diff --git a/data/sphere_transparent.urdf b/data/sphere_transparent.urdf new file mode 100644 index 000000000..d856b5a26 --- /dev/null +++ b/data/sphere_transparent.urdf @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Collision/CollisionTutorialBullet2.cpp b/examples/Collision/CollisionTutorialBullet2.cpp index 8159f89ee..6e65ac0cd 100644 --- a/examples/Collision/CollisionTutorialBullet2.cpp +++ b/examples/Collision/CollisionTutorialBullet2.cpp @@ -79,7 +79,6 @@ public: gTotalPoints = 0; m_app->setUpAxis(1); - m_app->m_renderer->enableBlend(true); switch (m_tutorialIndex) { @@ -250,7 +249,6 @@ public: m_timeSeriesCanvas0 = 0; - m_app->m_renderer->enableBlend(false); } diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp index a1eb298e0..3796bf371 100644 --- a/examples/OpenGLWindow/GLInstancingRenderer.cpp +++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp @@ -2046,9 +2046,9 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode) b3Vector3 center = b3MakeVector3(0,0,0); //float upf[3]; //m_data->m_activeCamera->getCameraUpVector(upf); - b3Vector3 up, fwd; + b3Vector3 up, lightFwd; b3Vector3 lightDir = m_data->m_lightPos.normalized(); - b3PlaneSpace1(lightDir,up,fwd); + b3PlaneSpace1(lightDir,up,lightFwd); // b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]); b3CreateLookAt(m_data->m_lightPos,center,up,&depthViewMatrix[0][0]); //b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2); @@ -2108,207 +2108,194 @@ b3Assert(glGetError() ==GL_NO_ERROR); { totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances; } - - int curOffset = 0; - //GLuint lastBindTexture = 0; - - for (int i=0;i transparentInstances; + { + int curOffset = 0; + //GLuint lastBindTexture = 0; - b3GraphicsInstance* gfxObj = m_graphicsInstances[i]; - if (gfxObj->m_numGraphicsInstances) + transparentInstances.reserve(totalNumInstances); + + for (int obj=0;objm_texturehandle) - curBindTexture = gfxObj->m_texturehandle; - else - curBindTexture = m_data->m_defaultTexturehandle; - -//disable lazy evaluation, it just leads to bugs - //if (lastBindTexture != curBindTexture) + b3GraphicsInstance* gfxObj = m_graphicsInstances[obj]; + if (gfxObj->m_numGraphicsInstances) { - glBindTexture(GL_TEXTURE_2D,curBindTexture); - } - //lastBindTexture = curBindTexture; - -b3Assert(glGetError() ==GL_NO_ERROR); - // int myOffset = gfxObj->m_instanceOffset*4*sizeof(float); - - int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4); - int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4); - int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4); -// int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3); - - glBindVertexArray(gfxObj->m_cube_vao); - - - int vertexStride = 9*sizeof(float); - PointerCaster vertex; - vertex.m_baseIndex = gfxObj->m_vertexArrayOffset*vertexStride; - - - glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9*sizeof(float), vertex.m_pointer); - glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes)); - glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE)); - - PointerCaster uv; - uv.m_baseIndex = 7*sizeof(float)+vertex.m_baseIndex; - - PointerCaster normal; - normal.m_baseIndex = 4*sizeof(float)+vertex.m_baseIndex; - - 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); - glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE)); - glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE)); - - glEnableVertexAttribArray(0); - glEnableVertexAttribArray(1); - glEnableVertexAttribArray(2); - glEnableVertexAttribArray(3); - glEnableVertexAttribArray(4); - glEnableVertexAttribArray(5); - glEnableVertexAttribArray(6); - glVertexAttribDivisor(0, 0); - glVertexAttribDivisor(1, 1); - glVertexAttribDivisor(2, 1); - glVertexAttribDivisor(3, 0); - glVertexAttribDivisor(4, 0); - glVertexAttribDivisor(5, 1); - glVertexAttribDivisor(6, 1); - - - - - - - int indexCount = gfxObj->m_numIndices; - GLvoid* indexOffset = 0; - - glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, gfxObj->m_index_vbo); - { - B3_PROFILE("glDrawElementsInstanced"); - - if (gfxObj->m_primitiveType==B3_GL_POINTS) + SortableTransparentInstance inst; + + inst.m_shapeIndex = obj; + + + if ((gfxObj->m_flags&eGfxTransparency)==0) { - glUseProgram(instancingShaderPointSprite); - glUniformMatrix4fv(ProjectionMatrixPointSprite, 1, false, &m_data->m_projectionMatrix[0]); - glUniformMatrix4fv(ModelViewMatrixPointSprite, 1, false, &m_data->m_viewMatrix[0]); - glUniform1f(screenWidthPointSprite,float(m_screenWidth)); - - //glUniform1i(uniform_texture_diffusePointSprite, 0); - b3Assert(glGetError() ==GL_NO_ERROR); - glPointSize(20); - -#ifndef __APPLE__ - glEnable(GL_POINT_SPRITE_ARB); -// glTexEnvi(GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE); -#endif - - glEnable(GL_VERTEX_PROGRAM_POINT_SIZE); - glDrawElementsInstanced(GL_POINTS, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); + inst.m_instanceId = curOffset; + inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0], + m_data->m_instance_positions_ptr[inst.m_instanceId*4+1], + m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]); + inst.m_centerPosition *= -1;//reverse sort opaque instances + transparentInstances.push_back(inst); } else { - switch (renderMode) + for (int i=0;im_numGraphicsInstances;i++) { - - case B3_DEFAULT_RENDERMODE: - { - glUseProgram(instancingShader); - glUniformMatrix4fv(ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]); - glUniformMatrix4fv(ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]); - - b3Vector3 gLightDir = m_data->m_lightPos; - gLightDir.normalize(); - glUniform3f(regularLightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]); - - glUniform1i(uniform_texture_diffuse, 0); - glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); - break; - } - case B3_CREATE_SHADOWMAP_RENDERMODE: - { - /*printf("createShadowMapInstancingShader=%d\n",createShadowMapInstancingShader); - printf("createShadow_depthMVP=%d\n",createShadow_depthMVP); - printf("indexOffset=%d\n",indexOffset); - printf("gfxObj->m_numGraphicsInstances=%d\n",gfxObj->m_numGraphicsInstances); - printf("indexCount=%d\n",indexCount); - */ - - glUseProgram(createShadowMapInstancingShader); - glUniformMatrix4fv(createShadow_depthMVP, 1, false, &depthMVP[0][0]); - glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); - break; - } - - case B3_USE_SHADOWMAP_RENDERMODE: - { - if ( gfxObj->m_flags&eGfxTransparency) - { - glDepthMask(false); - glEnable (GL_BLEND); - glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); - } - - 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]); - //gLightDir.normalize(); - glUniform3f(useShadow_lightPosIn,m_data->m_lightPos[0],m_data->m_lightPos[1],m_data->m_lightPos[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); - glUniform1i(useShadow_shadowMap,1); - - //sort transparent objects - - //gfxObj->m_instanceOffset - - if ( gfxObj->m_flags&eGfxTransparency) - { - b3AlignedObjectArray transparentInstances; - transparentInstances.reserve(gfxObj->m_numGraphicsInstances); - - for (int i=0;im_numGraphicsInstances;i++) - { - SortableTransparentInstance inst; - - inst.m_shapeIndex = -1; - - inst.m_instanceId = curOffset+i; - inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0], + inst.m_instanceId = curOffset+i; + inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0], m_data->m_instance_positions_ptr[inst.m_instanceId*4+1], m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]); - transparentInstances.push_back(inst); + transparentInstances.push_back(inst); + } + } + curOffset+=gfxObj->m_numGraphicsInstances; + } + } + TransparentDistanceSortPredicate sorter; + float fwd[3]; + m_data->m_activeCamera->getCameraForwardVector(fwd); + sorter.m_camForwardVec.setValue(fwd[0],fwd[1],fwd[2]); + transparentInstances.quickSort(sorter); + } - } - TransparentDistanceSortPredicate sorter; - float fwd[3]; - m_data->m_activeCamera->getCameraForwardVector(fwd); - sorter.m_camForwardVec.setValue(fwd[0],fwd[1],fwd[2]); - transparentInstances.quickSort(sorter); + + //two passes: first for opaque instances, second for transparent ones. + for (int pass = 0; pass<2;pass++) + { + for (int i=0;im_flags&eGfxTransparency)==0); + + //transparent objects don't cast shadows (to simplify things) + if (gfxObj->m_flags&eGfxTransparency) + { + if (renderMode==B3_CREATE_SHADOWMAP_RENDERMODE) + drawThisPass = 0; + } + + if (drawThisPass && gfxObj->m_numGraphicsInstances) + { + glActiveTexture(GL_TEXTURE0); + GLuint curBindTexture = 0; + if (gfxObj->m_texturehandle) + curBindTexture = gfxObj->m_texturehandle; + else + curBindTexture = m_data->m_defaultTexturehandle; + + //disable lazy evaluation, it just leads to bugs + //if (lastBindTexture != curBindTexture) + { + glBindTexture(GL_TEXTURE_2D,curBindTexture); + } + //lastBindTexture = curBindTexture; + + b3Assert(glGetError() ==GL_NO_ERROR); + // int myOffset = gfxObj->m_instanceOffset*4*sizeof(float); + + int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4); + int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4); + int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4); + // int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3); + + glBindVertexArray(gfxObj->m_cube_vao); - for (int i=0;im_vertexArrayOffset*vertexStride; + + + glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9*sizeof(float), vertex.m_pointer); + glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes)); + 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; + uv.m_baseIndex = 7*sizeof(float)+vertex.m_baseIndex; + + PointerCaster normal; + normal.m_baseIndex = 4*sizeof(float)+vertex.m_baseIndex; + + 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); + 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)); + + glEnableVertexAttribArray(0); + glEnableVertexAttribArray(1); + glEnableVertexAttribArray(2); + glEnableVertexAttribArray(3); + glEnableVertexAttribArray(4); + glEnableVertexAttribArray(5); + glEnableVertexAttribArray(6); + glVertexAttribDivisor(0, 0); + glVertexAttribDivisor(1, 1); + glVertexAttribDivisor(2, 1); + glVertexAttribDivisor(3, 0); + glVertexAttribDivisor(4, 0); + glVertexAttribDivisor(5, 1); + glVertexAttribDivisor(6, 1); + + + + + + + int indexCount = gfxObj->m_numIndices; + GLvoid* indexOffset = 0; + + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, gfxObj->m_index_vbo); + { + B3_PROFILE("glDrawElementsInstanced"); + + if (gfxObj->m_primitiveType==B3_GL_POINTS) + { + glUseProgram(instancingShaderPointSprite); + glUniformMatrix4fv(ProjectionMatrixPointSprite, 1, false, &m_data->m_projectionMatrix[0]); + glUniformMatrix4fv(ModelViewMatrixPointSprite, 1, false, &m_data->m_viewMatrix[0]); + glUniform1f(screenWidthPointSprite,float(m_screenWidth)); + + //glUniform1i(uniform_texture_diffusePointSprite, 0); + b3Assert(glGetError() ==GL_NO_ERROR); + glPointSize(20); + + #ifndef __APPLE__ + glEnable(GL_POINT_SPRITE_ARB); + // glTexEnvi(GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE); + #endif + + glEnable(GL_VERTEX_PROGRAM_POINT_SIZE); + glDrawElementsInstanced(GL_POINTS, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); + } else + { + switch (renderMode) + { + + case B3_DEFAULT_RENDERMODE: + { + if ( gfxObj->m_flags&eGfxTransparency) { + glDepthMask(false); + glEnable (GL_BLEND); + glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + } + + glUseProgram(instancingShader); + glUniformMatrix4fv(ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]); + glUniformMatrix4fv(ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]); + + b3Vector3 gLightDir = m_data->m_lightPos; + gLightDir.normalize(); + glUniform3f(regularLightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]); + + glUniform1i(uniform_texture_diffuse, 0); + + if ( gfxObj->m_flags&eGfxTransparency) + { + int instanceId = transparentInstances[i].m_instanceId; glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes)); glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE)); @@ -2316,36 +2303,104 @@ b3Assert(glGetError() ==GL_NO_ERROR); glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE)); glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0); + + } else + { + glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); } - } else - { - glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); - } - if ( gfxObj->m_flags&eGfxTransparency) - { - glDisable (GL_BLEND); - glDepthMask(true); - } - glActiveTexture(GL_TEXTURE1); - glBindTexture(GL_TEXTURE_2D,0); + if ( gfxObj->m_flags&eGfxTransparency) + { + glDisable (GL_BLEND); + glDepthMask(true); + } + + break; + } + case B3_CREATE_SHADOWMAP_RENDERMODE: + { + glUseProgram(createShadowMapInstancingShader); + glUniformMatrix4fv(createShadow_depthMVP, 1, false, &depthMVP[0][0]); + glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); + break; + } - glActiveTexture(GL_TEXTURE0); - glBindTexture(GL_TEXTURE_2D,0); - break; - } - default: - { - // b3Assert(0); - } - }; + case B3_USE_SHADOWMAP_RENDERMODE: + { + if ( gfxObj->m_flags&eGfxTransparency) + { + glDepthMask(false); + glEnable (GL_BLEND); + glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + } + + 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]); + //gLightDir.normalize(); + glUniform3f(useShadow_lightPosIn,m_data->m_lightPos[0],m_data->m_lightPos[1],m_data->m_lightPos[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); + glUniform1i(useShadow_shadowMap,1); + + //sort transparent objects + + //gfxObj->m_instanceOffset + + if ( gfxObj->m_flags&eGfxTransparency) + { + int instanceId = transparentInstances[i].m_instanceId; + glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes)); + glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE)); + glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE)); + glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE)); + glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0); + } else + { + glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances); + } + + if ( gfxObj->m_flags&eGfxTransparency) + { + glDisable (GL_BLEND); + glDepthMask(true); + } + glActiveTexture(GL_TEXTURE1); + glBindTexture(GL_TEXTURE_2D,0); + + glActiveTexture(GL_TEXTURE0); + glBindTexture(GL_TEXTURE_2D,0); + break; + } + default: + { + // b3Assert(0); + } + }; + } + + + //glDrawElementsInstanced(GL_LINE_LOOP, indexCount, GL_UNSIGNED_INT, (void*)indexOffset, gfxObj->m_numGraphicsInstances); } - - - //glDrawElementsInstanced(GL_LINE_LOOP, indexCount, GL_UNSIGNED_INT, (void*)indexOffset, gfxObj->m_numGraphicsInstances); } } - curOffset+= gfxObj->m_numGraphicsInstances; } { diff --git a/examples/Tutorial/Tutorial.cpp b/examples/Tutorial/Tutorial.cpp index 18a9f34eb..8d43daac2 100644 --- a/examples/Tutorial/Tutorial.cpp +++ b/examples/Tutorial/Tutorial.cpp @@ -425,21 +425,23 @@ public: } // int boxId = m_app->registerCubeShape(1,1,1,textureIndex); - int boxId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex); - + int sphereTransparent = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex); + int sphereOpaque= m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex); b3Vector3 scaling = b3MakeVector3(SPHERE_RADIUS,SPHERE_RADIUS,SPHERE_RADIUS); for (int i=0;im_collisionShape.m_sphere.m_radius = SPHERE_RADIUS; m_bodies[i]->m_collisionShape.m_type = LW_SPHERE_TYPE; - m_bodies[i]->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(boxId,m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation,color,scaling); + m_bodies[i]->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(gfxShape,m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation,color,scaling); m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex); } } diff --git a/examples/pybullet/examples/transparent.py b/examples/pybullet/examples/transparent.py new file mode 100644 index 000000000..5c6cc09c6 --- /dev/null +++ b/examples/pybullet/examples/transparent.py @@ -0,0 +1,18 @@ +import pybullet as p +import time +p.connect(p.GUI) +p.loadURDF("plane.urdf") +sphereUid = p.loadURDF("sphere_transparent.urdf",[0,0,2]) + +redSlider = p.addUserDebugParameter("red",0,1,1) +greenSlider = p.addUserDebugParameter("green",0,1,0) +blueSlider = p.addUserDebugParameter("blue",0,1,0) +alphaSlider = p.addUserDebugParameter("alpha",0,1,0.5) + +while (1): + red = p.readUserDebugParameter(redSlider) + green = p.readUserDebugParameter(greenSlider) + blue = p.readUserDebugParameter(blueSlider) + alpha = p.readUserDebugParameter(alphaSlider) + p.changeVisualShape(sphereUid,-1,rgbaColor=[red,green,blue,alpha]) + time.sleep(0.01) \ No newline at end of file