Generate spot light shadow maps

gazebo/rendering/Heightmap.cc

@@ -3314,27 +3314,34 @@ Ogre::MaterialPtr TerrainMaterial::Profile::generate(
 
       // set up shadow split points in a way that is consistent with the
       // default ogre terrain material generator
-      Ogre::PSSMShadowCameraSetup* pssm =
-          RTShaderSystem::Instance()->GetPSSMShadowCameraSetup();
-      unsigned int numTextures =
-          static_cast<unsigned int>(pssm->getSplitCount());
-      Ogre::Vector4 splitPoints;
-      const Ogre::PSSMShadowCameraSetup::SplitPointList& splitPointList =
-          pssm->getSplitPoints();
-      // populate from split point 1 not 0, and include shadowFarDistance
-      for (unsigned int t = 0u; t < numTextures; ++t)
-        splitPoints[t] = splitPointList[t+1];
-      params->setNamedConstant("pssmSplitPoints", splitPoints);
-
-      // set up uv transform
-      double xTrans = static_cast<int>(gridCount / gridWidth) * factor;
-      double yTrans = (gridWidth - 1 - (gridCount % gridWidth)) * factor;
-      // explicitly set all matrix elements to avoid uninitialized values
-      Ogre::Matrix4 uvTransform(factor, 0.0, 0.0, xTrans,
-                                0.0, factor, 0.0, yTrans,
-                                0.0, 0.0, 1.0, 0.0,
-                                0.0, 0.0, 0.0, 1.0);
-      params->setNamedConstant("uvTransform", uvTransform);
+
+      if (params->_findNamedConstantDefinition("pssmSplitPoints"))
+      {
+        Ogre::PSSMShadowCameraSetup* pssm =
+            RTShaderSystem::Instance()->GetPSSMShadowCameraSetup();
+        unsigned int numTextures =
+            static_cast<unsigned int>(pssm->getSplitCount());
+        Ogre::Vector4 splitPoints;
+        const Ogre::PSSMShadowCameraSetup::SplitPointList& splitPointList =
+            pssm->getSplitPoints();
+        // populate from split point 1 not 0, and include shadowFarDistance
+        for (unsigned int t = 0u; t < numTextures; ++t)
+          splitPoints[t] = splitPointList[t+1];
+        params->setNamedConstant("pssmSplitPoints", splitPoints);
+      }
+
+      if (params->_findNamedConstantDefinition("uvTransform"))
+      {
+        // set up uv transform
+        double xTrans = static_cast<int>(gridCount / gridWidth) * factor;
+        double yTrans = (gridWidth - 1 - (gridCount % gridWidth)) * factor;
+        // explicitly set all matrix elements to avoid uninitialized values
+        Ogre::Matrix4 uvTransform(factor, 0.0, 0.0, xTrans,
+                                  0.0, factor, 0.0, yTrans,
+                                  0.0, 0.0, 1.0, 0.0,
+                                  0.0, 0.0, 0.0, 1.0);
+        params->setNamedConstant("uvTransform", uvTransform);
+      }
     }
   }
   gridCount++;

gazebo/rendering/Light.cc

@@ -29,6 +29,7 @@
 #include "gazebo/rendering/Visual.hh"
 #include "gazebo/rendering/Light.hh"
 #include "gazebo/rendering/LightPrivate.hh"
+#include "gazebo/rendering/RTShaderSystem.hh"
 
 using namespace gazebo;
 using namespace rendering;
@@ -584,12 +585,29 @@ void Light::SetRange(const double _range)
 //////////////////////////////////////////////////
 void Light::SetCastShadows(const bool _cast)
 {
+
   if (this->dataPtr->light->getType() == Ogre::Light::LT_DIRECTIONAL)
   {
+    // directional light uses PSSM shadow camera and should already be
+    // configured in RTShaderSystem
+    this->dataPtr->light->setCastShadows(_cast);
+  }
+  else if (this->dataPtr->light->getType() == Ogre::Light::LT_SPOTLIGHT)
+  {
+    // use different shadow camera for spot light
     this->dataPtr->light->setCastShadows(_cast);
+    if (_cast && this->dataPtr->shadowCameraSetup.isNull())
+    {
+      this->dataPtr->shadowCameraSetup =
+          Ogre::ShadowCameraSetupPtr(new Ogre::FocusedShadowCameraSetup());
+      this->dataPtr->light->setCustomShadowCameraSetup(
+          this->dataPtr->shadowCameraSetup);
+      RTShaderSystem::Instance()->UpdateShadows();
+    }
   }
   else
   {
+    // todo(anyone) make point light casts shadows
     this->dataPtr->light->setCastShadows(false);
   }
 }

gazebo/rendering/LightPrivate.hh

@@ -38,7 +38,7 @@ namespace gazebo
     class LightPrivate
     {
       /// \brief The ogre light source
-      public: Ogre::Light *light;
+      public: Ogre::Light *light = nullptr;
 
