Add Ogre2Heightmap functionality

CMakeLists.txt

@@ -153,9 +153,18 @@ if (HAVE_OGRE2)
   list(APPEND RENDERING_COMPONENTS ogre2)
 endif()
 
+configure_file("${PROJECT_SOURCE_DIR}/cppcheck.suppress.in"
+               ${PROJECT_BINARY_DIR}/cppcheck.suppress)
+
 ign_configure_build(QUIT_IF_BUILD_ERRORS
     COMPONENTS ${RENDERING_COMPONENTS})
 
+if (HAVE_OGRE2)
+  # Must be done after ign_configure_build or else Terra
+  # won't see IGN_ADD_fPIC_TO_LIBRARIES
+  add_subdirectory(ogre2/src/terrain/Terra)
+endif()
+
 #============================================================================
 # Create package information
 #============================================================================

cppcheck.suppress.in

@@ -0,0 +1 @@
+*:*/Terra/*.h

examples/heightmap/Main.cc

@@ -170,8 +170,8 @@ void buildScene(ScenePtr _scene)
   CameraPtr camera = _scene->CreateCamera("camera");
   camera->SetLocalPosition(1.441, 25.787, 17.801);
   camera->SetLocalRotation(0.0, 0.588, -1.125);
-  camera->SetImageWidth(800);
-  camera->SetImageHeight(600);
+  camera->SetImageWidth(1600);
+  camera->SetImageHeight(900);
   camera->SetAntiAliasing(2);
   camera->SetAspectRatio(1.333);
   camera->SetHFOV(IGN_PI / 2);
@@ -207,7 +207,15 @@ int main(int _argc, char** _argv)
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
 
-  engineNames.push_back("ogre");
+  // Expose engine name to command line because we can't instantiate both
+  // ogre and ogre2 at the same time
+  std::string ogreEngineName("ogre2");
+  if (_argc > 1)
+  {
+    ogreEngineName = _argv[1];
+  }
+
+  engineNames.push_back(ogreEngineName);
 
   for (auto engineName : engineNames)
   {

ogre2/include/ignition/rendering/ogre2/Ogre2Heightmap.hh

@@ -0,0 +1,108 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_RENDERING_OGRE2_OGRE2HEIGHTMAP_HH_
+#define IGNITION_RENDERING_OGRE2_OGRE2HEIGHTMAP_HH_
+
+#include <memory>
+
+#include "ignition/rendering/base/BaseHeightmap.hh"
+#include "ignition/rendering/ogre2/Ogre2Geometry.hh"
+
+// Ignoring warning: "non dll-interface class
+// 'ignition::rendering::v5::Heightmap' used as base for dll-interface class"
+// because `Heightmap` and `BaseHeightmap` are header-only
+#ifdef _MSC_VER
+ #pragma warning(push)
+ #pragma warning(disable:4275)
+#endif
+
+namespace Ogre
+{
+  class Camera;
+  class Terra;
+}
+
+namespace ignition
+{
+  namespace rendering
+  {
+    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+    //
+    // Forward declaration
+    class Ogre2HeightmapPrivate;
+
+    /// \brief Ogre implementation of a heightmap geometry.
+    class IGNITION_RENDERING_OGRE2_VISIBLE Ogre2Heightmap
+      : public BaseHeightmap<Ogre2Geometry>
+    {
+      /// \brief Constructor
+      /// \param[in]
+      public: explicit Ogre2Heightmap(const HeightmapDescriptor &_desc);
+
+      /// \brief Destructor
+      public: virtual ~Ogre2Heightmap() override;
+
+      // Documentation inherited.
+      public: virtual void Init() override;
+
+      // Documentation inherited.
+      public: virtual void PreRender() override;
+
+      /// \brief Returns NULL, heightmaps don't have movable objects.
+      /// \return Null pointer.
+      public: virtual Ogre::MovableObject *OgreObject() const override;
+
+      /// \brief Returns NULL, heightmap materials don't inherit from
+      /// MaterialPtr.
+      /// \return Null pointer.
+      public: virtual MaterialPtr Material() const override;
+
+      /// \brief Has no effect for heightmaps. The material is set through a
+      /// HeightmapDescriptor.
+      /// \param[in] _material Not used.
+      /// \param[in] _unique Not used.
+      public: virtual void SetMaterial(MaterialPtr _material, bool _unique)
+          override;
+
+      /// \internal
+      /// \brief Retrieves the internal Terra pointer
+      /// \return internal Terra pointer
+      public: Ogre::Terra* Terra();
+
+      /// \internal
+      /// \brief Must be called before rendering with the camera
+      /// that will perform rendering.
+      ///
+      /// May update shadows if light direction changed
+      /// \param[in] _camera Camera about to be used for rendering
+      public: void UpdateForRender(Ogre::Camera *_activeCamera);
+
+      /// \brief Heightmap should only be created by scene.
+      private: friend class OgreScene;
+
+      /// \brief Private data class
+      private: std::unique_ptr<Ogre2HeightmapPrivate> dataPtr;
+    };
+    }
+  }
+}
+#ifdef _MSC_VER
+ #pragma warning(pop)
+#endif
+
+#endif

