Revision: 8915
http://playerstage.svn.sourceforge.net/playerstage/?rev=8915&view=rev
Author: natepak
Date: 2010-09-21 20:46:40 +0000 (Tue, 21 Sep 2010)
Log Message:
-----------
Improved spot light shadows
Modified Paths:
--------------
code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_vp.glsl
code/gazebo/branches/wx/Media/materials/scripts/CMakeLists.txt
code/gazebo/branches/wx/Media/materials/scripts/Gazebo.material
code/gazebo/branches/wx/Media/materials/scripts/blur.material
code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.material
code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
code/gazebo/branches/wx/server/physics/PlaneShape.cc
code/gazebo/branches/wx/server/rendering/Light.cc
code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc
code/gazebo/branches/wx/server/rendering/OgreCamera.cc
code/gazebo/branches/wx/server/rendering/OgreCreator.cc
code/gazebo/branches/wx/server/rendering/Scene.cc
code/gazebo/branches/wx/server/rendering/Scene.hh
code/gazebo/branches/wx/server/wx/SimulationFrame.cc
code/gazebo/branches/wx/server/wx/SpotLightMaker.cc
code/gazebo/branches/wx/worlds/empty.world
Modified: code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
===================================================================
--- code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
2010-09-21 20:46:40 UTC (rev 8915)
@@ -1,8 +1,8 @@
-SET (files pssm_vsm_caster_fp.glsl
- pssm_vsm_caster_vp.glsl
- pssm_vsm_receiver_fp.glsl
- pssm_vsm_receiver_vp.glsl
- AmbientOneTexture.glsl
+SET (files shadow_caster_fp.glsl
+ shadow_caster_vp.glsl
+ shadow_receiver_fp.glsl
+ shadow_receiver_vp.glsl
+ ambient_one_texture_vp.glsl
blur.glsl
)
Modified: code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
===================================================================
--- code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
2010-09-21 20:46:40 UTC (rev 8915)
@@ -1,11 +1,12 @@
-uniform float far;
+//uniform float far;
varying vec4 vertexDepth;
+//varying float d;
void main()
{
- //float depth = length(vertexDepth.z) / far;
- //gl_FragColor = vec4(depth, depth*depth, 0.0, 1.0);
-
- gl_FragColor = vec4(vertexDepth.x, vertexDepth.x, vertexDepth.x, 1.0);
+ float depth = length(vertexDepth.xyz)/500.0;
+ gl_FragColor = vec4(depth, depth*depth, 0.0, 1.0);
+
+ //gl_FragColor = vec4(d, d * d, 0.0, 1.0);
}
Modified: code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
===================================================================
--- code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
2010-09-21 20:46:40 UTC (rev 8915)
@@ -1,15 +1,19 @@
uniform mat4 wvpMat;
+uniform mat4 wvMat;
+uniform mat4 pMat;
uniform vec4 texel_offsets;
uniform vec4 depth_range;
attribute vec4 vertex;
varying vec4 vertexDepth;
+//varying float d;
void main()
{
- gl_Position = wvpMat * vertex;
+ vertexDepth = wvpMat * vertex;
+ //d = (vertexDepth.z - depthRange.x) * depthRange.w;
+
+ gl_Position = vertexDepth;
gl_Position.xy += texel_offsets.zw * gl_Position.w;
-
- vertexDepth.x = (gl_Position.z - depth_range.x) * depth_range.w;
}
Modified:
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
===================================================================
--- code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
2010-09-21 20:46:40 UTC (rev 8915)
@@ -4,6 +4,7 @@
uniform float surface_shininess;
uniform vec4 light_position_view_space;
+uniform vec4 light_position_world_space;
uniform vec4 light_direction_view_space;
uniform vec4 light_attenuation;
uniform vec4 spotlight_params;
@@ -16,85 +17,42 @@
varying vec3 vertexWorldNorm;
varying vec4 vertexLightPos;
+vec4 Blur(sampler2D map, vec2 uv, float radius, float steps)
+{
+ float stepSize = 2.0 * radius / steps;
+ uv.xy -= vec2(radius);
+
+ vec4 total = vec4(0.0, 0.0, 0.0, 0.0);
+ for (float x = 0.0; x < steps; x+=1.0)
+ for (float y = 0.0; y < steps; y+=1.0)
+ total +=
+ texture2D(map, vec2(uv.xy + vec2(x * stepSize, y * stepSize)));
+
+ return total / (steps * steps);
+}
+
float ShadowPCF()
{
// Get the shadow map position
vec4 shadowMapPos = vertexLightPos / vertexLightPos.w;
vec2 uv = shadowMapPos.xy;
- //float dist = length(vertexLightPos.z) / light_attenuation.x ;
- float dist = vertexLightPos.z;
+ float dist = length(light_position_world_space.xyz - vertexWorldPos)/500.0;
- vec2 o = invShadowMapSize.xy;
+ vec2 c = Blur(shadowMap, uv, invShadowMapSize.x, 4.0).xy;
- float centerDepth = texture2D(shadowMap, uv.xy).x;
+ if ( dist <= c.x + 0.0001)
+ return 1.0;
- //vec4 depths = vec4( texture2D(shadowMap, vec2(uv.x - offset.x, uv.y)).x,
- // texture2D(shadowMap, vec2(uv.x + offset.x, uv.y)).x,
- // texture2D(shadowMap, vec2(uv.x, uv.y - offset.y)).x,
- // texture2D(shadowMap, vec2(uv.x, uv.y + offset.y)).x );
-
+ // standard variance shadow mapping code
+ float variance = min(max( c.y - (c.x * c.x), 0.0), 1.0);
+ float m_d = c.x - dist;
+ float p = variance / (variance + m_d * m_d);
- float final = (centerDepth > dist) ? 1.0 : 0.0;
