Merge branch 'ccrouzet/gh-388-opengl-duplicate-shapes' into 'main'

Fix Incorrect OpenGL Rendering of Duplicate Cylinder/Mesh Shapes

See merge request omniverse/warp!971

CHANGELOG.md

@@ -38,6 +38,9 @@
 - Negative constants evaluate to compile-time constants (fixes [GH-403](https://github.com/NVIDIA/warp/issues/403))
 - Fix `AttributeError` crash in the OpenGL renderer when moving the camera ([GH-426](https://github.com/NVIDIA/warp/issues/426)).
 - Fix `tile_register_t` `extract()` and `valid()` methods.
+- Fix the OpenGL renderer now correctly displaying duplicate cylinder shapes ([GH-388](https://github.com/NVIDIA/warp/issues/388)).
+- Fix the OpenGL renderer now correctly displaying duplicate capsule, cone, and cylinder shapes ([GH-388](https://github.com/NVIDIA/warp/issues/388)).
+- Fix the OpenGL renderer now correctly displaying duplicate cylinder and mesh shapes ([GH-388](https://github.com/NVIDIA/warp/issues/388)).
 
 ## [1.5.1] - 2025-01-02
 

warp/render/render_opengl.py

@@ -2840,7 +2840,7 @@ def render_capsule(
             up_axis: The axis of the capsule that points up (0: x, 1: y, 2: z)
             color: The color of the capsule
         """
-        geo_hash = hash(("capsule", radius, half_height))
+        geo_hash = hash(("capsule", radius, half_height, up_axis))
         if geo_hash in self._shape_geo_hash:
             shape = self._shape_geo_hash[geo_hash]
             if self.update_shape_instance(name, pos, rot):
@@ -2875,7 +2875,7 @@ def render_cylinder(
             up_axis: The axis of the cylinder that points up (0: x, 1: y, 2: z)
             color: The color of the capsule
         """
-        geo_hash = hash(("cylinder", radius, half_height))
+        geo_hash = hash(("cylinder", radius, half_height, up_axis))
         if geo_hash in self._shape_geo_hash:
             shape = self._shape_geo_hash[geo_hash]
             if self.update_shape_instance(name, pos, rot):
@@ -2910,7 +2910,7 @@ def render_cone(
             up_axis: The axis of the cone that points up (0: x, 1: y, 2: z)
             color: The color of the cone
         """
-        geo_hash = hash(("cone", radius, half_height))
+        geo_hash = hash(("cone", radius, half_height, up_axis))
         if geo_hash in self._shape_geo_hash:
             shape = self._shape_geo_hash[geo_hash]
             if self.update_shape_instance(name, pos, rot):
@@ -2989,7 +2989,7 @@ def render_mesh(
         indices = np.array(indices, dtype=np.int32).reshape((-1, 3))
         idx_count = len(indices)
 
-        geo_hash = hash((indices.tobytes(),))
+        geo_hash = hash((points.tobytes(), indices.tobytes()))
 
         if name in self._instances:
             # We've already registered this mesh instance and its associated shape.
@@ -3011,6 +3011,12 @@ def render_mesh(
             if shape is not None:
                 # Update the shape's point positions.
                 self.update_shape_vertices(shape, points, scale)
+
+                if not is_template and name not in self._instances:
+                    # Create a new instance.
+                    body = self._resolve_body_id(parent_body)
+                    self.add_shape_instance(name, shape, body, pos, rot, color1=colors)
+
                 return shape
 
         # No existing shape for the given mesh was found, or its topology may have changed,