From 6ea5ede531133c4686d352c5af52cf000af6e21a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Mon, 12 Jun 2023 17:48:30 +0200 Subject: [PATCH 01/34] Fixed light visual in OGRE (#862) (#864) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- ogre/src/OgreLightVisual.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/ogre/src/OgreLightVisual.cc b/ogre/src/OgreLightVisual.cc index cfc5420c8..e8c96ce1f 100644 --- a/ogre/src/OgreLightVisual.cc +++ b/ogre/src/OgreLightVisual.cc @@ -86,7 +86,6 @@ void OgreLightVisual::CreateVisual() this->dataPtr->line->AddPoint(p.X(), p.Y(), p.Z()); } this->dataPtr->line->Update(); - this->ogreNode->setVisible(true); } ////////////////////////////////////////////////// From 6712d5544085e53eed12c8806eced4b2870447da Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Tue, 1 Aug 2023 16:25:55 -0500 Subject: [PATCH 02/34] Fix Github project automation for new project board (#878) Signed-off-by: Addisu Z. Taddese --- .github/workflows/triage.yml | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/.github/workflows/triage.yml b/.github/workflows/triage.yml index 736670e0e..152404bee 100644 --- a/.github/workflows/triage.yml +++ b/.github/workflows/triage.yml @@ -1,7 +1,7 @@ on: issues: types: [opened] - pull_request_target: + pull_request: types: [opened] name: Ticket opened jobs: @@ -10,10 +10,8 @@ jobs: runs-on: ubuntu-latest steps: - name: Add ticket to inbox - uses: technote-space/create-project-card-action@v1 + uses: actions/add-to-project@v0.5.0 with: - PROJECT: Core development - COLUMN: Inbox - GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }} - CHECK_ORG_PROJECT: true + project-url: https://github.com/orgs/gazebosim/projects/7 + github-token: ${{ secrets.TRIAGE_TOKEN }} From 71765a01d644db9eda5fb4fd7870da96a3381aaf Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Wed, 2 Aug 2023 14:30:31 -0500 Subject: [PATCH 03/34] Use `pull_request_target` for triage workflow (#879) Signed-off-by: Addisu Z. Taddese --- .github/workflows/triage.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/triage.yml b/.github/workflows/triage.yml index 152404bee..2c94852da 100644 --- a/.github/workflows/triage.yml +++ b/.github/workflows/triage.yml @@ -1,7 +1,7 @@ on: issues: types: [opened] - pull_request: + pull_request_target: types: [opened] name: Ticket opened jobs: From a50cd70aceab284aa360419b1076a0016e6b78ee Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 17 Aug 2023 15:01:07 -0700 Subject: [PATCH 04/34] Prepare for 7.4.1 release (#883) Signed-off-by: Ian Chen --- CMakeLists.txt | 2 +- Changelog.md | 42 ++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 43 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 67e5fe315..99bbb7820 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(gz-rendering7 VERSION 7.4.0) +project(gz-rendering7 VERSION 7.4.1) #============================================================================ # Find gz-cmake diff --git a/Changelog.md b/Changelog.md index 27b2ba766..aa029ad7f 100644 --- a/Changelog.md +++ b/Changelog.md @@ -2,6 +2,48 @@ ### Gazebo Rendering 7.X +### Gazebo Rendering 7.4.1 (2023-08-17) + +1. Infrastructure + * [Pull request #879](https://github.com/gazebosim/gz-rendering/pull/879) + * [Pull request #878](https://github.com/gazebosim/gz-rendering/pull/878) + +1. Restore missing Ogre2Heightmap::DestroyImpl implementation + * [Pull request #870](https://github.com/gazebosim/gz-rendering/pull/870) + +1. Destroy sensor node on exit + * [Pull request #869](https://github.com/gazebosim/gz-rendering/pull/869) + +1. Parse `OGRE2_RESOURCE_PATH` as a list of strings + * [Pull request #867](https://github.com/gazebosim/gz-rendering/pull/867) + +1. Fix a leak in ogre2 ray query + * [Pull request #866](https://github.com/gazebosim/gz-rendering/pull/866) + +1. Fixed light visual in OGRE + * [Pull request #862](https://github.com/gazebosim/gz-rendering/pull/862) + +1. Removed unused parameter warning + * [Pull request #861](https://github.com/gazebosim/gz-rendering/pull/861) + +1. Replace ignerr with gzerr + * [Pull request #857](https://github.com/gazebosim/gz-rendering/pull/857) + +1. Minor cleanup of ogre/ogre2: fix namespace, unused variable, missing header + * [Pull request #858](https://github.com/gazebosim/gz-rendering/pull/858) + +1. Fix missing header in CameraLens + * [Pull request #855](https://github.com/gazebosim/gz-rendering/pull/855) + +1. Fix missing cstdint header in latest gcc build + * [Pull request #853](https://github.com/gazebosim/gz-rendering/pull/853) + +1. OgreNext: Fix shaders compilation on d3d12 mesa driver (WSLg) + * [Pull request #851](https://github.com/gazebosim/gz-rendering/pull/851) + +1. Fix visibility decorator of Ogre2Projector + * [Pull request #850](https://github.com/gazebosim/gz-rendering/pull/850) + ### Gazebo Rendering 7.4.0 (2023-05-18) 1. Add optional binary relocatability From 837b2fe6f1bc2275a7ebb74413669f38cd4fcb95 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 29 Aug 2023 15:11:28 -0700 Subject: [PATCH 05/34] remove bionic and focal apt (#888) Signed-off-by: Ian Chen --- .github/ci/packages-bionic.apt | 1 - .github/ci/packages-focal.apt | 2 -- 2 files changed, 3 deletions(-) delete mode 100644 .github/ci/packages-bionic.apt delete mode 100644 .github/ci/packages-focal.apt diff --git a/.github/ci/packages-bionic.apt b/.github/ci/packages-bionic.apt deleted file mode 100644 index ff9786e03..000000000 --- a/.github/ci/packages-bionic.apt +++ /dev/null @@ -1 +0,0 @@ -libogre-2.2-dev diff --git a/.github/ci/packages-focal.apt b/.github/ci/packages-focal.apt deleted file mode 100644 index e75b6a742..000000000 --- a/.github/ci/packages-focal.apt +++ /dev/null @@ -1,2 +0,0 @@ -libogre-2.2-dev -libogre-next-2.3-dev From c2c5fdfb889f449a0c7665dc492ee6b67591cadd Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Fri, 1 Sep 2023 15:43:40 -0500 Subject: [PATCH 06/34] Prepare for 6.6.1 Release (#891) Signed-off-by: Addisu Z. Taddese --- CMakeLists.txt | 2 +- Changelog.md | 23 +++++++++++++++++++++++ 2 files changed, 24 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fb9ad0b01..a6b6c445a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-rendering6 VERSION 6.6.0) +project(ignition-rendering6 VERSION 6.6.1) #============================================================================ # Find ignition-cmake diff --git a/Changelog.md b/Changelog.md index 66ad38d68..1a34984b5 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,28 @@ ## Ignition Rendering +### Ignition Rendering 6.6.1 (2023-09-01) + +1. Fixed light visual in OGRE + * [Pull request #864](https://github.com/gazebosim/gz-rendering/pull/864) + +1. Lower severity level for ogre2 visibility mask msgs and unavailable render passes + * [Pull request #830](https://github.com/gazebosim/gz-rendering/pull/830) + +1. Infrastructure + * [Pull request #834](https://github.com/gazebosim/gz-rendering/pull/834) + +1. Rename COPYING to LICENSE + * [Pull request #833](https://github.com/gazebosim/gz-rendering/pull/833) + +1. Add message to see troubleshooting page when render engine fails to create dummy window + * [Pull request #829](https://github.com/gazebosim/gz-rendering/pull/829) + +1. Tweak max camera position limit + * [Pull request #827](https://github.com/gazebosim/gz-rendering/pull/827) + +1. Limit max camera position vector length + * [Pull request #824](https://github.com/gazebosim/gz-rendering/pull/824) + ### Ignition Rendering 6.6.0 (2023-02-02) 1. Backport Composite BaseVisual destroy fix to 6 From 2901ec2eb6507209dcd194b203d6791e4867521a Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 1 Sep 2023 16:16:15 -0700 Subject: [PATCH 07/34] Do not load optix engine in examples (#893) --------- Signed-off-by: Ian Chen --- examples/camera_tracking/Main.cc | 1 - examples/custom_scene_viewer/ManualSceneDemo.cc | 1 - examples/gazebo_scene_viewer/GazeboDemo.cc | 1 - examples/gazebo_scene_viewer/GazeboWorldDemo.cc | 1 - examples/mesh_viewer/Main.cc | 1 - examples/mouse_picking/Main.cc | 1 - examples/projector/Main.cc | 1 - examples/render_pass/Main.cc | 1 - examples/simple_demo/Main.cc | 1 - examples/text_geom/Main.cc | 1 - examples/transform_control/Main.cc | 1 - examples/view_control/Main.cc | 1 - examples/visualization_demo/Main.cc | 1 - examples/wide_angle_camera/Main.cc | 1 - tutorials/17_render_pass_tutorial.md | 1 - tutorials/18_simple_demo_tutorial.md | 1 - tutorials/19_text_geom_tutorial.md | 1 - 17 files changed, 17 deletions(-) diff --git a/examples/camera_tracking/Main.cc b/examples/camera_tracking/Main.cc index 398b73b31..563332cef 100644 --- a/examples/camera_tracking/Main.cc +++ b/examples/camera_tracking/Main.cc @@ -139,7 +139,6 @@ int main(int _argc, char** _argv) std::vector nodes; engineNames.push_back(ogreEngineName); - engineNames.push_back("optix"); for (auto engineName : engineNames) { diff --git a/examples/custom_scene_viewer/ManualSceneDemo.cc b/examples/custom_scene_viewer/ManualSceneDemo.cc index 072f698a6..7dd94d4c0 100644 --- a/examples/custom_scene_viewer/ManualSceneDemo.cc +++ b/examples/custom_scene_viewer/ManualSceneDemo.cc @@ -223,7 +223,6 @@ int main(int _argc, char** _argv) sceneDemo->AddScene(SceneBuilderPtr(new ShadowSceneBuilder(5))); //! [add scenes] sceneDemo->AddCamera(ogreEngineName, params); - sceneDemo->AddCamera("optix"); sceneDemo->Run(); return 0; } diff --git a/examples/gazebo_scene_viewer/GazeboDemo.cc b/examples/gazebo_scene_viewer/GazeboDemo.cc index 9dbf8c99e..b85718c9d 100644 --- a/examples/gazebo_scene_viewer/GazeboDemo.cc +++ b/examples/gazebo_scene_viewer/GazeboDemo.cc @@ -103,7 +103,6 @@ int main(int _argc, char** _argv) std::vector engineNames; engineNames.push_back(ogreEngineName); - engineNames.push_back("optix"); for (auto engineName : engineNames) { diff --git a/examples/gazebo_scene_viewer/GazeboWorldDemo.cc b/examples/gazebo_scene_viewer/GazeboWorldDemo.cc index 09d20ab61..79866de69 100644 --- a/examples/gazebo_scene_viewer/GazeboWorldDemo.cc +++ b/examples/gazebo_scene_viewer/GazeboWorldDemo.cc @@ -103,7 +103,6 @@ int main(int _argc, char** _argv) std::vector engineNames; engineNames.push_back(ogreEngineName); - engineNames.push_back("optix"); for (auto engineName : engineNames) { diff --git a/examples/mesh_viewer/Main.cc b/examples/mesh_viewer/Main.cc index 36ef1372b..32ab32e3d 100644 --- a/examples/mesh_viewer/Main.cc +++ b/examples/mesh_viewer/Main.cc @@ -153,7 +153,6 @@ int main(int _argc, char** _argv) std::vector cameras; engineNames.push_back(ogreEngineName); - engineNames.push_back("optix"); for (auto engineName : engineNames) { diff --git a/examples/mouse_picking/Main.cc b/examples/mouse_picking/Main.cc index 589839fc2..2e5786555 100644 --- a/examples/mouse_picking/Main.cc +++ b/examples/mouse_picking/Main.cc @@ -146,7 +146,6 @@ int main(int _argc, char** _argv) std::vector cameras; engineNames.push_back(ogreEngineName); - engineNames.push_back("optix"); for (auto engineName : engineNames) { diff --git a/examples/projector/Main.cc b/examples/projector/Main.cc index ece004736..c19f00d18 100644 --- a/examples/projector/Main.cc +++ b/examples/projector/Main.cc @@ -188,7 +188,6 @@ int main(int _argc, char** _argv) std::vector cameras; engineNames.push_back(ogreEngineName); - engineNames.push_back("optix"); for (auto engineName : engineNames) { try diff --git a/examples/render_pass/Main.cc b/examples/render_pass/Main.cc index a3a1c86bc..d06498af4 100644 --- a/examples/render_pass/Main.cc +++ b/examples/render_pass/Main.cc @@ -209,7 +209,6 @@ int main(int _argc, char** _argv) std::vector cameras; engineNames.push_back(ogreEngineName); - engineNames.push_back("optix"); for (auto engineName : engineNames) { try diff --git a/examples/simple_demo/Main.cc b/examples/simple_demo/Main.cc index 3a32e1391..7d94d7b1f 100644 --- a/examples/simple_demo/Main.cc +++ b/examples/simple_demo/Main.cc @@ -229,7 +229,6 @@ int main(int _argc, char** _argv) std::vector cameras; engineNames.push_back(ogreEngineName); - engineNames.push_back("optix"); for (auto engineName : engineNames) { diff --git a/examples/text_geom/Main.cc b/examples/text_geom/Main.cc index 26033be35..7149d1df0 100644 --- a/examples/text_geom/Main.cc +++ b/examples/text_geom/Main.cc @@ -126,7 +126,6 @@ int main(int _argc, char** _argv) std::vector cameras; engineNames.push_back("ogre"); - engineNames.push_back("optix"); for (auto engineName : engineNames) { try diff --git a/examples/transform_control/Main.cc b/examples/transform_control/Main.cc index 79a0b8e7e..2aa853ac7 100644 --- a/examples/transform_control/Main.cc +++ b/examples/transform_control/Main.cc @@ -132,7 +132,6 @@ int main(int _argc, char** _argv) std::vector cameras; engineNames.push_back(ogreEngineName); - engineNames.push_back("optix"); for (auto engineName : engineNames) { diff --git a/examples/view_control/Main.cc b/examples/view_control/Main.cc index a501e3cff..5a936ca46 100644 --- a/examples/view_control/Main.cc +++ b/examples/view_control/Main.cc @@ -178,7 +178,6 @@ int main(int _argc, char** _argv) std::vector cameras; engineNames.push_back(ogreEngineName); - engineNames.push_back("optix"); for (auto engineName : engineNames) { try diff --git a/examples/visualization_demo/Main.cc b/examples/visualization_demo/Main.cc index 23ace7294..dcf499db9 100644 --- a/examples/visualization_demo/Main.cc +++ b/examples/visualization_demo/Main.cc @@ -259,7 +259,6 @@ int main(int _argc, char** _argv) std::vector cameras; engineNames.push_back(engine); - engineNames.push_back("optix"); for (auto engineName : engineNames) { diff --git a/examples/wide_angle_camera/Main.cc b/examples/wide_angle_camera/Main.cc index 02da36123..d8dddc26a 100644 --- a/examples/wide_angle_camera/Main.cc +++ b/examples/wide_angle_camera/Main.cc @@ -173,7 +173,6 @@ int main(int _argc, char** _argv) std::vector cameras; engineNames.push_back(ogreEngineName); - engineNames.push_back("optix"); for (auto engineName : engineNames) { diff --git a/tutorials/17_render_pass_tutorial.md b/tutorials/17_render_pass_tutorial.md index 291d57e22..5755c1a76 100644 --- a/tutorials/17_render_pass_tutorial.md +++ b/tutorials/17_render_pass_tutorial.md @@ -24,7 +24,6 @@ You'll see: ```{.sh} [Msg] Loading plugin [gz-rendering8-ogre] -Engine 'optix' is not supported =============================== TAB - Switch render engines ESC - Exit diff --git a/tutorials/18_simple_demo_tutorial.md b/tutorials/18_simple_demo_tutorial.md index 4e9e1cce2..6c49df742 100644 --- a/tutorials/18_simple_demo_tutorial.md +++ b/tutorials/18_simple_demo_tutorial.md @@ -24,7 +24,6 @@ You'll see: ```{.sh} [Msg] Loading plugin [gz-rendering8-ogre] -Engine 'optix' is not supported =============================== TAB - Switch render engines ESC - Exit diff --git a/tutorials/19_text_geom_tutorial.md b/tutorials/19_text_geom_tutorial.md index 1005dfa47..1d54a1a21 100644 --- a/tutorials/19_text_geom_tutorial.md +++ b/tutorials/19_text_geom_tutorial.md @@ -24,7 +24,6 @@ You'll see: ```{.sh} [Msg] Loading plugin [gz-rendering8-ogre] -Engine 'optix' is not supported =============================== TAB - Switch render engines ESC - Exit From 077e1e7a2bf581cb51a43d1a790fd2b656ba97ad Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Sun, 3 Sep 2023 13:57:29 -0700 Subject: [PATCH 08/34] remove more references to optix (#895) Signed-off-by: Ian Chen --- tutorials/13_custom_scene_viewer.md | 4 ---- 1 file changed, 4 deletions(-) diff --git a/tutorials/13_custom_scene_viewer.md b/tutorials/13_custom_scene_viewer.md index ac06a969a..d4a7ded95 100644 --- a/tutorials/13_custom_scene_viewer.md +++ b/tutorials/13_custom_scene_viewer.md @@ -1,15 +1,11 @@ \page custom_scene_viewer Custom scene viewer This application allows us to view a number of pre constructed scenes. -The initial render engine is Ogre. When the application starts you will see a blank window. When you click the `+` or `-` keys you can change the scene. By pressing the `Tab` button you will advance to the next render engine. -You may see the render engine title in the window change to Optix if you have compiled your Gazebo Rendering library with OptiX (otherwise you can only use Ogre). -The frame rate may also change based on your computer's capabilities. - The following scenes have more primitive objects such as cones or cilinders. Again, you can see the scene with different render engines pressing `Tab`. Some of the scenes available include: From 938589795431581ad598a14313d1be3091a7d1a1 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 5 Sep 2023 12:00:57 -0700 Subject: [PATCH 09/34] Revert mesh viewer background color back to gray (#894) Signed-off-by: Ian Chen --- examples/mesh_viewer/Main.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/mesh_viewer/Main.cc b/examples/mesh_viewer/Main.cc index a496ac1f9..6df706243 100644 --- a/examples/mesh_viewer/Main.cc +++ b/examples/mesh_viewer/Main.cc @@ -45,7 +45,7 @@ void buildScene(ScenePtr _scene) { // initialize _scene _scene->SetAmbientLight(0.3, 0.3, 0.3); - _scene->SetBackgroundColor(0.0, 0.0, 0.3); + _scene->SetBackgroundColor(0.3, 0.3, 0.3); VisualPtr root = _scene->RootVisual(); // create directional light From 41f80fd35bfc4dab07f6547074be14cbeba5e742 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 5 Sep 2023 12:01:57 -0700 Subject: [PATCH 10/34] Fix arrow visual indexing (#889) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * fix node indexing --------- Signed-off-by: Ian Chen Co-authored-by: Alejandro Hernández Cordero --- Migration.md | 4 +- include/gz/rendering/base/BaseArrowVisual.hh | 41 +++++--------------- include/gz/rendering/base/BaseAxisVisual.hh | 2 +- test/common_test/ArrowVisual_TEST.cc | 22 +++++++---- 4 files changed, 29 insertions(+), 40 deletions(-) diff --git a/Migration.md b/Migration.md index f3b41e0e9..527776ebb 100644 --- a/Migration.md +++ b/Migration.md @@ -18,7 +18,9 @@ release will remove the deprecated code. BaseStore APIs such as `IterByIndex` may now be different from before since the order of objects stored in maps and vectors are different. The iterators returned may also change or become invalid when objects are added or removed - from the store. + from the store. This impacts users using APIs to access nodes / visuals by + index, e.g. `Node::ChildByIndex` and `Scene::VisualByIndex` may now + return a different node pointer. ## Gazebo Rendering 6.x to 7.x diff --git a/include/gz/rendering/base/BaseArrowVisual.hh b/include/gz/rendering/base/BaseArrowVisual.hh index a928f6f4f..fde45f258 100644 --- a/include/gz/rendering/base/BaseArrowVisual.hh +++ b/include/gz/rendering/base/BaseArrowVisual.hh @@ -103,7 +103,7 @@ namespace gz template VisualPtr BaseArrowVisual::Head() const { - return std::dynamic_pointer_cast(this->ChildByIndex(2)); + return std::dynamic_pointer_cast(this->ChildByIndex(0)); } ////////////////////////////////////////////////// @@ -117,44 +117,28 @@ namespace gz template VisualPtr BaseArrowVisual::Rotation() const { - return std::dynamic_pointer_cast(this->ChildByIndex(0)); + return std::dynamic_pointer_cast(this->ChildByIndex(2)); } ////////////////////////////////////////////////// template void BaseArrowVisual::ShowArrowHead(bool _b) { - NodePtr child = this->ChildByIndex(2); - VisualPtr visual = std::dynamic_pointer_cast(child); - if (visual) - { - visual->SetVisible(_b); - } + this->Head()->SetVisible(_b); } ////////////////////////////////////////////////// template void BaseArrowVisual::ShowArrowShaft(bool _b) { - NodePtr child = this->ChildByIndex(1); - VisualPtr visual = std::dynamic_pointer_cast(child); - if (visual) - { - visual->SetVisible(_b); - } + this->Shaft()->SetVisible(_b); } ////////////////////////////////////////////////// template void BaseArrowVisual::ShowArrowRotation(bool _b) { - NodePtr child = this->ChildByIndex(0); - VisualPtr visual = std::dynamic_pointer_cast(child); - if (visual) - { - visual->SetVisible(_b); - this->rotationVisible = _b; - } + this->Rotation()->SetVisible(_b); } ////////////////////////////////////////////////// @@ -163,16 +147,11 @@ namespace gz { T::SetVisible(_visible); - NodePtr child = this->ChildByIndex(0); - VisualPtr visual = std::dynamic_pointer_cast(child); - if (visual) - { - // Force rotation visual visibility to false - // if the arrow visual is not visible. - // Else, rotation visual's visibility overrides - // its parent's visibility. - visual->SetVisible(this->rotationVisible && _visible); - } + // Force rotation visual visibility to false + // if the arrow visual is not visible. + // Else, rotation visual's visibility overrides + // its parent's visibility. + this->Rotation()->SetVisible(this->rotationVisible && _visible); } ////////////////////////////////////////////////// diff --git a/include/gz/rendering/base/BaseAxisVisual.hh b/include/gz/rendering/base/BaseAxisVisual.hh index 4d0677c2a..eefc46abc 100644 --- a/include/gz/rendering/base/BaseAxisVisual.hh +++ b/include/gz/rendering/base/BaseAxisVisual.hh @@ -126,7 +126,7 @@ namespace gz void BaseAxisVisual::ShowAxisHead(unsigned int _axis, bool _b) { auto arrow = std::dynamic_pointer_cast( - this->ChildByIndex(2u - _axis)); + this->ChildByIndex(_axis)); if (arrow) { arrow->ShowArrowHead(_b); diff --git a/test/common_test/ArrowVisual_TEST.cc b/test/common_test/ArrowVisual_TEST.cc index e22736647..2315979af 100644 --- a/test/common_test/ArrowVisual_TEST.cc +++ b/test/common_test/ArrowVisual_TEST.cc @@ -51,29 +51,37 @@ TEST_F(ArrowVisualTest, ArrowVisual) // check children and geometry EXPECT_EQ(3u, visual->ChildCount()); - NodePtr node = visual->ChildByIndex(0u); + NodePtr node = visual->Rotation(); VisualPtr child = std::dynamic_pointer_cast(node); ASSERT_NE(nullptr, child); EXPECT_EQ(1u, child->GeometryCount()); - EXPECT_EQ(node, visual->Rotation()); + MeshPtr mesh = std::dynamic_pointer_cast(child->GeometryByIndex(0u)); + ASSERT_NE(nullptr, mesh); + MeshDescriptor desc = mesh->Descriptor(); + EXPECT_NE(std::string::npos, desc.meshName.find("rotation")); - node = visual->ChildByIndex(1u); + node = visual->Shaft(); child = std::dynamic_pointer_cast(node); ASSERT_NE(nullptr, child); EXPECT_EQ(1u, child->GeometryCount()); - EXPECT_EQ(node, visual->Shaft()); + mesh = std::dynamic_pointer_cast(child->GeometryByIndex(0u)); + ASSERT_NE(nullptr, mesh); + desc = mesh->Descriptor(); + EXPECT_NE(std::string::npos, desc.meshName.find("cylinder")); - node = visual->ChildByIndex(2u); + node = visual->Head(); child = std::dynamic_pointer_cast(node); ASSERT_NE(nullptr, child); EXPECT_EQ(1u, child->GeometryCount()); - EXPECT_EQ(node, visual->Head()); - // test destroy ArrowVisualPtr visual2 = scene->CreateArrowVisual(); ASSERT_NE(nullptr, visual2); visual2->Destroy(); EXPECT_EQ(0u, visual2->ChildCount()); + mesh = std::dynamic_pointer_cast(child->GeometryByIndex(0u)); + ASSERT_NE(nullptr, mesh); + desc = mesh->Descriptor(); + EXPECT_NE(std::string::npos, desc.meshName.find("cone")); // Clean up engine->DestroyScene(scene); From b16a396d64f0c0a31dcb459b3acd6d719d057ea8 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 5 Sep 2023 12:02:54 -0700 Subject: [PATCH 11/34] Fix typo in bounding box camera tutorial (#896) Signed-off-by: Ian Chen --- tutorials/24_boundingbox_camera_tutorial.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/24_boundingbox_camera_tutorial.md b/tutorials/24_boundingbox_camera_tutorial.md index 9ce2f3b79..b957ee731 100644 --- a/tutorials/24_boundingbox_camera_tutorial.md +++ b/tutorials/24_boundingbox_camera_tutorial.md @@ -40,7 +40,7 @@ There are 2 other types of boxes: * 2D visible: box around the visible parts of an object. * 2D full: box around the object, including parts that aren't visible to the camera. -Compare the two 2D box types as followS: +Compare the two 2D box types as follows: ```{.sh} ./boundingbox_camera 2D_visible From 3c84ca45d8f5c589ebf6e76289f049ab6087761f Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 6 Sep 2023 06:34:26 -0700 Subject: [PATCH 12/34] Fix wide angle camera visibility flags (#900) Signed-off-by: Ian Chen --- ogre2/src/Ogre2WideAngleCamera.