Force offset and vector magnitude support in ApplyForceTorque

[Henrique-BO]

🎉 New feature

Requires #2051
Requires #2026

Summary

Adds support for specifying the offset of the force application point through the GUI in the ApplyForceTorque plugin. This offset is also reflected in the visualization of the force vector.

Also adds fields for the magnitude of the force and torque vectors on the interface. Changing the components of a vector automatically updates the value of its magnitude, while changing the vector's magnitude automatically scales its components, maintaining its direction.

Test it

Open any test world.

Load the Apply Force Torque plugin from the plugin dropdown.

Select a model or link and specify a force and torque.

Change the values of the offset and magnitudes and observe the effects.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[ahcorde]

nit: include what you need and not all

[Henrique-BO]

Since I'm using some declarations from those headers shouldn't I need to include them?

[ahcorde]

Suggested change

	#include <gz/math/Vector3.hh>
	#include <gz/math/Vector2.hh>
	#include <gz/math/Vector3.hh>

[ahcorde]

Suggested change

	#include <mutex>
	#include <memory>
	#include <mutex>

[ahcorde]

Suggested change

	#include <gz/math/Vector3.hh>
	#include <gz/math/Quaternion.hh>
	#include <gz/math/Vector3.hh>

[ahcorde]

Suggested change

	#include <memory>

[ahcorde]

Suggested change

	#include <gz/rendering/ArrowVisual.hh>
	#include <gz/rendering/ArrowVisual.hh>
	#include <gz/rendering/Material.hh>

[Henrique-BO]

Done in c4819ef

[azeey]

Works pretty well! Just have couple minor comments.

[iche033]

Is there a way to remove the semi-transparent apply force / torque visuals once I'm done using the plugin? Closing the gui plugin does not seem to remove/hide the visuals?

[Henrique-BO]

Is there a way to remove the semi-transparent apply force / torque visuals once I'm done using the plugin? Closing the gui plugin does not seem to remove/hide the visuals?

Setting the magnitude (or each component) to zero removes the visual. Do you think that's enough?

Closing the plugin should remove the visuals though, I'll fix that.

[iche033]

Closing the plugin should remove the visuals though, I'll fix that.

This should be good enough, thanks!

[Henrique-BO]

Fixed in 2c83ce2

However, I noticed that this bug also happens in the Transform Control and Tape Measure plugins.

[iche033]

ah yes this works but prefer to use Scene::DestroyNode as it ensures the the visuals are also removed from the scene's internal list of nodes:

Suggested change

	this->dataPtr->forceVisual->SetVisible(false);
	this->dataPtr->forceVisual->Destroy();
	this->dataPtr->torqueVisual->SetVisible(false);
	this->dataPtr->torqueVisual->Destroy();
	this->dataPtr->gizmoVisual->SetVisible(false);
	this->dataPtr->gizmoVisual->Destroy();
	this->dataPtr->scene->DestroyNode(this->dataPtr->forceVisual, true);
	this->dataPtr->scene->DestroyNode(this->dataPtr->torqueVisual, true);
	this->dataPtr->scene->DestroyNode(this->dataPtr->gizmoVisual, true);

[Henrique-BO]

Alright, changed it in db942e4