diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index ab45c9400..d6cd9b212 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -8,7 +8,7 @@ jobs: name: Ubuntu Jammy CI steps: - name: Checkout - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Compile and test id: ci uses: gazebo-tooling/action-gz-ci@jammy diff --git a/Changelog.md b/Changelog.md index 1c52eba54..852b92a8d 100644 --- a/Changelog.md +++ b/Changelog.md @@ -479,6 +479,15 @@ ### Gazebo Rendering 6.X +### Gazebo Rendering 6.6.2 (2023-10-03) + +1. Backport camera intrinsics calculation : Refactor + * [Pull request #905](https://github.com/gazebosim/gz-rendering/pull/905) + * [Pull request #929](https://github.com/gazebosim/gz-rendering/pull/929) + +1. Revert mesh viewer background color back to gray + * [Pull request #894](https://github.com/gazebosim/gz-rendering/pull/894) + ### Gazebo Rendering 6.6.1 (2023-09-01) 1. Fixed light visual in OGRE diff --git a/examples/waves/GlutWindow.cc b/examples/waves/GlutWindow.cc index ae3a17701..74452536a 100644 --- a/examples/waves/GlutWindow.cc +++ b/examples/waves/GlutWindow.cc @@ -339,7 +339,7 @@ void initUniforms() g_vsParams = shader->VertexShaderParams(); auto engine = g_camera->Scene()->Engine(); - if (engine->Name() == "ogre2") + if (engine->Name() == "ogre2" || engine->Name() == "ogre") { // worldviewproj_matrix is a constant defined by ogre. // Here we add a line to add this constant to the params. diff --git a/examples/waves/Main.cc b/examples/waves/Main.cc index 0b0d81ae6..14d04e39a 100644 --- a/examples/waves/Main.cc +++ b/examples/waves/Main.cc @@ -43,6 +43,9 @@ using namespace gz; using namespace rendering; +const std::string vertexShaderGLSLFile = "GerstnerWaves_vs.glsl"; +const std::string fragmentShaderGLSLFile = "GerstnerWaves_fs.glsl"; + const std::string vertexShaderGLSL330File = "GerstnerWaves_vs_330.glsl"; const std::string fragmentShaderGLSL330File = "GerstnerWaves_fs_330.glsl"; @@ -79,6 +82,11 @@ void buildScene(ScenePtr _scene, vertexShaderFile = vertexShaderMetalFile; fragmentShaderFile = fragmentShaderMetalFile; } + else if (_engineName == "ogre") + { + vertexShaderFile = vertexShaderGLSLFile; + fragmentShaderFile = fragmentShaderGLSLFile; + } else { vertexShaderFile = vertexShaderGLSL330File; @@ -180,14 +188,6 @@ int main(int _argc, char** _argv) params["metal"] = "1"; } } - else - { - // todo(anyone) Passing textures to custom shaders is currently - // only available in ogre2 - engineName = "ogre2"; - gzerr << "Only ogre2 engine is supported. Switching to use ogre2." - << std::endl; - } CameraPtr camera = createCamera(engineName, params); if (camera) diff --git a/examples/waves/media/GerstnerWaves_fs.glsl b/examples/waves/media/GerstnerWaves_fs.glsl new file mode 100644 index 000000000..550839246 --- /dev/null +++ b/examples/waves/media/GerstnerWaves_fs.glsl @@ -0,0 +1,68 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#version 150 + +////////// Input parameters ////////// +// Textures +uniform sampler2D bumpMap; +uniform samplerCube cubeMap; + +// Colors +uniform vec4 deepColor; +uniform vec4 shallowColor; +uniform float fresnelPower; +uniform float hdrMultiplier; + +////////// Input computed in vertex shader ////////// +varying mat3 rotMatrix; +varying vec3 eyeVec; +varying vec2 bumpCoord; + +void main() +{ + // Apply bump mapping to normal vector to make waves look more detailed: + vec4 bump = texture2D(bumpMap, bumpCoord) * 2.0 - 1.0; + vec3 N = normalize(rotMatrix * bump.xyz); + + // Reflected ray: + vec3 E = normalize(eyeVec); + vec3 R = reflect(E, N); + + // negate z for use with the skybox texture that comes with gz-rendering + R = vec3(R.x, R.y, -R.z); + + // uncomment this line if using other textures that are Y up + // Gazebo requires rotated cube map lookup. + // R = vec3(R.x, R.z, R.y); + + // Get environment color of reflected ray: + vec4 envColor = textureCube(cubeMap, R, 0.0); + + // Cheap hdr effect: + envColor.rgb *= (envColor.r + envColor.g + envColor.b) * hdrMultiplier; + + // Compute refraction ratio (Fresnel): + float facing = 1.0 - dot(-E, N); + float waterEnvRatio = clamp(pow(facing, fresnelPower), 0.05, 1.0); + + // Refracted ray only considers deep and shallow water colors: + vec4 waterColor = mix(shallowColor, deepColor, facing); + + // Perform linear interpolation between reflection and refraction. + vec4 color = mix(waterColor, envColor, waterEnvRatio); + + gl_FragColor = vec4(color.xyz, 0.9); +} diff --git a/examples/waves/media/GerstnerWaves_vs.glsl b/examples/waves/media/GerstnerWaves_vs.glsl new file mode 100644 index 000000000..33ca4c379 --- /dev/null +++ b/examples/waves/media/GerstnerWaves_vs.glsl @@ -0,0 +1,139 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License.s + + +// Copyright (c) 2019 Rhys Mainwaring. +// +// Modified to accept vector parameters and use the form +// for Gerstner waves published in: +// +// Jerry Tessendorf, "Simulating Ocean Water", 1999-2004 +// +// theta = k * dir . x - omega * t +// +// px = x - dir.x * a * k * sin(theta) +// py = y - dir.y * a * k * sin(theta) +// pz = a * k * cos(theta) +// +// k is the wavenumber +// omega is the angular frequency +// +// The derivative terms (Tangent, Binormal, Normal) have been +// updated to be consistent with this convention. +// + +#version 150 + +in vec4 vertex; +in