4 ➡️ 5 (#264)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

.github/workflows/ci.yml

@@ -11,7 +11,7 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@master
+        uses: ignition-tooling/action-ignition-ci@bionic
         with:
           codecov-token: ${{ secrets.CODECOV_TOKEN }}
   focal-ci:

Changelog.md

@@ -12,6 +12,37 @@
 
 ### Ignition Rendering 4.X
 
+### Ignition Rendering 4.7.0 (2021-03-17)
+
+1. Enable depth write in particles example
+    * [Pull Request #217](https://github.com/ignitionrobotics/ign-rendering/pull/217)
+
+1. Fix gazebo_scene_viewer for macOS and ensure clean exit
+    * [Pull Request #259](https://github.com/ignitionrobotics/ign-rendering/pull/259)
+
+1. Master branch updates
+    * [Pull Request #268](https://github.com/ignitionrobotics/ign-rendering/pull/268)
+
+1. Expose particle scatter ratio parameter
+    * [Pull Request #269](https://github.com/ignitionrobotics/ign-rendering/pull/269)
+
+1. Fix overriding blend mode
+    * [Pull Request #266](https://github.com/ignitionrobotics/ign-rendering/pull/266)
+
+1. Fix DepthGaussianNoise test
+    * [Pull Request #271](https://github.com/ignitionrobotics/ign-rendering/pull/271)
+
+1. Handle non-positive object temperatures
+    * [Pull Request #243](https://github.com/ignitionrobotics/ign-rendering/pull/243)
+
+### Ignition Rendering 4.6.0 (2021-03-01)
+
+1. Improve particle scattering noise
+    * [Pull Request #261](https://github.com/ignitionrobotics/ign-rendering/pull/261)
+
+1. Fix custom_scene_viewer for macOS
+    * [Pull Request #256](https://github.com/ignitionrobotics/ign-rendering/pull/256)
+
 ### Ignition Rendering 4.5.0 (2021-02-17)
 
 1. More verbose messages when failing to load render engines

README.md

@@ -9,11 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/master/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/default)
-Ubuntu Xenial | [![](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-master-xenial-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-master-xenial-amd64/)
-Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-master-bionic-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-master-bionic-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-master-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-master-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_rendering-ci-win)](https://build.osrfoundation.org/job/ign_rendering-ci-win)
+Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/main/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/default)
+Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-bionic-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-bionic-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/)
 
 Ignition Rendering is a C++ library designed to provide an abstraction
 for different rendering engines. It offers unified APIs for creating
@@ -87,12 +86,13 @@ Please see
 # Code of Conduct
 
 Please see
-[CODE_OF_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CODE_OF_CONDUCT.md).
+[CODE_OF_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/main/CODE_OF_CONDUCT.md).
 
 # Versioning
 
 This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Ignition Robotics project](https://ignitionrobotics.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Ignition Robotics website](https://ignitionrobotics.org) for version and release information.
 
 # License
 
-This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-rendering/blob/master/LICENSE) file.
+This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-rendering/blob/main/LICENSE) file.
+

examples/custom_scene_viewer/DemoWindow.cc

@@ -15,10 +15,11 @@
  *
  */
 
-#if defined(__APPLE__)
+#if __APPLE__
   #include <OpenGL/gl.h>
+  #include <OpenGL/OpenGL.h>
   #include <GLUT/glut.h>
-#elif !defined(_WIN32)
+#else
   #include <GL/glew.h>
   #include <GL/gl.h>
   #include <GL/glut.h>
@@ -52,7 +53,11 @@ unsigned int imgh = 0;
 
 bool g_initContext = false;
 
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLContextObj g_context;
+  CGLContextObj g_glutContext;
+#elif _WIN32
+#else
   GLXContext g_context;
   Display *g_display;
   GLXDrawable g_drawable;
@@ -159,7 +164,10 @@ void printFPS()
 //////////////////////////////////////////////////
 void displayCB()
 {
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLSetCurrentContext(g_context);
+#elif _WIN32
+#else
   if (g_display)
   {
     glXMakeCurrent(g_display, g_drawable, g_context);
@@ -171,7 +179,10 @@ void displayCB()
 
   camera->Capture(*g_image);
 
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLSetCurrentContext(g_glutContext);
+#elif _WIN32
+#else
   glXMakeCurrent(g_glutDisplay, g_glutDrawable, g_glutContext);
 #endif
 
