mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
5bcd43711a
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
56 lines
1.4 KiB
GLSL
56 lines
1.4 KiB
GLSL
#version 330
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precision highp float;
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layout (location = 0) in vec4 position;
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layout (location = 1) in vec4 instance_position;
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layout (location = 2) in vec4 instance_quaternion;
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layout (location = 3) in vec2 uvcoords;
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layout (location = 4) in vec3 vertexnormal;
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layout (location = 5) in vec4 instance_color;
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layout (location = 6) in vec4 instance_scale_obUid;
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uniform mat4 depthMVP;
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vec4 quatMul ( in vec4 q1, in vec4 q2 )
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{
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vec3 im = q1.w * q2.xyz + q1.xyz * q2.w + cross ( q1.xyz, q2.xyz );
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vec4 dt = q1 * q2;
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float re = dot ( dt, vec4 ( -1.0, -1.0, -1.0, 1.0 ) );
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return vec4 ( im, re );
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}
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vec4 quatFromAxisAngle(vec4 axis, in float angle)
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{
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float cah = cos(angle*0.5);
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float sah = sin(angle*0.5);
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float d = inversesqrt(dot(axis,axis));
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vec4 q = vec4(axis.x*sah*d,axis.y*sah*d,axis.z*sah*d,cah);
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return q;
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}
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//
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// vector rotation via quaternion
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//
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vec4 quatRotate3 ( in vec3 p, in vec4 q )
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{
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vec4 temp = quatMul ( q, vec4 ( p, 0.0 ) );
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return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );
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}
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vec4 quatRotate ( in vec4 p, in vec4 q )
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{
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vec4 temp = quatMul ( q, p );
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return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );
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}
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void main(void)
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{
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vec4 q = instance_quaternion;
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vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);
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vec4 vertexPos = depthMVP * vec4( (instance_position+localcoord).xyz,1);
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gl_Position = vertexPos;
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}
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