vec4 uv0; +uniform mat4 worldviewproj_matrix; + +/////////// Input parameters ////////// +// Waves +uniform int Nwaves; +uniform vec3 camera_position_object_space; +uniform float rescale; +uniform vec2 bumpScale; +uniform vec2 bumpSpeed; +uniform float t; +uniform vec3 amplitude; +uniform vec3 wavenumber; +uniform vec3 omega; +uniform vec3 steepness; +uniform vec2 dir0; +uniform vec2 dir1; +uniform vec2 dir2; +uniform float tau; + +/////////// Output variables to fragment shader ////////// +varying mat3 rotMatrix; +varying vec3 eyeVec; +varying vec2 bumpCoord; + +// Compute linear combination of Gerstner waves as described in +// GPU Gems, chapter 01: "Effective Water Simulation from Physical Models" +// http://http.developer.nvidia.com/GPUGems/gpugems_ch01.html + +// Information regarding a single wave +struct WaveParameters { + float k; // wavenumber + float a; // amplitude + float omega; // phase constant of speed + vec2 d; // horizontal direction of wave + float q; // steepness for Gerstner wave (q=0: rolling sine waves) +}; + + +void main() +{ + // Use combination of three waves. Values here are chosen rather arbitrarily. + // Other parameters might lead to better-looking waves. + + WaveParameters waves[3]; + + waves[0] = WaveParameters(wavenumber.x, amplitude.x, omega.x, dir0.xy, steepness.x); + waves[1] = WaveParameters(wavenumber.y, amplitude.y, omega.y, dir1.xy, steepness.y); + waves[2] = WaveParameters(wavenumber.z, amplitude.z, omega.z, dir2.xy, steepness.z); + + vec4 P = vertex; + + // Iteratively compute binormal, tangent, and normal vectors: + vec3 B = vec3(1.0, 0.0, 0.0); + vec3 T = vec3(0.0, 1.0, 0.0); + vec3 N = vec3(0.0, 0.0, 1.0); + + // Wave synthesis using linear combination of Gerstner waves + for(int i = 0; i < Nwaves; ++i) + { + // Evaluate wave equation: + float k = waves[i].k; + float a = waves[i].a * (1.0 - exp(-1.0*t/tau)); + float q = waves[i].q; + float dx = waves[i].d.x; + float dy = waves[i].d.y; + float theta = dot(waves[i].d, P.xy)*k - t*waves[i].omega; + float c = cos(theta); + float s = sin(theta); + + // Displacement of point due to wave (Eq. 9) + P.x -= q*a*dx*s; + P.y -= q*a*dx*s; + P.z += a*c; + + // Modify normals due to wave displacement (Eq. 10-12) + float ka = a*k; + float qkac = q*ka*c; + float kas = ka*s; + float dxy = dx*dy; + + B += vec3(-qkac*dx*dx, -qkac*dxy, -kas*dx); + T += vec3(-qkac*dxy, -qkac*dy*dy, -kas*dy); + N += vec3(dx*kas, dy*kas, -qkac); + } + + // Compute (Surf2World * Rescale) matrix + B = normalize(B)*rescale; + T = normalize(T)*rescale; + N = normalize(N); + rotMatrix = mat3(B, T, N); + + gl_Position = worldviewproj_matrix * P; + + // Compute texture coordinates for bump map + bumpCoord = uv0.xy*bumpScale + t*bumpSpeed; + + eyeVec = P.xyz - camera_position_object_space; // eye position in vertex space +} + diff --git a/ogre/src/OgreMaterial.cc b/ogre/src/OgreMaterial.cc index 4f2c2fc32..d0d0f218d 100644 --- a/ogre/src/OgreMaterial.cc +++ b/ogre/src/OgreMaterial.cc @@ -407,6 +407,25 @@ void OgreMaterial::UpdateShaderParams(ConstShaderParamsPtr _params, { for (const auto &name_param : *_params) { + auto *constantDef = + Ogre::GpuProgramParameters::getAutoConstantDefinition(name_param.first); + if (constantDef) + { + _ogreParams->setNamedAutoConstant(name_param.first, constantDef->acType); + continue; + } + + if (!_ogreParams->_findNamedConstantDefinition(name_param.first) && + !(OgreRenderEngine::Instance()->GraphicsAPI() != + GraphicsAPI::OPENGL && + (ShaderParam::PARAM_TEXTURE == name_param.second.Type() || + ShaderParam::PARAM_TEXTURE_CUBE == name_param.second.Type()))) + { + gzwarn << "Unable to find GPU program parameter: " + << name_param.first << std::endl; + continue; + } + if (ShaderParam::PARAM_FLOAT == name_param.second.Type()) { float value; @@ -441,6 +460,84 @@ void OgreMaterial::UpdateShaderParams(ConstShaderParamsPtr _params, _ogreParams->setNamedConstant(name_param.first, reinterpret_cast(buffer.get()), count, multiple); } + else if (ShaderParam::PARAM_TEXTURE == name_param.second.Type() || + ShaderParam::PARAM_TEXTURE_CUBE == name_param.second.Type()) + { + // add the textures to the resource path + std::string value; + uint32_t uvSetIndex = 0; + name_param.second.Value(value, uvSetIndex); + ShaderParam::ParamType type = name_param.second.Type(); + + std::string baseName = value; + std::string dirPath = value; + if (common::isFile(value)) + { + baseName = common::basename(value); + size_t idx = value.rfind(baseName); + if (idx != std::string::npos) + { + dirPath = value.substr(0, idx); + if (!dirPath.empty() && + !Ogre::ResourceGroupManager::getSingleton().resourceLocationExists( + dirPath)) + { + Ogre::ResourceGroupManager::getSingleton().addResourceLocation( + dirPath, "FileSystem", this->ogreGroup); + } + } + } + else + { + gzerr << "Shader param texture not found: " << value << std::endl; + continue; + } + + // get the material and create the texture unit state if it does not exist + auto texUnit = this->ogrePass->getTextureUnitState(name_param.first); + if (!texUnit) + { + texUnit = this->ogrePass->createTextureUnitState(); + texUnit->setName(name_param.first); + } + // make sure to cast to int before calling setNamedConstant later + // to set the texture index + int texIndex = static_cast( + this->ogrePass->getTextureUnitStateIndex(texUnit)); + + // set