ogre2/include/ignition/rendering/ogre2/Ogre2RenderEngine.hh

@@ -39,6 +39,9 @@ namespace Ogre
   {
     class OverlaySystem;
   }
+
+  class HlmsPbsTerraShadows;
+  class CompositorWorkspaceListener;
 }
 
 namespace ignition
@@ -175,6 +178,25 @@ namespace ignition
       /// \return Pointer to the ogre overlay system.
       public: Ogre::v1::OverlaySystem *OverlaySystem() const;
 
+      /// \internal
+      /// \brief Get a pointer to the Pbs listener that adds terra shadows.
+      /// Do NOT assume HlmsPbs::getListener() == HlmsPbsTerraShadows()
+      /// as there may be more than one listener in the future with
+      /// a master listener coordinating them
+      /// \return Pointer to the Pbs listener that adds terra shadows.
+      public: Ogre::HlmsPbsTerraShadows *HlmsPbsTerraShadows() const;
+
+      /// \internal
+      /// \brief Get a pointer to the workspace listener that adds terra
+      /// casting shadows from spot and point lights.
+      ///
+      /// This listener needs to be added to each workspace that wants
+      /// terrain shadows from spot/point lights. If no terrains are in scene
+      /// then the workspace's overhead is negligible / almost 0.
+      /// \return Pointer to the CompositorWorkspaceListener
+      public: Ogre::CompositorWorkspaceListener
+          *TerraWorkspaceListener() const;
+
       /// \brief Pointer to the ogre's overlay system
       private: Ogre::v1::OverlaySystem *ogreOverlaySystem = nullptr;
 

ogre2/include/ignition/rendering/ogre2/Ogre2RenderTypes.hh

@@ -39,6 +39,7 @@ namespace ignition
     class Ogre2GizmoVisual;
     class Ogre2GpuRays;
     class Ogre2Grid;
+    class Ogre2Heightmap;
     class Ogre2InertiaVisual;
     class Ogre2JointVisual;
     class Ogre2Light;
@@ -87,6 +88,7 @@ namespace ignition
     typedef shared_ptr<Ogre2GizmoVisual>          Ogre2GizmoVisualPtr;
     typedef shared_ptr<Ogre2GpuRays>              Ogre2GpuRaysPtr;
     typedef shared_ptr<Ogre2Grid>                 Ogre2GridPtr;
+    typedef shared_ptr<Ogre2Heightmap>            Ogre2HeightmapPtr;
     typedef shared_ptr<Ogre2InertiaVisual>        Ogre2InertiaVisualPtr;
     typedef shared_ptr<Ogre2JointVisual>          Ogre2JointVisualPtr;
     typedef shared_ptr<Ogre2Light>                Ogre2LightPtr;

