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Respect vertex shader from low level materials in sensor passes (gaze…
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…bosim#544)

Fixes gazebosim#544

Signed-off-by: Matias N. Goldberg <[email protected]>
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@darksylinc
darksylinc committed Mar 6, 2022
1 parent 11197df commit 54d051c
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Showing 5 changed files with 197 additions and 30 deletions.
24 changes: 20 additions & 4 deletions ogre2/src/Ogre2GpuRays.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -309,11 +309,27 @@ void Ogre2LaserRetroMaterialSwitcher::passPreExecute(

if (!subItem->getMaterial().isNull())
{
// TODO(anyone): We need to keep the material's vertex shader
// to keep vertex deformation consistent. See
// https://github.com/ignitionrobotics/ign-rendering/issues/544
this->materialMap.push_back({ subItem, subItem->getMaterial() });
subItem->setDatablock(defaultPbs);

// We need to keep the material's vertex shader
// to keep vertex deformation consistent; so we use
// a cloned material with a different pixel shader
// https://github.com/ignitionrobotics/ign-rendering/issues/544
auto material = Ogre::MaterialManager::getSingleton().getByName(
subItem->getMaterial()->getName() + "_solid",
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
if (material->getNumSupportedTechniques() > 0u)
{
subItem->setMaterial(material);
}
else
{
// The supplied vertex shader could not pair with the
// pixel shader we provide. Try to salvage the situation
// using PBS shader. Custom deformation won't work but
// if we're lucky that won't matter
subItem->setDatablock(defaultPbs);
}
}
else
{
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111 changes: 101 additions & 10 deletions ogre2/src/Ogre2Material.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,22 @@ class ignition::rendering::Ogre2MaterialPrivate
/// \brief Parameters to be bound to the fragment shader
public: ShaderParamsPtr fragmentShaderParams;

/// \brief Material to be used when rendering to special
/// cameras (e.g. sensors) like Ogre2GpuRays,
/// Ogre2LaserRetroMaterialSwitcher, etc
///
/// It shares the same Vertex Shader, but uses a different
/// Pixel Shader
public: Ogre::MaterialPtr ogreSolidColorMat;

/// \brief A clone of plaincolor_fs. We need a clone
/// because some Metal needs to pair with the vertex shader they're
/// going to be used and Vulkan needs to have the same or a compatible
/// Root Layout profile.
///
/// Used in ogreSolidColorMat
public: Ogre::HighLevelGpuProgramPtr ogreSolidColorShader;

/// \brief Returns the shader language code.
/// \param[in] _graphicsAPI The graphic API.
/// \return The shader language code string.
Expand All @@ -77,6 +93,8 @@ class ignition::rendering::Ogre2MaterialPrivate
{
case GraphicsAPI::OPENGL:
return "glsl";
case GraphicsAPI::VULKAN:
return "glslvk";
case GraphicsAPI::METAL:
return "metal";
default:
Expand Down Expand Up @@ -125,6 +143,13 @@ void Ogre2Material::Destroy()
Ogre::MaterialManager &matManager = Ogre::MaterialManager::getSingleton();
matManager.remove(this->ogreMaterial);
this->ogreMaterial.reset();

matManager.remove(this->dataPtr->ogreSolidColorMat);
this->dataPtr->ogreSolidColorMat.reset();

Ogre::HighLevelGpuProgramManager::getSingleton().remove(
this->dataPtr->ogreSolidColorShader);
this->dataPtr->ogreSolidColorShader.reset();
}

Ogre::Root *root = Ogre2RenderEngine::Instance()->OgreRoot();
Expand Down Expand Up @@ -630,11 +655,15 @@ void Ogre2Material::UpdateShaderParams()
if (this->dataPtr->vertexShaderParams &&
this->dataPtr->vertexShaderParams->IsDirty())
{
Ogre::GpuProgramParametersSharedPtr ogreParams;
auto mat = this->Material();
auto pass = mat->getTechnique(0u)->getPass(0);
ogreParams = pass->getVertexProgramParameters();
this->UpdateShaderParams(this->dataPtr->vertexShaderParams, ogreParams);
Ogre::MaterialPtr mat[2] = { this->Material(),
this->dataPtr->ogreSolidColorMat };
for (int i = 0; i < 2; ++i)
{
Ogre::GpuProgramParametersSharedPtr ogreParams;
auto pass = mat[i]->getTechnique(0u)->getPass(0);
ogreParams = pass->getVertexProgramParameters();
this->UpdateShaderParams(this->dataPtr->vertexShaderParams, ogreParams);
}
this->dataPtr->vertexShaderParams->ClearDirty();
}
if (this->dataPtr->fragmentShaderParams &&
Expand Down Expand Up @@ -802,6 +831,42 @@ Ogre::MaterialPtr Ogre2Material::Material()
Ogre::MaterialManager &matManager = Ogre::MaterialManager::getSingleton();
this->ogreMaterial = matManager.create(this->name,
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);

