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Render depth buffer.

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This commit is contained in:
yunfeibai
2016-11-23 13:00:26 -08:00
parent 24b3e137a6
commit 29809a4471
4 changed files with 80 additions and 52 deletions
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20
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -89,10 +89,10 @@ protected:
virtual void resetCamera()
{
float dist = 1;
float dist = 1.233281;
float pitch = 193;
float yaw = 25;
float targetPos[3]={0.008655,0.001998,0.679456};//-3,2.8,-2.5};
float targetPos[3]={0.103042,-0.469102,0.631005};//-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
@@ -481,21 +481,6 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
}
break;
}
case CMD_UPDATE_LIGHT:
{
b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
float viewMatrix[16];
float projectionMatrix[16];
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
float lightDir[3] = {0.0,0.1,2.0};
b3RequestCameraImageSetLightDirection(commandHandle, lightDir);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
default:
{
b3Error("Unknown buttonId");
@@ -572,7 +557,6 @@ void PhysicsClientExample::createButtons()
createButton("Load SDF",CMD_LOAD_SDF, isTrigger);
createButton("Save World",CMD_SAVE_WORLD, isTrigger);
createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
createButton("Update Light",CMD_UPDATE_LIGHT,isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION, isTrigger);
createButton("Get Visual Shape Info",CMD_REQUEST_VISUAL_SHAPE_INFO, isTrigger);

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -38,7 +38,6 @@ enum EnumSharedMemoryClientCommand
CMD_REQUEST_AABB_OVERLAP,
CMD_SAVE_WORLD,
CMD_REQUEST_VISUAL_SHAPE_INFO,
CMD_UPDATE_LIGHT,
CMD_UPDATE_VISUAL_SHAPE,
CMD_LOAD_TEXTURE,
CMD_USER_DEBUG_DRAW,