- final += (texture2D(shadowMap, uv.xy - o.xy).x > dist) ? 1.0 : 0.0;
- final += (texture2D(shadowMap, uv.xy + o.xy).x > dist) ? 1.0 : 0.0;
- final += (texture2D(shadowMap, vec2(uv.x - o.x, uv.y)).x > dist) ? 1.0 : 0.0;
- final += (texture2D(shadowMap, vec2(uv.x + o.x, uv.y)).x > dist) ? 1.0 : 0.0;
- final += (texture2D(shadowMap, vec2(uv.x, uv.y + o.y)).x > dist) ? 1.0 : 0.0;
- final += (texture2D(shadowMap, vec2(uv.x, uv.y - o.y)).x > dist) ? 1.0 : 0.0;
- final += (texture2D(shadowMap, vec2(uv.x - o.x, uv.y + o.y)).x > dist) ? 1.0
: 0.0;
- final += (texture2D(shadowMap, vec2(uv.x + o.x, uv.y - o.y)).x > dist) ? 1.0
: 0.0;
-
- final /= 9.0;
- return final;
-
- //vec2 c = texture2D(shadowMap, uv.xy).rg; // center
- //c += texture2D(shadowMap, uv.xy - offset.xy).rg; // top left
- //c += texture2D(shadowMap, uv.xy + offset.xy).rg; // bottom right
- //c += texture2D(shadowMap, vec2(uv.x - offset.x, uv.y)).rg; // left
- //c += texture2D(shadowMap, vec2(uv.x + offset.x, uv.y)).rg; // right
- //c += texture2D(shadowMap, vec2(uv.x, uv.y + offset.y)).rg; // bottom
- //c += texture2D(shadowMap, vec2(uv.x, uv.y - offset.y)).rg; // top
- //c += texture2D(shadowMap, vec2(uv.x - offset.x, uv.y + offset.y)).rg; //
bottom left
- //c += texture2D(shadowMap, vec2(uv.x + offset.x, uv.y - offset.y)).rg; //
top right
- //c /= 9.0;
-
- //vec2 moments = c;
- //float litFactor = (dist <= moments.x ? 1.0 : 0.0);
- //return litFactor;
-
- //// standard variance shadow mapping code
- //float variance = min(max( moments.y - (moments.x * moments.x), 0.0), 1.0);
- //float m_d = moments.x - dist;
- //float p = variance / (variance + m_d * m_d);
-
- //return smoothstep(0.4, 1.0, max(litFactor, p));
+ return smoothstep(0.3, 1.0, p);
}
+
-//-----------------------------------------------------------------------------
-float Light_Spot_Diffuse(
- in vec3 vNegLightDirView,
- in vec3 vLightView,
- in vec4 vAttParams,
- in vec3 vSpotParams,
- in float fLightD,
- in float nDotL)
-{
- float spot = 1.0;
-
- if (nDotL > 0.0 && fLightD <= vAttParams.x)
- {
- float fAtten = 1.0 / (vAttParams.y + vAttParams.z*fLightD +
vAttParams.w*fLightD*fLightD);
- float rho = dot(vNegLightDirView, vLightView);
- float fSpotE = clamp((rho - vSpotParams.y) / (vSpotParams.x -
vSpotParams.y), 0.0, 1.0);
- float fSpotT = pow(fSpotE, vSpotParams.z);
-
- spot = nDotL * fAtten * fSpotT;
- }
-
- return spot;
-}
-
void main()
{
float spot = 1.0;
@@ -107,7 +65,7 @@
vec3 lightDirView = light_position_view_space.xyz - vertexWorldViewPos.xyz *
light_position_view_space.w;
// light_position_view_space.w == 0 for directional lights
- float lightDist = length(lightDirView) * light_position_view_space.w;
+ float lightDist = length(lightDirView);
lightDirView = normalize(lightDirView);
float lambertTerm = max( dot(N, lightDirView), 0.0 );
Modified:
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_vp.glsl
===================================================================
--- code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_vp.glsl
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_vp.glsl
2010-09-21 20:46:40 UTC (rev 8915)
@@ -30,7 +30,7 @@
// Position of the vertex in light space (shadow map texture coords)
vertexLightPos = twvpMat * vertex;
- vertexLightPos.z = (vertexLightPos.z - shadow_depth_range.x) *
shadow_depth_range.w;
+ //vertexLightPos.z = (vertexLightPos.z - shadow_depth_range.x) *
shadow_depth_range.w;
// Pass through the diffuse component
gl_TexCoord[0] = gl_MultiTexCoord0;
Modified: code/gazebo/branches/wx/Media/materials/scripts/CMakeLists.txt
===================================================================
--- code/gazebo/branches/wx/Media/materials/scripts/CMakeLists.txt
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/scripts/CMakeLists.txt
2010-09-21 20:46:40 UTC (rev 8915)
@@ -1,6 +1,8 @@
SET (files Gazebo.material
shadow_receiver.material
shadow_caster.material
+ blur.compositor
+ blur.material
)
INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/materials/scripts/)
Modified: code/gazebo/branches/wx/Media/materials/scripts/Gazebo.material
===================================================================
--- code/gazebo/branches/wx/Media/materials/scripts/Gazebo.material
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/scripts/Gazebo.material
2010-09-21 20:46:40 UTC (rev 8915)
@@ -1,30 +1,10 @@
////////////////////////////////////////////////////////////////////////////////
// Shader Programs
-vertex_program Gazebo/DepthMapVS glsl
-{
- source DepthMap.vert
- default_params
- {
- param_named_auto texelOffsets texel_offsets
- param_named_auto pNear near_clip_distance
- param_named_auto pFar far_clip_distance
- }
-}
-
-fragment_program Gazebo/DepthMapFS glsl
-{
- source DepthMap.frag
-
- default_params
- {
- }
-}
-
// A really basic ambient pass program, support for one texture coodinate set
vertex_program AmbientOneTexture glsl
{
- source AmbientOneTexture.glsl
+ source ambient_one_texture_vp.glsl
default_params
{
@@ -32,109 +12,9 @@
}
}
-vertex_program Ogre/DepthShadowmap/CasterVP glsl
