerSpawner.h new file mode 100644 index 000000000..c64bbf965 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Spawners/IPlayerSpawner.h @@ -0,0 +1,40 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +namespace AZ +{ + class Transform; +} + +namespace ${SanitizedCppName} +{ + class NetworkPlayerSpawnerComponent; + + //! @class IPlayerSpawner + //! @brief IPlayerSpawner coordinate NetworkPlayerSpawners + //! + //! IPlayerSpawner is an AZ::Interface that provides a registry for + //! NetworkPlayerSpawners which can then be queried when IMultiplayerSpawner + //! events fire. + + class IPlayerSpawner + { + public: + AZ_RTTI(IPlayerSpawner, "{48CE4CFF-594B-4C6F-B5E0-8290A72CFEF9}"); + virtual ~IPlayerSpawner() = default; + + virtual bool RegisterPlayerSpawner(NetworkPlayerSpawnerComponent* spawner) = 0; + virtual AZStd::pair GetNextPlayerSpawn() = 0; + virtual bool UnregisterPlayerSpawner(NetworkPlayerSpawnerComponent* spawner) = 0; + }; +} // namespace ${SanitizedCppName} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Spawners/RoundRobinSpawner.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Spawners/RoundRobinSpawner.cpp new file mode 100644 index 000000000..8caae7d9a --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Spawners/RoundRobinSpawner.cpp @@ -0,0 +1,65 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include + +namespace ${SanitizedCppName} +{ + bool RoundRobinSpawner::RegisterPlayerSpawner(NetworkPlayerSpawnerComponent* spawner) + { + if (AZStd::find(m_spawners.begin(), m_spawners.end(), spawner) == m_spawners.end()) + { + m_spawners.push_back(spawner); + return true; + } + + return false; + } + + AZStd::pair RoundRobinSpawner::GetNextPlayerSpawn() + { + if (m_spawners.empty()) + { + AZLOG_WARN("No active NetworkPlayerSpawnerComponents were found on player spawn request.") + return AZStd::make_pair(Multiplayer::PrefabEntityId(), AZ::Transform::CreateIdentity()); + } + + if (m_spawnIndex >= m_spawners.size()) + { + AZLOG_WARN("RoundRobinSpawner has an out-of-bounds spawner index. Resetting spawn index to 0.") + m_spawnIndex = 0; + } + + NetworkPlayerSpawnerComponent* spawner = m_spawners[m_spawnIndex]; + m_spawnIndex = m_spawnIndex + 1 == m_spawners.size() ? 0 : m_spawnIndex + 1; + // NetworkEntityManager currently operates against/validates AssetId or Path, opt for Path via Hint + Multiplayer::PrefabEntityId prefabEntityId(AZ::Name(spawner->GetSpawnableAsset().GetHint().c_str())); + + return AZStd::make_pair( + prefabEntityId, spawner->GetEntity()->GetTransform()->GetWorldTM()); + } + + bool RoundRobinSpawner::UnregisterPlayerSpawner(NetworkPlayerSpawnerComponent* spawner) + { + if (AZStd::find(m_spawners.begin(), m_spawners.end(), spawner)) + { + m_spawners.erase(AZStd::remove(m_spawners.begin(), m_spawners.end(), spawner)); + + // A spawner was removed, reset the next spawnIndex if it's now out-of-bounds + if (m_spawnIndex >= m_spawners.size()) + { + m_spawnIndex = 0; + } + + return true; + } + + return false; + } +} // namespace ${SanitizedCppName} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Spawners/RoundRobinSpawner.h b/Templates/Multiplayer/Template/Gem/Code/Source/Spawners/RoundRobinSpawner.h new file mode 100644 index 000000000..e7763b264 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Spawners/RoundRobinSpawner.h @@ -0,0 +1,43 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of + * this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include + +namespace AzFramework +{ + struct PlayerConnectionConfig; +} + +namespace Multiplayer +{ + struct EntityReplicationData; + using ReplicationSet = AZStd::map; +} // namespace Multiplayer + +namespace ${SanitizedCppName} +{ + class RoundRobinSpawner + : public ${SanitizedCppName}::IPlayerSpawner + { + public: + AZ_RTTI(RoundRobinSpawner, "{C934A204-D6F8-4A44-870B-DFE5B8C7BA6B}"); + + //////////////////////////////////////////////////////////////////////// + // IPlayerSpawner overrides + bool RegisterPlayerSpawner(NetworkPlayerSpawnerComponent* spawner) override; + AZStd::pair GetNextPlayerSpawn() override; + bool UnregisterPlayerSpawner(NetworkPlayerSpawnerComponent* spawner) override; + //////////////////////////////////////////////////////////////////////// + + private: + AZStd::vector m_spawners; + uint8_t m_spawnIndex = 0; + }; +} // namespace ${SanitizedCppName} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/BaseWeapon.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/BaseWeapon.cpp new file mode 100644 index 000000000..68213e8ea --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/BaseWeapon.cpp @@ -0,0 +1,201 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include + +namespace ${SanitizedCppName} +{ + AZ_CVAR(bool, gp_PauseOnWeaponGather, false, nullptr, AZ::ConsoleFunctorFlags::Null, "Will halt game execution on starting a weapon gather"); + + BaseWeapon::BaseWeapon(const ConstructParams& constructParams) + : m_owningEntity(constructParams.m_owningEntity) + , m_weaponIndex(constructParams.m_weaponIndex) + , m_weaponParams(constructParams.m_weaponParams) + , m_weaponListener(constructParams.m_weaponListener) + { +/* + @TODO: Need a replacement fx and material fx system + ArchetypeAssetLibrary* assetLibsInstance = ArchetypeAssetLibrary::GetInstance(); + NV_ASSERT(assetLibsInstance != nullptr, "Asset library is NULL"); + + const ClientEffect* activateEffect = assetLibsInstance->GetArchetype(m_Params.GetActivateFx().c_str()); + const ClientEffect* impactEffect = assetLibsInstance->GetArchetype(m_Params.GetImpactFx().c_str()); + const ClientEffect* damageEffect = assetLibsInstance->GetArchetype(m_Params.GetDamageFx().c_str()); + + m_ActivateEffect = activateEffect ? *activateEffect : ClientEffect(); + m_ImpactEffect = impactEffect ? *impactEffect : ClientEffect(); + m_DamageEffect = damageEffect ? *damageEffect : ClientEffect(); +*/ + } + + WeaponIndex BaseWeapon::GetWeaponIndex() const + { + return m_weaponIndex; + } + + const WeaponParams& BaseWeapon::GetParams() const + { + return m_weaponParams; + } + + void BaseWeapon::UpdateWeaponState(WeaponState& weaponState, float deltaTime) + { + const float newCooldown = AZStd::max(0.0f, weaponState.m_cooldownTime - deltaTime); + weaponState.m_cooldownTime = newCooldown; + TickActiveShots(weaponState, deltaTime); + } + + bool BaseWeapon::CanStartNextEvent(const WeaponState& weaponState, WeaponStatus requiredStatus) const + { + // In valid state? + if (weaponState.m_status != requiredStatus) + { + return false; + } + return weaponState.m_cooldownTime <= 0.0f; + } + + bool BaseWeapon::TryStartFire(WeaponState& weaponState, const FireParams& fireParams) + { + if (!CanStartNextEvent(weaponState, WeaponStatus::Idle)) + { + AZLOG(NET_Weapons, "TryStartFire rejected; WeaponStatus is %s, cooldowntime is %f", GetEnumString(weaponState.m_status), weaponState.m_cooldownTime); + return false; + } + + weaponState.m_status = WeaponStatus::Firing; + weaponState.m_cooldownTime = 0.0f; + m_fireParams = fireParams; + m_gatheredNetEntityIds.clear(); + m_gatheredNetEntityIds.insert(m_owningEntity.GetNetEntityId()); + return true; + } + + const FireParams& BaseWeapon::GetFireParams() const + { + return m_fireParams; + } + + void BaseWeapon::SetFireParams(const FireParams& fireParams) + { + m_fireParams = fireParams; + } + + const ClientEffect& BaseWeapon::GetActivateEffect() const + { + return m_activateEffect; + } + + const ClientEffect& BaseWeapon::GetImpactEffect() const + { + return m_impactEffect; + } + + const ClientEffect& BaseWeapon::GetDamageEffect() const + { + return m_damageEffect; + } + + int32_t BaseWeapon::GetAmmoTypeSurfaceIndex() const + { + return m_ammoSurfaceTypeIndex; + } + + bool BaseWeapon::ActivateInternal(WeaponState& weaponState, bool validateFiringState) + { + if (validateFiringState && !CanStartNextEvent(weaponState, WeaponStatus::Firing)) + { + AZLOG(NET_Weapons, "ActivateInternal rejected! WeaponStatus is %s, cooldowntime is %f", GetEnumString(weaponState.m_status), weaponState.m_cooldownTime); + return false; + } + + weaponState.m_cooldownTime = static_cast(m_weaponParams.m_cooldownTimeMs) * 0.001f; + weaponState.m_status = WeaponStatus::Idle; + ++weaponState.m_activationCount; + return true; + } + + bool BaseWeapon::GatherEntities(const ActivateEvent& eventData, IntersectResults& outResults) + { + const bool result = ${SanitizedCppName}::GatherEntities(m_weaponParams.m_gatherParams, eventData, m_gatheredNetEntityIds, outResults); + if (gp_PauseOnWeaponGather && (outResults.size() > 0)) + { + AZ::Interface::Get()->PerformCommand("t_scale 0"); + } + return result; + } + + ShotResult BaseWeapon::GatherEntitiesMultisegment(float deltaTime, ActiveShot& inOutActiveShot, IntersectResults& outResults) + { + ShotResult result = ${SanitizedCppName}::GatherEntitiesMultisegment(m_weaponParams.m_gatherParams, m_gatheredNetEntityIds, deltaTime, inOutActiveShot, outResults); + if (gp_PauseOnWeaponGather && (outResults.size() > 0)) + { + AZ::Interface::Get()->PerformCommand("t_scale 0"); + } + return result; + } + + void BaseWeapon::DispatchHitEvents(const IntersectResults& gatherResults, const ActivateEvent& eventData, const NetEntityIdSet& prefilteredNetEntityIds) + { + HitEvent hitEvent + { + AZ::Transform::CreateFromQuaternionAndTranslation(eventData.m_initialTransform.GetRotation(), eventData.m_targetPosition), + eventData.m_shooterId, + Multiplayer::InvalidNetEntityId, + HitEntities() + }; + + for (auto gatherResult : gatherResults) + { + if (prefilteredNetEntityIds.size() > 0) + { + if (prefilteredNetEntityIds.find(gatherResult.m_netEntityId) != prefilteredNetEntityIds.end()) + { + // Skip this hit, it was not gathered by the high-detail client physics trace, and should be filtered + continue; + } + } + + hitEvent.m_hitEntities.emplace_back(HitEntity{ gatherResult.m_position, gatherResult.m_netEntityId }); + } + + WeaponHitInfo hitInfo(*this, hitEvent); + m_weaponListener.OnWeaponHit(hitInfo); + } + + WeaponActivationInfo::WeaponActivationInfo(const IWeapon& weapon, const ActivateEvent& activateEvent) + : m_weapon(weapon) + , m_activateEvent(activateEvent) + { + ; + } + + WeaponHitInfo::WeaponHitInfo(const IWeapon& weapon, const HitEvent& hitEvent) + : m_weapon(weapon) + , m_hitEvent(hitEvent) + { + ; + } + + AZStd::unique_ptr CreateWeapon(const ConstructParams& constructParams) + { + switch (constructParams.m_weaponParams.m_weaponType) + { + case WeaponType::Trace: + return AZStd::make_unique(constructParams); + case WeaponType::Projectile: + return AZStd::make_unique(constructParams); + case WeaponType::None: + default: + break; + } + return nullptr; + } +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/BaseWeapon.h b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/BaseWeapon.h new file mode 100644 index 000000000..6863471d8 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/BaseWeapon.h @@ -0,0 +1,94 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include + +namespace ${SanitizedCppName} +{ + struct ConstructParams + { + const Multiplayer::ConstNetworkEntityHandle m_owningEntity; // the owning entity for this weapon + const WeaponIndex m_weaponIndex; // the weapon index + const WeaponParams& m_weaponParams; // weapon behaviour parameters + WeaponListener& m_weaponListener; // the listener for weapon events + }; + + //! @class BaseWeapon + //! @brief Common base weapon class. + class BaseWeapon + : public IWeapon + { + public: + //! Constructor. + //! @param constructParams the set of construction params for the weapon instance + BaseWeapon(const ConstructParams& constructParams); + ~BaseWeapon() override = default; + + //! IWeapon interface + //! @{ + WeaponIndex GetWeaponIndex() const override; + const WeaponParams& GetParams() const override; + void UpdateWeaponState(WeaponState& weaponState, float deltaTime) override; + bool CanStartNextEvent(const WeaponState& weaponState, WeaponStatus requiredStatus) const override; + bool TryStartFire(WeaponState& weaponState, const FireParams& fireParams) override; + const FireParams& GetFireParams() const override; + void SetFireParams(const FireParams& fireParams) override; + const ClientEffect& GetActivateEffect() const override; + const ClientEffect& GetImpactEffect() const override; + const ClientEffect& GetDamageEffect() const override; + int32_t GetAmmoTypeSurfaceIndex() const override; + //! @} + + protected: + + //! Performs internal activation logic and weapons book keeping. + //! @param weaponState the weapon state being updated + //! @param validateFiringState if true, internal firing state will be checked to validate that the activation event is valid + //! @return boolean true if the activation was successful + bool ActivateInternal(WeaponState& weaponState, bool validateFiringState); + + //! Performs internal entity gathering on weapon activation. + //! @param eventData specific data regarding the weapon activation + //! @param outResults reference to the output structure to store gathered entities in + bool GatherEntities(const ActivateEvent& eventData, IntersectResults& outResults); + + //! Performs internal entity gathering on weapon activation. + //! @param eventData specific data regarding the weapon activation + //! @param outResults reference to the output structure to store gathered entities in + ShotResult GatherEntitiesMultisegment(float deltaTime, ActiveShot& inOutActiveShot, IntersectResults& outResults); + + //! Dispatches all pending hit callbacks to the weapons listener. + //! @param gatherResults the structure containing pending hit entities + //! @param eventData specific data regarding the weapon activation + void DispatchHitEvents(const IntersectResults& gatherResults, const ActivateEvent& eventData, const NetEntityIdSet& prefilteredNetEntityIds); + + // Do not allow assignment + BaseWeapon& operator =(const BaseWeapon&) = delete; + + const Multiplayer::ConstNetworkEntityHandle m_owningEntity; + const WeaponIndex m_weaponIndex; + const WeaponParams m_weaponParams; + + WeaponListener& m_weaponListener; + ClientEffect m_activateEffect; + ClientEffect m_impactEffect; + ClientEffect m_damageEffect; + FireParams m_fireParams; + NetEntityIdSet m_gatheredNetEntityIds; + + int32_t m_ammoSurfaceTypeIndex = -1; + }; + + //! Factory function to create an appropriate IWeapon instance given the provided ConstructParams. + //! @param constructParams parameters to control what type of weapon is instantiated and how its initialized + //! @return pointer to the IWeapon instance, caller assumes ownership + AZStd::unique_ptr CreateWeapon(const ConstructParams& constructParams); +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/IWeapon.h b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/IWeapon.h new file mode 100644 index 000000000..5aee80e38 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/IWeapon.h @@ -0,0 +1,138 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include "Multiplayer/NetworkEntity/NetworkEntityHandle.h" + +namespace ${SanitizedCppName} +{ + struct WeaponActivationInfo; + struct WeaponHitInfo; + + //! @class WeaponListener + //! @brief Listener class for IWeapon events. + class WeaponListener + { + public: + //! Called whenever a weapon activates. + //! @param activationInfo details of the weapon activation + virtual void OnWeaponActivate(const WeaponActivationInfo& activationInfo) = 0; + + //! Invoked when the weapon hits a target entity. + //! @param hitInfo details of the weapon hit + virtual void OnWeaponHit(const WeaponHitInfo& hitInfo) = 0; + }; + + //! @class IWeapon + //! @brief Common interface for all multiplayer sample weapons, trace and projectile + class IWeapon + { + public: + + IWeapon() = default; + virtual ~IWeapon() = default; + + //! Returns the weapon index for this weapon instance. + //! @return the weapon index for this weapon instance + virtual WeaponIndex GetWeaponIndex() const = 0; + + //! Retrieves the WeaponParams for this IWeapon instance. + //! @return the WeaponParams for the given IWeapon instance + virtual const WeaponParams& GetParams() const = 0; + + //! Update the weapon's internal state. + //! @param weaponState the weapon state being updated + //! @param deltaTime the amount of time to update weapon state by + virtual void UpdateWeaponState(WeaponState& weaponState, float deltaTime) = 0; + + //! Returns whether the weapon believes it is able to perform its next StartFire or Activation event. + //! @param weaponState the weapon state being updated + //! @param requiredStatus the weapon state required for this check to succeed + //! @return boolean true if the weapon could enter firing mode or activate + virtual bool CanStartNextEvent(const WeaponState& weaponState, WeaponStatus requiredStatus) const = 0; + + //! Called to begin weapon firing + //! @param weaponState the weapon state being updated + //! @param fireParams the firing parameters to use for this activation sequence + //! @return boolean true if the weapon successfully entered firing mode + virtual bool TryStartFire(WeaponState& weaponState, const FireParams& fireParams) = 0; + + //! Retrieves the internal fire params + //! @return structure containing the internal fire params + virtual const FireParams& GetFireParams() const = 0; + + //! Sets the internal fire params + //! @fireParams structure containing the internal fire params + virtual void SetFireParams(const FireParams& fireParams) = 0; + + //! Internally called on every weapon activation. + //! @param weaponState the weapons internal state structure + //! @param weaponOwner the weapons owning entity + //! @param eventData contains details of the activation event + //! @param validateActivation if true, the Activate call will only invoke if it passes validation + virtual void Activate + ( + WeaponState& weaponState, + const Multiplayer::ConstNetworkEntityHandle weaponOwner, + ActivateEvent& eventData, + bool validateActivation + ) = 0; + + //! Ticks the active shots for this weapon. + //! @param weaponState reference to the predictive state for this weapon + //! @param deltaTime the amount of time we are ticking over + virtual void TickActiveShots(WeaponState& weaponState, float deltaTime) = 0; + + //! Returns the activate effect bound to this weapon instance. + //! @return reference to the activate effect bound to this weapon instance + virtual const ClientEffect& GetActivateEffect() const = 0; + + //! Returns the impact effect bound to this weapon instance. + //! @return reference to the impact effect bound to this weapon instance + virtual const ClientEffect& GetImpactEffect() const = 0; + + //! Returns the damage effect bound to this weapon instance. + //! @return reference to the damage effect bound to this weapon instance + virtual const ClientEffect& GetDamageEffect() const = 0; + + //! Returns the ammo type surface index for this weapon. + //! @return the ammo type surface index for this weapon + virtual int32_t GetAmmoTypeSurfaceIndex() const = 0; + }; + + //! @struct WeaponActivationInfo + //! @brief Contains details for a single weapon activation. + struct WeaponActivationInfo + { + //! Full constructor. + //! @param weapon reference to the weapon instance which activated + //! @param activateEvent specific details about the weapon activation event + WeaponActivationInfo(const IWeapon& weapon, const ActivateEvent& activateEvent); + + const IWeapon& m_weapon; //< Reference to the weapon instance which activated + ActivateEvent m_activateEvent; //< Specific details about the weapon activation + + WeaponActivationInfo& operator =(const WeaponActivationInfo&) = delete; // Don't allow copying + }; + + //! @struct ServerHitInfo + //! @brief Contains details for a single weapon hit on a server. + struct WeaponHitInfo + { + //! Full constructor. + //! @param weapon reference to the weapon instance which produced the hit + //! @param hitEvent specific details about the weapon hit event + WeaponHitInfo(const IWeapon& weapon, const HitEvent& hitEvent); + + const IWeapon& m_weapon; //< Reference to the weapon instance which produced the hit + HitEvent m_hitEvent; //< Specific details about the weapon hit event + + WeaponHitInfo& operator =(const WeaponHitInfo&) = delete; // Don't allow copying, these guys get dispatched under special conditions + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/ProjectileWeapon.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/ProjectileWeapon.cpp new file mode 100644 index 000000000..fb162b8df --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/ProjectileWeapon.cpp @@ -0,0 +1,33 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +namespace ${SanitizedCppName} +{ + ProjectileWeapon::ProjectileWeapon(const ConstructParams& constructParams) + : BaseWeapon(constructParams) + { + ; + } + + void ProjectileWeapon::Activate + ( + [[maybe_unused]] WeaponState& weaponState, + [[maybe_unused]] const Multiplayer::ConstNetworkEntityHandle weaponOwner, + [[maybe_unused]] ActivateEvent& eventData, + [[maybe_unused]] bool validateActivation + ) + { + ; // need to port this code + } + + void ProjectileWeapon::TickActiveShots([[maybe_unused]] WeaponState& weaponState, [[maybe_unused]] float deltaTime) + { + ; // no-op, projectiles spawn as individual entities that tick themselves.. if a game does client steered projectiles then this pattern may need to change + } +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/ProjectileWeapon.h b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/ProjectileWeapon.h new file mode 100644 index 000000000..8feb6b11e --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/ProjectileWeapon.h @@ -0,0 +1,44 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include + +namespace ${SanitizedCppName} +{ + //! @class ProjectileWeapon + //! @brief Server-side weapon class for projectile-based weapons. + class ProjectileWeapon final + : public BaseWeapon + { + public: + + //! Constructor. + //! @param constructParams required construction parameters for the weapon instance + ProjectileWeapon(const ConstructParams& constructParams); + ~ProjectileWeapon() override = default; + + private: + + //! IWeapon interface + //! @{ + void Activate + ( + WeaponState& weaponState, + const Multiplayer::ConstNetworkEntityHandle weaponOwner, + ActivateEvent& eventData, + bool validateActivation + ) override; + + void TickActiveShots(WeaponState& weaponState, float deltaTime) override; + //! @} + + // Do not allow assignment + ProjectileWeapon &operator =(const ProjectileWeapon &) = delete; + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/SceneQuery.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/SceneQuery.cpp new file mode 100644 index 000000000..d25020753 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/SceneQuery.cpp @@ -0,0 +1,168 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ${SanitizedCppName} +{ + namespace SceneQuery + { + static AZStd::shared_ptr GatherShapeToPhysicsShape(const GatherShape& gatherShape, const IntersectFilter& filter) + { + if (gatherShape == GatherShape::Point) + { + // Point shape generally means a raycast, but we fall back to a small sphere in case if Overlap with Point type is requested. + const float pointSphereSize = 0.01f; + return AZStd::make_unique(pointSphereSize); + } + + // AzPhysics Scene queries work with shared_ptr + switch (gatherShape) + { + case GatherShape::Box: + AZ_Assert(filter.m_shapeConfiguration->GetShapeType() == Physics::ShapeType::Box, "Shape configuration type must be Box"); + return AZStd::make_unique(*(azdynamic_cast(filter.m_shapeConfiguration))); + case GatherShape::Sphere: + AZ_Assert(filter.m_shapeConfiguration->GetShapeType() == Physics::ShapeType::Sphere, "Shape configuration type must be Sphere"); + return AZStd::make_unique(*(azdynamic_cast(filter.m_shapeConfiguration))); + case GatherShape::Capsule: + AZ_Assert(filter.m_shapeConfiguration->GetShapeType() == Physics::ShapeType::Capsule, "Shape configuration type must be Capsule"); + return AZStd::make_unique(*(azdynamic_cast(filter.m_shapeConfiguration))); + default: + AZ_Warning("", false, "Only box, sphere, and capsule conversions are supported."); + } + + return nullptr; + } + + static void CollectHits(AzPhysics::SceneQueryHits& result, IntersectResults& outResults) + { + auto* networkEntityManager = AZ::Interface::Get(); + AZ_Assert(networkEntityManager, "Multiplayer entity manager must be initialized"); + + for (const AzPhysics::SceneQueryHit& hit : result.m_hits) + { + IntersectResult intersectResult; + intersectResult.m_position = hit.m_position; + intersectResult.m_normal = hit.m_normal; + intersectResult.m_materialName = hit.m_physicsMaterialId.ToString(); + intersectResult.m_netEntityId = networkEntityManager->GetNetEntityIdById(hit.m_entityId); + outResults.emplace_back(intersectResult); + } + } + + size_t WorldIntersect(const GatherShape& intersectShape, const IntersectFilter& filter, IntersectResults& outResults) + { + AZ_Assert(intersectShape == GatherShape::Point || filter.m_shapeConfiguration != nullptr, + "Shape configuration must be provided for shape casts and overlap requests"); + + auto* sceneInterface = AZ::Interface::Get(); + AZ_Assert(sceneInterface, "Physics system must be initialized"); + + AzPhysics::SceneHandle sceneHandle = sceneInterface->GetSceneHandle(AzPhysics::DefaultPhysicsSceneName); + AZ_Assert(sceneHandle != AzPhysics::InvalidSceneHandle, "Default Physics world must be created"); + + auto* networkEntityManager = AZ::Interface::Get(); + AZ_Assert(networkEntityManager, "Multiplayer entity manager must be initialized"); + + auto ignoreEntitiesFilterCallback = + [&filter, networkEntityManager](const AzPhysics::SimulatedBody* body, [[maybe_unused]] const Physics::Shape* shape) + { + // Exclude bodies from another rewind frame + if (filter.m_rewindFrameId != Multiplayer::InvalidHostFrameId + && (body->GetFrameId() != AzPhysics::SimulatedBody::UndefinedFrameId) + && (body->GetFrameId() != static_cast(filter.m_rewindFrameId))) + { + return AzPhysics::SceneQuery::QueryHitType::None; + } + + // Find the net entity ID for this body + AZ::EntityId bodyEntityId = body->GetEntityId(); + Multiplayer::NetEntityId bodyNetEntityId = networkEntityManager->GetNetEntityIdById(bodyEntityId); + + // Ignore the body from the filtered net entities + if (bodyNetEntityId != Multiplayer::InvalidNetEntityId && filter.m_filteredNetEntityIds.count(bodyNetEntityId) == 1) + { + // Allow static/non-net entities to hit + return AzPhysics::SceneQuery::QueryHitType::None; + } + + return AzPhysics::SceneQuery::QueryHitType::Touch; + }; + + const float maxSweepDistance = filter.m_sweep.GetLength(); + const bool shouldDoOverlap = (maxSweepDistance == 0); + + // Ensure any entities that we might interact with are properly synchronized to their rewind state + const AZ::Vector3 minBound = filter.m_initialPose.GetTranslation().GetMin(filter.m_initialPose.GetTranslation() + filter.m_sweep); + const AZ::Vector3 maxBound = filter.m_initialPose.GetTranslation().GetMax(filter.m_initialPose.GetTranslation() + filter.m_sweep); + const AZ::Aabb rewindBounds = AZ::Aabb::CreateFromMinMax(minBound, maxBound); + Multiplayer::GetNetworkTime()->SyncEntitiesToRewindState(rewindBounds); + + if (shouldDoOverlap) + { + // Interset queries with 0 length are considered Overlaps + AzPhysics::OverlapRequest request; + request.m_collisionGroup = filter.m_collisionGroup; + request.m_pose = filter.m_initialPose; + request.m_shapeConfiguration = GatherShapeToPhysicsShape(intersectShape, filter); + request.m_queryType = filter.m_queryType; + + // Overlap filter callback signature is slightly different from Ray/ShapeCast + // Have to wrap it into a pass-through lambda + request.m_filterCallback = [&ignoreEntitiesFilterCallback](const AzPhysics::SimulatedBody* body, const Physics::Shape* shape) + { + return ignoreEntitiesFilterCallback(body, shape) == AzPhysics::SceneQuery::QueryHitType::None ? false : true; + }; + + AzPhysics::SceneQueryHits result = sceneInterface->QueryScene(sceneHandle, &request); + CollectHits(result, outResults); + } + else if (intersectShape == GatherShape::Point) + { + // Perform raycast + AzPhysics::RayCastRequest request; + request.m_collisionGroup = filter.m_collisionGroup; + request.m_start = filter.m_initialPose.GetTranslation(); + request.m_direction = filter.m_sweep.GetNormalized(); + request.m_distance = maxSweepDistance; + request.m_queryType = filter.m_queryType; + request.m_filterCallback = AZStd::move(ignoreEntitiesFilterCallback); + request.m_reportMultipleHits = (filter.m_intersectMultiple == HitMultiple::Yes); + + AzPhysics::SceneQueryHits result = sceneInterface->QueryScene(sceneHandle, &request); + CollectHits(result, outResults); + } + else + { + // Perform shapecast + AzPhysics::ShapeCastRequest request; + request.m_collisionGroup = filter.m_collisionGroup; + request.m_start = filter.m_initialPose; + request.m_direction = filter.m_sweep.GetNormalized(); + request.m_distance = maxSweepDistance; + request.m_shapeConfiguration = GatherShapeToPhysicsShape(intersectShape, filter); + request.m_queryType = filter.m_queryType; + request.m_filterCallback = AZStd::move(ignoreEntitiesFilterCallback); + request.m_reportMultipleHits = (filter.m_intersectMultiple == HitMultiple::Yes); + + AzPhysics::SceneQueryHits result = sceneInterface->QueryScene(sceneHandle, &request); + CollectHits(result, outResults); + } + + return outResults.size(); + } + } +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/SceneQuery.h b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/SceneQuery.h new file mode 100644 index 000000000..f5bf2cf83 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/SceneQuery.h @@ -0,0 +1,23 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include + +namespace ${SanitizedCppName} +{ + namespace SceneQuery + { + //! Performs a world intersection query + //! @param intersectShape a convex shape to use for the intersection test (point, box, sphere, capsule) + //! @param filter parameters controlling whether the query is swept, how many entities to gather, world positions, and filtering information + //! @param a_OutResults result structure to store all relevant hits + //! @return the number of hits stored in the result structure + size_t WorldIntersect(const GatherShape& intersectShape, const IntersectFilter& filter, IntersectResults& outResults); + } +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/TraceWeapon.