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PyBullet OpenGL/EGL hardware getCameraImage: use glViewport to reduce the glReadPixels calling cost dramatically for small images

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PyBullet Allow OpenGL/EGL hardware to render segmentation mask. Use pybullet.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX or pybullet.ER_SEGMENTATION_MASK
PyBullet.removeBody fix indexing bug (use foundIndex, not i)
PyBullet bump up version to 2.2.3
This commit is contained in:
erwincoumans
2018-09-30 07:10:40 -07:00
parent 254edb61cb
commit 5bcd43711a
32 changed files with 746 additions and 189 deletions
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191
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -19,6 +19,25 @@ bool useShadowMap = true; // true;//false;//true;
int shadowMapWidth = 4096;
int shadowMapHeight = 4096;
float shadowMapWorldSize = 10;
#include <stdio.h>
struct caster2
{
void setInt(int v)
{
i = v;
}
float getFloat()
{
float v = ((float)i) + .25;
return v;
}
union {
int i;
float f;
};
};
#define MAX_POINTS_IN_BATCH 1024
#define MAX_LINES_IN_BATCH 1024
@@ -75,6 +94,10 @@ float shadowMapWorldSize = 10;
#include "Shaders/useShadowMapInstancingPS.h"
#include "Shaders/projectiveTextureInstancingVS.h"
#include "Shaders/projectiveTextureInstancingPS.h"
#include "Shaders/segmentationMaskInstancingVS.h"
#include "Shaders/segmentationMaskInstancingPS.h"
#include "Shaders/linesPS.h"
#include "Shaders/linesVS.h"
@@ -261,8 +284,10 @@ static GLuint linesShader; // The line renderer
static GLuint useShadowMapInstancingShader; // The shadow instancing renderer
static GLuint createShadowMapInstancingShader; // The shadow instancing renderer
static GLuint projectiveTextureInstancingShader; // The projective texture instancing renderer
static GLuint instancingShader; // The instancing renderer
static GLuint instancingShaderPointSprite; // The point sprite instancing renderer
static GLuint segmentationMaskInstancingShader; // The segmentation mask instancing renderer
static GLuint instancingShader; // The instancing renderer
static GLuint instancingShaderPointSprite; // The point sprite instancing renderer
//static bool done = false;
@@ -312,6 +337,9 @@ static GLint ModelViewMatrix = 0;
static GLint ProjectionMatrix = 0;
static GLint regularLightDirIn = 0;
static GLint segmentationMaskModelViewMatrix = 0;
static GLint segmentationMaskProjectionMatrix = 0;
static GLint uniform_texture_diffuse = 0;
static GLint screenWidthPointSprite = 0;
@@ -338,7 +366,7 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap
m_data->m_instance_positions_ptr.resize(m_data->m_maxNumObjectCapacity * 4);
m_data->m_instance_quaternion_ptr.resize(m_data->m_maxNumObjectCapacity * 4);
m_data->m_instance_colors_ptr.resize(m_data->m_maxNumObjectCapacity * 4);
m_data->m_instance_scale_ptr.resize(m_data->m_maxNumObjectCapacity * 3);
m_data->m_instance_scale_ptr.resize(m_data->m_maxNumObjectCapacity * 4);
}
void GLInstancingRenderer::removeAllInstances()
@@ -506,9 +534,12 @@ void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const float* scale, int
b3Assert(pg);
int srcIndex = pg->m_internalInstanceIndex;
m_data->m_instance_scale_ptr[srcIndex * 3 + 0] = scale[0];
m_data->m_instance_scale_ptr[srcIndex * 3 + 1] = scale[1];
m_data->m_instance_scale_ptr[srcIndex * 3 + 2] = scale[2];
m_data->m_instance_scale_ptr[srcIndex * 4 + 0] = scale[0];
m_data->m_instance_scale_ptr[srcIndex * 4 + 1] = scale[1];
m_data->m_instance_scale_ptr[srcIndex * 4 + 2] = scale[2];
caster2 c;
c.setInt(srcIndex2);
m_data->m_instance_scale_ptr[srcIndex * 4 + 3] = c.getFloat();
}
void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex2)
@@ -570,9 +601,12 @@ void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const double* scale, in
b3Assert(pg);
int srcIndex = pg->m_internalInstanceIndex;
m_data->m_instance_scale_ptr[srcIndex * 3 + 0] = scale[0];
m_data->m_instance_scale_ptr[srcIndex * 3 + 1] = scale[1];
m_data->m_instance_scale_ptr[srcIndex * 3 + 2] = scale[2];
m_data->m_instance_scale_ptr[srcIndex * 4 + 0] = scale[0];
m_data->m_instance_scale_ptr[srcIndex * 4 + 1] = scale[1];
m_data->m_instance_scale_ptr[srcIndex * 4 + 2] = scale[2];
caster2 c;
c.setInt(srcIndex2);
m_data->m_instance_scale_ptr[srcIndex * 4 + 3] = c.getFloat();
}
void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, float* orientation, int objectUniqueId)
@@ -675,7 +709,7 @@ void GLInstancingRenderer::writeTransforms()
}
{
// B3_PROFILE("glBufferSubData scale");
glBufferSubData(GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE + ORIENTATION_BUFFER_SIZE + COLOR_BUFFER_SIZE, m_data->m_totalNumInstances * sizeof(float) * 3,
