Add CLI to switch to Vulkan & Metal backends

include/gz/sim/ServerConfig.hh

@@ -409,10 +409,28 @@ namespace gz
       public: void SetRenderEngineServer(
                   const std::string &_renderEngineServer);
 
+      /// \brief Set the render engine server API backend.
+      /// \param[in] _apiBackend See --render-engine-server-api-backend for
+      /// possible options
+      public: void SetRenderEngineServerApiBackend(
+                  const std::string &_apiBackend);
+
+      /// \return Api backend for server. See SetRenderEngineServerApiBackend()
+      const std::string &RenderEngineServerApiBackend() const;
+
       /// \brief Set the render engine gui plugin library.
       /// \param[in] _renderEngineGui File containing render engine library.
       public: void SetRenderEngineGui(const std::string &_renderEngineGui);
 
+      /// \brief Set the render engine gui API backend.
+      /// \param[in] _apiBackend See --render-engine-gui-api-backend for
+      /// possible options
+      public: void SetRenderEngineGuiApiBackend(
+                  const std::string &_apiBackend);
+
+      /// \return Api backend for gui. See SetRenderEngineGuiApiBackend()
+      const std::string &RenderEngineGuiApiBackend() const;
+
       /// \brief Instruct simulation to attach a plugin to a specific
       /// entity when simulation starts.
       /// \param[in] _info Information about the plugin to load.

include/gz/sim/components/RenderEngineServerApiBackend.hh

@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef GZ_SIM_COMPONENTS_RENDERENGINESERVERAPIBACKEND_HH_
+#define GZ_SIM_COMPONENTS_RENDERENGINESERVERAPIBACKEND_HH_
+
+#include <string>
+#include <gz/sim/components/Factory.hh>
+#include <gz/sim/components/Component.hh>
+#include <gz/sim/components/Serialization.hh>
+#include <gz/sim/config.hh>
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief Holds the render engine server API backend name.
+  using RenderEngineServerApiBackend = Component<std::string,
+      class RenderEngineServerApiBackendTag, serializers::StringSerializer>;
+  GZ_SIM_REGISTER_COMPONENT(
+      "gz_sim_components.RenderEngineServerApiBackend",
+      RenderEngineServerApiBackend)
+}
+}
+}
+}
+
+#endif

include/gz/sim/gui/Gui.hh

@@ -61,10 +61,12 @@ namespace gui
   /// \param[in] _waitGui Flag indicating whether the server waits until
   /// it receives a world path from GUI.
   /// \param[in] _renderEngine --render-engine-gui option
+  /// \param[in] _renderEngineGuiApiBackend --render-engine-gui-api-backend
   /// \return -1 on failure, 0 on success
   GZ_SIM_GUI_VISIBLE int runGui(int &_argc, char **_argv,
         const char *_guiConfig, const char *_sdfFile, int _waitGui,
-        const char *_renderEngine = nullptr);
+        const char *_renderEngine = nullptr,
+        const char *_renderEngineApiBackend = nullptr);
 
   /// \brief Create a Gazebo GUI application
   /// \param[in] _argc Number of command line arguments (Used when running
@@ -110,12 +112,15 @@ namespace gui
   /// \param[in] _waitGui True if the server is waiting for the GUI to decide on
   /// a starting world.
   /// \param[in] _renderEngine --render-engine-gui option
+  /// \param[in] _renderEngineGuiApiBackend --render-engine-gui-api-backend
+  /// option
   /// \return Newly created application.
   GZ_SIM_GUI_VISIBLE
   std::unique_ptr<gz::gui::Application> createGui(
       int &_argc, char **_argv, const char *_guiConfig,
       const char *_defaultGuiConfig, bool _loadPluginsFromSdf,
-      const char *_sdfFile, int _waitGui, const char *_renderEngine = nullptr);
+      const char *_sdfFile, int _waitGui, const char *_renderEngine = nullptr,
+      const char *_renderEngineGuiApiBackend = nullptr );
 }  // namespace gui
 }  // namespace GZ_SIM_VERSION_NAMESPACE
 }  // namespace sim

include/gz/sim/rendering/RenderUtil.hh

@@ -93,6 +93,15 @@ inline namespace GZ_SIM_VERSION_NAMESPACE {
     /// \return Name of the rendering engine
     public: std::string EngineName() const;
 
