Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Support OpenGL < 4.2 in PBS shader #377

Merged
merged 1 commit into from
Aug 12, 2021
Merged

Support OpenGL < 4.2 in PBS shader #377

merged 1 commit into from
Aug 12, 2021

Conversation

srmainwaring
Copy link
Contributor

🦟 Bug fix

This PR addresses an issue with models using PBS with the ogre2 render engine on systems that do not support OpenGL 4.2 or higher (i.e. macOS).

Summary

The fix is a one line change to one of the ogre2 GLSL shader templates. The issue is that OpenGL < 4.2 does not support swizzling of scalars (e.g. float) and this feature is used in part of the Fresnel calculation.

(See: Data_Type (GLSL) : Swizzling)

Without this change the ignition rendering example ogre2_demo will fail (crash because of an unhandled exception when the shader fails to compile).

With the change (and other changes specific to macOS not included in this PR) the ogre2_demo and other models that require PBS in ignition gazebo will work.

Before Fix

$ ./ogre2_demo
[Msg] Loading plugin [ignition-rendering-ogre2]
Creating resource group General
Creating resource group Internal
Creating resource group Autodetect

...

Vertex Shader: 100000004VertexShader_vs
Fragment Shader: 100000004PixelShader_ps
 GLSL validation result : 
Validation Failed: Sampler error:
  Samplers of different types use the same texture image unit.
   - or -
  A sampler's texture unit is out of range (greater than max allowed or negative).
GLSL compile log: 100000005PixelShader_ps
ERROR: 0:1263: Swizzle of non-vector primitive float
ERROR: 0:1266: Use of undeclared identifier 'fresnelS'
ERROR: 0:1266: Use of undeclared identifier 'fresnelS'
ERROR: 0:1266: Use of undeclared identifier 'fresnelS'
ERROR: 0:1268: Use of undeclared identifier 'fresnelD'
ERROR: 0:1269: Use of undeclared identifier 'fresnelS'
libc++abi: terminating with uncaught exception of type Ogre::RenderingAPIException: OGRE EXCEPTION(3:RenderingAPIException): Fragment Program 100000005PixelShader_ps failed to compile. See compile log above for details. in GLSLShader::compile at /Users/rhys/Code/ogre/ogre-next2.1/RenderSystems/GL3Plus/src/GLSL/OgreGLSLShader.cpp (line 308)
zsh: abort      ./ogre2_demo

After Fix

ogre2_demo:

ogre2_demo

ignition-gazebo rendering the Panda model from the edifice demo world:

edifice_demo_panda

Tests

There are two tests failing on macOS, however these also fail before this change and I do not think the issue with them is related to the PBS shader.