glBufferSubData(GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE + ORIENTATION_BUFFER_SIZE + COLOR_BUFFER_SIZE, m_data->m_totalNumInstances * sizeof(float) * 4,
&m_data->m_instance_scale_ptr[0]);
}
}
@@ -718,9 +752,10 @@ void GLInstancingRenderer::writeTransforms()
colors[srcIndex * 4 + 2] = m_data->m_instance_colors_ptr[srcIndex * 4 + 2];
colors[srcIndex * 4 + 3] = m_data->m_instance_colors_ptr[srcIndex * 4 + 3];
scaling[srcIndex * 3] = m_data->m_instance_scale_ptr[srcIndex * 3];
scaling[srcIndex * 3 + 1] = m_data->m_instance_scale_ptr[srcIndex * 3 + 1];
scaling[srcIndex * 3 + 2] = m_data->m_instance_scale_ptr[srcIndex * 3 + 2];
scaling[srcIndex * 4] = m_data->m_instance_scale_ptr[srcIndex * 4];
scaling[srcIndex * 4 + 1] = m_data->m_instance_scale_ptr[srcIndex * 4 + 1];
scaling[srcIndex * 4 + 2] = m_data->m_instance_scale_ptr[srcIndex * 4 + 2];
scaling[srcIndex * 4 + 3] = m_data->m_instance_scale_ptr[srcIndex * 4 + 3];
}
}
}
@@ -782,9 +817,10 @@ void GLInstancingRenderer::rebuildGraphicsInstances()
pg->m_color[1] = m_data->m_instance_colors_ptr[srcIndex * 4 + 1];
pg->m_color[2] = m_data->m_instance_colors_ptr[srcIndex * 4 + 2];
pg->m_color[3] = m_data->m_instance_colors_ptr[srcIndex * 4 + 3];
pg->m_scale[0] = m_data->m_instance_scale_ptr[srcIndex * 3 + 0];
pg->m_scale[1] = m_data->m_instance_scale_ptr[srcIndex * 3 + 1];
pg->m_scale[2] = m_data->m_instance_scale_ptr[srcIndex * 3 + 2];
pg->m_scale[0] = m_data->m_instance_scale_ptr[srcIndex * 4 + 0];
pg->m_scale[1] = m_data->m_instance_scale_ptr[srcIndex * 4 + 1];
pg->m_scale[2] = m_data->m_instance_scale_ptr[srcIndex * 4 + 2];
pg->m_scale[3] = m_data->m_instance_scale_ptr[srcIndex * 4 + 3];
}
for (int i = 0; i < m_graphicsInstances.size(); i++)
{
@@ -861,9 +897,12 @@ int GLInstancingRenderer::registerGraphicsInstanceInternal(int newUid, const flo
m_data->m_instance_colors_ptr[index * 4 + 2] = color[2];
m_data->m_instance_colors_ptr[index * 4 + 3] = color[3];
m_data->m_instance_scale_ptr[index * 3] = scaling[0];
m_data->m_instance_scale_ptr[index * 3 + 1] = scaling[1];
m_data->m_instance_scale_ptr[index * 3 + 2] = scaling[2];
m_data->m_instance_scale_ptr[index * 4] = scaling[0];
m_data->m_instance_scale_ptr[index * 4 + 1] = scaling[1];
m_data->m_instance_scale_ptr[index * 4 + 2] = scaling[2];
caster2 c;
c.setInt(newUid);
m_data->m_instance_scale_ptr[index * 4 + 3] = c.getFloat();
if (color[3] < 1 && color[3] > 0)
{
@@ -912,9 +951,12 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float*
m_data->m_instance_colors_ptr[srcIndex * 4 + 2] = color[2];
m_data->m_instance_colors_ptr[srcIndex * 4 + 3] = color[3];
m_data->m_instance_scale_ptr[srcIndex * 3 + 0] = scaling[0];
m_data->m_instance_scale_ptr[srcIndex * 3 + 1] = scaling[1];
m_data->m_instance_scale_ptr[srcIndex * 3 + 2] = scaling[2];
m_data->m_instance_scale_ptr[srcIndex * 4 + 0] = scaling[0];
m_data->m_instance_scale_ptr[srcIndex * 4 + 1] = scaling[1];
m_data->m_instance_scale_ptr[srcIndex * 4 + 2] = scaling[2];
caster2 c;
c.setInt(newUid);
m_data->m_instance_scale_ptr[srcIndex * 4 + 3] = c.getFloat();
rebuildGraphicsInstances();
}
@@ -1124,7 +1166,7 @@ void GLInstancingRenderer::InitShaders()
int POSITION_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity * sizeof(float) * 4);
int ORIENTATION_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity * sizeof(float) * 4);
int COLOR_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity * sizeof(float) * 4);
int SCALE_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity * sizeof(float) * 3);
int SCALE_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity * sizeof(float) * 4);
{
triangleShaderProgram = gltLoadShaderPair(triangleVertexShaderText, triangleFragmentShader);
@@ -1235,6 +1277,15 @@ void GLInstancingRenderer::InitShaders()
glUseProgram(0);
segmentationMaskInstancingShader = gltLoadShaderPair(segmentationMaskInstancingVertexShader, segmentationMaskInstancingFragmentShader);
glLinkProgram(segmentationMaskInstancingShader);
glUseProgram(segmentationMaskInstancingShader);
segmentationMaskModelViewMatrix = glGetUniformLocation(segmentationMaskInstancingShader, "ModelViewMatrix");
segmentationMaskProjectionMatrix = glGetUniformLocation(segmentationMaskInstancingShader, "ProjectionMatrix");
glUseProgram(0);
instancingShader = gltLoadShaderPair(instancingVertexShader, instancingFragmentShader);
glLinkProgram(instancingShader);
glUseProgram(instancingShader);
@@ -1413,7 +1464,6 @@ void GLInstancingRenderer::setProjectiveTextureMatrices(const float viewMatrix[1
void GLInstancingRenderer::setProjectiveTexture(bool useProjectiveTexture)
{
m_data->m_useProjectiveTexture = useProjectiveTexture;
