Merge pull request #437 from ignitionrobotics/merge_5_6_20210927

Merge 5 -> 6

CMakeLists.txt

@@ -9,7 +9,7 @@ project(ignition-rendering6 VERSION 6.0.0)
 # Find ignition-cmake
 #============================================================================
 # If you get an error at this line, you need to install ignition-cmake
-find_package(ignition-cmake2 2.3 REQUIRED)
+find_package(ignition-cmake2 2.8.0 REQUIRED)
 set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
 
 #============================================================================
@@ -22,7 +22,7 @@ ign_configure_project(VERSION_SUFFIX pre2)
 #============================================================================
 
 set(CMAKE_CXX_STANDARD 14)
-option(USE_UNOFFICAL_OGRE_VERSIONS "Accept unsupported Ogre versions in the build" OFF)
+option(USE_UNOFFICIAL_OGRE_VERSIONS "Accept unsupported Ogre versions in the build" OFF)
 
 #============================================================================
 # Search for project-specific dependencies
@@ -66,15 +66,19 @@ list(APPEND ign_ogre_components "RTShaderSystem" "Terrain" "Overlay")
 
 # Ogre versions greater than 1.9 are not officialy supported.
 # Display a warning for the users on this setup unless they provide
-# USE_UNOFFICAL_OGRE_VERSIONS flag
-if (NOT USE_UNOFFICAL_OGRE_VERSIONS)
-  ign_find_package(IgnOGRE VERSION 1.10
-    COMPONENTS ${ign_ogre_components})
+# USE_UNOFFICIAL_OGRE_VERSIONS flag
+if (NOT USE_UNOFFICIAL_OGRE_VERSIONS)
+  # Only for checking the ogre version
+  ign_find_package(IgnOGRE VERSION 1.10 QUIET)
 
   if (OGRE_FOUND)
     IGN_BUILD_WARNING("Ogre 1.x versions greater than 1.9 are not officially supported."
                       "The software might compile and even work but support from upstream"
                       "could be reduced to accepting patches for newer versions")
+    ign_find_package(IgnOGRE VERSION 1.10
+      COMPONENTS ${ign_ogre_components}
+      REQUIRED_BY ogre
+      PRIVATE_FOR ogre)
   else()
     # If ogre 1.10 or greater was not found, then proceed to look for 1.9.x
     # versions which are offically supported

Changelog.md

@@ -217,6 +217,25 @@
 
 ### Ignition Rendering 4.X
 
+### Ignition Rendering 4.9.0 (2021-09-15)
+
+1. Output warning message if a mesh with zero submeshes is created
+    * [Pull request #391](https://github.com/ignitionrobotics/ign-rendering/pull/391)
+
+1. Fix particle effect randomness
+    * [Pull request #388](https://github.com/ignitionrobotics/ign-rendering/pull/388)
+
+1. Fix single ray gpu lidar
+    * [Pull request #384](https://github.com/ignitionrobotics/ign-rendering/pull/384)
+
+1. Use selection buffer in ray queries (ogre2)
+    * [Pull request #378](https://github.com/ignitionrobotics/ign-rendering/pull/378)
+    * [Pull request #383](https://github.com/ignitionrobotics/ign-rendering/pull/383)
+
+1. All changes merged forward from ign-rendering3
+    * [Pull request #382](https://github.com/ignitionrobotics/ign-rendering/pull/382)
+    * [Pull request #398](https://github.com/ignitionrobotics/ign-rendering/pull/398)
+
 ### Ignition Rendering 4.8.0 (2021-06-18)
 
 1. relax gaussian test tolerance
@@ -449,7 +468,7 @@
 ### Ignition Rendering 3.X.X (2021-XX-XX)
 
 1. CMake warning on Ogre versions that are not officially supported.
-   To disable the new warning, it is enough to enable the cmake option USE_UNOFFICAL_OGRE_VERSIONS
+   To disable the new warning, it is enough to enable the cmake option USE_UNOFFICIAL_OGRE_VERSIONS
     * [Pull request 376](https://github.com/ignitionrobotics/ign-rendering/pull/376)
 