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/TraceWeapon.cpp new file mode 100644 index 000000000..456a00efd --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/TraceWeapon.cpp @@ -0,0 +1,68 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include + +namespace ${SanitizedCppName} +{ + TraceWeapon::TraceWeapon(const ConstructParams& constructParams) + : BaseWeapon(constructParams) + { + ; + } + + void TraceWeapon::Activate + ( + WeaponState& weaponState, + [[maybe_unused]] const Multiplayer::ConstNetworkEntityHandle weaponOwner, + ActivateEvent& eventData, + bool validateActivation + ) + { + if (ActivateInternal(weaponState, validateActivation)) + { + m_weaponListener.OnWeaponActivate(WeaponActivationInfo(*this, eventData)); + + const bool isMultiSegmented = (m_weaponParams.m_gatherParams.m_travelSpeed > 0.0f); + + IntersectResults gatherResults; + if (isMultiSegmented) + { + ActiveShot activeShot{ eventData.m_initialTransform, eventData.m_targetPosition, LifetimeSec{ 0.0f } }; + weaponState.m_activeShots.emplace_back(activeShot); + } + else if (GatherEntities(eventData, gatherResults)) + { + DispatchHitEvents(gatherResults, eventData, m_gatheredNetEntityIds); + } + } + } + + void TraceWeapon::TickActiveShots(WeaponState& weaponState, float deltaTime) + { + AZStd::size_t numActiveShots = weaponState.m_activeShots.size(); + for (AZStd::size_t i = 0; i < numActiveShots; ++i) + { + ActiveShot& activeShot = weaponState.m_activeShots[i]; + + IntersectResults gatherResults; + const ShotResult result = GatherEntitiesMultisegment(deltaTime, activeShot, gatherResults); + + // If expired, dispatch hit events, swap and pop + if (result == ShotResult::ShouldTerminate) + { + ActivateEvent eventData{ activeShot.m_initialTransform, activeShot.m_targetPosition, Multiplayer::InvalidNetEntityId, Multiplayer::InvalidNetEntityId }; + DispatchHitEvents(gatherResults, eventData, m_gatheredNetEntityIds); + + weaponState.m_activeShots[i] = weaponState.m_activeShots[numActiveShots - 1]; + weaponState.m_activeShots.pop_back(); + --numActiveShots; + --i; // We have just inserted a new element into the i'th position, next iteration we now need to revisit this index + } + } + } +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/TraceWeapon.h b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/TraceWeapon.h new file mode 100644 index 000000000..aa6f08358 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/TraceWeapon.h @@ -0,0 +1,44 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include + +namespace ${SanitizedCppName} +{ + //! @class TraceWeapon + //! @brief Weapon class for all instant hit area and trace weapons. + class TraceWeapon final + : public BaseWeapon + { + public: + + //! Constructor. + //! @param constructParams required construction parameters for the weapon instance + TraceWeapon(const ConstructParams& constructParams); + ~TraceWeapon() override = default; + + private: + + //! IWeapon interface + //! @{ + void Activate + ( + WeaponState& weaponState, + const Multiplayer::ConstNetworkEntityHandle weaponOwner, + ActivateEvent& eventData, + bool validateActivation + ) override; + + void TickActiveShots(WeaponState& weaponState, float deltaTime) override; + //! @} + + // Do not allow assignment + TraceWeapon& operator =(const TraceWeapon&) = delete; + }; +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/WeaponGathers.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/WeaponGathers.cpp new file mode 100644 index 000000000..4303dbb87 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/WeaponGathers.cpp @@ -0,0 +1,158 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include +#include +#include + +#if AZ_TRAIT_CLIENT +#include +#endif + +namespace ${SanitizedCppName} +{ + AZ_CVAR(uint32_t, bg_MultitraceNumTraceSegments, 3, nullptr, AZ::ConsoleFunctorFlags::Null, "The number of segments to use when performing multitrace casts"); + AZ_CVAR(bool, bg_DrawPhysicsRaycasts, true, nullptr, AZ::ConsoleFunctorFlags::Null, "If enabled, will debug draw physics raycasts"); + + IntersectFilter::IntersectFilter + ( + const AZ::Transform& initialPose, + const AZ::Vector3& sweep, + AzPhysics::SceneQuery::QueryType queryType, + HitMultiple intersectMultiple, + const AzPhysics::CollisionGroup& collisionGroup, + const NetEntityIdSet& filteredNetEntityIds, + const Physics::ShapeConfiguration* shapeConfiguration + ) + : m_initialPose(initialPose) + , m_sweep(sweep) + , m_queryType(queryType) + , m_intersectMultiple(intersectMultiple) + , m_collisionGroup(collisionGroup) + , m_filteredNetEntityIds(filteredNetEntityIds) + , m_shapeConfiguration(shapeConfiguration) + { + Multiplayer::INetworkTime* networkTime = Multiplayer::GetNetworkTime(); + if (networkTime->IsTimeRewound()) + { + m_rewindFrameId = networkTime->GetHostFrameId(); + } + } + + bool GatherEntities + ( + const GatherParams& gatherParams, + const ActivateEvent& eventData, + const NetEntityIdSet& filteredNetEntityIds, + IntersectResults& outResults + ) + { + const AZ::Transform& startTransform = eventData.m_initialTransform; + const AZ::Vector3 sweep = eventData.m_targetPosition - startTransform.GetTranslation(); + const HitMultiple hitMultiple = gatherParams.m_multiHit ? HitMultiple::Yes : HitMultiple::No; + const GatherShape& intersectShape = gatherParams.m_gatherShape; + AzPhysics::CollisionGroup collisionGroup = AzPhysics::GetCollisionGroupById(gatherParams.m_collisionGroupId); + + IntersectFilter filter(startTransform, sweep, AzPhysics::SceneQuery::QueryType::StaticAndDynamic, hitMultiple, + collisionGroup, filteredNetEntityIds, gatherParams.GetCurrentShapeConfiguration()); + SceneQuery::WorldIntersect(intersectShape, filter, outResults); + +#if AZ_TRAIT_CLIENT + if (bg_DrawPhysicsRaycasts) + { + DebugDraw::DebugDrawRequestBus::Broadcast + ( + &DebugDraw::DebugDrawRequests::DrawLineLocationToLocation, + eventData.m_initialTransform.GetTranslation(), + eventData.m_targetPosition, + AZ::Colors::Red, + 10.0f + ); + } +#endif + + return true; + } + + ShotResult GatherEntitiesMultisegment + ( + const GatherParams& gatherParams, + const NetEntityIdSet& filteredNetEntityIds, + float deltaTime, + ActiveShot& inOutActiveShot, + IntersectResults& outResults + ) + { + // This only works when our cast is not instantaneous (it requires some positive, non-zero travel speed) + AZ_Assert(gatherParams.m_travelSpeed > 0.0f, "GatherEntitiesMultiSegment called with an invalid travel speed! This will fail, use the non-segmented gather path instead."); + + ShotResult result = ShotResult::DoNotTerminate; + + const AZ::Transform& startTransform = inOutActiveShot.m_initialTransform; + const AZ::Vector3 sweep = (inOutActiveShot.m_targetPosition - startTransform.GetTranslation()).GetNormalized(); + + // World gravity for our current location (making the currently safe assumption that it's constant over the duration of our trace) + AzPhysics::SceneInterface* sceneInterface = AZ::Interface::Get(); + AzPhysics::SceneHandle sceneHandle = sceneInterface->GetSceneHandle(AzPhysics::DefaultPhysicsSceneName); + const AZ::Vector3& gravity = gatherParams.m_bulletDrop ? sceneInterface->GetGravity(sceneHandle) : AZ::Vector3::CreateZero(); + const float segmentTickSize = deltaTime / bg_MultitraceNumTraceSegments; // Duration in seconds of each cast segment + const AZ::Vector3 segmentStepOffset = sweep * gatherParams.m_travelSpeed; // Displacement (disregarding gravity) of our bullet over one second + const float maxTravelDistanceSq = gatherParams.m_castDistance * gatherParams.m_castDistance; + + // We're not doing any lift or drift computations due to the magnus effects a bullet is subject to + // Any such adjustments, estimates for how fast the bullet is spinning due to muzzle exit velocity and the rifling of the gun, air density, temperature, etc... + + const HitMultiple hitMultiple = gatherParams.m_multiHit ? HitMultiple::Yes : HitMultiple::No; + const AzPhysics::CollisionGroup collisionGroup = AzPhysics::GetCollisionGroupById(gatherParams.m_collisionGroupId); + + float currSegmentStartTime = inOutActiveShot.m_lifetimeSeconds; + AZ::Vector3 currSegmentPosition = inOutActiveShot.m_initialTransform.GetTranslation() + (segmentStepOffset * currSegmentStartTime) + (gravity * 0.5f * currSegmentStartTime * currSegmentStartTime); + for (uint32_t segment = 0; segment < bg_MultitraceNumTraceSegments; ++segment) + { + float nextSegmentStartTime = currSegmentStartTime + segmentTickSize; + AZ::Vector3 travelDistance = (segmentStepOffset * nextSegmentStartTime); // Total distance our shot has traveled as of this cast, ignoring arc-length due to gravity + AZ::Vector3 nextSegmentPosition = inOutActiveShot.m_initialTransform.GetTranslation() + travelDistance + (gravity * 0.5f * nextSegmentStartTime * nextSegmentStartTime); + + const AZ::Transform currSegTransform = AZ::Transform::CreateFromQuaternionAndTranslation(inOutActiveShot.m_initialTransform.GetRotation(), currSegmentPosition); + const AZ::Vector3 segSweep = nextSegmentPosition - currSegmentPosition; + + IntersectFilter filter(currSegTransform, segSweep, AzPhysics::SceneQuery::QueryType::StaticAndDynamic, + hitMultiple, collisionGroup, filteredNetEntityIds, gatherParams.GetCurrentShapeConfiguration()); + SceneQuery::WorldIntersect(gatherParams.m_gatherShape, filter, outResults); + +#if AZ_TRAIT_CLIENT + if (bg_DrawPhysicsRaycasts) + { + DebugDraw::DebugDrawRequestBus::Broadcast + ( + &DebugDraw::DebugDrawRequests::DrawLineLocationToLocation, + currSegmentPosition, + nextSegmentPosition, + segment % 2 == 0 ? AZ::Colors::Red : AZ::Colors::Yellow, + 10.0f + ); + } +#endif + + // Terminate the loop if we hit something + if (((outResults.size() > 0) && !gatherParams.m_multiHit) || (travelDistance.GetLengthSq() > maxTravelDistanceSq)) + { + result = ShotResult::ShouldTerminate; + break; + } + + currSegmentStartTime = nextSegmentStartTime; + currSegmentPosition = nextSegmentPosition; + } + + inOutActiveShot.m_lifetimeSeconds = LifetimeSec(inOutActiveShot.m_lifetimeSeconds + deltaTime); + return result; + } +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/WeaponGathers.h b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/WeaponGathers.h new file mode 100644 index 000000000..0b5138280 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/WeaponGathers.h @@ -0,0 +1,84 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include + +namespace ${SanitizedCppName} +{ + typedef AZStd::unordered_set NetEntityIdSet; + + enum class HitMultiple { No, Yes }; + + enum class ShotResult + { + ShouldTerminate, + DoNotTerminate + }; + + //! @struct IntersectFilter + //! @brief Helper structure that defines how a world intersection query (raytrace, shapecast) should gather entities. + struct IntersectFilter + { + IntersectFilter + ( + const AZ::Transform& initialPose, + const AZ::Vector3& sweep, + AzPhysics::SceneQuery::QueryType queryType, + HitMultiple intersectMultiple, + const AzPhysics::CollisionGroup& collisionGroup, + const NetEntityIdSet& filteredEntityIds, + const Physics::ShapeConfiguration* shapeConfiguration = nullptr + ); + + Multiplayer::HostFrameId m_rewindFrameId = Multiplayer::InvalidHostFrameId; // If an entity is dynamic, it must be synced to this frameId to pass intersect testing + AZ::Transform m_initialPose; + AZ::Vector3 m_sweep; + AzPhysics::SceneQuery::QueryType m_queryType; // Intersect static, dynamic or both + + HitMultiple m_intersectMultiple; + NetEntityIdSet m_filteredNetEntityIds; + AzPhysics::CollisionGroup m_collisionGroup; + const Physics::ShapeConfiguration* m_shapeConfiguration = nullptr; // Shape configuration for shape casts and overlaps + + IntersectFilter& operator=(const IntersectFilter&) = delete; + }; + + //! @struct IntersectResult + //! @brief Helper structure that contains a single world intersect query result. + struct IntersectResult + { + AZ::Vector3 m_position; + AZ::Vector3 m_normal; + Multiplayer::NetEntityId m_netEntityId; + AZ::Name m_materialName; + }; + + //! @struct IntersectResult + //! @brief Helper structure that holds all results from a world intersect query. + using IntersectResults = AZStd::vector; + + bool GatherEntities + ( + const GatherParams& gatherParams, + const ActivateEvent& eventData, + const NetEntityIdSet& filteredNetEntityIds, + IntersectResults& outResults + ); + + ShotResult GatherEntitiesMultisegment + ( + const GatherParams& gatherParams, + const NetEntityIdSet& filteredNetEntityIds, + float deltaTime, + ActiveShot& inOutActiveShot, + IntersectResults& outResults + ); +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/WeaponTypes.cpp b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/WeaponTypes.cpp new file mode 100644 index 000000000..bc4087d09 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/WeaponTypes.cpp @@ -0,0 +1,372 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include + +namespace ${SanitizedCppName} +{ + const char* GetEnumString(WeaponType value) + { + switch (value) + { + case WeaponType::None: + return "None"; + case WeaponType::Trace: + return "Trace"; + case WeaponType::Projectile: + return "Projectile"; + } + return "UNKNOWN"; + } + + const char* GetEnumString(WeaponStatus value) + { + switch (value) + { + case WeaponStatus::Idle: + return "Idle"; + case WeaponStatus::Firing: + return "Firing"; + } + return "UNKNOWN"; + } + + const char* GetEnumString(GatherShape value) + { + switch (value) + { + case GatherShape::Point: + return "Point"; + case GatherShape::Box: + return "Box"; + case GatherShape::Sphere: + return "Sphere"; + case GatherShape::Capsule: + return "Capsule"; + } + return "UNKNOWN"; + } + + const char* GetEnumString(GatherDirection value) + { + switch (value) + { + case GatherDirection::TargetDir: + return "TargetDir"; + case GatherDirection::ParentDir: + return "ParentDir"; + } + return "UNKNOWN"; + } + + const char* GetEnumString(EffectDirection value) + { + switch (value) + { + case EffectDirection::None: + return "None"; + case EffectDirection::WeaponDirection: + return "WeaponDirection"; + case EffectDirection::EntityDirection: + return "EntityDirection"; + } + return "UNKNOWN"; + } + + void ReflectWeaponEnums(AZ::ReflectContext* context) + { + AZ::SerializeContext* serializeContext = azrtti_cast(context); + if (serializeContext) + { + AZ::EditContext* editContext = serializeContext->GetEditContext(); + if (editContext) + { + editContext->Enum("CharacterAnimState", "Various ${SanitizedCppName} character animation states") + ->Value("Idle", CharacterAnimState::Idle) + ->Value("Sprinting", CharacterAnimState::Sprinting) + ->Value("Crouching", CharacterAnimState::Crouching) + ->Value("Jumping", CharacterAnimState::Jumping) + ->Value("Falling", CharacterAnimState::Falling) + ->Value("Landing", CharacterAnimState::Landing) + ->Value("Climbing", CharacterAnimState::Climbing) + ->Value("Aiming", CharacterAnimState::Aiming) + ->Value("Shooting", CharacterAnimState::Shooting) + ->Value("Hit", CharacterAnimState::Hit) + ->Value("Dying", CharacterAnimState::Dying); + + editContext->Enum("WeaponType", "Different weapon types in ${SanitizedCppName}") + ->Value("None", WeaponType::None) + ->Value("Trace", WeaponType::Trace) + ->Value("Projectile", WeaponType::Projectile); + + editContext->Enum("WeaponStatus", "Status states for a ${SanitizedCppName} weapon") + ->Value("Idle", WeaponStatus::Idle) + ->Value("Firing", WeaponStatus::Firing); + + editContext->Enum("GatherShape", "Different primitive shape types that can be used for a hit gather") + ->Value("Point", GatherShape::Point) + ->Value("Box", GatherShape::Box) + ->Value("Sphere", GatherShape::Sphere) + ->Value("Capsule", GatherShape::Capsule); + + editContext->Enum("GatherDirection", "Different types of entity gather directions") + ->Value("TargetDir", GatherDirection::TargetDir) + ->Value("ParentDir", GatherDirection::ParentDir); + + editContext->Enum("EffectDirection", "Set of weapon effect orientations") + ->Value("None", EffectDirection::None) + ->Value("WeaponDirection", EffectDirection::WeaponDirection) + ->Value("EntityDirection", EffectDirection::EntityDirection); + } + } + } + + bool ClientEffect::Serialize(AzNetworking::ISerializer& serializer) + { + return serializer.Serialize(m_effectName, "EffectName") + && serializer.Serialize(m_lifespan, "Lifespan") + && serializer.Serialize(m_travelToTarget, "TravelToTarget") + && serializer.Serialize(m_effectDirection, "EffectDirection"); + } + + void ClientEffect::Reflect(AZ::ReflectContext* context) + { + AZ::SerializeContext* serializeContext = azrtti_cast(context); + if (serializeContext) + { + serializeContext->Class() + ->Version(1) + ->Field("EffectName", &ClientEffect::m_effectName) + ->Field("Lifespan", &ClientEffect::m_lifespan) + ->Field("TravelToTarget", &ClientEffect::m_travelToTarget) + ->Field("EffectDirection", &ClientEffect::m_effectDirection); + + AZ::EditContext* editContext = serializeContext->GetEditContext(); + if (editContext) + { + editContext->Class("ClientEffect", "Parameters that control client effect spawning") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->DataElement(AZ::Edit::UIHandlers::Default, &ClientEffect::m_effectName, "EffectName", "The effect to play upon weapon hit confirmation") + ->DataElement(AZ::Edit::UIHandlers::Default, &ClientEffect::m_lifespan, "Lifespan", "The lifespan value to provide the effects manager") + ->DataElement(AZ::Edit::UIHandlers::Default, &ClientEffect::m_travelToTarget, "TravelToTarget", "If true, effect will travel from origin to target position over it's lifetime") + ->DataElement(AZ::Edit::UIHandlers::ComboBox, &ClientEffect::m_effectDirection, "EffectDirection", "The orientation to use when spawning the effect") + ; + } + } + } + + void GatherParams::Reflect(AZ::ReflectContext* context) + { + AZ::SerializeContext* serializeContext = azrtti_cast(context); + if (serializeContext) + { + serializeContext->Class() + ->Version(1) + ->Field("GatherShape", &GatherParams::m_gatherShape) + ->Field("CastDistance", &GatherParams::m_castDistance) + ->Field("CastAngle", &GatherParams::m_castAngle) + ->Field("TravelSpeed", &GatherParams::m_travelSpeed) + ->Field("Multihit", &GatherParams::m_multiHit) + ->Field("BulletDrop", &GatherParams::m_bulletDrop) + ->Field("EditorCollisionGroupId", &GatherParams::m_collisionGroupId) + ->Field("Sphere", &GatherParams::m_sphere) + ->Field("Box", &GatherParams::m_box) + ->Field("Capsule", &GatherParams::m_capsule) + ; + + AZ::EditContext* editContext = serializeContext->GetEditContext(); + if (editContext) + { + editContext->Class("GatherParams", "Parameters that control entity gathers on weapon or projectile activates") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->DataElement(AZ::Edit::UIHandlers::ComboBox, &GatherParams::m_gatherShape, "GatherShape", "The shape of the primitive to use for intersect queries during gathers") + ->Attribute(AZ::Edit::Attributes::ChangeNotify, AZ::Edit::PropertyRefreshLevels::EntireTree) + ->DataElement(AZ::Edit::UIHandlers::Default, &GatherParams::m_sphere, "Sphere", "Configuration of sphere shape") + ->Attribute(AZ::Edit::Attributes::Visibility, &GatherParams::IsSphereConfig) + + ->DataElement(AZ::Edit::UIHandlers::Default, &GatherParams::m_box, "Box", "Configuration of box shape") + ->Attribute(AZ::Edit::Attributes::Visibility, &GatherParams::IsBoxConfig) + + ->DataElement(AZ::Edit::UIHandlers::Default, &GatherParams::m_capsule, "Capsule", "Configuration of capsule shape") + ->Attribute(AZ::Edit::Attributes::Visibility, &GatherParams::IsCapsuleConfig) + + ->DataElement(AZ::Edit::UIHandlers::Default, &GatherParams::m_castDistance, "CastDistance", "The cast distance or gather radius to use on hit or activate") + ->DataElement(AZ::Edit::UIHandlers::Default, &GatherParams::m_castAngle, "CastAngle", "The cast/gather angle to use on hit or activate") + ->DataElement(AZ::Edit::UIHandlers::Default, &GatherParams::m_travelSpeed, "TravelSpeed", "The 'speed' the cast should travel at for weapons that require target leading, 0 == instant hit (not projectile speed for projectile weapons!)") + ->DataElement(AZ::Edit::UIHandlers::Default, &GatherParams::m_multiHit, "Multihit", "If true, the gather will not stop at the first entity hit, and will continue gathering entities until blocked by blocker geo") + ->DataElement(AZ::Edit::UIHandlers::Default, &GatherParams::m_bulletDrop, "BulletDrop", "If true, the gather shape will follow a parabolic arc simulating gravity") + ->DataElement(AZ::Edit::UIHandlers::Default, &GatherParams::m_collisionGroupId, "CollisionGroup", "The collision group hit mask for this weapon") + ; + } + } + } + + bool GatherParams::IsSphereConfig() const + { + return m_gatherShape == GatherShape::Sphere; + } + + bool GatherParams::IsBoxConfig() const + { + return m_gatherShape == GatherShape::Box; + } + + bool GatherParams::IsCapsuleConfig() const + { + return m_gatherShape == GatherShape::Capsule; + } + + const Physics::ShapeConfiguration* GatherParams::GetCurrentShapeConfiguration() const + { + switch(m_gatherShape) + { + case GatherShape::Box: + return &m_box; + case GatherShape::Sphere: + return &m_sphere; + case GatherShape::Capsule: + return &m_capsule; + default: + return nullptr; + } + } + + bool HitEffect::Serialize(AzNetworking::ISerializer& serializer) + { + return serializer.Serialize(m_hitMagnitude, "HitMagnitude") + && serializer.Serialize(m_hitFalloff, "HitFalloff") + && serializer.Serialize(m_hitExponent, "HitExponent"); + } + + void HitEffect::Reflect(AZ::ReflectContext* context) + { + AZ::SerializeContext* serializeContext = azrtti_cast(context); + if (serializeContext) + { + serializeContext->Class() + ->Version(1) + ->Field("HitMagnitude", &HitEffect::m_hitMagnitude) + ->Field("HitFalloff", &HitEffect::m_hitFalloff) + ->Field("HitExponent", &HitEffect::m_hitExponent); + + AZ::EditContext* editContext = serializeContext->GetEditContext(); + if (editContext) + { + editContext->Class("HitEffect", "Parameters controlling hit effect application and falloff, HitMagnitude * ((HitFalloff * (1 - Distance / MaxDistance)) ^ HitExponent)") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->DataElement(AZ::Edit::UIHandlers::Default, &HitEffect::m_hitMagnitude, "HitMagnitude", "Base status amount to apply to hit entities") + ->DataElement(AZ::Edit::UIHandlers::Default, &HitEffect::m_hitFalloff, "HitFalloff", "Distance scalar to apply to hit entities") + ->DataElement(AZ::Edit::UIHandlers::Default, &HitEffect::m_hitExponent, "HitExponent", "Falloff exponent to apply to hit entities"); + } + } + } + + void WeaponParams::Reflect(AZ::ReflectContext* context) + { + AZ::SerializeContext* serializeContext = azrtti_cast(context); + if (serializeContext) + { + serializeContext->Class() + ->Version(1) + ->Field("WeaponType", &WeaponParams::m_weaponType) + ->Field("CooldownTimeMs", &WeaponParams::m_cooldownTimeMs) + ->Field("AnimFlag", &WeaponParams::m_animFlag) + ->Field("ActivateFx", &WeaponParams::m_activateFx) + ->Field("ImpactFx", &WeaponParams::m_impactFx) + ->Field("DamageFx", &WeaponParams::m_damageFx) + ->Field("ProjectileAsset", &WeaponParams::m_projectileAsset) + ->Field("AmmoMaterialType", &WeaponParams::m_ammoMaterialType) + ->Field("GatherParams", &WeaponParams::m_gatherParams) + ->Field("DamageEffect", &WeaponParams::m_damageEffect) + ->Field("LocallyPredicted", &WeaponParams::m_locallyPredicted); + + AZ::EditContext* editContext = serializeContext->GetEditContext(); + if (editContext) + { + editContext->Class("WeaponParams", "Parameters that control the behaviour of a weapon") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->DataElement(AZ::Edit::UIHandlers::ComboBox, &WeaponParams::m_weaponType, "WeaponType", "The basic type of weapon") + ->DataElement(AZ::Edit::UIHandlers::Default, &WeaponParams::m_cooldownTimeMs, "CooldownTimeMs", "The number of milliseconds needed before the weapon can activate again") + ->DataElement(AZ::Edit::UIHandlers::ComboBox, &WeaponParams::m_animFlag, "AnimFlag", "The animation flag to raise on the character when starting a fire sequence") + ->DataElement(AZ::Edit::UIHandlers::Default, &WeaponParams::m_activateFx, "ActivateFx", "The effect to play upon weapon activation") + ->DataElement(AZ::Edit::UIHandlers::Default, &WeaponParams::m_impactFx, "ImpactFx", "The effect to play at the point of impact upon weapon hit. Played predictively for autonomous clients, and authoritatively for simulated clients") + ->DataElement(AZ::Edit::UIHandlers::Default, &WeaponParams::m_damageFx, "DamageFx", "The effect to play for each hit entitiy. Played authoritatively only") + ->DataElement(AZ::Edit::UIHandlers::Default, &WeaponParams::m_projectileAsset, "ProjectileAsset", "If a projectile weapon, the archetype asset name for projectile properties") + ->DataElement(AZ::Edit::UIHandlers::Default, &WeaponParams::m_ammoMaterialType, "AmmoMaterialType", "The material type name (out of GameSDK/libs/materialeffects/surfacetypes.xml) to use for driving impact effects") + ->DataElement(AZ::Edit::UIHandlers::Default, &WeaponParams::m_gatherParams, "GatherParams", "The type of gather to perform for shape-cast weapons") + ->DataElement(AZ::Edit::UIHandlers::Default, &WeaponParams::m_damageEffect, "DamageEffect", "The modifier parameters to apply to hit entities for damage") + ->DataElement(AZ::Edit::UIHandlers::Default, &WeaponParams::m_locallyPredicted, "LocallyPredicted", "If true, autonomous clients predict activations and hits"); + } + } + } + + bool ActiveShot::operator!=(const ActiveShot& rhs) const + { + return !m_initialTransform.IsClose(rhs.m_initialTransform) + || !m_targetPosition.IsClose(rhs.m_targetPosition) + || !AZ::IsClose(m_lifetimeSeconds, rhs.m_lifetimeSeconds); + } + + bool ActiveShot::Serialize(AzNetworking::ISerializer& serializer) + { + return serializer.Serialize(m_initialTransform, "InitialTransform") + && serializer.Serialize(m_targetPosition, "TargetPosition") + && serializer.Serialize(m_lifetimeSeconds, "LifetimeSeconds"); + } + + bool WeaponState::operator!=(const WeaponState& rhs) const + { + return m_activationCount != rhs.m_activationCount + || !AZ::IsClose(m_cooldownTime, rhs.m_cooldownTime) + || m_status != rhs.m_status; + //|| m_activeShots != rhs.m_activeShots; + } + + bool WeaponState::Serialize(AzNetworking::ISerializer& serializer) + { + return serializer.Serialize(m_activationCount, "ActivationCount") + && serializer.Serialize(m_cooldownTime, "CooldownTime") + && serializer.Serialize(m_status, "Status") + && serializer.Serialize(m_activeShots, "ActiveShots"); + } + + bool ActivateEvent::Serialize(AzNetworking::ISerializer& serializer) + { + return serializer.Serialize(m_initialTransform, "InitialTransform") + && serializer.Serialize(m_targetPosition, "TargetPosition") + && serializer.Serialize(m_shooterId, "ShooterId") + && serializer.Serialize(m_projectileId, "ProjectileId"); + } + + bool HitEntity::Serialize(AzNetworking::ISerializer& serializer) + { + return serializer.Serialize(m_hitPosition, "HitPosition") + && serializer.Serialize(m_hitNetEntityId, "HitNetEntityId"); + } + + bool HitEvent::Serialize(AzNetworking::ISerializer& serializer) + { + return serializer.Serialize(m_hitTransform, "HitTransform") + && serializer.Serialize(m_shooterNetEntityId, "ShooterNetEntityId") + && serializer.Serialize(m_hitEntities, "HitEntities"); + } + + bool FireParams::operator!