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ogre2/src/Ogre2WideAngleCamera.cc b/ogre2/src/Ogre2WideAngleCamera.cc index cb70297bd..f0b9015ea 100644 --- a/ogre2/src/Ogre2WideAngleCamera.cc +++ b/ogre2/src/Ogre2WideAngleCamera.cc @@ -979,7 +979,9 @@ void Ogre2WideAngleCamera::CreateWideAngleTexture() ////////////////////////////////////////////////// void Ogre2WideAngleCamera::Render() { - const uint32_t currVisibilityMask = this->VisibilityMask(); + // make sure we do not alter the reserved visibility flags + const uint32_t currVisibilityMask = this->VisibilityMask() & + Ogre::VisibilityFlags::RESERVED_VISIBILITY_FLAGS; this->dataPtr->cubePassSceneDef->mVisibilityMask = currVisibilityMask; this->scene->StartRendering(this->dataPtr->ogreCamera); From 6fa1fc184d052b5235fa7ad7b75c9682142df39f Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 6 Sep 2023 13:02:49 -0700 Subject: [PATCH 13/34] Minor updates to README file in the hello_world_plugin example (#892) --------- Signed-off-by: Ian Chen --- examples/hello_world_plugin/README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/examples/hello_world_plugin/README.md b/examples/hello_world_plugin/README.md index adc9fee32..c9bbde486 100644 --- a/examples/hello_world_plugin/README.md +++ b/examples/hello_world_plugin/README.md @@ -36,8 +36,9 @@ Now you can run `gz sim` with the name of the resultant library file (without th or the file extension, i.e., libHelloWorldPlugin.so -> HelloWorldPlugin): ~~~ -gz sim --render-engine HelloWorldPlugin +gz sim --render-engine HelloWorldPlugin empty.sdf ~~~ You should see a blank screen within the Gazebo GUI, as this mocked plugin provides no implementation -for the scene. +for the scene. The Gazebo Component Inspector should show that the Render Engine Gui Plugin and +the Render Engine Server Plugin are now set to use the `HelloWorldPlugin`. From 59417bad192e096b5b3b0a28e28388c66de1252a Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 8 Sep 2023 11:06:58 -0700 Subject: [PATCH 14/34] Disable setting color range in particle emitter (#903) Signed-off-by: Ian Chen --- ogre2/src/Ogre2ParticleEmitter.cc | 4 ++++ test/common_test/ParticleEmitter_TEST.cc | 8 +++++--- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/ogre2/src/Ogre2ParticleEmitter.cc b/ogre2/src/Ogre2ParticleEmitter.cc index 9a4d2e2b6..d62595408 100644 --- a/ogre2/src/Ogre2ParticleEmitter.cc +++ b/ogre2/src/Ogre2ParticleEmitter.cc @@ -296,6 +296,10 @@ void Ogre2ParticleEmitter::SetColorRange( const gz::math::Color &_colorStart, const gz::math::Color &_colorEnd) { + // see https://github.com/gazebosim/gz-rendering/issues/902 + gzwarn << "ParticleEmitter SetColorRange is currently disabled." << std::endl; + return; + // Color interpolator affector. if (!this->dataPtr->colorInterpolatorAffector) { diff --git a/test/common_test/ParticleEmitter_TEST.cc b/test/common_test/ParticleEmitter_TEST.cc index 909fe44d3..adce32612 100644 --- a/test/common_test/ParticleEmitter_TEST.cc +++ b/test/common_test/ParticleEmitter_TEST.cc @@ -29,7 +29,7 @@ using namespace gz; using namespace rendering; /// \brief The test fixture. -class ParticleEmitterTest : public CommonRenderingTest +class ParticleEmitterTest : public CommonRenderingTest { /// \brief A directory under test/ with some textures. protected: const std::string TEST_MEDIA_PATH = @@ -124,8 +124,10 @@ TEST_F(ParticleEmitterTest, ParticleEmitter) EXPECT_EQ(expectedMaterial, particleEmitter->Material()); EXPECT_DOUBLE_EQ(expectedMinVel, particleEmitter->MinVelocity()); EXPECT_DOUBLE_EQ(expectedMaxVel, particleEmitter->MaxVelocity()); - EXPECT_EQ(expectedColorStart, particleEmitter->ColorStart()); - EXPECT_EQ(expectedColorEnd, particleEmitter->ColorEnd()); + // ColorRange test is currently disabled, see + // https://github.com/gazebosim/gz-rendering/issues/902 + // EXPECT_EQ(expectedColorStart, particleEmitter->ColorStart()); + // EXPECT_EQ(expectedColorEnd, particleEmitter->ColorEnd()); EXPECT_DOUBLE_EQ(expectedScaleRate, particleEmitter->ScaleRate()); EXPECT_EQ(expectedColorRangeImage, particleEmitter->ColorRangeImage()); EXPECT_FLOAT_EQ(expectedScatterRatio, From 890cc29d9a9b323b7d7e6ce7c5357ca46264eacd Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 12 Sep 2023 14:56:41 -0700 Subject: [PATCH 15/34] Prepare from 8.0.0 pre2 release (#904) Signed-off-by: Ian Chen --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fc62a163f..8bcf7b794 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -18,7 +18,7 @@ set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR}) set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) -gz_configure_project(VERSION_SUFFIX pre1) +gz_configure_project(VERSION_SUFFIX pre2) #============================================================================ # Set project-specific options From 98c5978e9f543c4d64177f6d1fa80b9ba0c777a7 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 14 Sep 2023 05:22:44 -0700 Subject: [PATCH 16/34] Update installation instructions (#906) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Ian Chen Signed-off-by: Michael Carroll Co-authored-by: Michael Carroll Co-authored-by: Alejandro Hernández Cordero --- tutorials/02_install.md | 31 ++++++++++++++++++------------- 1 file changed, 18 insertions(+), 13 deletions(-) diff --git a/tutorials/02_install.md b/tutorials/02_install.md index 47829748f..a5beb4118 100644 --- a/tutorials/02_install.md +++ b/tutorials/02_install.md @@ -34,7 +34,7 @@ sudo apt-get update sudo apt-get install libgz-rendering<#>-dev ``` -Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on which version you need. +Be sure to replace `<#>` with a number value, such as `7` or `8`, depending on which version you need. ## Source Installation @@ -70,11 +70,11 @@ build the relevant plugins if dependencies are found. **OGRE 1.x** ``` -# this installs ogre 1.9. Alternatively, you can install 1.8 +# this installs ogre 1.9 sudo apt-get install libogre-1.9-dev ``` -**OGRE 2.x (supported in Versions >= gz-rendering1)** +**OGRE-Next 2.x** Add OSRF packages if you have not done so already: ``` @@ -84,9 +84,9 @@ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - sudo apt update ``` -Install OGRE 2.2 debs +Install OGRE-Next 2.3 debs ``` -sudo apt install libogre-2.2-dev +sudo apt install libogre-next-dev ``` **OptiX (experimental)** @@ -114,7 +114,7 @@ sdk 4.0.2, comment out lines 167-206). 1. Clone the repository ``` - # Optionally, append `-b ign-rendering#` (replace # with a number) to check out a specific version + # Optionally, append `-b gz-rendering#` (replace # with a number) to check out a specific version git clone http://github.com/gazebosim/gz-rendering ``` @@ -151,7 +151,12 @@ conda activate gz-ws ## Binary Installation -`libgz-rendering<#>` Conda feedstock is not yet available, pending [conda-forge/staged-recipes#13551](https://github.com/conda-forge/staged-recipes/issues/13551). +```bash +conda install libgz-rendering<#> --channel conda-forge +``` + +Be sure to replace `<#>` with a number value, such as 7 or 8, depending on +which version you need. ## Source Installation @@ -176,7 +181,7 @@ This assumes you have created and activated a Conda environment while installing 3. Navigate to where you would like to build the library, and clone the repository. ``` - # Optionally, append `-b ign-rendering#` (replace # with a number) to check out a specific version + # Optionally, append `-b gz-rendering#` (replace # with a number) to check out a specific version git clone https://github.com/gazebosim/gz-rendering.git ``` @@ -209,23 +214,23 @@ Install Gazebo Rendering: brew install gz-rendering<#> ``` -Be sure to replace `<#>` with a number value, such as 5 or 6, depending on +Be sure to replace `<#>` with a number value, such as 7 or 8, depending on which version you need. ## Source Installation 1. Clone the repository ``` - git clone https://github.com/gazebosim/gz-rendering -b ign-rendering<#> + git clone https://github.com/gazebosim/gz-rendering -b gz-rendering<#> ``` - Be sure to replace `<#>` with a number value, such as 5 or 6, depending on + Be sure to replace `<#>` with a number value, such as 7 or 8, depending on which version you need. 2. Install dependencies ``` brew install --only-dependencies gz-rendering<#> ``` - Be sure to replace `<#>` with a number value, such as 5 or 6, depending on + Be sure to replace `<#>` with a number value, such as 7 or 8, depending on which version you need. 3. Configure and build @@ -273,7 +278,7 @@ To control the testing configuration, use the following environment variables: ``` # Specify the rendering engine to use (ogre, ogre2, optix) - GZ_ENGINE_TO_TEST=ogre2 + GZ_ENGINE_TO_TEST=ogre2 # Specify the ogre2 backend to use (vulkan, gl3plus, metal (macOS)) GZ_ENGINE_BACKEND=vulkan From 0795e095914a4c7abd805f9272153d3caa98d4f4 Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Thu, 14 Sep 2023 21:12:42 +0200 Subject: [PATCH 17/34] Fixed build on MSVC. (#897) Signed-off-by: Martin Pecka Co-authored-by: Ian Chen Co-authored-by: Michael Carroll --- .../gz/rendering/GlobalIlluminationBase.hh | 5 ++- .../gz/rendering/GlobalIlluminationCiVct.hh | 10 ++++-- include/gz/rendering/GlobalIlluminationVct.hh | 5 ++- include/gz/rendering/NativeWindow.hh | 5 ++- include/gz/rendering/base/BaseNativeWindow.hh | 4 +-- .../ogre2/Ogre2GlobalIlluminationCiVct.hh | 2 ++ ogre2/src/CMakeLists.txt | 1 + ogre2/src/Ogre2GlobalIlluminationCiVct.cc | 5 +++ ogre2/src/Ogre2RenderEngine.cc | 2 +- src/GlobalIlluminationBase.cc | 28 +++++++++++++++ src/GlobalIlluminationCiVct.cc | 34 +++++++++++++++++++ src/GlobalIlluminationVct.cc | 28 +++++++++++++++ src/NativeWindow.cc | 28 +++++++++++++++ src/base/BaseNativeWindow.cc | 28 +++++++++++++++ 14 files changed, 177 insertions(+), 8 deletions(-) create mode 100644 src/GlobalIlluminationBase.cc create mode 100644 src/GlobalIlluminationCiVct.cc create mode 100644 src/GlobalIlluminationVct.cc create mode 100644 src/NativeWindow.cc create mode 100644 src/base/BaseNativeWindow.cc diff --git a/include/gz/rendering/GlobalIlluminationBase.hh b/include/gz/rendering/GlobalIlluminationBase.hh index 881512558..87caf5c3c 100644 --- a/include/gz/rendering/GlobalIlluminationBase.hh +++ b/include/gz/rendering/GlobalIlluminationBase.hh @@ -52,8 +52,11 @@ namespace gz STATIC_VISUALS = 1u << 1u }; + /// \brief Constructor + public: GlobalIlluminationBase(); + /// \brief Destructor - public: virtual ~GlobalIlluminationBase() { } + public: virtual ~GlobalIlluminationBase(); /// \brief Initialize the class protected: virtual void Init() = 0; diff --git a/include/gz/rendering/GlobalIlluminationCiVct.hh b/include/gz/rendering/GlobalIlluminationCiVct.hh index a3a2ea401..dbffdf01a 100644 --- a/include/gz/rendering/GlobalIlluminationCiVct.hh +++ b/include/gz/rendering/GlobalIlluminationCiVct.hh @@ -31,8 +31,11 @@ namespace gz class GZ_RENDERING_VISIBLE CiVctCascade { + /// \brief Constructor + public: CiVctCascade(); + /// \brief Destructor - public: virtual ~CiVctCascade() {} + public: virtual ~CiVctCascade(); /// \brief Sets whether to correctly calculate GI occlusion caused /// by occluders against area lights. Consumes more VRAM. @@ -149,8 +152,11 @@ namespace gz DVM_None }; + /// \brief Constructor + public: GlobalIlluminationCiVct(); + /// \brief Destructor - public: virtual ~GlobalIlluminationCiVct() { } + public: virtual ~GlobalIlluminationCiVct(); /// \brief Tells how many times AddCascade will be called. /// You can call it fewer times (i.e. some kb of RAM will be wasted) diff --git a/include/gz/rendering/GlobalIlluminationVct.hh b/include/gz/rendering/GlobalIlluminationVct.hh index be86924a0..a755e5216 100644 --- a/include/gz/rendering/GlobalIlluminationVct.hh +++ b/include/gz/rendering/GlobalIlluminationVct.hh @@ -48,8 +48,11 @@ namespace gz DVM_None }; + /// \brief Constructor + public: GlobalIlluminationVct(); + /// \brief Destructor - public: virtual ~GlobalIlluminationVct() { } + public: virtual ~GlobalIlluminationVct(); /// \brief Resolution of the 3D Voxel. Must be multiple of 2 /// \remarks To avoid wasting RAM, make this function your first call diff --git a/include/gz/rendering/NativeWindow.hh b/include/gz/rendering/NativeWindow.hh index c1b8f6fb1..1e8982fcb 100644 --- a/include/gz/rendering/NativeWindow.hh +++ b/include/gz/rendering/NativeWindow.hh @@ -38,8 +38,11 @@ namespace gz /// on OS and RenderSystem class GZ_RENDERING_VISIBLE NativeWindow { + /// \brief Constructor + public: NativeWindow(); + /// \brief Destructor - public: virtual ~NativeWindow() { } + public: virtual ~NativeWindow(); /// \brief Tells the native window whether it's under focus /// \param[in] _focused True if we acquired focus. False if we lost it diff --git a/include/gz/rendering/base/BaseNativeWindow.hh b/include/gz/rendering/base/BaseNativeWindow.hh index adb664087..55919140c 100644 --- a/include/gz/rendering/base/BaseNativeWindow.hh +++ b/include/gz/rendering/base/BaseNativeWindow.hh @@ -32,9 +32,9 @@ namespace gz class GZ_RENDERING_VISIBLE BaseNativeWindow : public virtual NativeWindow { - protected: BaseNativeWindow() {} + protected: BaseNativeWindow(); - public: virtual ~BaseNativeWindow() {} + public: virtual ~BaseNativeWindow(); // Documentation Inherited. public: virtual void NotifyFocused(bool /*_focused*/) override {} diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2GlobalIlluminationCiVct.hh b/ogre2/include/gz/rendering/ogre2/Ogre2GlobalIlluminationCiVct.hh index dd1b3b3a2..06d05f48c 100644 --- a/ogre2/include/gz/rendering/ogre2/Ogre2GlobalIlluminationCiVct.hh +++ b/ogre2/include/gz/rendering/ogre2/Ogre2GlobalIlluminationCiVct.hh @@ -47,6 +47,8 @@ namespace gz /// \brief Constructor public: explicit Ogre2CiVctCascade(); + public: ~Ogre2CiVctCascade() override; + /// \brief Initializes the cascade /// \param[in] _cascade Cascade we control /// \param[in] _ref Reference to clone settings from (can be nullptr) diff --git a/ogre2/src/CMakeLists.txt b/ogre2/src/CMakeLists.txt index c2cd9f479..466db6983 100644 --- a/ogre2/src/CMakeLists.txt +++ b/ogre2/src/CMakeLists.txt @@ -9,6 +9,7 @@ if (MSVC) # warning is not important since those members do not need to be interfaced # with. set_source_files_properties(${sources} ${gtest_sources} COMPILE_FLAGS "/wd4251") + set_source_files_properties(${sources} ${gtest_sources} COMPILE_FLAGS "/D_SILENCE_STDEXT_HASH_DEPRECATION_WARNINGS") endif() set(engine_name "ogre2") diff --git a/ogre2/src/Ogre2GlobalIlluminationCiVct.cc b/ogre2/src/Ogre2GlobalIlluminationCiVct.cc index eb6555033..2a90fac9c 100644 --- a/ogre2/src/Ogre2GlobalIlluminationCiVct.cc +++ b/ogre2/src/Ogre2GlobalIlluminationCiVct.cc @@ -212,6 +212,11 @@ Ogre2GlobalIlluminationCiVct::~Ogre2GlobalIlluminationCiVct() this->Destroy(); } +////////////////////////////////////////////////// +Ogre2CiVctCascade::~Ogre2CiVctCascade() +{ +} + ////////////////////////////////////////////////// void Ogre2GlobalIlluminationCiVct::Init() { diff --git a/ogre2/src/Ogre2RenderEngine.cc b/ogre2/src/Ogre2RenderEngine.cc index ca68b5af4..8ae00523e 100644 --- a/ogre2/src/Ogre2RenderEngine.cc +++ b/ogre2/src/Ogre2RenderEngine.cc @@ -1343,7 +1343,7 @@ NativeWindowPtr Ogre2RenderEngine::CreateNativeWindow( #ifdef _WIN32 params["externalGLContext"] = std::to_string((size_t)wglGetCurrentContext()); -# elidef __APPLE__ +#elif defined(__APPLE__) params["externalGLContext"] = std::to_string((size_t)CGLGetCurrentContext()); #else diff --git a/src/GlobalIlluminationBase.cc b/src/GlobalIlluminationBase.cc new file mode 100644 index 000000000..f6fb974e6 --- /dev/null +++ b/src/GlobalIlluminationBase.cc @@ -0,0 +1,28 @@ +/* + * Copyright (C) 2023 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. + * + */ + +#include "gz/rendering/GlobalIlluminationBase.hh" + +using namespace gz; +using namespace rendering; + +////////////////////////////////////////////////// +GlobalIlluminationBase::GlobalIlluminationBase() = default; + +////////////////////////////////////////////////// +GlobalIlluminationBase::~GlobalIlluminationBase() = default; + diff --git a/src/GlobalIlluminationCiVct.cc b/src/GlobalIlluminationCiVct.cc new file mode 100644 index 000000000..293f72c4d --- /dev/null +++ b/src/GlobalIlluminationCiVct.cc @@ -0,0 +1,34 @@ +/* + * Copyright (C) 2023 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. + * + */ + +#include "gz/rendering/GlobalIlluminationCiVct.hh" + +using namespace gz; +using namespace rendering; + +////////////////////////////////////////////////// +CiVctCascade::CiVctCascade() = default; + +////////////////////////////////////////////////// +CiVctCascade::~CiVctCascade() = default; + +////////////////////////////////////////////////// +GlobalIlluminationCiVct::GlobalIlluminationCiVct() = default; + +////////////////////////////////////////////////// +GlobalIlluminationCiVct::~GlobalIlluminationCiVct() = default; + diff --git a/src/GlobalIlluminationVct.cc b/src/GlobalIlluminationVct.cc new file mode 100644 index 000000000..cf87d4e9d --- /dev/null +++ b/src/GlobalIlluminationVct.cc @@ -0,0 +1,28 @@ +/* + * Copyright (C) 2023 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. + * + */ + +#include "gz/rendering/GlobalIlluminationVct.hh" + +using namespace gz; +using namespace rendering; + +////////////////////////////////////////////////// +GlobalIlluminationVct::GlobalIlluminationVct() = default; + +////////////////////////////////////////////////// +GlobalIlluminationVct::~GlobalIlluminationVct() = default; + diff --git a/src/NativeWindow.cc b/src/NativeWindow.cc new file mode 100644 index 000000000..0a7f97d66 --- /dev/null +++ b/src/NativeWindow.cc @@ -0,0 +1,28 @@ +/* + * Copyright (C) 2023 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. + * + */ + +#include "gz/rendering/NativeWindow.hh" + +using namespace gz; +using namespace rendering; + +////////////////////////////////////////////////// +NativeWindow::NativeWindow() = default; + +////////////////////////////////////////////////// +NativeWindow::~NativeWindow() = default; + diff --git a/src/base/BaseNativeWindow.cc b/src/base/BaseNativeWindow.cc new file mode 100644 index 000000000..76bb7d26d --- /dev/null +++ b/src/base/BaseNativeWindow.cc @@ -0,0 +1,28 @@ +/* + * Copyright (C) 2023 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. + * + */ + +#include "gz/rendering/base/BaseNativeWindow.hh" + +using namespace gz; +using namespace rendering; + +////////////////////////////////////////////////// +BaseNativeWindow::BaseNativeWindow() = default; + +////////////////////////////////////////////////// +BaseNativeWindow::~BaseNativeWindow() = default; + From c108afb352e465164d1799e2077a34d614f0cac7 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 14 Sep 2023 18:30:28 -0700 Subject: [PATCH 18/34] Update README (#907) --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index a02a7cce8..65d93b082 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,7 @@ Build | Status -- | -- Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-rendering/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-rendering/branch/default) -Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-focal-amd64) +Ubuntu Jammy | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_rendering-ci-main-jammy-amd64)](https://build.osrfoundation.org/job/gz_rendering-ci-main-jammy-amd64) Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-homebrew-amd64) Windows | [![Build Status](https://build.osrfoundation.org/job/ign_rendering-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_rendering-ci-win/) @@ -47,12 +47,12 @@ of libraries designed to rapidly develop robot applications. # Install -See the [installation tutorial](https://gazebosim.org/api/rendering/5.0/installation.html). +See the [installation tutorial](https://gazebosim.org/api/rendering/8/installation.html). # Usage The Gazebo Rendering API can be found in the documentation. See the -[installation tutorial](https://gazebosim.org/api/rendering/5.0/installation.html) +[installation tutorial](https://gazebosim.org/api/rendering/8/installation.html) on how to build the documentation files using Doxygen. You can also take a look at the sample applications in the `examples` folder. @@ -74,7 +74,7 @@ Rendering engine plugin implementation code is stored in their own folders * `ogre` : OGRE 1.x rendering engine plugin -* `ogre2` : OGRE 2.x rendering engine plugin (available in versions >= gz-rendering1) +* `ogre2` : OGRE-Next 2.x rendering engine plugin * `optix` : OptiX rendering engine plugin From 8c1fd27747a2c12eca0b111bf961047a5fa5b1a6 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Fri, 15 Sep 2023 07:59:44 -0700 Subject: [PATCH 19/34] ogre2: use CMAKE_INSTALL_RPATH (#909) Sets the ogre2 target INSTALL_RPATH to a copy of CMAKE_INSTALL_RPATH with OGRE_LIBRARY_DIRS appended, instead of just the latter path. This helps with packaging on macOS. Signed-off-by: Steve Peters --- ogre2/src/CMakeLists.txt | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/ogre2/src/CMakeLists.txt b/ogre2/src/CMakeLists.txt index 466db6983..ef328190a 100644 --- a/ogre2/src/CMakeLists.txt +++ b/ogre2/src/CMakeLists.txt @@ -28,10 +28,14 @@ set_property( target_compile_definitions(${ogre2_target} PRIVATE OGRE_IGNORE_UNKNOWN_DEBUG) +# Add OGRE2_LIBRARY_DIRS to INSTALL_RPATH +# Append to a copy of CMAKE_INSTALL_RPATH since that is the default +set(ogre2_target_install_rpath ${CMAKE_INSTALL_RPATH}) +list(APPEND ogre2_target_install_rpath ${OGRE2_LIBRARY_DIRS}) set_property( TARGET ${ogre2_target} PROPERTY INSTALL_RPATH - ${OGRE2_LIBRARY_DIRS} + ${ogre2_target_install_rpath} ) target_include_directories(${ogre2_target} From 9d524c2191fd5f09f45e4972b69365c77faceeec Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Mon, 18 Sep 2023 09:46:42 -0500 Subject: [PATCH 20/34] Include the CGL header on macOS (#911) Signed-off-by: Michael Carroll --- ogre2/src/Ogre2RenderEngine.cc | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ogre2/src/Ogre2RenderEngine.cc b/ogre2/src/Ogre2RenderEngine.cc index 8ae00523e..c83edd987 100644 --- a/ogre2/src/Ogre2RenderEngine.cc +++ b/ogre2/src/Ogre2RenderEngine.cc @@ -68,6 +68,10 @@ #include #endif +#if defined(__APPLE__) +#include +#endif + class GZ_RENDERING_OGRE2_HIDDEN gz::rendering::Ogre2RenderEnginePrivate { From da675f670d5d86d77771eac295ae96f58b0f3062 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Fri, 15 Sep 2023 07:59:44 -0700 Subject: [PATCH 21/34] ogre2: use CMAKE_INSTALL_RPATH (#909) Sets the ogre2 target INSTALL_RPATH to a copy of CMAKE_INSTALL_RPATH with OGRE_LIBRARY_DIRS appended, instead of just the latter path. This helps with packaging on macOS. Signed-off-by: Steve Peters --- ogre2/src/CMakeLists.txt | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/ogre2/src/CMakeLists.txt b/ogre2/src/CMakeLists.txt index ed89988d3..cfd9b220b 100644 --- a/ogre2/src/CMakeLists.txt +++ b/ogre2/src/CMakeLists.txt @@ -27,10 +27,14 @@ set_property( target_compile_definitions(${ogre2_target} PRIVATE OGRE_IGNORE_UNKNOWN_DEBUG) +# Add OGRE2_LIBRARY_DIRS to INSTALL_RPATH +# Append to a copy of CMAKE_INSTALL_RPATH since that is the default +set(ogre2_target_install_rpath ${CMAKE_INSTALL_RPATH}) +list(APPEND ogre2_target_install_rpath ${OGRE2_LIBRARY_DIRS}) set_property( TARGET ${ogre2_target} PROPERTY INSTALL_RPATH - ${OGRE2_LIBRARY_DIRS} + ${ogre2_target_install_rpath} ) target_include_directories(${ogre2_target} From 565556680d119ac8bc57e74bc847b57e1e71fecc Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 18 Sep 2023 16:05:55 -0700 Subject: [PATCH 22/34] Fix projector FOV, orientation, and crashes (#913) * Fix FOV calculation, projected texture orientation, crash when heighmaps are present Signed-off-by: Ian Chen Co-authored-by: Addisu Z. Taddese --- ogre2/src/Ogre2Projector.cc | 9 +- .../media/Hlms/Terra/GLSL/PixelShader_ps.glsl | 23 +++- .../Terra/gz/500.gz_Structs_piece_all.any | 3 + test/integration/projector.cc | 107 ++++++++++++++++-- 4 files changed, 131 insertions(+), 11 deletions(-) diff --git a/ogre2/src/Ogre2Projector.cc b/ogre2/src/Ogre2Projector.cc index 1e25281e8..6052acc5d 100644 --- a/ogre2/src/Ogre2Projector.cc +++ b/ogre2/src/Ogre2Projector.cc @@ -110,15 +110,16 @@ Ogre2Projector::Ogre2Projector() ///////////////////////////////////////////////// Ogre2Projector::~Ogre2Projector() { - this->SetEnabled(false); - if (!this->scene->IsInitialized()) return; + this->SetEnabled(false); + for (const auto &ogreCamIt : this->dataPtr->camerasWithListener) { Ogre::IdString camName = ogreCamIt.second; auto ogreCam = this->scene->OgreSceneManager()->findCameraNoThrow(camName); + if (ogreCam) ogreCam->removeListener(this->dataPtr->listener.get()); } this->dataPtr->camerasWithListener.clear(); @@ -230,6 +231,7 @@ void Ogre2Projector::CreateProjector() { this->dataPtr->decalNode = this->ogreNode->createChildSceneNode(); this->dataPtr->decalNode->roll(Ogre::Degree(90)); + this->dataPtr->decalNode->yaw(Ogre::Degree(180)); this->dataPtr->decal = this->scene->OgreSceneManager()->createDecal(); this->dataPtr->decalNode->attachObject(this->dataPtr->decal); @@ -275,7 +277,8 @@ void Ogre2Projector::CreateProjector() // approximate frustum size common::Image image(this->textureName); - const double aspectRatio = image.Width() / image.Height(); + const double aspectRatio = static_cast(image.Width()) / + static_cast(image.Height()); const double vfov = 2.0 * atan(tan(this->hfov.Radian() / 2.0) / aspectRatio); diff --git a/ogre2/src/media/Hlms/Terra/GLSL/PixelShader_ps.glsl b/ogre2/src/media/Hlms/Terra/GLSL/PixelShader_ps.glsl index 3b34287df..186ec618f 100644 --- a/ogre2/src/media/Hlms/Terra/GLSL/PixelShader_ps.glsl +++ b/ogre2/src/media/Hlms/Terra/GLSL/PixelShader_ps.glsl @@ -108,7 +108,28 @@ vulkan( layout( ogre_s@value(terrainNormals) ) uniform sampler samplerStateTerra @insertpiece( DeclParallaxLocalCorrect ) @end -@insertpiece( DeclDecalsSamplers ) +// The DeclDecalsSamplers insertpiece does not seem to do anything. +// The contents from DeclDecalsSamplers are manually pasted below +// This prevents a crash when there are decals in the scene +// @insertpiece( DeclDecalsSamplers ) +@property( hlms_forwardplus ) +@property( hlms_enable_decals ) + @piece( DeclDecalsSamplers ) + @property( syntax == glslvk ) + layout( ogre_s@value(decalsSampler) ) uniform sampler decalsSampler; + @end + @property( hlms_decals_diffuse ) vulkan_layout( ogre_t@value(decalsDiffuseTex) ) uniform texture2DArray decalsDiffuseTex;@end + @property( hlms_decals_normals )vulkan_layout( ogre_t@value(decalsNormalsTex) ) uniform texture2DArray decalsNormalsTex;@end + @property( hlms_decals_diffuse == hlms_decals_emissive ) + #define decalsEmissiveTex decalsDiffuseTex + @end + @property( hlms_decals_emissive && hlms_decals_diffuse != hlms_decals_emissive ) + vulkan_layout( ogre_t@value(decalsEmissiveTex) ) uniform texture2DArray decalsEmissiveTex; + @end + @end +@end +@end + @insertpiece( DeclShadowMapMacros ) @insertpiece( DeclShadowSamplers ) diff --git a/ogre2/src/media/Hlms/Terra/gz/500.gz_Structs_piece_all.any b/ogre2/src/media/Hlms/Terra/gz/500.gz_Structs_piece_all.any index 60ca19c92..659d3bce2 100644 --- a/ogre2/src/media/Hlms/Terra/gz/500.gz_Structs_piece_all.any +++ b/ogre2/src/media/Hlms/Terra/gz/500.gz_Structs_piece_all.any @@ -8,4 +8,7 @@ @piece( custom_VStoPS_terra ) INTERPOLANT( float localHeight, @counter(texcoord) ); + + // added to prevent crash when decals are in the scene + INTERPOLANT( float3 normal, @counter(texcoord) ); @end diff --git a/test/integration/projector.cc b/test/integration/projector.cc index 134380c4f..4fc2d0676 100644 --- a/test/integration/projector.cc +++ b/test/integration/projector.cc @@ -20,8 +20,10 @@ #include "CommonRenderingTest.hh" #include +#include #include "gz/rendering/Camera.hh" +#include "gz/rendering/Heightmap.hh" #include "gz/rendering/Material.hh" #include "gz/rendering/Projector.hh" #include "gz/rendering/Scene.hh" @@ -47,11 +49,6 @@ TEST_F(ProjectorTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Visibility)) ScenePtr scene = engine->CreateScene("scene"); ASSERT_NE(nullptr, scene); - // Projector and can only be accessed by the scene extension API - // in gz-rendering7 - if (!scene->Extension()) - return; - scene->SetBackgroundColor(0, 0, 0); scene->SetAmbientLight(1, 1, 1); @@ -152,11 +149,9 @@ TEST_F(ProjectorTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Visibility)) common::Image imgA; imgA.SetFromData(dataA, width, height, common::Image::RGB_INT8); - imgA.SavePNG("imageA.png"); common::Image imgB; imgB.SetFromData(dataB, width, height, common::Image::RGB_INT8); - imgB.SavePNG("imageB.png"); for (unsigned int i = 0; i < height; ++i) { @@ -184,3 +179,101 @@ TEST_F(ProjectorTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Visibility)) // Clean up engine->DestroyScene(scene); } + +///////////////////////////////////////////////// +TEST_F(ProjectorTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Heightmap)) +{ + // This test checks that projectors and heightmaps can co-exist + ScenePtr scene = engine->CreateScene("scene"); + ASSERT_NE(nullptr, scene); + + scene->SetBackgroundColor(0, 0, 0); + scene->SetAmbientLight(1, 1, 1); + + VisualPtr root = scene->RootVisual(); + ASSERT_NE(nullptr, root); + + DirectionalLightPtr light0 = scene->CreateDirectionalLight(); + light0->SetDirection(0.0, 0.0, -1); + light0->SetDiffuseColor(1.0, 1.0, 1.0); + light0->SetSpecularColor(1.0, 1.0, 1.0); + root->AddChild(light0); + + CameraPtr cameraA = scene->CreateCamera(); + ASSERT_NE(nullptr, cameraA); + cameraA->SetWorldPosition(0, 0, -2); + cameraA->SetWorldRotation(0, GZ_PI / 2.0, 0); + cameraA->SetVisibilityMask(0x01); + cameraA->SetImageWidth(256); + cameraA->SetImageHeight(256); + root->AddChild(cameraA); + + // create projector + std::string textureRed = common::joinPaths( + TEST_MEDIA_PATH, "materials", "textures", + "red_texture.png"); + ProjectorPtr projectorA = scene->CreateProjector(); + ASSERT_NE(nullptr, projectorA); + projectorA->SetNearClipPlane(1.0); + projectorA->SetFarClipPlane(6.0); + projectorA->SetTexture(textureRed); + projectorA->SetVisibilityFlags(0x01); + projectorA->SetWorldRotation(0, GZ_PI / 2.0, 0); + root->AddChild(projectorA); + + // create ImageHeightmap + auto data = std::make_shared(); + data->Load(common::joinPaths(TEST_MEDIA_PATH, "heightmap_bowl.png")); + + HeightmapDescriptor desc; + desc.SetName("example_bowl"); + desc.SetData(data); + desc.SetSize({ 17, 17, 7.0 }); + desc.SetSampling(2u); + desc.SetUseTerrainPaging(false); + + const auto textureImage = + common::joinPaths(TEST_MEDIA_PATH, "materials", "textures", "texture.png"); + const auto normalImage = common::joinPaths(TEST_MEDIA_PATH, "materials", + "textures", "flat_normal.png"); + + HeightmapTexture textureA; + textureA.SetSize(1.0); + textureA.SetDiffuse(textureImage); + textureA.SetNormal(normalImage); + desc.AddTexture(textureA); + + HeightmapBlend blendA; + blendA.SetMinHeight(2.0); + blendA.SetFadeDistance(5.0); + desc.AddBlend(blendA); + + HeightmapTexture textureB; + textureB.SetSize(1.0); + textureB.SetDiffuse(textureImage); + textureB.SetNormal(normalImage); + desc.AddTexture(textureB); + + HeightmapBlend blendB; + blendB.SetMinHeight(4.0); + blendB.SetFadeDistance(5.0); + desc.AddBlend(blendB); + + HeightmapTexture textureC; + textureC.SetSize(1.0); + textureC.SetDiffuse(textureImage); + textureC.SetNormal(normalImage); + desc.AddTexture(textureC); + auto heightmapGeom = scene->CreateHeightmap(desc); + auto vis = scene->CreateVisual(); + vis->AddGeometry(heightmapGeom); + root->AddChild(vis); + + // render once to update scene graph and make sure + // there are no crashes + Image imageA = cameraA->CreateImage(); + EXPECT_NO_THROW(cameraA->Capture(imageA)); + + // Clean up + engine->DestroyScene(scene); +} From 4190ff68ef51dbe8baa0e360402afb12c2736d0a Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 20 Sep 2023 13:18:09 -0700 Subject: [PATCH 23/34] Remove gazebo scene viewer example (#915) * remove gazebo scene viewer example --------- Signed-off-by: Ian Chen --- examples/gazebo_scene_viewer/CMakeLists.txt | 53 - examples/gazebo_scene_viewer/CameraWindow.cc | 213 -- examples/gazebo_scene_viewer/CameraWindow.hh | 41 - examples/gazebo_scene_viewer/GazeboDemo.cc | 116 - .../gazebo_scene_viewer/GazeboWorldDemo.cc | 116 - examples/gazebo_scene_viewer/SceneManager.cc | 2136 ----------------- examples/gazebo_scene_viewer/SceneManager.hh | 140 -- .../SceneManagerPrivate.hh | 473 ---- .../gazebo_scene_viewer/falling_objects.world | 398 --- tutorials.md.in | 1 - tutorials/11_gazebo_scene_viewer_tutorial.md | 72 - 11 files changed, 3759 deletions(-) delete mode 100644 examples/gazebo_scene_viewer/CMakeLists.txt delete mode 100644 examples/gazebo_scene_viewer/CameraWindow.cc delete mode 100644 examples/gazebo_scene_viewer/CameraWindow.hh delete mode 100644 examples/gazebo_scene_viewer/GazeboDemo.cc delete mode 100644 examples/gazebo_scene_viewer/GazeboWorldDemo.cc delete mode 100644 examples/gazebo_scene_viewer/SceneManager.cc delete mode 100644 examples/gazebo_scene_viewer/SceneManager.hh delete mode 100644 examples/gazebo_scene_viewer/SceneManagerPrivate.hh delete mode 100644 examples/gazebo_scene_viewer/falling_objects.world delete mode 100644 tutorials/11_gazebo_scene_viewer_tutorial.md diff --git a/examples/gazebo_scene_viewer/CMakeLists.txt b/examples/gazebo_scene_viewer/CMakeLists.txt deleted file mode 100644 index 2f851c29c..000000000 --- a/examples/gazebo_scene_viewer/CMakeLists.txt +++ /dev/null @@ -1,53 +0,0 @@ -cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) -project(gz-rendering-gazebo-scene-viewer) -find_package(gz-rendering8 REQUIRED) -find_package(gazebo REQUIRED) - -include_directories(SYSTEM ${GAZEBO_INCLUDE_DIRS}) - -find_package(GLUT REQUIRED) -include_directories(SYSTEM ${GLUT_INCLUDE_DIRS}) -link_directories(${GLUT_LIBRARY_DIRS}) - -find_package(OpenGL REQUIRED) -include_directories(SYSTEM ${OpenGL_INCLUDE_DIRS}) -link_directories(${OpenGL_LIBRARY_DIRS}) - -if (NOT APPLE) - find_package(GLEW REQUIRED) - include_directories(SYSTEM ${GLEW_INCLUDE_DIRS}) - link_directories(${GLEW_LIBRARY_DIRS}) - set(STD_CXX_FS_LIBRARIES "stdc++fs") -endif() - -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations") - -add_executable(gazebo_scene_viewer - CameraWindow.cc - GazeboDemo.cc - SceneManager.cc -) - -target_link_libraries(gazebo_scene_viewer - ${GLUT_LIBRARIES} - ${OPENGL_LIBRARIES} - ${GLEW_LIBRARIES} - ${GAZEBO_LIBRARIES} - ${GZ-RENDERING_LIBRARIES} - ${STD_CXX_FS_LIBRARIES} -) - -add_executable(gazebo_scene_viewer2_demo - CameraWindow.cc - GazeboWorldDemo.cc - SceneManager.cc -) - -target_link_libraries(gazebo_scene_viewer2_demo - ${GLUT_LIBRARIES} - ${OPENGL_LIBRARIES} - ${GLEW_LIBRARIES} - ${GAZEBO_LIBRARIES} - ${GZ-RENDERING_LIBRARIES} - ${STD_CXX_FS_LIBRARIES} -) diff --git a/examples/gazebo_scene_viewer/CameraWindow.cc b/examples/gazebo_scene_viewer/CameraWindow.cc deleted file mode 100644 index 96e37f437..000000000 --- a/examples/gazebo_scene_viewer/CameraWindow.cc +++ /dev/null @@ -1,213 +0,0 @@ -/* - * Copyright (C) 2015 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. - * - */ -#if __APPLE__ - #include - #include - #include -#else - #include - #include - #include -#endif - -#if !defined(__APPLE__) && !defined(_WIN32) - #include - #undef Status -#endif - -#include -#include - -#include -#include -#include - -#include "CameraWindow.hh" -#include "SceneManager.hh" - -#define KEY_ESC 27 -#define KEY_TAB 9 - -////////////////////////////////////////////////// -unsigned int imgw = 0; -unsigned int imgh = 0; - -std::vector g_cameras; -gz::rendering::CameraPtr g_camera; -gz::rendering::CameraPtr g_currCamera; -unsigned int g_cameraIndex = 0; -gz::ImagePtr g_image; - -bool g_initContext = false; - -#if __APPLE__ - CGLContextObj g_context; - CGLContextObj g_glutContext; -#elif _WIN32 -#else - GLXContext g_context; - Display *g_display; - GLXDrawable g_drawable; - GLXContext g_glutContext; - Display *g_glutDisplay; - GLXDrawable g_glutDrawable; -#endif - -double g_offset = 0.0; - -////////////////////////////////////////////////// -void GlutRun(std::vector _cameras) -{ -#if __APPLE__ - g_context = CGLGetCurrentContext(); -#elif _WIN32 -#else - g_context = glXGetCurrentContext(); - g_display = glXGetCurrentDisplay(); - g_drawable = glXGetCurrentDrawable(); -#endif - - g_cameras = _cameras; - GlutInitCamera(_cameras[0]); - GlutInitContext(); - GlutPrintUsage(); - -#if __APPLE__ - g_glutContext = CGLGetCurrentContext(); -#elif _WIN32 -#else - g_glutDisplay = glXGetCurrentDisplay(); - g_glutDrawable = glXGetCurrentDrawable(); - g_glutContext = glXGetCurrentContext(); -#endif - - glutMainLoop(); -} - -////////////////////////////////////////////////// -void GlutDisplay() -{ -#if __APPLE__ - CGLSetCurrentContext(g_context); -#elif _WIN32 -#else - if (g_display) - { - glXMakeCurrent(g_display, g_drawable, g_context); - } -#endif - - g_cameras[g_cameraIndex]->Capture(*g_image); - -#if __APPLE__ - CGLSetCurrentContext(g_glutContext); -#elif _WIN32 -#else - glXMakeCurrent(g_glutDisplay, g_glutDrawable, g_glutContext); -#endif - - unsigned char *data = g_image->Data(); - - glClearColor(0.5, 0.5, 0.5, 1); - glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - glPixelZoom(1, -1); - glRasterPos2f(-1, 1); - glDrawPixels(imgw, imgh, GL_RGB, GL_UNSIGNED_BYTE, data); - - glutSwapBuffers(); -} - -////////////////////////////////////////////////// -void GlutIdle() -{ -#if __APPLE__ - CGLSetCurrentContext(g_context); -#elif _WIN32 -#else - if (g_display) - { - glXMakeCurrent(g_display, g_drawable, g_context); - } -#endif - - gz::rendering::SceneManager* manager = - gz::rendering::SceneManager::Instance(); - - manager->UpdateScenes(); - -#if __APPLE__ - CGLSetCurrentContext(g_glutContext); -#elif _WIN32 -#else - glXMakeCurrent(g_glutDisplay, g_glutDrawable, g_glutContext); -#endif - - glutPostRedisplay(); -} - -////////////////////////////////////////////////// -void GlutKeyboard(unsigned char _key, int, int) -{ - if (_key == KEY_ESC || _key == 'q' || _key == 'Q') - { - // stop transport - gazebo::transport::stop(); - gazebo::transport::fini(); - exit(0); - } - else if (_key == KEY_TAB) - { - g_cameraIndex = (g_cameraIndex + 1) % g_cameras.size(); - } -} - -////////////////////////////////////////////////// -void GlutReshape(int, int) -{ -} - -////////////////////////////////////////////////// -void GlutInitCamera(gz::rendering::CameraPtr _camera) -{ - g_camera = _camera; - imgw = g_camera->ImageWidth(); - imgh = g_camera->ImageHeight(); - gz::rendering::Image image = g_camera->CreateImage(); - g_image = std::make_shared(image); - g_camera->Capture(*g_image); -} - -////////////////////////////////////////////////// -void GlutInitContext() -{ - glutInitDisplayMode(GLUT_DOUBLE); - glutInitWindowPosition(0, 0); - glutInitWindowSize(imgw, imgh); - glutCreateWindow("Gazebo"); - glutDisplayFunc(GlutDisplay); - glutIdleFunc(GlutIdle); - glutKeyboardFunc(GlutKeyboard); - glutReshapeFunc(GlutReshape); -} - -void GlutPrintUsage() -{ - std::cout << "===============================" << std::endl; - std::cout << " TAB - Switch render engines " << std::endl; - std::cout << " ESC - Exit " << std::endl; - std::cout << "===============================" << std::endl; -} diff --git a/examples/gazebo_scene_viewer/CameraWindow.hh b/examples/gazebo_scene_viewer/CameraWindow.hh deleted file mode 100644 index 0ed0bb3e4..000000000 --- a/examples/gazebo_scene_viewer/CameraWindow.hh +++ /dev/null @@ -1,41 +0,0 @@ -/* - * Copyright (C) 2015 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 GZ_RENDERING_EXAMPLES_CAMERAWINDOW_HH_ -#define GZ_RENDERING_EXAMPLES_CAMERAWINDOW_HH_ - -#include -#include "gz/rendering/RenderTypes.hh" - -namespace gz = gz::rendering; - -void GlutRun(std::vector _cameras); - -void GlutDisplay(); - -void GlutIdle(); - -void GlutKeyboard(unsigned char _key, int _x, int _y); - -void GlutReshape(int _width, int _height); - -void GlutInitCamera(gz::CameraPtr _camera); - -void GlutInitContext(); - -void GlutPrintUsage(); - -#endif diff --git a/examples/gazebo_scene_viewer/GazeboDemo.cc b/examples/gazebo_scene_viewer/GazeboDemo.cc deleted file mode 100644 index b85718c9d..000000000 --- a/examples/gazebo_scene_viewer/GazeboDemo.cc +++ /dev/null @@ -1,116 +0,0 @@ -/* - * Copyright (C) 2015 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. - * - */ - -#if defined(__APPLE__) - #include - #include -#elif not defined(_WIN32) - #include - #include - #include -#endif - -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "CameraWindow.hh" -#include "SceneManager.hh" - -using namespace gz; -using namespace rendering; - -void Connect() -{ - gazebo::common::Console::SetQuiet(false); - gazebo::transport::init(); - gazebo::transport::run(); - - SceneManager *manager = SceneManager::Instance(); - manager->Load(); - manager->Init(); -} - -ScenePtr CreateScene(const std::string &_engine) -{ - RenderEngine *engine = rendering::engine(_engine); - if (!engine) - { - std::cout << "Engine '" << _engine - << "' is not supported" << std::endl; - return ScenePtr(); - } - - ScenePtr scene = engine->CreateScene("scene"); - SceneManager::Instance()->AddScene(scene); - return scene; -} - -CameraPtr CreateCamera(const std::string &_engine) -{ - ScenePtr scene = CreateScene(_engine); - if (!scene) - return CameraPtr(); - VisualPtr root = scene->RootVisual(); - - CameraPtr camera = scene->CreateCamera("camera"); - camera->SetLocalPosition(5.0, -5.0, 2.0); - camera->SetLocalRotation(0.0, 0.27, 2.36); - camera->SetImageWidth(640); - camera->SetImageHeight(480); - camera->SetAntiAliasing(2); - camera->SetAspectRatio(1.333); - camera->SetHFOV(GZ_PI / 2); - root->AddChild(camera); - - return camera; -} - -int main(int _argc, char** _argv) -{ - glutInit(&_argc, _argv); - - // Expose engine name to command line because we can't instantiate both - // ogre and ogre2 at the same time - std::string ogreEngineName("ogre"); - if (_argc > 1) - { - ogreEngineName = _argv[1]; - } - - Connect(); - std::vector cameras; - std::vector engineNames; - - engineNames.push_back(ogreEngineName); - - for (auto engineName : engineNames) - { - CameraPtr camera = CreateCamera(engineName); - if (camera) - cameras.push_back(camera); - } - - GlutRun(cameras); - return 0; -} diff --git a/examples/gazebo_scene_viewer/GazeboWorldDemo.cc b/examples/gazebo_scene_viewer/GazeboWorldDemo.cc deleted file mode 100644 index 79866de69..000000000 --- a/examples/gazebo_scene_viewer/GazeboWorldDemo.cc +++ /dev/null @@ -1,116 +0,0 @@ -/* - * Copyright (C) 2015 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. - * - */ - -#if defined(__APPLE__) - #include - #include -#elif not defined(_WIN32) - #include - #include - #include -#endif - -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "CameraWindow.hh" -#include "SceneManager.hh" - -using namespace gz; -using namespace rendering; - -void Connect() -{ - common::Console::SetVerbosity(4); - gazebo::transport::init(); - gazebo::transport::run(); - - SceneManager* manager = SceneManager::Instance(); - manager->Load(); - manager->Init(); -} - -ScenePtr CreateScene(const std::string &_engine) -{ - RenderEngine *engine = rendering::engine(_engine); - if (!engine) - { - std::cout << "Engine '" << _engine - << "' is not supported" << std::endl; - return ScenePtr(); - } - - ScenePtr scene = engine->CreateScene("scene"); - SceneManager::Instance()->AddScene(scene); - return scene; -} - -CameraPtr CreateCamera(const std::string &_engine) -{ - ScenePtr scene = CreateScene(_engine); - if (!scene) - return CameraPtr(); - VisualPtr root = scene->RootVisual(); - - CameraPtr camera = scene->CreateCamera("camera"); - camera->SetLocalPosition(-1.0, 1.0, 0.0); - camera->SetLocalRotation(0.0, 0.35, -0.175); - camera->SetImageWidth(640); - camera->SetImageHeight(480); - camera->SetAntiAliasing(2); - camera->SetAspectRatio(1.333); - camera->SetHFOV(GZ_PI / 3); - root->AddChild(camera); - - return camera; -} - -int main(int _argc, char** _argv) -{ - glutInit(&_argc, _argv); - - // Expose engine name to command line because we can't instantiate both - // ogre and ogre2 at the same time - std::string ogreEngineName("ogre"); - if (_argc > 1) - { - ogreEngineName = _argv[1]; - } - - Connect(); - std::vector cameras; - std::vector engineNames; - - engineNames.push_back(ogreEngineName); - - for (auto engineName : engineNames) - { - CameraPtr camera = CreateCamera(engineName); - if (camera) - cameras.push_back(camera); - } - - GlutRun(cameras); - return 0; -} diff --git a/examples/gazebo_scene_viewer/SceneManager.cc b/examples/gazebo_scene_viewer/SceneManager.cc deleted file mode 100644 index 09a486317..000000000 --- a/examples/gazebo_scene_viewer/SceneManager.cc +++ /dev/null @@ -1,2136 +0,0 @@ -/* - * Copyright (C) 2015 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. - * - */ - -#include - -#include -#include -#include - -#include -#include -#include -#include - -#include "SceneManager.hh" -#include "SceneManagerPrivate.hh" - -using namespace gz; -using namespace rendering; - -////////////////////////////////////////////////// -SceneManager::SceneManager() : - pimpl(new SceneManagerPrivate) -{ -} - -////////////////////////////////////////////////// -SceneManager::~SceneManager() -{ - this->Fini(); - delete this->pimpl; -} - -////////////////////////////////////////////////// -void SceneManager::Load() -{ - this->pimpl->Load(); -} - -////////////////////////////////////////////////// -void SceneManager::Init() -{ - this->pimpl->Init(); -} - -////////////////////////////////////////////////// -void SceneManager::Fini() -{ - this->pimpl->Fini(); -} - -////////////////////////////////////////////////// -unsigned int SceneManager::SceneCount() const -{ - return this->pimpl->SceneCount(); -} - -////////////////////////////////////////////////// -bool SceneManager::HasScene(unsigned int _id) const -{ - return this->pimpl->HasScene(_id); -} - -////////////////////////////////////////////////// -bool SceneManager::HasScene(const std::string &_name) const -{ - return this->pimpl->HasScene(_name); -} - -////////////////////////////////////////////////// -bool SceneManager::HasScene(ConstScenePtr _scene) const -{ - return this->pimpl->HasScene(_scene); -} - -////////////////////////////////////////////////// -ScenePtr SceneManager::Scene(unsigned int _id) const -{ - return this->pimpl->Scene(_id); -} - -////////////////////////////////////////////////// -ScenePtr SceneManager::Scene(const std::string &_name) const -{ - return this->pimpl->Scene(_name); -} - -////////////////////////////////////////////////// -ScenePtr SceneManager::SceneAt(unsigned int _index) const -{ - return this->pimpl->SceneAt(_index); -} - -////////////////////////////////////////////////// -void SceneManager::AddScene(ScenePtr _scene) -{ - this->pimpl->AddScene(_scene); -} - -////////////////////////////////////////////////// -ScenePtr SceneManager::RemoveScene(unsigned int _id) -{ - return this->pimpl->RemoveScene(_id); -} - -////////////////////////////////////////////////// -ScenePtr SceneManager::RemoveScene(const std::string &_name) -{ - return this->pimpl->RemoveScene(_name); -} - -////////////////////////////////////////////////// -ScenePtr SceneManager::RemoveScene(ScenePtr _scene) -{ - return this->pimpl->RemoveScene(_scene); -} - -////////////////////////////////////////////////// -ScenePtr SceneManager::RemoveSceneAt(unsigned int _index) -{ - return this->pimpl->RemoveSceneAt(_index); -} - -////////////////////////////////////////////////// -void SceneManager::RemoveScenes() -{ - this->pimpl->RemoveScenes(); -} - -////////////////////////////////////////////////// -void SceneManager::UpdateScenes() -{ - this->pimpl->UpdateScenes(); -} - -////////////////////////////////////////////////// -SceneManagerPrivate::SceneManagerPrivate() : - currentSceneManager(new CurrentSceneManager), - newSceneManager(new NewSceneManager), - sceneRequestId(-1), - promotionNeeded(false) -{ -} - -////////////////////////////////////////////////// -SceneManagerPrivate::~SceneManagerPrivate() -{ - newSceneManager.reset(); - currentSceneManager.reset(); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::Load() -{ -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::Init() -{ -//! [init scene manager] - // listen for pre-render events - this->preRenderConn = gazebo::event::Events::ConnectPreRender( - std::bind(&SceneManagerPrivate::UpdateScenes, this)); - - // setup transport communication node - this->transportNode = gazebo::transport::NodePtr( - new gazebo::transport::Node()); - this->transportNode->Init(); - - // create publisher for sending scene request - this->requestPub = - this->transportNode->Advertise("~/request"); - - // listen for deletion requests - this->requestSub = this->transportNode->Subscribe("~/request", - &SceneManagerPrivate::OnRequest, this); - - // listen for scene & deletion requests responses - this->responseSub = this->transportNode->Subscribe("~/response", - &SceneManagerPrivate::OnResponse, this); - - // listen for to light updates - this->lightSub = this->transportNode->Subscribe("~/light", - &SceneManagerPrivate::OnLightUpdate, this); - - // TODO(anyone): handle non-local model info - - // listen for to model updates - this->modelSub = this->transportNode->Subscribe("~/model/info", - &SceneManagerPrivate::OnModelUpdate, this); - - // listen for to joint updates - this->jointSub = this->transportNode->Subscribe("~/joint", - &SceneManagerPrivate::OnJointUpdate, this); - - // listen for to visual updates - this->visualSub = this->transportNode->Subscribe("~/visual", - &SceneManagerPrivate::OnVisualUpdate, this); - - // listen for to sensor updates - this->sensorSub = this->transportNode->Subscribe("~/sensor", - &SceneManagerPrivate::OnSensorUpdate, this); - - // TODO(anyone): handle non-local pose info - - // listen for to pose updates - this->poseSub = this->transportNode->Subscribe("~/pose/local/info", - &SceneManagerPrivate::OnPoseUpdate, this); -//! [init scene manager] -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::Fini() -{ - // block all message receival during cleanup - std::lock_guard generalLock(this->generalMutex); - std::lock_guard poseLock(this->poseMutex); - - this->transportNode->Fini(); -} - -////////////////////////////////////////////////// -unsigned int SceneManagerPrivate::SceneCount() const -{ - unsigned int count = 0; - count += this->currentSceneManager->SceneCount(); - count += this->newSceneManager->SceneCount(); - return count; -} - -////////////////////////////////////////////////// -bool SceneManagerPrivate::HasScene(unsigned int _id) const -{ - return this->currentSceneManager->HasScene(_id) || - this->newSceneManager->HasScene(_id); -} - -////////////////////////////////////////////////// -bool SceneManagerPrivate::HasScene(const std::string &_name) const -{ - return this->currentSceneManager->HasScene(_name) || - this->newSceneManager->HasScene(_name); -} - -////////////////////////////////////////////////// -bool SceneManagerPrivate::HasScene(ConstScenePtr _scene) const -{ - return this->currentSceneManager->HasScene(_scene) || - this->newSceneManager->HasScene(_scene); -} - -////////////////////////////////////////////////// -ScenePtr SceneManagerPrivate::Scene(unsigned int _id) const -{ - ScenePtr scene = this->currentSceneManager->Scene(_id); - return (scene) ? scene : this->newSceneManager->Scene(_id); -} - -////////////////////////////////////////////////// -ScenePtr SceneManagerPrivate::Scene(const std::string &_name) const -{ - ScenePtr scene = this->currentSceneManager->Scene(_name); - return (scene) ? scene : this->newSceneManager->Scene(_name); -} - -////////////////////////////////////////////////// -ScenePtr SceneManagerPrivate::SceneAt(unsigned int _index) const -{ - ScenePtr scene = this->currentSceneManager->SceneAt(_index); - return (scene) ? scene : this->newSceneManager->SceneAt(_index); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::AddScene(ScenePtr _scene) -{ - // block all message receival during update - std::lock_guard generalLock(this->generalMutex); - std::lock_guard poseLock(this->poseMutex); - - this->newSceneManager->AddScene(_scene); - - // check if new request needed - if (this->sceneRequestId < 0) - { - this->SendSceneRequest(); - } -} - -////////////////////////////////////////////////// -ScenePtr SceneManagerPrivate::RemoveScene(unsigned int _id) -{ - // block all message receival during update - std::lock_guard generalLock(this->generalMutex); - std::lock_guard poseLock(this->poseMutex); - - ScenePtr scene = this->currentSceneManager->RemoveScene(_id); - return (scene) ? scene : this->newSceneManager->RemoveScene(_id); -} - -////////////////////////////////////////////////// -ScenePtr SceneManagerPrivate::RemoveScene(const std::string &_name) -{ - // block all message receival during update - std::lock_guard generalLock(this->generalMutex); - std::lock_guard poseLock(this->poseMutex); - - ScenePtr scene = this->currentSceneManager->RemoveScene(_name); - return (scene) ? scene : this->newSceneManager->RemoveScene(_name); -} - -////////////////////////////////////////////////// -ScenePtr SceneManagerPrivate::RemoveScene(ScenePtr _scene) -{ - // block all message receival during update - std::lock_guard generalLock(this->generalMutex); - std::lock_guard poseLock(this->poseMutex); - - ScenePtr scene = this->currentSceneManager->RemoveScene(_scene); - return (scene) ? scene : this->newSceneManager->RemoveScene(_scene); -} - -////////////////////////////////////////////////// -ScenePtr SceneManagerPrivate::RemoveSceneAt(unsigned int _index) -{ - // block all message receival during update - std::lock_guard generalLock(this->generalMutex); - std::lock_guard poseLock(this->poseMutex); - - ScenePtr scene = this->currentSceneManager->RemoveSceneAt(_index); - return (scene) ? scene : this->newSceneManager->RemoveSceneAt(_index); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::RemoveScenes() -{ - // block all message receival during update - std::lock_guard generalLock(this->generalMutex); - std::lock_guard poseLock(this->poseMutex); - - this->currentSceneManager->RemoveScenes(); - this->newSceneManager->RemoveScenes(); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::UpdateScenes() -{ - // block all message receival during update - std::lock_guard generalLock(this->generalMutex); - std::lock_guard poseLock(this->poseMutex); - - this->currentSceneManager->UpdateScenes(); - - // check if scene reponse received - if (this->promotionNeeded) - { - this->newSceneManager->UpdateScenes(); - this->PromoteNewScenes(); - this->promotionNeeded = false; - } -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::SendSceneRequest() -{ - gazebo::msgs::Request *request = gazebo::msgs::CreateRequest("scene_info"); - this->sceneRequestId = request->id(); - this->requestPub->Publish(*request); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::OnRequest(::ConstRequestPtr &_requestMsg) -{ - // check if deletion request - if (_requestMsg->request() == "entity_delete") - { - // record details & wait for response - unsigned int requestId = _requestMsg->id(); - std::string name = _requestMsg->data(); - this->requestedRemovals[requestId] = name; - } -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::OnResponse(::ConstResponsePtr &_responseMsg) -{ - // check if response to our scene request - if (_responseMsg->id() == this->sceneRequestId) - { - this->OnSceneResponse(_responseMsg); - } - - // else check if response to a delete request - else if (_responseMsg->request() == "entity_delete") - { - this->OnRemovalResponse(_responseMsg); - } -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::OnSceneResponse(::ConstResponsePtr &_responseMsg) -{ - // block all message receival during update - std::lock_guard generalLock(this->generalMutex); - std::lock_guard poseLock(this->poseMutex); - - // pass scene response to new scene manager - const std::string &data = _responseMsg->serialized_data(); - this->newSceneManager->SetSceneData(data); - - // update state - this->promotionNeeded = true; - this->sceneRequestId = -1; -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::OnRemovalResponse(::ConstResponsePtr &_responseMsg) -{ - // TODO(anyone): check if message sent after scene response - - unsigned int requestId = _responseMsg->id(); - - // check if delete was successful - if (_responseMsg->response() == "success") - { - std::string name = this->requestedRemovals[requestId]; - this->OnRemovalUpdate(name); - } - - // delete request regardless - this->requestedRemovals.erase(requestId); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::OnSceneUpdate(::ConstScenePtr) -{ - // block all message receival during update - std::lock_guard generalLock(this->generalMutex); - std::lock_guard poseLock(this->poseMutex); - - this->DemoteCurrentScenes(); - this->sceneRequestId = -1; - this->SendSceneRequest(); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::OnLightUpdate(::ConstLightPtr &_lightMsg) -{ - // wait for update unlock before adding message - std::lock_guard lock(this->generalMutex); - - if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr) - { - return; - } - - this->currentSceneManager->OnLightUpdate(_lightMsg); - this->newSceneManager->OnLightUpdate(_lightMsg); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::OnModelUpdate(::ConstModelPtr &_modelMsg) -{ - // wait for update unlock before adding message - std::lock_guard lock(this->generalMutex); - - if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr) - { - return; - } - - this->currentSceneManager->OnModelUpdate(_modelMsg); - this->newSceneManager->OnModelUpdate(_modelMsg); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::OnJointUpdate(::ConstJointPtr &_jointMsg) -{ - // wait for update unlock before adding message - std::lock_guard lock(this->generalMutex); - - if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr) - { - return; - } - - this->currentSceneManager->OnJointUpdate(_jointMsg); - this->newSceneManager->OnJointUpdate(_jointMsg); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::OnVisualUpdate(::ConstVisualPtr &_visualMsg) -{ - // wait for update unlock before adding message - std::lock_guard lock(this->generalMutex); - - if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr) - { - return; - } - - this->currentSceneManager->OnVisualUpdate(_visualMsg); - this->newSceneManager->OnVisualUpdate(_visualMsg); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::OnSensorUpdate(::ConstSensorPtr &_sensorMsg) -{ - // wait for update unlock before adding message - std::lock_guard lock(this->generalMutex); - - if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr) - { - return; - } - - this->currentSceneManager->OnSensorUpdate(_sensorMsg); - this->newSceneManager->OnSensorUpdate(_sensorMsg); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg) -{ - // wait for update unlock before adding message - std::lock_guard lock(this->poseMutex); - - if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr) - { - return; - } - - this->currentSceneManager->OnPoseUpdate(_posesMsg); - this->newSceneManager->OnPoseUpdate(_posesMsg); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::OnRemovalUpdate(const std::string &_name) -{ - // wait for update unlock before adding message - std::lock_guard lock(this->poseMutex); - - if (this->currentSceneManager == nullptr || this->newSceneManager == nullptr) - { - return; - } - - this->currentSceneManager->OnRemovalUpdate(_name); - this->newSceneManager->OnRemovalUpdate(_name); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::PromoteNewScenes() -{ - unsigned int newSceneCount = this->newSceneManager->SceneCount(); - - // move each new scene - for (unsigned int i = 0; i < newSceneCount; ++i) - { - ScenePtr scene = this->newSceneManager->SceneAt(i); - this->currentSceneManager->AddScene(scene); - } - - // clear new scenes - this->newSceneManager->Clear(); -} - -////////////////////////////////////////////////// -void SceneManagerPrivate::DemoteCurrentScenes() -{ - // promote new first to clear messages - // & to maintain scene index order - this->PromoteNewScenes(); - - // get updated current scene size - unsigned int currSceneCount = this->currentSceneManager->SceneCount(); - - // move each current scene - for (unsigned int i = 0; i < currSceneCount; ++i) - { - ScenePtr scene = this->currentSceneManager->SceneAt(i); - this->newSceneManager->AddScene(scene); - scene->Clear(); - } - - // clear current scenes - this->currentSceneManager->Clear(); -} - -////////////////////////////////////////////////// -SubSceneManager::SubSceneManager() : - activeScene(nullptr) -{ - this->CreateGeometryFunctionMap(); -} - -////////////////////////////////////////////////// -SubSceneManager::~SubSceneManager() -{ -} - -////////////////////////////////////////////////// -unsigned int SubSceneManager::SceneCount() const -{ - // TODO(anyone): encapsulate - - return this->scenes.size(); -} - -////////////////////////////////////////////////// -bool SubSceneManager::HasScene(unsigned int _id) const -{ - // TODO(anyone): encapsulate - - for (auto scene : this->scenes) - { - if (scene->Id() == _id) - { - return true; - } - } - - return false; -} - -////////////////////////////////////////////////// -bool SubSceneManager::HasScene(const std::string &_name) const -{ - // TODO(anyone): encapsulate - - for (auto scene : this->scenes) - { - if (scene->Name() == _name) - { - return true; - } - } - - return false; -} - -////////////////////////////////////////////////// -bool SubSceneManager::HasScene(ConstScenePtr _scene) const -{ - // TODO(anyone): encapsulate - - for (auto scene : this->scenes) - { - if (scene == _scene) - { - return true; - } - } - - return false; -} - -////////////////////////////////////////////////// -ScenePtr SubSceneManager::Scene(unsigned int _id) const -{ - // TODO(anyone): encapsulate - - for (auto scene : this->scenes) - { - if (scene->Id() == _id) - { - return scene; - } - } - - return nullptr; -} - -////////////////////////////////////////////////// -ScenePtr SubSceneManager::Scene(const std::string &_name) const -{ - // TODO(anyone): encapsulate - - for (auto scene : this->scenes) - { - if (scene->Name() == _name) - { - return scene; - } - } - - return nullptr; -} - -////////////////////////////////////////////////// -ScenePtr SubSceneManager::SceneAt(unsigned int _index) const -{ - // TODO(anyone): encapsulate - - if (_index >= this->SceneCount()) - { - gzerr << "Invalid scene index: " << _index << std::endl; - return nullptr; - } - - auto iter = this->scenes.begin(); - std::advance(iter, _index); - return *iter; -} - -////////////////////////////////////////////////// -void SubSceneManager::AddScene(ScenePtr _scene) -{ - // TODO(anyone): encapsulate - - if (!_scene) - { - gzerr << "Cannot add null scene pointer" << std::endl; - return; - } - - if (this->HasScene(_scene)) - { - gzerr << "Scene has already been added" << std::endl; - return; - } - - this->scenes.push_back(_scene); -} - -////////////////////////////////////////////////// -ScenePtr SubSceneManager::RemoveScene(unsigned int _id) -{ - // TODO(anyone): encapsulate - - for (auto scene : this->scenes) - { - if (scene->Id() == _id) - { - return scene; - } - } - - return nullptr; -} - -////////////////////////////////////////////////// -ScenePtr SubSceneManager::RemoveScene(const std::string &_name) -{ - // TODO(anyone): encapsulate - - for (auto scene : this->scenes) - { - if (scene->Name() == _name) - { - return scene; - } - } - - return nullptr; -} - -////////////////////////////////////////////////// -ScenePtr SubSceneManager::RemoveScene(ScenePtr _scene) -{ - // TODO(anyone): encapsulate - - for (auto scene : this->scenes) - { - if (scene == _scene) - { - return scene; - } - } - - return nullptr; -} - -////////////////////////////////////////////////// -ScenePtr SubSceneManager::RemoveSceneAt(unsigned int _index) -{ - // TODO(anyone): encapsulate - - if (_index >= this->SceneCount()) - { - gzerr << "Invalid scene index: " << _index << std::endl; - return nullptr; - } - - auto iter = this->scenes.begin(); - std::advance(iter, _index); - ScenePtr scene = *iter; - this->scenes.erase(iter); - return scene; -} - -////////////////////////////////////////////////// -void SubSceneManager::RemoveScenes() -{ - this->Clear(); -} - -////////////////////////////////////////////////// -void SubSceneManager::UpdateScenes() -{ - // update each scene in list - for (auto scene : this->scenes) - { - this->activeScene = scene; - this->ProcessMessages(); - } - - ClearMessages(); - this->activeScene = nullptr; -} - -////////////////////////////////////////////////// -void SubSceneManager::Clear() -{ - this->scenes.clear(); - this->ClearMessages(); - this->activeScene = nullptr; -} - -////////////////////////////////////////////////// -void SubSceneManager::OnLightUpdate(::ConstLightPtr &_lightMsg) -{ - // check if message needed - if (!this->scenes.empty()) - { - this->lightMsgs.push_back(*_lightMsg); - } -} - -////////////////////////////////////////////////// -void SubSceneManager::OnModelUpdate(::ConstModelPtr &_modelMsg) -{ - // check if message needed - if (!this->scenes.empty()) - { - this->modelMsgs.push_back(*_modelMsg); - } -} - -////////////////////////////////////////////////// -void SubSceneManager::OnJointUpdate(::ConstJointPtr &_jointMsg) -{ - // check if message needed - if (!this->scenes.empty()) - { - this->jointMsgs.push_back(*_jointMsg); - } -} - -////////////////////////////////////////////////// -void SubSceneManager::OnVisualUpdate(::ConstVisualPtr &_visualMsg) -{ - // check if message needed - if (!this->scenes.empty()) - { - this->visualMsgs.push_back(*_visualMsg); - } -} - -////////////////////////////////////////////////// -void SubSceneManager::OnSensorUpdate(::ConstSensorPtr &_sensorMsg) -{ - // check if message needed - if (!this->scenes.empty()) - { - this->sensorMsgs.push_back(*_sensorMsg); - } -} - -////////////////////////////////////////////////// -void SubSceneManager::OnRemovalUpdate(const std::string &_name) -{ - // check if message needed - if (!this->scenes.empty()) - { - this->approvedRemovals.push_back(_name); - } -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessMessages() -{ - // process each queued message -//! [process message] - this->ProcessLights(); - this->ProcessModels(); - this->ProcessJoints(); - this->ProcessVisuals(); - this->ProcessSensors(); - this->ProcessPoses(); - this->ProcessRemovals(); -//! [process message] - - // flush changes to scene - this->activeScene->SetTime(this->timePosesReceived); - this->activeScene->PreRender(); -} - -////////////////////////////////////////////////// -void SubSceneManager::ClearMessages() -{ - this->lightMsgs.clear(); - this->modelMsgs.clear(); - this->jointMsgs.clear(); - this->visualMsgs.clear(); - this->sensorMsgs.clear(); - this->approvedRemovals.clear(); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessLight(const gazebo::msgs::Light &_lightMsg) -{ - // TODO(anyone): get parent when protobuf message is updated - this->ProcessLight(_lightMsg, this->activeScene->RootVisual()); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessLight(const gazebo::msgs::Light &_lightMsg, - VisualPtr _parent) -{ - // check if type specified - if (_lightMsg.has_type()) - { - gazebo::msgs::Light::LightType type = _lightMsg.type(); - - // determine light type - switch (_lightMsg.type()) - { - case gazebo::msgs::Light::POINT: - this->ProcessPointLight(_lightMsg, _parent); - return; - - case gazebo::msgs::Light::SPOT: - this->ProcessSpotLight(_lightMsg, _parent); - return; - - case gazebo::msgs::Light::DIRECTIONAL: - this->ProcessDirectionalLight(_lightMsg, _parent); - return; - - default: - gzerr << "Invalid light type: " << type << std::endl; - return; - } - } - - // update existing light - std::string name = _lightMsg.name(); - LightPtr light = this->activeScene->LightByName(name); - if (light) this->ProcessLightImpl(_lightMsg, light); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessDirectionalLight( - const gazebo::msgs::Light &_lightMsg, VisualPtr _parent) -{ - DirectionalLightPtr light = this->DirectionalLight(_lightMsg, _parent); - if (light) this->ProcessDirectionalLightImpl(_lightMsg, light); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessDirectionalLightImpl( - const gazebo::msgs::Light &_lightMsg, DirectionalLightPtr _light) -{ - // set direction if available - if (_lightMsg.has_direction()) - { - const gazebo::msgs::Vector3d &dirMsg = _lightMsg.direction(); - _light->SetDirection(SubSceneManager::Convert(dirMsg)); - } - - // process general light information - this->ProcessLightImpl(_lightMsg, _light); -} - -////////////////////////////////////////////////// -DirectionalLightPtr SubSceneManager::DirectionalLight( - const gazebo::msgs::Light &_lightMsg, VisualPtr _parent) -{ - // find existing light with name - std::string name = _lightMsg.name(); - LightPtr light = this->activeScene->LightByName(name); - - DirectionalLightPtr dirLight = - std::dynamic_pointer_cast(light); - - // check if not found - if (!dirLight) - { - dirLight = this->CreateDirectionalLight(_lightMsg); - _parent->AddChild(dirLight); - } - - return dirLight; -} - -////////////////////////////////////////////////// -DirectionalLightPtr SubSceneManager::CreateDirectionalLight( - const gazebo::msgs::Light &_lightMsg) -{ - std::string name = _lightMsg.name(); - return this->activeScene->CreateDirectionalLight(name); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessPointLight(const gazebo::msgs::Light &_lightMsg, - VisualPtr _parent) -{ - PointLightPtr light = this->PointLight(_lightMsg, _parent); - if (light) this->ProcessPointLightImpl(_lightMsg, light); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessPointLightImpl( - const gazebo::msgs::Light &_lightMsg, PointLightPtr _light) -{ - // process general light information - this->ProcessLightImpl(_lightMsg, _light); -} - -////////////////////////////////////////////////// -PointLightPtr SubSceneManager::PointLight( - const gazebo::msgs::Light &_lightMsg, VisualPtr _parent) -{ - // find existing light with name - std::string name = _lightMsg.name(); - LightPtr light = this->activeScene->LightByName(name); - PointLightPtr pointLight = - std::dynamic_pointer_cast(light); - - // check if not found - if (!pointLight) - { - pointLight = this->CreatePointLight(_lightMsg); - _parent->AddChild(pointLight); - } - - return pointLight; -} - -////////////////////////////////////////////////// -PointLightPtr SubSceneManager::CreatePointLight( - const gazebo::msgs::Light &_lightMsg) -{ - std::string name = _lightMsg.name(); - return this->activeScene->CreatePointLight(name); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessSpotLight(const gazebo::msgs::Light &_lightMsg, - VisualPtr _parent) -{ - SpotLightPtr light = this->SpotLight(_lightMsg, _parent); - if (light) this->ProcessSpotLightImpl(_lightMsg, light); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessSpotLightImpl( - const gazebo::msgs::Light &_lightMsg, SpotLightPtr _light) -{ - // set direction if available - if (_lightMsg.has_direction()) - { - const gazebo::msgs::Vector3d &dirMsg = _lightMsg.direction(); - _light->SetDirection(SubSceneManager::Convert(dirMsg)); - } - - // set inner-angle if available - if (_lightMsg.has_spot_inner_angle()) - { - double radians = _lightMsg.spot_inner_angle(); - _light->SetInnerAngle(math::Angle(radians)); - } - - // set outer-angle if available - if (_lightMsg.has_spot_outer_angle()) - { - double radians = _lightMsg.spot_outer_angle(); - _light->SetOuterAngle(math::Angle(radians)); - } - - // set falloff if available - if (_lightMsg.has_spot_falloff()) - { - double falloff = _lightMsg.spot_falloff(); - _light->SetFalloff(falloff); - } - - // process general light information - this->ProcessLightImpl(_lightMsg, _light); -} - -////////////////////////////////////////////////// -SpotLightPtr SubSceneManager::SpotLight(const gazebo::msgs::Light &_lightMsg, - VisualPtr _parent) -{ - // find existing light with name - std::string name = _lightMsg.name(); - LightPtr light = this->activeScene->LightByName(name); - SpotLightPtr spotLight = - std::dynamic_pointer_cast(light); - - // check if not found - if (!spotLight) - { - spotLight = this->CreateSpotLight(_lightMsg); - _parent->AddChild(spotLight); - } - - return spotLight; -} - -////////////////////////////////////////////////// -SpotLightPtr SubSceneManager::CreateSpotLight( - const gazebo::msgs::Light &_lightMsg) -{ - std::string name = _lightMsg.name(); - return this->activeScene->CreateSpotLight(name); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessLightImpl(const gazebo::msgs::Light &_lightMsg, - LightPtr _light) -{ - // set pose if available - if (_lightMsg.has_pose()) - { - this->SetPose(_light, _lightMsg.pose()); - } - - // set diffuse if available - if (_lightMsg.has_diffuse()) - { - const gazebo::msgs::Color &colorMsg = _lightMsg.diffuse(); - _light->SetDiffuseColor(SubSceneManager::Convert(colorMsg)); - } - - // set specular if available - if (_lightMsg.has_specular()) - { - const gazebo::msgs::Color &colorMsg = _lightMsg.specular(); - _light->SetSpecularColor(SubSceneManager::Convert(colorMsg)); - } - - // set attenuation constant if available - if (_lightMsg.has_attenuation_constant()) - { - double attenConst = _lightMsg.attenuation_constant(); - _light->SetAttenuationConstant(attenConst); - } - - // set attenuation linear if available - if (_lightMsg.has_attenuation_linear()) - { - double attenLinear = _lightMsg.attenuation_linear(); - _light->SetAttenuationLinear(attenLinear); - } - - // set attenuation quadratic if available - if (_lightMsg.has_attenuation_quadratic()) - { - double attenQuad = _lightMsg.attenuation_quadratic(); - _light->SetAttenuationQuadratic(attenQuad); - } - - // set attenuation range if available - if (_lightMsg.has_range()) - { - double attenRange = _lightMsg.range(); - _light->SetAttenuationRange(attenRange); - } - - // set cast-shadows if available - if (_lightMsg.has_cast_shadows()) - { - bool castShadows = _lightMsg.cast_shadows(); - _light->SetCastShadows(castShadows); - } -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessSensor(const gazebo::msgs::Sensor &_sensorMsg) -{ - VisualPtr parent = this->Parent(_sensorMsg.parent()); - this->ProcessSensor(_sensorMsg, parent); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessSensor(const gazebo::msgs::Sensor &_sensorMsg, - VisualPtr _parent) -{ - // TODO(anyone): process all types - - if (_sensorMsg.has_camera()) - { - this->ProcessCamera(_sensorMsg, _parent); - } -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessCamera(const gazebo::msgs::Sensor &_sensorMsg, - VisualPtr _parent) -{ - CameraPtr camera = this->Camera(_sensorMsg, _parent); - - // TODO(anyone): update camera -} - -////////////////////////////////////////////////// -CameraPtr SubSceneManager::Camera(const gazebo::msgs::Sensor &_sensorMsg, - VisualPtr _parent) -{ - // find existing camera with name - std::string name = _sensorMsg.name(); - SensorPtr sensor = this->activeScene->SensorByName(name); - CameraPtr camera = std::dynamic_pointer_cast(sensor); - - // check if not found - if (!camera) - { - camera = this->CreateCamera(_sensorMsg); - _parent->AddChild(camera); - } - - return camera; -} - -////////////////////////////////////////////////// -CameraPtr SubSceneManager::CreateCamera(const gazebo::msgs::Sensor &_sensorMsg) -{ - bool hasId = _sensorMsg.has_id(); - unsigned int id = _sensorMsg.id(); - std::string name = _sensorMsg.name(); - - return (hasId) ? - this->activeScene->CreateCamera(id, name) : - this->activeScene->CreateCamera(name); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessModel(const gazebo::msgs::Model &_modelMsg) -{ - VisualPtr parent = this->activeScene->RootVisual(); - this->ProcessModel(_modelMsg, parent); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessModel(const gazebo::msgs::Model &_modelMsg, - VisualPtr _parent) -{ - VisualPtr model = this->Model(_modelMsg, _parent); - - // set pose if available - if (_modelMsg.has_pose()) - { - this->SetPose(model, _modelMsg.pose()); - } - - // set scale if available - if (_modelMsg.has_scale()) - { - this->SetScale(model, _modelMsg.scale()); - } - - // process each sensor in joint - for (int i = 0; i < _modelMsg.joint_size(); ++i) - { - const gazebo::msgs::Joint &joint = _modelMsg.joint(i); - this->ProcessJoint(joint, model); - } - - // process each sensor in link - for (int i = 0; i < _modelMsg.link_size(); ++i) - { - const gazebo::msgs::Link &link = _modelMsg.link(i); - this->ProcessLink(link, model); - } - - // process each sensor in visual - // always skip first empty visual - for (int i = 1; i < _modelMsg.visual_size(); ++i) - { - const gazebo::msgs::Visual &visual = _modelMsg.visual(i); - this->ProcessVisual(visual, model); - } -} - -////////////////////////////////////////////////// -VisualPtr SubSceneManager::Model(const gazebo::msgs::Model &_modelMsg, - VisualPtr _parent) -{ - bool hasId = _modelMsg.has_id(); - unsigned int id = _modelMsg.id(); - std::string name = _modelMsg.name(); - return this->Visual(hasId, id, name, _parent); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessJoint(const gazebo::msgs::Joint &_jointMsg) -{ - VisualPtr parent = this->Parent(_jointMsg.parent()); - this->ProcessJoint(_jointMsg, parent); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessJoint(const gazebo::msgs::Joint &_jointMsg, - VisualPtr _parent) -{ - VisualPtr joint = this->Joint(_jointMsg, _parent); - - // set pose if available - if (_jointMsg.has_pose()) - { - this->SetPose(joint, _jointMsg.pose()); - } - - // process each sensor in joint - for (int i = 0; i < _jointMsg.sensor_size(); ++i) - { - const gazebo::msgs::Sensor &sensor = _jointMsg.sensor(i); - this->ProcessSensor(sensor, joint); - } -} - -////////////////////////////////////////////////// -VisualPtr SubSceneManager::Joint(const gazebo::msgs::Joint &_jointMsg, - VisualPtr _parent) -{ - bool hasId = _jointMsg.has_id(); - unsigned int id = _jointMsg.id(); - std::string name = _jointMsg.name(); - return this->Visual(hasId, id, name, _parent); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessVisual(const gazebo::msgs::Visual &_visualMsg) -{ - VisualPtr parent = this->Parent(_visualMsg.parent_name()); - this->ProcessVisual(_visualMsg, parent); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessVisual(const gazebo::msgs::Visual &_visualMsg, - VisualPtr _parent) -{ - VisualPtr visual = this->Visual(_visualMsg, _parent); - - // TODO(anyone): handle cast shadows - // TODO(anyone): handle transparency - // TODO(anyone): handle scale & geom size - - // set pose if available - if (_visualMsg.has_pose()) - { - this->SetPose(visual, _visualMsg.pose()); - } - - // set scale if available - if (_visualMsg.has_scale()) - { - this->SetScale(visual, _visualMsg.scale()); - } - - // set geometry if available - if (_visualMsg.has_geometry()) - { - this->ProcessGeometry(_visualMsg.geometry(), visual); - } - - // set material if available - if (_visualMsg.has_material()) - { - const gazebo::msgs::Material matMsg = _visualMsg.material(); - MaterialPtr material = this->CreateMaterial(matMsg); - visual->SetMaterial(material); - } -} - -////////////////////////////////////////////////// -VisualPtr SubSceneManager::Visual(const gazebo::msgs::Visual &_visualMsg, - VisualPtr _parent) -{ - bool hasId = _visualMsg.has_id(); - unsigned int id = _visualMsg.id(); - std::string name = _visualMsg.name(); - return this->Visual(hasId, id, name, _parent); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessLink(const gazebo::msgs::Link &_linkMsg, - VisualPtr _parent) -{ - VisualPtr link = this->Link(_linkMsg, _parent); - - // set pose if available - if (_linkMsg.has_pose()) - { - this->SetPose(link, _linkMsg.pose()); - } - - // process each visual in link - // always skip first empty visual - for (int i = 1; i < _linkMsg.visual_size(); ++i) - { - const gazebo::msgs::Visual &visual = _linkMsg.visual(i); - this->ProcessVisual(visual, link); - } - - // process each sensor in link - for (int i = 0; i < _linkMsg.sensor_size(); ++i) - { - const gazebo::msgs::Sensor &sensor = _linkMsg.sensor(i); - this->ProcessSensor(sensor, link); - } -} - -////////////////////////////////////////////////// -VisualPtr SubSceneManager::Link(const gazebo::msgs::Link &_linkMsg, - VisualPtr _parent) -{ - bool hasId = _linkMsg.has_id(); - unsigned int id = _linkMsg.id(); - std::string name = _linkMsg.name(); - return this->Visual(hasId, id, name, _parent); -} - -////////////////////////////////////////////////// -VisualPtr SubSceneManager::Visual(bool _hasId, unsigned int _id, - const std::string &_name, VisualPtr _parent) -{ - // find existing visual with name - VisualPtr visual = this->activeScene->VisualByName(_name); - - // check if not found - if (!visual) - { - visual = this->CreateVisual(_hasId, _id, _name); - _parent->AddChild(visual); - } - - return visual; -} - -////////////////////////////////////////////////// -VisualPtr SubSceneManager::CreateVisual(bool _hasId, unsigned int _id, - const std::string &_name) -{ - return (_hasId) ? - this->activeScene->CreateVisual(_id, _name) : - this->activeScene->CreateVisual(_name); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessGeometry( - const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent) -{ - GeomType geomType = _geometryMsg.type(); - GeomFunc geomFunc = this->geomFunctions[geomType]; - _parent->RemoveGeometries(); - - // check if invalid type - if (!geomFunc) - { - gzerr << "Unsupported geometry type: " << geomType << std::endl; - gzwarn << "Using empty geometry instead" << std::endl; - geomFunc = this->geomFunctions[gazebo::msgs::Geometry::EMPTY]; - } - - (this->*geomFunc)(_geometryMsg, _parent); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessBox(const gazebo::msgs::Geometry &_geometryMsg, - VisualPtr _parent) -{ - GeometryPtr box = this->activeScene->CreateBox(); - const gazebo::msgs::BoxGeom &boxMsg = _geometryMsg.box(); - const gazebo::msgs::Vector3d sizeMsg = boxMsg.size(); - _parent->SetLocalScale(SubSceneManager::Convert(sizeMsg)); - _parent->AddGeometry(box); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessCone( - const gazebo::msgs::Geometry &/*_geometryMsg*/, VisualPtr _parent) -{ - // TODO(anyone): needs protobuf msg - GeometryPtr cone = this->activeScene->CreateCone(); - // const gazebo::msgs::ConeGeom &coneMsg = _geometryMsg.cone(); - // double x = coneMsg.radius(); - // double y = coneMsg.radius(); - // double z = coneMsg.length(); - // _parent->SetLocalScale(x, y, z); - _parent->AddGeometry(cone); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessCapsule( - const gazebo::msgs::Geometry & _geometryMsg, VisualPtr _parent) -{ - // \todo(anyone) needs gazebo capsule msg - CapsulePtr capsule = this->activeScene->CreateCapsule(); - // Const gazebo::msgs::CapsuleGeom &capsuleMsg = _geometryMsg.capsule(); - // Double x = 2 * capsuleMsg.radius(); - // Double y = 2 * capsuleMsg.radius(); - // Double z = capsuleMsg.length(); - // _parent->SetLocalScale(x, y, z); - _parent->AddGeometry(std::dynamic_pointer_cast(capsule)); -} - -////////////////////////////////////////////////// -//! [process cylinder] -void SubSceneManager::ProcessCylinder( - const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent) -{ - GeometryPtr cylinder = this->activeScene->CreateCylinder(); - const gazebo::msgs::CylinderGeom &cylinderMsg = _geometryMsg.cylinder(); - double x = 2 * cylinderMsg.radius(); - double y = 2 * cylinderMsg.radius(); - double z = cylinderMsg.length(); - _parent->SetLocalScale(x, y, z); - _parent->AddGeometry(cylinder); -} -//! [process cylinder] - -////////////////////////////////////////////////// -void SubSceneManager::ProcessEmpty(const