6 -> main (#513)

* Check for OpenGL backend before calling GL APIs (#509) Signed-off-by: Louise Poubel <[email protected]> * Enable selection buffer based ray query and fix test (#510) Signed-off-by: Ian Chen <[email protected]> * 🎈 6.1.0 (#511) Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Louise Poubel <[email protected]>
gazebosim · Dec 14, 2021 · dad0561 · dad0561
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diff --git a/Changelog.md b/Changelog.md
@@ -6,6 +6,77 @@
 
 ### Ignition Rendering 6.X
 
+### Ignition Rendering 6.1.0 (2021-12-09)
+
+1. Check for OpenGL backend before calling GL APIs
+    * [Pull request #509](https://github.com/ignitionrobotics/ign-rendering/pull/509)
+
+1. Fix loading grayscale emissive map
+    * [Pull request #503](https://github.com/ignitionrobotics/ign-rendering/pull/503)
+    * [Pull request #501](https://github.com/ignitionrobotics/ign-rendering/pull/501)
+
+1. Fixes to selection buffer
+    * [Pull request #446](https://github.com/ignitionrobotics/ign-rendering/pull/446)
+    * [Pull request #510](https://github.com/ignitionrobotics/ign-rendering/pull/510)
+    * [Pull request #498](https://github.com/ignitionrobotics/ign-rendering/pull/498)
+
+1. Add Metal support for the Ogre2 Render Engine
+    * [Pull request #463](https://github.com/ignitionrobotics/ign-rendering/pull/463)
+
+1. Add a depth camera example
+    * [Pull request #467](https://github.com/ignitionrobotics/ign-rendering/pull/467)
+
+1. More nullptr checking on visuals and base axis
+    * [Pull request #486](https://github.com/ignitionrobotics/ign-rendering/pull/486)
+
+1. Fix Utils unit test
+    * [Pull request #481](https://github.com/ignitionrobotics/ign-rendering/pull/481)
+
+1. Fix context attributes of glXCreateContextAttribsARB.
+    * [Pull request #460](https://github.com/ignitionrobotics/ign-rendering/pull/460)
+
+1. [Ogre2] fix invalid anti-aliasing level warning
+    * [Pull request #470](https://github.com/ignitionrobotics/ign-rendering/pull/470)
+
+1. Avoid symbol redefinition to fix armel builds
+    * [Pull request #457](https://github.com/ignitionrobotics/ign-rendering/pull/457)
+
+1. fix grayscale albedo map
+    * [Pull request #466](https://github.com/ignitionrobotics/ign-rendering/pull/466)
+
+1. Fix selection buffer material script
+    * [Pull request #456](https://github.com/ignitionrobotics/ign-rendering/pull/456)
+
+1. [macOS] modify definition of bufferFetch1 to work when GL_ARB_texture_buffer_range is not available
+    * [Pull request #462](https://github.com/ignitionrobotics/ign-rendering/pull/462)
+
+1. Fix compilation against Ogre 1.10.12
+    * [Pull request #390](https://github.com/ignitionrobotics/ign-rendering/pull/390)
+
+1. Fix logic on warning for ogre versions different than 1.9.x
+    * [Pull request #465](https://github.com/ignitionrobotics/ign-rendering/pull/465)
+
+1. Fix point cloud material syntax error
+    * [Pull request #433](https://github.com/ignitionrobotics/ign-rendering/pull/433)
+
+1. Run ogre2 particles by default
+    * [Pull request #430](https://github.com/ignitionrobotics/ign-rendering/pull/430)
+
+1. Ogre: Do not assume that ogre plugins have lib prefix on macOS
+    * [Pull request #454](https://github.com/ignitionrobotics/ign-rendering/pull/454)
+
+1. Fix heightmap crash if only shadow casting spotlights are one scene
+    * [Pull request #451](https://github.com/ignitionrobotics/ign-rendering/pull/451)
+
+1. Added macOS instructions
+    * [Pull request #448](https://github.com/ignitionrobotics/ign-rendering/pull/448)
+
+1. Ogre: Add missing required Paging component
+    * [Pull request #452](https://github.com/ignitionrobotics/ign-rendering/pull/452)
+
+1. Fix ray query distance calculation
+    * [Pull request #438](https://github.com/ignitionrobotics/ign-rendering/pull/438)
+
 ### Ignition Rendering 6.0.1 (2021-10-01)
 
