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Render shadow of torus with shadow buffer and index from triangle order.

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This commit is contained in:
yunfeibai
2016-11-27 15:32:55 -08:00
parent 29809a4471
commit 529274a3f4
7 changed files with 76 additions and 31 deletions
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4
examples/RenderingExamples/TinyRendererSetup.cpp
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@@ -23,6 +23,7 @@ struct TinyRendererSetupInternalData
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<float> m_depthBuffer;
b3AlignedObjectArray<float> m_shadowBuffer;
b3AlignedObjectArray<int> m_segmentationMaskBuffer;
@@ -53,6 +54,7 @@ struct TinyRendererSetupInternalData
m_animateRenderer(0)
{
m_depthBuffer.resize(m_width*m_height);
m_shadowBuffer.resize(m_width*m_height);
// m_segmentationMaskBuffer.resize(m_width*m_height);
}
@@ -188,6 +190,7 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
TinyRenderObjectData* ob = new TinyRenderObjectData(
m_internalData->m_rgbColorBuffer,
m_internalData->m_depthBuffer,
m_internalData->m_shadowBuffer,
&m_internalData->m_segmentationMaskBuffer,
m_internalData->m_renderObjects.size());
@@ -328,6 +331,7 @@ void TinyRendererSetup::stepSimulation(float deltaTime)
{
m_internalData->m_rgbColorBuffer.set(x,y,clearColor);
m_internalData->m_depthBuffer[x+y*m_internalData->m_width] = -1e30f;
m_internalData->m_shadowBuffer[x+y*m_internalData->m_width] = -1e30f;
}
}

2
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -242,7 +242,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
{
case CMD_LOAD_URDF:
{
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf");
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "torus/torus.urdf");
//setting the initial position, orientation and other arguments are optional
double startPosX = 0;
static double startPosY = 0;

7
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -72,6 +72,7 @@ struct TinyRendererVisualShapeConverterInternalData
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<MyTexture2> m_textures;
b3AlignedObjectArray<float> m_depthBuffer;
b3AlignedObjectArray<float> m_shadowBuffer;
b3AlignedObjectArray<int> m_segmentationMaskBuffer;
btVector3 m_lightDirection;
bool m_hasLightDirection;
@@ -89,6 +90,7 @@ struct TinyRendererVisualShapeConverterInternalData
m_hasLightColor(false)
{
m_depthBuffer.resize(m_swWidth*m_swHeight);
m_shadowBuffer.resize(m_swWidth*m_swHeight);
m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1);
}
@@ -552,7 +554,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
if (vertices.size() && indices.size())
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId);
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId);
unsigned char* textureImage=0;
int textureWidth=0;
int textureHeight=0;
@@ -658,6 +660,7 @@ void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
{
m_data->m_rgbColorBuffer.set(x,y,clearColor);
m_data->m_depthBuffer[x+y*m_data->m_swWidth] = -1e30f;
m_data->m_shadowBuffer[x+y*m_data->m_swWidth] = -1e30f;
m_data->m_segmentationMaskBuffer[x+y*m_data->m_swWidth] = -1;
}
}
@@ -772,6 +775,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
for (int i=0;i<m_data->m_swWidth;i++)
{
btSwap(m_data->m_depthBuffer[l1+i],m_data->m_depthBuffer[l2+i]);
btSwap(m_data->m_shadowBuffer[l1+i],m_data->m_shadowBuffer[l2+i]);
btSwap(m_data->m_segmentationMaskBuffer[l1+i],m_data->m_segmentationMaskBuffer[l2+i]);
}
}
@@ -791,6 +795,7 @@ void TinyRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
m_data->m_swHeight = height;
m_data->m_depthBuffer.resize(m_data->m_swWidth*m_data->m_swHeight);
m_data->m_shadowBuffer.resize(m_data->m_swWidth*m_data->m_swHeight);
m_data->m_segmentationMaskBuffer.resize(m_data->m_swWidth*m_data->m_swHeight);
m_data->m_rgbColorBuffer = TGAImage(width, height, TGAImage::RGB);

