Merge branch 'ign-rendering6' into point_cloud_mat_syntax

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-rendering6 VERSION 6.0.0)
+project(ignition-rendering6 VERSION 6.0.1)
 
 #============================================================================
 # Find ignition-cmake
@@ -15,7 +15,7 @@ set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
 #============================================================================
 # Set up the project
 #============================================================================
-ign_configure_project(VERSION_SUFFIX pre2)
+ign_configure_project(VERSION_SUFFIX)
 
 #============================================================================
 # Set project-specific options

Changelog.md

@@ -2,17 +2,31 @@
 
 ### Ignition Rendering 6.X
 
-### Ignition Rendering 6.0.0 (20XX-XX-XX)
+### Ignition Rendering 6.0.1 (2021-10-01)
+
+1. Disable using selection buffer for ray queries
+    * [Pull request #447](https://github.com/ignitionrobotics/ign-rendering/pull/447)
+
+### Ignition Rendering 6.0.0 (2021-09-30)
+
+1. Avoid configure warning when checking ogre-1.10
+    * [Pull request #411](https://github.com/ignitionrobotics/ign-rendering/pull/411)
+    * [Pull request #413](https://github.com/ignitionrobotics/ign-rendering/pull/413)
+
+1. Use selection buffer in ray queries (ogre2)
+    * [Pull request #378](https://github.com/ignitionrobotics/ign-rendering/pull/378)
+
+1. Fix particle effect randomness
+    * [Pull request #388](https://github.com/ignitionrobotics/ign-rendering/pull/388)
 
 1. Update test config to run ogre 1.x tests in ign-rendering6 on macOS
     * [Pull request #407](https://github.com/ignitionrobotics/ign-rendering/pull/407)
     * [Pull request #409](https://github.com/ignitionrobotics/ign-rendering/pull/409)
-
-1. Check if key exists in gpu lidar's user data
-    * [Pull request #396](https://github.com/ignitionrobotics/ign-rendering/pull/396)
+    * [Pull request #409](https://github.com/ignitionrobotics/ign-rendering/pull/409)
 
 1. Clone visuals and geometries
     * [Pull request #397](https://github.com/ignitionrobotics/ign-rendering/pull/397)
+    * [Pull request #434](https://github.com/ignitionrobotics/ign-rendering/pull/434)
 
 1. Add SetSize API for LidarVisual and markers
     * [Pull request #392](https://github.com/ignitionrobotics/ign-rendering/pull/392)
@@ -23,36 +37,36 @@
 
 1. Prevent default-constructed variants from holding a type
     * [Pull request #371](https://github.com/ignitionrobotics/ign-rendering/pull/371)
+    * [Pull request #396](https://github.com/ignitionrobotics/ign-rendering/pull/396)
 
 1. Temporarily set number of camera pass count per flush to 0 in ogre2 to prevent downstream build failures
     * [Pull request #367](https://github.com/ignitionrobotics/ign-rendering/pull/367)
 
-1. Joint visual
-    * [Pull request #366](https://github.com/ignitionrobotics/ign-rendering/pull/366)
-    * [Pull request #387](https://github.com/ignitionrobotics/ign-rendering/pull/387)
+1. New visuals
+    1. Joint visual
+        * [Pull request #366](https://github.com/ignitionrobotics/ign-rendering/pull/366)
+        * [Pull request #387](https://github.com/ignitionrobotics/ign-rendering/pull/387)
 
-1. Fixing camera projection type test
-    * [Pull request #361](https://github.com/ignitionrobotics/ign-rendering/pull/361)
+    1. Center of mass visual
+        * [Pull request #345](https://github.com/ignitionrobotics/ign-rendering/pull/345)
+
+    1. Inertia visual
+        * [Pull request #326](https://github.com/ignitionrobotics/ign-rendering/pull/326)
 
 1. UserData methods moved from Visual to Node
     * [Pull request #358](https://github.com/ignitionrobotics/ign-rendering/pull/358)
 
 1. Replace renderOneFrame for per-workspace update calls
     * [Pull request #353](https://github.com/ignitionrobotics/ign-rendering/pull/353)
 
-1. Center of mass visual
-    * [Pull request #345](https://github.com/ignitionrobotics/ign-rendering/pull/345)
-
 1. Segmentation Camera
     * [Pull request #329](https://github.com/ignitionrobotics/ign-rendering/pull/329)
     * [Pull request #419](https://github.com/ignitionrobotics/ign-rendering/pull/419)
+    * [Pull request #443](https://github.com/ignitionrobotics/ign-rendering/pull/443)
 