=(const FireParams& rhs) const + { + return !m_targetPosition.IsClose(rhs.m_targetPosition) + || m_targetId != rhs.m_targetId; + } + + bool FireParams::Serialize(AzNetworking::ISerializer& serializer) + { + return serializer.Serialize(m_targetPosition, "TargetPosition") + && serializer.Serialize(m_targetId, "TargetId"); + } +} diff --git a/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/WeaponTypes.h b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/WeaponTypes.h new file mode 100644 index 000000000..db98697e0 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/Source/Weapons/WeaponTypes.h @@ -0,0 +1,226 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include +#include + +namespace ${SanitizedCppName} +{ + AZ_TYPE_SAFE_INTEGRAL(WeaponIndex, uint8_t); + + constexpr uint32_t MaxWeaponsPerComponent = 2; // The maximum number of weapons that can be attached to a single NetworkWeaponsComponent + constexpr uint32_t MaxActiveShots = 32; // Maximum number of concurrently shots active for a single weapon + constexpr uint32_t MaxHitEntities = 48; // Maximum number of entities that can be hit by a single shot + + // WeaponActivationBitset + // Bitset used to represent which weapons have been activated for a specific input frame + using WeaponActivationBitset = AzNetworking::FixedSizeBitset; + + //! Types of weapons. + enum class WeaponType + { + None, + Trace, + Projectile + }; + const char* GetEnumString(WeaponType value); + + //! Status states for a ${NameLower} weapon. + enum class WeaponStatus + { + Idle, + Firing + }; + const char* GetEnumString(WeaponStatus value); + + //! Different primitive shape types that can be used for a hit gather. + enum class GatherShape + { + Point, // Gather entities that intersect a line-cast ending at the first hit + Box, // Gather entities that intersect a line-cast + Sphere, // Gather entities that fall within a spherical radius + Capsule // Gather entities that intersect with a capsule + }; + const char* GetEnumString(GatherShape value); + + //! Different types of entity gather directions. + enum class GatherDirection + { + TargetDir, // Gather entities offset from the target direction + ParentDir // Gather entities in the direction the parent entity is facing + }; + const char* GetEnumString(GatherDirection value); + + //! Set of weapon effect orientations + enum class EffectDirection + { + None, // Use default orientation for effect playback + WeaponDirection, // Use the orientation of the weapon activation for effect playback + EntityDirection // Use the orientation of the firing or hit entity for effect playback + }; + const char* GetEnumString(EffectDirection value); + + void ReflectWeaponEnums(AZ::ReflectContext* context); + + using AssetStringType = AZStd::string; //< @TODO, Replace with proper asset reference types + + // @TODO: This needs to be hooked up to O3DE's effect system once it comes online + //! Parameters that control client effect spawning. + struct ClientEffect + { + AZ_TYPE_INFO(ClientEffect, "{B0B4E78C-51EC-4103-BC57-4C54ED36E3DB}"); + + AssetStringType m_effectName; // The effect to play upon weapon hit confirmation + float m_lifespan = 1.0f; // The lifespan value to provide the effects manager + bool m_travelToTarget = false; // If true, effect will travel from origin to target position over it's lifetime + EffectDirection m_effectDirection = EffectDirection::None; // The orientation to use when spawning the effect + + bool Serialize(AzNetworking::ISerializer& serializer); + static void Reflect(AZ::ReflectContext* context); + }; + + //! Parameters that control entity gathers on weapon or projectile activates. + struct GatherParams + { + AZ_TYPE_INFO(GatherParams, "{A20999EE-8A32-4C85-B93B-FFBD0D795A58}"); + + GatherShape m_gatherShape = GatherShape::Point; // The shape of the primitive to use for intersect queries during gathers + float m_castDistance = 1.0f; // The cast distance or gather radius to use on hit or activate + float m_castAngle = 0.0f; // The cast/gather angle to use on hit or activate + float m_travelSpeed = 0.0f; // The 'speed' the cast should travel at for weapons that require target leading, 0 == instant hit (not projectile speed for projectile weapons!) + bool m_multiHit = false; // If true, the gather will not stop at the first entity hit, and will continue gathering entities until blocked by blocker geo + bool m_bulletDrop = true; // If true, the gather shape will follow a parabolic arc simulating gravity + AzPhysics::CollisionGroups::Id m_collisionGroupId; // Collision group hit mask ID + Physics::SphereShapeConfiguration m_sphere; // Configuration of the sphere shape (radius) + Physics::BoxShapeConfiguration m_box; // Configuration of the box shape (dimensions) + Physics::CapsuleShapeConfiguration m_capsule; // Configuration of the capsule shape (height & radius) + + static void Reflect(AZ::ReflectContext* context); + bool IsSphereConfig() const; + bool IsBoxConfig() const; + bool IsCapsuleConfig() const; + const Physics::ShapeConfiguration* GetCurrentShapeConfiguration() const; + }; + + //! Parameters controlling hit effect application and falloff, HitMagnitude * ((HitFalloff * (1 - Distance / MaxDistance)) ^ HitExponent). + //! Note that if you were wanting to implement melee mechanics, you might want additional attributes about stuns, knockbacks, etc.. here + struct HitEffect + { + AZ_TYPE_INFO(HitEffect, "{24233666-5726-4DDA-8CB5-6859CFC4F7C2}"); + + float m_hitMagnitude = 0.0f; // Base status amount to apply to hit entities + float m_hitFalloff = 1.0f; // Distance scalar to apply to hit entities + float m_hitExponent = 0.0f; // Falloff exponent to apply to hit entities + + bool Serialize(AzNetworking::ISerializer& serializer); + static void Reflect(AZ::ReflectContext* context); + }; + + //! Parameters that control the behaviour of a weapon. + struct WeaponParams + { + AZ_TYPE_INFO(WeaponParams, "{935FCBEB-F636-4D30-AB85-A1B225EA953F}"); + + WeaponType m_weaponType = WeaponType::None; // The type of this weapon + AZ::TimeMs m_cooldownTimeMs = AZ::TimeMs{ 0 }; // The number of milliseconds needed before the weapon can activate again + CharacterAnimState m_animFlag = CharacterAnimState::Shooting; // The animation flag to raise on the network animation when firing this weapon + AssetStringType m_activateFx; // The effect to play upon weapon activation + AssetStringType m_impactFx; // The effect to play at the point of impact upon weapon hit. Played predictively for autonomous clients, and authoritatively for simulated clients + AssetStringType m_damageFx; // The effect to play for each hit entitiy. Played authoritatively only + AssetStringType m_projectileAsset; // If a projectile weapon, the prefab asset name for the projectile entity + AssetStringType m_ammoMaterialType; // The effects material type of the ammo for bullet decals and other material effects (@TODO: Requires a replacement for the material effects system) + GatherParams m_gatherParams; // The type of gather to perform for trace weapons + HitEffect m_damageEffect; // Parameters controlling damage distribution on hit + bool m_locallyPredicted = true; // Whether or not this weapon is locally predicted or waits round trip to display on a client + + static void Reflect(AZ::ReflectContext* context); + }; + + using LifetimeSec = AzNetworking::QuantizedValues<1, 2, 0, 120>; // 2 minute max lifetime for any bullet + + //! Data to track a single active shot (trace weapons, not projectiles). + struct ActiveShot + { + AZ::Transform m_initialTransform; // Transform of the weapon generating the activate event + AZ::Vector3 m_targetPosition; // Target location of the activate event + LifetimeSec m_lifetimeSeconds; // The number of seconds this shot has been alive for + + bool operator!=(const ActiveShot& rhs) const; + bool Serialize(AzNetworking::ISerializer& serializer); + }; + using ActiveShots = AZStd::fixed_vector; + + //! Internal state data for a weapon instance (This structure is predictive and should not replicate to clients). + struct WeaponState + { + uint8_t m_activationCount = 0; // The number of activations for this weapon (rolls over) + float m_cooldownTime = 0.0f; // The number of seconds before the next activation can occur + WeaponStatus m_status = WeaponStatus::Idle; // The current weapon state + ActiveShots m_activeShots; // Vector of active shots still being tracked by this weapon + + bool operator!=(const WeaponState& rhs) const; + bool Serialize(AzNetworking::ISerializer& serializer); + }; + + //! Structure containing details for a single weapon activation. + struct ActivateEvent + { + AZ::Transform m_initialTransform = AZ::Transform::CreateIdentity(); // Transform of the weapon generating the activate event + AZ::Vector3 m_targetPosition = AZ::Vector3::CreateZero(); // Target location of the activate event + Multiplayer::NetEntityId m_shooterId = Multiplayer::InvalidNetEntityId; // NetEntityId of the shooter + Multiplayer::NetEntityId m_projectileId = Multiplayer::InvalidNetEntityId; // NetEntityId of the projectile, or InvalidNetEntityId if a trace weapon + + bool Serialize(AzNetworking::ISerializer& serializer); + }; + + //! Single hit entity in a weapon hit event. + struct HitEntity + { + AZ::Vector3 m_hitPosition = AZ::Vector3::CreateZero(); // Location where the entity was hit, NOT the location of the projectile or weapon in the case of area damage + Multiplayer::NetEntityId m_hitNetEntityId = Multiplayer::InvalidNetEntityId; // Entity Id of the entity which was hit + + bool Serialize(AzNetworking::ISerializer& serializer); + }; + using HitEntities = AZStd::fixed_vector; + + //! Structure containing details for a single weapon hit event. + struct HitEvent + { + AZ::Transform m_hitTransform = AZ::Transform::CreateIdentity(); // Transform of the hit event, NOT the location of the entity that was hit in the case of area damage + Multiplayer::NetEntityId m_shooterNetEntityId = Multiplayer::InvalidNetEntityId; // Entity Id of the shooter + Multiplayer::NetEntityId m_projectileNetEntityId = Multiplayer::InvalidNetEntityId; // Entity Id of the projectile, InvalidNetEntityId if this was a trace weapon hit + HitEntities m_hitEntities; // Information about the entities that were hit + + bool Serialize(AzNetworking::ISerializer& serializer); + }; + + //! Structure containing details for a single fire event. + struct FireParams + { + AZ::Vector3 m_sourcePosition = AZ::Vector3::CreateZero(); // Source location of the activate event + AZ::Vector3 m_targetPosition = AZ::Vector3::CreateZero(); // Target location of the activate event. + Multiplayer::NetEntityId m_targetId = Multiplayer::InvalidNetEntityId; // Entity Id of the target (for homing weapons) + + bool operator!=(const FireParams& rhs) const; + bool Serialize(AzNetworking::ISerializer& serializer); + }; +} + +namespace AZ +{ + AZ_TYPE_INFO_SPECIALIZE(${SanitizedCppName}::WeaponType, "{46FBBE01-25CE-4F25-82C1-8CCC95F3700F}"); + AZ_TYPE_INFO_SPECIALIZE(${SanitizedCppName}::WeaponStatus, "{7AF237A0-E3FD-4742-92C3-1ED82D4E0546}"); + AZ_TYPE_INFO_SPECIALIZE(${SanitizedCppName}::GatherShape, "{A10A1338-C08F-498E-815C-6410ADF7DFEC}"); + AZ_TYPE_INFO_SPECIALIZE(${SanitizedCppName}::GatherDirection, "{FB7C2937-E19F-47B5-9870-DDBCB9B39D18}"); + AZ_TYPE_INFO_SPECIALIZE(${SanitizedCppName}::EffectDirection, "{AF585331-AF80-4CEE-BE6C-55E9E21F0A88}"); +} + +AZ_TYPE_SAFE_INTEGRAL_SERIALIZEBINDING(${SanitizedCppName}::WeaponIndex); diff --git a/Templates/Multiplayer/Template/Gem/Code/enabled_gems.cmake b/Templates/Multiplayer/Template/Gem/Code/enabled_gems.cmake new file mode 100644 index 000000000..478151c1f --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Code/enabled_gems.cmake @@ -0,0 +1,55 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +set(ENABLED_GEMS + GameState + ImGui + ScriptEvents + ExpressionEvaluation + Gestures + CertificateManager + DebugDraw + SceneProcessing + GraphCanvas + Multiplayer + AudioSystem + Camera + EMotionFX + PhysX + CameraFramework + ScriptCanvas + ScriptCanvasPhysics + ScriptCanvasTesting + PhysXDebug + WhiteBox + FastNoise + SurfaceData + GradientSignal + Vegetation + GraphModel + LandscapeCanvas + NvCloth + Blast + Maestro + TextureAtlas + LmbrCentral + LyShine + HttpRequestor + Atom + AWSCore + AWSClientAuth + AWSMetrics + Presence + LocalUser + SaveData + ${Name} + StartingPointInput + EditorPythonBindings + PrefabBuilder + MaterialEditor + UiBasics +) diff --git a/Templates/Multiplayer/Template/Gem/Resources/GameSDK.ico b/Templates/Multiplayer/Template/Gem/Resources/GameSDK.ico new file mode 100644 index 000000000..e7b77c35b --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/GameSDK.ico @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d717f77fe01f45df934a61bbc215e5322447d21e16f3cebcf2a02f148178f266 +size 106449 diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/Contents.json b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/Contents.json new file mode 100644 index 000000000..09621469c --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/Contents.json @@ -0,0 +1,116 @@ +{ + "images" : [ + { + "size" : "20x20", + "idiom" : "iphone", + "filename" : "iPhoneNotificationIcon40x40.png", + "scale" : "2x" + }, + { + "size" : "20x20", + "idiom" : "iphone", + "filename" : "iPhoneNotificationIcon60x60.png", + "scale" : "3x" + }, + { + "size" : "29x29", + "idiom" : "iphone", + "filename" : "iPhoneSettingsIcon58x58.png", + "scale" : "2x" + }, + { + "size" : "29x29", + "idiom" : "iphone", + "filename" : "iPhoneSettingsIcon87x87.png", + "scale" : "3x" + }, + { + "size" : "40x40", + "idiom" : "iphone", + "filename" : "iPhoneSpotlightIcon80x80.png", + "scale" : "2x" + }, + { + "size" : "40x40", + "idiom" : "iphone", + "filename" : "iPhoneSpotlightIcon120x120.png", + "scale" : "3x" + }, + { + "size" : "60x60", + "idiom" : "iphone", + "filename" : "iPhoneAppIcon120x120.png", + "scale" : "2x" + }, + { + "size" : "60x60", + "idiom" : "iphone", + "filename" : "iPhoneAppIcon180x180.png", + "scale" : "3x" + }, + { + "size" : "20x20", + "idiom" : "ipad", + "filename" : "iPadNotificationIcon20x20.png", + "scale" : "1x" + }, + { + "size" : "20x20", + "idiom" : "ipad", + "filename" : "iPadNotificationIcon40x40.png", + "scale" : "2x" + }, + { + "size" : "29x29", + "idiom" : "ipad", + "filename" : "iPadSettingsIcon29x29.png", + "scale" : "1x" + }, + { + "size" : "29x29", + "idiom" : "ipad", + "filename" : "iPadSettingsIcon58x58.png", + "scale" : "2x" + }, + { + "size" : "40x40", + "idiom" : "ipad", + "filename" : "iPadSpotlightIcon40x40.png", + "scale" : "1x" + }, + { + "size" : "40x40", + "idiom" : "ipad", + "filename" : "iPadSpotlightIcon80x80.png", + "scale" : "2x" + }, + { + "size" : "76x76", + "idiom" : "ipad", + "filename" : "iPadAppIcon76x76.png", + "scale" : "1x" + }, + { + "size" : "76x76", + "idiom" : "ipad", + "filename" : "iPadAppIcon152x152.png", + "scale" : "2x" + }, + { + "size" : "83.5x83.5", + "idiom" : "ipad", + "filename" : "iPadProAppIcon167x167.png", + "scale" : "2x" + }, + { + "size" : "1024x1024", + "idiom" : "ios-marketing", + "filename" : "iOSAppStoreIcon1024x1024.png", + "scale" : "1x" + } + ], + "info" : { + "version" : 1, + "author" : "xcode" + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPadAppIcon152x152.png b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPadAppIcon152x152.png new file mode 100644 index 000000000..ad1889441 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPadAppIcon152x152.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebfc95bd4c0cbcc53d0ef9d314d26e09a347a22dabbf210597f405d9ed8646bf +size 7729 diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPadAppIcon76x76.png b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPadAppIcon76x76.png new file mode 100644 index 000000000..888d8cf78 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPadAppIcon76x76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99cb7da9282cfcfa64598455827f27ca6791d45ca0d2c3c2dc090d82468dac03 +size 4447 diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPadProAppIcon167x167.png b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPadProAppIcon167x167.png new file mode 100644 index 000000000..86aa72016 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPadProAppIcon167x167.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:101568e946f1d4cea86d666187bbf71116bbf62e6eaf6d80bc3c5e2e184bdb15 +size 7938 diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPadSettingsIcon29x29.png b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPadSettingsIcon29x29.png new file mode 100644 index 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a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPhoneSpotlightIcon120x120.png b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPhoneSpotlightIcon120x120.png new file mode 100644 index 000000000..674c6da12 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPhoneSpotlightIcon120x120.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d0044ebf7e0a5dd23ed64a1289c705d8f6c3c41a62d65e5a1371058855b8cec +size 6546 diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPhoneSpotlightIcon80x80.png b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPhoneSpotlightIcon80x80.png new file mode 100644 index 000000000..4b7f5d631 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset/iPhoneSpotlightIcon80x80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:421ad4db14c28ed18666158f9ec30747c5b8c757405c1efb32442978911b0c06 +size 4437 diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/Contents.json b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/Contents.json new file mode 100644 index 000000000..73c00596a --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/Contents.json @@ -0,0 +1,6 @@ +{ + "info" : { + "author" : "xcode", + "version" : 1 + } +} diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/Contents.json b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/Contents.json new file mode 100644 index 000000000..f836f07ee --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/Contents.json @@ -0,0 +1,169 @@ +{ + "images" : [ + { + "extent" : "full-screen", + "idiom" : "iphone", + "subtype" : "2436h", + "filename" : "iPhoneLaunchImage1125x2436.png", + "minimum-system-version" : "11.0", + "orientation" : "portrait", + "scale" : "3x" + }, + { + "extent" : "full-screen", + "idiom" : "iphone", + "subtype" : "2436h", + "filename" : "iPhoneLaunchImage2436x1125.png", + "minimum-system-version" : "11.0", + "orientation" : "landscape", + "scale" : "3x" + }, + { + "extent" : "full-screen", + "idiom" : "iphone", + "subtype" : "736h", + "filename" : "iPhoneLaunchImage1242x2208.png", + "minimum-system-version" : "8.0", + "orientation" : "portrait", + "scale" : "3x" + }, + { + "extent" : "full-screen", + "idiom" : "iphone", + "subtype" : "736h", + "filename" : "iPhoneLaunchImage2208x1242.png", + "minimum-system-version" : "8.0", + "orientation" : "landscape", + "scale" : "3x" + }, + { + "extent" : "full-screen", + "idiom" : "iphone", + "subtype" : "667h", + "filename" : "iPhoneLaunchImage750x1334.png", + "minimum-system-version" : "8.0", + "orientation" : "portrait", + "scale" : "2x" + }, + { + "orientation" : "portrait", + "idiom" : "iphone", + "filename" : "iPhoneLaunchImage640x960.png", + "extent" : "full-screen", + "minimum-system-version" : "7.0", + "scale" : "2x" + }, + { + "extent" : "full-screen", + "idiom" : "iphone", + "subtype" : "retina4", + "filename" : "iPhoneLaunchImage640x1136.png", + "minimum-system-version" : "7.0", + "orientation" : "portrait", + "scale" : "2x" + }, + { + "orientation" : "portrait", + "idiom" : "ipad", + "filename" : "iPadLaunchImage768x1024.png", + "extent" : "full-screen", + "minimum-system-version" : "7.0", + "scale" : "1x" + }, + { + "orientation" : "landscape", + "idiom" : "ipad", + "filename" : "iPadLaunchImage1024x768.png", + "extent" : "full-screen", + "minimum-system-version" : "7.0", + "scale" : "1x" + }, + { + "orientation" : "portrait", + "idiom" : "ipad", + "filename" : "iPadLaunchImage1536x2048.png", + "extent" : "full-screen", + "minimum-system-version" : "7.0", + "scale" : "2x" + }, + { + "orientation" : "landscape", + "idiom" : "ipad", + "filename" : "iPadLaunchImage2048x1536.png", + "extent" : "full-screen", + "minimum-system-version" : "7.0", + "scale" : "2x" + }, + { + "orientation" : "portrait", + "idiom" : "iphone", + "extent" : "full-screen", + "scale" : "1x" + }, + { + "orientation" : "portrait", + "idiom" : "iphone", + "extent" : "full-screen", + "scale" : "2x" + }, + { + "orientation" : "portrait", + "idiom" : "iphone", + "extent" : "full-screen", + "subtype" : "retina4", + "scale" : "2x" + }, + { + "orientation" : "portrait", + "idiom" : "ipad", + "extent" : "to-status-bar", + "scale" : "1x" + }, + { + "orientation" : "portrait", + "idiom" : "ipad", + "extent" : "full-screen", + "scale" : "1x" + }, + { + "orientation" : "landscape", + "idiom" : "ipad", + "extent" : "to-status-bar", + "scale" : "1x" + }, + { + "orientation" : "landscape", + "idiom" : "ipad", + "extent" : "full-screen", + "scale" : "1x" + }, + { + "orientation" : "portrait", + "idiom" : "ipad", + "extent" : "to-status-bar", + "scale" : "2x" + }, + { + "orientation" : "portrait", + "idiom" : "ipad", + "extent" : "full-screen", + "scale" : "2x" + }, + { + "orientation" : "landscape", + "idiom" : "ipad", + "extent" : "to-status-bar", + "scale" : "2x" + }, + { + "orientation" : "landscape", + "idiom" : "ipad", + "extent" : "full-screen", + "scale" : "2x" + } + ], + "info" : { + "version" : 1, + "author" : "xcode" + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage1024x768.png b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage1024x768.png new file mode 100644 index 000000000..9f586d6af --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage1024x768.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4018d9df45b4a04d4cf24a40fe01aa7e30e44a9fdd8ad9a41b0d87791786c12 +size 30442 diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage1536x2048.png b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage1536x2048.png new file mode 100644 index 000000000..c978631c2 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage1536x2048.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2eea06cb8ad05acefe9664551af5645d52d9763b82473b1fd4a2b2b6f62e96d3 +size 53550 diff --git 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b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage768x1024.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c8439a64d18dbff17dd67f6405bf49f99695e9b22fc2cc541dc72c6e3167307 +size 30564 diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPhoneLaunchImage640x1136.png b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPhoneLaunchImage640x1136.png new file mode 100644 index 000000000..e662e9675 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPhoneLaunchImage640x1136.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f752615184160d7a78f28d9eef354c86e544f11eb1dde9f651d7acd315b3f2e6 +size 35934 diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPhoneLaunchImage640x960.png b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPhoneLaunchImage640x960.png new file mode 100644 index 000000000..2753529fc --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage/iPhoneLaunchImage640x960.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a43f1d893e85aa99d335a657ec0f6c13a741db976c033451ab9a2328b8a5970 +size 35559 diff --git a/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Info.plist b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Info.plist new file mode 100644 index 000000000..86af89c5a --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/IOSLauncher/Info.plist @@ -0,0 +1,45 @@ + + + + + CFBundleDevelopmentRegion + en + CFBundleDisplayName + ${Name} + CFBundleExecutable + ${Name}.GameLauncher + CFBundleIdentifier + com.amazon.o3de.${Name} + CFBundleInfoDictionaryVersion + 6.0 + CFBundleName + ${Name} + CFBundlePackageType + APPL + CFBundleShortVersionString + 1.0 + CFBundleSignature + ???? + CFBundleVersion + 1.0 + UIRequiredDeviceCapabilities + + arm64 + metal + + UIRequiresFullScreen + + UIStatusBarHidden + + UISupportedInterfaceOrientations + + UIInterfaceOrientationLandscapeRight + UIInterfaceOrientationLandscapeLeft + + UISupportedInterfaceOrientations~ipad + + UIInterfaceOrientationLandscapeRight + UIInterfaceOrientationLandscapeLeft + + + diff --git a/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/Contents.json b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/Contents.json new file mode 100644 index 000000000..bfa8bcf47 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/Contents.json @@ -0,0 +1,68 @@ +{ + "images" : [ + { + "size" : "16x16", + "idiom" : "mac", + "filename" : "icon_16.png", + "scale" : "1x" + }, + { + "size" : "16x16", + "idiom" : "mac", + "filename" : "icon_16_2x.png", + "scale" : "2x" + }, + { + "size" : "32x32", + "idiom" : "mac", + "filename" : "icon_32.png", + "scale" : "1x" + }, + { + "size" : "32x32", + "idiom" : "mac", + "filename" : "icon_32_2x.png", + "scale" : "2x" + }, + { + "size" : "128x128", + "idiom" : "mac", + "filename" : "icon_128.png", + "scale" : "1x" + }, + { + "size" : "128x128", + "idiom" : "mac", + "filename" : "icon_128 _2x.png", + "scale" : "2x" + }, + { + "size" : "256x256", + "idiom" : "mac", + "filename" : "icon_256.png", + "scale" : "1x" + }, + { + "size" : "256x256", + "idiom" : "mac", + "filename" : "icon_256 _2x.png", + "scale" : "2x" + }, + { + "size" : "512x512", + "idiom" : "mac", + "filename" : "icon_512.png", + "scale" : "1x" + }, + { + "size" : "512x512", + "idiom" : "mac", + "filename" : "icon_512_2x.png", + "scale" : "2x" + } + ], + "info" : { + "version" : 1, + "author" : "xcode" + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_128 _2x.png b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_128 _2x.png new file mode 100644 index 000000000..5970ea34b --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_128 _2x.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e38257b6917cdf5d73e90e6009f10c8736d62b20c4e785085305075c7e6320e2 +size 32037 diff --git a/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_128.png 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sha256:b07984494059bf827bc485cbea06d12e0283811face1a18799495f9ba7ae8af1 +size 20779 diff --git a/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_16_2x.png b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_16_2x.png new file mode 100644 index 000000000..445a389d6 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_16_2x.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e645142d284de40aafb7a4a858f3df92b6a5ba9b03fa5f1a2d3cb25211597926 +size 21857 diff --git a/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_256 _2x.png b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_256 _2x.png new file mode 100644 index 000000000..0904cf7ce --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_256 _2x.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07631f41b8dea80713d2463f81a713a9a93798975b6fb50afbeeb13d26c57fa2 +size 48899 diff --git a/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_256.png b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_256.png new file mode 100644 index 000000000..5970ea34b --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_256.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e38257b6917cdf5d73e90e6009f10c8736d62b20c4e785085305075c7e6320e2 +size 32037 diff --git a/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_32.png b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_32.png new file mode 100644 index 000000000..445a389d6 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_32.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e645142d284de40aafb7a4a858f3df92b6a5ba9b03fa5f1a2d3cb25211597926 +size 21857 diff --git a/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_32_2x.png b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_32_2x.png new file mode 100644 index 000000000..1fad9bda9 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_32_2x.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad83faf98b49f4e37112baedeae726f4f8d71bcdd1961d9cdad31f043f8ca666 +size 24003 diff --git a/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_512.png b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_512.png new file mode 100644 index 000000000..e1517dddb --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_512.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68529a6c11d5ffa7ecd9d5bbb11ceea28e6852bd45946b525af09602c9a1e1bf +size 48899 diff --git a/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_512_2x.png b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_512_2x.png new file mode 100644 index 000000000..b425cb685 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset/icon_512_2x.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a70003840b418848b2ce6c18ed7cbbfcd6fcf76598a6601dca8b98d9b6c1a2f +size 114706 diff --git a/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/Contents.json b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/Contents.json new file mode 100644 index 000000000..da4a164c9 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Images.xcassets/Contents.json @@ -0,0 +1,6 @@ +{ + "info" : { + "version" : 1, + "author" : "xcode" + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Info.plist b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Info.plist new file mode 100644 index 000000000..8cf561153 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/Resources/MacLauncher/Info.plist @@ -0,0 +1,24 @@ + + + + + CFBundleInfoDictionaryVersion + + CFBundleDisplayName + ${Name} + CFBundleExecutable + ${Name}.GameLauncher + CFBundleIdentifier + com.amazon.