+    /// \brief Set the API backend the rendering engine will use
+    /// \param[in] _apiBackend Name of the api backend.
+    /// See --render-engine-server-api-backend for possible options
+    public: void SetApiBackend(const std::string &_apiBackend);
+
+    /// \brief Get the API backend the rendering engine used
+    /// \return Name of the API backend. May be empty.
+    public: std::string ApiBackend() const;
+
     /// \brief Set the headless mode
     /// \param[in] _headless Set to true to enable headless mode.
     public: void SetHeadlessRendering(const bool &_headless);

src/LevelManager.cc

@@ -51,6 +51,7 @@
 #include "gz/sim/components/PhysicsEnginePlugin.hh"
 #include "gz/sim/components/Pose.hh"
 #include "gz/sim/components/RenderEngineGuiPlugin.hh"
+#include "gz/sim/components/RenderEngineServerApiBackend.hh"
 #include "gz/sim/components/RenderEngineServerHeadless.hh"
 #include "gz/sim/components/RenderEngineServerPlugin.hh"
 #include "gz/sim/components/Scene.hh"
@@ -150,6 +151,10 @@ void LevelManager::ReadLevelPerformerInfo()
       components::RenderEngineServerPlugin(
       this->runner->serverConfig.RenderEngineServer()));
 
+  this->runner->entityCompMgr.CreateComponent(this->worldEntity,
+      components::RenderEngineServerApiBackend(
+      this->runner->serverConfig.RenderEngineServerApiBackend()));
+
   this->runner->entityCompMgr.CreateComponent(this->worldEntity,
       components::RenderEngineServerHeadless(
       this->runner->serverConfig.HeadlessRendering()));

src/ServerConfig.cc

@@ -258,7 +258,9 @@ class gz::sim::ServerConfigPrivate
             resourceCache(_cfg->resourceCache),
             physicsEngine(_cfg->physicsEngine),
             renderEngineServer(_cfg->renderEngineServer),
+            renderEngineServerApiBackend(_cfg->renderEngineServerApiBackend),
             renderEngineGui(_cfg->renderEngineGui),
+            renderEngineGuiApiBackend(_cfg->renderEngineGuiApiBackend),
             plugins(_cfg->plugins),
             networkRole(_cfg->networkRole),
             networkSecondaries(_cfg->networkSecondaries),
@@ -307,10 +309,18 @@ class gz::sim::ServerConfigPrivate
   /// will be used.
   public: std::string renderEngineServer = "";
 
+  /// \brief String on which API to select.
+  /// See --render-engine-server-api-backend for possible options
+  public: std::string renderEngineServerApiBackend = "";
+
   /// \brief File containing render engine gui plugin. If empty, OGRE2
   /// will be used.
   public: std::string renderEngineGui = "";
 
+  /// \brief String on which API to select.
+  /// See --render-engine-gui-api-backend for possible options
+  public: std::string renderEngineGuiApiBackend = "";
+
   /// \brief List of plugins to load.
   public: std::list<ServerConfig::PluginInfo> plugins;
 
@@ -592,6 +602,19 @@ void ServerConfig::SetRenderEngineServer(const std::string &_engine)
   this->dataPtr->renderEngineServer = engine;
 }
 
+/////////////////////////////////////////////////
+void ServerConfig::SetRenderEngineServerApiBackend(
+  const std::string &_apiBackend)
+{
+  this->dataPtr->renderEngineServerApiBackend = _apiBackend;
+}
+
+/////////////////////////////////////////////////
+const std::string &ServerConfig::RenderEngineServerApiBackend() const
+{
+  return this->dataPtr->renderEngineServerApiBackend;
+}
+
 /////////////////////////////////////////////////
 void ServerConfig::SetHeadlessRendering(const bool _headless)
 {
@@ -626,6 +649,18 @@ void ServerConfig::SetRenderEngineGui(const std::string &_engine)
   this->dataPtr->renderEngineGui = engine;
 }
 