 ### Ignition Rendering 3.5.0 (2021-05-25)

ogre/src/OgreVisual.cc

@@ -55,10 +55,8 @@ void OgreVisual::SetWireframe(bool _show)
   for (unsigned int i = 0; i < this->ogreNode->numAttachedObjects();
       i++)
   {
-    Ogre::Entity *entity = nullptr;
     Ogre::MovableObject *obj = this->ogreNode->getAttachedObject(i);
-
-    entity = dynamic_cast<Ogre::Entity *>(obj);
+    Ogre::Entity *entity = dynamic_cast<Ogre::Entity *>(obj);
 
     if (!entity)
       continue;

ogre2/include/ignition/rendering/ogre2/Ogre2Camera.hh

@@ -125,6 +125,10 @@ namespace ignition
       // Documentation inherited.
       public: virtual void SetVisibilityMask(uint32_t _mask) override;
 
+      /// \brief Get the selection buffer object
+      /// \return the selection buffer object
+      public: Ogre2SelectionBuffer *SelectionBuffer() const;
+
       // Documentation inherited.
       protected: virtual RenderTargetPtr RenderTarget() const override;
 

ogre2/include/ignition/rendering/ogre2/Ogre2RayQuery.hh

@@ -51,6 +51,14 @@ namespace ignition
       // Documentation inherited
       public: virtual RayQueryResult ClosestPoint();
 
+      /// \brief Get closest point by selection buffer.
+      /// This is executed on the GPU.
+      private: RayQueryResult ClosestPointBySelectionBuffer();
+
+      /// \brief Get closest point by ray triangle intersection test.
+      /// This is executed on the CPU.
+      private: RayQueryResult ClosestPointByIntersection();
+
       /// \brief Private data pointer
       private: std::unique_ptr<Ogre2RayQueryPrivate> dataPtr;
 

ogre2/include/ignition/rendering/ogre2/Ogre2SelectionBuffer.hh

@@ -65,6 +65,16 @@ namespace ignition
       /// \return Returns the Ogre item at the coordinate.
       public: Ogre::Item *OnSelectionClick(const int _x, const int _y);
 
+      /// \brief Perform selection operation and get ogre item and
+      /// point of intersection.
+      /// \param[in] _x X coordinate in pixels.
+      /// \param[in] _y Y coordinate in pixels.
+      /// \param[out] _item Ogre item at the coordinate.
+      /// \param[out] _point 3D point of intersection with the ogre item's mesh.
+      /// \return True if an ogre item is found, false otherwise
+      public: bool ExecuteQuery(const int _x, const int _y, Ogre::Item *&_item,
+          math::Vector3d &_point);
+
       /// \brief Set dimension of the selection buffer
       /// \param[in] _width X dimension in pixels.
       /// \param[in] _height Y dimension in pixels.

ogre2/src/Ogre2Camera.cc

@@ -233,6 +233,12 @@ void Ogre2Camera::SetSelectionBuffer()
     this->ImageWidth(), this->ImageHeight());
 }
 
+//////////////////////////////////////////////////
+Ogre2SelectionBuffer *Ogre2Camera::SelectionBuffer() const
+{
+  return this->selectionBuffer;
+}
+
 //////////////////////////////////////////////////
 VisualPtr Ogre2Camera::VisualAt(const ignition::math::Vector2i &_mousePos)
 {

ogre2/src/Ogre2DepthCamera.cc

@@ -434,6 +434,7 @@ void Ogre2DepthCamera::CreateDepthTexture()
   double projectionA = projectionAB.x;
   double projectionB = projectionAB.y;
   projectionB /= farPlane;
+
   psParams->setNamedConstant("projectionParams",
       Ogre::Vector2(projectionA, projectionB));
   psParams->setNamedConstant("near",

ogre2/src/Ogre2ParticleNoiseListener.cc

@@ -17,6 +17,8 @@
 
 #include <string>
 
+#include <ignition/math/Rand.hh>
+
 #include "ignition/rendering/ogre2/Ogre2Includes.hh"
 #include "ignition/rendering/ogre2/Ogre2RenderTypes.hh"
 #include "ignition/rendering/ogre2/Ogre2Scene.hh"
@@ -84,6 +86,8 @@ void Ogre2ParticleNoiseListener::cameraPreRenderScene(
           pass->getFragmentProgramParameters();
       psParams->setNamedConstant("particleStddev",
           static_cast<float>(particleStddev));
+      psParams->setNamedConstant("rnd",
+          static_cast<float>(ignition::math::Rand::DblUniform(0.0, 1.0)));
 