make test
Running tests...
Test project /Users/rhys/Code/robotics/gazebo/ign_ediface_ws/src/ign-rendering/build
      Start  1: UNIT_ArrowVisual_TEST
 1/86 Test  #1: UNIT_ArrowVisual_TEST .................   Passed    0.19 sec
      Start  2: check_UNIT_ArrowVisual_TEST
 2/86 Test  #2: check_UNIT_ArrowVisual_TEST ...........   Passed    0.04 sec
      Start  3: UNIT_AxisVisual_TEST
 3/86 Test  #3: UNIT_AxisVisual_TEST ..................   Passed    0.19 sec
      Start  4: check_UNIT_AxisVisual_TEST
 4/86 Test  #4: check_UNIT_AxisVisual_TEST ............   Passed    0.04 sec
      Start  5: UNIT_Camera_TEST
 5/86 Test  #5: UNIT_Camera_TEST ......................   Passed    0.52 sec
      Start  6: check_UNIT_Camera_TEST
 6/86 Test  #6: check_UNIT_Camera_TEST ................   Passed    0.04 sec
      Start  7: UNIT_Capsule_TEST
 7/86 Test  #7: UNIT_Capsule_TEST .....................   Passed    0.19 sec
      Start  8: check_UNIT_Capsule_TEST
 8/86 Test  #8: check_UNIT_Capsule_TEST ...............   Passed    0.04 sec
      Start  9: UNIT_GaussianNoisePass_TEST
 9/86 Test  #9: UNIT_GaussianNoisePass_TEST ...........   Passed    0.18 sec
      Start 10: check_UNIT_GaussianNoisePass_TEST
10/86 Test #10: check_UNIT_GaussianNoisePass_TEST .....   Passed    0.04 sec
      Start 11: UNIT_GizmoVisual_TEST
11/86 Test #11: UNIT_GizmoVisual_TEST .................   Passed    0.28 sec
      Start 12: check_UNIT_GizmoVisual_TEST
12/86 Test #12: check_UNIT_GizmoVisual_TEST ...........   Passed    0.04 sec
      Start 13: UNIT_Grid_TEST
13/86 Test #13: UNIT_Grid_TEST ........................   Passed    0.19 sec
      Start 14: check_UNIT_Grid_TEST
14/86 Test #14: check_UNIT_Grid_TEST ..................   Passed    0.04 sec
      Start 15: UNIT_Heightmap_TEST
15/86 Test #15: UNIT_Heightmap_TEST ...................   Passed    0.01 sec
      Start 16: check_UNIT_Heightmap_TEST
16/86 Test #16: check_UNIT_Heightmap_TEST .............   Passed    0.04 sec
      Start 17: UNIT_LidarVisual_TEST
17/86 Test #17: UNIT_LidarVisual_TEST .................   Passed    0.19 sec
      Start 18: check_UNIT_LidarVisual_TEST
18/86 Test #18: check_UNIT_LidarVisual_TEST ...........   Passed    0.04 sec
      Start 19: UNIT_LightVisual_TEST
19/86 Test #19: UNIT_LightVisual_TEST .................   Passed    0.19 sec
      Start 20: check_UNIT_LightVisual_TEST
20/86 Test #20: check_UNIT_LightVisual_TEST ...........   Passed    0.04 sec
      Start 21: UNIT_Light_TEST
21/86 Test #21: UNIT_Light_TEST .......................   Passed    0.20 sec
      Start 22: check_UNIT_Light_TEST
22/86 Test #22: check_UNIT_Light_TEST .................   Passed    0.04 sec
      Start 23: UNIT_Marker_TEST
23/86 Test #23: UNIT_Marker_TEST ......................   Passed    0.20 sec
      Start 24: check_UNIT_Marker_TEST
24/86 Test #24: check_UNIT_Marker_TEST ................   Passed    0.04 sec
      Start 25: UNIT_Material_TEST
25/86 Test #25: UNIT_Material_TEST ....................   Passed    0.28 sec
      Start 26: check_UNIT_Material_TEST
26/86 Test #26: check_UNIT_Material_TEST ..............   Passed    0.04 sec
      Start 27: UNIT_MeshDescriptor_TEST
27/86 Test #27: UNIT_MeshDescriptor_TEST ..............   Passed    0.19 sec
      Start 28: check_UNIT_MeshDescriptor_TEST
28/86 Test #28: check_UNIT_MeshDescriptor_TEST ........   Passed    0.04 sec
      Start 29: UNIT_Mesh_TEST
29/86 Test #29: UNIT_Mesh_TEST ........................   Passed    0.44 sec
      Start 30: check_UNIT_Mesh_TEST
30/86 Test #30: check_UNIT_Mesh_TEST ..................   Passed    0.04 sec
      Start 31: UNIT_MoveToHelper_TEST
31/86 Test #31: UNIT_MoveToHelper_TEST ................   Passed    0.20 sec
      Start 32: check_UNIT_MoveToHelper_TEST
32/86 Test #32: check_UNIT_MoveToHelper_TEST ..........   Passed    0.04 sec
      Start 33: UNIT_Node_TEST
33/86 Test #33: UNIT_Node_TEST ........................   Passed    0.19 sec
      Start 34: check_UNIT_Node_TEST
34/86 Test #34: check_UNIT_Node_TEST ..................   Passed    0.04 sec
      Start 35: UNIT_OrbitViewController_TEST
35/86 Test #35: UNIT_OrbitViewController_TEST .........   Passed    0.29 sec
      Start 36: check_UNIT_OrbitViewController_TEST
36/86 Test #36: check_UNIT_OrbitViewController_TEST ...   Passed    0.04 sec
      Start 37: UNIT_ParticleEmitter_TEST
37/86 Test #37: UNIT_ParticleEmitter_TEST .............   Passed    0.20 sec
      Start 38: check_UNIT_ParticleEmitter_TEST
38/86 Test #38: check_UNIT_ParticleEmitter_TEST .......   Passed    0.04 sec
      Start 39: UNIT_PixelFormat_TEST
39/86 Test #39: UNIT_PixelFormat_TEST .................   Passed    0.01 sec
      Start 40: check_UNIT_PixelFormat_TEST
40/86 Test #40: check_UNIT_PixelFormat_TEST ...........   Passed    0.04 sec
      Start 41: UNIT_RayQuery_TEST
41/86 Test #41: UNIT_RayQuery_TEST ....................   Passed    0.20 sec
      Start 42: check_UNIT_RayQuery_TEST
42/86 Test #42: check_UNIT_RayQuery_TEST ..............   Passed    0.04 sec
      Start 43: UNIT_RenderEngine_TEST
43/86 Test #43: UNIT_RenderEngine_TEST ................   Passed    0.22 sec
