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* Added point light textures Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Added point light shadow camera setup Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Fixed frustum for point light shadow cube map Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Update gazebo/rendering/PointLightShadowCameraSetup.cc Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added code suggestions Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Added newline to end of file * Added code suggestion Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Uncommented parameter * Point lights now cast shadows, expect true for tests * Fixed OGRE errors Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Commented out unused parameter warning Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Added code suggestions Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * remove unused variable Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
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| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
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| // Code in this file has been adapted from Ogre's OgreShadowCameraSetup. | ||
| // The original Ogre's licence and copyright headers are copied below: | ||
|
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| /* | ||
| ----------------------------------------------------------------------------- | ||
| This source file is part of OGRE | ||
| (Object-oriented Graphics Rendering Engine) | ||
| For the latest info, see http://www.ogre3d.org/ | ||
| Copyright (c) 2000-2014 Torus Knot Software Ltd | ||
| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
| The above copyright notice and this permission notice shall be included in | ||
| all copies or substantial portions of the Software. | ||
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| THE SOFTWARE. | ||
| ----------------------------------------------------------------------------- | ||
| */ | ||
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| #include "gazebo/rendering/PointLightShadowCameraSetup.hh" | ||
| #include "gazebo/rendering/ogre_gazebo.h" | ||
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| using namespace gazebo; | ||
| using namespace rendering; | ||
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| ////////////////////////////////////////////////// | ||
| PointLightShadowCameraSetup::PointLightShadowCameraSetup() | ||
| { | ||
| } | ||
|
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| ////////////////////////////////////////////////// | ||
| PointLightShadowCameraSetup::~PointLightShadowCameraSetup() | ||
| { | ||
| } | ||
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| ////////////////////////////////////////////////// | ||
| void PointLightShadowCameraSetup::getShadowCamera( | ||
| const Ogre::SceneManager */*_sm*/, const Ogre::Camera *_cam, | ||
| const Ogre::Viewport */*_vp*/, const Ogre::Light *_light, | ||
| Ogre::Camera *_texCam, size_t _iteration) const | ||
| { | ||
| Ogre::Vector3 pos, dir; | ||
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| // reset custom view / projection matrix in case already set | ||
| _texCam->setCustomViewMatrix(false); | ||
| _texCam->setCustomProjectionMatrix(false); | ||
| _texCam->setNearClipDistance(_light->_deriveShadowNearClipDistance(_cam)); | ||
| _texCam->setFarClipDistance(_light->_deriveShadowFarClipDistance(_cam)); | ||
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| _texCam->setProjectionType(Ogre::PT_PERSPECTIVE); | ||
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| // theoretically set x to +-0.25 for accuracy | ||
| // decrease x for quality of shadows | ||
| float x = 0.18f; | ||
| _texCam->setFrustumExtents(-x, x, x, -x); | ||
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| // set shadow cube map depending on the iteration | ||
| switch (_iteration) { | ||
| case 0: | ||
| _texCam->lookAt(_texCam->getPosition() + Ogre::Vector3(1, 0, 0)); | ||
| break; | ||
| case 1: | ||
| _texCam->lookAt(_texCam->getPosition() + Ogre::Vector3(-1, 0, 0)); | ||
| break; | ||
| case 2: | ||
| _texCam->lookAt(_texCam->getPosition() + Ogre::Vector3(0, 1, 0)); | ||
| break; | ||
| case 3: | ||
| _texCam->lookAt(_texCam->getPosition() + Ogre::Vector3(0, -1, 0)); | ||
| break; | ||
| case 4: | ||
| _texCam->lookAt(_texCam->getPosition() + Ogre::Vector3(0, 0, 1)); | ||
| break; | ||
| case 5: | ||
| _texCam->lookAt(_texCam->getPosition() + Ogre::Vector3(0, 0, -1)); | ||
| break; | ||
| default: | ||
| break; | ||
| } | ||
| } |
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| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
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| #ifndef GAZEBO_RENDERING_POINTLIGHTSHADOWCAMERASETUP_HH_ | ||
| #define GAZEBO_RENDERING_POINTLIGHTSHADOWCAMERASETUP_HH_ | ||
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| #include "gazebo/rendering/ogre_gazebo.h" | ||
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| #include "gazebo/util/system.hh" | ||