-{
- source DepthShadowmapCasterVp.glsl
- preprocessor_defines LINEAR_RANGE=0
- default_params
- {
- param_named_auto worldViewProj worldviewproj_matrix
- param_named_auto texelOffsets texel_offsets
- //param_named_auto depthRange scene_depth_range
- }
-}
-
-fragment_program Ogre/DepthShadowmap/CasterFP glsl
-{
- source DepthShadowmapCasterFp.glsl
-
- preprocessor_defines LINEAR_RANGE=0
-
- default_params
- {
- }
-}
-
-
-vertex_program Ogre/DepthShadowmap/ReceiverVP glsl
-{
- source DepthShadowmapReceiverVp.glsl
-
- preprocessor_defines LINEAR_RANGE=0
-
- default_params
- {
- param_named_auto world world_matrix
- param_named_auto worldIT inverse_transpose_world_matrix
- param_named_auto worldViewProj worldviewproj_matrix
- param_named_auto texViewProj texture_viewproj_matrix
- param_named_auto lightPosition light_position 0
- param_named_auto lightColour light_diffuse_colour 0
- //param_named_auto shadowDepthRange shadow_scene_depth_range 0
- }
-}
-
-
-fragment_program Ogre/DepthShadowmap/ReceiverFP glsl
-{
- source DepthShadowmapReceiverFp.glsl
-
- preprocessor_defines LINEAR_RANGE=0,FUZZY_TEST=0,PCF=0
-
- default_params
- {
- param_named shadowMap int 0
- param_named inverseShadowmapSize float 0.0009765625
- param_named fixedDepthBias float 0.0005
- param_named gradientClamp float 0.0098
- param_named gradientScaleBias float 0
- //param_named shadowFuzzyWidth float 1
- }
-}
-
-// Generic Shadow caster material (floating point shadowmap)
-material Ogre/DepthShadowmap/Caster/Float
-{
- technique
- {
- pass
- {
- vertex_program_ref Ogre/DepthShadowmap/CasterVP
- {
- }
- fragment_program_ref Ogre/DepthShadowmap/CasterFP
- {
- }
- }
- }
-}
-
-// Generic Shadow receiver material (floating point shadowmap)
-material Ogre/DepthShadowmap/Receiver/Float
-{
- technique
- {
- pass
- {
- vertex_program_ref Ogre/DepthShadowmap/ReceiverVP
- {
- }
- fragment_program_ref Ogre/DepthShadowmap/ReceiverFP
- {
- }
- texture_unit ShadowMap
- {
- tex_address_mode clamp
- filtering none
- }
- }
- }
-}
-
-
material Gazebo/White
{
receive_shadows on
@@ -894,56 +774,6 @@
}
-
-
-
-//vertex_program ShadowCasterVP glsl
-//{
-// source v-shadow-caster.cg
-// entry_point main
-// profiles arbvp1
-//
-// default_params
-// {
-// param_named_auto p_ModelViewProjection worldviewproj_matrix
-// param_named_auto p_AmbientLight ambient_light_colour
-// }
-//}
-
-//fragment_program ShadowCasterFP glsl
-//{
-// source f-shadow-caster.cg
-// entry_point main
-// profiles arbfp1
-// // Store normalized (usefull to avoid overflowin) or non-normalized
depth ?
-// //compile_arguments -DSTORE_NORMALIZED_DEPTH
-//
-// default_params
-// {
-// // Only used when storing normalized depth values
-// //param_named_auto p_Near near_clip_distance
-// //param_named_auto p_Far far_clip_distance
-// param_named p_DepthOffset float 0.01
-// }
-//}
-
-//material ShadowCaster
-//{
-// technique default
-// {
-// // Z-write only pass
-// pass Z-write
-// {
-// vertex_program_ref ShadowCasterVP
-// {
-// }
-// fragment_program_ref ShadowCasterFP
-// {
-// }
-// }
-// }
-//}
-
material Gazebo/Fish
{
technique
@@ -1100,22 +930,8 @@
}
}
-material Gazebo/DepthMap
-{
- technique
- {
- pass
- {
- vertex_program_ref Gazebo/DepthMapVS
- {
- }
- fragment_program_ref Gazebo/DepthMapFS
- {
- }
- }
- }
-}
+
material Gazebo/PCBGreen
{
technique
Modified: code/gazebo/branches/wx/Media/materials/scripts/blur.material
===================================================================
--- code/gazebo/branches/wx/Media/materials/scripts/blur.material
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/scripts/blur.material
2010-09-21 20:46:40 UTC (rev 8915)
@@ -19,7 +19,7 @@
texture_unit
{
- filtering none
+ filtering bilinear
}
}
}
Modified: code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.material
===================================================================
--- code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.material
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.material
2010-09-21 20:46:40 UTC (rev 8915)
@@ -1,27 +1,24 @@
-// declare the vertex shader (glsl)
-vertex_program shadow_caster_vs_glsl glsl
+vertex_program shadow_caster_vp_glsl glsl
{
- source pssm_vsm_caster_vp.glsl
+ source shadow_caster_vp.glsl
default_params
{
- // pMat == projection matrix
- param_named_auto pMat projection_matrix
-
- // wvMat == world * view matrix
param_named_auto wvMat worldview_matrix
+ param_named_auto pMat projection_matrix
+ param_named_auto wvpMat worldviewproj_matrix
+ param_named_auto texel_offsets texel_offsets
+ param_named_auto depth_range scene_depth_range
}
}
-// declare the fragment shader (glsl)
-fragment_program shadow_caster_ps_glsl glsl
+fragment_program shadow_caster_fp_glsl glsl
{
- source pssm_vsm_caster_fp.glsl
+ source shadow_caster_fp.glsl
default_params
{
- // this is the scene's depth range
- param_named_auto depthRange scene_depth_range
+ //param_named_auto far far_clip_distance
}
}
@@ -30,14 +27,14 @@
{
technique
{
