Merge branch 'main' into matias-rayQueryFix

.github/ci/packages.apt

@@ -4,6 +4,7 @@ libglew-dev
 libignition-cmake2-dev
 libignition-common4-dev
 libignition-math6-dev
+libignition-math6-eigen3-dev
 libignition-plugin-dev
 libogre-1.9-dev
 libogre-2.2-dev

CMakeLists.txt

@@ -9,27 +9,28 @@ project(ignition-rendering6 VERSION 6.0.0)
 # Find ignition-cmake
 #============================================================================
 # If you get an error at this line, you need to install ignition-cmake
-find_package(ignition-cmake2 2.3 REQUIRED)
+find_package(ignition-cmake2 2.8.0 REQUIRED)
 set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
 
 #============================================================================
 # Set up the project
 #============================================================================
-ign_configure_project(VERSION_SUFFIX pre1)
+ign_configure_project(VERSION_SUFFIX pre2)
 
 #============================================================================
 # Set project-specific options
 #============================================================================
 
-option(USE_UNOFFICAL_OGRE_VERSIONS "Accept unsupported Ogre versions in the build" OFF)
+set(CMAKE_CXX_STANDARD 14)
+option(USE_UNOFFICIAL_OGRE_VERSIONS "Accept unsupported Ogre versions in the build" OFF)
 
 #============================================================================
 # Search for project-specific dependencies
 #============================================================================
 
 #--------------------------------------
 # Find ignition-math
-ign_find_package(ignition-math6 REQUIRED VERSION 6.6)
+ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.9)
 set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
 
 #--------------------------------------
@@ -65,15 +66,19 @@ list(APPEND ign_ogre_components "RTShaderSystem" "Terrain" "Overlay")
 
 # Ogre versions greater than 1.9 are not officialy supported.
 # Display a warning for the users on this setup unless they provide
-# USE_UNOFFICAL_OGRE_VERSIONS flag
-if (NOT USE_UNOFFICAL_OGRE_VERSIONS)
-  ign_find_package(IgnOGRE VERSION 1.10
-    COMPONENTS ${ign_ogre_components})
+# USE_UNOFFICIAL_OGRE_VERSIONS flag
+if (NOT USE_UNOFFICIAL_OGRE_VERSIONS)
+  # Only for checking the ogre version
+  ign_find_package(IgnOGRE VERSION 1.10 QUIET)
 
   if (OGRE_FOUND)
     IGN_BUILD_WARNING("Ogre 1.x versions greater than 1.9 are not officially supported."
                       "The software might compile and even work but support from upstream"
                       "could be reduced to accepting patches for newer versions")
+    ign_find_package(IgnOGRE VERSION 1.10
+      COMPONENTS ${ign_ogre_components}
+      REQUIRED_BY ogre
+      PRIVATE_FOR ogre)
   else()
     # If ogre 1.10 or greater was not found, then proceed to look for 1.9.x
     # versions which are offically supported
@@ -153,9 +158,18 @@ if (HAVE_OGRE2)
   list(APPEND RENDERING_COMPONENTS ogre2)
 endif()
 
+configure_file("${PROJECT_SOURCE_DIR}/cppcheck.suppress.in"
+               ${PROJECT_BINARY_DIR}/cppcheck.suppress)
+
 ign_configure_build(QUIT_IF_BUILD_ERRORS
     COMPONENTS ${RENDERING_COMPONENTS})
 
+if (HAVE_OGRE2)
+  # Must be done after ign_configure_build or else Terra
+  # won't see IGN_ADD_fPIC_TO_LIBRARIES
+  add_subdirectory(ogre2/src/terrain/Terra)
+endif()
+
 #============================================================================
 # Create package information
 #============================================================================

