Fix depth testing for transparent objects (#1643)

dartsim · Jan 5, 2022 · 4041649 · 4041649
1 parent c5ed203
commit 4041649
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -15,6 +15,10 @@
   * Fixed grouping of constraints: [#1624](https://github.com/dartsim/dart/pull/1624), [#1628](https://github.com/dartsim/dart/pull/1628)
   * Fixed issue with removing skeletons without shapes: [#1625](https://github.com/dartsim/dart/pull/1625)
 
+* GUI
+
+  * Fixed depth testing for transparent objects: [#1643](https://github.com/dartsim/dart/pull/1643)
+
 ### [DART 6.12.1 (2021-11-04)](https://github.com/dartsim/dart/milestone/71?closed=1)
 
 * Build

diff --git a/dart/gui/osg/GridVisual.cpp b/dart/gui/osg/GridVisual.cpp
@@ -32,10 +32,13 @@
 
 #include "dart/gui/osg/GridVisual.hpp"
 
+#include <osg/Depth>
+
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/SimpleFrame.hpp"
 #include "dart/dynamics/Skeleton.hpp"
 #include "dart/dynamics/SphereShape.hpp"
+#include "dart/gui/osg/Utils.hpp"
 #include "dart/math/Helpers.hpp"
 
 namespace dart {
@@ -443,11 +446,55 @@ void GridVisual::refresh()
     mMinorLineGeom->getOrCreateStateSet()->setAttributeAndModes(
         mMinorLineWidth);
     mMinorLineGeom->setPrimitiveSet(0, mMinorLineFaces);
+    if (mMinorLineColor->at(0).a() < 1 - getAlphaThreshold<float>())
+    {
+      mMinorLineGeom->getOrCreateStateSet()->setMode(
+          GL_BLEND, ::osg::StateAttribute::ON);
+      mMinorLineGeom->getOrCreateStateSet()->setRenderingHint(
+          ::osg::StateSet::TRANSPARENT_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(false);
+      mMinorLineGeom->getOrCreateStateSet()->setAttributeAndModes(
+          depth, ::osg::StateAttribute::ON);
+    }
+    else
+    {
+      mMinorLineGeom->getOrCreateStateSet()->setMode(
+          GL_BLEND, ::osg::StateAttribute::OFF);
+      mMinorLineGeom->getOrCreateStateSet()->setRenderingHint(
+          ::osg::StateSet::OPAQUE_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(true);
+      mMinorLineGeom->getOrCreateStateSet()->setAttributeAndModes(
+          depth, ::osg::StateAttribute::ON);
+    }
 
     mMajorLineGeom->setVertexArray(mMajorLineVertices);
     mMajorLineGeom->getOrCreateStateSet()->setAttributeAndModes(
         mMajorLineWidth);
     mMajorLineGeom->setPrimitiveSet(0, mMajorLineFaces);
+    if (mMajorLineColor->at(0).a() < 1 - getAlphaThreshold<float>())
+    {
+      mMajorLineGeom->getOrCreateStateSet()->setMode(
+          GL_BLEND, ::osg::StateAttribute::ON);
+      mMajorLineGeom->getOrCreateStateSet()->setRenderingHint(
+          ::osg::StateSet::TRANSPARENT_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(false);
+      mMajorLineGeom->getOrCreateStateSet()->setAttributeAndModes(
+          depth, ::osg::StateAttribute::ON);
+    }
+    else
+    {
+      mMajorLineGeom->getOrCreateStateSet()->setMode(
+          GL_BLEND, ::osg::StateAttribute::OFF);
+      mMajorLineGeom->getOrCreateStateSet()->setRenderingHint(
+          ::osg::StateSet::OPAQUE_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(true);
+      mMajorLineGeom->getOrCreateStateSet()->setAttributeAndModes(
+          depth, ::osg::StateAttribute::ON);
+    }
 
     static const ::osg::Vec4 xAxisLineColor(0.9f, 0.1f, 0.1f, 1.0f);
     static const ::osg::Vec4 yAxisLineColor(0.1f, 0.9f, 0.1f, 1.0f);
@@ -516,9 +563,9 @@ void GridVisual::initialize()
   mAxisLineGeom->setVertexArray(mAxisLineVertices);
   mAxisLineGeom->setDataVariance(::osg::Object::STATIC);
   mAxisLineGeom->getOrCreateStateSet()->setMode(
-      GL_BLEND, ::osg::StateAttribute::ON);
+      GL_BLEND, ::osg::StateAttribute::OFF);
   mAxisLineGeom->getOrCreateStateSet()->setRenderingHint(
-      ::osg::StateSet::TRANSPARENT_BIN);
+      ::osg::StateSet::OPAQUE_BIN);
 
