Use selection buffer in ray question (ogre2) - part 2

[iche033]

🎉 New feature

• follow-up to pull request Use selection buffer in ray queries (ogre2) #378
• requires Fix selection buffer crash on resize gz-sim#969

Summary

This further improves performance of ray queries. As described in #378, there are 2 stages in our ray query implementation. This PR focuses on stage 2. The selection buffer implementation in ogre2 is extended to return depth data which is then used compute the intersection point of user mouse clicks. This replaces the slow CPU based ray-triangle intersection tests in stage 2 of the current ray query implementation.

Note the ray-triangle intersection code is not removed, and can still be used if a selection buffer is not available.

Test it

see gazebosim/gz-sim#969

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

[ahcorde]

Suggested change

	public: Ogre::MaterialPtr selectionMaterial;
	public: Ogre::MaterialPtr selectionMaterial{nullptr};

[iche033]

looks like Ogre::SharedPtr can't be set or init to nullptr.

[codecov]

Codecov Report

❗ No coverage uploaded for pull request base (rayquery_selection_buffer@50aefa7). Click here to learn what that means.
The diff coverage is n/a.

@@                     Coverage Diff                      @@
##             rayquery_selection_buffer     #383   +/-   ##
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  Coverage                             ?   56.34%           
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  Files                                ?      147           
  Lines                                ?    14100           
  Branches                             ?        0           
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  Hits                                 ?     7944           
  Misses                               ?     6156           
  Partials                             ?        0           

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