 1. Stub bounding box camera APIs
     * [Pull request #420](https://github.com/ignitionrobotics/ign-rendering/pull/420)
 
-1. Inertia visual
-    * [Pull request #326](https://github.com/ignitionrobotics/ign-rendering/pull/326)
-
 1. Changed calculation for range clipping
     * [Pull request #325](https://github.com/ignitionrobotics/ign-rendering/pull/325)
 
@@ -61,9 +75,7 @@
 
 1. Add orthographic view controller
     * [Pull request #322](https://github.com/ignitionrobotics/ign-rendering/pull/322)
-
-1. Port codecov to new configuration
-    * [Pull request #318](https://github.com/ignitionrobotics/ign-rendering/pull/318)
+    * [Pull request #361](https://github.com/ignitionrobotics/ign-rendering/pull/361)
 
 1. Visualize wireframes
     * [Pull request #314](https://github.com/ignitionrobotics/ign-rendering/pull/314)
@@ -74,13 +86,16 @@
 1. From Ogre 2.1 to Ogre 2.2
     * [Pull request #272](https://github.com/ignitionrobotics/ign-rendering/pull/272)
     * [Pull request #393](https://github.com/ignitionrobotics/ign-rendering/pull/393)
+    * [Pull request #436](https://github.com/ignitionrobotics/ign-rendering/pull/436)
+    * [Pull request #426](https://github.com/ignitionrobotics/ign-rendering/pull/426)
+    * [Pull request #440](https://github.com/ignitionrobotics/ign-rendering/pull/440)
 
-1. All changes merged forward from ign-rendering5
-    * [Pull request #310](https://github.com/ignitionrobotics/ign-rendering/pull/310)
-    * [Pull request #331](https://github.com/ignitionrobotics/ign-rendering/pull/331)
-    * [Pull request #350](https://github.com/ignitionrobotics/ign-rendering/pull/350)
-    * [Pull request #401](https://github.com/ignitionrobotics/ign-rendering/pull/401)
-    * [Pull request #406](https://github.com/ignitionrobotics/ign-rendering/pull/406)
+1. Documentation updates
+    * [Pull request #425](https://github.com/ignitionrobotics/ign-rendering/pull/425)
+    * [Pull request #431](https://github.com/ignitionrobotics/ign-rendering/pull/431)
+
+1. Infrastructure
+    * [Pull request #318](https://github.com/ignitionrobotics/ign-rendering/pull/318)
 
 ### Ignition Rendering 5.X
 

README.md

@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/main/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/default)
-Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-bionic-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-bionic-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_rendering-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_rendering-ci-win/)
+Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/ign-rendering6/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/ign-rendering6)
+Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-ign-rendering6-bionic-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-ign-rendering6-bionic-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-ign-rendering6-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-ign-rendering6-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_rendering-ign-6-win/badge/icon)](https://build.osrfoundation.org/job/ign_rendering-ign-6-win/)
 
 Ignition Rendering is a C++ library designed to provide an abstraction
 for different rendering engines. It offers unified APIs for creating

examples/particles_demo/Main.cc

@@ -161,7 +161,7 @@ int main(int _argc, char** _argv)
 
   // Expose engine name to command line because we can't instantiate both
   // ogre and ogre2 at the same time
-  std::string ogreEngineName("ogre");
+  std::string ogreEngineName("ogre2");
   if (_argc > 1)
   {
     ogreEngineName = _argv[1];

include/ignition/rendering/base/BaseRenderEngine.hh

@@ -119,6 +119,9 @@ namespace ignition
 
       protected: bool isHeadless = false;
 
+      /// \brief ID from a external window
+      protected: std::string winID = "";
+
       protected: unsigned int nextSceneId;
 
       IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING

ogre2/include/ignition/rendering/ogre2/Ogre2Scene.hh

@@ -350,6 +350,11 @@ namespace ignition
       /// \param[in] _camera Camera about to be used for rendering
       public: void UpdateAllHeightmaps(Ogre::Camera *_camera);
 