useShadowMap = !useProjectiveTexture;
}
void GLInstancingRenderer::updateCamera(int upAxis)
@@ -1510,47 +1560,50 @@ void GLInstancingRenderer::renderScene()
//glFlush();
if (useShadowMap)
{
renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
if (m_planeReflectionShapeIndex >= 0)
{
/* Don't update color or depth. */
glDisable(GL_DEPTH_TEST);
glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
/* Draw 1 into the stencil buffer. */
glEnable(GL_STENCIL_TEST);
glStencilOp(GL_REPLACE, GL_REPLACE, GL_REPLACE);
glStencilFunc(GL_ALWAYS, 1, 0xffffffff);
/* Now render floor; floor pixels just get their stencil set to 1. */
renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE_REFLECTION_PLANE);
/* Re-enable update of color and depth. */
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
glEnable(GL_DEPTH_TEST);
/* Now, only render where stencil is set to 1. */
glStencilFunc(GL_EQUAL, 1, 0xffffffff); /* draw if ==1 */
glStencilOp(GL_KEEP, GL_KEEP, GL_KEEP);
//draw the reflection objects
renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE_REFLECTION);
glDisable(GL_STENCIL_TEST);
}
renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
}
else if (m_data->m_useProjectiveTexture)
if (m_data->m_useProjectiveTexture)
{
renderSceneInternal(B3_USE_PROJECTIVE_TEXTURE_RENDERMODE);
}
else
{
renderSceneInternal();
if (useShadowMap)
{
renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
if (m_planeReflectionShapeIndex >= 0)
{
/* Don't update color or depth. */
glDisable(GL_DEPTH_TEST);
glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
/* Draw 1 into the stencil buffer. */
glEnable(GL_STENCIL_TEST);
glStencilOp(GL_REPLACE, GL_REPLACE, GL_REPLACE);
glStencilFunc(GL_ALWAYS, 1, 0xffffffff);
/* Now render floor; floor pixels just get their stencil set to 1. */
renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE_REFLECTION_PLANE);
/* Re-enable update of color and depth. */
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
glEnable(GL_DEPTH_TEST);
/* Now, only render where stencil is set to 1. */
glStencilFunc(GL_EQUAL, 1, 0xffffffff); /* draw if ==1 */
glStencilOp(GL_KEEP, GL_KEEP, GL_KEEP);
//draw the reflection objects
renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE_REFLECTION);
glDisable(GL_STENCIL_TEST);
}
renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
}
else
{
renderSceneInternal();
}
}
}
@@ -1970,7 +2023,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
if (!useShadowMap)
{
renderMode = B3_DEFAULT_RENDERMODE;
renderMode = orgRenderMode;
}
if (orgRenderMode == B3_USE_PROJECTIVE_TEXTURE_RENDERMODE)
@@ -2281,8 +2334,11 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
PointerCaster vertex;
vertex.m_baseIndex = gfxObj->m_vertexArrayOffset * vertexStride;
//vertex position
glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9 * sizeof(float), vertex.m_pointer);
//instance_position
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)(transparentInstances[i].m_instanceId * 4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes));
//instance_quaternion
glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)(transparentInstances[i].m_instanceId * 4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE));
PointerCaster uv;
@@ -2293,8 +2349,10 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
glVertexAttribPointer(3, 2, GL_FLOAT, GL_FALSE, 9 * sizeof(float), uv.m_pointer);
glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, 9 * sizeof(float), normal.m_pointer);
//instance_color
glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)(transparentInstances[i].m_instanceId * 4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE + ORIENTATION_BUFFER_SIZE));
glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid*)(transparentInstances[i].m_instanceId * 3 * sizeof(float) + m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE + ORIENTATION_BUFFER_SIZE + COLOR_BUFFER_SIZE));
//instance_scale
glVertexAttribPointer(6, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)(transparentInstances[i].m_instanceId * 4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE + ORIENTATION_BUFFER_SIZE + COLOR_BUFFER_SIZE));
glEnableVertexAttribArray(0);
glEnableVertexAttribArray(1);
@@ -2341,6 +2399,15 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
{
switch (renderMode)
{
case B3_SEGMENTATION_MASK_RENDERMODE:
{
glUseProgram(segmentationMaskInstancingShader);
glUniformMatrix4fv(segmentationMaskProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
glUniformMatrix4fv(segmentationMaskModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
break;
}
case B3_DEFAULT_RENDERMODE:
{
if (gfxObj->m_flags & eGfxTransparency)

