GLSL 330 shaders

ogre_media/materials/glsl150/box.geom

@@ -1,4 +1,4 @@
-#version 150
+#version 330 core
 
 // Generates an axis-aligned box with a given size
 // for each input vertex.
@@ -19,13 +19,13 @@ uniform mat4 worldviewproj_matrix;
 uniform vec4 size;
 uniform vec4 auto_size;
 
-in gl_PerVertex {
-	vec4 gl_Position;
-	vec4 gl_FrontColor;
-} gl_in[];
+in PerVertex {
+	vec4 frontColor;
+} gs_in[];
 
 
-out vec4 gl_TexCoord[];
+out vec4 texCoord[];
+out vec4 frontColor;
 
 layout(points) in;
 layout(triangle_strip, max_vertices=24) out;
@@ -49,12 +49,12 @@ void emitVertex( int side, vec4 x, vec4 y, vec4 z, vec3 tex )
   vec4 pos_rel = tex.x*x + tex.y*y + tex.z*z;
   vec4 pos = gl_in[0].gl_Position + vec4( pos_rel * size_factor * 0.5 );
   gl_Position = worldviewproj_matrix * pos;
-  gl_TexCoord[0] = vec4( tex.x*0.5+0.5, tex.y*0.5+0.5, 0.0, 0.0 );
+  texCoord[0] = vec4( tex.x*0.5+0.5, tex.y*0.5+0.5, 0.0, 0.0 );
 
 #ifdef WITH_LIGHTING
-    gl_FrontColor = vec4( gl_in[0].gl_FrontColor.xyz * lightness[side], gl_in[0].gl_FrontColor.a );
+  frontColor = vec4( gs_in[0].frontColor.xyz * lightness[side], gs_in[0].frontColor.a );
 #else
-    gl_FrontColor = vec4( gl_in[0].gl_FrontColor.xyz, gl_in[0].gl_FrontColor.a );
+  gl_FrontColor = vec4( gs_in[0].frontColor.xyz, gs_in[0].frontColor.a );
 #endif
 
 #ifdef WITH_DEPTH

ogre_media/materials/glsl150/depth.frag

@@ -0,0 +1,27 @@
+#version 330
+
+// Passes on the packed depth value
+
+// Splits up a normalized depth value in the range (0..1)
+// into the vertex RGB values.
+// Alpha values below 1/255 are rendered transparent.
+
+uniform float alpha;
+uniform float far_clip_distance;
+
+const float minimum_alpha = 1.0 / 255.0;
+
+varying float depth;
+
+void main()
+{
+    float normalized_depth = depth / far_clip_distance;
+
+  // split up float into rgb components
+  const vec3 shift = vec3(256.0 * 256.0, 256.0, 1.0);
+  const vec3 mask = vec3(0.0, 1.0 / 256.0, 1.0 / 256.0);
+  vec3 depth_packed = fract(normalized_depth * shift);
+  depth_packed -= depth_packed.xxy * mask;
+
+  gl_FragColor = vec4( depth_packed.zyx, step( minimum_alpha, alpha ));
+}

ogre_media/materials/glsl150/glsl150.program

@@ -1,3 +1,6 @@
+
+fragment_program rviz/glsl150/depth.frag glsl { source depth.frag }
+
 //all shaders, sorted by name
 
 geometry_program rviz/glsl150/billboard.geom glsl
@@ -78,3 +81,14 @@ vertex_program rviz/glsl150/pass_pos_color.vert glsl
 {
   source pass_pos_color.vert
 }
+
+
+fragment_program rviz/glsl150/smooth_square.frag glsl
+{
+  source smooth_square.frag
+  default_params
+  {
+    param_named_auto highlight custom 5
+    param_named_auto alpha custom 1
+  }
+}

ogre_media/materials/glsl150/pass_pos_color.vert

@@ -1,14 +1,19 @@
-#version 150 compatibility
+#version 330
 
 // this merely passes over position and color,
 // as needed by box.geom
 
-out gl_PerVertex {
-	vec4 gl_Position;
-	vec4 gl_FrontColor;
-};
+layout(location = 0) in vec3 vertex;
+layout(location = 3) in vec4 color;
+
+uniform mat4 uProjection;
+
+out PerVertex {
+    vec4 frontColor;
+} perVertex;
+
 
