Expose shadow texture size for directional lighting in SDF (#633)

Signed-off-by: Athena Z <athenaz@google.com> Signed-off-by: Athena Z. <athenaz@google.com> Co-authored-by: Ian Chen <ichen@openrobotics.org>
gazebosim · Aug 21, 2024 · 96098d6 · 96098d6
1 parent 26d8be0
commit 96098d6
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diff --git a/src/plugins/minimal_scene/MinimalScene.cc b/src/plugins/minimal_scene/MinimalScene.cc
@@ -762,6 +762,16 @@ std::string GzRenderer::Initialize(RenderThreadRhi &_rhi)
     scene->SetSkyEnabled(true);
   }
 
+  if (!scene->SetShadowTextureSize(rendering::LightType::DIRECTIONAL,
+      this->directionalLightTextureSize))
+  {
+    gzerr << "Unable to set directional light shadow <texture_size> to '"
+          << this->directionalLightTextureSize
+          << "'. Using default texture size of "
+          << scene->ShadowTextureSize(rendering::LightType::DIRECTIONAL)
+          << std::endl;
+  }
+
   auto root = scene->RootVisual();
 
   // Camera
@@ -1321,6 +1331,20 @@ void RenderWindowItem::SetSkyEnabled(const bool &_sky)
   this->dataPtr->renderThread->gzRenderer.skyEnable = _sky;
 }
 
+/////////////////////////////////////////////////
+bool RenderWindowItem::SetShadowTextureSize(rendering::LightType _lightType,
+    unsigned int _textureSize)
+{
+  if (_lightType == rendering::LightType::DIRECTIONAL)
+  {
+    this->dataPtr->renderThread->gzRenderer.directionalLightTextureSize =
+        _textureSize;
+    return true;
+  }
+
+  return false;
+}
+
 /////////////////////////////////////////////////
 void RenderWindowItem::SetGraphicsAPI(
     const rendering::GraphicsAPI &_graphicsAPI)
@@ -1464,6 +1488,44 @@ void MinimalScene::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
                 << std::endl;
     }
 
+    elem = _pluginElem->FirstChildElement("shadows");
+    if (nullptr != elem && !elem->NoChildren())
+    {
+      auto textureSizeElem = elem->FirstChildElement("texture_size");
+      if (nullptr != elem && nullptr != textureSizeElem->GetText())
+      {
+        unsigned int texSize;
+        std::stringstream texSizeStr;
+        texSizeStr << std::string(textureSizeElem->GetText());
+        texSizeStr >> texSize;
+        if (texSizeStr.fail())
+        {
+          gzerr << "Unable to set shadow <texture_size> to '"
+                << texSizeStr.str()
+                << "' using default texture size" << std::endl;
+        }
+        else
+        {
+          std::string lightType = textureSizeElem->Attribute("light_type");
+          if (lightType == "directional")
+          {
+            if (!renderWindow->SetShadowTextureSize(
+                rendering::LightType::DIRECTIONAL, texSize))
+            {
+              gzerr << "Unable to set shadow <texture_size> to '"
+                    << texSizeStr.str()
+                    << "' using default texture size" << std::endl;
+            }
+          }
+          else
+          {
+            gzerr << "Setting shadow <texture_size> for light type ["
+                  << lightType << "] is not supported." << std::endl;
+          }
+        }
+      }
+    }
+
     const std::string backendApiName = gz::gui::renderEngineBackendApiName();
     if (backendApiName == "vulkan")
     {

diff --git a/src/plugins/minimal_scene/MinimalScene.hh b/src/plugins/minimal_scene/MinimalScene.hh
@@ -28,6 +28,7 @@
 #include <gz/math/Vector2.hh>
 #include <gz/utils/ImplPtr.hh>
 #include <gz/rendering/GraphicsAPI.hh>
+#include <gz/rendering/Light.hh>
 
 #include "gz/gui/Plugin.hh"
 
@@ -238,6 +239,9 @@ namespace gz::gui::plugins
     /// \brief True if sky is enabled;
     public: bool skyEnable = false;
 
+    /// \brief Shadow texture size for directional light
+    public: unsigned int directionalLightTextureSize = 2048u;
+
     /// \brief Horizontal FOV of the camera;
     public: math::Angle cameraHFOV = math::Angle(M_PI * 0.5);
 
@@ -368,6 +372,12 @@ namespace gz::gui::plugins
     /// \param[in] _sky True to enable the sky, false otherwise.
     public: void SetSkyEnabled(const bool &_sky);
 
+    /// \brief Set the shadow texture size for the given light type.
+    /// \param _lightType Light type that creates the shadow
+    /// \param _textureSize Shadow texture size
+    public: bool SetShadowTextureSize(rendering::LightType _lightType,
+        unsigned int _textureSize);
+
     /// \brief Set the Horizontal FOV of the camera
     /// \param[in] _fov FOV of the camera in degree
     public: void SetCameraHFOV(const math::Angle &_fov);

diff --git a/test/integration/minimal_scene.cc b/test/integration/minimal_scene.cc
@@ -90,6 +90,9 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
       "  <near>0.1</near>"
       "  <far>5000</far>"
       "</camera_clip>"
+      "<shadows>"
+      "  <texture_size light_type=\"directional\">8192</texture_size>"
+      "</shadows>"
       "<horizontal_fov>60</horizontal_fov>"
       "<view_controller>ortho</view_controller>"
     "</plugin>";
@@ -131,6 +134,11 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   EXPECT_DOUBLE_EQ(0.1, camera->NearClipPlane());
   EXPECT_DOUBLE_EQ(5000.0, camera->FarClipPlane());
 
+  EXPECT_EQ(8192u, scene->ShadowTextureSize(
+      rendering::LightType::DIRECTIONAL));
+  EXPECT_EQ(2048u, scene->ShadowTextureSize(rendering::LightType::SPOT));
+  EXPECT_EQ(2048u, scene->ShadowTextureSize(rendering::LightType::POINT));
+
   EXPECT_NEAR(60, camera->HFOV().Degree(), 1e-4);
 
   EXPECT_EQ(rendering::CameraProjectionType::CPT_ORTHOGRAPHIC,