Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add kiva_shelf to prepare for picking/grasping task

Browse Source 
Fix uninitialized variable jointDamping/jointFriction in SDF importer
Add SDF <pose> parsing in visual, inertial, collision elements.
Slight improvement in TinyRender loading performance of largish meshes (30k vertices)
Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is.
b3RobotSimAPI support SDF file loading
Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures
This commit is contained in:
erwin coumans
2016-07-14 00:05:57 -07:00
parent 10cc6f14cb
commit 4a705d1e03
25 changed files with 399 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -19,7 +19,7 @@ subject to the following restrictions:
bool useShadowMap=true;//false;//true;
int shadowMapWidth=4096;//8192;
int shadowMapHeight=4096;
float shadowMapWorldSize=50;
float shadowMapWorldSize=25;
#define MAX_POINTS_IN_BATCH 1024
#define MAX_LINES_IN_BATCH 1024
@@ -75,7 +75,7 @@ float shadowMapWorldSize=50;
static InternalDataRenderer* sData2;
GLint lineWidthRange[2]={1,1};
static b3Vector3 gLightPos=b3MakeVector3(-5,200,-40);
static b3Vector3 gLightPos=b3MakeVector3(-5,12,-4);
struct b3GraphicsInstance
{

3
examples/OpenGLWindow/Shaders/instancingPS.glsl
View File

@@ -25,7 +25,8 @@ void main(void)
vec4 texel = fragment.color*texture(Diffuse,vert.texcoord);//fragment.color;
vec3 ct,cf;
float intensity,at,af;
intensity = max(dot(lightDir,normalize(normal)),0);
intensity = 0.5+0.5*clamp( dot( normalize(normal),lightDir ), -1,1 );
cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;
af = 1.0;

3
examples/OpenGLWindow/Shaders/instancingPS.h
View File

@@ -22,7 +22,8 @@ static const char* instancingFragmentShader= \
" vec4 texel = fragment.color*texture(Diffuse,vert.texcoord);//fragment.color;\n"
" vec3 ct,cf;\n"
" float intensity,at,af;\n"
" intensity = max(dot(lightDir,normalize(normal)),0);\n"
" \n"
" intensity = 0.5+0.5*clamp( dot( normalize(normal),lightDir ), -1,1 );\n"
" cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;\n"
" af = 1.0;\n"
" \n"

2
examples/OpenGLWindow/Shaders/instancingVS.glsl
View File

@@ -61,7 +61,7 @@ out vec3 lightDir,normal,ambient;
void main(void)
{
vec4 q = instance_quaternion;
ambient = vec3(0.6,.6,0.6);
ambient = vec3(0.5,.5,0.5);
vec4 worldNormal = (quatRotate3( vertexnormal,q));
normal = normalize(worldNormal).xyz;

2
examples/OpenGLWindow/Shaders/instancingVS.h
View File

@@ -52,7 +52,7 @@ static const char* instancingVertexShader= \
"void main(void)\n"
"{\n"
" vec4 q = instance_quaternion;\n"
" ambient = vec3(0.6,.6,0.6);\n"
" ambient = vec3(0.5,.5,0.5);\n"
" \n"
" vec4 worldNormal = (quatRotate3( vertexnormal,q));\n"
" normal = normalize(worldNormal).xyz;\n"

3
examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
View File

@@ -27,8 +27,7 @@ void main(void)
vec3 ct,cf;
float intensity,at,af;
intensity = clamp( dot( normalize(normal),lightDir ), 0,1 );
intensity = 0.5+0.5*clamp( dot( normalize(normal),lightDir ), -1,1 );
af = 1.0;

3
examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
View File

@@ -21,8 +21,7 @@ static const char* useShadowMapInstancingFragmentShader= \
" vec3 ct,cf;\n"
" float intensity,at,af;\n"
" \n"
" intensity = clamp( dot( normalize(normal),lightDir ), 0,1 );\n"
" \n"
" intensity = 0.5+0.5*clamp( dot( normalize(normal),lightDir ), -1,1 );\n"
" \n"
" af = 1.0;\n"
" \n"

2
examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl
View File

@@ -65,7 +65,7 @@ out vec3 lightDir,normal,ambient;
void main(void)
{
vec4 q = instance_quaternion;
ambient = vec3(0.6,.6,0.6);
ambient = vec3(0.5,.5,0.5);
vec4 worldNormal = (quatRotate3( vertexnormal,q));

2
examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h
View File

@@ -55,7 +55,7 @@ static const char* useShadowMapInstancingVertexShader= \
"void main(void)\n"
"{\n"
" vec4 q = instance_quaternion;\n"
" ambient = vec3(0.6,.6,0.6);\n"
" ambient = vec3(0.5,.5,0.5);\n"
" \n"
" vec4 worldNormal = (quatRotate3( vertexnormal,q));\n"
" \n"