{humble} WIP: ros-image-world fixes for Humble Kirkstone

meta-ros-common/recipes-devtools/gazebo/gazebo11/revert-CustomGLSLProgramWriter.patch

@@ -0,0 +1,329 @@
+https://github.com/gazebosim/gazebo-classic/commit/6ca23806f7b67d51529e2ddb07d3464b85781c6e.patch
+
+From ca09e1330138e8083d9b9274992b8f5d07eb78dd Mon Sep 17 00:00:00 2001
+From: Rob Woolley <[email protected]>
+Date: Sun, 19 May 2024 07:29:57 -0700
+Subject: [PATCH] Revert "fix for ogre 1.8"
+
+This reverts commit 6ca23806f7b67d51529e2ddb07d3464b85781c6e.
+---
+ .../rendering/CustomPSSMShadowCameraSetup.cc  | 25 -----
+ .../rendering/CustomPSSMShadowCameraSetup.hh  | 32 -------
+ gazebo/rendering/RTShaderSystem.cc            | 13 ---
+ gazebo/rendering/RTShaderSystem.hh            |  1 +
+ gazebo/rendering/RTShaderSystemPrivate.hh     | 12 ---
+ gazebo/rendering/ogre_gazebo.h                |  4 -
+ media/rtshaderlib/SGXLib_IntegratedPSSM.glsl  | 94 ++-----------------
+ 7 files changed, 8 insertions(+), 173 deletions(-)
+
+diff --git a/gazebo/rendering/CustomPSSMShadowCameraSetup.cc b/gazebo/rendering/CustomPSSMShadowCameraSetup.cc
+index c4570197aa..7f0d8f5a2c 100644
+--- a/gazebo/rendering/CustomPSSMShadowCameraSetup.cc
++++ b/gazebo/rendering/CustomPSSMShadowCameraSetup.cc
+@@ -657,28 +657,3 @@ void CustomPSSMShadowCameraSetup::getShadowCamera(const Ogre::SceneManager *_sm,
+     cam->setCustomProjectionMatrix(true, oldCustomProjMat);
+   }
+ }
+-
+-//////////////////////////////////////////////////
+-CustomGLSLProgramWriter::CustomGLSLProgramWriter()
+-  : Ogre::RTShader::GLSLProgramWriter()
+-{
+-  mGpuConstTypeMap[Ogre::GCT_SAMPLER2DSHADOW] = "sampler2DShadow";
+-}
+-
+-//////////////////////////////////////////////////
+-CustomGLSLProgramWriterFactory::CustomGLSLProgramWriterFactory()
+-{
+-}
+-
+-//////////////////////////////////////////////////
+-const Ogre::String &CustomGLSLProgramWriterFactory::getTargetLanguage() const
+-{
+-  static const Ogre::String targetLanguageGLSL("glsl");
+-  return targetLanguageGLSL;
+-}
+-
+-//////////////////////////////////////////////////
+-Ogre::RTShader::ProgramWriter *CustomGLSLProgramWriterFactory::create()
+-{
+-  return OGRE_NEW CustomGLSLProgramWriter();
+-}
+diff --git a/gazebo/rendering/CustomPSSMShadowCameraSetup.hh b/gazebo/rendering/CustomPSSMShadowCameraSetup.hh
+index 24faabba7f..d36203362d 100644
+--- a/gazebo/rendering/CustomPSSMShadowCameraSetup.hh
++++ b/gazebo/rendering/CustomPSSMShadowCameraSetup.hh
+@@ -123,38 +123,6 @@ namespace gazebo
+           const Ogre::Light *_light, Ogre::Camera *_texCam, size_t _iteration)
+           const override;
+     };
+-
+-    /// \brief This overrides ogre's default GLSLProgramWriter to fix
+-    /// a bug in ogre versions <= 1.8 where 'sampler2DShadow' sampler type
+-    /// is missing
+-    class GAZEBO_VISIBLE CustomGLSLProgramWriter :
+-        public Ogre::RTShader::GLSLProgramWriter
+-    {
+-      /// \brief Constructor
+-      public: CustomGLSLProgramWriter();
+-
+-      /// \brief Destructor
+-      public: ~CustomGLSLProgramWriter() = default;
+-    };
+-
+-    /// \brief A factory to create our own CustomGLSLProgramWriter.
