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]>

Author: darksylinc

ogre2/include/ignition/rendering/ogre2/Ogre2RenderEngine.hh

@@ -49,6 +49,7 @@ namespace ignition
     //
     // forward declaration
     class Ogre2RenderEnginePrivate;
+    class Ogre2IgnHlmsCustomizations;
 
     /// \brief Plugin for loading ogre render engine
     class IGNITION_RENDERING_OGRE2_VISIBLE Ogre2RenderEnginePlugin :
@@ -170,6 +171,9 @@ namespace ignition
       /// \return a list of FSAA levels
       public: std::vector<unsigned int> FSAALevels() const;
 
+      /// \brief Retrieves Hlms customizations for tweaking them
+      public: Ogre2IgnHlmsCustomizations& HlmsCustomizations();
+
       /// \internal
       /// \brief Get a pointer to the Ogre overlay system.
       /// \return Pointer to the ogre overlay system.

ogre2/src/Ogre2GpuRays.cc

@@ -33,6 +33,7 @@
 #include "ignition/rendering/ogre2/Ogre2Sensor.hh"
 #include "ignition/rendering/ogre2/Ogre2Visual.hh"
 
+#include "Ogre2IgnHlmsCustomizations.hh"
 #include "Ogre2ParticleNoiseListener.hh"
 
 #ifdef _MSC_VER
@@ -212,6 +213,16 @@ Ogre2LaserRetroMaterialSwitcher::Ogre2LaserRetroMaterialSwitcher(
 void Ogre2LaserRetroMaterialSwitcher::cameraPreRenderScene(
     Ogre::Camera * /*_cam*/)
 {
+  {
+    auto engine = Ogre2RenderEngine::Instance();
+    Ogre2IgnHlmsCustomizations &hlmsCustomizations =
+        engine->HlmsCustomizations();
+    Ogre::Pass *pass =
+        this->laserRetroSourceMaterial->getBestTechnique()->getPass(0u);
+    pass->getVertexProgramParameters()->setNamedConstant(
+          "ignMinClipDistance", hlmsCustomizations.minDistanceClip );
+  }
+
   // swap item to use v1 shader material
   // Note: keep an eye out for performance impact on switching materials
   // on the fly. We are not doing this often so should be ok.
@@ -308,6 +319,11 @@ void Ogre2LaserRetroMaterialSwitcher::cameraPostRenderScene(
     Ogre::SubItem *subItem = it.first;
     subItem->setDatablock(it.second);
   }
+
+  Ogre::Pass *pass =
+      this->laserRetroSourceMaterial->getBestTechnique()->getPass(0u);
+  pass->getVertexProgramParameters()->setNamedConstant(
+        "ignMinClipDistance", 0.0f );
 }
 
 
@@ -1237,8 +1253,15 @@ void Ogre2GpuRays::Render()
 {
   this->scene->StartRendering();
 
+  auto engine = Ogre2RenderEngine::Instance();
+  Ogre2IgnHlmsCustomizations &hlmsCustomizations =
+      engine->HlmsCustomizations();
+
+  hlmsCustomizations.minDistanceClip =
+      static_cast<float>(this->NearClipPlane());
   this->UpdateRenderTarget1stPass();
   this->UpdateRenderTarget2ndPass();
+  hlmsCustomizations.minDistanceClip = -1;
 
   this->scene->FlushGpuCommandsAndStartNewFrame(6u, false);
 }

ogre2/src/Ogre2IgnHlmsCustomizations.cc

@@ -0,0 +1,121 @@
+/*
+ * 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.
+ *
+*/
+
+#include "Ogre2IgnHlmsCustomizations.hh"
+
+#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
+
+using namespace ignition;
+using namespace rendering;
+
+//////////////////////////////////////////////////
+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 );
+
+    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 );
+      }
+    }
+  }
+}
+
+//////////////////////////////////////////////////
+Ogre::uint32 Ogre2IgnHlmsCustomizations::getPassBufferSize(
+    const Ogre::CompositorShadowNode */*_shadowNode*/,
+    bool _casterPass, bool /*_dualParaboloid*/,
+    Ogre::SceneManager */*_sceneManager*/) const
+{
+  if (_casterPass || !this->MinDistanceClipEnabled())
+    return 0u;
+
+  Ogre::uint32 bufferSize = sizeof(float) * 4u;
+  if (this->needsWorldPos)
+    bufferSize += sizeof(float) * 16u;
+
+  return bufferSize;
+}
+
+//////////////////////////////////////////////////
+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();
+
+    // float4 ignMinClipDistance_ignCameraPos
+    *_passBufferPtr++ = this->minDistanceClip;
+    *_passBufferPtr++ = camPos.x;
+    *_passBufferPtr++ = camPos.y;
+    *_passBufferPtr++ = camPos.z;
+
+    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];
+      }
+
+      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;
+}

