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Extend ShaderParam system to support textures #1310

Merged
merged 16 commits into from
Feb 9, 2022
Merged

Extend ShaderParam system to support textures #1310

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7885195
load and run visual plugins on gui end
iche033 Dec 23, 2021
10150b1
scene update event emitted on both server and gui side
iche033 Jan 5, 2022
324a63c
shader param update working
iche033 Jan 6, 2022
eedc363
sim time, constants, full example working
iche033 Jan 7, 2022
4eec9b8
add integration test
iche033 Jan 7, 2022
ff9b232
code cleanup
iche033 Jan 7, 2022
258e63f
more code cleanup
iche033 Jan 8, 2022
431e73c
Merge branch 'ign-gazebo6' into visual_plugin
iche033 Jan 8, 2022
ea163a7
style fixes and add some comments
iche033 Jan 8, 2022
9f4a753
review changes
iche033 Jan 10, 2022
f3c7f96
Merge branch 'ign-gazebo6' into visual_plugin
iche033 Jan 20, 2022
92b318c
require display for shader param test
iche033 Jan 21, 2022
66f5d31
extend shader param system to support textures
iche033 Jan 22, 2022
bfc7c0b
merge from ign-gazebo6
iche033 Feb 4, 2022
5c87434
style
iche033 Feb 4, 2022
11f5c28
Merge branch 'ign-gazebo6' into texture_shader_param
iche033 Feb 9, 2022
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40 changes: 10 additions & 30 deletions examples/worlds/shader_param.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -167,6 +167,8 @@ ShaderParam visual plugin over time.
<scene>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
<sky></sky>
<grid>false</grid>
</scene>

<light type="directional" name="sun">
Expand All @@ -177,43 +179,21 @@ ShaderParam visual plugin over time.
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<include>
<pose>0 0.0 0.5 0 0 0</pose>
<name>deformable_sphere</name>
<pose>3 0 0 0 0 0</pose>
<pose>0 0 1.5 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/deformable_sphere</uri>
</include>

<include>
<name>waves</name>
<pose>0 0 0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/waves</uri>
</include>

<model name="camera">
<static>true</static>
<pose>2.5 0 0.5 0 0.0 3.14</pose>
<pose>2.5 0 1.5 0 0.0 3.14</pose>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<collision name="collision">
Expand Down
198 changes: 121 additions & 77 deletions src/systems/shader_param/ShaderParam.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -51,15 +51,18 @@ class ignition::gazebo::systems::ShaderParamPrivate
/// \brief shader type: vertex or fragment
public: std::string shader;

/// \brief variable type: int, float, float_array, int_array
/// \todo(anyone) support samplers
/// \brief variable type: int, float, float_array, int_array,
/// texture, texture_cube
public: std::string type;

/// \brief variable name of param
public: std::string name;

/// \brief param value
public: std::string value;

/// \brief Any additional arguments
public: std::vector<std::string> args;
};

/// \brief Path to vertex shader
Expand Down Expand Up @@ -98,6 +101,9 @@ class ignition::gazebo::systems::ShaderParamPrivate
/// \brief Current sim time
public: std::chrono::steady_clock::duration currentSimTime;

/// \brief Path to model
public: std::string modelPath;

/// \brief All rendering operations must happen within this call
public: void OnUpdate();
};
Expand Down Expand Up @@ -149,11 +155,29 @@ void ShaderParam::Configure(const Entity &_entity,
spv.name = paramName;
spv.value = value;
spv.type = type;

if (paramElem->HasElement("arg"))
{
sdf::ElementPtr argElem = paramElem->GetElement("arg");
while (argElem)
{
spv.args.push_back(argElem->Get<std::string>());
argElem = argElem->GetNextElement("arg");
}
}

this->dataPtr->shaderParams.push_back(spv);
paramElem = paramElem->GetNextElement("param");
}
}

if (this->dataPtr->modelPath.empty())
{
auto modelEntity = topLevelModel(_entity, _ecm);
this->dataPtr->modelPath =
_ecm.ComponentData<components::SourceFilePath>(modelEntity).value();
}

// parse path to shaders
if (sdf->HasElement("shader"))
{
Expand All @@ -166,15 +190,14 @@ void ShaderParam::Configure(const Entity &_entity,
}
else
{
auto modelEntity = topLevelModel(_entity, _ecm);
auto modelPath =
_ecm.ComponentData<components::SourceFilePath>(modelEntity);
sdf::ElementPtr vertexElem = shaderElem->GetElement("vertex");
this->dataPtr->vertexShaderUri = common::findFile(
asFullPath(vertexElem->Get<std::string>(), modelPath.value()));
asFullPath(vertexElem->Get<std::string>(),
this->dataPtr->modelPath));
sdf::ElementPtr fragmentElem = shaderElem->GetElement("fragment");
this->dataPtr->fragmentShaderUri = common::findFile(
asFullPath(fragmentElem->Get<std::string>(), modelPath.value()));
asFullPath(fragmentElem->Get<std::string>(),
this->dataPtr->modelPath));
}
}

Expand Down Expand Up @@ -263,14 +286,12 @@ void ShaderParamPrivate::OnUpdate()
// this is only done once
for (const auto & spv : this->shaderParams)
{
std::vector<std::string> values = common::split(spv.value, " ");

int intValue = 0;
float floatValue = 0;
std::vector<float> floatArrayValue;

rendering::ShaderParam::ParamType paramType =
rendering::ShaderParam::PARAM_NONE;
// TIME is reserved keyword for sim time
if (spv.value == "TIME")
{
this->timeParams.push_back(spv);
continue;
}

rendering::ShaderParamsPtr params;
if (spv.shader == "fragment")
Expand All @@ -283,92 +304,115 @@ void ShaderParamPrivate::OnUpdate()
}