texture coordinate set + texUnit->setTextureCoordSet(uvSetIndex); + + // regular 2d texture + if (type == ShaderParam::ParamType::PARAM_TEXTURE) + { + texUnit->setTextureName(baseName); + } + // cube maps + else if (type == ShaderParam::ParamType::PARAM_TEXTURE_CUBE) + { + texUnit->setCubicTextureName(baseName, true); + // must apply this check for Metal rendering to work + // (i.e. not segfault). See the discussion in: + // https://github.com/gazebosim/gz-rendering/pull/541 + if (texUnit->isLoaded()) + { + texUnit->_load(); + } + } + else + { + gzerr << "Unrecognized texture type set for shader param: " + << name_param.first << std::endl; + continue; + } + if (OgreRenderEngine::Instance()->GraphicsAPI() == + GraphicsAPI::OPENGL) + { + // set the texture map index + _ogreParams->setNamedConstant(name_param.first, &texIndex, 1, 1); + } + } } } diff --git a/ogre2/src/Ogre2Material.cc b/ogre2/src/Ogre2Material.cc index ab543915a..70cc66959 100644 --- a/ogre2/src/Ogre2Material.cc +++ b/ogre2/src/Ogre2Material.cc @@ -941,7 +941,7 @@ void Ogre2Material::UpdateShaderParams(ConstShaderParamsPtr _params, continue; } - // get the material and create the texture unit state it does not exist + // get the material and create the texture unit state if it does not exist auto mat = this->Material(); auto pass = mat->getTechnique(0u)->getPass(0); auto texUnit = pass->getTextureUnitState(name_param.first); @@ -1234,8 +1234,10 @@ void Ogre2Material::SetTextureMapDataImpl(const std::string& _name, if (texture->getWidth() == 0) { auto data = _img->RGBAData(); - - texture->setPixelFormat(Ogre::PFG_RGBA8_UNORM_SRGB); + Ogre::PixelFormatGpu format = Ogre::PFG_RGBA8_UNORM; + if (this->ogreDatablock->suggestUsingSRGB(_type)) + format = Ogre::PFG_RGBA8_UNORM_SRGB; + texture->setPixelFormat(format); texture->setTextureType(Ogre::TextureTypes::Type2D); texture->setNumMipmaps(1u); texture->setResolution(_img->Width(), _img->Height()); diff --git a/test/common_test/Camera_TEST.cc b/test/common_test/Camera_TEST.cc index 5eb76d3e4..d42aabe9c 100644 --- a/test/common_test/Camera_TEST.cc +++ b/test/common_test/Camera_TEST.cc @@ -335,12 +335,12 @@ TEST_F(CameraTest, IntrinsicMatrix) EXPECT_DOUBLE_EQ(cameraIntrinsics(1, 2), 120); // Verify rest of the intrinsics - EXPECT_EQ(cameraIntrinsics(0, 1), 0); - EXPECT_EQ(cameraIntrinsics(1, 0), 0); - EXPECT_EQ(cameraIntrinsics(0, 1), 0); - EXPECT_EQ(cameraIntrinsics(2, 0), 0); - EXPECT_EQ(cameraIntrinsics(2, 1), 0); - EXPECT_EQ(cameraIntrinsics(2, 2), 1); + EXPECT_DOUBLE_EQ(cameraIntrinsics(0, 1), 0); + EXPECT_DOUBLE_EQ(cameraIntrinsics(1, 0), 0); + EXPECT_DOUBLE_EQ(cameraIntrinsics(0, 1), 0); + EXPECT_DOUBLE_EQ(cameraIntrinsics(2, 0), 0); + EXPECT_DOUBLE_EQ(cameraIntrinsics(2, 1), 0); + EXPECT_DOUBLE_EQ(cameraIntrinsics(2, 2), 1); // Verify that changing camera size changes intrinsics height = 1000; diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index 5503b4198..f6e7b4ede 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -15,6 +15,7 @@ set(tests sky thermal_camera load_unload + waves wide_angle_camera ) diff --git a/test/integration/waves.cc b/test/integration/waves.cc new file mode 100644 index 000000000..284c4544a --- /dev/null +++ b/test/integration/waves.cc @@ -0,0 +1,299 @@ +/* + * Copyright (C) 2023 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include + +#include +#include + +#include "CommonRenderingTest.hh" + +#include +#include + +#include "gz/rendering/Camera.hh" +#include "gz/rendering/Image.hh" +#include "gz/rendering/PixelFormat.hh" +#include "gz/rendering/Scene.hh" +#include "gz/rendering/ShaderParams.hh" + +using namespace gz; +using namespace rendering; + +class WavesTest: public CommonRenderingTest +{ + // Path to test media directory + public: const std::string TEST_MEDIA_PATH = + gz::common::joinPaths(std::string(PROJECT_SOURCE_PATH), + "test", "media"); +}; + +///////////////////////////////////////////////// +TEST_F(WavesTest, Waves) +{ + if (GraphicsAPI::METAL == this->engine->GraphicsAPI()) + { + // \todo(iche033) Test fails on ogre2 with metal. To be investigated. + return; + } + + // add resources in build dir + engine->AddResourcePath( + common::joinPaths(std::string(PROJECT_BUILD_PATH), "src")); + + ScenePtr scene = engine->CreateScene("scene"); + ASSERT_NE(nullptr, scene); + scene->SetAmbientLight(0.3, 0.3, 0.3); + + scene->SetBackgroundColor(1.0, 0.0, 0.0); + + VisualPtr root = scene->RootVisual(); + ASSERT_NE(nullptr, root); + + // create directional light + DirectionalLightPtr light0 = scene->CreateDirectionalLight(); + light0->SetDirection(-0.5, 0.5, -1); + light0->SetDiffuseColor(0.5, 0.5, 0.5); + light0->SetSpecularColor(0.5, 0.5, 0.5); + root->AddChild(light0); + + const std::string vertexShaderGLSLFile = "GerstnerWaves_vs.glsl"; + const std::string fragmentShaderGLSLFile = "GerstnerWaves_fs.glsl"; + + const std::string vertexShaderGLSL330File = "GerstnerWaves_vs_330.glsl"; + const std::string fragmentShaderGLSL330File = "GerstnerWaves_fs_330.glsl"; + + const std::string vertexShaderMetalFile = "GerstnerWaves_vs.metal"; + const std::string fragmentShaderMetalFile = "GerstnerWaves_fs.metal"; + + std::string vertexShaderFile; + std::string fragmentShaderFile; + + if (GraphicsAPI::METAL == this->engine->GraphicsAPI()) + { + vertexShaderFile = vertexShaderMetalFile; + fragmentShaderFile = fragmentShaderMetalFile; + } + else if (this->engine->Name() == "ogre") + { + vertexShaderFile = vertexShaderGLSLFile; + fragmentShaderFile = fragmentShaderGLSLFile; + } + else + { + vertexShaderFile = vertexShaderGLSL330File; + fragmentShaderFile = fragmentShaderGLSL330File; + } + + // create shader materials + // path to look for vertex and fragment shader parameters + std::string vertexShaderPath = gz::common::joinPaths( + TEST_MEDIA_PATH, "materials", "programs", vertexShaderFile); + + std::string fragmentShaderPath = gz::common::joinPaths( + TEST_MEDIA_PATH, "materials", "programs", fragmentShaderFile); + + // create shader material + gz::rendering::MaterialPtr shader = scene->CreateMaterial(); + shader->SetVertexShader(vertexShaderPath); + shader->SetFragmentShader(fragmentShaderPath); + + // create waves visual + VisualPtr waves = scene->CreateVisual("waves"); + MeshDescriptor descriptor; + descriptor.meshName = common::joinPaths( + TEST_MEDIA_PATH, "meshes", "mesh.dae"); + common::MeshManager *meshManager = common::MeshManager::Instance(); + descriptor.mesh = meshManager->Load(descriptor.meshName); + MeshPtr meshGeom = scene->CreateMesh(descriptor); + waves->AddGeometry(meshGeom); + waves->SetLocalPosition(3, 0, 0); + waves->SetLocalScale(1, 1, 1); + waves->SetMaterial(shader, false); + + // set vertex shader params + ShaderParamsPtr vsParams = shader->VertexShaderParams(); + + if (this->engine->Name() == "ogre2" || this->engine->Name() == "ogre") + { + // worldviewproj_matrix is a constant defined by ogre. + // Here we add a line to add this constant to the params. + // The specified value is ignored as it will be auto bound to the + // correct type and value. See available constants: + // https://github.com/OGRECave/ogre-next/blob/v2-2/OgreMain/src/OgreGpuProgramParams.cpp + (*vsParams)["worldviewproj_matrix"] = 1; + } + + (*vsParams)["Nwaves"] = 3; + (*vsParams)["rescale"] = 0.5f; + + float bumpScale[2] = {25.0f, 25.0f}; + (*vsParams)["bumpScale"].InitializeBuffer(2); + (*vsParams)["bumpScale"].UpdateBuffer(bumpScale); + + float bumpSpeed[2] = {0.01f, 0.01f}; + (*vsParams)["bumpSpeed"].InitializeBuffer(2); + (*vsParams)["bumpSpeed"].UpdateBuffer(bumpSpeed); + + float amplitude = 3.0f; + float amplitudeV[3] = {0.6f * amplitude, 0.4f * amplitude, 0.3f * amplitude}; + (*vsParams)["amplitude"].InitializeBuffer(3); + (*vsParams)["amplitude"].UpdateBuffer(amplitudeV); + + float frequency = 0.028f; + float wavenumberV[3] = {frequency, 3.2f * frequency, 1.8f * frequency}; + (*vsParams)["wavenumber"].InitializeBuffer(3); + (*vsParams)["wavenumber"].UpdateBuffer(wavenumberV); + + float omegaV[3] = {0.5f, 1.7f, 1.0f}; + (*vsParams)["omega"].InitializeBuffer(3); + (*vsParams)["omega"].UpdateBuffer(omegaV); + + float dir0[2] = {-1.0f, 0.0f}; + (*vsParams)["dir0"].InitializeBuffer(2); + (*vsParams)["dir0"].UpdateBuffer(dir0); + + float dir1[2] = {-0.7, 0.7}; + (*vsParams)["dir1"].InitializeBuffer(2); + (*vsParams)["dir1"].UpdateBuffer(dir1); + + float dir2[2] = {0.7, 0.7}; + (*vsParams)["dir2"].InitializeBuffer(2); + (*vsParams)["dir2"].UpdateBuffer(dir2); + + float steepness = 1.0f; + float steepnessV[3] = {steepness, 1.5f * steepness, 0.8f * steepness}; + (*vsParams)["steepness"].InitializeBuffer(3); + (*vsParams)["steepness"].UpdateBuffer(steepnessV); + + float tau = 2.0f; + (*vsParams)["tau"] = tau; + + // camera_position_object_space is a constant defined by ogre. + (*vsParams)["camera_position_object_space"] = 1; + + (*vsParams)["t"] = 0.0f; + + // set fragment shader params + ShaderParamsPtr fsParams = shader->FragmentShaderParams(); + + float hdrMultiplier = 0.4f; + (*fsParams)["hdrMultiplier"] = hdrMultiplier; + + float fresnelPower = 5.0f; + (*fsParams)["fresnelPower"] = fresnelPower; + + float shallowColor[4] = {0.0f, 0.1f, 0.3f, 1.0f}; + (*fsParams)["shallowColor"].InitializeBuffer(4); + (*fsParams)["shallowColor"].UpdateBuffer(shallowColor); + + float deepColor[4] = {0.0f, 0.05f, 0.2f, 1.0f}; + (*fsParams)["deepColor"].InitializeBuffer(4); + (*fsParams)["deepColor"].UpdateBuffer(deepColor); + + std::string bumpMapPath = gz::common::joinPaths(TEST_MEDIA_PATH, + "materials", "textures", "wave_normals.dds"); + (*fsParams)["bumpMap"].SetTexture(bumpMapPath); + + std::string cubeMapPath = gz::common::joinPaths(TEST_MEDIA_PATH, + "materials", "textures", "skybox_lowres.dds"); + + (*fsParams)["cubeMap"].SetTexture(cubeMapPath, + ShaderParam::ParamType::PARAM_TEXTURE_CUBE, 1u); + + // create camera + CameraPtr camera = scene->CreateCamera(); + ASSERT_NE(nullptr, camera); + camera->SetLocalPosition(0, 0.0, 3.5); + camera->SetImageWidth(640); + camera->SetImageHeight(480); + root->AddChild(camera); + + // capture original image with red background + Image image = camera->CreateImage(); + camera->Capture(image); + + // Add waves to the scene + root->AddChild(waves); + + // capture image with waves in the scene + Image imageWaves = camera->CreateImage(); + camera->Capture(imageWaves); + + // Compare image pixels + unsigned char *data = image.Data(); + unsigned char *dataWaves = imageWaves.Data(); + unsigned int height = camera->ImageHeight(); + unsigned int width = camera->ImageWidth(); + unsigned int channelCount = PixelUtil::ChannelCount(camera->ImageFormat()); + unsigned int step = width * channelCount; + + unsigned int rSum = 0u; + unsigned int gSum = 0u; + unsigned int bSum = 0u; + + unsigned int rWavesTopSum = 0u; + unsigned int gWavesTopSum = 0u; + unsigned int bWavesTopSum = 0u; + + unsigned int rWavesBottomSum = 0u; + unsigned int gWavesBottomSum = 0u; + unsigned int bWavesBottomSum = 0u; + + for (unsigned int i = 0; i < height; ++i) + { + for (unsigned int j = 0; j < step; j += channelCount) + { + unsigned int idx = i * step + j; + rSum += data[idx]; + gSum += data[idx + 1]; + bSum += data[idx + 2]; + + if (i < height / 2) + { + rWavesTopSum += dataWaves[idx]; + gWavesTopSum += dataWaves[idx + 1]; + bWavesTopSum += dataWaves[idx + 2]; + } + else + { + rWavesBottomSum += dataWaves[idx]; + gWavesBottomSum += dataWaves[idx + 1]; + bWavesBottomSum += dataWaves[idx + 2]; + } + } + } + + // No waves - red background + EXPECT_GT(rSum, 0u); + EXPECT_EQ(0u, gSum); + EXPECT_EQ(0u, bSum); + + // waves enabled - top half should be red background while + // bottom half should be blue due to waves + EXPECT_GT(rWavesTopSum, 0u); + EXPECT_EQ(0u, gWavesTopSum); + EXPECT_EQ(0u, bWavesTopSum); + EXPECT_GT(rWavesBottomSum, 0u); + EXPECT_GT(gWavesBottomSum, 0u); + EXPECT_GT(bWavesBottomSum, 0u); + EXPECT_GT(bWavesBottomSum, gWavesBottomSum); + EXPECT_GT(bWavesBottomSum, rWavesBottomSum); + + // Clean up + engine->DestroyScene(scene); +} diff --git a/test/media/materials/programs/GerstnerWaves_fs.glsl b/test/media/materials/programs/GerstnerWaves_fs.glsl new file mode 100644 index 000000000..550839246 --- /dev/null +++ b/test/media/materials/programs/GerstnerWaves_fs.glsl @@ -0,0 +1,68 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#version 150 + +////////// Input parameters ////////// +// Textures +uniform sampler2D bumpMap; +uniform samplerCube cubeMap; + +// Colors +uniform vec4 deepColor; +uniform vec4 shallowColor; +uniform float fresnelPower; +uniform float hdrMultiplier; + +////////// Input computed in vertex shader ////////// +varying mat3 rotMatrix; +varying vec3 eyeVec; +varying vec2 bumpCoord; + +void main() +{ + // Apply bump mapping to normal vector to make waves look more detailed: + vec4 bump = texture2D(bumpMap, bumpCoord) * 2.0 - 1.0; + vec3 N = normalize(rotMatrix * bump.xyz); + + // Reflected ray: + vec3 E = normalize(eyeVec); + vec3 R = reflect(E, N); + + // negate z for use with the skybox texture that comes with gz-rendering + R = vec3(R.x, R.y, -R.z); + + // uncomment this line if using other textures that are Y up + // Gazebo requires rotated cube map lookup. + // R = vec3(R.x, R.z, R.y); + + // Get environment color of reflected ray: + vec4 envColor = textureCube(cubeMap, R, 0.0); + + // Cheap hdr effect: + envColor.rgb *= (envColor.r + envColor.g + envColor.b) * hdrMultiplier; + + // Compute refraction ratio (Fresnel): + float facing = 1.0 - dot(-E, N); + float waterEnvRatio = clamp(pow(facing, fresnelPower), 0.05, 1.0); + + // Refracted ray only considers deep and shallow water colors: + vec4 waterColor = mix(shallowColor, deepColor, facing); + + // Perform linear interpolation between reflection and refraction. + vec4 color = mix(waterColor, envColor, waterEnvRatio); + + gl_FragColor = vec4(color.xyz, 0.9); +} diff --git a/test/media/materials/programs/GerstnerWaves_fs.metal b/test/media/materials/programs/GerstnerWaves_fs.metal new file mode 100644 index 000000000..da73b57a1 --- /dev/null +++ b/test/media/materials/programs/GerstnerWaves_fs.metal @@ -0,0 +1,83 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +using namespace metal; + +////////// Input parameters ////////// +// Colors +struct Params +{ + float4 deepColor; + float4 shallowColor; + float fresnelPower; + float hdrMultiplier; +}; + +////////// Input computed in vertex shader ////////// +struct PS_INPUT +{ + float2 uv0; + float3 B; + float3 T; + float3 N; + float3 eyeVec; + float2 bumpCoord; +}; + +fragment float4 main_metal +( + PS_INPUT inPs [[stage_in]], + texturecube cubeMap [[texture(0)]], + texture2d bumpMap [[texture(1)]], + sampler cubeMapSampler [[sampler(0)]], + sampler bumpMapSampler [[sampler(1)]], + constant Params &p [[buffer(PARAMETER_SLOT)]] +) +{ + // Apply bump mapping to normal vector to make waves look more detailed: + float4 bump = bumpMap.sample(bumpMapSampler, inPs.bumpCoord)*2.0 - 1.0; + float3x3 rotMatrix(inPs.B, inPs.T, inPs.N); + float3 N = normalize(rotMatrix * bump.xyz); + + // Reflected ray: + float3 E = normalize(inPs.eyeVec); + float3 R = reflect(E, N); + + // Negate z for use with the skybox texture that comes with gz-rendering + R = float3(R.x, R.y, -R.z); + + // uncomment this line if using other textures that are Y up + // Gazebo requires rotated cube map lookup. + // R = float3(R.x, R.z, R.y); + + // Get environment color of reflected ray: + float4 envColor = cubeMap.sample(cubeMapSampler, R); + + // Cheap hdr effect: + envColor.rgb *= (envColor.r+envColor.g+envColor.b)*p.hdrMultiplier; + + // Compute refraction ratio (Fresnel): + float facing = 1.0 - dot(-E, N); + float waterEnvRatio = clamp(pow(facing, p.fresnelPower), 0.0, 1.0); + + // Refracted ray only considers deep and shallow water colors: + float4 waterColor = mix(p.shallowColor, p.deepColor, facing); + + // Perform linear interpolation between reflection and refraction. + float4 color = mix(waterColor, envColor, waterEnvRatio); + + return