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Add opengl push pop debug groups and object labels #2888

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a33c94e
Add glPushDebugGroup/glPopDebugGroup to render_gl3 to help understand
bd-gpasternak Jan 8, 2024
dafe0c0
Suppress gl push/pop debug messages.
bd-gpasternak Jan 9, 2024
7c597cf
add glObjectLabel to various rendering assets.
bd-gpasternak Jan 9, 2024
f1308bb
missed early exit of segmented rendering code
bd-gpasternak Jan 11, 2024
64cce22
try and get ci to rerun
bd-gpasternak Oct 1, 2025
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27 changes: 26 additions & 1 deletion src/render/render_context.c
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1049,6 +1049,7 @@ static void makeShadow(const mjModel* m, mjrContext* con) {
mju_error("Could not allocate shadow framebuffer");
}
glBindFramebuffer(GL_FRAMEBUFFER, con->shadowFBO);
glObjectLabel(GL_FRAMEBUFFER, con->shadowFBO, -1, "mjr_shadow_fbo");

// Create a shadow depth texture in TEXTURE1 and explicitly select an int24
// depth buffer. A depth stencil format is used because that appears to be
Expand All @@ -1059,6 +1060,7 @@ static void makeShadow(const mjModel* m, mjrContext* con) {
glActiveTexture(GL_TEXTURE1);
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, con->shadowTex);
glObjectLabel(GL_TEXTURE, con->shadowTex, -1, "mjr_shadow_texture");
glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH24_STENCIL8,
con->shadowSize, con->shadowSize, 0, GL_DEPTH_STENCIL, GL_UNSIGNED_INT_24_8, NULL);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
Expand Down Expand Up @@ -1102,6 +1104,7 @@ static void makeOff(mjrContext* con) {
mju_error("Could not allocate offscreen framebuffer");
}
glBindFramebuffer(GL_FRAMEBUFFER, con->offFBO);
glObjectLabel(GL_FRAMEBUFFER, con->offFBO, -1, "mjr_offscreen_fbo");

// clamp samples request
int sMax = 0;
Expand All @@ -1116,6 +1119,8 @@ static void makeOff(mjrContext* con) {
mju_error("Could not allocate offscreen color buffer");
}
glBindRenderbuffer(GL_RENDERBUFFER, con->offColor);
glObjectLabel(GL_RENDERBUFFER, con->offColor, -1, "mjr_rb_offscreen_color");

if (con->offSamples) {
glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_RGBA8,
con->offWidth, con->offHeight);
Expand All @@ -1130,6 +1135,7 @@ static void makeOff(mjrContext* con) {
mju_error("Could not allocate offscreen depth and stencil buffer");
}
glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil);
glObjectLabel(GL_RENDERBUFFER, con->offDepthStencil, -1, "mjr_rb_offscreen_depth_stencil");

GLenum depth_buffer_format =
mjGLAD_GL_ARB_depth_buffer_float ? GL_DEPTH32F_STENCIL8 : GL_DEPTH24_STENCIL8;
Expand Down Expand Up @@ -1166,6 +1172,9 @@ static void makeOff(mjrContext* con) {
mju_error("Could not allocate offscreen color buffer_r");
}
glBindRenderbuffer(GL_RENDERBUFFER, con->offColor_r);
// store an object name for nsight UI
glObjectLabel(GL_RENDERBUFFER, con->offColor_r, -1, "mjr_rb_offscreen_color_r");

glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8, con->offWidth, con->offHeight);
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0,
GL_RENDERBUFFER, con->offColor_r);
Expand All @@ -1176,6 +1185,8 @@ static void makeOff(mjrContext* con) {
mju_error("Could not allocate offscreen depth and stencil buffer_r");
}
glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil_r);
glObjectLabel(GL_RENDERBUFFER, con->offDepthStencil_r, -1, "mjr_rb_offscreen_depth_stencil_r");

glRenderbufferStorage(GL_RENDERBUFFER, depth_buffer_format, con->offWidth, con->offHeight);
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT,
GL_RENDERBUFFER, con->offDepthStencil_r);
Expand Down Expand Up @@ -1370,6 +1381,8 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
glActiveTexture(GL_TEXTURE0);
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, con->texture[texid]);
glObjectLabel(GL_TEXTURE, con->texture[texid], -1, m->names + m->name_texadr[texid]);

glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
Expand Down Expand Up @@ -1411,6 +1424,8 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
glActiveTexture(GL_TEXTURE0);
glEnable(GL_TEXTURE_CUBE_MAP);
glBindTexture(GL_TEXTURE_CUBE_MAP, con->texture[texid]);
glObjectLabel(GL_TEXTURE, con->texture[texid], -1, m->names + m->name_texadr[texid]);

glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_EDGE);
Expand Down Expand Up @@ -1507,7 +1522,11 @@ void GLAPIENTRY debugCallback(GLenum source,
GLsizei length,
const GLchar* message,
const void* userParam) {
printf("GL DEBUG: source = 0x%x, type = 0x%x, severity = 0x%x, id = 0x%x\nmessage = %s\n\n",
// (33385/33386 ) supress warnings about ogl debug group push/pop
if ( type == 33385 || type == 33386) {
return;
}
printf("GL DEBUG: source = 0x%x, type = 0x%x, severity = 0x%x, id = 0x%x\nmessage = %s\n\n",
source, type, severity, id, message);
}

Expand Down Expand Up @@ -1760,13 +1779,16 @@ void mjr_addAux(int index, int width, int height, int samples, mjrContext* con)
mju_error("Could not allocate auxiliary framebuffer");
}
glBindFramebuffer(GL_FRAMEBUFFER, con->auxFBO[index]);
glObjectLabel(GL_FRAMEBUFFER, con->auxFBO[index], -1, "mjr_fb_aux");

// create color buffer with multisamples
glGenRenderbuffers(1, con->auxColor + index);
if (!con->auxColor[index]) {
mju_error("Could not allocate auxiliary color buffer");
}
glBindRenderbuffer(GL_RENDERBUFFER, con->auxColor[index]);
glObjectLabel(GL_RENDERBUFFER, con->auxColor[index], -1, "mjr_rb_aux_color");

glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->auxSamples[index], GL_RGBA8,
con->auxWidth[index], con->auxHeight[index]);
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0,
Expand All @@ -1784,13 +1806,16 @@ void mjr_addAux(int index, int width, int height, int samples, mjrContext* con)
mju_error("Could not allocate auxiliary resolve framebuffer");
}
glBindFramebuffer(GL_FRAMEBUFFER, con->auxFBO_r[index]);
glObjectLabel(GL_FRAMEBUFFER, con->auxFBO_r[index], -1, "mjr_fb_aux_resolve");

// create color buffer for resolving multisamples
glGenRenderbuffers(1, con->auxColor_r + index);
if (!con->auxColor_r[index]) {
mju_error("Could not allocate auxiliary color resolve buffer");
}
glBindRenderbuffer(GL_RENDERBUFFER, con->auxColor_r[index]);
glObjectLabel(GL_RENDERBUFFER, con->auxColor_r[index], -1, "mjr_fb_aux_color_r");

glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8,
con->auxWidth[index], con->auxHeight[index]);
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0,
Expand Down
35 changes: 29 additions & 6 deletions src/render/render_gl3.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -225,7 +225,7 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
if (mode == mjrRND_SHADOWCAST && (geom->type == mjGEOM_LINE || geom->category == mjCAT_DECOR)) {
return;
}

glPushDebugGroup(GL_DEBUG_SOURCE_APPLICATION, 0, -1, "renderGeom");
// make transformation matrix
float mat[16] = {
geom->mat[0], geom->mat[3], geom->mat[6], 0.0f,
Expand Down Expand Up @@ -582,6 +582,8 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
(mode == mjrRND_NORMAL || mode == mjrRND_SHADOWMAP)) {
settexture(mjtexREGULAR, 0, con, geom);
}
glPopDebugGroup();

}


Expand Down Expand Up @@ -859,6 +861,8 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
}
}

glPushDebugGroup(GL_DEBUG_SOURCE_APPLICATION, 0, -1, "render");

// upload dynamic skin data to GPU
for (int i=0; i < scn->nskin; i++) {
// upload positions to VBO
Expand Down Expand Up @@ -962,6 +966,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {

// render with stereo
for (int view = (stereo ? 0 : -1); view < (stereo ? 2 : 0); view++) {
glPushDebugGroup(GL_DEBUG_SOURCE_APPLICATION, 0, -1, "view render pass");
// change drawbuffer for QUADBUFFERED stereo
if (stereo == mjSTEREO_QUADBUFFERED) {
if (con->windowDoublebuffer) {
Expand Down Expand Up @@ -1012,6 +1017,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
}

// skip the remaining passes
glPopDebugGroup(); // end regular rendering early
continue;
}

Expand Down Expand Up @@ -1045,6 +1051,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
}

// prepare to render plane in stencil buffer
glPushDebugGroup(GL_DEBUG_SOURCE_APPLICATION, 0, -1, "stencil buffer");
glDisable(GL_DEPTH_TEST);
glColorMask(0, 0, 0, 0);
glEnable(GL_STENCIL_TEST);
Expand Down Expand Up @@ -1085,6 +1092,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
glEnable(GL_LIGHT0+j);
}

glPushDebugGroup(GL_DEBUG_SOURCE_APPLICATION, 0, -1, "reflected objects");
// render reflected non-transparent geoms, except for thisgeom
for (int j=0; j < ngeom; j++) {
if (!scn->geoms[j].transparent && i != j) {
Expand Down Expand Up @@ -1125,12 +1133,15 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
glDisable(GL_CLIP_PLANE0);
glPopMatrix();
glFrontFace(GL_CCW);
glPopDebugGroup(); // "reflected objects"
glPopDebugGroup(); // "stencil buffer"

}
}
}

//---------------------------------- regular rendering

glPushDebugGroup(GL_DEBUG_SOURCE_APPLICATION, 0, -1, "regular rendering");
// set light position and direction, enable non-shadow lights
for (int i=0; i < nlight; i++) {
// set light
Expand Down Expand Up @@ -1164,7 +1175,8 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
for (int i=0; i < nlight; i++) {
glDisable(GL_LIGHT0+i);
}

glPopDebugGroup(); // end regular rendering

//------------------------------------ shadow rendering

// black fog, to avoid glow
Expand All @@ -1173,6 +1185,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {

// shadow map rendering
if (scn->flags[mjRND_SHADOW] && con->shadowFBO) {
glPushDebugGroup(GL_DEBUG_SOURCE_APPLICATION, 0, -1, "shadow rendering");
for (int i=0; i < nlight; i++) {
// get pointer
thislight = scn->lights + i;
Expand Down Expand Up @@ -1300,6 +1313,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
settexture(mjtexSHADOW, 0, con, 0);
}
}
glPopDebugGroup(); // end shadow rendering
}

// restore fog color
Expand All @@ -1308,6 +1322,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
//------------------------------------ skybox rendering

if (scn->flags[mjRND_SKYBOX]) {
glPushDebugGroup(GL_DEBUG_SOURCE_APPLICATION, 0, -1, "skybox");
// skybox always filled
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);

Expand Down Expand Up @@ -1392,12 +1407,14 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
}
}

glPopDebugGroup(); // end skybox
// wireframe or filled depending on flag
glPolygonMode(GL_FRONT_AND_BACK, scn->flags[mjRND_WIREFRAME] ? GL_LINE : GL_FILL);
}

//------------------------------------ transparent regular rendering

glPushDebugGroup(GL_DEBUG_SOURCE_APPLICATION, 0, -1, "transparent regular rendering");

// enable lights
for (int i=0; i < nlight; i++) {
glEnable(GL_LIGHT0+i);
Expand Down Expand Up @@ -1432,9 +1449,11 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
for (int i=0; i < nlight; i++) {
glDisable(GL_LIGHT0+i);
}

glPopDebugGroup(); // end transparent regular rendering

//------------------------------------ label rendering

glPushDebugGroup(GL_DEBUG_SOURCE_APPLICATION, 0, -1, "label rendering");

// render text labels if present
glDisable(GL_DEPTH_TEST);
glDisable(GL_LIGHTING);
Expand All @@ -1448,6 +1467,8 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
}
glEnable(GL_DEPTH_TEST);
glEnable(GL_LIGHTING);
glPopDebugGroup(); // end label rendering
glPopDebugGroup(); // end view
}

// frame
Expand Down Expand Up @@ -1482,6 +1503,8 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {

// restore currentBuffer
mjr_restoreBuffer(con);
glPopDebugGroup(); // end rendering

}


Expand Down