Merge from gz-rendering8

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

.github/workflows/package_xml.yml

@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy

CMakeLists.txt

@@ -171,6 +171,11 @@ set(GZ_RENDERING_ENGINE_INSTALL_DIR
 if(NOT MSVC)
   #--------------------------------------
   # Find CUDA
+  # Module is being removed in CMake and needs a non trivial
+  # migration https://cmake.org/cmake/help/latest/policy/CMP0146.html
+  if(POLICY CMP0146)
+    cmake_policy(SET CMP0146 OLD)
+  endif()
   find_package(CUDA)
 
   #--------------------------------------

Changelog.md

@@ -6,6 +6,73 @@
 
 ### Gazebo Rendering 8.X
 
+### Gazebo Rendering 8.1.1 (2024-04-10)
+
+1. Use relative install paths for plugin shared libraries and media files
+    * [Pull request #984](https://github.com/gazebosim/gz-rendering/pull/984)
+
+1. Handle null mesh pointers in examples
+    * [Pull request #982](https://github.com/gazebosim/gz-rendering/pull/982)
+
+### Gazebo Rendering 8.1.0 (2024-03-14)
+
+1. Fix setting normal map when not all submeshes have texcoords (ogre2)
+    * [Pull request #976](https://github.com/gazebosim/gz-rendering/pull/976)
+
+1. Update ogre2 symbol visibility macro in private classes
+    * [Pull request #972](https://github.com/gazebosim/gz-rendering/pull/972)
+
+1. Improve Ogre2DepthCamera  performance
+    * [Pull request #971](https://github.com/gazebosim/gz-rendering/pull/971)
+    * [Pull request #965](https://github.com/gazebosim/gz-rendering/pull/965)
+
+1. Fix repeatedly loading engine when calling sceneFromFirstEngine
+    * [Pull request #961](https://github.com/gazebosim/gz-rendering/pull/961)
+
+1. Improve Ogre2GpuRays performance
+    * [Pull request #955](https://github.com/gazebosim/gz-rendering/pull/955)
+    * [Pull request #973](https://github.com/gazebosim/gz-rendering/pull/973)
+
+1. Correctly set position-independent code
+    * [Pull request #950](https://github.com/gazebosim/gz-rendering/pull/950)
+
+1. Remove todo in gpu ray test
+    * [Pull request #949](https://github.com/gazebosim/gz-rendering/pull/949)
+
+1. Update CI badges to point to release branch job
+    * [Pull request #948](https://github.com/gazebosim/gz-rendering/pull/948)
+    * [Pull request #947](https://github.com/gazebosim/gz-rendering/pull/947)
+
+1. Set projector emissive texture
+    * [Pull request #946](https://github.com/gazebosim/gz-rendering/pull/946)
+
+1. Add minor comments to BaseGizmoVisual
+    * [Pull request #881](https://github.com/gazebosim/gz-rendering/pull/881)
+
+1. Update examples to use metal as default graphics API on mac
+    * [Pull request #937](https://github.com/gazebosim/gz-rendering/pull/937)
+
+1. Extend ogre 1.x custom shaders support
+    * [Pull request #908](https://github.com/gazebosim/gz-rendering/pull/908)
+
+1. Support skybox in wide angle cam view
+    * [Pull request #901](https://github.com/gazebosim/gz-rendering/pull/901)
+
+1. Minor fix for projector visibility flags
+    * [Pull request #920](https://github.com/gazebosim/gz-rendering/pull/920)
+
+1. Fix use of srgb format for texture map data
+    * [Pull request #931](https://github.com/gazebosim/gz-rendering/pull/931)
+
+1. Infrastructure
+    * [Pull request #925](https://github.com/gazebosim/gz-rendering/pull/925)
+    * [Pull request #939](https://github.com/gazebosim/gz-rendering/pull/939)
+    * [Pull request #940](https://github.com/gazebosim/gz-rendering/pull/940)
+    * [Pull request #967](https://github.com/gazebosim/gz-rendering/pull/967)
+
+1. Fix float comparison warnings in test
+    * [Pull request #929](https://github.com/gazebosim/gz-rendering/pull/929)
+
 ### Gazebo Rendering 8.0.0 (2023-09-29)
 