ogre2/src/Ogre2IgnHlmsCustomizations.hh

@@ -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.
+ *
+*/
+
+#ifndef IGNITION_RENDERING_OGRE2_OGRE2IGNHLMSCUSTOMIZATIONS_HH_
+#define IGNITION_RENDERING_OGRE2_OGRE2IGNHLMSCUSTOMIZATIONS_HH_
+
+#include "ignition/rendering/config.hh"
+#include "ignition/rendering/ogre2/Export.hh"
+
+#ifdef _MSC_VER
+  #pragma warning(push, 0)
+#endif
+#include <OgreHlmsListener.h>
+#ifdef _MSC_VER
+  #pragma warning(pop)
+#endif
+
+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;
+
+      /// \brief
+      /// \return Returns true if spherical clipping customizations should
+      /// be active
+      public: bool MinDistanceClipEnabled() const
+      {
+        return this->minDistanceClip >= 0.0f;
+      }
+
+      /// \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;
+
+      /// \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;
+
+      /// \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;
+
+      /// \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;
+
+      /// \brief When true, we're currently dealing with HlmsUnlit
+      /// where we need to define and calculate `float3 worldPos`
+      /// \internal
+      private: bool needsWorldPos = false;
+    };
+    }
+  }
+}
+#endif

ogre2/src/Ogre2RenderEngine.cc

@@ -41,6 +41,7 @@
 #include "ignition/rendering/ogre2/Ogre2Scene.hh"
 #include "ignition/rendering/ogre2/Ogre2Storage.hh"
 
+#include "Ogre2IgnHlmsCustomizations.hh"
 
 class ignition::rendering::Ogre2RenderEnginePrivate
 {
@@ -50,6 +51,9 @@ class ignition::rendering::Ogre2RenderEnginePrivate
 
   /// \brief A list of supported fsaa levels
   public: std::vector<unsigned int> fsaaLevels;
+
+  /// \brief Controls Hlms customizations for both PBS and Unlit
+  public: ignition::rendering::Ogre2IgnHlmsCustomizations hlmsCustomizations;
 };
 
 using namespace ignition;
@@ -659,6 +663,10 @@ void Ogre2RenderEngine::RegisterHlms()
 
   Ogre::ArchiveManager &archiveManager = Ogre::ArchiveManager::getSingleton();
 
+  Ogre::Archive *customizationsArchiveLibrary =
+      archiveManager.load( rootHlmsFolder + "Hlms/Ignition", "FileSystem",
+                           true );
+
   {
     Ogre::HlmsUnlit *hlmsUnlit = 0;
     // Create & Register HlmsUnlit
@@ -678,13 +686,16 @@ void Ogre2RenderEngine::RegisterHlms()
       ++libraryFolderPathIt;
     }
 
+    archiveUnlitLibraryFolders.push_back( customizationsArchiveLibrary );
+
     // Create and register the unlit Hlms
     hlmsUnlit = OGRE_NEW Ogre::HlmsUnlit(archiveUnlit,
         &archiveUnlitLibraryFolders);
     Ogre::Root::getSingleton().getHlmsManager()->registerHlms(hlmsUnlit);
 
     // disable writting debug output to disk
     hlmsUnlit->setDebugOutputPath(false, false);
+    hlmsUnlit->setListener(&this->dataPtr->hlmsCustomizations);
   }
 
   {
@@ -708,12 +719,15 @@ void Ogre2RenderEngine::RegisterHlms()
       ++libraryFolderPathIt;
     }
 
+    archivePbsLibraryFolders.push_back( customizationsArchiveLibrary );
+
     // Create and register
     hlmsPbs = OGRE_NEW Ogre::HlmsPbs(archivePbs, &archivePbsLibraryFolders);
     Ogre::Root::getSingleton().getHlmsManager()->registerHlms(hlmsPbs);
 
     // disable writting debug output to disk
     hlmsPbs->setDebugOutputPath(false, false);
+    hlmsPbs->setListener(&this->dataPtr->hlmsCustomizations);
   }
 }
 
@@ -873,6 +887,12 @@ std::vector<unsigned int> Ogre2RenderEngine::FSAALevels() const
   return this->dataPtr->fsaaLevels;
 }
 
+/////////////////////////////////////////////////
+Ogre2IgnHlmsCustomizations& Ogre2RenderEngine::HlmsCustomizations()
+{
+  return this->dataPtr->hlmsCustomizations;
+}
+
 /////////////////////////////////////////////////
 Ogre::v1::OverlaySystem *Ogre2RenderEngine::OverlaySystem() const
 {

ogre2/src/media/Hlms/Ignition/IgnCustomStructs_piece_all.any

@@ -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;
+
+		@property( ign_spherical_clip_needs_worldPos )
+			float4x4 invViewProj;
+		@end
+	@end
+@end