Update wave shaders for vulkan

[iche033]

🦟 Bug fix

Summary

The waves shaders are updated to work in vulkan. The changes only make the shaders compile and prevent a crash bu that the waves do not render correctly yet in vulkan. I think the shader param system (used by waves) does not work in vulkan.

• Update (463099d): shaders should be working in vulkan now

Other notes:

• GUI crashes when run with vulkan. Seems to be Qt + ogre + vulkan interaction issue. So testing is done with vulkan on server side only.
• During testing, I frequently run into gazebo gui crashes when opening Image Display gui plugin. This may be due to threading / race condition issue.

To test:

Run gazebo as normal to make sure that OpenGL still works:

# enable vulkan on server side only
# note `libvulkan-dev` needs to be installed for gz-rendering to be built with vulkan support
gz sim -v 4 -r harmonic_demo/harmonic.sdf --render-engine-server-api-backend vulkan

The gui is still using OpenGL and the waves should still work.

Open Image Display, hit refresh button to see the waves in the camera sensor view (this should be running on vulkan):

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[iche033]

During testing, I frequently run into gazebo gui crashes when opening Image Display gui plugin.

I think it comes from gz-transport. I ticketed gazebosim/gz-transport#430 with steps to reproduce

[caguero]

Works for me on Ubuntu!