 1. Remove gazebo scene viewer example

doc/CMakeLists.txt

@@ -31,5 +31,5 @@ if (DOXYGEN_FOUND)
     COMMENT "Generating API documentation with Doxygen" VERBATIM)
 
   install(FILES ${CMAKE_BINARY_DIR}/doc/${PROJECT_NAME_LOWER}.tag.xml
-    DESTINATION ${CMAKE_INSTALL_PREFIX}/share/gz/${PROJECT_NAME_LOWER}_${PROJECT_VERSION_MINOR})
+    DESTINATION share/gz/${PROJECT_NAME_LOWER}_${PROJECT_VERSION_MINOR})
 endif()

examples/actor_animation/Main.cc

@@ -69,6 +69,12 @@ void buildScene(ScenePtr _scene, std::vector<VisualPtr> &_visuals,
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
   //! [load mesh]
+  if (!descriptor.mesh)
+  {
+    gzerr << "Failed to load mesh: " << descriptor.meshName << std::endl;
+    // Do not launch example if actor mesh is not found.
+    return;
+  }
 
   // add bvh animation
   //! [add animation]

examples/boundingbox_camera/Main.cc

@@ -53,18 +53,26 @@ VisualPtr createDuck(ScenePtr _scene,
   n_ducks++;
 
   // create a mesh
-  VisualPtr mesh = _scene->CreateVisual(
-    "duck" + std::to_string(n_ducks));
-  mesh->SetLocalPosition(_position);
-  mesh->SetLocalRotation(_rotation);
+  VisualPtr mesh;
   MeshDescriptor descriptor;
   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "duck.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  mesh->SetMaterial(_material);
-  mesh->SetUserData("label", 5);
+  if (descriptor.mesh)
+  {
+    mesh = _scene->CreateVisual(
+      "duck" + std::to_string(n_ducks));
+    mesh->SetLocalPosition(_position);
+    mesh->SetLocalRotation(_rotation);
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    mesh->SetMaterial(_material);
+    mesh->SetUserData("label", 5);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 
   return mesh;
 }
@@ -168,7 +176,8 @@ void buildScene(ScenePtr _scene, BoundingBoxType _type)
 
   // create a mesh
   auto duck = createDuck(_scene, math::Vector3d(5, 0, 0), skyBlue);
-  root->AddChild(duck);
+  if (duck)
+    root->AddChild(duck);
 
   // create a sphere1
   auto sphere1 = createSphere(_scene, math::Vector3d(3, -1.5, 0), green);

examples/depth_camera/Main.cc

@@ -57,17 +57,24 @@ void buildScene(ScenePtr _scene)
   root->AddChild(plane);
 
   // create a mesh
-  VisualPtr mesh = _scene->CreateVisual();
-  mesh->SetLocalPosition(3, 0, 0);
-  mesh->SetLocalRotation(1.5708, 0, 2.0);
   MeshDescriptor descriptor;
   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "duck.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  mesh->SetUserData("label", 5);
-  root->AddChild(mesh);
+  if (descriptor.mesh)
+  {
+    VisualPtr mesh = _scene->CreateVisual();
+    mesh->SetLocalPosition(3, 0, 0);
+    mesh->SetLocalRotation(1.5708, 0, 2.0);
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    mesh->SetUserData("label", 5);
+    root->AddChild(mesh);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 
   // create a box
   VisualPtr box = _scene->CreateVisual("box");

examples/global_illumination/Main.cc

@@ -70,18 +70,25 @@ void buildScene(ScenePtr _scene)
   matPBR->SetEnvironmentMap(environmentMap);
 
   // create mesh for PBR
-  VisualPtr meshPBR = _scene->CreateVisual("pump");
-  meshPBR->SetLocalPosition(2, 0.0, -0.3);
-  meshPBR->SetLocalRotation(0, 0, 0);
   MeshDescriptor descriptorPBR;
   descriptorPBR.meshName = common::joinPaths(RESOURCE_PATH, "pump.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptorPBR.mesh = meshManager->Load(descriptorPBR.meshName);
-  MeshPtr meshPBRGeom = _scene->CreateMesh(descriptorPBR);
-  meshPBRGeom->SetMaterial(matPBR);
-  meshPBR->AddGeometry(meshPBRGeom);
-  meshPBR->SetStatic(true);
-  root->AddChild(meshPBR);
+  if (descriptorPBR.mesh)
+  {
+    VisualPtr meshPBR = _scene->CreateVisual("pump");
+    meshPBR->SetLocalPosition(2, 0.0, -0.3);
+    meshPBR->SetLocalRotation(0, 0, 0);
+    MeshPtr meshPBRGeom = _scene->CreateMesh(descriptorPBR);
+    meshPBRGeom->SetMaterial(matPBR);
+    meshPBR->AddGeometry(meshPBRGeom);
+    meshPBR->SetStatic(true);
+    root->AddChild(meshPBR);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptorPBR.meshName << std::endl;
+  }
 
   // create green material
   MaterialPtr green = _scene->CreateMaterial();

examples/lux_core_engine/Main.cc

@@ -123,19 +123,25 @@ void buildScene(ScenePtr _scene)
   box2->SetMaterial(boxMaterial2);
 
