Revision: 8923
http://playerstage.svn.sourceforge.net/playerstage/?rev=8923&view=rev
Author: natepak
Date: 2010-09-29 15:43:52 +0000 (Wed, 29 Sep 2010)
Log Message:
-----------
Improved shadows
Modified Paths:
--------------
code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_vp.glsl
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_vp.glsl
code/gazebo/branches/wx/Media/materials/scripts/Gazebo.material
code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
code/gazebo/branches/wx/server/rendering/Light.cc
code/gazebo/branches/wx/worlds/empty.world
Added Paths:
-----------
code/gazebo/branches/wx/Media/materials/programs/perpixel_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/perpixel_vp.glsl
Modified: code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
===================================================================
--- code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
2010-09-28 23:23:25 UTC (rev 8922)
+++ code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
2010-09-29 15:43:52 UTC (rev 8923)
@@ -8,6 +8,8 @@
point_receiver_fp.glsl
ambient_one_texture_vp.glsl
blur.glsl
+ perpixel_vp.glsl
+ perpixel_fp.glsl
)
INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/materials/programs/)
Modified:
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_vp.glsl
===================================================================
---
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_vp.glsl
2010-09-28 23:23:25 UTC (rev 8922)
+++
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_vp.glsl
2010-09-29 15:43:52 UTC (rev 8923)
@@ -18,10 +18,10 @@
gl_Position = world_view_proj_mat * gl_Vertex;
// Vertex in world space
- vertex_world_view_pos = (world_view_mat * gl_Vertex).xyz;
+ //vertex_world_view_pos = (world_view_mat * gl_Vertex).xyz;
// Vertex normal in world space
- vertex_world_norm = (inv_trans_world_view_mat * vec4(gl_Normal, 1.0)).xyz;
+ //vertex_world_norm = (inv_trans_world_view_mat * vec4(gl_Normal, 1.0)).xyz;
shadow_distance = gl_Position.z;
Added: code/gazebo/branches/wx/Media/materials/programs/perpixel_fp.glsl
===================================================================
--- code/gazebo/branches/wx/Media/materials/programs/perpixel_fp.glsl
(rev 0)
+++ code/gazebo/branches/wx/Media/materials/programs/perpixel_fp.glsl
2010-09-29 15:43:52 UTC (rev 8923)
@@ -0,0 +1,75 @@
+uniform vec3 derived_light_diffuse_color;
+uniform vec4 derived_light_specular_color;
+uniform float surface_shininess;
+
+uniform vec4 light_position_view_space;
+uniform vec4 light_direction_view_space;
+uniform vec4 light_attenuation;
+uniform vec4 spotlight_params;
+
+uniform sampler2D diffuse_map;
+
+varying vec3 vertex_world_view_pos;
+varying vec3 vertex_world_norm;
+
+void main()
+{
+ float spot = 1.0;
+ float specular = 0.0;
+
+ // Normalized fragment normal
+ vec3 norm = normalize(vertex_world_norm);
+
+ // Direction from the fragment to the light
+ vec3 light_dir_view = light_position_view_space.xyz -
+ vertex_world_view_pos.xyz *
light_position_view_space.w;
+
+ // light_position_view_space.w == 0 for directional lights
+ float light_dist = length(light_dir_view);
+ light_dir_view = normalize(light_dir_view);
+
+ float lambert_term = max( dot(norm, light_dir_view), 0.0 );
+
+
//////////////////////////////////////////////////////////////////////////////
+ // COMPUTE DIFFUSE CONTRIBUTION
+ vec4 diffuse_tex = texture2D(diffuse_map, gl_TexCoord[0].st);
+ vec4 diffuse_contrib = vec4(derived_light_diffuse_color *
