Extend ShaderParam system to support textures

[iche033]

Signed-off-by: Ian Chen [email protected]

🎉 New feature

depends on:

• Load and run visual plugin (system) on GUI side #1275
• Add waves gz-rendering#541

Summary

This PR updates the ShaderParam system (introduced in #1275) with the ability to parse texture params and pass them to custom shaders

Easier to review without white space diff:

https://github.com/ignitionrobotics/ign-gazebo/pull/1310/files?w=1

Test it

To test, launch the shader_param.sdf example world. It should download the Waves model from Fuel and render it correctly:

ign gazebo -v 4 shader_param.sdf

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 and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Merging #1310 (11f5c28) into ign-gazebo6 (83f2f74) will increase coverage by 0.00%.
The diff coverage is n/a.

@@             Coverage Diff              @@
##           ign-gazebo6    #1310   +/-   ##
============================================
  Coverage        62.06%   62.07%           
============================================
  Files              278      278           
  Lines            23378    23378           
============================================
+ Hits             14510    14511    +1     
+ Misses            8868     8867    -1     

Impacted Files	Coverage Δ
src/EntityComponentManager.cc	88.38% <0.00%> (+0.12%)	⬆️

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[WilliamLewww]

I'm running into a segfault:

#31   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3ba868, in void std::_Bind<void (ignition::gazebo::v6::SimulationRunner::*(ignition::gazebo::v6::SimulationRunner*, std::_Placeholder<1>, std::_Placeholder<2>))(unsigned long, std::shared_ptr<sdf::v12::Element> const&)>::__call<void, unsigned long&&, std::shared_ptr<sdf::v12::Element>&&, 0ul, 1ul, 2ul>(std::tuple<unsigned long&&, std::shared_ptr<sdf::v12::Element>&&>&&, std::_Index_tuple<0ul, 1ul, 2ul>)
#30   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3c05a4, in std::__invoke_result<void (ignition::gazebo::v6::SimulationRunner::*&)(unsigned long, std::shared_ptr<sdf::v12::Element> const&), ignition::gazebo::v6::SimulationRunner*&, unsigned long, std::shared_ptr<sdf::v12::Element> >::type std::__invoke<void (ignition::gazebo::v6::SimulationRunner::*&)(unsigned long, std::shared_ptr<sdf::v12::Element> const&), ignition::gazebo::v6::SimulationRunner*&, unsigned long, std::shared_ptr<sdf::v12::Element> >(void (ignition::gazebo::v6::SimulationRunner::*&)(unsigned long, std::shared_ptr<sdf::v12::Element> const&), ignition::gazebo::v6::SimulationRunner*&, unsigned long&&, std::shared_ptr<sdf::v12::Element>&&)
#29   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3c7425, in void std::__invoke_impl<void, void (ignition::gazebo::v6::SimulationRunner::*&)(unsigned long, std::shared_ptr<sdf::v12::Element> const&), ignition::gazebo::v6::SimulationRunner*&, unsigned long, std::shared_ptr<sdf::v12::Element> >(std::__invoke_memfun_deref, void (ignition::gazebo::v6::SimulationRunner::*&)(unsigned long, std::shared_ptr<sdf::v12::Element> const&), ignition::gazebo::v6::SimulationRunner*&, unsigned long&&, std::shared_ptr<sdf::v12::Element>&&)
#28   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe399c02, in ignition::gazebo::v6::SimulationRunner::LoadPlugins(unsigned long, std::shared_ptr<sdf::v12::Element> const&)
#27   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe398d06, in ignition::gazebo::v6::SimulationRunner::LoadPlugin(unsigned long, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<sdf::v12::Element> const&)
#26   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3963e7, in ignition::gazebo::v6::SimulationRunner::AddSystem(ignition::plugin::TemplatePluginPtr<ignition::plugin::SpecializedPlugin<ignition::gazebo::v6::System, ignition::gazebo::v6::ISystemConfigure, ignition::gazebo::v6::ISystemPreUpdate, ignition::gazebo::v6::ISystemUpdate, ignition::gazebo::v6::ISystemPostUpdate> > const&, std::optional<unsigned long>, std::optional<std::shared_ptr<sdf::v12::Element const> >)
#25   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3966ba, in ignition::gazebo::v6::SimulationRunner::AddSystemImpl(ignition::gazebo::v6::SystemInternal, std::optional<unsigned long>, std::optional<std::shared_ptr<sdf::v12::Element const> >)
#24   Object "/ignition-ws/shared/ign-fortress/install/lib/ign-gazebo-6/plugins/libignition-gazebo-shader-param-system.so", at 0x7fc2ce368b3c, in ignition::gazebo::v6::systems::ShaderParam::Configure(unsigned long const&, std::shared_ptr<sdf::v12::Element const> const&, ignition::gazebo::v6::EntityComponentManager&, ignition::gazebo::v6::EventManager&)
#23   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f531b, in ignition::gazebo::v6::asFullPath(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
