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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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33
examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
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@@ -13,9 +13,14 @@ in Vert
uniform sampler2D Diffuse;
uniform sampler2DShadow shadowMap;
uniform mat4 ViewMatrixInverse;
in vec3 lightDir,normal,ambient;
in vec3 lightPos,cameraPosition, normal,ambient;
in vec4 ShadowCoord;
in vec4 vertexPos;
in float materialShininess;
in vec3 lightSpecularIntensity;
in vec3 materialSpecularColor;
out vec4 color;
@@ -28,8 +33,11 @@ void main(void)
float intensity,at,af;
if (fragment.color.w==0)
discard;
intensity = 0.5+0.5*clamp( dot( normalize(normal),lightDir ), -1,1 );
vec3 lightDir = normalize(lightPos);
vec3 normalDir = normalize(normal);
intensity = 0.5+0.5*clamp( dot( normalDir,lightDir ), -1,1 );
af = 1.0;
@@ -38,7 +46,24 @@ void main(void)
//float bias = 0.005f;
vec3 specularReflection;
if (dot(normalDir, lightDir) < 0.0)
{
specularReflection = vec3(0.0, 0.0, 0.0);
}
else // light source on the right side
{
vec3 surfaceToLight = normalize(lightPos - vertexPos.xyz);
vec3 surfaceToCamera = normalize(cameraPosition - vertexPos.xyz);
float specularCoefficient = 0.0;
specularCoefficient = pow(max(0.0, dot(surfaceToCamera, reflect(-surfaceToLight, normalDir))), materialShininess);
specularReflection = specularCoefficient * materialSpecularColor * lightSpecularIntensity;
}
float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));
if (intensity<0.5)
@@ -46,6 +71,6 @@ void main(void)
intensity = 0.7*intensity + 0.3*intensity*visibility;
cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;
cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient+specularReflection*visibility;
color = vec4(ct * cf, fragment.color.w);
}

32
examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
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@@ -12,8 +12,13 @@ static const char* useShadowMapInstancingFragmentShader= \
"} vert;\n"
"uniform sampler2D Diffuse;\n"
"uniform sampler2DShadow shadowMap;\n"
"in vec3 lightDir,normal,ambient;\n"
"uniform mat4 ViewMatrixInverse;\n"
"in vec3 lightPos,cameraPosition, normal,ambient;\n"
"in vec4 ShadowCoord;\n"
"in vec4 vertexPos;\n"
"in float materialShininess;\n"
"in vec3 lightSpecularIntensity;\n"
"in vec3 materialSpecularColor;\n"
"out vec4 color;\n"
"void main(void)\n"
"{\n"
@@ -22,7 +27,11 @@ static const char* useShadowMapInstancingFragmentShader= \
" float intensity,at,af;\n"
" if (fragment.color.w==0)\n"
" discard;\n"
" intensity = 0.5+0.5*clamp( dot( normalize(normal),lightDir ), -1,1 );\n"
" vec3 lightDir = normalize(lightPos);\n"
" \n"
" vec3 normalDir = normalize(normal);\n"
" \n"
" intensity = 0.5+0.5*clamp( dot( normalDir,lightDir ), -1,1 );\n"
" \n"
" af = 1.0;\n"
" \n"
@@ -31,13 +40,30 @@ static const char* useShadowMapInstancingFragmentShader= \
" \n"
" //float bias = 0.005f;\n"
" \n"
" vec3 specularReflection;\n"
" \n"
" if (dot(normalDir, lightDir) < 0.0) \n"
" {\n"
" specularReflection = vec3(0.0, 0.0, 0.0);\n"
" }\n"
" else // light source on the right side\n"
" {\n"
" vec3 surfaceToLight = normalize(lightPos - vertexPos.xyz);\n"
" vec3 surfaceToCamera = normalize(cameraPosition - vertexPos.xyz);\n"
" \n"
" \n"
" float specularCoefficient = 0.0;\n"
" specularCoefficient = pow(max(0.0, dot(surfaceToCamera, reflect(-surfaceToLight, normalDir))), materialShininess);\n"
" specularReflection = specularCoefficient * materialSpecularColor * lightSpecularIntensity;\n"
" \n"
" }\n"
" \n"
" float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));\n"
" if (intensity<0.5)\n"
" visibility = 0;\n"
" intensity = 0.7*intensity + 0.3*intensity*visibility;\n"
" \n"
" cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;\n"
" cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient+specularReflection*visibility;\n"
" color = vec4(ct * cf, fragment.color.w);\n"
"}\n"
;

