Fix FOV calculation, projected texture orientation, crash when heighm…

…aps are present

Signed-off-by: Ian Chen <[email protected]>

examples/projector/Main.cc

@@ -30,6 +30,8 @@
 #include <gz/common/Console.hh>
 #include <gz/rendering.hh>
 
+#include <gz/common/geospatial/ImageHeightmap.hh>
+
 #include "example_config.hh"
 #include "GlutWindow.hh"
 
@@ -142,6 +144,51 @@ void buildScene(ScenePtr _scene)
   camera->SetVisibilityMask(0x01);
 
   root->AddChild(camera);
+
+    auto data = std::make_shared<common::ImageHeightmap>();
+    data->Load(common::joinPaths(RESOURCE_PATH, "heightmap_bowl.png"));
+
+    HeightmapDescriptor desc;
+    desc.SetName("example_bowl");
+    desc.SetData(data);
+    desc.SetSize({17, 17, 10});
+    desc.SetSampling(2u);
+    desc.SetUseTerrainPaging(false);
+
+    HeightmapTexture textureA;
+    textureA.SetSize(1.0);
+    textureA.SetDiffuse("../media/dirt_diffusespecular.png");
+    textureA.SetNormal("../media/flat_normal.png");
+    desc.AddTexture(textureA);
+
+    HeightmapBlend blendA;
+    blendA.SetMinHeight(2.0);
+    blendA.SetFadeDistance(5.0);
+    desc.AddBlend(blendA);
+
+    HeightmapTexture textureB;
+    textureB.SetSize(1.0);
+    textureB.SetDiffuse("../media/grass_diffusespecular.png");
+    textureB.SetNormal("../media/flat_normal.png");
+    desc.AddTexture(textureB);
+
+    HeightmapBlend blendB;
+    blendB.SetMinHeight(4.0);
+    blendB.SetFadeDistance(5.0);
+    desc.AddBlend(blendB);
+
+    HeightmapTexture textureC;
+    textureC.SetSize(1.0);
+    textureC.SetDiffuse("../media/fungus_diffusespecular.png");
+    textureC.SetNormal("../media/flat_normal.png");
+    desc.SetPosition({-20, 10, 0});
+    desc.AddTexture(textureC);
+
+    auto heightmapGeom = _scene->CreateHeightmap(desc);
+
+    auto vis = _scene->CreateVisual();
+    vis->AddGeometry(heightmapGeom);
+    root->AddChild(vis);
 }
 
 //////////////////////////////////////////////////

ogre2/src/Ogre2Heightmap.cc

@@ -260,6 +260,9 @@ void Ogre2Heightmap::Init()
 
   Ogre::Hlms *hlmsTerra =
           ogreRoot->getHlmsManager()->getHlms(Ogre::HLMS_USER3);
+  hlmsTerra->setDebugOutputPath(true, false);
+  // hlmsTerra->_setProperty(Ogre::HlmsBaseProp::EnableDecals, 0);
+  // hlmsTerra->_setProperty(Ogre::HlmsBaseProp::DecalsDiffuse, 1);
 
   GZ_ASSERT(dynamic_cast<Ogre::HlmsTerra*>(hlmsTerra),
              "HlmsTerra incorrectly setup, memory corrupted, or "

ogre2/src/Ogre2Projector.cc

@@ -110,15 +110,16 @@ Ogre2Projector::Ogre2Projector()
 /////////////////////////////////////////////////
 Ogre2Projector::~Ogre2Projector()
 {
-  this->SetEnabled(false);
-
   if (!this->scene->IsInitialized())
     return;
 
+  this->SetEnabled(false);
+
   for (const auto &ogreCamIt : this->dataPtr->camerasWithListener)
   {
     Ogre::IdString camName = ogreCamIt.second;
     auto ogreCam = this->scene->OgreSceneManager()->findCameraNoThrow(camName);
+    if (ogreCam)
       ogreCam->removeListener(this->dataPtr->listener.get());
   }
   this->dataPtr->camerasWithListener.clear();
@@ -230,6 +231,7 @@ void Ogre2Projector::CreateProjector()
 {
   this->dataPtr->decalNode = this->ogreNode->createChildSceneNode();
   this->dataPtr->decalNode->roll(Ogre::Degree(90));
+  this->dataPtr->decalNode->yaw(Ogre::Degree(180));
 
   this->dataPtr->decal = this->scene->OgreSceneManager()->createDecal();
   this->dataPtr->decalNode->attachObject(this->dataPtr->decal);
@@ -275,7 +277,8 @@ void Ogre2Projector::CreateProjector()
 
