[Metal] Fix per-point colors in point clouds to match gazebosim#494

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

ogre2/src/media/materials/programs/GLSL/point_fs.glsl

@@ -17,7 +17,6 @@
 
 #version 330
 
-uniform vec4 color;
 in vec3 ptColor;
 
 out vec4 fragColor;

ogre2/src/media/materials/programs/Metal/point_fs.metal

@@ -14,17 +14,17 @@
  * limitations under the License.
  *
  */
- 
+
 #include <metal_stdlib>
 using namespace metal;
 
 struct PS_INPUT
 {
+  float3 ptColor;
 };
 
 struct Params
 {
-  float4 color;
 };
 
 fragment float4 main_metal
@@ -33,5 +33,5 @@ fragment float4 main_metal
   constant Params &p [[buffer(PARAMETER_SLOT)]]
 )
 {
-  return p.color;
+  return float4(inPs.ptColor.x, inPs.ptColor.y, inPs.ptColor.z, 1.0);
 }

ogre2/src/media/materials/programs/Metal/point_vs.metal

@@ -14,19 +14,21 @@
  * limitations under the License.
  *
  */
- 
+
 #include <metal_stdlib>
 using namespace metal;
 
 struct VS_INPUT
 {
   float4 position [[attribute(VES_POSITION)]];
+  float3 normal   [[attribute(VES_NORMAL)]];
 };
 
 struct PS_INPUT
 {
   float4 gl_Position  [[position]];
   float  gl_PointSize [[point_size]];
+  float3 ptColor;
 };
 
 struct Params
@@ -45,6 +47,8 @@ vertex PS_INPUT main_metal
 
   outVs.gl_Position    = ( p.worldViewProj * input.position ).xyzw;
   outVs.gl_PointSize   = p.size;
+  // We're abusing the normal variable to hold per-point colors
+  outVs.ptColor        = input.normal;
 
   return outVs;
 }

ogre2/src/media/materials/scripts/point_cloud_point.material

@@ -32,7 +32,6 @@ fragment_program PointCloudFS_GLSL glsl
   source point_fs.glsl
   default_params
   {
-    param_named color float4 1.0 1.0 1.0 1.0
   }
 }