Visualize wireframes

[atharva-18]

🎉 New feature

Summary

Adds wireframe mode to visuals in OGRE 1 and 2.

OGRE 2

OGRE 1

Test it

Test it with visualize_wireframes.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

[atharva-18]

Wireframe mode in OGRE 2 is creating shadows that don't seem to be correct. Is this the desired behavior?

[iche033]

nice, thanks for the contribution! There is a difference between how ogre and ogre2 handles shadows, e.g. semi-transparent objects also cast shadows in ogre2. We'll probably need to explicitly set cast shadows to be off in ogre2.

We promise ABI compatibility for released versions. Adding new virtual functions breaks ABI so these changes will need to go into the main branch and to be released in Ignition Fortress. Do you need this functionality in Dome? If so, we can try get these changes into main first then find an ABI-compatible way to backport the functionality to Dome.

[chapulina]

This is awesome! Looking forward to the ign-gazebo PR! 🚀

[atharva-18]

There is a difference between how ogre and ogre2 handles shadows, e.g. semi-transparent objects also cast shadows in ogre2. We'll probably need to explicitly set cast shadows to be off in ogre2.

Got it. I think we can set cast shadows to be off in Gazebo itself.

We promise ABI compatibility for released versions. Adding new virtual functions breaks ABI so these changes will need to go into the main branch and to be released in Ignition Fortress. Do you need this functionality in Dome? If so, we can try get these changes into main first then find an ABI-compatible way to backport the functionality to Dome.

Adding this feature to Dome is not a requirement for me as of now. I'll make changes to the Ignition F branch and create a new PR. Thanks for the info!

[atharva-18]

Closing this in favor of #314.