 1. Disable using selection buffer for ray queries

diff --git a/ogre2/src/Ogre2DepthCamera.cc b/ogre2/src/Ogre2DepthCamera.cc
@@ -976,8 +976,13 @@ void Ogre2DepthCamera::Render()
 {
   // GL_DEPTH_CLAMP was disabled in later version of ogre2.2
   // however our shaders rely on clamped values so enable it for this sensor
+  auto engine = Ogre2RenderEngine::Instance();
+  std::string renderSystemName =
+      engine->OgreRoot()->getRenderSystem()->getFriendlyName();
+  bool useGL = renderSystemName.find("OpenGL") != std::string::npos;
 #ifndef _WIN32
-  glEnable(GL_DEPTH_CLAMP);
+  if (useGL)
+    glEnable(GL_DEPTH_CLAMP);
 #endif
 
   this->scene->StartRendering(this->ogreCamera);
@@ -995,7 +1000,8 @@ void Ogre2DepthCamera::Render()
   this->scene->FlushGpuCommandsAndStartNewFrame(1u, false);
 
 #ifndef _WIN32
-  glDisable(GL_DEPTH_CLAMP);
+  if (useGL)
+    glDisable(GL_DEPTH_CLAMP);
 #endif
 }
 

diff --git a/ogre2/src/Ogre2LidarVisual.cc b/ogre2/src/Ogre2LidarVisual.cc
@@ -30,6 +30,7 @@
 #include "ignition/rendering/ogre2/Ogre2Conversions.hh"
 #include "ignition/rendering/ogre2/Ogre2DynamicRenderable.hh"
 #include "ignition/rendering/ogre2/Ogre2LidarVisual.hh"
+#include "ignition/rendering/ogre2/Ogre2RenderEngine.hh"
 #include "ignition/rendering/ogre2/Ogre2Scene.hh"
 #include "ignition/rendering/ogre2/Ogre2Marker.hh"
 #include "ignition/rendering/ogre2/Ogre2Geometry.hh"
@@ -39,6 +40,7 @@
 #endif
 #include <OgreItem.h>
 #include <OgreMaterialManager.h>
+#include <OgreRoot.h>
 #include <OgreSceneNode.h>
 #include <OgreTechnique.h>
 #ifdef _MSC_VER
@@ -153,13 +155,19 @@ void Ogre2LidarVisual::Init()
 void Ogre2LidarVisual::Create()
 {
   // enable GL_PROGRAM_POINT_SIZE so we can set gl_PointSize in vertex shader
+  auto engine = Ogre2RenderEngine::Instance();
+  std::string renderSystemName =
+      engine->OgreRoot()->getRenderSystem()->getFriendlyName();
+  if (renderSystemName.find("OpenGL") != std::string::npos)
+  {
 #ifdef __APPLE__
-  glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
+    glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
 #else
 #ifndef _WIN32
-  glEnable(GL_PROGRAM_POINT_SIZE);
+    glEnable(GL_PROGRAM_POINT_SIZE);
 #endif
 #endif
+  }
   this->dataPtr->pointsMat =
       Ogre::MaterialManager::getSingleton().getByName(
       "PointCloudPoint");

diff --git a/ogre2/src/Ogre2Marker.cc b/ogre2/src/Ogre2Marker.cc
@@ -36,6 +36,7 @@
 #include "ignition/rendering/ogre2/Ogre2Marker.hh"
 #include "ignition/rendering/ogre2/Ogre2Material.hh"
 #include "ignition/rendering/ogre2/Ogre2Mesh.hh"
+#include "ignition/rendering/ogre2/Ogre2RenderEngine.hh"
 #include "ignition/rendering/ogre2/Ogre2Scene.hh"
 #include "ignition/rendering/ogre2/Ogre2Visual.hh"
 
