[core] Revamp SSAO, depth and shadow map pass classes - add move constructors, assignment op, and destructors

CHANGELOG.md

@@ -21,7 +21,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - multibody/RobotScene : early return if pipeline is nullptr (https://github.com/Simple-Robotics/candlewick/pull/58)
 - multibody/RobotScene : reorganize pipelines (accomodate for transparent PBR shader)
 - shaders : refactor basic PBR shader (move some functions to new `pbr_lighting.glsl`) (https://github.com/Simple-Robotics/candlewick/pull/58)
-- interleave debug scene render between robot render system opaque and transparent passes
+- interleave debug scene render between robot render system opaque and transparent passes (https://github.com/Simple-Robotics/candlewick/pull/59)
+- revamp depth and shadow map pass classes (https://github.com/Simple-Robotics/candlewick/pull/60)
+- core/Texture : do not store pointer to `Device` but raw `SDL_GPUDevice *` handle (https://github.com/Simple-Robotics/candlewick/pull/60)
 
 ## [0.0.6] - 2025-05-14
 

bindings/python/CMakeLists.txt

@@ -5,7 +5,12 @@ endif(GENERATE_PYTHON_STUBS)
 
 find_package(eigenpy 3.2.0 REQUIRED)
 
-set(pycandlewick_SOURCES src/expose-renderer.cpp src/module.cpp)
+set(
+  pycandlewick_SOURCES
+  src/expose-mesh-data.cpp
+  src/expose-renderer.cpp
+  src/module.cpp
+)
 
 set(PYLIB_INSTALL_DIR ${PYTHON_SITELIB}/${PROJECT_NAME})
 

bindings/python/src/expose-mesh-data.cpp

@@ -0,0 +1,22 @@
+#include "fwd.hpp"
+#include "candlewick/utils/MeshData.h"
+
+using namespace candlewick;
+
+void exposeMeshData() {
+
+  bp::class_<MeshLayout>("MeshLayout", bp::no_init);
+
+  bp::class_<MeshData, boost::noncopyable>("MeshData", bp::no_init)
+      .def_readonly("layout", &MeshData::layout)
+      .add_property("numVertices", &MeshData::numVertices,
+                    "Number of vertices.")
+      .add_property("vertexSize", &MeshData::vertexSize)
+      .add_property("vertexBytes", &MeshData::vertexBytes,
+                    "Number of bytes in the vertex data.")
+      .add_property("numIndices", &MeshData::numIndices, "Number of indices.")
+      .add_property("isIndexed", &MeshData::isIndexed,
+                    "Whether the mesh is indexed.")
+
+      ;
+}

bindings/python/src/expose-visualizer.cpp

@@ -10,34 +10,32 @@
 
 using namespace candlewick::multibody;
 
+#define DEF_PROP_PROXY(name)                                                   \
+  add_property(#name, bp::make_function(                                       \
+                          +[](Visualizer &v) -> auto & { return v.name(); },   \
+                          bp::return_internal_reference<>()))
+
 void exposeVisualizer() {
   eigenpy::OptionalConverter<ConstVectorRef, std::optional>::registration();
   bp::class_<Visualizer::Config>("VisualizerConfig", bp::init<>())
       .def_readwrite("width", &Visualizer::Config::width)
       .def_readwrite("height", &Visualizer::Config::height);
 