4
examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl
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@@ -8,7 +8,7 @@ layout (location = 2) in vec4 instance_quaternion;
layout (location = 3) in vec2 uvcoords;
layout (location = 4) in vec3 vertexnormal;
layout (location = 5) in vec4 instance_color;
layout (location = 6) in vec3 instance_scale;
layout (location = 6) in vec4 instance_scale_obUid;
uniform mat4 depthMVP;
@@ -48,7 +48,7 @@ vec4 quatRotate ( in vec4 p, in vec4 q )
void main(void)
{
vec4 q = instance_quaternion;
vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);
vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);
vec4 vertexPos = depthMVP * vec4( (instance_position+localcoord).xyz,1);
gl_Position = vertexPos;
}

4
examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.h
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@@ -8,7 +8,7 @@ static const char* createShadowMapInstancingVertexShader =
"layout (location = 3) in vec2 uvcoords;\n"
"layout (location = 4) in vec3 vertexnormal;\n"
"layout (location = 5) in vec4 instance_color;\n"
"layout (location = 6) in vec3 instance_scale;\n"
"layout (location = 6) in vec4 instance_scale_obUid;\n"
"uniform mat4 depthMVP;\n"
"vec4 quatMul ( in vec4 q1, in vec4 q2 )\n"
"{\n"
@@ -41,7 +41,7 @@ static const char* createShadowMapInstancingVertexShader =
"void main(void)\n"
"{\n"
" vec4 q = instance_quaternion;\n"
" vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);\n"
" vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);\n"
" vec4 vertexPos = depthMVP * vec4( (instance_position+localcoord).xyz,1);\n"
" gl_Position = vertexPos;\n"
"}\n";