+-    class GAZEBO_VISIBLE CustomGLSLProgramWriterFactory :
+-        public Ogre::RTShader::ProgramWriterFactory
+-    {
+-      /// \brief Constructor
+-      public: CustomGLSLProgramWriterFactory();
+-
+-      /// \brief Destructor
+-      public: ~CustomGLSLProgramWriterFactory() = default;
+-
+-      /// \brief Get shader language supported by this factory
+-      /// \return Language supported - "glsl"
+-      public: const Ogre::String &getTargetLanguage() const override;
+-
+-      /// \brief Creates the GLSLProgramWriter
+-      /// \return Ogre's program writer
+-      public: virtual Ogre::RTShader::ProgramWriter* create() override;
+-    };
+   }
+ }
+
+diff --git a/gazebo/rendering/RTShaderSystem.cc b/gazebo/rendering/RTShaderSystem.cc
+index 72f86bf782..52cf0050ad 100644
+--- a/gazebo/rendering/RTShaderSystem.cc
++++ b/gazebo/rendering/RTShaderSystem.cc
+@@ -40,8 +40,6 @@
+ #include "gazebo/common/Exception.hh"
+ #include "gazebo/common/SystemPaths.hh"
+ #include "gazebo/rendering/ogre_gazebo.h"
+-#include "gazebo/rendering/CustomPSSMShadowCameraSetup.hh"
+-#include "gazebo/rendering/Light.hh"
+ #include "gazebo/rendering/RenderEngine.hh"
+ #include "gazebo/rendering/Scene.hh"
+ #include "gazebo/rendering/Visual.hh"
+@@ -100,13 +98,6 @@ void RTShaderSystem::Init()
+     // Set shader cache path.
+     this->dataPtr->shaderGenerator->setShaderCachePath(cachePath);
+
+-#if OGRE_VERSION_MAJOR >= 1 && OGRE_VERSION_MINOR <= 8
+-    this->dataPtr->programWriterFactory =
+-        OGRE_NEW CustomGLSLProgramWriterFactory();
+-    Ogre::RTShader::ProgramWriterManager::getSingletonPtr()->addFactory(
+-        this->dataPtr->programWriterFactory);
+-#endif
+-
+     this->dataPtr->shaderGenerator->setTargetLanguage("glsl");
+
+     Ogre::RTShader::SubRenderStateFactory* factory =
+@@ -149,10 +140,6 @@ void RTShaderSystem::Fini()
+ #else
+     Ogre::RTShader::ShaderGenerator::destroy();
+ #endif
+-
+-    if (this->dataPtr->programWriterFactory)
+-      delete this->dataPtr->programWriterFactory;
+-
+     this->dataPtr->shaderGenerator = NULL;
+   }
+
+diff --git a/gazebo/rendering/RTShaderSystem.hh b/gazebo/rendering/RTShaderSystem.hh
+index b9227357f9..c66852a389 100644
+--- a/gazebo/rendering/RTShaderSystem.hh
++++ b/gazebo/rendering/RTShaderSystem.hh
+@@ -22,6 +22,7 @@
+ #include <string>
+
+ #include "gazebo/rendering/ogre_gazebo.h"
++#include "gazebo/rendering/CustomPSSMShadowCameraSetup.hh"
+ #include "gazebo/gazebo_config.h"
+
+ #include "gazebo/rendering/Camera.hh"
+diff --git a/gazebo/rendering/RTShaderSystemPrivate.hh b/gazebo/rendering/RTShaderSystemPrivate.hh
+index 15d1b277fa..97bc8656ee 100644
+--- a/gazebo/rendering/RTShaderSystemPrivate.hh
++++ b/gazebo/rendering/RTShaderSystemPrivate.hh
+@@ -22,8 +22,6 @@
+ #include <string>
+ #include <vector>
+
+-#include "gazebo/rendering/CustomPSSMShadowCameraSetup.hh"
+-
+ #include "gazebo/rendering/ogre_gazebo.h"
+ #include "gazebo/gazebo_config.h"
+
+@@ -76,16 +74,6 @@ namespace gazebo
+
+       /// \brief Parallel Split Shadow Map (PSSM) overlap between splits.