+      /// \internal
+      /// \brief Return all heightmaps in the scene
+      public: const std::vector<std::weak_ptr<Ogre2Heightmap>> &Heightmaps()
+          const;
+
       /// \brief Create a compositor shadow node with the same number of shadow
       /// textures as the number of shadow casting lights
       protected: void UpdateShadowNode();

ogre2/src/Ogre2DepthCamera.cc

@@ -153,6 +153,9 @@ class ignition::rendering::Ogre2DepthCameraPrivate
 
   /// \brief Name of sky box material
   public: const std::string kSkyboxMaterialName = "SkyBox";
+
+  /// \brief Name of shadow compositor node
+  public: const std::string kShadowNodeName = "PbsMaterialsShadowNode";
 };
 
 using namespace ignition;
@@ -696,6 +699,25 @@ void Ogre2DepthCamera::CreateDepthTexture()
     else
       colorTargetDef->setNumPasses(1);
     {
+      // scene pass - opaque
+      {
+        Ogre::CompositorPassSceneDef *passScene =
+            static_cast<Ogre::CompositorPassSceneDef *>(
+            colorTargetDef->addPass(Ogre::PASS_SCENE));
+        passScene->mShadowNode = this->dataPtr->kShadowNodeName;
+        passScene->mVisibilityMask = IGN_VISIBILITY_ALL;
+        passScene->mIncludeOverlays = false;
+        passScene->mFirstRQ = 0u;
+        passScene->mLastRQ = 2u;
+        if (!validBackground)
+        {
+          passScene->setAllLoadActions(Ogre::LoadAction::Clear);
+          passScene->setAllClearColours(Ogre::ColourValue(
+              Ogre2Conversions::Convert(this->Scene()->BackgroundColor())));
+        }
+      }
+
+      // render background, e.g. sky, after opaque stuff
       if (validBackground)
       {
         // quad pass
@@ -712,21 +734,16 @@ void Ogre2DepthCamera::CreateDepthTexture()
             Ogre2Conversions::Convert(this->Scene()->BackgroundColor())));
       }
 
-      // scene pass
-      Ogre::CompositorPassSceneDef *passScene =
-          static_cast<Ogre::CompositorPassSceneDef *>(
-          colorTargetDef->addPass(Ogre::PASS_SCENE));
-      passScene->mVisibilityMask = IGN_VISIBILITY_ALL;
-
-      // todo(anyone) PbsMaterialsShadowNode is hardcoded.
-      // Although this may be just fine
-      passScene->mShadowNode = "PbsMaterialsShadowNode";
-
-      if (!validBackground)
+      // scene pass - transparent stuff
       {
-        passScene->setAllLoadActions(Ogre::LoadAction::Clear);
-        passScene->setAllClearColours(Ogre::ColourValue(
-            Ogre2Conversions::Convert(this->Scene()->BackgroundColor())));
+        Ogre::CompositorPassSceneDef *passScene =
+            static_cast<Ogre::CompositorPassSceneDef *>(
+            colorTargetDef->addPass(Ogre::PASS_SCENE));
+        passScene->mVisibilityMask = IGN_VISIBILITY_ALL;
+        // todo(anyone) PbsMaterialsShadowNode is hardcoded.
+        // Although this may be just fine
+        passScene->mShadowNode = this->dataPtr->kShadowNodeName;
+        passScene->mFirstRQ = 2u;
       }
     }
 

ogre2/src/Ogre2Heightmap.cc

@@ -60,6 +60,7 @@ class ignition::rendering::Ogre2HeightmapPrivate
   /// \brief Size of the heightmap data.
   public: unsigned int dataSize{0u};
 
+  /// \brief Pointer to ogre terra object
   public: std::unique_ptr<Ogre::Terra> terra{nullptr};
 };
 

ogre2/src/Ogre2RayQuery.cc

@@ -95,6 +95,11 @@ RayQueryResult Ogre2RayQuery::ClosestPoint()
 {
   RayQueryResult result;
 
+  // ray query using selection buffer does not seem to work on some machines
+  // using cpu based ray-triangle intersection method
+  // \todo remove this line if selection buffer is working again
+  return this->ClosestPointByIntersection();
+
 #ifdef __APPLE__
   return this->ClosestPointByIntersection();
 #else

ogre2/src/Ogre2RenderEngine.cc

@@ -294,6 +294,10 @@ bool Ogre2RenderEngine::LoadImpl(
   if (it != _params.end())
     std::istringstream(it->second) >> this->isHeadless;
 
+  it = _params.find("winID");
+  if (it != _params.end())
+    std::istringstream(it->second) >> this->winID;
+
   try
   {
     this->LoadAttempt();
@@ -880,6 +884,13 @@ std::string Ogre2RenderEngine::CreateRenderWindow(const std::string &_handle,
     params["currentGLContext"] = "true";
   }
 
