gz_waves: rendering - Part 3/4#884
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…ridge Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
…rx_bringup simulation.launch.xml` runs Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
…bers HeightMapTexture::Upload now takes the raw column-major WaveField2D buffers + N and transposes to row-major internally (a plain loop, null channels -> zeros), so WaterVisual hands Field()'s pointers straight through with no Eigen::Map. Removes Eigen from the package (it was used only as a transpose helper and wasn't even declared as a dependency) and switches HeightMapTexture members to gz-style this->member. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Agüero <caguero@honurobotics.com>
Extract the column-major -> row-major transpose from HeightMapTexture into a dependency-free GridReflow.hh and cover it with a gtest (the only data transform on the upload path, previously untested because it lived in an anonymous namespace and Upload needs a live Ogre scene). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Agüero <caguero@honurobotics.com>
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The analytic Gerstner engine writes the Jacobian determinant into the foam channel, but it barely leaves 1.0, so it carries no usable folding signal — whitecaps are visually indistinguishable from no foam. Gate foamStrength to 0 for the gerstner backend (the FS then skips the foam path entirely), matching the shader's documented intent; FFT/Encino keeps foam. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Agüero <caguero@honurobotics.com>
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- Fix a data race: hold mutex_ across ResolveVisual so its first-pass material setup (which calls UploadUniforms and reads the cross-thread cache) no longer races PreUpdate on the ECM thread. - Release the per-entity dedup claim in ~Implementation so a reloaded WaterVisual for the same entity can become active again. - Make the one-shot upload log a per-instance member, not a function static. - Tag sim as mutex_-guarded; note the deliberate lock over Update()/Upload(). - Sweep stale 'FFT' naming to 'grid/displacement' (the path is backend- agnostic), refresh foam doc, and explain the Configure const_cast. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Signed-off-by: Carlos Agüero <caguero@honurobotics.com>
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Third in the stacked series. Adds the renderer, the
WaterVisualGUI system that draws the wave surface, plus a runnable Gerstner-ocean demo world.How to test it?
What this PR adds
WaterVisual(gz-sim-water-visual-system) — a gz-sim GUI system that reads theWavefieldcomponent, rebuilds a thread-private engine from the replicated recipe via the core registry (CreateWaveSimulation), and uploads its height/displacement grid as a GPU heightmap each frame. It is provider-agnostic: it links no wave engine and depends only on thegz_wavescore.HeightMapTexture— the CPU→GPU heightmap helper.Ogre2HeightMapBridge(libwaves-ogre2-bridge) — all Ogre Next access is isolated behind a C-ABI in this separate library, loaded on demand viadlopen, soWaterVisualcarries noDT_NEEDEDonlibgz-rendering-ogre2(which would interfere with gz-rendering's own engine-plugin loader).water_surfacemodel (mesh + shaders + textures) — loadsWaterVisualplus the per-engine GUI registrar(s) in the same<visual>(the only level the GUI's GuiRunner loads systems at). At this point that isgz-sim-waves-gerstner-gui; the FFT registrar line is added by PR4.vrx_gazebo/worlds/open_water.sdf— wired as a Gerstner ocean (gerstner source +model://water_surface,<sea_state>default + advanced-commented block) sovrx_bringup's existing launch runs it directly. Ocean-only: no references outside the PR1–PR3 stack.Provider-agnostic design
The engine registration that lets
WaterVisualrebuild an engine in the GUI process lives in the per-engine GUI plugins (shipped by the provider packages), not in this package. So adding or removing an engine never touchesgz_waves_rendering— it depends only on the core.WaterVisualkeeps a private engine instance (not the component's) because the GUI render thread and the ECM thread both touch it; sharing would race.