   // Set grid color
   static const ::osg::Vec4 majorLineColor(0.4f, 0.4f, 0.4f, 1.0f);
@@ -538,20 +585,12 @@ void GridVisual::initialize()
   mMajorLineColor->at(0) = majorLineColor;
   mMajorLineGeom->setColorArray(mMajorLineColor);
   mMajorLineGeom->setColorBinding(::osg::Geometry::BIND_OVERALL);
-  mMajorLineGeom->getOrCreateStateSet()->setMode(
-      GL_BLEND, ::osg::StateAttribute::ON);
-  mMajorLineGeom->getOrCreateStateSet()->setRenderingHint(
-      ::osg::StateSet::TRANSPARENT_BIN);
 
   mMinorLineColor = new ::osg::Vec4Array;
   mMinorLineColor->resize(1);
   mMinorLineColor->at(0) = minorLineColor;
   mMinorLineGeom->setColorArray(mMinorLineColor);
   mMinorLineGeom->setColorBinding(::osg::Geometry::BIND_OVERALL);
-  mMinorLineGeom->getOrCreateStateSet()->setMode(
-      GL_BLEND, ::osg::StateAttribute::ON);
-  mMinorLineGeom->getOrCreateStateSet()->setRenderingHint(
-      ::osg::StateSet::TRANSPARENT_BIN);
 
   mMinorLineFaces = new ::osg::DrawElementsUInt(::osg::PrimitiveSet::LINES, 0);
   mMinorLineGeom->addPrimitiveSet(mMinorLineFaces);

diff --git a/dart/gui/osg/Utils.hpp b/dart/gui/osg/Utils.hpp
@@ -36,6 +36,24 @@
 #include <Eigen/Geometry>
 #include <osg/Matrix>
 
+//==============================================================================
+template <typename T = double>
+constexpr T getAlphaThreshold()
+{
+  if constexpr (std::is_same_v<T, float>)
+  {
+    return 1e-6;
+  }
+  else if constexpr (std::is_same_v<T, double>)
+  {
+    return 1e-9;
+  }
+  else
+  {
+    return 1e-9;
+  }
+}
+
 //==============================================================================
 template <typename Scalar>
 ::osg::Matrix eigToOsgMatrix(

diff --git a/dart/gui/osg/render/BoxShapeNode.cpp b/dart/gui/osg/render/BoxShapeNode.cpp
@@ -33,6 +33,7 @@
 #include "dart/gui/osg/render/BoxShapeNode.hpp"
 
 #include <osg/CullFace>
+#include <osg/Depth>
 #include <osg/Geode>
 #include <osg/ShapeDrawable>
 
@@ -128,8 +129,6 @@ BoxShapeGeode::BoxShapeGeode(
     mBoxShape(shape),
     mDrawable(nullptr)
 {
-  getOrCreateStateSet()->setMode(GL_BLEND, ::osg::StateAttribute::ON);
-  getOrCreateStateSet()->setRenderingHint(::osg::StateSet::TRANSPARENT_BIN);
   getOrCreateStateSet()->setAttributeAndModes(
       new ::osg::CullFace(::osg::CullFace::BACK));
   extractData();
@@ -191,7 +190,28 @@ void BoxShapeDrawable::refresh(bool firstTime)
   if (mBoxShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_COLOR)
       || firstTime)
   {
-    setColor(eigToOsgVec4d(mVisualAspect->getRGBA()));
+    // Set color
+    const ::osg::Vec4d color = eigToOsgVec4d(mVisualAspect->getRGBA());
+    setColor(color);
+
+    // Set alpha specific properties
+    ::osg::StateSet* ss = getOrCreateStateSet();
+    if (std::abs(color.a()) > 1 - getAlphaThreshold())
+    {
+      ss->setMode(GL_BLEND, ::osg::StateAttribute::OFF);
+      ss->setRenderingHint(::osg::StateSet::OPAQUE_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(true);
+      ss->setAttributeAndModes(depth, ::osg::StateAttribute::ON);
+    }
+    else
+    {
+      ss->setMode(GL_BLEND, ::osg::StateAttribute::ON);
+      ss->setRenderingHint(::osg::StateSet::TRANSPARENT_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(false);
+      ss->setAttributeAndModes(depth, ::osg::StateAttribute::ON);
+    }
   }
 }
 

diff --git a/dart/gui/osg/render/CapsuleShapeNode.cpp b/dart/gui/osg/render/CapsuleShapeNode.cpp
@@ -33,6 +33,7 @@
 #include "dart/gui/osg/render/CapsuleShapeNode.hpp"
 