-  auto cl =
-      bp::class_<Visualizer, boost::noncopyable>("Visualizer", bp::no_init)
-          .def(bp::init<Visualizer::Config, const pin::Model &,
-                        const pin::GeometryModel &>(
-              ("self"_a, "config", "model", "geomModel")))
-          .def(pinocchio::python::VisualizerPythonVisitor<Visualizer>{})
-          .def_readonly("renderer", &Visualizer::renderer)
-          .add_property("shouldExit", &Visualizer::shouldExit);
-
+  bp::class_<Visualizer, boost::noncopyable>("Visualizer", bp::no_init)
+      .def(bp::init<Visualizer::Config, const pin::Model &,
+                    const pin::GeometryModel &>(
+          ("self"_a, "config", "model", "geomModel")))
+      .def(pinocchio::python::VisualizerPythonVisitor<Visualizer>{})
+      .def_readonly("renderer", &Visualizer::renderer)
 // fix for Pinocchio 3.5.0
 #if PINOCCHIO_VERSION_AT_MOST(3, 5, 0)
-#define DEF_PROP_PROXY(name)                                                   \
-  add_property(#name, bp::make_function(                                       \
-                          +[](Visualizer &v) -> auto & { return v.name(); },   \
-                          bp::return_internal_reference<>()))
-  cl //
       .DEF_PROP_PROXY(model)
       .DEF_PROP_PROXY(visualModel)
       .DEF_PROP_PROXY(collisionModel)
       .DEF_PROP_PROXY(data)
       .DEF_PROP_PROXY(visualData)
-      .DEF_PROP_PROXY(collisionData);
-#undef DEF_PROP_PROXY
+      .DEF_PROP_PROXY(collisionData)
 #endif
+      .add_property("shouldExit", &Visualizer::shouldExit);
 }
+#undef DEF_PROP_PROXY

bindings/python/src/module.cpp

@@ -6,10 +6,11 @@
 
 using namespace candlewick;
 
+void exposeMeshData();
+void exposeRenderer();
 #ifdef CANDLEWICK_PYTHON_PINOCCHIO_SUPPORT
 void exposeVisualizer();
 #endif
-void exposeRenderer();
 
 BOOST_PYTHON_MODULE(pycandlewick) {
   bp::import("eigenpy");
@@ -26,6 +27,7 @@ BOOST_PYTHON_MODULE(pycandlewick) {
   // Register SDL_Quit() as a function to call when interpreter exits.
   Py_AtExit(SDL_Quit);
 
+  exposeMeshData();
   exposeRenderer();
 #ifdef CANDLEWICK_PYTHON_PINOCCHIO_SUPPORT
   {

examples/Ur5WithSystems.cpp

@@ -300,12 +300,12 @@ int main(int argc, char **argv) {
   robot_debug.addFrameTriad(debug_scene, ee_frame_id);
   robot_debug.addFrameVelocityArrow(debug_scene, ee_frame_id);
 
-  auto depthPassInfo =
-      DepthPassInfo::create(renderer, plane_obj.mesh.layout(), NULL,
-                            {SDL_GPU_CULLMODE_NONE, 0.05f, 0.f, true, false});
+  DepthPass depthPass(renderer.device, plane_obj.mesh.layout(),
+                      renderer.depth_texture,
+                      {SDL_GPU_CULLMODE_NONE, 0.05f, 0.f, true, false});
   auto &shadowPassInfo = robot_scene.shadowPass;
   auto shadowDebugPass =
-      DepthDebugPass::create(renderer, shadowPassInfo.depthTexture);
+      DepthDebugPass::create(renderer, shadowPassInfo.shadowMap);
 
   auto depthDebugPass =
       DepthDebugPass::create(renderer, renderer.depth_texture);
@@ -464,7 +464,7 @@ int main(int argc, char **argv) {
       auto &castables = robot_scene.castables();
       renderShadowPassFromAABB(command_buffer, shadowPassInfo, sceneLight,
                                castables, worldSpaceBounds);
-      renderDepthOnlyPass(command_buffer, depthPassInfo, viewProj, castables);
+      depthPass.render(command_buffer, viewProj, castables);
       switch (g_showDebugViz) {
       case FULL_RENDER:
         robot_scene.renderOpaque(command_buffer, g_camera);
@@ -501,7 +501,7 @@ int main(int argc, char **argv) {
 
   SDL_WaitForGPUIdle(renderer.device);
   frustumBoundsDebug.release();
-  depthPassInfo.release();
+  depthPass.release();
   shadowDebugPass.release(renderer.device);
   depthDebugPass.release(renderer.device);
   robot_scene.release();

src/candlewick/core/Core.h

@@ -9,7 +9,7 @@ namespace candlewick {
 struct Camera;
 class CommandBuffer;
 struct Device;
-struct Texture;
+class Texture;
 class Mesh;
 class MeshView;
 class MeshLayout;