- // all this will do is write depth and depth\xB2 to red and green
+ // all this will do is write depth and depth*depth to red and green
pass
{
- vertex_program_ref shadow_caster_vs_glsl
+ vertex_program_ref shadow_caster_vp_glsl
{
}
- fragment_program_ref shadow_caster_ps_glsl
+ fragment_program_ref shadow_caster_fp_glsl
{
}
}
Modified:
code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
===================================================================
--- code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
2010-09-21 20:46:40 UTC (rev 8915)
@@ -1,30 +1,42 @@
-vertex_program receiver_vs_glsl glsl
+vertex_program receiver_vp_glsl glsl
{
- source pssm_vsm_receiver_vp.glsl
+ source shadow_receiver_vp.glsl
default_params
{
param_named_auto wMat world_matrix
+ param_named_auto wvMat worldview_matrix
param_named_auto wvpMat worldviewproj_matrix
- param_named_auto tvpMat texture_viewproj_matrix 0
- param_named_auto spotlightDir light_direction_object_space 0
+ param_named_auto inv_trans_wvMat inverse_transpose_worldview_matrix
+ param_named_auto shadow_depth_range shadow_scene_depth_range 0
+
+ param_named_auto lightWorldPos light_position_object_space 0
+ param_named_auto twvpMat texture_worldviewproj_matrix 0
+
+ param_named_auto spotDir light_direction_object_space 0
}
}
-fragment_program receiver_ps_glsl glsl
+fragment_program receiver_fp_glsl glsl
{
- source pssm_vsm_receiver_fp.glsl
+ source shadow_receiver_fp.glsl
default_params
{
- param_named_auto lightDif0 light_receiver_colour 0
- param_named_auto lightPos0 light_position 0
- param_named_auto lightAtt0 light_attenuation 0
- param_named_auto invSMSize inverse_texture_size 1
- param_named_auto depthRange shadow_scene_depth_range 0
- param_named_auto spotlightParams spotlight_params 0
- param_named dMap int 0
+ param_named_auto invShadowMapSize inverse_texture_size 1
+ param_named_auto derived_light_diffuse_color derived_light_diffuse_colour 0
+ param_named_auto derived_light_specular_color
derived_light_specular_colour 0
+ param_named_auto surface_shininess surface_shininess
+
+
+ param_named_auto light_position_view_space light_position_view_space 0
+ param_named_auto light_position_world_space light_position 0
+ param_named_auto light_direction_view_space light_direction_view_space 0
+ param_named_auto light_attenuation light_attenuation 0
+ param_named_auto spotlight_params spotlight_params 0
+
param_named shadowMap int 1
+ param_named diffuseMap int 0
}
}
@@ -60,13 +72,13 @@
ambient 0 0 0
diffuse 1 1 1
- specular 1 1 1 128
+ specular .5 .5 .5 128
- vertex_program_ref receiver_vs_glsl
+ vertex_program_ref receiver_vp_glsl
{
}
- fragment_program_ref receiver_ps_glsl
+ fragment_program_ref receiver_fp_glsl
{
}
@@ -82,6 +94,7 @@
tex_address_mode border
tex_border_colour 1 1 1
}
+
}
}
}
Modified: code/gazebo/branches/wx/server/physics/PlaneShape.cc
===================================================================
--- code/gazebo/branches/wx/server/physics/PlaneShape.cc 2010-09-20
21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/server/physics/PlaneShape.cc 2010-09-21
20:46:40 UTC (rev 8915)
@@ -50,7 +50,7 @@
this->materialP = new ParamT<std::string>("material","",1);
this->materialP->Callback( &PlaneShape::SetMaterial, this );
- this->castShadowsP = new ParamT<bool>("castShadows", false, 0);
+ this->castShadowsP = new ParamT<bool>("castShadows", true, 0);
this->castShadowsP->Callback( &PlaneShape::SetCastShadows, this );
Param::End();
}
Modified: code/gazebo/branches/wx/server/rendering/Light.cc
===================================================================
--- code/gazebo/branches/wx/server/rendering/Light.cc 2010-09-20 21:58:33 UTC
(rev 8914)
+++ code/gazebo/branches/wx/server/rendering/Light.cc 2010-09-21 20:46:40 UTC
(rev 8915)
@@ -46,7 +46,7 @@
this->specularP = new ParamT<Color>("specularColor", Color(.1, .1, .1), 0);
this->specularP->Callback(&Light::SetSpecularColor, this);
- this->directionP = new ParamT<Vector3>("direction", Vector3(0, 0, -1), 0);
+ this->directionP = new ParamT<Vector3>("direction", Vector3(0, 0, 1), 0);
this->directionP->Callback(&Light::SetDirection, this);
this->attenuationP = new ParamT<Vector3>("attenuation", Vector3(.1, 0.01,
.001), 1);
@@ -55,7 +55,7 @@
this->spotInnerAngleP = new ParamT<double>("innerAngle", 10, 0);
this->spotInnerAngleP->Callback(&Light::SetSpotInnerAngle, this);
- this->spotOutterAngleP = new ParamT<double>("outterAngle", 5, 0);
+ this->spotOutterAngleP = new ParamT<double>("outerAngle", 20, 0);
this->spotOutterAngleP->Callback(&Light::SetSpotOutterAngle, this);
this->spotFalloffP = new ParamT<double>("falloff", 1, 0);
@@ -139,14 +139,18 @@
this->SetSpotOutterAngle(**this->spotOutterAngleP);
this->SetSpotFalloff(**this->spotFalloffP);
+ //this->light->setSpotlightRange(Ogre::Radian(20), Ogre::Radian(40),32.0),
+ //this->light->setSpotlightInnerAngle( Ogre::Radian(Ogre::Degree(20)) );
+ //this->light->setSpotlightOuterAngle( Ogre::Radian(Ogre::Degree(40)) );
+
// TODO: More options for Spot lights, etc.