+       public: double shadowSplitPadding = 2.0;
+-
+-      /// \brief Custom program writer factory that supports sampler2DShadow,
+-      /// only used in ogre versions <= 1.8
+-      public: CustomGLSLProgramWriterFactory *programWriterFactory = nullptr;
+-
+-      /// \brief Flag to indicate if normal map should be enabled
+-      public: bool enableNormalMap = true;
+-
+-      /// \brief Mutex to protect shaders and shadows update
+-      public: std::mutex updateMutex;
+     };
+   }
+ }
+diff --git a/gazebo/rendering/ogre_gazebo.h b/gazebo/rendering/ogre_gazebo.h
+index a171782c1e..f151b620b9 100644
+--- a/gazebo/rendering/ogre_gazebo.h
++++ b/gazebo/rendering/ogre_gazebo.h
+@@ -66,10 +66,6 @@
+ #if OGRE_VERSION_MAJOR > 1 || OGRE_VERSION_MINOR >= 7
+ #include <OGRE/RTShaderSystem/OgreRTShaderSystem.h>
+ #include <OGRE/RTShaderSystem/OgreShaderProgramSet.h>
+-#include <OGRE/RTShaderSystem/OgreShaderGLSLProgramWriter.h>
+-#include <OGRE/RTShaderSystem/OgreShaderProgramWriterManager.h>
+-#include <OGRE/RTShaderSystem/OgreShaderFunction.h>
+-#include <OGRE/RTShaderSystem/OgreShaderProgram.h>
+ #endif
+
+ #if OGRE_VERSION_MAJOR > 1 || OGRE_VERSION_MINOR >= 9
+diff --git a/media/rtshaderlib/SGXLib_IntegratedPSSM.glsl b/media/rtshaderlib/SGXLib_IntegratedPSSM.glsl
+index 0eb9a5956a..4826e7d6a9 100644
+--- a/media/rtshaderlib/SGXLib_IntegratedPSSM.glsl
++++ b/media/rtshaderlib/SGXLib_IntegratedPSSM.glsl
+@@ -1,71 +1,3 @@
+-/*
+- * Copyright (C) 2017 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.
+- *
+-*/
+-
+-// Code in this file has been adapted from Ogre. The original Ogre's licence and
+-// copyright headers are copied below:
+-
+-/*
+------------------------------------------------------------------------------
+-This source file is part of OGRE
+-(Object-oriented Graphics Rendering Engine)
+-For the latest info, see http://www.ogre3d.org
+-
+-Copyright (c) 2000-2012 Torus Knot Software Ltd
+-Permission is hereby granted, free of charge, to any person obtaining a copy
+-of this software and associated documentation files (the "Software"), to deal
+-in the Software without restriction, including without limitation the rights
+-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+-copies of the Software, and to permit persons to whom the Software is
+-furnished to do so, subject to the following conditions:
+-
+-The above copyright notice and this permission notice shall be included in
+-all copies or substantial portions of the Software.
+-
+-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+-THE SOFTWARE.
+------------------------------------------------------------------------------
+-*/
+-//-----------------------------------------------------------------------------
+-// Program Name: SGXLib_IntegratedPSSM
+-// Program Desc: Integrated PSSM functions.