float4(color.xyz, 0.1); +} diff --git a/test/media/materials/programs/GerstnerWaves_fs_330.glsl b/test/media/materials/programs/GerstnerWaves_fs_330.glsl new file mode 100644 index 000000000..aaea9b0a1 --- /dev/null +++ b/test/media/materials/programs/GerstnerWaves_fs_330.glsl @@ -0,0 +1,81 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#version ogre_glsl_ver_330 + +////////// Input parameters ////////// +// Textures +vulkan_layout( ogre_t0 ) uniform texture2D bumpMap; +vulkan_layout( ogre_t1 ) uniform textureCube cubeMap; + +vulkan( layout( ogre_s0 ) uniform sampler texSampler0 ); +vulkan( layout( ogre_s1 ) uniform sampler texSampler1 ); + +// Colors +vulkan( layout( ogre_P0 ) uniform Params { ) + uniform vec4 deepColor; + uniform vec4 shallowColor; + uniform float fresnelPower; + uniform float hdrMultiplier; +vulkan( }; ) + +////////// Input computed in vertex shader ////////// +vulkan_layout( location = 0 ) +in block +{ + mat3 rotMatrix; + vec3 eyeVec; + vec2 bumpCoord; +} inPs; + +vulkan_layout( location = 0 ) +out vec4 fragColor; + +void main() +{ + // Apply bump mapping to normal vector to make waves look more detailed: + vec4 bump = texture(vkSampler2D(bumpMap, texSampler0), + inPs.bumpCoord)*2.0 - 1.0; + vec3 N = normalize(inPs.rotMatrix * bump.xyz); + + // Reflected ray: + vec3 E = normalize(inPs.eyeVec); + vec3 R = reflect(E, N); + + // negate z for use with the skybox texture that comes with gz-rendering + R = vec3(R.x, R.y, -R.z); + + // uncomment this line if using other textures that are Y up + // Gazebo requires rotated cube map lookup. + // R = vec3(R.x, R.z, R.y); + + // Get environment color of reflected ray: + vec4 envColor = texture(vkSamplerCube(cubeMap, texSampler1), R, 0.0); + + // Cheap hdr effect: + envColor.rgb *= (envColor.r+envColor.g+envColor.b)*hdrMultiplier; + + // Compute refraction ratio (Fresnel): + float facing = 1.0 - dot(-E, N); + float waterEnvRatio = clamp(pow(facing, fresnelPower), 0.0, 1.0); + + // Refracted ray only considers deep and shallow water colors: + vec4 waterColor = mix(shallowColor, deepColor, facing); + + // Perform linear interpolation between reflection and refraction. + vec4 color = mix(waterColor, envColor, waterEnvRatio); + + fragColor = vec4(color.xyz, 0.9); +} diff --git a/test/media/materials/programs/GerstnerWaves_vs.glsl b/test/media/materials/programs/GerstnerWaves_vs.glsl new file mode 100644 index 000000000..33ca4c379 --- /dev/null +++ b/test/media/materials/programs/GerstnerWaves_vs.glsl @@ -0,0 +1,139 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License.s + + +// Copyright (c) 2019 Rhys Mainwaring. +// +// Modified to accept vector parameters and use the form +// for Gerstner waves published in: +// +// Jerry Tessendorf, "Simulating Ocean Water", 1999-2004 +// +// theta = k * dir . x - omega * t +// +// px = x - dir.x * a * k * sin(theta) +// py = y - dir.y * a * k * sin(theta) +// pz = a * k * cos(theta) +// +// k is the wavenumber +// omega is the angular frequency +// +// The derivative terms (Tangent, Binormal, Normal) have been +// updated to be consistent with this convention. +// + +#version 150 + +in vec4 vertex; +in vec4 uv0; +uniform mat4 worldviewproj_matrix; + +/////////// Input parameters ////////// +// Waves +uniform int Nwaves; +uniform vec3 camera_position_object_space; +uniform float rescale; +uniform vec2 bumpScale; +uniform vec2 bumpSpeed; +uniform float t; +uniform vec3 amplitude; +uniform vec3 wavenumber; +uniform vec3 omega; +uniform vec3 steepness; +uniform vec2 dir0; +uniform vec2 dir1; +uniform vec2 dir2; +uniform float tau; + +/////////// Output variables to fragment shader ////////// +varying mat3 rotMatrix; +varying vec3 eyeVec; +varying vec2 bumpCoord; + +// Compute linear combination of Gerstner waves as described in +// GPU Gems, chapter 01: "Effective Water Simulation from Physical Models" +// http://http.developer.nvidia.com/GPUGems/gpugems_ch01.html + +// Information regarding a single wave +struct WaveParameters { + float k; // wavenumber + float a; // amplitude + float omega; // phase constant of speed + vec2 d; // horizontal direction of wave + float q; // steepness for Gerstner wave (q=0: rolling sine waves) +}; + + +void main() +{ + // Use combination of three waves. Values here are chosen rather arbitrarily. + // Other parameters might lead to better-looking waves. + + WaveParameters waves[3]; + + waves[0] = WaveParameters(wavenumber.x, amplitude.x, omega.x, dir0.xy, steepness.x); + waves[1] = WaveParameters(wavenumber.y, amplitude.y, omega.y, dir1.xy, steepness.y); + waves[2] = WaveParameters(wavenumber.z, amplitude.z, omega.z, dir2.xy, steepness.z); + + vec4 P = vertex; + + // Iteratively compute binormal, tangent, and normal vectors: + vec3 B = vec3(1.0, 0.0, 0.0); + vec3 T = vec3(0.0, 1.0, 0.0); + vec3 N = vec3(0.0, 0.0, 1.0); + + // Wave synthesis using linear combination of Gerstner waves + for(int i = 0; i < Nwaves; ++i) + { + // Evaluate wave equation: + float k = waves[i].k; + float a = waves[i].a * (1.0 - exp(-1.0*t/tau)); + float q = waves[i].q; + float dx = waves[i].d.x; + float dy = waves[i].d.y; + float theta = dot(waves[i].d, P.xy)*k - t*waves[i].omega; + float c = cos(theta); + float s = sin(theta); + + // Displacement of point due to wave (Eq. 9) + P.x -= q*a*dx*s; + P.y -= q*a*dx*s; + P.z += a*c; + + // Modify normals due to wave displacement (Eq. 10-12) + float ka = a*k; + float qkac = q*ka*c; + float kas = ka*s; + float dxy = dx*dy; + + B += vec3(-qkac*dx*dx, -qkac*dxy, -kas*dx); + T += vec3(-qkac*dxy, -qkac*dy*dy, -kas*dy); + N += vec3(dx*kas, dy*kas, -qkac); + } + + // Compute (Surf2World * Rescale) matrix + B = normalize(B)*rescale; + T = normalize(T)*rescale; + N = normalize(N); + rotMatrix = mat3(B, T, N); + + gl_Position = worldviewproj_matrix * P; + + // Compute texture coordinates for bump map + bumpCoord = uv0.xy*bumpScale + t*bumpSpeed; + + eyeVec = P.xyz - camera_position_object_space; // eye position in vertex space +} + diff --git a/test/media/materials/programs/GerstnerWaves_vs.metal b/test/media/materials/programs/GerstnerWaves_vs.metal new file mode 100644 index 000000000..0875555c6 --- /dev/null +++ b/test/media/materials/programs/GerstnerWaves_vs.metal @@ -0,0 +1,171 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License.s + + +// Copyright (c) 2019 Rhys Mainwaring. +// +// Modified to accept vector parameters and use the form +// for Gerstner waves published in: +// +// Jerry Tessendorf, "Simulating Ocean Water", 1999-2004 +// +// theta = k * dir . x - omega * t +// +// px = x - dir.x * a * k * sin(theta) +// py = y - dir.y * a * k * sin(theta) +// pz = a * k * cos(theta) +// +// k is the wavenumber +// omega is the angular frequency +// +// The derivative terms (Tangent, Binormal, Normal) have been +// updated to be consistent with this convention. + + +// original concept: +// https://developer.nvidia.com/gpugems/gpugems/part-i-natural-effects/chapter-1-effective-water-simulation-physical-models + +#include +using namespace metal; + +struct VS_INPUT +{ + float4 position [[attribute(VES_POSITION)]]; + float2 uv0 [[attribute(VES_TEXTURE_COORDINATES0)]]; +}; + +/////////// Input parameters ////////// +// Waves +struct Params +{ + float4x4 worldviewproj_matrix; + int Nwaves; + float3 camera_position_object_space; + float rescale; + float2 bumpScale; + float2 bumpSpeed; + float t; + float3 amplitude; + float3 wavenumber; + float3 omega; + float3 steepness; + float2 dir0; + float2 dir1; + float2 dir2; + float tau; +}; + +/////////// Output variables to fragment shader ////////// +struct PS_INPUT +{ + float4 gl_Position [[position]]; + float2 uv0; + float3 B; + float3 T; + float3 N; + float3 eyeVec; + float2 bumpCoord; +}; + +// Compute linear combination of Gerstner waves as described in +// GPU Gems, chapter 01: "Effective Water Simulation from Physical Models" +// http://http.developer.nvidia.com/GPUGems/gpugems_ch01.html + +// Information regarding a single wave +struct WaveParameters { + WaveParameters(float _k, float _a, float _omega, float2 _d, float _q) : + k(_k), a(_a), omega(_omega), d(_d), q(_q) {} + + float k; // wavenumber + float a; // amplitude + float omega; // phase constant of speed + float2 d; // horizontal direction of wave + float q; // steepness for Gerstner wave (q=0: rolling sine waves) +}; + +vertex PS_INPUT main_metal +( + VS_INPUT input [[stage_in]], + constant Params &p [[buffer(PARAMETER_SLOT)]] +) +{ + PS_INPUT outVs; + + // Use combination of three waves. Values here are chosen rather arbitrarily. + // Other parameters might lead to better-looking waves. + + WaveParameters waves[3] = { + WaveParameters(p.wavenumber.x, p.amplitude.x, p.omega.x, p.dir0.xy, p.steepness.x), + WaveParameters(p.wavenumber.y, p.amplitude.y, p.omega.y, p.dir1.xy, p.steepness.y), + WaveParameters(p.wavenumber.z, p.amplitude.z, p.omega.z, p.dir2.xy, p.steepness.z) + }; + + float4 P = input.position; + + // Iteratively compute binormal, tangent, and normal vectors: + float3 B = float3(1.0, 0.0, 0.0); + float3 T = float3(0.0, 1.0, 0.0); + float3 N = float3(0.0, 0.0, 1.0); + + // Wave synthesis using linear combination of Gerstner waves + for(int i = 0; i < p.Nwaves; ++i) + { + // Evaluate wave equation: + float k = waves[i].k; + float a = waves[i].a * (1.0 - exp(-1.0*p.t/p.tau)); + float q = waves[i].q; + float dx = waves[i].d.x; + float dy = waves[i].d.y; + float theta = dot(waves[i].d, P.xy)*k - p.t*waves[i].omega; + float c = cos(theta); + float s = sin(theta); + + // Displacement of point due to wave (Eq. 9) + P.x -= q*a*dx*s; + P.y -= q*a*dx*s; + P.z += a*c; + + // Modify normals due to wave displacement (Eq. 10-12) + float ka = a*k; + float qkac = q*ka*c; + float kas = ka*s; + float dxy = dx*dy; + + B += float3(-qkac*dx*dx, -qkac*dxy, -kas*dx); + T += float3(-qkac*dxy, -qkac*dy*dy, -kas*dy); + N += float3(dx*kas, dy*kas, -qkac); + } + + // Compute (Surf2World * Rescale) matrix + B = normalize(B)*p.rescale; + T = normalize(T)*p.rescale; + N = normalize(N); + // outVs won't accept float3x3, so pass components + outVs.B = B; + outVs.T = T; + outVs.N = N; + + outVs.gl_Position = p.worldviewproj_matrix * P; + + // Compute texture coordinates for bump map + outVs.bumpCoord = input.uv0.xy * p.bumpScale + p.t * p.bumpSpeed; + + outVs.eyeVec = P.xyz - p.camera_position_object_space; // eye position in vertex space + + // Pass texture coordinates to frag shader + outVs.uv0 = input.uv0.xy; + + return outVs; +} diff --git a/test/media/materials/programs/GerstnerWaves_vs_330.glsl b/test/media/materials/programs/GerstnerWaves_vs_330.glsl new file mode 100644 index 