${Name} + CFBundlePackageType + APPL + CFBundleShortVersionString + 1.5 + CFBundleSignature + LMBR + CFBundleVersion + 1.5 + LSApplicationCategoryType + public.app-category.puzzle-games + + diff --git a/Templates/Multiplayer/Template/Gem/gem.json b/Templates/Multiplayer/Template/Gem/gem.json new file mode 100644 index 000000000..b60f51200 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/gem.json @@ -0,0 +1,21 @@ +{ + "gem_name": "${Name}", + "display_name": "${Name}", + "license": "What license ${Name} uses goes here: i.e. Apache-2.0 or MIT", + "license_url": "Link to the license web site goes here: i.e. https://opensource.org/licenses/Apache-2.0 Or https://opensource.org/licenses/MIT", + "origin": "The name of the originator goes here. i.e. XYZ Inc.", + "origin_url": "The primary repo for ${Name} goes here: i.e. http://www.mydomain.com", + "type": "", + "summary": "A short description of ${Name}.", + "canonical_tags": [ + "Gem" + ], + "user_tags": [ + "${Name}" + ], + "icon_path": "preview.png", + "requirements": "", + "documentation_url": "", + "dependencies": [ + ] +} diff --git a/Templates/Multiplayer/Template/Gem/preview.png b/Templates/Multiplayer/Template/Gem/preview.png new file mode 100644 index 000000000..2f1ed4775 --- /dev/null +++ b/Templates/Multiplayer/Template/Gem/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d6204c6730e5675791765ca194e9b1cbec282208e280507de830afc2805e5fa +size 41127 diff --git a/Templates/Multiplayer/Template/InputBindings/player.inputbindings b/Templates/Multiplayer/Template/InputBindings/player.inputbindings new file mode 100644 index 000000000..180273130 --- /dev/null +++ b/Templates/Multiplayer/Template/InputBindings/player.inputbindings @@ -0,0 +1,177 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Templates/Multiplayer/Template/LICENSE.txt b/Templates/Multiplayer/Template/LICENSE.txt new file mode 100644 index 000000000..c4315a87f --- /dev/null +++ b/Templates/Multiplayer/Template/LICENSE.txt @@ -0,0 +1,27 @@ +OPEN 3D ENGINE LICENSING +The default license for Open 3D Engine is the Apache License, Version 2.0 +(see LICENSE_APACHE2.TXT); you may elect at your option to use the Open 3D +Engine under the MIT License (see LICENSE_MIT.TXT). Contributions must be +made under both licenses. + +THIRD PARTY COMPONENTS +Open 3D Engine requires the use of (and in some cases makes available to you) +software and assets that have been developed by third parties and are subject +to separate license terms (such as code licensed under other open source +licenses). It is your responsibility to comply with the applicable licenses. +Information on third party materials, and the applicable license terms, are +referenced in or included with the materials, such as in separate LICENSE.txt +files accompanying the materials. + +Please note that certain materials are subject to "copyleft" licenses, which +require distribution of source code, including: + +- Qt Toolkit https://github.com/qtproject/, which is subject to the GNU +Lesser General Public License version 3 (with certain exceptions). A copy of +the source code for Qt Toolkit may be found at +https://s3-us-west-2.amazonaws.com/ly-legal/LicenseConformance/Qt/Src.zip + +- The AWS Python SDK uses Chardet https://chardet.github.io/, which is +subject to the GNU Lesser General Public License version 2.1. A copy of the +source code may be found at https://github.com/chardet/chardet. + \ No newline at end of file diff --git a/Templates/Multiplayer/Template/LICENSE_APACHE2.TXT b/Templates/Multiplayer/Template/LICENSE_APACHE2.TXT new file mode 100644 index 000000000..4c9ad9806 --- /dev/null +++ b/Templates/Multiplayer/Template/LICENSE_APACHE2.TXT @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Levels/Demo/Demo.prefab b/Templates/Multiplayer/Template/Levels/Demo/Demo.prefab new file mode 100644 index 000000000..ccc60e1d6 --- /dev/null +++ b/Templates/Multiplayer/Template/Levels/Demo/Demo.prefab @@ -0,0 +1,10986 @@ +{ + "ContainerEntity": { + "Id": "Entity_[356758116574]", + "Name": "Level", + "Components": { + "Component_[11018767466550552329]": { + "$type": "EditorVisibilityComponent", + "Id": 11018767466550552329 + }, + "Component_[11051623022504095148]": { + "$type": "EditorOnlyEntityComponent", + "Id": 11051623022504095148 + }, + "Component_[12471136275375599108]": { + "$type": "EditorPrefabComponent", + "Id": 12471136275375599108 + }, + 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b/Templates/Multiplayer/Template/Materials/Default/UVchart_3_basecolor.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0da5b5c55a737a902e6330c8897af38a088de018af3da9b4de11be5680c1bc0d +size 513767 diff --git a/Templates/Multiplayer/Template/Materials/DefaultPBR.material b/Templates/Multiplayer/Template/Materials/DefaultPBR.material new file mode 100644 index 000000000..f0990f148 --- /dev/null +++ b/Templates/Multiplayer/Template/Materials/DefaultPBR.material @@ -0,0 +1,4 @@ +{ + "materialType": "Materials/Types/StandardPBR.materialtype", + "parentMaterial": "Materials/Presets/PBR/default_grid.material" +} diff --git a/Templates/Multiplayer/Template/Materials/UVs.azsl b/Templates/Multiplayer/Template/Materials/UVs.azsl new file mode 100644 index 000000000..8a818bf4d --- /dev/null +++ b/Templates/Multiplayer/Template/Materials/UVs.azsl @@ -0,0 +1,49 @@ + +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include +#include + +struct VertexInput +{ + float3 m_position : POSITION; + float2 m_uv : UV0; +}; + +struct VertexOutput +{ + float4 m_position : SV_Position; + float2 m_uv : UV0; +}; + +VertexOutput MainVS(VertexInput input) +{ + VertexOutput output; + float3 worldPosition = mul(ObjectSrg::GetWorldMatrix(), float4(input.m_position, 1)).xyz; + output.m_position = mul(ViewSrg::m_viewProjectionMatrix, float4(worldPosition, 1.0)); + + output.m_uv = input.m_uv; + + return output; +} + +struct PixelOutput +{ + float4 m_color : SV_Target0; +}; + +PixelOutput MainPS(VertexOutput input) +{ + PixelOutput output; + + output.m_color = float4(input.m_uv, 0, 1); + + return output; +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Materials/UVs.material 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tonemapping + "DrawList": "auxgeom", + + "ProgramSettings": + { + "EntryPoints": + [ + { + "name": "MainVS", + "type": "Vertex" + }, + { + "name": "MainPS", + "type": "Fragment" + } + ] + } +} diff --git a/Templates/Multiplayer/Template/Objects/cube.fbx b/Templates/Multiplayer/Template/Objects/cube.fbx new file mode 100644 index 000000000..616c7b4ff --- /dev/null +++ b/Templates/Multiplayer/Template/Objects/cube.fbx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e32877eab35459499c73ff093df898f93bf3e7379de25eef6875d693be9bec81 +size 18015 diff --git a/Templates/Multiplayer/Template/Platform/Android/android_project.json b/Templates/Multiplayer/Template/Platform/Android/android_project.json new file mode 100644 index 000000000..b378a3c6b --- /dev/null +++ b/Templates/Multiplayer/Template/Platform/Android/android_project.json @@ -0,0 +1,9 @@ +{ + "Tags": ["Android"], + "android_settings" : { + "package_name" : "org.o3de.${NameLower}", + "version_number" : 1, + 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+ ] + ] + } + } + } + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Prefabs/PlayerSpawner.prefab b/Templates/Multiplayer/Template/Prefabs/PlayerSpawner.prefab new file mode 100644 index 000000000..829079a84 --- /dev/null +++ b/Templates/Multiplayer/Template/Prefabs/PlayerSpawner.prefab @@ -0,0 +1,132 @@ +{ + "ContainerEntity": { + "Id": "ContainerEntity", + "Name": "PlayerSpawner", + "Components": { + "Component_[10328177423466039596]": { + "$type": "EditorEntitySortComponent", + "Id": 10328177423466039596, + "Child Entity Order": [ + "Entity_[20795461644007]" + ] + }, + "Component_[13433839503077990839]": { + "$type": "EditorLockComponent", + "Id": 13433839503077990839 + }, + "Component_[14484282297929876313]": { + "$type": "EditorInspectorComponent", + "Id": 14484282297929876313 + }, + "Component_[16321690024165228239]": { + "$type": "EditorPrefabComponent", + "Id": 16321690024165228239 + }, + "Component_[17750914760849213770]": { + "$type": 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b/Templates/Multiplayer/Template/Registry/editorpreferences.setreg @@ -0,0 +1,8 @@ +{ + "Amazon": { + "Preferences": { + "EnablePrefabSystem": true, + "EnablePrefabSystemWipFeatures": true + } + } +} \ No newline at end of file diff --git a/Templates/Multiplayer/Template/Registry/physxsystemconfiguration.setreg b/Templates/Multiplayer/Template/Registry/physxsystemconfiguration.setreg new file mode 100644 index 000000000..f6c031208 --- /dev/null +++ b/Templates/Multiplayer/Template/Registry/physxsystemconfiguration.setreg @@ -0,0 +1,108 @@ +{ + "Amazon": { + "Gems": { + "PhysX": { + "PhysXSystemConfiguration": { + "CollisionConfig": { + "Layers": { + "LayerNames": [ + "Default", + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + "TouchBend" + ] + }, + "Groups": { + "GroupPresets": [ + { + "Name": "All", + "ReadOnly": true + }, + { + "Id": { + "GroupId": "{B89BE1B7-62B5-4FE5-B58D-C91D66F7D250}" + }, + "Name": "None", + "Group": { + "Mask": 0 + }, + "ReadOnly": true + }, + { + "Id": { + "GroupId": "{CB525A65-D000-4A38-8462-CEB3EA8D3303}" + }, + "Name": "All_NoTouchBend", + "Group": { + "Mask": 9223372036854775807 + }, + "ReadOnly": true + } + ] + } + } + } + } + } + } +} diff --git a/Templates/Multiplayer/Template/ShaderLib/README.md b/Templates/Multiplayer/Template/ShaderLib/README.md new file mode 100644 index 000000000..2ad0795f1 --- /dev/null +++ b/Templates/Multiplayer/Template/ShaderLib/README.md @@ -0,0 +1,3 @@ +Please read +*dev/Gems/Atom/Feature/Common/Assets/ShaderResourceGroups/README.md* +for details on how to customize scenesrg.srgi and viewsrg.srgi. diff --git a/Templates/Multiplayer/Template/ShaderLib/scenesrg.srgi b/Templates/Multiplayer/Template/ShaderLib/scenesrg.srgi new file mode 100644 index 000000000..00ff9d3ce --- /dev/null +++ b/Templates/Multiplayer/Template/ShaderLib/scenesrg.srgi @@ -0,0 +1,23 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +// Please read README.md for an explanation on why scenesrg.srgi and viewsrg.srgi are +// located in this folder (And how you can optionally customize your own scenesrg.srgi +// and viewsrg.srgi in your game project). + +#include + +partial ShaderResourceGroup SceneSrg : SRG_PerScene +{ +/* Intentionally Empty. Helps define the SrgSemantic for SceneSrg once.*/ +}; + +#define AZ_COLLECTING_PARTIAL_SRGS +#include +#undef AZ_COLLECTING_PARTIAL_SRGS diff --git a/Templates/Multiplayer/Template/ShaderLib/viewsrg.srgi b/Templates/Multiplayer/Template/ShaderLib/viewsrg.srgi new file mode 100644 index 000000000..f765abf5b --- /dev/null +++ b/Templates/Multiplayer/Template/ShaderLib/viewsrg.srgi @@ -0,0 +1,23 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +// Please read README.md for an explanation on why scenesrg.srgi and viewsrg.srgi are +// located in this folder (And how you can optionally customize your own scenesrg.srgi +// and viewsrg.srgi in your game project). + +#include + +partial ShaderResourceGroup ViewSrg : SRG_PerView +{ +/* Intentionally Empty. Helps define the SrgSemantic for ViewSrg once.*/ +}; + +#define AZ_COLLECTING_PARTIAL_SRGS +#include +#undef AZ_COLLECTING_PARTIAL_SRGS diff --git a/Templates/Multiplayer/Template/Shaders/CommonVS.azsli b/Templates/Multiplayer/Template/Shaders/CommonVS.azsli new file mode 100644 index 000000000..129800b66 --- /dev/null +++ b/Templates/Multiplayer/Template/Shaders/CommonVS.azsli @@ -0,0 +1,50 @@ + +/* + * Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include +#include + +struct VertexInput +{ + float3 m_position : POSITION; + float3 m_normal : NORMAL; + float4 m_tangent : TANGENT; + float3 m_bitangent : BITANGENT; + float2 m_uv : UV0; +}; + +struct VertexOutput +{ + float4 m_position : SV_Position; + float3 m_normal : NORMAL; + float3 m_tangent : TANGENT; + float3 m_bitangent : BITANGENT; + float2 m_uv : UV0; + float3 m_view : VIEW; +}; + +VertexOutput CommonVS(VertexInput input) +{ + float4x4 objectToWorld = ObjectSrg::GetWorldMatrix(); + float3x3 objectToWorldIT = ObjectSrg::GetWorldMatrixInverseTranspose(); + + VertexOutput output; + float3 worldPosition = mul(objectToWorld, float4(input.m_position, 1)).xyz; + output.m_position = mul(ViewSrg::m_viewProjectionMatrix, float4(worldPosition, 1.0)); + + output.m_uv = input.m_uv; + + output.m_view = worldPosition - ViewSrg::m_worldPosition; + + ConstructTBN(input.m_normal, input.m_tangent, input.m_bitangent, objectToWorld, objectToWorldIT, output.m_normal, output.m_tangent, output.m_bitangent); + + return output; +} diff --git a/Templates/Multiplayer/Template/cmake/CompilerSettings.cmake b/Templates/Multiplayer/Template/cmake/CompilerSettings.cmake new file mode 100644 index 000000000..60bda1d45 --- /dev/null +++ b/Templates/Multiplayer/Template/cmake/CompilerSettings.cmake @@ -0,0 +1,13 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +# File to tweak compiler settings before compiler detection happens (before project() is called) +# We dont have PAL enabled at this point, so we can only use pure-CMake variables +if("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Linux") + include(cmake/Platform/Linux/CompilerSettings_linux.cmake) +endif() diff --git a/Templates/Multiplayer/Template/cmake/EngineFinder.cmake b/Templates/Multiplayer/Template/cmake/EngineFinder.cmake new file mode 100644 index 000000000..057f15da5 --- /dev/null +++ b/Templates/Multiplayer/Template/cmake/EngineFinder.cmake @@ -0,0 +1,91 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +include_guard() + +# Read the engine name from the project_json file +file(READ ${CMAKE_CURRENT_SOURCE_DIR}/project.json project_json) +set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/project.json) + +string(JSON LY_ENGINE_NAME_TO_USE ERROR_VARIABLE json_error GET ${project_json} engine) +if(json_error) + message(FATAL_ERROR "Unable to read key 'engine' from 'project.json'\nError: ${json_error}") +endif() + +if(CMAKE_MODULE_PATH) + foreach(module_path ${CMAKE_MODULE_PATH}) + if(EXISTS ${module_path}/Findo3de.cmake) + file(READ ${module_path}/../engine.json engine_json) + string(JSON engine_name ERROR_VARIABLE json_error GET ${engine_json} engine_name) + if(json_error) + message(FATAL_ERROR "Unable to read key 'engine_name' from 'engine.json'\nError: ${json_error}") + endif() + if(LY_ENGINE_NAME_TO_USE STREQUAL engine_name) + return() # Engine being forced through CMAKE_MODULE_PATH + endif() + endif() + endforeach() +endif() + +if(DEFINED ENV{USERPROFILE} AND EXISTS $ENV{USERPROFILE}) + set(manifest_path $ENV{USERPROFILE}/.o3de/o3de_manifest.json) # Windows +else() + set(manifest_path $ENV{HOME}/.o3de/o3de_manifest.json) # Unix +endif() + +set(registration_error [=[ +Engine registration is required before configuring a project. +Run 'scripts/o3de register --this-engine' from the engine root. +]=]) + +# Read the ~/.o3de/o3de_manifest.json file and look through the 'engines_path' object. +# Find a key that matches LY_ENGINE_NAME_TO_USE and use that as the engine path. +if(EXISTS ${manifest_path}) + file(READ ${manifest_path} manifest_json) + set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${manifest_path}) + + string(JSON engines_path_count ERROR_VARIABLE json_error LENGTH ${manifest_json} engines_path) + if(json_error) + message(FATAL_ERROR "Unable to read key 'engines_path' from '${manifest_path}'\nError: ${json_error}\n${registration_error}") + endif() + + string(JSON engines_path_type ERROR_VARIABLE json_error TYPE ${manifest_json} engines_path) + if(json_error OR NOT ${engines_path_type} STREQUAL "OBJECT") + message(FATAL_ERROR "Type of 'engines_path' in '${manifest_path}' is not a JSON Object\nError: ${json_error}") + endif() + + math(EXPR engines_path_count "${engines_path_count}-1") + foreach(engine_path_index RANGE ${engines_path_count}) + string(JSON engine_name ERROR_VARIABLE json_error MEMBER ${manifest_json} engines_path ${engine_path_index}) + if(json_error) + message(FATAL_ERROR "Unable to read 'engines_path/${engine_path_index}' from '${manifest_path}'\nError: ${json_error}") + endif() + + if(LY_ENGINE_NAME_TO_USE STREQUAL engine_name) + string(JSON engine_path ERROR_VARIABLE json_error GET ${manifest_json} engines_path ${engine_name}) + if(json_error) + message(FATAL_ERROR "Unable to read value from 'engines_path/${engine_name}'\nError: ${json_error}") + endif() + + if(engine_path) + list(APPEND CMAKE_MODULE_PATH "${engine_path}/cmake") + return() + endif() + endif() + endforeach() + + message(FATAL_ERROR "The project.json uses engine name '${LY_ENGINE_NAME_TO_USE}' but no engine with that name has been registered.\n${registration_error}") +else() + # If the user is passing CMAKE_MODULE_PATH we assume thats where we will find the engine + if(NOT CMAKE_MODULE_PATH) + message(FATAL_ERROR "O3DE Manifest file not found.\n${registration_error}") + endif() +endif() diff --git a/Templates/Multiplayer/Template/cmake/Platform/Linux/CompilerSettings_linux.cmake b/Templates/Multiplayer/Template/cmake/Platform/Linux/CompilerSettings_linux.cmake new file mode 100644 index 000000000..9bb629c53 --- /dev/null +++ b/Templates/Multiplayer/Template/cmake/Platform/Linux/CompilerSettings_linux.cmake @@ -0,0 +1,34 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +if(NOT CMAKE_C_COMPILER AND NOT CMAKE_CXX_COMPILER AND NOT "$ENV{CC}" AND NOT "$ENV{CXX}") + set(path_search + /bin + /usr/bin + /usr/local/bin + /sbin + /usr/sbin + /usr/local/sbin + ) + list(TRANSFORM path_search APPEND "/clang-[0-9]*") + file(GLOB clang_versions ${path_search}) + if(clang_versions) + # Find and pick the highest installed version + list(SORT clang_versions COMPARE NATURAL) + list(GET clang_versions 0 clang_higher_version_path) + string(REGEX MATCH "clang-([0-9.]*)" clang_higher_version ${clang_higher_version_path}) + if(CMAKE_MATCH_1) + set(CMAKE_C_COMPILER clang-${CMAKE_MATCH_1}) + set(CMAKE_CXX_COMPILER clang++-${CMAKE_MATCH_1}) + else() + message(FATAL_ERROR "Clang not found, please install clang") + endif() + else() + message(FATAL_ERROR "Clang not found, please install clang") + endif() +endif() diff --git a/Templates/Multiplayer/Template/default.blastconfiguration b/Templates/Multiplayer/Template/default.blastconfiguration new file mode 100644 index 000000000..6021c0477 --- /dev/null +++ b/Templates/Multiplayer/Template/default.blastconfiguration @@ -0,0 +1,7 @@ + + + + + + + diff --git a/Templates/Multiplayer/Template/editor.cfg b/Templates/Multiplayer/Template/editor.cfg new file mode 100644 index 000000000..f432de409 --- /dev/null +++ b/Templates/Multiplayer/Template/editor.cfg @@ -0,0 +1,5 @@ +editorsv_enabled=true +ed_keepEditorActive=true +editorsv_hidden=true +editorsv_rhi_override=null +ed_backgroundUpdatePeriod=-1 \ No newline at end of file diff --git a/Templates/Multiplayer/Template/game.cfg b/Templates/Multiplayer/Template/game.cfg new file mode 100644 index 000000000..49fc0346e --- /dev/null +++ b/Templates/Multiplayer/Template/game.cfg @@ -0,0 +1,7 @@ +sys_game_name = "${Name}" +sys_localization_folder = Localization +ca_useIMG_CAF = 0 + +-- Enable warnings when asset loads take longer than the given millisecond threshold +cl_assetLoadWarningEnable=true +cl_assetLoadWarningMsThreshold=100 diff --git a/Templates/Multiplayer/Template/generate_asset_cmake.bat b/Templates/Multiplayer/Template/generate_asset_cmake.bat new file mode 100644 index 000000000..d1661da6f --- /dev/null +++ b/Templates/Multiplayer/Template/generate_asset_cmake.bat @@ -0,0 +1,51 @@ +@ECHO off +REM Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. +REM +REM SPDX-License-Identifier: Apache-2.0 OR MIT + +setlocal enabledelayedexpansion + +:: TAB equals 4 spaces +set TAB= + +:: Directory in which this batch file lives +set CURRENT_DIRECTORY=%~dp0 + +:: Destination file we're writing too +set OUTPUT_FILE=${NameLower}_asset_files.cmake + +:: Write copyright header to top of file +echo # > %OUTPUT_FILE% +echo # Copyright (c) Contributors to the Open 3D Engine Project. For complete copyright and license terms please see the LICENSE at the root of this distribution. >> %OUTPUT_FILE% +echo # >> %OUTPUT_FILE% +echo # SPDX-License-Identifier: Apache-2.0 OR MIT >> %OUTPUT_FILE% +echo # >> %OUTPUT_FILE% +echo.>> %OUTPUT_FILE% + +:: .cmake file first line should be "set(FILES" +echo set(FILES>> %OUTPUT_FILE% + +:: Here we append the list of files +( + :: Recursive for loop for every file in directory and subdirectories + for /R %%f in (*.*) do ( + + :: Get full file path and name + set filePath=%%f + + :: Remove the current directory from the file path. This gives us the local path + set relativeFilePath=!filePath:%CURRENT_DIRECTORY%=! + + :: Turns "\my\asset\folder" into "/my/asset/folder" for cmake + set relativeFilePath=!relativeFilePath:\=/! + + :: Filter only relevant file types + if !relativeFilePath:~-5! == .pass echo %TAB%!relativeFilePath! + if !relativeFilePath:~-5! == .azsl echo %TAB%!relativeFilePath! + if !relativeFilePath:~-6! == .azsli echo %TAB%!relativeFilePath! + if !relativeFilePath:~-7! == .shader echo %TAB%!relativeFilePath! + if !relativeFilePath:~-13! == .materialtype echo %TAB%!relativeFilePath! + ) +) >> %OUTPUT_FILE% + +@echo ) >> %OUTPUT_FILE% \ No newline at end of file diff --git a/Templates/Multiplayer/Template/launch_client.cfg b/Templates/Multiplayer/Template/launch_client.cfg new file mode 100644 index 000000000..1bd5775c4 --- /dev/null +++ b/Templates/Multiplayer/Template/launch_client.cfg @@ -0,0 +1 @@ +connect diff --git a/Templates/Multiplayer/Template/launch_client.cmd b/Templates/Multiplayer/Template/launch_client.cmd new file mode 100644 index 000000000..7788ec360 --- /dev/null +++ b/Templates/Multiplayer/Template/launch_client.cmd @@ -0,0 +1,12 @@ +@ECHO OFF +REM +REM Copyright (c) Contributors to the Open 3D Engine Project. +REM For complete copyright and license terms please see the LICENSE at the root of this distribution. +REM +REM SPDX-License-Identifier: Apache-2.0 OR MIT +REM +REM +REM Continuous Integration CLI entrypoint script to start CTest, triggering post-build tests +REM + +.\build\windows\bin\profile\${Name}.GameLauncher.exe --console-command-file=launch_client.cfg \ No newline at end of file diff --git a/Templates/Multiplayer/Template/launch_client.sh b/Templates/Multiplayer/Template/launch_client.sh new file mode 100644 index 000000000..8e7bb10fe --- /dev/null +++ b/Templates/Multiplayer/Template/launch_client.sh @@ -0,0 +1,8 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# + +./build/linux/bin/profile/${Name}.GameLauncher --console-command-file=launch_client.cfg diff --git a/Templates/Multiplayer/Template/launch_server.cfg b/Templates/Multiplayer/Template/launch_server.cfg new file mode 100644 index 000000000..0d1947d53 --- /dev/null +++ b/Templates/Multiplayer/Template/launch_server.cfg @@ -0,0 +1,2 @@ +host +LoadLevel Levels/Demo/Demo.spawnable diff --git a/Templates/Multiplayer/Template/launch_server.cmd b/Templates/Multiplayer/Template/launch_server.cmd new file mode 100644 index 000000000..0fa7f6689 --- /dev/null +++ b/Templates/Multiplayer/Template/launch_server.cmd @@ -0,0 +1,12 @@ +@ECHO OFF +REM +REM Copyright (c) Contributors to the Open 3D Engine Project. +REM For complete copyright and license terms please see the LICENSE at the root of this distribution. +REM +REM SPDX-License-Identifier: Apache-2.0 OR MIT +REM +REM +REM Continuous Integration CLI entrypoint script to start CTest, triggering post-build tests +REM + +.\build\windows\bin\profile\${Name}.ServerLauncher.exe --console-command-file=launch_server.cfg \ No newline at end of file diff --git a/Templates/Multiplayer/Template/launch_server.sh b/Templates/Multiplayer/Template/launch_server.sh new file mode 100644 index 000000000..51963782c --- /dev/null +++ b/Templates/Multiplayer/Template/launch_server.sh @@ -0,0 +1,8 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# + +./build/linux/bin/profile/${Name}.ServerLauncher --console-command-file=launch_server.cfg diff --git a/Templates/Multiplayer/Template/preview.png b/Templates/Multiplayer/Template/preview.png new file mode 100644 index 000000000..8d3fd3389 --- /dev/null +++ b/Templates/Multiplayer/Template/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce65a88705bd001ab0abb36f5610598fcb8398203ce2f76494612b9554288e4a +size 46311 diff --git a/Templates/Multiplayer/Template/project.json b/Templates/Multiplayer/Template/project.json new file mode 100644 index 000000000..13eafb209 --- /dev/null +++ b/Templates/Multiplayer/Template/project.json @@ -0,0 +1,17 @@ +{ + "project_name": "${Name}", + "project_id": "{16D27830-D7FF-4124-B20B-2CF0387E8C7D}", + "origin": "https://github.com/o3de/o3de-${NameLower}", + "license": "For terms please see the LICENSE*.TXT file at the root of this distribution.", + "display_name": "${Name}", + "summary": "A simple third-person multiplayer sample for O3DE.", + "canonical_tags": [ + "Project" + ], + "user_tags": [ + "${Name}" + ], + "icon_path": "preview.png", + "engine": "o3de", + "external_subdirectories": [] +} diff --git a/Templates/Multiplayer/preview.png b/Templates/Multiplayer/preview.png new file mode 100644 index 000000000..e5ec880c6 --- /dev/null +++ b/Templates/Multiplayer/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94a5fbcd370435b2d4886c8119c9df244292e6be77a205ccb6056868dde9956e +size 27178 diff --git a/Templates/Multiplayer/template.json b/Templates/Multiplayer/template.json new file mode 100644 index 000000000..87ef6db09 --- /dev/null +++ b/Templates/Multiplayer/template.json @@ -0,0 +1,1304 @@ +{ + "template_name": "Multiplayer", + "origin": "Open 3D Engine - o3de.org", + "origin_uri": "https://github.com/o3de/o3de-extras/releases/download/1.0/Template_Multiplayer-1.0.zip", + "sha256": "c1d1f6e260c6121f013b4d54e213e0c7f0f99281c66ebe48bb6403a1180ee444", + "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development", + "license": "https://opensource.org/licenses/MIT", + "display_name": "Multiplayer", + "summary": "A multiplayer project template. Includes a built in network 3rd person player, player spawner, and network filtering example.", + "canonical_tags": ["Template", "Networking"], + "user_tags": [ + "Multiplayer" + ], + "icon_path": "preview.png", + "copyFiles": [ + { + "file": "${NameLower}_asset_files.cmake", + "isTemplated": false + }, + { + "file": "BURT/BURT.motionset", + "isTemplated": false + }, + { + "file": "BURT/BURTActor.fbx", + "isTemplated": false + }, + { + "file": "BURT/BURTActor.fbx.assetinfo", + "isTemplated": false + }, + { + "file": "BURT/HumanoidCharacter.animgraph", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Backwards.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Draw.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Forwards.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Holster.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Idle.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Left_Backwards.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Left_Forwards.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Right_Backwards.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Right_Forwards.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Run_Backwards.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Run_Forwards.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Run_Left_Forwards.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Run_Right_Forwards.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Shoot.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/AimStrafe_Shoot.fbx.assetinfo", + "isTemplated": false + }, + { + "file": "BURT/Motions/Aim_1D_Level.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Crouch_Idle.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Crouch_Walk.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Crouch_Walk_Backwards.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Crouch_Walk_Down.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Crouch_Walk_Down.fbx.assetinfo", + "isTemplated": false + }, + { + "file": "BURT/Motions/Crouch_Walk_Up.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Death_Fall_Back.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Death_Fall_Forward.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Idle.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Idle_Alt_A.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Idle_To_Run.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Idle_To_Run_Down.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Idle_To_Run_Left.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Idle_To_Run_Right.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Idle_To_Run_Up.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Idle_To_Walk.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Idle_To_Walk_Down.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Idle_To_Walk_Left.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Idle_To_Walk_Right.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Idle_To_Walk_Up.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Interact.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Interact_In.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Interact_Out.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Jump_DoubleJump_Float.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Jump_DoubleJump_Land_To_Idle.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Jump_DoubleJump_Launch.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Jump_Fall.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Jump_Land_Hard.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Jump_Land_Medium.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Jump_Land_Soft.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Jump_Running_Land_To_Idle.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Jump_Running_Launch.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Jump_Up.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Run_Left_180.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Run_Left_180_Aim.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Run_Left_90.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Run_Left_90_Aim.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Run_Right_180.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Run_Right_180_Aim.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Run_Right_90.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Run_Right_90_Aim.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Walk_Left_180.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Walk_Left_180_Aim.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Walk_Left_90.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Walk_Left_90_Aim.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Walk_Right_180.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Walk_Right_180_Aim.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Walk_Right_90.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/MotionTurn_Walk_Right_90_Aim.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Run_To_Idle.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Run_To_Idle_Down.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Run_To_Idle_Up.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Shoot.