// options for spotlights
- if ((**this->lightTypeP) == "spot")
+ /*if ((**this->lightTypeP) == "spot")
{
vec = node->GetVector3("spotCone", Vector3(30.0, 65.0, 1.0));
this->light->setSpotlightRange(Ogre::Degree(vec.x),
Ogre::Degree(vec.y), vec.z);
- }
+ }*/
this->visualNode->AttachObject(light);
@@ -183,46 +187,87 @@
this->line = OgreCreator::Instance()->CreateDynamicLine(
OgreDynamicRenderable::OT_LINE_LIST);
- float s=0.1;
- this->line->AddPoint(Vector3(-s,-s,0));
- this->line->AddPoint(Vector3(-s,s,0));
+ if ( **this->lightTypeP == "point" )
+ {
+ float s=0.1;
+ this->line->AddPoint(Vector3(-s,-s,0));
+ this->line->AddPoint(Vector3(-s,s,0));
- this->line->AddPoint(Vector3(-s,s,0));
- this->line->AddPoint(Vector3(s,s,0));
+ this->line->AddPoint(Vector3(-s,s,0));
+ this->line->AddPoint(Vector3(s,s,0));
- this->line->AddPoint(Vector3(s,s,0));
- this->line->AddPoint(Vector3(s,-s,0));
+ this->line->AddPoint(Vector3(s,s,0));
+ this->line->AddPoint(Vector3(s,-s,0));
- this->line->AddPoint(Vector3(s,-s,0));
- this->line->AddPoint(Vector3(-s,-s,0));
+ this->line->AddPoint(Vector3(s,-s,0));
+ this->line->AddPoint(Vector3(-s,-s,0));
- this->line->AddPoint(Vector3(-s,-s,0));
- this->line->AddPoint(Vector3(0,0,s));
+ this->line->AddPoint(Vector3(-s,-s,0));
+ this->line->AddPoint(Vector3(0,0,s));
- this->line->AddPoint(Vector3(-s,s,0));
- this->line->AddPoint(Vector3(0,0,s));
+ this->line->AddPoint(Vector3(-s,s,0));
+ this->line->AddPoint(Vector3(0,0,s));
- this->line->AddPoint(Vector3(s,s,0));
- this->line->AddPoint(Vector3(0,0,s));
+ this->line->AddPoint(Vector3(s,s,0));
+ this->line->AddPoint(Vector3(0,0,s));
- this->line->AddPoint(Vector3(s,-s,0));
- this->line->AddPoint(Vector3(0,0,s));
+ this->line->AddPoint(Vector3(s,-s,0));
+ this->line->AddPoint(Vector3(0,0,s));
- this->line->AddPoint(Vector3(-s,-s,0));
- this->line->AddPoint(Vector3(0,0,-s));
+ this->line->AddPoint(Vector3(-s,-s,0));
+ this->line->AddPoint(Vector3(0,0,-s));
- this->line->AddPoint(Vector3(-s,s,0));
- this->line->AddPoint(Vector3(0,0,-s));
+ this->line->AddPoint(Vector3(-s,s,0));
+ this->line->AddPoint(Vector3(0,0,-s));
- this->line->AddPoint(Vector3(s,s,0));
- this->line->AddPoint(Vector3(0,0,-s));
+ this->line->AddPoint(Vector3(s,s,0));
+ this->line->AddPoint(Vector3(0,0,-s));
- this->line->AddPoint(Vector3(s,-s,0));
- this->line->AddPoint(Vector3(0,0,-s));
+ this->line->AddPoint(Vector3(s,-s,0));
+ this->line->AddPoint(Vector3(0,0,-s));
+ }
+ else if ( this->light->getType() == Ogre::Light::LT_SPOTLIGHT )
+ {
+ double innerAngle = this->light->getSpotlightInnerAngle().valueRadians();
+ double outerAngle = this->light->getSpotlightOuterAngle().valueRadians();
+
+ double angles[2];
+ double range = 0.2;
+ angles[0] = range * tan(outerAngle);
+ angles[1] = range * tan(innerAngle);
+ for (unsigned int i=0; i < 2; i++)
+ {
+ this->line->AddPoint(Vector3(0,0,0));
+ this->line->AddPoint(Vector3(angles[i],angles[i], -range));
+
+ this->line->AddPoint(Vector3(0,0,0));
+ this->line->AddPoint(Vector3(-angles[i],-angles[i], -range));
+
+ this->line->AddPoint(Vector3(0,0,0));
+ this->line->AddPoint(Vector3(angles[i],-angles[i], -range));
+
+ this->line->AddPoint(Vector3(0,0,0));
+ this->line->AddPoint(Vector3(-angles[i],angles[i], -range));
+
+ this->line->AddPoint(Vector3(angles[i],angles[i], -range));
+ this->line->AddPoint(Vector3(-angles[i],angles[i], -range));
+
+ this->line->AddPoint(Vector3(-angles[i],angles[i], -range));
+ this->line->AddPoint(Vector3(-angles[i],-angles[i], -range));
+
+ this->line->AddPoint(Vector3(-angles[i],-angles[i], -range));
+ this->line->AddPoint(Vector3(angles[i],-angles[i], -range));
+
+ this->line->AddPoint(Vector3(angles[i],-angles[i], -range));
+ this->line->AddPoint(Vector3(angles[i],angles[i], -range));
+ }
+
+ }
+
this->line->setMaterial("Gazebo/WhiteEmissive");
this->line->setVisibilityFlags(GZ_LASER_CAMERA);
@@ -366,8 +411,8 @@
if (this->light->getType() == Ogre::Light::LT_SPOTLIGHT)
this->light->setSpotlightRange(
- Ogre::Radian(Ogre::Degree(**this->spotInnerAngleP)),
- Ogre::Radian(Ogre::Degree(**this->spotOutterAngleP)),
+ Ogre::Degree(**this->spotInnerAngleP),
+ Ogre::Degree(**this->spotOutterAngleP),
**this->spotFalloffP);
}
@@ -380,10 +425,9 @@
if (this->light->getType() == Ogre::Light::LT_SPOTLIGHT)
this->light->setSpotlightRange(
- Ogre::Radian(Ogre::Degree(**this->spotInnerAngleP)),
- Ogre::Radian(Ogre::Degree(**this->spotOutterAngleP)),
+ Ogre::Degree(**this->spotInnerAngleP),
+ Ogre::Degree(**this->spotOutterAngleP),
**this->spotFalloffP);
-
}
////////////////////////////////////////////////////////////////////////////////
@@ -395,8 +439,8 @@
if (this->light->getType() == Ogre::Light::LT_SPOTLIGHT)
this->light->setSpotlightRange(
- Ogre::Radian(Ogre::Degree(**this->spotInnerAngleP)),
- Ogre::Radian(Ogre::Degree(**this->spotOutterAngleP)),
+ Ogre::Degree(**this->spotInnerAngleP),
+ Ogre::Degree(**this->spotOutterAngleP),
**this->spotFalloffP);
}
Modified: code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc 2010-09-20
21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc 2010-09-21
20:46:40 UTC (rev 8915)
@@ -174,7 +174,7 @@
}
// Set default mipmap level (NB some APIs ignore this)
