Merge branch 'gz-rendering8' into merge_8_main_20240314

.github/ISSUE_TEMPLATE/bug_report.md

@@ -5,7 +5,7 @@ labels: bug
 ---
 
 <!-- If you're not sure whether your problem is a bug, please ask a question at
-http://answers.gazebosim.org instead.-->
+https://robotics.stackexchange.com instead.-->
 
 ## Environment
 * OS Version: <!-- e.g, Ubuntu 20.04 -->

.github/ISSUE_TEMPLATE/feature_request.md

@@ -6,7 +6,7 @@ labels: enhancement
 
 <!-- If you're not sure on the specifics of the feature or would like a broader
 discussion, please consider posting a proposal to
-http://community.gazebosim.org/ instead.-->
+https://robotics.stackexchange.com instead.-->
 
 ## Desired behavior
 <!-- Describe the current problem and the feature you want implemented.-->

.github/workflows/ci.yml

@@ -1,6 +1,12 @@
 name: Ubuntu CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-rendering[0-9]'
+      - 'gz-rendering[0-9]?'
+      - 'main'
 
 jobs:
   jammy-ci:

.github/workflows/triage.yml

@@ -14,4 +14,3 @@ jobs:
         with:
           project-url: https://github.com/orgs/gazebosim/projects/7
           github-token: ${{ secrets.TRIAGE_TOKEN }}
-

Changelog.md

@@ -1403,6 +1403,16 @@
 1. Add support for transparency based on textures alpha channel for ogre1 and ogre2
     * [BitBucket pull request 229](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-rendering/pull-requests/229)
 
+### Gazebo Rendering 3.7.2 (2024-01-05)
+
+1. Update github action workflows
+    * [Pull request #940](https://github.com/gazebosim/gz-rendering/pull/940)
+    * [Pull request #834](https://github.com/gazebosim/gz-rendering/pull/834)
+    * [Pull request #833](https://github.com/gazebosim/gz-rendering/pull/833)
+
+1. Add minor comments to BaseGizmoVisual
+    * [Pull request #881](https://github.com/gazebosim/gz-rendering/pull/881)
+
 ### Gazebo Rendering 3.7.1 (2023-02-03)
 
 1. Remove fini to resolve segfault at shutdown.

include/gz/rendering/base/BaseGizmoVisual.hh

@@ -499,6 +499,8 @@ namespace gz
       this->visuals[TransformAxis::TA_TRANSLATION_X] = transXVis;
       this->visuals[TransformAxis::TA_TRANSLATION_Y] = transYVis;
       this->visuals[TransformAxis::TA_TRANSLATION_Z] = transZVis;
+      // Store the translation origin visual in this->visuals using a key
+      // that's not already occupied by the TransformAxis enum
       this->visuals[TransformAxis::TA_TRANSLATION_Z << 1] = transOrigin;
 
       // translation handles
@@ -588,6 +590,8 @@ namespace gz
       this->visuals[TransformAxis::TA_ROTATION_X] = rotXVis;
       this->visuals[TransformAxis::TA_ROTATION_Y] = rotYVis;
       this->visuals[TransformAxis::TA_ROTATION_Z] = rotZVis;
+      // Store the full rotation visual in this->visuals using a key
+      // that's not already occupied by the TransformAxis enum
       this->visuals[TransformAxis::TA_ROTATION_Z << 1] = rotFullVis;
 
       // rotation handles

ogre2/src/Ogre2DepthCamera.cc

@@ -23,6 +23,7 @@
   #include <windows.h>
 #endif
 
+#include <cstdint>
 #include <math.h>
 #include <gz/math/Helpers.hh>
 #include <gz/math/Matrix4.hh>
@@ -31,7 +32,6 @@
 #include "gz/rendering/ogre2/Ogre2Conversions.hh"
 #include "gz/rendering/ogre2/Ogre2DepthCamera.hh"
 #include "gz/rendering/ogre2/Ogre2GaussianNoisePass.hh"
-#include "gz/rendering/ogre2/Ogre2Includes.hh"
 #include "gz/rendering/ogre2/Ogre2ParticleEmitter.hh"
 #include "gz/rendering/ogre2/Ogre2RenderEngine.hh"
 #include "gz/rendering/ogre2/Ogre2RenderTarget.hh"
@@ -41,6 +41,21 @@
 