4
examples/OpenGLWindow/Shaders/instancingVS.glsl
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@@ -8,7 +8,7 @@ layout (location = 2) in vec4 instance_quaternion;
layout (location = 3) in vec2 uvcoords;
layout (location = 4) in vec3 vertexnormal;
layout (location = 5) in vec4 instance_color;
layout (location = 6) in vec3 instance_scale;
layout (location = 6) in vec4 instance_scale_obUid;
uniform mat4 ModelViewMatrix;
@@ -68,7 +68,7 @@ void main(void)
lightDir = lightDirIn;
vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);
vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);
vec4 vertexPos = ProjectionMatrix * ModelViewMatrix *(instance_position+localcoord);
gl_Position = vertexPos;

4
examples/OpenGLWindow/Shaders/instancingVS.h
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@@ -8,7 +8,7 @@ static const char* instancingVertexShader =
"layout (location = 3) in vec2 uvcoords;\n"
"layout (location = 4) in vec3 vertexnormal;\n"
"layout (location = 5) in vec4 instance_color;\n"
"layout (location = 6) in vec3 instance_scale;\n"
"layout (location = 6) in vec4 instance_scale_obUid;\n"
"uniform mat4 ModelViewMatrix;\n"
"uniform mat4 ProjectionMatrix;\n"
"uniform vec3 lightDirIn;\n"
@@ -59,7 +59,7 @@ static const char* instancingVertexShader =
" \n"
" lightDir = lightDirIn;\n"
" \n"
" vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);\n"
" vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);\n"
" vec4 vertexPos = ProjectionMatrix * ModelViewMatrix *(instance_position+localcoord);\n"
" gl_Position = vertexPos;\n"
" \n"

4
examples/OpenGLWindow/Shaders/pointSpriteVS.glsl
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@@ -8,7 +8,7 @@ layout (location = 1) in vec4 instance_position;
layout (location = 3) in vec2 uvcoords;
layout (location = 4) in vec3 vertexnormal;
layout (location = 5) in vec4 instance_color;
layout (location = 6) in vec3 instance_scale;
layout (location = 6) in vec4 instance_scale_obUid;
uniform float screenWidth = 700.f;
@@ -38,7 +38,7 @@ void main(void)
vec3 posEye = vec3(ModelViewMatrix * vec4(instance_position.xyz, 1.0));
float dist = length(posEye);
float pointRadius = 1.f;
gl_PointSize = instance_scale.x * pointRadius * (screenWidth / dist);
gl_PointSize = instance_scale_obUid.x * pointRadius * (screenWidth / dist);
gl_Position = vertexPos;

4
examples/OpenGLWindow/Shaders/pointSpriteVS.h
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@@ -7,7 +7,7 @@ static const char* pointSpriteVertexShader =
"layout (location = 3) in vec2 uvcoords;\n"
"layout (location = 4) in vec3 vertexnormal;\n"
"layout (location = 5) in vec4 instance_color;\n"
"layout (location = 6) in vec3 instance_scale;\n"
"layout (location = 6) in vec4 instance_scale_obUid;\n"
"uniform float screenWidth = 700.f;\n"
"uniform mat4 ModelViewMatrix;\n"
"uniform mat4 ProjectionMatrix;\n"
@@ -29,7 +29,7 @@ static const char* pointSpriteVertexShader =
" vec3 posEye = vec3(ModelViewMatrix * vec4(instance_position.xyz, 1.0));\n"
" float dist = length(posEye);\n"
" float pointRadius = 1.f;\n"
" gl_PointSize = instance_scale.x * pointRadius * (screenWidth / dist);\n"
" gl_PointSize = instance_scale_obUid.x * pointRadius * (screenWidth / dist);\n"
" gl_Position = vertexPos;\n"
" \n"
" fragment.color = instance_color;\n"