 #include <osg/CullFace>
+#include <osg/Depth>
 #include <osg/Geode>
 #include <osg/ShapeDrawable>
 
@@ -135,8 +136,6 @@ CapsuleShapeGeode::CapsuleShapeGeode(
     mCapsuleShape(shape),
     mDrawable(nullptr)
 {
-  getOrCreateStateSet()->setMode(GL_BLEND, ::osg::StateAttribute::ON);
-  getOrCreateStateSet()->setRenderingHint(::osg::StateSet::TRANSPARENT_BIN);
   getOrCreateStateSet()->setAttributeAndModes(
       new ::osg::CullFace(::osg::CullFace::BACK));
   extractData();
@@ -201,7 +200,28 @@ void CapsuleShapeDrawable::refresh(bool firstTime)
   if (mCapsuleShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_COLOR)
       || firstTime)
   {
-    setColor(eigToOsgVec4d(mVisualAspect->getRGBA()));
+    // Set color
+    const ::osg::Vec4d color = eigToOsgVec4d(mVisualAspect->getRGBA());
+    setColor(color);
+
+    // Set alpha specific properties
+    ::osg::StateSet* ss = getOrCreateStateSet();
+    if (std::abs(color.a()) > 1 - getAlphaThreshold())
+    {
+      ss->setMode(GL_BLEND, ::osg::StateAttribute::OFF);
+      ss->setRenderingHint(::osg::StateSet::OPAQUE_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(true);
+      ss->setAttributeAndModes(depth, ::osg::StateAttribute::ON);
+    }
+    else
+    {
+      ss->setMode(GL_BLEND, ::osg::StateAttribute::ON);
+      ss->setRenderingHint(::osg::StateSet::TRANSPARENT_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(false);
+      ss->setAttributeAndModes(depth, ::osg::StateAttribute::ON);
+    }
   }
 }
 

diff --git a/dart/gui/osg/render/ConeShapeNode.cpp b/dart/gui/osg/render/ConeShapeNode.cpp
@@ -33,6 +33,7 @@
 #include "dart/gui/osg/render/ConeShapeNode.hpp"
 
 #include <osg/CullFace>
+#include <osg/Depth>
 #include <osg/Geode>
 #include <osg/ShapeDrawable>
 
@@ -134,8 +135,6 @@ ConeShapeGeode::ConeShapeGeode(
     mConeShape(shape),
     mDrawable(nullptr)
 {
-  getOrCreateStateSet()->setMode(GL_BLEND, ::osg::StateAttribute::ON);
-  getOrCreateStateSet()->setRenderingHint(::osg::StateSet::TRANSPARENT_BIN);
   getOrCreateStateSet()->setAttributeAndModes(
       new ::osg::CullFace(::osg::CullFace::BACK));
   extractData();
@@ -200,7 +199,28 @@ void ConeShapeDrawable::refresh(bool firstTime)
   if (mConeShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_COLOR)
       || firstTime)
   {
-    setColor(eigToOsgVec4d(mVisualAspect->getRGBA()));
+    // Set color
+    const ::osg::Vec4d color = eigToOsgVec4d(mVisualAspect->getRGBA());
+    setColor(color);
+
+    // Set alpha specific properties
+    ::osg::StateSet* ss = getOrCreateStateSet();
+    if (std::abs(color.a()) > 1 - getAlphaThreshold())
+    {
+      ss->setMode(GL_BLEND, ::osg::StateAttribute::OFF);
+      ss->setRenderingHint(::osg::StateSet::OPAQUE_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(true);
+      ss->setAttributeAndModes(depth, ::osg::StateAttribute::ON);
+    }
+    else
+    {
+      ss->setMode(GL_BLEND, ::osg::StateAttribute::ON);
+      ss->setRenderingHint(::osg::StateSet::TRANSPARENT_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(false);
+      ss->setAttributeAndModes(depth, ::osg::StateAttribute::ON);
+    }
   }
 }
 

diff --git a/dart/gui/osg/render/CylinderShapeNode.cpp b/dart/gui/osg/render/CylinderShapeNode.cpp
@@ -33,6 +33,7 @@
 #include "dart/gui/osg/render/CylinderShapeNode.hpp"
 