       /// \brief The visual used to visualize the light.
       public: VisualPtr visual;
@@ -63,6 +63,9 @@ namespace gazebo
 
       /// \brief Counter used to generate unique light names.
       public: static unsigned int lightCounter;
+
+      /// \brief Custom shadow camera setup for non-directional lights
+      public: Ogre::ShadowCameraSetupPtr shadowCameraSetup;
     };
   }
 }

gazebo/rendering/RTShaderSystem.cc

@@ -40,6 +40,7 @@
 #include "gazebo/common/Profiler.hh"
 #include "gazebo/rendering/ogre_gazebo.h"
 #include "gazebo/rendering/CustomPSSMShadowCameraSetup.hh"
+#include "gazebo/rendering/Light.hh"
 #include "gazebo/rendering/RenderEngine.hh"
 #include "gazebo/rendering/Scene.hh"
 #include "gazebo/rendering/Visual.hh"
@@ -241,6 +242,7 @@ void RTShaderSystem::DetachViewport(Ogre::Viewport *_viewport, ScenePtr _scene)
 void RTShaderSystem::UpdateShaders()
 {
   // shaders will be updated in the Update call on pre-render event.
+  std::lock_guard<std::mutex> lock(this->dataPtr->updateMutex);
   this->dataPtr->updateShaders = true;
 }
 
@@ -512,52 +514,7 @@ void RTShaderSystem::ApplyShadows(ScenePtr _scene)
     this->dataPtr->shaderGenerator->getRenderState(_scene->Name() +
         Ogre::RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME);
 
-  sceneMgr->setShadowTechnique(Ogre::SHADOWTYPE_TEXTURE_ADDITIVE_INTEGRATED);
-
-  // 3 textures per directional light
-  sceneMgr->setShadowTextureCountPerLightType(Ogre::Light::LT_DIRECTIONAL, 3);
-  sceneMgr->setShadowTextureCountPerLightType(Ogre::Light::LT_POINT, 0);
-  sceneMgr->setShadowTextureCountPerLightType(Ogre::Light::LT_SPOTLIGHT, 0);
-  sceneMgr->setShadowTextureCount(3);
-
-  unsigned int texSize = this->dataPtr->shadowTextureSize;
-#if defined(__APPLE__)
-  // workaround a weird but on OSX if texture size at 2 and 3 splits are not
-  // halved
-  texSize = this->dataPtr->shadowTextureSize/2;
-#endif
-  sceneMgr->setShadowTextureConfig(0,
-      this->dataPtr->shadowTextureSize, this->dataPtr->shadowTextureSize,
-      Ogre::PF_FLOAT32_R);
-  sceneMgr->setShadowTextureConfig(1, texSize, texSize, Ogre::PF_FLOAT32_R);
-  sceneMgr->setShadowTextureConfig(2, texSize, texSize, Ogre::PF_FLOAT32_R);
-
-#if defined(HAVE_OPENGL)
-  // Enable shadow map comparison, so shader can use
-  // float texture(sampler2DShadow, vec3, [float]) instead of
-  // vec4 texture(sampler2D, vec2, [float]).
-  // NVidia, AMD, and Intel all take this as a cue to provide "hardware PCF",
-  // a driver hack that softens shadow edges with 4-sample interpolation.
-  for (size_t i = 0; i < sceneMgr->getShadowTextureCount(); ++i)
-  {
-    const Ogre::TexturePtr tex = sceneMgr->getShadowTexture(i);
-    // This will fail if not using OpenGL as the rendering backend.
-    GLuint texId;
-    tex->getCustomAttribute("GLID", &texId);
-    glBindTexture(GL_TEXTURE_2D, texId);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE,
-        GL_COMPARE_R_TO_TEXTURE);
-  }
-#endif
-
-  sceneMgr->setShadowTextureSelfShadow(false);
-  sceneMgr->setShadowCasterRenderBackFaces(true);
-
-  // TODO: We have two different shadow caster materials, both taken from
-  // OGRE samples. They should be compared and tested.
-  // Set up caster material - this is just a standard depth/shadow map caster
-  // sceneMgr->setShadowTextureCasterMaterial("PSSM/shadow_caster");
-  sceneMgr->setShadowTextureCasterMaterial("Gazebo/shadow_caster");
+  this->UpdateShadows(_scene);
 
