Point light shadows

[WilliamLewww]

Currently only directional and spotlights cast shadows. The pull request adds point light shadow capabilities.

Addresses issue #2083

[ahcorde]

Compilation is not working https://build.osrfoundation.org/job/gazebo-abichecker-any_to_any-ubuntu_auto-amd64/1042/

[scpeters]

I just merged with gazebo11, which should fix the ABI checker

[scpeters]

I noticed a test failure at this line:

• https://github.com/osrf/gazebo/blob/gazebo11_11.9.0/gazebo/rendering/RenderingLight_TEST.cc#L130-L131
• https://build.osrfoundation.org/job/gazebo-ci-pr_any-ubuntu_auto-amd64-gpu-nvidia/831/testReport/junit/(root)/Light_TEST/CastShadows/

there also seem to be some ogre error messages in the log file:

• https://build.osrfoundation.org/job/gazebo-ci-pr_any-ubuntu_auto-amd64-gpu-nvidia/831/testReport/junit/(root)/OgreLog/LogError/

[ahcorde]

@osrf-jenkins retest this please

[scpeters]

I see some ogre log errors:

• https://build.osrfoundation.org/job/gazebo-ci-pr_any-ubuntu_auto-amd64-gpu-nvidia/840/testReport/(root)/OgreLog/LogError/

567: �[0m/var/lib/jenkins/workspace/gazebo-ci-pr_any-ubuntu_auto-amd64-gpu-nvidia/gazebo/test/integration/ogre_log.cc:80: Failure
567: Expected equality of these values:
567:   line.find("error")
567:     Which is: 19
567:   std::string::npos
567:     Which is: 18446744073709551615
567: 13:47:56: Compiler error: reference to a non existing object in shadow_caster_ignore_heightmap.program(21)
567: /var/lib/jenkins/workspace/gazebo-ci-pr_any-ubuntu_auto-amd64-gpu-nvidia/gazebo/test/integration/ogre_log.cc:80: Failure
567: Expected equality of these values:
567:   line.find("error")
567:     Which is: 19
567:   std::string::npos
567:     Which is: 18446744073709551615
567: 13:47:56: Compiler error: invalid parameters in point_light_shadow_demo.material(33)

I think the shadow_caster_ignore_heightmap.program error was not introduced by this PR, but the point_light_shadow_demo.material error looks new. Do you think these are real issues or a problem with the build machine? It would be great if you could fix both of them

[iche033]

567: 13:47:56: Compiler error: reference to a non existing object in shadow_caster_ignore_heightmap.program(21)

I think vertex_program shadow_caster_vp_glsl just needs to be defined again inside shadow_caster_ignore_heightmap.program

567: 13:47:56: Compiler error: invalid parameters in point_light_shadow_demo.material(33)

That points to this line:

param_named_auto lightPos0 light_position_world_space 0

Does the param light_position_world_space exist? I'm mainly looking at this ogre source file and does not see it defined there.

[ahcorde]

do you mind to review these warnings ?

https://build.osrfoundation.org/job/gazebo-ci-pr_any-ubuntu_auto-amd64-gpu-nvidia/842/gcc/

[scpeters]

CI looks ok to me. I'll wait for a rendering expert to approve though

[ahcorde]

maybe @iche033 wants to review this. For me it's fine

[iche033]

looks good to me, just some minor comments

[iche033]

I think we can remove this var? looks like it's not being used

[scpeters]

240f51c

[iche033]

Demo works well for me. Just one minor comment on unused var