From adfc65da61d364e2d29e83508bb12b5a4f67964b Mon Sep 17 00:00:00 2001
From: Rick van Essen <rick.vanessen@wur.nl>
Date: Tue, 30 Jan 2024 17:55:59 +0100
Subject: [PATCH] Add gui plugins

---
 .../world_generator/field.world.template      | 76 ++++++++++++++++++-
 1 file changed, 75 insertions(+), 1 deletion(-)

diff --git a/virtual_maize_field/world_generator/field.world.template b/virtual_maize_field/world_generator/field.world.template
index 1d8005e..e71bdf6 100644
--- a/virtual_maize_field/world_generator/field.world.template
+++ b/virtual_maize_field/world_generator/field.world.template
@@ -13,15 +13,89 @@
       filename="libignition-gazebo-physics-system.so"
       name="ignition::gazebo::systems::Physics">
     </plugin>
+    <plugin
+      filename="libignition-gazebo-user-commands-system.so"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
     <plugin
       filename="libignition-gazebo-scene-broadcaster-system.so"
       name="ignition::gazebo::systems::SceneBroadcaster">
     </plugin>
 
+    <gui fullscreen="0">
+        <!-- 3D scene -->
+      <plugin filename="GzScene3D" name="3D View">
+      <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+      </ignition-gui>
+
+    <engine>ogre2</engine>
+      <scene>scene</scene>
+      <ambient_light>1.0 1.0 1.0</ambient_light>
+      <background_color>0.8 0.8 0.8</background_color>
+      <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+    </plugin>
+
+    <!-- World control -->
+    <plugin filename="WorldControl" name="World control">
+      <ignition-gui>
+        <title>World control</title>
+        <property type="bool" key="showTitleBar">false</property>
+        <property type="bool" key="resizable">false</property>
+        <property type="double" key="height">72</property>
+        <property type="double" key="width">121</property>
+        <property type="double" key="z">1</property>
+
+        <property type="string" key="state">floating</property>
+        <anchors target="3D View">
+          <line own="left" target="left"/>
+          <line own="bottom" target="bottom"/>
+        </anchors>
+      </ignition-gui>
+
+      <play_pause>true</play_pause>
+      <step>true</step>
+      <service>/world/virtual_maize_field/control</service>
+      <stats_topic>/world/virtual_maize_field/stats</stats_topic>
+
+    </plugin>
+
+    <!-- World statistics -->
+    <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+            <title>World stats</title>
+            <property type="bool" key="showTitleBar">false</property>
+            <property type="bool" key="resizable">false</property>
+            <property type="double" key="height">110</property>
+            <property type="double" key="width">290</property>
+            <property type="double" key="z">1</property>
+
+            <property type="string" key="state">floating</property>
+            <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+            </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/virtual_maize_field/stats</topic>
+
+    </plugin>
+
+    <!-- Entity tree -->
+    <plugin filename="EntityTree" name="Entity tree">
+    </plugin>
+  </gui>
+
     <light type="directional" name="sun">
       <!-- Disable shadows to avoid flickering on non-gpu pc, see: 
            https://github.com/gazebosim/gz-sim/issues/2267 -->
-      <cast_shadows>false</cast_shadows>
+      <cast_shadows>true</cast_shadows>
       <pose>0 0 10 0 0 0</pose>
       <diffuse>0.8 0.8 0.8 1</diffuse>
       <specular>0.2 0.2 0.2 1</specular>