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

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)

data/kitchens/1.sdf

@@ -4291,45 +4291,7 @@
 			 </visual>
 			 </link>
 			</model>
-		<model name='part110.obj'>
+	
-			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
-			<link name='link_d110'>
-			<inertial>
-			<mass>0</mass>
-			<inertia>
-			<ixx>0.166667</ixx>
-			<ixy>0</ixy>
-			<ixz>0</ixz>
-			<iyy>0.166667</iyy>
-			<iyz>0</iyz>
-			<izz>0.166667</izz>
-			</inertia>
-			</inertial>
-			<collision concave='yes' name='collision_110'>
-			<geometry>
-			<mesh>
-			<scale>.1 .1 .1</scale>
-				<uri>fatihrmutfak/part110.obj</uri>
-			</mesh>
-			</geometry>
-			  </collision>
-			<visual name='visual'>
-				<geometry>
-				<mesh>
-					<scale>.1 .1 .1</scale>
-					<uri>fatihrmutfak/part110.obj</uri>
-				</mesh>
-				</geometry>
-			<material>
-				<ambient>1 0 0 1</ambient>
-				<diffuse>1.000000 1.000000 1.000000 1</diffuse>
-				<specular>0.1 0.1 0.1 1</specular>
-				<emissive>0 0 0 0</emissive>
-			 </material>
-			 </visual>
-			 </link>
-			</model>
 		<model name='part111.obj'>
 			<static>1</static>
 			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>

data/kuka_iiwa/model.urdf

@@ -70,7 +70,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_0.stl"/>
+        <mesh filename="meshes/link_0.obj"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -99,7 +99,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_1.stl"/>
+        <mesh filename="meshes/link_1.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -128,7 +128,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_2.stl"/>
+        <mesh filename="meshes/link_2.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -157,7 +157,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_3.stl"/>
+        <mesh filename="meshes/link_3.obj"/>
       </geometry>
       <material name="Orange"/>
     </visual>
@@ -186,7 +186,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_4.stl"/>
+        <mesh filename="meshes/link_4.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -215,7 +215,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_5.stl"/>
+        <mesh filename="meshes/link_5.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -244,7 +244,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_6.stl"/>
+        <mesh filename="meshes/link_6.obj"/>
       </geometry>
       <material name="Orange"/>
     </visual>
@@ -273,7 +273,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_7.stl"/>
+        <mesh filename="meshes/link_7.obj"/>
       </geometry>
       <material name="Grey"/>
     </visual>

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -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();
-							gLightDir.normalize();
+							glUniform3f(useShadow_lightPosIn,m_data->m_lightPos[0],m_data->m_lightPos[1],m_data->m_lightPos[2]);
-							glUniform3f(useShadow_lightDirIn,gLightDir[0],gLightDir[1],gLightDir[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);

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -124,6 +124,7 @@ public:
 	
 	virtual void setLightPosition(const float lightPos[3]);
 	virtual void setLightPosition(const double lightPos[3]);
+	void setLightSpecularIntensity(const float lightSpecularIntensity[3]);
 
 	virtual void	resize(int width, int height);
 	virtual int	getScreenWidth()

examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl

@@ -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;
-
+	vec3 lightDir = normalize(lightPos);
-	intensity = 0.5+0.5*clamp( dot( normalize(normal),lightDir ), -1,1 );
+	
+	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);
 }

examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h

@@ -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"
 ;

examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl

@@ -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);
+	vertexPos = vec4((instance_position+localcoord).xyz,1);
-
+	
-	gl_Position = vertexPos;
+	vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);
+	gl_Position = vertexLoc;
 	ShadowCoord = DepthBiasModelViewProjectionMatrix * vec4((instance_position+localcoord).xyz,1);
 
 	fragment.color = instance_color;

examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h

@@ -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"
+"	normal = worldNormal.xyz;\n"
-"	lightDir = lightDirIn;\n"
+"	lightPos = lightPosIn;\n"
-"		\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"
+"	vertexPos = vec4((instance_position+localcoord).xyz,1);\n"
-"	gl_Position = vertexPos;\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"