Merge branch 'main' into chapulina/7/switcher_crash

gazebosim · Mar 22, 2022 · dbbbad7 · dbbbad7
2 parents 2241990 + 6f5faaf
commit dbbbad7
Show file tree

Hide file tree

Showing 4 changed files with 20 additions and 11 deletions.
diff --git a/include/ignition/rendering/base/BaseCamera.hh b/include/ignition/rendering/base/BaseCamera.hh
@@ -355,7 +355,7 @@ namespace ignition
         {
           math::Pose3d targetCamPose = math::Pose3d(this->followOffset,
               this->WorldRotation());
-          targetCamPose += this->followNode->WorldPose();
+          targetCamPose = this->followNode->WorldPose() * targetCamPose;
 
           math::Vector3d pos = this->WorldPosition() +
               (targetCamPose.Pos() - this->WorldPosition()) * this->followPGain;
@@ -375,7 +375,7 @@ namespace ignition
         }
         else
         {
-          targetPose += this->trackNode->WorldPose();
+          targetPose = this->trackNode->WorldPose() * targetPose;
         }
 
         math::Pose3d p =

diff --git a/include/ignition/rendering/base/BaseJointVisual.hh b/include/ignition/rendering/base/BaseJointVisual.hh
@@ -406,7 +406,7 @@ namespace ignition
 
         // get rotation of joint visual in model frame
         ignition::math::Quaterniond quatFromModel =
-            (this->LocalPose() + parentInitPose).Rot();
+            (parentInitPose * this->LocalPose()).Rot();
 
         // rotate arrow visual so that the axis vector applies to the model
         // frame.

diff --git a/include/ignition/rendering/base/BaseNode.hh b/include/ignition/rendering/base/BaseNode.hh
@@ -428,7 +428,7 @@ namespace ignition
         return pose;
       }
 
-      return pose + parent->WorldPose();
+      return parent->WorldPose() * pose;
     }
 
     //////////////////////////////////////////////////

diff --git a/ogre2/src/Ogre2Material.cc b/ogre2/src/Ogre2Material.cc
@@ -692,7 +692,11 @@ void Ogre2Material::UpdateShaderParams(ConstShaderParamsPtr _params,
       continue;
     }
 
-    if (!_ogreParams->_findNamedConstantDefinition(name_param.first))
+    if (!_ogreParams->_findNamedConstantDefinition(name_param.first) &&
+        !(Ogre2RenderEngine::Instance()->GraphicsAPI() !=
+            GraphicsAPI::OPENGL &&
+            (ShaderParam::PARAM_TEXTURE == name_param.second.Type() ||
+             ShaderParam::PARAM_TEXTURE_CUBE == name_param.second.Type())))
     {
       ignwarn << "Unable to find GPU program parameter: "
               << name_param.first << std::endl;
@@ -862,12 +866,6 @@ Ogre::MaterialPtr Ogre2Material::Material()
       IGN_ASSERT(false, "Impossible path!");
     }
 
-    auto mat = this->dataPtr->ogreSolidColorMat;
-    auto pass = mat->getTechnique(0u)->getPass(0);
-    pass->setFragmentProgram(this->dataPtr->ogreSolidColorShader->getName());
-    auto psParams = pass->getFragmentProgramParameters();
-    psParams->setNamedAutoConstant("inColor",
-                                   Ogre::GpuProgramParameters::ACT_CUSTOM, 1u);
   }
 
   return this->ogreMaterial;
@@ -1210,6 +1208,17 @@ void Ogre2Material::SetVertexShader(const std::string &_path)
   this->dataPtr->ogreSolidColorShader->setParameter(
     "shader_reflection_pair_hint", vertexShader->getName());
 
+  // Set 'inColor' on the cloned pixel shader. For Metal this must occur
+  // after vertex shader has been created and the reflection pair set.
+  {
+    auto mat = this->dataPtr->ogreSolidColorMat;
+    auto pass = mat->getTechnique(0u)->getPass(0);
+    pass->setFragmentProgram(this->dataPtr->ogreSolidColorShader->getName());
+    auto psParams = pass->getFragmentProgramParameters();
+    psParams->setNamedAutoConstant("inColor",
+        Ogre::GpuProgramParameters::ACT_CUSTOM, 1u);
+  }
+
   Ogre::MaterialPtr mat[2] = { mainMat, this->dataPtr->ogreSolidColorMat };
 
   for (int i = 0; i < 2; ++i)