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Implemented specular reflective lighting for OpenGL 3.x, everything looks shiny (will add APIs to make it less shiny ;-)

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Remove roof from kitchens/1.sdf, otherwise shadows and shinyness won't work (light is outside the room, bouncing against roof-top)
Make kuka_iiwa/model.urdf more smooth, use .obj for per-vertex normals (using Blender, import STL, export OBJ, enable triangles, normals and Z-UP, Y forward)
This commit is contained in:
Erwin Coumans
2017-05-31 20:32:45 -07:00
parent 83f910711a
commit 3157093125
8 changed files with 174 additions and 76 deletions
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68
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -129,6 +129,8 @@ struct b3GraphicsInstance
int m_instanceOffset;
int m_vertexArrayOffset;
int m_primitiveType;
float m_materialShinyNess;
b3Vector3 m_materialSpecularColor;
b3GraphicsInstance()
:m_cube_vao(-1),
@@ -139,7 +141,9 @@ struct b3GraphicsInstance
m_numGraphicsInstances(0),
m_instanceOffset(0),
m_vertexArrayOffset(0),
m_primitiveType(B3_GL_TRIANGLES)
m_primitiveType(B3_GL_TRIANGLES),
m_materialShinyNess(81),
m_materialSpecularColor(b3MakeVector3(1,1,1))
{
}
@@ -204,8 +208,10 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
GLfloat m_projectionMatrix[16];
GLfloat m_viewMatrix[16];
GLfloat m_viewMatrixInverse[16];
b3Vector3 m_lightPos;
b3Vector3 m_lightSpecularIntensity;
GLuint m_defaultTexturehandle;
b3AlignedObjectArray<InternalTextureHandle> m_textureHandles;
@@ -226,12 +232,14 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
m_renderFrameBuffer(0)
{
m_lightPos=b3MakeVector3(-50,30,40);
m_lightSpecularIntensity.setValue(1,1,1);
//clear to zero to make it obvious if the matrix is used uninitialized
for (int i=0;i<16;i++)
{
m_projectionMatrix[i]=0;
m_viewMatrix[i]=0;
m_viewMatrixInverse[i]=0;
}
}
@@ -280,9 +288,14 @@ GLuint linesVertexArrayObject=0;
GLuint linesIndexVbo = 0;
static GLint useShadow_ViewMatrixInverse=0;
static GLint useShadow_ModelViewMatrix=0;
static GLint useShadow_lightSpecularIntensity = 0;
static GLint useShadow_materialSpecularColor = 0;
static GLint useShadow_MVP=0;
static GLint useShadow_lightDirIn=0;
static GLint useShadow_lightPosIn=0;
static GLint useShadow_cameraPositionIn = 0;
static GLint useShadow_materialShininessIn = 0;
static GLint useShadow_ProjectionMatrix=0;
static GLint useShadow_DepthBiasModelViewMatrix=0;
@@ -296,7 +309,7 @@ static GLint ProjectionMatrix=0;
static GLint regularLightDirIn=0;
static GLint uniform_texture_diffuse = 0;
static GLint uniform_texture_diffuse = 0;
static GLint screenWidthPointSprite=0;
static GLint ModelViewMatrixPointSprite=0;
@@ -1103,13 +1116,18 @@ void GLInstancingRenderer::InitShaders()
glLinkProgram(useShadowMapInstancingShader);
glUseProgram(useShadowMapInstancingShader);
useShadow_ViewMatrixInverse = glGetUniformLocation(useShadowMapInstancingShader, "ViewMatrixInverse");
useShadow_ModelViewMatrix = glGetUniformLocation(useShadowMapInstancingShader, "ModelViewMatrix");
useShadow_lightSpecularIntensity = glGetUniformLocation(useShadowMapInstancingShader, "lightSpecularIntensityIn");
useShadow_materialSpecularColor = glGetUniformLocation(useShadowMapInstancingShader, "materialSpecularColorIn");
useShadow_MVP = glGetUniformLocation(useShadowMapInstancingShader, "MVP");
