4a705d1e03
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
44 lines
1.1 KiB
C
44 lines
1.1 KiB
C
//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
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static const char* useShadowMapInstancingFragmentShader= \
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"#version 330 core\n"
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"//precision highp float;\n"
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"in Fragment\n"
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"{\n"
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" vec4 color;\n"
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"} fragment;\n"
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"in Vert\n"
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"{\n"
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" vec2 texcoord;\n"
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"} vert;\n"
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"uniform sampler2D Diffuse;\n"
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"uniform sampler2DShadow shadowMap;\n"
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"in vec3 lightDir,normal,ambient;\n"
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"in vec4 ShadowCoord;\n"
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"out vec4 color;\n"
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"void main(void)\n"
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"{\n"
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" vec4 texel = fragment.color*texture(Diffuse,vert.texcoord);\n"
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" vec3 ct,cf;\n"
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" float intensity,at,af;\n"
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" \n"
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" intensity = 0.5+0.5*clamp( dot( normalize(normal),lightDir ), -1,1 );\n"
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" \n"
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" af = 1.0;\n"
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" \n"
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" ct = texel.rgb;\n"
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" at = texel.a;\n"
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" \n"
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" //float bias = 0.005f;\n"
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" \n"
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" float bias = 0.0001*tan(acos(intensity));\n"
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" bias = clamp(bias, 0,0.01);\n"
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" float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z-bias)/ShadowCoord.w));\n"
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" \n"
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" intensity = 0.7*intensity + 0.3*intensity*visibility;\n"
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" \n"
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" cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;\n"
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" \n"
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" color = vec4(ct * cf, fragment.color.w);\n"
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"}\n"
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;
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