+/////////////////////////////////////////////////
+void ServerConfig::SetRenderEngineGuiApiBackend(const std::string &_apiBackend)
+{
+  this->dataPtr->renderEngineGuiApiBackend = _apiBackend;
+}
+
+/////////////////////////////////////////////////
+const std::string &ServerConfig::RenderEngineGuiApiBackend() const
+{
+  return this->dataPtr->renderEngineGuiApiBackend;
+}
+
 /////////////////////////////////////////////////
 void ServerConfig::AddPlugin(const ServerConfig::PluginInfo &_info)
 {

src/cmd/cmdsim.rb.in

@@ -143,18 +143,36 @@ COMMANDS = { 'sim' =>
   "                               Make sure custom plugins are in                  \n"\
   "                               GZ_SIM_RENDER_ENGINE_PATH.                       \n"\
   "\n"\
+  "  --render-engine-api-backend [arg]                                             \n"\
+  "                               API to use for both the Server & GUI.            \n"\
+  "                               Possible values for ogre2:                       \n"\
+  "                                 - opengl (default)                             \n"\
+  "                                 - vulkan (beta)                                \n"\
+  "                                 - metal (Apple only, default for Apple)        \n"\
+  "                               Note: If using Vulkan in the GUI and gz-gui      \n"\
+  "                               was built against Qt < 5.15.2, it may be very    \n"\
+  "                               slow.                                            \n"\
+  "\n"\
   "  --render-engine-gui [arg]    Gazebo Rendering engine plugin to load for       \n"\
   "                               the GUI. Gazebo will use OGRE2 by default.       \n"\
   "                               (ogre2)                                          \n"\
   "                               Make sure custom plugins are in                  \n"\
   "                               GZ_SIM_RENDER_ENGINE_PATH.                       \n"\
   "\n"\
+  "  --render-engine-gui-api-backend [arg]                                         \n"\
+  "                               Same as --render-engine-api-backend but only     \n"\
+  "                               for the GUI.                                     \n"\
+  "\n"\
   "  --render-engine-server [arg] Gazebo Rendering engine plugin to load for       \n"\
   "                               the server. Gazebo will use OGRE2 by default.    \n"\
   "                               (ogre2)                                          \n"\
   "                               Make sure custom plugins are in                  \n"\
   "                               GZ_SIM_RENDER_ENGINE_PATH.                       \n"\
   "\n"\
+  "  --render-engine-server-api-backend [arg]                                      \n"\
+  "                               Same as --render-engine-api-backend but only     \n"\
+  "                               for the server.                                  \n"\
+  "\n"\
   "  --version                    Print Gazebo version information.                \n"\
   "\n"\
   "  -z [arg]                     Update rate in Hertz.                            \n"\
@@ -230,9 +248,11 @@ class Cmd
       'gui_config' => '',
       'physics_engine' => '',
       'render_engine_gui' => '',
+      'render_engine_gui_api_backend' => '',
       'render_engine_server' => '',
-      'wait_gui' => 1,
+      'render_engine_server_api_backend' => '',
       'headless-rendering' => 0,
+      'wait_gui' => 1,
       'seed' => 0
     }
 
@@ -313,13 +333,23 @@ class Cmd
       opts.on('--render-engine-gui [arg]', String) do |g|
         options['render_engine_gui'] = g
       end
+      opts.on('--render-engine-gui-api-backend [arg]', String) do |a|
+        options['render_engine_gui_api_backend'] = a
+      end
       opts.on('--render-engine-server [arg]', String) do |k|
         options['render_engine_server'] = k
       end
+      opts.on('--render-engine-server-api-backend [arg]', String) do |a|
+        options['render_engine_server_api_backend'] = a
+      end
       opts.on('--render-engine [arg]', String) do |f|
         options['render_engine_gui'] = f
         options['render_engine_server'] = f
       end
+      opts.on('--render-engine-api-backend [arg]', String) do |a|
+        options['render_engine_gui_api_backend'] = a
+        options['render_engine_server_api_backend'] = a
+      end
       opts.on('--version') do
         options['version'] = '1'
       end
@@ -465,10 +495,12 @@ Please use [GZ_SIM_RESOURCE_PATH] instead."
                                const char *, int, int, const char *,
                                int, int, int, const char *, const char *,
                                const char *, const char *, const char *,
+                               const char *, const char *,
                                const char *, int, int, float, int)'
 
       # Import the runGui function
-      Importer.extern 'int runGui(const char *, const char *, int, const char *)'
+      Importer.extern 'int runGui(const char *, const char *, int,
+                                  const char *, const char *)'
 
