diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md new file mode 100644 index 000000000..7bdc02251 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/bug_report.md @@ -0,0 +1,72 @@ +--- +name: Bug report +about: Report a bug +labels: bug +--- + + + +## Environment +* OS Version: +* Source or binary build? + + +* If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section. + - Rendering plugin: [ogre | ogre2]. + - [ ] Sensor rendering error. + - [ ] GUI rendering error. + - EGL headless mode: + - [ ] Running in EGL headless mode + - Generally, mention all circumstances that might affect rendering capabilities: + - [ ] running on a dual GPU machine (integrated GPU + discrete GPU) + - [ ] running on a multi-GPU machine (it has multiple discrete GPUs) + - [ ] running on real hardware + - [ ] running in virtual machine + - [ ] running in Docker/Singularity + - [ ] running remotely (e.g. via SSH) + - [ ] running in a cloud + - [ ] using VirtualGL, XVFB, Xdummy, XVNC or other indirect rendering utilities + - [ ] GPU is concurrently used for other tasks + - [ ] desktop acceleration + - [ ] video decoding (i.e. a playing Youtube video) + - [ ] video encoding + - [ ] CUDA/ROCm computations (Tensorflow, Torch, Caffe running) + - [ ] multiple simulators running at the same time + - [ ] other... + - Rendering system info: + - On Linux, provide the outputs of the following commands: + ```bash + LANG=C lspci -nn | grep VGA # might require installing pciutils + echo "$DISPLAY" + LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)' # might require installing mesa-utils package + ps aux | grep Xorg + sudo env LANG=C X -version # if you don't have root access, try to tell the version of Xorg e.g. via package manager + ``` + - On Windows, run `dxdiag` and report the GPU-related information. + - On Mac OS, open a terminal and type `system_profiler SPDisplaysDataType`. Copy the output here. + + - [ ] Please, attach the ogre.log or ogre2.log file from `~/.gz/rendering` + +
+ +``` +# paste log here +``` + +
+ +## Description +* Expected behavior: +* Actual behavior: + +## Steps to reproduce + + +1. +2. +3. + +## Output + diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md new file mode 100644 index 000000000..52b56e336 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/feature_request.md @@ -0,0 +1,23 @@ +--- +name: Feature request +about: Request a new feature +labels: enhancement +--- + + + +## Desired behavior + + +## Alternatives considered + + +## Implementation suggestion + + +## Additional context + diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 000000000..73c10b4e5 --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,34 @@ +name: Ubuntu CI + +on: + pull_request: + push: + branches: + - 'ign-rendering[0-9]' + - 'gz-rendering[0-9]?' + - 'main' + +jobs: + focal-ci: + runs-on: ubuntu-latest + name: Ubuntu Focal CI + steps: + - name: Checkout + uses: actions/checkout@v4 + - name: Compile and test + id: ci + uses: gazebo-tooling/action-gz-ci@focal + with: + codecov-enabled: true + cppcheck-enabled: true + cpplint-enabled: true + doxygen-enabled: true + jammy-ci: + runs-on: ubuntu-latest + name: Ubuntu Jammy CI + steps: + - name: Checkout + uses: actions/checkout@v4 + - name: Compile and test + id: ci + uses: gazebo-tooling/action-gz-ci@jammy diff --git a/.github/workflows/triage.yml b/.github/workflows/triage.yml new file mode 100644 index 000000000..2332244bf --- /dev/null +++ b/.github/workflows/triage.yml @@ -0,0 +1,16 @@ +on: + issues: + types: [opened] + pull_request_target: + types: [opened] +name: Ticket opened +jobs: + assign: + name: Add ticket to inbox + runs-on: ubuntu-latest + steps: + - name: Add ticket to inbox + uses: actions/add-to-project@v0.5.0 + with: + project-url: https://github.com/orgs/gazebosim/projects/7 + github-token: ${{ secrets.TRIAGE_TOKEN }} diff --git a/CMakeLists.txt b/CMakeLists.txt index 67e5fe315..3942c6984 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 7.5.0) #============================================================================ # Find gz-cmake diff --git a/Changelog.md b/Changelog.md index 27b2ba766..266dbff45 100644 --- a/Changelog.md +++ b/Changelog.md @@ -2,6 +2,110 @@ ### Gazebo Rendering 7.X +### Gazebo Rendering 7.5.0 (2024-11-07) + +1. Fix waves 'double' to 'float' truncation warning + * [Pull request #1065](https://github.com/gazebosim/gz-rendering/pull/1065) + +1. Fixed integer underflow in OgreDistortionPass + * [Pull request #994](https://github.com/gazebosim/gz-rendering/pull/994) + +1. Parse correctly OGRE2_RESOURCE_PATH on Windows + * [Pull request #996](https://github.com/gazebosim/gz-rendering/pull/996) + +1. Fix setting normal map when not all submeshes have texcoords (ogre2) + * [Pull request #976](https://github.com/gazebosim/gz-rendering/pull/976) + +1. Improve Ogre2GpuRays performance + * [Pull request #955](https://github.com/gazebosim/gz-rendering/pull/955) + +1. Backport ogre2 lidar performance improvement + * [Pull request #956](https://github.com/gazebosim/gz-rendering/pull/956) + +1. Correctly set position-independent code + * [Pull request #950](https://github.com/gazebosim/gz-rendering/pull/950) + +1. Update github action workflows + * [Pull request #940](https://github.com/gazebosim/gz-rendering/pull/940) + +1. Add minor comments to BaseGizmoVisual + * [Pull request #881](https://github.com/gazebosim/gz-rendering/pull/881) + +1. Update github issue template + * [Pull request #939](https://github.com/gazebosim/gz-rendering/pull/939) + +1. Update examples to use metal as default graphics API on mac + * [Pull request #937](https://github.com/gazebosim/gz-rendering/pull/937) + +1. Extend ogre 1.x custom shaders support + * [Pull request #908](https://github.com/gazebosim/gz-rendering/pull/908) + +1. Fix use of srgb format for texture map data + * [Pull request #931](https://github.com/gazebosim/gz-rendering/pull/931) + +1. Update ci.yml + * [Pull request #925](https://github.com/gazebosim/gz-rendering/pull/925) + +1. Fix float comparison warnings in test + * [Pull request #929](https://github.com/gazebosim/gz-rendering/pull/929) + +### 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 + * [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 @@ -323,6 +427,38 @@ ### Gazebo Rendering 6.X +### Gazebo 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) + +### Gazebo 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) + ### Gazebo Rendering 6.6.0 (2023-02-02) 1. Backport Composite BaseVisual destroy fix to 6 @@ -1211,6 +1347,16 @@ 1. Add support for transparency based on textures alpha channel for ogre1 and ogre2 * [BitBucket pull request 229](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-rendering/pull-requests/229) +### Gazebo Rendering 3.7.2 (2024-01-05) + +1. Update github action workflows + * [Pull request #940](https://github.com/gazebosim/gz-rendering/pull/940) + * [Pull request #834](https://github.com/gazebosim/gz-rendering/pull/834) + * [Pull request #833](https://github.com/gazebosim/gz-rendering/pull/833) + +1. Add minor comments to BaseGizmoVisual + * [Pull request #881](https://github.com/gazebosim/gz-rendering/pull/881) + ### Gazebo Rendering 3.7.1 (2023-02-03) 1. Remove fini to resolve segfault at shutdown. diff --git a/examples/actor_animation/Main.cc b/examples/actor_animation/Main.cc index 70a3546fa..42d54a658 100644 --- a/examples/actor_animation/Main.cc +++ b/examples/actor_animation/Main.cc @@ -188,7 +188,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); diff --git a/examples/boundingbox_camera/Main.cc b/examples/boundingbox_camera/Main.cc index b19815bec..1cf00c590 100644 --- a/examples/boundingbox_camera/Main.cc +++ b/examples/boundingbox_camera/Main.cc @@ -217,10 +217,11 @@ void buildScene(ScenePtr _scene, BoundingBoxType _type) ////////////////////////////////////////////////// std::vector createCameras(const std::string &_engineName, + const std::map& _params, BoundingBoxType _type) { // create and populate scene - RenderEngine *engine = rendering::engine(_engineName); + RenderEngine *engine = rendering::engine(_engineName, _params); if (!engine) { gzwarn << "Engine '" << _engineName @@ -271,6 +272,12 @@ int main(int _argc, char** _argv) } } + GraphicsAPI graphicsApi = defaultGraphicsAPI(); + if (_argc > 2) + { + graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); + } + common::Console::SetVerbosity(4); std::vector engineNames; std::vector cameras; @@ -281,7 +288,14 @@ int main(int _argc, char** _argv) { try { - cameras = createCameras(engineName, bboxType); + std::map params; + if (engineName.compare("ogre2") == 0 + && graphicsApi == GraphicsAPI::METAL) + { + params["metal"] = "1"; + } + + cameras = createCameras(engineName, params, bboxType); } catch (...) { diff --git a/examples/camera_tracking/Main.cc b/examples/camera_tracking/Main.cc index 398b73b31..03279a92e 100644 --- a/examples/camera_tracking/Main.cc +++ b/examples/camera_tracking/Main.cc @@ -127,7 +127,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); @@ -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..5af164988 100644 --- a/examples/custom_scene_viewer/ManualSceneDemo.cc +++ b/examples/custom_scene_viewer/ManualSceneDemo.cc @@ -192,7 +192,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); diff --git a/examples/custom_shaders_uniforms/Main.cc b/examples/custom_shaders_uniforms/Main.cc index 009681621..093de95b2 100644 --- a/examples/custom_shaders_uniforms/Main.cc +++ b/examples/custom_shaders_uniforms/Main.cc @@ -167,7 +167,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); diff --git a/examples/depth_camera/Main.cc b/examples/depth_camera/Main.cc index 08bf8a8f9..ff90e5f87 100644 --- a/examples/depth_camera/Main.cc +++ b/examples/depth_camera/Main.cc @@ -115,7 +115,7 @@ void buildScene(ScenePtr _scene) camera->SetImageFormat(PixelFormat::PF_FLOAT32_RGBA); camera->SetNearClipPlane(0.15); camera->SetFarClipPlane(10.0); - camera->SetAntiAliasing(2); + camera->SetAntiAliasing(2); camera->CreateDepthTexture(); root->AddChild(camera); @@ -154,7 +154,7 @@ int main(int _argc, char** _argv) engineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); diff --git a/examples/heightmap/Main.cc b/examples/heightmap/Main.cc index 6aaf6e143..82db73326 100644 --- a/examples/heightmap/Main.cc +++ b/examples/heightmap/Main.cc @@ -324,7 +324,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2 && buildDemScene != 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); 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`. diff --git a/examples/lidar_visual/Main.cc b/examples/lidar_visual/Main.cc index 340394171..af5aebeb7 100644 --- a/examples/lidar_visual/Main.cc +++ b/examples/lidar_visual/Main.cc @@ -272,7 +272,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); diff --git a/examples/mesh_viewer/Main.cc b/examples/mesh_viewer/Main.cc index 36ef1372b..a0c32a156 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 @@ -142,7 +142,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); @@ -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..d94bc4d1e 100644 --- a/examples/mouse_picking/Main.cc +++ b/examples/mouse_picking/Main.cc @@ -135,7 +135,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); @@ -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/ogre2_demo/Main.cc b/examples/ogre2_demo/Main.cc index 337cf1d12..999b00252 100644 --- a/examples/ogre2_demo/Main.cc +++ b/examples/ogre2_demo/Main.cc @@ -317,7 +317,7 @@ int main(int _argc, char** _argv) std::vector engineNames; std::vector cameras; - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); diff --git a/examples/particles_demo/Main.cc b/examples/particles_demo/Main.cc index 03dbca5b6..9ed66c568 100644 --- a/examples/particles_demo/Main.cc +++ b/examples/particles_demo/Main.cc @@ -168,7 +168,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); diff --git a/examples/projector/Main.cc b/examples/projector/Main.cc index a991c98dd..f78224b16 100644 --- a/examples/projector/Main.cc +++ b/examples/projector/Main.cc @@ -180,7 +180,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); @@ -191,7 +191,6 @@ 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..21863d807 100644 --- a/examples/render_pass/Main.cc +++ b/examples/render_pass/Main.cc @@ -198,7 +198,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); @@ -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/segmentation_camera/Main.cc b/examples/segmentation_camera/Main.cc index 46a07f0c0..0dda4ecd7 100644 --- a/examples/segmentation_camera/Main.cc +++ b/examples/segmentation_camera/Main.cc @@ -150,7 +150,7 @@ int main(int _argc, char** _argv) engineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); diff --git a/examples/simple_demo/Main.cc b/examples/simple_demo/Main.cc index 3a32e1391..1ea6e0f67 100644 --- a/examples/simple_demo/Main.cc +++ b/examples/simple_demo/Main.cc @@ -218,7 +218,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); @@ -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/simple_demo_qml/ThreadRenderer.cpp b/examples/simple_demo_qml/ThreadRenderer.cpp index 91731ef5f..4aff4dee6 100644 --- a/examples/simple_demo_qml/ThreadRenderer.cpp +++ b/examples/simple_demo_qml/ThreadRenderer.cpp @@ -129,7 +129,7 @@ void RenderThread::Print(const QSurfaceFormat &_format) return "CompatibilityProfile"; default: return "Invalid OpenGLContextProfile"; - } + } }; auto renderableTypeToString = [] (QSurfaceFormat::RenderableType _value) -> std::string @@ -146,7 +146,7 @@ void RenderThread::Print(const QSurfaceFormat &_format) return "OpenVG"; default: return "Invalid RenderableType"; - } + } }; auto swapBehaviorToString = [] (QSurfaceFormat::SwapBehavior _value) -> std::string @@ -161,7 +161,7 @@ void RenderThread::Print(const QSurfaceFormat &_format) return "DoubleBuffer"; default: return "Invalid SwapBehavior"; - } + } }; // surface format info @@ -200,7 +200,7 @@ QSurfaceFormat RenderThread::CreateSurfaceFormat() format.setProfile(QSurfaceFormat::CoreProfile); format.setRenderableType(QSurfaceFormat::OpenGL); - return format; + return format; } //-------------------------------------------------------------------------- @@ -272,8 +272,25 @@ TextureNode::TextureNode(QQuickWindow *_window) , window(_window) { // Our texture node must have a texture, so use the default 0 texture. - // createTextureFromNativeObject() +#if QT_VERSION < QT_VERSION_CHECK(5, 14, 0) +# ifndef _WIN32 +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wdeprecated-declarations" +# endif this->texture = this->window->createTextureFromId(0, QSize(1, 1)); +# ifndef _WIN32 +# pragma GCC diagnostic pop +# endif +#else + int texId = 0; + this->texture = + this->window->createTextureFromNativeObject( + QQuickWindow::NativeObjectTexture, + static_cast(&texId), + 0, + QSize(1, 1)); +#endif + this->setTexture(this->texture); this->setFiltering(QSGTexture::Linear); } @@ -314,8 +331,23 @@ void TextureNode::PrepareNode() this->texture = nullptr; // note: include QQuickWindow::TextureHasAlphaChannel if the rendered content // has alpha. - // createTextureFromNativeObject +#if QT_VERSION < QT_VERSION_CHECK(5, 14, 0) +# ifndef _WIN32 +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wdeprecated-declarations" +# endif this->texture = this->window->createTextureFromId(newId, size); +# ifndef _WIN32 +# pragma GCC diagnostic pop +# endif +#else + this->texture = + this->window->createTextureFromNativeObject( + QQuickWindow::NativeObjectTexture, + static_cast(&newId), + 0, + size); +#endif this->setTexture(this->texture); this->markDirty(DirtyMaterial); @@ -342,7 +374,7 @@ void ThreadRenderer::Ready() this->renderThread->surface->setFormat(this->renderThread->context->format()); this->renderThread->surface->create(); - // carry out any initialisation before moving to thread + // carry out any initialisation before moving to thread this->renderThread->InitialiseOnMainThread(); // Move to Render thread 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/thermal_camera/Main.cc b/examples/thermal_camera/Main.cc index 5e7fe2701..68157a0c9 100644 --- a/examples/thermal_camera/Main.cc +++ b/examples/thermal_camera/Main.cc @@ -138,7 +138,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); diff --git a/examples/transform_control/Main.cc b/examples/transform_control/Main.cc index 79a0b8e7e..22dec4d3b 100644 --- a/examples/transform_control/Main.cc +++ b/examples/transform_control/Main.cc @@ -121,7 +121,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); @@ -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..5d12fc365 100644 --- a/examples/view_control/Main.cc +++ b/examples/view_control/Main.cc @@ -167,7 +167,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); @@ -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..104ef4250 100644 --- a/examples/visualization_demo/Main.cc +++ b/examples/visualization_demo/Main.cc @@ -248,7 +248,7 @@ int main(int _argc, char** _argv) engine = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); @@ -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/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..44889751e 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; @@ -156,7 +164,7 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } - GraphicsAPI graphicsApi = GraphicsAPI::OPENGL; + GraphicsAPI graphicsApi = defaultGraphicsAPI(); if (_argc > 2) { graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); @@ -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/examples/wide_angle_camera/Main.cc b/examples/wide_angle_camera/Main.cc index 02da36123..63d6d7073 100644 --- a/examples/wide_angle_camera/Main.cc +++ b/examples/wide_angle_camera/Main.cc @@ -137,10 +137,11 @@ void buildScene(ScenePtr _scene) } ////////////////////////////////////////////////// -CameraPtr createCamera(const std::string &_engineName) +CameraPtr createCamera(const std::string &_engineName, + const std::map& _params) { // create and populate scene - RenderEngine *engine = rendering::engine(_engineName); + RenderEngine *engine = rendering::engine(_engineName, _params); if (!engine) { gzwarn << "Engine '" << _engineName @@ -168,18 +169,30 @@ int main(int _argc, char** _argv) ogreEngineName = _argv[1]; } + GraphicsAPI graphicsApi = defaultGraphicsAPI(); + if (_argc > 2) + { + graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2])); + } + common::Console::SetVerbosity(4); std::vector engineNames; std::vector cameras; engineNames.push_back(ogreEngineName); - engineNames.push_back("optix"); for (auto engineName : engineNames) { try { - CameraPtr camera = createCamera(engineName); + std::map params; + if (engineName.compare("ogre2") == 0 + && graphicsApi == GraphicsAPI::METAL) + { + params["metal"] = "1"; + } + + CameraPtr camera = createCamera(engineName, params); if (camera) { cameras.push_back(camera); diff --git a/include/gz/rendering/Capsule.hh b/include/gz/rendering/Capsule.hh index ee7abcc0c..5e5094163 100644 --- a/include/gz/rendering/Capsule.hh +++ b/include/gz/rendering/Capsule.hh @@ -29,7 +29,11 @@ namespace gz { inline namespace GZ_RENDERING_VERSION_NAMESPACE { /// \class Capsule Capsule.hh gz/rendering/Capsule - /// \brief Geometry for a capsule shape. + /// \brief Geometry for a capsule shape. The APIs allow setting + /// the capsule's radius and length directly which ensure that the + /// the geometry remains the shape of a capsule. In comparison, if + /// the size is changed via the parent Node's Set*Scale function, the + /// capsule may become deformed. class GZ_RENDERING_VISIBLE Capsule : public virtual Geometry { diff --git a/include/gz/rendering/Utils.hh b/include/gz/rendering/Utils.hh index 4d53fe2c9..65a50b820 100644 --- a/include/gz/rendering/Utils.hh +++ b/include/gz/rendering/Utils.hh @@ -29,6 +29,7 @@ #include "gz/rendering/Camera.hh" #include "gz/rendering/config.hh" #include "gz/rendering/Export.hh" +#include "gz/rendering/GraphicsAPI.hh" #include "gz/rendering/RayQuery.hh" #include "gz/rendering/Image.hh" @@ -120,6 +121,12 @@ namespace gz /// \return Image in bayer format GZ_RENDERING_VISIBLE