useShadow_ProjectionMatrix = glGetUniformLocation(useShadowMapInstancingShader, "ProjectionMatrix");
useShadow_DepthBiasModelViewMatrix = glGetUniformLocation(useShadowMapInstancingShader, "DepthBiasModelViewProjectionMatrix");
useShadow_uniform_texture_diffuse = glGetUniformLocation(useShadowMapInstancingShader, "Diffuse");
useShadow_shadowMap = glGetUniformLocation(useShadowMapInstancingShader,"shadowMap");
useShadow_lightDirIn = glGetUniformLocation(useShadowMapInstancingShader,"lightDirIn");
useShadow_lightPosIn = glGetUniformLocation(useShadowMapInstancingShader,"lightPosIn");
useShadow_cameraPositionIn = glGetUniformLocation(useShadowMapInstancingShader,"cameraPositionIn");
useShadow_materialShininessIn = glGetUniformLocation(useShadowMapInstancingShader,"materialShininessIn");
createShadowMapInstancingShader = gltLoadShaderPair(createShadowMapInstancingVertexShader,createShadowMapInstancingFragmentShader);
glLinkProgram(createShadowMapInstancingShader);
@@ -1276,6 +1294,15 @@ void GLInstancingRenderer::setActiveCamera(CommonCameraInterface* cam)
m_data->m_activeCamera = cam;
}
void GLInstancingRenderer::setLightSpecularIntensity(const float lightSpecularIntensity[3])
{
m_data->m_lightSpecularIntensity[0] = lightSpecularIntensity[0];
m_data->m_lightSpecularIntensity[1] = lightSpecularIntensity[1];
m_data->m_lightSpecularIntensity[2] = lightSpecularIntensity[2];
}
void GLInstancingRenderer::setLightPosition(const float lightPos[3])
{
m_data->m_lightPos[0] = lightPos[0];
@@ -1302,6 +1329,21 @@ void GLInstancingRenderer::updateCamera(int upAxis)
m_data->m_defaultCamera1.update();
m_data->m_activeCamera->getCameraProjectionMatrix(m_data->m_projectionMatrix);
m_data->m_activeCamera->getCameraViewMatrix(m_data->m_viewMatrix);
b3Scalar viewMat[16];
b3Scalar viewMatInverse[16];
for (int i=0;i<16;i++)
{
viewMat[i] = m_data->m_viewMatrix[i];
}
b3Transform tr;
tr.setFromOpenGLMatrix(viewMat);
tr = tr.inverse();
tr.getOpenGLMatrix(viewMatInverse);
for (int i=0;i<16;i++)
{
m_data->m_viewMatrixInverse[i]=viewMatInverse[i];
}
}
@@ -2131,12 +2173,24 @@ b3Assert(glGetError() ==GL_NO_ERROR);
glUseProgram(useShadowMapInstancingShader);
glUniformMatrix4fv(useShadow_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
glUniformMatrix4fv(useShadow_ViewMatrixInverse, 1, false, &m_data->m_viewMatrixInverse[0]);
glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
glUniform3f(useShadow_lightSpecularIntensity, m_data->m_lightSpecularIntensity[0],m_data->m_lightSpecularIntensity[1],m_data->m_lightSpecularIntensity[2]);
glUniform3f(useShadow_materialSpecularColor, gfxObj->m_materialSpecularColor[0],gfxObj->m_materialSpecularColor[1],gfxObj->m_materialSpecularColor[2]);
float MVP[16];
b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,MVP);
glUniformMatrix4fv(useShadow_MVP, 1, false, &MVP[0]);
b3Vector3 gLightDir = m_data->m_lightPos;
gLightDir.normalize();
glUniform3f(useShadow_lightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]);
//gLightDir.normalize();
glUniform3f(useShadow_lightPosIn,m_data->m_lightPos[0],m_data->m_lightPos[1],m_data->m_lightPos[2]);
float camPos[3];
m_data->m_activeCamera->getCameraPosition(camPos);
glUniform3f(useShadow_cameraPositionIn,camPos[0],camPos[1],camPos[2]);
glUniform1f(useShadow_materialShininessIn,gfxObj->m_materialShinyNess);
glUniformMatrix4fv(useShadow_DepthBiasModelViewMatrix, 1, false, &depthBiasMVP[0][0]);
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, m_data->m_shadowTexture);