+#if !defined(__APPLE__) && !defined(_MSC_VER)
+  if (!this->winID.empty())
+  {
+    params["parentWindowHandle"] = this->winID;
+  }
+#endif
+
   int attempts = 0;
   while (window == nullptr && (attempts++) < 10)
   {

ogre2/src/Ogre2RenderTarget.cc

@@ -189,6 +189,23 @@ void Ogre2RenderTarget::BuildCompositor()
     else
       rt0TargetDef->setNumPasses(1);
     {
+      // scene pass - opaque
+      {
+        Ogre::CompositorPassSceneDef *passScene =
+            static_cast<Ogre::CompositorPassSceneDef *>(
+            rt0TargetDef->addPass(Ogre::PASS_SCENE));
+        passScene->mShadowNode = this->dataPtr->kShadowNodeName;
+        passScene->mIncludeOverlays = false;
+        passScene->mFirstRQ = 0u;
+        passScene->mLastRQ = 2u;
+        if (!validBackground)
+        {
+          passScene->setAllLoadActions(Ogre::LoadAction::Clear);
+          passScene->setAllClearColours(this->ogreBackgroundColor);
+        }
+      }
+
+      // render background, e.g. sky, after opaque stuff
       if (validBackground)
       {
         // quad pass
@@ -204,17 +221,14 @@ void Ogre2RenderTarget::BuildCompositor()
         passQuad->setAllClearColours(this->ogreBackgroundColor);
       }
 
-      // scene pass
-      Ogre::CompositorPassSceneDef *passScene =
-          static_cast<Ogre::CompositorPassSceneDef *>(
-          rt0TargetDef->addPass(Ogre::PASS_SCENE));
-      passScene->mShadowNode = this->dataPtr->kShadowNodeName;
-      passScene->mIncludeOverlays = true;
-
-      if (!validBackground)
+      // scene pass - transparent stuff
       {
-        passScene->setAllLoadActions(Ogre::LoadAction::Clear);
-        passScene->setAllClearColours(this->ogreBackgroundColor);
+        Ogre::CompositorPassSceneDef *passScene =
+            static_cast<Ogre::CompositorPassSceneDef *>(
+            rt0TargetDef->addPass(Ogre::PASS_SCENE));
+        passScene->mIncludeOverlays = true;
+        passScene->mShadowNode = this->dataPtr->kShadowNodeName;
+        passScene->mFirstRQ = 2u;
       }
     }
 

ogre2/src/Ogre2Scene.cc

@@ -923,6 +923,12 @@ MaterialMapPtr Ogre2Scene::Materials() const
   return this->materials;
 }
 
+//////////////////////////////////////////////////
+const std::vector<std::weak_ptr<Ogre2Heightmap>> &Ogre2Scene::Heightmaps() const
+{
+  return this->heightmaps;
+}
+
 //////////////////////////////////////////////////
 DirectionalLightPtr Ogre2Scene::CreateDirectionalLightImpl(unsigned int _id,
     const std::string &_name)

ogre2/src/Ogre2SegmentationMaterialSwitcher.cc

@@ -23,6 +23,7 @@
 
 #include <ignition/common/Console.hh>
 
+#include "ignition/rendering/ogre2/Ogre2Heightmap.hh"
 #include "ignition/rendering/ogre2/Ogre2Scene.hh"
 #include "ignition/rendering/ogre2/Ogre2Visual.hh"
 #include "ignition/rendering/RenderTypes.hh"
@@ -317,6 +318,18 @@ void Ogre2SegmentationMaterialSwitcher::cameraPreRenderScene(
   this->instancesCount.clear();
   this->takenColors.clear();
   this->coloredLabel.clear();
+
+  // disable heightmaps in segmentation camera sensor
+  // until we support changing its material based on input label
+  // TODO(anyone) add support for heightmaps with the segmentation camera
+  // https://github.com/ignitionrobotics/ign-rendering/issues/444
+  auto heightmaps = this->scene->Heightmaps();
+  for (auto h : heightmaps)
+  {
+    auto heightmap = h.lock();
+    if (heightmap)
+      heightmap->Parent()->SetVisible(false);
+  }
 }
 
 ////////////////////////////////////////////////
@@ -326,6 +339,15 @@ void Ogre2SegmentationMaterialSwitcher::cameraPostRenderScene(
   // restore item to use pbs hlms material
   for (const auto &[subItem, dataBlock] : this->datablockMap)
     subItem->setDatablock(dataBlock);
+
+  // re-enable heightmaps
+  auto heightmaps = this->scene->Heightmaps();
+  for (auto h : heightmaps)
+  {
+    auto heightmap = h.lock();
+    if (heightmap)
+      heightmap->Parent()->SetVisible(true);
+  }
 }
 
 ////////////////////////////////////////////////