Add Metal support for the Ogre2 Render Engine (#463)

* [Metal] enable loading of the Metal render system for ogre2 - Add parameter "metal" and a member variable useMetalRenderSystem to Ogre2RenderEngine - Modify LoadPlugins to load the Metal render system if enabled - Modify CreateRenderSystem to select the Metal render system - Modify RegisterHlms to load the Metal resources - Add missing Metal shaders for the Terra (from Ogre2) Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] enable metal render system for some examples Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] add Metal shader for skybox and update material - Add Metal shader for skybox - Update skybox material to support universal shaders - Create subdirectories for GLSL and Metal in media/materials/programs and update Ogre2RenderEngine with new resource locations Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] add Metal and unified shaders to each material (wip) - Add Metal and unified shaders to each material - Add placeholders for a number of shaders to prevent compile errors when running examples Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] enable metal render system for remaining examples [do not merge] - Note: these changes will need to be modified / reverted before merging Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] update examples to accept optional command line option "metal" - Examples accept an additional command line option metal when specifying the ogre2 render engine. - Pass parameters to the createCamera function. Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] fix formatting on example ogre2_demo Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] revert changes to example text_geom - This example is for ogre only (not ogre2) Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] update formatting of shaders - Minor formatting changes to plain_color, point and skybox Metal shaders. Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] port depth_camera and selection_buffer shaders - Port depth_camera_vs and selection_buffer_fs to Metal - The mouse_picker, ogre2_demo and transform_control demos now work correctly. Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] shader formatting - replace tabs with whitespace Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] port gaussian_noise shaders - Port gaussian_noise vertex and pixel shaders from the GLSL counterparts - The ogre2_demo and render_pass examples now work correctly. Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] port thermal_camera pixel shader - Correct error in thermal material script - Port thermal_camera pixel shaders from the GLSL counterparts - The thermal_camera examples now runs but further requires testing Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] add placeholders for remaining shaders - Add stubs for the remaining vertex and pixel shaders to port from GLSL Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] port heat_signature pixel shader Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] port depth_camera and gpu_rays shaders [wip] - Initial ports of depth_camera and gpu_rays shaders - This is work in progress: - On Metal the compositor in Ogre2GpuRay has a pixel format exception - Texture sampling for depth_camera_final_fs.metal is not using the equivalent of OpenGL's texelFetch Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] update custom_scene_viewer example to accept optional command line option "metal" Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] fix fragment program specifier in gaussian noise material - Unified shader had incorrect specifier Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] fix depth camera vertex shader not found in selection buffer material - This is the same issue as fixed in #456 Signed-off-by: Rhys Mainwaring <[email protected]> * switch to user RGBA format for internal textures in gpu ray sensor Signed-off-by: Ian Chen <[email protected]> * [Metal] complete port of gpu rays 1st pass shader - Complete port of the GPU Rays shader - This depends upon the pixel format fix in #468 Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] update shaders to fix lidar near plane clipping - Update Metal shaders to match changes made in PR #356 - Update CrossPlatformSettings_piece to #define outVs_gl_ClipDistance - Update Ign_piece_vs_any to use cross platform version of gl_ClipDistance Signed-off-by: Rhys Mainwaring <[email protected]> * Fix style for code check - Remove line end whitespace causing CI to fail. Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] incorporate review feedback - Revert debug output in Ogre2RenderEngine - Fix codecheck issue with variable declaration shadows previous local - Revert changes to simple_demo_qml - Move useMetalRenderSystem to Ogre2RenderEnginePrivate Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] introduce enum for graphics interface - Add enum class GraphicsAPI to RenderEngine.hh - Add utils class GraphicsAPIUtils for setting enum from string - Update Ogre2RenderEngine to use GraphicsAPI enum - Update examples to use GraphicsAPI enum Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] refactor enum for graphics interface - Move GraphicsAPI to own file Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] fix examples - Fix custom_scene_viewer Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] fix class description - Fix code check - Change GraphicsAPIUtils class documentation - Improve graphics API check in Ogre2RenderEngine Signed-off-by: Rhys Mainwaring <[email protected]> * [Metal] fix codecheck - Fix code check - uninitialised variable warning Signed-off-by: Rhys Mainwaring <[email protected]> Co-authored-by: Ian Chen <[email protected]>
gazebosim · Nov 25, 2021 · 8e7b7fb · 8e7b7fb
1 parent 04a50f8
commit 8e7b7fb
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Showing 74 changed files with 2,595 additions and 84 deletions.
diff --git a/examples/actor_animation/Main.cc b/examples/actor_animation/Main.cc
@@ -156,10 +156,11 @@ void buildScene(ScenePtr _scene, std::vector<VisualPtr> &_visuals,
 