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Shoot.fbx.assetinfo", + "isTemplated": false + }, + { + "file": "BURT/Motions/Strafe_Left.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Strafe_Right.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Strafe_Run_Forwards 001.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Strafe_Run_Forwards.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Strafe_Run_Forwards.fbx.assetinfo", + "isTemplated": false + }, + { + "file": "BURT/Motions/Strafe_Run_Forwards_Down.fbx", + "isTemplated": false + }, + { + "file": "BURT/Motions/Strafe_Run_Forwards_Down.fbx.assetinfo", + "isTemplated": false + }, + { + "file": 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"Gem/Code/Source/AutoGen" + }, + { + "dir": "Gem/Code/Source/Components" + }, + { + "dir": "Gem/Code/Source/Spawners" + }, + { + "dir": "Gem/Code/Source/Weapons" + }, + { + "dir": "Gem/Resources" + }, + { + "dir": "Gem/Resources/IOSLauncher" + }, + { + "dir": "Gem/Resources/IOSLauncher/Images.xcassets" + }, + { + "dir": "Gem/Resources/IOSLauncher/Images.xcassets/${Name}AppIcon.appiconset" + }, + { + "dir": "Gem/Resources/IOSLauncher/Images.xcassets/LaunchImage.launchimage" + }, + { + "dir": "Gem/Resources/MacLauncher" + }, + { + "dir": "Gem/Resources/MacLauncher/Images.xcassets" + }, + { + "dir": "Gem/Resources/MacLauncher/Images.xcassets/CMakeTestbedAppIcon.appiconset" + }, + { + "dir": "InputBindings" + }, + { + "dir": "Levels" + }, + { + "dir": "Levels/Demo" + }, + { + "dir": "LightingPresets" + }, + { + "dir": "Materials" + }, + { + "dir": "Materials/Default" + }, + { + "dir": "Materials/decal" + }, + { + "dir": "Objects" + }, + { + "dir": "Platform" + }, + { + "dir": "Platform/Android" + }, + { + "dir": "Prefabs" + }, + { + "dir": "Registry" + }, + { + "dir": "Scripts" + }, + { + "dir": "Scripts/build" + }, + { + "dir": "Scripts/build/Jenkins" + }, + { + "dir": "ShaderLib" + }, + { + "dir": "Shaders" + }, + { + "dir": "cmake" + }, + { + "dir": "cmake/Platform" + }, + { + "dir": "cmake/Platform/Linux" + } + ] +} diff --git a/Templates/README.md b/Templates/README.md new file mode 100644 index 000000000..880a63813 --- /dev/null +++ b/Templates/README.md @@ -0,0 +1,11 @@ +# O3DE-Extras-Templates + +This folder contains extra Templates for O3DE. See the readme at the root of this repo for instructions. + +## Contribute + +For information about contributing to Open 3D Engine, visit [https://o3de.org/docs/contributing/](https://o3de.org/docs/contributing/). + +## License + +For terms please see the LICENSE*.TXT files at the root of this distribution. diff --git a/Templates/Ros2FleetRobotTemplate/README.md b/Templates/Ros2FleetRobotTemplate/README.md new file mode 100644 index 000000000..4a6a5df0d --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/README.md @@ -0,0 +1,44 @@ +# ROS2 Fleet Template + +Welcome to Robotic Simulation Fleet template for ROS 2 projects! +This project is a template designed to help you quickly start simulating robots in Open 3D Engine (O3DE) with Robot Operating System (ROS) 2. + +This template focuses on use-cases with multiple robots in environments such as warehouses and fulfillment centers. +The warehouse assets used in the template are modular and well-suited for reconfiguration to match a custom warehouse. +If your simulation does not match this and you would like to start with a simple and versatile template, consider using a more generic template: +- [ROS 2 Project Template](https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2ProjectTemplate). + +![Template picture](Screenshots/fleet_template.png) + +## Set up a new project with the template + +Please follow the instructions in [ROS 2 Gem documentation](https://development--o3deorg.netlify.app/docs/user-guide/interactivity/robotics/project-configuration/) +to install all required dependencies and create your project with a template (make sure to use chose this template during the process). + +## Spawning robots + +The level contains spawn points configured to easily add more Proteus robots through ROS 2 calls. +This is done with the [Spawner Component](https://development--o3deorg.netlify.app/docs/user-guide/interactivity/robotics/concepts-and-components-overview/#spawner). +There are 4 spawn points already added in the level. You can use them all with the following service calls: + +```shell +ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'proteus', xml: 'spawnPoint1'}'& \ +ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'proteus', xml: 'spawnPoint2'}'& \ +ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'proteus', xml: 'spawnPoint3'}'& \ +ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'proteus', xml: 'spawnPoint4'}' +``` + +## Topics and frames + +Every spawned robot will have its own namespace for all topics. For the first robot, these will be: + +- `/proteus_1/cmd_vel`: The topic to [control the robot](https://development--o3deorg.netlify.app/docs/user-guide/interactivity/robotics/concepts-and-components-overview/#robot-control). +- `/proteus_1/pc` - The topic of simulated LIDAR point cloud. + +The first spawned robot also provides the following transformations: + +- `/proteus_1/odom` +- `/proteus_1/base_link` +- `/proteus_1/lidar` + +To understand more about transformations, see ROS 2 navigation [documentation](https://navigation.ros.org/setup_guides/transformation/setup_transforms.html). diff --git a/Templates/Ros2FleetRobotTemplate/Screenshots/fleet_template.png b/Templates/Ros2FleetRobotTemplate/Screenshots/fleet_template.png new file mode 100644 index 000000000..32585cf7a Binary files /dev/null and b/Templates/Ros2FleetRobotTemplate/Screenshots/fleet_template.png differ diff --git a/Templates/Ros2FleetRobotTemplate/Template/.gitignore b/Templates/Ros2FleetRobotTemplate/Template/.gitignore new file mode 100644 index 000000000..6f5bebad0 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/.gitignore @@ -0,0 +1,6 @@ +[Bb]uild/ +[Cc]ache/ +[Uu]ser/ +[Uu]ser_test*/ +_savebackup/ +CMakeUserPresets.json diff --git a/Templates/Ros2FleetRobotTemplate/Template/CMakeLists.txt b/Templates/Ros2FleetRobotTemplate/Template/CMakeLists.txt new file mode 100644 index 000000000..15fb0a9a0 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/CMakeLists.txt @@ -0,0 +1,11 @@ + +if(NOT PROJECT_NAME) + cmake_minimum_required(VERSION 3.22) + include(cmake/EngineFinder.cmake OPTIONAL) + find_package(o3de REQUIRED) + project(${Name} + LANGUAGES C CXX + VERSION 1.0.0.0 + ) + o3de_initialize() +endif() diff --git a/Templates/Ros2FleetRobotTemplate/Template/Config/shader_global_build_options.json b/Templates/Ros2FleetRobotTemplate/Template/Config/shader_global_build_options.json new file mode 100644 index 000000000..08e4d7f50 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Config/shader_global_build_options.json @@ -0,0 +1,11 @@ +{ + "Type": "JsonSerialization", + "Version": 1, + "ClassName": "GlobalBuildOptions", + "ClassData": { + "ShaderCompilerArguments" : { + "DefaultMatrixOrder" : "Row", + "AzslcAdditionalFreeArguments" : "--strip-unused-srgs" + } + } +} \ No newline at end of file diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/${Name}_files.cmake b/Templates/Ros2FleetRobotTemplate/Template/Gem/${Name}_files.cmake new file mode 100644 index 000000000..d34965533 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/${Name}_files.cmake @@ -0,0 +1,18 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +set(FILES + Include/${Name}/${Name}Bus.h + Source/${Name}SystemComponent.cpp + Source/${Name}SystemComponent.h + enabled_gems.cmake +) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/${Name}_shared_files.cmake b/Templates/Ros2FleetRobotTemplate/Template/Gem/${Name}_shared_files.cmake new file mode 100644 index 000000000..11aefaf1a --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/${Name}_shared_files.cmake @@ -0,0 +1,15 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +set(FILES + Source/${Name}Module.cpp +) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/CMakeLists.txt b/Templates/Ros2FleetRobotTemplate/Template/Gem/CMakeLists.txt new file mode 100644 index 000000000..3f4c3ca38 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/CMakeLists.txt @@ -0,0 +1,103 @@ +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# + +# Query the gem name from the gem.json file if possible +# otherwise fallback to using ${Name} +o3de_find_ancestor_gem_root(gem_path gem_name "${CMAKE_CURRENT_SOURCE_DIR}") +if (NOT gem_name) + set(gem_name "${Name}") +endif() + +# Fallback to using the current source CMakeLists.txt directory as the gem root path +if (NOT gem_path) + set(gem_path ${CMAKE_CURRENT_SOURCE_DIR}) +endif() + +set(gem_json ${gem_path}/gem.json) + +o3de_restricted_path(${gem_json} gem_restricted_path gem_parent_relative_path) + +# Currently we are in the ${Name}/Code folder: ${CMAKE_CURRENT_LIST_DIR} +# Get the platform specific folder ${pal_dir} for the current folder: ${CMAKE_CURRENT_LIST_DIR}/Platform/${PAL_PLATFORM_NAME} +# Note: o3de_pal_dir will take care of the details for us, as this may be a restricted platform +# in which case it will see if that platform is present here or in the restricted folder. +# i.e. It could here : ${Name}/Code/Platform/ or +# //${Name}/Code +o3de_pal_dir(pal_dir ${CMAKE_CURRENT_SOURCE_DIR}/Platform/${PAL_PLATFORM_NAME} "${gem_restricted_path}" "${gem_path}" "${gem_parent_relative_path}") + +# Now that we have the platform abstraction layer (PAL) folder for this folder, thats where we will find the +# traits for this platform. Traits for a platform are defines for things like whether or not something in this project +# is supported by this platform. +include(${pal_dir}/PAL_${PAL_PLATFORM_NAME_LOWERCASE}.cmake) + +# Now that we have loaded our project traits for this platform, see if this project is even supported on this platform. +# If its not supported we just return after including the unsupported. +if(NOT PAL_TRAIT_${Name}_SUPPORTED) + return() +endif() + +# We are on a supported platform, so add the ${gem_name} target +# Note: We include the common files and the platform specific files which are set in ${Name}_files.cmake and +# in ${pal_dir}/${Name}_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake + +# The ${gem_name}.Private.Object target is an internal target +# It should not be used outside of this CMakeLists.txt +ly_add_target( + NAME ${gem_name}.Private.Object STATIC + NAMESPACE Gem + FILES_CMAKE + ${Name}_files.cmake + ${pal_dir}/${Name}_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake + INCLUDE_DIRECTORIES + PUBLIC + Include + BUILD_DEPENDENCIES + PRIVATE + AZ::AzGameFramework + Gem::Atom_AtomBridge.Static +) + +ly_add_target( + NAME ${gem_name} ${PAL_TRAIT_MONOLITHIC_DRIVEN_MODULE_TYPE} + NAMESPACE Gem + FILES_CMAKE + ${Name}_shared_files.cmake + ${pal_dir}/${Name}_shared_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake + INCLUDE_DIRECTORIES + PUBLIC + Include + BUILD_DEPENDENCIES + PRIVATE + Gem::${gem_name}.Private.Object + AZ::AzCore +) + +# if enabled, ${gem_name} is used by all kinds of applications +ly_create_alias(NAME ${gem_name}.Builders NAMESPACE Gem TARGETS Gem::${gem_name}) +ly_create_alias(NAME ${gem_name}.Tools NAMESPACE Gem TARGETS Gem::${gem_name}) +ly_create_alias(NAME ${gem_name}.Clients NAMESPACE Gem TARGETS Gem::${gem_name}) +ly_create_alias(NAME ${gem_name}.Servers NAMESPACE Gem TARGETS Gem::${gem_name}) +ly_create_alias(NAME ${gem_name}.Unified NAMESPACE Gem TARGETS Gem::${gem_name}) + +################################################################################ +# Gem dependencies +################################################################################ + +# Query the project name from the nearest project.json file in a directory at or above +# the current one. +# This gem is the project gem and therefore should be part of the project that is using it +o3de_find_ancestor_project_root(project_path project_name "${CMAKE_CURRENT_SOURCE_DIR}") + +# If the project name could not be queried from a project.json file, then fallback +# to using the name of the project provided when the project template was instantiated +if (NOT project_name) + set(project_name ${Name}) +endif() + +# Enable the specified list of gems from GEM_FILE or GEMS list for this specific project: +ly_enable_gems(PROJECT_NAME ${project_name} GEM_FILE enabled_gems.cmake) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Include/${Name}/${Name}Bus.h b/Templates/Ros2FleetRobotTemplate/Template/Gem/Include/${Name}/${Name}Bus.h new file mode 100644 index 000000000..b668a2c28 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Include/${Name}/${Name}Bus.h @@ -0,0 +1,40 @@ +// {BEGIN_LICENSE} +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +// {END_LICENSE} + +#pragma once + +#include +#include + +namespace ${Name} +{ + class ${Name}Requests + { + public: + AZ_RTTI(${Name}Requests, "{${Random_Uuid}}"); + virtual ~${Name}Requests() = default; + // Put your public methods here + }; + + class ${Name}BusTraits + : public AZ::EBusTraits + { + public: + ////////////////////////////////////////////////////////////////////////// + // EBusTraits overrides + static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Single; + static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::Single; + ////////////////////////////////////////////////////////////////////////// + }; + + using ${Name}RequestBus = AZ::EBus<${Name}Requests, ${Name}BusTraits>; + using ${Name}Interface = AZ::Interface<${Name}Requests>; + +} // namespace ${Name} diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Linux/${Name}_linux_files.cmake b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Linux/${Name}_linux_files.cmake new file mode 100644 index 000000000..4c615518a --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Linux/${Name}_linux_files.cmake @@ -0,0 +1,15 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +set(FILES + PAL_linux.cmake +) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Linux/${Name}_shared_linux_files.cmake b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Linux/${Name}_shared_linux_files.cmake new file mode 100644 index 000000000..34e98687d --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Linux/${Name}_shared_linux_files.cmake @@ -0,0 +1,14 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +set(FILES +) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Linux/PAL_linux.cmake b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Linux/PAL_linux.cmake new file mode 100644 index 000000000..02eacb340 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Linux/PAL_linux.cmake @@ -0,0 +1,13 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +set(PAL_TRAIT_${Name}_SUPPORTED TRUE) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Mac/${Name}_mac_files.cmake b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Mac/${Name}_mac_files.cmake new file mode 100644 index 000000000..a2287aa4a --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Mac/${Name}_mac_files.cmake @@ -0,0 +1,16 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +set(FILES + ../../../Resources/Platform/Mac/Info.plist + PAL_mac.cmake +) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Mac/${Name}_shared_mac_files.cmake b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Mac/${Name}_shared_mac_files.cmake new file mode 100644 index 000000000..fb167a9c3 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Mac/${Name}_shared_mac_files.cmake @@ -0,0 +1,15 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +set(FILES + ../../../Resources/Platform/Mac/Info.plist +) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Mac/PAL_mac.cmake b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Mac/PAL_mac.cmake new file mode 100644 index 000000000..02eacb340 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Mac/PAL_mac.cmake @@ -0,0 +1,13 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +set(PAL_TRAIT_${Name}_SUPPORTED TRUE) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Windows/${Name}_shared_windows_files.cmake b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Windows/${Name}_shared_windows_files.cmake new file mode 100644 index 000000000..34e98687d --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Windows/${Name}_shared_windows_files.cmake @@ -0,0 +1,14 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +set(FILES +) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Windows/${Name}_windows_files.cmake b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Windows/${Name}_windows_files.cmake new file mode 100644 index 000000000..00860430f --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Windows/${Name}_windows_files.cmake @@ -0,0 +1,15 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +set(FILES + PAL_windows.cmake +) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Windows/PAL_windows.cmake b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Windows/PAL_windows.cmake new file mode 100644 index 000000000..eeca61813 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Platform/Windows/PAL_windows.cmake @@ -0,0 +1,14 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + + +set(PAL_TRAIT_${Name}_SUPPORTED TRUE) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Registry/assetprocessor_settings.setreg b/Templates/Ros2FleetRobotTemplate/Template/Gem/Registry/assetprocessor_settings.setreg new file mode 100644 index 000000000..b4ff1c2d2 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Registry/assetprocessor_settings.setreg @@ -0,0 +1,18 @@ +{ + "Amazon": { + "AssetProcessor": { + "Settings": { + "ScanFolder ${Name}/Assets": { + "watch": "@GEMROOT:${Name}@/Assets", + "recursive": 1, + "order": 101 + }, + "ScanFolder ${Name}/Registry": { + "watch": "@GEMROOT:${Name}@/Registry", + "recursive": 1, + "order": 102 + } + } + } + } +} diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Source/${Name}Module.cpp b/Templates/Ros2FleetRobotTemplate/Template/Gem/Source/${Name}Module.cpp new file mode 100644 index 000000000..a2f6cdc25 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Source/${Name}Module.cpp @@ -0,0 +1,46 @@ +// {BEGIN_LICENSE} +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +// {END_LICENSE} + +#include +#include + +#include "${Name}SystemComponent.h" + +namespace ${Name} +{ + class ${Name}Module + : public AZ::Module + { + public: + AZ_RTTI(${Name}Module, "{${Random_Uuid}}", AZ::Module); + AZ_CLASS_ALLOCATOR(${Name}Module, AZ::SystemAllocator, 0); + + ${Name}Module() + : AZ::Module() + { + // Push results of [MyComponent]::CreateDescriptor() into m_descriptors here. + m_descriptors.insert(m_descriptors.end(), { + ${Name}SystemComponent::CreateDescriptor(), + }); + } + + /** + * Add required SystemComponents to the SystemEntity. + */ + AZ::ComponentTypeList GetRequiredSystemComponents() const override + { + return AZ::ComponentTypeList{ + azrtti_typeid<${Name}SystemComponent>(), + }; + } + }; +}// namespace ${Name} + +AZ_DECLARE_MODULE_CLASS(Gem_${Name}, ${Name}::${Name}Module) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Source/${Name}SystemComponent.cpp b/Templates/Ros2FleetRobotTemplate/Template/Gem/Source/${Name}SystemComponent.cpp new file mode 100644 index 000000000..a85ab5b07 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Source/${Name}SystemComponent.cpp @@ -0,0 +1,85 @@ +// {BEGIN_LICENSE} +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +// {END_LICENSE} + +#include +#include +#include + +#include "${Name}SystemComponent.h" + +namespace ${Name} +{ + void ${Name}SystemComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class<${Name}SystemComponent, AZ::Component>() + ->Version(0) + ; + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class<${Name}SystemComponent>("${Name}", "[Description of functionality provided by this System Component]") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC("System")) + ->Attribute(AZ::Edit::Attributes::AutoExpand, true) + ; + } + } + } + + void ${Name}SystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC("${Name}Service")); + } + + void ${Name}SystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + incompatible.push_back(AZ_CRC("${Name}Service")); + } + + void ${Name}SystemComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required) + { + } + + void ${Name}SystemComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent) + { + } + + ${Name}SystemComponent::${Name}SystemComponent() + { + if (${Name}Interface::Get() == nullptr) + { + ${Name}Interface::Register(this); + } + } + + ${Name}SystemComponent::~${Name}SystemComponent() + { + if (${Name}Interface::Get() == this) + { + ${Name}Interface::Unregister(this); + } + } + + void ${Name}SystemComponent::Init() + { + } + + void ${Name}SystemComponent::Activate() + { + ${Name}RequestBus::Handler::BusConnect(); + } + + void ${Name}SystemComponent::Deactivate() + { + ${Name}RequestBus::Handler::BusDisconnect(); + } +} diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/Source/${Name}SystemComponent.h b/Templates/Ros2FleetRobotTemplate/Template/Gem/Source/${Name}SystemComponent.h new file mode 100644 index 000000000..58d4c54cf --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/Source/${Name}SystemComponent.h @@ -0,0 +1,49 @@ +// {BEGIN_LICENSE} +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +// {END_LICENSE} + +#pragma once + +#include + +#include <${Name}/${Name}Bus.h> + +namespace ${Name} +{ + class ${Name}SystemComponent + : public AZ::Component + , protected ${Name}RequestBus::Handler + { + public: + AZ_COMPONENT(${Name}SystemComponent, "{B8794DFF-877B-4FE3-B268-2C6090259157}"); + + static void Reflect(AZ::ReflectContext* context); + + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent); + + ${Name}SystemComponent(); + ~${Name}SystemComponent(); + + protected: + //////////////////////////////////////////////////////////////////////// + // ${Name}RequestBus interface implementation + + //////////////////////////////////////////////////////////////////////// + + //////////////////////////////////////////////////////////////////////// + // AZ::Component interface implementation + void Init() override; + void Activate() override; + void Deactivate() override; + //////////////////////////////////////////////////////////////////////// + }; +} diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/enabled_gems.cmake b/Templates/Ros2FleetRobotTemplate/Template/Gem/enabled_gems.cmake new file mode 100644 index 000000000..581e2958d --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/enabled_gems.cmake @@ -0,0 +1,35 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +set(ENABLED_GEMS + ${Name} + Atom + CameraFramework + DebugDraw + EditorPythonBindings + EMotionFX + ImGui + LyShine + PhysX + PrimitiveAssets + PrefabBuilder + ScriptCanvasPhysics + ScriptEvents + StartingPointInput + TextureAtlas + WhiteBox + DiffuseProbeGrid + Compression + ProteusRobot + WarehouseAssets + ROS2 +) diff --git a/Templates/Ros2FleetRobotTemplate/Template/Gem/gem.json b/Templates/Ros2FleetRobotTemplate/Template/Gem/gem.json new file mode 100644 index 000000000..d55f5a462 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Gem/gem.json @@ -0,0 +1,29 @@ +{ + "gem_name": "${Name}", + "version": "1.0.0", + "display_name": "${Name}", + "license": "What license ${Name} uses goes here: i.e. Apache-2.0 or MIT", + "license_url": "Link to the license web site goes here: i.e. https://opensource.org/licenses/Apache-2.0 Or https://opensource.org/licenses/MIT", + "origin": "The name of the originator goes here. i.e. XYZ Inc.", + "origin_url": "The primary repo for ${Name} goes here: i.e. http://www.mydomain.com", + "type": "", + "summary": "A short description of ${Name}.", + "canonical_tags": [ + "Gem" + ], + "user_tags": [ + "${Name}" + ], + "platforms": [ + "${Platforms}" + ], + "icon_path": "preview.png", + "requirements": "", + "documentation_url": "", + "dependencies": [ + ], + "compatible_engines": [ + ], + "engine_api_dependencies":[ + ] +} diff --git a/Templates/Ros2FleetRobotTemplate/Template/LICENSE.txt b/Templates/Ros2FleetRobotTemplate/Template/LICENSE.txt new file mode 100644 index 000000000..38c3bc774 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/LICENSE.txt @@ -0,0 +1,201 @@ +Apache License +Version 2.0, January 2004 +http://www.apache.org/licenses/ + +TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + +1. 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a/Templates/Ros2FleetRobotTemplate/Template/Passes/PostProcessParent.pass b/Templates/Ros2FleetRobotTemplate/Template/Passes/PostProcessParent.pass new file mode 100644 index 000000000..a78349773 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Passes/PostProcessParent.pass @@ -0,0 +1,200 @@ +{ + "Type": "JsonSerialization", + "Version": 1, + "ClassName": "PassAsset", + "ClassData": { + "PassTemplate": { + "Name": "PostProcessParentTemplate", + "PassClass": "ParentPass", + "Slots": [ + // Inputs... + { + "Name": "LightingInput", + "SlotType": "Input" + }, + { + "Name": "Depth", + "SlotType": "Input" + }, + { + "Name": "MotionVectors", + "SlotType": "Input" + }, + // SwapChain here is only used to reference the frame height and format + { + "Name": "PipelineOutput", + "SlotType": "InputOutput" + }, + // Outputs... + { + "Name": "Output", + "SlotType": "Output" + }, + // Debug Outputs... + { + "Name": "RawLightingOutput", + "SlotType": "Output" + }, + { + "Name": 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"ScopeAttachmentUsage": "Shader", + "ImageViewDesc": { + "AspectFlags": [ + "Depth" + ] + } + }, + { + "Name": "MotionVectors", + "SlotType": "Input", + "ShaderInputName": "m_motionVectors", + "ScopeAttachmentUsage": "Shader" + }, + { + "Name": "LastFrameAccumulation", + "SlotType": "Input", + "ShaderInputName": "m_lastFrameAccumulation", + "ScopeAttachmentUsage": "Shader" + }, + { + "Name": "OutputColor", + "SlotType": "Output", + "ShaderInputName": "m_outputColor", + "ScopeAttachmentUsage": "Shader" + } + ], + "ImageAttachments": [ + { + "Name": "Accumulation1", + "Lifetime": "Imported", + "FormatSource": { + "Pass": "This", + "Attachment": "InputColor" + }, + "SizeSource": { + "Source": { + "Pass": "This", + "Attachment": "InputColor" + } + }, + "ImageDescriptor": { + "Format": "R16G16B16A16_FLOAT", + "BindFlags": "ShaderReadWrite", + "SharedQueueMask": "Graphics" + } + }, + { + "Name": "Accumulation2", + "Lifetime": "Imported", + "FormatSource": { + "Pass": "This", + "Attachment": "InputColor" + }, + "SizeSource": { + "Source": { + "Pass": "This", + "Attachment": "InputColor" + } + }, + "ImageDescriptor": { + "Format": "R16G16B16A16_FLOAT", + "BindFlags": "ShaderReadWrite", + "SharedQueueMask": "Graphics" + } + } + ], + "FallbackConnections": [ + { + "Input": "InputColor", + "Output": "OutputColor" + } + ], + "PassData": { + "$type": "TaaPassData", + "ShaderAsset": { + "FilePath": "Shaders/PostProcessing/Taa.shader" + }, + "Make Fullscreen Pass": true, + "ShaderDataMappings": { + "FloatMappings": [ + { + "Name": "m_currentFrameContribution", + "Value": 0.1 + }, + { + "Name": "m_clampGamma", + "Value": 1.0 + }, + { + "Name": "m_maxDeviationBeforeDampening", + "Value": 0.5 + } + ] + }, + "NumJitterPositions": 1 + } + } + } +} diff --git a/Templates/Ros2FleetRobotTemplate/Template/Platform/Android/android_project.cmake b/Templates/Ros2FleetRobotTemplate/Template/Platform/Android/android_project.cmake new file mode 100644 index 000000000..063b3be9a --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Platform/Android/android_project.cmake @@ -0,0 +1,8 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + diff --git a/Templates/Ros2FleetRobotTemplate/Template/Platform/Android/android_project.json b/Templates/Ros2FleetRobotTemplate/Template/Platform/Android/android_project.json new file mode 100644 index 000000000..b3ac7ef23 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Platform/Android/android_project.json @@ -0,0 +1,9 @@ +{ + "Tags": ["Android"], + "android_settings" : { + "package_name" : "org.o3de.