       # If playback is specified, and the user has not specified a
       # custom gui config, set the gui config to load the playback
@@ -504,7 +536,10 @@ See https://github.com/gazebosim/gz-sim/issues/168 for more info."
             options['record-path'], options['record-resources'],
             options['log-overwrite'], options['log-compress'],
             options['playback'], options['physics_engine'],
-            options['render_engine_server'], options['render_engine_gui'],
+            options['render_engine_server'],
+            options['render_engine_server_api_backend'],
+            options['render_engine_gui'],
+            options['render_engine_gui_api_backend'],
             options['file'], options['record-topics'].join(':'),
             options['wait_gui'],
             options['headless-rendering'], options['record-period'],
@@ -516,7 +551,8 @@ See https://github.com/gazebosim/gz-sim/issues/168 for more info."
           Process.setpgid(0, 0)
           Process.setproctitle('gz sim gui')
           Importer.runGui(options['gui_config'], options['file'],
-              options['wait_gui'], options['render_engine_gui'])
+                          options['wait_gui'], options['render_engine_gui'],
+                          options['render_engine_gui_api_backend'])
         end
 
         Signal.trap("INT") {
@@ -543,7 +579,10 @@ See https://github.com/gazebosim/gz-sim/issues/168 for more info."
             options['record-path'], options['record-resources'],
             options['log-overwrite'], options['log-compress'],
             options['playback'], options['physics_engine'],
-            options['render_engine_server'], options['render_engine_gui'],
+            options['render_engine_server'],
+            options['render_engine_server_api_backend'],
+            options['render_engine_gui'],
+            options['render_engine_gui_api_backend'],
             options['file'], options['record-topics'].join(':'),
             options['wait_gui'], options['headless-rendering'],
             options['record-period'], options['seed'])
@@ -557,7 +596,8 @@ See https://github.com/gazebosim/gz-sim/issues/168 for more info."
 
         ENV['RMT_PORT'] = '1501'
         Importer.runGui(options['gui_config'], options['file'],
-            options['wait_gui'], options['render_engine_gui'])
+                        options['wait_gui'], options['render_engine_gui'],
+                        options['render_engine_gui_api_backend'])
       end
     rescue
       puts "Library error: Problem running [#{options['command']}]() "\

src/gui/Gui.cc

@@ -194,14 +194,15 @@ std::unique_ptr<gz::gui::Application> createGui(
     const char *_renderEngine)
 {
   return createGui(_argc, _argv, _guiConfig, _defaultGuiConfig,
-    _loadPluginsFromSdf, nullptr, 0, _renderEngine);
+    _loadPluginsFromSdf, nullptr, 0, _renderEngine, nullptr);
 }
 
 //////////////////////////////////////////////////
 std::unique_ptr<gz::gui::Application> createGui(
-    int &_argc, char **_argv, const char *_guiConfig,
-    const char *_defaultGuiConfig, bool _loadPluginsFromSdf,
-    const char *_sdfFile, int _waitGui, const char *_renderEngine)
+  int &_argc, char **_argv, const char *_guiConfig,
+  const char *_defaultGuiConfig, bool _loadPluginsFromSdf, const char *_sdfFile,
+  int _waitGui, const char *_renderEngine,
+  const char *_renderEngineGuiApiBackend)
 {
   gz::common::SignalHandler sigHandler;
   bool sigKilled = false;
@@ -274,7 +275,7 @@ std::unique_ptr<gz::gui::Application> createGui(
 
   // Launch main window
   auto app = std::make_unique<gz::gui::Application>(
-    _argc, _argv, gz::gui::WindowType::kMainWindow);
+    _argc, _argv, gz::gui::WindowType::kMainWindow, _renderEngineGuiApiBackend);
 
   app->AddPluginPath(GZ_SIM_GUI_PLUGIN_INSTALL_DIR);
 
@@ -507,10 +508,10 @@ int runGui(int &_argc, char **_argv, const char *_guiConfig,
 //////////////////////////////////////////////////
 int runGui(int &_argc, char **_argv,
   const char *_guiConfig, const char *_sdfFile, int _waitGui,
-  const char *_renderEngine)
+  const char *_renderEngine, const char *_renderEngineGuiApiBackend)
 {
   auto app = sim::gui::createGui(_argc, _argv, _guiConfig, nullptr, true,
-      _sdfFile, _waitGui, _renderEngine);
+      _sdfFile, _waitGui, _renderEngine, _renderEngineGuiApiBackend);
   if (nullptr != app)
   {
     // Run main window.