- //Ogre::TextureManager::getSingleton().setDefaultNumMipmaps( 5 );
+ Ogre::TextureManager::getSingleton().setDefaultNumMipmaps( 5 );
// init the resources
Ogre::ResourceGroupManager::getSingleton().initialiseAllResourceGroups();
Modified: code/gazebo/branches/wx/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/branches/wx/server/rendering/OgreCamera.cc 2010-09-20
21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/server/rendering/OgreCamera.cc 2010-09-21
20:46:40 UTC (rev 8915)
@@ -474,7 +474,7 @@
if (camera)
{
- this->camera->setNearClipDistance(.01);
+ this->camera->setNearClipDistance(.001);
this->camera->setFarClipDistance(1000);
}
}
@@ -1132,7 +1132,7 @@
this->camera->setDirection(1,0,0);
- this->camera->setNearClipDistance(.01);//**this->nearClipP);
+ this->camera->setNearClipDistance(.001);//**this->nearClipP);
this->camera->setFarClipDistance(1000);//**this->farClipP);
if (this->renderTarget)
Modified: code/gazebo/branches/wx/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/branches/wx/server/rendering/OgreCreator.cc 2010-09-20
21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/server/rendering/OgreCreator.cc 2010-09-21
20:46:40 UTC (rev 8915)
@@ -106,7 +106,7 @@
parent->AttachMesh(resultName);
parent->SetMaterial(material);
- parent->SetCastShadows(castShadows);
+ parent->SetCastShadows(true);
}
catch (Ogre::ItemIdentityException e)
{
Modified: code/gazebo/branches/wx/server/rendering/Scene.cc
===================================================================
--- code/gazebo/branches/wx/server/rendering/Scene.cc 2010-09-20 21:58:33 UTC
(rev 8914)
+++ code/gazebo/branches/wx/server/rendering/Scene.cc 2010-09-21 20:46:40 UTC
(rev 8915)
@@ -159,8 +159,8 @@
// Register this scene the the real time shaders system
RTShaderSystem::Instance()->AddScene(this);
+
this->ApplyShadows();
-//this->CreateDebugScene();
}
////////////////////////////////////////////////////////////////////////////////
@@ -271,6 +271,51 @@
for (iter = this->cameras.begin(); iter != this->cameras.end(); iter++)
(*iter)->PostRender();
+ Ogre::HardwarePixelBufferSharedPtr pixelBuffer;
+ Ogre::RenderTexture *rTexture;
+ Ogre::Viewport* renderViewport;
+
+ // Get access to the buffer and make an image and write it to file
+ if (false && this->manager && !this->manager->getShadowTexture(0).isNull())
+ {
+ pixelBuffer = this->manager->getShadowTexture(0)->getBuffer();
+ rTexture = pixelBuffer->getRenderTarget();
+
+ Ogre::PixelFormat format = pixelBuffer->getFormat();
+ renderViewport = rTexture->getViewport(0);
+
+ size_t size = Ogre::PixelUtil::getMemorySize(1024, 1024, 1, format);
+
+ //// Allocate buffer
+ float *saveFrameBuffer = new float[1024*1024*3];
+
+ memset(saveFrameBuffer, 0, size);
+
+ Ogre::PixelBox box(1024, 1024, 1, format, saveFrameBuffer);
+
+ std::cout << "Depth[" << this->manager->getShadowTexture(0)->getDepth() <<
"]\n";
+ pixelBuffer->blitToMemory( box );
+
+ std::cout << "SIZE[" << size << "] [" << 1024 * 1024 * (4*3) << "]\n";
+
+ FILE *file = fopen("/tmp/nate.data","w");
+ for (unsigned int y = 0; y < 1024; y++)
+ {
+ for (unsigned int x=0;x<1024;x++)
+ {
+ float d = saveFrameBuffer[ y*(1024*3) + x*3 + 0];
+ float dd = saveFrameBuffer[ y*(1024*3)+ x*3 + 1];
+ fprintf(file, "[%f %f] ",d,dd);
+ }
+ fprintf(file,"\n");
+ }
+
+ fclose(file);
+
+ //exit(1);
+ delete [] saveFrameBuffer;
+ }
+
//this->manager->_handleLodEvents();
}
@@ -469,12 +514,13 @@
this->manager->getManualObject(name)->setVisible(visible);
}
+////////////////////////////////////////////////////////////////////////////////
void Scene::ApplyShadows()
{
- // 3 shadow textures per light
+ // Allow a total of 4 shadow casters per scene
const int numShadowTextures = 4;
- this->manager->setShadowTextureSelfShadow(true);
+ this->manager->setShadowFarDistance(50);
// use a vsm caster material
this->manager->setShadowTextureCasterMaterial("shadow_caster");
@@ -483,24 +529,51 @@
this->manager->setShadowTextureSize(512);
this->manager->setShadowTexturePixelFormat(Ogre::PF_FLOAT16_RGB);
this->manager->setShadowCasterRenderBackFaces(false);
+ this->manager->setShadowTextureSelfShadow(false);
+
this->manager->setShadowTechnique(Ogre::SHADOWTYPE_TEXTURE_ADDITIVE_INTEGRATED);
- /*const unsigned numShadowRTTs = this->manager->getShadowTextureCount();
- for (unsigned i = 0; i < numShadowRTTs; ++i)
- {
- Ogre::TexturePtr tex = this->manager->getShadowTexture(i);
- Ogre::Viewport *vp = tex->getBuffer()->getRenderTarget()->getViewport(0);
- vp->setBackgroundColour(Ogre::ColourValue(1, 1, 1, 1));
- vp->setClearEveryFrame(true);
- Ogre::CompositorManager::getSingleton().addCompositor(vp, "blur");
- Ogre::CompositorManager::getSingleton().setCompositorEnabled(vp, "blur",
true);
- }*/
+ //const unsigned numShadowRTTs = this->manager->getShadowTextureCount();
+ //for (unsigned i = 0; i < numShadowRTTs; ++i)
+ //{
+ // Ogre::TexturePtr tex = this->manager->getShadowTexture(i);
+ // Ogre::Viewport *vp = tex->getBuffer()->getRenderTarget()->getViewport(0);
+ // vp->setBackgroundColour(Ogre::ColourValue(0, 0, 1, 1));
+ // vp->setClearEveryFrame(true);
+ // Ogre::CompositorManager::getSingleton().addCompositor(vp, "blur");
