1515 *
1616 */
1717
18+ #include < cstddef>
1819#include < map>
1920#include < mutex>
21+ #include < string>
2022
2123#include < gz/common/Console.hh>
2224#include < gz/common/SystemPaths.hh>
@@ -48,6 +50,11 @@ class gz::rendering::RenderEngineManagerPrivate
4850 // / \brief EngineMap iterator.
4951 typedef EngineMap::iterator EngineIter;
5052
53+ // / \brief Expected filename prefix for plugin to be loaded from the static
54+ // / registry.
55+ public: static constexpr std::string_view kStaticPluginFilenamePrefix =
56+ " static://"
57+
5158 // / \brief Get a pointer to the render engine from an EngineMap iterator.
5259 // / \param[in] _iter EngineMap iterator
5360 // / \param[in] _path Another search path for rendering engine plugin.
@@ -78,6 +85,11 @@ class gz::rendering::RenderEngineManagerPrivate
7885 public: bool LoadEnginePlugin (const std::string &_filename,
7986 const std::string &_path);
8087
88+ // / \brief Load a render engine plugin from the static plugin registry.
89+ // / \param[in] _filename Filename of plugin
90+ // / \return True if the plugin is loaded successfully
91+ public: bool LoadStaticEnginePlugin (const std::string &_filename);
92+
8193 // / \brief Unload a render engine plugin.
8294 // / \param[in] _engineName Name of engine associated with this plugin
8395 // / \return True if the plugin is unloaded successfully
@@ -431,32 +443,67 @@ bool RenderEngineManagerPrivate::UnloadEngine(EngineIter _iter)
431443// ////////////////////////////////////////////////
432444void RenderEngineManagerPrivate::RegisterDefaultEngines ()
433445{
434- // TODO(anyone): Find a cleaner way to get the default engine library name
435446
436- // cppcheck-suppress unreadVariable
437- std::string libName = " gz-rendering-"
447+ auto registerStaticOrSolibPlugin = [this ](const std::string& _engineName,
448+ const std::string& _staticFilename, const std::string& _solibFilename)
449+ {
450+ std::lock_guard<std::recursive_mutex> lock (this ->enginesMutex );
451+ // Check static plugin registry if the plugin was statically linked in.
452+ constexpr size_t prefixLen = kStaticPluginFilenamePrefix .size ();
453+ const std::string staticPluginAlias = _staticFilename.substr (prefixLen);
454+ if (!this ->pluginLoader .PluginsWithAlias (staticPluginAlias).empty ())
455+ {
456+ this ->defaultEngines [_engineName] = _staticFilename;
457+ if (this ->engines .find (_staticFilename) == this ->engines .end ())
458+ this ->engines [_staticFilename] = nullptr ;
459+ return ;
460+ }
461+ // Else if a .so lib plugin file is expected, register that as the default.
462+ if (!_solibFilename.empty ())
463+ {
464+ this ->defaultEngines [_engineName] = _solibFilename;
465+ if (this ->engines .find (_solibFilename) == this ->engines .end ())
466+ this ->engines [_solibFilename] = nullptr ;
467+ }
468+ };
438469
439- // cppcheck-suppress unusedVariable
440- std::string engineName;
470+ // TODO(anyone): Find a cleaner way to get the default engine .so library name
471+ // cppcheck-suppress unreadVariable
472+ const std::string libNamePrefix = " gz-rendering-"
441473
442- std::lock_guard<std::recursive_mutex> lock (this ->enginesMutex );
474+ // Register Ogre
475+ const std::string ogreEngineName = " ogre"
476+ const std::string ogreStaticFilename = " static://gz::rendering::ogre::Plugin"
443477#if GZ_RENDERING_HAVE_OGRE
444- engineName = " ogre"
445- this ->defaultEngines [engineName] = libName + engineName;
446- if (this ->engines .find (libName + engineName) == this ->engines .end ())
447- this ->engines [libName + engineName] = nullptr ;
478+ registerStaticOrSolibPlugin (ogreEngineName, ogreStaticFilename,
479+ libNamePrefix + ogreEngineName);
480+ #else