gazebo::msgs::Geometry&, VisualPtr) -{ - // do nothing -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessMesh(const gazebo::msgs::Geometry &_geometryMsg, - VisualPtr _parent) -{ - const gazebo::msgs::MeshGeom &meshMsg = _geometryMsg.mesh(); - - // if the model contains model:// try to find the meshes in ~/.gazebo - std::list modelPaths; - char *homePath = getenv("HOME"); - std::string home; - if (!homePath) - home = "/tmp/gazebo"; - else - home = homePath; - - modelPaths.push_back(home + "/.gazebo/models"); - - std::string meshName = meshMsg.filename(); - int index = meshName.find("://"); - std::string prefix = meshName.substr(0, index); - std::string suffix = meshName.substr(index + 3, meshName.size() - index - 3); - - if (prefix == "model") - { - fs::path path; - for (std::list::iterator iter = modelPaths.begin(); - iter != modelPaths.end(); ++iter) - { - path = fs::path(*iter) / suffix; - if (fs::exists(path)) - { - meshName = path.string(); - break; - } - } - } - - // initialize mesh parameters - MeshDescriptor descriptor; - descriptor.meshName = meshName; - - // assign sub-mesh if available - if (meshMsg.has_submesh()) - { - descriptor.subMeshName = meshMsg.submesh(); - } - - // assign sub-mesh if available - if (meshMsg.has_center_submesh()) - { - descriptor.centerSubMesh = meshMsg.center_submesh(); - } - - // actually create mesh geometry - common::MeshManager *meshManager = common::MeshManager::Instance(); - descriptor.mesh = meshManager->Load(descriptor.meshName); - MeshPtr mesh = this->activeScene->CreateMesh(descriptor); - - // set scale if available - if (meshMsg.has_scale()) - { - const gazebo::msgs::Vector3d scaleMsg = meshMsg.scale(); - _parent->SetLocalScale(SubSceneManager::Convert(scaleMsg)); - } - - // attach geometry to parent - _parent->AddGeometry(mesh); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessPlane(const gazebo::msgs::Geometry &_geometryMsg, - VisualPtr _parent) -{ - // TODO(anyone): handle plane normal - GeometryPtr plane = this->activeScene->CreatePlane(); - const gazebo::msgs::PlaneGeom &planeMsg = _geometryMsg.plane(); - const gazebo::msgs::Vector2d planeSize = planeMsg.size(); - _parent->SetLocalScale(planeSize.x(), planeSize.y(), 1); - _parent->AddGeometry(plane); -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessSphere(const gazebo::msgs::Geometry &_geometryMsg, - VisualPtr _parent) -{ - GeometryPtr sphere = this->activeScene->CreateSphere(); - const gazebo::msgs::SphereGeom &sphereMsg = _geometryMsg.sphere(); - _parent->SetLocalScale(2 * sphereMsg.radius()); - _parent->AddGeometry(sphere); -} - -////////////////////////////////////////////////// -MaterialPtr SubSceneManager::CreateMaterial( - const gazebo::msgs::Material &_materialMsg) -{ - MaterialPtr material = this->activeScene->CreateMaterial(); - - // TODO(anyone): remove after testing - material->SetShininess(50); - material->SetReflectivity(0.25); - - // set ambient if available - if (_materialMsg.has_ambient()) - { - gazebo::msgs::Color msg = _materialMsg.ambient(); - math::Color ambient(msg.r(), msg.g(), msg.b(), msg.a()); - material->SetAmbient(ambient); - } - - // set diffuse if available - if (_materialMsg.has_diffuse()) - { - gazebo::msgs::Color msg = _materialMsg.diffuse(); - math::Color diffuse(msg.r(), msg.g(), msg.b(), msg.a()); - material->SetDiffuse(diffuse); - } - - // set specular if available - if (_materialMsg.has_specular()) - { - gazebo::msgs::Color msg = _materialMsg.specular(); - math::Color specular(msg.r(), msg.g(), msg.b(), msg.a()); - material->SetSpecular(specular); - } - - // set emissive if available - if (_materialMsg.has_emissive()) - { - gazebo::msgs::Color msg = _materialMsg.emissive(); - math::Color emissive(msg.r(), msg.g(), msg.b(), msg.a()); - material->SetEmissive(emissive); - } - - // set lighting if available - if (_materialMsg.has_lighting()) - { - bool lighting = _materialMsg.lighting(); - material->SetLightingEnabled(lighting); - } - - // set normal-map if available - if (_materialMsg.has_normal_map()) - { - const std::string &normal_map = _materialMsg.normal_map(); - material->SetNormalMap(normal_map); - } - - // set shader-type if available - if (_materialMsg.has_shader_type()) - { - gazebo::msgs::Material::ShaderType shader_type = - _materialMsg.shader_type(); - ShaderType type = SubSceneManager::Convert(shader_type); - material->SetShaderType(type); - } - - // TODO(anyone): handle scripts - - return material; -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessPose(const gazebo::msgs::Pose &_poseMsg) -{ - std::string name = _poseMsg.name(); - NodePtr node = this->activeScene->NodeByName(name); - if (node) this->SetPose(node, _poseMsg); -} - -////////////////////////////////////////////////// -void SubSceneManager::SetPose(NodePtr _node, - const gazebo::msgs::Pose &_poseMsg) -{ - math::Pose3d pose = SubSceneManager::Convert(_poseMsg); - _node->SetLocalPose(pose); -} - -////////////////////////////////////////////////// -void SubSceneManager::SetScale(VisualPtr _visual, - const gazebo::msgs::Vector3d &_scaleMsg) -{ - math::Vector3d scale = SubSceneManager::Convert(_scaleMsg); - _visual->SetLocalScale(scale); -} - -////////////////////////////////////////////////// -VisualPtr SubSceneManager::Parent(const std::string &_name) -{ - // assign default parent node - VisualPtr parent = this->activeScene->RootVisual(); - - // check if name given - if (!_name.empty()) - { - // get node with name - parent = this->activeScene->VisualByName(_name); - - // node not found - if (!parent) - { - if (_name != "default") - { - gzerr << "invalid parent name: " << _name << std::endl; - gzwarn << "using scene root node" << std::endl; - } - - parent = this->activeScene->RootVisual(); - } - } - - return parent; -} - -////////////////////////////////////////////////// -void SubSceneManager::ProcessRemoval(const std::string &_name) -{ - this->activeScene->DestroyNodeByName(_name); -} - -////////////////////////////////////////////////// -math::Color SubSceneManager::Convert(const gazebo::msgs::Color &_colorMsg) -{ - math::Color color; - color.R() = _colorMsg.r(); - color.G() = _colorMsg.g(); - color.B() = _colorMsg.b(); - color.A() = _colorMsg.a(); - return color; -} - -////////////////////////////////////////////////// -math::Pose3d SubSceneManager::Convert(const gazebo::msgs::Pose &_poseMsg) -{ - math::Pose3d pose; - - const gazebo::msgs::Vector3d &posMsg = _poseMsg.position(); - pose.Pos() = SubSceneManager::Convert(posMsg); - - const gazebo::msgs::Quaternion &rotMsg = _poseMsg.orientation(); - pose.Rot() = SubSceneManager::Convert(rotMsg); - - return pose; -} - -////////////////////////////////////////////////// -math::Vector3d SubSceneManager::Convert(const gazebo::msgs::Vector3d &_vecMsg) -{ - math::Vector3d vec; - vec.X(_vecMsg.x()); - vec.Y(_vecMsg.y()); - vec.Z(_vecMsg.z()); - return vec; -} - -////////////////////////////////////////////////// -math::Quaterniond SubSceneManager::Convert( - const gazebo::msgs::Quaternion &_quatMsg) -{ - math::Quaterniond quat; - quat.W(_quatMsg.w()); - quat.X(_quatMsg.x()); - quat.Y(_quatMsg.y()); - quat.Z(_quatMsg.z()); - return quat; -} - -////////////////////////////////////////////////// -ShaderType SubSceneManager::Convert(gazebo::msgs::Material::ShaderType _type) -{ - switch (_type) - { - case gazebo::msgs::Material::VERTEX: - return ST_VERTEX; - - case gazebo::msgs::Material::PIXEL: - return ST_PIXEL; - - case gazebo::msgs::Material::NORMAL_MAP_OBJECT_SPACE: - return ST_NORM_OBJ; - - case gazebo::msgs::Material::NORMAL_MAP_TANGENT_SPACE: - return ST_NORM_TAN; - - default: - return ST_UNKNOWN; - } -} - -////////////////////////////////////////////////// -void SubSceneManager::CreateGeometryFunctionMap() -{ - this->geomFunctions[gazebo::msgs::Geometry::BOX] = - &SubSceneManager::ProcessBox; - - // todo(anyone): enable when cone protobuf msg is created - // this->geomFunctions[gazebo::msgs::Geometry::CONE] = - // &SubSceneManager::ProcessCone; - - // todo(anyone): enable when capsule protobuf msg is created - // this->geomFunctions[gazebo::msgs::Geometry::CAPSULE] = - // &SubSceneManager::ProcessSphere; - - this->geomFunctions[gazebo::msgs::Geometry::CYLINDER] = - &SubSceneManager::ProcessCylinder; - - this->geomFunctions[gazebo::msgs::Geometry::EMPTY] = - &SubSceneManager::ProcessEmpty; - - this->geomFunctions[gazebo::msgs::Geometry::MESH] = - &SubSceneManager::ProcessMesh; - - this->geomFunctions[gazebo::msgs::Geometry::PLANE] = - &SubSceneManager::ProcessPlane; - - this->geomFunctions[gazebo::msgs::Geometry::SPHERE] = - &SubSceneManager::ProcessSphere; -} - -////////////////////////////////////////////////// -CurrentSceneManager::CurrentSceneManager() -{ -} - -////////////////////////////////////////////////// -CurrentSceneManager::~CurrentSceneManager() -{ -} - -////////////////////////////////////////////////// -//! [on update pose] -void CurrentSceneManager::OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg) -{ - // record pose timestamp - this->timePosesReceived = std::chrono::seconds(_posesMsg->time().sec()) + - std::chrono::nanoseconds(_posesMsg->time().nsec()); - - // process each pose in message - for (int i = 0; i < _posesMsg->pose_size(); ++i) - { - // replace into pose map - gazebo::msgs::Pose pose = _posesMsg->pose(i); - std::string name = pose.name(); - this->poseMsgs[name] = pose; - } -} -//! [on update pose] - -////////////////////////////////////////////////// -void CurrentSceneManager::ClearMessages() -{ - SubSceneManager::ClearMessages(); - this->poseMsgs.clear(); -} - -////////////////////////////////////////////////// -void CurrentSceneManager::ProcessLights() -{ - // process each light in list - for (auto &lightMsg : this->lightMsgs) - { - this->ProcessLight(lightMsg); - } -} - -////////////////////////////////////////////////// -void CurrentSceneManager::ProcessModels() -{ - // process each model in list - for (auto &modelMsg : this->modelMsgs) - { - this->ProcessModel(modelMsg); - } -} - -////////////////////////////////////////////////// -void CurrentSceneManager::ProcessJoints() -{ - // process each joint in list - for (auto &jointMsg : this->jointMsgs) - { - this->ProcessJoint(jointMsg); - } -} - -////////////////////////////////////////////////// -void CurrentSceneManager::ProcessVisuals() -{ - // process each visual in list - for (auto &visualMsg : this->visualMsgs) - { - this->ProcessVisual(visualMsg); - } -} - -////////////////////////////////////////////////// -void CurrentSceneManager::ProcessSensors() -{ - // process each sensor in list - for (auto &sensorMsg : this->sensorMsgs) - { - this->ProcessSensor(sensorMsg); - } -} - -////////////////////////////////////////////////// -void CurrentSceneManager::ProcessPoses() -{ - // process each pose in list - for (auto poseMsgPair : this->poseMsgs) - { - this->ProcessPose(poseMsgPair.second); - } -} - -////////////////////////////////////////////////// -void CurrentSceneManager::ProcessRemovals() -{ - // process each removal in list - for (auto &removal : this->approvedRemovals) - { - this->ProcessRemoval(removal); - } -} - -////////////////////////////////////////////////// -NewSceneManager::NewSceneManager() : - sceneReceived(false) -{ -} - -////////////////////////////////////////////////// -NewSceneManager::~NewSceneManager() -{ -} - -////////////////////////////////////////////////// -void NewSceneManager::SetSceneData(const std::string &_data) -{ - this->sceneMsg.ParseFromString(_data); - this->sceneReceived = true; -} - -////////////////////////////////////////////////// -void NewSceneManager::OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg) -{ - this->posesMsgs.push_back(*_posesMsg); -} - -////////////////////////////////////////////////// -void NewSceneManager::ProcessMessages() -{ - this->ProcessScene(); - SubSceneManager::ProcessMessages(); -} - -////////////////////////////////////////////////// -void NewSceneManager::ClearMessages() -{ - this->posesMsgs.clear(); - this->sceneReceived = false; - SubSceneManager::ClearMessages(); -} - -////////////////////////////////////////////////// -void NewSceneManager::ProcessScene() -{ - // TODO(anyone): process environment info - - // delete all previous nodes - // this->activeScene->Clear(); - - // process ambient if available - if (this->sceneMsg.has_ambient()) - { - gazebo::msgs::Color colorMsg = this->sceneMsg.ambient(); - math::Color color(colorMsg.r(), colorMsg.g(), colorMsg.b()); - this->activeScene->SetAmbientLight(color); - } - - // process background if available - if (this->sceneMsg.has_background()) - { - gazebo::msgs::Color colorMsg = this->sceneMsg.background(); - math::Color color(colorMsg.r(), colorMsg.g(), colorMsg.b()); - this->activeScene->SetBackgroundColor(color); - } - - // process each scene light - for (int i = 0; i < this->sceneMsg.light_size(); ++i) - { - gazebo::msgs::Light lightMsg = this->sceneMsg.light(i); - this->ProcessLight(lightMsg, this->activeScene->RootVisual()); - } - - // process each scene model - for (int i = 0; i < this->sceneMsg.model_size(); ++i) - { - gazebo::msgs::Model modelMsg = this->sceneMsg.model(i); - this->ProcessModel(modelMsg, this->activeScene->RootVisual()); - } -} - -////////////////////////////////////////////////// -void NewSceneManager::ProcessLights() -{ - // process each light in list - for (auto &lightMsg : this->lightMsgs) - { - // TODO(anyone): check if message sent after scene response - this->ProcessLight(lightMsg); - } -} - -////////////////////////////////////////////////// -void NewSceneManager::ProcessModels() -{ - // process each model in list - for (auto &modelMsg : this->modelMsgs) - { - // TODO(anyone): check if message sent after scene response - this->ProcessModel(modelMsg); - } -} - -////////////////////////////////////////////////// -void NewSceneManager::ProcessJoints() -{ - // process each joint in list - for (auto &jointMsg : this->jointMsgs) - { - // TODO(anyone): check if message sent after scene response - this->ProcessJoint(jointMsg); - } -} - -////////////////////////////////////////////////// -void NewSceneManager::ProcessVisuals() -{ - // process each visual in list - for (auto &visualMsg : this->visualMsgs) - { - // TODO(anyone): check if message sent after scene response - this->ProcessVisual(visualMsg); - } -} - -////////////////////////////////////////////////// -void NewSceneManager::ProcessSensors() -{ - // process each sensor in list - for (auto &sensorMsg : this->sensorMsgs) - { - // TODO(anyone): check if message sent after scene response - this->ProcessSensor(sensorMsg); - } -} - -////////////////////////////////////////////////// -void NewSceneManager::ProcessPoses() -{ - // process each poses in list - for (auto &posesMsg : this->posesMsgs) - { - // TODO(anyone): check if message sent after scene response - this->ProcessPoses(posesMsg); - } -} - -////////////////////////////////////////////////// -void NewSceneManager::ProcessPoses(const gazebo::msgs::PosesStamped &_posesMsg) -{ - // record pose timestamp - this->timePosesReceived = std::chrono::seconds(_posesMsg.time().sec()) + - std::chrono::nanoseconds(_posesMsg.time().nsec()); - - // process each pose in list - for (int i = 0; i < _posesMsg.pose_size(); ++i) - { - gazebo::msgs::Pose poseMsg = _posesMsg.pose(i); - this->ProcessPose(poseMsg); - } -} - -////////////////////////////////////////////////// -void NewSceneManager::ProcessRemovals() -{ - // process each removal in list - for (auto &removal : this->approvedRemovals) - { - // TODO(anyone): check if message sent after scene response - this->ProcessRemoval(removal); - } -} diff --git a/examples/gazebo_scene_viewer/SceneManager.hh b/examples/gazebo_scene_viewer/SceneManager.hh deleted file mode 100644 index 4839f3bb0..000000000 --- a/examples/gazebo_scene_viewer/SceneManager.hh +++ /dev/null @@ -1,140 +0,0 @@ -/* - * Copyright (C) 2015 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 GZ_RENDERING_EXAMPLES_SCENEMANAGER_HH -#define GZ_RENDERING_EXAMPLES_SCENEMANAGER_HH - -#if __cplusplus > 201703L - #include - using fs = std::filesystem; -#else - #include - using namespace std; - namespace fs = std::experimental::filesystem::v1; -#endif - -#include -#include -#include "gz/rendering/RenderTypes.hh" - -namespace gz -{ - namespace rendering - { - /// \class SceneManager SceneManager.hh gz/rendering/SceneManager.hh - /// \brief Manages a collection of scenes. The class provides a single - /// interface for modifications, allowing multiple scenes to stay - /// synchronized. This class currently consumes Gazebo-specific protobuf - /// messages, but will be updated to be Gazebo-agnostic in the future. - class SceneManager : - public virtual common::SingletonT - { - /// \brief Constructor - public: SceneManager(); - - /// \brief Destructor - public: ~SceneManager(); - - /// \brief Load resources - public: void Load(); - - /// \brief Initialize manager - public: void Init(); - - /// \brief Destroy manager - public: void Fini(); - - /// \brief Get number of managed scenes - /// \return The number of managed scenes - public: unsigned int SceneCount() const; - - /// \brief Determine if a scene with the given ID exists - /// \param[in] _id ID of the scene in question - /// \return True if the specified scene is exists - public: bool HasScene(unsigned int _id) const; - - /// \brief Determine if a scene with the given name exists - /// \param[in] _name Name of the scene in question - /// \return True if the specified scene is exists - public: bool HasScene(const std::string &_name) const; - - /// \brief Determine if the given scene exists - /// \param[in] _scene Scene in question - /// \return True if the specified scene is exists - public: bool HasScene(ConstScenePtr _scene) const; - - /// \brief Get scene with the given ID. If no scene exists with the given - /// ID, NULL will be returned. - /// \param[in] _id ID of the desired scene - /// \return The specified scene - public: ScenePtr Scene(unsigned int _id) const; - - /// \brief Get scene with the given name. If no scene exists with the - /// given name, NULL will be returned. - /// \param[in] _id ID of the desired scene - /// \return The specified scene - public: ScenePtr Scene(const std::string &_name) const; - - /// \brief Get scene at the given index. If no scene exists at the - /// given index, NULL will be returned. - /// \param[in] _index Index of the desired scene - /// \return The specified scene - public: ScenePtr SceneAt(unsigned int _index) const; - - /// \brief Add the given scene. If the given scene has already been added - /// then no work will be done. - /// \param[in] _scene Scene to be added - public: void AddScene(ScenePtr _scene); - - /// \brief Remove the scene with the given ID. If not scene exists with - /// the given ID, then no work will be done. - /// \param[in] _id ID of the scene to be removed - /// \return The removed scene - public: ScenePtr RemoveScene(unsigned int _id); - - /// \brief Remove the scene with the given name. If not scene exists with - /// the given name, then no work will be done. - /// \param[in] _name Name of the scene to be removed - /// \return The removed scene - public: ScenePtr RemoveScene(const std::string &_name); - - /// \brief Remove the given scene. If the given scene has not yet been - /// added, then no work will be done. - /// \param[in] _scene Scene to be removed - /// \return The removed scene - public: ScenePtr RemoveScene(ScenePtr _scene); - - /// \brief Remove the scene at the given index. If not scene exists at - /// the given index, then no work will be done. - /// \param[in] _index Index of the scene to be removed - /// \return The removed scene - public: ScenePtr RemoveSceneAt(unsigned int _index); - - /// \brief Remove all scenes - public: void RemoveScenes(); - - /// \brief Update all scenes - public: void UpdateScenes(); - - /// \brief Private implementation pointer - private: class SceneManagerPrivate *pimpl; - - /// \brief Required SingletonT friendship - private: friend class SingletonT; - }; - } -} -#endif diff --git a/examples/gazebo_scene_viewer/SceneManagerPrivate.hh b/examples/gazebo_scene_viewer/SceneManagerPrivate.hh deleted file mode 100644 index e916fc042..000000000 --- a/examples/gazebo_scene_viewer/SceneManagerPrivate.hh +++ /dev/null @@ -1,473 +0,0 @@ -/* - * Copyright (C) 2015 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 GZ_RENDERING_EXAMPLES_SCENEMANAGERPRIVATE_HH -#define GZ_RENDERING_EXAMPLES_SCENEMANAGERPRIVATE_HH - -#include -#include -#include -#include - -#include - -#include -#include - -#include "gz/rendering/RenderTypes.hh" -#include "gz/rendering/ShaderType.hh" -#include "gazebo/transport/Node.hh" - -namespace gz -{ - namespace rendering - { - class CurrentSceneManager; - - class NewSceneManager; - - class SceneManagerPrivate - { - private: typedef std::map RemovalMap; - - public: SceneManagerPrivate(); - - public: ~SceneManagerPrivate(); - - public: void Load(); - - public: void Init(); - - public: void Fini(); - - public: unsigned int SceneCount() const; - - public: bool HasScene(unsigned int _id) const; - - public: bool HasScene(const std::string &_name) const; - - public: bool HasScene(ConstScenePtr _scene) const; - - public: ScenePtr Scene(unsigned int _id) const; - - public: ScenePtr Scene(const std::string &_name) const; - - public: ScenePtr SceneAt(unsigned int _index) const; - - public: void AddScene(ScenePtr _scene); - - public: ScenePtr RemoveScene(unsigned int _id); - - public: ScenePtr RemoveScene(const std::string &_name); - - public: ScenePtr RemoveScene(ScenePtr _scene); - - public: ScenePtr RemoveSceneAt(unsigned int _index); - - public: void RemoveScenes(); - - public: void UpdateScenes(); - - public: void OnRequest(::ConstRequestPtr &_requestMsg); - - public: void OnResponse(::ConstResponsePtr &_responseMsg); - - public: void OnSceneResponse(::ConstResponsePtr &_responseMsg); - - public: void OnRemovalResponse(::ConstResponsePtr &_responseMsg); - - public: void OnSceneUpdate(::ConstScenePtr _sceneMsg); - - public: void OnLightUpdate(::ConstLightPtr &_lightMsg); - - public: void OnModelUpdate(::ConstModelPtr &_modelMsg); - - public: void OnJointUpdate(::ConstJointPtr &_jointMsg); - - public: void OnVisualUpdate(::ConstVisualPtr &_visualMsg); - - public: void OnSensorUpdate(::ConstSensorPtr &_sensorMsg); - - public: void OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg); - - private: void OnRemovalUpdate(const std::string &_name); - - private: void SendSceneRequest(); - - private: void PromoteNewScenes(); - - private: void DemoteCurrentScenes(); - - private: std::unique_ptr currentSceneManager; - - private: std::unique_ptr newSceneManager; - - private: gazebo::transport::NodePtr transportNode; - - private: gazebo::transport::PublisherPtr requestPub; - - private: gazebo::transport::SubscriberPtr requestSub; - - private: gazebo::transport::SubscriberPtr responseSub; - - private: gazebo::transport::SubscriberPtr lightSub; - - private: gazebo::transport::SubscriberPtr modelSub; - - private: gazebo::transport::SubscriberPtr jointSub; - - private: gazebo::transport::SubscriberPtr visualSub; - - private: gazebo::transport::SubscriberPtr sensorSub; - - private: gazebo::transport::SubscriberPtr poseSub; - - private: gazebo::event::ConnectionPtr preRenderConn; - - private: int sceneRequestId; - - private: bool promotionNeeded; - - private: RemovalMap requestedRemovals; - - private: std::mutex generalMutex; - - private: std::mutex poseMutex; - }; - - class SubSceneManager - { - protected: typedef gazebo::msgs::Geometry::Type GeomType; - - protected: typedef void (SubSceneManager::*GeomFunc) - (const gazebo::msgs::Geometry&, VisualPtr); - - public: SubSceneManager(); - - public: virtual ~SubSceneManager(); - - public: virtual unsigned int SceneCount() const; - - public: virtual bool HasScene(unsigned int _id) const; - - public: virtual bool HasScene(const std::string &_name) const; - - public: virtual bool HasScene(ConstScenePtr _scene) const; - - public: virtual ScenePtr Scene(unsigned int _id) const; - - public: virtual ScenePtr Scene(const std::string &_name) const; - - public: virtual ScenePtr SceneAt(unsigned int _index) const; - - public: virtual void AddScene(ScenePtr _scene); - - public: virtual ScenePtr RemoveScene(unsigned int _id); - - public: virtual ScenePtr RemoveScene(const std::string &_name); - - public: virtual ScenePtr RemoveScene(ScenePtr _scene); - - public: virtual ScenePtr RemoveSceneAt(unsigned int _index); - - public: virtual void RemoveScenes(); - - public: virtual void UpdateScenes(); - - public: virtual void OnLightUpdate(::ConstLightPtr &_lightMsg); - - public: virtual void OnModelUpdate(::ConstModelPtr &_modelMsg); - - public: virtual void OnJointUpdate(::ConstJointPtr &_jointMsg); - - public: virtual void OnVisualUpdate(::ConstVisualPtr &_visualMsg); - - public: virtual void OnSensorUpdate(::ConstSensorPtr &_sensorMsg); - - public: virtual void OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg) = 0; - - public: virtual void OnRemovalUpdate(const std::string &_name); - - public: virtual void Clear(); - - protected: virtual void ProcessMessages(); - - protected: virtual void ClearMessages(); - - protected: virtual void ProcessLights() = 0; - - protected: virtual void ProcessLight( - const gazebo::msgs::Light &_lightMsg); - - public: virtual void ProcessLight( - const gazebo::msgs::Light &_lightMsg, VisualPtr _parent); - - protected: virtual void ProcessDirectionalLight( - const gazebo::msgs::Light &_lightMsg, VisualPtr _parent); - - protected: virtual void ProcessDirectionalLightImpl( - const gazebo::msgs::Light &_lightMsg, DirectionalLightPtr _light); - - protected: virtual DirectionalLightPtr DirectionalLight( - const gazebo::msgs::Light &_lightMsg, VisualPtr _parent); - - protected: virtual DirectionalLightPtr CreateDirectionalLight( - const gazebo::msgs::Light &_lightMsg); - - protected: virtual void ProcessPointLight( - const gazebo::msgs::Light &_lightMsg, VisualPtr _parent); - - protected: virtual void ProcessPointLightImpl( - const gazebo::msgs::Light &_lightMsg, PointLightPtr _light); - - protected: virtual PointLightPtr PointLight( - const gazebo::msgs::Light &_lightMsg, VisualPtr _parent); - - protected: virtual PointLightPtr CreatePointLight( - const gazebo::msgs::Light &_lightMsg); - - protected: virtual void ProcessSpotLight( - const gazebo::msgs::Light &_lightMsg, VisualPtr _parent); - - protected: virtual void ProcessSpotLightImpl( - const gazebo::msgs::Light &_lightMsg, SpotLightPtr _light); - - protected: virtual SpotLightPtr SpotLight( - const gazebo::msgs::Light &_lightMsg, VisualPtr _parent); - - protected: virtual SpotLightPtr CreateSpotLight( - const gazebo::msgs::Light &_lightMsg); - - protected: virtual void ProcessLightImpl( - const gazebo::msgs::Light &_lightMsg, LightPtr _light); - - protected: virtual void ProcessSensors() = 0; - - protected: virtual void ProcessSensor( - const gazebo::msgs::Sensor &_sensorMsg); - - protected: virtual void ProcessSensor( - const gazebo::msgs::Sensor &_sensorMsg, VisualPtr _parent); - - protected: virtual void ProcessCamera( - const gazebo::msgs::Sensor &_sensorMsg, VisualPtr _parent); - - protected: virtual CameraPtr Camera( - const gazebo::msgs::Sensor &_sensorMsg, VisualPtr _parent); - - protected: virtual CameraPtr CreateCamera( - const gazebo::msgs::Sensor &_sensorMsg); - - protected: virtual void ProcessModels() = 0; - - protected: virtual void ProcessModel( - const gazebo::msgs::Model &_modelMsg); - - protected: virtual void ProcessModel( - const gazebo::msgs::Model &_modelMsg, VisualPtr _parent); - - protected: virtual VisualPtr Model(const gazebo::msgs::Model &_modelMsg, - VisualPtr _parent); - - protected: virtual void ProcessJoints() = 0; - - protected: virtual void ProcessJoint( - const gazebo::msgs::Joint &_jointMsg); - - protected: virtual void ProcessJoint( - const gazebo::msgs::Joint &_jointMsg, VisualPtr _parent); - - protected: virtual VisualPtr Joint(const gazebo::msgs::Joint &_jointMsg, - VisualPtr _parent); - - protected: virtual void ProcessVisuals() = 0; - - protected: virtual void ProcessVisual( - const gazebo::msgs::Visual &_visualMsg); - - protected: virtual void ProcessVisual( - const gazebo::msgs::Visual &_visualMsg, VisualPtr _parent); - - protected: virtual VisualPtr Visual( - const gazebo::msgs::Visual &_visualMsg, VisualPtr _parent); - - protected: virtual void ProcessLink(const gazebo::msgs::Link &_linkMsg, - VisualPtr _parent); - - protected: virtual VisualPtr Link(const gazebo::msgs::Link &_linkMsg, - VisualPtr _parent); - - protected: virtual VisualPtr Visual(bool _hasId, unsigned int _id, - const std::string &_name, VisualPtr _parent); - - protected: virtual VisualPtr CreateVisual(bool _hasId, unsigned int _id, - const std::string &_name); - - protected: virtual void ProcessGeometry( - const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent); - - protected: virtual void ProcessBox( - const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent); - - protected: virtual void ProcessCone( - const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent); - - protected: virtual void ProcessCapsule( - const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent); - - protected: virtual void ProcessCylinder( - const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent); - - protected: virtual void ProcessEmpty( - const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent); - - protected: virtual void ProcessMesh( - const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent); - - protected: virtual void ProcessPlane( - const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent); - - protected: virtual void ProcessSphere( - const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent); - - protected: virtual MaterialPtr CreateMaterial( - const gazebo::msgs::Material &_materialMsg); - - protected: virtual void ProcessPoses() = 0; - - protected: virtual void ProcessPose(const gazebo::msgs::Pose &_poseMsg); - - protected: virtual void SetPose(NodePtr _node, - const gazebo::msgs::Pose &_poseMsg); - - protected: virtual void SetScale(VisualPtr _visual, - const gazebo::msgs::Vector3d &_scaleMsg); - - protected: virtual void ProcessRemovals() = 0; - - protected: virtual void ProcessRemoval(const std::string &_name); - - protected: virtual VisualPtr Parent(const std::string &_name); - - protected: static math::Color Convert( - const gazebo::msgs::Color &_colorMsg); - - protected: static math::Pose3d Convert( - const gazebo::msgs::Pose &_poseMsg); - - protected: static math::Vector3d Convert( - const gazebo::msgs::Vector3d &_vecMsg); - - protected: static math::Quaterniond Convert( - const gazebo::msgs::Quaternion &_quatMsg); - - protected: static ShaderType Convert( - gazebo::msgs::Material::ShaderType _type); - - private: void CreateGeometryFunctionMap(); - - protected: ScenePtr activeScene; - - protected: std::vector scenes; - - protected: std::chrono::steady_clock::duration timePosesReceived; - - protected: std::vector lightMsgs; - - protected: std::vector modelMsgs; - - protected: std::vector jointMsgs; - - protected: std::vector visualMsgs; - - protected: std::vector sensorMsgs; - - protected: std::vector approvedRemovals; - - protected: std::map geomFunctions; - }; - - class CurrentSceneManager : - public virtual SubSceneManager - { - public: CurrentSceneManager(); - - public: virtual ~CurrentSceneManager(); - - public: virtual void OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg); - - protected: virtual void ClearMessages(); - - protected: virtual void ProcessLights(); - - protected: virtual void ProcessModels(); - - protected: virtual void ProcessJoints(); - - protected: virtual void ProcessVisuals(); - - protected: virtual void ProcessSensors(); - - protected: virtual void ProcessPoses(); - - protected: virtual void ProcessRemovals(); - - private: std::map poseMsgs; - }; - - class NewSceneManager : - public virtual SubSceneManager - { - public: NewSceneManager(); - - public: virtual ~NewSceneManager(); - - public: virtual void SetSceneData(const std::string &_data); - - public: virtual void OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg); - - protected: virtual void ProcessMessages(); - - protected: virtual void ClearMessages(); - - protected: virtual void ProcessScene(); - - protected: virtual void ProcessLights(); - - protected: virtual void ProcessModels(); - - protected: virtual void ProcessJoints(); - - protected: virtual void ProcessVisuals(); - - protected: virtual void ProcessSensors(); - - protected: virtual void ProcessPoses(); - - protected: virtual void ProcessPoses( - const gazebo::msgs::PosesStamped &_posesMsg); - - protected: virtual void ProcessRemovals(); - - protected: bool sceneReceived; - - protected: gazebo::msgs::Scene sceneMsg; - - private: std::vector posesMsgs; - }; - } -} -#endif diff --git a/examples/gazebo_scene_viewer/falling_objects.world b/examples/gazebo_scene_viewer/falling_objects.world deleted file mode 100644 index bd62942e1..000000000 --- a/examples/gazebo_scene_viewer/falling_objects.world +++ /dev/null @@ -1,398 +0,0 @@ - - - - - - - - 1.0 - 125 - - - - - 0.5 0.5 0.5 1 - 0 0 0 1 - 1 - - - - - model://sun - - - - model://double_pendulum_with_base - 9 0 2 0 0 0 - - - - 0 0 0 0 0 0 - false - - - 7 0 2 0 0 0 - - - - - - 0.25 - - - - - - - - - - 0.25 - - - - - 0.2 0.0 0.4 1 - 0.3 0.0 0.6 1 - 0.5 0.5 0.5 1 - - - - - - - - - 0 0 0 0 0 0 - false - - - 7 0.1 0 0 0 0 - - - - - - 0.5 - - - - - - - - - - 0.5 - - - - - 0.0 0.0 0.3 1 - 0.0 0.0 0.7 1 - 0.5 0.5 0.5 1 - - - - - - - - - 0 0 0 0 0 0 - false - - - 7 0 -2 0 0 0 - - - - - - 0.75 - - - - - - - - - - 0.75 - - - - - 0.3 0.0 0.0 1 - 0.7 0.0 0.0 1 - 0.5 0.5 0.5 1 - - - - - - - - - 0 0 0 0 0 0 - false - - - 7 2 2 0 0 0 - - - - - - 0.25 - 2 - - - - - - - - - - 0.25 - 2 - - - - - 0 0.4 0 1 - 0 0.6 0 1 - 0.5 0.5 0.5 1 - - - - - - - - - 0 0 0 0 0 0 - false - - - 7 2.1 0 0 -0.7 0 - - - - - - 0.5 - 1 - - - - - - - - - - 0.5 - 1 - - - - - 0.1 0.1 0.1 1 - 0.2 0.2 0.2 1 - 0.5 0.5 0.5 1 - - - - - - - - - 0 0 0 0 0 0 - false - - - 7 2 -2 0 0 0 - - - - - - 0.75 - 0.5 - - - - - - - - - - 0.75 - 0.5 - - - - - 0.4 0.4 0 1 - 0.6 0.6 0 1 - 0.5 0.5 0.5 1 - - - - - - - - - 0 0 0 0 0 0 - false - - - 7 -2 2 0 0 0 - - - - - - 2 1 1 - - - - - - - - - - 2 1 1 - - - - - 0.4 0.2 0 1 - 0.6 0.3 0 1 - 0.5 0.5 0.5 1 - - - - - - - - - 0 0 0 0 0 0 - false - - - 7 -2.1 0 0.7 0 0 - - - - - - 1 2 1 - - - - - - - - - - 1 2 1 - - - - - 0 0.4 0.4 1 - 0 0.6 0.6 1 - 0.5 0.5 0.5 1 - - - - - - - - - 0 0 0 0 0 0 - false - - - 7 -2 -2 0 0 0 - - - - - - 1 1 2 - - - - - - - - - - 1 1 2 - - - - - 0.4 0 0.4 1 - 0.6 0 0.6 1 - 0.5 0.5 0.5 1 - - - - - - - - - 0 0 0 0 0 0 - true - - - 0 0 -4 0 0 0 - - - - - - 0 0 1 - 100 100 - - - - - - - - - - 0 0 1 - 100 100 - - - - - 0.25 0.25 0.25 1 - 0.65 0.65 0.65 1 - 0.5 0.5 0.5 1 - - - - - - - - - diff --git a/tutorials.md.in b/tutorials.md.in index 318a3b864..e46d81065 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -15,7 +15,6 @@ Gazebo @GZ_DESIGNATION_CAP@ library and how to use the library effectively. **The examples** 1. \subpage actor_animation "Actor animation" -2. \subpage gazebo_scene_viewer "Gazebo scene viewer" 3. \subpage mesh_viewer "Mesh viewer" 4. \subpage custom_scene_viewer "Custom scene viewer" 5. \subpage camera_tracking "Camera tracking" diff --git a/tutorials/11_gazebo_scene_viewer_tutorial.md b/tutorials/11_gazebo_scene_viewer_tutorial.md deleted file mode 100644 index 34bab044b..000000000 --- a/tutorials/11_gazebo_scene_viewer_tutorial.md +++ /dev/null @@ -1,72 +0,0 @@ -\page gazebo_scene_viewer Gazebo scene viewer - -The Gazebo scene viewer examples allow us to visualize Gazebo simulation using the Gazebo Rendering library. - -## Compile and run the example - -Clone the source code, create a build directory and use `cmake` and `make` to compile the code: - -```{.sh} -git clone https://github.com/gazebosim/gz-rendering -cd gz-rendering/examples/gazebo_scene_viewer -mkdir build -cd build -cmake .. -make -``` - -### gazebo_scene_viewer - -Launch Gazebo and insert `Double pendulum with base`: - -```{.sh} -gazebo -``` - -Launch the example to visualize the pendulum: - -```{.sh} -./gazebo_scene_viewer -``` - -You can use the `Tab` button to change the rendering engine. - -@image html img/gazebo_scene_viewer.gif - -#### gazebo_scene_viewer2_demo - -Launch Gazebo using the world inside the example directory called `falling_objects.world`. You will see some objects falling. - -```{.sh} -gazebo examples/gazebo_scene_viewer/falling_objects.world -``` - -Launch the example to visualize the objects: - -```{.sh} -./gazebo_scene_viewer2_demo -``` - -You can use the `Tab` button to change the rendering engine. - -![](img/gazebo_scene_viewer2_demo.gif) - -## Code - -The `SceneManager` class defined in `SceneManager.hh`, `SceneManagerPrivate.hh` and `SceneManager.cc` manages a collection of scenes. -The class provides a single interface for modifications, allowing multiple scenes to stay synchronized. -It will allow us to receive data from Gazebo and update the render window each time that the examples receive a new scene. **This class currently consumes Gazebo-specific protobuf messages**. - -The following list will describe some methods: - - - **void SceneManagerPrivate::Init()**: It initializes the communication with Gazebo. It will create some subscribers to receive data about poses, light, models, joints, visual or sensors. - -\snippet examples/gazebo_scene_viewer/SceneManager.cc init scene manager - - - **void SubSceneManager::ProcessMessages()**: This method will process the messages received from Gazebo. Calling the right primitive to render lights, models, joints, visuals, sensors or poses of the different object received. -\snippet examples/gazebo_scene_viewer/SceneManager.cc process message - For example, if the Gazebo scene contains a cylinder the following method will be called: -\snippet examples/gazebo_scene_viewer/SceneManager.cc process cylinder - - - **void CurrentSceneManager::OnPoseUpdate(::ConstPosesStampedPtr &_posesMsg)**: This method is called when the subscriber receives a new pose message. -\snippet examples/gazebo_scene_viewer/SceneManager.cc on update pose From b6f5d22a88ea520433a0ecaed1c9d0f76a709b3f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Fri, 22 Sep 2023 19:53:24 +0200 Subject: [PATCH 24/34] [backport fortress] Calculate camera intrinsics : Refactor (#905) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Calculate camera intrinsics : Refactor https://github.com/gazebosim/gz-rendering/pull/700 (#755) Signed-off-by: Alejandro Hernández Cordero --------- Signed-off-by: Alejandro Hernández Cordero Co-authored-by: Aditya Pande --- include/gz/rendering/Utils.hh | 14 ++++++ src/Camera_TEST.cc | 86 +++++++++++++++++++++++++++++++++++ src/Utils.cc | 19 ++++++++ 3 files changed, 119 insertions(+) diff --git a/include/gz/rendering/Utils.hh b/include/gz/rendering/Utils.hh index cc552d4d1..82db726fe 100644 --- a/include/gz/rendering/Utils.hh +++ b/include/gz/rendering/Utils.hh @@ -97,6 +97,20 @@ namespace ignition ignition::math::AxisAlignedBox transformAxisAlignedBox( const ignition::math::AxisAlignedBox &_box, const ignition::math::Pose3d &_pose); + + /// \brief Convert a given camera projection matrix + /// to an intrinsics matrix. Intrinsics matrix is different + /// from the matrix returned by Camera::ProjectionMatrix(), + /// which is used by OpenGL internally. + /// The matrix returned contains the camera calibrated values. + /// \param[in] _projectionMatrix Camera's projection matrix. + /// \param[in] _width Camera's image width. + /// \param[in] _height Camera's image height. + /// \return Camera's intrinsic matrix. + IGNITION_RENDERING_VISIBLE + ignition::math::Matrix3d projectionToCameraIntrinsic( + const ignition::math::Matrix4d &_projectionMatrix, + double _width, double _height); } } } diff --git a/src/Camera_TEST.cc b/src/Camera_TEST.cc index ae2190f67..262f41a86 100644 --- a/src/Camera_TEST.cc +++ b/src/Camera_TEST.cc @@ -26,6 +26,7 @@ #include "gz/rendering/RenderingIface.hh" #include "gz/rendering/RenderPassSystem.hh" #include "gz/rendering/Scene.hh" +#include "gz/rendering/Utils.hh" using namespace gz; using namespace rendering; @@ -47,6 +48,9 @@ class CameraTest : public testing::Test, /// \brief Test setting visibility mask public: void VisibilityMask(const std::string &_renderEngine); + + /// \brief Test setting intrinsic matrix + public: void IntrinsicMatrix(const std::string &_renderEngine); }; ///////////////////////////////////////////////// @@ -365,6 +369,82 @@ void CameraTest::VisibilityMask(const std::string &_renderEngine) rendering::unloadEngine(engine->Name()); } +///////////////////////////////////////////////// +void CameraTest::IntrinsicMatrix(const std::string &_renderEngine) +{ + // create and populate scene + RenderEngine *engine = rendering::engine(_renderEngine); + if (!engine) + { + igndbg << "Engine '" << _renderEngine + << "' is not supported" << std::endl; + return; + } + + ScenePtr scene = engine->CreateScene("scene"); + ASSERT_NE(nullptr, scene); + + CameraPtr camera = scene->CreateCamera(); + EXPECT_TRUE(camera != nullptr); + + unsigned int width = 320; + unsigned int height = 240; + double hfov = 1.047; + + camera->SetImageHeight(height); + camera->SetImageWidth(width); + camera->SetHFOV(hfov); + + double error = 1e-1; + EXPECT_EQ(camera->ImageHeight(), height); + EXPECT_EQ(camera->ImageWidth(), width); + EXPECT_NEAR(camera->HFOV().Radian(), hfov, error); + + // Verify focal length and optical center from intrinsics + auto cameraIntrinsics = projectionToCameraIntrinsic( + camera->ProjectionMatrix(), + camera->ImageWidth(), + camera->ImageHeight() + ); + EXPECT_NEAR(cameraIntrinsics(0, 0), 277.1913, error); + EXPECT_NEAR(cameraIntrinsics(1, 1), 277.1913, error); + EXPECT_DOUBLE_EQ(cameraIntrinsics(0, 2), 160); + EXPECT_DOUBLE_EQ(cameraIntrinsics(1, 2), 120); + + // Verify rest of the intrinsics + EXPECT_EQ(cameraIntrinsics(0, 1), 0); + EXPECT_EQ(cameraIntrinsics(1, 0), 0); + EXPECT_EQ(cameraIntrinsics(0, 1), 0); + EXPECT_EQ(cameraIntrinsics(2, 0), 0); + EXPECT_EQ(cameraIntrinsics(2, 1), 0); + EXPECT_EQ(cameraIntrinsics(2, 2), 1); + + // Verify that changing camera size changes intrinsics + height = 1000; + width = 1000; + camera->SetImageHeight(height); + camera->SetImageWidth(width); + camera->SetHFOV(hfov); + + EXPECT_EQ(camera->ImageHeight(), height); + EXPECT_EQ(camera->ImageWidth(), width); + EXPECT_NEAR(camera->HFOV().Radian(), hfov, error); + + // Verify if intrinsics have changed + cameraIntrinsics = projectionToCameraIntrinsic( + camera->ProjectionMatrix(), + camera->ImageWidth(), + camera->ImageHeight() + ); + EXPECT_NEAR(cameraIntrinsics(0, 0), 866.223, error); + EXPECT_NEAR(cameraIntrinsics(1, 1), 866.223, error); + EXPECT_DOUBLE_EQ(cameraIntrinsics(0, 2), 500); + EXPECT_DOUBLE_EQ(cameraIntrinsics(1, 2), 500); + + // Clean up + engine->DestroyScene(scene); +} + ///////////////////////////////////////////////// TEST_P(CameraTest, ViewProjectionMatrix) { @@ -395,6 +475,12 @@ TEST_P(CameraTest, VisibilityMask) VisibilityMask(GetParam()); } +///////////////////////////////////////////////// +TEST_P(CameraTest, IntrinsicMatrix) +{ + IntrinsicMatrix(GetParam()); +} + INSTANTIATE_TEST_CASE_P(Camera, CameraTest, RENDER_ENGINE_VALUES, PrintToStringParam()); diff --git a/src/Utils.cc b/src/Utils.cc index 39154dd29..eabeeb64d 100644 --- a/src/Utils.cc +++ b/src/Utils.cc @@ -163,6 +163,25 @@ float screenScalingFactor() return ratio; } +///////////////////////////////////////////////// +ignition::math::Matrix3d projectionToCameraIntrinsic( + const gz::math::Matrix4d &_projectionMatrix, + double _width, double _height) +{ + // Extracting the intrinsic matrix : + // https://ogrecave.github.io/ogre/api/13/class_ogre_1_1_math.html + double fX = (_projectionMatrix(0, 0) * _width) / 2.0; + double fY = (_projectionMatrix(1, 1) * _height) / 2.0; + double cX = (-1.0 * _width * + (_projectionMatrix(0, 2) - 1.0)) / 2.0; + double cY = _height + (_height * + (_projectionMatrix(1, 2) - 1)) / 2.0; + + return gz::math::Matrix3d(fX, 0, cX, + 0, fY, cY, + 0, 0, 1); +} + ///////////////////////////////////////////////// ignition::math::AxisAlignedBox transformAxisAlignedBox( const ignition::math::AxisAlignedBox &_bbox, From 61bf635a5b6daf4918f37f837d0a5076adc5c879 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Tue, 26 Sep 2023 17:09:14 -0500 Subject: [PATCH 25/34] Prepare for 7.4.2 release (#922) Signed-off-by: Addisu Z. Taddese --- CMakeLists.txt | 2 +- Changelog.md | 15 +++++++++++++++ 2 files changed, 16 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 99bbb7820..24b014b70 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(gz-rendering7 VERSION 7.4.1) +project(gz-rendering7 VERSION 7.4.2) #============================================================================ # Find gz-cmake diff --git a/Changelog.md b/Changelog.md index d89b95a5a..b78dea8bd 100644 --- a/Changelog.md +++ b/Changelog.md @@ -2,6 +2,21 @@ ### Gazebo Rendering 7.X +### Gazebo Rendering 7.4.2 (2023-09-26) + +1. ogre2: use CMAKE_INSTALL_RPATH + * [Pull request #909](https://github.com/gazebosim/gz-rendering/pull/909) + +1. Disable setting color range in particle emitter + * [Pull request #903](https://github.com/gazebosim/gz-rendering/pull/903) + +1. Documentation updates + * [Pull request #892](https://github.com/gazebosim/gz-rendering/pull/892) + * [Pull request #896](https://github.com/gazebosim/gz-rendering/pull/896) + +1. Revert mesh viewer background color back to gray + * [Pull request #894](https://github.com/gazebosim/gz-rendering/pull/894) + ### Gazebo Rendering 7.4.1 (2023-08-17) 1. Infrastructure From d3807fe15bd65f8b994470663a4713eb87adc1c4 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Wed, 27 Sep 2023 18:09:43 -0500 Subject: [PATCH 26/34] Update changelog and prepare for pre3 (#924) Signed-off-by: Addisu Z. Taddese --- CMakeLists.txt | 2 +- Changelog.md | 95 ++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 96 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8bcf7b794..0defad0fe 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -18,7 +18,7 @@ set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR}) set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) -gz_configure_project(VERSION_SUFFIX pre2) +gz_configure_project(VERSION_SUFFIX pre3) #============================================================================ # Set project-specific options diff --git a/Changelog.md b/Changelog.md index 0d04736c0..99ed86a0a 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,6 +4,101 @@ ### Gazebo Rendering 8.0.0 (202X-XX-XX) +1. Remove gazebo scene viewer example + * [Pull request #915](https://github.com/gazebosim/gz-rendering/pull/915) + +1. Fix projector FOV, orientation, and crashes + * [Pull request #913](https://github.com/gazebosim/gz-rendering/pull/913) + +1. Include the CGL header on macOS + * [Pull request #911](https://github.com/gazebosim/gz-rendering/pull/911) + +1. ogre2: use CMAKE_INSTALL_RPATH + * [Pull request #909](https://github.com/gazebosim/gz-rendering/pull/909) + +1. Fixed build on MSVC. + * [Pull request #897](https://github.com/gazebosim/gz-rendering/pull/897) + +1. Documentation fixes + * [Pull request #895](https://github.com/gazebosim/gz-rendering/pull/895) + * [Pull request #906](https://github.com/gazebosim/gz-rendering/pull/906) + * [Pull request #907](https://github.com/gazebosim/gz-rendering/pull/907) + +1. Fix wide angle camera visibility flags + * [Pull request #900](https://github.com/gazebosim/gz-rendering/pull/900) + +1. Fix arrow visual indexing + * [Pull request #889](https://github.com/gazebosim/gz-rendering/pull/889) + +1. Do not load optix engine in examples + * [Pull request #893](https://github.com/gazebosim/gz-rendering/pull/893) + +1. Infrastructure + * [Pull request #888](https://github.com/gazebosim/gz-rendering/pull/888) + * [Pull request #868](https://github.com/gazebosim/gz-rendering/pull/868) + +1. Clean up internal resources on Destroy + * [Pull request #886](https://github.com/gazebosim/gz-rendering/pull/886) + +1. ign -> gz + * [Pull request #877](https://github.com/gazebosim/gz-rendering/pull/877) + +1. Remove inheritance from Singleton class. + * [Pull request #876](https://github.com/gazebosim/gz-rendering/pull/876) + * [Pull request #874](https://github.com/gazebosim/gz-rendering/pull/874) + +1. Add private data class to Image + * [Pull request #875](https://github.com/gazebosim/gz-rendering/pull/875) + +1. Override PreRender function in Ogre2ParticleEnitter + * [Pull request #871](https://github.com/gazebosim/gz-rendering/pull/871) + +1. Fix calling GpuRays::Destroy more than once + * [Pull request #860](https://github.com/gazebosim/gz-rendering/pull/860) + +1. Use std::vector instead of std::map in BaseStorage + * [Pull request #831](https://github.com/gazebosim/gz-rendering/pull/831) + +1. Limit Global Illumination CI CVT method to vulkan backend + * [Pull request #798](https://github.com/gazebosim/gz-rendering/pull/798) + +1. Global illumination VCT & CI VCT + * [Pull request #675](https://github.com/gazebosim/gz-rendering/pull/675) + +1. Add LensFlare to ogre1 + * [Pull request #775](https://github.com/gazebosim/gz-rendering/pull/775) + +1. Cleanup config.hh.in and deprecate public HAVE_ macros + * [Pull request #791](https://github.com/gazebosim/gz-rendering/pull/791) + +1. Add GZ_RENDERING_HAVE_VULKAN to guard vulkan code in header + * [Pull request #790](https://github.com/gazebosim/gz-rendering/pull/790) + +1. Look for vulkan in CMakeLists + * [Pull request #782](https://github.com/gazebosim/gz-rendering/pull/782) + +1. Add LensFlarePass (ogre2 engine) + * [Pull request #752](https://github.com/gazebosim/gz-rendering/pull/752) + +1. Add Support for wide-angle cameras in ogre2 + * [Pull request #733](https://github.com/gazebosim/gz-rendering/pull/733) + +1. Fix wrong Z check in OgreWideAngleCamera::Project3d + * [Pull request #746](https://github.com/gazebosim/gz-rendering/pull/746) + +1. Add necessary headers for Vulkan QML GUI backend + * [Pull request #706](https://github.com/gazebosim/gz-rendering/pull/706) + +1. Revert "Expose camera intrinsic matrix API (#700)" + * [Pull request #756](https://github.com/gazebosim/gz-rendering/pull/756) + +1. Expose camera intrinsic matrix API + * [Pull request #700](https://github.com/gazebosim/gz-rendering/pull/700) + +1. ⬆️ Bump main to 8.0.0~pre1 + * [Pull request #699](https://github.com/gazebosim/gz-rendering/pull/699) + + ### Gazebo Rendering 7.X ### Gazebo Rendering 7.4.2 (2023-09-26) From dad0364355cffce5765228ed67c385a8864fa8c5 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Fri, 29 Sep 2023 13:03:34 -0500 Subject: [PATCH 27/34] Prepare for 8.0.0 Release (#926) Signed-off-by: Addisu Z. Taddese --- CMakeLists.txt | 2 +- Changelog.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 0defad0fe..acc9c7ca4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -18,7 +18,7 @@ set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR}) set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) -gz_configure_project(VERSION_SUFFIX pre3) +gz_configure_project(VERSION_SUFFIX) #============================================================================ # Set project-specific options diff --git a/Changelog.md b/Changelog.md index 99ed86a0a..1c52eba54 100644 --- a/Changelog.md +++ b/Changelog.md @@ -2,7 +2,7 @@ ### Gazebo Rendering 8.X -### Gazebo Rendering 8.0.0 (202X-XX-XX) +### Gazebo Rendering 8.0.0 (2023-09-29) 1. Remove gazebo scene viewer example * [Pull request #915](https://github.com/gazebosim/gz-rendering/pull/915) From 4cf24f727477fbf98f91d1cf66a5cd9642b60edf Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 3 Oct 2023 14:39:41 -0700 Subject: [PATCH 28/34] Fix float comparison warnings in test (#929) Signed-off-by: Ian Chen --- src/Camera_TEST.cc | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/Camera_TEST.cc b/src/Camera_TEST.cc index 262f41a86..99d826d4b 100644 --- a/src/Camera_TEST.cc +++ b/src/Camera_TEST.cc @@ -412,12 +412,12 @@ void CameraTest::IntrinsicMatrix(const std::string &_renderEngine) EXPECT_DOUBLE_EQ(cameraIntrinsics(1, 2), 120); // Verify rest of the intrinsics - EXPECT_EQ(cameraIntrinsics(0, 1), 0); - EXPECT_EQ(cameraIntrinsics(1, 0), 0); - EXPECT_EQ(cameraIntrinsics(0, 1), 0); - EXPECT_EQ(cameraIntrinsics(2, 0), 0); - EXPECT_EQ(cameraIntrinsics(2, 1), 0); - EXPECT_EQ(cameraIntrinsics(2, 2), 1); + EXPECT_DOUBLE_EQ(cameraIntrinsics(0, 1), 0); + EXPECT_DOUBLE_EQ(cameraIntrinsics(1, 0), 0); + EXPECT_DOUBLE_EQ(cameraIntrinsics(0, 1), 0); + EXPECT_DOUBLE_EQ(cameraIntrinsics(2, 0), 0); + EXPECT_DOUBLE_EQ(cameraIntrinsics(2, 1), 0); + EXPECT_DOUBLE_EQ(cameraIntrinsics(2, 2), 1); // Verify that changing camera size changes intrinsics height = 1000; From 4e49945982af92265ba71d49f05cf13f546e8b21 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 3 Oct 2023 17:16:16 -0700 Subject: [PATCH 29/34] Prepare for 6.6.2 release (#930) Signed-off-by: Ian Chen --- CMakeLists.txt | 2 +- Changelog.md | 9 +++++++++ 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a6b6c445a..220aff50a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-rendering6 VERSION 6.6.1) +project(ignition-rendering6 VERSION 6.6.2) #============================================================================ # Find ignition-cmake diff --git a/Changelog.md b/Changelog.md index 1a34984b5..98e4855f3 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,14 @@ ## Ignition Rendering +### Ignition Rendering 6.6.2 (2023-10-03) + +1. Backport camera intrinsics calculation : Refactor + * [Pull request #905](https://github.com/gazebosim/gz-rendering/pull/905) + * [Pull request #929](https://github.com/gazebosim/gz-rendering/pull/929) + +1. Revert mesh viewer background color back to gray + * [Pull request #894](https://github.com/gazebosim/gz-rendering/pull/894) + ### Ignition Rendering 6.6.1 (2023-09-01) 1. Fixed light visual in OGRE From 93841e1385a8694bc0d1b89ce04b23d2c634482c Mon Sep 17 00:00:00 2001 From: mosfet80 Date: Wed, 4 Oct 2023 17:30:03 +0200 Subject: [PATCH 30/34] Update ci.yml (#925) Updated actions/checkout to v4 Signed-off-by: mosfet80 --- .github/workflows/ci.