#22   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f7f43, in std::filesystem::__cxx11::path::~path()
#21   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f808a, in std::vector<std::filesystem::__cxx11::path::_Cmpt, std::allocator<std::filesystem::__cxx11::path::_Cmpt> >::~vector()
#20   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f8e2e, in void std::_Destroy<std::filesystem::__cxx11::path::_Cmpt*, std::filesystem::__cxx11::path::_Cmpt>(std::filesystem::__cxx11::path::_Cmpt*, std::filesystem::__cxx11::path::_Cmpt*, std::allocator<std::filesystem::__cxx11::path::_Cmpt>&)
#19   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f99bd, in void std::_Destroy<std::filesystem::__cxx11::path::_Cmpt*>(std::filesystem::__cxx11::path::_Cmpt*, std::filesystem::__cxx11::path::_Cmpt*)
#18   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3fa1f8, in void std::_Destroy_aux<false>::__destroy<std::filesystem::__cxx11::path::_Cmpt*>(std::filesystem::__cxx11::path::_Cmpt*, std::filesystem::__cxx11::path::_Cmpt*)
#17   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3fa6cc, in void std::_Destroy<std::filesystem::__cxx11::path::_Cmpt>(std::filesystem::__cxx11::path::_Cmpt*)
#16   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3fa6ad, in std::filesystem::__cxx11::path::_Cmpt::~_Cmpt()
#15   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f7f43, in std::filesystem::__cxx11::path::~path()
#14   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f808a, in std::vector<std::filesystem::__cxx11::path::_Cmpt, std::allocator<std::filesystem::__cxx11::path::_Cmpt> >::~vector()
#13   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f8e2e, in void std::_Destroy<std::filesystem::__cxx11::path::_Cmpt*, std::filesystem::__cxx11::path::_Cmpt>(std::filesystem::__cxx11::path::_Cmpt*, std::filesystem::__cxx11::path::_Cmpt*, std::allocator<std::filesystem::__cxx11::path::_Cmpt>&)
#12   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f99bd, in void std::_Destroy<std::filesystem::__cxx11::path::_Cmpt*>(std::filesystem::__cxx11::path::_Cmpt*, std::filesystem::__cxx11::path::_Cmpt*)
#11   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3fa1f8, in void std::_Destroy_aux<false>::__destroy<std::filesystem::__cxx11::path::_Cmpt*>(std::filesystem::__cxx11::path::_Cmpt*, std::filesystem::__cxx11::path::_Cmpt*)
#10   Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3fa6cc, in void std::_Destroy<std::filesystem::__cxx11::path::_Cmpt>(std::filesystem::__cxx11::path::_Cmpt*)
#9    Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3fa6ad, in std::filesystem::__cxx11::path::_Cmpt::~_Cmpt()
#8    Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f7f43, in std::filesystem::__cxx11::path::~path()
#7    Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f808a, in std::vector<std::filesystem::__cxx11::path::_Cmpt, std::allocator<std::filesystem::__cxx11::path::_Cmpt> >::~vector()
#6    Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f8e2e, in void std::_Destroy<std::filesystem::__cxx11::path::_Cmpt*, std::filesystem::__cxx11::path::_Cmpt>(std::filesystem::__cxx11::path::_Cmpt*, std::filesystem::__cxx11::path::_Cmpt*, std::allocator<std::filesystem::__cxx11::path::_Cmpt>&)
#5    Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f99bd, in void std::_Destroy<std::filesystem::__cxx11::path::_Cmpt*>(std::filesystem::__cxx11::path::_Cmpt*, std::filesystem::__cxx11::path::_Cmpt*)
#4    Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3fa1f8, in void std::_Destroy_aux<false>::__destroy<std::filesystem::__cxx11::path::_Cmpt*>(std::filesystem::__cxx11::path::_Cmpt*, std::filesystem::__cxx11::path::_Cmpt*)
#3    Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3fa6cc, in void std::_Destroy<std::filesystem::__cxx11::path::_Cmpt>(std::filesystem::__cxx11::path::_Cmpt*)
#2    Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3fa6ad, in std::filesystem::__cxx11::path::_Cmpt::~_Cmpt()
#1    Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f7f43, in std::filesystem::__cxx11::path::~path()
#0    Object "/ignition-ws/shared/ign-fortress/install/lib/libignition-gazebo6.so.6", at 0x7fc2fe3f8075, in std::vector<std::filesystem::__cxx11::path::_Cmpt, std::allocator<std::filesystem::__cxx11::path::_Cmpt> >::~vector()

The waves model has been successfully downloaded from fuel but I think it is having trouble trying to load the shaders. I can try again on a different machine to see if I get the same result.

[iche033]

I have not been able to reproduce this yet.

From discussion offline, rebuilding the workspace with gcc 9.3.0 could potentially resolve this issue.

[WilliamLewww]

I have not been able to reproduce this yet.

From discussion offline, rebuilding the workspace with gcc 9.3.0 could potentially resolve this issue.

Compiling everything with gcc 9.3.0 worked!

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-03-01-citadel-edifice-fortress/1313/1