      Start 44: check_UNIT_RenderEngine_TEST
44/86 Test #44: check_UNIT_RenderEngine_TEST ..........   Passed    0.04 sec
      Start 45: UNIT_RenderPassSystem_TEST
45/86 Test #45: UNIT_RenderPassSystem_TEST ............   Passed    0.19 sec
      Start 46: check_UNIT_RenderPassSystem_TEST
46/86 Test #46: check_UNIT_RenderPassSystem_TEST ......   Passed    0.04 sec
      Start 47: UNIT_RenderTarget_TEST
47/86 Test #47: UNIT_RenderTarget_TEST ................   Passed    0.19 sec
      Start 48: check_UNIT_RenderTarget_TEST
48/86 Test #48: check_UNIT_RenderTarget_TEST ..........   Passed    0.04 sec
      Start 49: UNIT_RenderingIface_TEST
49/86 Test #49: UNIT_RenderingIface_TEST ..............   Passed    0.27 sec
      Start 50: check_UNIT_RenderingIface_TEST
50/86 Test #50: check_UNIT_RenderingIface_TEST ........   Passed    0.04 sec
      Start 51: UNIT_Scene_TEST
51/86 Test #51: UNIT_Scene_TEST .......................   Passed    0.87 sec
      Start 52: check_UNIT_Scene_TEST
52/86 Test #52: check_UNIT_Scene_TEST .................   Passed    0.04 sec
      Start 53: UNIT_ShaderParam_TEST
53/86 Test #53: UNIT_ShaderParam_TEST .................   Passed    0.01 sec
      Start 54: check_UNIT_ShaderParam_TEST
54/86 Test #54: check_UNIT_ShaderParam_TEST ...........   Passed    0.04 sec
      Start 55: UNIT_ShaderParams_TEST
55/86 Test #55: UNIT_ShaderParams_TEST ................   Passed    0.01 sec
      Start 56: check_UNIT_ShaderParams_TEST
56/86 Test #56: check_UNIT_ShaderParams_TEST ..........   Passed    0.04 sec
      Start 57: UNIT_Text_TEST
57/86 Test #57: UNIT_Text_TEST ........................   Passed    0.01 sec
      Start 58: check_UNIT_Text_TEST
58/86 Test #58: check_UNIT_Text_TEST ..................   Passed    0.04 sec
      Start 59: UNIT_ThermalCamera_TEST
59/86 Test #59: UNIT_ThermalCamera_TEST ...............   Passed    0.19 sec
      Start 60: check_UNIT_ThermalCamera_TEST
60/86 Test #60: check_UNIT_ThermalCamera_TEST .........   Passed    0.04 sec
      Start 61: UNIT_TransformController_TEST
61/86 Test #61: UNIT_TransformController_TEST .........   Passed    0.45 sec
      Start 62: check_UNIT_TransformController_TEST
62/86 Test #62: check_UNIT_TransformController_TEST ...   Passed    0.04 sec
      Start 63: UNIT_Visual_TEST
63/86 Test #63: UNIT_Visual_TEST ......................   Passed    0.69 sec
      Start 64: check_UNIT_Visual_TEST
64/86 Test #64: check_UNIT_Visual_TEST ................   Passed    0.04 sec
      Start 65: UNIT_WireBox_TEST
65/86 Test #65: UNIT_WireBox_TEST .....................   Passed    0.19 sec
      Start 66: check_UNIT_WireBox_TEST
66/86 Test #66: check_UNIT_WireBox_TEST ...............   Passed    0.04 sec
      Start 67: INTEGRATION_gpu_rays
67/86 Test #67: INTEGRATION_gpu_rays ..................   Passed    0.20 sec
      Start 68: check_INTEGRATION_gpu_rays
68/86 Test #68: check_INTEGRATION_gpu_rays ............   Passed    0.04 sec
      Start 69: INTEGRATION_depth_camera
69/86 Test #69: INTEGRATION_depth_camera ..............***Failed   22.02 sec
      Start 70: check_INTEGRATION_depth_camera
70/86 Test #70: check_INTEGRATION_depth_camera ........   Passed    0.04 sec
      Start 71: INTEGRATION_camera
71/86 Test #71: INTEGRATION_camera ....................   Passed   10.53 sec
      Start 72: check_INTEGRATION_camera
72/86 Test #72: check_INTEGRATION_camera ..............   Passed    0.04 sec
      Start 73: INTEGRATION_render_pass
73/86 Test #73: INTEGRATION_render_pass ...............   Passed    7.76 sec
      Start 74: check_INTEGRATION_render_pass
74/86 Test #74: check_INTEGRATION_render_pass .........   Passed    0.04 sec
      Start 75: INTEGRATION_shadows
75/86 Test #75: INTEGRATION_shadows ...................   Passed    2.87 sec
      Start 76: check_INTEGRATION_shadows
76/86 Test #76: check_INTEGRATION_shadows .............   Passed    0.04 sec
      Start 77: INTEGRATION_scene
77/86 Test #77: INTEGRATION_scene .....................   Passed    5.27 sec
      Start 78: check_INTEGRATION_scene
78/86 Test #78: check_INTEGRATION_scene ...............   Passed    0.04 sec
      Start 79: INTEGRATION_sky
79/86 Test #79: INTEGRATION_sky .......................   Passed    0.33 sec
      Start 80: check_INTEGRATION_sky
80/86 Test #80: check_INTEGRATION_sky .................   Passed    0.04 sec
      Start 81: INTEGRATION_thermal_camera
81/86 Test #81: INTEGRATION_thermal_camera ............***Failed    1.17 sec
      Start 82: check_INTEGRATION_thermal_camera
82/86 Test #82: check_INTEGRATION_thermal_camera ......   Passed    0.04 sec
      Start 83: INTEGRATION_lidar_visual
83/86 Test #83: INTEGRATION_lidar_visual ..............   Passed    0.19 sec
      Start 84: check_INTEGRATION_lidar_visual
84/86 Test #84: check_INTEGRATION_lidar_visual ........   Passed    0.04 sec
      Start 85: PERFORMANCE_scene_factory
85/86 Test #85: PERFORMANCE_scene_factory .............   Passed    4.33 sec
      Start 86: check_PERFORMANCE_scene_factory
86/86 Test #86: check_PERFORMANCE_scene_factory .......   Passed    0.04 sec