Image convertRGBToBayer(const Image &_image, PixelFormat _bayerFormat); + + /// \brief Convenience function to get the default graphics API based on + /// current platform + /// \return Graphics API, i.e. METAL, OPENGL, VULKAN + GZ_RENDERING_VISIBLE + GraphicsAPI defaultGraphicsAPI(); } } } diff --git a/include/gz/rendering/base/BaseGizmoVisual.hh b/include/gz/rendering/base/BaseGizmoVisual.hh index 13b18d905..0cb4d4915 100644 --- a/include/gz/rendering/base/BaseGizmoVisual.hh +++ b/include/gz/rendering/base/BaseGizmoVisual.hh @@ -495,6 +495,8 @@ namespace gz this->visuals[TransformAxis::TA_TRANSLATION_X] = transXVis; this->visuals[TransformAxis::TA_TRANSLATION_Y] = transYVis; this->visuals[TransformAxis::TA_TRANSLATION_Z] = transZVis; + // Store the translation origin visual in this->visuals using a key + // that's not already occupied by the TransformAxis enum this->visuals[TransformAxis::TA_TRANSLATION_Z << 1] = transOrigin; // translation handles @@ -584,6 +586,8 @@ namespace gz this->visuals[TransformAxis::TA_ROTATION_X] = rotXVis; this->visuals[TransformAxis::TA_ROTATION_Y] = rotYVis; this->visuals[TransformAxis::TA_ROTATION_Z] = rotZVis; + // Store the full rotation visual in this->visuals using a key + // that's not already occupied by the TransformAxis enum this->visuals[TransformAxis::TA_ROTATION_Z << 1] = rotFullVis; // rotation handles diff --git a/ogre/src/OgreDistortionPass.cc b/ogre/src/OgreDistortionPass.cc index 7c97c471d..774759e8e 100644 --- a/ogre/src/OgreDistortionPass.cc +++ b/ogre/src/OgreDistortionPass.cc @@ -196,8 +196,8 @@ void OgreDistortionPass::CreateRenderPass() distortedLocation, newDistortedCoordinates, currDistortedCoordinates; - unsigned int distortedIdx, - distortedCol, + unsigned int distortedIdx; + int distortedCol, distortedRow; double normalizedColLocation, normalizedRowLocation; @@ -223,9 +223,9 @@ void OgreDistortionPass::CreateRenderPass() focalLength); // compute the index in the distortion map - distortedCol = static_cast(round(distortedLocation.X() * + distortedCol = static_cast(round(distortedLocation.X() * this->dataPtr->distortionTexWidth)); - distortedRow = static_cast(round(distortedLocation.Y() * + distortedRow = static_cast(round(distortedLocation.Y() * this->dataPtr->distortionTexHeight)); // Note that the following makes sure that, for significant distortions, @@ -235,8 +235,11 @@ void OgreDistortionPass::CreateRenderPass() // nonlegacy distortion modes. // Make sure the distorted pixel is within the texture dimensions - if (distortedCol < this->dataPtr->distortionTexWidth && - distortedRow < this->dataPtr->distortionTexHeight) + if (distortedCol >= 0 && distortedRow >= 0 && + static_cast(distortedCol) < + this->dataPtr->distortionTexWidth && + static_cast(distortedRow) < + this->dataPtr->distortionTexHeight) { distortedIdx = distortedRow * this->dataPtr->distortionTexWidth + distortedCol; diff --git a/ogre/src/OgreLightVisual.cc b/ogre/src/OgreLightVisual.cc index 642fc53ac..c1809ce7a 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); } ////////////////////////////////////////////////// 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/ogre/src/OgreProjector.cc b/ogre/src/OgreProjector.cc index 6744428dc..77420633b 100644 --- a/ogre/src/OgreProjector.cc +++ b/ogre/src/OgreProjector.cc @@ -444,7 +444,7 @@ std::unordered_set OgreProjectorListener::FindVisibleMaterials() ///////////////////////////////////////////////// void OgreProjectorListener::AddDecalToVisibleMaterials() { - auto newVisibleMaterials = std::move(this->FindVisibleMaterials()); + auto newVisibleMaterials = this->FindVisibleMaterials(); this->AddDecalToMaterials(newVisibleMaterials); } @@ -652,8 +652,7 @@ void OgreProjectorListener::SetVisibilityFlags(uint32_t _flags) ///////////////////////////////////////////////// void OgreProjectorListener::UpdateVisibleMaterials() { - this->visibleMaterials = - std::move(this->FindVisibleMaterials()); + this->visibleMaterials = this->FindVisibleMaterials(); } ///////////////////////////////////////////////// diff --git a/ogre/src/OgreRenderEngine.cc b/ogre/src/OgreRenderEngine.cc index f73a4edc1..c77287c1a 100644 --- a/ogre/src/OgreRenderEngine.cc +++ b/ogre/src/OgreRenderEngine.cc @@ -843,5 +843,5 @@ OgreRenderEngine *OgreRenderEngine::Instance() } // Register this plugin -GZ_ADD_PLUGIN(OgreRenderEnginePlugin, +GZ_ADD_PLUGIN(rendering::OgreRenderEnginePlugin, rendering::RenderEnginePlugin) diff --git a/ogre2/src/CMakeLists.txt b/ogre2/src/CMakeLists.txt index ef25973c3..e8a3260e7 100644 --- a/ogre2/src/CMakeLists.txt +++ b/ogre2/src/CMakeLists.txt @@ -15,20 +15,32 @@ set(engine_name "ogre2") gz_add_component(${engine_name} SOURCES ${sources} GET_TARGET_NAME ogre2_target) +set(OGRE2_RESOURCE_PATH_STR "${OGRE2_RESOURCE_PATH}") +# On non-Windows, we need to convert the CMake list delimited (;) to the +# list delimiter used in list of paths in code (:) +# On Windows, the list delimiter in code is already ;, not need to change it to : +if(NOT