${Name}", + "version_number" : 1, + "version_name" : "1.0.0.0", + "orientation" : "landscape" + } +} \ No newline at end of file diff --git a/Templates/Ros2FleetRobotTemplate/Template/Platform/Linux/linux_project.cmake b/Templates/Ros2FleetRobotTemplate/Template/Platform/Linux/linux_project.cmake new file mode 100644 index 000000000..063b3be9a --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Platform/Linux/linux_project.cmake @@ -0,0 +1,8 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + diff --git a/Templates/Ros2FleetRobotTemplate/Template/Platform/Linux/linux_project.json b/Templates/Ros2FleetRobotTemplate/Template/Platform/Linux/linux_project.json new file mode 100644 index 000000000..d08fbf53b --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Platform/Linux/linux_project.json @@ -0,0 +1,3 @@ +{ + "Tags": ["Linux"] +} \ No newline at end of file diff --git a/Templates/Ros2FleetRobotTemplate/Template/Platform/Mac/mac_project.cmake b/Templates/Ros2FleetRobotTemplate/Template/Platform/Mac/mac_project.cmake new file mode 100644 index 000000000..063b3be9a --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Platform/Mac/mac_project.cmake @@ -0,0 +1,8 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + diff --git a/Templates/Ros2FleetRobotTemplate/Template/Platform/Mac/mac_project.json b/Templates/Ros2FleetRobotTemplate/Template/Platform/Mac/mac_project.json new file mode 100644 index 000000000..d42b6f818 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Platform/Mac/mac_project.json @@ -0,0 +1,3 @@ +{ + "Tags": ["Mac"] +} \ No newline at end of file diff --git a/Templates/Ros2FleetRobotTemplate/Template/Platform/Windows/windows_project.cmake b/Templates/Ros2FleetRobotTemplate/Template/Platform/Windows/windows_project.cmake new file mode 100644 index 000000000..063b3be9a --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Platform/Windows/windows_project.cmake @@ -0,0 +1,8 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + diff --git a/Templates/Ros2FleetRobotTemplate/Template/Platform/Windows/windows_project.json b/Templates/Ros2FleetRobotTemplate/Template/Platform/Windows/windows_project.json new file mode 100644 index 000000000..a052f1e05 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Platform/Windows/windows_project.json @@ -0,0 +1,3 @@ +{ + "Tags": ["Windows"] +} \ No newline at end of file diff --git a/Templates/Ros2FleetRobotTemplate/Template/Platform/iOS/ios_project.cmake b/Templates/Ros2FleetRobotTemplate/Template/Platform/iOS/ios_project.cmake new file mode 100644 index 000000000..063b3be9a --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Platform/iOS/ios_project.cmake @@ -0,0 +1,8 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + diff --git a/Templates/Ros2FleetRobotTemplate/Template/Platform/iOS/ios_project.json b/Templates/Ros2FleetRobotTemplate/Template/Platform/iOS/ios_project.json new file mode 100644 index 000000000..b2dab56d0 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Platform/iOS/ios_project.json @@ -0,0 +1,3 @@ +{ + "Tags": ["iOS"] +} \ No newline at end of file diff --git a/Templates/Ros2FleetRobotTemplate/Template/Registry/assetprocessor_settings.setreg b/Templates/Ros2FleetRobotTemplate/Template/Registry/assetprocessor_settings.setreg new file mode 100644 index 000000000..b628e1198 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Registry/assetprocessor_settings.setreg @@ -0,0 +1,23 @@ +{ + "Amazon": { + "AssetProcessor": { + "Settings": { + "ScanFolder Project/ShaderLib": { + "watch": "@PROJECTROOT@/ShaderLib", + "recursive": 1, + "order": 1 + }, + "ScanFolder Project/Shaders": { + "watch": "@PROJECTROOT@/Shaders", + "recursive": 1, + "order": 2 + }, + "ScanFolder Project/Registry": { + "watch": "@PROJECTROOT@/Registry", + "recursive": 1, + "order": 3 + } + } + } + } +} diff --git a/Templates/Ros2FleetRobotTemplate/Template/Registry/awscoreconfiguration.setreg b/Templates/Ros2FleetRobotTemplate/Template/Registry/awscoreconfiguration.setreg new file mode 100644 index 000000000..71ff74edd --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Registry/awscoreconfiguration.setreg @@ -0,0 +1,10 @@ +{ + "Amazon": + { + "AWSCore": + { + "ProfileName": "default", + "ResourceMappingConfigFileName": "default_aws_resource_mappings.json" + } + } +} diff --git a/Templates/Ros2FleetRobotTemplate/Template/Registry/physxdebugconfiguration.setreg b/Templates/Ros2FleetRobotTemplate/Template/Registry/physxdebugconfiguration.setreg new file mode 100644 index 000000000..855d48798 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Registry/physxdebugconfiguration.setreg @@ -0,0 +1,11 @@ +{ + "Amazon": { + "Gems": { + "PhysX": { + "Debug": { + "PhysXDebugConfiguration": {} + } + } + } + } +} \ No newline at end of file diff --git a/Templates/Ros2FleetRobotTemplate/Template/Registry/physxdefaultsceneconfiguration.setreg b/Templates/Ros2FleetRobotTemplate/Template/Registry/physxdefaultsceneconfiguration.setreg new file mode 100644 index 000000000..41bfb9d49 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Registry/physxdefaultsceneconfiguration.setreg @@ -0,0 +1,9 @@ +{ + "Amazon": { + "Gems": { + "PhysX": { + "DefaultSceneConfiguration": {} + } + } + } +} \ No newline at end of file diff --git a/Templates/Ros2FleetRobotTemplate/Template/Registry/physxsystemconfiguration.setreg b/Templates/Ros2FleetRobotTemplate/Template/Registry/physxsystemconfiguration.setreg new file mode 100644 index 000000000..fa8b89a02 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Registry/physxsystemconfiguration.setreg @@ -0,0 +1,98 @@ +{ + "Amazon": { + "Gems": { + "PhysX": { + "PhysXSystemConfiguration": { + "CollisionConfig": { + "Layers": { + "LayerNames": [ + "Default", + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {}, + {} + ] + }, + "Groups": { + "GroupPresets": [ + { + "Name": "All", + "ReadOnly": true + }, + { + "Id": { + "GroupId": "{E68FAA37-AE19-4093-939A-A4B92759B4F6}" + }, + "Name": "None", + "Group": { + "Mask": 0 + }, + "ReadOnly": true + } + ] + } + } + } + } + } + } +} \ No newline at end of file diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/GameSDK.ico b/Templates/Ros2FleetRobotTemplate/Template/Resources/GameSDK.ico new file mode 100644 index 000000000..2b7ab7bdb --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/GameSDK.ico @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba0704efd586fee72b3d45b19163a1b67cd5594bcbf57cb28d796e2919502aba +size 148143 diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/LegacyLogoLauncher.bmp b/Templates/Ros2FleetRobotTemplate/Template/Resources/LegacyLogoLauncher.bmp new file mode 100644 index 000000000..6a262ffd1 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/LegacyLogoLauncher.bmp @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef3584c695998fd5f2d137148a11f68602523c817af5d18fdd6c56b0b5278a6c +size 462760 diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/Contents.json b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/Contents.json new file mode 100644 index 000000000..2b63c0ee1 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/Contents.json @@ -0,0 +1,68 @@ +{ + "images" : [ + { + "size" : "16x16", + "idiom" : "mac", + "filename" : "icon_16.png", + "scale" : "1x" + }, + { + "size" : "16x16", + "idiom" : "mac", + "filename" : "icon_16_2x.png", + "scale" : "2x" + }, + { + "size" : "32x32", + "idiom" : "mac", + "filename" : "icon_32.png", + "scale" : "1x" + }, + { + "size" : "32x32", + "idiom" : "mac", + "filename" : "icon_32_2x.png", + "scale" : "2x" + }, + { + "size" : "128x128", + "idiom" : "mac", + "filename" : "icon_128.png", + "scale" : "1x" + }, + { + "size" : "128x128", + "idiom" : "mac", + "filename" : "icon_128_2x.png", + "scale" : "2x" + }, + { + "size" : "256x256", + "idiom" : "mac", + "filename" : "icon_256.png", + "scale" : "1x" + }, + { + "size" : "256x256", + "idiom" : "mac", + "filename" : "icon_256_2x.png", + "scale" : "2x" + }, + { + "size" : "512x512", + "idiom" : "mac", + "filename" : "icon_512.png", + "scale" : "1x" + }, + { + "size" : "512x512", + "idiom" : "mac", + "filename" : "icon_512_2x.png", + "scale" : "2x" + } + ], + "info" : { + "version" : 1, + "author" : "xcode" + } +} \ No newline at end of file diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_128.png b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_128.png new file mode 100644 index 000000000..cf77f3e60 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_128.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a3c136f7b2a511eed671ebb00dd3cc60e4accd511caade4fc7813a1ea2ae6a8 +size 6731 diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_128_2x.png b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_128_2x.png new file mode 100644 index 000000000..e2978fbef --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_128_2x.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d841d75c32539c3364f37815bc69699ab27ca064ba1c70f4700aef369851f34 +size 6731 diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_16.png b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_16.png new file mode 100644 index 000000000..0864da5f9 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_16.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f42f51ad40e2fe400002473a5dc60d11fe003a9280a16c85b6f4611a90c3049 +size 1290 diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_16_2x.png b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_16_2x.png new file mode 100644 index 000000000..e6d370640 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_16_2x.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a15e80648085e63ca2504cd88b9dcc2ea9bd568a4fc094bf4b2b6332293665e4 +size 1290 diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_256.png b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_256.png new file mode 100644 index 000000000..fa13e0ea4 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_256.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d5a16c796e26a7de4bca532bf9547d0e20d643f7f3fabd6cc7fe55e0a8de674 +size 13328 diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_256_2x.png b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_256_2x.png new file mode 100644 index 000000000..d2f6a4286 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_256_2x.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:902c53d384ec0abbafdb9fc169c0c0e629b0011522fcc344178fc91e5507080b +size 13328 diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_32.png b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_32.png new file mode 100644 index 000000000..14628c9a2 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_32.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:116fb5ac7ccbe734e1a233b263651a62956176ba227e3227dde8b9e582f9df84 +size 2006 diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_32_2x.png b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_32_2x.png new file mode 100644 index 000000000..5904aa5f4 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_32_2x.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b0f2f08c999ae797ed013ed9656f2817caf18a6c109b09f917b2571ac0882cf +size 4032 diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_512.png b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_512.png new file mode 100644 index 000000000..5da718356 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_512.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5466a6281c4103c0efa30bb41e727d076280fbb2bff0f871598523fce53004c3 +size 27527 diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_512_2x.png b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_512_2x.png new file mode 100644 index 000000000..53034d4f8 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_512_2x.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9aaf5d13439a7c0466d99951a2db96882299af6beaabdffdc639bad22fc0e57 +size 27527 diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/Contents.json b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/Contents.json new file mode 100644 index 000000000..da4a164c9 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Images.xcassets/Contents.json @@ -0,0 +1,6 @@ +{ + "info" : { + "version" : 1, + "author" : "xcode" + } +} \ No newline at end of file diff --git a/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Info.plist b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Info.plist new file mode 100644 index 000000000..6d056ba79 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/Resources/Platform/Mac/Info.plist @@ -0,0 +1,24 @@ + + + + + CFBundleInfoDictionaryVersion + + CFBundleDisplayName + ${Name} + CFBundleExecutable + ${Name}.GameLauncher + CFBundleIdentifier + com.amazon.${Name} + CFBundlePackageType + APPL + CFBundleShortVersionString + 1.0.0 + CFBundleSignature + 03DE + CFBundleVersion + 1.0.0 + LSApplicationCategoryType + public.app-category.puzzle-games + + diff --git a/Templates/Ros2FleetRobotTemplate/Template/ShaderLib/README.md b/Templates/Ros2FleetRobotTemplate/Template/ShaderLib/README.md new file mode 100644 index 000000000..034550163 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/ShaderLib/README.md @@ -0,0 +1,5 @@ +# Customizing Shader Resource Groups + +Please read: +*\/Gems/Atom/Feature/Common/Assets/ShaderResourceGroups/README.md* +for details on how to customize scenesrg.srgi and viewsrg.srgi. diff --git a/Templates/Ros2FleetRobotTemplate/Template/ShaderLib/scenesrg.srgi b/Templates/Ros2FleetRobotTemplate/Template/ShaderLib/scenesrg.srgi new file mode 100644 index 000000000..c5024b86a --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/ShaderLib/scenesrg.srgi @@ -0,0 +1,26 @@ +// {BEGIN_LICENSE} +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +// {END_LICENSE} + +#pragma once + +// Please read README.md for an explanation on why scenesrg.srgi and viewsrg.srgi are +// located in this folder (And how you can optionally customize your own scenesrg.srgi +// and viewsrg.srgi in your game project). + +#include + +partial ShaderResourceGroup SceneSrg : SRG_PerScene +{ +/* Intentionally Empty. Helps define the SrgSemantic for SceneSrg once.*/ +}; + +#define AZ_COLLECTING_PARTIAL_SRGS +#include +#undef AZ_COLLECTING_PARTIAL_SRGS diff --git a/Templates/Ros2FleetRobotTemplate/Template/ShaderLib/viewsrg.srgi b/Templates/Ros2FleetRobotTemplate/Template/ShaderLib/viewsrg.srgi new file mode 100644 index 000000000..6cfa1ebc9 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/ShaderLib/viewsrg.srgi @@ -0,0 +1,26 @@ +// {BEGIN_LICENSE} +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +// {END_LICENSE} + +#pragma once + +// Please read README.md for an explanation on why scenesrg.srgi and viewsrg.srgi are +// located in this folder (And how you can optionally customize your own scenesrg.srgi +// and viewsrg.srgi in your game project). + +#include + +partial ShaderResourceGroup ViewSrg : SRG_PerView +{ +/* Intentionally Empty. Helps define the SrgSemantic for ViewSrg once.*/ +}; + +#define AZ_COLLECTING_PARTIAL_SRGS +#include +#undef AZ_COLLECTING_PARTIAL_SRGS diff --git a/Templates/Ros2FleetRobotTemplate/Template/autoexec.cfg b/Templates/Ros2FleetRobotTemplate/Template/autoexec.cfg new file mode 100644 index 000000000..6edce3873 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/autoexec.cfg @@ -0,0 +1 @@ +LoadLevel levels/warehouse/warehouse.spawnable diff --git a/Templates/Ros2FleetRobotTemplate/Template/cmake/EngineFinder.cmake b/Templates/Ros2FleetRobotTemplate/Template/cmake/EngineFinder.cmake new file mode 100644 index 000000000..29114cb42 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/cmake/EngineFinder.cmake @@ -0,0 +1,170 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# Edits to this file may be lost in upgrades. Instead of changing this file, use +# the 'engine_finder_cmake_path' key in your project.json or user/project.json to specify +# an alternate .cmake file to use instead of this one. + +include_guard() + +set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/project.json) + +# Option 1: Use engine manually set in CMAKE_MODULE_PATH +# CMAKE_MODULE_PATH must contain a path to an engine's cmake folder +if(CMAKE_MODULE_PATH) + foreach(module_path ${CMAKE_MODULE_PATH}) + cmake_path(SET module_engine_version_cmake_path "${module_path}/o3deConfigVersion.cmake") + if(EXISTS "${module_engine_version_cmake_path}") + include("${module_engine_version_cmake_path}") + if(PACKAGE_VERSION_COMPATIBLE) + message(STATUS "Selecting engine from CMAKE_MODULE_PATH '${module_path}'") + return() + else() + message(WARNING "Not using engine from CMAKE_MODULE_PATH '${module_path}' because it is not compatible with this project.") + endif() + endif() + endforeach() + message(VERBOSE "No compatible engine found from CMAKE_MODULE_PATH '${CMAKE_MODULE_PATH}'.") +endif() + +# Option 2: Use the engine from the 'engine_path' field in /user/project.json +cmake_path(SET O3DE_USER_PROJECT_JSON_PATH ${CMAKE_CURRENT_SOURCE_DIR}/user/project.json) +if(EXISTS "${O3DE_USER_PROJECT_JSON_PATH}") + file(READ "${O3DE_USER_PROJECT_JSON_PATH}" user_project_json) + if(user_project_json) + string(JSON user_project_engine_path ERROR_VARIABLE json_error GET ${user_project_json} engine_path) + if(user_project_engine_path AND NOT json_error) + cmake_path(SET user_engine_version_cmake_path "${user_project_engine_path}/cmake/o3deConfigVersion.cmake") + if(EXISTS "${user_engine_version_cmake_path}") + include("${user_engine_version_cmake_path}") + if(PACKAGE_VERSION_COMPATIBLE) + message(STATUS "Selecting engine '${user_project_engine_path}' from 'engine_path' in '/user/project.json'.") + list(APPEND CMAKE_MODULE_PATH "${user_project_engine_path}/cmake") + return() + else() + message(FATAL_ERROR "The engine at '${user_project_engine_path}' from 'engine_path' in '${O3DE_USER_PROJECT_JSON_PATH}' is not compatible with this project. Please register this project with a compatible engine, or remove the local override by running:\nscripts\\o3de edit-project-properties -pp ${CMAKE_CURRENT_SOURCE_DIR} --user --engine-path \"\"") + endif() + else() + message(FATAL_ERROR "This project cannot use the engine at '${user_project_engine_path}' because the version cmake file '${user_engine_version_cmake_path}' needed to check compatibility is missing. \nPlease register this project with a compatible engine, or remove the local override by running:\nscripts\\o3de edit-project-properties -pp ${CMAKE_CURRENT_SOURCE_DIR} --user --engine-path \"\"\nIf you want this project to use an older engine(not recommended), provide a custom EngineFinder.cmake using the o3de CLI's --engine-finder-cmake-path option. ") + endif() + elseif(json_error AND ${user_project_engine_path} STREQUAL "NOTFOUND") + # When the value is just NOTFOUND that means there is a JSON + # parsing error, and not simply a missing key + message(FATAL_ERROR "Unable to read 'engine_path' from '${user_project_engine_path}'\nError: ${json-error}") + endif() + endif() +endif() + + +# Option 3: Find a compatible engine registered in ~/.o3de/o3de_manifest.json +if(DEFINED ENV{USERPROFILE} AND EXISTS $ENV{USERPROFILE}) + set(manifest_path $ENV{USERPROFILE}/.o3de/o3de_manifest.json) # Windows +else() + set(manifest_path $ENV{HOME}/.o3de/o3de_manifest.json) # Unix +endif() + +set(registration_error [=[ +To enable more verbose logging, run the cmake command again with '--log-level VERBOSE' +Engine registration is required before configuring a project. +Run 'scripts/o3de register --this-engine' from the engine root. +]=]) + +# Create a list of all engines +if(EXISTS ${manifest_path}) + file(READ ${manifest_path} manifest_json) + set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${manifest_path}) + + string(JSON engines_count ERROR_VARIABLE json_error LENGTH ${manifest_json} engines) + if(json_error) + message(FATAL_ERROR "Unable to read key 'engines' from '${manifest_path}'\nError: ${json_error}\n${registration_error}") + endif() + + string(JSON engines_type ERROR_VARIABLE json_error TYPE ${manifest_json} engines) + if(json_error OR NOT ${engines_type} STREQUAL "ARRAY") + message(FATAL_ERROR "Type of 'engines' in '${manifest_path}' is not a JSON ARRAY\nError: ${json_error}\n${registration_error}") + endif() + + math(EXPR engines_count "${engines_count}-1") + foreach(array_index RANGE ${engines_count}) + string(JSON manifest_engine_path ERROR_VARIABLE json_error GET ${manifest_json} engines "${array_index}") + if(json_error) + message(FATAL_ERROR "Unable to read 'engines/${array_index}' from '${manifest_path}'\nError: ${json_error}\n${registration_error}") + endif() + list(APPEND O3DE_ENGINE_PATHS ${manifest_engine_path}) + endforeach() +elseif(NOT CMAKE_MODULE_PATH) + message(FATAL_ERROR "O3DE Manifest file not found at '${manifest_path}'.\n${registration_error}") +endif() + +# We cannot just run find_package() on the list of engine paths because +# CMAKE_FIND_PACKAGE_SORT_ORDER sorts based on file name and chooses +# the first package that returns PACKAGE_VERSION_COMPATIBLE +set(O3DE_MOST_COMPATIBLE_ENGINE_PATH "") +set(O3DE_MOST_COMPATIBLE_ENGINE_VERSION "") +foreach(manifest_engine_path IN LISTS O3DE_ENGINE_PATHS) + # Does this engine have a config version cmake file? + cmake_path(SET version_cmake_path "${manifest_engine_path}/cmake/o3deConfigVersion.cmake") + if(NOT EXISTS "${version_cmake_path}") + message(VERBOSE "Ignoring '${manifest_engine_path}' because no config version cmake file was found at '${version_cmake_path}'") + continue() + endif() + + unset(PACKAGE_VERSION) + unset(PACKAGE_VERSION_COMPATIBLE) + include("${version_cmake_path}") + + # Follow the version checking convention from find_package(CONFIG) + if(PACKAGE_VERSION_COMPATIBLE) + if(NOT O3DE_MOST_COMPATIBLE_ENGINE_PATH) + set(O3DE_MOST_COMPATIBLE_ENGINE_PATH "${manifest_engine_path}") + set(O3DE_MOST_COMPATIBLE_ENGINE_VERSION ${PACKAGE_VERSION}) + message(VERBOSE "Found compatible engine '${manifest_engine_path}' with version '${PACKAGE_VERSION}'") + elseif(${PACKAGE_VERSION} VERSION_GREATER ${O3DE_MOST_COMPATIBLE_ENGINE_VERSION}) + set(O3DE_MOST_COMPATIBLE_ENGINE_PATH "${manifest_engine_path}") + set(O3DE_MOST_COMPATIBLE_ENGINE_VERSION ${PACKAGE_VERSION}) + message(VERBOSE "Found more compatible engine '${manifest_engine_path}' with version '${PACKAGE_VERSION}' because it has a greater version number.") + else() + message(VERBOSE "Not using engine '${manifest_engine_path}' with version '${PACKAGE_VERSION}' because it doesn't have a greater version number or has a different engine name.") + endif() + else() + message(VERBOSE "Ignoring '${manifest_engine_path}' because it is not a compatible engine.") + endif() +endforeach() + +if(O3DE_MOST_COMPATIBLE_ENGINE_PATH) + message(STATUS "Selecting engine '${O3DE_MOST_COMPATIBLE_ENGINE_PATH}'") + list(APPEND CMAKE_MODULE_PATH "${O3DE_MOST_COMPATIBLE_ENGINE_PATH}/cmake") + return() +endif() + +# No compatible engine was found. +# Read the 'engine' field in project.json or user/project.json for more helpful messages +if(user_project_json) + string(JSON user_project_engine ERROR_VARIABLE json_error GET ${user_project_json} engine) +endif() + +if(NOT user_project_engine) + file(READ ${CMAKE_CURRENT_SOURCE_DIR}/project.json o3de_project_json) + string(JSON project_engine ERROR_VARIABLE json_error GET ${o3de_project_json} engine) + if(json_error AND ${project_engine} STREQUAL "NOTFOUND") + message(FATAL_ERROR "Unable to read key 'engine' from 'project.json'\nError: ${json_error}") + endif() +endif() + +if(user_project_engine) + message(FATAL_ERROR "The local '${O3DE_USER_PROJECT_JSON_PATH}' engine is '${user_project_engine}' but no compatible engine with that name and version was found. Please register the compatible engine, or remove the local engine override.\n${registration_error}") +elseif(project_engine) + message(FATAL_ERROR "The project.json engine is '${project_engine}' but no engine with that name and version was found.\n${registration_error}") +else() + set(project_registration_error [=[ + Project registration is required before configuring a project. + Run 'scripts/o3de register -pp PROJECT_PATH --engine-path ENGINE_PATH' from the engine root. + ]=]) + message(FATAL_ERROR "${project_registration_error}") +endif() diff --git a/Templates/Ros2FleetRobotTemplate/Template/game.cfg b/Templates/Ros2FleetRobotTemplate/Template/game.cfg new file mode 100644 index 000000000..1da374a93 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/game.cfg @@ -0,0 +1,3 @@ +-- Enable warnings when asset loads take longer than the given millisecond threshold +cl_assetLoadWarningEnable=true +cl_assetLoadWarningMsThreshold=100 diff --git a/Templates/Ros2FleetRobotTemplate/Template/preview.png b/Templates/Ros2FleetRobotTemplate/Template/preview.png new file mode 100644 index 000000000..099ccdf48 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5ab0ef9a5f10c57ff5582f7cad6799996071d37a037badc9c33014f81ee93e6 +size 238173 diff --git a/Templates/Ros2FleetRobotTemplate/Template/project.json b/Templates/Ros2FleetRobotTemplate/Template/project.json new file mode 100644 index 000000000..90af7ebee --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/Template/project.json @@ -0,0 +1,27 @@ +{ + "project_name": "${Name}", + "version": "1.0.0", + "project_id": "{C930C5B9-4B70-40B7-88F4-A7E927D6A677}", + "origin": "The primary repo for ${Name} goes here: i.e. http://www.mydomain.com", + "license": "What license ${Name} uses goes here: i.e. https://opensource.org/licenses/Apache-2.0 Or https://opensource.org/licenses/MIT etc.", + "display_name": "${Name}", + "summary": "A short description of ${Name}.", + "canonical_tags": [ + "Project" + ], + "user_tags": [ + "${Name}" + ], + "icon_path": "preview.png", + "engine": "o3de", + "external_subdirectories": [ + "Gem" + ], + "restricted": "${Name}", + "engine_version": "1.0.0", + "gem_names": [ + "ProteusRobot", + "WarehouseAssets", + "ROS2" + ] +} diff --git a/Templates/Ros2FleetRobotTemplate/preview.png b/Templates/Ros2FleetRobotTemplate/preview.png new file mode 100644 index 000000000..099ccdf48 --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5ab0ef9a5f10c57ff5582f7cad6799996071d37a037badc9c33014f81ee93e6 +size 238173 diff --git a/Templates/Ros2FleetRobotTemplate/template.json b/Templates/Ros2FleetRobotTemplate/template.json new file mode 100644 index 000000000..a1bb6837a --- /dev/null +++ b/Templates/Ros2FleetRobotTemplate/template.json @@ -0,0 +1,395 @@ +{ + "template_name": "Ros2FleetRobotTemplate", + "origin": "Open 3D Engine Extras", + "origin_url": "https://github.com/o3de/o3de-extras", + "license_url": "https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2FleetRobotTemplate/Template/LICENSE.txt", + "display_name": "Ros2FleetRobotTemplate", + "summary": "Template for ROS2 multi-robot project.", + "canonical_tags": [], + "user_tags": [ + "Ros2FleetRobotTemplate", "ROS2", "ROS" + ], + "icon_path": "preview.png", + "copyFiles": [ + { + "file": ".gitignore", + "isTemplated": false + }, + { + "file": "CMakeLists.txt", + "isTemplated": true + }, + { + "file": "Config/shader_global_build_options.json", + "isTemplated": false + }, + { + "file": "Gem/${Name}_files.cmake", + "isTemplated": true + }, + { + "file": "Gem/${Name}_shared_files.cmake", + "isTemplated": true + }, + { + "file": "Gem/CMakeLists.txt", + "isTemplated": true + }, + { + "file": "Gem/Include/${Name}/${Name}Bus.h", + "isTemplated": true + }, + { + "file": "Gem/Platform/Linux/${Name}_linux_files.cmake", + "isTemplated": true + }, + { + "file": "Gem/Platform/Linux/${Name}_shared_linux_files.cmake", + "isTemplated": true + }, + { + "file": "Gem/Platform/Linux/PAL_linux.cmake", + "isTemplated": true + }, + { + "file": "Gem/Platform/Mac/${Name}_mac_files.cmake", + "isTemplated": true + }, + { + "file": "Gem/Platform/Mac/${Name}_shared_mac_files.cmake", + "isTemplated": true + }, + { + "file": "Gem/Platform/Mac/PAL_mac.cmake", + "isTemplated": true + }, + { + "file": "Gem/Platform/Windows/${Name}_shared_windows_files.cmake", + "isTemplated": true + }, + { + "file": "Gem/Platform/Windows/${Name}_windows_files.cmake", + "isTemplated": true + }, + { + "file": "Gem/Platform/Windows/PAL_windows.cmake", + "isTemplated": true + }, + { + "file": "Gem/Registry/assetprocessor_settings.setreg", + "isTemplated": true + }, + { + "file": "Gem/Source/${Name}Module.cpp", + "isTemplated": true + }, + { + "file": "Gem/Source/${Name}SystemComponent.cpp", + "isTemplated": true + }, + { + "file": "Gem/Source/${Name}SystemComponent.h", + "isTemplated": true + }, + { + "file": "Gem/enabled_gems.cmake", + "isTemplated": true + }, + { + "file": "Gem/gem.json", + "isTemplated": true + }, + { + "file": "Levels/Warehouse/Warehouse.prefab", + "isTemplated": false + }, + { + "file": "Levels/playground/playground.prefab", + "isTemplated": false + }, + { + "file": "Platform/Linux/linux_project.cmake", + "isTemplated": true + }, + { + "file": "Platform/Linux/linux_project.json", + "isTemplated": false + }, + { + "file": "Platform/Mac/mac_project.cmake", + "isTemplated": true + }, + { + "file": "Platform/Mac/mac_project.json", + "isTemplated": false + }, + { + "file": "Platform/Windows/windows_project.cmake", + "isTemplated": true + }, + { + "file": "Platform/Windows/windows_project.json", + "isTemplated": false + }, + { + "file": "Registry/assetprocessor_settings.setreg", + "isTemplated": false + }, + { + "file": "Registry/awscoreconfiguration.setreg", + "isTemplated": false + }, + { + "file": "Registry/physxdebugconfiguration.setreg", + "isTemplated": false + }, + { + "file": "Registry/physxdefaultsceneconfiguration.setreg", + "isTemplated": false + }, + { + "file": "Registry/physxsystemconfiguration.setreg", + "isTemplated": false + }, + { + "file": "Resources/GameSDK.ico", + "isTemplated": false + }, + { + "file": "Resources/LegacyLogoLauncher.bmp", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/Contents.json", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_128.png", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_128_2x.png", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_16.png", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_16_2x.png", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_256.png", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_256_2x.png", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_32.png", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_32_2x.png", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_512.png", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset/icon_512_2x.png", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Images.xcassets/Contents.json", + "isTemplated": false + }, + { + "file": "Resources/Platform/Mac/Info.plist", + "isTemplated": true + }, + { + "file": "ShaderLib/README.md", + "isTemplated": false + }, + { + "file": "ShaderLib/scenesrg.srgi", + "isTemplated": true + }, + { + "file": "ShaderLib/viewsrg.srgi", + "isTemplated": true + }, + { + "file": "Passes/ContrastAdaptiveSharpening.pass", + "isTemplated": false + }, + { + "file": "Passes/MainRenderPipeline.azasset", + "isTemplated": false + }, + { + "file": "Passes/PostProcessParent.pass", + "isTemplated": false + }, + { + "file": "Passes/SMAAConfiguration.azasset", + "isTemplated": false + }, + { + "file": "Passes/Taa.pass", + "isTemplated": false + }, + { + "file": "autoexec.cfg", + "isTemplated": false + }, + { + "file": "cmake/EngineFinder.cmake", + "isTemplated": false + }, + { + "file": "game.cfg", + "isTemplated": false + }, + { + "file": "preview.png", + "isTemplated": false + }, + { + "file": "project.json", + "isTemplated": true + } + ], + "createDirectories": [ + { + "dir": "Assets" + }, + { + "dir": "Config" + }, + { + "dir": "Gem" + }, + { + "dir": "Gem/Include" + }, + { + "dir": "Gem/Include/${Name}" + }, + { + "dir": "Gem/Platform" + }, + { + "dir": "Gem/Platform/Linux" + }, + { + "dir": "Gem/Platform/Mac" + }, + { + "dir": "Gem/Platform/Windows" + }, + { + "dir": "Gem/Registry" + }, + { + "dir": "Gem/Source" + }, + { + "dir": "Levels" + }, + { + "dir": "Levels/Warehouse" + }, + { + "dir": "Levels/playground" + }, + { + "dir": "Levels/playground/_savebackup" + }, + { + "dir": "Levels/playground/_savebackup/2023-02-21 [13.25.33]" + }, + { + "dir": "Passes" + }, + { + "dir": "Platform" + }, + { + "dir": "Platform/Android" + }, + { + "dir": "Platform/Linux" + }, + { + "dir": "Platform/Mac" + }, + { + "dir": "Platform/Windows" + }, + { + "dir": "Registry" + }, + { + "dir": "Resources" + }, + { + "dir": "Resources/Platform" + }, + { + "dir": "Resources/Platform/Mac" + }, + { + "dir": "Resources/Platform/Mac/Images.xcassets" + }, + { + "dir": "Resources/Platform/Mac/Images.xcassets/AppIcon.appiconset" + }, + { + "dir": "ShaderLib" + }, + { + "dir": "Shaders" + }, + { + "dir": "Shaders/ShaderResourceGroups" + }, + { + "dir": "cmake" + }, + { + "dir": "proteus_nav" + }, + { + "dir": "proteus_nav/src" + }, + { + "dir": "proteus_nav/src/proteus_nav" + }, + { + "dir": "proteus_nav/src/proteus_nav/launch" + }, + { + "dir": "proteus_nav/src/proteus_nav/launch/__pycache__" + }, + { + "dir": "proteus_nav/src/proteus_nav/launch/config" + }, + { + "dir": "proteus_nav/src/proteus_nav/proteus_nav" + }, + { + "dir": "proteus_nav/src/proteus_nav/resource" + }, + { + "dir": "proteus_nav/src/proteus_nav/test" + }, + { + "dir": "proteus_nav/src/proteus_nav/test/__pycache__" + } + ] +} diff --git a/Templates/Ros2ProjectTemplate/README.md b/Templates/Ros2ProjectTemplate/README.md new file mode 100644 index 000000000..39ee52073 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/README.md @@ -0,0 +1,22 @@ +# Robotic Simulation Project Template for ROS 2 + +Welcome to Robotic Simulation template for ROS 2 projects! +This project is a template designed to help you quickly start simulating robots in Open 3D Engine (O3DE) with Robot Operating System (ROS) 2. + +An example ROS2 navigation stack launch file is bundled with the template. + +This template focuses on ease of use and versatility. +If you have a use-case more similar to fleets of robots in a fulfillment center, there is another template that might fit you better: +- [ROS 2 Fleet Template](https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2FleetRobotTemplate). + +![Template picture](Screenshots/template_in_use.png) + +## Set up a new project with the template + +Please follow the instructions in [ROS 2 Gem documentation](https://development--o3deorg.netlify.app/docs/user-guide/interactivity/robotics/project-configuration/) +to install all required dependencies and create your project with a template (make sure to use chose this template during the process). + +## ROS integration example + +You can try out an example of ROS integration with the navigation stack. +Follow the [instructions](https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/README.md) to navigate your robot with ROS 2! diff --git a/Templates/Ros2ProjectTemplate/Screenshots/template_in_use.png b/Templates/Ros2ProjectTemplate/Screenshots/template_in_use.png new file mode 100644 index 000000000..d15ece766 Binary files /dev/null and b/Templates/Ros2ProjectTemplate/Screenshots/template_in_use.png differ diff --git a/Templates/Ros2ProjectTemplate/Template/.gitattributes b/Templates/Ros2ProjectTemplate/Template/.gitattributes new file mode 100644 index 000000000..460f7887f --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/.gitattributes @@ -0,0 +1,9 @@ +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.psd filter=lfs diff=lfs merge=lfs -text +*.FBX filter=lfs diff=lfs merge=lfs -text +*.fbx filter=lfs diff=lfs merge=lfs -text +*.blend filter=lfs diff=lfs merge=lfs -text +*.obj filter=lfs diff=lfs merge=lfs -text diff --git a/Templates/Ros2ProjectTemplate/Template/.gitignore b/Templates/Ros2ProjectTemplate/Template/.gitignore new file mode 100644 index 000000000..6219eafaf --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/.gitignore @@ -0,0 +1,7 @@ +[Bb]uild/ +[Cc]ache/ +[Uu]ser/ +[Uu]ser_test*/ +_savebackup/ +**/__pycache__ +CMakeUserPresets.json diff --git a/Templates/Ros2ProjectTemplate/Template/CMakeLists.txt b/Templates/Ros2ProjectTemplate/Template/CMakeLists.txt new file mode 100644 index 000000000..a3d2670e3 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/CMakeLists.txt @@ -0,0 +1,20 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} + +if(NOT PROJECT_NAME) + cmake_minimum_required(VERSION 3.22) + include(cmake/EngineFinder.cmake OPTIONAL) + find_package(o3de REQUIRED) + project(${Name} + LANGUAGES C CXX + VERSION 1.0.0.0 + ) + o3de_initialize() +endif() diff --git a/Templates/Ros2ProjectTemplate/Template/CMakePresets.json b/Templates/Ros2ProjectTemplate/Template/CMakePresets.json new file mode 100644 index 000000000..31f74d2d1 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/CMakePresets.json @@ -0,0 +1,8 @@ +{ + "version": 4, + "cmakeMinimumRequired": { + "major": 3, + "minor": 23, + "patch": 0 + } +} diff --git a/Templates/Ros2ProjectTemplate/Template/Config/default_aws_resource_mappings.json b/Templates/Ros2ProjectTemplate/Template/Config/default_aws_resource_mappings.json new file mode 100644 index 000000000..79dca07d0 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Config/default_aws_resource_mappings.json @@ -0,0 +1,6 @@ +{ + "AWSResourceMappings": {}, + "AccountId": "EMPTY", + "Region": "us-east-1", + "Version": "1.0.0" +} diff --git a/Templates/Ros2ProjectTemplate/Template/Config/shader_global_build_options.json b/Templates/Ros2ProjectTemplate/Template/Config/shader_global_build_options.json new file mode 100644 index 000000000..4caee50ef --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Config/shader_global_build_options.json @@ -0,0 +1,11 @@ +{ + "Type": "JsonSerialization", + "Version": 1, + "ClassName": "GlobalBuildOptions", + "ClassData": { + "ShaderCompilerArguments" : { + "DefaultMatrixOrder" : "Row", + "AzslcAdditionalFreeArguments" : "--strip-unused-srgs" + } + } +} diff --git a/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/README.md b/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/README.md new file mode 100644 index 000000000..64966241c --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/README.md @@ -0,0 +1,38 @@ +# ROS 2 Project example + +With this example you will learn how to run ROS 2 navigation with a project created with this template. + +These instructions assume that you have created and built your project following the [Template README](https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2ProjectTemplate/README.md). + +[ROS 2 navigation stack](https://navigation.ros.org/) is a set of packages which can deliver robot navigation almost out of the box following configuration for your specific robot. +In other cases, it can serve as a great basis to build your custom robot navigation. + +## How to run the example + +### Install navigation packages + +To run the navigation example with your project, you need to install ROS 2 navigation stack packages. + +```shell +sudo apt install ros-${ROS_DISTRO}-slam-toolbox ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-nav2-bringup ros-${ROS_DISTRO}-pointcloud-to-laserscan +``` + +### Start the simulation + +1. Run your project in O3DE editor and open the only level. +1. Start the simulation by clicking the `Play Game` button or pressing `CTRL+G` + +### Launch the navigation stack + +Open a bash console terminal (always make sure your [ROS 2 is sourced](https://development--o3deorg.netlify.app/docs/user-guide/interactivity/robotics/project-configuration/#ros-2-ecosystem)!) and run: + +```shell +cd #{O3DE_EXTRAS_HOME}/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch +ros2 launch navigation.launch.py +``` +You should see RViz2, a ROS 2 visualisation tool. + +### Set the goal + +In RViz2, set robot target goal by using the `2D Goal Pose` tool (upper toolbar). +The robot in your simulation should be on its way to the goal! You will also notice it is building a map. diff --git a/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/config/config.rviz b/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/config/config.rviz new file mode 100644 index 000000000..fc9a4fea2 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/config/config.rviz @@ -0,0 +1,313 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 70 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /TF1/Tree1 + - /PointCloud21/Topic1 + - /LaserScan1/Topic1 + - /Map2 + - /Map3 + Splitter Ratio: 0.6176470518112183 + Tree Height: 371 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Class: rviz_default_plugins/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + base_link: + Value: true + lidar: + Value: false + map: + Value: false + odom: + Value: true + Marker Scale: 4 + Name: TF + Show Arrows: false + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_link: + lidar: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 4.898717403411865 + Min Value: -0.32881367206573486 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.014999999664723873 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /pc + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 239; 41; 41 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /plan + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/published_footprint + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 38.749271392822266 + Target Frame: base_link + Value: TopDownOrtho (rviz_default_plugins) + X: 1.3347817659378052 + Y: 1.5879907608032227 + Saved: ~ +Window Geometry: + Displays: + collapsed: true + Height: 762 + Hide Left Dock: true + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 949 + X: 2651 + Y: 27 diff --git a/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/config/navigation_params.yaml b/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/config/navigation_params.yaml new file mode 100644 index 000000000..84efa299c --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/config/navigation_params.yaml @@ -0,0 +1,273 @@ +bt_navigator: + ros__parameters: + use_sim_time: True + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + enable_groot_monitoring: True + groot_zmq_publisher_port: 1666 + groot_zmq_server_port: 1667 + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_back_up_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: True + +controller_server: + ros__parameters: + use_sim_time: True + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + #precise_goal_checker: + # plugin: "nav2_controller::SimpleGoalChecker" + # xy_goal_tolerance: 0.25 + # yaw_goal_tolerance: 0.25 + # stateful: True + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: True + min_vel_x: 0.0 + min_vel_y: 0.0 + max_vel_x: 0.26 + max_vel_y: 0.0 + max_vel_theta: 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.26 + min_speed_theta: 0.0 + # Add high threshold velocity for turtlebot 3 issue. + # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 5 + vtheta_samples: 20 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: True + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + use_sim_time: True + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.22 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.15 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: True + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: True + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: True + robot_radius: 0.22 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.35 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: True + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: True + +map_saver: + ros__parameters: + use_sim_time: True + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + use_sim_time: True + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_smac_planner/SmacPlanner2D" + tolerance: 0.5 + use_astar: true + allow_unknown: true + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: True + +recoveries_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + recovery_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_recoveries/Spin" + backup: + plugin: "nav2_recoveries/BackUp" + wait: + plugin: "nav2_recoveries/Wait" + global_frame: odom + robot_base_frame: base_link + transform_timeout: 0.1 + use_sim_time: true + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: True + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 diff --git a/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/config/slam_params.yaml b/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/config/slam_params.yaml new file mode 100644 index 000000000..afb5c21a1 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/config/slam_params.yaml @@ -0,0 +1,73 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true diff --git a/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/navigation.launch.py b/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/navigation.launch.py new file mode 100644 index 000000000..57b38d649 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/navigation.launch.py @@ -0,0 +1,44 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# +# 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. + +import pathlib + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node + +def generate_launch_description(): + return LaunchDescription([ + IncludeLaunchDescription( + PythonLaunchDescriptionSource([str(pathlib.Path(__file__).parent.absolute().joinpath('slam.launch.py'))]) + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource([str(pathlib.Path(get_package_share_directory("nav2_bringup")).joinpath('launch', 'navigation_launch.py'))]), + launch_arguments = { + 'params_file': str(pathlib.Path(__file__).parent.absolute().joinpath('config', 'navigation_params.yaml')) + }.items() + ), + Node( + package='rviz2', + executable='rviz2', + name='slam', + output='screen', + arguments=[ + '-d', str(pathlib.Path(__file__).parent.absolute().joinpath('config', 'config.rviz')) + ] + ), + ]) diff --git a/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/slam.launch.py b/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/slam.launch.py new file mode 100644 index 000000000..4cb060700 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/slam.launch.py @@ -0,0 +1,34 @@ +# Copyright (c) Contributors to the Open 3D Engine Project. +# +# 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. + + +import pathlib + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node + +def generate_launch_description(): + return LaunchDescription([ + IncludeLaunchDescription( + PythonLaunchDescriptionSource([str(pathlib.Path( + get_package_share_directory('slam_toolbox')).joinpath('launch', 'online_async_launch.py'))]), + launch_arguments = { + 'slam_params_file': str(pathlib.Path(__file__).parent.absolute().joinpath('config', 'slam_params.yaml')) + }.items() + ) + ]) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/${NameLower}_files.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/${NameLower}_files.cmake new file mode 100644 index 000000000..b3643d3d2 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/${NameLower}_files.cmake @@ -0,0 +1,14 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(FILES + Include/${Name}/${Name}Bus.h + Source/${Name}SystemComponent.cpp + Source/${Name}SystemComponent.h + enabled_gems.cmake +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/${NameLower}_shared_files.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/${NameLower}_shared_files.cmake new file mode 100644 index 000000000..b85916191 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/${NameLower}_shared_files.cmake @@ -0,0 +1,11 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(FILES + Source/${Name}Module.cpp +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/CMakeLists.txt b/Templates/Ros2ProjectTemplate/Template/Gem/CMakeLists.txt new file mode 100644 index 000000000..b8f7e9024 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/CMakeLists.txt @@ -0,0 +1,91 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +# Query the gem name from the gem.json file if possible +# otherwise fallback to using ${Name} +o3de_find_ancestor_gem_root(gempath gem_name "${CMAKE_CURRENT_SOURCE_DIR}") +if (NOT gem_name) + set(gem_name "${Name}") +endif() + +# Fallback to using the current source CMakeLists.txt directory as the gem root path +if (NOT gem_path) + set(gem_path ${CMAKE_CURRENT_SOURCE_DIR}) +endif() + +set(gem_json ${gem_path}/gem.json) + +o3de_restricted_path(${gem_json} gem_restricted_path gem_parent_relative_path) + +# Currently we are in the ${Name}/Code folder: ${CMAKE_CURRENT_LIST_DIR} +# Get the platform specific folder ${pal_dir} for the current folder: ${CMAKE_CURRENT_LIST_DIR}/Platform/${PAL_PLATFORM_NAME} +# Note: o3de_pal_dir will take care of the details for us, as this may be a restricted platform +# in which case it will see if that platform is present here or in the restricted folder. +# i.e. It could here : ${Name}/Code/Platform/ or +# //${Name}/Code +o3de_pal_dir(pal_dir ${CMAKE_CURRENT_SOURCE_DIR}/Platform/${PAL_PLATFORM_NAME} "${gem_restricted_path}" "${gem_path}" "${gem_parent_relative_path}") + +# Now that we have the platform abstraction layer (PAL) folder for this folder, thats where we will find the +# traits for this platform. Traits for a platform are defines for things like whether or not something in this project +# is supported by this platform. +include(${pal_dir}/PAL_${PAL_PLATFORM_NAME_LOWERCASE}.cmake) + +# Now that we have loaded our project traits for this platform, see if this project is even supported on this platform. +# If its not supported we just return after including the unsupported. +if(NOT PAL_TRAIT_${NameUpper}_SUPPORTED) + return() +endif() + +# We are on a supported platform, so add the ${gem_name} target +# Note: We include the common files and the platform specific files which are set in ${NameLower}_files.cmake and +# in ${pal_dir}/${NameLower}_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake + +# The ${gem_name}.Private.Object target is an internal target +# It should not be used outside of this CMakeLists.txt +ly_add_target( + NAME ${gem_name}.Private.Object STATIC + NAMESPACE Gem + FILES_CMAKE + ${NameLower}_files.cmake + ${pal_dir}/${NameLower}_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake + INCLUDE_DIRECTORIES + PUBLIC + Include + BUILD_DEPENDENCIES + PRIVATE + AZ::AzGameFramework + Gem::Atom_AtomBridge.Static +) + +ly_add_target( + NAME ${gem_name} ${PAL_TRAIT_MONOLITHIC_DRIVEN_MODULE_TYPE} + NAMESPACE Gem + FILES_CMAKE + ${NameLower}_shared_files.cmake + ${pal_dir}/${NameLower}_shared_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake + INCLUDE_DIRECTORIES + PUBLIC + Include + BUILD_DEPENDENCIES + PRIVATE + Gem::${gem_name}.Private.Object + AZ::AzCore +) + +# if enabled, ${gem_name} is used by all kinds of applications +ly_create_alias(NAME ${gem_name}.Builders NAMESPACE Gem TARGETS Gem::${gem_name}) +ly_create_alias(NAME ${gem_name}.Tools NAMESPACE Gem TARGETS Gem::${gem_name}) +ly_create_alias(NAME ${gem_name}.Clients NAMESPACE Gem TARGETS Gem::${gem_name}) +ly_create_alias(NAME ${gem_name}.Servers NAMESPACE Gem TARGETS Gem::${gem_name}) + +################################################################################ +# Gem dependencies +################################################################################ + +# Enable the specified list of gems from GEM_FILE or GEMS list for this specific project: +ly_enable_gems(PROJECT_NAME ${Name} GEM_FILE enabled_gems.cmake) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Include/${Name}/${Name}Bus.h b/Templates/Ros2ProjectTemplate/Template/Gem/Include/${Name}/${Name}Bus.h new file mode 100644 index 000000000..2a2f70fef --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Include/${Name}/${Name}Bus.h @@ -0,0 +1,38 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include +#include + +namespace ${SanitizedCppName} +{ + class ${SanitizedCppName}Requests + { + public: + AZ_RTTI(${SanitizedCppName}Requests, "{${Random_Uuid}}"); + virtual ~${SanitizedCppName}Requests() = default; + // Put your public methods here + }; + + class ${SanitizedCppName}BusTraits + : public AZ::EBusTraits + { + public: + ////////////////////////////////////////////////////////////////////////// + // EBusTraits overrides + static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Single; + static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::Single; + ////////////////////////////////////////////////////////////////////////// + }; + + using ${SanitizedCppName}RequestBus = AZ::EBus<${SanitizedCppName}Requests, ${SanitizedCppName}BusTraits>; + using ${SanitizedCppName}Interface = AZ::Interface<${SanitizedCppName}Requests>; + +} // namespace ${SanitizedCppName} diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Android/${NameLower}_android_files.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Android/${NameLower}_android_files.cmake new file mode 100644 index 000000000..3d668ce3a --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Android/${NameLower}_android_files.cmake @@ -0,0 +1,11 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(FILES + PAL_android.cmake +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Android/${NameLower}_shared_android_files.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Android/${NameLower}_shared_android_files.cmake new file mode 100644 index 000000000..04ddc8d57 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Android/${NameLower}_shared_android_files.cmake @@ -0,0 +1,10 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(FILES +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Android/PAL_android.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Android/PAL_android.cmake new file mode 100644 index 000000000..6313b5c96 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Android/PAL_android.cmake @@ -0,0 +1,9 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(PAL_TRAIT_${NameUpper}_SUPPORTED TRUE) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Linux/${NameLower}_linux_files.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Linux/${NameLower}_linux_files.cmake new file mode 100644 index 000000000..38f3deec5 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Linux/${NameLower}_linux_files.cmake @@ -0,0 +1,11 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(FILES + PAL_linux.cmake +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Linux/${NameLower}_shared_linux_files.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Linux/${NameLower}_shared_linux_files.cmake new file mode 100644 index 000000000..04ddc8d57 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Linux/${NameLower}_shared_linux_files.cmake @@ -0,0 +1,10 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(FILES +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Linux/PAL_linux.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Linux/PAL_linux.cmake new file mode 100644 index 000000000..6313b5c96 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Linux/PAL_linux.cmake @@ -0,0 +1,9 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(PAL_TRAIT_${NameUpper}_SUPPORTED TRUE) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Mac/${NameLower}_mac_files.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Mac/${NameLower}_mac_files.cmake new file mode 100644 index 000000000..af57c0833 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Mac/${NameLower}_mac_files.cmake @@ -0,0 +1,12 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(FILES + ../../../Resources/Platform/Mac/Info.plist + PAL_mac.cmake +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Mac/${NameLower}_shared_mac_files.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Mac/${NameLower}_shared_mac_files.cmake new file mode 100644 index 000000000..b25bca64a --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Mac/${NameLower}_shared_mac_files.cmake @@ -0,0 +1,11 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(FILES + ../../../Resources/Platform/Mac/Info.plist +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Mac/PAL_mac.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Mac/PAL_mac.cmake new file mode 100644 index 000000000..6313b5c96 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Mac/PAL_mac.cmake @@ -0,0 +1,9 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(PAL_TRAIT_${NameUpper}_SUPPORTED TRUE) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Windows/${NameLower}_shared_windows_files.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Windows/${NameLower}_shared_windows_files.cmake new file mode 100644 index 000000000..04ddc8d57 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Windows/${NameLower}_shared_windows_files.cmake @@ -0,0 +1,10 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(FILES +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Windows/${NameLower}_windows_files.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Windows/${NameLower}_windows_files.cmake new file mode 100644 index 000000000..1ce810f35 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Windows/${NameLower}_windows_files.cmake @@ -0,0 +1,11 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(FILES + PAL_windows.cmake +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Windows/PAL_windows.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Windows/PAL_windows.cmake new file mode 100644 index 000000000..6313b5c96 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/Windows/PAL_windows.cmake @@ -0,0 +1,9 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(PAL_TRAIT_${NameUpper}_SUPPORTED TRUE) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/iOS/${NameLower}_ios_files.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/iOS/${NameLower}_ios_files.cmake new file mode 100644 index 000000000..4d429cd76 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/iOS/${NameLower}_ios_files.cmake @@ -0,0 +1,12 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(FILES + ../../../Resources/Platform/iOS/Info.plist + PAL_ios.cmake +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/iOS/${NameLower}_shared_ios_files.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/iOS/${NameLower}_shared_ios_files.cmake new file mode 100644 index 000000000..04ddc8d57 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/iOS/${NameLower}_shared_ios_files.cmake @@ -0,0 +1,10 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(FILES +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Platform/iOS/PAL_ios.