       // get particle scatter ratio value from particle emitter user data
       // and pass that to the shaders

ogre2/src/Ogre2RayQuery.cc

@@ -24,6 +24,7 @@
 #include "ignition/rendering/ogre2/Ogre2Conversions.hh"
 #include "ignition/rendering/ogre2/Ogre2RayQuery.hh"
 #include "ignition/rendering/ogre2/Ogre2Scene.hh"
+#include "ignition/rendering/ogre2/Ogre2SelectionBuffer.hh"
 
 #ifdef _MSC_VER
   #pragma warning(push, 0)
@@ -42,6 +43,15 @@ class ignition::rendering::Ogre2RayQueryPrivate
 {
   /// \brief Ogre ray scene query object for computing intersection.
   public: Ogre::RaySceneQuery *rayQuery = nullptr;
+
+  //// \brief Pointer to camera
+  public: Ogre2CameraPtr camera{nullptr};
+
+  /// \brief Image pos to cast the ray from
+  public: math::Vector2i imgPos = math::Vector2i::Zero;
+
+  /// \brief thread that ray query is created in
+  public: std::thread::id threadId;
 };
 
 using namespace ignition;
@@ -51,6 +61,7 @@ using namespace rendering;
 Ogre2RayQuery::Ogre2RayQuery()
     : dataPtr(new Ogre2RayQueryPrivate)
 {
+  this->dataPtr->threadId = std::this_thread::get_id();
 }
 
 //////////////////////////////////////////////////
@@ -70,10 +81,77 @@ void Ogre2RayQuery::SetFromCamera(const CameraPtr &_camera,
 
   this->origin = Ogre2Conversions::Convert(ray.getOrigin());
   this->direction = Ogre2Conversions::Convert(ray.getDirection());
+
+  this->dataPtr->camera = camera;
+
+  this->dataPtr->imgPos.X() = static_cast<int>(
+      screenPos.X() * this->dataPtr->camera->ImageWidth());
+  this->dataPtr->imgPos.Y() = static_cast<int>(
+      screenPos.Y() * this->dataPtr->camera->ImageHeight());
 }
 
 //////////////////////////////////////////////////
 RayQueryResult Ogre2RayQuery::ClosestPoint()
+{
+  RayQueryResult result;
+
+#ifdef __APPLE__
+  return this->ClosestPointByIntersection();
+#else
+  if (!this->dataPtr->camera ||
+      !this->dataPtr->camera->Parent() ||
+      std::this_thread::get_id() != this->dataPtr->threadId)
+  {
+    // use legacy method for backward compatibility if no camera is set or
+    // camera is not attached in the scene tree or
+    // this function is called from non-rendering thread
+    return this->ClosestPointByIntersection();
+  }
+  else
+  {
+    // the VisualAt function is a hack to force creation of the selection
+    // buffer object
+    // todo(anyone) Make Camera::SetSelectionBuffer function public?
+    if (!this->dataPtr->camera->SelectionBuffer())
+      this->dataPtr->camera->VisualAt(math::Vector2i(0, 0));
+
+    return this->ClosestPointBySelectionBuffer();
+  }
+#endif
+}
+
+//////////////////////////////////////////////////
+RayQueryResult Ogre2RayQuery::ClosestPointBySelectionBuffer()
+{
+  RayQueryResult result;
+  Ogre::Item *ogreItem = nullptr;
+  math::Vector3d point;
+  bool success = this->dataPtr->camera->SelectionBuffer()->ExecuteQuery(
+      this->dataPtr->imgPos.X(), this->dataPtr->imgPos.Y(), ogreItem, point);
+  result.distance = -1;
+
+  if (success && ogreItem)
+  {
+    if (!ogreItem->getUserObjectBindings().getUserAny().isEmpty() &&
+        ogreItem->getUserObjectBindings().getUserAny().getType() ==
+        typeid(unsigned int))
+    {
+      auto userAny = ogreItem->getUserObjectBindings().getUserAny();
+      double distance = this->dataPtr->camera->WorldPosition().Distance(point)
+          - this->dataPtr->camera->NearClipPlane();
+      if (!std::isinf(distance))
+      {
+        result.distance = distance;
+        result.point = point;
+        result.objectId = Ogre::any_cast<unsigned int>(userAny);
+      }
+    }
+  }
+  return result;
+}
+
+//////////////////////////////////////////////////
+RayQueryResult Ogre2RayQuery::ClosestPointByIntersection()
 {
   RayQueryResult result;
   Ogre2ScenePtr ogreScene =