   // Disable fog on the caster pass.
   //  Ogre::MaterialPtr passCaterMaterial =
@@ -636,20 +593,33 @@ Ogre::PSSMShadowCameraSetup *RTShaderSystem::GetPSSMShadowCameraSetup() const
 void RTShaderSystem::Update()
 {
   GZ_PROFILE("rendering::RTShaderSystem::Update");
-  if (!this->dataPtr->initialized || !this->dataPtr->updateShaders)
+  if (!this->dataPtr->initialized)
   {
     return;
   }
 
-  for (const auto &scene : this->dataPtr->scenes)
+  std::lock_guard<std::mutex> lock(this->dataPtr->updateMutex);
+  if (this->dataPtr->updateShadows)
   {
-    VisualPtr vis = scene->WorldVisual();
-    if (vis)
+    for (const auto &scene : this->dataPtr->scenes)
     {
-      this->UpdateShaders(vis);
+      this->UpdateShadows(scene);
     }
+    this->dataPtr->updateShadows = false;
+  }
+
+  if (this->dataPtr->updateShaders)
+  {
+    for (const auto &scene : this->dataPtr->scenes)
+    {
+      VisualPtr vis = scene->WorldVisual();
+      if (vis)
+      {
+        this->UpdateShaders(vis);
+      }
+    }
+    this->dataPtr->updateShaders = false;
   }
-  this->dataPtr->updateShaders = false;
 }
 
 /////////////////////////////////////////////////
@@ -717,3 +687,92 @@ double RTShaderSystem::ShadowSplitPadding() const
 {
   return this->dataPtr->shadowSplitPadding;
 }
+
+/////////////////////////////////////////////////
+void RTShaderSystem::UpdateShadows()
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->updateMutex);
+  this->dataPtr->updateShadows = true;
+}
+
+/////////////////////////////////////////////////
+void RTShaderSystem::UpdateShadows(ScenePtr _scene)
+{
+  if (!this->dataPtr->initialized)
+    return;
+
+  Ogre::SceneManager *sceneMgr = _scene->OgreSceneManager();
+
+  sceneMgr->setShadowTechnique(Ogre::SHADOWTYPE_TEXTURE_ADDITIVE_INTEGRATED);
+
+  // directional: assume there can only be one dir light and we always create
+  //              the shadow map for the dir light
+  // spot: update number of shadow textures based on number of shadow casting
+  //       spot lights
+  // point: not working yet
+  unsigned int dirLightCount = 1u;
+  unsigned int spotLightCount = 0u;
+  for (unsigned int i = 0; i < _scene->LightCount(); ++i)
+  {
+    LightPtr light = _scene->LightByIndex(i);
+
+    if (!light->CastShadows())
+      continue;
+
+    if (light->Type() == "spot")
+      spotLightCount++;
+  }
+
+  // 3 textures per directional light
+  sceneMgr->setShadowTextureCountPerLightType(Ogre::Light::LT_DIRECTIONAL, 3);
+
+  // spot light shadow count
+  sceneMgr->setShadowTextureCountPerLightType(Ogre::Light::LT_SPOTLIGHT, 1);
+
+  // \todo(anyone) make point light shadows work
+  sceneMgr->setShadowTextureCountPerLightType(Ogre::Light::LT_POINT, 0);
+
+  // \todo(anyone) include point light shadows when it is working
+  unsigned int dirShadowCount = 3 * dirLightCount;
+  unsigned int spotShadowCount = spotLightCount;
+  sceneMgr->setShadowTextureCount(dirShadowCount + spotShadowCount);
+
+  unsigned int texSize = this->dataPtr->shadowTextureSize;
+#if defined(__APPLE__)
+  // workaround a weird but on OSX if texture size at 2 and 3 splits are not
+  // halved
+  texSize = this->dataPtr->shadowTextureSize/2;
+#endif
+  sceneMgr->setShadowTextureConfig(0,
+      this->dataPtr->shadowTextureSize, this->dataPtr->shadowTextureSize,
+      Ogre::PF_FLOAT32_R);
+  sceneMgr->setShadowTextureConfig(1, texSize, texSize, Ogre::PF_FLOAT32_R);
+  sceneMgr->setShadowTextureConfig(2, texSize, texSize, Ogre::PF_FLOAT32_R);
+
+#if defined(HAVE_OPENGL)
+  // Enable shadow map comparison, so shader can use
+  // float texture(sampler2DShadow, vec3, [float]) instead of
+  // vec4 texture(sampler2D, vec2, [float]).
+  // NVidia, AMD, and Intel all take this as a cue to provide "hardware PCF",
+  // a driver hack that softens shadow edges with 4-sample interpolation.
+  for (size_t i = 0u; i < dirShadowCount; ++i)
+  {
+    const Ogre::TexturePtr tex = sceneMgr->getShadowTexture(i);
+    // This will fail if not using OpenGL as the rendering backend.
+    GLuint texId;
+    tex->getCustomAttribute("GLID", &texId);
+    glBindTexture(GL_TEXTURE_2D, texId);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE,
+        GL_COMPARE_R_TO_TEXTURE);
+  }
+#endif
+
+  sceneMgr->setShadowTextureSelfShadow(false);
+  sceneMgr->setShadowCasterRenderBackFaces(true);
+
+  // TODO: We have two different shadow caster materials, both taken from
+  // OGRE samples. They should be compared and tested.
+  // Set up caster material - this is just a standard depth/shadow map caster
+  // sceneMgr->setShadowTextureCasterMaterial("PSSM/shadow_caster");
+  sceneMgr->setShadowTextureCasterMaterial("Gazebo/shadow_caster");
+}