 #include <osg/CullFace>
+#include <osg/Depth>
 #include <osg/Geode>
 #include <osg/ShapeDrawable>
 
@@ -135,8 +136,6 @@ CylinderShapeGeode::CylinderShapeGeode(
     mCylinderShape(shape),
     mDrawable(nullptr)
 {
-  getOrCreateStateSet()->setMode(GL_BLEND, ::osg::StateAttribute::ON);
-  getOrCreateStateSet()->setRenderingHint(::osg::StateSet::TRANSPARENT_BIN);
   getOrCreateStateSet()->setAttributeAndModes(
       new ::osg::CullFace(::osg::CullFace::BACK));
   extractData();
@@ -202,7 +201,28 @@ void CylinderShapeDrawable::refresh(bool firstTime)
   if (mCylinderShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_COLOR)
       || firstTime)
   {
-    setColor(eigToOsgVec4d(mVisualAspect->getRGBA()));
+    // Set color
+    const ::osg::Vec4d color = eigToOsgVec4d(mVisualAspect->getRGBA());
+    setColor(color);
+
+    // Set alpha specific properties
+    ::osg::StateSet* ss = getOrCreateStateSet();
+    if (std::abs(color.a()) > 1 - getAlphaThreshold())
+    {
+      ss->setMode(GL_BLEND, ::osg::StateAttribute::OFF);
+      ss->setRenderingHint(::osg::StateSet::OPAQUE_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(true);
+      ss->setAttributeAndModes(depth, ::osg::StateAttribute::ON);
+    }
+    else
+    {
+      ss->setMode(GL_BLEND, ::osg::StateAttribute::ON);
+      ss->setRenderingHint(::osg::StateSet::TRANSPARENT_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(false);
+      ss->setAttributeAndModes(depth, ::osg::StateAttribute::ON);
+    }
   }
 }
 

diff --git a/dart/gui/osg/render/EllipsoidShapeNode.cpp b/dart/gui/osg/render/EllipsoidShapeNode.cpp
@@ -33,6 +33,7 @@
 #include "dart/gui/osg/render/EllipsoidShapeNode.hpp"
 
 #include <osg/CullFace>
+#include <osg/Depth>
 #include <osg/Geode>
 #include <osg/Light>
 #include <osg/Material>
@@ -159,8 +160,6 @@ EllipsoidShapeGeode::EllipsoidShapeGeode(
     mEllipsoidShape(shape),
     mDrawable(nullptr)
 {
-  getOrCreateStateSet()->setMode(GL_BLEND, ::osg::StateAttribute::ON);
-  getOrCreateStateSet()->setRenderingHint(::osg::StateSet::TRANSPARENT_BIN);
   getOrCreateStateSet()->setAttributeAndModes(
       new ::osg::CullFace(::osg::CullFace::BACK));
   extractData();
@@ -227,7 +226,28 @@ void EllipsoidShapeDrawable::refresh(bool firstTime)
   if (mEllipsoidShape->checkDataVariance(dart::dynamics::Shape::DYNAMIC_COLOR)
       || firstTime)
   {
-    setColor(eigToOsgVec4d(mVisualAspect->getRGBA()));
+    // Set color
+    const ::osg::Vec4d color = eigToOsgVec4d(mVisualAspect->getRGBA());
+    setColor(color);
+
+    // Set alpha specific properties
+    ::osg::StateSet* ss = getOrCreateStateSet();
+    if (std::abs(color.a()) > 1 - getAlphaThreshold())
+    {
+      ss->setMode(GL_BLEND, ::osg::StateAttribute::OFF);
+      ss->setRenderingHint(::osg::StateSet::OPAQUE_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(true);
+      ss->setAttributeAndModes(depth, ::osg::StateAttribute::ON);
+    }
+    else
+    {
+      ss->setMode(GL_BLEND, ::osg::StateAttribute::ON);
+      ss->setRenderingHint(::osg::StateSet::TRANSPARENT_BIN);
+      ::osg::ref_ptr<::osg::Depth> depth = new ::osg::Depth;
+      depth->setWriteMask(false);
+      ss->setAttributeAndModes(depth, ::osg::StateAttribute::ON);
+    }
   }
 }