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
54 lines
1.9 KiB
C
54 lines
1.9 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* segmentationMaskInstancingVertexShader =
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"#version 330\n"
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"precision highp float;\n"
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"layout (location = 0) in vec4 position;\n"
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"layout (location = 1) in vec4 instance_position;\n"
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"layout (location = 2) in vec4 instance_quaternion;\n"
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"layout (location = 5) in vec4 instance_color;\n"
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"layout (location = 6) in vec4 instance_scale_obUid;\n"
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"uniform mat4 ModelViewMatrix;\n"
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"uniform mat4 ProjectionMatrix;\n"
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"out vec4 scale_obuid;\n"
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"out Fragment\n"
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"{\n"
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" vec4 color;\n"
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"} fragment;\n"
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"vec4 quatMul ( in vec4 q1, in vec4 q2 )\n"
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"{\n"
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" vec3 im = q1.w * q2.xyz + q1.xyz * q2.w + cross ( q1.xyz, q2.xyz );\n"
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" vec4 dt = q1 * q2;\n"
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" float re = dot ( dt, vec4 ( -1.0, -1.0, -1.0, 1.0 ) );\n"
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" return vec4 ( im, re );\n"
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"}\n"
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"vec4 quatFromAxisAngle(vec4 axis, in float angle)\n"
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"{\n"
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" float cah = cos(angle*0.5);\n"
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" float sah = sin(angle*0.5);\n"
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" float d = inversesqrt(dot(axis,axis));\n"
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" vec4 q = vec4(axis.x*sah*d,axis.y*sah*d,axis.z*sah*d,cah);\n"
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" return q;\n"
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"}\n"
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"//\n"
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"// vector rotation via quaternion\n"
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"//\n"
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"vec4 quatRotate3 ( in vec3 p, in vec4 q )\n"
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"{\n"
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" vec4 temp = quatMul ( q, vec4 ( p, 0.0 ) );\n"
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" return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );\n"
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"}\n"
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"vec4 quatRotate ( in vec4 p, in vec4 q )\n"
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"{\n"
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" vec4 temp = quatMul ( q, p );\n"
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" return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );\n"
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"}\n"
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"void main(void)\n"
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"{\n"
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" vec4 q = instance_quaternion;\n"
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" vec4 localcoord = quatRotate3( position.xyz*instance_scale_obUid.xyz,q);\n"
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" vec4 vertexPos = ProjectionMatrix * ModelViewMatrix *(instance_position+localcoord);\n"
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" scale_obuid = instance_scale_obUid;\n"
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" gl_Position = vertexPos;\n"
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" fragment.color = instance_color;\n"
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"}\n";
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