Switch to GL3+ RenderSystem and enable RTShaderSystem

Author: simonschmeisser

CMakeLists.txt

@@ -28,7 +28,7 @@ if(NOT DEFINED ASSIMP_LIBRARIES AND TARGET assimp::assimp)
   set(ASSIMP_LIBRARIES assimp::assimp)
 endif()
 
-find_package(OGRE QUIET COMPONENTS Overlay)
+find_package(OGRE QUIET COMPONENTS Overlay RTShaderSystem)
 if(OGRE_FOUND)
   if(${OGRE_VERSION} VERSION_LESS 1.11)
     set(OGRE_INCLUDE_DIRS ${OGRE_INCLUDE_DIRS} ${OGRE_Overlay_INCLUDE_DIRS})
@@ -38,7 +38,7 @@ else()
   # OGRE doesn't come with correctly installed cmake files on Linux. Use pkg-config instead.
   # We need both, OGRE and OGRE-Overlay. Look for both simulatenously and use prefix X_
   find_package(PkgConfig REQUIRED)
-  pkg_check_modules(X REQUIRED OGRE OGRE-Overlay)
+  pkg_check_modules(X REQUIRED OGRE OGRE-Overlay OGRE-RTShaderSystem)
 
   # Set OGRE_* variables as cmake-based find_package would do
   set(OGRE_VERSION ${X_OGRE_VERSION})

default.rviz

@@ -33,7 +33,7 @@ Visualization Manager:
       Cell Size: 1
       Class: rviz/Grid
       Color: 160; 160; 164
-      Enabled: true
+      Enabled: false
       Line Style:
         Line Width: 0.03
         Value: Lines

src/rviz/ogre_helpers/render_system.cpp

@@ -163,7 +163,7 @@ void RenderSystem::loadOgrePlugins()
 #ifdef Q_OS_MAC
   plugin_prefix += "lib";
 #endif
-  ogre_root_->loadPlugin(plugin_prefix + "RenderSystem_GL");
+  ogre_root_->loadPlugin(plugin_prefix + "RenderSystem_GL3Plus");
   ogre_root_->loadPlugin(plugin_prefix + "Plugin_OctreeSceneManager");
   ogre_root_->loadPlugin(plugin_prefix + "Plugin_ParticleFX");
 #if OGRE_VERSION >= OGRE_VERSION_CHECK(1, 11, 0)

src/rviz/visualization_manager.cpp

@@ -45,6 +45,7 @@
 #include <OgreMaterialManager.h>
 #include <OgreMaterial.h>
 #include <OgreRenderWindow.h>
+#include <OgreRTShaderSystem.h>
 #include <OgreSharedPtr.h>
 #include <OgreCamera.h>
 
@@ -146,6 +147,12 @@ VisualizationManager::VisualizationManager(RenderPanel* render_panel,
 
   rviz::RenderSystem::RenderSystem::get()->prepareOverlays(scene_manager_);
 
+  using namespace Ogre;
+  // register our scene with the RTSS
+  RTShader::ShaderGenerator::initialize();
+  RTShader::ShaderGenerator* shadergen = RTShader::ShaderGenerator::getSingletonPtr();
+  shadergen->addSceneManager(scene_manager_);
+
   directional_light_ = scene_manager_->createLight("MainDirectional");
   directional_light_->setType(Ogre::Light::LT_DIRECTIONAL);
   directional_light_->setDirection(Ogre::Vector3(-1, 0, -1));