// if no <value> is specified, this could be a constant
if (values.empty())
if (spv.value.empty())
{
// \todo handle args for constants in ign-rendering
(*params)[spv.name] = 1;
continue;
}

// handle texture params
if (spv.type == "texture")
{
// \todo handle args for constants
(*params)[spv.name] = intValue;
unsigned int uvSetIndex = spv.args.empty() ? 0u :
static_cast<unsigned int>(std::stoul(spv.args[0]));
std::string texPath = common::findFile(
asFullPath(spv.value, this->modelPath));
(*params)[spv.name].SetTexture(texPath,
rendering::ShaderParam::ParamType::PARAM_TEXTURE, uvSetIndex);
}
// float / int
else if (values.size() == 1u)
else if (spv.type == "texture_cube")
{
unsigned int uvSetIndex = spv.args.empty() ? 0u :
static_cast<unsigned int>(std::stoul(spv.args[0]));
std::string texPath = common::findFile(
asFullPath(spv.value, this->modelPath));
(*params)[spv.name].SetTexture(texPath,
rendering::ShaderParam::ParamType::PARAM_TEXTURE_CUBE, uvSetIndex);
}
// handle int, float, int_array, and float_array params
else
{
std::string str = values[0];
std::vector<std::string> values = common::split(spv.value, " ");

// TIME is reserved keyword for sim time
if (str == "TIME")
{
this->timeParams.push_back(spv);
continue;
}
int intValue = 0;
float floatValue = 0;
std::vector<float> floatArrayValue;

// if <type> is not empty, respect the specified type
if (!spv.type.empty())
rendering::ShaderParam::ParamType paramType =
rendering::ShaderParam::PARAM_NONE;

// float / int
if (values.size() == 1u)
{
if (spv.type == "int")
{
intValue = std::stoi(str);
paramType = rendering::ShaderParam::PARAM_INT;
}
else if (spv.type == "float")
std::string str = values[0];

// if <type> is not empty, respect the specified type
if (!spv.type.empty())
{
floatValue = std::stof(str);
paramType = rendering::ShaderParam::PARAM_FLOAT;
if (spv.type == "int")
{
intValue = std::stoi(str);
paramType = rendering::ShaderParam::PARAM_INT;
}
else if (spv.type == "float")
{
floatValue = std::stof(str);
paramType = rendering::ShaderParam::PARAM_FLOAT;
}
}
// else do our best guess at what the type is
else
{
// \todo(anyone) support texture samplers
std::string::size_type sz;
int n = std::stoi(str, &sz);
if ( sz == str.size())
{
intValue = n;
paramType = rendering::ShaderParam::PARAM_INT;
}
else
{
floatValue = std::stof(str);
paramType = rendering::ShaderParam::PARAM_FLOAT;
}
}
}
// else do our best guess at what the type is
// arrays
else
{
std::string::size_type sz;
int n = std::stoi(str, &sz);
if ( sz == str.size())
// int array
if (!spv.type.empty() && spv.type == "int_array")
{
intValue = n;
paramType = rendering::ShaderParam::PARAM_INT;
for (const auto &v : values)
floatArrayValue.push_back(std::stoi(v));
paramType = rendering::ShaderParam::PARAM_INT_BUFFER;
}
// treat everything else as float_array
else
{
floatValue = std::stof(str);
paramType = rendering::ShaderParam::PARAM_FLOAT;
for (const auto &v : values)
floatArrayValue.push_back(std::stof(v));
paramType = rendering::ShaderParam::PARAM_FLOAT_BUFFER;
}
}
}
// arrays
else
{
// int array
if (!spv.type.empty() && spv.type == "int_array")

// set the params
if (paramType == rendering::ShaderParam::PARAM_INT)
{
for (const auto &v : values)
floatArrayValue.push_back(std::stoi(v));
paramType = rendering::ShaderParam::PARAM_INT_BUFFER;
(*params)[spv.name] = intValue;
}
// treat everything else as float_array
else
else if (paramType == rendering::ShaderParam::PARAM_FLOAT)
{
for (const auto &v : values)
floatArrayValue.push_back(std::stof(v));
paramType = rendering::ShaderParam::PARAM_FLOAT_BUFFER;
(*params)[spv.name] = floatValue;
}
else if (paramType == rendering::ShaderParam::PARAM_INT_BUFFER ||
paramType == rendering::ShaderParam::PARAM_FLOAT_BUFFER)
{
(*params)[spv.name].InitializeBuffer(floatArrayValue.size());
float *fv = &floatArrayValue[0];
(*params)[spv.name].UpdateBuffer(fv);
}
}

// set the params
if (paramType == rendering::ShaderParam::PARAM_INT)
{
(*params)[spv.name] = intValue;
}
else if (paramType == rendering::ShaderParam::PARAM_FLOAT)
{
(*params)[spv.name] = floatValue;
}
else if (paramType == rendering::ShaderParam::PARAM_INT_BUFFER ||
paramType == rendering::ShaderParam::PARAM_FLOAT_BUFFER)
{
(*params)[spv.name].InitializeBuffer(floatArrayValue.size());
float *fv = &floatArrayValue[0];
(*params)[spv.name].UpdateBuffer(fv);
}
}
this->shaderParams.clear();
Expand Down