4
examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.glsl
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@@ -8,7 +8,7 @@ layout (location = 2) in vec4 instance_quaternion;
layout (location = 3) in vec2 uvcoords;
layout (location = 4) in vec3 vertexnormal;
layout (location = 5) in vec4 instance_color;
layout (location = 6) in vec3 instance_scale;
layout (location = 6) in vec4 instance_scale_obUid;
uniform mat4 TextureMVP;
@@ -86,7 +86,7 @@ void main(void)
lightSpecularIntensity = lightSpecularIntensityIn;
materialSpecularColor = materialSpecularColorIn;
vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);
vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);
vertexPos = vec4((instance_position+localcoord).xyz,1);
vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);

4
examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.h
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@@ -8,7 +8,7 @@ static const char* projectiveTextureInstancingVertexShader =
"layout (location = 3) in vec2 uvcoords;\n"
"layout (location = 4) in vec3 vertexnormal;\n"
"layout (location = 5) in vec4 instance_color;\n"
"layout (location = 6) in vec3 instance_scale;\n"
"layout (location = 6) in vec4 instance_scale_obUid;\n"
"uniform mat4 TextureMVP;\n"
"uniform mat4 MVP;\n"
"uniform vec3 lightPosIn;\n"
@@ -74,7 +74,7 @@ static const char* projectiveTextureInstancingVertexShader =
" lightSpecularIntensity = lightSpecularIntensityIn;\n"
" materialSpecularColor = materialSpecularColorIn;\n"
" \n"
" vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);\n"
" vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);\n"
" vertexPos = vec4((instance_position+localcoord).xyz,1);\n"
" \n"
" vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);\n"

16
examples/OpenGLWindow/Shaders/segmentationMaskInstancingPS.glsl Normal file
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@@ -0,0 +1,16 @@
#version 330
precision highp float;
in vec4 scale_obuid;
out vec4 color;
void main(void)
{
highp int obuid = int(scale_obuid.w);
float r = 1*1.f/255.f;//((obuid>>0 )&0xff)*(1./255.f);
float g = ((obuid>>8 )&0xff)*(1./255.f);
float b = ((obuid>>16)&0xff)*(1./255.f);
float a = ((obuid>>24)&0xff)*(1./255.f);
color = vec4(r,g,b,a);
}

15
examples/OpenGLWindow/Shaders/segmentationMaskInstancingPS.h Normal file
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@@ -0,0 +1,15 @@
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
static const char* segmentationMaskInstancingFragmentShader =
"#version 330\n"
"precision highp float;\n"
"in vec4 scale_obuid;\n"
"out vec4 color;\n"
"void main(void)\n"
"{\n"
" highp int obuid = int(scale_obuid.w);\n"
" float r = ((obuid>>0 )&0xff)*(1./255.f);\n"
" float g = ((obuid>>8 )&0xff)*(1./255.f);\n"
" float b = ((obuid>>16)&0xff)*(1./255.f);\n"
" float a = ((obuid>>24)&0xff)*(1./255.f);\n"
" color = vec4(r,g,b,a);\n"
"}\n";

61
examples/OpenGLWindow/Shaders/segmentationMaskInstancingVS.glsl Normal file
View File