31
examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl
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@@ -15,7 +15,12 @@ uniform mat4 ModelViewMatrix;
uniform mat4 ProjectionMatrix;
uniform mat4 DepthBiasModelViewProjectionMatrix;
uniform mat4 MVP;
uniform vec3 lightDirIn;
uniform vec3 lightPosIn;
uniform vec3 cameraPositionIn;
uniform mat4 ViewMatrixInverse;
uniform float materialShininessIn;
uniform vec3 lightSpecularIntensityIn;
uniform vec3 materialSpecularColorIn;
out vec4 ShadowCoord;
@@ -60,7 +65,13 @@ vec4 quatRotate ( in vec4 p, in vec4 q )
return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );
}
out vec3 lightDir,normal,ambient;
out vec3 lightPos,normal,ambient;
out vec4 vertexPos;
out vec3 cameraPosition;
out float materialShininess;
out vec3 lightSpecularIntensity;
out vec3 materialSpecularColor;
void main(void)
{
@@ -69,15 +80,19 @@ void main(void)
vec4 worldNormal = (quatRotate3( vertexnormal,q));
normal = normalize(worldNormal).xyz;
normal = worldNormal.xyz;
lightDir = lightDirIn;
lightPos = lightPosIn;
cameraPosition = cameraPositionIn;
materialShininess = materialShininessIn;
lightSpecularIntensity = lightSpecularIntensityIn;
materialSpecularColor = materialSpecularColorIn;
vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);
vec4 vertexPos = MVP* vec4((instance_position+localcoord).xyz,1);
gl_Position = vertexPos;
vertexPos = vec4((instance_position+localcoord).xyz,1);
vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);
gl_Position = vertexLoc;
ShadowCoord = DepthBiasModelViewProjectionMatrix * vec4((instance_position+localcoord).xyz,1);
fragment.color = instance_color;

29
examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h
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@@ -13,7 +13,12 @@ static const char* useShadowMapInstancingVertexShader= \
"uniform mat4 ProjectionMatrix;\n"
"uniform mat4 DepthBiasModelViewProjectionMatrix;\n"
"uniform mat4 MVP;\n"
"uniform vec3 lightDirIn;\n"
"uniform vec3 lightPosIn;\n"
"uniform vec3 cameraPositionIn;\n"
"uniform mat4 ViewMatrixInverse;\n"
"uniform float materialShininessIn;\n"
"uniform vec3 lightSpecularIntensityIn;\n"
"uniform vec3 materialSpecularColorIn;\n"
"out vec4 ShadowCoord;\n"
"out Fragment\n"
"{\n"
@@ -51,7 +56,12 @@ static const char* useShadowMapInstancingVertexShader= \
" vec4 temp = quatMul ( q, p );\n"
" return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );\n"
"}\n"
"out vec3 lightDir,normal,ambient;\n"
"out vec3 lightPos,normal,ambient;\n"
"out vec4 vertexPos;\n"
"out vec3 cameraPosition;\n"
"out float materialShininess;\n"
"out vec3 lightSpecularIntensity;\n"
"out vec3 materialSpecularColor;\n"
"void main(void)\n"
"{\n"
" vec4 q = instance_quaternion;\n"
@@ -59,13 +69,18 @@ static const char* useShadowMapInstancingVertexShader= \
" \n"
" vec4 worldNormal = (quatRotate3( vertexnormal,q));\n"
" \n"
" normal = normalize(worldNormal).xyz;\n"
" lightDir = lightDirIn;\n"
" \n"
" normal = worldNormal.xyz;\n"
" lightPos = lightPosIn;\n"
" cameraPosition = cameraPositionIn;\n"
" materialShininess = materialShininessIn;\n"
" lightSpecularIntensity = lightSpecularIntensityIn;\n"
" materialSpecularColor = materialSpecularColorIn;\n"
" \n"
" vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);\n"
" vec4 vertexPos = MVP* vec4((instance_position+localcoord).xyz,1);\n"
" gl_Position = vertexPos;\n"
" vertexPos = vec4((instance_position+localcoord).xyz,1);\n"
" \n"
" vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);\n"
" gl_Position = vertexLoc;\n"
" ShadowCoord = DepthBiasModelViewProjectionMatrix * vec4((instance_position+localcoord).xyz,1);\n"
" fragment.color = instance_color;\n"
" vert.texcoord = uvcoords;\n"