 #include "Ogre2ParticleNoiseListener.hh"
 
+#ifdef _MSC_VER
+  #pragma warning(push, 0)
+#endif
+#include <Compositor/OgreCompositorManager2.h>
+#include <Compositor/OgreCompositorWorkspace.h>
+#include <Compositor/Pass/PassClear/OgreCompositorPassClearDef.h>
+#include <Compositor/Pass/PassQuad/OgreCompositorPassQuadDef.h>
+#include <Compositor/Pass/PassScene/OgreCompositorPassSceneDef.h>
+#include <OgreRoot.h>
+#include <OgreSceneManager.h>
+#include <OgreTechnique.h>
+#ifdef _MSC_VER
+  #pragma warning(pop)
+#endif
+
 namespace gz
 {
 namespace rendering
@@ -148,6 +163,19 @@ class gz::rendering::Ogre2DepthCameraPrivate
 
   /// \brief Name of shadow compositor node
   public: const std::string kShadowNodeName = "PbsMaterialsShadowNode";
+
+  /// \brief Execution mask for this workspace
+  /// If RGB point color data are requested, the execution mask of the color
+  /// target will be updated to match the workspace's execution mask so that
+  /// these passes are executed, otherwise they will be skipped for performance
+  /// improvement.
+  public: const uint8_t kDepthExecutionMask = 0xEF;
+
+  /// \brief Pointer to the color target definition in the workspace
+  public: Ogre::CompositorTargetDef *colorTargetDef{nullptr};
+
+  /// \brief Pointer to the particle target definition in the workspace
+  public: Ogre::CompositorTargetDef *particleTargetDef{nullptr};
 };
 
 using namespace gz;
@@ -315,6 +343,8 @@ void Ogre2DepthCamera::Destroy()
   {
     ogreCompMgr->removeWorkspace(
         this->dataPtr->ogreCompositorWorkspace);
+    this->dataPtr->colorTargetDef = nullptr;
+    this->dataPtr->particleTargetDef = nullptr;
   }
 
   if (this->dataPtr->depthMaterial)
@@ -702,19 +732,24 @@ void Ogre2DepthCamera::CreateDepthTexture()
     rtvParticleTexture->depthAttachment.textureName = "particleDepthTexture";
 
     baseNodeDef->setNumTargetPass(4);
-    Ogre::CompositorTargetDef *colorTargetDef =
+    this->dataPtr->colorTargetDef =
         baseNodeDef->addTargetPass("colorTexture");
-
     if (validBackground)
-      colorTargetDef->setNumPasses(3);
+      this->dataPtr->colorTargetDef->setNumPasses(4);
     else
-      colorTargetDef->setNumPasses(2);
+      this->dataPtr->colorTargetDef->setNumPasses(3);
     {
+      // clear pass
+      Ogre::CompositorPassClearDef *passClear =
+          static_cast<Ogre::CompositorPassClearDef *>(
+          this->dataPtr->colorTargetDef->addPass(Ogre::PASS_CLEAR));
+      passClear->mExecutionMask = this->dataPtr->kDepthExecutionMask;
+
       // scene pass - opaque
       {
         Ogre::CompositorPassSceneDef *passScene =
             static_cast<Ogre::CompositorPassSceneDef *>(
-            colorTargetDef->addPass(Ogre::PASS_SCENE));
+            this->dataPtr->colorTargetDef->addPass(Ogre::PASS_SCENE));
         passScene->mShadowNode = this->dataPtr->kShadowNodeName;
         passScene->setVisibilityMask(GZ_VISIBILITY_ALL);
         passScene->mIncludeOverlays = false;
@@ -733,6 +768,7 @@ void Ogre2DepthCamera::CreateDepthTexture()
               Ogre2Conversions::Convert(this->Scene()->BackgroundColor()));
 
         }
+        passScene->mExecutionMask = ~this->dataPtr->kDepthExecutionMask;
       }
 