91
examples/TinyRenderer/TinyRenderer.cpp
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@@ -13,7 +13,8 @@
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
const float depth = 10.f;
b3AlignedObjectArray<float> shadowbuffer;
Matrix viewportmat;
struct Shader : public IShader {
@@ -100,19 +101,17 @@ struct DepthShader : public IShader {
Matrix& m_modelMat;
Matrix m_invModelMat;
Matrix& m_modelView1;
Matrix& m_projectionMatrix;
Vec3f m_localScaling;
Matrix& m_lightModelView;
mat<2,3,float> varying_uv; // triangle uv coordinates, written by the vertex shader, read by the fragment shader
mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS
mat<4,3,float> varying_tri_light_view; // triangle coordinates (clip coordinates), written by VS, read by FS
mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS
DepthShader(Model* model, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling)
DepthShader(Model* model, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling)
:m_model(model),
m_modelView1(modelView),
m_lightModelView(lightModelView),
m_projectionMatrix(projectionMatrix),
m_modelMat(modelMat),
@@ -128,17 +127,14 @@ struct DepthShader : public IShader {
Vec3f scaledVert=Vec3f(unScaledVert[0]*m_localScaling[0],
unScaledVert[1]*m_localScaling[1],
unScaledVert[2]*m_localScaling[2]);
Vec4f gl_Vertex = m_projectionMatrix*m_modelView1*embed<4>(scaledVert);
Vec4f gl_Vertex = m_projectionMatrix*m_lightModelView*embed<4>(scaledVert);
varying_tri.set_col(nthvert, gl_Vertex);
Vec4f gl_VertexLightView = m_projectionMatrix*m_lightModelView*embed<4>(scaledVert);
varying_tri_light_view.set_col(nthvert, gl_VertexLightView);
return gl_Vertex;
}
virtual bool fragment(Vec3f bar, TGAColor &color) {
Vec4f p = varying_tri_light_view*bar;
printf("coefficient: %f\n", 1.0-p[2]/depth);
color = TGAColor(255, 255, 255)*(1.0-p[2]/depth);
Vec4f p = varying_tri*bar;
color = TGAColor(255, 255, 255)*p[2];
return false;
}
};
@@ -157,12 +153,17 @@ struct ShadowShader : public IShader {
Matrix& m_lightModelView;
Vec4f m_colorRGBA;
int m_width;
int m_height;
int m_index;
mat<2,3,float> varying_uv; // triangle uv coordinates, written by the vertex shader, read by the fragment shader
mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS
mat<4,3,float> varying_tri_light_view; // triangle coordinates (clip coordinates), written by VS, read by FS
mat<4,3,float> varying_tri_light_view;
mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS
ShadowShader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA)
ShadowShader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height)
:m_model(model),
m_light_dir_local(light_dir_local),
m_light_color(light_color),
@@ -171,7 +172,9 @@ struct ShadowShader : public IShader {
m_projectionMatrix(projectionMatrix),
m_modelMat(modelMat),
m_localScaling(localScaling),
m_colorRGBA(colorRGBA)
m_colorRGBA(colorRGBA),
m_width(width),
m_height(height)
{
m_invModelMat = m_modelMat.invert_transpose();
}
@@ -191,9 +194,15 @@ struct ShadowShader : public IShader {
}
virtual bool fragment(Vec3f bar, TGAColor &color) {
Vec4f p = varying_tri_light_view*bar;
float shadow = 1.0-p[2]/depth;
printf("shadow: %f\n", shadow);
Vec4f p = viewportmat*(varying_tri_light_view*bar);
p = p/p[3];
float depth = p[2];
int index_x = b3Min(m_width-1, int(p[0]));
index_x = b3Max(0, index_x);
int index_y = b3Min(m_height-1, int(p[1]));
index_y = b3Max(0, index_y);
int idx = index_x + index_y*m_width; // index in the shadowbuffer array
float shadow = 0.3+0.7*(shadowbuffer[idx]<-depth); // magic coeff to avoid z-fighting
Vec3f bn = (varying_nrm*bar).normalize();
Vec2f uv = varying_uv*bar;
@@ -401,37 +410,63 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
Model* model = renderData.m_model;
if (0==model)
return;
renderData.m_viewportMatrix = viewport(0,0,width, height);
b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
int* segmentationMaskBufferPtr = (renderData.m_segmentationMaskBufferPtr && renderData.m_segmentationMaskBufferPtr->size())?&renderData.m_segmentationMaskBufferPtr->at(0):0;
TGAImage tempFrame(width, height, TGAImage::RGB);
TGAImage& frame = renderData.m_rgbColorBuffer;
shadowbuffer.resize(zbuffer.size());
for (int i = 0; i < shadowbuffer.size(); ++i)
{
shadowbuffer[i] = -1e30f;
}
{
Matrix lightViewMatrix = lookat(Vec3f(0.0,0.1,2.0), Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0));
Matrix lightViewMatrix = lookat(light_dir_local, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0));
Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix;
Matrix lightViewProjectionMatrix = renderData.m_projectionMatrix;
Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
viewportmat = renderData.m_viewportMatrix;
Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
//Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA());
//DepthShader shader(model, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling);
ShadowShader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA());
//printf("Render %d triangles.\n",model->nfaces());
DepthShader shader(model, lightModelViewMatrix, lightViewProjectionMatrix,renderData.m_modelMatrix, localScaling);
for (int i=0; i<model->nfaces(); i++)
{
for (int j=0; j<3; j++) {
shader.vertex(i, j);
}
triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
}
/*
ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA(), width, height);
for (int i=0; i<model->nfaces(); i++)
{
for (int j=0; j<3; j++) {
shadowShader.vertex(i, j);
}
triangle(shadowShader.varying_tri, shadowShader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
}
Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA());
//printf("Render %d triangles.\n",model->nfaces());
for (int i=0; i<model->nfaces(); i++)
{
for (int j=0; j<3; j++) {
shader.vertex(i, j);
}
triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
}
*/
}
}

20
examples/TinyRenderer/our_gl.cpp
View File

@@ -4,13 +4,11 @@
#include "our_gl.h"
#include "Bullet3Common/b3MinMax.h"
IShader::~IShader() {}
Matrix viewport(int x, int y, int w, int h)
{
Matrix Viewport;
Viewport = Matrix::identity();
Viewport[0][3] = x+w/2.f;
@@ -20,6 +18,18 @@ Matrix viewport(int x, int y, int w, int h)
Viewport[1][1] = h/2.f;
Viewport[2][2] = 0;
return Viewport;
/*
Matrix Viewport;
Viewport = Matrix::identity();
Viewport[0][3] = x+w/2.f;
Viewport[1][3] = y+h/2.f;
Viewport[2][3] = .5f;
Viewport[0][0] = w/2.f;
Viewport[1][1] = h/2.f;
Viewport[2][2] = .5f;
return Viewport;
*/
}
Matrix projection(float coeff) {
@@ -75,6 +85,7 @@ Matrix lookat(Vec3f eye, Vec3f center, Vec3f up) {
ModelView[3][3] = 1.f;
return ModelView;
}
Vec3f barycentric(Vec2f A, Vec2f B, Vec2f C, Vec2f P) {
@@ -97,8 +108,7 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zbuffer, int* segmentationMaskBuffer, const Matrix& viewPortMatrix, int objectIndex) {
mat<3,4,float> pts = (viewPortMatrix*clipc).transpose(); // transposed to ease access to each of the points
//we don't clip triangles that cross the near plane, just discard them instead of showing artifacts
if (pts[0][3]<0 || pts[1][3] <0 || pts[2][3] <0)
return;