mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +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
|
|
precision highp float;
|
|
|
|
|
|
layout (location = 0) in vec4 position;
|
|
layout (location = 1) in vec4 instance_position;
|
|
layout (location = 2) in vec4 instance_quaternion;
|
|
layout (location = 3) in vec2 uvcoords;
|
|
layout (location = 4) in vec3 vertexnormal;
|
|
layout (location = 5) in vec4 instance_color;
|
|
layout (location = 6) in vec4 instance_scale_obUid;
|
|
|
|
|
|
uniform mat4 depthMVP;
|
|
|
|
|
|
vec4 quatMul ( in vec4 q1, in vec4 q2 )
|
|
{
|
|
vec3 im = q1.w * q2.xyz + q1.xyz * q2.w + cross ( q1.xyz, q2.xyz );
|
|
vec4 dt = q1 * q2;
|
|
float re = dot ( dt, vec4 ( -1.0, -1.0, -1.0, 1.0 ) );
|
|
return vec4 ( im, re );
|
|
}
|
|
|
|
vec4 quatFromAxisAngle(vec4 axis, in float angle)
|
|
{
|
|
float cah = cos(angle*0.5);
|
|
float sah = sin(angle*0.5);
|
|
float d = inversesqrt(dot(axis,axis));
|
|
vec4 q = vec4(axis.x*sah*d,axis.y*sah*d,axis.z*sah*d,cah);
|
|
return q;
|
|
}
|
|
//
|
|
// vector rotation via quaternion
|
|
//
|
|
vec4 quatRotate3 ( in vec3 p, in vec4 q )
|
|
{
|
|
vec4 temp = quatMul ( q, vec4 ( p, 0.0 ) );
|
|
return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );
|
|
}
|
|
vec4 quatRotate ( in vec4 p, in vec4 q )
|
|
{
|
|
vec4 temp = quatMul ( q, p );
|
|
return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );
|
|
}
|
|
|
|
|
|
void main(void)
|
|
{
|
|
vec4 q = instance_quaternion;
|
|
vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);
|
|
vec4 vertexPos = depthMVP * vec4( (instance_position+localcoord).xyz,1);
|
|
gl_Position = vertexPos;
|
|
}
|
|
|