Fix Ogre2 assertions during ray queries

This change negatively affects performance as we now force a scene update with each query. Users can specify ClosestPoint(false) if they need to call this function multiple times without modifying anything or if they know the scene is up to date Signed-off-by: Matias N. Goldberg <[email protected]>
gazebosim · Sep 18, 2021 · 2b9fdaa · 2b9fdaa
1 parent 4bff736
commit 2b9fdaa
Show file tree

Hide file tree

Showing 6 changed files with 30 additions and 7 deletions.
diff --git a/include/ignition/rendering/RayQuery.hh b/include/ignition/rendering/RayQuery.hh
@@ -89,8 +89,23 @@ namespace ignition
                 const math::Vector2d &_coord) = 0;
 
       /// \brief Compute intersections
+      /// \param[in] _forceSceneUpdate Performance optimization hint
+      /// When true Ogre2 will update all derived transforms to their
+      /// latest to get correct results.
+      ///
+      /// When false, that step is skipped. It is only safe to
+      /// set it to false when nothing has changed since the last
+      /// update (i.e. nothing moved, no new objects created).
+      ///
+      /// Ogre will assert if built in Debug mode if this value
+      /// is set to false when it shouldn't be.
+      ///
+      /// See https://ogrecave.github.io/ogre-next/api/2.2/
+      /// _ogre20_changes.html#AssersionCachedOutOfDate
+      /// for more info
       /// \return A vector of intersection results
-      public: virtual RayQueryResult ClosestPoint() = 0;
+      public: virtual RayQueryResult ClosestPoint(
+            bool _forceSceneUpdate = true) = 0;
     };
     }
   }

diff --git a/include/ignition/rendering/base/BaseRayQuery.hh b/include/ignition/rendering/base/BaseRayQuery.hh
@@ -60,7 +60,8 @@ namespace ignition
                 const math::Vector2d &_coord) override;
 
       // Documentation inherited
-      public: virtual RayQueryResult ClosestPoint() override;
+      public: virtual RayQueryResult ClosestPoint(
+            bool _forceSceneUpdate = true) override;
 
       /// \brief Ray origin
       protected: math::Vector3d origin;
@@ -142,7 +143,7 @@ namespace ignition
 
     //////////////////////////////////////////////////
     template <class T>
-    RayQueryResult BaseRayQuery<T>::ClosestPoint()
+    RayQueryResult BaseRayQuery<T>::ClosestPoint(bool /*_forceSceneUpdate*/)
     {
       // TODO(anyone): implement a generic ray query here?
       RayQueryResult result;

diff --git a/ogre/include/ignition/rendering/ogre/OgreRayQuery.hh b/ogre/include/ignition/rendering/ogre/OgreRayQuery.hh
@@ -50,7 +50,8 @@ namespace ignition
                 const math::Vector2d &_coord);
 
       // Documentation inherited
-      public: virtual RayQueryResult ClosestPoint();
+      public: virtual RayQueryResult ClosestPoint(
+            bool _forceSceneUpdate = true);
 
       /// \brief Get the mesh information for the given mesh.
       /// \param[in] _mesh Mesh to get info about.

diff --git a/ogre/src/OgreRayQuery.cc b/ogre/src/OgreRayQuery.cc
@@ -60,7 +60,7 @@ void OgreRayQuery::SetFromCamera(const CameraPtr &_camera,
 }
 
 //////////////////////////////////////////////////
-RayQueryResult OgreRayQuery::ClosestPoint()
+RayQueryResult OgreRayQuery::ClosestPoint(bool /*_forceSceneUpdate*/)
 {
   RayQueryResult result;
   OgreScenePtr ogreScene = std::dynamic_pointer_cast<OgreScene>(this->Scene());

diff --git a/ogre2/include/ignition/rendering/ogre2/Ogre2RayQuery.hh b/ogre2/include/ignition/rendering/ogre2/Ogre2RayQuery.hh
@@ -49,7 +49,8 @@ namespace ignition
                 const math::Vector2d &_coord);
 
       // Documentation inherited
-      public: virtual RayQueryResult ClosestPoint();
+      public: virtual RayQueryResult ClosestPoint(
+            bool _forceSceneUpdate = true);
 
       /// \brief Private data pointer
       private: std::unique_ptr<Ogre2RayQueryPrivate> dataPtr;

diff --git a/ogre2/src/Ogre2RayQuery.cc b/ogre2/src/Ogre2RayQuery.cc
@@ -73,14 +73,19 @@ void Ogre2RayQuery::SetFromCamera(const CameraPtr &_camera,
 }
 
 //////////////////////////////////////////////////
-RayQueryResult Ogre2RayQuery::ClosestPoint()
+RayQueryResult Ogre2RayQuery::ClosestPoint(bool _forceSceneUpdate)
 {
   RayQueryResult result;
   Ogre2ScenePtr ogreScene =
       std::dynamic_pointer_cast<Ogre2Scene>(this->Scene());
   if (!ogreScene)
     return result;
 
+  if (_forceSceneUpdate)
+  {
+    ogreScene->OgreSceneManager()->updateSceneGraph();
+  }
+
   Ogre::Ray mouseRay(Ogre2Conversions::Convert(this->origin),
       Ogre2Conversions::Convert(this->direction));