Changelog.md

@@ -4,6 +4,84 @@
 
 ### Ignition Rendering 6.0.0 (20XX-XX-XX)
 
+1. Update test config to run ogre 1.x tests in ign-rendering6 on macOS
+    * [Pull request #407](https://github.com/ignitionrobotics/ign-rendering/pull/407)
+    * [Pull request #409](https://github.com/ignitionrobotics/ign-rendering/pull/409)
+
+1. Check if key exists in gpu lidar's user data
+    * [Pull request #396](https://github.com/ignitionrobotics/ign-rendering/pull/396)
+
+1. Clone visuals and geometries
+    * [Pull request #397](https://github.com/ignitionrobotics/ign-rendering/pull/397)
+
+1. Add SetSize API for LidarVisual and markers
+    * [Pull request #392](https://github.com/ignitionrobotics/ign-rendering/pull/392)
+
+1. Add Ogre2Heightmap functionality
+    * [Pull request #386](https://github.com/ignitionrobotics/ign-rendering/pull/386)
+    * [Pull request #416](https://github.com/ignitionrobotics/ign-rendering/pull/416)
+
+1. Prevent default-constructed variants from holding a type
+    * [Pull request #371](https://github.com/ignitionrobotics/ign-rendering/pull/371)
+
+1. Temporarily set number of camera pass count per flush to 0 in ogre2 to prevent downstream build failures
+    * [Pull request #367](https://github.com/ignitionrobotics/ign-rendering/pull/367)
+
+1. Joint visual
+    * [Pull request #366](https://github.com/ignitionrobotics/ign-rendering/pull/366)
+    * [Pull request #387](https://github.com/ignitionrobotics/ign-rendering/pull/387)
+
+1. Fixing camera projection type test
+    * [Pull request #361](https://github.com/ignitionrobotics/ign-rendering/pull/361)
+
+1. UserData methods moved from Visual to Node
+    * [Pull request #358](https://github.com/ignitionrobotics/ign-rendering/pull/358)
+
+1. Replace renderOneFrame for per-workspace update calls
+    * [Pull request #353](https://github.com/ignitionrobotics/ign-rendering/pull/353)
+
+1. Center of mass visual
+    * [Pull request #345](https://github.com/ignitionrobotics/ign-rendering/pull/345)
+
+1. Segmentation Camera
+    * [Pull request #329](https://github.com/ignitionrobotics/ign-rendering/pull/329)
+    * [Pull request #419](https://github.com/ignitionrobotics/ign-rendering/pull/419)
+
+1. Stub bounding box camera APIs
+    * [Pull request #420](https://github.com/ignitionrobotics/ign-rendering/pull/420)
+
+1. Inertia visual
+    * [Pull request #326](https://github.com/ignitionrobotics/ign-rendering/pull/326)
+
+1. Changed calculation for range clipping
+    * [Pull request #325](https://github.com/ignitionrobotics/ign-rendering/pull/325)
+
+1. Destroy material when a mesh is deleted
+    * [Pull request #324](https://github.com/ignitionrobotics/ign-rendering/pull/324)
+
+1. Add orthographic view controller
+    * [Pull request #322](https://github.com/ignitionrobotics/ign-rendering/pull/322)
+
+1. Port codecov to new configuration
+    * [Pull request #318](https://github.com/ignitionrobotics/ign-rendering/pull/318)
+
+1. Visualize wireframes
+    * [Pull request #314](https://github.com/ignitionrobotics/ign-rendering/pull/314)
+
+1. Add environment map tutorial
+    * [Pull request #295](https://github.com/ignitionrobotics/ign-rendering/pull/295)
+
+1. From Ogre 2.1 to Ogre 2.2
+    * [Pull request #272](https://github.com/ignitionrobotics/ign-rendering/pull/272)
+    * [Pull request #393](https://github.com/ignitionrobotics/ign-rendering/pull/393)
+
+1. All changes merged forward from ign-rendering5
+    * [Pull request #310](https://github.com/ignitionrobotics/ign-rendering/pull/310)
+    * [Pull request #331](https://github.com/ignitionrobotics/ign-rendering/pull/331)
+    * [Pull request #350](https://github.com/ignitionrobotics/ign-rendering/pull/350)
+    * [Pull request #401](https://github.com/ignitionrobotics/ign-rendering/pull/401)
+    * [Pull request #406](https://github.com/ignitionrobotics/ign-rendering/pull/406)
+
 ### Ignition Rendering 5.X
 
 ### Ignition Rendering 5.X.X (20XX-XX-XX)
@@ -139,6 +217,25 @@
 
 ### Ignition Rendering 4.X
 
+### Ignition Rendering 4.9.0 (2021-09-15)
+
+1. Output warning message if a mesh with zero submeshes is created
+    * [Pull request #391](https://github.com/ignitionrobotics/ign-rendering/pull/391)
+
+1. Fix particle effect randomness
+    * [Pull request #388](https://github.com/ignitionrobotics/ign-rendering/pull/388)
+
+1. Fix single ray gpu lidar
+    * [Pull request #384](https://github.com/ignitionrobotics/ign-rendering/pull/384)
+
+1. Use selection buffer in ray queries (ogre2)
+    * [Pull request #378](https://github.com/ignitionrobotics/ign-rendering/pull/378)
+    * [Pull request #383](https://github.com/ignitionrobotics/ign-rendering/pull/383)
+
+1. All changes merged forward from ign-rendering3
+    * [Pull request #382](https://github.com/ignitionrobotics/ign-rendering/pull/382)
+    * [Pull request #398](https://github.com/ignitionrobotics/ign-rendering/pull/398)
+
 ### Ignition Rendering 4.8.0 (2021-06-18)
 
 1. relax gaussian test tolerance
@@ -371,7 +468,7 @@
 ### Ignition Rendering 3.X.X (2021-XX-XX)
 
 1. CMake warning on Ogre versions that are not officially supported.
-   To disable the new warning, it is enough to enable the cmake option USE_UNOFFICAL_OGRE_VERSIONS
+   To disable the new warning, it is enough to enable the cmake option USE_UNOFFICIAL_OGRE_VERSIONS
     * [Pull request 376](https://github.com/ignitionrobotics/ign-rendering/pull/376)
 
 ### Ignition Rendering 3.5.0 (2021-05-25)

README.md

@@ -41,7 +41,7 @@ of libraries designed to rapidly develop robot applications.
 