+ diffuse_tex.rgb * lambert_term,1.0);
+
+
+
//////////////////////////////////////////////////////////////////////////////
+ // COMPUTE SPOT AND SPECULAR COMPONENTS
+ if (lambert_term > 0.0)
+ {
+ vec3 view = -normalize(vertex_world_view_pos.xyz);
+ vec3 halfway = normalize( view + light_dir_view );
+ float nDotH = dot(norm, halfway);
+
+ float fAtten = 1.0 / (light_attenuation.y +
+ light_attenuation.z*light_dist +
+ light_attenuation.w*light_dist*light_dist);
+
+ float fSpotT = 1.0;
+
+ if (!(spotlight_params.x == 1.0 && spotlight_params.y == 0.0 &&
+ spotlight_params.z == 0.0 && spotlight_params.w == 1.0))
+ {
+ float rho = dot(-light_direction_view_space.xyz, light_dir_view);
+
+ float fSpotE = clamp((rho - spotlight_params.y) /
+ (spotlight_params.x - spotlight_params.y),0.0,1.0);
+
+ float fSpotT = pow(fSpotE, spotlight_params.z);
+
+
+ spot = lambert_term * fAtten * fSpotT;
+ }
+
+ // Works for all light types
+ specular = pow(clamp(nDotH, 0.0, 1.0), surface_shininess) * fAtten *
fSpotT;
+ }
+
+ vec4 specular_contrib = specular * derived_light_specular_color;
+
+ gl_FragColor = (diffuse_contrib + specular_contrib) * spot;
+}
Added: code/gazebo/branches/wx/Media/materials/programs/perpixel_vp.glsl
===================================================================
--- code/gazebo/branches/wx/Media/materials/programs/perpixel_vp.glsl
(rev 0)
+++ code/gazebo/branches/wx/Media/materials/programs/perpixel_vp.glsl
2010-09-29 15:43:52 UTC (rev 8923)
@@ -0,0 +1,20 @@
+uniform mat4 world_view_mat;
+uniform mat4 world_view_proj_mat;
+uniform mat4 inv_trans_world_view_mat;
+
+varying vec3 vertex_world_view_pos;
+varying vec3 vertex_world_norm;
+
+void main()
+{
+ gl_Position = world_view_proj_mat * gl_Vertex;
+
+ // Vertex in world space
+ vertex_world_view_pos = (world_view_mat * gl_Vertex).xyz;
+
+ // Vertex normal in world space
+ vertex_world_norm = (inv_trans_world_view_mat * vec4(gl_Normal, 1.0)).xyz;
+
+ // Pass through the diffuse component
+ gl_TexCoord[0] = gl_MultiTexCoord0;
+}
Modified:
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_fp.glsl
===================================================================
---
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_fp.glsl
2010-09-28 23:23:25 UTC (rev 8922)
+++
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_fp.glsl
2010-09-29 15:43:52 UTC (rev 8923)
@@ -62,8 +62,9 @@
void main()
{
+ float shadow_factor = 1.0;
+
float spot = 1.0;
- float shadow_factor = 1.0;
float specular = 0.0;
// Normalized fragment normal
@@ -116,8 +117,9 @@
//shadow_factor = ShadowPCF();
//if (light_casts_shadows)
shadow_factor = ShadowPCF(shadow_map, vertex_light_pos,
inv_shadow_map_size.xy);
+ //gl_FragColor = vec4(shadow_factor, shadow_factor, shadow_factor, 1.0);
+
vec4 specular_contrib = specular * derived_light_specular_color;
-
gl_FragColor = (diffuse_contrib + specular_contrib) * spot * shadow_factor;
}
Modified:
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_vp.glsl
===================================================================
---
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_vp.glsl
2010-09-28 23:23:25 UTC (rev 8922)
+++
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_vp.glsl
2010-09-29 15:43:52 UTC (rev 8923)
@@ -27,4 +27,6 @@
// Pass through the diffuse component
gl_TexCoord[0] = gl_MultiTexCoord0;
+
+ gl_FrontColor = gl_Color;
}
Modified: code/gazebo/branches/wx/Media/materials/scripts/Gazebo.material