gazebo/rendering/RTShaderSystem.hh

@@ -91,6 +91,9 @@ namespace gazebo
       /// \brief Queue a call to update the shaders.
       public: void UpdateShaders();
 
+      /// \brief Queue a call to update the shadows.
+      public: void UpdateShadows();
+
       /// \brief Set a viewport to use shaders.
       /// \param[in] _viewport The viewport to add.
       /// \param[in] _scene The scene that the viewport uses.
@@ -177,6 +180,10 @@ namespace gazebo
       /// \param[in] _vis Pointer to the visual to update.
       private: void UpdateShaders(VisualPtr _vis);
 
+      /// \brief Update the shadows for a scene
+      /// \param[in] _scene Pointer to the scene to update
+      private: void UpdateShadows(ScenePtr _scene);
+
       /// \brief Re-apply shadows. Call this if a shadow paramenter is changed.
       private: void ReapplyShadows();
 

gazebo/rendering/RTShaderSystemPrivate.hh

@@ -18,6 +18,7 @@
 #ifndef _GAZEBO_RTSHADERSYSTEM_PRIVATE_HH_
 #define _GAZEBO_RTSHADERSYSTEM_PRIVATE_HH_
 
+#include <mutex>
 #include <string>
 #include <vector>
 
@@ -56,6 +57,9 @@ namespace gazebo
       /// \brief Flag to indicate that shaders need to be updated.
       public: bool updateShaders;
 
+      /// \brief Flag to indicate that shadows need to be updated.
+      public: bool updateShadows = false;
+
       /// \brief Size of the Parallel Split Shadow Map (PSSM) shadow texture
       /// at closest layer.
       public: unsigned int shadowTextureSize = 2048u;
@@ -79,6 +83,9 @@ namespace gazebo
 
       /// \brief Flag to indicate if normal map should be enabled
       public: bool enableNormalMap = true;
+
+      /// \brief Mutex to protect shaders and shadows update
+      public: std::mutex updateMutex;
     };
   }
 }

gazebo/rendering/RenderingLight_TEST.cc

@@ -115,8 +115,9 @@ TEST_F(Light_TEST, CastShadows)
   msg.set_cast_shadows(true);
   spotLight->LoadFromMsg(msg);
   EXPECT_EQ(spotLight->LightType(), "spot");
-  // issue #2083: spot light does not cast shadows
-  EXPECT_FALSE(spotLight->CastShadows());
+  // issue #2083: spot light generates shadow maps but they are not currently
+  // being rendered
+  EXPECT_TRUE(spotLight->CastShadows());
   scene->RemoveLight(spotLight);
   spotLight.reset();
 

media/materials/programs/CMakeLists.txt

@@ -45,6 +45,8 @@ projector.vert
 shadow_caster_fp.glsl
 shadow_caster_vp.glsl
 StdQuad_vp.glsl
+spotlight_shadow_demo_fp.glsl
+spotlight_shadow_demo_vp.glsl
 spot_shadow_receiver_fp.glsl
 spot_shadow_receiver_vp.glsl
 wide_lens_map_fp.glsl