98% tests passed, 2 tests failed out of 86

Total Test time (real) =  64.31 sec

The following tests FAILED:
	 69 - INTEGRATION_depth_camera (Failed)
	 81 - INTEGRATION_thermal_camera (Failed)
Errors while running CTest
Output from these tests are in: /Users/rhys/Code/robotics/gazebo/ign_ediface_ws/src/ign-rendering/build/Testing/Temporary/LastTest.log
Use "--rerun-failed --output-on-failure" to re-run the failed cases verbosely.
make: *** [test] Error 8

Checklist

  • Signed all commits for DCO
  • Added tests
  • 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

@srmainwaring
[macOS] support OpenGL < 4.2 in PBS shader
c4279af 
- OpenGL < 4.2 does not support swizzling built in types (e.g. float).
- Update the definition of @piece( maxR1F0 ) to work in OpenGL 4.1

Signed-off-by: Rhys Mainwaring <[email protected]>
@srmainwaring srmainwaring requested a review from iche033 as a code owner August 11, 2021 22:12
@github-actions github-actions bot added the 🏢 edifice Ignition Edifice label Aug 11, 2021
@codecov
Copy link

codecov bot commented Aug 11, 2021 •
edited
Loading

Codecov Report

Merging #377 (c4279af) into ign-rendering5 (44a1948) will increase coverage by 0.00%.
The diff coverage is n/a.

Impacted file tree graph

@@               Coverage Diff               @@
##           ign-rendering5     #377   +/-   ##
===============================================
  Coverage           57.71%   57.71%           
===============================================
  Files                 161      161           
  Lines               15901    15901           
===============================================
+ Hits                 9177     9178    +1     
+ Misses               6724     6723    -1
Impacted Files Coverage Δ
...e/ignition/rendering/base/BaseGaussianNoisePass.hh 100.00% <0.00%> (+3.33%) ⬆️

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 44a1948...c4279af. Read the comment docs.

iche033
iche033 approved these changes Aug 12, 2021
View reviewed changes
Copy link
Contributor

@iche033 iche033 left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

nice, looks good to me!

@iche033 iche033 merged commit f11d8d1 into gazebosim:ign-rendering5 Aug 12, 2021
@srmainwaring srmainwaring deleted the feature/ir5-pbs-opengl4-1 branch August 13, 2021 21:13
adlarkin pushed a commit that referenced this pull request Sep 7, 2021
@srmainwaring @adlarkin
[macOS] support OpenGL < 4.2 in PBS shader (#377)
6850fe4 
- OpenGL < 4.2 does not support swizzling built in types (e.g. float).
- Update the definition of @piece( maxR1F0 ) to work in OpenGL 4.1

Signed-off-by: Rhys Mainwaring <[email protected]>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@iche033 iche033 iche033 approved these changes

Assignees
No one assigned
Labels
🏢 edifice Ignition Edifice
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
2 participants
@srmainwaring @iche033