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Fix various issues with Ogre2GpuRays (#522)
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There were multiple bugs that had to be fixed:

- Objects which had no laser_retro set (or an invalid one) would be
rendered using regular lighting PBS shaders; causing the retro value to
contain garbage instead of the intended default value of 0
- Performance regression in 993bb0b:
When ported to Ogre 2.2, ignition would render the scene 4 times instead
of 2 (twice for objects, twice for particles). Depth buffer data was
created through a 2nd redundant pass. This is inefficient as the depth
buffer data is already available from the 1st pass
- Bug regression in 993bb0b: In the
pass for normal objects, ignition would first use IGN_VISIBILITY_ALL
flags for colour, but it would use 0x01000000 for depth. This creates
the wrong mix of data because an occluder that had visibility set to
0x01000000 would use the correct depth but the retro value of the object
behind it. This bug is implicitly fixed by the previous item (colour and
depth data are now obtained from the same pass instead of using multi
pass)
- PFG_R8_UNORM is nowhere enough to contain all possible laser retro
values and would quantize too much. Increased precision to PFG_R16_UNORM
- Affects #521. The problem is fixed for Fortress by always overriding
setCustomParameter, but likely the fix should be backported to previous
versions.

Signed-off-by: Matias N. Goldberg <[email protected]>

Co-authored-by: Ian Chen <[email protected]>
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@darksylinc @iche033
darksylinc and iche033 authored Jan 5, 2022
1 parent da85b07 commit 1505138
Showing 1 changed file with 41 additions and 79 deletions.
120 changes: 41 additions & 79 deletions ogre2/src/Ogre2GpuRays.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -238,6 +238,9 @@ void Ogre2LaserRetroMaterialSwitcher::cameraPreRenderScene(
Ogre::Item *item = static_cast<Ogre::Item *>(object);

std::string laserRetroKey = "laser_retro";

float retroValue = 0.0f;

// get visual
Ogre::Any userAny = item->getUserObjectBindings().getUserAny();
if (!userAny.isEmpty() && userAny.getType() == typeid(unsigned int))
Expand All @@ -259,7 +262,6 @@ void Ogre2LaserRetroMaterialSwitcher::cameraPreRenderScene(
// get laser_retro
Variant tempLaserRetro = ogreVisual->UserData(laserRetroKey);

float retroValue = -1.0;
try
{
retroValue = std::get<float>(tempLaserRetro);
Expand All @@ -268,7 +270,7 @@ void Ogre2LaserRetroMaterialSwitcher::cameraPreRenderScene(
{
try
{
retroValue = std::get<double>(tempLaserRetro);
retroValue = static_cast<float>(std::get<double>(tempLaserRetro));
}
catch(...)
{
Expand All @@ -279,35 +281,32 @@ void Ogre2LaserRetroMaterialSwitcher::cameraPreRenderScene(
catch(std::bad_variant_access &e)
{
ignerr << "Error casting user data: " << e.what() << "\n";
retroValue = -1.0;
}
}
}
}

// only accept positive laser retro value
if (retroValue >= 0)
{
for (unsigned int i = 0; i < item->getNumSubItems(); ++i)
{
Ogre::SubItem *subItem = item->getSubItem(i);
if (!subItem->hasCustomParameter(this->customParamIdx))
{
// limit laser retro value to 2000 (as in gazebo)
if (retroValue > 2000.0)
{
retroValue = 2000.0;
}
float color = retroValue / 2000.0;
subItem->setCustomParameter(this->customParamIdx,
Ogre::Vector4(color, color, color, 1.0));
}
Ogre::HlmsDatablock *datablock = subItem->getDatablock();
this->datablockMap[subItem] = datablock;
// only accept positive laser retro value
retroValue = std::max(retroValue, 0.0f);
}

subItem->setMaterial(this->laserRetroSourceMaterial);
}
}
for (unsigned int i = 0; i < item->getNumSubItems(); ++i)
{
Ogre::SubItem *subItem = item->getSubItem(i);

// limit laser retro value to 2000 (as in gazebo)
if (retroValue > 2000.0f)
{
retroValue = 2000.0f;
}
float color = retroValue / 2000.0f;
subItem->setCustomParameter(this->customParamIdx,
Ogre::Vector4(color, color, color, 1.0));

Ogre::HlmsDatablock *datablock = subItem->getDatablock();
this->datablockMap[subItem] = datablock;

subItem->setMaterial(this->laserRetroSourceMaterial);
}
itor.moveNext();
}
Expand Down Expand Up @@ -832,10 +831,6 @@ void Ogre2GpuRays::Setup1stPass()
depthTexDef->depthBufferId = Ogre::DepthBuffer::POOL_DEFAULT;
depthTexDef->depthBufferFormat = Ogre::PFG_UNKNOWN;

Ogre::RenderTargetViewDef *rtv =
nodeDef->addRenderTextureView("depthTexture");
rtv->setForTextureDefinition("depthTexture", depthTexDef);