@@ -198,7 +209,10 @@ void idleCB()
 //////////////////////////////////////////////////
 void keyboardCB(unsigned char _key, int, int)
 {
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+    CGLSetCurrentContext(g_context);
+#elif _WIN32
+#else
   if (g_display)
   {
     glXMakeCurrent(g_display, g_drawable, g_context);
@@ -241,7 +255,10 @@ void keyboardCB(unsigned char _key, int, int)
     g_demo->SelectScene(index);
   }
 
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLSetCurrentContext(g_glutContext);
+#elif _WIN32
+#else
   glXMakeCurrent(g_glutDisplay, g_glutDrawable, g_glutContext);
 #endif
 }
@@ -259,9 +276,6 @@ void initCamera(CameraPtr _camera)
 //////////////////////////////////////////////////
 void initContext()
 {
-  int argc = 0;
-  char **argv = 0;
-  glutInit(&argc, argv);
   glutInitDisplayMode(GLUT_DOUBLE);
   glutInitWindowPosition(0, 0);
   glutInitWindowSize(imgw, imgh);
@@ -278,6 +292,9 @@ void initContext()
 //////////////////////////////////////////////////
 void run(ManualSceneDemoPtr _demo)
 {
+#if __APPLE__
+  g_context = CGLGetCurrentContext();
+#endif
 #if not (__APPLE__ || _WIN32)
   g_context = glXGetCurrentContext();
   g_display = glXGetCurrentDisplay();
@@ -290,6 +307,9 @@ void run(ManualSceneDemoPtr _demo)
   initContext();
   printUsage();
 
+#if __APPLE__
+  g_glutContext = CGLGetCurrentContext();
+#endif
 #if not (__APPLE__ || _WIN32)
   g_glutDisplay = glXGetCurrentDisplay();
   g_glutDrawable = glXGetCurrentDrawable();

examples/custom_scene_viewer/ManualSceneDemo.cc

@@ -14,6 +14,16 @@
  * limitations under the License.
  *
  */
+
+#if defined(__APPLE__)
+  #include <OpenGL/gl.h>
+  #include <GLUT/glut.h>
+#elif not defined(_WIN32)
+  #include <GL/glew.h>
+  #include <GL/gl.h>
+  #include <GL/glut.h>
+#endif
+
 #include <iostream>
 #include <ignition/common/Console.hh>
 #include "ManualSceneDemo.hh"
@@ -169,8 +179,18 @@ void ManualSceneDemo::ChangeScene()
 
 //////////////////////////////////////////////////
 //////////////////////////////////////////////////
-int main(int, char**)
+int main(int _argc, char** _argv)
 {
+  glutInit(&_argc, _argv);
+
+  // Expose engine name to command line because we can't instantiate both
+  // ogre and ogre2 at the same time
+  std::string ogreEngine("ogre");
+  if (_argc > 1)
+  {
+    ogreEngine = _argv[1];
+  }
+
   common::Console::SetVerbosity(4);
 //! [add scenes]
   ManualSceneDemoPtr sceneDemo(new ManualSceneDemo);
@@ -188,8 +208,9 @@ int main(int, char**)
   sceneDemo->AddScene(SceneBuilderPtr(new ShadowSceneBuilder(4)));
   sceneDemo->AddScene(SceneBuilderPtr(new ShadowSceneBuilder(5)));
 //! [add scenes]
-  sceneDemo->AddCamera("ogre");
+  sceneDemo->AddCamera(ogreEngine);
   sceneDemo->AddCamera("optix");
   sceneDemo->Run();
   return 0;
 }
+

examples/gazebo_scene_viewer/CMakeLists.txt

@@ -17,6 +17,7 @@ if (NOT APPLE)
   find_package(GLEW REQUIRED)
   include_directories(SYSTEM ${GLEW_INCLUDE_DIRS})
   link_directories(${GLEW_LIBRARY_DIRS})
+  set(STD_CXX_FS_LIBRARIES "stdc++fs")
 endif()
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
@@ -33,7 +34,7 @@ target_link_libraries(gazebo_scene_viewer
   ${GLEW_LIBRARIES}
   ${GAZEBO_LIBRARIES}
   ${IGNITION-RENDERING_LIBRARIES}
-  stdc++fs
+  ${STD_CXX_FS_LIBRARIES}
 )
 
