[Metal] update shaders to fix lidar near plane clipping

- Update Metal shaders to match changes made in PR gazebosim#356 - Update CrossPlatformSettings_piece to #define outVs_gl_ClipDistance - Update Ign_piece_vs_any to use cross platform version of gl_ClipDistance - cherry-pick a2a3760 Signed-off-by: Rhys Mainwaring <[email protected]>
srmainwaring · Oct 23, 2021 · 465b861 · 465b861
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commit 465b861
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Showing 8 changed files with 29 additions and 1 deletion.
diff --git a/ogre2/src/media/Hlms/Common/GLSL/CrossPlatformSettings_piece_all.glsl b/ogre2/src/media/Hlms/Common/GLSL/CrossPlatformSettings_piece_all.glsl
@@ -92,6 +92,7 @@
 
 #define outVs_Position gl_Position
 #define outVs_viewportIndex gl_ViewportIndex
+#define outVs_clipDistance gl_ClipDistance
 #define outVs_clipDistance0 gl_ClipDistance[0]
 
 #define gl_SampleMaskIn0 gl_SampleMaskIn[0]

diff --git a/ogre2/src/media/Hlms/Common/HLSL/CrossPlatformSettings_piece_all.hlsl b/ogre2/src/media/Hlms/Common/HLSL/CrossPlatformSettings_piece_all.hlsl
@@ -49,6 +49,7 @@
 
 #define outVs_Position outVs.gl_Position
 #define outVs_viewportIndex outVs.gl_ViewportIndex
+#define outVs_clipDistance outVs.gl_ClipDistance
 #define outVs_clipDistance0 outVs.gl_ClipDistance0.x
 
 #define gl_SampleMaskIn0 gl_SampleMask

diff --git a/ogre2/src/media/Hlms/Common/Metal/CrossPlatformSettings_piece_all.metal b/ogre2/src/media/Hlms/Common/Metal/CrossPlatformSettings_piece_all.metal
@@ -72,6 +72,7 @@ inline float3x3 toMat3x3( float3x4 m )
 
 #define outVs_Position outVs.gl_Position
 #define outVs_viewportIndex outVs.gl_ViewportIndex
+#define outVs_clipDistance outVs.gl_ClipDistance
 #define outVs_clipDistance0 outVs.gl_ClipDistance[0]
 
 #define gl_SampleMaskIn0 gl_SampleMask

diff --git a/ogre2/src/media/Hlms/Ignition/Ign_piece_vs.any b/ogre2/src/media/Hlms/Ignition/Ign_piece_vs.any
@@ -8,7 +8,7 @@
 		// Ogre 2.2 should use outVs_clipDistanceN for compatibility with all
 		// APIs
 		// Rare case of geometry without normals.
-		gl_ClipDistance[@value(ign_spherical_clip_idx)] =
+		outVs_clipDistance[@value(ign_spherical_clip_idx)] =
 			distance( worldPos.xyz, passBuf.ignCameraPos.xyz ) -
 			passBuf.ignMinClipDistance;
 	@end

diff --git a/ogre2/src/media/materials/programs/Metal/plain_color_vs.metal b/ogre2/src/media/materials/programs/Metal/plain_color_vs.metal
@@ -26,11 +26,14 @@ struct VS_INPUT
 struct PS_INPUT
 {
   float4 gl_Position [[position]];
+  float gl_ClipDistance [[clip_distance]] [1];
 };
 
 struct Params
 {
   float4x4 worldViewProj;
+  float4x4 worldView;
+  float ignMinClipDistance;
 };
 
 vertex PS_INPUT main_metal
@@ -43,5 +46,18 @@ vertex PS_INPUT main_metal
 
   outVs.gl_Position = ( p.worldViewProj * input.position ).xyzw;
 
+  if( p.ignMinClipDistance > 0.0f )
+  {
+    // Frustum is rectangular; but the minimum lidar distance is spherical,
+    // so we can't rely on near plane to clip geometry that is too close,
+    // we have to do it by hand
+    float3 viewSpacePos = (p.worldView * input.position).xyz;
+    outVs.gl_ClipDistance[0] = length( viewSpacePos.xyz ) - p.ignMinClipDistance;
+  }
+  else
+  {
+  	outVs.gl_ClipDistance[0] = 1.0f;
+  }
+
   return outVs;
 }
diff --git a/ogre2/src/media/materials/scripts/gpu_rays.material b/ogre2/src/media/materials/scripts/gpu_rays.material
@@ -198,10 +198,13 @@ fragment_program laser_retro_fs_GLSL glsl
 vertex_program laser_retro_vs_Metal metal
 {
   source plain_color_vs.metal
+  num_clip_distances 1
 
   default_params
   {
     param_named_auto worldViewProj worldviewproj_matrix
+    param_named_auto worldView worldview_matrix
+    param_named ignMinClipDistance float 0.0
   }
 }
 

diff --git a/ogre2/src/media/materials/scripts/picker.material b/ogre2/src/media/materials/scripts/picker.material
@@ -26,10 +26,13 @@ fragment_program plaincolor_fs_GLSL glsl
 vertex_program plaincolor_vs_Metal metal
 {
   source plain_color_vs.metal
+  num_clip_distances 1
 
   default_params
   {
     param_named_auto worldViewProj worldviewproj_matrix
+    param_named_auto worldView worldview_matrix
+    param_named ignMinClipDistance float 0.0
   }
 }
 

diff --git a/ogre2/src/media/materials/scripts/thermal.material b/ogre2/src/media/materials/scripts/thermal.material
@@ -115,10 +115,13 @@ fragment_program heat_source_fs_GLSL glsl
 vertex_program heat_source_vs_Metal metal
 {
   source plain_color_vs.metal
+  num_clip_distances 1
 
   default_params
   {
     param_named_auto worldViewProj worldviewproj_matrix
+    param_named_auto worldView worldview_matrix
+    param_named ignMinClipDistance float 0.0
   }
 }