@@ -44,6 +45,7 @@
 #endif
 #include <OgreItem.h>
 #include <OgreMaterialManager.h>
+#include <OgreRoot.h>
 #include <OgreTechnique.h>
 #ifdef _MSC_VER
   #pragma warning(pop)
@@ -94,13 +96,19 @@ void Ogre2Marker::PreRender()
     {
       // enable GL_PROGRAM_POINT_SIZE so we can set gl_PointSize in vertex
       // shader
+      auto engine = Ogre2RenderEngine::Instance();
+      std::string renderSystemName =
+          engine->OgreRoot()->getRenderSystem()->getFriendlyName();
+      if (renderSystemName.find("OpenGL") != std::string::npos)
+      {
       #ifdef __APPLE__
         glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
       #else
       #ifndef _WIN32
         glEnable(GL_PROGRAM_POINT_SIZE);
       #endif
       #endif
+      }
       Ogre::MaterialPtr pointsMat =
           Ogre::MaterialManager::getSingleton().getByName(
           "PointCloudPoint");

diff --git a/ogre2/src/Ogre2RayQuery.cc b/ogre2/src/Ogre2RayQuery.cc
@@ -111,10 +111,6 @@ RayQueryResult Ogre2RayQuery::ClosestPoint(bool _forceSceneUpdate)
 {
   RayQueryResult result;
 
-  // ray query using selection buffer does not seem to work on some machines
-  // using cpu based ray-triangle intersection method
-  // \todo remove this line if selection buffer is working again
-  return this->ClosestPointByIntersection(_forceSceneUpdate);
 
 #ifdef __APPLE__
   return this->ClosestPointByIntersection(_forceSceneUpdate);

diff --git a/ogre2/src/Ogre2ThermalCamera.cc b/ogre2/src/Ogre2ThermalCamera.cc
@@ -836,8 +836,13 @@ void Ogre2ThermalCamera::Render()
 {
   // GL_DEPTH_CLAMP is disabled in later version of ogre2.2
   // however our shaders rely on clamped values so enable it for this sensor
+  auto engine = Ogre2RenderEngine::Instance();
+  std::string renderSystemName =
+      engine->OgreRoot()->getRenderSystem()->getFriendlyName();
+  bool useGL = renderSystemName.find("OpenGL") != std::string::npos;
 #ifndef _WIN32
-  glEnable(GL_DEPTH_CLAMP);
+  if (useGL)
+    glEnable(GL_DEPTH_CLAMP);
 #endif
 
   // update the compositors
@@ -855,7 +860,8 @@ void Ogre2ThermalCamera::Render()
   this->scene->FlushGpuCommandsAndStartNewFrame(1u, false);
 
 #ifndef _WIN32
-  glDisable(GL_DEPTH_CLAMP);
+  if (useGL)
+    glDisable(GL_DEPTH_CLAMP);
 #endif
 }
 

diff --git a/src/Utils_TEST.cc b/src/Utils_TEST.cc
@@ -121,6 +121,16 @@ void UtilTest::ClickToScene(const std::string &_renderEngine)
   root->AddChild(camera);
   camera->Update();
 
+  // \todo(anyone)
+  // the centerClick var above is set to a screen pos of (width/2, height/2).
+  // This is off-by-1. The actual center pos should be at
+  // (width/2 - 1, height/2 - 1) so the result.X() and result.Y() is a bit off
+  // 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);
+
   // API without RayQueryResult and default max distance
   result = screenToScene(centerClick, camera, rayQuery, rayResult);