   // approximate frustum size
   common::Image image(this->textureName);
-  const double aspectRatio = image.Width() / image.Height();
+  const double aspectRatio = static_cast<double>(image.Width()) /
+                             static_cast<double>(image.Height());
   const double vfov = 2.0 * atan(tan(this->hfov.Radian() / 2.0)
       / aspectRatio);
 

ogre2/src/media/Hlms/Terra/GLSL/PixelShader_ps.glsl

@@ -108,7 +108,28 @@ vulkan( layout( ogre_s@value(terrainNormals) )	uniform sampler samplerStateTerra
 	@insertpiece( DeclParallaxLocalCorrect )
 @end
 
-@insertpiece( DeclDecalsSamplers )
+// The DeclDecalsSamplers insertpiece does not seem to do anything.
+// The contents from DeclDecalsSamplers are manually pasted below
+// This prevents a crash when there are decals in the scene
+// @insertpiece( DeclDecalsSamplers )
+@property( hlms_forwardplus )
+@property( hlms_enable_decals )
+	@piece( DeclDecalsSamplers )
+		@property( syntax == glslvk )
+			layout( ogre_s@value(decalsSampler) ) uniform sampler decalsSampler;
+		@end
+		@property( hlms_decals_diffuse ) vulkan_layout( ogre_t@value(decalsDiffuseTex) ) uniform texture2DArray decalsDiffuseTex;@end
+		@property( hlms_decals_normals )vulkan_layout( ogre_t@value(decalsNormalsTex) ) uniform texture2DArray decalsNormalsTex;@end
+		@property( hlms_decals_diffuse == hlms_decals_emissive )
+			#define decalsEmissiveTex decalsDiffuseTex
+		@end
+		@property( hlms_decals_emissive && hlms_decals_diffuse != hlms_decals_emissive )
+			vulkan_layout( ogre_t@value(decalsEmissiveTex) ) uniform texture2DArray decalsEmissiveTex;
+		@end
+	@end
+@end
+@end
+
 
 @insertpiece( DeclShadowMapMacros )
 @insertpiece( DeclShadowSamplers )

ogre2/src/media/Hlms/Terra/gz/500.gz_Structs_piece_all.any

@@ -8,4 +8,7 @@
 
 @piece( custom_VStoPS_terra )
 	INTERPOLANT( float localHeight, @counter(texcoord) );
+
+  // added to prevent crash when decals are in the scene
+	INTERPOLANT( float3 normal, @counter(texcoord) );
 @end

test/integration/projector.cc

@@ -20,8 +20,10 @@
 #include "CommonRenderingTest.hh"
 
 #include <gz/common/Image.hh>
+#include <gz/common/geospatial/ImageHeightmap.hh>
 
 #include "gz/rendering/Camera.hh"
+#include "gz/rendering/Heightmap.hh"
 #include "gz/rendering/Material.hh"
 #include "gz/rendering/Projector.hh"
 #include "gz/rendering/Scene.hh"
@@ -47,11 +49,6 @@ TEST_F(ProjectorTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Visibility))
   ScenePtr scene = engine->CreateScene("scene");
   ASSERT_NE(nullptr, scene);
 
-  // Projector and can only be accessed by the scene extension API
-  // in gz-rendering7
-  if (!scene->Extension())
-    return;
-
   scene->SetBackgroundColor(0, 0, 0);
   scene->SetAmbientLight(1, 1, 1);
 