000000000..d5b2230be --- /dev/null +++ b/test/media/materials/programs/GerstnerWaves_vs_330.glsl @@ -0,0 +1,156 @@ +// Copyright (c) 2016 The UUV Simulator Authors. +// All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License.s + + +// Copyright (c) 2019 Rhys Mainwaring. +// +// Modified to accept vector parameters and use the form +// for Gerstner waves published in: +// +// Jerry Tessendorf, "Simulating Ocean Water", 1999-2004 +// +// theta = k * dir . x - omega * t +// +// px = x - dir.x * a * k * sin(theta) +// py = y - dir.y * a * k * sin(theta) +// pz = a * k * cos(theta) +// +// k is the wavenumber +// omega is the angular frequency +// +// The derivative terms (Tangent, Binormal, Normal) have been +// updated to be consistent with this convention. + + +// original concept: +// https://developer.nvidia.com/gpugems/gpugems/part-i-natural-effects/chapter-1-effective-water-simulation-physical-models + + +#version ogre_glsl_ver_330 + +vulkan_layout( OGRE_POSITION ) in vec4 vertex; +vulkan_layout( OGRE_TEXCOORD0 ) in vec4 uv0; + +vulkan( layout( ogre_P0 ) uniform Params { ) + uniform mat4 worldviewproj_matrix; + + /////////// Input parameters ////////// + // Waves + uniform int Nwaves; + uniform vec3 camera_position_object_space; + uniform float rescale; + uniform vec2 bumpScale; + uniform vec2 bumpSpeed; + uniform float t; + uniform vec3 amplitude; + uniform vec3 wavenumber; + uniform vec3 omega; + uniform vec3 steepness; + uniform vec2 dir0; + uniform vec2 dir1; + uniform vec2 dir2; + uniform float tau; +vulkan( }; ) + +/////////// Output variables to fragment shader ////////// +vulkan_layout( location = 0 ) +out block +{ + mat3 rotMatrix; + vec3 eyeVec; + vec2 bumpCoord; +} outVs; + +// Compute linear combination of Gerstner waves as described in +// GPU Gems, chapter 01: "Effective Water Simulation from Physical Models" +// http://http.developer.nvidia.com/GPUGems/gpugems_ch01.html + +// Information regarding a single wave +struct WaveParameters { + float k; // wavenumber + float a; // amplitude + float omega; // phase constant of speed + vec2 d; // horizontal direction of wave + float q; // steepness for Gerstner wave (q=0: rolling sine waves) +}; + + + +out gl_PerVertex +{ + vec4 gl_Position; +}; + +void main() +{ + // Use combination of three waves. Values here are chosen rather arbitrarily. + // Other parameters might lead to better-looking waves. + + WaveParameters waves[3]; + + waves[0] = WaveParameters(wavenumber.x, amplitude.x, omega.x, dir0.xy, steepness.x); + waves[1] = WaveParameters(wavenumber.y, amplitude.y, omega.y, dir1.xy, steepness.y); + waves[2] = WaveParameters(wavenumber.z, amplitude.z, omega.z, dir2.xy, steepness.z); + + vec4 P = vertex; + + // Iteratively compute binormal, tangent, and normal vectors: + vec3 B = vec3(1.0, 0.0, 0.0); + vec3 T = vec3(0.0, 1.0, 0.0); + vec3 N = vec3(0.0, 0.0, 1.0); + + // Wave synthesis using linear combination of Gerstner waves + for(int i = 0; i < Nwaves; ++i) + { + // Evaluate wave equation: + float k = waves[i].k; + float a = waves[i].a * (1.0 - exp(-1.0*t/tau)); + float q = waves[i].q; + float dx = waves[i].d.x; + float dy = waves[i].d.y; + float theta = dot(waves[i].d, P.xy)*k - t*waves[i].omega; + float c = cos(theta); + float s = sin(theta); + + // Displacement of point due to wave (Eq. 9) + P.x -= q*a*dx*s; + P.y -= q*a*dx*s; + P.z += a*c; + + // Modify normals due to wave displacement (Eq. 10-12) + float ka = a*k; + float qkac = q*ka*c; + float kas = ka*s; + float dxy = dx*dy; + + B += vec3(-qkac*dx*dx, -qkac*dxy, -kas*dx); + T += vec3(-qkac*dxy, -qkac*dy*dy, -kas*dy); + N += vec3(dx*kas, dy*kas, -qkac); + } + + // Compute (Surf2World * Rescale) matrix + B = normalize(B)*rescale; + T = normalize(T)*rescale; + N = normalize(N); + outVs.rotMatrix = mat3(B, T, N); + + gl_Position = worldviewproj_matrix * P; + + // Compute texture coordinates for bump map + outVs.bumpCoord = uv0.xy*bumpScale + t*bumpSpeed; + + outVs.eyeVec = P.xyz - camera_position_object_space; // eye position in vertex space +} + diff --git a/test/media/materials/textures/skybox_lowres.dds b/test/media/materials/textures/skybox_lowres.dds new file mode 100644 index 000000000..c6c8bd15d Binary files /dev/null and b/test/media/materials/textures/skybox_lowres.dds differ diff --git a/test/media/materials/textures/wave_normals.dds b/test/media/materials/textures/wave_normals.dds new file mode 100644 index 000000000..1f935490f Binary files /dev/null and b/test/media/materials/textures/wave_normals.dds differ diff --git a/test/media/meshes/mesh.dae b/test/media/meshes/mesh.dae new file mode 100644 index 000000000..2697c44ea --- /dev/null +++ b/test/media/meshes/mesh.dae @@ -0,0 +1,69 @@ + + + + + Blender User + Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08 + + 2016-10-25T14:24:02 + 2016-10-25T14:24:02 + + Z_UP + + + + + + -500 -500 0 -479.592 -500 0 -459.184 -500 0 -438.776 -500 0 -418.367 -500 0 -397.959 -500 0 -377.551 -500 0 -357.143 -500 0 -336.735 -500 0 -316.327 -500 0 -295.918 -500 0 -275.51 -500 0 -255.102 -500 0 -234.694 -500 0 -214.286 -500 0 -193.878 -500 0 -173.469 -500 0 -153.061 -500 0 -132.653 -500 0 -112.245 -500 0 -91.8368 -500 0 -71.4286 -500 0 -51.0204 -500 0 -30.6123 -500 0 -10.2041 -500 0 10.2041 -500 0 30.6122 -500 0 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