70
examples/TinyRenderer/TinyRenderer.cpp
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@@ -13,8 +13,11 @@
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
b3AlignedObjectArray<float> shadowbuffer;
Matrix viewportmat;
float depth = 2.0;
int indexmap[10000000];
int count = 0;
bool setindex = true;
struct Shader : public IShader {
@@ -134,7 +137,7 @@ struct DepthShader : public IShader {
virtual bool fragment(Vec3f bar, TGAColor &color) {
Vec4f p = varying_tri*bar;
color = TGAColor(255, 255, 255)*p[2];
color = TGAColor(255, 255, 255)*(p[2]/depth);
return false;
}
};
@@ -153,6 +156,8 @@ struct ShadowShader : public IShader {
Matrix& m_lightModelView;
Vec4f m_colorRGBA;
b3AlignedObjectArray<float>& m_shadowBuffer;
int m_width;
int m_height;
@@ -163,7 +168,7 @@ struct ShadowShader : public IShader {
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, int width, int height)
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, b3AlignedObjectArray<float>& shadowBuffer)
:m_model(model),
m_light_dir_local(light_dir_local),
m_light_color(light_color),
@@ -174,7 +179,8 @@ struct ShadowShader : public IShader {
m_localScaling(localScaling),
m_colorRGBA(colorRGBA),
m_width(width),
m_height(height)
m_height(height),
m_shadowBuffer(shadowBuffer)
{
m_invModelMat = m_modelMat.invert_transpose();
}
@@ -195,14 +201,18 @@ struct ShadowShader : public IShader {
virtual bool fragment(Vec3f bar, TGAColor &color) {
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
//p = p/p[3];
//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
int idx = indexmap[count];
float shadow = 0.8+0.2*(m_shadowBuffer[idx]<-depth+0.43); // magic coeff to avoid z-fighting
//printf("count: %d, idx: %d\n", count, idx);
//printf("shadowbuffer: %f, depth: %f\n", m_shadowBuffer[idx], -depth+0.43);
Vec3f bn = (varying_nrm*bar).normalize();
Vec2f uv = varying_uv*bar;
@@ -234,9 +244,10 @@ struct ShadowShader : public IShader {
}
};
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer)
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<float>&shadowBuffer)
:m_rgbColorBuffer(rgbColorBuffer),
m_depthBuffer(depthBuffer),
m_shadowBuffer(shadowBuffer),
m_segmentationMaskBufferPtr(0),
m_model(0),
m_userData(0),
@@ -254,9 +265,10 @@ m_objectIndex(-1)
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<float>&shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
:m_rgbColorBuffer(rgbColorBuffer),
m_depthBuffer(depthBuffer),
m_shadowBuffer(shadowBuffer),
m_segmentationMaskBufferPtr(segmentationMaskBuffer),
m_model(0),
m_userData(0),
@@ -414,18 +426,14 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
renderData.m_viewportMatrix = viewport(0,0,width, height);
b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
b3AlignedObjectArray<float>& shadowbuffer = renderData.m_shadowBuffer;
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(light_dir_local, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0));
Matrix lightViewMatrix = lookat(light_dir_local*depth, 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;
@@ -435,16 +443,31 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
DepthShader shader(model, lightModelViewMatrix, lightViewProjectionMatrix,renderData.m_modelMatrix, localScaling);
setindex = true;
count = 0;
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);
triangle(shader.varying_tri, shader, tempFrame, &shadowbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
count++;
}
/*
ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA(), width, height);
for (int k = 0; k < 76800; ++k)
{
if (shadowbuffer[k] > -1e30f+0.00001)
{
printf("[%d]: %f\n", k, shadowbuffer[k]);
}
}
ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA(), width, height, shadowbuffer);
setindex = false;
count = 0;
for (int i=0; i<model->nfaces(); i++)
{
@@ -452,8 +475,11 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
shadowShader.vertex(i, j);
}
triangle(shadowShader.varying_tri, shadowShader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
count++;
}
/*
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());

5
examples/TinyRenderer/TinyRenderer.h
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@@ -29,10 +29,11 @@ struct TinyRenderObjectData
TGAImage& m_rgbColorBuffer;
b3AlignedObjectArray<float>& m_depthBuffer;//required, hence a reference
b3AlignedObjectArray<float>& m_shadowBuffer;
b3AlignedObjectArray<int>* m_segmentationMaskBufferPtr;//optional, hence a pointer
TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer);
TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer,int objectIndex);
TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<float>&shadowBuffer);
TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<float>&shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer,int objectIndex);
virtual ~TinyRenderObjectData();
void loadModel(const char* fileName);

1
examples/TinyRenderer/main.cpp
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@@ -147,6 +147,7 @@ int main(int argc, char* argv[])
renderData.m_rgbColorBuffer.set(x,y,color);
renderData.m_depthBuffer[x+y*textureWidth] = -1e30f;
renderData.m_shadowBuffer[x+y*textureWidth] = -1e30f;
}
}

14
examples/TinyRenderer/our_gl.cpp
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@@ -4,11 +4,15 @@
#include "our_gl.h"
#include "Bullet3Common/b3MinMax.h"
extern int indexmap[10000000];
extern int count;
extern bool setindex;
IShader::~IShader() {}
Matrix viewport(int x, int y, int w, int h)
{
/*
Matrix Viewport;
Viewport = Matrix::identity();
Viewport[0][3] = x+w/2.f;
@@ -18,8 +22,8 @@ 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;
@@ -29,7 +33,7 @@ Matrix viewport(int x, int y, int w, int h)
Viewport[1][1] = h/2.f;
Viewport[2][2] = .5f;
return Viewport;
*/
}
Matrix projection(float coeff) {
@@ -140,6 +144,10 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
Vec3f bc_clip = Vec3f(bc_screen.x/pts[0][3], bc_screen.y/pts[1][3], bc_screen.z/pts[2][3]);
bc_clip = bc_clip/(bc_clip.x+bc_clip.y+bc_clip.z);
float frag_depth = -1*(clipc[2]*bc_clip);
if (setindex)
{
indexmap[count] = P.x+P.y*image.get_width();
}
if (bc_screen.x<0 || bc_screen.y<0 || bc_screen.z<0 ||
zbuffer[P.x+P.y*image.get_width()]>frag_depth)
continue;