       // render background, e.g. sky, after opaque stuff
@@ -741,23 +777,25 @@ void Ogre2DepthCamera::CreateDepthTexture()
         // quad pass
         Ogre::CompositorPassQuadDef *passQuad =
             static_cast<Ogre::CompositorPassQuadDef *>(
-            colorTargetDef->addPass(Ogre::PASS_QUAD));
+            this->dataPtr->colorTargetDef->addPass(Ogre::PASS_QUAD));
         passQuad->mMaterialName = this->dataPtr->kSkyboxMaterialName + "_"
             + this->Name();
         passQuad->mFrustumCorners =
             Ogre::CompositorPassQuadDef::CAMERA_DIRECTION;
+        passQuad->mExecutionMask = ~this->dataPtr->kDepthExecutionMask;
       }
 
       // scene pass - transparent stuff
       {
         Ogre::CompositorPassSceneDef *passScene =
             static_cast<Ogre::CompositorPassSceneDef *>(
-            colorTargetDef->addPass(Ogre::PASS_SCENE));
+            this->dataPtr->colorTargetDef->addPass(Ogre::PASS_SCENE));
         passScene->setVisibilityMask(GZ_VISIBILITY_ALL);
         // todo(anyone) PbsMaterialsShadowNode is hardcoded.
         // Although this may be just fine
         passScene->mShadowNode = this->dataPtr->kShadowNodeName;
         passScene->mFirstRQ = 2u;
+        passScene->mExecutionMask = ~this->dataPtr->kDepthExecutionMask;
       }
     }
 
@@ -774,23 +812,36 @@ void Ogre2DepthCamera::CreateDepthTexture()
         this->FarClipPlane(),
         this->FarClipPlane(),
         this->FarClipPlane()));
-      // depth texute does not contain particles
+      // depth texture does not contain particles
       passScene->setVisibilityMask(
         GZ_VISIBILITY_ALL & ~Ogre2ParticleEmitter::kParticleVisibilityFlags);
+      passScene->mEnableForwardPlus = false;
+      passScene->setLightVisibilityMask(0x0);
     }
 
-    Ogre::CompositorTargetDef *particleTargetDef =
+    // Ogre::CompositorTargetDef *particleTargetDef =
+    this->dataPtr->particleTargetDef =
         baseNodeDef->addTargetPass("particleTexture");
-    particleTargetDef->setNumPasses(1);
+    this->dataPtr->particleTargetDef->setNumPasses(2);
     {
+      // clear pass
+      Ogre::CompositorPassClearDef *passClear =
+          static_cast<Ogre::CompositorPassClearDef *>(
+          this->dataPtr->particleTargetDef->addPass(Ogre::PASS_CLEAR));
+      passClear->setAllClearColours(Ogre::ColourValue::Black);
+      passClear->mExecutionMask = this->dataPtr->kDepthExecutionMask;
+
       // scene pass
       Ogre::CompositorPassSceneDef *passScene =
           static_cast<Ogre::CompositorPassSceneDef *>(
-          particleTargetDef->addPass(Ogre::PASS_SCENE));
+          this->dataPtr->particleTargetDef->addPass(Ogre::PASS_SCENE));
       passScene->setAllLoadActions(Ogre::LoadAction::Clear);
       passScene->setAllClearColours(Ogre::ColourValue::Black);
       passScene->setVisibilityMask(
         Ogre2ParticleEmitter::kParticleVisibilityFlags);
+      passScene->mEnableForwardPlus = false;
+      passScene->setLightVisibilityMask(0x0);
+      passScene->mExecutionMask = ~this->dataPtr->kDepthExecutionMask;
     }
 
     // rt0 target - converts depth to xyz
@@ -920,7 +971,7 @@ void Ogre2DepthCamera::CreateDepthTexture()
         Ogre::GpuResidency::Resident);
   }
 
-  CreateWorkspaceInstance();
+  this->CreateWorkspaceInstance();
 }
 
 //////////////////////////////////////////////////
@@ -942,7 +993,8 @@ void Ogre2DepthCamera::CreateWorkspaceInstance()
           externalTargets,
           this->ogreCamera,
           this->dataPtr->ogreCompositorWorkspaceDef,
-          false);
+          false, -1, 0, 0, Ogre::Vector4::ZERO, 0x00,
+          this->dataPtr->kDepthExecutionMask);
 
   this->dataPtr->ogreCompositorWorkspace->addListener(
     engine->TerraWorkspaceListener());
@@ -1017,6 +1069,51 @@ void Ogre2DepthCamera::PreRender()
   if (!this->dataPtr->ogreCompositorWorkspace)
     this->CreateWorkspaceInstance();
 
