Merge branch 'ign-rendering6' into lidar_near_clip

gazebosim · Oct 18, 2021 · 82a194d · 82a194d
2 parents 067e155 + a28e315
commit 82a194d
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Showing 4 changed files with 33 additions and 14 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -62,7 +62,7 @@ endif()
 
 #--------------------------------------
 # Find OGRE
-list(APPEND ign_ogre_components "RTShaderSystem" "Terrain" "Overlay")
+list(APPEND ign_ogre_components "RTShaderSystem" "Terrain" "Overlay" "Paging")
 
 # Ogre versions greater than 1.9 are not officialy supported.
 # Display a warning for the users on this setup unless they provide

diff --git a/ogre2/src/Ogre2RenderTarget.cc b/ogre2/src/Ogre2RenderTarget.cc
@@ -560,10 +560,20 @@ uint8_t Ogre2RenderTarget::TargetFSAA() const
   {
     // output warning but only do it once
     static bool ogre2FSAAWarn = false;
-    if (ogre2FSAAWarn)
+    if (!ogre2FSAAWarn)
     {
+      std::ostringstream os;
+      os << "[ ";
+      for (auto &&level : fsaaLevels)
+      {
+        os << level << " ";
+      }
+      os << "]";
+
       ignwarn << "Anti-aliasing level of '" << this->antiAliasing << "' "
-              << "is not supported. Setting to 0" << std::endl;
+              << "is not supported; valid FSAA levels are: " << os.str()
+              << ". Setting to 0" << std::endl;
+      targetFSAA = 0u;
       ogre2FSAAWarn = true;
     }
   }

diff --git a/ogre2/src/media/materials/scripts/selection_buffer.material b/ogre2/src/media/materials/scripts/selection_buffer.material
@@ -15,6 +15,16 @@
  *
  */
 
+vertex_program selection_buffer_vs glsl
+{
+  // reuse depth camera vertex shader
+  source depth_camera_vs.glsl
+  default_params
+  {
+    param_named_auto worldViewProj worldviewproj_matrix
+  }
+}
+
 fragment_program selection_buffer_fs glsl
 {
   source selection_buffer_fs.glsl
@@ -34,9 +44,7 @@ material SelectionBuffer
     pass
     {
       // Make this pass use the vertex shader defined above
-      vertex_program_ref DepthCameraVS
-      {
-      }
+      vertex_program_ref selection_buffer_vs { }
 
       // Make this pass use the pixel shader defined above
       fragment_program_ref selection_buffer_fs { }

diff --git a/src/Utils_TEST.cc b/src/Utils_TEST.cc
@@ -137,26 +137,27 @@ void UtilTest::ClickToScene(const std::string &_renderEngine)
   // from the expected position. However, fixing the centerClick above caused
   // the screenToPlane tests to fail so only modifying the pos here, and the
   // cause of test failure need to be investigated.
-  if (_renderEngine == "ogre2")
-    centerClick = ignition::math::Vector2i(halfWidth-1, halfHeight-1);
+  centerClick = ignition::math::Vector2i(halfWidth-1, halfHeight-1);
 
   // API without RayQueryResult and default max distance
   result = screenToScene(centerClick, camera, rayQuery, rayResult);
 
-  EXPECT_NEAR(0.5, result.Z(), 3e-6);
+  // high tol is used for z due to depth buffer precision.
+  // Do not merge the tol changes forward to ign-rendering6.
+  EXPECT_NEAR(0.5, result.Z(), 1e-3);
   EXPECT_NEAR(0.0, result.X(), 2e-6);
   EXPECT_NEAR(0.0, result.Y(), 2e-6);
   EXPECT_TRUE(rayResult);
-  EXPECT_NEAR(14.5 - camera->NearClipPlane(), rayResult.distance, 4e-6);
+  EXPECT_NEAR(14.5 - camera->NearClipPlane(), rayResult.distance, 1e-3);
   EXPECT_EQ(box->Id(), rayResult.objectId);
 
   result = screenToScene(centerClick, camera, rayQuery, rayResult, 20.0);
 
-  EXPECT_NEAR(0.5, result.Z(), 3e-6);
+  EXPECT_NEAR(0.5, result.Z(), 1e-3);
   EXPECT_NEAR(0.0, result.X(), 2e-6);
   EXPECT_NEAR(0.0, result.Y(), 2e-6);
   EXPECT_TRUE(rayResult);
-  EXPECT_NEAR(14.5 - camera->NearClipPlane(), rayResult.distance, 4e-6);
+  EXPECT_NEAR(14.5 - camera->NearClipPlane(), rayResult.distance, 1e-3);
   EXPECT_EQ(box->Id(), rayResult.objectId);
 
   // Move camera closer to box
@@ -165,11 +166,11 @@ void UtilTest::ClickToScene(const std::string &_renderEngine)
 
   result = screenToScene(centerClick, camera, rayQuery, rayResult);
 
-  EXPECT_NEAR(0.5, result.Z(), 3e-6);
+  EXPECT_NEAR(0.5, result.Z(), 1e-3);
   EXPECT_NEAR(0.0, result.X(), 2e-6);
   EXPECT_NEAR(0.0, result.Y(), 2e-6);
   EXPECT_TRUE(rayResult);
-  EXPECT_NEAR(6.5 - camera->NearClipPlane(), rayResult.distance, 4e-6);
+  EXPECT_NEAR(6.5 - camera->NearClipPlane(), rayResult.distance, 1e-4);
   EXPECT_EQ(box->Id(), rayResult.objectId);
 }