 void main() {
-    gl_Position = gl_Vertex;
-    gl_FrontColor = gl_Color;
+    gl_Position = uProjection * vec4(vertex, 1);
+    perVertex.frontColor = color;
 }

ogre_media/materials/glsl150/smooth_square.frag

@@ -0,0 +1,30 @@
+#version 330
+
+// rasterizes a smooth square with ax,ay in [-0.5..0.5]
+
+uniform vec4 highlight;
+uniform float alpha;
+
+in vec4 texCoord[];
+in vec4 frontColor;
+
+out vec4 fragColor;
+
+void main()
+{
+  float ax = texCoord[0].x-0.5;
+  float ay = texCoord[0].y-0.5;
+
+  float blend = smoothstep(-0.48, -0.45, ay) * (1.0 - smoothstep(0.45, 0.48, ay)) *
+                smoothstep(-0.48, -0.45, ax) * (1.0 - smoothstep(0.45, 0.48, ax));
+
+  float inv_blend = 1.0 - blend;
+  vec3 col = blend * frontColor.xyz + (sign(0.5 - length(vec3(frontColor.xyz))) * vec3(0.2, 0.2, 0.2) + frontColor.xyz) * inv_blend;
+
+  //alternative version: make color at edge darker
+  //vec3 col = (0.5 + 0.5*blend) * gl_Color.xyz;
+
+  col = col + col * highlight.xyz;
+
+  fragColor = vec4(col.r, col.g, col.b, alpha * frontColor.a );
+}

ogre_media/materials/scripts150/point_cloud_box.material

@@ -11,7 +11,7 @@ material rviz/PointCloudBox
     {
       vertex_program_ref   rviz/glsl150/pass_pos_color.vert {}
       geometry_program_ref rviz/glsl150/box.geom(with_lighting) {}
-      fragment_program_ref rviz/glsl120/smooth_square.frag {}
+      fragment_program_ref rviz/glsl150/smooth_square.frag {}
     }
   }
 
@@ -22,7 +22,7 @@ material rviz/PointCloudBox
     {
       vertex_program_ref   rviz/glsl150/pass_pos_color.vert {}
       geometry_program_ref rviz/glsl150/box.geom(with_depth) {}
-      fragment_program_ref rviz/glsl120/depth.frag {}
+      fragment_program_ref rviz/glsl150/depth.frag {}
     }
   }
 

src/rviz/ogre_helpers/render_system.cpp

@@ -173,7 +173,6 @@ void RenderSystem::loadOgrePlugins()
 
 void RenderSystem::detectGlVersion()
 {
-  bool mesa_workaround = false;
   if (force_gl_version_)
   {
     gl_version_ = force_gl_version_;
@@ -186,14 +185,6 @@ void RenderSystem::detectGlVersion()
     int major = caps->getDriverVersion().major;
     int minor = caps->getDriverVersion().minor;
     gl_version_ = major * 100 + minor * 10;
-
-#ifdef __linux__
-    std::string gl_version_string = (const char*)glGetString(GL_VERSION);
-    // The "Mesa 2" string is intended to match "Mesa 20.", "Mesa 21." and so on
-    mesa_workaround = gl_version_string.find("Mesa 2") != std::string::npos && gl_version_ >= 320;
-#else
-    mesa_workaround = false;
-#endif
   }
 
   switch (gl_version_)
@@ -224,15 +215,6 @@ void RenderSystem::detectGlVersion()
     }
     break;
   }
-  if (mesa_workaround)
-  { // https://github.com/ros-visualization/rviz/issues/1508
-    ROS_INFO("OpenGl version: %.1f (GLSL %.1f) limited to GLSL 1.4 on Mesa system.",
-             (float)gl_version_ / 100.0, (float)glsl_version_ / 100.0);
-
-    gl_version_ = 310;
-    glsl_version_ = 140;
-    return;
-  }
   ROS_INFO("OpenGl version: %.1f (GLSL %.1f).", (float)gl_version_ / 100.0, (float)glsl_version_ / 100.0);
 }