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 9b705f0ca..f4d4a0301 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -8,7 +8,7 @@ jobs: name: Ubuntu Focal CI steps: - name: Checkout - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Compile and test id: ci uses: gazebo-tooling/action-gz-ci@focal @@ -22,7 +22,7 @@ jobs: name: Ubuntu Jammy CI steps: - name: Checkout - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Compile and test id: ci uses: gazebo-tooling/action-gz-ci@jammy From 58923555d4c921281357fcad15225e44c97a0a33 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 4 Oct 2023 16:47:37 -0700 Subject: [PATCH 31/34] Fix use of srgb format for texture map data (#931) Signed-off-by: Ian Chen --- ogre2/src/Ogre2Material.cc | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/ogre2/src/Ogre2Material.cc b/ogre2/src/Ogre2Material.cc index 464158028..326f2e0ea 100644 --- a/ogre2/src/Ogre2Material.cc +++ b/ogre2/src/Ogre2Material.cc @@ -1229,8 +1229,10 @@ void Ogre2Material::SetTextureMapDataImpl(const std::string& _name, if (texture->getWidth() == 0) { auto data = _img->RGBAData(); - - texture->setPixelFormat(Ogre::PFG_RGBA8_UNORM_SRGB); + Ogre::PixelFormatGpu format = Ogre::PFG_RGBA8_UNORM; + if (this->ogreDatablock->suggestUsingSRGB(_type)) + format = Ogre::PFG_RGBA8_UNORM_SRGB; + texture->setPixelFormat(format); texture->setTextureType(Ogre::TextureTypes::Type2D); texture->setNumMipmaps(1u); texture->setResolution(_img->Width(), _img->Height()); From c1af6fdc9e8305de966e1b686a6b5b3e878b3607 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 4 Oct 2023 17:11:45 -0700 Subject: [PATCH 32/34] Minor fix for projector visibility flags (#920) Signed-off-by: Ian Chen --- ogre2/src/Ogre2Projector.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ogre2/src/Ogre2Projector.cc b/ogre2/src/Ogre2Projector.cc index 6052acc5d..ef68310de 100644 --- a/ogre2/src/Ogre2Projector.cc +++ b/ogre2/src/Ogre2Projector.cc @@ -163,9 +163,11 @@ void Ogre2Projector::UpdateCameraListener() { // if a custom visibility flag is set, we will need to use a listener // for toggling the visibility of the decal - if (this->VisibilityFlags() == GZ_VISIBILITY_ALL) + if ((this->VisibilityFlags() & GZ_VISIBILITY_ALL) == GZ_VISIBILITY_ALL) { this->dataPtr->decalNode->setVisible(true); + this->dataPtr->decalNode->getCreator()->setDecalsDiffuse( + this->dataPtr->decal->getDiffuseTexture()); for (auto &ogreCamIt : this->dataPtr->camerasWithListener) { From 22b2bbfbe06ac68558d77948d339fbc294876c85 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 5 Oct 2023 00:58:31 -0700 Subject: [PATCH 33/34] Support skybox in wide angle cam view (#901) Signed-off-by: Ian Chen --- .../rendering/ogre2/Ogre2WideAngleCamera.hh | 10 ++ ogre2/src/Ogre2Scene.cc | 9 ++ ogre2/src/Ogre2WideAngleCamera.cc | 88 ++++++++++++++++- test/integration/sky.cc | 97 +++++++++++++++++++ 4 files changed, 203 insertions(+), 1 deletion(-) diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2WideAngleCamera.hh b/ogre2/include/gz/rendering/ogre2/Ogre2WideAngleCamera.hh index 688f07540..2979ddec7 100644 --- a/ogre2/include/gz/rendering/ogre2/Ogre2WideAngleCamera.hh +++ b/ogre2/include/gz/rendering/ogre2/Ogre2WideAngleCamera.hh @@ -110,6 +110,13 @@ namespace gz std::function _subscriber) override; + /// \brief Set the background material of this camera + /// \param[in] _material Material to set the background to + public: void SetBackgroundMaterial(MaterialPtr _material); + + /// \brief Get the background material of this camera + /// \return background material + public: MaterialPtr BackgroundMaterial() const; /// \brief Returns the workspace name for the final pass /// that stitches all faces. @@ -179,6 +186,9 @@ namespace gz protected: void SetupMSAA(Ogre::CompositorManager2 *_ogreCompMgr, uint8_t _msaa); + /// \brief Update the background material + private: void UpdateBackgroundMaterial(); + /// \brief Saves the CompositorPassSceneDef of each of the 6 passes /// defined in WideAngleCamera.compositor data file for later /// manipulation. diff --git a/ogre2/src/Ogre2Scene.cc b/ogre2/src/Ogre2Scene.cc index 3bdb74b59..17b870cc2 100644 --- a/ogre2/src/Ogre2Scene.cc +++ b/ogre2/src/Ogre2Scene.cc @@ -1096,6 +1096,8 @@ WideAngleCameraPtr Ogre2Scene::CreateWideAngleCameraImpl(const unsigned int _id, { Ogre2WideAngleCameraPtr camera(new Ogre2WideAngleCamera); bool result = this->InitObject(camera, _id, _name); + if (this->backgroundMaterial) + camera->SetBackgroundMaterial(this->backgroundMaterial); return (result) ? camera : nullptr; } @@ -1535,6 +1537,13 @@ void Ogre2Scene::SetSkyEnabled(bool _enabled) { camera->SetBackgroundMaterial(skyboxMat); } + else + { + auto wideAngleCamera = + std::dynamic_pointer_cast(sensor); + if (wideAngleCamera) + wideAngleCamera->SetBackgroundMaterial(skyboxMat); + } } this->dataPtr->skyEnabled = _enabled; } diff --git a/ogre2/src/Ogre2WideAngleCamera.cc b/ogre2/src/Ogre2WideAngleCamera.cc index f0b9015ea..398ec4434 100644 --- a/ogre2/src/Ogre2WideAngleCamera.cc +++ b/ogre2/src/Ogre2WideAngleCamera.cc @@ -32,6 +32,7 @@ #include #include #include +#include #include #include #include @@ -150,6 +151,16 @@ class gz::rendering::Ogre2WideAngleCamera::Implementation /// \brief See Ogre2WideAngleCameraWorkspaceListenerPrivate public: Ogre2WideAngleCameraWorkspaceListenerPrivate workspaceListener; + /// \brief Name of sky box material + public: const std::string kSkyboxMaterialName = "SkyBox"; + + /// \brief Background material of the render target + public: MaterialPtr backgroundMaterial; + + /// \brief Flag to indicate if the render target background material has + /// changed + public: bool backgroundMaterialDirty = false; + explicit Implementation(gz::rendering::Ogre2WideAngleCamera &_owner) : workspaceListener(_owner) { @@ -216,6 +227,13 @@ void Ogre2WideAngleCamera::PreRender() { BaseCamera::PreRender(); + if (this->dataPtr->backgroundMaterialDirty) + { + this->UpdateBackgroundMaterial(); + this->RemoveAllRenderPasses(); + this->DestroyTextures(); + } + { auto thisAsCameraPtr = std::dynamic_pointer_cast(this->shared_from_this()); @@ -621,6 +639,26 @@ void Ogre2WideAngleCamera::CreateWorkspaceDefinition(bool _withMsaa) const IdString cubemapPassNodeName = _withMsaa ? "WideAngleCameraCubemapPassMsaa" : "WideAngleCameraCubemapPass"; + bool validBackground = this->dataPtr->backgroundMaterial && + !this->dataPtr->backgroundMaterial->EnvironmentMap().empty(); + + // render background, e.g. sky, after opaque stuff + if (validBackground) + { + Ogre::CompositorNodeDef *nodeDef = ogreCompMgr->getNodeDefinitionNonConst( + cubemapPassNodeName); + Ogre::CompositorTargetDef *target0 = nodeDef->getTargetPass(0); + + // quad pass + Ogre::CompositorPassQuadDef *passQuad = + static_cast( + target0->addPass(Ogre::PASS_QUAD)); + passQuad->mMaterialName = this->dataPtr->kSkyboxMaterialName + "_" + + this->Name(); + passQuad->mFrustumCorners = + Ogre::CompositorPassQuadDef::CAMERA_DIRECTION; + } + for (uint32_t faceIdx = 0u; faceIdx < kWideAngleNumCubemapFaces; ++faceIdx) { const std::string wsDefName = this->WorkspaceDefinitionName(faceIdx); @@ -969,7 +1007,7 @@ void Ogre2WideAngleCamera::CreateWideAngleTexture() if (msaa > 1u) { - SetupMSAA(ogreCompMgr, msaa); + this->SetupMSAA(ogreCompMgr, msaa); } this->CreateFacesWorkspaces(msaa > 1u); @@ -1366,3 +1404,51 @@ void Ogre2WideAngleCameraWorkspaceListenerPrivate::passPreExecute( this->owner.PrepareForFinalPass(pass); } } + +////////////////////////////////////////////////// +void Ogre2WideAngleCamera::SetBackgroundMaterial(MaterialPtr _material) +{ + this->dataPtr->backgroundMaterial = _material; + this->dataPtr->backgroundMaterialDirty = true; +} + +////////////////////////////////////////////////// +MaterialPtr Ogre2WideAngleCamera::BackgroundMaterial() const +{ + return this->dataPtr->backgroundMaterial; +} + +////////////////////////////////////////////////// +void Ogre2WideAngleCamera::UpdateBackgroundMaterial() +{ + if (!this->dataPtr->backgroundMaterialDirty) + return; + + bool validBackground = this->dataPtr->backgroundMaterial && + !this->dataPtr->backgroundMaterial->EnvironmentMap().empty(); + + if (validBackground) + { + Ogre::MaterialManager &matManager = Ogre::MaterialManager::getSingleton(); + std::string skyMatName = this->dataPtr->kSkyboxMaterialName + "_" + + this->Name(); + auto mat = matManager.getByName(skyMatName); + if (!mat) + { + auto skyboxMat = matManager.getByName(this->dataPtr->kSkyboxMaterialName); + if (!skyboxMat) + { + gzerr << "Unable to find skybox material" << std::endl; + return; + } + mat = skyboxMat->clone(skyMatName); + } + Ogre::TextureUnitState *texUnit = + mat->getTechnique(0u)->getPass(0u)->getTextureUnitState(0u); + texUnit->setTextureName(this->dataPtr->backgroundMaterial->EnvironmentMap(), + Ogre::TextureTypes::TypeCube); + texUnit->setHardwareGammaEnabled(false); + } + + this->dataPtr->backgroundMaterialDirty = false; +} diff --git a/test/integration/sky.cc b/test/integration/sky.cc index 0462e74f7..153e8150a 100644 --- a/test/integration/sky.cc +++ b/test/integration/sky.cc @@ -25,6 +25,9 @@ #include "gz/rendering/Image.hh" #include "gz/rendering/PixelFormat.hh" #include "gz/rendering/Scene.hh" +#include "gz/rendering/WideAngleCamera.hh" + +#include using namespace gz; using namespace rendering; @@ -86,6 +89,100 @@ TEST_F(SkyTest, Sky) unsigned int gSkySum = 0u; unsigned int bSkySum = 0u; + for (unsigned int i = 0; i < height; ++i) + { + for (unsigned int j = 0; j < step; j += channelCount) + { + unsigned int idx = i * step + j; + rSum += data[idx]; + gSum += data[idx + 1]; + bSum += data[idx + 2]; + + rSkySum += dataSky[idx]; + gSkySum += dataSky[idx + 1]; + bSkySum += dataSky[idx + 2]; + } + } + + // sky disabled - red background + EXPECT_GT(rSum, 0u); + EXPECT_EQ(0u, gSum); + EXPECT_EQ(0u, bSum); + + // sky enabled - blue should be the dominant color + EXPECT_GT(rSkySum, 0u); + EXPECT_GT(gSkySum, 0u); + EXPECT_GT(bSkySum, 0u); + EXPECT_GT(bSkySum, gSkySum); + EXPECT_GT(bSkySum, rSkySum); + + // Clean up + engine->DestroyScene(scene); +} + +///////////////////////////////////////////////// +TEST_F(SkyTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(WideAngleCamera)) +{ + CHECK_SUPPORTED_ENGINE("ogre2"); + + // add resources in build dir + engine->AddResourcePath( + common::joinPaths(std::string(PROJECT_BUILD_PATH), "src")); + + ScenePtr scene = engine->CreateScene("scene"); + ASSERT_NE(nullptr, scene); + scene->SetAmbientLight(0.3, 0.3, 0.3); + + scene->SetBackgroundColor(1.0, 0.0, 0.0); + + VisualPtr root = scene->RootVisual(); + ASSERT_NE(nullptr, root); + + // create camera + auto camera = scene->CreateWideAngleCamera("WideAngleCamera"); + ASSERT_NE(nullptr, camera); + + CameraLens lens; + lens.SetCustomMappingFunction(1.05, 4.0, AFT_TAN, 1.0, 0.0); + lens.SetType(MFT_CUSTOM); + lens.SetCutOffAngle(GZ_PI); + + camera->SetLens(lens); + camera->SetHFOV(2.6); + camera->SetImageWidth(100); + camera->SetImageHeight(100); + camera->SetAspectRatio(1.333); + camera->SetLocalPosition(0.0, 0.0, 0.0); + + // look up into the sky + camera->SetLocalRotation(math::Quaterniond(0, -GZ_PI/2.0, 0)); + root->AddChild(camera); + + // capture original image with red background + Image image = camera->CreateImage(); + camera->Capture(image); + + // Enable sky + scene->SetSkyEnabled(true); + + // capture image with sky enabled + Image imageSky = camera->CreateImage(); + camera->Capture(imageSky); + + // Compare image pixels + unsigned char *data = image.Data(); + unsigned char *dataSky = imageSky.Data(); + unsigned int height = camera->ImageHeight(); + unsigned int width = camera->ImageWidth(); + unsigned int channelCount = PixelUtil::ChannelCount(camera->ImageFormat()); + unsigned int step = width * channelCount; + + unsigned int rSum = 0u; + unsigned int gSum = 0u; + unsigned int bSum = 0u; + unsigned int rSkySum = 0u; + unsigned int gSkySum = 0u; + unsigned int bSkySum = 0u; for (unsigned int i = 0; i < height; ++i) { From 70e2fe46296cd9a95f9504bb4780e73036977ea3 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 5 Oct 2023 09:53:59 -0700 Subject: [PATCH 34/34] Extend ogre 1.x custom shaders support (#908) * Extend ogre 1.x shaders to support constants and textures * add waves integration test --------- Signed-off-by: Ian Chen --- examples/waves/GlutWindow.cc | 2 +- examples/waves/Main.cc | 16 +- examples/waves/media/GerstnerWaves_fs.glsl | 68 ++++ examples/waves/media/GerstnerWaves_vs.glsl | 139 ++++++++ ogre/src/OgreMaterial.cc | 97 ++++++ ogre2/src/Ogre2Material.cc | 2 +- test/integration/CMakeLists.txt | 1 + test/integration/waves.cc | 299 ++++++++++++++++++ .../materials/programs/GerstnerWaves_fs.glsl | 68 ++++ .../materials/programs/GerstnerWaves_fs.metal | 83 +++++ .../programs/GerstnerWaves_fs_330.glsl | 81 +++++ .../materials/programs/GerstnerWaves_vs.glsl | 139 ++++++++ .../materials/programs/GerstnerWaves_vs.metal | 171 ++++++++++ .../programs/GerstnerWaves_vs_330.glsl | 156 +++++++++ .../materials/textures/skybox_lowres.dds | Bin 0 -> 786560 bytes .../media/materials/textures/wave_normals.dds | Bin 0 -> 262271 bytes test/media/meshes/mesh.dae | 69 ++++ 17 files changed, 1381 insertions(+), 10 deletions(-) create mode 100644 examples/waves/media/GerstnerWaves_fs.glsl create mode 100644 examples/waves/media/GerstnerWaves_vs.glsl create mode 100644 test/integration/waves.cc create mode 100644 test/media/materials/programs/GerstnerWaves_fs.glsl create mode 100644 test/media/materials/programs/GerstnerWaves_fs.metal create mode 100644 test/media/materials/programs/GerstnerWaves_fs_330.glsl create mode 100644 test/media/materials/programs/GerstnerWaves_vs.glsl create mode 100644 test/media/materials/programs/GerstnerWaves_vs.metal create mode 100644 test/media/materials/programs/GerstnerWaves_vs_330.glsl create mode 100644 test/media/materials/textures/skybox_lowres.dds create mode 100644 test/media/materials/textures/wave_normals.dds create mode 100644 test/media/meshes/mesh.dae diff --git a/examples/waves/GlutWindow.cc b/examples/waves/GlutWindow.cc index ae3a17701..74452536a 100644 --- a/examples/waves/GlutWindow.cc +++ b/examples/waves/GlutWindow.cc @@ -339,7 +339,7 @@ void initUniforms() g_vsParams = shader->VertexShaderParams(); auto engine = g_camera->Scene()->Engine(); - if (engine->Name() == "ogre2") + if (engine->Name() == "ogre2" || engine->Name() == "ogre") { // worldviewproj_matrix is a constant defined by ogre. // Here we add a line to add this constant to the params. diff --git a/examples/waves/Main.cc b/examples/waves/Main.cc index 0b0d81ae6..14d04e39a 100644 --- a/examples/waves/Main.cc +++ b/examples/waves/Main.cc @@ -43,6 +43,9 @@ using namespace gz; using namespace rendering; +const std::string vertexShaderGLSLFile = "GerstnerWaves_vs.glsl"; +const std::string fragmentShaderGLSLFile = "GerstnerWaves_fs.glsl"; + const std::string vertexShaderGLSL330File = "GerstnerWaves_vs_330.glsl"; const std::string fragmentShaderGLSL330File = "GerstnerWaves_fs_330.glsl"; @@ -79,6 +82,11 @@ void buildScene(ScenePtr _scene, vertexShaderFile = vertexShaderMetalFile; fragmentShaderFile = fragmentShaderMetalFile; } + else if (_engineName == "ogre") + { + vertexShaderFile = vertexShaderGLSLFile; + fragmentShaderFile = fragmentShaderGLSLFile; + } else { vertexShaderFile = vertexShaderGLSL330File; @@ -180,14 +188,6 @@ int main(int _argc, char** _argv) params["metal"] = "1"; } } - else - { - // todo(anyone) Passing textures to custom shaders is currently - // only available in ogre2 - engineName = "ogre2"; - gzerr << "Only ogre2 engine is supported. Switching to use ogre2." - << std::endl; - } CameraPtr camera = createCamera(engineName, params); if (camera) diff --git a/examples/waves/media/GerstnerWaves_fs.glsl b/examples/waves/media/GerstnerWaves_fs.glsl new file mode 100644 index 000000000..550839246 --- /dev/null +++ b/examples/waves/media/GerstnerWaves_fs.glsl @@ -0,0 +1,68 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// 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. + +#version 150 + +////////// Input parameters ////////// +// Textures +uniform sampler2D bumpMap; +uniform samplerCube cubeMap; + +// Colors +uniform vec4 deepColor; +uniform vec4 shallowColor; +uniform float fresnelPower; +uniform float hdrMultiplier; + +////////// Input computed in vertex shader ////////// +varying mat3 rotMatrix; +varying vec3 eyeVec; +varying vec2 bumpCoord; + +void main() +{ + // Apply bump mapping to normal vector to make waves look more detailed: + vec4 bump = texture2D(bumpMap, bumpCoord) * 2.0 - 1.0; + vec3 N = normalize(rotMatrix * bump.xyz); + + // Reflected ray: + vec3 E = normalize(eyeVec); + vec3 R = reflect(E, N); + + // negate z for use with the skybox texture that comes with gz-rendering + R = vec3(R.x, R.y, -R.z); + + // uncomment this line if using other textures that are Y up + // Gazebo requires rotated cube map lookup. + // R = vec3(R.x, R.z, R.y); + + // Get environment color of reflected ray: + vec4 envColor = textureCube(cubeMap, R, 0.0); + + // Cheap hdr effect: + envColor.rgb *= (envColor.r + envColor.g + envColor.b) * hdrMultiplier; + + // Compute refraction ratio (Fresnel): + float facing = 1.0 - dot(-E, N); + float waterEnvRatio = clamp(pow(facing, fresnelPower), 0.05, 1.0); + + // Refracted ray only considers deep and shallow water colors: + vec4 waterColor = mix(shallowColor, deepColor, facing); + + // Perform linear interpolation between reflection and refraction. + vec4 color = mix(waterColor, envColor, waterEnvRatio); + + gl_FragColor = vec4(color.xyz, 0.9); +} diff --git a/examples/waves/media/GerstnerWaves_vs.glsl b/examples/waves/media/GerstnerWaves_vs.glsl new file mode 100644 index 000000000..33ca4c379 --- /dev/null +++ b/examples/waves/media/GerstnerWaves_vs.glsl @@ -0,0 +1,139 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// 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.s + + +// Copyright (c) 2019 Rhys Mainwaring. +// +// Modified to accept vector parameters and use the form +// for Gerstner waves published in: +// +// Jerry Tessendorf, "Simulating Ocean Water", 1999-2004 +// +// theta = k * dir . x - omega * t +// +// px = x - dir.x * a * k * sin(theta) +// py = y - dir.y * a * k * sin(theta) +// pz = a * k * cos(theta) +// +// k is the wavenumber +// omega is the angular frequency +// +// The derivative terms (Tangent, Binormal, Normal) have been +// updated to be consistent with this convention. +// + +#version 150 + +in vec4 vertex; +in vec4 uv0; +uniform mat4 worldviewproj_matrix; + +/////////// Input parameters ////////// +// Waves +uniform int Nwaves; +uniform vec3 camera_position_object_space; +uniform float rescale; +uniform vec2 bumpScale; +uniform vec2 bumpSpeed; +uniform float t; +uniform vec3 amplitude; +uniform vec3 wavenumber; +uniform vec3 omega; +uniform vec3 steepness; +uniform vec2 dir0; +uniform vec2 dir1; +uniform vec2 dir2; +uniform float tau; + +/////////// Output variables to fragment shader ////////// +varying mat3 rotMatrix; +varying vec3 eyeVec; +varying vec2 bumpCoord; + +// Compute linear combination of Gerstner waves as described in +// GPU Gems, chapter 01: "Effective Water Simulation from Physical Models" +// http://http.developer.nvidia.com/GPUGems/gpugems_ch01.html + +// Information regarding a single wave +struct WaveParameters { + float k; // wavenumber + float a; // amplitude + float omega; // phase constant of speed + vec2 d; // horizontal direction of wave + float q; // steepness for Gerstner wave (q=0: rolling sine waves) +}; + + +void main() +{ + // Use combination of three waves. Values here are chosen rather arbitrarily. + // Other parameters might lead to better-looking waves. + + WaveParameters waves[3]; + + waves[0] = WaveParameters(wavenumber.x, amplitude.x, omega.x, dir0.xy, steepness.x); + waves[1] = WaveParameters(wavenumber.y, amplitude.y, omega.y, dir1.xy, steepness.y); + waves[2] = WaveParameters(wavenumber.z, amplitude.z, omega.z, dir2.xy, steepness.z); + + vec4 P = vertex; + + // Iteratively compute binormal, tangent, and normal vectors: + vec3 B = vec3(1.0, 0.0, 0.0); + vec3 T = vec3(0.0, 1.0, 0.0); + vec3 N = vec3(0.0, 0.0, 1.0); + + // Wave synthesis using linear combination of Gerstner waves + for(int i = 0; i < Nwaves; ++i) + { + // Evaluate wave equation: + float k = waves[i].k; + float a = waves[i].a * (1.0 - exp(-1.0*t/tau)); + float q = waves[i].q; + float dx = waves[i].d.x; + float dy = waves[i].d.y; + float theta = dot(waves[i].d, P.xy)*k - t*waves[i].omega; + float c = cos(theta); + float s = sin(theta); + + // Displacement of point due to wave (Eq. 9) + P.x -= q*a*dx*s; + P.y -= q*a*dx*s; + P.z += a*c; + + // Modify normals due to wave displacement (Eq. 10-12) + float ka = a*k; + float qkac = q*ka*c; + float kas = ka*s; + float dxy = dx*dy; + + B += vec3(-qkac*dx*dx, -qkac*dxy, -kas*dx); + T += vec3(-qkac*dxy, -qkac*dy*dy, -kas*dy); + N += vec3(dx*kas, dy*kas, -qkac); + } + + // Compute (Surf2World * Rescale) matrix + B = normalize(B)*rescale; + T = normalize(T)*rescale; + N = normalize(N); + rotMatrix = mat3(B, T, N); + + gl_Position = worldviewproj_matrix * P; + + // Compute texture coordinates for bump map + bumpCoord = uv0.xy*bumpScale + t*bumpSpeed; + + eyeVec = P.xyz - camera_position_object_space; // eye position in vertex space +} + diff --git a/ogre/src/OgreMaterial.cc b/ogre/src/OgreMaterial.cc index 4f2c2fc32..d0d0f218d 100644 --- a/ogre/src/OgreMaterial.cc +++ b/ogre/src/OgreMaterial.cc @@ -407,6 +407,25 @@ void OgreMaterial::UpdateShaderParams(ConstShaderParamsPtr _params, { for (const auto &name_param : *_params) { + auto *constantDef = + Ogre::GpuProgramParameters::getAutoConstantDefinition(name_param.first); + if (constantDef) + { + _ogreParams->setNamedAutoConstant(name_param.first, constantDef->acType); + continue; + } + + if (!_ogreParams->_findNamedConstantDefinition(name_param.first) && + !(OgreRenderEngine::Instance()->GraphicsAPI() != + GraphicsAPI::OPENGL && + (ShaderParam::PARAM_TEXTURE == name_param.second.Type() || + ShaderParam::PARAM_TEXTURE_CUBE == name_param.second.Type()))) + { + gzwarn << "Unable to find GPU program parameter: " + << name_param.first << std::endl; + continue; + } + if (ShaderParam::PARAM_FLOAT == name_param.second.Type()) { float value; @@ -441,6 +460,84 @@ void OgreMaterial::UpdateShaderParams(ConstShaderParamsPtr _params, _ogreParams->setNamedConstant(name_param.first, reinterpret_cast(buffer.get()), count, multiple); } + else if (ShaderParam::PARAM_TEXTURE == name_param.second.Type() || + ShaderParam::PARAM_TEXTURE_CUBE == name_param.second.Type()) + { + // add the textures to the resource path + std::string value; + uint32_t uvSetIndex = 0; + name_param.second.Value(value, uvSetIndex); + ShaderParam::ParamType type = name_param.second.Type(); + + std::string baseName = value; + std::string dirPath = value; + if (common::isFile(value)) + { + baseName = common::basename(value); + size_t idx = value.rfind(baseName); + if (idx != std::string::npos) + { + dirPath = value.substr(0, idx); + if (!dirPath.empty() && + !Ogre::ResourceGroupManager::getSingleton().resourceLocationExists( + dirPath)) + { + Ogre::ResourceGroupManager::getSingleton().addResourceLocation( + dirPath, "FileSystem", this->ogreGroup); + } + } + } + else + { + gzerr << "Shader param texture not found: " << value << std::endl; + continue; + } + + // get the material and create the texture unit state if it does not exist + auto texUnit = this->ogrePass->getTextureUnitState(name_param.first); + if (!texUnit) + { + texUnit = this->ogrePass->createTextureUnitState(); + texUnit->setName(name_param.first); + } + // make sure to cast to int before calling setNamedConstant later + // to set the texture index + int texIndex = static_cast( + this->ogrePass->getTextureUnitStateIndex(texUnit)); + + // set texture coordinate set + texUnit->setTextureCoordSet(uvSetIndex); + + // regular 2d texture + if (type == ShaderParam::ParamType::PARAM_TEXTURE) + { + texUnit->setTextureName(baseName); + } + // cube maps + else if (type == ShaderParam::ParamType::PARAM_TEXTURE_CUBE) + { + texUnit->setCubicTextureName(baseName, true); + // must apply this check for Metal rendering to work + // (i.e. not segfault). See the discussion in: + // https://github.com/gazebosim/gz-rendering/pull/541 + if (texUnit->isLoaded()) + { + texUnit->_load(); + } + } + else + { + gzerr << "Unrecognized texture type set for shader param: " + << name_param.first << std::endl; + continue; + } + if (OgreRenderEngine::Instance()->GraphicsAPI() == + GraphicsAPI::OPENGL) + { + // set the texture map index + _ogreParams->setNamedConstant(name_param.first, &texIndex, 1, 1); + } + } } } diff --git a/ogre2/src/Ogre2Material.cc b/ogre2/src/Ogre2Material.cc index 326f2e0ea..ee65af868 100644 --- a/ogre2/src/Ogre2Material.cc +++ b/ogre2/src/Ogre2Material.cc @@ -936,7 +936,7 @@ void Ogre2Material::UpdateShaderParams(ConstShaderParamsPtr _params, continue; } - // get the material and create the texture unit state it does not exist + // get the material and create the texture unit state if it does not exist auto mat = this->Material(); auto pass = mat->getTechnique(0u)->getPass(0); auto texUnit = pass->getTextureUnitState(name_param.first); diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index 5503b4198..f6e7b4ede 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -15,6 +15,7 @@ set(tests sky thermal_camera load_unload + waves wide_angle_camera ) diff --git a/test/integration/waves.cc b/test/integration/waves.cc new file mode 100644 index 000000000..284c4544a --- /dev/null +++ b/test/integration/waves.cc @@ -0,0 +1,299 @@ +/* + * Copyright (C) 2023 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. + * +*/ + +#include + +#include +#include + +#include "CommonRenderingTest.hh" + +#include +#include + +#include "gz/rendering/Camera.hh" +#include "gz/rendering/Image.hh" +#include "gz/rendering/PixelFormat.hh" +#include "gz/rendering/Scene.hh" +#include "gz/rendering/ShaderParams.hh" + +using namespace gz; +using namespace rendering; + +class WavesTest: public CommonRenderingTest +{ + // Path to test media directory + public: const std::string TEST_MEDIA_PATH = + gz::common::joinPaths(std::string(PROJECT_SOURCE_PATH), + "test", "media"); +}; + +///////////////////////////////////////////////// +TEST_F(WavesTest, Waves) +{ + if (GraphicsAPI::METAL == this->engine->GraphicsAPI()) + { + // \todo(iche033) Test fails on ogre2 with metal. To be investigated. + return; + } + + // add resources in build dir + engine->AddResourcePath( + common::joinPaths(std::string(PROJECT_BUILD_PATH), "src")); + + ScenePtr