===================================================================
--- code/gazebo/branches/wx/Media/materials/scripts/Gazebo.material
2010-09-28 23:23:25 UTC (rev 8922)
+++ code/gazebo/branches/wx/Media/materials/scripts/Gazebo.material
2010-09-29 15:43:52 UTC (rev 8923)
@@ -39,21 +39,6 @@
}
}
-material Gazebo/Grey
-{
- receive_shadows on
-
- technique
- {
- pass
- {
- ambient 0.3 0.3 0.3 1.0
- diffuse 0.5 0.5 0.5 1.0
- specular 0.8 0.8 0.8 1
- }
- }
-}
-
material Gazebo/Eyes
{
receive_shadows on
Modified:
code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
===================================================================
--- code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
2010-09-28 23:23:25 UTC (rev 8922)
+++ code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
2010-09-29 15:43:52 UTC (rev 8923)
@@ -1,3 +1,34 @@
+//vertex_program perpixel_vp_glsl glsl
+//{
+// source perpixel_vp.glsl
+//
+// default_params
+// {
+// param_named_auto world_view_mat worldview_matrix
+// param_named_auto world_view_proj_mat worldviewproj_matrix
+// param_named_auto inv_trans_world_view_mat
inverse_transpose_worldview_matrix
+// }
+//}
+//
+//fragment_program perpixel_fp_glsl glsl
+//{
+// source perpixel_fp.glsl
+//
+// default_params
+// {
+// 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_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 diffuse_map int 0
+// }
+//}
+
vertex_program spot_receiver_vp_glsl glsl
{
source spot_shadow_receiver_vp.glsl
@@ -117,6 +148,8 @@
param_named diffuse_map int 0
}
}
+
+
abstract material receiver_template
{
technique
@@ -136,15 +169,14 @@
//{
//}
- texture_unit ambient_tex
- {
- }
+ texture_unit ambient_tex
+ { }
}
pass spot
{
max_lights 4
- scene_blend add
+ scene_blend add
iteration once_per_light spot
ambient 0 0 0
@@ -249,3 +281,18 @@
}
}
}
+
+material Gazebo/Grey : receiver_template
+{
+ technique
+ {
+ pass ambient
+ {
+ ambient 0.3 0.3 0.3 1.0
+ diffuse 0.5 0.5 0.5 1.0
+ specular 0.8 0.8 0.8 1
+ }
+ }
+}
+
+
Modified: code/gazebo/branches/wx/server/rendering/Light.cc
===================================================================
--- code/gazebo/branches/wx/server/rendering/Light.cc 2010-09-28 23:23:25 UTC
(rev 8922)
+++ code/gazebo/branches/wx/server/rendering/Light.cc 2010-09-29 15:43:52 UTC
(rev 8923)
@@ -397,16 +397,15 @@
/// Set cast shadowsj
void Light::SetCastShadows(const bool &cast)
{
- /*if (this->light->getType() == Ogre::Light::LT_POINT)
+ if (this->light->getType() == Ogre::Light::LT_POINT)
this->light->setCastShadows(false);
else
{
- */
if (**this->castShadowsP != cast)
this->castShadowsP->SetValue( cast );
this->light->setCastShadows(cast);
- //}
+ }
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/wx/worlds/empty.world
===================================================================
--- code/gazebo/branches/wx/worlds/empty.world 2010-09-28 23:23:25 UTC (rev
8922)
+++ code/gazebo/branches/wx/worlds/empty.world 2010-09-29 15:43:52 UTC (rev
8923)
@@ -181,14 +181,14 @@
<rpy>0 0 0</rpy>
<static>true</static>
<light>
- <type>directional</type>
+ <type>spot</type>
<diffuseColor>0.6 0.6 0.6 1.0</diffuseColor>
<specularColor>1 1 1 1.0</specularColor>
<attenuation>.1 0.2 0.001</attenuation>
<innerAngle>10</innerAngle>
<outerAngle>60</outerAngle>
- <falloff>0.1</falloff>
- <range>10</range>
+ <falloff>1.0</falloff>
+ <range>50</range>
<direction>0 0 -1.0</direction>
<castShadows>true</castShadows>
</light>
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