@@ -0,0 +1,61 @@
#version 330
precision highp float;
layout (location = 0) in vec4 position;
layout (location = 1) in vec4 instance_position;
layout (location = 2) in vec4 instance_quaternion;
layout (location = 5) in vec4 instance_color;
layout (location = 6) in vec4 instance_scale_obUid;
uniform mat4 ModelViewMatrix;
uniform mat4 ProjectionMatrix;
out vec4 scale_obuid;
out Fragment
{
vec4 color;
} fragment;
vec4 quatMul ( in vec4 q1, in vec4 q2 )
{
vec3 im = q1.w * q2.xyz + q1.xyz * q2.w + cross ( q1.xyz, q2.xyz );
vec4 dt = q1 * q2;
float re = dot ( dt, vec4 ( -1.0, -1.0, -1.0, 1.0 ) );
return vec4 ( im, re );
}
vec4 quatFromAxisAngle(vec4 axis, in float angle)
{
float cah = cos(angle*0.5);
float sah = sin(angle*0.5);
float d = inversesqrt(dot(axis,axis));
vec4 q = vec4(axis.x*sah*d,axis.y*sah*d,axis.z*sah*d,cah);
return q;
}
//
// vector rotation via quaternion
//
vec4 quatRotate3 ( in vec3 p, in vec4 q )
{
vec4 temp = quatMul ( q, vec4 ( p, 0.0 ) );
return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );
}
vec4 quatRotate ( in vec4 p, in vec4 q )
{
vec4 temp = quatMul ( q, p );
return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );
}
void main(void)
{
vec4 q = instance_quaternion;
vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);
vec4 vertexPos = ProjectionMatrix * ModelViewMatrix *(instance_position+localcoord);
scale_obuid = instance_scale_obUid;
gl_Position = vertexPos;
fragment.color = instance_color;
}

53
examples/OpenGLWindow/Shaders/segmentationMaskInstancingVS.h Normal file
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@@ -0,0 +1,53 @@
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
static const char* segmentationMaskInstancingVertexShader =
"#version 330\n"
"precision highp float;\n"
"layout (location = 0) in vec4 position;\n"
"layout (location = 1) in vec4 instance_position;\n"
"layout (location = 2) in vec4 instance_quaternion;\n"
"layout (location = 5) in vec4 instance_color;\n"
"layout (location = 6) in vec4 instance_scale_obUid;\n"
"uniform mat4 ModelViewMatrix;\n"
"uniform mat4 ProjectionMatrix;\n"
"out vec4 scale_obuid;\n"
"out Fragment\n"
"{\n"
" vec4 color;\n"
"} fragment;\n"
"vec4 quatMul ( in vec4 q1, in vec4 q2 )\n"
"{\n"
" vec3 im = q1.w * q2.xyz + q1.xyz * q2.w + cross ( q1.xyz, q2.xyz );\n"
" vec4 dt = q1 * q2;\n"
" float re = dot ( dt, vec4 ( -1.0, -1.0, -1.0, 1.0 ) );\n"
" return vec4 ( im, re );\n"
"}\n"
"vec4 quatFromAxisAngle(vec4 axis, in float angle)\n"
"{\n"
" float cah = cos(angle*0.5);\n"
" float sah = sin(angle*0.5);\n"
" float d = inversesqrt(dot(axis,axis));\n"
" vec4 q = vec4(axis.x*sah*d,axis.y*sah*d,axis.z*sah*d,cah);\n"
" return q;\n"
"}\n"
"//\n"
"// vector rotation via quaternion\n"
"//\n"
"vec4 quatRotate3 ( in vec3 p, in vec4 q )\n"
"{\n"
" vec4 temp = quatMul ( q, vec4 ( p, 0.0 ) );\n"
" return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );\n"
"}\n"
"vec4 quatRotate ( in vec4 p, in vec4 q )\n"
"{\n"
" vec4 temp = quatMul ( q, p );\n"
" return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );\n"
"}\n"
"void main(void)\n"
"{\n"
" vec4 q = instance_quaternion;\n"
" vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);\n"
" vec4 vertexPos = ProjectionMatrix * ModelViewMatrix *(instance_position+localcoord);\n"
" scale_obuid = instance_scale_obUid;\n"
" gl_Position = vertexPos;\n"
" fragment.color = instance_color;\n"
"}\n";

4
examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl
View File

@@ -8,7 +8,7 @@ layout (location = 2) in vec4 instance_quaternion;
layout (location = 3) in vec2 uvcoords;
layout (location = 4) in vec3 vertexnormal;
layout (location = 5) in vec4 instance_color;
layout (location = 6) in vec3 instance_scale;
layout (location = 6) in vec4 instance_scale_obUid;
uniform mat4 ModelViewMatrix;
@@ -88,7 +88,7 @@ void main(void)
lightSpecularIntensity = lightSpecularIntensityIn;
materialSpecularColor = materialSpecularColorIn;
vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);
vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);
vertexPos = vec4((instance_position+localcoord).xyz,1);
vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);

