Add Render Engine Cmd Line

include/ignition/gazebo/ServerConfig.hh

@@ -329,6 +329,23 @@ namespace ignition
       /// \param[in] _physicsEngine File containing physics engine library.
       public: void SetPhysicsEngine(const std::string &_physicsEngine);
 
+      /// \brief Render engine plugin library to load.
+      /// \return File containing render engine library.
+      public: const std::string &RenderEngineServer() const;
+
+      /// \brief Render engine plugin library to load.
+      /// \return File containing render engine library.
+      public: const std::string &RenderEngineGui() const;
+
+      /// \brief Set the render engine server plugin library.
+      /// \param[in] _renderEngine File containing render engine library.
+      public: void SetRenderEngineServer(
+                  const std::string &_renderEngineServer);
+
+      /// \brief Set the render engine gui plugin library.
+      /// \param[in] _renderEngine File containing render engine library.
+      public: void SetRenderEngineGui(const std::string &_renderEngineGui);
+
       /// \brief Instruct simulation to attach a plugin to a specific
       /// entity when simulation starts.
       /// \param[in] _info Information about the plugin to load.

include/ignition/gazebo/components/RenderEngineGuiPlugin.hh

@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef IGNITION_GAZEBO_COMPONENTS_RENDERENGINEGUIPLUGIN_HH_
+#define IGNITION_GAZEBO_COMPONENTS_RENDERENGINEGUIPLUGIN_HH_
+
+#include <string>
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief Holds the render engine gui shared library.
+  using RenderEngineGuiPlugin = Component<std::string,
+      class RenderEngineGuiPluginTag, serializers::StringSerializer>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.RenderEngineGuiPlugin",
+      RenderEngineGuiPlugin)
+}
+}
+}
+}
+
+#endif

include/ignition/gazebo/components/RenderEngineServerPlugin.hh

@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef IGNITION_GAZEBO_COMPONENTS_RENDERENGINESERVERPLUGIN_HH_
+#define IGNITION_GAZEBO_COMPONENTS_RENDERENGINESERVERPLUGIN_HH_
+
+#include <string>
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief Holds the render engine server shared library.
+  using RenderEngineServerPlugin = Component<std::string,
+      class RenderEngineServerPluginTag, serializers::StringSerializer>;
+  IGN_GAZEBO_REGISTER_COMPONENT(
+      "ign_gazebo_components.RenderEngineServerPlugin",
+      RenderEngineServerPlugin)
+}
+}
+}
+}
+
+#endif

src/LevelManager.cc

@@ -44,6 +44,8 @@
 #include "ignition/gazebo/components/PerformerLevels.hh"
 #include "ignition/gazebo/components/PhysicsEnginePlugin.hh"
 #include "ignition/gazebo/components/Pose.hh"
+#include "ignition/gazebo/components/RenderEngineGuiPlugin.hh"
+#include "ignition/gazebo/components/RenderEngineServerPlugin.hh"
 #include "ignition/gazebo/components/Scene.hh"
 #include "ignition/gazebo/components/Wind.hh"
 #include "ignition/gazebo/components/World.hh"
@@ -98,6 +100,14 @@ void LevelManager::ReadLevelPerformerInfo()
       components::PhysicsEnginePlugin(
       this->runner->serverConfig.PhysicsEngine()));
 
+  this->runner->entityCompMgr.CreateComponent(this->worldEntity,
+      components::RenderEngineServerPlugin(
+      this->runner->serverConfig.RenderEngineServer()));
+
+  this->runner->entityCompMgr.CreateComponent(this->worldEntity,
+      components::RenderEngineGuiPlugin(
+      this->runner->serverConfig.RenderEngineGui()));
+
   auto worldElem = this->runner->sdfWorld->Element();
 
   // Create Wind

src/ServerConfig.cc

@@ -225,6 +225,8 @@ class ignition::gazebo::ServerConfigPrivate
             logRecordCompressPath(_cfg->logRecordCompressPath),
             resourceCache(_cfg->resourceCache),
             physicsEngine(_cfg->physicsEngine),
+            renderEngineServer(_cfg->renderEngineServer),
+            renderEngineGui(_cfg->renderEngineGui),
             plugins(_cfg->plugins),
             networkRole(_cfg->networkRole),
             networkSecondaries(_cfg->networkSecondaries),
@@ -268,6 +270,14 @@ class ignition::gazebo::ServerConfigPrivate
   /// \brief File containing physics engine plugin. If empty, DART will be used.
   public: std::string physicsEngine = "";
 
+  /// \brief File containing render engine server plugin. If empty, OGRE2
+  /// will be used.
+  public: std::string renderEngineServer = "";
+
+  /// \brief File containing render engine gui plugin. If empty, OGRE2
+  /// will be used.
+  public: std::string renderEngineGui = "";
+
   /// \brief List of plugins to load.
   public: std::list<ServerConfig::PluginInfo> plugins;
 
@@ -510,6 +520,30 @@ void ServerConfig::SetPhysicsEngine(const std::string &_physicsEngine)
   this->dataPtr->physicsEngine = _physicsEngine;
 }
 
+/////////////////////////////////////////////////
+const std::string &ServerConfig::RenderEngineServer() const
+{
+  return this->dataPtr->renderEngineServer;
+}
+
+/////////////////////////////////////////////////
+void ServerConfig::SetRenderEngineServer(const std::string &_renderEngineServer)
+{
+  this->dataPtr->renderEngineServer = _renderEngineServer;
+}
+
+/////////////////////////////////////////////////
+const std::string &ServerConfig::RenderEngineGui() const
+{
+  return this->dataPtr->renderEngineGui;
+}
+
+/////////////////////////////////////////////////
+void ServerConfig::SetRenderEngineGui(const std::string &_renderEngineGui)
+{
+  this->dataPtr->renderEngineGui = _renderEngineGui;
+}
+
 /////////////////////////////////////////////////
 void ServerConfig::AddPlugin(const ServerConfig::PluginInfo &_info)
 {