Merge pull request #964 from gazebosim/port/8_to_main

port: 8 to 9
gazebosim · Jan 23, 2024 · 9902506 · 9902506
2 parents 6cc16a0 + e77e044
commit 9902506
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diff --git a/README.md b/README.md
@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-rendering/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-rendering/branch/default)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-rendering/tree/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-rendering/tree/main)
 Ubuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_rendering-ci-main-jammy-amd64)](https://build.osrfoundation.org/job/gz_rendering-ci-main-jammy-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_rendering-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_rendering-ci-win/)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_rendering-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/gz_rendering-ci-main-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/gz_rendering-main-win/badge/icon)](https://build.osrfoundation.org/job/gz_rendering-main-win/)
 
 Gazebo Rendering is a C++ library designed to provide an abstraction
 for different rendering engines. It offers unified APIs for creating

diff --git a/examples/actor_animation/Main.cc b/examples/actor_animation/Main.cc
@@ -188,7 +188,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/boundingbox_camera/Main.cc b/examples/boundingbox_camera/Main.cc
@@ -217,10 +217,11 @@ void buildScene(ScenePtr _scene, BoundingBoxType _type)
 
 //////////////////////////////////////////////////
 std::vector<CameraPtr> createCameras(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params,
     BoundingBoxType _type)
 {
   // create and populate scene
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     gzwarn << "Engine '" << _engineName
@@ -271,6 +272,12 @@ int main(int _argc, char** _argv)
     }
   }
 
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
   common::Console::SetVerbosity(4);
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
@@ -281,7 +288,14 @@ int main(int _argc, char** _argv)
   {
     try
     {
-      cameras = createCameras(engineName, bboxType);
+      std::map<std::string, std::string> params;
+      if (engineName.compare("ogre2") == 0
+          && graphicsApi == GraphicsAPI::METAL)
+      {
+        params["metal"] = "1";
+      }
+
+      cameras = createCameras(engineName, params, bboxType);
     }
     catch (...)
     {

diff --git a/examples/camera_tracking/Main.cc b/examples/camera_tracking/Main.cc
@@ -127,7 +127,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/custom_scene_viewer/ManualSceneDemo.cc b/examples/custom_scene_viewer/ManualSceneDemo.cc
@@ -192,7 +192,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/custom_shaders_uniforms/Main.cc b/examples/custom_shaders_uniforms/Main.cc
@@ -167,7 +167,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/depth_camera/Main.cc b/examples/depth_camera/Main.cc
@@ -115,7 +115,7 @@ void buildScene(ScenePtr _scene)
   camera->SetImageFormat(PixelFormat::PF_FLOAT32_RGBA);
   camera->SetNearClipPlane(0.15);
   camera->SetFarClipPlane(10.0);
-  camera->SetAntiAliasing(2);  
+  camera->SetAntiAliasing(2);
   camera->CreateDepthTexture();
 
   root->AddChild(camera);
@@ -154,7 +154,7 @@ int main(int _argc, char** _argv)
     engineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/heightmap/Main.cc b/examples/heightmap/Main.cc
@@ -324,7 +324,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2 && buildDemScene != 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/lidar_visual/Main.cc b/examples/lidar_visual/Main.cc
@@ -272,7 +272,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/mesh_viewer/Main.cc b/examples/mesh_viewer/Main.cc
@@ -142,7 +142,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/mouse_picking/Main.cc b/examples/mouse_picking/Main.cc
@@ -135,7 +135,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/ogre2_demo/Main.cc b/examples/ogre2_demo/Main.cc
@@ -317,7 +317,7 @@ int main(int _argc, char** _argv)
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/particles_demo/Main.cc b/examples/particles_demo/Main.cc
@@ -168,7 +168,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/projector/Main.cc b/examples/projector/Main.cc
@@ -177,7 +177,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/render_pass/Main.cc b/examples/render_pass/Main.cc
@@ -198,7 +198,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/segmentation_camera/Main.cc b/examples/segmentation_camera/Main.cc
@@ -150,7 +150,7 @@ int main(int _argc, char** _argv)
     engineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/simple_demo/Main.cc b/examples/simple_demo/Main.cc
@@ -218,7 +218,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/simple_demo_qml/ThreadRenderer.cpp b/examples/simple_demo_qml/ThreadRenderer.cpp
@@ -129,7 +129,7 @@ void RenderThread::Print(const QSurfaceFormat &_format)
             return "CompatibilityProfile";
         default:
             return "Invalid OpenGLContextProfile";
-        } 
+        }
     };
 
     auto renderableTypeToString = [] (QSurfaceFormat::RenderableType _value) -> std::string
@@ -146,7 +146,7 @@ void RenderThread::Print(const QSurfaceFormat &_format)
             return "OpenVG";
         default:
             return "Invalid RenderableType";
-        } 
+        }
     };
 
     auto swapBehaviorToString = [] (QSurfaceFormat::SwapBehavior _value) -> std::string
@@ -161,7 +161,7 @@ void RenderThread::Print(const QSurfaceFormat &_format)
             return "DoubleBuffer";
         default:
             return "Invalid SwapBehavior";
-        } 
+        }
     };
 