ogre2/include/ignition/rendering/ogre2/Ogre2Scene.hh

@@ -19,6 +19,7 @@
 
 #include <memory>
 #include <string>
+#include <vector>
 
 #include "ignition/rendering/Storage.hh"
 #include "ignition/rendering/base/BaseScene.hh"
@@ -135,7 +136,12 @@ namespace ignition
       /// \brief When LegacyAutoGpuFlush(), this function mimics
       /// legacy behavior.
       /// When not, it verifies PreRender has been called
-      public: void StartRendering();
+      /// It also performs necessary updates for all heightmaps
+      ///
+      /// \param _camera camera that is about to render, used
+      /// by heightmaps (Terra). See Ogre2Scene::UpdateAllHeightmaps
+      /// Can be null
+      public: void StartRendering(Ogre::Camera *_camera);
 
       /// \internal
       /// \brief Every Render() function calls this function with
@@ -334,6 +340,12 @@ namespace ignition
       protected: virtual bool InitObject(Ogre2ObjectPtr _object,
                      unsigned int _id, const std::string &_name);
 
+      /// \internal
+      /// \brief Iterates through all Heightmaps and calls
+      /// Ogre2Heightmap::UpdateForRender on each of them
+      /// \param[in] _camera Camera about to be used for rendering
+      public: void UpdateAllHeightmaps(Ogre::Camera *_camera);
+
       /// \brief Create a compositor shadow node with the same number of shadow
       /// textures as the number of shadow casting lights
       protected: void UpdateShadowNode();
@@ -405,6 +417,9 @@ namespace ignition
       /// \brief A list of ogre materials
       protected: Ogre2MaterialMapPtr materials;
 
+      /// \brief A list of ogre heightmaps
+      protected: std::vector<std::weak_ptr<Ogre2Heightmap>> heightmaps;
+
       /// \brief Pointer to the ogre scene manager
       protected: Ogre::SceneManager *ogreSceneManager = nullptr;
 

ogre2/src/CMakeLists.txt

@@ -33,6 +33,7 @@ target_link_libraries(${ogre2_target}
   PRIVATE
     ignition-plugin${IGN_PLUGIN_VER}::register
     ${OPENGL_LIBRARIES}
+    terra
     IgnOGRE2::IgnOGRE2)
 
 set (versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})

ogre2/src/Ogre2DepthCamera.cc

@@ -928,6 +928,9 @@ void Ogre2DepthCamera::CreateWorkspaceInstance()
           this->dataPtr->ogreCompositorWorkspaceDef,
           false);
 
+  this->dataPtr->ogreCompositorWorkspace->addListener(
+    engine->TerraWorkspaceListener());
+
   // add the listener
   Ogre::CompositorNode *node =
       this->dataPtr->ogreCompositorWorkspace->getNodeSequence()[0];
@@ -958,7 +961,7 @@ void Ogre2DepthCamera::Render()
   glEnable(GL_DEPTH_CLAMP);
 #endif
 
-  this->scene->StartRendering();
+  this->scene->StartRendering(this->ogreCamera);
 
   // update the compositors
   this->dataPtr->ogreCompositorWorkspace->_validateFinalTarget();

ogre2/src/Ogre2GpuRays.cc

@@ -1203,6 +1203,7 @@ void Ogre2GpuRays::UpdateRenderTarget1stPass()
   // update the compositors
   for (auto i : this->dataPtr->cubeFaceIdx)
   {
+    this->scene->UpdateAllHeightmaps(this->dataPtr->cubeCam[i]);
     this->dataPtr->ogreCompositorWorkspace1st[i]->setEnabled(true);
 
     this->dataPtr->ogreCompositorWorkspace1st[i]->_validateFinalTarget();
@@ -1234,7 +1235,7 @@ void Ogre2GpuRays::UpdateRenderTarget2ndPass()
 //////////////////////////////////////////////////
 void Ogre2GpuRays::Render()
 {
-  this->scene->StartRendering();
+  this->scene->StartRendering(nullptr);
 
   this->UpdateRenderTarget1stPass();
   this->UpdateRenderTarget2ndPass();