   // Duck Scene
-  MaterialPtr matte = _scene->CreateMaterial();
-  matte->SetDiffuse(1.0, 0.0, 0.0);
-
-  VisualPtr mesh = _scene->CreateVisual();
   MeshDescriptor descriptor;
   descriptor.meshName = "media/duck.dae";
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  mesh->SetLocalRotation(GZ_PI / 2, 0, -GZ_PI / 4);
-  mesh->SetLocalPosition(-0.25, -1.25, 1.25);
-  mesh->SetMaterial(matte);
+  if (descriptor.mesh)
+  {
+    VisualPtr mesh = _scene->CreateVisual();
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    mesh->SetLocalRotation(GZ_PI / 2, 0, -GZ_PI / 4);
+    mesh->SetLocalPosition(-0.25, -1.25, 1.25);
+    MaterialPtr matte = _scene->CreateMaterial();
+    matte->SetDiffuse(1.0, 0.0, 0.0);
+    mesh->SetMaterial(matte);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 }
 
 //////////////////////////////////////////////////

examples/mesh_viewer/Main.cc

@@ -56,27 +56,41 @@ void buildScene(ScenePtr _scene)
   root->AddChild(light0);
 
 //! [create a mesh]
-  VisualPtr mesh = _scene->CreateVisual();
-  mesh->SetLocalPosition(3, 0, 0);
-  mesh->SetLocalRotation(1.5708, 0, 2.0);
   MeshDescriptor descriptor;
   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "duck.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  root->AddChild(mesh);
+  if (descriptor.mesh)
+  {
+    VisualPtr mesh = _scene->CreateVisual();
+    mesh->SetLocalPosition(3, 0, 0);
+    mesh->SetLocalRotation(1.5708, 0, 2.0);
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    root->AddChild(mesh);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 //! [create a mesh]
 
   // create a pbr glb mesh
-  mesh = _scene->CreateVisual();
-  mesh->SetLocalPosition(3, 2, 0);
-  mesh->SetLocalRotation(0, 0, 0);
   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "AmbulanceStretcher.glb");
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  root->AddChild(mesh);
+  if (descriptor.mesh)
+  {
+    VisualPtr mesh = _scene->CreateVisual();
+    mesh->SetLocalPosition(3, 2, 0);
+    mesh->SetLocalRotation(0, 0, 0);
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    root->AddChild(mesh);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 
   // create gray material
   MaterialPtr gray = _scene->CreateMaterial();

examples/ogre2_demo/Main.cc

@@ -72,17 +72,24 @@ void buildScene(ScenePtr _scene)
   matPBR->SetEnvironmentMap(environmentMap);
 
   // create mesh for PBR
-  VisualPtr meshPBR = _scene->CreateVisual("pump");
-  meshPBR->SetLocalPosition(2, 0.0, -0.3);
-  meshPBR->SetLocalRotation(0, 0, 0);
   MeshDescriptor descriptorPBR;
   descriptorPBR.meshName = common::joinPaths(RESOURCE_PATH, "pump.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptorPBR.mesh = meshManager->Load(descriptorPBR.meshName);
-  MeshPtr meshPBRGeom = _scene->CreateMesh(descriptorPBR);
-  meshPBRGeom->SetMaterial(matPBR);
-  meshPBR->AddGeometry(meshPBRGeom);
-  root->AddChild(meshPBR);
+  if (descriptorPBR.mesh)
+  {
+    VisualPtr meshPBR = _scene->CreateVisual("pump");
+    meshPBR->SetLocalPosition(2, 0.0, -0.3);
+    meshPBR->SetLocalRotation(0, 0, 0);
+    MeshPtr meshPBRGeom = _scene->CreateMesh(descriptorPBR);
+    meshPBRGeom->SetMaterial(matPBR);
+    meshPBR->AddGeometry(meshPBRGeom);
+    root->AddChild(meshPBR);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptorPBR.meshName << std::endl;
+  }
 
   // create green material
   MaterialPtr green = _scene->CreateMaterial();

examples/particles_demo/Main.cc

@@ -56,16 +56,23 @@ void buildScene(ScenePtr _scene)
   root->AddChild(light0);
 
   //! [create a mesh]
-  VisualPtr mesh = _scene->CreateVisual();
-  mesh->SetLocalPosition(3, 0, 0);
-  mesh->SetLocalRotation(1.5708, 0, 2.0);
   MeshDescriptor descriptor;
   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "duck.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  root->AddChild(mesh);
+  if (descriptor.mesh)
+  {
+    VisualPtr mesh = _scene->CreateVisual();
+    mesh->SetLocalPosition(3, 0, 0);
+    mesh->SetLocalRotation(1.5708, 0, 2.0);
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    root->AddChild(mesh);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
   //! [create a mesh]
 
   // create gray material