+ // Ogre::CompositorManager::getSingleton().setCompositorEnabled(vp, "blur",
true);
+ //}
-
this->manager->setShadowTechnique(Ogre::SHADOWTYPE_TEXTURE_ADDITIVE_INTEGRATED);
-
//Ogre::LiSPSMShadowCameraSetup *camSetup = new
Ogre::LiSPSMShadowCameraSetup();
+ //Ogre::FocusedShadowCameraSetup *camSetup = new
Ogre::FocusedShadowCameraSetup();
//this->manager->setShadowCameraSetup(Ogre::ShadowCameraSetupPtr(camSetup));
+ // add the overlay elements to show the shadow maps:
+ // init overlay elements
+ Ogre::OverlayManager& mgr = Ogre::OverlayManager::getSingleton();
+ Ogre::Overlay* overlay = mgr.create("DebugOverlay");
+ for (size_t i = 0; i < 1; ++i) {
+ Ogre::TexturePtr tex = this->manager->getShadowTexture(i);
+
+ // Set up a debug panel to display the shadow
+ Ogre::MaterialPtr debugMat =Ogre:: MaterialManager::getSingleton().create(
+ "Ogre/DebugTexture" + Ogre::StringConverter::toString(i),
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+ debugMat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
+ Ogre::TextureUnitState *t =
debugMat->getTechnique(0)->getPass(0)->createTextureUnitState(tex->getName());
+ t->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
+
+ Ogre::OverlayContainer* debugPanel = (Ogre::OverlayContainer*)
+ (Ogre::OverlayManager::getSingleton().createOverlayElement("Panel",
"Ogre/DebugTexPanel" + Ogre::StringConverter::toString(i)));
+ debugPanel->_setPosition(0.8, i*0.25);
+ debugPanel->_setDimensions(0.2, 0.24);
+ debugPanel->setMaterialName(debugMat->getName());
+ overlay->add2D(debugPanel);
+ overlay->show();
+ }
+
+
+ /* PSSM Stuff
//this->manager->setShadowTextureCountPerLightType(Ogre::Light::LT_POINT,
numShadowTextures);
//this->manager->setShadowFarDistance(200);
//this->manager->setShadowTextureConfig(0, 512, 512, Ogre::PF_FLOAT16_RGB);
@@ -508,7 +581,7 @@
//this->manager->setShadowTextureConfig(2, 512, 512, Ogre::PF_FLOAT16_RGB);
// shadow camera setup
- /*Ogre::PSSMShadowCameraSetup* pssmSetup = new Ogre::PSSMShadowCameraSetup();
+ Ogre::PSSMShadowCameraSetup* pssmSetup = new Ogre::PSSMShadowCameraSetup();
Ogre::PSSMShadowCameraSetup::SplitPointList splitPointList =
pssmSetup->getSplitPoints();
//pssmSetup->setCameraLightDirectionThreshold(Ogre::Degree(20));
@@ -538,45 +611,5 @@
{
mat->getTechnique(i)->getPass(1)->getFragmentProgramParameters()->setNamedConstant("pssmSplitPoints",
splitPoints);
}
-
- // add the overlay elements to show the shadow maps:
- // init overlay elements
- Ogre::OverlayManager& mgr = Ogre::OverlayManager::getSingleton();
- Ogre::Overlay* overlay = mgr.create("DebugOverlay");
-
- for (size_t i = 0; i < 3; ++i) {
- Ogre::TexturePtr tex = this->manager->getShadowTexture(i);
-
- // Set up a debug panel to display the shadow
- Ogre::MaterialPtr debugMat =Ogre:: MaterialManager::getSingleton().create(
- "Ogre/DebugTexture" + Ogre::StringConverter::toString(i),
- Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
- debugMat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
- Ogre::TextureUnitState *t =
debugMat->getTechnique(0)->getPass(0)->createTextureUnitState(tex->getName());
- t->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
-
- Ogre::OverlayContainer* debugPanel = (Ogre::OverlayContainer*)
- (Ogre::OverlayManager::getSingleton().createOverlayElement("Panel",
"Ogre/DebugTexPanel" + Ogre::StringConverter::toString(i)));
- debugPanel->_setPosition(0.8, i*0.25);
- debugPanel->_setDimensions(0.2, 0.24);
- debugPanel->setMaterialName(debugMat->getName());
- overlay->add2D(debugPanel);
- overlay->show();
- }
*/
}
-
-void Scene::CreateDebugScene()
-{
- // create our flash light
- Ogre::Light *light = this->manager->createLight("flashLight");
- light->setDiffuseColour(Ogre::ColourValue(1, 1, 1));
- light->setType(Ogre::Light::LT_SPOTLIGHT);
- light->setSpotlightInnerAngle(Ogre::Degree(55));
- light->setSpotlightOuterAngle(Ogre::Degree(65));
- light->setAttenuation(50, 1, 1, 1); // meter range. the others our shader
ignores
- light->setDirection(Ogre::Vector3(0, 0, -1));
- Ogre::SceneNode *node =
this->manager->getRootSceneNode()->createChildSceneNode("flashLightNode");
- node->attachObject(light);
- node->setPosition( 0,2,5);
-}
Modified: code/gazebo/branches/wx/server/rendering/Scene.hh
===================================================================
--- code/gazebo/branches/wx/server/rendering/Scene.hh 2010-09-20 21:58:33 UTC
(rev 8914)
+++ code/gazebo/branches/wx/server/rendering/Scene.hh 2010-09-21 20:46:40 UTC
(rev 8915)
@@ -96,8 +96,6 @@
private: void ApplyShadows();
- private: void CreateDebugScene();
-
private: std::string name;
private: ParamT<Color> *ambientP;
private: ParamT<Color> *backgroundColorP;
Modified: code/gazebo/branches/wx/server/wx/SimulationFrame.cc
===================================================================
--- code/gazebo/branches/wx/server/wx/SimulationFrame.cc 2010-09-20
21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/server/wx/SimulationFrame.cc 2010-09-21
20:46:40 UTC (rev 8915)
@@ -433,7 +433,7 @@
else if (id == SPOT)
{
this->renderPanel->SetCursor(*wxCROSS_CURSOR);
- Events::createEntitySignal("spolight");
+ Events::createEntitySignal("spotlight");