this->dataPtr->ogreSolidColorMat = matManager.create(
this->name + "_solid",
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);

const auto graphicsApi = Ogre2RenderEngine::Instance()->GraphicsAPI();

this->dataPtr->ogreSolidColorShader =
Ogre::HighLevelGpuProgramManager::getSingleton().createProgram(
"_ign_" + this->name + "_solid_fs",
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
this->dataPtr->shaderLanguageCode(graphicsApi),
Ogre::GpuProgramType::GPT_FRAGMENT_PROGRAM);

switch (graphicsApi)
{
case GraphicsAPI::OPENGL:
case GraphicsAPI::VULKAN:
this->dataPtr->ogreSolidColorShader->setSourceFile("plain_color_fs.glsl");
break;
case GraphicsAPI::DIRECT3D11:
this->dataPtr->ogreSolidColorShader->setSourceFile("plain_color_fs.hlsl");
break;
case GraphicsAPI::METAL:
this->dataPtr->ogreSolidColorShader->setSourceFile("plain_color_fs.metal");
break;
default:
IGN_ASSERT(false, "Impossible path!");
}

auto mat = this->dataPtr->ogreSolidColorMat;
auto pass = mat->getTechnique(0u)->getPass(0);
pass->setFragmentProgram(this->dataPtr->ogreSolidColorShader->getName());
auto psParams = pass->getFragmentProgramParameters();
psParams->setNamedAutoConstant("inColor",
Ogre::GpuProgramParameters::ACT_CUSTOM, 1u);
}

return this->ogreMaterial;
Expand Down Expand Up @@ -1136,11 +1201,37 @@ void Ogre2Material::SetVertexShader(const std::string &_path)
assert(!(vertexShader->hasCompileError()));
assert(vertexShader->isSupported());

auto mat = this->Material();
auto pass = mat->getTechnique(0u)->getPass(0);
pass->setVertexProgram(vertexShader->getName());
mat->compile();
mat->load();
// Call it now to ensure ogreSolidColorShader is created
auto mainMat = this->Material();

// We can set this setting now for the solid pixel shader
// Metal needs this. Other APIs will ignore it.
this->dataPtr->ogreSolidColorShader->setParameter(
"shader_reflection_pair_hint", vertexShader->getName());

Ogre::MaterialPtr mat[2] = { mainMat, this->dataPtr->ogreSolidColorMat };

for (int i = 0; i < 2; ++i)
{
auto pass = mat[i]->getTechnique(0u)->getPass(0);
pass->setVertexProgram(vertexShader->getName());
mat[i]->compile();
mat[i]->load();
}

if(this->dataPtr->ogreSolidColorMat->getNumSupportedTechniques() == 0u)
{
ignwarn
<< "Material '" << this->Name()
<< "' could not be paired with special pixel shader '"
<< this->dataPtr->ogreSolidColorShader->getSourceFile()
<< "' See Ogre.log for details. This shader is used for special "
"rendering in sensors (e.g. Lidar, Thermal). Your vertex shader "
"must have a compatible signature if you want it to work.\n"
"See https://github.com/ignitionrobotics/ign-rendering/issues/544\n"
"If this issue isn't fixed, sensor rendering MIGHT not be correct"
"if your vertex shader performs custom geometry deformation";
}

this->dataPtr->vertexShaderPath = _path;
this->dataPtr->vertexShaderParams.reset(new ShaderParams);
Expand Down
24 changes: 20 additions & 4 deletions ogre2/src/Ogre2MaterialSwitcher.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -97,11 +97,27 @@ void Ogre2MaterialSwitcher::cameraPreRenderScene(

if (!subItem->getMaterial().isNull())
{
// TODO(anyone): We need to keep the material's vertex shader
// to keep vertex deformation consistent. See
// https://github.com/ignitionrobotics/ign-rendering/issues/544
this->materialMap.push_back({ subItem, subItem->getMaterial() });
subItem->setDatablock(defaultPbs);

