Fix multiple ray queries (#666)

* test mulitple ray queries Signed-off-by: Ian Chen <[email protected]> * style Signed-off-by: Ian Chen <[email protected]> * make string const, style, doc Signed-off-by: Ian Chen <[email protected]>
gazebosim · Jul 13, 2022 · 11ca3bf · 11ca3bf
1 parent 5196afa
commit 11ca3bf
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Showing 2 changed files with 46 additions and 10 deletions.
diff --git a/ogre2/src/Ogre2SelectionBuffer.cc b/ogre2/src/Ogre2SelectionBuffer.cc
@@ -222,18 +222,26 @@ void Ogre2SelectionBuffer::CreateRTTBuffer()
 
   Ogre::TextureGpuManager *textureMgr =
     ogreRoot->getRenderSystem()->getTextureGpuManager();
+  const std::string selectionTextureName = "SelectionPassTex";
+  bool hasSelectionTexture =
+      textureMgr->findTextureNoThrow(selectionTextureName);
   this->dataPtr->renderTexture =
       textureMgr->createOrRetrieveTexture(
-        "SelectionPassTex" + this->dataPtr->camera->getName(),
+        selectionTextureName,
         Ogre::GpuPageOutStrategy::SaveToSystemRam,
         Ogre::TextureFlags::RenderToTexture,
         Ogre::TextureTypes::Type2D);
-  this->dataPtr->renderTexture->setResolution(1, 1);
-  this->dataPtr->renderTexture->setNumMipmaps(1u);
-  this->dataPtr->renderTexture->setPixelFormat(Ogre::PFG_RGBA32_FLOAT);
-
-  this->dataPtr->renderTexture->scheduleTransitionTo(
-    Ogre::GpuResidency::Resident);
+  if (!hasSelectionTexture)
+  {
+    this->dataPtr->renderTexture->setResolution(1, 1);
+    this->dataPtr->renderTexture->setNumMipmaps(1u);
+    this->dataPtr->renderTexture->setPixelFormat(Ogre::PFG_RGBA32_FLOAT);
+
+    // we are reusing the same render texture so schedule transition only
+    // if it is not resident yet otherwise it may throw an exception
+    this->dataPtr->renderTexture->scheduleTransitionTo(
+      Ogre::GpuResidency::Resident);
+  }
 
   this->dataPtr->selectionCamera->addListener(
       this->dataPtr->materialSwitcher.get());

diff --git a/src/RayQuery_TEST.cc b/src/RayQuery_TEST.cc
@@ -88,17 +88,45 @@ void RayQueryTest::RayQuery(const std::string &_renderEngine)
 
   // set from camera
   CameraPtr camera =  scene->CreateCamera("camera");
+  camera->SetLocalPosition(math::Vector3d::Zero);
+  unsigned int width = 320u;
+  unsigned int height = 240u;
+  camera->SetImageWidth(width);
+  camera->SetImageHeight(height);
+
+  VisualPtr root = scene->RootVisual();
+  root->AddChild(camera);
   math::Vector2d pos(0.0, 0.0);
   rayQuery->SetFromCamera(camera, pos);
 
-  EXPECT_GT(rayQuery->Origin().X(), 0.0);
+  EXPECT_LT(0.0, rayQuery->Origin().X());
   EXPECT_EQ(math::Vector3d::UnitX, rayQuery->Direction().Normalize());
 
   RayQueryResult result = rayQuery->ClosestPoint();
   EXPECT_EQ(math::Vector3d::Zero, result.point);
-  EXPECT_LT(result.distance, 0.0);
+  EXPECT_GT(0.0, result.distance);
   EXPECT_EQ(0u, result.objectId);
-  EXPECT_FALSE((result));
+  EXPECT_FALSE(result);
+
+  // testing multiple ray queries that are set from camera
+  CameraPtr camera2 =  scene->CreateCamera("camera2");
+  camera2->SetLocalPosition(math::Vector3d::Zero);
+  camera2->SetImageWidth(width);
+  camera2->SetImageHeight(height);
+
+  root->AddChild(camera2);
+  math::Vector2d pos2(0.0, 0.0);
+  RayQueryPtr rayQuery2 = scene->CreateRayQuery();
+  rayQuery2->SetFromCamera(camera2, pos2);
+
+  EXPECT_LT(0.0, rayQuery2->Origin().X());
+  EXPECT_EQ(math::Vector3d::UnitX, rayQuery2->Direction().Normalize());
+
+  RayQueryResult result2 = rayQuery2->ClosestPoint();
+  EXPECT_EQ(math::Vector3d::Zero, result2.point);
+  EXPECT_GT(0.0, result2.distance);
+  EXPECT_EQ(0u, result2.objectId);
+  EXPECT_FALSE(result2);
 
   // Clean up
   engine->DestroyScene(scene);