WIN32) + string(REPLACE ";" ":" OGRE2_RESOURCE_PATH_STR "${OGRE2_RESOURCE_PATH}") +endif() + set_property( SOURCE Ogre2RenderEngine.cc PROPERTY COMPILE_DEFINITIONS - OGRE2_RESOURCE_PATH="${OGRE2_RESOURCE_PATH}" + OGRE2_RESOURCE_PATH="${OGRE2_RESOURCE_PATH_STR}" OGRE2_VERSION="${OGRE2_VERSION}" ) 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} diff --git a/ogre2/src/Ogre2GzHlmsSharedPrivate.cc b/ogre2/src/Ogre2GzHlmsSharedPrivate.cc index 91e2bb477..d07aee097 100644 --- a/ogre2/src/Ogre2GzHlmsSharedPrivate.cc +++ b/ogre2/src/Ogre2GzHlmsSharedPrivate.cc @@ -71,6 +71,9 @@ namespace gz uint32_t _currConstBufferIdx, uint32_t *_startMappedConstBuffer, uint16_t _perObjectDataBufferSlot) { + // This argument is used only in the MACRO, and it generating a warning. + // This should void the warning + (void)_startMappedConstBuffer; const uint32_t numFloatsPerObject = 4u; if (!this->currPerObjectDataBuffer || diff --git a/ogre2/src/Ogre2Heightmap.cc b/ogre2/src/Ogre2Heightmap.cc index 19dad926f..644f35b2c 100644 --- a/ogre2/src/Ogre2Heightmap.cc +++ b/ogre2/src/Ogre2Heightmap.cc @@ -76,6 +76,13 @@ Ogre2Heightmap::Ogre2Heightmap(const HeightmapDescriptor &_desc) ////////////////////////////////////////////////// Ogre2Heightmap::~Ogre2Heightmap() { + this->DestroyImpl(); +} + +////////////////////////////////////////////////// +void Ogre2Heightmap::DestroyImpl() +{ + this->dataPtr->terra.reset(); } ////////////////////////////////////////////////// diff --git a/ogre2/src/Ogre2Material.cc b/ogre2/src/Ogre2Material.cc index 464158028..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); @@ -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()); diff --git a/ogre2/src/Ogre2MeshFactory.cc b/ogre2/src/Ogre2MeshFactory.cc index 71f25723c..54bc8e20e 100644 --- a/ogre2/src/Ogre2MeshFactory.cc +++ b/ogre2/src/Ogre2MeshFactory.cc @@ -381,14 +381,29 @@ bool Ogre2MeshFactory::LoadImpl(const MeshDescriptor &_desc) // TODO(anyone): specular colors // two dimensional texture coordinates - // add all texture coordinate sets - for (unsigned int k = 0u; k < subMesh.TexCoordSetCount(); ++k) + // If submesh does not have texcoord sets, add one default set. + // This is needed otherwise ogre2 will fail to generate tangents during + // Ogre::v2::Mesh::importV1() and throw an ogre exception if we try to + // apply normal maps to a submesh. Resulting object would then appear + // white without any PBR textures. + if (subMesh.TexCoordSetCount() == 0u) { - if (subMesh.TexCoordCountBySet(k) > 0) + vertexDecl->addElement(0, currOffset, Ogre::VET_FLOAT2, + Ogre::VES_TEXTURE_COORDINATES, 0); + currOffset += Ogre::v1::VertexElement::getTypeSize(Ogre::VET_FLOAT2); + } + // Add all texture coordinate sets + else + { + for (unsigned int k = 0u; k < subMesh.TexCoordSetCount(); ++k) { - vertexDecl->addElement(0, currOffset, Ogre::VET_FLOAT2, - Ogre::VES_TEXTURE_COORDINATES, k); - currOffset += Ogre::v1::VertexElement::getTypeSize(Ogre::VET_FLOAT2); + if (subMesh.TexCoordCountBySet(k) > 0) + { + vertexDecl->addElement(0, currOffset, Ogre::VET_FLOAT2, + Ogre::VES_TEXTURE_COORDINATES, k); + currOffset += + Ogre::v1::VertexElement::getTypeSize(Ogre::VET_FLOAT2); + } } } @@ -436,12 +451,20 @@ bool Ogre2MeshFactory::LoadImpl(const MeshDescriptor &_desc) } // Add all texture coordinate sets - for (unsigned int k = 0u; k < subMesh.TexCoordSetCount(); ++k) + if (subMesh.TexCoordSetCount() == 0u) + { + *vertices++ = 0; + *vertices++ = 0; + } + else { - if (subMesh.TexCoordCountBySet(k) > 0u) + for (unsigned int k = 0u; k < subMesh.TexCoordSetCount(); ++k) { - *vertices++ = subMesh.TexCoordBySet(j, k).X(); - *vertices++ = subMesh.TexCoordBySet(j, k).Y(); + if (subMesh.TexCoordCountBySet(k) > 0u) + { + *vertices++ = subMesh.TexCoordBySet(j, k).X(); + *vertices++ = subMesh.TexCoordBySet(j, k).Y(); + } } } } diff --git a/ogre2/src/Ogre2Node.cc b/ogre2/src/Ogre2Node.cc index a211ef71f..fc1ea2db3 100644 --- a/ogre2/src/Ogre2Node.cc +++ b/ogre2/src/Ogre2Node.cc @@ -116,8 +116,8 @@ void Ogre2Node::SetRawLocalPosition(const math::Vector3d &_position) // the length of the position vector. if (dynamic_cast(this) && _position.Length() > 1e9) { - ignerr << "Unable to set camera node position to a distance larger than " - << "1e9 from origin" << std::endl; + gzerr << "Unable to set camera node position to a distance larger than " + << "1e9 from origin" << std::endl; return; } this->ogreNode->setPosition(Ogre2Conversions::Convert(_position)); 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/ogre2/src/Ogre2RayQuery.cc b/ogre2/src/Ogre2RayQuery.cc index 8a9826c30..abbff3cad 100644 --- a/ogre2/src/Ogre2RayQuery.cc +++ b/ogre2/src/Ogre2RayQuery.cc @@ -138,8 +138,6 @@ void Ogre2RayQuery::SetFromCamera(const CameraPtr &_camera, ////////////////////////////////////////////////// RayQueryResult Ogre2RayQuery::ClosestPoint(bool _forceSceneUpdate) { - RayQueryResult result; - if (!this->dataPtr->camera || !this->dataPtr->camera->Parent() || std::this_thread::get_id() != this->dataPtr->threadId) diff --git a/ogre2/src/Ogre2RenderEngine.cc b/ogre2/src/Ogre2RenderEngine.cc index 6a5bb9430..c7a973975 100644 --- a/ogre2/src/Ogre2RenderEngine.cc +++ b/ogre2/src/Ogre2RenderEngine.cc @@ -22,6 +22,8 @@ #endif #include #include +#include +#include #include #include @@ -118,11 +120,18 @@ Ogre2RenderEngine::Ogre2RenderEngine() : this->dummyWindowId = 0; std::string ogrePath = std::string(OGRE2_RESOURCE_PATH); - this->ogrePaths.push_back(ogrePath); + std::vector paths = common::Split(ogrePath, + common::SystemPaths::Delimiter()); + for (const auto &path : paths) + this->ogrePaths.push_back(path); const char *env = std::getenv("OGRE2_RESOURCE_PATH"); if (env) - this->ogrePaths.push_back(std::string(env)); + { + paths = common::Split(std::string(env), common::SystemPaths::Delimiter()); + for (const auto &path : paths) + this->ogrePaths.push_back(path); + } } ////////////////////////////////////////////////// diff --git a/ogre2/src/media/materials/scripts/GpuRays.compositor b/ogre2/src/media/materials/scripts/GpuRays.compositor index da6305118..c3d2417e0 100644 --- a/ogre2/src/media/materials/scripts/GpuRays.compositor +++ b/ogre2/src/media/materials/scripts/GpuRays.compositor @@ -33,9 +33,12 @@ compositor_node GpuRays1stPass // kLaserRetroMainDepthPassId identifier 9525 - // IGN_VISIBILITY_ALL & ~Ogre2ParticleEmitter::kParticleVisibilityFlags + // GZ_VISIBILITY_ALL & ~Ogre2ParticleEmitter::kParticleVisibilityFlags visibility_mask 0xFEFFFFF + enable_forwardplus no + light_visibility_mask 0x0 + profiling_id "GpuRays1stPass Color" } } @@ -53,6 +56,9 @@ compositor_node GpuRays1stPass // Ogre2ParticleEmitter::kParticleVisibilityFlags visibility_mask 0x00100000 + enable_forwardplus no + light_visibility_mask 0x0 + profiling_id "GpuRays1stPass Particle" } } diff --git a/ogre2/src/terrain/Terra/src/Terra.cpp b/ogre2/src/terrain/Terra/src/Terra.cpp index 4e85f0437..8f609cdf3 100644 --- a/ogre2/src/terrain/Terra/src/Terra.cpp +++ b/ogre2/src/terrain/Terra/src/Terra.cpp @@ -30,6 +30,7 @@ THE SOFTWARE. #include "Terra/TerraShadowMapper.h" #include "Terra/Hlms/OgreHlmsTerra.h" +#include "Terra/Hlms/OgreHlmsTerraDatablock.h" #include "OgreImage2.h" diff --git a/src/Utils.cc b/src/Utils.cc index f6ddcf396..a5ff03ea8 100644 --- a/src/Utils.cc +++ b/src/Utils.cc @@ -25,8 +25,9 @@ #include "gz/math/Vector3.hh" #include "gz/rendering/Camera.hh" -#include "gz/rendering/RayQuery.hh" +#include "gz/rendering/GraphicsAPI.hh" #include "gz/rendering/PixelFormat.hh" +#include "gz/rendering/RayQuery.hh" #include "gz/rendering/Utils.hh" @@ -393,6 +394,16 @@ Image convertRGBToBayer(const Image &_image, PixelFormat _bayerFormat) return destImage; } +///////////////////////////////////////////////// +GraphicsAPI defaultGraphicsAPI() +{ +#ifdef __APPLE__ + return GraphicsAPI::METAL; +#else + return GraphicsAPI::OPENGL; +#endif +} + } } } diff --git a/test/common_test/Camera_TEST.cc b/test/common_test/Camera_TEST.cc index 5eb76d3e4..d42aabe9c 100644 --- a/test/common_test/Camera_TEST.cc +++ b/test/common_test/Camera_TEST.cc @@ -335,12 +335,12 @@ TEST_F(CameraTest, IntrinsicMatrix) 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; 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, diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index 190b7c955..844283189 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -5,6 +5,8 @@ set(tests camera depth_camera heightmap + lidar_visual + mesh projector render_pass scene @@ -13,6 +15,7 @@ set(tests sky thermal_camera load_unload + waves wide_angle_camera ) diff --git a/test/integration/mesh.cc b/test/integration/mesh.cc new file mode 100644 index 000000000..59e361fd7 --- /dev/null +++ b/test/integration/mesh.cc @@ -0,0 +1,177 @@ +/* + * Copyright (C) 2024 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 +#include + +#include "gz/rendering/Camera.hh" +#include "gz/rendering/Image.hh" +#include "gz/rendering/PixelFormat.hh" +#include "gz/rendering/Scene.hh" + +using namespace gz; +using namespace rendering; + +class MeshTest: public CommonRenderingTest +{ +}; + +///////////////////////////////////////////////// +TEST_F(MeshTest, NormalMapWithoutTexCoord) +{ + // Create a mesh with 2 submeshes - one with red texture and the other with + // green texture. Add texcoords to the red submesh but not the green submesh. + // Verify that we can set normal map to the red submesh and the two + // submeshes should be rendered correctly + + ScenePtr scene = engine->CreateScene("scene"); + ASSERT_NE(nullptr, scene); + scene->SetAmbientLight(1.0, 1.0, 1.0); + scene->SetBackgroundColor(0.0, 0.0, 1.0); + + VisualPtr root = scene->RootVisual(); + ASSERT_NE(nullptr, root); + + // create directional light + 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); + + common::Mesh mesh; + common::SubMesh subMesh0; + subMesh0.SetName("submesh0"); + subMesh0.AddVertex(math::Vector3d(0, 0, 0)); + subMesh0.AddVertex(math::Vector3d(1, 0, 0)); + subMesh0.AddVertex(math::Vector3d(1, 1, 0)); + subMesh0.AddNormal(math::Vector3d(0, 