481+ registerStaticOrSolibPlugin (ogreEngineName, ogreStaticFilename,
482+ /* _solibFilename=*/ " "
448483#endif
484+
485+ // Register Ogre2
486+ const std::string ogre2EngineName = " ogre2"
487+ const std::string ogre2StaticFilename =
488+ " static://gz::rendering::ogre2::Plugin"
449489#if GZ_RENDERING_HAVE_OGRE2
450- engineName = " ogre2"
451- this ->defaultEngines [engineName] = libName + engineName;
452- if (this ->engines .find (libName + engineName) == this ->engines .end ())
453- this ->engines [libName + engineName] = nullptr ;
490+ registerStaticOrSolibPlugin (ogre2EngineName, ogre2StaticFilename,
491+ libNamePrefix + ogre2EngineName);
492+ #else
493+ registerStaticOrSolibPlugin (ogre2EngineName, ogre2StaticFilename,
494+ /* _solibFilename=*/ " "
454495#endif
496+
497+ // Register Optix
498+ const std::string optixEngineName = " optix"
499+ const std::string optixStaticFilename =
500+ " static://gz::rendering::optix::Plugin"
455501#if GZ_RENDERING_HAVE_OPTIX
456- engineName = " optix"
457- this ->defaultEngines [engineName] = libName + engineName;
458- if (this ->engines .find (libName + engineName) == this ->engines .end ())
459- this ->engines [libName + engineName] = nullptr ;
502+ registerStaticOrSolibPlugin (optixEngineName, optixStaticFilename,
503+ libNamePrefix + optixEngineName);
504+ #else
505+ registerStaticOrSolibPlugin (optixEngineName, optixStaticFilename,
506+ /* _solibFilename=*/ " "
460507#endif
461508}
462509
@@ -466,6 +513,12 @@ bool RenderEngineManagerPrivate::LoadEnginePlugin(
466513{
467514 gzmsg << " Loading plugin [" " ]"
468515
516+ constexpr size_t prefixLen = kStaticPluginFilenamePrefix .size ();
517+ if (_filename.substr (0 , prefixLen) == kStaticPluginFilenamePrefix )
518+ {
519+ return this ->LoadStaticEnginePlugin (_filename);
520+ }
521+
469522 gz::common::SystemPaths systemPaths;
470523 systemPaths.SetPluginPathEnv (this ->pluginPathEnv );
471524
@@ -560,10 +613,52 @@ bool RenderEngineManagerPrivate::LoadEnginePlugin(
560613 return true ;
561614}
562615
616+ // ////////////////////////////////////////////////
617+ bool RenderEngineManagerPrivate::LoadStaticEnginePlugin (
618+ const std::string &_filename)
619+ {
620+ constexpr size_t prefixLen = kStaticPluginFilenamePrefix .size ();
621+ const std::string filenameWoPrefix = _filename.substr (prefixLen);
622+
623+ gzmsg << " Loading plugin [" " ] from static registry"
624+ << std::endl;
625+
626+ auto plugin = this ->pluginLoader .Instantiate (filenameWoPrefix);
627+ if (!plugin)
628+ {
629+ gzerr << " Failed to load static render engine plugin ["
630+ << " ]. Static plugin registry does not contain this plugin."
631+ << std::endl;
632+ return false ;
633+ }
634+
635+ auto renderPlugin = plugin->QueryInterface <rendering::RenderEnginePlugin>();
636+ if (!renderPlugin)
637+ {
638+ gzerr << " Failed to find RenderEnginePlugin interface in static render "
639+ << " engine plugin [" " ]"
640+ return false ;
641+ }
642+
643+ // Instantiate the engine
644+ {
645+ std::lock_guard<std::recursive_mutex> lock (this ->enginesMutex );
646+ this ->engines [_filename] = renderPlugin->Engine ();
647+ }
648+
649+ return true ;
650+ }
651+
563652// ////////////////////////////////////////////////
564653bool RenderEngineManagerPrivate::UnloadEnginePlugin (
565654 const std::string &_engineName)
566655{
656+ const size_t prefix_len = kStaticPluginFilenamePrefix .length ();
657+ if (_engineName.substr (0 , prefix_len) == kStaticPluginFilenamePrefix )
658+ {
659+ return true ;
660+ }
661+
567662 auto it = this ->enginePlugins .find (_engineName);
568663 if (it == this ->enginePlugins .end ())
569664 {
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