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/iOS/PAL_ios.cmake new file mode 100644 index 000000000..6313b5c96 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Platform/iOS/PAL_ios.cmake @@ -0,0 +1,9 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(PAL_TRAIT_${NameUpper}_SUPPORTED TRUE) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Registry/assetprocessor_settings.setreg b/Templates/Ros2ProjectTemplate/Template/Gem/Registry/assetprocessor_settings.setreg new file mode 100644 index 000000000..b4ff1c2d2 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Registry/assetprocessor_settings.setreg @@ -0,0 +1,18 @@ +{ + "Amazon": { + "AssetProcessor": { + "Settings": { + "ScanFolder ${Name}/Assets": { + "watch": "@GEMROOT:${Name}@/Assets", + "recursive": 1, + "order": 101 + }, + "ScanFolder ${Name}/Registry": { + "watch": "@GEMROOT:${Name}@/Registry", + "recursive": 1, + "order": 102 + } + } + } + } +} diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Source/${Name}Module.cpp b/Templates/Ros2ProjectTemplate/Template/Gem/Source/${Name}Module.cpp new file mode 100644 index 000000000..44d8b2041 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Source/${Name}Module.cpp @@ -0,0 +1,44 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include + +#include "${Name}SystemComponent.h" + +namespace ${SanitizedCppName} +{ + class ${SanitizedCppName}Module + : public AZ::Module + { + public: + AZ_RTTI(${SanitizedCppName}Module, "${ModuleClassId}", AZ::Module); + AZ_CLASS_ALLOCATOR(${SanitizedCppName}Module, AZ::SystemAllocator); + + ${SanitizedCppName}Module() + : AZ::Module() + { + // Push results of [MyComponent]::CreateDescriptor() into m_descriptors here. + m_descriptors.insert(m_descriptors.end(), { + ${SanitizedCppName}SystemComponent::CreateDescriptor(), + }); + } + + /** + * Add required SystemComponents to the SystemEntity. + */ + AZ::ComponentTypeList GetRequiredSystemComponents() const override + { + return AZ::ComponentTypeList{ + azrtti_typeid<${SanitizedCppName}SystemComponent>(), + }; + } + }; +}// namespace ${SanitizedCppName} + +AZ_DECLARE_MODULE_CLASS(Gem_${SanitizedCppName}, ${SanitizedCppName}::${SanitizedCppName}Module) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Source/${Name}SystemComponent.cpp b/Templates/Ros2ProjectTemplate/Template/Gem/Source/${Name}SystemComponent.cpp new file mode 100644 index 000000000..dffda5a92 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Source/${Name}SystemComponent.cpp @@ -0,0 +1,83 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#include +#include +#include + +#include "${Name}SystemComponent.h" + +namespace ${SanitizedCppName} +{ + void ${SanitizedCppName}SystemComponent::Reflect(AZ::ReflectContext* context) + { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) + { + serialize->Class<${SanitizedCppName}SystemComponent, AZ::Component>() + ->Version(0) + ; + + if (AZ::EditContext* ec = serialize->GetEditContext()) + { + ec->Class<${SanitizedCppName}SystemComponent>("${SanitizedCppName}", "[Description of functionality provided by this System Component]") + ->ClassElement(AZ::Edit::ClassElements::EditorData, "") + ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC("System")) + ->Attribute(AZ::Edit::Attributes::AutoExpand, true) + ; + } + } + } + + void ${SanitizedCppName}SystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + provided.push_back(AZ_CRC("${SanitizedCppName}Service")); + } + + void ${SanitizedCppName}SystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + incompatible.push_back(AZ_CRC("${SanitizedCppName}Service")); + } + + void ${SanitizedCppName}SystemComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required) + { + } + + void ${SanitizedCppName}SystemComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent) + { + } + + ${SanitizedCppName}SystemComponent::${SanitizedCppName}SystemComponent() + { + if (${SanitizedCppName}Interface::Get() == nullptr) + { + ${SanitizedCppName}Interface::Register(this); + } + } + + ${SanitizedCppName}SystemComponent::~${SanitizedCppName}SystemComponent() + { + if (${SanitizedCppName}Interface::Get() == this) + { + ${SanitizedCppName}Interface::Unregister(this); + } + } + + void ${SanitizedCppName}SystemComponent::Init() + { + } + + void ${SanitizedCppName}SystemComponent::Activate() + { + ${SanitizedCppName}RequestBus::Handler::BusConnect(); + } + + void ${SanitizedCppName}SystemComponent::Deactivate() + { + ${SanitizedCppName}RequestBus::Handler::BusDisconnect(); + } +} diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/Source/${Name}SystemComponent.h b/Templates/Ros2ProjectTemplate/Template/Gem/Source/${Name}SystemComponent.h new file mode 100644 index 000000000..10b47736b --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/Source/${Name}SystemComponent.h @@ -0,0 +1,47 @@ +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ + +#pragma once + +#include + +#include <${Name}/${Name}Bus.h> + +namespace ${SanitizedCppName} +{ + class ${SanitizedCppName}SystemComponent + : public AZ::Component + , protected ${SanitizedCppName}RequestBus::Handler + { + public: + AZ_COMPONENT(${SanitizedCppName}SystemComponent, "${SysCompClassId}"); + + static void Reflect(AZ::ReflectContext* context); + + static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided); + static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible); + static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required); + static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent); + + ${SanitizedCppName}SystemComponent(); + ~${SanitizedCppName}SystemComponent(); + + protected: + //////////////////////////////////////////////////////////////////////// + // ${SanitizedCppName}RequestBus interface implementation + + //////////////////////////////////////////////////////////////////////// + + //////////////////////////////////////////////////////////////////////// + // AZ::Component interface implementation + void Init() override; + void Activate() override; + void Deactivate() override; + //////////////////////////////////////////////////////////////////////// + }; +} diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/enabled_gems.cmake b/Templates/Ros2ProjectTemplate/Template/Gem/enabled_gems.cmake new file mode 100644 index 000000000..141712909 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/enabled_gems.cmake @@ -0,0 +1,36 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + +set(ENABLED_GEMS + ${Name} + Atom + AudioSystem + AWSCore + CameraFramework + DebugDraw + EditorPythonBindings + EMotionFX + GameState + ImGui + LandscapeCanvas + LyShine + PhysX + PrimitiveAssets + PrefabBuilder + SaveData + ScriptCanvasPhysics + ScriptEvents + StartingPointInput + TextureAtlas + WhiteBox + DiffuseProbeGrid + Compression + WarehouseSample + RosRobotSample + ROS2 +) diff --git a/Templates/Ros2ProjectTemplate/Template/Gem/gem.json b/Templates/Ros2ProjectTemplate/Template/Gem/gem.json new file mode 100644 index 000000000..16df14622 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Gem/gem.json @@ -0,0 +1,24 @@ +{ + "gem_name": "${Name}", + "display_name": "${Name}", + "license": "What license ${Name} uses goes here: i.e. Apache-2.0 or MIT", + "license_url": "Link to the license web site goes here: i.e. https://opensource.org/licenses/Apache-2.0 Or https://opensource.org/licenses/MIT", + "origin": "The name of the originator goes here. i.e. XYZ Inc.", + "origin_url": "The primary repo for ${Name} goes here: i.e. http://www.mydomain.com", + "type": "", + "summary": "A short description of ${Name}.", + "canonical_tags": [ + "Gem" + ], + "user_tags": [ + "${Name}" + ], + "platforms": [ + "${Platforms}" + ], + "icon_path": "preview.png", + "requirements": "", + "documentation_url": "", + "dependencies": [ + ] +} diff --git a/Templates/Ros2ProjectTemplate/Template/LICENSE.txt b/Templates/Ros2ProjectTemplate/Template/LICENSE.txt new file mode 100644 index 000000000..38c3bc774 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/LICENSE.txt @@ -0,0 +1,201 @@ +Apache License +Version 2.0, January 2004 +http://www.apache.org/licenses/ + +TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + +1. 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We also recommend that a +file or class name and description of purpose be included on the +same "printed page" as the copyright notice for easier +identification within third-party archives. + +Copyright (c) Contributors to the Open 3D Engine Project. + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + +http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. \ No newline at end of file diff --git a/Templates/Ros2ProjectTemplate/Template/Levels/DemoLevel/DemoLevel.prefab b/Templates/Ros2ProjectTemplate/Template/Levels/DemoLevel/DemoLevel.prefab new file mode 100644 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"android_settings" : { + "package_name" : "org.o3de.${Name}", + "version_number" : 1, + "version_name" : "1.0.0.0", + "orientation" : "landscape" + } +} diff --git a/Templates/Ros2ProjectTemplate/Template/Platform/Linux/linux_project.cmake b/Templates/Ros2ProjectTemplate/Template/Platform/Linux/linux_project.cmake new file mode 100644 index 000000000..063b3be9a --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Platform/Linux/linux_project.cmake @@ -0,0 +1,8 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + diff --git a/Templates/Ros2ProjectTemplate/Template/Platform/Linux/linux_project.json b/Templates/Ros2ProjectTemplate/Template/Platform/Linux/linux_project.json new file mode 100644 index 000000000..347085913 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Platform/Linux/linux_project.json @@ -0,0 +1,3 @@ +{ + "Tags": ["Linux"] +} diff --git a/Templates/Ros2ProjectTemplate/Template/Platform/Mac/mac_project.cmake b/Templates/Ros2ProjectTemplate/Template/Platform/Mac/mac_project.cmake new file mode 100644 index 000000000..063b3be9a --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Platform/Mac/mac_project.cmake @@ -0,0 +1,8 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + diff --git a/Templates/Ros2ProjectTemplate/Template/Platform/Mac/mac_project.json b/Templates/Ros2ProjectTemplate/Template/Platform/Mac/mac_project.json new file mode 100644 index 000000000..c1d1f55db --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Platform/Mac/mac_project.json @@ -0,0 +1,3 @@ +{ + "Tags": ["Mac"] +} diff --git a/Templates/Ros2ProjectTemplate/Template/Platform/Windows/windows_project.cmake b/Templates/Ros2ProjectTemplate/Template/Platform/Windows/windows_project.cmake new file mode 100644 index 000000000..063b3be9a --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Platform/Windows/windows_project.cmake @@ -0,0 +1,8 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + diff --git a/Templates/Ros2ProjectTemplate/Template/Platform/Windows/windows_project.json b/Templates/Ros2ProjectTemplate/Template/Platform/Windows/windows_project.json new file mode 100644 index 000000000..a2ba23f5d --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Platform/Windows/windows_project.json @@ -0,0 +1,3 @@ +{ + "Tags": ["Windows"] +} diff --git a/Templates/Ros2ProjectTemplate/Template/Platform/iOS/ios_project.cmake b/Templates/Ros2ProjectTemplate/Template/Platform/iOS/ios_project.cmake new file mode 100644 index 000000000..063b3be9a --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Platform/iOS/ios_project.cmake @@ -0,0 +1,8 @@ +# {BEGIN_LICENSE} +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# {END_LICENSE} + diff --git a/Templates/Ros2ProjectTemplate/Template/Platform/iOS/ios_project.json b/Templates/Ros2ProjectTemplate/Template/Platform/iOS/ios_project.json new file mode 100644 index 000000000..1cb49e475 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Platform/iOS/ios_project.json @@ -0,0 +1,3 @@ +{ + "Tags": ["iOS"] +} diff --git a/Templates/Ros2ProjectTemplate/Template/Registry/assetprocessor_settings.setreg b/Templates/Ros2ProjectTemplate/Template/Registry/assetprocessor_settings.setreg new file mode 100644 index 000000000..b628e1198 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Registry/assetprocessor_settings.setreg @@ -0,0 +1,23 @@ +{ + "Amazon": { + "AssetProcessor": { + "Settings": { + "ScanFolder Project/ShaderLib": { + "watch": "@PROJECTROOT@/ShaderLib", + "recursive": 1, + "order": 1 + }, + "ScanFolder Project/Shaders": { + "watch": "@PROJECTROOT@/Shaders", + "recursive": 1, + "order": 2 + }, + "ScanFolder Project/Registry": { + "watch": "@PROJECTROOT@/Registry", + "recursive": 1, + "order": 3 + } + } + } + } +} diff --git a/Templates/Ros2ProjectTemplate/Template/Registry/awscoreconfiguration.setreg b/Templates/Ros2ProjectTemplate/Template/Registry/awscoreconfiguration.setreg new file mode 100644 index 000000000..71ff74edd --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Registry/awscoreconfiguration.setreg @@ -0,0 +1,10 @@ +{ + "Amazon": + { + "AWSCore": + { + "ProfileName": "default", + "ResourceMappingConfigFileName": "default_aws_resource_mappings.json" + } + } +} diff --git a/Templates/Ros2ProjectTemplate/Template/Registry/editorpreferences.setreg b/Templates/Ros2ProjectTemplate/Template/Registry/editorpreferences.setreg new file mode 100755 index 000000000..99216f7b4 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Registry/editorpreferences.setreg @@ -0,0 +1,24 @@ +{ + "Amazon": { + "Preferences": { + "Editor": { + "IconsVisible": false, + "HelpersVisible": false, + "Camera": { + "DefaultStartingPosition": { + "x": 0.055202629417181015, + "y": -12.046481132507324, + "z": 1.7089390754699707 + }, + "DefaultOrbitDistance": 20.0, + "DefaultStartingPitch": -48.0, + "DefaultStartingYaw": -149.0, + "GoToPositionInstantly": false, + "GoToPositionDuration": 1.0, + "FovDegrees": 60.0, + "SpeedScale": 1.0 + }, + } + } + } +} diff --git a/Templates/Ros2ProjectTemplate/Template/Registry/physxsystemconfiguration.setreg 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"Mask": 0 + }, + "ReadOnly": true + } + ] + } + } + } + } + } + } +} \ No newline at end of file diff --git a/Templates/Ros2ProjectTemplate/Template/Registry/sceneassetimporter.setreg b/Templates/Ros2ProjectTemplate/Template/Registry/sceneassetimporter.setreg new file mode 100644 index 000000000..0a96205b3 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Registry/sceneassetimporter.setreg @@ -0,0 +1,19 @@ +{ + "O3DE": + { + "SceneAPI": + { + "AssetImporter": + { + "SupportedFileTypeExtensions": + [ + ".dae", + ".fbx", + ".stl", + ".gltf", + ".glb" + ] + }, + } + } +} diff --git a/Templates/Ros2ProjectTemplate/Template/Resources/GameSDK.ico b/Templates/Ros2ProjectTemplate/Template/Resources/GameSDK.ico new file mode 100644 index 000000000..2b7ab7bdb --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Resources/GameSDK.ico @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba0704efd586fee72b3d45b19163a1b67cd5594bcbf57cb28d796e2919502aba +size 148143 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"scale" : "2x" + }, + { + "orientation" : "portrait", + "idiom" : "iphone", + "extent" : "full-screen", + "scale" : "1x" + }, + { + "orientation" : "portrait", + "idiom" : "iphone", + "extent" : "full-screen", + "scale" : "2x" + }, + { + "orientation" : "portrait", + "idiom" : "iphone", + "extent" : "full-screen", + "subtype" : "retina4", + "scale" : "2x" + }, + { + "orientation" : "portrait", + "idiom" : "ipad", + "extent" : "to-status-bar", + "scale" : "1x" + }, + { + "orientation" : "portrait", + "idiom" : "ipad", + "extent" : "full-screen", + "scale" : "1x" + }, + { + "orientation" : "landscape", + "idiom" : "ipad", + "extent" : "to-status-bar", + "scale" : "1x" + }, + { + "orientation" : "landscape", + "idiom" : "ipad", + "extent" : "full-screen", + "scale" : "1x" + }, + { + "orientation" : "portrait", + "idiom" : "ipad", + "extent" : "to-status-bar", + "scale" : "2x" + }, + { + "orientation" : "portrait", + "idiom" : "ipad", + "extent" : "full-screen", + "scale" : "2x" + }, + { + "orientation" : "landscape", + "idiom" : "ipad", + "extent" : "to-status-bar", + "scale" : "2x" + }, + { + "orientation" : "landscape", + "idiom" : "ipad", + "extent" : "full-screen", + "scale" : "2x" + } + ], + "info" : { + "version" : 1, + "author" : "xcode" + } +} diff --git a/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage1024x768.png b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage1024x768.png new file mode 100644 index 000000000..7095890e8 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage1024x768.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38583298f4d1a5baa0b55633c8314bad93abe80794e57a7d6a64ff88964b9165 +size 21711 diff --git a/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage1536x2048.png b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage1536x2048.png new file mode 100644 index 000000000..77913fccd --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage1536x2048.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b75b156d6be43cdaa2bc3699b4a5b601a33df6061b12452922ec35e0f55179fa +size 52195 diff --git a/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage2048x1536.png b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage2048x1536.png new file mode 100644 index 000000000..0a07ed30b --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage2048x1536.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ba634166ac4960b554252e40141167ba2f9b3b673d058aa473be1c2fb9ba804 +size 54510 diff --git a/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage768x1024.png b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage768x1024.png new file mode 100644 index 000000000..8ef78d8d9 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPadLaunchImage768x1024.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:596171ca532b8ff564ab14e3d525f1d91995684b910d66fcdcd0b85c61a232dc +size 23354 diff --git a/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPhoneLaunchImage640x1136.png b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPhoneLaunchImage640x1136.png new file mode 100644 index 000000000..1db8800cb --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPhoneLaunchImage640x1136.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a989ae9fec0ab04159d5a5360306b4f174b1887b21f58e241fa26fd468a4c809 +size 20870 diff --git a/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPhoneLaunchImage640x960.png b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPhoneLaunchImage640x960.png new file mode 100644 index 000000000..fdf61c768 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Images.xcassets/LaunchImage.launchimage/iPhoneLaunchImage640x960.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:276a83ca591e3616e489970d95aa56c3456aada212578bf885bf42610dbaade9 +size 21139 diff --git a/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Info.plist b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Info.plist new file mode 100644 index 000000000..2233733ad --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/Resources/Platform/iOS/Info.plist @@ -0,0 +1,45 @@ + + + + + CFBundleDevelopmentRegion + en + CFBundleDisplayName + ${Name} + CFBundleExecutable + ${Name}.GameLauncher + CFBundleIdentifier + com.amazon.lumberyard.${Name} + CFBundleInfoDictionaryVersion + 6.0 + CFBundleName + ${Name} + CFBundlePackageType + APPL + CFBundleShortVersionString + 1.0 + CFBundleSignature + ???? + CFBundleVersion + 1.0 + UIRequiredDeviceCapabilities + + arm64 + metal + + UIRequiresFullScreen + + UIStatusBarHidden + + UISupportedInterfaceOrientations + + UIInterfaceOrientationLandscapeRight + UIInterfaceOrientationLandscapeLeft + + UISupportedInterfaceOrientations~ipad + + UIInterfaceOrientationLandscapeRight + UIInterfaceOrientationLandscapeLeft + + + diff --git a/Templates/Ros2ProjectTemplate/Template/ShaderLib/README.md b/Templates/Ros2ProjectTemplate/Template/ShaderLib/README.md new file mode 100644 index 000000000..034550163 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/ShaderLib/README.md @@ -0,0 +1,5 @@ +# Customizing Shader Resource Groups + +Please read: +*\/Gems/Atom/Feature/Common/Assets/ShaderResourceGroups/README.md* +for details on how to customize scenesrg.srgi and viewsrg.srgi. diff --git a/Templates/Ros2ProjectTemplate/Template/ShaderLib/scenesrg.srgi b/Templates/Ros2ProjectTemplate/Template/ShaderLib/scenesrg.srgi new file mode 100644 index 000000000..c5024b86a --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/ShaderLib/scenesrg.srgi @@ -0,0 +1,26 @@ +// {BEGIN_LICENSE} +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +// {END_LICENSE} + +#pragma once + +// Please read README.md for an explanation on why scenesrg.srgi and viewsrg.srgi are +// located in this folder (And how you can optionally customize your own scenesrg.srgi +// and viewsrg.srgi in your game project). + +#include + +partial ShaderResourceGroup SceneSrg : SRG_PerScene +{ +/* Intentionally Empty. Helps define the SrgSemantic for SceneSrg once.*/ +}; + +#define AZ_COLLECTING_PARTIAL_SRGS +#include +#undef AZ_COLLECTING_PARTIAL_SRGS diff --git a/Templates/Ros2ProjectTemplate/Template/ShaderLib/viewsrg.srgi b/Templates/Ros2ProjectTemplate/Template/ShaderLib/viewsrg.srgi new file mode 100644 index 000000000..6cfa1ebc9 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/ShaderLib/viewsrg.srgi @@ -0,0 +1,26 @@ +// {BEGIN_LICENSE} +/* + * Copyright (c) Contributors to the Open 3D Engine Project. + * For complete copyright and license terms please see the LICENSE at the root of this distribution. + * + * SPDX-License-Identifier: Apache-2.0 OR MIT + * + */ +// {END_LICENSE} + +#pragma once + +// Please read README.md for an explanation on why scenesrg.srgi and viewsrg.srgi are +// located in this folder (And how you can optionally customize your own scenesrg.srgi +// and viewsrg.srgi in your game project). + +#include + +partial ShaderResourceGroup ViewSrg : SRG_PerView +{ +/* Intentionally Empty. Helps define the SrgSemantic for ViewSrg once.*/ +}; + +#define AZ_COLLECTING_PARTIAL_SRGS +#include +#undef AZ_COLLECTING_PARTIAL_SRGS diff --git a/Templates/Ros2ProjectTemplate/Template/autoexec.cfg b/Templates/Ros2ProjectTemplate/Template/autoexec.cfg new file mode 100644 index 000000000..e730d9c94 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/autoexec.cfg @@ -0,0 +1 @@ +LoadLevel levels/demolevel/demolevel.spawnable diff --git a/Templates/Ros2ProjectTemplate/Template/cmake/EngineFinder.cmake b/Templates/Ros2ProjectTemplate/Template/cmake/EngineFinder.cmake new file mode 100644 index 000000000..15b96eb8a --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/cmake/EngineFinder.cmake @@ -0,0 +1,92 @@ +# {BEGIN_LICENSE} +# +# Copyright (c) Contributors to the Open 3D Engine Project. +# For complete copyright and license terms please see the LICENSE at the root of this distribution. +# +# SPDX-License-Identifier: Apache-2.0 OR MIT +# +# +# {END_LICENSE} +# This file is copied during engine registration. Edits to this file will be lost next +# time a registration happens. + +include_guard() + +# Read the engine name from the project_json file +file(READ ${CMAKE_CURRENT_SOURCE_DIR}/project.json project_json) +set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/project.json) + +string(JSON LY_ENGINE_NAME_TO_USE ERROR_VARIABLE json_error GET ${project_json} engine) +if(json_error) + message(FATAL_ERROR "Unable to read key 'engine' from 'project.json'\nError: ${json_error}") +endif() + +if(CMAKE_MODULE_PATH) + foreach(module_path ${CMAKE_MODULE_PATH}) + if(EXISTS ${module_path}/Findo3de.cmake) + file(READ ${module_path}/../engine.json engine_json) + string(JSON engine_name ERROR_VARIABLE json_error GET ${engine_json} engine_name) + if(json_error) + message(FATAL_ERROR "Unable to read key 'engine_name' from 'engine.json'\nError: ${json_error}") + endif() + if(LY_ENGINE_NAME_TO_USE STREQUAL engine_name) + return() # Engine being forced through CMAKE_MODULE_PATH + endif() + endif() + endforeach() +endif() + +if(DEFINED ENV{USERPROFILE} AND EXISTS $ENV{USERPROFILE}) + set(manifest_path $ENV{USERPROFILE}/.o3de/o3de_manifest.json) # Windows +else() + set(manifest_path $ENV{HOME}/.o3de/o3de_manifest.json) # Unix +endif() + +set(registration_error [=[ +Engine registration is required before configuring a project. +Run 'scripts/o3de register --this-engine' from the engine root. +]=]) + +# Read the ~/.o3de/o3de_manifest.json file and look through the 'engines_path' object. +# Find a key that matches LY_ENGINE_NAME_TO_USE and use that as the engine path. +if(EXISTS ${manifest_path}) + file(READ ${manifest_path} manifest_json) + set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${manifest_path}) + + string(JSON engines_path_count ERROR_VARIABLE json_error LENGTH ${manifest_json} engines_path) + if(json_error) + message(FATAL_ERROR "Unable to read key 'engines_path' from '${manifest_path}'\nError: ${json_error}\n${registration_error}") + endif() + + string(JSON engines_path_type ERROR_VARIABLE json_error TYPE ${manifest_json} engines_path) + if(json_error OR NOT ${engines_path_type} STREQUAL "OBJECT") + message(FATAL_ERROR "Type of 'engines_path' in '${manifest_path}' is not a JSON Object\nError: ${json_error}") + endif() + + math(EXPR engines_path_count "${engines_path_count}-1") + foreach(engine_path_index RANGE ${engines_path_count}) + string(JSON engine_name ERROR_VARIABLE json_error MEMBER ${manifest_json} engines_path ${engine_path_index}) + if(json_error) + message(FATAL_ERROR "Unable to read 'engines_path/${engine_path_index}' from '${manifest_path}'\nError: ${json_error}") + endif() + + if(LY_ENGINE_NAME_TO_USE STREQUAL engine_name) + string(JSON engine_path ERROR_VARIABLE json_error GET ${manifest_json} engines_path ${engine_name}) + if(json_error) + message(FATAL_ERROR "Unable to read value from 'engines_path/${engine_name}'\nError: ${json_error}") + endif() + + if(engine_path) + list(APPEND CMAKE_MODULE_PATH "${engine_path}/cmake") + return() + endif() + endif() + endforeach() + + message(FATAL_ERROR "The project.json uses engine name '${LY_ENGINE_NAME_TO_USE}' but no engine with that name has been registered.\n${registration_error}") +else() + # If the user is passing CMAKE_MODULE_PATH we assume thats where we will find the engine + if(NOT CMAKE_MODULE_PATH) + message(FATAL_ERROR "O3DE Manifest file not found.\n${registration_error}") + endif() +endif() diff --git a/Templates/Ros2ProjectTemplate/Template/game.cfg b/Templates/Ros2ProjectTemplate/Template/game.cfg new file mode 100644 index 000000000..1da374a93 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/game.cfg @@ -0,0 +1,3 @@ +-- Enable warnings when asset loads take longer than the given millisecond threshold +cl_assetLoadWarningEnable=true +cl_assetLoadWarningMsThreshold=100 diff --git a/Templates/Ros2ProjectTemplate/Template/preview.png b/Templates/Ros2ProjectTemplate/Template/preview.png new file mode 100644 index 000000000..3ddb70f98 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8948ae2bb976561a416a096ce93652029e65f803ffc2d0cb19ad1908fc42cb29 +size 120386 diff --git a/Templates/Ros2ProjectTemplate/Template/project.json b/Templates/Ros2ProjectTemplate/Template/project.json new file mode 100644 index 000000000..89b46bcdc --- /dev/null +++ b/Templates/Ros2ProjectTemplate/Template/project.json @@ -0,0 +1,25 @@ +{ + "project_name": "${Name}", + "project_id": "${ProjectId}", + "origin": "Open 3D Engine Extras: ${Name}", + "license": "https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2ProjectTemplate/Template/LICENSE.txt", + "display_name": "${Name}", + "summary": "Template for ROS2 projects.", + "canonical_tags": [ + "Project" + ], + "user_tags": [ + "${Name}", "ROS2", "ROS" + ], + "icon_path": "preview.png", + "engine": "o3de", + "external_subdirectories": [ + "Gem" + ], + "restricted": "${Name}", + "gem_names": [ + "ROS2", + "WarehouseSample", + "RosRobotSample" + ] +} diff --git a/Templates/Ros2ProjectTemplate/preview.png b/Templates/Ros2ProjectTemplate/preview.png new file mode 100644 index 000000000..3ddb70f98 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8948ae2bb976561a416a096ce93652029e65f803ffc2d0cb19ad1908fc42cb29 +size 120386 diff --git a/Templates/Ros2ProjectTemplate/template.json b/Templates/Ros2ProjectTemplate/template.json new file mode 100644 index 000000000..7e468a5f8 --- /dev/null +++ b/Templates/Ros2ProjectTemplate/template.json @@ -0,0 +1,523 @@ +{ + "template_name": "Ros2ProjectTemplate", + "origin": "Open 3D Engine Extras", + "origin_url": "https://github.com/o3de/o3de-extras", + "license": "https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2ProjectTemplate/Template/LICENSE.txt", + "origin_uri": "https://github.com/o3de/o3de-extras/releases/download/1.0/Ros2ProjectTemplate-1.0.zip", + "sha256": "b627fd0af300de1eb78d8f6bccb465eac8d331eb9e6cb94a7c8e231379839c3e", + "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development", + "display_name": "Ros2ProjectTemplate", + "summary": "Template for ROS2 projects.", + "canonical_tags": [], + "user_tags": [ + "Ros2ProjectTemplate", "ROS2", "ROS" + ], + "icon_path": "preview.png", + "copyFiles": [ + { + "file": ".gitattributes", + "isTemplated": false + }, + { + "file": ".gitignore", + "isTemplated": false + }, + { + "file": "CMakeLists.txt", + "isTemplated": true + }, + { + "file": "cmake/EngineFinder.cmake", + "isTemplated": true + }, + { + "file": "Config/default_aws_resource_mappings.json", + "isTemplated": false + }, + { + "file": "Config/shader_global_build_options.json", + "isTemplated": false + }, + { + "file": "Gem/${NameLower}_files.cmake", + "isTemplated": true + }, + { + "file": "Gem/${NameLower}_shared_files.cmake", + "isTemplated": true + }, + { + "file": "Gem/CMakeLists.txt", + "isTemplated": true + }, + { + "file": "Gem/Include/${Name}/${Name}Bus.h", + "isTemplated": true + }, + { + "file": "Gem/Platform/Android/${NameLower}_android_files.cmake", + "isTemplated": false + }, + { + "file": "Gem/Platform/Android/${NameLower}_shared_android_files.cmake", + "isTemplated": false + }, + { + "file": "Gem/Platform/Android/PAL_android.cmake", + "isTemplated": true + }, + { + "file": "Gem/Platform/Linux/${NameLower}_linux_files.cmake", + "isTemplated": false + }, + { + "file": "Gem/Platform/Linux/${NameLower}_shared_linux_files.cmake", + "isTemplated": false + }, + { + "file": "Gem/Platform/Linux/PAL_linux.cmake", + "isTemplated": true + }, + { + "file": "Gem/Platform/Mac/${NameLower}_mac_files.cmake", + "isTemplated": false + }, + { + "file": "Gem/Platform/Mac/${NameLower}_shared_mac_files.cmake", + "isTemplated": false + }, + { + "file": "Gem/Platform/Mac/PAL_mac.cmake", + "isTemplated": true + }, + { + "file": "Gem/Platform/Windows/${NameLower}_shared_windows_files.cmake", + "isTemplated": false + }, + { + "file": "Gem/Platform/Windows/${NameLower}_windows_files.cmake", + "isTemplated": false + }, + { + "file": "Gem/Platform/Windows/PAL_windows.cmake", + "isTemplated": true + }, + { + "file": "Gem/Platform/iOS/${NameLower}_ios_files.cmake", + "isTemplated": false + }, + { + "file": "Gem/Platform/iOS/${NameLower}_shared_ios_files.cmake", + "isTemplated": false + }, + { + "file": "Gem/Platform/iOS/PAL_ios.cmake", + "isTemplated": true + }, + { + "file": "Gem/Registry/assetprocessor_settings.setreg", + "isTemplated": true + }, + { + "file": "Gem/Source/${Name}Module.cpp", + "isTemplated": true + }, + { + "file": "Gem/Source/${Name}SystemComponent.cpp", + "isTemplated": true + }, + { + "file": "Gem/Source/${Name}SystemComponent.h", + "isTemplated": true + }, + { + "file": "Gem/enabled_gems.cmake", + "isTemplated": true + }, + { + "file": "Gem/gem.json", + "isTemplated": true + }, + { + "file": "Levels/DemoLevel/DemoLevel.prefab", + "isTemplated": false + }, + { + "file": "Platform/Android/android_project.cmake", + "isTemplated": false + }, + { + "file": "Platform/Android/android_project.json", + "isTemplated": true + }, + { + "file": "Platform/Linux/linux_project.cmake", + "isTemplated": false + }, + { + "file": "Platform/Linux/linux_project.json", + "isTemplated": false + }, + { + "file": "Platform/Mac/mac_project.cmake", + "isTemplated": false + }, + { + "file": "Platform/Mac/mac_project.json", + "isTemplated": false + }, + { + "file": "Platform/Windows/windows_project.cmake", + "isTemplated": false + }, + { + "file": "Platform/Windows/windows_project.json", + "isTemplated": false + }, + { + "file": "Platform/iOS/ios_project.cmake", + "isTemplated": false + }, + { + 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