// We need to keep the material's vertex shader
// to keep vertex deformation consistent; so we use
// a cloned material with a different pixel shader
// https://github.com/ignitionrobotics/ign-rendering/issues/544
auto material = Ogre::MaterialManager::getSingleton().getByName(
subItem->getMaterial()->getName() + "_solid",
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
if (material->getNumSupportedTechniques() > 0u)
{
subItem->setMaterial(material);
}
else
{
// The supplied vertex shader could not pair with the
// pixel shader we provide. Try to salvage the situation
// using PBS shader. Custom deformation won't work but
// if we're lucky that won't matter
subItem->setDatablock(defaultPbs);
}
}
else
{
Expand Down
24 changes: 20 additions & 4 deletions ogre2/src/Ogre2SegmentationMaterialSwitcher.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -301,11 +301,27 @@ void Ogre2SegmentationMaterialSwitcher::cameraPreRenderScene(

if (!subItem->getMaterial().isNull())
{
// TODO(anyone): We need to keep the material's vertex shader
// to keep vertex deformation consistent. See
// https://github.com/ignitionrobotics/ign-rendering/issues/544
this->materialMap.push_back({ subItem, subItem->getMaterial() });
subItem->setDatablock(defaultPbs);

// We need to keep the material's vertex shader
// to keep vertex deformation consistent; so we use
// a cloned material with a different pixel shader
// https://github.com/ignitionrobotics/ign-rendering/issues/544
auto material = Ogre::MaterialManager::getSingleton().getByName(
subItem->getMaterial()->getName() + "_solid",
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
if (material->getNumSupportedTechniques() > 0u)
{
subItem->setMaterial(material);
}
else
{
// The supplied vertex shader could not pair with the
// pixel shader we provide. Try to salvage the situation
// using PBS shader. Custom deformation won't work but
// if we're lucky that won't matter
subItem->setDatablock(defaultPbs);
}
}
else
{
Expand Down
44 changes: 36 additions & 8 deletions ogre2/src/Ogre2ThermalCamera.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -341,11 +341,25 @@ void Ogre2ThermalCameraMaterialSwitcher::cameraPreRenderScene(

if (!subItem->getMaterial().isNull())
{
// TODO(anyone): We need to keep the material's vertex shader
// to keep vertex deformation consistent. See
// We need to keep the material's vertex shader
// to keep vertex deformation consistent; so we use
// a cloned material with a different pixel shader
// https://github.com/ignitionrobotics/ign-rendering/issues/544
this->materialMap.push_back({ subItem, subItem->getMaterial() });
subItem->setDatablock(defaultPbs);
auto material = Ogre::MaterialManager::getSingleton().getByName(
subItem->getMaterial()->getName() + "_solid",
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
if (material->getNumSupportedTechniques() > 0u)
{
subItem->setMaterial(material);
}
else
{
// The supplied vertex shader could not pair with the
// pixel shader we provide. Try to salvage the situation
// using PBS shader. Custom deformation won't work but
// if we're lucky that won't matter
subItem->setDatablock(defaultPbs);
}
}
else
{
Expand Down Expand Up @@ -473,11 +487,25 @@ void Ogre2ThermalCameraMaterialSwitcher::cameraPreRenderScene(

if (!subItem->getMaterial().isNull())
{
// TODO(anyone): We need to keep the material's vertex shader
// to keep vertex deformation consistent. See
// We need to keep the material's vertex shader
// to keep vertex deformation consistent; so we use
// a cloned material with a different pixel shader
// https://github.com/ignitionrobotics/ign-rendering/issues/544
this->materialMap.push_back({ subItem, subItem->getMaterial() });
subItem->setDatablock(defaultPbs);
auto material = Ogre::MaterialManager::getSingleton().getByName(
subItem->getMaterial()->getName() + "_solid",
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
if (material->getNumSupportedTechniques() > 0u)
{
subItem->setMaterial(material);
}
else
{
// The supplied vertex shader could not pair with the
// pixel shader we provide. Try to salvage the situation
// using PBS shader. Custom deformation won't work but
// if we're lucky that won't matter
subItem->setDatablock(defaultPbs);
}
}
else
{
Expand Down

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