rviz: Fixed bugs #5025 and #5073 relating to selection flicker and mi…

…scoloration by narrowing what is updated after the main update. Still a hack because I don't understand the underlying reason for the behavior.

git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/visualization/trunk@37650 eb33c2ac-9c88-4c90-87e0-44a10359b0c3

src/rviz/selection/selection_manager.cpp

@@ -43,6 +43,7 @@
 
 #include <OGRE/OgreCamera.h>
 #include <OGRE/OgreViewport.h>
+#include <OGRE/OgreRenderSystem.h>
 #include <OGRE/OgreRenderTexture.h>
 #include <OGRE/OgreTextureManager.h>
 #include <OGRE/OgreSceneNode.h>
@@ -683,7 +684,19 @@ bool SelectionManager::render(Ogre::Viewport* viewport, Ogre::TexturePtr tex,
   Ogre::MaterialManager::getSingleton().addListener(this);
 
   render_texture->update();
-  Ogre::Root::getSingleton().renderOneFrame();
+
+  // For some reason we need to pretend to render the main window in
+  // order to get the picking render to show up in the pixelbox below.
+  // If we don't do this, it will show up there the *next* time we
+  // pick something, but not this time.  This object as a
+  // render queue listener tells the scene manager to skip every
+  // render step, so nothing actually gets drawn.
+  // 
+  // TODO: find out what part of _renderScene() actually makes this work.
+  Ogre::Viewport* main_view = vis_manager_->getRenderPanel()->getViewport();
+  vis_manager_->getSceneManager()->addRenderQueueListener(this);
+  vis_manager_->getSceneManager()->_renderScene(main_view->getCamera(), main_view, false);
+  vis_manager_->getSceneManager()->removeRenderQueueListener(this);
 
   ros::WallTime end = ros::WallTime::now();
   ros::WallDuration d = end - start;
@@ -708,6 +721,17 @@ bool SelectionManager::render(Ogre::Viewport* viewport, Ogre::TexturePtr tex,
   return true;
 }
 
+void SelectionManager::renderQueueStarted( uint8_t queueGroupId,
+                                           const std::string& invocation, 
+                                           bool& skipThisInvocation )
+{
+  // This render queue listener function tells the scene manager to
+  // skip every render step, so nothing actually gets drawn.
+
+//  ROS_DEBUG("SelectionManager renderQueueStarted(%d, '%s') returning skip = true.", (int)queueGroupId, invocation.c_str());
+  skipThisInvocation = true;
+}
+
 void SelectionManager::pick(Ogre::Viewport* viewport, int x1, int y1, int x2, int y2, M_Picked& results, bool single_render_pass)
 {
   boost::recursive_mutex::scoped_lock lock(global_mutex_);

src/rviz/selection/selection_manager.h

@@ -43,6 +43,7 @@
 #include <OGRE/OgreMaterial.h>
 #include <OGRE/OgreMaterialManager.h>
 #include <OGRE/OgreMovableObject.h>
+#include <OGRE/OgreRenderQueueListener.h>
 
 #include <vector>
 #include <set>
@@ -71,7 +72,7 @@ class VisualizationManager;
 class PropertyManager;
 
 
-class SelectionManager : public Ogre::MaterialManager::Listener
+class SelectionManager : public Ogre::MaterialManager::Listener, public Ogre::RenderQueueListener
 {
 public:
   enum SelectType
@@ -143,6 +144,11 @@ class SelectionManager : public Ogre::MaterialManager::Listener
   // be changed to contain the 3D point corresponding to it.
   bool get3DPoint( Ogre::Viewport* viewport, int x, int y, Ogre::Vector3& result_point );
 
+  // Implementation for Ogre::RenderQueueListener.
+  void renderQueueStarted( uint8_t queueGroupId,
+                           const std::string& invocation, 
+                           bool& skipThisInvocation );
+
 protected:
   std::pair<Picked, bool> addSelection(const Picked& obj);
   void removeSelection(const Picked& obj);