+-// Program Type: Vertex/Pixel shader
+-// Language: GLSL
+-//-----------------------------------------------------------------------------
+-
+-//-----------------------------------------------------------------------------
+-void SGX_CopyDepth(in vec4 clipSpacePos,
+-			 out float oDepth)
+-{
+-	oDepth = clipSpacePos.z;
+-}
+-
+-//-----------------------------------------------------------------------------
+-void SGX_ModulateScalar(in float vIn0, in vec4 vIn1, out vec4 vOut)
+-{
+-	vOut = vIn0 * vIn1;
+-}
+-
+-//-----------------------------------------------------------------------------
+-void SGX_ApplyShadowFactor_Diffuse(in vec4 ambient,
+ 					  in vec4 lightSum,
+ 					  in float fShadowFactor,
+ 					  out vec4 oLight)
+@@ -75,7 +7,7 @@ void SGX_ApplyShadowFactor_Diffuse(in vec4 ambient,
+ }
+
+ //-----------------------------------------------------------------------------
+-float _SGX_ShadowPoisson9(sampler2DShadow shadowMap, vec4 shadowMapPos, vec2 invShadowMapSize, bool hardwarePCF)
++float _SGX_ShadowPoisson9(sampler2DShadow shadowMap, vec4 shadowMapPos, vec2 invShadowMapSize)
+ {
+   // Remove shadow outside shadow maps so that all that area appears lit
+   //
+@@ -121,19 +53,13 @@ float _SGX_ShadowPoisson9(sampler2DShadow shadowMap, vec4 shadowMapPos, vec2 inv
+     // driver hack.
+     // shadow += shadow2D(shadowMap, newUV.xyz).r;
+     float d = shadow2D(shadowMap, newUV.xyz).r;
+-    if (hardwarePCF)
+-      shadow += d;
+-    else
+-      shadow += step(shadowMapPos.z, d);
++    float minShadowFactor = 0.2;
++    shadow += (step(shadowMapPos.z, d) >= 1.0) ? 1.0 : minShadowFactor;
+   }
+   shadow /= 9.0;
+
+   // smoothstep makes shadow edges appear more crisp and hides Mach bands
+-  float s = smoothstep(0.0, 1.0, shadow);
+-  // make shadow lighter color
+-  float minShadowFactor = 0.2;
+-  s = s * (1.0 - minShadowFactor) + minShadowFactor;
+-  return s;
++  return smoothstep(0.0, 1.0, shadow);
+ }
+
+ //-----------------------------------------------------------------------------
+@@ -150,25 +76,19 @@ void SGX_ComputeShadowFactor_PSSM3(in float fDepth,
+ 							in vec4 invShadowMapSize2,
+ 							out float oShadowFactor)
+ {
+-  // hack! On OSX the shadow map size is halved so we use this as a hint
+-  // that hardware PCF is not enabled.
+-  bool hardwarePCF = false;
+-  if (invShadowMapSize0.x == invShadowMapSize1.x)
+-    hardwarePCF = true;
+-
+   if (fDepth  <= vSplitPoints.x)
+   {
+     oShadowFactor =
+-      _SGX_ShadowPoisson9(shadowMap0, lightPosition0, invShadowMapSize0.xy, hardwarePCF);
++      _SGX_ShadowPoisson9(shadowMap0, lightPosition0, invShadowMapSize0.xy);
+   }
+   else if (fDepth <= vSplitPoints.y)
+   {
+     oShadowFactor =
+-      _SGX_ShadowPoisson9(shadowMap1, lightPosition1, invShadowMapSize1.xy, hardwarePCF);
++      _SGX_ShadowPoisson9(shadowMap1, lightPosition1, invShadowMapSize1.xy);
+   }
+   else
+   {
+     oShadowFactor =
+-      _SGX_ShadowPoisson9(shadowMap2, lightPosition2, invShadowMapSize2.xy, hardwarePCF);
++      _SGX_ShadowPoisson9(shadowMap2, lightPosition2, invShadowMapSize2.xy);
+   }
+ }
+-- 
+2.43.0
+