scene = engine->CreateScene("scene"); + ASSERT_NE(nullptr, scene); + scene->SetAmbientLight(0.3, 0.3, 0.3); + + scene->SetBackgroundColor(1.0, 0.0, 0.0); + + VisualPtr root = scene->RootVisual(); + ASSERT_NE(nullptr, root); + + // create directional light + DirectionalLightPtr light0 = scene->CreateDirectionalLight(); + light0->SetDirection(-0.5, 0.5, -1); + light0->SetDiffuseColor(0.5, 0.5, 0.5); + light0->SetSpecularColor(0.5, 0.5, 0.5); + root->AddChild(light0); + + const std::string vertexShaderGLSLFile = "GerstnerWaves_vs.glsl"; + const std::string fragmentShaderGLSLFile = "GerstnerWaves_fs.glsl"; + + const std::string vertexShaderGLSL330File = "GerstnerWaves_vs_330.glsl"; + const std::string fragmentShaderGLSL330File = "GerstnerWaves_fs_330.glsl"; + + const std::string vertexShaderMetalFile = "GerstnerWaves_vs.metal"; + const std::string fragmentShaderMetalFile = "GerstnerWaves_fs.metal"; + + std::string vertexShaderFile; + std::string fragmentShaderFile; + + if (GraphicsAPI::METAL == this->engine->GraphicsAPI()) + { + vertexShaderFile = vertexShaderMetalFile; + fragmentShaderFile = fragmentShaderMetalFile; + } + else if (this->engine->Name() == "ogre") + { + vertexShaderFile = vertexShaderGLSLFile; + fragmentShaderFile = fragmentShaderGLSLFile; + } + else + { + vertexShaderFile = vertexShaderGLSL330File; + fragmentShaderFile = fragmentShaderGLSL330File; + } + + // create shader materials + // path to look for vertex and fragment shader parameters + std::string vertexShaderPath = gz::common::joinPaths( + TEST_MEDIA_PATH, "materials", "programs", vertexShaderFile); + + std::string fragmentShaderPath = gz::common::joinPaths( + TEST_MEDIA_PATH, "materials", "programs", fragmentShaderFile); + + // create shader material + gz::rendering::MaterialPtr shader = scene->CreateMaterial(); + shader->SetVertexShader(vertexShaderPath); + shader->SetFragmentShader(fragmentShaderPath); + + // create waves visual + VisualPtr waves = scene->CreateVisual("waves"); + MeshDescriptor descriptor; + descriptor.meshName = common::joinPaths( + TEST_MEDIA_PATH, "meshes", "mesh.dae"); + common::MeshManager *meshManager = common::MeshManager::Instance(); + descriptor.mesh = meshManager->Load(descriptor.meshName); + MeshPtr meshGeom = scene->CreateMesh(descriptor); + waves->AddGeometry(meshGeom); + waves->SetLocalPosition(3, 0, 0); + waves->SetLocalScale(1, 1, 1); + waves->SetMaterial(shader, false); + + // set vertex shader params + ShaderParamsPtr vsParams = shader->VertexShaderParams(); + + if (this->engine->Name() == "ogre2" || this->engine->Name() == "ogre") + { + // worldviewproj_matrix is a constant defined by ogre. + // Here we add a line to add this constant to the params. + // The specified value is ignored as it will be auto bound to the + // correct type and value. See available constants: + // https://github.com/OGRECave/ogre-next/blob/v2-2/OgreMain/src/OgreGpuProgramParams.cpp + (*vsParams)["worldviewproj_matrix"] = 1; + } + + (*vsParams)["Nwaves"] = 3; + (*vsParams)["rescale"] = 0.5f; + + float bumpScale[2] = {25.0f, 25.0f}; + (*vsParams)["bumpScale"].InitializeBuffer(2); + (*vsParams)["bumpScale"].UpdateBuffer(bumpScale); + + float bumpSpeed[2] = {0.01f, 0.01f}; + (*vsParams)["bumpSpeed"].InitializeBuffer(2); + (*vsParams)["bumpSpeed"].UpdateBuffer(bumpSpeed); + + float amplitude = 3.0f; + float amplitudeV[3] = {0.6f * amplitude, 0.4f * amplitude, 0.3f * amplitude}; + (*vsParams)["amplitude"].InitializeBuffer(3); + (*vsParams)["amplitude"].UpdateBuffer(amplitudeV); + + float frequency = 0.028f; + float wavenumberV[3] = {frequency, 3.2f * frequency, 1.8f * frequency}; + (*vsParams)["wavenumber"].InitializeBuffer(3); + (*vsParams)["wavenumber"].UpdateBuffer(wavenumberV); + + float omegaV[3] = {0.5f, 1.7f, 1.0f}; + (*vsParams)["omega"].InitializeBuffer(3); + (*vsParams)["omega"].UpdateBuffer(omegaV); + + float dir0[2] = {-1.0f, 0.0f}; + (*vsParams)["dir0"].InitializeBuffer(2); + (*vsParams)["dir0"].UpdateBuffer(dir0); + + float dir1[2] = {-0.7, 0.7}; + (*vsParams)["dir1"].InitializeBuffer(2); + (*vsParams)["dir1"].UpdateBuffer(dir1); + + float dir2[2] = {0.7, 0.7}; + (*vsParams)["dir2"].InitializeBuffer(2); + (*vsParams)["dir2"].UpdateBuffer(dir2); + + float steepness = 1.0f; + float steepnessV[3] = {steepness, 1.5f * steepness, 0.8f * steepness}; + (*vsParams)["steepness"].InitializeBuffer(3); + (*vsParams)["steepness"].UpdateBuffer(steepnessV); + + float tau = 2.0f; + (*vsParams)["tau"] = tau; + + // camera_position_object_space is a constant defined by ogre. + (*vsParams)["camera_position_object_space"] = 1; + + (*vsParams)["t"] = 0.0f; + + // set fragment shader params + ShaderParamsPtr fsParams = shader->FragmentShaderParams(); + + float hdrMultiplier = 0.4f; + (*fsParams)["hdrMultiplier"] = hdrMultiplier; + + float fresnelPower = 5.0f; + (*fsParams)["fresnelPower"] = fresnelPower; + + float shallowColor[4] = {0.0f, 0.1f, 0.3f, 1.0f}; + (*fsParams)["shallowColor"].InitializeBuffer(4); + (*fsParams)["shallowColor"].UpdateBuffer(shallowColor); + + float deepColor[4] = {0.0f, 0.05f, 0.2f, 1.0f}; + (*fsParams)["deepColor"].InitializeBuffer(4); + (*fsParams)["deepColor"].UpdateBuffer(deepColor); + + std::string bumpMapPath = gz::common::joinPaths(TEST_MEDIA_PATH, + "materials", "textures", "wave_normals.dds"); + (*fsParams)["bumpMap"].SetTexture(bumpMapPath); + + std::string cubeMapPath = gz::common::joinPaths(TEST_MEDIA_PATH, + "materials", "textures", "skybox_lowres.dds"); + + (*fsParams)["cubeMap"].SetTexture(cubeMapPath, + ShaderParam::ParamType::PARAM_TEXTURE_CUBE, 1u); + + // create camera + CameraPtr camera = scene->CreateCamera(); + ASSERT_NE(nullptr, camera); + camera->SetLocalPosition(0, 0.0, 3.5); + camera->SetImageWidth(640); + camera->SetImageHeight(480); + root->AddChild(camera); + + // capture original image with red background + Image image = camera->CreateImage(); + camera->Capture(image); + + // Add waves to the scene + root->AddChild(waves); + + // capture image with waves in the scene + Image imageWaves = camera->CreateImage(); + camera->Capture(imageWaves); + + // Compare image pixels + unsigned char *data = image.Data(); + unsigned char *dataWaves = imageWaves.Data(); + unsigned int height = camera->ImageHeight(); + unsigned int width = camera->ImageWidth(); + unsigned int channelCount = PixelUtil::ChannelCount(camera->ImageFormat()); + unsigned int step = width * channelCount; + + unsigned int rSum = 0u; + unsigned int gSum = 0u; + unsigned int bSum = 0u; + + unsigned int rWavesTopSum = 0u; + unsigned int gWavesTopSum = 0u; + unsigned int bWavesTopSum = 0u; + + unsigned int rWavesBottomSum = 0u; + unsigned int gWavesBottomSum = 0u; + unsigned int bWavesBottomSum = 0u; + + for (unsigned int i = 0; i < height; ++i) + { + for (unsigned int j = 0; j < step; j += channelCount) + { + unsigned int idx = i * step + j; + rSum += data[idx]; + gSum += data[idx + 1]; + bSum += data[idx + 2]; + + if (i < height / 2) + { + rWavesTopSum += dataWaves[idx]; + gWavesTopSum += dataWaves[idx + 1]; + bWavesTopSum += dataWaves[idx + 2]; + } + else + { + rWavesBottomSum += dataWaves[idx]; + gWavesBottomSum += dataWaves[idx + 1]; + bWavesBottomSum += dataWaves[idx + 2]; + } + } + } + + // No waves - red background + EXPECT_GT(rSum, 0u); + EXPECT_EQ(0u, gSum); + EXPECT_EQ(0u, bSum); + + // waves enabled - top half should be red background while + // bottom half should be blue due to waves + EXPECT_GT(rWavesTopSum, 0u); + EXPECT_EQ(0u, gWavesTopSum); + EXPECT_EQ(0u, bWavesTopSum); + EXPECT_GT(rWavesBottomSum, 0u); + EXPECT_GT(gWavesBottomSum, 0u); + EXPECT_GT(bWavesBottomSum, 0u); + EXPECT_GT(bWavesBottomSum, gWavesBottomSum); + EXPECT_GT(bWavesBottomSum, rWavesBottomSum); + + // Clean up + engine->DestroyScene(scene); +} diff --git a/test/media/materials/programs/GerstnerWaves_fs.glsl b/test/media/materials/programs/GerstnerWaves_fs.glsl new file mode 100644 index 000000000..550839246 --- /dev/null +++ b/test/media/materials/programs/GerstnerWaves_fs.glsl @@ -0,0 +1,68 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// 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. + +#version 150 + +////////// Input parameters ////////// +// Textures +uniform sampler2D bumpMap; +uniform samplerCube cubeMap; + +// Colors +uniform vec4 deepColor; +uniform vec4 shallowColor; +uniform float fresnelPower; +uniform float hdrMultiplier; + +////////// Input computed in vertex shader ////////// +varying mat3 rotMatrix; +varying vec3 eyeVec; +varying vec2 bumpCoord; + +void main() +{ + // Apply bump mapping to normal vector to make waves look more detailed: + vec4 bump = texture2D(bumpMap, bumpCoord) * 2.0 - 1.0; + vec3 N = normalize(rotMatrix * bump.xyz); + + // Reflected ray: + vec3 E = normalize(eyeVec); + vec3 R = reflect(E, N); + + // negate z for use with the skybox texture that comes with gz-rendering + R = vec3(R.x, R.y, -R.z); + + // uncomment this line if using other textures that are Y up + // Gazebo requires rotated cube map lookup. + // R = vec3(R.x, R.z, R.y); + + // Get environment color of reflected ray: + vec4 envColor = textureCube(cubeMap, R, 0.0); + + // Cheap hdr effect: + envColor.rgb *= (envColor.r + envColor.g + envColor.b) * hdrMultiplier; + + // Compute refraction ratio (Fresnel): + float facing = 1.0 - dot(-E, N); + float waterEnvRatio = clamp(pow(facing, fresnelPower), 0.05, 1.0); + + // Refracted ray only considers deep and shallow water colors: + vec4 waterColor = mix(shallowColor, deepColor, facing); + + // Perform linear interpolation between reflection and refraction. + vec4 color = mix(waterColor, envColor, waterEnvRatio); + + gl_FragColor = vec4(color.xyz, 0.9); +} diff --git a/test/media/materials/programs/GerstnerWaves_fs.metal b/test/media/materials/programs/GerstnerWaves_fs.metal new file mode 100644 index 000000000..da73b57a1 --- /dev/null +++ b/test/media/materials/programs/GerstnerWaves_fs.metal @@ -0,0 +1,83 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// 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. + +#include +using namespace metal; + +////////// Input parameters ////////// +// Colors +struct Params +{ + float4 deepColor; + float4 shallowColor; + float fresnelPower; + float hdrMultiplier; +}; + +////////// Input computed in vertex shader ////////// +struct PS_INPUT +{ + float2 uv0; + float3 B; + float3 T; + float3 N; + float3 eyeVec; + float2 bumpCoord; +}; + +fragment float4 main_metal +( + PS_INPUT inPs [[stage_in]], + texturecube cubeMap [[texture(0)]], + texture2d bumpMap [[texture(1)]], + sampler cubeMapSampler [[sampler(0)]], + sampler bumpMapSampler [[sampler(1)]], + constant Params &p [[buffer(PARAMETER_SLOT)]] +) +{ + // Apply bump mapping to normal vector to make waves look more detailed: + float4 bump = bumpMap.sample(bumpMapSampler, inPs.bumpCoord)*2.0 - 1.0; + float3x3 rotMatrix(inPs.B, inPs.T, inPs.N); + float3 N = normalize(rotMatrix * bump.xyz); + + // Reflected ray: + float3 E = normalize(inPs.eyeVec); + float3 R = reflect(E, N); + + // Negate z for use with the skybox texture that comes with gz-rendering + R = float3(R.x, R.y, -R.z); + + // uncomment this line if using other textures that are Y up + // Gazebo requires rotated cube map lookup. + // R = float3(R.x, R.z, R.y); + + // Get environment color of reflected ray: + float4 envColor = cubeMap.sample(cubeMapSampler, R); + + // Cheap hdr effect: + envColor.rgb *= (envColor.r+envColor.g+envColor.b)*p.hdrMultiplier; + + // Compute refraction ratio (Fresnel): + float facing = 1.0 - dot(-E, N); + float waterEnvRatio = clamp(pow(facing, p.fresnelPower), 0.0, 1.0); + + // Refracted ray only considers deep and shallow water colors: + float4 waterColor = mix(p.shallowColor, p.deepColor, facing); + + // Perform linear interpolation between reflection and refraction. + float4 color = mix(waterColor, envColor, waterEnvRatio); + + return float4(color.xyz, 0.1); +} diff --git a/test/media/materials/programs/GerstnerWaves_fs_330.glsl b/test/media/materials/programs/GerstnerWaves_fs_330.glsl new file mode 100644 index 000000000..aaea9b0a1 --- /dev/null +++ b/test/media/materials/programs/GerstnerWaves_fs_330.glsl @@ -0,0 +1,81 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// 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. + +#version ogre_glsl_ver_330 + +////////// Input parameters ////////// +// Textures +vulkan_layout( ogre_t0 ) uniform texture2D bumpMap; +vulkan_layout( ogre_t1 ) uniform textureCube cubeMap; + +vulkan( layout( ogre_s0 ) uniform sampler texSampler0 ); +vulkan( layout( ogre_s1 ) uniform sampler texSampler1 ); + +// Colors +vulkan( layout( ogre_P0 ) uniform Params { ) + uniform vec4 deepColor; + uniform vec4 shallowColor; + uniform float fresnelPower; + uniform float hdrMultiplier; +vulkan( }; ) + +////////// Input computed in vertex shader ////////// +vulkan_layout( location = 0 ) +in block +{ + mat3 rotMatrix; + vec3 eyeVec; + vec2 bumpCoord; +} inPs; + +vulkan_layout( location = 0 ) +out vec4 fragColor; + +void main() +{ + // Apply bump mapping to normal vector to make waves look more detailed: + vec4 bump = texture(vkSampler2D(bumpMap, texSampler0), + inPs.bumpCoord)*2.0 - 1.0; + vec3 N = normalize(inPs.rotMatrix * bump.xyz); + + // Reflected ray: + vec3 E = normalize(inPs.eyeVec); + vec3 R = reflect(E, N); + + // negate z for use with the skybox texture that comes with gz-rendering + R = vec3(R.x, R.y, -R.z); + + // uncomment this line if using other textures that are Y up + // Gazebo requires rotated cube map lookup. + // R = vec3(R.x, R.z, R.y); + + // Get environment color of reflected ray: + vec4 envColor = texture(vkSamplerCube(cubeMap, texSampler1), R, 0.0); + + // Cheap hdr effect: + envColor.rgb *= (envColor.r+envColor.g+envColor.b)*hdrMultiplier; + + // Compute refraction ratio (Fresnel): + float facing = 1.0 - dot(-E, N); + float waterEnvRatio = clamp(pow(facing, fresnelPower), 0.0, 1.0); + + // Refracted ray only considers deep and shallow water colors: + vec4 waterColor = mix(shallowColor, deepColor, facing); + + // Perform linear interpolation between reflection and refraction. + vec4 color = mix(waterColor, envColor, waterEnvRatio); + + fragColor = vec4(color.xyz, 0.9); +} diff --git a/test/media/materials/programs/GerstnerWaves_vs.glsl b/test/media/materials/programs/GerstnerWaves_vs.glsl new file mode 100644 index 000000000..33ca4c379 --- /dev/null +++ b/test/media/materials/programs/GerstnerWaves_vs.glsl @@ -0,0 +1,139 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// 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.s + + +// Copyright (c) 2019 Rhys Mainwaring. +// +// Modified to accept vector parameters and use the form +// for Gerstner waves published in: +// +// Jerry Tessendorf, "Simulating Ocean Water", 1999-2004 +// +// theta = k * dir . x - omega * t +// +// px = x - dir.x * a * k * sin(theta) +// py = y - dir.y * a * k * sin(theta) +// pz = a * k * cos(theta) +// +// k is the wavenumber +// omega is the angular frequency +// +// The derivative terms (Tangent, Binormal, Normal) have been +// updated to be consistent with this convention. +// + +#version 150 + +in vec4 vertex; +in vec4 uv0; +uniform mat4 worldviewproj_matrix; + +/////////// Input parameters ////////// +// Waves +uniform int Nwaves; +uniform vec3 camera_position_object_space; +uniform float rescale; +uniform vec2 bumpScale; +uniform vec2 bumpSpeed; +uniform float t; +uniform vec3 amplitude; +uniform vec3 wavenumber; +uniform vec3 omega; +uniform vec3 steepness; +uniform vec2 dir0; +uniform vec2 dir1; +uniform vec2 dir2; +uniform float tau; + +/////////// Output variables to fragment shader ////////// +varying mat3 rotMatrix; +varying vec3 eyeVec; +varying vec2 bumpCoord; + +// Compute linear combination of Gerstner waves as described in +// GPU Gems, chapter 01: "Effective Water Simulation from Physical Models" +// http://http.developer.nvidia.com/GPUGems/gpugems_ch01.html + +// Information regarding a single wave +struct WaveParameters { + float k; // wavenumber + float a; // amplitude + float omega; // phase constant of speed + vec2 d; // horizontal direction of wave + float q; // steepness for Gerstner wave (q=0: rolling sine waves) +}; + + +void main() +{ + // Use combination of three waves. Values here are chosen rather arbitrarily. + // Other parameters might lead to better-looking waves. + + WaveParameters waves[3]; + + waves[0] = WaveParameters(wavenumber.x, amplitude.x, omega.x, dir0.xy, steepness.x); + waves[1] = WaveParameters(wavenumber.y, amplitude.y, omega.y, dir1.xy, steepness.y); + waves[2] = WaveParameters(wavenumber.z, amplitude.z, omega.z, dir2.xy, steepness.z); + + vec4 P = vertex; + + // Iteratively compute binormal, tangent, and normal vectors: + vec3 B = vec3(1.0, 0.0, 0.0); + vec3 T = vec3(0.0, 1.0, 0.0); + vec3 N = vec3(0.0, 0.0, 1.0); + + // Wave synthesis using linear combination of Gerstner waves + for(int i = 0; i < Nwaves; ++i) + { + // Evaluate wave equation: + float k = waves[i].k; + float a = waves[i].a * (1.0 - exp(-1.0*t/tau)); + float q = waves[i].q; + float dx = waves[i].d.x; + float dy = waves[i].d.y; + float theta = dot(waves[i].d, P.xy)*k - t*waves[i].omega; + float c = cos(theta); + float s = sin(theta); + + // Displacement of point due to wave (Eq. 9) + P.x -= q*a*dx*s; + P.y -= q*a*dx*s; + P.z += a*c; + + // Modify normals due to wave displacement (Eq. 10-12) + float ka = a*k; + float qkac = q*ka*c; + float kas = ka*s; + float dxy = dx*dy; + + B += vec3(-qkac*dx*dx, -qkac*dxy, -kas*dx); + T += vec3(-qkac*dxy, -qkac*dy*dy, -kas*dy); + N += vec3(dx*kas, dy*kas, -qkac); + } + + // Compute (Surf2World * Rescale) matrix + B = normalize(B)*rescale; + T = normalize(T)*rescale; + N = normalize(N); + rotMatrix = mat3(B, T, N); + + gl_Position = worldviewproj_matrix * P; + + // Compute texture coordinates for bump map + bumpCoord = uv0.xy*bumpScale + t*bumpSpeed; + + eyeVec = P.xyz - camera_position_object_space; // eye position in vertex space +} + diff --git a/test/media/materials/programs/GerstnerWaves_vs.metal b/test/media/materials/programs/GerstnerWaves_vs.metal new file mode 100644 index 000000000..0875555c6 --- /dev/null +++ b/test/media/materials/programs/GerstnerWaves_vs.metal @@ -0,0 +1,171 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// 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.s + + +// Copyright (c) 2019 Rhys Mainwaring. +// +// Modified to accept vector parameters and use the form +// for Gerstner waves published in: +// +// Jerry Tessendorf, "Simulating Ocean Water", 1999-2004 +// +// theta = k * dir . x - omega * t +// +// px = x - dir.x * a * k * sin(theta) +// py = y - dir.y * a * k * sin(theta) +// pz = a * k * cos(theta) +// +// k is the wavenumber +// omega is the angular frequency +// +// The derivative terms (Tangent, Binormal, Normal) have been +// updated to be consistent with this convention. + + +// original concept: +// https://developer.nvidia.com/gpugems/gpugems/part-i-natural-effects/chapter-1-effective-water-simulation-physical-models + +#include +using namespace metal; + +struct VS_INPUT +{ + float4 position [[attribute(VES_POSITION)]]; + float2 uv0 [[attribute(VES_TEXTURE_COORDINATES0)]]; +}; + +/////////// Input parameters ////////// +// Waves +struct Params +{ + float4x4 worldviewproj_matrix; + int Nwaves; + float3 camera_position_object_space; + float rescale; + float2 bumpScale; + float2 bumpSpeed; + float t; + float3 amplitude; + float3 wavenumber; + float3 omega; + float3 steepness; + float2 dir0; + float2 dir1; + float2 dir2; + float tau; +}; + +/////////// Output variables to fragment shader ////////// +struct PS_INPUT +{ + float4 gl_Position [[position]]; + float2 uv0; + float3 B; + float3 T; + float3 N; + float3 eyeVec; + float2 bumpCoord; +}; + +// Compute linear combination of Gerstner waves as described in +// GPU Gems, chapter 01: "Effective Water Simulation from Physical Models" +// http://http.developer.nvidia.com/GPUGems/gpugems_ch01.html + +// Information regarding a single wave +struct WaveParameters { + WaveParameters(float _k, float _a, float _omega, float2 _d, float _q) : + k(_k), a(_a), omega(_omega), d(_d), q(_q) {} + + float k; // wavenumber + float a; // amplitude + float omega; // phase constant of speed + float2 d; // horizontal direction of wave + float q; // steepness for Gerstner wave (q=0: rolling sine waves) +}; + +vertex PS_INPUT main_metal +( + VS_INPUT input [[stage_in]], + constant Params &p [[buffer(PARAMETER_SLOT)]] +) +{ + PS_INPUT outVs; + + // Use combination of three waves. Values here are chosen rather arbitrarily. + // Other parameters might lead to better-looking waves. + + WaveParameters waves[3] = { + WaveParameters(p.wavenumber.x, p.amplitude.x, p.omega.x, p.dir0.xy, p.steepness.x), + WaveParameters(p.wavenumber.y, p.amplitude.y, p.omega.y, p.dir1.xy, p.steepness.y), + WaveParameters(p.wavenumber.z, p.amplitude.z, p.omega.z, p.dir2.xy, p.steepness.z) + }; + + float4 P = input.position; + + // Iteratively compute binormal, tangent, and normal vectors: + float3 B = float3(1.0, 0.0, 0.0); + float3 T = float3(0.0, 1.0, 0.0); + float3 N = float3(0.0, 0.0, 1.0); + + // Wave synthesis using linear combination of Gerstner waves + for(int i = 0; i < p.Nwaves; ++i) + { + // Evaluate wave equation: + float k = waves[i].k; + float a = waves[i].a * (1.0 - exp(-1.0*p.t/p.tau)); + float q = waves[i].q; + float dx = waves[i].d.x; + float dy = waves[i].d.y; + float theta = dot(waves[i].d, P.xy)*k - p.t*waves[i].omega; + float c = cos(theta); + float s = sin(theta); + + // Displacement of point due to wave (Eq. 9) + P.x -= q*a*dx*s; + P.y -= q*a*dx*s; + P.z += a*c; + + // Modify normals due to wave displacement (Eq. 10-12) + float ka = a*k; + float qkac = q*ka*c; + float kas = ka*s; + float dxy = dx*dy; + + B += float3(-qkac*dx*dx, -qkac*dxy, -kas*dx); + T += float3(-qkac*dxy, -qkac*dy*dy, -kas*dy); + N += float3(dx*kas, dy*kas, -qkac); + } + + // Compute (Surf2World * Rescale) matrix + B = normalize(B)*p.rescale; + T = normalize(T)*p.rescale; + N = normalize(N); + // outVs won't accept float3x3, so pass components + outVs.B = B; + outVs.T = T; + outVs.N = N; + + outVs.gl_Position = p.worldviewproj_matrix * P; + + // Compute texture coordinates for bump map + outVs.bumpCoord = input.uv0.xy * p.bumpScale + p.t * p.bumpSpeed; + + outVs.eyeVec = P.xyz - p.camera_position_object_space; // eye position in vertex space + + // Pass texture coordinates to frag shader + outVs.uv0 = input.uv0.xy; + + return outVs; +} diff --git a/test/media/materials/programs/GerstnerWaves_vs_330.glsl b/test/media/materials/programs/GerstnerWaves_vs_330.glsl new file mode 100644 index 000000000..d5b2230be --- /dev/null +++ b/test/media/materials/programs/GerstnerWaves_vs_330.glsl @@ -0,0 +1,156 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// 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.s + + +// Copyright (c) 2019 Rhys Mainwaring. +// +// Modified to accept vector parameters and use the form +// for Gerstner waves published in: +// +// Jerry Tessendorf, "Simulating Ocean Water", 1999-2004 +// +// theta = k * dir . x - omega * t +// +// px = x - dir.x * a * k * sin(theta) +// py = y - dir.y * a * k * sin(theta) +// pz = a * k * cos(theta) +// +// k is the wavenumber +// omega is the angular frequency +// +// The derivative terms (Tangent, Binormal, Normal) have been +// updated to be consistent with this convention. + + +// original concept: +// https://developer.nvidia.com/gpugems/gpugems/part-i-natural-effects/chapter-1-effective-water-simulation-physical-models + + +#version ogre_glsl_ver_330 + +vulkan_layout( OGRE_POSITION ) in vec4 vertex; +vulkan_layout( OGRE_TEXCOORD0 ) in vec4 uv0; + +vulkan( layout( ogre_P0 ) uniform Params { ) + uniform mat4 worldviewproj_matrix; + + /////////// Input parameters ////////// + // Waves + uniform int Nwaves; + uniform vec3 camera_position_object_space; + uniform float rescale; + uniform vec2 bumpScale; + uniform vec2 bumpSpeed; + uniform float t; + uniform vec3 amplitude; + uniform vec3 wavenumber; + uniform vec3 omega; + uniform vec3 steepness; + uniform vec2 dir0; + uniform vec2 dir1; + uniform vec2 dir2; + uniform float tau; +vulkan( }; ) + +/////////// Output variables to fragment shader ////////// +vulkan_layout( location = 0 ) +out block +{ + mat3 rotMatrix; + vec3 eyeVec; + vec2 bumpCoord; +} outVs; + +// Compute linear combination of Gerstner waves as described in +// GPU Gems, chapter 01: "Effective Water Simulation from Physical Models" +// http://http.developer.nvidia.com/GPUGems/gpugems_ch01.html + +// Information regarding a single wave +struct WaveParameters { + float k; // wavenumber + float a; // amplitude + float omega; // phase constant of speed + vec2 d; // horizontal direction of wave + float q; // steepness for Gerstner wave (q=0: rolling sine waves) +}; + + + +out gl_PerVertex +{ + vec4 gl_Position; +}; + +void main() +{ + // Use combination of three waves. Values here are chosen rather arbitrarily. + // Other parameters might lead to better-looking waves. + + WaveParameters waves[3]; + + waves[0] = WaveParameters(wavenumber.x, amplitude.x, omega.x, dir0.xy, steepness.x); + waves[1] = WaveParameters(wavenumber.y, amplitude.y, omega.y, dir1.xy, steepness.y); + waves[2] = WaveParameters(wavenumber.z, amplitude.z, omega.z, dir2.xy, steepness.z); + + vec4 P = vertex; + + // Iteratively compute binormal, tangent, and normal vectors: + vec3 B = vec3(1.0, 0.0, 0.0); + vec3 T = vec3(0.0, 1.0, 0.0); + vec3 N = vec3(0.0, 0.0, 1.0); + + // Wave synthesis using linear combination of Gerstner waves + for(int i = 0; i < Nwaves; ++i) + { + // Evaluate wave equation: + float k = waves[i].k; + float a = waves[i].a * (1.0 - exp(-1.0*t/tau)); + float q = waves[i].q; + float dx = waves[i].d.x; + float dy = waves[i].d.y; + float theta = dot(waves[i].d, P.xy)*k - t*waves[i].omega; + float c = cos(theta); + float s = sin(theta); + + // Displacement of point due to wave (Eq. 9) + P.x -= q*a*dx*s; + P.y -= q*a*dx*s; + P.z += a*c; + + // Modify normals due to wave displacement (Eq. 10-12) + float ka = a*k; + float qkac = q*ka*c; + float kas = ka*s; + float dxy = dx*dy; + + B += vec3(-qkac*dx*dx, -qkac*dxy, -kas*dx); + T += vec3(-qkac*dxy, -qkac*dy*dy, -kas*dy); + N += vec3(dx*kas, dy*kas, -qkac); + } + + // Compute (Surf2World * Rescale) matrix + B = normalize(B)*rescale; + T = normalize(T)*rescale; + N = normalize(N); + outVs.rotMatrix = mat3(B, T, N); + + gl_Position = worldviewproj_matrix * P; + + // Compute texture coordinates for bump map + outVs.bumpCoord = uv0.xy*bumpScale + t*bumpSpeed; + + outVs.eyeVec = P.xyz - camera_position_object_space; // eye position in vertex space +} + diff --git a/test/media/materials/textures/skybox_lowres.dds b/test/media/materials/textures/skybox_lowres.dds new file mode 100644 index 0000000000000000000000000000000000000000..c6c8bd15dc1f3643d56e47cdede17d2d3342d966 GIT binary patch literal 786560 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