@@ -152,11 +149,9 @@ TEST_F(ProjectorTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Visibility))
 
   common::Image imgA;
   imgA.SetFromData(dataA, width, height, common::Image::RGB_INT8);
-  imgA.SavePNG("imageA.png");
 
   common::Image imgB;
   imgB.SetFromData(dataB, width, height, common::Image::RGB_INT8);
-  imgB.SavePNG("imageB.png");
 
   for (unsigned int i = 0; i < height; ++i)
   {
@@ -184,3 +179,101 @@ TEST_F(ProjectorTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Visibility))
   // Clean up
   engine->DestroyScene(scene);
 }
+
+/////////////////////////////////////////////////
+TEST_F(ProjectorTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Heightmap))
+{
+  // This test checks that projectors and heightmaps can co-exist
+  ScenePtr scene = engine->CreateScene("scene");
+  ASSERT_NE(nullptr, scene);
+
+  scene->SetBackgroundColor(0, 0, 0);
+  scene->SetAmbientLight(1, 1, 1);
+
+  VisualPtr root = scene->RootVisual();
+  ASSERT_NE(nullptr, root);
+
+  DirectionalLightPtr light0 = scene->CreateDirectionalLight();
+  light0->SetDirection(0.0, 0.0, -1);
+  light0->SetDiffuseColor(1.0, 1.0, 1.0);
+  light0->SetSpecularColor(1.0, 1.0, 1.0);
+  root->AddChild(light0);
+
+  CameraPtr cameraA = scene->CreateCamera();
+  ASSERT_NE(nullptr, cameraA);
+  cameraA->SetWorldPosition(0, 0, -2);
+  cameraA->SetWorldRotation(0, GZ_PI / 2.0, 0);
+  cameraA->SetVisibilityMask(0x01);
+  cameraA->SetImageWidth(256);
+  cameraA->SetImageHeight(256);
+  root->AddChild(cameraA);
+
+  // create projectors with different visibility flags
+   std::string textureRed = common::joinPaths(
+       TEST_MEDIA_PATH, "materials", "textures",
+       "red_texture.png");
+  ProjectorPtr projectorA = scene->CreateProjector();
+  ASSERT_NE(nullptr, projectorA);
+  projectorA->SetNearClipPlane(1.0);
+  projectorA->SetFarClipPlane(6.0);
+  projectorA->SetTexture(textureRed);
+  projectorA->SetVisibilityFlags(0x01);
+  projectorA->SetWorldRotation(0, GZ_PI / 2.0, 0);
+  root->AddChild(projectorA);
+
+  // create ImageHeightmap
+  auto data = std::make_shared<common::ImageHeightmap>();
+  data->Load(common::joinPaths(TEST_MEDIA_PATH, "heightmap_bowl.png"));
+
+  HeightmapDescriptor desc;
+  desc.SetName("example_bowl");
+  desc.SetData(data);
+  desc.SetSize({ 17, 17, 7.0 });
+  desc.SetSampling(2u);
+  desc.SetUseTerrainPaging(false);
+
+  const auto textureImage =
+    common::joinPaths(TEST_MEDIA_PATH, "materials", "textures", "texture.png");
+  const auto normalImage = common::joinPaths(TEST_MEDIA_PATH, "materials",
+                                             "textures", "flat_normal.png");
+
+  HeightmapTexture textureA;
+  textureA.SetSize(1.0);
+  textureA.SetDiffuse(textureImage);
+  textureA.SetNormal(normalImage);
+  desc.AddTexture(textureA);
+
+  HeightmapBlend blendA;
+  blendA.SetMinHeight(2.0);
+  blendA.SetFadeDistance(5.0);
+  desc.AddBlend(blendA);
+
+  HeightmapTexture textureB;
+  textureB.SetSize(1.0);
+  textureB.SetDiffuse(textureImage);
+  textureB.SetNormal(normalImage);
+  desc.AddTexture(textureB);
+
+  HeightmapBlend blendB;
+  blendB.SetMinHeight(4.0);
+  blendB.SetFadeDistance(5.0);
+  desc.AddBlend(blendB);
+
+  HeightmapTexture textureC;
+  textureC.SetSize(1.0);
+  textureC.SetDiffuse(textureImage);
+  textureC.SetNormal(normalImage);
+  desc.AddTexture(textureC);
+  auto heightmapGeom = scene->CreateHeightmap(desc);
+  auto vis = scene->CreateVisual();
+  vis->AddGeometry(heightmapGeom);
+  root->AddChild(vis);
+
+  // render once to update scene graph and make sure
+  // there are no crashes
+  Image imageA = cameraA->CreateImage();
+  EXPECT_NO_THROW(cameraA->Capture(imageA));
+
+  // Clean up
+  engine->DestroyScene(scene);
+}