     // surface format info
@@ -200,7 +200,7 @@ QSurfaceFormat RenderThread::CreateSurfaceFormat()
     format.setProfile(QSurfaceFormat::CoreProfile);
     format.setRenderableType(QSurfaceFormat::OpenGL);
 
-    return format;    
+    return format;
 }
 
 //--------------------------------------------------------------------------
@@ -272,8 +272,25 @@ TextureNode::TextureNode(QQuickWindow *_window)
     , window(_window)
 {
     // Our texture node must have a texture, so use the default 0 texture.
-    // createTextureFromNativeObject()
+#if QT_VERSION < QT_VERSION_CHECK(5, 14, 0)
+# ifndef _WIN32
+#   pragma GCC diagnostic push
+#   pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+# endif
     this->texture = this->window->createTextureFromId(0, QSize(1, 1));
+# ifndef _WIN32
+#   pragma GCC diagnostic pop
+# endif
+#else
+    int texId = 0;
+    this->texture =
+        this->window->createTextureFromNativeObject(
+            QQuickWindow::NativeObjectTexture,
+            static_cast<void *>(&texId),
+            0,
+            QSize(1, 1));
+#endif
+
     this->setTexture(this->texture);
     this->setFiltering(QSGTexture::Linear);
 }
@@ -314,8 +331,23 @@ void TextureNode::PrepareNode()
         this->texture = nullptr;
         // note: include QQuickWindow::TextureHasAlphaChannel if the rendered content
         // has alpha.
-        // createTextureFromNativeObject
+#if QT_VERSION < QT_VERSION_CHECK(5, 14, 0)
+# ifndef _WIN32
+#   pragma GCC diagnostic push
+#   pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+# endif
         this->texture = this->window->createTextureFromId(newId, size);
+# ifndef _WIN32
+#   pragma GCC diagnostic pop
+# endif
+#else
+        this->texture =
+            this->window->createTextureFromNativeObject(
+                QQuickWindow::NativeObjectTexture,
+                static_cast<void *>(&newId),
+                0,
+                size);
+#endif
         this->setTexture(this->texture);
 
         this->markDirty(DirtyMaterial);
@@ -342,7 +374,7 @@ void ThreadRenderer::Ready()
     this->renderThread->surface->setFormat(this->renderThread->context->format());
     this->renderThread->surface->create();
 
-    // carry out any initialisation before moving to thread 
+    // carry out any initialisation before moving to thread
     this->renderThread->InitialiseOnMainThread();
 
     // Move to Render thread

diff --git a/examples/thermal_camera/Main.cc b/examples/thermal_camera/Main.cc
@@ -138,7 +138,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/transform_control/Main.cc b/examples/transform_control/Main.cc
@@ -121,7 +121,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/view_control/Main.cc b/examples/view_control/Main.cc
@@ -167,7 +167,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/visualization_demo/Main.cc b/examples/visualization_demo/Main.cc
@@ -248,7 +248,7 @@ int main(int _argc, char** _argv)
     engine = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/waves/Main.cc b/examples/waves/Main.cc
@@ -164,7 +164,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

diff --git a/examples/wide_angle_camera/Main.cc b/examples/wide_angle_camera/Main.cc
@@ -137,10 +137,11 @@ void buildScene(ScenePtr _scene)
 }
 
 //////////////////////////////////////////////////
-CameraPtr createCamera(const std::string &_engineName)
+CameraPtr createCamera(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params)
 {
   // create and populate scene
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     gzwarn << "Engine '" << _engineName
@@ -168,6 +169,12 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
   common::Console::SetVerbosity(4);
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
@@ -178,7 +185,14 @@ int main(int _argc, char** _argv)
   {
     try
     {
-      CameraPtr camera = createCamera(engineName);
+      std::map<std::string, std::string> params;
+      if (engineName.compare("ogre2") == 0
+          && graphicsApi == GraphicsAPI::METAL)
+      {
+        params["metal"] = "1";
+      }
+
+      CameraPtr camera = createCamera(engineName, params);
       if (camera)
       {
         cameras.push_back(camera);