+
+  // Disable color target (set to clear pass) if there are no rgb point cloud
+  // connections
+  if (this->dataPtr->colorTargetDef)
+  {
+    Ogre::CompositorPassDefVec &colorPasses =
+        this->dataPtr->colorTargetDef->getCompositorPassesNonConst();
+    GZ_ASSERT(colorPasses.size() > 2u,
+        "Ogre2DepthCamera color target should contain more than 2 passes");
+    GZ_ASSERT(colorPasses[0]->getType() == Ogre::PASS_CLEAR,
+        "Ogre2DepthCamera color target should start with a clear pass");
+    colorPasses[0]->mExecutionMask =
+      (this->dataPtr->newRgbPointCloud.ConnectionCount() > 0u) ?
+      ~this->dataPtr->kDepthExecutionMask :this->dataPtr->kDepthExecutionMask;
+    for (unsigned int i = 1; i < colorPasses.size(); ++i)
+    {
+      colorPasses[i]->mExecutionMask =
+          (this->dataPtr->newRgbPointCloud.ConnectionCount() > 0u) ?
+          this->dataPtr->kDepthExecutionMask :
+          ~this->dataPtr->kDepthExecutionMask;
+    }
+  }
+
+  // Disable particle target (set to clear pass) if there are no particles
+  if (this->dataPtr->particleTargetDef)
+  {
+    bool hasParticles =
+        this->scene->OgreSceneManager()->getMovableObjectIterator(
+        Ogre::ParticleSystemFactory::FACTORY_TYPE_NAME).hasMoreElements();
+    Ogre::CompositorPassDefVec &particlePasses =
+        this->dataPtr->particleTargetDef->getCompositorPassesNonConst();
+    GZ_ASSERT(particlePasses.size() == 2u,
+        "Ogre2DepthCamera particle target should 2 passes");
+    GZ_ASSERT(particlePasses[0]->getType() == Ogre::PASS_CLEAR,
+        "Ogre2DepthCamera particle target should start with a clear pass");
+    GZ_ASSERT(particlePasses[1]->getType() == Ogre::PASS_SCENE,
+        "Ogre2DepthCamera particle target should end with a scene pass");
+    particlePasses[0]->mExecutionMask =
+      (hasParticles) ? ~this->dataPtr->kDepthExecutionMask :
+                       this->dataPtr->kDepthExecutionMask;
+    particlePasses[1]->mExecutionMask =
+      (hasParticles) ? this->dataPtr->kDepthExecutionMask :
+                       ~this->dataPtr->kDepthExecutionMask;
+  }
+
   // update depth camera render passes
   Ogre2RenderTarget::UpdateRenderPassChain(
       this->dataPtr->ogreCompositorWorkspace,

ogre2/src/Ogre2GlobalIlluminationCiVct.cc

@@ -40,7 +40,7 @@ using namespace gz;
 using namespace rendering;
 
 /// \brief Private data for the Ogre2CiVctCascadePrivate class
-class DETAIL_GZ_RENDERING_OGRE2_HIDDEN gz::rendering::Ogre2CiVctCascadePrivate
+class GZ_RENDERING_OGRE2_HIDDEN gz::rendering::Ogre2CiVctCascadePrivate
 {
   // clang-format off
   /// \brief Pointer to cascade setting
@@ -49,7 +49,7 @@ class DETAIL_GZ_RENDERING_OGRE2_HIDDEN gz::rendering::Ogre2CiVctCascadePrivate
 };
 
 /// \brief Private data for the Ogre2GlobalIlluminationCiVct class
-class DETAIL_GZ_RENDERING_OGRE2_HIDDEN
+class GZ_RENDERING_OGRE2_HIDDEN
   gz::rendering::Ogre2GlobalIlluminationCiVctPrivate
 {
   // clang-format off