 # Features
 
-* Support for rendering engines including OGRE and OptiX
+* Support for rendering engines including OGRE and OptiX (experimental)
 * Plugin-based architecture. Mulitple rendering engine plugins can be loaded at run time.
 * Object-oriented scene management.
 

cppcheck.suppress.in

@@ -0,0 +1 @@
+*:*/Terra/*.h

examples/heightmap/Main.cc

@@ -56,6 +56,18 @@ void buildScene(ScenePtr _scene)
   light0->SetSpecularColor(0.5, 0.5, 0.5);
   root->AddChild(light0);
 
+  // create point light
+  PointLightPtr light1 = _scene->CreatePointLight();
+  light1->SetDiffuseColor(0.8, 0.8, 0.8);
+  light1->SetSpecularColor(0.2, 0.2, 0.2);
+  light1->SetLocalPosition(30, -3, 6);
+  light1->SetAttenuationConstant(0.1);
+  light1->SetAttenuationLinear(0.001);
+  light1->SetAttenuationQuadratic(0.0001);
+  light1->SetAttenuationRange(80);
+  light1->SetCastShadows(true);
+  root->AddChild(light1);
+
 //! [create a heightmap]
   auto data = std::make_shared<common::ImageHeightmap>();
   data->Load(common::joinPaths(RESOURCE_PATH, "heightmap_bowl.png"));
@@ -170,8 +182,8 @@ void buildScene(ScenePtr _scene)
   CameraPtr camera = _scene->CreateCamera("camera");
   camera->SetLocalPosition(1.441, 25.787, 17.801);
   camera->SetLocalRotation(0.0, 0.588, -1.125);
-  camera->SetImageWidth(800);
-  camera->SetImageHeight(600);
+  camera->SetImageWidth(1600);
+  camera->SetImageHeight(900);
   camera->SetAntiAliasing(2);
   camera->SetAspectRatio(1.333);
   camera->SetHFOV(IGN_PI / 2);
@@ -207,7 +219,15 @@ int main(int _argc, char** _argv)
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
 
-  engineNames.push_back("ogre");
+  // Expose engine name to command line because we can't instantiate both
+  // ogre and ogre2 at the same time
+  std::string ogreEngineName("ogre2");
+  if (_argc > 1)
+  {
+    ogreEngineName = _argv[1];
+  }
+
+  engineNames.push_back(ogreEngineName);
 
   for (auto engineName : engineNames)
   {

examples/segmentation_camera/CMakeLists.txt

@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+project(ignition-rendering-segmentation-camera)
+find_package(ignition-rendering6 REQUIRED)
+
+include_directories(SYSTEM
+  ${PROJECT_BINARY_DIR}
+)
+
+find_package(GLUT REQUIRED)
+include_directories(SYSTEM ${GLUT_INCLUDE_DIRS})
+link_directories(${GLUT_LIBRARY_DIRS})
+
+find_package(OpenGL REQUIRED)
+include_directories(SYSTEM ${OpenGL_INCLUDE_DIRS})
+link_directories(${OpenGL_LIBRARY_DIRS})
+
+if (NOT APPLE)
+  find_package(GLEW REQUIRED)
+  include_directories(SYSTEM ${GLEW_INCLUDE_DIRS})
+  link_directories(${GLEW_LIBRARY_DIRS})
+endif()
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
+
+configure_file (example_config.hh.in ${PROJECT_BINARY_DIR}/example_config.hh)
+
+add_executable(segmentation_camera Main.cc GlutWindow.cc)
+
+target_link_libraries(segmentation_camera
+  ${GLUT_LIBRARIES}
+  ${OPENGL_LIBRARIES}
+  ${GLEW_LIBRARIES}
+  ${IGNITION-RENDERING_LIBRARIES}
+)
+
+add_custom_command(TARGET segmentation_camera POST_BUILD
+  COMMAND ${CMAKE_COMMAND} -E copy_directory
+  ${CMAKE_SOURCE_DIR}/media
+  $<TARGET_FILE_DIR:segmentation_camera>/media)