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Use clipping distance for minimum LIDAR distance (#365)
* Use clipping distance for minimum LIDAR distance Using Hlms custom pieces and a listener to implement it See changes to Ogre2GpuRays::Render for usage Update ogre2/src/media/Hlms/Pbs/GLSL/VertexShader_vs.glsl to latest upstream version Signed-off-by: Matias N. Goldberg <[email protected]> * Add gl_ClipDistance to low level material that needed it Needs Ogre 2.1 update to actually take effect The `num_clip_distances` keyword will otherwise be ignored Signed-off-by: Matias N. Goldberg <[email protected]>
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| Original file line number | Diff line number | Diff line change |
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| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
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| #include "Ogre2IgnHlmsCustomizations.hh" | ||
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| #ifdef _MSC_VER | ||
| #pragma warning(push, 0) | ||
| #endif | ||
| #include <OgreCamera.h> | ||
| #include <OgreHlms.h> | ||
| #include <OgreRenderTarget.h> | ||
| #include <OgreSceneManager.h> | ||
| #include <OgreViewport.h> | ||
| #ifdef _MSC_VER | ||
| #pragma warning(pop) | ||
| #endif | ||
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| using namespace ignition; | ||
| using namespace rendering; | ||
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| ////////////////////////////////////////////////// | ||
| void Ogre2IgnHlmsCustomizations::preparePassHash( | ||
| const Ogre::CompositorShadowNode */*_shadowNode*/, | ||
| bool _casterPass, bool /*_dualParaboloid*/, | ||
| Ogre::SceneManager */*_sceneManager*/, | ||
| Ogre::Hlms *_hlms) | ||
| { | ||
| this->needsWorldPos = false; | ||
| if (!_casterPass && this->MinDistanceClipEnabled()) | ||
| { | ||
| const Ogre::int32 numClipPlanes = | ||
| _hlms->_getProperty("hlms_pso_clip_distances"); | ||
| _hlms->_setProperty( "ign_spherical_clip_min_distance", 1 ); | ||
| _hlms->_setProperty( "ign_spherical_clip_idx", numClipPlanes ); | ||
| _hlms->_setProperty( "hlms_pso_clip_distances", numClipPlanes + 1 ); | ||
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| if (_hlms->getType() == Ogre::HLMS_UNLIT) | ||
| { | ||
| if (_hlms->_getProperty("hlms_global_clip_planes") == 0) | ||
| { | ||
| this->needsWorldPos = true; | ||
| _hlms->_setProperty( "ign_spherical_clip_needs_worldPos", 1 ); | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
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| ////////////////////////////////////////////////// | ||
| Ogre::uint32 Ogre2IgnHlmsCustomizations::getPassBufferSize( | ||
| const Ogre::CompositorShadowNode */*_shadowNode*/, | ||
| bool _casterPass, bool /*_dualParaboloid*/, | ||
| Ogre::SceneManager */*_sceneManager*/) const | ||
| { | ||
| if (_casterPass || !this->MinDistanceClipEnabled()) | ||
| return 0u; | ||
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| Ogre::uint32 bufferSize = sizeof(float) * 4u; | ||
| if (this->needsWorldPos) | ||
| bufferSize += sizeof(float) * 16u; | ||
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| return bufferSize; | ||
| } | ||
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| ////////////////////////////////////////////////// | ||
| float* Ogre2IgnHlmsCustomizations::preparePassBuffer( | ||
| const Ogre::CompositorShadowNode */*_shadowNode*/, | ||
| bool _casterPass, bool /*_dualParaboloid*/, | ||
| Ogre::SceneManager *_sceneManager, | ||
| float *_passBufferPtr) | ||
| { | ||
| if (!_casterPass && this->MinDistanceClipEnabled()) | ||
| { | ||
| Ogre::Camera *camera = _sceneManager->getCameraInProgress(); | ||
| const Ogre::Vector3 &camPos = camera->getDerivedPosition(); | ||
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| // float4 ignMinClipDistance_ignCameraPos | ||
| *_passBufferPtr++ = this->minDistanceClip; | ||
| *_passBufferPtr++ = camPos.x; | ||
| *_passBufferPtr++ = camPos.y; | ||
| *_passBufferPtr++ = camPos.z; | ||
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| if (this->needsWorldPos) | ||
| { | ||
| // TODO(dark_sylinc): Modify Ogre to access HlmsUnlit::mPreparedPass | ||
| // so we get the view matrix that's going to be used instead of | ||
| // recalculating everything again (which can get complex if VR is | ||
| // being used) | ||
| const Ogre::RenderTarget *renderTarget = | ||
| _sceneManager->getCurrentViewport()->getTarget(); | ||
| Ogre::Matrix4 projectionMatrix = | ||
| camera->getProjectionMatrixWithRSDepth(); | ||
| if( renderTarget->requiresTextureFlipping() ) | ||
| { | ||
| projectionMatrix[1][0] = -projectionMatrix[1][0]; | ||
| projectionMatrix[1][1] = -projectionMatrix[1][1]; | ||
| projectionMatrix[1][2] = -projectionMatrix[1][2]; | ||
| projectionMatrix[1][3] = -projectionMatrix[1][3]; | ||
| } | ||
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| Ogre::Matrix4 invViewProj = (projectionMatrix * | ||
| camera->getViewMatrix(true)).inverse(); | ||
| for (size_t i = 0; i < 16u; ++i) | ||
| *_passBufferPtr++ = static_cast<float>(invViewProj[0][i]); | ||