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| namespace gazebo | ||
| { | ||
| namespace rendering | ||
| { | ||
| class GAZEBO_VISIBLE PointLightShadowCameraSetup | ||
| : public Ogre::DefaultShadowCameraSetup | ||
| { | ||
| /// \brief Constructor | ||
| public: PointLightShadowCameraSetup(); | ||
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| /// \brief Destructor | ||
| public: ~PointLightShadowCameraSetup(); | ||
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| /// \brief Returns a shadow camera for a point light | ||
| /// \sa FocusedShadowCameraSetup::getShadowCamera() | ||
| public: virtual void getShadowCamera(const Ogre::SceneManager *_sm, | ||
| const Ogre::Camera *_cam, const Ogre::Viewport *_vp, | ||
| const Ogre::Light *_light, Ogre::Camera *_texCam, size_t _iteration) | ||
| const override; | ||
| }; | ||
| } | ||
| } | ||
|
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| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,62 @@ | ||
| #version 130 | ||
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| uniform sampler2DShadow shadowMap0; | ||
| uniform sampler2DShadow shadowMap1; | ||
| uniform sampler2DShadow shadowMap2; | ||
| uniform sampler2DShadow shadowMap3; | ||
| uniform sampler2DShadow shadowMap4; | ||
| uniform sampler2DShadow shadowMap5; | ||
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| varying vec4 lightSpacePos0; | ||
| varying vec4 lightSpacePos1; | ||
| varying vec4 lightSpacePos2; | ||
| varying vec4 lightSpacePos3; | ||
| varying vec4 lightSpacePos4; | ||
| varying vec4 lightSpacePos5; | ||
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| varying vec4 worldPos; | ||
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| //------------------------------------------------------------------------------ | ||
| float ShadowSimple(in sampler2DShadow shadowMap, in vec4 shadowMapPos) | ||
| { | ||
| // perform perspective divide | ||
| vec3 shadowMapUV = shadowMapPos.xyz / shadowMapPos.w; | ||
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| if (shadowMapUV.z < 0.0 || shadowMapUV.z > 1.0) | ||
| return 0.0; | ||
| if (shadowMapUV.x < 0.0 || shadowMapUV.x > 1.0) | ||
| return 0.0; | ||
| if (shadowMapUV.y < 0.0 || shadowMapUV.y > 1.0) | ||
| return 0.0; | ||
|
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| // get closest depth value from light's perspective | ||
| float closestDepth = texture(shadowMap, shadowMapUV); | ||
|
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| // get depth of current fragment from light's perspective | ||
| float currentDepth = shadowMapUV.z; | ||
|
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| // check whether current frag pos is in shadow | ||
| float shadow = currentDepth > closestDepth ? 1.0 : 0.0; | ||
|
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| return shadow; | ||
| } | ||
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| void main() | ||
| { | ||
| float f = 0.0f; | ||
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| vec4 outColor = vec4(1.0, 0.0, 0.0, 1.0); | ||
|
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| // grey shadows | ||
| f += ShadowSimple(shadowMap0, lightSpacePos0); | ||
| f += ShadowSimple(shadowMap1, lightSpacePos1); | ||
| f += ShadowSimple(shadowMap2, lightSpacePos2); | ||
| f += ShadowSimple(shadowMap3, lightSpacePos3); | ||
| f += ShadowSimple(shadowMap4, lightSpacePos4); | ||
| f += ShadowSimple(shadowMap5, lightSpacePos5); | ||
| f = clamp(f, 0.0f, 1.0f); | ||
| if (f > 0.0f) | ||
| outColor = vec4(0.0, 0.0, 0.0, 1.0); | ||
|
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| gl_FragColor = outColor; | ||
| } |
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| @@ -0,0 +1,34 @@ | ||
| #version 120 | ||
|
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| uniform mat4 worldMatrix; | ||
| uniform mat4 worldViewMatrix; | ||
| uniform mat4 viewProjMatrix; | ||
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| uniform mat4 texViewProjMatrix0; | ||
| uniform mat4 texViewProjMatrix1; | ||
| uniform mat4 texViewProjMatrix2; | ||
| uniform mat4 texViewProjMatrix3; | ||
| uniform mat4 texViewProjMatrix4; | ||
| uniform mat4 texViewProjMatrix5; | ||
| varying vec4 lightSpacePos0; | ||
| varying vec4 lightSpacePos1; | ||
| varying vec4 lightSpacePos2; | ||
| varying vec4 lightSpacePos3; | ||
| varying vec4 lightSpacePos4; | ||
| varying vec4 lightSpacePos5; | ||
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| varying vec4 worldPos; | ||
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| void main() | ||
| { | ||
| worldPos = worldMatrix * gl_Vertex; | ||
| gl_Position = viewProjMatrix * worldPos; | ||
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| lightSpacePos0 = texViewProjMatrix0 * worldPos; | ||
| lightSpacePos1 = texViewProjMatrix1 * worldPos; | ||
| lightSpacePos2 = texViewProjMatrix2 * worldPos; | ||
| lightSpacePos3 = texViewProjMatrix3 * worldPos; | ||
| lightSpacePos4 = texViewProjMatrix4 * worldPos; | ||
| lightSpacePos5 = texViewProjMatrix5 * worldPos; | ||
| } | ||
|
|
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