 //////////////////////////////////////////////////
 CameraPtr createCamera(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params,
     std::vector<VisualPtr> &_visuals, common::SkeletonPtr &_skel)
 {
   // create and populate scene
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     ignwarn << "Engine '" << _engineName
@@ -187,6 +188,12 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
+  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
   common::Console::SetVerbosity(4);
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
@@ -201,7 +208,14 @@ int main(int _argc, char** _argv)
     std::cout << "Starting engine [" << engineName << "]" << std::endl;
     try
     {
-      CameraPtr camera = createCamera(engineName, visuals, skel);
+      std::map<std::string, std::string> params;
+      if (engineName.compare("ogre2") == 0
+          && graphicsApi == GraphicsAPI::METAL)
+      {
+        params["metal"] = "1";
+      }
+
+      CameraPtr camera = createCamera(engineName, params, visuals, skel);
       if (camera)
       {
         cameras.push_back(camera);

diff --git a/examples/camera_tracking/Main.cc b/examples/camera_tracking/Main.cc
@@ -95,10 +95,11 @@ NodePtr createMainNode(ScenePtr _scene)
 }
 
 //////////////////////////////////////////////////
-CameraPtr createCamera(const std::string &_engineName)
+CameraPtr createCamera(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params)
 {
   // create and populate scene
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     std::cout << "Engine '" << _engineName
@@ -126,6 +127,12 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
+  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
   common::Console::SetVerbosity(4);
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
@@ -138,7 +145,14 @@ int main(int _argc, char** _argv)
   {
     try
     {
-      CameraPtr camera = createCamera(engineName);
+      std::map<std::string, std::string> params;
+      if (engineName.compare("ogre2") == 0
+          && graphicsApi == GraphicsAPI::METAL)
+      {
+        params["metal"] = "1";
+      }
+
+      CameraPtr camera = createCamera(engineName, params);
       if (camera)
       {
         cameras.push_back(camera);

diff --git a/examples/custom_scene_viewer/ManualSceneDemo.cc b/examples/custom_scene_viewer/ManualSceneDemo.cc
@@ -91,9 +91,10 @@ unsigned int ManualSceneDemo::CameraCount() const
 }
 
 //////////////////////////////////////////////////
-void ManualSceneDemo::AddCamera(const std::string &_engineName)
+void ManualSceneDemo::AddCamera(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params)
 {
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     std::cout << "Engine '" << _engineName
@@ -191,6 +192,19 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
+  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
+  std::map<std::string, std::string> params;
+  if (ogreEngineName.compare("ogre2") == 0
+      && graphicsApi == GraphicsAPI::METAL)
+  {
+    params["metal"] = "1";
+  }
+
   common::Console::SetVerbosity(4);
 //! [add scenes]
   ManualSceneDemoPtr sceneDemo(new ManualSceneDemo);
@@ -208,7 +222,7 @@ int main(int _argc, char** _argv)
   sceneDemo->AddScene(SceneBuilderPtr(new ShadowSceneBuilder(4)));
   sceneDemo->AddScene(SceneBuilderPtr(new ShadowSceneBuilder(5)));
 //! [add scenes]
-  sceneDemo->AddCamera(ogreEngineName);
+  sceneDemo->AddCamera(ogreEngineName, params);
   sceneDemo->AddCamera("optix");
   sceneDemo->Run();
   return 0;

diff --git a/examples/custom_scene_viewer/ManualSceneDemo.hh b/examples/custom_scene_viewer/ManualSceneDemo.hh
@@ -17,6 +17,7 @@
 #ifndef IGNITION_RENDERING_EXAMPLES_CUSTOM_SCENE_VIEWER_MANUALSCENEDEMO_HH_
 #define IGNITION_RENDERING_EXAMPLES_CUSTOM_SCENE_VIEWER_MANUALSCENEDEMO_HH_
 
+#include <map>
 #include <string>
 #include <ignition/rendering.hh>
 #include "TestTypes.hh"
@@ -46,7 +47,8 @@ namespace ignition
 
       public: virtual unsigned int CameraCount() const;
 
-      public: virtual void AddCamera(const std::string &_engineName);
+      public: virtual void AddCamera(const std::string &_engineName,
+          const std::map<std::string, std::string>& _params = {});
 
       public: virtual void PrevCamera();
 

diff --git a/examples/depth_camera/Main.cc b/examples/depth_camera/Main.cc
@@ -154,17 +154,18 @@ int main(int _argc, char** _argv)
     engineName = _argv[1];
   }
 
-  bool useMetalRenderSystem{false};
-  if (_argc > 2 && std::string(_argv[2]).compare("metal") == 0)
+  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  if (_argc > 2)
   {
-    useMetalRenderSystem = true;
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
   }
 
   common::Console::SetVerbosity(4);
   try
   {
     std::map<std::string, std::string> params;
-    if (engineName.compare("ogre2") == 0 && useMetalRenderSystem)
+    if (engineName.compare("ogre2") == 0
+        && graphicsApi == GraphicsAPI::METAL)
     {
       params["metal"] = "1";
     }

diff --git a/examples/heightmap/Main.cc b/examples/heightmap/Main.cc
@@ -192,10 +192,11 @@ void buildScene(ScenePtr _scene)
 }
 