| } | ||
| } | ||
| return _passBufferPtr; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,118 @@ | ||
| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
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| #ifndef IGNITION_RENDERING_OGRE2_OGRE2IGNHLMSCUSTOMIZATIONS_HH_ | ||
| #define IGNITION_RENDERING_OGRE2_OGRE2IGNHLMSCUSTOMIZATIONS_HH_ | ||
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| #include "ignition/rendering/config.hh" | ||
| #include "ignition/rendering/ogre2/Export.hh" | ||
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| #ifdef _MSC_VER | ||
| #pragma warning(push, 0) | ||
| #endif | ||
| #include <OgreHlmsListener.h> | ||
| #ifdef _MSC_VER | ||
| #pragma warning(pop) | ||
| #endif | ||
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| namespace ignition | ||
| { | ||
| namespace rendering | ||
| { | ||
| inline namespace IGNITION_RENDERING_VERSION_NAMESPACE { | ||
| // | ||
| /// \brief Controls custom shader snippets of Hlms (both Pbs and Unlit): | ||
| /// | ||
| /// - Toggles them on/off | ||
| /// - Sends relevant data to the GPU buffers for shaders to use | ||
| /// | ||
| /// This listener requires Hlms to have been created with the piece data | ||
| /// files in ogre2/src/media/Hlms/Ignition registered | ||
| /// | ||
| /// \internal | ||
| /// \remark Public variables take effect immediately (i.e. for the | ||
| /// next render) | ||
| class IGNITION_RENDERING_OGRE2_VISIBLE Ogre2IgnHlmsCustomizations final : | ||
| public Ogre::HlmsListener | ||
| { | ||
| public: | ||
| virtual ~Ogre2IgnHlmsCustomizations() = default; | ||
|
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| /// \brief | ||
| /// \return Returns true if spherical clipping customizations should | ||
| /// be active | ||
| public: bool MinDistanceClipEnabled() const | ||
| { | ||
| return this->minDistanceClip >= 0.0f; | ||
| } | ||
|
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| /// \brief Determines which custom pieces we should activate | ||
| /// \param _casterPass | ||
| /// \param _hlms | ||
| private: virtual void preparePassHash( | ||
| const Ogre::CompositorShadowNode *_shadowNode, | ||
| bool _casterPass, bool _dualParaboloid, | ||
| Ogre::SceneManager *_sceneManager, | ||
| Ogre::Hlms *_hlms) override; | ||
|
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| /// \brief Tells Ogre the buffer data sent to GPU should be a little | ||
| /// bigger to fit our data we need to send | ||
| /// | ||
| /// This data is sent in Ogre2IgnHlmsCustomizations::preparePassBuffer | ||
| /// \param _casterPass | ||
| /// \param _hlms | ||
| private: virtual Ogre::uint32 getPassBufferSize( | ||
| const Ogre::CompositorShadowNode *_shadowNode, | ||
| bool _casterPass, bool _dualParaboloid, | ||
| Ogre::SceneManager *_sceneManager) const override; | ||
|
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| /// \brief Sends our custom data to GPU buffers that our | ||
| /// pieces activated in Ogre2IgnHlmsCustomizations::preparePassHash | ||
| /// will need. | ||
| /// | ||
| /// Bytes written must not exceed what we informed in getPassBufferSize | ||
| /// \param _casterPass | ||
| /// \param _sceneManager | ||
| /// \param _passBufferPtr | ||
| /// \return The pointer where Ogre should continue appending more data | ||
| private: virtual float* preparePassBuffer( | ||
| const Ogre::CompositorShadowNode *_shadowNode, | ||
| bool _casterPass, bool _dualParaboloid, | ||
| Ogre::SceneManager *_sceneManager, | ||
| float *_passBufferPtr) override; | ||
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| /// \brief Min distance to clip geometry against in a spherical manner | ||
| /// (i.e. vertices that are too close to camera are clipped) | ||
| /// Usually this means the min lidar distance | ||
| /// | ||
| /// Regular near clip distance clips in a rectangular way, so | ||
| /// it's not enough. | ||
| /// | ||
| /// Set to a negative value to disable (0 does NOT disable it!) | ||
| /// | ||
| /// See https://github.com/ignitionrobotics/ign-rendering/pull/356 | ||
| public: float minDistanceClip = -1.0f; | ||
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| /// \brief When true, we're currently dealing with HlmsUnlit | ||
| /// where we need to define and calculate `float3 worldPos` | ||
| /// \internal | ||
| private: bool needsWorldPos = false; | ||
| }; | ||
| } | ||
| } | ||
| } | ||
| #endif |
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ogre2/src/media/Hlms/Ignition/IgnCustomStructs_piece_all.any
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,11 @@ | ||
| @property( ign_spherical_clip_min_distance ) | ||
| @piece( custom_passBuffer ) | ||
| #define ignMinClipDistance ignMinClipDistance_ignCameraPos.x | ||
| #define ignCameraPos ignMinClipDistance_ignCameraPos.yzw | ||
| float4 ignMinClipDistance_ignCameraPos; | ||
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| @property( ign_spherical_clip_needs_worldPos ) | ||
| float4x4 invViewProj; | ||
| @end | ||
| @end | ||
| @end |
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