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Remove deprecated WGPU swapchain, allow window to resize #6

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merged 2 commits into from
Sep 15, 2024
Merged

Remove deprecated WGPU swapchain, allow window to resize #6

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2573baa
Switch to no-swapchain approach
qhdwight Sep 15, 2024
1c41db1
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qhdwight Sep 15, 2024
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1 change: 0 additions & 1 deletion simulator/simulator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -273,7 +273,6 @@ namespace mrover {
wgpu::Device mDevice;
std::unique_ptr<wgpu::ErrorCallback> mErrorCallback;
wgpu::Queue mQueue;
wgpu::SwapChain mSwapChain;
wgpu::Texture mDepthTexture;
wgpu::TextureView mDepthTextureView;
wgpu::Texture mNormalTexture;
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47 changes: 30 additions & 17 deletions simulator/simulator.render.cpp
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Expand Up @@ -35,14 +35,15 @@ namespace mrover {
}

auto Simulator::makeFramebuffers(int width, int height) -> void {
wgpu::SwapChainDescriptor descriptor;
descriptor.usage = wgpu::TextureUsage::RenderAttachment;
descriptor.format = COLOR_FORMAT;
descriptor.width = width;
descriptor.height = height;
descriptor.presentMode = wgpu::PresentMode::Immediate;
mSwapChain = mDevice.createSwapChain(mSurface, descriptor);
if (!mSwapChain) throw std::runtime_error("Failed to create WGPU swap chain");
wgpu::SurfaceConfiguration surfaceConfiguration;
surfaceConfiguration.device = mDevice;
surfaceConfiguration.format = COLOR_FORMAT;
surfaceConfiguration.usage = wgpu::TextureUsage::RenderAttachment;
surfaceConfiguration.width = width;
surfaceConfiguration.height = height;
surfaceConfiguration.alphaMode = wgpu::CompositeAlphaMode::Auto;
surfaceConfiguration.presentMode = wgpu::PresentMode::Immediate;
mSurface.configure(surfaceConfiguration);
std::tie(mNormalTexture, mNormalTextureView) = makeTextureAndView(width, height, NORMAL_FORMAT, wgpu::TextureUsage::RenderAttachment, wgpu::TextureAspect::All);
std::tie(mDepthTexture, mDepthTextureView) = makeTextureAndView(width, height, DEPTH_FORMAT, wgpu::TextureUsage::RenderAttachment, wgpu::TextureAspect::DepthOnly);
}
Expand Down Expand Up @@ -203,7 +204,9 @@ namespace mrover {
constexpr auto WINDOW_NAME = "MRover Simulator (DEBUG BUILD, MAY BE SLOW)";
#endif
glfwWindowHint(GLFW_CLIENT_API, GLFW_NO_API);
glfwWindowHint(GLFW_RESIZABLE, GLFW_FALSE);
// There is still an off-by-one error on Vulkan with resizing windows and ImGui.
// See: https://matrix.to/#/!ZSOHTEPDbwuEgSJwYw:matrix.org
glfwWindowHint(GLFW_RESIZABLE, GLFW_TRUE);
glfwWindowHint(GLFW_COCOA_RETINA_FRAMEBUFFER, GLFW_FALSE);
mWindow = GlfwPointer<GLFWwindow, glfwCreateWindow, glfwDestroyWindow>{w, h, WINDOW_NAME, nullptr, nullptr};
RCLCPP_INFO_STREAM(get_logger(), std::format("Created window of size: {}x{}", w, h));
Expand Down Expand Up @@ -258,7 +261,7 @@ namespace mrover {
mNormalTextureView.release();
mNormalTexture.destroy();
mNormalTexture.release();
mSwapChain.release();
mSurface.unconfigure();

makeFramebuffers(width, height);
}
Expand Down Expand Up @@ -492,7 +495,7 @@ namespace mrover {
for (int i = 0; i < compound->getNumChildShapes(); ++i) {
SE3d modelInLink = btTransformToSe3(urdfPoseToBtTransform(link->collision_array.at(i)->origin));
SE3d modelInWorld = linkToWorld * modelInLink;
auto* shape = compound->getChildShape(i);
btCollisionShape* shape = compound->getChildShape(i);
if (auto* box = dynamic_cast<btBoxShape const*>(shape)) {
btVector3 extents = box->getHalfExtentsWithoutMargin() * 2;
SIM3 modelToWorld{modelInWorld, R3d{extents.x(), extents.y(), extents.z()}};
Expand Down Expand Up @@ -723,10 +726,20 @@ namespace mrover {
camerasUpdate(encoder, colorAttachment, normalAttachment, depthStencilAttachment, renderPassDescriptor);

if (!mIsHeadless) {
wgpu::TextureView nextTexture = mSwapChain.getCurrentTextureView();
if (!nextTexture) throw std::runtime_error("Failed to get WGPU next texture view");

colorAttachment.view = nextTexture;
wgpu::SurfaceTexture surfaceTexture;
mSurface.getCurrentTexture(&surfaceTexture);
if (surfaceTexture.status != wgpu::SurfaceGetCurrentTextureStatus::Success)
throw std::runtime_error{"Failed to get WGPU surface texture"};

wgpu::TextureViewDescriptor nextTextureViewDescriptor;
nextTextureViewDescriptor.format = COLOR_FORMAT;
nextTextureViewDescriptor.dimension = wgpu::TextureViewDimension::_2D;
nextTextureViewDescriptor.mipLevelCount = 1;
nextTextureViewDescriptor.arrayLayerCount = 1;
nextTextureViewDescriptor.aspect = wgpu::TextureAspect::All;
wgpu::TextureView nextTextureView = wgpu::Texture{surfaceTexture.texture}.createView(nextTextureViewDescriptor);

colorAttachment.view = nextTextureView;
normalAttachment.view = mNormalTextureView;
depthStencilAttachment.view = mDepthTextureView;

Expand Down Expand Up @@ -768,7 +781,7 @@ namespace mrover {

bindGroup.release();

nextTexture.release();
nextTextureView.release();
}

wgpu::CommandBuffer commands = encoder.finish();
Expand All @@ -791,7 +804,7 @@ namespace mrover {
}
#endif

if (!mIsHeadless) mSwapChain.present();
if (!mIsHeadless) mSurface.present();

// TODO(quintin): Remote duplicate code
for (StereoCamera& stereoCamera: mStereoCameras) {
Expand Down