}
else if (id == DIRECTIONAL)
{
@@ -638,8 +638,8 @@
this->toolbar->AddRadioTool(SPHERE, wxT("Sphere"), sphere_bitmap,
wxNullBitmap, wxT("Create a sphere"));
this->toolbar->AddRadioTool(CYLINDER, wxT("Cylinder"), cylinder_bitmap,
wxNullBitmap, wxT("Create a cylinder"));
this->toolbar->AddRadioTool(POINT, wxT("Point"), pointlight_bitmap,
wxNullBitmap, wxT("Create a point light source"));
- this->toolbar->AddRadioTool(POINT, wxT("Spot"), spotlight_bitmap,
wxNullBitmap, wxT("Create a spot light"));
- this->toolbar->AddRadioTool(POINT, wxT("Directional"),
directionallight_bitmap, wxNullBitmap, wxT("Create a directional light"));
+ this->toolbar->AddRadioTool(SPOT, wxT("Spot"), spotlight_bitmap,
wxNullBitmap, wxT("Create a spot light"));
+ this->toolbar->AddRadioTool(DIRECTIONAL, wxT("Directional"),
directionallight_bitmap, wxNullBitmap, wxT("Create a directional light"));
this->toolbar->Realize();
#endif
Modified: code/gazebo/branches/wx/server/wx/SpotLightMaker.cc
===================================================================
--- code/gazebo/branches/wx/server/wx/SpotLightMaker.cc 2010-09-20 21:58:33 UTC
(rev 8914)
+++ code/gazebo/branches/wx/server/wx/SpotLightMaker.cc 2010-09-21 20:46:40 UTC
(rev 8915)
@@ -94,11 +94,15 @@
<specularColor>0.1 0.1 0.1</specularColor>\
<diffuseColor>0.8 0.8 0.8</diffuseColor>\
<attenuation>0.5 0.01 0</attenuation>\
+ <innerAngle>20</innerAngle>\
+ <outerAngle>40</outerAngle>\
+ <falloff>1.0</falloff>\
<range>20</range>\
</light>\
</model:renderable>";
newModelStr << "</gazebo:world>";
+ std::cout << "Make spot light[" << newModelStr << "]\n";
World::Instance()->InsertEntity(newModelStr.str());
}
Modified: code/gazebo/branches/wx/worlds/empty.world
===================================================================
--- code/gazebo/branches/wx/worlds/empty.world 2010-09-20 21:58:33 UTC (rev
8914)
+++ code/gazebo/branches/wx/worlds/empty.world 2010-09-21 20:46:40 UTC (rev
8915)
@@ -59,43 +59,136 @@
</model:physical>
<model:physical name="sphere1_model">
- <xyz>0 0 2.2</xyz>
+ <xyz>0 0 0.25</xyz>
<rpy>0 0.0 0.0</rpy>
- <static>false</static>
+ <static>true</static>
<body:sphere name="sphere1_body">
- <geom:sphere name="sphere1_geom">
- <size>0.2</size>
+ <geom:box name="sphere1_geom">
+ <size>0.5 0.5 0.5</size>
<mass>1.0</mass>
<mu1>109999.0</mu1>
<visual>
- <size>.4 .4 .4</size>
+ <size>.5 .5 .5</size>
<mesh>unit_sphere</mesh>
<!--<mesh>hanoi_blue_disk.dae</mesh>-->
<shader>pixel</shader>
<material>Gazebo/GrayGrid</material>
</visual>
- </geom:sphere>
+ </geom:box>
</body:sphere>
</model:physical>
+ <!--
+ <model:physical name="sphere2_model">
+ <xyz>-1 0 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+
+ <body:sphere name="sphere1_body">
+ <geom:box name="sphere1_geom">
+ <size>0.2 0.2 0.5</size>
+ <mass>1.0</mass>
+
+ <mu1>109999.0</mu1>
+
+ <visual>
+ <size>.2 .2 .5</size>
+ <mesh>unit_box</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/GrayGrid</material>
+ </visual>
+ </geom:box>
+ </body:sphere>
+ </model:physical>
+
+
+ <model:physical name="sphere3_model">
+ <xyz>0 1 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+
+ <body:sphere name="sphere1_body">
+ <geom:box name="sphere1_geom">
+ <size>0.2 0.2 0.5</size>
+ <mass>1.0</mass>
+
+ <mu1>109999.0</mu1>
+
+ <visual>
+ <size>.2 .2 .5</size>
+ <mesh>unit_box</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/GrayGrid</material>
+ </visual>
+ </geom:box>
+ </body:sphere>
+ </model:physical>
+
+ <model:physical name="sphere4_model">
+ <xyz>0 -1 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+
+ <body:sphere name="sphere1_body">
+ <geom:box name="sphere1_geom">
+ <size>0.2 0.2 0.5</size>
+ <mass>1.0</mass>
+
+ <mu1>109999.0</mu1>
+
+ <visual>
+ <size>.2 .2 .5</size>
+ <mesh>unit_box</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/GrayGrid</material>
+ </visual>
+ </geom:box>
+ </body:sphere>
+ </model:physical>
+ -->
+
+
<!-- White Point light -->
<model:renderable name="point_white">
- <xyz>0.0 2.0 5</xyz>
+ <xyz>0.0 0.0 2</xyz>
+ <rpy>0 0 0</rpy>
<static>true</static>
<light>
<type>spot</type>
- <diffuseColor>1.0 1.0 1.0 1.0</diffuseColor>
+ <diffuseColor>0.6 0.6 0.6 1.0</diffuseColor>
+ <specularColor>0 0 0 1.0</specularColor>
+ <attenuation>.1 0.2 0.001</attenuation>
+ <innerAngle>5</innerAngle>
+ <outerAngle>60</outerAngle>
+ <falloff>10.0</falloff>
+ <range>100</range>
+ <direction>0 -0 -1.0</direction>
+ <castShadows>true</castShadows>
+ </light>
+ </model:renderable>
+
+
+ <!-- White Point light -->
+ <!--<model:renderable name="point_white2">
+ <xyz>0.0 0.0 2</xyz>
+ <rpy>30 0 0</rpy>
+ <static>true</static>
+ <light>
+ <type>spot</type>
+ <diffuseColor>0.8 0.8 0.8 1.0</diffuseColor>
<specularColor>.1 .1 .1 1.0</specularColor>
- <attenuation>1 1 1</attenuation>
- <spotCone>25 65 1.0</spotCone>
- <range>50</range>
- <direction>0.0 -.5 -0.5</direction>
+ <attenuation>.1 0 0</attenuation>
+ <innerAngle>20</innerAngle>
+ <outerAngle>40</outerAngle>
+ <falloff>1.0</falloff>
+ <range>100</range>
+ <direction>0 0 -1</direction>
<castShadows>true</castShadows>
</light>
</model:renderable>
-
+ -->
</gazebo:world>
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