 add_executable(gazebo_scene_viewer2_demo
@@ -48,5 +49,5 @@ target_link_libraries(gazebo_scene_viewer2_demo
   ${GLEW_LIBRARIES}
   ${GAZEBO_LIBRARIES}
   ${IGNITION-RENDERING_LIBRARIES}
-  stdc++fs
+  ${STD_CXX_FS_LIBRARIES}
 )

examples/gazebo_scene_viewer/CameraWindow.cc

@@ -18,6 +18,7 @@
 
 #if __APPLE__
   #include <OpenGL/gl.h>
+  #include <OpenGL/OpenGL.h>
   #include <GLUT/glut.h>
 #else
   #include <GL/glew.h>
@@ -30,6 +31,7 @@
 #endif
 
 #include <gazebo/common/Console.hh>
+#include <gazebo/transport/TransportIface.hh>
 
 #include <ignition/rendering/Camera.hh>
 #include <ignition/rendering/Image.hh>
@@ -52,7 +54,11 @@ gz::ImagePtr g_image;
 
 bool g_initContext = false;
 
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLContextObj g_context;
+  CGLContextObj g_glutContext;
+#elif _WIN32
+#else
   GLXContext g_context;
   Display *g_display;
   GLXDrawable g_drawable;
@@ -66,7 +72,10 @@ double g_offset = 0.0;
 //////////////////////////////////////////////////
 void GlutRun(std::vector<gz::CameraPtr> _cameras)
 {
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  g_context = CGLGetCurrentContext();
+#elif _WIN32
+#else
   g_context = glXGetCurrentContext();
   g_display = glXGetCurrentDisplay();
   g_drawable = glXGetCurrentDrawable();
@@ -77,7 +86,10 @@ void GlutRun(std::vector<gz::CameraPtr> _cameras)
   GlutInitContext();
   GlutPrintUsage();
 
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  g_glutContext = CGLGetCurrentContext();
+#elif _WIN32
+#else
   g_glutDisplay = glXGetCurrentDisplay();
   g_glutDrawable = glXGetCurrentDrawable();
   g_glutContext = glXGetCurrentContext();
@@ -89,7 +101,10 @@ void GlutRun(std::vector<gz::CameraPtr> _cameras)
 //////////////////////////////////////////////////
 void GlutDisplay()
 {
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLSetCurrentContext(g_context);
+#elif _WIN32
+#else
   if (g_display)
   {
     glXMakeCurrent(g_display, g_drawable, g_context);
@@ -98,7 +113,10 @@ void GlutDisplay()
 
   g_cameras[g_cameraIndex]->Capture(*g_image);
 
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLSetCurrentContext(g_glutContext);
+#elif _WIN32
+#else
   glXMakeCurrent(g_glutDisplay, g_glutDrawable, g_glutContext);
 #endif
 
@@ -116,7 +134,10 @@ void GlutDisplay()
 //////////////////////////////////////////////////
 void GlutIdle()
 {
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLSetCurrentContext(g_context);
+#elif _WIN32
+#else
   if (g_display)
   {
     glXMakeCurrent(g_display, g_drawable, g_context);
@@ -128,7 +149,10 @@ void GlutIdle()
 
   manager->UpdateScenes();
 
-#if not (__APPLE__ || _WIN32)
+#if __APPLE__
+  CGLSetCurrentContext(g_glutContext);
+#elif _WIN32
+#else
   glXMakeCurrent(g_glutDisplay, g_glutDrawable, g_glutContext);
 #endif
 
@@ -140,6 +164,9 @@ void GlutKeyboard(unsigned char _key, int, int)
 {
   if (_key == KEY_ESC || _key == 'q' || _key == 'Q')
   {
+    // stop transport
+    gazebo::transport::stop();
+    gazebo::transport::fini();  
     exit(0);
   }
   else if (_key == KEY_TAB)
@@ -167,9 +194,6 @@ void GlutInitCamera(gz::CameraPtr _camera)
 //////////////////////////////////////////////////
 void GlutInitContext()
 {
-  int argc = 0;
-  char **argv = 0;
-  glutInit(&argc, argv);
   glutInitDisplayMode(GLUT_DOUBLE);
   glutInitWindowPosition(0, 0);
   glutInitWindowSize(imgw, imgh);