 //////////////////////////////////////////////////
-CameraPtr createCamera(const std::string &_engineName)
+CameraPtr createCamera(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params)
 {
   // create and populate scene
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     ignwarn << "Engine '" << _engineName
@@ -227,13 +228,26 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
+  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
   engineNames.push_back(ogreEngineName);
 
   for (auto engineName : engineNames)
   {
     try
     {
-      CameraPtr camera = createCamera(engineName);
+      std::map<std::string, std::string> params;
+      if (engineName.compare("ogre2") == 0
+          && graphicsApi == GraphicsAPI::METAL)
+      {
+        params["metal"] = "1";
+      }
+
+      CameraPtr camera = createCamera(engineName, params);
       if (camera)
       {
         cameras.push_back(camera);

diff --git a/examples/lidar_visual/Main.cc b/examples/lidar_visual/Main.cc
@@ -240,10 +240,11 @@ LidarVisualPtr createLidar(ScenePtr _scene)
 }
 
 //////////////////////////////////////////////////
-CameraPtr createCamera(const std::string &_engineName)
+CameraPtr createCamera(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params)
 {
   // create and populate scene
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     ignwarn << "Engine '" << _engineName
@@ -271,6 +272,12 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
+  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
   common::Console::SetVerbosity(4);
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
@@ -284,7 +291,14 @@ int main(int _argc, char** _argv)
     std::cout << "Starting engine [" << engineName << "]" << std::endl;
     try
     {
-      CameraPtr camera = createCamera(engineName);
+      std::map<std::string, std::string> params;
+      if (engineName.compare("ogre2") == 0
+          && graphicsApi == GraphicsAPI::METAL)
+      {
+        params["metal"] = "1";
+      }
+
+      CameraPtr camera = createCamera(engineName, params);
       if (camera)
       {
         cameras.push_back(camera);

diff --git a/examples/mesh_viewer/Main.cc b/examples/mesh_viewer/Main.cc
@@ -100,10 +100,11 @@ void buildScene(ScenePtr _scene)
 }
 
 //////////////////////////////////////////////////
-CameraPtr createCamera(const std::string &_engineName)
+CameraPtr createCamera(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params)
 {
   // create and populate scene
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     ignwarn << "Engine '" << _engineName
@@ -131,6 +132,12 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
+  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
   common::Console::SetVerbosity(4);
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
@@ -142,7 +149,14 @@ int main(int _argc, char** _argv)
   {
     try
     {
-      CameraPtr camera = createCamera(engineName);
+      std::map<std::string, std::string> params;
+      if (engineName.compare("ogre2") == 0
+          && graphicsApi == GraphicsAPI::METAL)
+      {
+        params["metal"] = "1";
+      }
+
+      CameraPtr camera = createCamera(engineName, params);
       if (camera)
       {
         cameras.push_back(camera);

diff --git a/examples/mouse_picking/Main.cc b/examples/mouse_picking/Main.cc
@@ -104,10 +104,11 @@ void buildScene(ScenePtr _scene)
   root->AddChild(camera);
 }
 
-CameraPtr createCamera(const std::string &_engineName)
+CameraPtr createCamera(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params)
 {
   // create and populate scene
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     std::cout << "Engine '" << _engineName
@@ -134,6 +135,12 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
+  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
   common::Console::SetVerbosity(4);
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
@@ -145,7 +152,14 @@ int main(int _argc, char** _argv)
   {
     try
     {
-      CameraPtr camera = createCamera(engineName);
+      std::map<std::string, std::string> params;
+      if (engineName.compare("ogre2") == 0
+          && graphicsApi == GraphicsAPI::METAL)
+      {
+        params["metal"] = "1";
+      }
+
+      CameraPtr camera = createCamera(engineName, params);
       if (camera)
       {
         cameras.push_back(camera);

diff --git a/examples/ogre2_demo/Main.cc b/examples/ogre2_demo/Main.cc
@@ -274,10 +274,11 @@ void buildScene(ScenePtr _scene)
 }
 
 //////////////////////////////////////////////////
-CameraPtr createCamera(const std::string &_engineName)
+CameraPtr createCamera(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params)
 {
   // create and populate scene
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     std::cout << "Engine '" << _engineName
@@ -316,12 +317,25 @@ int main(int _argc, char** _argv)
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
 
+  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
   engineNames.push_back("ogre2");
   for (auto engineName : engineNames)
   {
     try
     {
-      CameraPtr camera = createCamera(engineName);
+      std::map<std::string, std::string> params;
+      if (engineName.compare("ogre2") == 0
+          && graphicsApi == GraphicsAPI::METAL)
+      {
+        params["metal"] = "1";
+      }
+
+      CameraPtr camera = createCamera(engineName, params);
       if (camera)
       {
         cameras.push_back(camera);