Render shadow with depth from light.

examples/SharedMemory/PhysicsClientExample.cpp

@@ -89,10 +89,10 @@ protected:
     
 	virtual void resetCamera()
 	{
-		float dist = 4;
+		float dist = 1;
 		float pitch = 193;
 		float yaw = 25;
-		float targetPos[3]={0,0,0.5};//-3,2.8,-2.5};
+		float targetPos[3]={0.008655,0.001998,0.679456};//-3,2.8,-2.5};
 		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
 
 	}
@@ -481,6 +481,21 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
 			}
 			break;
 		}
+        case CMD_UPDATE_LIGHT:
+        {
+            b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
+            float viewMatrix[16];
+            float projectionMatrix[16];
+            m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
+            m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
+            
+            b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
+            b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
+            float lightDir[3] = {0.0,0.1,2.0};
+            b3RequestCameraImageSetLightDirection(commandHandle, lightDir);
+            b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+            break;
+        }
         default:
         {
             b3Error("Unknown buttonId");
@@ -557,6 +572,7 @@ void	PhysicsClientExample::createButtons()
         createButton("Load SDF",CMD_LOAD_SDF,  isTrigger);
 		createButton("Save World",CMD_SAVE_WORLD,  isTrigger);
         createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
+        createButton("Update Light",CMD_UPDATE_LIGHT,isTrigger);
         createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
 		createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION,  isTrigger);
 		createButton("Get Visual Shape Info",CMD_REQUEST_VISUAL_SHAPE_INFO,  isTrigger);

examples/SharedMemory/SharedMemoryPublic.h

@@ -38,6 +38,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_REQUEST_AABB_OVERLAP,
 	CMD_SAVE_WORLD,
 	CMD_REQUEST_VISUAL_SHAPE_INFO,
+    CMD_UPDATE_LIGHT,
     CMD_UPDATE_VISUAL_SHAPE,
     CMD_LOAD_TEXTURE,
 	CMD_USER_DEBUG_DRAW,

examples/TinyRenderer/TinyRenderer.cpp

@@ -13,7 +13,7 @@
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btVector3.h"
 
-const float depth = 2.f;
+const float depth = 10.f;
 
 struct Shader : public IShader {
     
@@ -143,6 +143,88 @@ struct DepthShader : public IShader {
     }
 };
 
+struct ShadowShader : public IShader {
+    
+    Model* m_model;
+    Vec3f m_light_dir_local;
+    Vec3f m_light_color;
+    Matrix& m_modelMat;
+    Matrix m_invModelMat;
+    
+    Matrix& m_modelView1;
+    Matrix& m_projectionMatrix;
+    Vec3f m_localScaling;
+    Matrix& m_lightModelView;
+    Vec4f m_colorRGBA;
+    
+    mat<2,3,float> varying_uv;  // triangle uv coordinates, written by the vertex shader, read by the fragment shader
+    mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS
+    mat<4,3,float> varying_tri_light_view; // triangle coordinates (clip coordinates), written by VS, read by FS
+    mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS
+    
+    ShadowShader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA)
+    :m_model(model),
+    m_light_dir_local(light_dir_local),
+    m_light_color(light_color),
+    m_modelView1(modelView),
+    m_lightModelView(lightModelView),
+    m_projectionMatrix(projectionMatrix),
+    m_modelMat(modelMat),
+    m_localScaling(localScaling),
+    m_colorRGBA(colorRGBA)
+    {
+        m_invModelMat = m_modelMat.invert_transpose();
+    }
+    virtual Vec4f vertex(int iface, int nthvert) {
+        Vec2f uv = m_model->uv(iface, nthvert);
+        varying_uv.set_col(nthvert, uv);
+        varying_nrm.set_col(nthvert, proj<3>(m_invModelMat*embed<4>(m_model->normal(iface, nthvert), 0.f)));
+        Vec3f unScaledVert = m_model->vert(iface, nthvert);
+        Vec3f scaledVert=Vec3f(unScaledVert[0]*m_localScaling[0],
+                               unScaledVert[1]*m_localScaling[1],
+                               unScaledVert[2]*m_localScaling[2]);
+        Vec4f gl_Vertex = m_projectionMatrix*m_modelView1*embed<4>(scaledVert);
+        varying_tri.set_col(nthvert, gl_Vertex);
+        Vec4f gl_VertexLightView = m_projectionMatrix*m_lightModelView*embed<4>(scaledVert);
+        varying_tri_light_view.set_col(nthvert, gl_VertexLightView);
+        return gl_Vertex;
+    }
+    
+    virtual bool fragment(Vec3f bar, TGAColor &color) {
+        Vec4f p = varying_tri_light_view*bar;
+        float shadow = 1.0-p[2]/depth;
+        printf("shadow: %f\n", shadow);
+        
+        Vec3f bn = (varying_nrm*bar).normalize();
+        Vec2f uv = varying_uv*bar;
+        
+        Vec3f reflection_direction = (bn * (bn * m_light_dir_local * 2.f) - m_light_dir_local).normalize();
+        float specular = pow(b3Max(reflection_direction.z, 0.f), m_model->specular(uv));
+        float diffuse = b3Max(0.f, bn * m_light_dir_local);
+        
+        float ambient_coefficient = 0.6;
+        float diffuse_coefficient = 0.35;
+        float specular_coefficient = 0.05;
+        
+        float intensity = ambient_coefficient + b3Min(diffuse * diffuse_coefficient + specular * specular_coefficient, 1.0f - ambient_coefficient);
+        
+        color = m_model->diffuse(uv) * intensity * shadow;
+        
+        //warning: bgra color is swapped to rgba to upload texture
+        color.bgra[0] *= m_colorRGBA[0];
+        color.bgra[1] *= m_colorRGBA[1];
+        color.bgra[2] *= m_colorRGBA[2];
+        color.bgra[3] *= m_colorRGBA[3];
+        
+        color.bgra[0] *= m_light_color[0];
+        color.bgra[1] *= m_light_color[1];
+        color.bgra[2] *= m_light_color[2];
+        
+        return false;
+
+    }
+};
+
 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer)
 :m_rgbColorBuffer(rgbColorBuffer),
 m_depthBuffer(depthBuffer),
@@ -337,7 +419,8 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
         Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
         Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
         //Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA());
-        DepthShader shader(model, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling);
+        //DepthShader shader(model, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling);
+        ShadowShader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA());
         		
 		//printf("Render %d triangles.\n",model->nfaces());
 		for (int i=0; i<model->nfaces(); i++)