0, 1)); + subMesh0.AddNormal(math::Vector3d(0, 0, 1)); + subMesh0.AddNormal(math::Vector3d(0, 0, 1)); + subMesh0.AddIndex(0); + subMesh0.AddIndex(1); + subMesh0.AddIndex(2); + subMesh0.AddTexCoordBySet(math::Vector2d(0, 0), 0); + subMesh0.AddTexCoordBySet(math::Vector2d(0, 1), 0); + subMesh0.AddTexCoordBySet(math::Vector2d(0, 0), 0); + common::MaterialPtr material0; + material0 = std::make_shared(); + std::string textureMapName0 = "red_diffuse_map"; + auto textureMapData0 = std::make_shared(); + auto red = std::make_unique(3); + red.get()[0] = 255u; + red.get()[1] = 0u; + red.get()[2] = 0u; + textureMapData0->SetFromData(red.get(), 1, 1, common::Image::RGB_INT8); + material0->SetTextureImage(textureMapName0, textureMapData0); + + common::Pbr pbr; + std::string normalMapName = "normal_map"; + auto normalMapData = std::make_shared(); + auto normal = std::make_unique(3); + normal.get()[0] = 127u; + normal.get()[1] = 127u; + normal.get()[2] = 255u; + normalMapData->SetFromData(normal.get(), 1, 1, common::Image::RGB_INT8); + + pbr.SetNormalMap(normalMapName, common::NormalMapSpace::TANGENT, + normalMapData); + material0->SetPbrMaterial(pbr); + mesh.AddMaterial(material0); + subMesh0.SetMaterialIndex(0u); + + common::SubMesh subMesh1; + subMesh1.SetName("submesh1"); + subMesh1.AddVertex(math::Vector3d(0, 0, 0)); + subMesh1.AddVertex(math::Vector3d(1, 1, 0)); + subMesh1.AddVertex(math::Vector3d(0, 1, 0)); + subMesh1.AddNormal(math::Vector3d(0, 0, 1)); + subMesh1.AddNormal(math::Vector3d(0, 0, 1)); + subMesh1.AddNormal(math::Vector3d(0, 0, 1)); + subMesh1.AddIndex(0); + subMesh1.AddIndex(1); + subMesh1.AddIndex(2); + + common::MaterialPtr material1; + material1 = std::make_shared(); + std::string textureMapName1 = "green_diffuse_map"; + auto textureMapData1 = std::make_shared(); + auto green = std::make_unique(3); + green.get()[0] = 0u; + green.get()[1] = 255u; + green.get()[2] = 0u; + textureMapData1->SetFromData(green.get(), 1, 1, common::Image::RGB_INT8); + material1->SetTextureImage(textureMapName1, textureMapData1); + mesh.AddMaterial(material1); + subMesh1.SetMaterialIndex(1u); + + mesh.AddSubMesh(subMesh0); + mesh.AddSubMesh(subMesh1); + + MeshDescriptor descriptor; + descriptor.meshName = "test_mesh"; + descriptor.mesh = &mesh; + MeshPtr meshGeom = scene->CreateMesh(descriptor); + + VisualPtr visual = scene->CreateVisual("visual"); + visual->AddGeometry(meshGeom); + root->AddChild(visual); + + // create camera + CameraPtr camera = scene->CreateCamera(); + ASSERT_NE(nullptr, camera); + camera->SetLocalPosition(0.5, 0.5, 0.5); + camera->SetLocalRotation(0, 1.57, 0); + camera->SetImageWidth(32); + camera->SetImageHeight(32); + root->AddChild(camera); + + Image image = camera->CreateImage(); + camera->Capture(image); + + unsigned int height = camera->ImageHeight(); + unsigned int width = camera->ImageWidth(); + unsigned int channelCount = PixelUtil::ChannelCount(camera->ImageFormat()); + unsigned int step = width * channelCount; + unsigned char *data = image.Data(); + for (unsigned int i = 0; i < height; ++i) + { + for (unsigned int j = 0; j < step; j += channelCount) + { + unsigned int idx = i * step + j; + unsigned int r = data[idx]; + unsigned int g = data[idx + 1]; + unsigned int b = data[idx + 2]; + + // color should be a shade of red (submesh0) or green (submesh1) + EXPECT_TRUE(r > 0u || g > 0u); + EXPECT_EQ(b, 0u); + } + } + + // Clean up + engine->DestroyScene(scene); +} diff --git a/test/integration/waves.cc b/test/integration/waves.cc new file mode 100644 index 000000000..582fe5028 --- /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] = {-0.7f, 0.7f}; + (*vsParams)["dir1"].InitializeBuffer(2); + (*vsParams)["dir1"].UpdateBuffer(dir1); + + float dir2[2] = {0.7f, 0.7f}; + (*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 000000000..c6c8bd15d Binary files /dev/null and b/test/media/materials/textures/skybox_lowres.dds differ diff --git a/test/media/materials/textures/wave_normals.dds b/test/media/materials/textures/wave_normals.dds new file mode 100644 index 000000000..1f935490f Binary files /dev/null and b/test/media/materials/textures/wave_normals.dds differ diff --git a/test/media/meshes/mesh.dae b/test/media/meshes/mesh.dae new file mode 100644 index 000000000..2697c44ea --- /dev/null +++ b/test/media/meshes/mesh.dae @@ -0,0 +1,69 @@ + + + + + Blender User + Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08 + + 2016-10-25T14:24:02 + 2016-10-25T14:24:02 + + Z_UP + + + + + + -500 -500 0 -479.592 -500 0 -459.184 -500 0 -438.776 -500 0 -418.367 -500 0 -397.959 -500 0 -377.551 -500 0 -357.143 -500 0 -336.735 -500 0 -316.327 -500 0 -295.918 -500 0 -275.51 -500 0 -255.102 -500 0 -234.694 -500 0 -214.286 -500 0 -193.878 -500 0 -173.469 -500 0 -153.061 -500 0 -132.653 -500 0 -112.245 -500 0 -91.8368 -500 0 -71.4286 -500 0 -51.0204 -500 0 -30.6123 -500 0 -10.2041 -500 0 10.2041 -500 0 30.6122 -500 0 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/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