disable point light shadows, fix test, mutex

Signed-off-by: Ian Chen <ichen@osrfoundation.org>
gazebosim · Jan 14, 2021 · 7aa1d35 · 7aa1d35
1 parent 0eba224
commit 7aa1d35
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Showing 4 changed files with 32 additions and 13 deletions.
diff --git a/gazebo/rendering/Light.cc b/gazebo/rendering/Light.cc
@@ -585,19 +585,30 @@ void Light::SetRange(const double _range)
 //////////////////////////////////////////////////
 void Light::SetCastShadows(const bool _cast)
 {
-  this->dataPtr->light->setCastShadows(_cast);
 
-  if (_cast && this->dataPtr->light->getType() !=
-      Ogre::Light::LT_DIRECTIONAL)
+  if (this->dataPtr->light->getType() == Ogre::Light::LT_DIRECTIONAL)
   {
-    if (this->dataPtr->shadowCameraSetup.isNull())
+    // directional light uses PSSM shadow camera and should already be
+    // configured in RTShaderSystem
+    this->dataPtr->light->setCastShadows(_cast);
+  }
+  else if (this->dataPtr->light->getType() == Ogre::Light::LT_SPOTLIGHT)
+  {
+    // use different shadow camera for spot light
+    this->dataPtr->light->setCastShadows(_cast);
+    if (_cast && this->dataPtr->shadowCameraSetup.isNull())
     {
-      auto *setup = new Ogre::FocusedShadowCameraSetup();
-      this->dataPtr->shadowCameraSetup = Ogre::ShadowCameraSetupPtr(setup);
+      this->dataPtr->shadowCameraSetup =
+          Ogre::ShadowCameraSetupPtr(new Ogre::FocusedShadowCameraSetup());
       this->dataPtr->light->setCustomShadowCameraSetup(
           this->dataPtr->shadowCameraSetup);
+      RTShaderSystem::Instance()->UpdateShadows();
     }
-    RTShaderSystem::Instance()->UpdateShadows();
+  }
+  else
+  {
+    // todo(anyone) make point light casts shadows
+    this->dataPtr->light->setCastShadows(false);
   }
 }
 

diff --git a/gazebo/rendering/RTShaderSystem.cc b/gazebo/rendering/RTShaderSystem.cc
@@ -242,6 +242,7 @@ void RTShaderSystem::DetachViewport(Ogre::Viewport *_viewport, ScenePtr _scene)
 void RTShaderSystem::UpdateShaders()
 {
   // shaders will be updated in the Update call on pre-render event.
+  std::lock_guard<std::mutex> lock(this->dataPtr->updateMutex);
   this->dataPtr->updateShaders = true;
 }
 
@@ -597,6 +598,7 @@ void RTShaderSystem::Update()
     return;
   }
 
+  std::lock_guard<std::mutex> lock(this->dataPtr->updateMutex);
   if (this->dataPtr->updateShadows)
   {
     for (const auto &scene : this->dataPtr->scenes)
@@ -689,6 +691,7 @@ double RTShaderSystem::ShadowSplitPadding() const
 /////////////////////////////////////////////////
 void RTShaderSystem::UpdateShadows()
 {
+  std::lock_guard<std::mutex> lock(this->dataPtr->updateMutex);
   this->dataPtr->updateShadows = true;
 }
 
@@ -742,9 +745,9 @@ void RTShaderSystem::UpdateShadows(ScenePtr _scene)
 #endif
   sceneMgr->setShadowTextureConfig(0,
       this->dataPtr->shadowTextureSize, this->dataPtr->shadowTextureSize,
-      Ogre::PF_FLOAT32_R, 1);
-  sceneMgr->setShadowTextureConfig(1, texSize, texSize, Ogre::PF_FLOAT32_R, 2);
-  sceneMgr->setShadowTextureConfig(2, texSize, texSize, Ogre::PF_FLOAT32_R, 3);
+      Ogre::PF_FLOAT32_R);
+  sceneMgr->setShadowTextureConfig(1, texSize, texSize, Ogre::PF_FLOAT32_R);
+  sceneMgr->setShadowTextureConfig(2, texSize, texSize, Ogre::PF_FLOAT32_R);
 
 #if defined(HAVE_OPENGL)
   // Enable shadow map comparison, so shader can use

diff --git a/gazebo/rendering/RTShaderSystemPrivate.hh b/gazebo/rendering/RTShaderSystemPrivate.hh
@@ -18,6 +18,7 @@
 #ifndef _GAZEBO_RTSHADERSYSTEM_PRIVATE_HH_
 #define _GAZEBO_RTSHADERSYSTEM_PRIVATE_HH_
 
+#include <mutex>
 #include <string>
 #include <vector>
 
@@ -56,7 +57,7 @@ namespace gazebo
       /// \brief Flag to indicate that shaders need to be updated.
       public: bool updateShaders;
 
-      /// \brief Flag to indicate that shaders need to be updated.
+      /// \brief Flag to indicate that shadows need to be updated.
       public: bool updateShadows = false;
 
       /// \brief Size of the Parallel Split Shadow Map (PSSM) shadow texture
@@ -82,6 +83,9 @@ namespace gazebo
 
       /// \brief Flag to indicate if normal map should be enabled
       public: bool enableNormalMap = true;
+
+      /// \brief Mutex to protect shaders and shadows update
+      public: std::mutex updateMutex;
     };
   }
 }

diff --git a/gazebo/rendering/RenderingLight_TEST.cc b/gazebo/rendering/RenderingLight_TEST.cc
@@ -115,8 +115,9 @@ TEST_F(Light_TEST, CastShadows)
   msg.set_cast_shadows(true);
   spotLight->LoadFromMsg(msg);
   EXPECT_EQ(spotLight->LightType(), "spot");
-  // issue #2083: spot light does not cast shadows
-  EXPECT_FALSE(spotLight->CastShadows());
+  // issue #2083: spot light generates shadow maps but they are not currently
+  // being rendered
+  EXPECT_TRUE(spotLight->CastShadows());
   scene->RemoveLight(spotLight);
   spotLight.reset();