4
examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h
View File

@@ -8,7 +8,7 @@ static const char* useShadowMapInstancingVertexShader =
"layout (location = 3) in vec2 uvcoords;\n"
"layout (location = 4) in vec3 vertexnormal;\n"
"layout (location = 5) in vec4 instance_color;\n"
"layout (location = 6) in vec3 instance_scale;\n"
"layout (location = 6) in vec4 instance_scale_obUid;\n"
"uniform mat4 ModelViewMatrix;\n"
"uniform mat4 ProjectionMatrix;\n"
"uniform mat4 DepthBiasModelViewProjectionMatrix;\n"
@@ -76,7 +76,7 @@ static const char* useShadowMapInstancingVertexShader =
" lightSpecularIntensity = lightSpecularIntensityIn;\n"
" materialSpecularColor = materialSpecularColorIn;\n"
" \n"
" vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);\n"
" vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);\n"
" vertexPos = vec4((instance_position+localcoord).xyz,1);\n"
" \n"
" vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);\n"

47
examples/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@@ -63,6 +63,26 @@ struct SimpleInternalData
GLRenderToTexture* m_renderTexture;
void* m_userPointer;
int m_upAxis; //y=1 or z=2 is supported
int m_customViewPortWidth;
int m_customViewPortHeight;
SimpleInternalData()
:m_fontTextureId(0),
m_largeFontTextureId(0),
m_fontStash(0),
m_fontStash2(0),
m_renderCallbacks(0),
m_renderCallbacks2(0),
m_droidRegular(0),
m_droidRegular2(0),
m_frameDumpPngFileName(0),
m_ffmpegFile(0),
m_renderTexture(0),
m_userPointer(0),
m_upAxis(0),
m_customViewPortWidth(-1),
m_customViewPortHeight(-1)
{
}
};
static SimpleOpenGL3App* gApp = 0;
@@ -288,11 +308,7 @@ SimpleOpenGL3App::SimpleOpenGL3App(const char* title, int width, int height, boo
gApp = this;
m_data = new SimpleInternalData;
m_data->m_frameDumpPngFileName = 0;
m_data->m_renderTexture = 0;
m_data->m_ffmpegFile = 0;
m_data->m_userPointer = 0;
m_data->m_upAxis = 1;
if (windowType == 0)
{
@@ -909,10 +925,26 @@ SimpleOpenGL3App::~SimpleOpenGL3App()
delete m_data;
}
void SimpleOpenGL3App::setViewport(int width, int height)
{
m_data->m_customViewPortWidth=width;
m_data->m_customViewPortHeight=height;
if (width>=0)
{
glViewport(0,0,width,height);
} else
{
glViewport(0,0,m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth(),m_window->getRetinaScale()*m_instancingRenderer->getScreenHeight());
}
}
void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes)
{
int width = (int)m_window->getRetinaScale() * m_instancingRenderer->getScreenWidth();
int height = (int)m_window->getRetinaScale() * m_instancingRenderer->getScreenHeight();
int width = m_data->m_customViewPortWidth>=0? m_data->m_customViewPortWidth : (int)m_window->getRetinaScale() * m_instancingRenderer->getScreenWidth();
int height = m_data->m_customViewPortHeight >=0? m_data->m_customViewPortHeight: (int)m_window->getRetinaScale() * m_instancingRenderer->getScreenHeight();
b3Assert((width * height * 4) == bufferSizeInBytes);
if ((width * height * 4) == bufferSizeInBytes)
{
glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, rgbaBuffer);
@@ -920,6 +952,7 @@ void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSize
glstat = glGetError();
b3Assert(glstat == GL_NO_ERROR);
}
b3Assert((width * height * sizeof(float)) == depthBufferSizeInBytes);
if ((width * height * sizeof(float)) == depthBufferSizeInBytes)
{
glReadPixels(0, 0, width, height, GL_DEPTH_COMPONENT, GL_FLOAT, depthBuffer);

3
examples/OpenGLWindow/SimpleOpenGL3App.h
View File

@@ -24,7 +24,8 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
virtual void registerGrid(int xres, int yres, float color0[4], float color1[4]);
void dumpNextFrameToPng(const char* pngFilename);
void dumpFramesToVideo(const char* mp4Filename);
void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes);
virtual void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes);
virtual void setViewport(int width, int height);
void drawGrid(DrawGridData data = DrawGridData());
virtual void setUpAxis(int axis);