Ogre::TextureDefinitionBase::TextureDefinition *colorTexDef =
nodeDef->addTextureDefinition("colorTexture");
colorTexDef->textureType = Ogre::TextureTypes::Type2D;
Expand All @@ -844,16 +839,21 @@ void Ogre2GpuRays::Setup1stPass()
colorTexDef->depthOrSlices = 1;
colorTexDef->widthFactor = 1;
colorTexDef->heightFactor = 1;
colorTexDef->format = Ogre::PFG_R8_UNORM;
// We need at least 16-bit because otherwise 256 values are not enough to
// store all retro value range
colorTexDef->format = Ogre::PFG_R16_UNORM;
colorTexDef->fsaa = "0";
colorTexDef->textureFlags &= ~Ogre::TextureFlags::Uav;
colorTexDef->depthBufferId = Ogre::DepthBuffer::POOL_DEFAULT;
colorTexDef->depthBufferFormat = Ogre::PFG_D32_FLOAT;
colorTexDef->preferDepthTexture = true;

Ogre::RenderTargetViewDef *rtv2 =
// Auto setup the RTV then manually override the depth buffer so
// it uses the one we created (and thus we can sample from it later)
Ogre::RenderTargetViewDef *rtv =
nodeDef->addRenderTextureView("colorTexture");
rtv2->setForTextureDefinition("colorTexture", colorTexDef);
rtv->setForTextureDefinition("colorTexture", colorTexDef);
rtv->depthAttachment.textureName = "depthTexture";

Ogre::TextureDefinitionBase::TextureDefinition *particleTexDef =
nodeDef->addTextureDefinition("particleTexture");
Expand All @@ -871,11 +871,6 @@ void Ogre2GpuRays::Setup1stPass()
particleTexDef->depthBufferFormat = Ogre::PFG_D32_FLOAT;
particleTexDef->preferDepthTexture = true;

Ogre::RenderTargetViewDef *rtvParticleTexture =
nodeDef->addRenderTextureView("particleTexture");
rtvParticleTexture->setForTextureDefinition(
"particleTexture", particleTexDef);

Ogre::TextureDefinitionBase::TextureDefinition *particleDepthTexDef =
nodeDef->addTextureDefinition("particleDepthTexture");
particleDepthTexDef->textureType = Ogre::TextureTypes::Type2D;
Expand All @@ -891,12 +886,15 @@ void Ogre2GpuRays::Setup1stPass()
particleDepthTexDef->textureFlags &= ~Ogre::TextureFlags::Uav;
particleDepthTexDef->depthBufferFormat = Ogre::PFG_UNKNOWN;

Ogre::RenderTargetViewDef *rtvparticleDepthTex =
nodeDef->addRenderTextureView("particleDepthTexture");
rtvparticleDepthTex->setForTextureDefinition(
"particleDepthTexture", particleDepthTexDef);
// Auto setup the RTV then manually override the depth buffer so
// it uses the one we created (and thus we can sample from it later)
Ogre::RenderTargetViewDef *rtvParticleTexture =
nodeDef->addRenderTextureView("particleTexture");
rtvParticleTexture->setForTextureDefinition("particleTexture",
particleTexDef);
rtvParticleTexture->depthAttachment.textureName = "particleDepthTexture";

nodeDef->setNumTargetPass(5);
nodeDef->setNumTargetPass(3);

Ogre::CompositorTargetDef *colorTargetDef =
nodeDef->addTargetPass("colorTexture");
Expand All @@ -923,42 +921,6 @@ void Ogre2GpuRays::Setup1stPass()
~Ogre2ParticleEmitter::kParticleVisibilityFlags;
}

Ogre::CompositorTargetDef *depthTargetDef =
nodeDef->addTargetPass("depthTexture");
depthTargetDef->setNumPasses(1);
{
// scene pass
Ogre::CompositorPassSceneDef *passScene =
static_cast<Ogre::CompositorPassSceneDef *>(
depthTargetDef->addPass(Ogre::PASS_SCENE));
passScene->setAllLoadActions(Ogre::LoadAction::Clear);
passScene->setAllClearColours(Ogre::ColourValue(
this->FarClipPlane(),
this->FarClipPlane(),
this->FarClipPlane()));
// depth texture does not contain particles
passScene->mVisibilityMask = 0x01000000 &
~Ogre2ParticleEmitter::kParticleVisibilityFlags;
}

Ogre::CompositorTargetDef *particleDepthTargetDef =
nodeDef->addTargetPass("particleDepthTexture");
particleDepthTargetDef->setNumPasses(1);
{
// scene pass
Ogre::CompositorPassSceneDef *passScene =
static_cast<Ogre::CompositorPassSceneDef *>(
particleDepthTargetDef->addPass(Ogre::PASS_SCENE));
passScene->setAllLoadActions(Ogre::LoadAction::Clear);
passScene->setAllClearColours(Ogre::ColourValue(
this->FarClipPlane(),
this->FarClipPlane(),
this->FarClipPlane()));
// set camera custom visibility mask when rendering laser retro
passScene->mVisibilityMask =
Ogre2ParticleEmitter::kParticleVisibilityFlags;
}

Ogre::CompositorTargetDef *particleTargetDef =
nodeDef->addTargetPass("particleTexture");
particleTargetDef->setNumPasses(1);
Expand Down Expand Up @@ -1074,7 +1036,7 @@ void Ogre2GpuRays::Setup1stPass()

for (auto c : channelsTex)
{
if (c->getPixelFormat() == Ogre::PFG_R8_UNORM)
if (c->getPixelFormat() == Ogre::PFG_R16_UNORM)
{
// add laser retro material switcher to render target listener
// so we can switch to use laser retro material when the camera is being
Expand Down

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